diff --git "a/annotations/Stereo4D_val.json" "b/annotations/Stereo4D_val.json"
new file mode 100644--- /dev/null
+++ "b/annotations/Stereo4D_val.json"
@@ -0,0 +1 @@
+{"info": {"name": "Stereo4D_val", "url": ""}, "images": [{"id": 0, "width": 512, "height": 512, "file_path": "images/-lblrTanBaE_21755088-left_rectified_f0145.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 1, "width": 512, "height": 512, "file_path": "images/1gEAP-CkEXU_103837171-left_rectified_f0040.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 2, "width": 512, "height": 512, "file_path": "images/4XmI-Fmn3ms_575675676-left_rectified_f0014.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 3, "width": 512, "height": 512, "file_path": "images/8o0KAoLB7T8_461733333-left_rectified_f0167.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 4, "width": 512, "height": 512, "file_path": "images/8o0KAoLB7T8_491666667-left_rectified_f0050.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 5, "width": 512, "height": 512, "file_path": "images/8uPz33adf2s_332899566-left_rectified_f0016.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 6, "width": 512, "height": 512, "file_path": "images/C2-1nRqPBY4_73740407-left_rectified_f0012.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 7, "width": 512, "height": 512, "file_path": "images/Eb60eKlFW8k_108508509-left_rectified_f0097.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 8, "width": 512, "height": 512, "file_path": "images/Eb60eKlFW8k_28428428-left_rectified_f0152.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 9, "width": 512, "height": 512, "file_path": "images/FUu2rVLZ5AU_403703704-left_rectified_f0144.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 10, "width": 512, "height": 512, "file_path": "images/H5xOyNqJkPs_251718385-left_rectified_f0032.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 11, "width": 512, "height": 512, "file_path": "images/JMIcmLexxjA_68468468-left_rectified_f0021.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 12, "width": 512, "height": 512, "file_path": "images/JMIcmLexxjA_95161828-left_rectified_f0007.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 13, "width": 512, "height": 512, "file_path": "images/Lc0RWV0j-nw_262662663-left_rectified_f0006.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 14, "width": 512, "height": 512, "file_path": "images/MgaJnbDZIeI_177811144-left_rectified_f0083.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 15, "width": 512, "height": 512, "file_path": "images/NNO6LQYf--U_295362029-left_rectified_f0190.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 16, "width": 512, "height": 512, "file_path": "images/WaUJuj_QRtc_115181849-left_rectified_f0155.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 17, "width": 512, "height": 512, "file_path": "images/X0F9mLlR7m4_149883217-left_rectified_f0019.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 18, "width": 512, "height": 512, "file_path": "images/YnBddI3HvKc_35402069-left_rectified_f0122.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 19, "width": 512, "height": 512, "file_path": "images/cxmuw8UAJ3w_295362029-left_rectified_f0018.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 20, "width": 512, "height": 512, "file_path": "images/h99h-tnK57s_109409409-left_rectified_f0109.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 21, "width": 512, "height": 512, "file_path": "images/ppg9V8JMo1E_458892226-left_rectified_f0065.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 22, "width": 512, "height": 512, "file_path": "images/ppg9V8JMo1E_565665666-left_rectified_f0173.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 23, "width": 512, "height": 512, "file_path": "images/r0eLIGHRj64_35702369-left_rectified_f0080.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 24, "width": 512, "height": 512, "file_path": "images/sRgHSN9lQ4Q_175542209-left_rectified_f0068.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 25, "width": 512, "height": 512, "file_path": "images/sf-hUrwrdsU_35101768-left_rectified_f0050.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 26, "width": 512, "height": 512, "file_path": "images/uDWH1bRUvYQ_127727728-left_rectified_f0021.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 27, "width": 512, "height": 512, "file_path": "images/y6Xum_mAau4_68468468-left_rectified_f0148.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 28, "width": 512, "height": 512, "file_path": "images/yh6uTVKiY-I_175442109-left_rectified_f0167.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 29, "width": 512, "height": 512, "file_path": "images/zKB8LfKf3Zw_71471471-left_rectified_f0006.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 30, "width": 512, "height": 512, "file_path": "images/-lblrTanBaE_35101768-left_rectified_f0012.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 31, "width": 512, "height": 512, "file_path": "images/0GCYJg9PADk_41775108-left_rectified_f0102.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 32, "width": 512, "height": 512, "file_path": "images/3JzKxiXTJQo_184184184-left_rectified_f0009.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 33, "width": 512, "height": 512, "file_path": "images/8o0KAoLB7T8_155066667-left_rectified_f0097.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 34, "width": 512, "height": 512, "file_path": "images/8uPz33adf2s_337771104-left_rectified_f0026.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 35, "width": 512, "height": 512, "file_path": "images/C2-1nRqPBY4_157590924-left_rectified_f0008.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 36, "width": 512, "height": 512, "file_path": "images/C2-1nRqPBY4_202669336-left_rectified_f0020.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 37, "width": 512, "height": 512, "file_path": "images/C2-1nRqPBY4_223690357-left_rectified_f0012.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 38, "width": 512, "height": 512, "file_path": "images/Eb60eKlFW8k_115181849-left_rectified_f0054.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 39, "width": 512, "height": 512, "file_path": "images/FUu2rVLZ5AU_729396063-left_rectified_f0087.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 40, "width": 512, "height": 512, "file_path": "images/GAdmI9wApsI_21755088-left_rectified_f0037.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 41, "width": 512, "height": 512, "file_path": "images/GyOUUDMnENE_141875209-left_rectified_f0065.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 42, "width": 512, "height": 512, "file_path": "images/H5xOyNqJkPs_115982649-left_rectified_f0007.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 43, "width": 512, "height": 512, "file_path": "images/JMIcmLexxjA_37070404-left_rectified_f0040.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 44, "width": 512, "height": 512, "file_path": "images/JMIcmLexxjA_48448448-left_rectified_f0080.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 45, "width": 512, "height": 512, "file_path": "images/KqOUFTPM7mc_75709042-left_rectified_f0068.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 46, "width": 512, "height": 512, "file_path": "images/QMWKhGC16VM_141875209-left_rectified_f0031.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 47, "width": 512, "height": 512, "file_path": "images/WaUJuj_QRtc_81815148-left_rectified_f0174.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 48, "width": 512, "height": 512, "file_path": "images/ZwnufqIJCEw_696162829-left_rectified_f0112.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 49, "width": 512, "height": 512, "file_path": "images/fnhMw91f_gE_68468468-left_rectified_f0002.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 50, "width": 512, "height": 512, "file_path": "images/fnhMw91f_gE_602869536-left_rectified_f0003.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 51, "width": 512, "height": 512, "file_path": "images/iqdtgbpCGAY_181915249-left_rectified_f0175.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 52, "width": 512, "height": 512, "file_path": "images/l66XDvOVDJI_61795128-left_rectified_f0125.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 53, "width": 512, "height": 512, "file_path": "images/mx1WfUf4pno_15081748-left_rectified_f0010.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 54, "width": 512, "height": 512, "file_path": "images/nqhQD7xAijU_689089089-left_rectified_f0138.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 55, "width": 512, "height": 512, "file_path": "images/vNtfkfhqmqk_35101768-left_rectified_f0144.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 56, "width": 512, "height": 512, "file_path": "images/1gEAP-CkEXU_128528529-left_rectified_f0059.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 57, "width": 512, "height": 512, "file_path": "images/3JzKxiXTJQo_156456456-left_rectified_f0025.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 58, "width": 512, "height": 512, "file_path": "images/3JzKxiXTJQo_320553887-left_rectified_f0010.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 59, "width": 512, "height": 512, "file_path": "images/3JzKxiXTJQo_384784785-left_rectified_f0043.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 60, "width": 512, "height": 512, "file_path": "images/3JzKxiXTJQo_425425425-left_rectified_f0048.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 61, "width": 512, "height": 512, "file_path": "images/8uPz33adf2s_336469803-left_rectified_f0010.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 62, "width": 512, "height": 512, "file_path": "images/AncNADeFJ44_160860861-left_rectified_f0105.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 63, "width": 512, "height": 512, "file_path": "images/FTkMQbed_Jg_119185853-left_rectified_f0039.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 64, "width": 512, "height": 512, "file_path": "images/JMIcmLexxjA_155221889-left_rectified_f0101.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 65, "width": 512, "height": 512, "file_path": "images/JMIcmLexxjA_161895229-left_rectified_f0093.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 66, "width": 512, "height": 512, "file_path": "images/JMIcmLexxjA_61795128-left_rectified_f0068.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 67, "width": 512, "height": 512, "file_path": "images/KqOUFTPM7mc_64364364-left_rectified_f0162.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 68, "width": 512, "height": 512, "file_path": "images/KqOUFTPM7mc_83333333-left_rectified_f0059.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 69, "width": 512, "height": 512, "file_path": "images/L0F8RApUBmg_175241909-left_rectified_f0009.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 70, "width": 512, "height": 512, "file_path": "images/McYdtzxULL8_91324658-left_rectified_f0125.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 71, "width": 512, "height": 512, "file_path": "images/TYrBHOBbdV4_59826493-left_rectified_f0000.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 72, "width": 512, "height": 512, "file_path": "images/WaUJuj_QRtc_101835169-left_rectified_f0166.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 73, "width": 512, "height": 512, "file_path": "images/Y7XUgUUzJ3c_253353353-left_rectified_f0019.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 74, "width": 512, "height": 512, "file_path": "images/ZrlZLKfEYRU_101835169-left_rectified_f0032.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 75, "width": 512, "height": 512, "file_path": "images/cxmuw8UAJ3w_221955289-left_rectified_f0000.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 76, "width": 512, "height": 512, "file_path": "images/fMJema959cQ_416916917-left_rectified_f0147.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 77, "width": 512, "height": 512, "file_path": "images/h99h-tnK57s_121855189-left_rectified_f0138.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 78, "width": 512, "height": 512, "file_path": "images/h99h-tnK57s_48448448-left_rectified_f0091.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 79, "width": 512, "height": 512, "file_path": "images/hxjWvG2Yee0_35040000-left_rectified_f0046.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 80, "width": 512, "height": 512, "file_path": "images/iqdtgbpCGAY_228628629-left_rectified_f0001.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 81, "width": 512, "height": 512, "file_path": "images/rY3bP3E4GIg_15080000-left_rectified_f0055.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 82, "width": 512, "height": 512, "file_path": "images/tPwC06dft1w_230196864-left_rectified_f0011.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 83, "width": 512, "height": 512, "file_path": "images/uZL43vqP3rM_599299299-left_rectified_f0086.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 84, "width": 512, "height": 512, "file_path": "images/zKB8LfKf3Zw_146446446-left_rectified_f0004.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 85, "width": 512, "height": 512, "file_path": "images/2MwxopWejTg_101835169-left_rectified_f0117.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 86, "width": 512, "height": 512, "file_path": "images/3JzKxiXTJQo_177811144-left_rectified_f0005.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 87, "width": 512, "height": 512, "file_path": "images/66cZyAXX7As_35101768-left_rectified_f0093.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 88, "width": 512, "height": 512, "file_path": "images/8o0KAoLB7T8_175066667-left_rectified_f0124.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 89, "width": 512, "height": 512, "file_path": "images/8o0KAoLB7T8_235066667-left_rectified_f0049.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 90, "width": 512, "height": 512, "file_path": "images/8uPz33adf2s_340840841-left_rectified_f0018.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 91, "width": 512, "height": 512, "file_path": "images/CLsVoV-9OrI_16416416-left_rectified_f0033.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 92, "width": 512, "height": 512, "file_path": "images/CttP_T9VJBU_15081748-left_rectified_f0098.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 93, "width": 512, "height": 512, "file_path": "images/Eb60eKlFW8k_21755088-left_rectified_f0112.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 94, "width": 512, "height": 512, "file_path": "images/EtBz170E61Q_39080000-left_rectified_f0000.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 95, "width": 512, "height": 512, "file_path": "images/H5xOyNqJkPs_256840174-left_rectified_f0024.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 96, "width": 512, "height": 512, "file_path": "images/I8X1A1THBvE_328695362-left_rectified_f0031.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 97, "width": 512, "height": 512, "file_path": "images/JMIcmLexxjA_405705706-left_rectified_f0109.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 98, "width": 512, "height": 512, "file_path": "images/JMIcmLexxjA_590323657-left_rectified_f0183.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 99, "width": 512, "height": 512, "file_path": "images/NNO6LQYf--U_41775108-left_rectified_f0011.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 100, "width": 512, "height": 512, "file_path": "images/NNO6LQYf--U_782515849-left_rectified_f0092.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 101, "width": 512, "height": 512, "file_path": "images/X0F9mLlR7m4_652786119-left_rectified_f0030.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 102, "width": 512, "height": 512, "file_path": "images/XFv8rNy9ymI_81815148-left_rectified_f0165.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 103, "width": 512, "height": 512, "file_path": "images/Z0i_HAVWmic_391157824-left_rectified_f0005.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 104, "width": 512, "height": 512, "file_path": "images/ZepKBB8MnBc_124491158-left_rectified_f0070.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 105, "width": 512, "height": 512, "file_path": "images/ZepKBB8MnBc_55121788-left_rectified_f0058.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 106, "width": 512, "height": 512, "file_path": "images/ZrlZLKfEYRU_61795128-left_rectified_f0020.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 107, "width": 512, "height": 512, "file_path": "images/ciEZVnPfP3Q_55121788-left_rectified_f0185.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 108, "width": 512, "height": 512, "file_path": "images/ciEZVnPfP3Q_81815148-left_rectified_f0115.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 109, "width": 512, "height": 512, "file_path": "images/cxmuw8UAJ3w_22055389-left_rectified_f0004.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 110, "width": 512, "height": 512, "file_path": "images/iqdtgbpCGAY_188588589-left_rectified_f0081.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 111, "width": 512, "height": 512, "file_path": "images/l66XDvOVDJI_55121788-left_rectified_f0112.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 112, "width": 512, "height": 512, "file_path": "images/m5zL3DoXlMo_102402402-left_rectified_f0022.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 113, "width": 512, "height": 512, "file_path": "images/nqhQD7xAijU_342075409-left_rectified_f0081.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 114, "width": 512, "height": 512, "file_path": "images/nqhQD7xAijU_415482149-left_rectified_f0018.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 115, "width": 512, "height": 512, "file_path": "images/r0eLIGHRj64_101835169-left_rectified_f0018.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 116, "width": 512, "height": 512, "file_path": "images/tPwC06dft1w_41775108-left_rectified_f0043.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 117, "width": 512, "height": 512, "file_path": "images/u-1GD99GaGw_141875209-left_rectified_f0134.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 118, "width": 512, "height": 512, "file_path": "images/vNtfkfhqmqk_108508509-left_rectified_f0103.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 119, "width": 512, "height": 512, "file_path": "images/-GjokU2CXow_40173507-left_rectified_f0012.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 120, "width": 512, "height": 512, "file_path": "images/-lblrTanBaE_128528529-left_rectified_f0098.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 121, "width": 512, "height": 512, "file_path": "images/0GCYJg9PADk_15081748-left_rectified_f0008.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 122, "width": 512, "height": 512, "file_path": "images/3JzKxiXTJQo_485251919-left_rectified_f0046.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 123, "width": 512, "height": 512, "file_path": "images/3JzKxiXTJQo_499866533-left_rectified_f0002.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 124, "width": 512, "height": 512, "file_path": "images/8o0KAoLB7T8_188400000-left_rectified_f0130.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 125, "width": 512, "height": 512, "file_path": "images/B7W9ZsCru6c_63463463-left_rectified_f0148.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 126, "width": 512, "height": 512, "file_path": "images/EyYwvcy1QA0_28815680-left_rectified_f0026.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 127, "width": 512, "height": 512, "file_path": "images/H5xOyNqJkPs_264914915-left_rectified_f0126.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 128, "width": 512, "height": 512, "file_path": "images/JMIcmLexxjA_269602936-left_rectified_f0100.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 129, "width": 512, "height": 512, "file_path": "images/KqOUFTPM7mc_192392392-left_rectified_f0037.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 130, "width": 512, "height": 512, "file_path": "images/KqOUFTPM7mc_195729062-left_rectified_f0037.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 131, "width": 512, "height": 512, "file_path": "images/KybiQVTZmrs_324391058-left_rectified_f0005.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 132, "width": 512, "height": 512, "file_path": "images/McYdtzxULL8_68968969-left_rectified_f0027.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 133, "width": 512, "height": 512, "file_path": "images/WaUJuj_QRtc_128528529-left_rectified_f0086.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 134, "width": 512, "height": 512, "file_path": "images/X3riofLYCQA_82248916-left_rectified_f0004.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 135, "width": 512, "height": 512, "file_path": "images/YR973j9K1PE_29929930-left_rectified_f0028.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 136, "width": 512, "height": 512, "file_path": "images/ZrlZLKfEYRU_28428428-left_rectified_f0149.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 137, "width": 512, "height": 512, "file_path": "images/ZwnufqIJCEw_709509510-left_rectified_f0119.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 138, "width": 512, "height": 512, "file_path": "images/_UT4rsLb4lQ_76142809-left_rectified_f0128.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 139, "width": 512, "height": 512, "file_path": "images/cxmuw8UAJ3w_215281949-left_rectified_f0035.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 140, "width": 512, "height": 512, "file_path": "images/f_WlQQyUr_E_94794795-left_rectified_f0114.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 141, "width": 512, "height": 512, "file_path": "images/fnhMw91f_gE_135201869-left_rectified_f0000.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 142, "width": 512, "height": 512, "file_path": "images/fnhMw91f_gE_175241909-left_rectified_f0032.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 143, "width": 512, "height": 512, "file_path": "images/fnhMw91f_gE_249182516-left_rectified_f0094.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 144, "width": 512, "height": 512, "file_path": "images/fnhMw91f_gE_355955956-left_rectified_f0008.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 145, "width": 512, "height": 512, "file_path": "images/fnhMw91f_gE_616216216-left_rectified_f0000.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 146, "width": 512, "height": 512, "file_path": "images/fnhMw91f_gE_81815148-left_rectified_f0000.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 147, "width": 512, "height": 512, "file_path": "images/ppg9V8JMo1E_121855189-left_rectified_f0055.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 148, "width": 512, "height": 512, "file_path": "images/ppg9V8JMo1E_188588589-left_rectified_f0193.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 149, "width": 512, "height": 512, "file_path": "images/ppg9V8JMo1E_545645646-left_rectified_f0041.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 150, "width": 512, "height": 512, "file_path": "images/sf-hUrwrdsU_68468468-left_rectified_f0188.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 151, "width": 512, "height": 512, "file_path": "images/tPwC06dft1w_237537538-left_rectified_f0044.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 152, "width": 512, "height": 512, "file_path": "images/tPwC06dft1w_35101768-left_rectified_f0028.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 153, "width": 512, "height": 512, "file_path": "images/tPwC06dft1w_393793794-left_rectified_f0006.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 154, "width": 512, "height": 512, "file_path": "images/zLOh5am7FUg_677911245-left_rectified_f0023.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 155, "width": 512, "height": 512, "file_path": "images/-k_yV1BaMGI_23880000-left_rectified_f0044.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 156, "width": 512, "height": 512, "file_path": "images/-lblrTanBaE_42575909-left_rectified_f0047.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 157, "width": 512, "height": 512, "file_path": "images/0-Xe1ETvBeE_188588589-left_rectified_f0107.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 158, "width": 512, "height": 512, "file_path": "images/3JzKxiXTJQo_377210544-left_rectified_f0022.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 159, "width": 512, "height": 512, "file_path": "images/3JzKxiXTJQo_412746079-left_rectified_f0021.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 160, "width": 512, "height": 512, "file_path": "images/3JzKxiXTJQo_488288288-left_rectified_f0046.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 161, "width": 512, "height": 512, "file_path": "images/4TD1xrtHGCQ_249849850-left_rectified_f0195.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 162, "width": 512, "height": 512, "file_path": "images/5e_5ZmzKB8A_15080000-left_rectified_f0030.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 163, "width": 512, "height": 512, "file_path": "images/8o0KAoLB7T8_168400000-left_rectified_f0020.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 164, "width": 512, "height": 512, "file_path": "images/EX5ckUA-prM_20120000-left_rectified_f0040.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 165, "width": 512, "height": 512, "file_path": "images/EyYwvcy1QA0_96997498-left_rectified_f0031.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 166, "width": 512, "height": 512, "file_path": "images/FUu2rVLZ5AU_712612613-left_rectified_f0096.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 167, "width": 512, "height": 512, "file_path": "images/JMIcmLexxjA_276276276-left_rectified_f0178.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 168, "width": 512, "height": 512, "file_path": "images/JMIcmLexxjA_322989656-left_rectified_f0149.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 169, "width": 512, "height": 512, "file_path": "images/Lc0RWV0j-nw_168568569-left_rectified_f0017.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 170, "width": 512, "height": 512, "file_path": "images/NNO6LQYf--U_635702369-left_rectified_f0096.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 171, "width": 512, "height": 512, "file_path": "images/X0F9mLlR7m4_474240908-left_rectified_f0007.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 172, "width": 512, "height": 512, "file_path": "images/ZepKBB8MnBc_111144478-left_rectified_f0017.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 173, "width": 512, "height": 512, "file_path": "images/ZepKBB8MnBc_41775108-left_rectified_f0104.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 174, "width": 512, "height": 512, "file_path": "images/ZrlZLKfEYRU_115181849-left_rectified_f0193.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 175, "width": 512, "height": 512, "file_path": "images/iqdtgbpCGAY_268668669-left_rectified_f0132.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 176, "width": 512, "height": 512, "file_path": "images/l66XDvOVDJI_41775108-left_rectified_f0050.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 177, "width": 512, "height": 512, "file_path": "images/nqhQD7xAijU_295362029-left_rectified_f0083.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 178, "width": 512, "height": 512, "file_path": "images/qAOeAW1hPeM_95161828-left_rectified_f0108.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 179, "width": 512, "height": 512, "file_path": "images/r0eLIGHRj64_115181849-left_rectified_f0191.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 180, "width": 512, "height": 512, "file_path": "images/-lblrTanBaE_48448448-left_rectified_f0006.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 181, "width": 512, "height": 512, "file_path": "images/3FfFMRRb6DA_31080000-left_rectified_f0009.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 182, "width": 512, "height": 512, "file_path": "images/3JzKxiXTJQo_197430764-left_rectified_f0005.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 183, "width": 512, "height": 512, "file_path": "images/3JzKxiXTJQo_394794795-left_rectified_f0047.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 184, "width": 512, "height": 512, "file_path": "images/3JzKxiXTJQo_397030364-left_rectified_f0035.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 185, "width": 512, "height": 512, "file_path": "images/3JzKxiXTJQo_91224558-left_rectified_f0029.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 186, "width": 512, "height": 512, "file_path": "images/4TD1xrtHGCQ_336603270-left_rectified_f0198.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 187, "width": 512, "height": 512, "file_path": "images/C2-1nRqPBY4_200066733-left_rectified_f0008.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 188, "width": 512, "height": 512, "file_path": "images/GyOUUDMnENE_552485819-left_rectified_f0009.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 189, "width": 512, "height": 512, "file_path": "images/KqOUFTPM7mc_111711712-left_rectified_f0094.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 190, "width": 512, "height": 512, "file_path": "images/ZepKBB8MnBc_180113447-left_rectified_f0145.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 191, "width": 512, "height": 512, "file_path": "images/_UT4rsLb4lQ_95161828-left_rectified_f0003.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 192, "width": 512, "height": 512, "file_path": "images/fnhMw91f_gE_536136136-left_rectified_f0054.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 193, "width": 512, "height": 512, "file_path": "images/l66XDvOVDJI_81815148-left_rectified_f0109.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 194, "width": 512, "height": 512, "file_path": "images/l66XDvOVDJI_95161828-left_rectified_f0081.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 195, "width": 512, "height": 512, "file_path": "images/nqhQD7xAijU_101835169-left_rectified_f0030.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 196, "width": 512, "height": 512, "file_path": "images/ppg9V8JMo1E_498932266-left_rectified_f0022.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 197, "width": 512, "height": 512, "file_path": "images/pwBorgoDJh0_155221889-left_rectified_f0017.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 198, "width": 512, "height": 512, "file_path": "images/r0eLIGHRj64_88488488-left_rectified_f0042.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 199, "width": 512, "height": 512, "file_path": "images/tPwC06dft1w_261428095-left_rectified_f0026.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 200, "width": 512, "height": 512, "file_path": "images/tPwC06dft1w_68468468-left_rectified_f0037.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 201, "width": 512, "height": 512, "file_path": "images/3JzKxiXTJQo_248882216-left_rectified_f0018.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 202, "width": 512, "height": 512, "file_path": "images/4uCq66L-tFs_52085419-left_rectified_f0005.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 203, "width": 512, "height": 512, "file_path": "images/FTkMQbed_Jg_135201869-left_rectified_f0112.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 204, "width": 512, "height": 512, "file_path": "images/H5xOyNqJkPs_185985986-left_rectified_f0060.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 205, "width": 512, "height": 512, "file_path": "images/JMIcmLexxjA_55689022-left_rectified_f0087.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 206, "width": 512, "height": 512, "file_path": "images/Lc0RWV0j-nw_81815148-left_rectified_f0087.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 207, "width": 512, "height": 512, "file_path": "images/NNO6LQYf--U_208608609-left_rectified_f0057.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 208, "width": 512, "height": 512, "file_path": "images/VfYaDawCbVw_41775108-left_rectified_f0039.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 209, "width": 512, "height": 512, "file_path": "images/WC4fVPvuZ8A_44477811-left_rectified_f0050.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 210, "width": 512, "height": 512, "file_path": "images/WIUf-V_keF8_178545212-left_rectified_f0011.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 211, "width": 512, "height": 512, "file_path": "images/Y7XUgUUzJ3c_254554555-left_rectified_f0018.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 212, "width": 512, "height": 512, "file_path": "images/fnhMw91f_gE_148548549-left_rectified_f0109.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 213, "width": 512, "height": 512, "file_path": "images/fnhMw91f_gE_369302636-left_rectified_f0006.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 214, "width": 512, "height": 512, "file_path": "images/fnhMw91f_gE_75942609-left_rectified_f0011.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 215, "width": 512, "height": 512, "file_path": "images/fnhMw91f_gE_95161828-left_rectified_f0000.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 216, "width": 512, "height": 512, "file_path": "images/h99h-tnK57s_55121788-left_rectified_f0014.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 217, "width": 512, "height": 512, "file_path": "images/l66XDvOVDJI_68468468-left_rectified_f0089.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 218, "width": 512, "height": 512, "file_path": "images/m4MBaXSOIpQ_101835169-left_rectified_f0050.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 219, "width": 512, "height": 512, "file_path": "images/nqhQD7xAijU_201935269-left_rectified_f0083.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 220, "width": 512, "height": 512, "file_path": "images/ppg9V8JMo1E_208608609-left_rectified_f0067.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 221, "width": 512, "height": 512, "file_path": "images/sf-hUrwrdsU_41775108-left_rectified_f0046.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 222, "width": 512, "height": 512, "file_path": "images/4g7hz7rmbRI_21755088-left_rectified_f0187.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 223, "width": 512, "height": 512, "file_path": "images/CLsVoV-9OrI_118451785-left_rectified_f0013.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 224, "width": 512, "height": 512, "file_path": "images/CLsVoV-9OrI_76242910-left_rectified_f0031.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 225, "width": 512, "height": 512, "file_path": "images/KybiQVTZmrs_104270938-left_rectified_f0032.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 226, "width": 512, "height": 512, "file_path": "images/KybiQVTZmrs_376343010-left_rectified_f0026.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 227, "width": 512, "height": 512, "file_path": "images/ZepKBB8MnBc_35101768-left_rectified_f0013.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 228, "width": 512, "height": 512, "file_path": "images/ZrlZLKfEYRU_175241909-left_rectified_f0156.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 229, "width": 512, "height": 512, "file_path": "images/ZwnufqIJCEw_168568569-left_rectified_f0030.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 230, "width": 512, "height": 512, "file_path": "images/ciEZVnPfP3Q_121855189-left_rectified_f0098.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 231, "width": 512, "height": 512, "file_path": "images/l66XDvOVDJI_101835169-left_rectified_f0129.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 232, "width": 512, "height": 512, "file_path": "images/l66XDvOVDJI_115181849-left_rectified_f0121.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 233, "width": 512, "height": 512, "file_path": "images/l66XDvOVDJI_21755088-left_rectified_f0038.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 234, "width": 512, "height": 512, "file_path": "images/tPwC06dft1w_137737738-left_rectified_f0020.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 235, "width": 512, "height": 512, "file_path": "images/woYa45I_x-U_105105105-left_rectified_f0092.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 236, "width": 512, "height": 512, "file_path": "images/zKB8LfKf3Zw_165331999-left_rectified_f0021.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 237, "width": 512, "height": 512, "file_path": "images/3JzKxiXTJQo_244511178-left_rectified_f0026.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 238, "width": 512, "height": 512, "file_path": "images/49S91OPdnx8_154320988-left_rectified_f0009.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 239, "width": 512, "height": 512, "file_path": "images/49S91OPdnx8_299399399-left_rectified_f0000.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 240, "width": 512, "height": 512, "file_path": "images/JMIcmLexxjA_262929596-left_rectified_f0021.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 241, "width": 512, "height": 512, "file_path": "images/JMIcmLexxjA_329662996-left_rectified_f0018.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 242, "width": 512, "height": 512, "file_path": "images/RYeFcm5hu-E_48748749-left_rectified_f0033.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 243, "width": 512, "height": 512, "file_path": "images/WaUJuj_QRtc_95161828-left_rectified_f0151.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 244, "width": 512, "height": 512, "file_path": "images/ZepKBB8MnBc_117817818-left_rectified_f0144.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 245, "width": 512, "height": 512, "file_path": "images/ZepKBB8MnBc_131164498-left_rectified_f0163.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 246, "width": 512, "height": 512, "file_path": "images/ZepKBB8MnBc_61795128-left_rectified_f0184.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 247, "width": 512, "height": 512, "file_path": "images/fnhMw91f_gE_522789456-left_rectified_f0028.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 248, "width": 512, "height": 512, "file_path": "images/u-1GD99GaGw_148548549-left_rectified_f0080.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 249, "width": 512, "height": 512, "file_path": "images/2MwxopWejTg_91758425-left_rectified_f0017.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 250, "width": 512, "height": 512, "file_path": "images/3JzKxiXTJQo_174074074-left_rectified_f0011.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 251, "width": 512, "height": 512, "file_path": "images/3JzKxiXTJQo_465231899-left_rectified_f0012.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 252, "width": 512, "height": 512, "file_path": "images/C2-1nRqPBY4_208942276-left_rectified_f0020.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 253, "width": 512, "height": 512, "file_path": "images/Eb60eKlFW8k_128528529-left_rectified_f0102.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 254, "width": 512, "height": 512, "file_path": "images/GyOUUDMnENE_307474141-left_rectified_f0147.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 255, "width": 512, "height": 512, "file_path": "images/GyOUUDMnENE_75141808-left_rectified_f0013.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 256, "width": 512, "height": 512, "file_path": "images/NewNkmV9yPk_101835169-left_rectified_f0165.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 257, "width": 512, "height": 512, "file_path": "images/RJ_jCx2V-jU_20253587-left_rectified_f0035.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 258, "width": 512, "height": 512, "file_path": "images/WaUJuj_QRtc_75141808-left_rectified_f0058.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 259, "width": 512, "height": 512, "file_path": "images/YnBddI3HvKc_15281949-left_rectified_f0015.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 260, "width": 512, "height": 512, "file_path": "images/ZrlZLKfEYRU_128528529-left_rectified_f0048.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 261, "width": 512, "height": 512, "file_path": "images/ZrlZLKfEYRU_141875209-left_rectified_f0026.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 262, "width": 512, "height": 512, "file_path": "images/ZrlZLKfEYRU_41775108-left_rectified_f0143.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 263, "width": 512, "height": 512, "file_path": "images/cxmuw8UAJ3w_275342009-left_rectified_f0059.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 264, "width": 512, "height": 512, "file_path": "images/fnhMw91f_gE_128528529-left_rectified_f0012.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 265, "width": 512, "height": 512, "file_path": "images/frKHzpM2n8Q_28428428-left_rectified_f0064.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 266, "width": 512, "height": 512, "file_path": "images/hxjWvG2Yee0_31040000-left_rectified_f0117.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 267, "width": 512, "height": 512, "file_path": "images/iqdtgbpCGAY_208608609-left_rectified_f0174.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 268, "width": 512, "height": 512, "file_path": "images/l66XDvOVDJI_88488488-left_rectified_f0028.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 269, "width": 512, "height": 512, "file_path": "images/ppg9V8JMo1E_505605606-left_rectified_f0022.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 270, "width": 512, "height": 512, "file_path": "images/ppg9V8JMo1E_557357357-left_rectified_f0001.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 271, "width": 512, "height": 512, "file_path": "images/sLxqQ5-66L8_18785452-left_rectified_f0017.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 272, "width": 512, "height": 512, "file_path": "images/sf-hUrwrdsU_55121788-left_rectified_f0067.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 273, "width": 512, "height": 512, "file_path": "images/vNtfkfhqmqk_48448448-left_rectified_f0180.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 274, "width": 512, "height": 512, "file_path": "images/0-Xe1ETvBeE_228628629-left_rectified_f0157.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 275, "width": 512, "height": 512, "file_path": "images/3JzKxiXTJQo_462796129-left_rectified_f0058.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 276, "width": 512, "height": 512, "file_path": "images/4TD1xrtHGCQ_156423090-left_rectified_f0090.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 277, "width": 512, "height": 512, "file_path": "images/4TD1xrtHGCQ_163096430-left_rectified_f0080.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 278, "width": 512, "height": 512, "file_path": "images/6UT0bIqEojU_311745078-left_rectified_f0046.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 279, "width": 512, "height": 512, "file_path": "images/GyOUUDMnENE_316282950-left_rectified_f0001.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 280, "width": 512, "height": 512, "file_path": "images/KqOUFTPM7mc_108024691-left_rectified_f0025.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 281, "width": 512, "height": 512, "file_path": "images/NNO6LQYf--U_95161828-left_rectified_f0007.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 282, "width": 512, "height": 512, "file_path": "images/X0F9mLlR7m4_189456123-left_rectified_f0006.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 283, "width": 512, "height": 512, "file_path": "images/Y7XUgUUzJ3c_265965966-left_rectified_f0135.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 284, "width": 512, "height": 512, "file_path": "images/ZepKBB8MnBc_51184518-left_rectified_f0060.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 285, "width": 512, "height": 512, "file_path": "images/ZepKBB8MnBc_68468468-left_rectified_f0100.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 286, "width": 512, "height": 512, "file_path": "images/ZrlZLKfEYRU_121855189-left_rectified_f0053.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 287, "width": 512, "height": 512, "file_path": "images/ZrlZLKfEYRU_135201869-left_rectified_f0030.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 288, "width": 512, "height": 512, "file_path": "images/fnhMw91f_gE_141875209-left_rectified_f0017.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 289, "width": 512, "height": 512, "file_path": "images/nqhQD7xAijU_148548549-left_rectified_f0116.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 290, "width": 512, "height": 512, "file_path": "images/nqhQD7xAijU_355422089-left_rectified_f0137.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 291, "width": 512, "height": 512, "file_path": "images/ppg9V8JMo1E_585685686-left_rectified_f0043.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 292, "width": 512, "height": 512, "file_path": "images/tPwC06dft1w_48448448-left_rectified_f0034.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 293, "width": 512, "height": 512, "file_path": "images/-lblrTanBaE_101835169-left_rectified_f0074.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 294, "width": 512, "height": 512, "file_path": "images/1fZRIKQzA0g_712746079-left_rectified_f0038.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 295, "width": 512, "height": 512, "file_path": "images/2MwxopWejTg_108508509-left_rectified_f0151.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 296, "width": 512, "height": 512, "file_path": "images/3JzKxiXTJQo_175842509-left_rectified_f0002.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 297, "width": 512, "height": 512, "file_path": "images/3JzKxiXTJQo_466966967-left_rectified_f0019.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 298, "width": 512, "height": 512, "file_path": "images/4g7hz7rmbRI_28428428-left_rectified_f0026.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 299, "width": 512, "height": 512, "file_path": "images/66cZyAXX7As_47313981-left_rectified_f0005.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 300, "width": 512, "height": 512, "file_path": "images/FTkMQbed_Jg_128528529-left_rectified_f0086.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 301, "width": 512, "height": 512, "file_path": "images/GyOUUDMnENE_168568569-left_rectified_f0144.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 302, "width": 512, "height": 512, "file_path": "images/JMIcmLexxjA_81815148-left_rectified_f0021.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 303, "width": 512, "height": 512, "file_path": "images/McYdtzxULL8_46913580-left_rectified_f0134.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 304, "width": 512, "height": 512, "file_path": "images/MgaJnbDZIeI_201935269-left_rectified_f0031.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 305, "width": 512, "height": 512, "file_path": "images/X2g13W5Fjek_21755088-left_rectified_f0012.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 306, "width": 512, "height": 512, "file_path": "images/Xz1_L8z7xVg_70570571-left_rectified_f0018.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 307, "width": 512, "height": 512, "file_path": "images/ZrlZLKfEYRU_48448448-left_rectified_f0133.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 308, "width": 512, "height": 512, "file_path": "images/ciEZVnPfP3Q_88488488-left_rectified_f0128.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 309, "width": 512, "height": 512, "file_path": "images/fnhMw91f_gE_255855856-left_rectified_f0003.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 310, "width": 512, "height": 512, "file_path": "images/fnhMw91f_gE_335935936-left_rectified_f0077.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 311, "width": 512, "height": 512, "file_path": "images/fnhMw91f_gE_402669336-left_rectified_f0024.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 312, "width": 512, "height": 512, "file_path": "images/fnhMw91f_gE_41775108-left_rectified_f0001.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 313, "width": 512, "height": 512, "file_path": "images/frKHzpM2n8Q_15081748-left_rectified_f0148.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 314, "width": 512, "height": 512, "file_path": "images/frKHzpM2n8Q_21755088-left_rectified_f0193.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 315, "width": 512, "height": 512, "file_path": "images/frKHzpM2n8Q_75141808-left_rectified_f0162.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 316, "width": 512, "height": 512, "file_path": "images/frKHzpM2n8Q_81815148-left_rectified_f0000.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 317, "width": 512, "height": 512, "file_path": "images/l66XDvOVDJI_108508509-left_rectified_f0100.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 318, "width": 512, "height": 512, "file_path": "images/nqhQD7xAijU_382115449-left_rectified_f0021.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 319, "width": 512, "height": 512, "file_path": "images/nqhQD7xAijU_675742409-left_rectified_f0106.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 320, "width": 512, "height": 512, "file_path": "images/ppg9V8JMo1E_485585586-left_rectified_f0075.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 321, "width": 512, "height": 512, "file_path": "images/qAOeAW1hPeM_201935269-left_rectified_f0009.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 322, "width": 512, "height": 512, "file_path": "images/r9LEVuRrDc4_51551552-left_rectified_f0123.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 323, "width": 512, "height": 512, "file_path": "images/3JzKxiXTJQo_15081748-left_rectified_f0022.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 324, "width": 512, "height": 512, "file_path": "images/3JzKxiXTJQo_223056390-left_rectified_f0002.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 325, "width": 512, "height": 512, "file_path": "images/3JzKxiXTJQo_410777444-left_rectified_f0016.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 326, "width": 512, "height": 512, "file_path": "images/3JzKxiXTJQo_423790457-left_rectified_f0007.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 327, "width": 512, "height": 512, "file_path": "images/C1KNM3Dp-n0_15040000-left_rectified_f0008.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 328, "width": 512, "height": 512, "file_path": "images/FH6HiU-MuzA_81815148-left_rectified_f0028.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 329, "width": 512, "height": 512, "file_path": "images/H5xOyNqJkPs_153236570-left_rectified_f0145.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 330, "width": 512, "height": 512, "file_path": "images/JMIcmLexxjA_519085752-left_rectified_f0051.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 331, "width": 512, "height": 512, "file_path": "images/JMIcmLexxjA_545779112-left_rectified_f0052.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 332, "width": 512, "height": 512, "file_path": "images/KjhcYXVW2ng_520887554-left_rectified_f0031.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 333, "width": 512, "height": 512, "file_path": "images/NNO6LQYf--U_348748749-left_rectified_f0151.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 334, "width": 512, "height": 512, "file_path": "images/NNO6LQYf--U_408808809-left_rectified_f0125.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 335, "width": 512, "height": 512, "file_path": "images/NNO6LQYf--U_809209209-left_rectified_f0078.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 336, "width": 512, "height": 512, "file_path": "images/RYeFcm5hu-E_15081748-left_rectified_f0117.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 337, "width": 512, "height": 512, "file_path": "images/ZwnufqIJCEw_729529530-left_rectified_f0022.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 338, "width": 512, "height": 512, "file_path": "images/cxmuw8UAJ3w_235301969-left_rectified_f0064.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 339, "width": 512, "height": 512, "file_path": "images/cxmuw8UAJ3w_342075409-left_rectified_f0000.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 340, "width": 512, "height": 512, "file_path": "images/fnhMw91f_gE_108641975-left_rectified_f0003.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 341, "width": 512, "height": 512, "file_path": "images/h99h-tnK57s_41775108-left_rectified_f0024.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 342, "width": 512, "height": 512, "file_path": "images/l66XDvOVDJI_35101768-left_rectified_f0045.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 343, "width": 512, "height": 512, "file_path": "images/l66XDvOVDJI_75141808-left_rectified_f0127.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 344, "width": 512, "height": 512, "file_path": "images/mx1WfUf4pno_28428428-left_rectified_f0011.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 345, "width": 512, "height": 512, "file_path": "images/ppg9V8JMo1E_418852186-left_rectified_f0067.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 346, "width": 512, "height": 512, "file_path": "images/r0eLIGHRj64_41775108-left_rectified_f0011.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 347, "width": 512, "height": 512, "file_path": "images/vNtfkfhqmqk_41775108-left_rectified_f0183.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 348, "width": 512, "height": 512, "file_path": "images/0-Xe1ETvBeE_168568569-left_rectified_f0165.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 349, "width": 512, "height": 512, "file_path": "images/0D5nD9OfyM0_468001335-left_rectified_f0167.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 350, "width": 512, "height": 512, "file_path": "images/1ycXgM8obsc_128528529-left_rectified_f0134.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 351, "width": 512, "height": 512, "file_path": "images/3JzKxiXTJQo_179713046-left_rectified_f0002.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 352, "width": 512, "height": 512, "file_path": "images/3JzKxiXTJQo_459125792-left_rectified_f0005.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 353, "width": 512, "height": 512, "file_path": "images/8uPz33adf2s_330430430-left_rectified_f0034.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 354, "width": 512, "height": 512, "file_path": "images/BJGSwCZZd4Y_55121788-left_rectified_f0010.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 355, "width": 512, "height": 512, "file_path": "images/C2-1nRqPBY4_226659993-left_rectified_f0007.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 356, "width": 512, "height": 512, "file_path": "images/Eb60eKlFW8k_48448448-left_rectified_f0103.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 357, "width": 512, "height": 512, "file_path": "images/GyOUUDMnENE_542609276-left_rectified_f0007.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 358, "width": 512, "height": 512, "file_path": "images/JMIcmLexxjA_92425759-left_rectified_f0051.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 359, "width": 512, "height": 512, "file_path": "images/KybiQVTZmrs_259459459-left_rectified_f0031.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 360, "width": 512, "height": 512, "file_path": "images/X0F9mLlR7m4_160894228-left_rectified_f0018.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 361, "width": 512, "height": 512, "file_path": "images/ZrlZLKfEYRU_148548549-left_rectified_f0139.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 362, "width": 512, "height": 512, "file_path": "images/ciEZVnPfP3Q_128528529-left_rectified_f0058.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 363, "width": 512, "height": 512, "file_path": "images/fnhMw91f_gE_228628629-left_rectified_f0006.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 364, "width": 512, "height": 512, "file_path": "images/ppg9V8JMo1E_215281949-left_rectified_f0173.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 365, "width": 512, "height": 512, "file_path": "images/ppg9V8JMo1E_512278946-left_rectified_f0112.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 366, "width": 512, "height": 512, "file_path": "images/ppg9V8JMo1E_558992326-left_rectified_f0184.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 367, "width": 512, "height": 512, "file_path": "images/r0eLIGHRj64_121855189-left_rectified_f0017.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 368, "width": 512, "height": 512, "file_path": "images/u-1GD99GaGw_48448448-left_rectified_f0017.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 369, "width": 512, "height": 512, "file_path": "images/4TD1xrtHGCQ_149749750-left_rectified_f0028.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 370, "width": 512, "height": 512, "file_path": "images/CttP_T9VJBU_21755088-left_rectified_f0046.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 371, "width": 512, "height": 512, "file_path": "images/JMIcmLexxjA_555989323-left_rectified_f0009.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 372, "width": 512, "height": 512, "file_path": "images/JMIcmLexxjA_75141808-left_rectified_f0127.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 373, "width": 512, "height": 512, "file_path": "images/KqOUFTPM7mc_74324324-left_rectified_f0029.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 374, "width": 512, "height": 512, "file_path": "images/McYdtzxULL8_36336336-left_rectified_f0043.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 375, "width": 512, "height": 512, "file_path": "images/Y7XUgUUzJ3c_257891225-left_rectified_f0030.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 376, "width": 512, "height": 512, "file_path": "images/YnBddI3HvKc_75141808-left_rectified_f0082.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 377, "width": 512, "height": 512, "file_path": "images/ZwnufqIJCEw_181915249-left_rectified_f0098.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 378, "width": 512, "height": 512, "file_path": "images/fnhMw91f_gE_395995996-left_rectified_f0079.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 379, "width": 512, "height": 512, "file_path": "images/vNtfkfhqmqk_101835169-left_rectified_f0036.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 380, "width": 512, "height": 512, "file_path": "images/vNtfkfhqmqk_31464798-left_rectified_f0014.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 381, "width": 512, "height": 512, "file_path": "images/woYa45I_x-U_91758425-left_rectified_f0033.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}, {"id": 382, "width": 512, "height": 512, "file_path": "images/xyGpRps8AbA_135201869-left_rectified_f0038.jpg", "K": [[443.405, 0.0, 256.0], [0.0, 443.405, 256.0], [0.0, 0.0, 1.0]], "src_90_rotate": 0, "src_flagged": false, "incomplete": false}], "categories": [{"id": 0, "name": "air_conditioner_unit"}, {"id": 1, "name": "awning"}, {"id": 2, "name": "backpack"}, {"id": 3, "name": "banner"}, {"id": 4, "name": "base"}, {"id": 5, "name": "baseball_cap"}, {"id": 6, "name": "beam"}, {"id": 7, "name": "bench"}, {"id": 8, "name": "boat"}, {"id": 9, "name": "bottle"}, {"id": 10, "name": "bowl"}, {"id": 11, "name": "box"}, {"id": 12, "name": "brick"}, {"id": 13, "name": "building"}, {"id": 14, "name": "cabinet"}, {"id": 15, "name": "car"}, {"id": 16, "name": "chair"}, {"id": 17, "name": "chandelier"}, {"id": 18, "name": "chimney"}, {"id": 19, "name": "christmas_tree"}, {"id": 20, "name": "coat"}, {"id": 21, "name": "coral_formation"}, {"id": 22, "name": "door"}, {"id": 23, "name": "dress"}, {"id": 24, "name": "figure"}, {"id": 25, "name": "fish"}, {"id": 26, "name": "flag"}, {"id": 27, "name": "flagpole"}, {"id": 28, "name": "flowerpot"}, {"id": 29, "name": "fume_hood"}, {"id": 30, "name": "handbag"}, {"id": 31, "name": "hat"}, {"id": 32, "name": "house"}, {"id": 33, "name": "jacket"}, {"id": 34, "name": "jeans"}, {"id": 35, "name": "jersey"}, {"id": 36, "name": "lamp"}, {"id": 37, "name": "lantern"}, {"id": 38, "name": "light_fixture"}, {"id": 39, "name": "monument"}, {"id": 40, "name": "motorcycle"}, {"id": 41, "name": "ornament"}, {"id": 42, "name": "painting"}, {"id": 43, "name": "palm_tree"}, {"id": 44, "name": "parking_meter"}, {"id": 45, "name": "person"}, {"id": 46, "name": "piano_leg"}, {"id": 47, "name": "pipe"}, {"id": 48, "name": "plant"}, {"id": 49, "name": "plaque"}, {"id": 50, "name": "plastic_bag"}, {"id": 51, "name": "poster"}, {"id": 52, "name": "potted_plant"}, {"id": 53, "name": "scaffolding"}, {"id": 54, "name": "sculpture"}, {"id": 55, "name": "shirt"}, {"id": 56, "name": "shoe"}, {"id": 57, "name": "shorts"}, {"id": 58, "name": "signboard"}, {"id": 59, "name": "skirt"}, {"id": 60, "name": "skyscraper"}, {"id": 61, "name": "sports_car"}, {"id": 62, "name": "statue"}, {"id": 63, "name": "streetlight"}, {"id": 64, "name": "suitcase"}, {"id": 65, "name": "suv"}, {"id": 66, "name": "sweater"}, {"id": 67, "name": "sweatshirt"}, {"id": 68, "name": "table"}, {"id": 69, "name": "traffic_cone"}, {"id": 70, "name": "trash_can"}, {"id": 71, "name": "tray"}, {"id": 72, "name": "tree"}, {"id": 73, "name": "tree_trunk"}, {"id": 74, "name": "trousers"}, {"id": 75, "name": "vent"}, {"id": 76, "name": "vest"}, {"id": 77, "name": "window"}], "annotations": [{"id": 0, "image_id": 0, "category_id": 45, "category_name": "person", "bbox2D_proj": [61.0, 242.0, 99.0, 386.0], "bbox2D_tight": [61.0, 242.0, 99.0, 386.0], "bbox2D_trunc": [61.0, 242.0, 99.0, 386.0], "center_cam": [-1.1032523636200253, 0.3719256328467854, 3.0531590459594167], "dimensions": [0.28710938187505786, 0.9348144313531586, 0.3310547034372291], "R_cam": [[-0.999091625213623, 0.026611685752868652, -0.033286307007074356], [0.021794497966766357, 0.9902589321136475, 0.13752272725105286], [0.03662176430225372, 0.13667233288288116, -0.9899393320083618]], "bbox3D_cam": [[-0.9455354809761047, -0.11427813768386841, 3.125325918197632], [-1.276289463043213, -0.1070629358291626, 3.1374497413635254], [-1.2514125108718872, 0.8186452984809875, 3.2652130126953125], [-0.9206585884094238, 0.8114300966262817, 3.253089189529419], [-0.9550923109054565, -0.07479405403137207, 2.8411049842834473], [-1.28584623336792, -0.06757885217666626, 2.853228807449341], [-1.2609694004058838, 0.8581293821334839, 2.980992078781128], [-0.9302153587341309, 0.8509141802787781, 2.9688682556152344]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1, "image_id": 0, "category_id": 2, "category_name": "backpack", "bbox2D_proj": [123.0, 255.0, 176.0, 344.0], "bbox2D_tight": [123.0, 255.0, 176.0, 344.0], "bbox2D_trunc": [123.0, 255.0, 176.0, 344.0], "center_cam": [-0.5009630144989563, 0.19975065089029173, 2.1350647292137657], "dimensions": [0.25634825827358554, 0.4047164831167106, 0.25781310491656695], "R_cam": [[0.5500184297561646, 0.04079717397689819, 0.8341554403305054], [-0.010183453559875488, 0.9990595579147339, -0.04214772582054138], [-0.8350903987884521, 0.014687418937683105, 0.5499166250228882]], "bbox3D_cam": [[-0.6870368123054504, 0.004297688603401184, 2.1692562103271484], [-0.5452348589897156, 0.0016722530126571655, 1.9539589881896973], [-0.5287235379219055, 0.40600812435150146, 1.9599032402038574], [-0.6705254912376404, 0.4086335301399231, 2.1752004623413086], [-0.47320252656936646, -0.006506815552711487, 2.3102264404296875], [-0.3314005732536316, -0.009132251143455505, 2.0949292182922363], [-0.31488925218582153, 0.3952035903930664, 2.1008734703063965], [-0.4566912055015564, 0.3978290557861328, 2.3161706924438477]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2, "image_id": 0, "category_id": 5, "category_name": "baseball_cap", "bbox2D_proj": [163.0, 215.0, 194.0, 239.0], "bbox2D_tight": [163.0, 215.0, 194.0, 239.0], "bbox2D_trunc": [163.0, 215.0, 194.0, 239.0], "center_cam": [-0.3836602164418933, -0.14332146953082042, 2.18895109881289], "dimensions": [0.07777513817107762, 0.10660259172359535, 0.1445525053952647], "R_cam": [[-0.951691746711731, 0.06820511817932129, 0.29938390851020813], [0.12184561789035797, 0.9788515567779541, 0.1643267571926117], [-0.28184446692466736, 0.19286704063415527, -0.9398755431175232]], "bbox3D_cam": [[-0.330153226852417, -0.21069234609603882, 2.235591173171997], [-0.46772268414497375, -0.19307924807071686, 2.194849729537964], [-0.4604518413543701, -0.08873113244771957, 2.215409994125366], [-0.32288238406181335, -0.10634422302246094, 2.2561511993408203], [-0.30686861276626587, -0.19791179895401, 2.162492036819458], [-0.44443807005882263, -0.18029871582984924, 2.121750831604004], [-0.437167227268219, -0.07595060020685196, 2.142310857772827], [-0.29959776997566223, -0.09356369078159332, 2.1830523014068604]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 3, "image_id": 0, "category_id": 45, "category_name": "person", "bbox2D_proj": [266.0, 241.0, 335.0, 487.0], "bbox2D_tight": [266.0, 241.0, 335.0, 487.0], "bbox2D_trunc": [266.0, 241.0, 335.0, 487.0], "center_cam": [0.20509049613849364, 0.5321557528228472, 2.222259562760296], "dimensions": [0.3671877373061503, 1.1373290748865559, 0.37500024179614355], "R_cam": [[0.539979100227356, 0.022103607654571533, 0.8413881063461304], [0.07018536329269409, 0.9949910640716553, -0.07118189334869385], [-0.8387470245361328, 0.09748992323875427, 0.535723090171814]], "bbox3D_cam": [[-0.06319889426231384, -0.03375154733657837, 2.2257301807403564], [0.13929340243339539, -0.007432043552398682, 1.9111998081207275], [0.16443251073360443, 1.1242001056671143, 2.022078037261963], [-0.03805980086326599, 1.0978806018829346, 2.3366081714630127], [0.24574847519397736, -0.05988866090774536, 2.422441005706787], [0.4482407867908478, -0.033569157123565674, 2.1079108715057373], [0.47337988018989563, 1.0980629920959473, 2.2187888622283936], [0.2708875834941864, 1.0717434883117676, 2.5333192348480225]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 4, "image_id": 0, "category_id": 35, "category_name": "jersey", "bbox2D_proj": [448.0, 302.0, 469.0, 341.0], "bbox2D_tight": [448.0, 302.0, 469.0, 341.0], "bbox2D_trunc": [448.0, 302.0, 469.0, 341.0], "center_cam": [1.2944322295538626, 0.4147584545267632, 2.8459220896643767], "dimensions": [0.11129331774715565, 0.25246129120557637, 0.13611187150400905], "R_cam": [[-0.39139389991760254, 0.06820511072874069, 0.9176921248435974], [0.20407241582870483, 0.9788515567779541, 0.014285877346992493], [-0.8973099589347839, 0.19286705553531647, -0.3970354199409485]], "bbox3D_cam": [[1.2613928318023682, 0.27651408314704895, 2.9047372341156006], [1.208119511604309, 0.304290771484375, 2.7826027870178223], [1.2253386974334717, 0.5514128804206848, 2.831294059753418], [1.2786120176315308, 0.5236362218856812, 2.9534287452697754], [1.3635258674621582, 0.2781040072441101, 2.8605499267578125], [1.3102525472640991, 0.30588069558143616, 2.738415241241455], [1.3274717330932617, 0.5530028343200684, 2.78710675239563], [1.3807450532913208, 0.5252261161804199, 2.909241199493408]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 5, "image_id": 0, "category_id": 45, "category_name": "person", "bbox2D_proj": [348.0, 221.0, 414.0, 426.0], "bbox2D_tight": [348.0, 221.0, 414.0, 426.0], "bbox2D_trunc": [348.0, 221.0, 414.0, 426.0], "center_cam": [0.7001219290715159, 0.38768816383839627, 2.581230795764709], "dimensions": [0.335937566428904, 1.1127929412931457, 0.35839850377815474], "R_cam": [[-0.35441628098487854, -0.019370198249816895, -0.934887170791626], [0.024824142456054688, 0.9992382526397705, -0.030114416033029556], [0.9347583055496216, -0.03388086333870888, -0.35366547107696533]], "bbox3D_cam": [[0.9314424395561218, -0.16767460107803345, 2.491978883743286], [0.8044201731681824, -0.15877765417099, 2.8269946575164795], [0.7828651070594788, 0.9531674981117249, 2.789292335510254], [0.9098873734474182, 0.9442705512046814, 2.4542765617370605], [0.6173787713050842, -0.17779117822647095, 2.373169422149658], [0.4903565049171448, -0.1688942313194275, 2.7081851959228516], [0.46880143880844116, 0.9430509209632874, 2.670482873916626], [0.5958237051963806, 0.9341539740562439, 2.3354671001434326]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 6, "image_id": 1, "category_id": 2, "category_name": "backpack", "bbox2D_proj": [139.0, 287.0, 212.0, 448.0], "bbox2D_tight": [139.0, 287.0, 212.0, 448.0], "bbox2D_trunc": [139.0, 287.0, 212.0, 448.0], "center_cam": [-0.26137109061086194, 0.3783890584171402, 1.6732467720227207], "dimensions": [0.33398442815581814, 0.546508816137788, 0.3558350059265831], "R_cam": [[0.924412190914154, 0.0562363862991333, -0.377226322889328], [-0.07762837409973145, 0.9961085915565491, -0.04173383489251137], [0.3734113574028015, 0.06786272674798965, 0.9251803159713745]], "bbox3D_cam": [[-0.37821316719055176, 0.12697869539260864, 1.433768630027771], [-0.049274951219558716, 0.09935581684112549, 1.5666414499282837], [-0.018541276454925537, 0.6437378525733948, 1.603729009628296], [-0.3474794924259186, 0.6713607311248779, 1.4708561897277832], [-0.5042008757591248, 0.1130402684211731, 1.7427644729614258], [-0.1752626597881317, 0.08541738986968994, 1.8756372928619385], [-0.14452898502349854, 0.6297994256019592, 1.9127248525619507], [-0.4734672009944916, 0.6574223041534424, 1.779852032661438]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 7, "image_id": 1, "category_id": 45, "category_name": "person", "bbox2D_proj": [193.0, 218.0, 358.0, 512.0], "bbox2D_tight": [193.0, 218.0, 358.0, 512.0], "bbox2D_trunc": [193.0, 218.0, 358.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 8, "image_id": 1, "category_id": 45, "category_name": "person", "bbox2D_proj": [210.0, 248.0, 308.0, 296.0], "bbox2D_tight": [210.0, 248.0, 308.0, 296.0], "bbox2D_trunc": [210.0, 248.0, 308.0, 296.0], "center_cam": [0.05504289994716874, 0.09859065529626093, 2.7001755112950225], "dimensions": [0.3145076482094461, 0.6018394469960756, 0.32724586509639436], "R_cam": [[-0.4090614318847656, 0.034850165247917175, -0.911841094493866], [0.05681741237640381, 0.9983043074607849, 0.012665823101997375], [0.9107362627983093, -0.04662734270095825, -0.4103478789329529]], "bbox3D_cam": [[0.25487813353538513, -0.2131071537733078, 2.629718065261841], [0.12101446837186813, -0.19451390206813812, 2.927752733230591], [0.14198866486549377, 0.4063049554824829, 2.899690628051758], [0.2758523225784302, 0.38771170377731323, 2.601655960083008], [-0.03190285712480545, -0.2091236561536789, 2.5006604194641113], [-0.16576650738716125, -0.19053040444850922, 2.7986950874328613], [-0.1447923183441162, 0.4102884531021118, 2.7706329822540283], [-0.010928668081760406, 0.39169520139694214, 2.4725983142852783]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 9, "image_id": 1, "category_id": 2, "category_name": "backpack", "bbox2D_proj": [83.0, 279.0, 133.0, 375.0], "bbox2D_tight": [83.0, 279.0, 133.0, 375.0], "bbox2D_trunc": [83.0, 279.0, 133.0, 375.0], "center_cam": [-0.7903716757239315, 0.3678169345421283, 2.4081512622066095], "dimensions": [0.2656250172799933, 0.4957275597609868, 0.2780761802683829], "R_cam": [[-0.9786781668663025, 0.08040022850036621, 0.18901054561138153], [0.0567094087600708, 0.990206778049469, -0.12757234275341034], [-0.19741633534431458, -0.1141335666179657, -0.9736531972885132]], "bbox3D_cam": [[-0.6993293762207031, 0.1314389556646347, 2.593202590942383], [-0.9714764356613159, 0.14720851182937622, 2.5383057594299316], [-0.9316198825836182, 0.6380813121795654, 2.48172664642334], [-0.6594728231430054, 0.6223117113113403, 2.536623239517212], [-0.6491234302520752, 0.09755253791809082, 2.334575653076172], [-0.921270489692688, 0.11332210898399353, 2.2796790599823], [-0.8814139366149902, 0.6041948795318604, 2.223099708557129], [-0.6092668771743774, 0.58842533826828, 2.27799654006958]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 10, "image_id": 1, "category_id": 49, "category_name": "plaque", "bbox2D_proj": [214.0, 107.0, 248.0, 199.0], "bbox2D_tight": [214.0, 107.0, 248.0, 199.0], "bbox2D_trunc": [214.0, 107.0, 248.0, 199.0], "center_cam": [-0.5829446409687924, -2.397633356817115, 10.735171680671598], "dimensions": [0.22656250678859735, 2.087890703322864, 0.8945312818247], "R_cam": [[0.8175199031829834, 0.08688241243362427, 0.5693089365959167], [-0.18289458751678467, 0.9765470027923584, 0.1136028915643692], [-0.546086847782135, -0.19699609279632568, 0.8142368793487549]], "bbox3D_cam": [[-1.103785753250122, -3.3481616973876953, 11.092832565307617], [-0.3724886178970337, -3.5117664337158203, 10.604340553283691], [-0.191087543964386, -1.4728431701660156, 10.193034172058105], [-0.9223846793174744, -1.309238314628601, 10.681526184082031], [-0.9748017191886902, -3.3224234580993652, 11.277308464050293], [-0.2435045838356018, -3.4860281944274902, 10.788816452026367], [-0.0621035099029541, -1.447105050086975, 10.377510070800781], [-0.7934006452560425, -1.283500075340271, 10.866002082824707]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 11, "image_id": 2, "category_id": 55, "category_name": "shirt", "bbox2D_proj": [123.0, 218.0, 152.0, 288.0], "bbox2D_tight": [123.0, 218.0, 152.0, 288.0], "bbox2D_trunc": [123.0, 218.0, 152.0, 288.0], "center_cam": [-1.2407615248851624, -0.04322872927115144, 4.613955572014164], "dimensions": [0.13281249900867123, 0.6755370816665892, 0.39257812262515995], "R_cam": [[0.8543254137039185, -0.060810625553131104, 0.5161689519882202], [0.0643734335899353, 0.9978652000427246, 0.011013747192919254], [-0.5157366991043091, 0.02381831780076027, 0.8564159870147705]], "bbox3D_cam": [[-1.422193169593811, -0.3936433792114258, 4.650272369384766], [-1.086803674697876, -0.36837178468704224, 4.447805404663086], [-1.1278835535049438, 0.3057231307029724, 4.463895797729492], [-1.463273048400879, 0.28045153617858887, 4.666362762451172], [-1.3536394834518433, -0.3921806216239929, 4.764015197753906], [-1.0182499885559082, -0.3669090270996094, 4.561548233032227], [-1.059329867362976, 0.3071858882904053, 4.577638626098633], [-1.3947193622589111, 0.28191429376602173, 4.7801055908203125]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 12, "image_id": 2, "category_id": 11, "category_name": "box", "bbox2D_proj": [86.0, 312.0, 243.0, 376.0], "bbox2D_tight": [86.0, 312.0, 243.0, 376.0], "bbox2D_trunc": [86.0, 312.0, 243.0, 376.0], "center_cam": [-0.8529035980477625, 0.8032553225549255, 4.588713048235833], "dimensions": [0.9218749971340837, 0.4326171685241415, 1.2734374962102155], "R_cam": [[0.6160472631454468, -0.016031414270401, -0.7875460386276245], [-0.001550048589706421, 0.9997662901878357, -0.02156388759613037], [0.7877076864242554, 0.014505088329315186, 0.6158784031867981]], "bbox3D_cam": [[-0.8786751627922058, 0.5979238748550415, 3.8001458644866943], [-0.0941774845123291, 0.5959500074386597, 4.803242206573486], [-0.101112961769104, 1.028465986251831, 4.8095173835754395], [-0.8856106400489807, 1.030439853668213, 3.8064210414886475], [-1.6046942472457886, 0.5780446529388428, 4.367908954620361], [-0.8201965689659119, 0.5760707855224609, 5.371005058288574], [-0.8271320462226868, 1.0085867643356323, 5.377280235290527], [-1.6116297245025635, 1.0105606317520142, 4.3741841316223145]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 13, "image_id": 2, "category_id": 47, "category_name": "pipe", "bbox2D_proj": [331.0, 192.0, 408.0, 211.0], "bbox2D_tight": [331.0, 192.0, 408.0, 211.0], "bbox2D_trunc": [331.0, 192.0, 408.0, 211.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 14, "image_id": 3, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [471.0, 145.0, 512.0, 274.0], "bbox2D_tight": [471.0, 145.0, 512.0, 274.0], "bbox2D_trunc": [471.0, 145.0, 512.0, 274.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 15, "image_id": 3, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [199.0, 198.0, 234.0, 257.0], "bbox2D_tight": [199.0, 198.0, 234.0, 257.0], "bbox2D_trunc": [199.0, 198.0, 234.0, 257.0], "center_cam": [-1.131563661397655, -1.0078301959926361, 13.045568938467994], "dimensions": [0.7207031176120107, 0.9921875026489031, 2.082031236111132], "R_cam": [[-0.016044139862060547, 0.27046170830726624, -0.9625970721244812], [0.679940938949585, 0.7088044881820679, 0.1878204494714737], [0.733091413974762, -0.6514956951141357, -0.19527018070220947]], "bbox3D_cam": [[-0.9021624326705933, -2.1349740028381348, 12.67597770690918], [-0.9355668425559998, -0.7193158864974976, 14.20229721069336], [-0.6672181487083435, -0.016048967838287354, 13.555891036987305], [-0.633813738822937, -1.4317071437835693, 12.029571533203125], [-1.5959091186523438, -1.9996113777160645, 12.535245895385742], [-1.629313588142395, -0.5839531421661377, 14.061565399169922], [-1.3609648942947388, 0.11931383609771729, 13.415159225463867], [-1.3275604248046875, -1.2963443994522095, 11.888839721679688]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 16, "image_id": 3, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [344.0, 113.0, 434.0, 277.0], "bbox2D_tight": [344.0, 113.0, 434.0, 277.0], "bbox2D_trunc": [344.0, 113.0, 434.0, 277.0], "center_cam": [1.3085674193886696, -0.5837484353249305, 4.51618528922005], "dimensions": [0.5048828041027307, 1.5434570204620655, 0.8300781045152691], "R_cam": [[0.19256380200386047, 0.0337756872177124, 0.9807029962539673], [0.04732358455657959, 0.9979249238967896, -0.04366093873977661], [-0.9801426529884338, 0.054817914962768555, 0.190565824508667]], "bbox3D_cam": [[0.9550102353096008, -1.362494945526123, 4.832571506500244], [1.1148531436920166, -1.3232126235961914, 4.01897668838501], [1.1669844388961792, 0.21704167127609253, 4.103585720062256], [1.0071415901184082, 0.1777593493461609, 4.91718053817749], [1.4501503705978394, -1.3845386505126953, 4.9287848472595215], [1.6099932193756104, -1.3452563285827637, 4.115190029144287], [1.6621246337890625, 0.19499796628952026, 4.199799060821533], [1.502281665802002, 0.15571564435958862, 5.013393878936768]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 17, "image_id": 3, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [395.0, 55.0, 470.0, 272.0], "bbox2D_tight": [395.0, 55.0, 470.0, 272.0], "bbox2D_trunc": [395.0, 55.0, 470.0, 272.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 18, "image_id": 3, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [28.0, 51.0, 133.0, 241.0], "bbox2D_tight": [28.0, 51.0, 133.0, 241.0], "bbox2D_trunc": [28.0, 51.0, 133.0, 241.0], "center_cam": [-1.7745684082895432, -0.931333862798655, 4.528381246916851], "dimensions": [0.8583984439927399, 1.9418945213292356, 0.9492187541567843], "R_cam": [[0.664115846157074, 0.08027100563049316, 0.7433079481124878], [-0.13823533058166504, 0.9902607798576355, 0.016568005084991455], [-0.7347387671470642, -0.11375454068183899, 0.6687442064285278]], "bbox3D_cam": [[-2.4867300987243652, -1.834328055381775, 4.7005205154418945], [-1.8563388586044312, -1.9655437469482422, 4.0030927658081055], [-1.7004611492156982, -0.04256153106689453, 3.782193183898926], [-2.330852508544922, 0.08865410089492798, 4.479620933532715], [-1.8486757278442383, -1.8201061487197876, 5.274569511413574], [-1.2182844877243042, -1.9513218402862549, 4.577141761779785], [-1.0624067783355713, -0.028339624404907227, 4.3562421798706055], [-1.6927980184555054, 0.10287600755691528, 5.0536699295043945]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 19, "image_id": 3, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [21.0, 71.0, 60.0, 283.0], "bbox2D_tight": [21.0, 71.0, 60.0, 283.0], "bbox2D_trunc": [21.0, 71.0, 60.0, 283.0], "center_cam": [-2.076227413660087, -0.7806621377333886, 4.288517346246659], "dimensions": [0.14259334634115817, 2.1018090345897713, 0.36246017224225335], "R_cam": [[-0.9737262725830078, -0.0026291015092283487, -0.22770696878433228], [-0.0025280930567532778, 0.9999966621398926, -0.0007352515822276473], [0.227708101272583, -0.00014026931603439152, -0.9737294316291809]], "bbox3D_cam": [[-1.8807612657546997, -1.831052541732788, 4.316821098327637], [-2.2336983680725098, -1.8319687843322754, 4.399355888366699], [-2.2392241954803467, 0.26983314752578735, 4.39906120300293], [-1.8862870931625366, 0.27074939012527466, 4.316526412963867], [-1.9132307767868042, -1.8311574459075928, 4.177973747253418], [-2.266167640686035, -1.83207368850708, 4.2605085372924805], [-2.271693706512451, 0.26972824335098267, 4.260213851928711], [-1.9187566041946411, 0.27064448595046997, 4.177679061889648]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 20, "image_id": 3, "category_id": 13, "category_name": "building", "bbox2D_proj": [52.0, 239.0, 164.0, 299.0], "bbox2D_tight": [52.0, 239.0, 164.0, 299.0], "bbox2D_trunc": [52.0, 239.0, 164.0, 299.0], "center_cam": [-1.0615598355524274, 0.06172211486523552, 3.0350714626008752], "dimensions": [0.6633047360260208, 0.3298273350197443, 0.9078759764621406], "R_cam": [[0.030154883861541748, -0.022412573918700218, 0.9992939233779907], [0.0225832462310791, 0.9995086193084717, 0.021735910326242447], [-0.9992901086807251, 0.021911919116973877, 0.030646217986941338]], "bbox3D_cam": [[-1.402970314025879, -0.12057068943977356, 3.474909543991089], [-1.3755934238433838, -0.10006788372993469, 2.567678213119507], [-1.3829855918884277, 0.22959738969802856, 2.5749053955078125], [-1.4103626012802124, 0.2090945839881897, 3.4821367263793945], [-0.7401339411735535, -0.10615316033363342, 3.495237350463867], [-0.7127569913864136, -0.08565035462379456, 2.588006019592285], [-0.7201492786407471, 0.2440149188041687, 2.595233201980591], [-0.747526228427887, 0.22351211309432983, 3.502464532852173]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 21, "image_id": 3, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [145.0, 148.0, 187.0, 258.0], "bbox2D_tight": [145.0, 148.0, 187.0, 258.0], "bbox2D_trunc": [145.0, 148.0, 187.0, 258.0], "center_cam": [-1.2874921580870835, -0.8157779346574998, 6.743280159121008], "dimensions": [0.40624999199646844, 1.6037597544263338, 0.5246581957041493], "R_cam": [[0.9672302007675171, -0.014798998832702637, -0.2534692883491516], [-0.05269122123718262, 0.9648666381835938, -0.2574024498462677], [0.2483733594417572, 0.2623230218887329, 0.9324684143066406]], "bbox3D_cam": [[-1.4778717756271362, -1.5233778953552246, 6.278365135192871], [-0.9704065322875977, -1.5510227680206299, 6.4086761474609375], [-0.994140625, -0.003608405590057373, 6.829379558563232], [-1.5016058683395386, 0.0240364670753479, 6.699068069458008], [-1.5808436870574951, -1.6279475688934326, 6.657180309295654], [-1.0733784437179565, -1.655592441558838, 6.787491798400879], [-1.0971125364303589, -0.10817807912826538, 7.208194732666016], [-1.6045777797698975, -0.08053320646286011, 7.077883720397949]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 22, "image_id": 3, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [0.0, 22.0, 14.0, 226.0], "bbox2D_tight": [0.0, 22.0, 14.0, 226.0], "bbox2D_trunc": [0.0, 22.0, 14.0, 226.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 23, "image_id": 4, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [275.0, 153.0, 290.0, 238.0], "bbox2D_tight": [275.0, 153.0, 290.0, 238.0], "bbox2D_trunc": [275.0, 153.0, 290.0, 238.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 24, "image_id": 4, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [288.0, 0.0, 386.0, 238.0], "bbox2D_tight": [288.0, 0.0, 386.0, 238.0], "bbox2D_trunc": [288.0, 0.0, 386.0, 238.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 25, "image_id": 4, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [192.0, 59.0, 254.0, 279.0], "bbox2D_tight": [192.0, 59.0, 254.0, 279.0], "bbox2D_trunc": [192.0, 59.0, 254.0, 279.0], "center_cam": [-0.34876483486786314, -1.080819848055873, 5.291540377514987], "dimensions": [0.4609375379587013, 2.3309937256809743, 0.5312500372992821], "R_cam": [[0.5299708843231201, 0.002582073211669922, 0.8480119109153748], [-0.00025010108947753906, 0.9999958276748657, -0.002888500690460205], [-0.8480157852172852, 0.0013187527656555176, 0.5299692153930664]], "bbox3D_cam": [[-0.6879880428314209, -2.245579719543457, 5.393115997314453], [-0.40644100308418274, -2.2457125186920166, 4.942607402801514], [-0.40042224526405334, 0.08527135848999023, 4.945681571960449], [-0.6819692850112915, 0.0854041576385498, 5.396190166473389], [-0.29710742831230164, -2.24691104888916, 5.637398719787598], [-0.015560418367385864, -2.2470438480377197, 5.186890125274658], [-0.00954166054725647, 0.08394002914428711, 5.189964294433594], [-0.29108867049217224, 0.08407282829284668, 5.640472888946533]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 26, "image_id": 4, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [385.0, 64.0, 508.0, 235.0], "bbox2D_tight": [385.0, 64.0, 508.0, 235.0], "bbox2D_trunc": [385.0, 64.0, 508.0, 235.0], "center_cam": [1.016783545422283, -0.6694592516641193, 2.4435444989165944], "dimensions": [0.5993686049465916, 1.0426867674245517, 1.058189441372578], "R_cam": [[0.28261899948120117, 0.015834765508770943, -0.9591015577316284], [-0.005622947122901678, 0.9998739957809448, 0.014851002022624016], [0.9592157602310181, 0.0011958018876612186, 0.2826725244522095]], "bbox3D_cam": [[1.1464236974716187, -1.192212462425232, 1.8506925106048584], [1.4454882144927979, -1.19816255569458, 2.865724563598633], [1.4619988203048706, -0.1556072235107422, 2.866971254348755], [1.162934422492981, -0.14965713024139404, 1.85193932056427], [0.5715683698654175, -1.1833112239837646, 2.0201175212860107], [0.8706327676773071, -1.1892613172531128, 3.035149574279785], [0.8871434926986694, -0.1467059850692749, 3.0363962650299072], [0.588079035282135, -0.14075589179992676, 2.021364212036133]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 27, "image_id": 4, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [14.0, 189.0, 47.0, 237.0], "bbox2D_tight": [14.0, 189.0, 47.0, 237.0], "bbox2D_trunc": [14.0, 189.0, 47.0, 237.0], "center_cam": [-3.550046800569418, -0.6705876495726846, 7.006535432108739], "dimensions": [0.45140992422398396, 0.7810031806582685, 0.7107271603906771], "R_cam": [[-0.44082510471343994, 0.015834765508770943, -0.8974533081054688], [0.0059077865444123745, 0.9998738765716553, 0.014740006998181343], [0.8975735902786255, 0.0011958028189837933, -0.44086307287216187]], "bbox3D_cam": [[-3.1970174312591553, -1.0664663314819336, 6.786608695983887], [-3.5103237628936768, -1.062267541885376, 7.424538612365723], [-3.4979567527770996, -0.28136277198791504, 7.425472259521484], [-3.184650421142578, -0.28556162118911743, 6.787542343139648], [-3.6021366119384766, -1.0598125457763672, 6.58759880065918], [-3.915442943572998, -1.0556137561798096, 7.225528717041016], [-3.903075933456421, -0.27470898628234863, 7.226462364196777], [-3.5897696018218994, -0.278907835483551, 6.588532447814941]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 28, "image_id": 4, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [114.0, 107.0, 194.0, 276.0], "bbox2D_tight": [114.0, 107.0, 194.0, 276.0], "bbox2D_trunc": [114.0, 107.0, 194.0, 276.0], "center_cam": [-0.8688501073829403, -0.5555441280322311, 3.635805903722336], "dimensions": [0.38476565195813606, 1.188964888652271, 0.46289065561491133], "R_cam": [[-0.6417550444602966, -0.1053839921951294, 0.7596344351768494], [0.20921814441680908, 0.9288846254348755, 0.3056158721446991], [-0.7378198504447937, 0.35505977272987366, -0.5740683078765869]], "bbox3D_cam": [[-0.8038105964660645, -1.2149676084518433, 3.705934762954712], [-1.1008731126785278, -1.1181224584579468, 3.3644049167633057], [-1.2261708974838257, -0.013711214065551758, 3.7865586280822754], [-0.9291084408760071, -0.11055633425712585, 4.128088474273682], [-0.5115293264389038, -1.097377061843872, 3.485053062438965], [-0.8085917830467224, -1.0005319118499756, 3.1435232162475586], [-0.933889627456665, 0.10387933254241943, 3.5656769275665283], [-0.6368271708488464, 0.007034182548522949, 3.9072067737579346]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 29, "image_id": 4, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [50.0, 205.0, 103.0, 273.0], "bbox2D_tight": [50.0, 205.0, 103.0, 273.0], "bbox2D_trunc": [50.0, 205.0, 103.0, 273.0], "center_cam": [-1.9137029228481768, -0.16574527379045323, 4.858927196310154], "dimensions": [0.46972657520315053, 0.7968750344414876, 0.49218750904505665], "R_cam": [[0.03955411911010742, 0.11575448513031006, 0.9924899935722351], [-0.2183082103729248, 0.9702726602554321, -0.10446292161941528], [-0.9750779271125793, -0.21253687143325806, 0.06364846229553223]], "bbox3D_cam": [[-2.2026572227478027, -0.47407954931259155, 5.168622016906738], [-2.1831893920898438, -0.5815281271934509, 4.6887006759643555], [-2.090947389602661, 0.19165797531604767, 4.5193352699279785], [-2.110415458679199, 0.29910653829574585, 4.999256610870361], [-1.736458420753479, -0.5231485366821289, 5.198519229888916], [-1.7169904708862305, -0.6305971145629883, 4.718597888946533], [-1.6247485876083374, 0.14258898794651031, 4.549232482910156], [-1.644216537475586, 0.2500375509262085, 5.029153823852539]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 30, "image_id": 5, "category_id": 45, "category_name": "person", "bbox2D_proj": [360.0, 291.0, 406.0, 405.0], "bbox2D_tight": [360.0, 291.0, 406.0, 405.0], "bbox2D_trunc": [360.0, 291.0, 406.0, 405.0], "center_cam": [1.2191962865199168, 0.8963758480456545, 4.266090716216776], "dimensions": [0.3281250355068437, 1.1225586271972747, 0.40820316130560697], "R_cam": [[0.8981820344924927, -0.0613483190536499, -0.43532225489616394], [-0.00716090202331543, 0.9880424737930298, -0.15401577949523926], [0.4395654797554016, 0.14145150780677795, 0.88700270652771]], "bbox3D_cam": [[1.1417295932769775, 0.3685378432273865, 3.9514570236206055], [1.508370280265808, 0.36561471223831177, 4.130889415740967], [1.4395031929016113, 1.474750280380249, 4.289676666259766], [1.0728625059127808, 1.4776732921600342, 4.1102447509765625], [0.9988894462585449, 0.3180014491081238, 4.242505073547363], [1.3655301332473755, 0.3150783181190491, 4.421936988830566], [1.2966630458831787, 1.4242138862609863, 4.580724716186523], [0.9300223588943481, 1.4271368980407715, 4.401292324066162]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 31, "image_id": 5, "category_id": 45, "category_name": "person", "bbox2D_proj": [294.0, 279.0, 331.0, 396.0], "bbox2D_tight": [294.0, 279.0, 331.0, 396.0], "bbox2D_trunc": [294.0, 279.0, 331.0, 396.0], "center_cam": [0.5735493146917778, 0.793085070275527, 4.432711973079611], "dimensions": [0.37402345590025143, 1.1550293281677382, 0.40234378340742744], "R_cam": [[-0.05605679750442505, -0.05444824695587158, -0.996941864490509], [-0.06010937690734863, 0.9968847632408142, -0.0510653555393219], [0.9966166019439697, 0.05706292390823364, -0.05915510654449463]], "bbox3D_cam": [[0.8027109503746033, 0.23901164531707764, 4.210329055786133], [0.7801567912101746, 0.2148270606994629, 4.611311435699463], [0.7172673940658569, 1.366258144378662, 4.677220821380615], [0.7398215532302856, 1.3904427289962769, 4.276238441467285], [0.42983126640319824, 0.21991205215454102, 4.18820333480835], [0.40727710723876953, 0.19572746753692627, 4.58918571472168], [0.3443877100944519, 1.3471585512161255, 4.655095100402832], [0.3669418692588806, 1.3713431358337402, 4.254112720489502]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 32, "image_id": 5, "category_id": 45, "category_name": "person", "bbox2D_proj": [16.0, 381.0, 96.0, 512.0], "bbox2D_tight": [16.0, 381.0, 96.0, 512.0], "bbox2D_trunc": [16.0, 381.0, 96.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 33, "image_id": 5, "category_id": 45, "category_name": "person", "bbox2D_proj": [354.0, 265.0, 385.0, 342.0], "bbox2D_tight": [354.0, 265.0, 385.0, 342.0], "bbox2D_trunc": [354.0, 265.0, 385.0, 342.0], "center_cam": [1.4692494977539226, 0.6072428467925255, 5.681318508800066], "dimensions": [0.2617187750763329, 0.9897461193747109, 0.33593753524541403], "R_cam": [[-0.5632708668708801, -0.17940783500671387, -0.8065598607063293], [-0.1583315134048462, 0.9814897179603577, -0.1077457070350647], [0.810960590839386, 0.06701385974884033, -0.5812504291534424]], "bbox3D_cam": [[1.758191466331482, 0.16222435235977173, 5.588000774383545], [1.568967580795288, 0.10903483629226685, 5.860433101654053], [1.3913993835449219, 1.0804603099822998, 5.926759719848633], [1.5806232690811157, 1.1336498260498047, 5.654327869415283], [1.5470995903015137, 0.13402527570724487, 5.435876846313477], [1.3578757047653198, 0.08083575963973999, 5.708308696746826], [1.1803075075149536, 1.0522613525390625, 5.7746357917785645], [1.3695313930511475, 1.1054508686065674, 5.502203464508057]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 34, "image_id": 5, "category_id": 45, "category_name": "person", "bbox2D_proj": [396.0, 412.0, 495.0, 512.0], "bbox2D_tight": [396.0, 412.0, 495.0, 512.0], "bbox2D_trunc": [396.0, 412.0, 495.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 35, "image_id": 5, "category_id": 45, "category_name": "person", "bbox2D_proj": [405.0, 270.0, 428.0, 351.0], "bbox2D_tight": [405.0, 270.0, 428.0, 351.0], "bbox2D_trunc": [405.0, 270.0, 428.0, 351.0], "center_cam": [2.025042842074002, 0.6942496336018024, 5.60120780343218], "dimensions": [0.24938998665520962, 1.056553790751917, 0.2847457180051185], "R_cam": [[0.33279967308044434, -0.024391837418079376, -0.9426819682121277], [0.00570610910654068, 0.9996991157531738, -0.023852698504924774], [0.9429802298545837, 0.0025591235607862473, 0.332838773727417]], "bbox3D_cam": [[2.1080944538116455, 0.1682935357093811, 5.424097537994385], [2.202857732772827, 0.16991835832595825, 5.692607402801514], [2.177086591720581, 1.2261543273925781, 5.695311069488525], [2.0823230743408203, 1.224529504776001, 5.426801681518555], [1.8729990720748901, 0.16234487295150757, 5.507104396820068], [1.9677623510360718, 0.16396969556808472, 5.775613784790039], [1.9419910907745361, 1.2202057838439941, 5.778317928314209], [1.8472278118133545, 1.218580961227417, 5.50980806350708]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 36, "image_id": 5, "category_id": 45, "category_name": "person", "bbox2D_proj": [0.0, 353.0, 54.0, 512.0], "bbox2D_tight": [0.0, 353.0, 54.0, 512.0], "bbox2D_trunc": [0.0, 353.0, 54.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 37, "image_id": 5, "category_id": 45, "category_name": "person", "bbox2D_proj": [103.0, 311.0, 184.0, 491.0], "bbox2D_tight": [103.0, 311.0, 184.0, 491.0], "bbox2D_trunc": [103.0, 311.0, 184.0, 491.0], "center_cam": [-0.7439508721042218, 0.9647173395039197, 3.0038443454716024], "dimensions": [0.312500018111499, 1.1713867516124632, 0.5631103661468668], "R_cam": [[0.9944998025894165, -0.08645856380462646, -0.05911807715892792], [0.08200359344482422, 0.9938783645629883, -0.07403484731912613], [0.06515712291002274, 0.06877975165843964, 0.9955017566680908]], "bbox3D_cam": [[-0.9640820026397705, 0.37108880281448364, 2.789667844772339], [-0.40406882762908936, 0.4172658324241638, 2.8263585567474365], [-0.5053452849388123, 1.581481695175171, 2.906926155090332], [-1.0653584003448486, 1.5353047847747803, 2.8702356815338135], [-0.9825564026832581, 0.3479529023170471, 3.100762367248535], [-0.4225432276725769, 0.3941299319267273, 3.1374528408050537], [-0.5238196849822998, 1.5583457946777344, 3.2180206775665283], [-1.083832859992981, 1.5121688842773438, 3.1813299655914307]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 38, "image_id": 5, "category_id": 45, "category_name": "person", "bbox2D_proj": [177.0, 342.0, 233.0, 512.0], "bbox2D_tight": [177.0, 342.0, 233.0, 512.0], "bbox2D_trunc": [177.0, 342.0, 233.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 39, "image_id": 6, "category_id": 45, "category_name": "person", "bbox2D_proj": [356.0, 242.0, 398.0, 376.0], "bbox2D_tight": [356.0, 242.0, 398.0, 376.0], "bbox2D_trunc": [356.0, 242.0, 398.0, 376.0], "center_cam": [1.1643640818812522, 0.5096151040310755, 4.2802946349544335], "dimensions": [0.38281251424666596, 1.205810552434082, 0.4257812669379938], "R_cam": [[0.8054399490356445, -0.04001426696777344, 0.5913249850273132], [0.020696043968200684, 0.9990086555480957, 0.03941177949309349], [-0.5923157930374146, -0.01950579695403576, 0.8054697513580322]], "bbox3D_cam": [[0.9038349390029907, -0.10464215278625488, 4.263981342315674], [1.2467762231826782, -0.09583020210266113, 4.011784076690674], [1.1985266208648682, 1.1087850332260132, 3.9882638454437256], [0.8555853366851807, 1.0999730825424194, 4.2404608726501465], [1.1302015781402588, -0.0895547866821289, 4.572324752807617], [1.4731428623199463, -0.08074283599853516, 4.320127964019775], [1.4248932600021362, 1.1238723993301392, 4.296607494354248], [1.0819519758224487, 1.1150604486465454, 4.548804759979248]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 40, "image_id": 6, "category_id": 67, "category_name": "sweatshirt", "bbox2D_proj": [421.0, 251.0, 512.0, 417.0], "bbox2D_tight": [421.0, 251.0, 512.0, 417.0], "bbox2D_trunc": [421.0, 251.0, 512.0, 417.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 41, "image_id": 6, "category_id": 45, "category_name": "person", "bbox2D_proj": [313.0, 253.0, 350.0, 395.0], "bbox2D_tight": [313.0, 253.0, 350.0, 395.0], "bbox2D_trunc": [313.0, 253.0, 350.0, 395.0], "center_cam": [0.6635962175481518, 0.545513620621994, 3.8589473510812446], "dimensions": [0.3425293045834779, 1.1763916080188002, 0.5605468851182209], "R_cam": [[-0.0690184235572815, 0.0003491044044494629, 0.9976153373718262], [0.04887890815734863, 0.9988000988960266, 0.003032088279724121], [-0.996417224407196, 0.04897165298461914, -0.06895267963409424]], "bbox3D_cam": [[0.5118786692619324, -0.05619513988494873, 4.12122106552124], [0.4731906056404114, -0.02879619598388672, 3.5626821517944336], [0.4736012816429138, 1.1461838483810425, 3.6202919483184814], [0.5122893452644348, 1.1187849044799805, 4.178830623626709], [0.8535911440849304, -0.055156588554382324, 4.097602367401123], [0.8149030804634094, -0.027757644653320312, 3.5390639305114746], [0.8153137564659119, 1.1472223997116089, 3.5966737270355225], [0.8540018200874329, 1.1198234558105469, 4.15521240234375]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 42, "image_id": 6, "category_id": 45, "category_name": "person", "bbox2D_proj": [0.0, 236.0, 71.0, 461.0], "bbox2D_tight": [0.0, 236.0, 71.0, 461.0], "bbox2D_trunc": [0.0, 236.0, 71.0, 461.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 43, "image_id": 6, "category_id": 74, "category_name": "trousers", "bbox2D_proj": [70.0, 338.0, 128.0, 438.0], "bbox2D_tight": [70.0, 338.0, 128.0, 438.0], "bbox2D_trunc": [70.0, 338.0, 128.0, 438.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 44, "image_id": 6, "category_id": 45, "category_name": "person", "bbox2D_proj": [174.0, 244.0, 236.0, 430.0], "bbox2D_tight": [174.0, 244.0, 236.0, 430.0], "bbox2D_trunc": [174.0, 244.0, 236.0, 430.0], "center_cam": [-0.3406534297584586, 0.5756203111885818, 3.215533638078232], "dimensions": [0.3457031327868121, 1.2584838931174651, 0.47302247349710924], "R_cam": [[0.9736873507499695, 0.005133509635925293, -0.22782987356185913], [-0.003893136978149414, 0.9999750256538391, 0.005893237888813019], [0.2278544306755066, -0.004851192235946655, 0.9736831188201904]], "bbox3D_cam": [[-0.5347908735275269, -0.05370384454727173, 2.9963934421539307], [-0.0742148756980896, -0.0555453896522522, 3.1041738986968994], [-0.06775444746017456, 1.2029070854187012, 3.0980687141418457], [-0.5283304452896118, 1.2047486305236816, 2.990288257598877], [-0.6135523915290833, -0.05166655778884888, 3.332998752593994], [-0.1529763638973236, -0.053508102893829346, 3.440779209136963], [-0.14651593565940857, 1.204944372177124, 3.434674024581909], [-0.6070919632911682, 1.2067859172821045, 3.3268935680389404]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 45, "image_id": 6, "category_id": 45, "category_name": "person", "bbox2D_proj": [142.0, 243.0, 187.0, 373.0], "bbox2D_tight": [142.0, 243.0, 187.0, 373.0], "bbox2D_trunc": [142.0, 243.0, 187.0, 373.0], "center_cam": [-0.8196957972003929, 0.4768789739394554, 4.230498682883647], "dimensions": [0.43359376299794405, 1.1623535225927983, 0.5273437645505574], "R_cam": [[0.5196576118469238, 0.01707315444946289, -0.8542039394378662], [-0.07043337821960449, 0.9972531795501709, -0.022916167974472046], [0.8514664173126221, 0.0720730721950531, 0.519432783126831]], "bbox3D_cam": [[-0.7814486026763916, -0.07916197180747986, 3.851492404937744], [-0.5074104070663452, -0.11630460619926453, 4.30050802230835], [-0.48756542801856995, 1.042856216430664, 4.384282112121582], [-0.7616036534309387, 1.0799988508224487, 3.9352667331695557], [-1.1518261432647705, -0.08909830451011658, 4.076715469360352], [-0.8777878880500793, -0.12624093890190125, 4.525730609893799], [-0.8579429388046265, 1.0329198837280273, 4.6095051765441895], [-1.1319811344146729, 1.070062518119812, 4.160489559173584]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 46, "image_id": 6, "category_id": 72, "category_name": "tree", "bbox2D_proj": [50.0, 0.0, 229.0, 173.0], "bbox2D_tight": [50.0, 0.0, 229.0, 173.0], "bbox2D_trunc": [50.0, 0.0, 229.0, 173.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 47, "image_id": 6, "category_id": 45, "category_name": "person", "bbox2D_proj": [232.0, 252.0, 272.0, 392.0], "bbox2D_tight": [232.0, 252.0, 272.0, 392.0], "bbox2D_trunc": [232.0, 252.0, 272.0, 392.0], "center_cam": [-0.04246883661280698, 0.5654590922253637, 4.11782938624674], "dimensions": [0.378906275786029, 1.2051353509353118, 0.3984375270903999], "R_cam": [[0.7874503135681152, -0.022902369499206543, -0.6159524917602539], [0.013491570949554443, 0.9997104406356812, -0.019923239946365356], [0.6162304878234863, 0.00737839937210083, 0.7875313758850098]], "bbox3D_cam": [[-0.06884937733411789, -0.035847365856170654, 3.8414182662963867], [0.24490037560462952, -0.030471861362457275, 4.086947917938232], [0.2172999382019043, 1.1743144989013672, 4.095839500427246], [-0.09644981473684311, 1.1689391136169434, 3.8503103256225586], [-0.3022376298904419, -0.04339641332626343, 4.139819145202637], [0.011512137949466705, -0.03802090883255005, 4.385348320007324], [-0.016088299453258514, 1.1667654514312744, 4.394240379333496], [-0.3298380672931671, 1.1613900661468506, 4.14871072769165]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 48, "image_id": 6, "category_id": 2, "category_name": "backpack", "bbox2D_proj": [76.0, 266.0, 128.0, 343.0], "bbox2D_tight": [76.0, 266.0, 128.0, 343.0], "bbox2D_trunc": [76.0, 266.0, 128.0, 343.0], "center_cam": [-1.0067700857388058, 0.31386809663493176, 2.906903258177505], "dimensions": [0.2656250064433038, 0.4780273463317045, 0.32080079028518715], "R_cam": [[0.9912636280059814, -0.026906967163085938, -0.1291218101978302], [0.022022366523742676, 0.9989922046661377, -0.03910920023918152], [0.13004399836063385, 0.03592395782470703, 0.9908572435379028]], "bbox3D_cam": [[-1.1421890258789062, 0.07675708830356598, 2.7458596229553223], [-0.8241909742355347, 0.08382187783718109, 2.7875778675079346], [-0.8370531797409058, 0.5613675117492676, 2.804750442504883], [-1.155051350593567, 0.5543026924133301, 2.7630321979522705], [-1.1764870882034302, 0.0663687139749527, 3.0090560913085938], [-0.858488917350769, 0.07343350350856781, 3.050774335861206], [-0.8713511824607849, 0.5509791374206543, 3.0679469108581543], [-1.1893492937088013, 0.5439143180847168, 3.026228666305542]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 49, "image_id": 6, "category_id": 45, "category_name": "person", "bbox2D_proj": [381.0, 241.0, 421.0, 394.0], "bbox2D_tight": [381.0, 241.0, 421.0, 394.0], "bbox2D_trunc": [381.0, 241.0, 421.0, 394.0], "center_cam": [1.2059536105598578, 0.4722881958330508, 3.917277058812883], "dimensions": [0.3642578217108592, 1.2382812584068252, 0.4042968831555441], "R_cam": [[0.10209719836711884, -0.15220606327056885, -0.9830614328384399], [0.10685765743255615, 0.9841854572296143, -0.14128218591213226], [0.9890185594558716, -0.09062317758798599, 0.11674702167510986]], "bbox3D_cam": [[1.458595633506775, -0.13293051719665527, 3.7521939277648926], [1.499873161315918, -0.08972823619842529, 4.152050971984863], [1.3113993406295776, 1.1289700269699097, 4.039834022521973], [1.2701218128204346, 1.0857677459716797, 3.639977216720581], [1.1005078554153442, -0.18439364433288574, 3.794719934463501], [1.1417853832244873, -0.14119136333465576, 4.194577217102051], [0.953311562538147, 1.0775068998336792, 4.08236026763916], [0.9120340347290039, 1.0343046188354492, 3.6825029850006104]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 50, "image_id": 7, "category_id": 54, "category_name": "sculpture", "bbox2D_proj": [385.0, 245.0, 427.0, 283.0], "bbox2D_tight": [385.0, 245.0, 427.0, 283.0], "bbox2D_trunc": [385.0, 245.0, 427.0, 283.0], "center_cam": [2.321609839007113, 0.14453056741565035, 6.8096325117597045], "dimensions": [0.23343321550997775, 0.3261425224757109, 0.4472462991275442], "R_cam": [[0.7198445200920105, 0.6657324433326721, 0.1965305209159851], [-0.693199634552002, 0.7041561007499695, 0.15374857187271118], [-0.036032795906066895, -0.24691003561019897, 0.9683683514595032]], "bbox3D_cam": [[2.0291357040405273, 0.16677342355251312, 6.744929313659668], [2.351083517074585, -0.14325755834579468, 6.728813648223877], [2.568207025527954, 0.0863976776599884, 6.648285865783691], [2.2462592124938965, 0.396428644657135, 6.664401531219482], [2.075012445449829, 0.20266345143318176, 6.970978736877441], [2.3969602584838867, -0.10736751556396484, 6.95486307144165], [2.614083766937256, 0.12228770554065704, 6.874335289001465], [2.2921359539031982, 0.43231868743896484, 6.890450954437256]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 51, "image_id": 7, "category_id": 62, "category_name": "statue", "bbox2D_proj": [495.0, 128.0, 512.0, 233.0], "bbox2D_tight": [495.0, 128.0, 512.0, 233.0], "bbox2D_trunc": [495.0, 128.0, 512.0, 233.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 52, "image_id": 7, "category_id": 54, "category_name": "sculpture", "bbox2D_proj": [353.0, 243.0, 426.0, 282.0], "bbox2D_tight": [353.0, 243.0, 426.0, 282.0], "bbox2D_trunc": [353.0, 243.0, 426.0, 282.0], "center_cam": [2.103185128960132, 0.11549789424124257, 6.898639975314295], "dimensions": [0.36289575104896254, 0.6629951612599837, 0.7401829714731265], "R_cam": [[0.7372221350669861, -0.5107940435409546, 0.44225937128067017], [0.08912235498428345, 0.7223655581474304, 0.6857443451881409], [-0.6697469353675842, -0.4661306142807007, 0.5780671834945679]], "bbox3D_cam": [[1.9194254875183105, -0.28137484192848206, 7.196139812469482], [2.465104818344116, -0.21540790796279907, 6.700404644012451], [2.126450777053833, 0.26351693272590637, 6.391362190246582], [1.580771565437317, 0.1975499987602234, 6.887097358703613], [2.0799195766448975, -0.03252115100622177, 7.405918121337891], [2.625598907470703, 0.03344579041004181, 6.910182952880859], [2.28694486618042, 0.5123706459999084, 6.60114049911499], [1.7412656545639038, 0.4464036822319031, 7.0968756675720215]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 53, "image_id": 7, "category_id": 13, "category_name": "building", "bbox2D_proj": [0.0, 117.0, 56.0, 254.0], "bbox2D_tight": [0.0, 117.0, 56.0, 254.0], "bbox2D_trunc": [0.0, 117.0, 56.0, 254.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 54, "image_id": 7, "category_id": 13, "category_name": "building", "bbox2D_proj": [104.0, 78.0, 319.0, 281.0], "bbox2D_tight": [104.0, 78.0, 319.0, 281.0], "bbox2D_trunc": [104.0, 78.0, 319.0, 281.0], "center_cam": [-0.9164921523566818, -1.4066370256434233, 8.346287435745857], "dimensions": [2.1523438588732557, 3.366699353895172, 3.6000978085985986], "R_cam": [[0.963021993637085, -0.08025527745485306, -0.257191926240921], [0.06951989978551865, 0.9962973594665527, -0.05058066546916962], [0.2602989971637726, 0.03083033859729767, 0.9650356769561768]], "bbox3D_cam": [[-2.238098382949829, -3.1544599533081055, 6.787294387817383], [1.228874921798706, -2.904181480407715, 7.724396228790283], [0.9586796164512634, 0.4500526189804077, 7.828192710876465], [-2.508293867111206, 0.1997741460800171, 6.8910908699035645], [-2.791663885116577, -3.263326644897461, 8.86438274383545], [0.6753095984458923, -3.0130481719970703, 9.801485061645508], [0.4051141142845154, 0.34118568897247314, 9.905281066894531], [-3.061859369277954, 0.09090721607208252, 8.968179702758789]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 55, "image_id": 7, "category_id": 13, "category_name": "building", "bbox2D_proj": [53.0, 122.0, 107.0, 256.0], "bbox2D_tight": [53.0, 122.0, 107.0, 256.0], "bbox2D_trunc": [53.0, 122.0, 107.0, 256.0], "center_cam": [-2.7408913653135483, -0.9416611191345315, 7.020908745815622], "dimensions": [0.851562544656496, 2.0927734878916904, 0.857421892148324], "R_cam": [[-0.999913215637207, 0.011302590370178223, 0.006774716079235077], [0.009987890720367432, 0.9854182004928589, -0.1698567420244217], [-0.00859573483467102, -0.16977432370185852, -0.985445499420166]], "bbox3D_cam": [[-2.3269290924072266, -1.9047496318817139, 7.621827602386475], [-3.184276580810547, -1.8961858749389648, 7.614457607269287], [-3.1606228351593018, 0.16607093811035156, 7.259158611297607], [-2.3032753467559814, 0.15750718116760254, 7.266528606414795], [-2.321160078048706, -2.0493931770324707, 6.78265905380249], [-3.1785075664520264, -2.0408294200897217, 6.775289058685303], [-3.1548538208007812, 0.02142733335494995, 6.419990062713623], [-2.297506332397461, 0.012863576412200928, 6.4273600578308105]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 56, "image_id": 8, "category_id": 13, "category_name": "building", "bbox2D_proj": [98.0, 73.0, 316.0, 282.0], "bbox2D_tight": [98.0, 73.0, 316.0, 282.0], "bbox2D_trunc": [98.0, 73.0, 316.0, 282.0], "center_cam": [-0.9959670863918871, -1.515487349228902, 8.460295866155306], "dimensions": [2.109375072517286, 3.6257324441431273, 3.7392579170939904], "R_cam": [[0.9583978056907654, -0.11901327967643738, -0.25944074988365173], [0.11718980967998505, 0.9928537607192993, -0.022541992366313934], [0.26026949286460876, -0.008799613453447819, 0.9654960632324219]], "bbox3D_cam": [[-2.298431158065796, -3.5107247829437256, 6.971344470977783], [1.2852652072906494, -3.072521924972534, 7.944559097290039], [0.8537549376487732, 0.5272997617721558, 7.912653923034668], [-2.7299416065216064, 0.0890967845916748, 6.939439296722412], [-2.845689058303833, -3.558274269104004, 9.00793743133545], [0.7380073666572571, -3.1200714111328125, 9.981151580810547], [0.3064970374107361, 0.4797501564025879, 9.949247360229492], [-3.2771995067596436, 0.041547298431396484, 8.976032257080078]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 57, "image_id": 8, "category_id": 54, "category_name": "sculpture", "bbox2D_proj": [376.0, 250.0, 417.0, 288.0], "bbox2D_tight": [376.0, 250.0, 417.0, 288.0], "bbox2D_trunc": [376.0, 250.0, 417.0, 288.0], "center_cam": [2.2589288786590846, 0.22509071024355515, 7.055227591185361], "dimensions": [0.22966923260597713, 0.36650941493428957, 0.41674045117466757], "R_cam": [[0.7890040874481201, 0.5779833793640137, 0.20834562182426453], [-0.6143880486488342, 0.7421739101409912, 0.26777833700180054], [0.00014269351959228516, -0.3392832577228546, 0.9406842589378357]], "bbox3D_cam": [[1.9646803140640259, 0.18635378777980804, 7.009350299835205], [2.293490171432495, -0.06968653202056885, 7.009409427642822], [2.505326509475708, 0.2023271769285202, 6.885059356689453], [2.1765167713165283, 0.4583675265312195, 6.884999752044678], [2.012531042098999, 0.24785424768924713, 7.225396156311035], [2.3413407802581787, -0.008186087012290955, 7.2254557609558105], [2.5531771183013916, 0.2638276219367981, 7.101105213165283], [2.224367380142212, 0.5198679566383362, 7.101046085357666]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 58, "image_id": 8, "category_id": 13, "category_name": "building", "bbox2D_proj": [351.0, 0.0, 512.0, 258.0], "bbox2D_tight": [351.0, 0.0, 512.0, 258.0], "bbox2D_trunc": [351.0, 0.0, 512.0, 258.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 59, "image_id": 8, "category_id": 13, "category_name": "building", "bbox2D_proj": [44.0, 112.0, 104.0, 250.0], "bbox2D_tight": [44.0, 112.0, 104.0, 250.0], "bbox2D_trunc": [44.0, 112.0, 104.0, 250.0], "center_cam": [-2.9221077464646625, -1.0284143863562711, 7.133277484183238], "dimensions": [0.8085950289050801, 2.178710904992757, 0.8172620092304484], "R_cam": [[0.8839662075042725, 0.001192331314086914, -0.46754932403564453], [0.09896498918533325, 0.9768615961074829, 0.18959805369377136], [0.45695701241493225, -0.21386928856372833, 0.8633946180343628]], "bbox3D_cam": [[-3.0955934524536133, -2.209658145904541, 6.8304619789123535], [-2.373161554336548, -2.128777503967285, 7.203915596008301], [-2.3705637454986572, -0.0004786252975463867, 6.7379560470581055], [-3.0929958820343018, -0.08135908842086792, 6.364502906799316], [-3.473651647567749, -2.0563502311706543, 7.528598785400391], [-2.7512195110321045, -1.9754695892333984, 7.90205192565918], [-2.748621940612793, 0.15282928943634033, 7.436092853546143], [-3.4710538387298584, 0.07194888591766357, 7.062639236450195]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 60, "image_id": 8, "category_id": 13, "category_name": "building", "bbox2D_proj": [0.0, 104.0, 51.0, 241.0], "bbox2D_tight": [0.0, 104.0, 51.0, 241.0], "bbox2D_trunc": [0.0, 104.0, 51.0, 241.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 61, "image_id": 9, "category_id": 74, "category_name": "trousers", "bbox2D_proj": [421.0, 329.0, 457.0, 391.0], "bbox2D_tight": [421.0, 329.0, 457.0, 391.0], "bbox2D_trunc": [421.0, 329.0, 457.0, 391.0], "center_cam": [2.0011416676722944, 1.056357769742244, 4.903644710849383], "dimensions": [0.25781250104051034, 0.8791503992251097, 0.33865356315867934], "R_cam": [[0.9186877012252808, 0.014686167240142822, 0.39471128582954407], [-0.04315495491027832, 0.9970580339431763, 0.06334546953439713], [-0.392619788646698, -0.0752285048365593, 0.916618824005127]], "bbox3D_cam": [[1.788246989250183, 0.6172174215316772, 4.885036468505859], [2.0993638038635254, 0.6026027202606201, 4.752074241638184], [2.1122751235961914, 1.479166865348816, 4.68593692779541], [1.8011581897735596, 1.4937814474105835, 4.818899154663086], [1.8900084495544434, 0.6335486173629761, 5.121352195739746], [2.201125383377075, 0.6189340353012085, 4.98838996887207], [2.214036703109741, 1.4954980611801147, 4.922252655029297], [1.9029197692871094, 1.5101127624511719, 5.055214881896973]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 62, "image_id": 9, "category_id": 45, "category_name": "person", "bbox2D_proj": [258.0, 291.0, 291.0, 342.0], "bbox2D_tight": [258.0, 291.0, 291.0, 342.0], "bbox2D_trunc": [258.0, 291.0, 291.0, 342.0], "center_cam": [0.26804811689273256, 0.8319327143685338, 6.013578733464283], "dimensions": [0.5124533606341837, 0.3711972274723603, 1.0538233411014153], "R_cam": [[-0.012891221791505814, -0.18491539359092712, 0.9826698899269104], [0.5764228701591492, 0.8016494512557983, 0.15841343998908997], [-0.8170498609542847, 0.5684755444526672, 0.09625522792339325]], "bbox3D_cam": [[0.057374462485313416, 0.3388339877128601, 6.313920497894287], [0.04378931224346161, 0.946281909942627, 5.45289421081543], [-0.0248507559299469, 1.243851900100708, 5.663910865783691], [-0.01126563549041748, 0.6364040374755859, 6.524937152862549], [0.5609469413757324, 0.4200134873390198, 6.363246917724609], [0.5473618507385254, 1.0274614095687866, 5.502220630645752], [0.4787217378616333, 1.3250315189361572, 5.713237285614014], [0.4923068881034851, 0.7175835371017456, 6.574263572692871]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 63, "image_id": 9, "category_id": 45, "category_name": "person", "bbox2D_proj": [167.0, 285.0, 222.0, 416.0], "bbox2D_tight": [167.0, 285.0, 222.0, 416.0], "bbox2D_trunc": [167.0, 285.0, 222.0, 416.0], "center_cam": [-0.7891953296502869, 1.1084491666246152, 5.1144374930213115], "dimensions": [0.4921875011635882, 1.5190429840699555, 0.7089843723825497], "R_cam": [[0.9067874550819397, 0.017689645290374756, 0.42121678590774536], [0.035249948501586914, 0.9924394488334656, -0.11756426095962524], [-0.42011183500289917, 0.12145364284515381, 0.8993079662322998]], "bbox3D_cam": [[-1.227738857269287, 0.37110620737075806, 4.949803352355957], [-0.5848407745361328, 0.3960978388786316, 4.651950359344482], [-0.5579694509506226, 1.903656005859375, 4.836443901062012], [-1.2008676528930664, 1.878664255142212, 5.134296417236328], [-1.0204212665557861, 0.31324249505996704, 5.392431259155273], [-0.3775230944156647, 0.3382341265678406, 5.094578742980957], [-0.3506518304347992, 1.845792293548584, 5.279071807861328], [-0.9935499429702759, 1.820800542831421, 5.576924800872803]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 64, "image_id": 9, "category_id": 67, "category_name": "sweatshirt", "bbox2D_proj": [411.0, 286.0, 454.0, 330.0], "bbox2D_tight": [411.0, 286.0, 454.0, 330.0], "bbox2D_trunc": [411.0, 286.0, 454.0, 330.0], "center_cam": [1.9593690669084352, 0.5828060368901988, 4.9252004091957176], "dimensions": [0.3203125000887114, 0.49804688180069084, 0.5126953088387816], "R_cam": [[-0.9795044660568237, 0.020229952409863472, -0.200404554605484], [0.02735179290175438, 0.9990867376327515, -0.032832227647304535], [0.19955730438232422, -0.037640735507011414, -0.9791629314422607]], "bbox3D_cam": [[2.237521171569824, 0.3322567939758301, 5.040236949920654], [1.7353336811065674, 0.34627991914749146, 5.14254903793335], [1.7454091310501099, 0.8438718914985657, 5.123802185058594], [2.247596502304077, 0.8298487663269043, 5.021490097045898], [2.1733288764953613, 0.32174021005630493, 4.726598739624023], [1.6711416244506836, 0.3357633352279663, 4.828910827636719], [1.681217074394226, 0.8333553075790405, 4.810163974761963], [2.1834044456481934, 0.8193321824073792, 4.707851886749268]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 65, "image_id": 10, "category_id": 45, "category_name": "person", "bbox2D_proj": [431.0, 249.0, 454.0, 338.0], "bbox2D_tight": [431.0, 249.0, 454.0, 338.0], "bbox2D_trunc": [431.0, 249.0, 454.0, 338.0], "center_cam": [2.059080728114837, 0.3966724328553315, 4.984659640610344], "dimensions": [0.2509765903951169, 0.8955078246060428, 0.32031253058599135], "R_cam": [[-0.5498860478401184, -0.07912898063659668, 0.8314830660820007], [-0.029219388961791992, 0.9967154264450073, 0.07552982121706009], [-0.8347285389900208, 0.017237426713109016, -0.5503919124603271]], "bbox3D_cam": [[2.078237533569336, -0.05440923571586609, 5.179696083068848], [1.9021021127700806, -0.06376853585243225, 4.912322521209717], [1.831241488456726, 0.8287978172302246, 4.927758693695068], [2.0073769092559814, 0.8381571769714355, 5.195132732391357], [2.2869203090667725, -0.03545299172401428, 5.041560649871826], [2.1107847690582275, -0.044812291860580444, 4.774186611175537], [2.039924144744873, 0.8477541208267212, 4.789623260498047], [2.216059684753418, 0.8571133613586426, 5.056996822357178]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 66, "image_id": 10, "category_id": 45, "category_name": "person", "bbox2D_proj": [403.0, 253.0, 424.0, 325.0], "bbox2D_tight": [403.0, 253.0, 424.0, 325.0], "bbox2D_trunc": [403.0, 253.0, 424.0, 325.0], "center_cam": [1.9140217685238758, 0.3707894735679765, 5.344780355744221], "dimensions": [0.25781255929543945, 0.8793945418288898, 0.2797852277750823], "R_cam": [[0.8920435309410095, -0.038015663623809814, 0.45034775137901306], [0.020655274391174316, 0.9988440871238708, 0.04340274631977081], [-0.45147716999053955, -0.029415100812911987, 0.891797661781311]], "bbox3D_cam": [[1.7478941679000854, -0.0768839418888092, 5.305914402008057], [1.9974747896194458, -0.07110491394996643, 5.1795973777771], [1.9640439748764038, 0.8072731494903564, 5.1537299156188965], [1.7144633531570435, 0.8014941215515137, 5.2800469398498535], [1.8639994859695435, -0.0656941831111908, 5.535830974578857], [2.1135799884796143, -0.05991515517234802, 5.4095139503479], [2.0801491737365723, 0.8184628486633301, 5.383646488189697], [1.8305686712265015, 0.8126838207244873, 5.509963512420654]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 67, "image_id": 10, "category_id": 45, "category_name": "person", "bbox2D_proj": [353.0, 246.0, 380.0, 325.0], "bbox2D_tight": [353.0, 246.0, 380.0, 325.0], "bbox2D_trunc": [353.0, 246.0, 380.0, 325.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 68, "image_id": 10, "category_id": 45, "category_name": "person", "bbox2D_proj": [449.0, 252.0, 471.0, 335.0], "bbox2D_tight": [449.0, 252.0, 471.0, 335.0], "bbox2D_trunc": [449.0, 252.0, 471.0, 335.0], "center_cam": [2.1968159367402365, 0.40529833283146965, 4.945674620189133], "dimensions": [0.27026402747218314, 0.8049316504039332, 0.27343785094386536], "R_cam": [[-0.34377434849739075, -0.006061077117919922, 0.939032793045044], [-0.05766725540161133, 0.9982281923294067, -0.014668464660644531], [-0.937279999256134, -0.05919399857521057, -0.34351468086242676]], "bbox3D_cam": [[2.1193623542785645, 0.013412028551101685, 5.14406156539917], [2.0253615379333496, -0.0023563802242279053, 4.8877739906311035], [2.0204827785491943, 0.8011490106582642, 4.840126991271973], [2.114483594894409, 0.8169174194335938, 5.096414566040039], [2.3731491565704346, 0.009447664022445679, 5.05122184753418], [2.2791483402252197, -0.006320744752883911, 4.794934272766113], [2.2742695808410645, 0.7971845865249634, 4.747287273406982], [2.3682703971862793, 0.812952995300293, 5.003574848175049]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 69, "image_id": 10, "category_id": 45, "category_name": "person", "bbox2D_proj": [283.0, 248.0, 315.0, 373.0], "bbox2D_tight": [283.0, 248.0, 315.0, 373.0], "bbox2D_trunc": [283.0, 248.0, 315.0, 373.0], "center_cam": [0.3794748023820417, 0.4424394834469648, 3.917105718225129], "dimensions": [0.26839025877746664, 1.0212633706397574, 0.5104501892502817], "R_cam": [[-0.12969350814819336, -0.02556733787059784, 0.991224467754364], [0.11966070532798767, 0.9919579029083252, 0.04124286398291588], [-0.9843073487281799, 0.12395954132080078, -0.12559103965759277]], "bbox3D_cam": [[0.29261383414268494, -0.10016059875488281, 4.121881484985352], [0.22641175985336304, -0.03907978534698486, 3.6194417476654053], [0.20030075311660767, 0.9739704132080078, 3.746037006378174], [0.26650282740592957, 0.9128895998001099, 4.248476982116699], [0.5586488246917725, -0.08909142017364502, 4.088174343109131], [0.49244675040245056, -0.02801060676574707, 3.5857343673706055], [0.4663357436656952, 0.9850395917892456, 3.712329626083374], [0.5325378179550171, 0.9239587783813477, 4.21476936340332]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 70, "image_id": 10, "category_id": 45, "category_name": "person", "bbox2D_proj": [109.0, 252.0, 132.0, 325.0], "bbox2D_tight": [109.0, 252.0, 132.0, 325.0], "bbox2D_trunc": [109.0, 252.0, 132.0, 325.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 71, "image_id": 10, "category_id": 45, "category_name": "person", "bbox2D_proj": [257.0, 249.0, 275.0, 308.0], "bbox2D_tight": [257.0, 249.0, 275.0, 308.0], "bbox2D_trunc": [257.0, 249.0, 275.0, 308.0], "center_cam": [0.1444939101685893, 0.30911715333033607, 6.125472174602521], "dimensions": [0.20703126279102818, 0.7756347752957804, 0.2309570552145312], "R_cam": [[0.9888202548027039, -0.04416835308074951, 0.1424207240343094], [0.05258983373641968, 0.9970493912696838, -0.055918727070093155], [-0.13953065872192383, 0.06278346478939056, 0.9882254600524902]], "bbox3D_cam": [[0.03269285708665848, -0.0778404176235199, 6.014939785003662], [0.26106786727905273, -0.0656944215297699, 5.9827141761779785], [0.22680941224098206, 0.7076517343521118, 6.031411170959473], [-0.0015656054019927979, 0.6955057382583618, 6.063636779785156], [0.06217839568853378, -0.08941736817359924, 6.2195329666137695], [0.29055342078208923, -0.07727137207984924, 6.187307357788086], [0.25629496574401855, 0.6960747241973877, 6.23600435256958], [0.027919940650463104, 0.6839287281036377, 6.268229961395264]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 72, "image_id": 10, "category_id": 33, "category_name": "jacket", "bbox2D_proj": [35.0, 243.0, 89.0, 303.0], "bbox2D_tight": [35.0, 243.0, 89.0, 303.0], "bbox2D_trunc": [35.0, 243.0, 89.0, 303.0], "center_cam": [-1.5445023677069418, 0.13912433215787046, 3.5531536195234974], "dimensions": [0.26171875351326546, 0.4842529374482163, 0.40087892931826596], "R_cam": [[0.9863197207450867, 0.007431745529174805, -0.16467633843421936], [0.004350483417510986, 0.99746173620224, 0.07107222825288773], [0.16478651762008667, -0.07081636786460876, 0.9837837219238281]], "bbox3D_cam": [[-1.722449779510498, -0.11256000399589539, 3.4085330963134766], [-1.3270549774169922, -0.11081598699092865, 3.474592447280884], [-1.323456048965454, 0.37220776081085205, 3.4402995109558105], [-1.71885085105896, 0.3704637289047241, 3.374239921569824], [-1.7655487060546875, -0.09395907819271088, 3.6660075187683105], [-1.3701539039611816, -0.09221504628658295, 3.732067108154297], [-1.3665549755096436, 0.39080867171287537, 3.6977739334106445], [-1.7619497776031494, 0.3890646696090698, 3.6317145824432373]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 73, "image_id": 10, "category_id": 45, "category_name": "person", "bbox2D_proj": [166.0, 233.0, 206.0, 365.0], "bbox2D_tight": [166.0, 233.0, 206.0, 365.0], "bbox2D_trunc": [166.0, 233.0, 206.0, 365.0], "center_cam": [-0.6327802483385717, 0.3596591196584511, 4.032519146669655], "dimensions": [0.33038332531015246, 1.166503921125883, 0.38476563773720185], "R_cam": [[-0.13923217356204987, -0.012355685234069824, -0.9901827573776245], [0.1513350009918213, 0.9879111051559448, -0.03360706940293312], [0.9786277413368225, -0.15452854335308075, -0.13567912578582764]], "bbox3D_cam": [[-0.435217946767807, -0.2401045858860016, 3.9567902088165283], [-0.4887896776199341, -0.18187609314918518, 4.333332538604736], [-0.5032026767730713, 0.9705259799957275, 4.153074264526367], [-0.4496309757232666, 0.9122974872589111, 3.7765321731567383], [-0.7623578310012817, -0.25120773911476135, 3.911964178085327], [-0.8159295320510864, -0.19297924637794495, 4.288506507873535], [-0.8303425312042236, 0.9594228267669678, 4.108248233795166], [-0.776770830154419, 0.9011943340301514, 3.731706142425537]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 74, "image_id": 10, "category_id": 45, "category_name": "person", "bbox2D_proj": [320.0, 245.0, 358.0, 378.0], "bbox2D_tight": [320.0, 245.0, 358.0, 378.0], "bbox2D_trunc": [320.0, 245.0, 358.0, 378.0], "center_cam": [0.7597000082846883, 0.48751643396479727, 4.03041308430725], "dimensions": [0.4277344061451107, 1.1839599760550206, 0.5546875186245326], "R_cam": [[0.22310927510261536, 0.0009390711784362793, 0.9747929573059082], [0.07522153854370117, 0.9970011711120605, -0.018177032470703125], [-0.9718868136405945, 0.07738089561462402, 0.22236967086791992]], "bbox3D_cam": [[0.4887898564338684, -0.11966302990913391, 4.206594467163086], [0.6125458478927612, -0.07793858647346497, 3.6675009727478027], [0.6136575937271118, 1.102470874786377, 3.7591166496276855], [0.48990166187286377, 1.060746431350708, 4.298210144042969], [0.9057424068450928, -0.12743797898292542, 4.3017096519470215], [1.0294983386993408, -0.08571353554725647, 3.7626161575317383], [1.0306100845336914, 1.0946959257125854, 3.854231834411621], [0.9068541526794434, 1.0529714822769165, 4.393325328826904]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 75, "image_id": 10, "category_id": 74, "category_name": "trousers", "bbox2D_proj": [36.0, 297.0, 82.0, 366.0], "bbox2D_tight": [36.0, 297.0, 82.0, 366.0], "bbox2D_trunc": [36.0, 297.0, 82.0, 366.0], "center_cam": [-1.5710398659306006, 0.5653666995519162, 3.4902564724115948], "dimensions": [0.25803186394470723, 0.4915824579435002, 0.46817763590822015], "R_cam": [[-0.42015528678894043, -0.025567341595888138, 0.9070920348167419], [0.10185344517230988, 0.9919579029083252, 0.07513679563999176], [-0.9017180800437927, 0.12395956367254257, -0.4141722321510315]], "bbox3D_cam": [[-1.583431363105774, 0.28801557421684265, 3.7243053913116455], [-1.7801387310028076, 0.335701048374176, 3.302140951156616], [-1.792707085609436, 0.8233301639556885, 3.363077402114868], [-1.595999836921692, 0.7756446003913879, 3.7852416038513184], [-1.3493727445602417, 0.30740323662757874, 3.6174356937408447], [-1.5460799932479858, 0.3550887703895569, 3.1952714920043945], [-1.5586484670639038, 0.8427177667617798, 3.2562077045440674], [-1.3619410991668701, 0.7950323224067688, 3.6783721446990967]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 76, "image_id": 10, "category_id": 45, "category_name": "person", "bbox2D_proj": [137.0, 231.0, 177.0, 353.0], "bbox2D_tight": [137.0, 231.0, 177.0, 353.0], "bbox2D_trunc": [137.0, 231.0, 177.0, 353.0], "center_cam": [-0.9244717873936956, 0.3280911455237615, 4.28640874908289], "dimensions": [0.2441406383317733, 1.1071777477392635, 0.4218750252715412], "R_cam": [[0.7306590676307678, 0.012818694114685059, -0.6826221942901611], [0.009620845317840576, 0.9995312094688416, 0.029067575931549072], [0.682674765586853, -0.02780589461326599, 0.7301931381225586]], "bbox3D_cam": [[-1.0023635625839233, -0.2308158278465271, 4.068665504455566], [-0.6941167116165161, -0.2267569899559021, 4.356668949127197], [-0.6799242496490479, 0.8799015879631042, 4.325882911682129], [-0.9881709814071655, 0.8758427500724792, 4.03787899017334], [-1.169019341468811, -0.2237192988395691, 4.24693489074707], [-0.8607726097106934, -0.2196604609489441, 4.534938812255859], [-0.8465800285339355, 0.8869981169700623, 4.504152297973633], [-1.1548268795013428, 0.8829392790794373, 4.216148853302002]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 77, "image_id": 11, "category_id": 61, "category_name": "sports_car", "bbox2D_proj": [89.0, 277.0, 447.0, 432.0], "bbox2D_tight": [89.0, 277.0, 447.0, 432.0], "bbox2D_trunc": [89.0, 277.0, 447.0, 432.0], "center_cam": [-0.14165644775350963, 0.9744657660156691, 5.3138659936069725], "dimensions": [1.9785157551820682, 1.2053223077933186, 4.182617298755346], "R_cam": [[0.8337578773498535, 0.04179036617279053, 0.5505463480949402], [-0.035486042499542236, 0.9991257786750793, -0.022099971771240234], [-0.5509886145591736, -0.001110672950744629, 0.8345120549201965]], "bbox3D_cam": [[-2.4551193714141846, 0.4684063196182251, 5.641275405883789], [1.0321710109710693, 0.31998181343078613, 3.336700677871704], [1.0825419425964355, 1.5242503881454468, 3.335361957550049], [-2.4047484397888184, 1.6726748943328857, 5.639936447143555], [-1.3658547401428223, 0.4246811866760254, 7.292370319366455], [2.1214356422424316, 0.2762566804885864, 4.987795829772949], [2.171806573867798, 1.480525255203247, 4.986456871032715], [-1.315483808517456, 1.628949761390686, 7.291031837463379]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 78, "image_id": 11, "category_id": 45, "category_name": "person", "bbox2D_proj": [262.0, 256.0, 283.0, 281.0], "bbox2D_tight": [262.0, 256.0, 283.0, 281.0], "bbox2D_trunc": [262.0, 256.0, 283.0, 281.0], "center_cam": [0.3007849103856294, 0.2524371908511951, 8.608256684014629], "dimensions": [0.2763661194686701, 0.7842076973577068, 0.3381947664327615], "R_cam": [[-0.9778599143028259, -0.0010801480384543538, -0.20925772190093994], [0.05993306636810303, 0.9566505551338196, -0.2850049138069153], [0.20049437880516052, -0.29123634099960327, -0.9354055523872375]], "bbox3D_cam": [[0.4954778552055359, -0.0934208333492279, 8.817805290222168], [0.16477076709270477, -0.07315179705619812, 8.885611534118652], [0.1639236956834793, 0.6770609617233276, 8.657221794128418], [0.4946308135986328, 0.6567919254302979, 8.589415550231934], [0.43764615058898926, -0.17218652367591858, 8.559290885925293], [0.10693903267383575, -0.1519174873828888, 8.627097129821777], [0.10609196126461029, 0.5982952117919922, 8.398707389831543], [0.4367990493774414, 0.5780261754989624, 8.330901145935059]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 79, "image_id": 11, "category_id": 45, "category_name": "person", "bbox2D_proj": [227.0, 262.0, 244.0, 278.0], "bbox2D_tight": [227.0, 262.0, 244.0, 278.0], "bbox2D_trunc": [227.0, 262.0, 244.0, 278.0], "center_cam": [-0.5311662437821973, 0.3187071217958122, 10.866328270681837], "dimensions": [0.38650410283607717, 0.37722003067196774, 1.1455390283418847], "R_cam": [[-0.06258976459503174, 0.17113614082336426, -0.9832572937011719], [-0.013763241469860077, 0.9849472045898438, 0.1723063886165619], [0.9979444742202759, 0.0243174210190773, -0.0592922568321228]], "bbox3D_cam": [[-0.3375782370567322, 0.10752078890800476, 10.301608085632324], [-0.4092772603034973, 0.09175446629524231, 11.444791793823242], [-0.3447212874889374, 0.4632962942123413, 11.453965187072754], [-0.27302226424217224, 0.47906261682510376, 10.31078052520752], [-0.7176111936569214, 0.17411792278289795, 10.278691291809082], [-0.7893102169036865, 0.1583516001701355, 11.421875953674316], [-0.724754273891449, 0.5298933982849121, 11.431048393249512], [-0.6530552506446838, 0.5456597805023193, 10.287864685058594]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 80, "image_id": 11, "category_id": 45, "category_name": "person", "bbox2D_proj": [283.0, 245.0, 308.0, 292.0], "bbox2D_tight": [283.0, 245.0, 308.0, 292.0], "bbox2D_trunc": [283.0, 245.0, 308.0, 292.0], "center_cam": [0.6479453105001657, 0.4209718723600629, 8.230427848784702], "dimensions": [0.3125000389938174, 1.064453167034072, 0.37890627417826084], "R_cam": [[0.9731348156929016, -0.1441103219985962, -0.17955738306045532], [0.06746351718902588, 0.924132764339447, -0.3760682940483093], [0.22013016045093536, 0.3538515567779541, 0.9090280532836914]], "bbox3D_cam": [[0.5683369636535645, -0.02489665150642395, 7.858358383178711], [0.9370638728141785, 0.0006657242774963379, 7.94176721572876], [0.7836652994155884, 0.9843617677688599, 8.318425178527832], [0.41493839025497437, 0.9587993621826172, 8.235016822814941], [0.5122252702713013, -0.1424180269241333, 8.142430305480957], [0.8809521794319153, -0.11685562133789062, 8.225838661193848], [0.7275536060333252, 0.8668403625488281, 8.602497100830078], [0.3588266968727112, 0.8412780165672302, 8.519087791442871]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 81, "image_id": 11, "category_id": 45, "category_name": "person", "bbox2D_proj": [379.0, 242.0, 420.0, 315.0], "bbox2D_tight": [379.0, 242.0, 420.0, 315.0], "bbox2D_trunc": [379.0, 242.0, 420.0, 315.0], "center_cam": [2.406492783594016, 0.5200124483915857, 7.4554795358157975], "dimensions": [0.34765626718206677, 1.4843750477826458, 0.6826171683943951], "R_cam": [[0.991531491279602, -0.031141817569732666, 0.12607695162296295], [0.028600096702575684, 0.9993505477905273, 0.021920636296272278], [-0.1266777217388153, -0.018129196017980576, 0.9917782545089722]], "bbox3D_cam": [[2.0692718029022217, -0.23526489734649658, 7.3397722244262695], [2.746108293533325, -0.21574199199676514, 7.253299713134766], [2.6998820304870605, 1.2676689624786377, 7.226389408111572], [2.023045539855957, 1.2481460571289062, 7.312861442565918], [2.1131033897399902, -0.22764408588409424, 7.684569835662842], [2.7899398803710938, -0.2081211805343628, 7.598097801208496], [2.743713617324829, 1.27528977394104, 7.5711870193481445], [2.0668771266937256, 1.2557668685913086, 7.657659530639648]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 82, "image_id": 11, "category_id": 45, "category_name": "person", "bbox2D_proj": [424.0, 247.0, 464.0, 340.0], "bbox2D_tight": [424.0, 247.0, 464.0, 340.0], "bbox2D_trunc": [424.0, 247.0, 464.0, 340.0], "center_cam": [2.9112818792809456, 0.5627841880736246, 6.960985575361597], "dimensions": [0.546875112385021, 1.4085693817586091, 0.6630860496730091], "R_cam": [[0.8267979025840759, -0.004930257797241211, 0.5624774694442749], [-0.08718228340148926, 0.9867547154426575, 0.13680031895637512], [-0.5557018518447876, -0.162144273519516, 0.8154169321060181]], "bbox3D_cam": [[2.486832618713379, -0.1406736969947815, 7.036454677581787], [3.0350706577301025, -0.19848304986953735, 6.6679768562316895], [3.0281260013580322, 1.1914293766021729, 6.439585208892822], [2.4798879623413086, 1.2492387294769287, 6.808063507080078], [2.7944376468658447, -0.0658610463142395, 7.482386112213135], [3.3426756858825684, -0.12367039918899536, 7.113907814025879], [3.335731029510498, 1.2662420272827148, 6.88551664352417], [2.7874929904937744, 1.3240513801574707, 7.253994464874268]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 83, "image_id": 11, "category_id": 45, "category_name": "person", "bbox2D_proj": [202.0, 258.0, 218.0, 277.0], "bbox2D_tight": [202.0, 258.0, 218.0, 277.0], "bbox2D_trunc": [202.0, 258.0, 218.0, 277.0], "center_cam": [-1.4471447617337065, 0.2590171618490238, 13.866002550667709], "dimensions": [0.36908386558360257, 0.42928027666147717, 8.527042159498004], "R_cam": [[-0.10133183002471924, 0.17113614082336426, -0.9800226092338562], [-0.00695481151342392, 0.9849472045898438, 0.1727152317762375], [0.9948284029960632, 0.024317428469657898, -0.09861630201339722]], "bbox3D_cam": [[-0.8709917664527893, 0.04538673162460327, 9.637510299682617], [-1.7350525856018066, -0.013917237520217896, 18.120452880859375], [-1.6615872383117676, 0.4089012145996094, 18.130891799926758], [-0.7975264191627502, 0.46820518374443054, 9.64794921875], [-1.2327022552490234, 0.10913312435150146, 9.601112365722656], [-2.0967631340026855, 0.0498291552066803, 18.084054946899414], [-2.0232977867126465, 0.47264760732650757, 18.094493865966797], [-1.1592369079589844, 0.5319515466690063, 9.611551284790039]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 84, "image_id": 11, "category_id": 45, "category_name": "person", "bbox2D_proj": [164.0, 257.0, 182.0, 283.0], "bbox2D_tight": [164.0, 257.0, 182.0, 283.0], "bbox2D_trunc": [164.0, 257.0, 182.0, 283.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 85, "image_id": 11, "category_id": 45, "category_name": "person", "bbox2D_proj": [350.0, 247.0, 376.0, 307.0], "bbox2D_tight": [350.0, 247.0, 376.0, 307.0], "bbox2D_trunc": [350.0, 247.0, 376.0, 307.0], "center_cam": [1.8046404587732736, 0.5218756513267009, 7.3410470382509985], "dimensions": [0.3710937643441897, 1.3378906712736505, 0.5195313036521304], "R_cam": [[0.26618942618370056, 0.0699988603591919, 0.9613758325576782], [0.053867340087890625, 0.994720995426178, -0.08734188228845596], [-0.9624145030975342, 0.07503638416528702, 0.26101362705230713]], "bbox3D_cam": [[1.5102877616882324, -0.14132511615753174, 7.4924235343933105], [1.6485815048217773, -0.11333930492401123, 6.992419242858887], [1.7422324419021606, 1.2174885272979736, 7.092809677124023], [1.6039386987686157, 1.1895027160644531, 7.592813968658447], [1.8670483827590942, -0.17373716831207275, 7.5892839431762695], [2.0053420066833496, -0.14575135707855225, 7.089279651641846], [2.0989930629730225, 1.1850764751434326, 7.189670085906982], [1.9606993198394775, 1.157090663909912, 7.689674377441406]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 86, "image_id": 11, "category_id": 45, "category_name": "person", "bbox2D_proj": [307.0, 253.0, 331.0, 303.0], "bbox2D_tight": [307.0, 253.0, 331.0, 303.0], "bbox2D_trunc": [307.0, 253.0, 331.0, 303.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 87, "image_id": 11, "category_id": 45, "category_name": "person", "bbox2D_proj": [333.0, 250.0, 355.0, 305.0], "bbox2D_tight": [333.0, 250.0, 355.0, 305.0], "bbox2D_trunc": [333.0, 250.0, 355.0, 305.0], "center_cam": [1.5434774364371489, 0.5534958346029605, 7.744521038606936], "dimensions": [0.34375004506965967, 1.310058638366494, 0.43847659311030174], "R_cam": [[0.9328721761703491, 0.06806254386901855, 0.353718638420105], [-0.048766493797302246, 0.9968091249465942, -0.06319253146648407], [-0.35689103603363037, 0.04170091450214386, 0.9332146644592285]], "bbox3D_cam": [[1.2335777282714844, -0.07789069414138794, 7.635053634643555], [1.642620325088501, -0.09927362203598022, 7.478565216064453], [1.7317862510681152, 1.2066047191619873, 7.533195972442627], [1.3227436542510986, 1.2279877662658691, 7.6896843910217285], [1.3551685810089111, -0.09961313009262085, 7.955846309661865], [1.7642111778259277, -0.12099605798721313, 7.799357891082764], [1.853377103805542, 1.184882402420044, 7.8539886474609375], [1.4443345069885254, 1.2062652111053467, 8.010477066040039]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 88, "image_id": 11, "category_id": 61, "category_name": "sports_car", "bbox2D_proj": [140.0, 281.0, 163.0, 292.0], "bbox2D_tight": [140.0, 281.0, 163.0, 292.0], "bbox2D_trunc": [140.0, 281.0, 163.0, 292.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 89, "image_id": 11, "category_id": 45, "category_name": "person", "bbox2D_proj": [182.0, 256.0, 202.0, 277.0], "bbox2D_tight": [182.0, 256.0, 202.0, 277.0], "bbox2D_trunc": [182.0, 256.0, 202.0, 277.0], "center_cam": [-1.53814639118981, 0.36967120572954526, 10.58628870507106], "dimensions": [0.4585576571193534, 0.423946278169657, 1.0261016355601171], "R_cam": [[-0.18170249462127686, 0.17113614082336426, -0.9683473110198975], [0.007293686270713806, 0.9849472045898438, 0.17270123958587646], [0.9833264350891113, 0.024317435920238495, -0.18021565675735474]], "bbox3D_cam": [[-1.2591785192489624, 0.11755004525184631, 10.11795711517334], [-1.445623755455017, 0.12503410875797272, 11.12695026397705], [-1.3730711936950684, 0.5425988435745239, 11.137259483337402], [-1.1866259574890137, 0.5351148247718811, 10.128266334533691], [-1.7032215595245361, 0.19674353301525116, 10.035317420959473], [-1.8896667957305908, 0.20422758162021637, 11.044310569763184], [-1.817114233970642, 0.6217923164367676, 11.054619789123535], [-1.6306689977645874, 0.6143082976341248, 10.045626640319824]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 90, "image_id": 12, "category_id": 45, "category_name": "person", "bbox2D_proj": [266.0, 240.0, 288.0, 316.0], "bbox2D_tight": [266.0, 240.0, 288.0, 316.0], "bbox2D_trunc": [266.0, 240.0, 288.0, 316.0], "center_cam": [0.4901299825259411, 0.6084427047329606, 9.661372560850271], "dimensions": [0.49455983857447877, 1.276385784294611, 0.6104930259843453], "R_cam": [[0.027089357376098633, 0.09799033403396606, -0.9948186278343201], [-0.0342804379761219, 0.9946894645690918, 0.09704415500164032], [0.9990450739860535, 0.031473953276872635, 0.030304670333862305]], "bbox3D_cam": [[0.6653229594230652, -0.03989410400390625, 9.328837394714355], [0.6818608045578003, -0.060822129249572754, 9.93874740600586], [0.8069343566894531, 1.2087854146957397, 9.978919982910156], [0.7903964519500732, 1.2297134399414062, 9.369009971618652], [0.17332562804222107, 0.008100032806396484, 9.34382438659668], [0.18986350297927856, -0.01282799243927002, 9.953734397888184], [0.3149369955062866, 1.2567795515060425, 9.99390697479248], [0.2983991205692291, 1.277707576751709, 9.383996963500977]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 91, "image_id": 12, "category_id": 45, "category_name": "person", "bbox2D_proj": [495.0, 230.0, 506.0, 251.0], "bbox2D_tight": [495.0, 230.0, 506.0, 251.0], "bbox2D_trunc": [495.0, 230.0, 506.0, 251.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 92, "image_id": 12, "category_id": 3, "category_name": "banner", "bbox2D_proj": [249.0, 163.0, 264.0, 273.0], "bbox2D_tight": [249.0, 163.0, 264.0, 273.0], "bbox2D_trunc": [249.0, 163.0, 264.0, 273.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 93, "image_id": 12, "category_id": 45, "category_name": "person", "bbox2D_proj": [453.0, 239.0, 489.0, 311.0], "bbox2D_tight": [453.0, 239.0, 489.0, 311.0], "bbox2D_trunc": [453.0, 239.0, 489.0, 311.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 94, "image_id": 12, "category_id": 45, "category_name": "person", "bbox2D_proj": [277.0, 307.0, 410.0, 410.0], "bbox2D_tight": [277.0, 307.0, 410.0, 410.0], "bbox2D_trunc": [277.0, 307.0, 410.0, 410.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 95, "image_id": 12, "category_id": 45, "category_name": "person", "bbox2D_proj": [329.0, 247.0, 357.0, 321.0], "bbox2D_tight": [329.0, 247.0, 357.0, 321.0], "bbox2D_trunc": [329.0, 247.0, 357.0, 321.0], "center_cam": [1.5230241403033187, 0.5324216459267541, 7.80440707682607], "dimensions": [0.41406254326115843, 1.3330078005605006, 0.47070315502618565], "R_cam": [[-0.9538005590438843, 0.06346583366394043, -0.2936609387397766], [0.039891958236694336, 0.9955319166183472, 0.08558573573827744], [0.2977806031703949, 0.0699169933795929, -0.9520707130432129]], "bbox3D_cam": [[1.7659993171691895, -0.15821176767349243, 7.884832382202148], [1.3170424699783325, -0.13943451642990112, 8.024998664855957], [1.4016427993774414, 1.187617301940918, 8.11819839477539], [1.850599765777588, 1.168839931488037, 7.978032112121582], [1.6444053649902344, -0.12277394533157349, 7.4906158447265625], [1.195448398590088, -0.10399669408798218, 7.630782127380371], [1.2800488471984863, 1.223055124282837, 7.723981857299805], [1.7290056943893433, 1.204277753829956, 7.583815574645996]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 96, "image_id": 12, "category_id": 61, "category_name": "sports_car", "bbox2D_proj": [0.0, 280.0, 51.0, 334.0], "bbox2D_tight": [0.0, 280.0, 51.0, 334.0], "bbox2D_trunc": [0.0, 280.0, 51.0, 334.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 97, "image_id": 12, "category_id": 45, "category_name": "person", "bbox2D_proj": [357.0, 245.0, 380.0, 334.0], "bbox2D_tight": [357.0, 245.0, 380.0, 334.0], "bbox2D_trunc": [357.0, 245.0, 380.0, 334.0], "center_cam": [1.9234064135529727, 0.555012275816011, 7.518981546920969], "dimensions": [0.33203156925596455, 1.4101562376531311, 0.3378909384241178], "R_cam": [[-0.918678879737854, 0.04605913162231445, -0.3923109769821167], [0.07629740238189697, 0.9951663017272949, -0.06182960420846939], [0.38756680488586426, -0.0867338702082634, -0.9177523851394653]], "bbox3D_cam": [[2.111267566680908, -0.1492830514907837, 7.667019367218018], [1.8008543252944946, -0.12350285053253174, 7.797974586486816], [1.8658047914505005, 1.2798370122909546, 7.675666332244873], [2.176218032836914, 1.2540568113327026, 7.544711112976074], [1.9810079336166382, -0.16981244087219238, 7.3622965812683105], [1.6705946922302246, -0.14403223991394043, 7.493251800537109], [1.7355451583862305, 1.259307622909546, 7.370943546295166], [2.0459585189819336, 1.233527421951294, 7.239988327026367]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 98, "image_id": 12, "category_id": 45, "category_name": "person", "bbox2D_proj": [202.0, 256.0, 222.0, 332.0], "bbox2D_tight": [202.0, 256.0, 222.0, 332.0], "bbox2D_trunc": [202.0, 256.0, 222.0, 332.0], "center_cam": [-1.0709094449972436, 0.8185928581296866, 10.079310804354831], "dimensions": [0.5537109691423234, 1.7968749836697269, 0.6328125614713482], "R_cam": [[0.27380508184432983, 0.04844474792480469, 0.9605644941329956], [0.007999300956726074, 0.9985815286636353, -0.052642352879047394], [-0.9617520570755005, 0.022097649052739143, 0.2730292081832886]], "bbox3D_cam": [[-1.4670052528381348, -0.06652688980102539, 10.288171768188477], [-1.2937380075454712, -0.061464786529541016, 9.679563522338867], [-1.2066887617111206, 1.7328611612319946, 9.719269752502441], [-1.3799560070037842, 1.7277990579605103, 10.32787799835205], [-0.93513023853302, -0.09567546844482422, 10.439351081848145], [-0.7618629932403564, -0.09061336517333984, 9.830742835998535], [-0.6748137474060059, 1.7037125825881958, 9.87044906616211], [-0.8480809926986694, 1.6986504793167114, 10.479057312011719]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 99, "image_id": 12, "category_id": 15, "category_name": "car", "bbox2D_proj": [57.0, 278.0, 214.0, 406.0], "bbox2D_tight": [57.0, 278.0, 214.0, 406.0], "bbox2D_trunc": [57.0, 278.0, 214.0, 406.0], "center_cam": [-1.6760807242315878, 0.8998977994200144, 5.618581184879602], "dimensions": [1.5351562912134433, 1.1411132813140887, 2.6132813199306724], "R_cam": [[0.6342463493347168, 0.003959447145462036, 0.7731208801269531], [0.0833386480808258, 0.9938101172447205, -0.07345837354660034], [-0.7686262130737305, 0.11102151870727539, 0.6299903988838196]], "bbox3D_cam": [[-3.1005024909973145, 0.2803642749786377, 6.07598876953125], [-1.4430384635925293, 0.4981515407562256, 4.067352294921875], [-1.4385201930999756, 1.6322014331817627, 4.194040298461914], [-3.09598445892334, 1.4144141674041748, 6.202676773071289], [-1.9136412143707275, 0.16759419441223145, 7.043122291564941], [-0.2561769485473633, 0.3853815197944641, 5.034485816955566], [-0.25165891647338867, 1.5194313526153564, 5.1611738204956055], [-1.9091229438781738, 1.3016440868377686, 7.1698102951049805]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 100, "image_id": 12, "category_id": 45, "category_name": "person", "bbox2D_proj": [414.0, 235.0, 447.0, 329.0], "bbox2D_tight": [414.0, 235.0, 447.0, 329.0], "bbox2D_trunc": [414.0, 235.0, 447.0, 329.0], "center_cam": [2.747718574149499, 0.41984539505777274, 7.011385942951167], "dimensions": [0.4140625281875619, 1.4672851432885037, 0.459960947830368], "R_cam": [[-0.9869500994682312, 0.04328310489654541, -0.15510031580924988], [0.04948437213897705, 0.9981134533882141, -0.03634517639875412], [0.1532345712184906, -0.043545909225940704, -0.9872298240661621]], "bbox3D_cam": [[2.9750540256500244, -0.3162689208984375, 7.212479591369629], [2.5210955142974854, -0.29350805282592773, 7.282961368560791], [2.584604263305664, 1.1710089445114136, 7.219067096710205], [3.038562774658203, 1.1482480764389038, 7.148585319519043], [2.9108328819274902, -0.3313181400299072, 6.803704738616943], [2.456874370574951, -0.30855727195739746, 6.8741865158081055], [2.52038311958313, 1.1559597253799438, 6.8102922439575195], [2.974341630935669, 1.133198857307434, 6.739810466766357]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 101, "image_id": 12, "category_id": 55, "category_name": "shirt", "bbox2D_proj": [449.0, 244.0, 512.0, 422.0], "bbox2D_tight": [449.0, 244.0, 512.0, 422.0], "bbox2D_trunc": [449.0, 244.0, 512.0, 422.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 102, "image_id": 12, "category_id": 45, "category_name": "person", "bbox2D_proj": [377.0, 242.0, 400.0, 337.0], "bbox2D_tight": [377.0, 242.0, 400.0, 337.0], "bbox2D_trunc": [377.0, 242.0, 400.0, 337.0], "center_cam": [2.1585266612330853, 0.5441791062944991, 7.3681321868323195], "dimensions": [0.4301757984973788, 1.5131835802498672, 0.5312500402159293], "R_cam": [[0.37297025322914124, 0.06749045848846436, -0.9253854751586914], [-0.08187699317932129, 0.9958542585372925, 0.03962993621826172], [0.9242236614227295, 0.0609869658946991, 0.37694990634918213]], "bbox3D_cam": [[2.207432985305786, -0.19605135917663574, 6.995415687561035], [2.4055733680725098, -0.23954856395721436, 7.486409664154053], [2.5076987743377686, 1.2673616409301758, 7.578693866729736], [2.309558391571045, 1.3108588457107544, 7.087699890136719], [1.809354543685913, -0.17900347709655762, 7.1575703620910645], [2.0074949264526367, -0.22250068187713623, 7.648564338684082], [2.1096203327178955, 1.284409523010254, 7.740848541259766], [1.9114799499511719, 1.3279067277908325, 7.249854564666748]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 103, "image_id": 13, "category_id": 45, "category_name": "person", "bbox2D_proj": [165.0, 247.0, 195.0, 347.0], "bbox2D_tight": [165.0, 247.0, 195.0, 347.0], "bbox2D_trunc": [165.0, 247.0, 195.0, 347.0], "center_cam": [-0.9781306738647666, 0.5178875147185195, 5.788562518196963], "dimensions": [0.40429692141277623, 1.2462768966469973, 0.45312503659861314], "R_cam": [[-0.29817402362823486, -0.0049097537994384766, 0.9544988870620728], [-0.0015157461166381836, 0.9999879598617554, 0.004670202732086182], [-0.9545103311538696, -5.429983139038086e-05, -0.2981778383255005]], "bbox3D_cam": [[-1.1004667282104492, -0.10584402084350586, 6.065128803253174], [-1.235576868057251, -0.10653090476989746, 5.63261604309082], [-1.2416956424713135, 1.1397309303283691, 5.6325483322143555], [-1.1065856218338013, 1.1404178142547607, 6.065061092376709], [-0.7145656943321228, -0.10395586490631104, 5.944576263427734], [-0.8496757745742798, -0.10464274883270264, 5.512063503265381], [-0.8557946681976318, 1.141619086265564, 5.511995792388916], [-0.7206845879554749, 1.1423059701919556, 5.9445085525512695]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 104, "image_id": 13, "category_id": 45, "category_name": "person", "bbox2D_proj": [204.0, 224.0, 245.0, 416.0], "bbox2D_tight": [204.0, 224.0, 245.0, 416.0], "bbox2D_trunc": [204.0, 224.0, 245.0, 416.0], "center_cam": [-0.27461601140150527, 0.4994460323333586, 3.872319792861944], "dimensions": [0.39257813454185625, 1.5556641195704404, 0.6699218670369158], "R_cam": [[-0.042423635721206665, -0.005122005939483643, -0.9990866184234619], [0.07597231864929199, 0.997075080871582, -0.008337616920471191], [0.9962069988250732, -0.076256662607193, -0.041910409927368164]], "bbox3D_cam": [[-0.060311898589134216, -0.2999221086502075, 3.606170654296875], [-0.08873248100280762, -0.24902653694152832, 4.2735514640808105], [-0.09670056402683258, 1.3020873069763184, 4.154922008514404], [-0.06827998161315918, 1.2511917352676392, 3.4875409603118896], [-0.45253145694732666, -0.3031952381134033, 3.5897176265716553], [-0.48095202445983887, -0.2522996664047241, 4.25709867477417], [-0.48892009258270264, 1.2988141775131226, 4.1384687423706055], [-0.46049952507019043, 1.2479186058044434, 3.47108793258667]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 105, "image_id": 13, "category_id": 47, "category_name": "pipe", "bbox2D_proj": [99.0, 131.0, 327.0, 175.0], "bbox2D_tight": [99.0, 131.0, 327.0, 175.0], "bbox2D_trunc": [99.0, 131.0, 327.0, 175.0], "center_cam": [-0.4959681184384007, -1.3884334411778205, 6.086447419511188], "dimensions": [0.7948194133902904, 0.14718330245144384, 3.6724442170909626], "R_cam": [[0.7124828696250916, -0.03201894834637642, -0.7009586095809937], [-0.021966001018881798, 0.9974510669708252, -0.067889504134655], [0.7013455629348755, 0.06376736611127853, 0.7099634408950806]], "bbox3D_cam": [[-1.5233207941055298, -1.3945231437683105, 4.511781692504883], [1.0932327508926392, -1.4751920700073242, 7.0874342918396], [1.0885201692581177, -1.3283839225769043, 7.096819877624512], [-1.5280333757400513, -1.2477149963378906, 4.521167755126953], [-2.080456495285034, -1.4484829902648926, 5.076074600219727], [0.5360971689224243, -1.5291519165039062, 7.651726722717285], [0.5313845872879028, -1.3823437690734863, 7.6611127853393555], [-2.0851690769195557, -1.3016748428344727, 5.085460186004639]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 106, "image_id": 13, "category_id": 45, "category_name": "person", "bbox2D_proj": [120.0, 243.0, 144.0, 322.0], "bbox2D_tight": [120.0, 243.0, 144.0, 322.0], "bbox2D_trunc": [120.0, 243.0, 144.0, 322.0], "center_cam": [-1.7184768905920729, 0.40496948306221836, 6.240490359839417], "dimensions": [0.322265639889239, 1.1445312905222313, 0.4609375057205624], "R_cam": [[-0.2726404666900635, -0.029423952102661133, 0.9616658687591553], [0.04914045333862305, 0.9978017807006836, 0.04446130990982056], [-0.9608601927757263, 0.059378594160079956, -0.2705953121185303]], "bbox3D_cam": [[-1.7937593460083008, -0.18452772498130798, 6.471560001373291], [-1.9194296598434448, -0.16187700629234314, 6.028663635253906], [-1.9531062841415405, 0.9801383018493652, 6.096624374389648], [-1.8274359703063965, 0.9574875831604004, 6.539520740509033], [-1.4838474988937378, -0.17019936442375183, 6.384356498718262], [-1.6095178127288818, -0.147548645734787, 5.941460132598877], [-1.6431944370269775, 0.9944666624069214, 6.009420871734619], [-1.5175241231918335, 0.9718159437179565, 6.452317237854004]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 107, "image_id": 13, "category_id": 45, "category_name": "person", "bbox2D_proj": [70.0, 296.0, 122.0, 381.0], "bbox2D_tight": [70.0, 296.0, 122.0, 381.0], "bbox2D_trunc": [70.0, 296.0, 122.0, 381.0], "center_cam": [-1.0938178504681408, 0.6058209987225514, 3.108898165169637], "dimensions": [0.2617187577165067, 0.6152343990474902, 0.3554687711667611], "R_cam": [[0.9384534358978271, -0.2034008502960205, -0.27916547656059265], [0.16744333505630493, 0.9748061895370483, -0.14736254513263702], [0.3021058738231659, 0.09154845029115677, 0.9488683938980103]], "bbox3D_cam": [[-1.1615122556686401, 0.2954772114753723, 2.9028732776641846], [-0.8279213905334473, 0.3549981117248535, 3.0102624893188477], [-0.9530605673789978, 0.954732358455658, 3.0665862560272217], [-1.286651372909546, 0.8952114582061768, 2.9591970443725586], [-1.2345751523971558, 0.25690966844558716, 3.151210069656372], [-0.9009842872619629, 0.31643056869506836, 3.258599281311035], [-1.0261234045028687, 0.9161648154258728, 3.314923048019409], [-1.3597142696380615, 0.8566439151763916, 3.207533836364746]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 108, "image_id": 14, "category_id": 45, "category_name": "person", "bbox2D_proj": [146.0, 234.0, 196.0, 412.0], "bbox2D_tight": [146.0, 234.0, 196.0, 412.0], "bbox2D_trunc": [146.0, 234.0, 196.0, 412.0], "center_cam": [-0.5922427868844593, 0.4381995887256732, 3.056201987620103], "dimensions": [0.31542968591617926, 1.189453106318085, 0.44531249317652283], "R_cam": [[0.5486458539962769, 0.011351346969604492, 0.8359778523445129], [-0.039470791816711426, 0.9991445541381836, 0.012337535619735718], [-0.8351227045059204, -0.03976565599441528, 0.5486245155334473]], "bbox3D_cam": [[-0.852999210357666, -0.14917558431625366, 3.1792707443237305], [-0.6086804270744324, -0.1667523980140686, 2.807380199432373], [-0.5951786041259766, 1.0216832160949707, 2.7600808143615723], [-0.8394973874092102, 1.039259910583496, 3.1319713592529297], [-0.5893069505691528, -0.1452839970588684, 3.352323055267334], [-0.3449881672859192, -0.16286081075668335, 2.9804325103759766], [-0.331486314535141, 1.0255746841430664, 2.933133125305176], [-0.575805127620697, 1.043151617050171, 3.305023670196533]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 109, "image_id": 14, "category_id": 45, "category_name": "person", "bbox2D_proj": [446.0, 239.0, 502.0, 376.0], "bbox2D_tight": [446.0, 239.0, 502.0, 376.0], "bbox2D_trunc": [446.0, 239.0, 502.0, 376.0], "center_cam": [1.9863312104359485, 0.4451893953514855, 4.042324563363108], "dimensions": [0.41796875955422436, 1.1811523263378394, 0.4784546047592708], "R_cam": [[0.9123328924179077, 0.007298946380615234, 0.409384161233902], [0.021207869052886963, 0.9976565837860107, -0.06505030393600464], [-0.40889960527420044, 0.0680297315120697, 0.9100401401519775]], "bbox3D_cam": [[1.678210735321045, -0.1354818046092987, 3.9097836017608643], [2.114720582962036, -0.12533482909202576, 3.714143753051758], [2.1233417987823486, 1.0530495643615723, 3.794497013092041], [1.6868319511413574, 1.0429025888442993, 3.9901371002197266], [1.8493205308914185, -0.1626708209514618, 4.290152072906494], [2.285830497741699, -0.15252384543418884, 4.094511985778809], [2.2944517135620117, 1.0258605480194092, 4.17486572265625], [1.857941746711731, 1.0157135725021362, 4.370505332946777]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 110, "image_id": 14, "category_id": 45, "category_name": "person", "bbox2D_proj": [0.0, 219.0, 36.0, 346.0], "bbox2D_tight": [0.0, 219.0, 36.0, 346.0], "bbox2D_trunc": [0.0, 219.0, 36.0, 346.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 111, "image_id": 14, "category_id": 45, "category_name": "person", "bbox2D_proj": [250.0, 227.0, 287.0, 334.0], "bbox2D_tight": [250.0, 227.0, 287.0, 334.0], "bbox2D_trunc": [250.0, 227.0, 287.0, 334.0], "center_cam": [0.13824739368057348, 0.25010204103130923, 4.974082767855689], "dimensions": [0.3840332401910802, 1.1273193181950807, 0.3984375323953333], "R_cam": [[-0.14643774926662445, -0.02045762538909912, 0.9890084266662598], [0.023082375526428223, 0.9994432926177979, 0.024091128259897232], [-0.9889506101608276, 0.026356611400842667, -0.14588391780853271]], "bbox3D_cam": [[-0.01095438003540039, -0.3224681615829468, 5.184256553649902], [-0.06930063664913177, -0.31327128410339355, 4.790221691131592], [-0.09236288070678711, 0.8134204149246216, 4.819933891296387], [-0.034016624093055725, 0.8042235374450684, 5.213968753814697], [0.3688576817512512, -0.31321632862091064, 5.128232002258301], [0.31051141023635864, -0.3040194511413574, 4.73419713973999], [0.2874491810798645, 0.8226722478866577, 4.763909339904785], [0.3457954525947571, 0.8134753704071045, 5.157944202423096]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 112, "image_id": 14, "category_id": 45, "category_name": "person", "bbox2D_proj": [380.0, 242.0, 415.0, 339.0], "bbox2D_tight": [380.0, 242.0, 415.0, 339.0], "bbox2D_trunc": [380.0, 242.0, 415.0, 339.0], "center_cam": [1.6293695033660593, 0.3816565950527599, 5.094355323825061], "dimensions": [0.3593749991665507, 1.0920410003958234, 0.48046875148809254], "R_cam": [[-0.6759522557258606, -0.14672482013702393, 0.7221913933753967], [-0.1843423843383789, 0.982489287853241, 0.027068883180618286], [-0.7135169506072998, -0.11483317613601685, -0.6911634206771851]], "bbox3D_cam": [[1.7421025037765503, -0.11538130044937134, 5.452661037445068], [1.4173284769058228, -0.20395201444625854, 5.109838485717773], [1.257098913192749, 0.8689665794372559, 4.98443603515625], [1.5818729400634766, 0.9575373530387878, 5.327258586883545], [2.0016400814056396, -0.10565340518951416, 5.2042741775512695], [1.676866054534912, -0.19422417879104614, 4.861451625823975], [1.5166364908218384, 0.878694474697113, 4.736049175262451], [1.841410517692566, 0.9672651886940002, 5.078871726989746]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 113, "image_id": 14, "category_id": 45, "category_name": "person", "bbox2D_proj": [199.0, 248.0, 220.0, 332.0], "bbox2D_tight": [199.0, 248.0, 220.0, 332.0], "bbox2D_trunc": [199.0, 248.0, 220.0, 332.0], "center_cam": [-0.5364419660346229, 0.3760412922796746, 4.723645479753212], "dimensions": [0.27734375224852603, 0.8646240098892506, 0.2861328196422329], "R_cam": [[0.9802829027175903, -0.02886199951171875, -0.19548049569129944], [0.020848751068115234, 0.9988607168197632, -0.042926911264657974], [0.19649673998355865, 0.03800497576594353, 0.9797677993774414]], "bbox3D_cam": [[-0.637102484703064, -0.05280819535255432, 4.543237209320068], [-0.356611430644989, -0.04684266448020935, 4.599461555480957], [-0.3815661668777466, 0.8167963027954102, 4.632321357727051], [-0.6620572805404663, 0.8108307123184204, 4.57609748840332], [-0.6913177967071533, -0.06471368670463562, 4.814970016479492], [-0.410826712846756, -0.05874815583229065, 4.871193885803223], [-0.43578144907951355, 0.8048907518386841, 4.904054164886475], [-0.7162725329399109, 0.7989252805709839, 4.847829818725586]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 114, "image_id": 14, "category_id": 30, "category_name": "handbag", "bbox2D_proj": [169.0, 288.0, 202.0, 329.0], "bbox2D_tight": [169.0, 288.0, 202.0, 329.0], "bbox2D_trunc": [169.0, 288.0, 202.0, 329.0], "center_cam": [-0.4703349864360242, 0.349120183691516, 3.0211340304019045], "dimensions": [0.0976562483903092, 0.21459963703201174, 0.2216797144605314], "R_cam": [[0.6268973350524902, 0.028984975069761276, -0.7785626649856567], [0.20538723468780518, 0.9578104019165039, 0.20103561878204346], [0.7515424489974976, -0.28593549132347107, 0.5944955945014954]], "bbox3D_cam": [[-0.5049145221710205, 0.21376600861549377, 2.939486026763916], [-0.36594411730766296, 0.259296178817749, 3.1060876846313477], [-0.3597239553928375, 0.46484196186065674, 3.0447261333465576], [-0.49869436025619507, 0.4193117618560791, 2.878124475479126], [-0.5809460282325745, 0.23339837789535522, 2.997542142868042], [-0.44197559356689453, 0.27892857789993286, 3.1641438007354736], [-0.4357554316520691, 0.4844743311405182, 3.1027822494506836], [-0.574725866317749, 0.43894416093826294, 2.936180591583252]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 115, "image_id": 15, "category_id": 45, "category_name": "person", "bbox2D_proj": [151.0, 280.0, 184.0, 362.0], "bbox2D_tight": [151.0, 280.0, 184.0, 362.0], "bbox2D_trunc": [151.0, 280.0, 184.0, 362.0], "center_cam": [-1.3872393296461762, 1.0197695909150575, 7.084674619131609], "dimensions": [0.4101562491499444, 1.253417988566461, 0.5703124988667649], "R_cam": [[0.7601886987686157, 0.050304114818573, 0.6477519273757935], [-0.14130699634552002, 0.9859328269958496, 0.08926805853843689], [-0.6341493129730225, -0.15939247608184814, 0.7566032409667969]], "bbox3D_cam": [[-1.768377661705017, 0.4238642454147339, 7.210236549377441], [-1.3348325490951538, 0.3432750701904297, 6.848573207855225], [-1.2717804908752441, 1.5790610313415527, 6.648787498474121], [-1.7053256034851074, 1.659650206565857, 7.010450839996338], [-1.5026981830596924, 0.4604780673980713, 7.520562171936035], [-1.069153070449829, 0.3798888921737671, 7.158898830413818], [-1.0061010122299194, 1.6156748533248901, 6.959113121032715], [-1.4396461248397827, 1.6962640285491943, 7.320776462554932]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 116, "image_id": 15, "category_id": 45, "category_name": "person", "bbox2D_proj": [242.0, 276.0, 266.0, 347.0], "bbox2D_tight": [242.0, 276.0, 266.0, 347.0], "bbox2D_trunc": [242.0, 276.0, 266.0, 347.0], "center_cam": [-0.06977245195611206, 0.9436495988372808, 7.771962168859796], "dimensions": [0.40625000166590275, 1.172363299711602, 0.43359375145932966], "R_cam": [[0.2828827202320099, 0.06483960151672363, 0.9569604396820068], [-0.1450577974319458, 0.9891287088394165, -0.024139225482940674], [-0.9481221437454224, -0.13198605179786682, 0.28921282291412354]], "bbox3D_cam": [[-0.36349084973335266, 0.4001918435096741, 7.996133327484131], [-0.24083468317985535, 0.3372957110404968, 7.585033893585205], [-0.16481918096542358, 1.4969139099121094, 7.430298328399658], [-0.2874753475189209, 1.559809923171997, 7.841397762298584], [0.025274276733398438, 0.39038532972335815, 8.113626480102539], [0.14793044328689575, 0.3274891972541809, 7.702526569366455], [0.22394594550132751, 1.487107276916504, 7.547791004180908], [0.1012897789478302, 1.5500035285949707, 7.958890438079834]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 117, "image_id": 15, "category_id": 45, "category_name": "person", "bbox2D_proj": [287.0, 265.0, 311.0, 365.0], "bbox2D_tight": [287.0, 265.0, 311.0, 365.0], "bbox2D_trunc": [287.0, 265.0, 311.0, 365.0], "center_cam": [0.5801397417400649, 0.8144089663063566, 6.342680954159437], "dimensions": [0.3833007812856999, 1.3789062757097224, 0.5820312524023706], "R_cam": [[0.08818727731704712, 0.0808761715888977, 0.9928151369094849], [0.1020933985710144, 0.9907156825065613, -0.08977359533309937], [-0.9908581376075745, 0.10927674174308777, 0.07911157608032227]], "bbox3D_cam": [[0.3084421455860138, 0.11885124444961548, 6.540533065795898], [0.3597698211669922, 0.1782727837562561, 5.963822841644287], [0.4712904691696167, 1.5443768501281738, 6.114505290985107], [0.4199627935886383, 1.4849553108215332, 6.691215515136719], [0.6889890432357788, 0.08444100618362427, 6.57085657119751], [0.7403167486190796, 0.1438625454902649, 5.994146347045898], [0.8518373966217041, 1.5099666118621826, 6.144828796386719], [0.8005096912384033, 1.450545072555542, 6.72153902053833]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 118, "image_id": 15, "category_id": 45, "category_name": "person", "bbox2D_proj": [344.0, 246.0, 390.0, 367.0], "bbox2D_tight": [344.0, 246.0, 390.0, 367.0], "bbox2D_trunc": [344.0, 246.0, 390.0, 367.0], "center_cam": [1.4767382503343747, 0.6561027070871048, 5.788287015325394], "dimensions": [0.48437499945286, 1.4780273686683567, 0.8359374997607834], "R_cam": [[0.23615959286689758, 0.04176551103591919, 0.9708162546157837], [-0.07672238349914551, 0.9967583417892456, -0.024218201637268066], [-0.9686806797981262, -0.06876397132873535, 0.23859834671020508]], "bbox3D_cam": [[1.1120460033416748, -0.04258245229721069, 6.186197280883789], [1.3094606399536133, -0.10671752691268921, 5.37644100189209], [1.3711912631988525, 1.366518497467041, 5.274806022644043], [1.173776626586914, 1.4306535720825195, 6.084562301635742], [1.5822851657867432, -0.05431312322616577, 6.3017683029174805], [1.7796998023986816, -0.11844819784164429, 5.492012023925781], [1.841430425643921, 1.354787826538086, 5.390377044677734], [1.6440157890319824, 1.4189229011535645, 6.200133323669434]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 119, "image_id": 15, "category_id": 45, "category_name": "person", "bbox2D_proj": [312.0, 269.0, 363.0, 451.0], "bbox2D_tight": [312.0, 269.0, 363.0, 451.0], "bbox2D_trunc": [312.0, 269.0, 363.0, 451.0], "center_cam": [0.6352434601536641, 0.9061202738697829, 3.7278100910392666], "dimensions": [0.45312500074246614, 1.4318237540483163, 0.5039062507912262], "R_cam": [[0.5013488531112671, 0.021358847618103027, 0.8649815320968628], [-0.0422210693359375, 0.9991083145141602, -0.00019925832748413086], [-0.8642144799232483, -0.0364205539226532, 0.5018036365509033]], "bbox3D_cam": [[0.2976635992527008, 0.20152968168258667, 3.857935667037964], [0.550296425819397, 0.1802542805671692, 3.422452688217163], [0.5808785557746887, 1.6108012199401855, 3.370304822921753], [0.32824572920799255, 1.6320765018463135, 3.8057878017425537], [0.6896083950996399, 0.20143944025039673, 4.085315704345703], [0.9422411918640137, 0.18016403913497925, 3.6498324871063232], [0.9728233814239502, 1.610710859298706, 3.597684621810913], [0.7201905250549316, 1.631986379623413, 4.033167839050293]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 120, "image_id": 15, "category_id": 45, "category_name": "person", "bbox2D_proj": [413.0, 248.0, 439.0, 353.0], "bbox2D_tight": [413.0, 248.0, 439.0, 353.0], "bbox2D_trunc": [413.0, 248.0, 439.0, 353.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 121, "image_id": 16, "category_id": 50, "category_name": "plastic_bag", "bbox2D_proj": [424.0, 337.0, 467.0, 425.0], "bbox2D_tight": [424.0, 337.0, 467.0, 425.0], "bbox2D_trunc": [424.0, 337.0, 467.0, 425.0], "center_cam": [0.9943878254825618, 0.6328190616357986, 2.303078420627811], "dimensions": [0.17578126359139523, 0.39453126495282265, 0.25585937620102206], "R_cam": [[0.996100127696991, -0.07520484924316406, -0.046138107776641846], [0.07053059339523315, 0.9929072260856628, -0.09571170806884766], [0.053008854389190674, 0.09208430349826813, 0.9943392276763916]], "bbox3D_cam": [[0.8858474493026733, 0.436341792345047, 2.1907389163970947], [1.1407090425491333, 0.45438769459724426, 2.204301595687866], [1.111038327217102, 0.8461206555366516, 2.2406318187713623], [0.8561767935752869, 0.8280747532844543, 2.2270689010620117], [0.877737283706665, 0.419517457485199, 2.365525007247925], [1.132598876953125, 0.43756335973739624, 2.3790879249572754], [1.1029281616210938, 0.829296350479126, 2.4154179096221924], [0.8480665683746338, 0.8112504482269287, 2.401855230331421]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 122, "image_id": 16, "category_id": 45, "category_name": "person", "bbox2D_proj": [351.0, 107.0, 390.0, 212.0], "bbox2D_tight": [351.0, 107.0, 390.0, 212.0], "bbox2D_trunc": [351.0, 107.0, 390.0, 212.0], "center_cam": [1.0126861533810865, -0.8195651853052011, 3.9014328422331688], "dimensions": [0.2636719822553726, 0.9262695539475939, 0.29101573154533467], "R_cam": [[-0.8177356719970703, 0.12970900535583496, 0.5607888698577881], [0.16053223609924316, 0.9870136976242065, 0.005792737472802401], [-0.5527548789978027, 0.0947616696357727, -0.8279387950897217]], "bbox3D_cam": [[0.9976682662963867, -1.3008078336715698, 4.047127723693848], [0.7596942782402039, -1.254090428352356, 3.8862674236297607], [0.8798397183418274, -0.3398498594760895, 3.9740421772003174], [1.1178137063980103, -0.38656726479530334, 4.134902477264404], [1.145532488822937, -1.2992805242538452, 3.8288233280181885], [0.9075585603713989, -1.2525631189346313, 3.6679630279541016], [1.0277040004730225, -0.3383224904537201, 3.755737781524658], [1.2656779289245605, -0.38503989577293396, 3.916598081588745]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 123, "image_id": 16, "category_id": 45, "category_name": "person", "bbox2D_proj": [384.0, 114.0, 423.0, 200.0], "bbox2D_tight": [384.0, 114.0, 423.0, 200.0], "bbox2D_trunc": [384.0, 114.0, 423.0, 200.0], "center_cam": [1.2797545037266485, -0.786264757922134, 3.809445156560782], "dimensions": [0.2460937911316314, 0.8301697025733761, 0.3007812778347012], "R_cam": [[-0.9189783930778503, 0.18562757968902588, 0.34788110852241516], [0.25208914279937744, 0.9549896121025085, 0.1563524454832077], [-0.30319949984550476, 0.23138155043125153, -0.9244093894958496]], "bbox3D_cam": [[1.2981034517288208, -1.2398170232772827, 3.872746229171753], [1.021691918373108, -1.163993239402771, 3.7815494537353516], [1.175794243812561, -0.3711899220943451, 3.97363543510437], [1.452205777168274, -0.44701364636421204, 4.0648322105407715], [1.3837147951126099, -1.201339602470398, 3.6452548503875732], [1.107303261756897, -1.1255159378051758, 3.554058074951172], [1.26140558719635, -0.3327125608921051, 3.7461440563201904], [1.537817120552063, -0.40853628516197205, 3.837340831756592]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 124, "image_id": 16, "category_id": 45, "category_name": "person", "bbox2D_proj": [302.0, 127.0, 334.0, 211.0], "bbox2D_tight": [302.0, 127.0, 334.0, 211.0], "bbox2D_trunc": [302.0, 127.0, 334.0, 211.0], "center_cam": [0.6147526680164449, -0.7740949186035879, 4.159255212426773], "dimensions": [0.26953130038540773, 0.8272705250120238, 0.30468753384909464], "R_cam": [[-0.9635893106460571, 0.11467492580413818, 0.24154792726039886], [0.1148831844329834, 0.9932904243469238, -0.013269968330860138], [-0.24144896864891052, 0.01496298611164093, -0.970298171043396]], "bbox3D_cam": [[0.6815634965896606, -1.200668215751648, 4.320611953735352], [0.38796985149383545, -1.165664792060852, 4.247045516967773], [0.482837051153183, -0.3439449369907379, 4.259423732757568], [0.7764307260513306, -0.3789484202861786, 4.3329901695251465], [0.7466682195663452, -1.2042449712753296, 4.059086322784424], [0.45307457447052, -1.1692414283752441, 3.9855196475982666], [0.5479418039321899, -0.3475216329097748, 3.9978981018066406], [0.8415354490280151, -0.38252511620521545, 4.071464538574219]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 125, "image_id": 16, "category_id": 45, "category_name": "person", "bbox2D_proj": [384.0, 113.0, 424.0, 220.0], "bbox2D_tight": [384.0, 113.0, 424.0, 220.0], "bbox2D_trunc": [384.0, 113.0, 424.0, 220.0], "center_cam": [1.2837682578561374, -0.7636202623810922, 3.784296294184447], "dimensions": [0.2871094363794563, 0.8543434425759456, 0.2998047260567782], "R_cam": [[-0.974095344543457, 0.1507875919342041, 0.16852670907974243], [0.18720316886901855, 0.9557591676712036, 0.22689060866832733], [-0.1268586665391922, 0.2525618374347687, -0.959228515625]], "bbox3D_cam": [[1.3411824703216553, -1.2325270175933838, 3.83312726020813], [1.0491440296173096, -1.1764025688171387, 3.7950944900512695], [1.1779685020446777, -0.3598560094833374, 4.010869026184082], [1.4700069427490234, -0.41598039865493774, 4.048901557922363], [1.3895680904388428, -1.1673845052719116, 3.5577235221862793], [1.097529649734497, -1.111260175704956, 3.519690752029419], [1.2263541221618652, -0.29471355676651, 3.7354652881622314], [1.518392562866211, -0.35083794593811035, 3.773498058319092]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 126, "image_id": 16, "category_id": 45, "category_name": "person", "bbox2D_proj": [427.0, 108.0, 471.0, 229.0], "bbox2D_tight": [427.0, 108.0, 471.0, 229.0], "bbox2D_trunc": [427.0, 108.0, 471.0, 229.0], "center_cam": [1.6046504928210186, -0.7191724026261861, 3.5589984065237856], "dimensions": [0.31445478031827045, 0.9189453391605058, 0.3164078992692383], "R_cam": [[-0.832726001739502, 0.18303322792053223, 0.5225574970245361], [0.24526381492614746, 0.9680736064910889, 0.05176067352294922], [-0.4964001774787903, 0.17126691341400146, -0.8510315418243408]], "bbox3D_cam": [[1.5701318979263306, -1.2109156847000122, 3.692643880844116], [1.3066508769989014, -1.1333122253417969, 3.535578966140747], [1.4748483896255493, -0.24370557069778442, 3.6929638385772705], [1.7383294105529785, -0.321308970451355, 3.8500287532806396], [1.7344526052474976, -1.1946392059326172, 3.4250328540802], [1.4709715843200684, -1.1170358657836914, 3.267967939376831], [1.6391690969467163, -0.22742915153503418, 3.4253528118133545], [1.9026501178741455, -0.30503255128860474, 3.5824177265167236]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 127, "image_id": 16, "category_id": 45, "category_name": "person", "bbox2D_proj": [407.0, 112.0, 433.0, 213.0], "bbox2D_tight": [407.0, 112.0, 433.0, 213.0], "bbox2D_trunc": [407.0, 112.0, 433.0, 213.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 128, "image_id": 17, "category_id": 45, "category_name": "person", "bbox2D_proj": [323.0, 224.0, 350.0, 302.0], "bbox2D_tight": [323.0, 224.0, 350.0, 302.0], "bbox2D_trunc": [323.0, 224.0, 350.0, 302.0], "center_cam": [1.7375188258053167, 0.13325470230603473, 9.659395360743902], "dimensions": [0.33593749618293733, 1.6347656726637454, 0.5967102412819747], "R_cam": [[0.9777498245239258, -0.008319437503814697, 0.20960953831672668], [0.042720258235931396, 0.9861706495285034, -0.16013260185718536], [-0.20537854731082916, 0.1655241847038269, 0.9645835161209106]], "bbox3D_cam": [[1.4173943996429443, -0.6586727499961853, 9.423354148864746], [2.0008277893066406, -0.6331811547279358, 9.300803184509277], [1.987227439880371, 0.9789766669273376, 9.571395874023438], [1.4037940502166748, 0.9534850716590881, 9.693947792053223], [1.4878101348876953, -0.7124672532081604, 9.747394561767578], [2.0712435245513916, -0.6869756579399109, 9.624842643737793], [2.057643175125122, 0.9251821637153625, 9.89543628692627], [1.4742097854614258, 0.899690568447113, 10.017987251281738]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 129, "image_id": 17, "category_id": 58, "category_name": "signboard", "bbox2D_proj": [322.0, 165.0, 363.0, 185.0], "bbox2D_tight": [322.0, 165.0, 363.0, 185.0], "bbox2D_trunc": [322.0, 165.0, 363.0, 185.0], "center_cam": [3.9782704993969085, -3.5719529492108846, 19.281535107440632], "dimensions": [1.1441328303672975, 0.8675469476920539, 1.8832072002865363], "R_cam": [[0.6464846134185791, -0.012317977845668793, 0.7628275156021118], [0.0591818243265152, 0.9976664781570435, -0.03404557704925537], [-0.7606281042098999, 0.06715547293424606, 0.6457051038742065]], "bbox3D_cam": [[2.938493490219116, -4.040963649749756, 19.599227905273438], [4.15595817565918, -3.9295122623443604, 18.166807174682617], [4.145271301269531, -3.0639896392822266, 18.225067138671875], [2.927807092666626, -3.175441265106201, 19.657487869262695], [3.811269521713257, -4.079916477203369, 20.338001251220703], [5.02873420715332, -3.9684648513793945, 18.905580520629883], [5.018047332763672, -3.1029422283172607, 18.96384048461914], [3.8005831241607666, -3.2143938541412354, 20.39626121520996]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 130, "image_id": 17, "category_id": 58, "category_name": "signboard", "bbox2D_proj": [88.0, 0.0, 121.0, 129.0], "bbox2D_tight": [88.0, 0.0, 121.0, 129.0], "bbox2D_trunc": [88.0, 0.0, 121.0, 129.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 131, "image_id": 17, "category_id": 45, "category_name": "person", "bbox2D_proj": [357.0, 237.0, 387.0, 320.0], "bbox2D_tight": [357.0, 237.0, 387.0, 320.0], "bbox2D_trunc": [357.0, 237.0, 387.0, 320.0], "center_cam": [2.007970352649931, 0.3638528754875449, 7.678943723751857], "dimensions": [0.47265637126322, 1.3833008205480475, 0.4946290707465776], "R_cam": [[0.986726701259613, -0.006011366844177246, 0.16227851808071136], [0.017773151397705078, 0.9973090291023254, -0.0711248517036438], [-0.1614142805337906, 0.07306498289108276, 0.9841783046722412]], "bbox3D_cam": [[1.7297452688217163, -0.3135230839252472, 7.435739040374756], [2.217808961868286, -0.30473199486732483, 7.355898857116699], [2.209493398666382, 1.0748465061187744, 7.456969738006592], [1.721429705619812, 1.066055417060852, 7.536809921264648], [1.8064472675323486, -0.34714069962501526, 7.9009175300598145], [2.294510841369629, -0.3383496105670929, 7.821077346801758], [2.2861955165863037, 1.0412288904190063, 7.92214822769165], [1.7981317043304443, 1.032437801361084, 8.001988410949707]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 132, "image_id": 17, "category_id": 45, "category_name": "person", "bbox2D_proj": [143.0, 224.0, 169.0, 310.0], "bbox2D_tight": [143.0, 224.0, 169.0, 310.0], "bbox2D_trunc": [143.0, 224.0, 169.0, 310.0], "center_cam": [-1.9213603259213679, 0.20234573499037797, 8.574568989735475], "dimensions": [0.5039062598847652, 1.6835938025872013, 0.5664063012261866], "R_cam": [[-0.9961937665939331, 0.026737570762634277, -0.08296526223421097], [0.04313528537750244, 0.9782981872558594, -0.2026626318693161], [0.0757460817694664, -0.20546996593475342, -0.9757280349731445]], "bbox3D_cam": [[-1.6408393383026123, -0.5823372006416321, 8.971919059753418], [-2.205089807510376, -0.5579050183296204, 9.014822006225586], [-2.1600747108459473, 1.0891516208648682, 8.668893814086914], [-1.5958242416381836, 1.0647194385528564, 8.625990867614746], [-1.6826460361480713, -0.6844601035118103, 8.480243682861328], [-2.246896505355835, -0.6600279211997986, 8.523146629333496], [-2.2018814086914062, 0.9870286583900452, 8.177218437194824], [-1.6376309394836426, 0.9625964760780334, 8.134315490722656]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 133, "image_id": 17, "category_id": 63, "category_name": "streetlight", "bbox2D_proj": [317.0, 0.0, 402.0, 150.0], "bbox2D_tight": [317.0, 0.0, 402.0, 150.0], "bbox2D_trunc": [317.0, 0.0, 402.0, 150.0], "center_cam": [3.5045063487012267, -6.530986783757131, 14.7594258348967], "dimensions": [2.7159906250039545, 5.103844766466199, 4.8112053305225455], "R_cam": [[-0.14180469512939453, -0.012317975983023643, 0.9898179769515991], [0.06473884731531143, 0.997666597366333, 0.021690359339118004], [-0.987775444984436, 0.06715547293424606, -0.1406763195991516]], "bbox3D_cam": [[2.532898426055908, -9.26214599609375, 17.155282974243164], [1.85064697265625, -8.950674057006836, 12.40289306640625], [1.7877779006958008, -3.858738899230957, 12.745644569396973], [2.470029354095459, -4.170210838317871, 17.498035430908203], [5.2212347984313965, -9.203234672546387, 16.773208618164062], [4.538983345031738, -8.891762733459473, 12.020817756652832], [4.476114273071289, -3.799828052520752, 12.363568305969238], [5.158365726470947, -4.111299991607666, 17.11595916748047]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 134, "image_id": 17, "category_id": 45, "category_name": "person", "bbox2D_proj": [391.0, 225.0, 446.0, 354.0], "bbox2D_tight": [391.0, 225.0, 446.0, 354.0], "bbox2D_trunc": [391.0, 225.0, 446.0, 354.0], "center_cam": [2.215296036107094, 0.42055613865374913, 6.021113768527215], "dimensions": [0.6734620829579705, 1.6419678168466412, 0.753906389255103], "R_cam": [[0.31487205624580383, 0.004974961280822754, -0.9491211175918579], [-0.024119138717651367, 0.9997053146362305, -0.0027615129947662354], [0.9488276243209839, 0.023761451244354248, 0.314899206161499]], "bbox3D_cam": [[2.4121181964874268, -0.3901640772819519, 5.537906169891357], [2.6495022773742676, -0.4083476662635803, 6.253233432769775], [2.6576709747314453, 1.2331361770629883, 6.292248725891113], [2.4202868938446045, 1.2513196468353271, 5.576921463012695], [1.772921085357666, -0.39202386140823364, 5.749979019165039], [2.010305166244507, -0.41020745038986206, 6.465306282043457], [2.0184738636016846, 1.231276273727417, 6.504321575164795], [1.7810897827148438, 1.249459981918335, 5.788994312286377]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 135, "image_id": 17, "category_id": 58, "category_name": "signboard", "bbox2D_proj": [123.0, 128.0, 150.0, 171.0], "bbox2D_tight": [123.0, 128.0, 150.0, 171.0], "bbox2D_trunc": [123.0, 128.0, 150.0, 171.0], "center_cam": [-3.2624369249108267, -2.9894168938825514, 12.491551995235051], "dimensions": [0.648437489413836, 1.102050826018748, 0.8359375410093721], "R_cam": [[0.9978398680686951, -0.044992804527282715, 0.04786647483706474], [0.05094414949417114, 0.9900174736976624, -0.1314157247543335], [-0.04147588461637497, 0.1335703581571579, 0.990170955657959]], "bbox3D_cam": [[-3.670229911804199, -3.513627290725708, 12.11425495147705], [-2.8360979557037354, -3.471041202545166, 12.079584121704102], [-2.8856823444366455, -2.3799915313720703, 12.226785659790039], [-3.7198143005371094, -2.4225776195526123, 12.261456489562988], [-3.6391913890838623, -3.598842144012451, 12.756319046020508], [-2.8050594329833984, -3.556256055831909, 12.721648216247559], [-2.8546438217163086, -2.4652063846588135, 12.868849754333496], [-3.6887757778167725, -2.5077924728393555, 12.903520584106445]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 136, "image_id": 17, "category_id": 15, "category_name": "car", "bbox2D_proj": [212.0, 237.0, 301.0, 309.0], "bbox2D_tight": [212.0, 237.0, 301.0, 309.0], "bbox2D_trunc": [212.0, 237.0, 301.0, 309.0], "center_cam": [-0.159731534996, 0.2617945141231959, 10.913643607386414], "dimensions": [1.7675781959759027, 1.400634802262668, 4.4218748200702365], "R_cam": [[0.08409786224365234, 0.010631859302520752, 0.9964008331298828], [0.04278245568275452, 0.9989824891090393, -0.014270305633544922], [-0.9955386519432068, 0.043828606605529785, 0.08355742692947388]], "bbox3D_cam": [[-1.233720302581787, -0.5197877287864685, 13.010176658630371], [-0.8618506193161011, -0.3306090235710144, 8.608028411865234], [-0.8469592332839966, 1.0686006546020508, 8.669416427612305], [-1.2188289165496826, 0.8794218897819519, 13.071564674377441], [0.5274962186813354, -0.545011579990387, 13.15787124633789], [0.8993659019470215, -0.35583287477493286, 8.755722999572754], [0.914257287979126, 1.0433766841888428, 8.817111015319824], [0.5423876047134399, 0.8541980385780334, 13.219259262084961]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 137, "image_id": 17, "category_id": 58, "category_name": "signboard", "bbox2D_proj": [361.0, 161.0, 405.0, 241.0], "bbox2D_tight": [361.0, 161.0, 405.0, 241.0], "bbox2D_trunc": [361.0, 161.0, 405.0, 241.0], "center_cam": [3.6320387822418203, -1.3944267930142904, 12.090294877146903], "dimensions": [0.8710938117759992, 1.587891219324867, 1.6406255954476108], "R_cam": [[-0.46456265449523926, -0.2185545265674591, -0.8581466674804688], [0.039642151445150375, 0.9629613161087036, -0.26670947670936584], [0.8846526145935059, -0.15792202949523926, -0.43869197368621826]], "bbox3D_cam": [[4.560409069061279, -2.075320243835449, 11.681055068969727], [3.7982356548309326, -2.010282278060913, 13.132438659667969], [3.4511947631835938, -0.48120445013046265, 12.881675720214844], [4.2133684158325195, -0.5462424159049988, 11.430292129516602], [3.812882900238037, -2.3076491355895996, 11.298913955688477], [3.0507094860076904, -2.2426111698150635, 12.750297546386719], [2.7036685943603516, -0.7135334610939026, 12.499534606933594], [3.4658420085906982, -0.7785714268684387, 11.048151016235352]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 138, "image_id": 18, "category_id": 45, "category_name": "person", "bbox2D_proj": [40.0, 197.0, 108.0, 371.0], "bbox2D_tight": [40.0, 197.0, 108.0, 371.0], "bbox2D_trunc": [40.0, 197.0, 108.0, 371.0], "center_cam": [-1.7655592438991392, 0.248069500495339, 4.229106102965327], "dimensions": [0.4472656221713909, 1.603515650052413, 0.6328125039994927], "R_cam": [[0.23441752791404724, 0.03297245502471924, -0.9715766906738281], [0.007930755615234375, 0.9993264675140381, 0.035827696323394775], [0.9721036553382874, -0.01610398292541504, 0.23399817943572998]], "bbox3D_cam": [[-1.6488898992538452, -0.5636699199676514, 3.882108211517334], [-1.5005475282669067, -0.5586512088775635, 4.497267246246338], [-1.4476757049560547, 1.043784499168396, 4.471444606781006], [-1.5960180759429932, 1.038765788078308, 3.8562850952148438], [-2.0834426879882812, -0.5476454496383667, 3.986767530441284], [-1.9351003170013428, -0.5426267385482788, 4.601926803588867], [-1.8822284936904907, 1.0598089694976807, 4.576103687286377], [-2.0305707454681396, 1.0547902584075928, 3.960944414138794]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 139, "image_id": 18, "category_id": 45, "category_name": "person", "bbox2D_proj": [301.0, 191.0, 341.0, 294.0], "bbox2D_tight": [301.0, 191.0, 341.0, 294.0], "bbox2D_trunc": [301.0, 191.0, 341.0, 294.0], "center_cam": [0.8913057472946324, -0.22378835282708942, 6.4553530328963795], "dimensions": [0.5390625323600428, 1.480896022866412, 0.5566406505590336], "R_cam": [[-0.9964078068733215, 0.053569674491882324, -0.0655883327126503], [0.05968928337097168, 0.9936663508415222, -0.09520749747753143], [0.060072675347328186, -0.09878041595220566, -0.993294358253479]], "bbox3D_cam": [[1.1466387510299683, -0.9504979848861694, 6.779499530792236], [0.5919978618621826, -0.9172724485397339, 6.812938213348389], [0.6713289022445679, 0.5542440414428711, 6.666654586791992], [1.225969910621643, 0.5210185050964355, 6.63321590423584], [1.1112825870513916, -1.0018208026885986, 6.244051933288574], [0.5566415786743164, -0.9685952663421631, 6.277490615844727], [0.6359727382659912, 0.5029212236404419, 6.13120698928833], [1.1906136274337769, 0.46969571709632874, 6.097768306732178]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 140, "image_id": 18, "category_id": 45, "category_name": "person", "bbox2D_proj": [166.0, 228.0, 186.0, 283.0], "bbox2D_tight": [166.0, 228.0, 186.0, 283.0], "bbox2D_trunc": [166.0, 228.0, 186.0, 283.0], "center_cam": [-1.9831830022428132, -0.050292989940193183, 11.064803876612078], "dimensions": [0.42187499988900784, 1.3366699459397449, 0.4707031189492459], "R_cam": [[-0.9950171113014221, 0.09731340408325195, 0.021705761551856995], [0.09600913524627686, 0.9938775897026062, -0.054677631705999374], [-0.0268937386572361, -0.05232122540473938, -0.9982681274414062]], "bbox3D_cam": [[-1.8186206817626953, -0.7255983948707581, 11.31667423248291], [-2.286978244781494, -0.6804066300392151, 11.304015159606934], [-2.156902551651001, 0.6480795741081238, 11.234078407287598], [-1.688544750213623, 0.6028878092765808, 11.246737480163574], [-1.8094635009765625, -0.7486655116081238, 10.895529747009277], [-2.2778213024139404, -0.7034737467765808, 10.8828706741333], [-2.147745370864868, 0.6250124573707581, 10.812933921813965], [-1.6793876886367798, 0.5798206925392151, 10.825592994689941]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 141, "image_id": 18, "category_id": 77, "category_name": "window", "bbox2D_proj": [394.0, 106.0, 456.0, 259.0], "bbox2D_tight": [394.0, 106.0, 456.0, 259.0], "bbox2D_trunc": [394.0, 106.0, 456.0, 259.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 142, "image_id": 18, "category_id": 48, "category_name": "plant", "bbox2D_proj": [412.0, 196.0, 451.0, 289.0], "bbox2D_tight": [412.0, 196.0, 451.0, 289.0], "bbox2D_trunc": [412.0, 196.0, 451.0, 289.0], "center_cam": [1.7210434753783066, -0.15838729621937087, 4.463818831047389], "dimensions": [0.35351563843665856, 0.9265136894990013, 0.4023437671191946], "R_cam": [[0.3733091652393341, 0.12603449821472168, -0.9191058874130249], [0.045294761657714844, 0.9870709180831909, 0.15375152230262756], [0.9266006946563721, -0.09902751445770264, 0.3627738356590271]], "bbox3D_cam": [[1.7500169277191162, -0.6519434452056885, 4.259165287017822], [1.9002156257629395, -0.6337193846702576, 4.631977081298828], [2.0169882774353027, 0.2808152437210083, 4.540226936340332], [1.866789698600769, 0.2625911831855774, 4.167414665222168], [1.4250986576080322, -0.5975898504257202, 4.387411117553711], [1.575297236442566, -0.5793657898902893, 4.760223388671875], [1.6920700073242188, 0.33516883850097656, 4.668472766876221], [1.5418713092803955, 0.31694477796554565, 4.295660972595215]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 143, "image_id": 18, "category_id": 47, "category_name": "pipe", "bbox2D_proj": [350.0, 127.0, 373.0, 256.0], "bbox2D_tight": [350.0, 127.0, 373.0, 256.0], "bbox2D_trunc": [350.0, 127.0, 373.0, 256.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 144, "image_id": 19, "category_id": 45, "category_name": "person", "bbox2D_proj": [369.0, 243.0, 391.0, 326.0], "bbox2D_tight": [369.0, 243.0, 391.0, 326.0], "bbox2D_trunc": [369.0, 243.0, 391.0, 326.0], "center_cam": [2.2873278861281365, 0.4666133440458883, 8.22764684999186], "dimensions": [0.32729195176481035, 1.4177952453185967, 1.3756663884676215], "R_cam": [[-0.26411521434783936, -0.009141309186816216, 0.9644477963447571], [0.025505701079964638, 0.9995391368865967, 0.016458682715892792], [-0.9641538262367249, 0.028945907950401306, -0.26376038789749146]], "bbox3D_cam": [[2.3176474571228027, -0.26219475269317627, 8.913467407226562], [1.954313039779663, -0.22710740566253662, 7.587113380432129], [1.9413526058197021, 1.1900346279144287, 7.628152847290039], [2.304687023162842, 1.154947280883789, 8.954506874084473], [2.63330340385437, -0.25680792331695557, 8.827140808105469], [2.2699689865112305, -0.22172057628631592, 7.500786781311035], [2.2570085525512695, 1.1954214572906494, 7.541826248168945], [2.620342969894409, 1.1603341102600098, 8.868180274963379]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 145, "image_id": 19, "category_id": 45, "category_name": "person", "bbox2D_proj": [237.0, 238.0, 263.0, 304.0], "bbox2D_tight": [237.0, 238.0, 263.0, 304.0], "bbox2D_trunc": [237.0, 238.0, 263.0, 304.0], "center_cam": [-0.1600670690501818, 0.29168460047388245, 9.887144060972322], "dimensions": [0.484375086337792, 1.4260253170650976, 0.5781251433770842], "R_cam": [[-0.41569721698760986, -0.038745999336242676, -0.9086772799491882], [-0.027360916137695312, 0.9991726279258728, -0.030087675899267197], [0.9090913534164429, 0.012354908511042595, -0.41641342639923096]], "bbox3D_cam": [[0.20779211819171906, -0.4055422842502594, 9.716401100158691], [-0.032532885670661926, -0.4213602840900421, 10.241969108581543], [-0.08778558671474457, 1.0034852027893066, 10.259587287902832], [0.1525394171476364, 1.0193032026290894, 9.73401927947998], [-0.23234854638576508, -0.42011597752571106, 9.514700889587402], [-0.47267353534698486, -0.4359339773654938, 10.040268898010254], [-0.5279262661933899, 0.988911509513855, 10.057887077331543], [-0.2876012325286865, 1.0047295093536377, 9.532319068908691]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 146, "image_id": 19, "category_id": 45, "category_name": "person", "bbox2D_proj": [212.0, 241.0, 234.0, 302.0], "bbox2D_tight": [212.0, 241.0, 234.0, 302.0], "bbox2D_trunc": [212.0, 241.0, 234.0, 302.0], "center_cam": [-0.7772911196149954, 0.313224328839945, 10.097585603828366], "dimensions": [0.5468751177012463, 1.4248046386786961, 0.6835939127392532], "R_cam": [[0.6322033405303955, 0.006744384765625, -0.7747732400894165], [0.08633512258529663, 0.9931216835975647, 0.07909325510263443], [0.7699774503707886, -0.1168932169675827, 0.6272724866867065]], "bbox3D_cam": [[-0.786328911781311, -0.4454139471054077, 9.74616527557373], [-0.35415858030319214, -0.38639581203460693, 10.272517204284668], [-0.34454911947250366, 1.0286084413528442, 10.105966567993164], [-0.7767195105552673, 0.9695903062820435, 9.579614639282227], [-1.2100331783294678, -0.40215981006622314, 10.089204788208008], [-0.7778627276420593, -0.34314167499542236, 10.615556716918945], [-0.7682533264160156, 1.0718625783920288, 10.449006080627441], [-1.2004237174987793, 1.012844443321228, 9.922654151916504]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 147, "image_id": 19, "category_id": 45, "category_name": "person", "bbox2D_proj": [448.0, 289.0, 491.0, 355.0], "bbox2D_tight": [448.0, 289.0, 491.0, 355.0], "bbox2D_trunc": [448.0, 289.0, 491.0, 355.0], "center_cam": [3.06133909493924, 1.0149529570039448, 6.3964388501363505], "dimensions": [0.5434570972594616, 1.1054687783283796, 0.777343893993205], "R_cam": [[0.5624290704727173, 0.10322296619415283, -0.8203771114349365], [-0.27343976497650146, 0.9595719575881958, -0.0667262077331543], [0.7803231477737427, 0.261852502822876, 0.5679163932800293]], "bbox3D_cam": [[3.008603811264038, 0.6089742183685303, 5.794095516204834], [3.4458045959472656, 0.3964175581932068, 6.400674819946289], [3.5599143505096436, 1.4571943283081055, 6.6901445388793945], [3.122713565826416, 1.6697511672973633, 6.0835652351379395], [2.5627639293670654, 0.5727114677429199, 6.102733612060547], [2.999964714050293, 0.3601546883583069, 6.709312915802002], [3.114074468612671, 1.4209315776824951, 6.998782634735107], [2.6768736839294434, 1.6334881782531738, 6.392203330993652]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 148, "image_id": 19, "category_id": 44, "category_name": "parking_meter", "bbox2D_proj": [438.0, 212.0, 462.0, 336.0], "bbox2D_tight": [438.0, 212.0, 462.0, 336.0], "bbox2D_trunc": [438.0, 212.0, 462.0, 336.0], "center_cam": [3.1483627760539474, 0.3237452766843659, 7.224766633025564], "dimensions": [0.3007813471281888, 2.0810545936087332, 0.343750087391403], "R_cam": [[-0.8988801836967468, 0.04988229274749756, 0.4353458881378174], [0.10976868867874146, 0.987455427646637, 0.11350095272064209], [-0.42422300577163696, 0.14981108903884888, -0.8930795192718506]], "bbox3D_cam": [[3.1854820251464844, -0.739665150642395, 7.276108264923096], [2.8764917850494385, -0.7019320726394653, 7.130281448364258], [2.980299711227417, 1.35301673412323, 7.442046642303467], [3.289289951324463, 1.3152836561203003, 7.587873458862305], [3.3164260387420654, -0.7055262327194214, 7.007486820220947], [3.0074357986450195, -0.6677930355072021, 6.861660003662109], [3.111243724822998, 1.3871556520462036, 7.173425197601318], [3.420233964920044, 1.349422574043274, 7.319252014160156]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 149, "image_id": 20, "category_id": 45, "category_name": "person", "bbox2D_proj": [14.0, 261.0, 51.0, 335.0], "bbox2D_tight": [14.0, 261.0, 51.0, 335.0], "bbox2D_trunc": [14.0, 261.0, 51.0, 335.0], "center_cam": [-1.6408241467879208, 0.283474195523427, 3.26568006042673], "dimensions": [0.21972656775362062, 0.5144043048607664, 0.30859375677546036], "R_cam": [[-0.6270942687988281, -0.048069536685943604, -0.777458667755127], [-0.09132885932922363, 0.9957472085952759, 0.012099266052246094], [0.7735707759857178, 0.07859179377555847, -0.6288175582885742]], "bbox3D_cam": [[-1.446287751197815, 0.040128350257873535, 3.1951904296875], [-1.6398050785064697, 0.011944830417633057, 3.4339096546173096], [-1.6645323038101196, 0.5241615176200867, 3.474337577819824], [-1.4710149765014648, 0.5523450374603271, 3.2356183528900146], [-1.617116093635559, 0.04278689622879028, 3.0570225715637207], [-1.8106334209442139, 0.014603376388549805, 3.2957417964935303], [-1.8353606462478638, 0.5268200635910034, 3.336169719696045], [-1.641843318939209, 0.5550035834312439, 3.0974504947662354]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 150, "image_id": 20, "category_id": 45, "category_name": "person", "bbox2D_proj": [90.0, 244.0, 123.0, 369.0], "bbox2D_tight": [90.0, 244.0, 123.0, 369.0], "bbox2D_trunc": [90.0, 244.0, 123.0, 369.0], "center_cam": [-1.0296087800707554, 0.3172135776439391, 3.005317168099022], "dimensions": [0.2685551313741149, 0.8062744249936966, 0.2695316963544286], "R_cam": [[-0.8488963842391968, 0.06245708465576172, -0.5248563289642334], [0.07038408517837524, 0.99750816822052, 0.0048635005950927734], [0.5238521695137024, -0.032812923192977905, -0.8511769771575928]], "bbox3D_cam": [[-0.8699088096618652, -0.09505748748779297, 3.062242031097412], [-1.0987132787704468, -0.07608675956726074, 3.2034366130828857], [-1.0483558177947998, 0.7281785011291504, 3.176980495452881], [-0.8195512890815735, 0.7092077732086182, 3.035785675048828], [-1.0108616352081299, -0.09375137090682983, 2.8336539268493652], [-1.239666223526001, -0.07478064298629761, 2.974848747253418], [-1.1893086433410645, 0.7294846177101135, 2.948392391204834], [-0.9605041146278381, 0.7105138897895813, 2.8071978092193604]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 151, "image_id": 20, "category_id": 45, "category_name": "person", "bbox2D_proj": [428.0, 253.0, 446.0, 312.0], "bbox2D_tight": [428.0, 253.0, 446.0, 312.0], "bbox2D_trunc": [428.0, 253.0, 446.0, 312.0], "center_cam": [1.5271714678593793, 0.2164785599262676, 3.7379611459152917], "dimensions": [0.11523437650522589, 0.45306397108840013, 0.2597656253557813], "R_cam": [[-0.24543941020965576, -0.00900566577911377, -0.9693701267242432], [-0.014992594718933105, 0.9998725652694702, -0.005492955446243286], [0.9692959785461426, 0.013185173273086548, -0.24554312229156494]], "bbox3D_cam": [[1.616942286491394, -0.007760778069496155, 3.6232268810272217], [1.5531855821609497, -0.011655345559120178, 3.875016689300537], [1.5491054058074951, 0.44135087728500366, 3.8809902667999268], [1.6128621101379395, 0.4452454447746277, 3.6292004585266113], [1.5052375793457031, -0.008393749594688416, 3.5949318408966064], [1.4414808750152588, -0.012288317084312439, 3.846721649169922], [1.4374006986618042, 0.440717875957489, 3.8526952266693115], [1.5011574029922485, 0.44461244344711304, 3.600905418395996]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 152, "image_id": 20, "category_id": 45, "category_name": "person", "bbox2D_proj": [346.0, 249.0, 372.0, 314.0], "bbox2D_tight": [346.0, 249.0, 372.0, 314.0], "bbox2D_trunc": [346.0, 249.0, 372.0, 314.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 153, "image_id": 20, "category_id": 77, "category_name": "window", "bbox2D_proj": [145.0, 163.0, 200.0, 220.0], "bbox2D_tight": [145.0, 163.0, 200.0, 220.0], "bbox2D_trunc": [145.0, 163.0, 200.0, 220.0], "center_cam": [-0.9772090989629347, -0.7565337335636405, 5.203441644006787], "dimensions": [0.20422906264709262, 0.6410383806243836, 0.6013165081224969], "R_cam": [[-0.9851152896881104, 0.0003840737626887858, 0.17189522087574005], [0.043653521686792374, 0.9677730798721313, 0.24801187217235565], [-0.16626028716564178, 0.2518240809440613, -0.9533845782279968]], "bbox3D_cam": [[-0.6987021565437317, -1.105173945426941, 5.270069122314453], [-1.2910683155059814, -1.0789244174957275, 5.170094013214111], [-1.2908220291137695, -0.4585447907447815, 5.3315229415893555], [-0.6984559297561646, -0.48479437828063965, 5.431498050689697], [-0.6635961532592773, -1.0545227527618408, 5.075360298156738], [-1.2559622526168823, -1.028273105621338, 4.9753851890563965], [-1.25571608543396, -0.4078935384750366, 5.136814117431641], [-0.6633499264717102, -0.4341431260108948, 5.236789226531982]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 154, "image_id": 21, "category_id": 45, "category_name": "person", "bbox2D_proj": [106.0, 232.0, 160.0, 364.0], "bbox2D_tight": [106.0, 232.0, 160.0, 364.0], "bbox2D_trunc": [106.0, 232.0, 160.0, 364.0], "center_cam": [-1.230439808144546, 0.4174929753593699, 4.446942910499871], "dimensions": [0.44140625104402287, 1.2940978834539, 0.5766601759638224], "R_cam": [[-0.997807502746582, 0.05263328552246094, 0.04012567177414894], [0.04282909631729126, 0.9757148027420044, -0.21481727063655853], [-0.05045773833990097, -0.21262770891189575, -0.9758298397064209]], "bbox3D_cam": [[-0.9856540560722351, -0.17878031730651855, 4.8144402503967285], [-1.5610496997833252, -0.15408241748809814, 4.785343647003174], [-1.4929372072219849, 1.1085879802703857, 4.5101823806762695], [-0.91754150390625, 1.0838900804519653, 4.539279460906982], [-0.9679423570632935, -0.2736020088195801, 4.383703231811523], [-1.5433380603790283, -0.24890410900115967, 4.3546061515808105], [-1.475225567817688, 1.0137662887573242, 4.0794453620910645], [-0.8998298645019531, 0.9890683889389038, 4.108541965484619]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 155, "image_id": 21, "category_id": 45, "category_name": "person", "bbox2D_proj": [259.0, 253.0, 299.0, 327.0], "bbox2D_tight": [259.0, 253.0, 299.0, 327.0], "bbox2D_trunc": [259.0, 253.0, 299.0, 327.0], "center_cam": [0.307532709565594, 0.43789249515478507, 5.823721050128606], "dimensions": [0.46093752184571435, 0.9453124851402899, 0.5127067964888012], "R_cam": [[0.9950162768363953, -0.009976804256439209, 0.09921229630708694], [0.015942096710205078, 0.9980999827384949, -0.059516921639442444], [-0.09843000769615173, 0.06080196052789688, 0.9932847619056702]], "bbox3D_cam": [[0.03430715203285217, -0.02423572540283203, 5.591294288635254], [0.5444587469100952, -0.01606208086013794, 5.540828704833984], [0.5350275635719299, 0.9274542927742004, 5.5983052253723145], [0.02487596869468689, 0.9192806482315063, 5.648771286010742], [0.08003781735897064, -0.051669299602508545, 6.049136638641357], [0.5901894569396973, -0.04349565505981445, 5.99867057800293], [0.5807582139968872, 0.9000207185745239, 6.056147575378418], [0.07060663402080536, 0.8918470740318298, 6.1066131591796875]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 156, "image_id": 21, "category_id": 75, "category_name": "vent", "bbox2D_proj": [63.0, 142.0, 155.0, 168.0], "bbox2D_tight": [63.0, 142.0, 155.0, 168.0], "bbox2D_trunc": [63.0, 142.0, 155.0, 168.0], "center_cam": [-2.048993791047475, -1.3165315546956924, 5.841926023411085], "dimensions": [0.32023375329970455, 0.19720101135794557, 1.4521646737539171], "R_cam": [[0.8015213012695312, -0.027677565813064575, -0.5973252654075623], [-0.007914600893855095, 0.9983497858047485, -0.05687958002090454], [0.5979138016700745, 0.05031778663396835, 0.7999796867370605]], "bbox3D_cam": [[-2.5325934886932373, -1.4001152515411377, 5.274739742279053], [-1.368652582168579, -1.4116085767745972, 6.143009185791016], [-1.374110460281372, -1.2147330045700073, 6.1529316902160645], [-2.5380513668060303, -1.2032396793365479, 5.28466272354126], [-2.723877191543579, -1.4183300733566284, 5.530920505523682], [-1.559936285018921, -1.429823398590088, 6.399189472198486], [-1.5653941631317139, -1.232947826385498, 6.409112453460693], [-2.729335069656372, -1.2214545011520386, 5.5408430099487305]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 157, "image_id": 21, "category_id": 70, "category_name": "trash_can", "bbox2D_proj": [337.0, 56.0, 378.0, 93.0], "bbox2D_tight": [337.0, 56.0, 378.0, 93.0], "bbox2D_trunc": [337.0, 56.0, 378.0, 93.0], "center_cam": [1.1983167766551606, -2.15973303037969, 5.4145813822999225], "dimensions": [0.2499999999034228, 0.4277343774880717, 0.45605471258435326], "R_cam": [[-0.999171257019043, -0.02395600825548172, 0.032906755805015564], [-0.024279002100229263, 0.9996604919433594, -0.009451085701584816], [-0.03266917169094086, -0.010242195799946785, -0.9994137287139893]], "bbox3D_cam": [[1.4271652698516846, -2.3668100833892822, 5.549148082733154], [0.9714884757995605, -2.377882480621338, 5.5342488288879395], [0.9612416625022888, -1.9502933025360107, 5.529868125915527], [1.416918396949768, -1.9392207860946655, 5.544766902923584], [1.435391902923584, -2.3691728115081787, 5.299294471740723], [0.9797151684761047, -2.3802452087402344, 5.284395694732666], [0.969468355178833, -1.9526561498641968, 5.280014514923096], [1.425145149230957, -1.9415836334228516, 5.2949137687683105]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 158, "image_id": 21, "category_id": 45, "category_name": "person", "bbox2D_proj": [179.0, 246.0, 200.0, 315.0], "bbox2D_tight": [179.0, 246.0, 200.0, 315.0], "bbox2D_trunc": [179.0, 246.0, 200.0, 315.0], "center_cam": [-1.0489236763361145, 0.36589704265393935, 7.020982605433781], "dimensions": [0.16964028603135084, 0.9383968370152564, 0.30569953850103454], "R_cam": [[0.9857186079025269, 0.0013545589754357934, -0.1683955043554306], [-0.0012796298833563924, 0.9999991655349731, 0.0005534756346605718], [0.16839610040187836, -0.0003300872922409326, 0.9857194423675537]], "bbox3D_cam": [[-1.1859427690505981, -0.10315227508544922, 6.911789417266846], [-0.8846091032028198, -0.10354346036911011, 6.963268280029297], [-0.8833379745483398, 0.8348524570465088, 6.962958335876465], [-1.1846717596054077, 0.8352436423301697, 6.911479473114014], [-1.2145094871520996, -0.10305839776992798, 7.079007148742676], [-0.9131757616996765, -0.10344958305358887, 7.130486011505127], [-0.9119046330451965, 0.83494633436203, 7.130176067352295], [-1.2132383584976196, 0.8353375196456909, 7.078697204589844]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 159, "image_id": 21, "category_id": 45, "category_name": "person", "bbox2D_proj": [416.0, 231.0, 440.0, 327.0], "bbox2D_tight": [416.0, 231.0, 440.0, 327.0], "bbox2D_trunc": [416.0, 231.0, 440.0, 327.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 160, "image_id": 21, "category_id": 45, "category_name": "person", "bbox2D_proj": [4.0, 270.0, 33.0, 344.0], "bbox2D_tight": [4.0, 270.0, 33.0, 344.0], "bbox2D_trunc": [4.0, 270.0, 33.0, 344.0], "center_cam": [-2.43035396723576, 0.5269768724872315, 4.549157609118355], "dimensions": [0.25813111897980934, 0.5072108746262327, 1.0958708758925582], "R_cam": [[-0.46342575550079346, 0.001354559208266437, -0.8861348032951355], [0.0009202404762618244, 0.9999991655349731, 0.0010473517468199134], [0.8861353993415833, -0.0003300873504485935, -0.46342647075653076]], "bbox3D_cam": [[-2.0624005794525146, 0.27273228764533997, 4.123508930206299], [-2.5702552795410156, 0.2737407386302948, 5.094598770141602], [-2.569568157196045, 0.7809511423110962, 5.094431400299072], [-2.061713457107544, 0.7799426317214966, 4.1233415603637695], [-2.291139602661133, 0.27300265431404114, 4.0038838386535645], [-2.798994302749634, 0.27401110529899597, 4.974973678588867], [-2.798307180404663, 0.7812215089797974, 4.974806308746338], [-2.290452480316162, 0.7802129983901978, 4.003716468811035]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 161, "image_id": 22, "category_id": 58, "category_name": "signboard", "bbox2D_proj": [376.0, 169.0, 441.0, 216.0], "bbox2D_tight": [376.0, 169.0, 441.0, 216.0], "bbox2D_trunc": [376.0, 169.0, 441.0, 216.0], "center_cam": [2.392548198593241, -0.9882044957372598, 7.023057088367428], "dimensions": [0.21980164505836353, 0.6870549918209696, 0.9714341731235201], "R_cam": [[0.938256025314331, 0.019732633605599403, 0.34537845849990845], [0.020861996337771416, 0.9933274984359741, -0.11342590302228928], [-0.34531205892562866, 0.11362781375646591, 0.9315837621688843]], "bbox3D_cam": [[1.892085075378418, -1.3271071910858154, 7.049365043640137], [2.8035390377044678, -1.3068411350250244, 6.713916778564453], [2.817096471786499, -0.6243705749511719, 6.791985511779785], [1.9056425094604492, -0.6446366310119629, 7.1274333000183105], [1.9679996967315674, -1.3520383834838867, 7.254128456115723], [2.879453659057617, -1.3317723274230957, 6.918680667877197], [2.8930110931396484, -0.6493017673492432, 6.996748924255371], [1.9815571308135986, -0.6695678234100342, 7.332197189331055]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 162, "image_id": 22, "category_id": 16, "category_name": "chair", "bbox2D_proj": [484.0, 310.0, 512.0, 420.0], "bbox2D_tight": [484.0, 310.0, 512.0, 420.0], "bbox2D_trunc": [484.0, 310.0, 512.0, 420.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 163, "image_id": 22, "category_id": 45, "category_name": "person", "bbox2D_proj": [197.0, 257.0, 242.0, 344.0], "bbox2D_tight": [197.0, 257.0, 242.0, 344.0], "bbox2D_trunc": [197.0, 257.0, 242.0, 344.0], "center_cam": [-0.4543122982553196, 0.46550327154446725, 4.9516161876234115], "dimensions": [0.5507815351461317, 0.8881836335921176, 0.5566409082772275], "R_cam": [[0.8662804365158081, -0.012310504913330078, 0.4994063377380371], [0.05631673336029053, 0.9957301616668701, -0.07314316928386688], [-0.4963734745979309, 0.09148746728897095, 0.8632748126983643]], "bbox3D_cam": [[-0.8274807929992676, 0.027776479721069336, 4.811400413513184], [-0.34527361392974854, 0.05912470817565918, 4.535098552703857], [-0.35620760917663574, 0.943515956401825, 4.616356372833252], [-0.8384147882461548, 0.9121677279472351, 4.892658233642578], [-0.552416980266571, -0.012509405612945557, 5.286876201629639], [-0.07020983099937439, 0.018838822841644287, 5.0105743408203125], [-0.0811438262462616, 0.9032300710678101, 5.091832160949707], [-0.5633509755134583, 0.8718818426132202, 5.368134021759033]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 164, "image_id": 22, "category_id": 16, "category_name": "chair", "bbox2D_proj": [365.0, 284.0, 394.0, 349.0], "bbox2D_tight": [365.0, 284.0, 394.0, 349.0], "bbox2D_trunc": [365.0, 284.0, 394.0, 349.0], "center_cam": [1.467502116643848, 0.6261546291559739, 4.918982261876065], "dimensions": [0.3652344036926462, 0.6738281546891203, 0.41796878360249806], "R_cam": [[0.7502405643463135, 0.03851199150085449, -0.6600424647331238], [-0.03120124340057373, 0.999252200126648, 0.02283903956413269], [0.6604284048080444, 0.0034592747688293457, 0.7508810758590698]], "bbox3D_cam": [[1.4182734489440918, 0.2918422818183899, 4.642673492431641], [1.731850504875183, 0.2788011431694031, 4.918712139129639], [1.7578010559082031, 0.9521253108978271, 4.9210429191589355], [1.4442238807678223, 0.965166449546814, 4.6450042724609375], [1.1772031784057617, 0.30018389225006104, 4.916921138763428], [1.4907803535461426, 0.2871427536010742, 5.192959785461426], [1.516730785369873, 0.9604669213294983, 5.195290565490723], [1.2031537294387817, 0.9735080599784851, 4.919251918792725]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 165, "image_id": 22, "category_id": 68, "category_name": "table", "bbox2D_proj": [326.0, 278.0, 361.0, 317.0], "bbox2D_tight": [326.0, 278.0, 361.0, 317.0], "bbox2D_trunc": [326.0, 278.0, 361.0, 317.0], "center_cam": [1.2686972421838978, 0.5794472322341884, 6.448054717018099], "dimensions": [0.3125000109643119, 0.4782715057961012, 0.5195312723902143], "R_cam": [[0.5894801616668701, 0.024983465671539307, -0.8073963522911072], [-0.008676692843437195, 0.9996597766876221, 0.024597864598035812], [0.8077362179756165, -0.007494419813156128, 0.589496374130249]], "bbox3D_cam": [[1.2357518672943115, 0.3388032913208008, 6.147915840148926], [1.542005181312561, 0.33429551124572754, 6.567560195922852], [1.5539541244506836, 0.8124042749404907, 6.563975811004639], [1.2477006912231445, 0.8169121146202087, 6.144331932067871], [0.9834404587745667, 0.34649014472961426, 6.332133769989014], [1.289693832397461, 0.34198230504989624, 6.751777648925781], [1.301642656326294, 0.8200911283493042, 6.748193740844727], [0.9953893423080444, 0.8245989084243774, 6.328549385070801]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 166, "image_id": 22, "category_id": 6, "category_name": "beam", "bbox2D_proj": [22.0, 89.0, 60.0, 125.0], "bbox2D_tight": [22.0, 89.0, 60.0, 125.0], "bbox2D_trunc": [22.0, 89.0, 60.0, 125.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 167, "image_id": 22, "category_id": 45, "category_name": "person", "bbox2D_proj": [395.0, 267.0, 452.0, 365.0], "bbox2D_tight": [395.0, 267.0, 452.0, 365.0], "bbox2D_trunc": [395.0, 267.0, 452.0, 365.0], "center_cam": [1.5893533870658039, 0.5537444489959829, 4.265276462343586], "dimensions": [0.49414066327383827, 0.9121094182832095, 0.5468750499347381], "R_cam": [[-0.31581911444664, -0.03405869007110596, -0.9482079744338989], [-0.2719695568084717, 0.9606704711914062, 0.05607837438583374], [0.9090054631233215, 0.2755942642688751, -0.31266117095947266]], "bbox3D_cam": [[1.9255168437957764, 0.17613747715950012, 3.9682834148406982], [1.7528033256530762, 0.027404189109802246, 4.465395927429199], [1.7217379808425903, 0.9036407470703125, 4.71676778793335], [1.89445161819458, 1.0523741245269775, 4.219655513763428], [1.456968903541565, 0.20384809374809265, 3.8137848377227783], [1.2842552661895752, 0.05511477589607239, 4.310897350311279], [1.253190040588379, 0.9313514232635498, 4.56226921081543], [1.425903558731079, 1.0800846815109253, 4.065156936645508]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 168, "image_id": 22, "category_id": 45, "category_name": "person", "bbox2D_proj": [301.0, 236.0, 327.0, 335.0], "bbox2D_tight": [301.0, 236.0, 327.0, 335.0], "bbox2D_trunc": [301.0, 236.0, 327.0, 335.0], "center_cam": [0.6763871495899044, 0.3637630138990604, 5.166903558965632], "dimensions": [0.2519531343465614, 1.0981445784497554, 0.38281251723309107], "R_cam": [[0.5919084548950195, 0.023659944534301758, -0.8056578636169434], [-0.09634912014007568, 0.994478702545166, -0.04158151149749756], [0.8002257347106934, 0.10223689675331116, 0.5909199714660645]], "bbox3D_cam": [[0.6515951156616211, -0.15859755873680115, 4.883157730102539], [0.8781850934028625, -0.19548115134239197, 5.1894941329956055], [0.9041671752929688, 0.8966001272201538, 5.301764965057373], [0.6775771975517273, 0.9334837198257446, 4.995428562164307], [0.44860708713531494, -0.169074147939682, 5.032042026519775], [0.6751970648765564, -0.20595774054527283, 5.338378429412842], [0.7011791467666626, 0.886123538017273, 5.450649261474609], [0.47458916902542114, 0.9230071306228638, 5.144312858581543]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 169, "image_id": 23, "category_id": 45, "category_name": "person", "bbox2D_proj": [47.0, 233.0, 94.0, 409.0], "bbox2D_tight": [47.0, 233.0, 94.0, 409.0], "bbox2D_trunc": [47.0, 233.0, 94.0, 409.0], "center_cam": [-1.1982099554919887, 0.40809519411456885, 2.861059730531223], "dimensions": [0.2441406303824692, 1.0598144099724367, 0.2490234422576597], "R_cam": [[-0.9746152758598328, 0.03372645378112793, -0.2213313728570938], [0.04302358627319336, 0.9983767867088318, -0.03731825202703476], [0.2197135090827942, -0.045893386006355286, -0.9744842052459717]], "bbox3D_cam": [[-1.0677129030227661, -0.12175345420837402, 2.976977586746216], [-1.3104149103164673, -0.11103951930999756, 3.031691551208496], [-1.274671196937561, 0.9470547437667847, 2.983052968978882], [-1.0319690704345703, 0.9363408088684082, 2.9283392429351807], [-1.1217488050460815, -0.13086438179016113, 2.7390663623809814], [-1.3644509315490723, -0.12015044689178467, 2.7937800884246826], [-1.3287070989608765, 0.9379438161849976, 2.7451417446136475], [-1.0860050916671753, 0.9272298812866211, 2.690427780151367]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 170, "image_id": 23, "category_id": 42, "category_name": "painting", "bbox2D_proj": [305.0, 149.0, 349.0, 203.0], "bbox2D_tight": [305.0, 149.0, 349.0, 203.0], "bbox2D_trunc": [305.0, 149.0, 349.0, 203.0], "center_cam": [1.1713844140369098, -1.285133768826995, 7.28565766520506], "dimensions": [0.03906250008211468, 0.8104858197526777, 0.7207031364324117], "R_cam": [[0.989533543586731, 0.02894747257232666, -0.14136971533298492], [-0.04504537582397461, 0.9926828145980835, -0.11203429102897644], [0.13709218800067902, 0.11722974479198456, 0.983596920967102]], "bbox3D_cam": [[0.8058348894119263, -1.6689910888671875, 7.169538974761963], [1.5189948081970215, -1.7014553546905518, 7.268342018127441], [1.5424562692642212, -0.8969000577926636, 7.363354682922363], [0.829296350479126, -0.8644356727600098, 7.264552116394043], [0.8003126382827759, -1.6733673810958862, 7.207961082458496], [1.513472557067871, -1.70583176612854, 7.306763648986816], [1.5369340181350708, -0.9012763500213623, 7.4017767906188965], [0.8237740993499756, -0.868812084197998, 7.302973747253418]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 171, "image_id": 23, "category_id": 45, "category_name": "person", "bbox2D_proj": [0.0, 233.0, 48.0, 279.0], "bbox2D_tight": [0.0, 233.0, 48.0, 279.0], "bbox2D_trunc": [0.0, 233.0, 48.0, 279.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 172, "image_id": 23, "category_id": 55, "category_name": "shirt", "bbox2D_proj": [204.0, 244.0, 256.0, 282.0], "bbox2D_tight": [204.0, 244.0, 256.0, 282.0], "bbox2D_trunc": [204.0, 244.0, 256.0, 282.0], "center_cam": [-0.20217487223786862, 0.0879889878363421, 3.336113643784066], "dimensions": [0.179687503459529, 0.31884765353953126, 0.37744140986296215], "R_cam": [[0.9765436053276062, 0.02923877350986004, -0.2133253812789917], [0.03504491224884987, 0.9559439420700073, 0.2914491891860962], [0.21244877576828003, -0.2920888066291809, 0.9324963092803955]], "bbox3D_cam": [[-0.3719642758369446, -0.0972098857164383, 3.2588071823120117], [-0.0033762753009796143, -0.08398248255252838, 3.338994026184082], [0.005946427583694458, 0.22081805765628815, 3.2458622455596924], [-0.3626415729522705, 0.20759066939353943, 3.165675401687622], [-0.41029617190361023, -0.04484008252620697, 3.4263651371002197], [-0.041708171367645264, -0.031612686812877655, 3.50655198097229], [-0.03238546848297119, 0.27318787574768066, 3.4134202003479004], [-0.40097346901893616, 0.25996047258377075, 3.33323335647583]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 173, "image_id": 23, "category_id": 77, "category_name": "window", "bbox2D_proj": [54.0, 21.0, 94.0, 71.0], "bbox2D_tight": [54.0, 21.0, 94.0, 71.0], "bbox2D_trunc": [54.0, 21.0, 94.0, 71.0], "center_cam": [-2.062000035568918, -2.3776863747779555, 4.990506689945857], "dimensions": [0.02006578821031565, 0.41701404749358845, 0.6471986939942235], "R_cam": [[0.3949260711669922, -0.032664358615875244, -0.9181320667266846], [0.19109001755714417, 0.9804314970970154, 0.04731488227844238], [0.8986200094223022, -0.1941317319869995, 0.3934398293495178]], "bbox3D_cam": [[-2.1737756729125977, -2.6444244384765625, 4.736244201660156], [-1.918179988861084, -2.5207512378692627, 5.3178300857543945], [-1.931801438331604, -2.1118974685668945, 5.236874580383301], [-2.187397003173828, -2.2355706691741943, 4.6552886962890625], [-2.1921985149383545, -2.64347505569458, 4.744138717651367], [-1.93660306930542, -2.5198018550872803, 5.3257246017456055], [-1.95022451877594, -2.110948085784912, 5.244769096374512], [-2.205820083618164, -2.234621286392212, 4.663183212280273]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 174, "image_id": 23, "category_id": 35, "category_name": "jersey", "bbox2D_proj": [378.0, 262.0, 488.0, 381.0], "bbox2D_tight": [378.0, 262.0, 488.0, 381.0], "bbox2D_trunc": [378.0, 262.0, 488.0, 381.0], "center_cam": [0.7778337645537188, 0.26302302784824105, 1.897427151367164], "dimensions": [0.22851562587838847, 0.4684524445521939, 0.4663696391174115], "R_cam": [[0.975793182849884, -0.002071559429168701, 0.21868568658828735], [-0.002253890037536621, 0.999806821346283, 0.019527874886989594], [-0.2186838686466217, -0.019548051059246063, 0.9755999445915222]], "bbox3D_cam": [[0.5257922410964966, 0.02713640034198761, 1.8415297269821167], [0.9808725714683533, 0.026085272431373596, 1.7395422458648682], [0.9799021482467651, 0.4944472312927246, 1.7303848266601562], [0.5248218774795532, 0.4954983592033386, 1.8323724269866943], [0.5757653713226318, 0.03159882128238678, 2.064469575881958], [1.0308456420898438, 0.030547693371772766, 1.96248197555542], [1.0298752784729004, 0.4989096522331238, 1.9533246755599976], [0.5747949481010437, 0.4999607801437378, 2.055312156677246]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 175, "image_id": 23, "category_id": 57, "category_name": "shorts", "bbox2D_proj": [288.0, 377.0, 373.0, 490.0], "bbox2D_tight": [288.0, 377.0, 373.0, 490.0], "bbox2D_trunc": [288.0, 377.0, 373.0, 490.0], "center_cam": [0.29899601018977673, 0.6474210553813027, 1.7739364529009836], "dimensions": [0.23339843892775602, 0.46289061128672965, 0.34326172358933255], "R_cam": [[0.9034260511398315, 0.06343603134155273, -0.4240249991416931], [-0.07946062088012695, 0.9966332912445068, -0.020197749137878418], [0.4213162064552307, 0.05194048583507538, 0.9054252505302429]], "bbox3D_cam": [[0.17874163389205933, 0.4327499270439148, 1.5839418172836304], [0.48885321617126465, 0.40547412633895874, 1.7285635471343994], [0.518217146396637, 0.8668063282966614, 1.7526063919067383], [0.20810556411743164, 0.8940821290016174, 1.6079845428466797], [0.07977485656738281, 0.42803579568862915, 1.7952666282653809], [0.38988643884658813, 0.4007599949836731, 1.9398884773254395], [0.41925036907196045, 0.8620921969413757, 1.9639312028884888], [0.10913878679275513, 0.8893679976463318, 1.8193094730377197]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 176, "image_id": 23, "category_id": 55, "category_name": "shirt", "bbox2D_proj": [109.0, 243.0, 144.0, 288.0], "bbox2D_tight": [109.0, 243.0, 144.0, 288.0], "bbox2D_trunc": [109.0, 243.0, 144.0, 288.0], "center_cam": [-1.0748983363793292, 0.07239576643795295, 3.6502346375034183], "dimensions": [0.173828125624285, 0.31469725319653113, 0.2656250003019872], "R_cam": [[0.9950549006462097, 0.005798280239105225, 0.09915684163570404], [-0.007569074630737305, 0.9998183846473694, 0.01749153807759285], [-0.09903740882873535, -0.018155571073293686, 0.9949181079864502]], "bbox3D_cam": [[-1.21658456325531, -0.0854392871260643, 3.579772472381592], [-0.9522731304168701, -0.087449811398983, 3.5534656047821045], [-0.9504483938217163, 0.2271902859210968, 3.5477521419525146], [-1.2147598266601562, 0.2292008101940155, 3.574059009552002], [-1.1993483304977417, -0.08239876478910446, 3.7527172565460205], [-0.935036838054657, -0.08440928906202316, 3.726410388946533], [-0.933212161064148, 0.23023080825805664, 3.7206969261169434], [-1.197523593902588, 0.23224133253097534, 3.7470037937164307]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 177, "image_id": 23, "category_id": 45, "category_name": "person", "bbox2D_proj": [143.0, 235.0, 186.0, 380.0], "bbox2D_tight": [143.0, 235.0, 186.0, 380.0], "bbox2D_trunc": [143.0, 235.0, 186.0, 380.0], "center_cam": [-0.6581872199381653, 0.3859877474805246, 3.4682871424091166], "dimensions": [0.34277362252143906, 1.0640563534432563, 0.3437501861155655], "R_cam": [[-0.5885620713233948, -0.022958755493164062, -0.8081259727478027], [-0.05106806755065918, 0.9986562132835388, 0.008821427822113037], [0.8068374991416931, 0.046461403369903564, -0.588943600654602]], "bbox3D_cam": [[-0.4063112139701843, -0.13806003332138062, 3.4058303833007812], [-0.6086295247077942, -0.1556146740913391, 3.683180809020996], [-0.6330589652061462, 0.9070118069648743, 3.7326183319091797], [-0.4307405948638916, 0.9245664477348328, 3.455267906188965], [-0.6833154559135437, -0.13503628969192505, 3.203956127166748], [-0.8856338262557983, -0.15259093046188354, 3.481306552886963], [-0.9100632071495056, 0.9100355505943298, 3.5307440757751465], [-0.7077448964118958, 0.9275901913642883, 3.2533936500549316]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 178, "image_id": 24, "category_id": 45, "category_name": "person", "bbox2D_proj": [157.0, 158.0, 271.0, 423.0], "bbox2D_tight": [157.0, 158.0, 271.0, 423.0], "bbox2D_trunc": [157.0, 158.0, 271.0, 423.0], "center_cam": [-0.26978426222908813, 0.22945017305095483, 2.700356683354711], "dimensions": [0.5214843613778366, 1.5322265702486475, 0.7152404835762278], "R_cam": [[0.999503493309021, -0.008441805839538574, 0.0303555466234684], [0.007145106792449951, 0.9990676641464233, 0.04257546737790108], [-0.03068665787577629, -0.042337436228990555, 0.99863201379776]], "bbox3D_cam": [[-0.6286745071411133, -0.5496053695678711, 2.4833807945251465], [0.08621084690093994, -0.5444948673248291, 2.461432456970215], [0.07327604293823242, 0.9863032102584839, 2.396561861038208], [-0.6416093111038208, 0.9811927080154419, 2.4185101985931396], [-0.6128445863723755, -0.5274028778076172, 3.0041515827178955], [0.10204076766967773, -0.5222923755645752, 2.982203245162964], [0.08910596370697021, 1.0085057020187378, 2.917332649230957], [-0.625779390335083, 1.0033951997756958, 2.9392809867858887]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 179, "image_id": 24, "category_id": 73, "category_name": "tree_trunk", "bbox2D_proj": [114.0, 1.0, 149.0, 182.0], "bbox2D_tight": [114.0, 1.0, 149.0, 182.0], "bbox2D_trunc": [114.0, 1.0, 149.0, 182.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 180, "image_id": 24, "category_id": 73, "category_name": "tree_trunk", "bbox2D_proj": [393.0, 26.0, 422.0, 137.0], "bbox2D_tight": [393.0, 26.0, 422.0, 137.0], "bbox2D_trunc": [393.0, 26.0, 422.0, 137.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 181, "image_id": 24, "category_id": 74, "category_name": "trousers", "bbox2D_proj": [267.0, 281.0, 327.0, 390.0], "bbox2D_tight": [267.0, 281.0, 327.0, 390.0], "bbox2D_trunc": [267.0, 281.0, 327.0, 390.0], "center_cam": [0.2586256855580037, 0.5227392583918449, 3.0604853962141436], "dimensions": [0.21874999554348035, 0.9052734401482778, 0.316406249219925], "R_cam": [[0.985718309879303, -0.16838836669921875, -0.0020990667399019003], [0.14848577976226807, 0.8749557137489319, -0.4608733355998993], [0.0794423446059227, 0.4539797008037567, 0.8874632120132446]], "bbox3D_cam": [[0.17913034558296204, 0.15361925959587097, 2.7453629970550537], [0.49101781845092773, 0.20060107111930847, 2.7704992294311523], [0.3385801911354065, 0.9926753044128418, 3.1814749240875244], [0.026692703366279602, 0.9456934928894043, 3.156338930130005], [0.17867118120193481, 0.05280318856239319, 2.939495801925659], [0.4905586838722229, 0.09978500008583069, 2.9646317958831787], [0.3381210267543793, 0.8918591737747192, 3.37560772895813], [0.02623353898525238, 0.8448773622512817, 3.3504714965820312]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 182, "image_id": 24, "category_id": 33, "category_name": "jacket", "bbox2D_proj": [265.0, 189.0, 358.0, 286.0], "bbox2D_tight": [265.0, 189.0, 358.0, 286.0], "bbox2D_trunc": [265.0, 189.0, 358.0, 286.0], "center_cam": [0.38260563012557114, -0.13387262796178878, 2.8853685616981375], "dimensions": [0.3242187510324669, 0.6180420156490085, 0.6503906479388951], "R_cam": [[0.8212876319885254, -0.09122121334075928, 0.5631743669509888], [0.15020717680454254, 0.9868806600570679, -0.059198085218667984], [-0.5503857135772705, 0.13321149349212646, 0.8242149353027344]], "bbox3D_cam": [[0.052420198917388916, -0.4780895709991455, 2.889573335647583], [0.5865779519081116, -0.3803962469100952, 2.5316076278686523], [0.530199408531189, 0.22953742742538452, 2.6139378547668457], [-0.003958344459533691, 0.13184410333633423, 2.9719035625457764], [0.23501187562942505, -0.4972826838493347, 3.15679931640625], [0.7691696286201477, -0.3995893597602844, 2.7988336086273193], [0.7127910852432251, 0.2103443145751953, 2.8811638355255127], [0.17863333225250244, 0.11265097558498383, 3.2391295433044434]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 183, "image_id": 24, "category_id": 73, "category_name": "tree_trunk", "bbox2D_proj": [311.0, 0.0, 322.0, 158.0], "bbox2D_tight": [311.0, 0.0, 322.0, 158.0], "bbox2D_trunc": [311.0, 0.0, 322.0, 158.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 184, "image_id": 24, "category_id": 45, "category_name": "person", "bbox2D_proj": [411.0, 188.0, 512.0, 512.0], "bbox2D_tight": [411.0, 188.0, 512.0, 512.0], "bbox2D_trunc": [411.0, 188.0, 512.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 185, "image_id": 25, "category_id": 45, "category_name": "person", "bbox2D_proj": [201.0, 210.0, 237.0, 379.0], "bbox2D_tight": [201.0, 210.0, 237.0, 379.0], "bbox2D_trunc": [201.0, 210.0, 237.0, 379.0], "center_cam": [-0.21248780772400933, 0.2478709984029541, 2.8043487211857903], "dimensions": [0.2688598539451123, 1.059814513361126, 0.39257811802675424], "R_cam": [[-0.14521200954914093, -0.028150737285614014, -0.9890000820159912], [0.029285848140716553, 0.9990349411964417, -0.032736364752054214], [0.9889671206474304, -0.03371751680970192, -0.14424753189086914]], "bbox3D_cam": [[-0.036115750670433044, -0.28287267684936523, 2.6474835872650146], [-0.09312287718057632, -0.2713756561279297, 3.0357303619384766], [-0.12295745313167572, 0.7874161005020142, 2.9999961853027344], [-0.06595033407211304, 0.7759190797805786, 2.6117494106292725], [-0.3020181655883789, -0.2916741371154785, 2.608701229095459], [-0.3590252697467804, -0.28017711639404297, 2.996948003768921], [-0.3888598680496216, 0.7786146402359009, 2.9612138271331787], [-0.3318527340888977, 0.7671176195144653, 2.572967052459717]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 186, "image_id": 25, "category_id": 71, "category_name": "tray", "bbox2D_proj": [305.0, 374.0, 441.0, 423.0], "bbox2D_tight": [305.0, 374.0, 441.0, 423.0], "bbox2D_trunc": [305.0, 374.0, 441.0, 423.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 187, "image_id": 25, "category_id": 45, "category_name": "person", "bbox2D_proj": [58.0, 256.0, 114.0, 303.0], "bbox2D_tight": [58.0, 256.0, 114.0, 303.0], "bbox2D_trunc": [58.0, 256.0, 114.0, 303.0], "center_cam": [-0.782977173009209, 0.11406245137995323, 2.056628355729081], "dimensions": [0.09750446780201374, 0.19347808313841575, 0.2703928555937561], "R_cam": [[0.7556055188179016, -0.356658399105072, -0.5494133830070496], [0.5900490880012512, 0.7348282933235168, 0.33446893095970154], [0.2844333350658417, -0.5769074559211731, 0.7656862735748291]], "bbox3D_cam": [[-0.8238444328308105, -0.0531027689576149, 2.0366547107696533], [-0.6195340752601624, 0.10644228756427765, 2.113563299179077], [-0.6885396242141724, 0.24861547350883484, 2.0019445419311523], [-0.8928499817848206, 0.0890703946352005, 1.9250357151031494], [-0.8774147033691406, -0.02049056440591812, 2.1113123893737793], [-0.6731043457984924, 0.13905450701713562, 2.1882212162017822], [-0.7421098947525024, 0.2812276780605316, 2.0766022205352783], [-0.9464202523231506, 0.12168261408805847, 1.999693512916565]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 188, "image_id": 25, "category_id": 10, "category_name": "bowl", "bbox2D_proj": [353.0, 361.0, 405.0, 398.0], "bbox2D_tight": [353.0, 361.0, 405.0, 398.0], "bbox2D_trunc": [353.0, 361.0, 405.0, 398.0], "center_cam": [0.36830628295883977, 0.3765212488443747, 1.3106840133255397], "dimensions": [0.14111335098396552, 0.053222659880506465, 0.14355475609873625], "R_cam": [[0.6618396043777466, 0.15091636776924133, 0.7342973947525024], [0.05417671799659729, 0.96733558177948, -0.24764227867126465], [-0.7476853132247925, 0.2036813497543335, 0.632044792175293]], "bbox3D_cam": [[0.26497548818588257, 0.36436331272125244, 1.3143357038497925], [0.35998570919036865, 0.37214064598083496, 1.2070019245147705], [0.36801788210868835, 0.42362481355667114, 1.2178423404693604], [0.27300766110420227, 0.415847510099411, 1.3251761198043823], [0.3685946762561798, 0.32941770553588867, 1.4035255908966064], [0.4636048972606659, 0.3371950089931488, 1.2961918115615845], [0.4716370701789856, 0.3886792063713074, 1.3070322275161743], [0.3766268491744995, 0.38090187311172485, 1.4143660068511963]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 189, "image_id": 25, "category_id": 56, "category_name": "shoe", "bbox2D_proj": [80.0, 456.0, 136.0, 485.0], "bbox2D_tight": [80.0, 456.0, 136.0, 485.0], "bbox2D_trunc": [80.0, 456.0, 136.0, 485.0], "center_cam": [-0.5661410546526084, 0.8319460300521078, 1.711058137472719], "dimensions": [0.07159811858955853, 0.08345596154005593, 0.17667157209683262], "R_cam": [[-0.8830529451370239, 0.0029556751251220703, 0.46926403045654297], [-0.03374290466308594, 0.9969918727874756, -0.06977644562721252], [-0.468058705329895, -0.07745063304901123, -0.8802968263626099]], "bbox3D_cam": [[-0.5050584077835083, 0.7958222031593323, 1.7871501445770264], [-0.6610687971115112, 0.7898607850074768, 1.7044575214385986], [-0.6608221530914307, 0.873065710067749, 1.6979937553405762], [-0.5048117637634277, 0.8790271282196045, 1.780686378479004], [-0.4714600145816803, 0.7908263206481934, 1.7241225242614746], [-0.6274703741073608, 0.7848649024963379, 1.6414299011230469], [-0.6272237300872803, 0.8680698275566101, 1.6349661350250244], [-0.47121334075927734, 0.8740312457084656, 1.7176587581634521]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 190, "image_id": 25, "category_id": 68, "category_name": "table", "bbox2D_proj": [168.0, 285.0, 203.0, 335.0], "bbox2D_tight": [168.0, 285.0, 203.0, 335.0], "bbox2D_trunc": [168.0, 285.0, 203.0, 335.0], "center_cam": [-0.500773719018743, 0.39667624118039957, 3.1768899038544824], "dimensions": [0.2536134285564276, 0.32896914642999436, 0.9497599538062227], "R_cam": [[-0.19544601440429688, 0.00209080521017313, -0.9807121753692627], [0.0009362359996885061, 0.999997615814209, 0.0019453379791229963], [0.980713963508606, -0.0005379694630391896, -0.1954476237297058]], "bbox3D_cam": [[-0.2839432656764984, 0.2315007597208023, 2.7360410690307617], [-0.4695701599121094, 0.23238997161388397, 3.6674840450286865], [-0.46888238191604614, 0.5613583326339722, 3.667306900024414], [-0.2832554578781128, 0.5604691505432129, 2.7358639240264893], [-0.5326650738716125, 0.2319941371679306, 2.6864728927612305], [-0.7182919979095459, 0.23288334906101227, 3.6179158687591553], [-0.7176041603088379, 0.5618517398834229, 3.617738723754883], [-0.5319772958755493, 0.5609624981880188, 2.686295747756958]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 191, "image_id": 25, "category_id": 16, "category_name": "chair", "bbox2D_proj": [172.0, 396.0, 344.0, 512.0], "bbox2D_tight": [172.0, 396.0, 344.0, 512.0], "bbox2D_trunc": [172.0, 396.0, 344.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 192, "image_id": 25, "category_id": 45, "category_name": "person", "bbox2D_proj": [289.0, 221.0, 319.0, 274.0], "bbox2D_tight": [289.0, 221.0, 319.0, 274.0], "bbox2D_trunc": [289.0, 221.0, 319.0, 274.0], "center_cam": [0.3799896871203224, 0.06522459414376032, 3.6511448237892563], "dimensions": [0.2128906436488282, 0.6865234764683376, 0.22851564378972672], "R_cam": [[0.8382927775382996, -0.034798383712768555, 0.5441088080406189], [0.011809289455413818, 0.9988859295845032, 0.04568934440612793], [-0.5450925230979919, -0.03187549114227295, 0.8377697467803955]], "bbox3D_cam": [[0.23823530972003937, -0.2838674485683441, 3.635190725326538], [0.42979830503463745, -0.2811688482761383, 3.5106287002563477], [0.40590837597846985, 0.40458980202674866, 3.4887454509735107], [0.21434539556503296, 0.40189120173454285, 3.613307476043701], [0.3540709912776947, -0.2741406261920929, 3.8135440349578857], [0.5456339716911316, -0.2714420258998871, 3.6889820098876953], [0.5217440724372864, 0.4143166244029999, 3.6670987606048584], [0.3301810622215271, 0.41161802411079407, 3.791660785675049]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 193, "image_id": 25, "category_id": 45, "category_name": "person", "bbox2D_proj": [227.0, 218.0, 255.0, 277.0], "bbox2D_tight": [227.0, 218.0, 255.0, 277.0], "bbox2D_trunc": [227.0, 218.0, 255.0, 277.0], "center_cam": [-0.10815642702277951, 0.05635233231902914, 3.5032039843156477], "dimensions": [0.19628906232421112, 0.67919926576286, 0.23632813295545768], "R_cam": [[0.2138742208480835, 0.05672109127044678, 0.9752131104469299], [0.3343623876571655, 0.9337612390518188, -0.1276392936706543], [-0.917855978012085, 0.35337334871292114, 0.1807420253753662]], "bbox3D_cam": [[-0.24840298295021057, -0.2877351641654968, 3.473917245864868], [-0.19785849750041962, -0.20871590077877045, 3.2570018768310547], [-0.15933354198932648, 0.4254940152168274, 3.4970128536224365], [-0.20987802743911743, 0.3464747667312622, 3.71392822265625], [-0.05697931349277496, -0.3127893805503845, 3.509394884109497], [-0.006434828042984009, -0.23377011716365814, 3.2924795150756836], [0.03209012746810913, 0.4004397988319397, 3.5324904918670654], [-0.018454357981681824, 0.3214205503463745, 3.749405860900879]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 194, "image_id": 25, "category_id": 68, "category_name": "table", "bbox2D_proj": [281.0, 362.0, 512.0, 493.0], "bbox2D_tight": [281.0, 362.0, 512.0, 493.0], "bbox2D_trunc": [281.0, 362.0, 512.0, 493.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 195, "image_id": 25, "category_id": 16, "category_name": "chair", "bbox2D_proj": [176.0, 333.0, 298.0, 473.0], "bbox2D_tight": [176.0, 333.0, 298.0, 473.0], "bbox2D_trunc": [176.0, 333.0, 298.0, 473.0], "center_cam": [-0.04000863172674556, 0.6228611030077925, 1.7731191497794967], "dimensions": [0.32055665333283234, 0.628051838085531, 0.43945316180229493], "R_cam": [[0.30323711037635803, 0.1724104881286621, -0.9371882677078247], [0.33466315269470215, 0.901579737663269, 0.2741435766220093], [0.8922151327133179, -0.3967728614807129, 0.215692937374115]], "bbox3D_cam": [[-0.01056830957531929, 0.22226807475090027, 1.6671017408370972], [0.12269020080566406, 0.3693368136882782, 2.0591883659362793], [0.23097294569015503, 0.9355756044387817, 1.8099945783615112], [0.09771442413330078, 0.7885068655014038, 1.4179078340530396], [-0.31099021434783936, 0.31014660000801086, 1.7362436056137085], [-0.1777316927909851, 0.4572153389453888, 2.1283302307128906], [-0.06944894790649414, 1.0234540700912476, 1.8791364431381226], [-0.2027074694633484, 0.8763853311538696, 1.4870496988296509]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 196, "image_id": 26, "category_id": 45, "category_name": "person", "bbox2D_proj": [193.0, 283.0, 227.0, 422.0], "bbox2D_tight": [193.0, 283.0, 227.0, 422.0], "bbox2D_trunc": [193.0, 283.0, 227.0, 422.0], "center_cam": [-0.7239227584732842, 1.5538385422120489, 7.1843920770547065], "dimensions": [0.45117189256967655, 2.1005860569223387, 0.6679687943433241], "R_cam": [[0.3779136836528778, 0.05722212791442871, -0.9240708351135254], [-0.0889744758605957, 0.9957132339477539, 0.02527087926864624], [0.9215556383132935, 0.07266846299171448, 0.3813849687576294]], "bbox3D_cam": [[-0.7017825841903687, 0.5320631265640259, 6.7142486572265625], [-0.4493480324745178, 0.4726308584213257, 7.3298187255859375], [-0.3291480839252472, 2.5642123222351074, 7.4824652671813965], [-0.5815826058387756, 2.6236448287963867, 6.866894721984863], [-1.1186974048614502, 0.5434645414352417, 6.886318683624268], [-0.8662628531455994, 0.4840322732925415, 7.501889228820801], [-0.7460628747940063, 2.5756139755249023, 7.654535293579102], [-0.9984974265098572, 2.6350460052490234, 7.038965225219727]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 197, "image_id": 26, "category_id": 45, "category_name": "person", "bbox2D_proj": [457.0, 280.0, 512.0, 494.0], "bbox2D_tight": [457.0, 280.0, 512.0, 494.0], "bbox2D_trunc": [457.0, 280.0, 512.0, 494.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 198, "image_id": 26, "category_id": 45, "category_name": "person", "bbox2D_proj": [129.0, 274.0, 166.0, 437.0], "bbox2D_tight": [129.0, 274.0, 166.0, 437.0], "bbox2D_trunc": [129.0, 274.0, 166.0, 437.0], "center_cam": [-1.6117122474414227, 1.4397199326427161, 6.479144071010097], "dimensions": [0.6298828755289462, 2.2946778620484443, 0.7578125894875447], "R_cam": [[-0.5257197618484497, -0.02825474739074707, -0.8501884937286377], [-0.017786145210266113, 0.9995948076248169, -0.022221803665161133], [0.8504718542098999, 0.0034391582012176514, -0.526009202003479]], "bbox3D_cam": [[-1.1123363971710205, 0.3065835237503052, 6.318611145019531], [-1.5107333660125732, 0.29310500621795654, 6.963109493255615], [-1.5755689144134521, 2.586853504180908, 6.971001148223877], [-1.1771718263626099, 2.6003317832946777, 6.326502799987793], [-1.647855520248413, 0.29258644580841064, 5.9872870445251465], [-2.046252727508545, 0.279107928276062, 6.6317853927612305], [-2.1110880374908447, 2.5728564262390137, 6.639677047729492], [-1.712691068649292, 2.586334705352783, 5.995178699493408]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 199, "image_id": 26, "category_id": 45, "category_name": "person", "bbox2D_proj": [0.0, 317.0, 80.0, 512.0], "bbox2D_tight": [0.0, 317.0, 80.0, 512.0], "bbox2D_trunc": [0.0, 317.0, 80.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 200, "image_id": 26, "category_id": 45, "category_name": "person", "bbox2D_proj": [68.0, 281.0, 157.0, 468.0], "bbox2D_tight": [68.0, 281.0, 157.0, 468.0], "bbox2D_trunc": [68.0, 281.0, 157.0, 468.0], "center_cam": [-1.8723618954751169, 1.4900487163673577, 5.849091721433245], "dimensions": [0.58203128368173, 2.2380372372003148, 0.986328169372196], "R_cam": [[0.818632960319519, -0.012043952941894531, -0.5741907358169556], [0.0898025631904602, 0.9901666641235352, 0.10726369917392731], [0.5672526359558105, -0.13937342166900635, 0.8116645812988281]], "bbox3D_cam": [[-2.095506429672241, 0.3065309524536133, 5.4890971183776855], [-1.2880656719207764, 0.39510583877563477, 6.0485944747924805], [-1.3150204420089722, 2.611135721206665, 5.736671447753906], [-2.1224613189697266, 2.5225608348846436, 5.177174091339111], [-2.4297032356262207, 0.36896181106567383, 5.961511611938477], [-1.6222625970840454, 0.4575366973876953, 6.5210089683532715], [-1.6492174863815308, 2.6735665798187256, 6.209085941314697], [-2.456658124923706, 2.584991693496704, 5.649588584899902]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 201, "image_id": 26, "category_id": 45, "category_name": "person", "bbox2D_proj": [329.0, 275.0, 383.0, 463.0], "bbox2D_tight": [329.0, 275.0, 383.0, 463.0], "bbox2D_trunc": [329.0, 275.0, 383.0, 463.0], "center_cam": [1.281441381606844, 1.4108763989337754, 5.557518155357723], "dimensions": [0.5878906529363125, 2.144744992253907, 0.7382813088923232], "R_cam": [[-0.29859188199043274, -0.01774430274963379, -0.9542160034179688], [0.051531434059143066, 0.9980689287185669, -0.034684956073760986], [0.9529886841773987, -0.059528857469558716, -0.29710090160369873]], "bbox3D_cam": [[1.6911795139312744, 0.33174800872802734, 5.356899738311768], [1.470734715461731, 0.3697926998138428, 6.060473442077637], [1.4326776266098022, 2.5103957653045654, 5.932799339294434], [1.6531225442886353, 2.47235107421875, 5.2292256355285645], [1.1302050352096558, 0.3113570213317871, 5.182236671447754], [0.9097601175308228, 0.34940171241760254, 5.885810375213623], [0.8717030882835388, 2.490004777908325, 5.75813627243042], [1.092147946357727, 2.4519600868225098, 5.054562568664551]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 202, "image_id": 27, "category_id": 45, "category_name": "person", "bbox2D_proj": [436.0, 256.0, 460.0, 335.0], "bbox2D_tight": [436.0, 256.0, 460.0, 335.0], "bbox2D_trunc": [436.0, 256.0, 460.0, 335.0], "center_cam": [3.94166066510177, 0.8232537358666718, 9.094988630767137], "dimensions": [0.5039062666842611, 1.6381836240073335, 0.5625000584211621], "R_cam": [[-0.06895056366920471, -0.04199814796447754, -0.996735692024231], [-0.005525112152099609, 0.9991142749786377, -0.041716158390045166], [0.9976047873497009, 0.0026307106018066406, -0.0691215991973877]], "bbox3D_cam": [[4.246583938598633, 0.01695197820663452, 8.829672813415527], [4.207799434661865, 0.013844072818756104, 9.390826225280762], [4.138998508453369, 1.6505765914916992, 9.395135879516602], [4.177783489227295, 1.653684377670288, 8.833982467651367], [3.7443227767944336, -0.004069030284881592, 8.794841766357422], [3.705538034439087, -0.00717693567276001, 9.355995178222656], [3.63673734664917, 1.6295554637908936, 9.360304832458496], [3.6755220890045166, 1.6326634883880615, 8.799151420593262]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 203, "image_id": 27, "category_id": 45, "category_name": "person", "bbox2D_proj": [394.0, 251.0, 416.0, 317.0], "bbox2D_tight": [394.0, 251.0, 416.0, 317.0], "bbox2D_trunc": [394.0, 251.0, 416.0, 317.0], "center_cam": [3.4206706724727223, 0.6169147019613022, 9.966828242573616], "dimensions": [0.4531251459091347, 1.4350586222911987, 0.5004884189067802], "R_cam": [[0.9106464385986328, -0.025338411331176758, 0.41240885853767395], [0.0036350488662719727, 0.9985705614089966, 0.05332563817501068], [-0.4131705164909363, -0.047061651945114136, 0.909436821937561]], "bbox3D_cam": [[3.1175312995910645, -0.11258012056350708, 9.897945404052734], [3.5732994079589844, -0.11076086759567261, 9.691158294677734], [3.5369372367858887, 1.3222463130950928, 9.623621940612793], [3.081169366836548, 1.3204271793365479, 9.830409049987793], [3.3044042587280273, -0.08841699361801147, 10.31003475189209], [3.760172128677368, -0.086597740650177, 10.10324764251709], [3.7238101959228516, 1.346409559249878, 10.035711288452148], [3.2680420875549316, 1.344590187072754, 10.242498397827148]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 204, "image_id": 28, "category_id": 7, "category_name": "bench", "bbox2D_proj": [331.0, 190.0, 479.0, 333.0], "bbox2D_tight": [331.0, 190.0, 479.0, 333.0], "bbox2D_trunc": [331.0, 190.0, 479.0, 333.0], "center_cam": [1.0956993296046682, 0.13807667424377376, 4.446998059893346], "dimensions": [1.105468878270765, 1.2939454530511405, 1.7421875597190228], "R_cam": [[-0.9733526706695557, 0.002732139080762863, 0.22929729521274567], [0.09900128841400146, 0.9069461226463318, 0.4094477593898773], [-0.2068416327238083, 0.4212377965450287, -0.8830488920211792]], "bbox3D_cam": [[1.8150726556777954, -0.761247992515564, 4.842738628387451], [0.11930966377258301, -0.5887691974639893, 4.482381820678711], [0.12284493446350098, 0.584769606590271, 5.027440547943115], [1.8186079263687134, 0.4122908115386963, 5.3877973556518555], [2.0685536861419678, -0.3086162805557251, 3.866555690765381], [0.37279069423675537, -0.1361374706029892, 3.5061988830566406], [0.37632596492767334, 1.0374013185501099, 4.051257610321045], [2.0720889568328857, 0.8649225234985352, 4.411614418029785]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 205, "image_id": 29, "category_id": 33, "category_name": "jacket", "bbox2D_proj": [278.0, 286.0, 328.0, 363.0], "bbox2D_tight": [278.0, 286.0, 328.0, 363.0], "bbox2D_trunc": [278.0, 286.0, 328.0, 363.0], "center_cam": [0.6720466848184032, 0.9791059654011904, 5.98761228989173], "dimensions": [0.5640943271426979, 1.0248920320955872, 1.146842860049234], "R_cam": [[0.021945178508758545, -0.012859366834163666, -0.9996764659881592], [0.0010829824022948742, 0.9999170303344727, -0.012838687747716904], [0.9997586011886597, -0.0008008843287825584, 0.0219573974609375]], "bbox3D_cam": [[0.9480084180831909, 0.4697026014328003, 5.408546447753906], [0.973176121711731, 0.4709446430206299, 6.555112838745117], [0.9599967002868652, 1.4957515001296997, 6.554291725158691], [0.9348289966583252, 1.4945094585418701, 5.407725811004639], [0.3840966522693634, 0.46246039867401123, 5.420932769775391], [0.40926432609558105, 0.4637024402618408, 6.567498683929443], [0.39608487486839294, 1.4885092973709106, 6.566678047180176], [0.3709172010421753, 1.487267255783081, 5.420111656188965]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 206, "image_id": 29, "category_id": 45, "category_name": "person", "bbox2D_proj": [131.0, 263.0, 157.0, 379.0], "bbox2D_tight": [131.0, 263.0, 157.0, 379.0], "bbox2D_trunc": [131.0, 263.0, 157.0, 379.0], "center_cam": [-3.9106884701812916, 2.221520603921265, 15.290120938832903], "dimensions": [0.7636442320272516, 4.228912446723623, 6.797980199867297], "R_cam": [[-0.23557984828948975, -0.012859368696808815, -0.9717700481414795], [-0.002251251833513379, 0.9999171495437622, -0.012686081230640411], [0.9718525409698486, -0.0008008849108591676, -0.23558908700942993]], "bbox3D_cam": [[-2.7117209434509277, 0.1197357177734375, 12.078450202941895], [-4.313188076019287, 0.1044316291809082, 18.68508529663086], [-4.367569446563721, 4.332993030548096, 18.681697845458984], [-2.7661020755767822, 4.348297119140625, 12.075063705444336], [-3.4538075923919678, 0.11004829406738281, 11.898544311523438], [-5.055274963378906, 0.09474420547485352, 18.505178451538086], [-5.109655857086182, 4.323305606842041, 18.50179100036621], [-3.5081887245178223, 4.33860969543457, 11.895156860351562]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 207, "image_id": 29, "category_id": 45, "category_name": "person", "bbox2D_proj": [191.0, 271.0, 220.0, 369.0], "bbox2D_tight": [191.0, 271.0, 220.0, 369.0], "bbox2D_trunc": [191.0, 271.0, 220.0, 369.0], "center_cam": [-1.7478121051428581, 2.145068455152619, 15.554626318181686], "dimensions": [0.7890626950186127, 3.348632895831771, 0.8671877158092012], "R_cam": [[-0.6894959211349487, -0.03313589096069336, -0.723531186580658], [0.04929792881011963, 0.994489312171936, -0.09252411127090454], [0.7226098775863647, -0.09946364164352417, -0.6840628385543823]], "bbox3D_cam": [[-1.1079151630401611, 0.4951070547103882, 15.677724838256836], [-1.7058377265930176, 0.5378576517105103, 16.304363250732422], [-1.8167977333068848, 3.868037223815918, 15.971296310424805], [-1.2188751697540283, 3.825286388397217, 15.344657897949219], [-1.6788265705108643, 0.4220997095108032, 15.137956619262695], [-2.2767491340637207, 0.4648503065109253, 15.764595031738281], [-2.387709140777588, 3.795029640197754, 15.431528091430664], [-1.7897865772247314, 3.752279281616211, 14.804889678955078]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 208, "image_id": 29, "category_id": 45, "category_name": "person", "bbox2D_proj": [157.0, 268.0, 194.0, 367.0], "bbox2D_tight": [157.0, 268.0, 194.0, 367.0], "bbox2D_trunc": [157.0, 268.0, 194.0, 367.0], "center_cam": [-3.1021796783979925, 2.260353892299464, 16.990397863746416], "dimensions": [1.0468750553771327, 3.657226663275239, 1.3159179812348376], "R_cam": [[0.9659925699234009, -0.05538380146026611, -0.25256890058517456], [0.08772975206375122, 0.9890521764755249, 0.1186559647321701], [0.24323220551013947, -0.1367785632610321, 0.9602758884429932]], "bbox3D_cam": [[-3.5042836666107178, 0.3319282531738281, 16.57783317565918], [-2.233116626739502, 0.4473733901977539, 16.897905349731445], [-2.4356677532196045, 4.064561367034912, 16.397676467895508], [-3.7068347930908203, 3.9491162300109863, 16.07760238647461], [-3.7686917781829834, 0.456146240234375, 17.583120346069336], [-2.4975247383117676, 0.5715913772583008, 17.903194427490234], [-2.70007586479187, 4.188779354095459, 17.402963638305664], [-3.971242904663086, 4.073334217071533, 17.0828914642334]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 209, "image_id": 30, "category_id": 2, "category_name": "backpack", "bbox2D_proj": [114.0, 262.0, 168.0, 341.0], "bbox2D_tight": [114.0, 262.0, 168.0, 341.0], "bbox2D_trunc": [114.0, 262.0, 168.0, 341.0], "center_cam": [-0.5467175551757687, 0.21992038232034228, 2.1173117549100926], "dimensions": [0.2393798877306954, 0.38073729741708495, 0.2734375001498104], "R_cam": [[0.3993110656738281, 0.08154696226119995, 0.9131817817687988], [-0.09102261066436768, 0.9946417212486267, -0.04901958256959915], [-0.9122860431671143, -0.06354609876871109, 0.4045940637588501]], "bbox3D_cam": [[-0.7261335849761963, 0.04888342320919037, 2.20570969581604], [-0.6169469356536865, 0.023994430899620056, 1.9562565088272095], [-0.5858989357948303, 0.4026916027069092, 1.9320621490478516], [-0.6950855255126953, 0.4275805950164795, 2.1815152168273926], [-0.5075362324714661, 0.03714914619922638, 2.3025612831115723], [-0.3983496129512787, 0.012260153889656067, 2.0531082153320312], [-0.3673016130924225, 0.3909573554992676, 2.028913736343384], [-0.47648823261260986, 0.4158463478088379, 2.278367042541504]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 210, "image_id": 30, "category_id": 45, "category_name": "person", "bbox2D_proj": [20.0, 233.0, 96.0, 432.0], "bbox2D_tight": [20.0, 233.0, 96.0, 432.0], "bbox2D_trunc": [20.0, 233.0, 96.0, 432.0], "center_cam": [-1.125896239059313, 0.4339836926425291, 2.5896829261442975], "dimensions": [0.378906251479717, 1.0678710698577594, 0.5400390645886003], "R_cam": [[0.535478413105011, 0.0830850601196289, -0.8404520750045776], [-0.012379646301269531, 0.9958143830299377, 0.09055635333061218], [0.8444581031799316, -0.03808647394180298, 0.5342656970024109]], "bbox3D_cam": [[-1.1556216478347778, -0.11153042316436768, 2.280780076980591], [-0.8664423823356628, -0.11821591854095459, 2.7368204593658447], [-0.7777182459831238, 0.9451854228973389, 2.6961488723754883], [-1.0668975114822388, 0.9518709182739258, 2.2401084899902344], [-1.474074125289917, -0.07721805572509766, 2.4832167625427246], [-1.1848949193954468, -0.08390355110168457, 2.9392571449279785], [-1.0961707830429077, 0.9794977903366089, 2.898585557937622], [-1.385349988937378, 0.9861832857131958, 2.442545175552368]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 211, "image_id": 30, "category_id": 45, "category_name": "person", "bbox2D_proj": [470.0, 233.0, 500.0, 336.0], "bbox2D_tight": [470.0, 233.0, 500.0, 336.0], "bbox2D_trunc": [470.0, 233.0, 500.0, 336.0], "center_cam": [1.6420486006192128, 0.22722631471881613, 3.244779070730404], "dimensions": [0.2167968747331117, 0.7709960769991404, 0.24804687991859425], "R_cam": [[-0.9938997030258179, 0.10908234119415283, -0.016268650069832802], [0.10588079690933228, 0.9850248098373413, 0.13607166707515717], [0.03086801990866661, 0.1335190385580063, -0.9905655384063721]], "bbox3D_cam": [[1.7250279188156128, -0.1803804636001587, 3.2968552112579346], [1.4784942865371704, -0.15411704778671265, 3.304511785507202], [1.5625962018966675, 0.6053332090377808, 3.407454490661621], [1.8091299533843994, 0.5790697932243347, 3.3997979164123535], [1.7215009927749634, -0.1508805751800537, 3.082103729248047], [1.4749672412872314, -0.12461715936660767, 3.0897603034973145], [1.559069275856018, 0.6348330974578857, 3.1927030086517334], [1.8056029081344604, 0.6085696816444397, 3.185046434402466]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 212, "image_id": 30, "category_id": 5, "category_name": "baseball_cap", "bbox2D_proj": [155.0, 211.0, 192.0, 238.0], "bbox2D_tight": [155.0, 211.0, 192.0, 238.0], "bbox2D_trunc": [155.0, 211.0, 192.0, 238.0], "center_cam": [-0.41587712057278187, -0.15555146430374622, 2.199263210526146], "dimensions": [0.09236436882162646, 0.11598264179061796, 0.17518663626647912], "R_cam": [[0.9871820211410522, -0.025391414761543274, 0.15756556391716003], [0.06194596365094185, 0.9708230495452881, -0.23165835440158844], [-0.14708611369132996, 0.23844952881336212, 0.9599519968032837]], "bbox3D_cam": [[-0.5081518888473511, -0.2065783441066742, 2.1539862155914307], [-0.3352108299732208, -0.19572623074054718, 2.128218650817871], [-0.3381558060646057, -0.08312761783599854, 2.155874729156494], [-0.5110968947410583, -0.09397972375154495, 2.1816422939300537], [-0.49359846115112305, -0.22797530889511108, 2.2426514625549316], [-0.3206573724746704, -0.21712321043014526, 2.216883897781372], [-0.3236023485660553, -0.10452459007501602, 2.244539976119995], [-0.49654343724250793, -0.11537669599056244, 2.2703075408935547]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 213, "image_id": 30, "category_id": 45, "category_name": "person", "bbox2D_proj": [242.0, 243.0, 329.0, 493.0], "bbox2D_tight": [242.0, 243.0, 329.0, 493.0], "bbox2D_trunc": [242.0, 243.0, 329.0, 493.0], "center_cam": [0.10612636164385753, 0.5329697449581027, 2.242029624636327], "dimensions": [0.421875045230636, 1.1336059301994137, 0.44433597622008364], "R_cam": [[-0.4674155116081238, -0.0100477933883667, -0.8839805722236633], [0.010693550109863281, 0.9997979402542114, -0.017018554732203484], [0.8839730024337769, -0.017407594248652458, -0.46721363067626953]], "bbox3D_cam": [[0.40213096141815186, -0.0325046181678772, 2.1540586948394775], [0.19444139301776886, -0.027753055095672607, 2.546839714050293], [0.18305116891860962, 1.1056239604949951, 2.527106285095215], [0.3907407224178314, 1.100872278213501, 2.1343255043029785], [0.029201552271842957, -0.03968435525894165, 1.9569529294967651], [-0.17848798632621765, -0.03493279218673706, 2.349733829498291], [-0.18987822532653809, 1.0984442234039307, 2.330000638961792], [0.017811328172683716, 1.0936925411224365, 1.9372196197509766]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 214, "image_id": 31, "category_id": 45, "category_name": "person", "bbox2D_proj": [429.0, 227.0, 473.0, 317.0], "bbox2D_tight": [429.0, 227.0, 473.0, 317.0], "bbox2D_trunc": [429.0, 227.0, 473.0, 317.0], "center_cam": [1.897265317304036, 0.16436604863070253, 4.3305599293519395], "dimensions": [0.2421874972762861, 0.8279342770254168, 0.44726561982792534], "R_cam": [[0.793123185634613, 0.1445499062538147, 0.591659665107727], [-0.1189647912979126, 0.9894842505455017, -0.08227068930864334], [-0.5973300933837891, -0.0051358346827328205, 0.8019791841506958]], "bbox3D_cam": [[1.588411808013916, -0.20868100225925446, 4.36915397644043], [1.9431484937667847, -0.26188981533050537, 4.101988792419434], [2.06282639503479, 0.5573380589485168, 4.097736358642578], [1.7080895900726318, 0.610546886920929, 4.364901542663574], [1.7317043542861938, -0.2286059409379959, 4.563383102416992], [2.0864410400390625, -0.2818147540092468, 4.296217918395996], [2.2061188220977783, 0.5374131202697754, 4.291965484619141], [1.8513821363449097, 0.5906219482421875, 4.559130668640137]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 215, "image_id": 31, "category_id": 43, "category_name": "palm_tree", "bbox2D_proj": [170.0, 123.0, 280.0, 323.0], "bbox2D_tight": [170.0, 123.0, 280.0, 323.0], "bbox2D_trunc": [170.0, 123.0, 280.0, 323.0], "center_cam": [-0.3195681200150986, -0.3411853139585166, 7.253934372259416], "dimensions": [1.4272461276693051, 3.2282715417199026, 1.4609375535363596], "R_cam": [[0.050988584756851196, 0.060788869857788086, 0.9968475103378296], [0.3289583921432495, 0.9414221048355103, -0.07423514127731323], [-0.942966878414154, 0.33170652389526367, 0.028004765510559082]], "bbox3D_cam": [[-1.1663085222244263, -2.048086166381836, 7.387338161468506], [-1.0918173789978027, -1.5674985647201538, 6.0097222328186035], [-0.8955744504928589, 1.4716674089431763, 7.08056116104126], [-0.9700654745101929, 0.9910796880722046, 8.458176612854004], [0.25643816590309143, -2.1540379524230957, 7.427307605743408], [0.3309292495250702, -1.6734503507614136, 6.049692153930664], [0.5271722078323364, 1.3657156229019165, 7.120530605316162], [0.45268115401268005, 0.8851279020309448, 8.498146057128906]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 216, "image_id": 31, "category_id": 45, "category_name": "person", "bbox2D_proj": [223.0, 328.0, 242.0, 387.0], "bbox2D_tight": [223.0, 328.0, 242.0, 387.0], "bbox2D_trunc": [223.0, 328.0, 242.0, 387.0], "center_cam": [-0.29784632328748684, 1.2482871065878651, 5.5482866401122095], "dimensions": [0.20312500146268797, 0.6577148516505744, 0.21484375184701363], "R_cam": [[-0.7998080849647522, 0.09890186786651611, 0.5920518636703491], [0.08469682931900024, 0.995059072971344, -0.05180630087852478], [-0.5942503213882446, 0.008709758520126343, -0.8042329549789429]], "bbox3D_cam": [[-0.3045842945575714, 0.9172177910804749, 5.690937519073486], [-0.476418137550354, 0.9354143738746643, 5.563266754150391], [-0.41136887669563293, 1.5898795127868652, 5.568994998931885], [-0.23953506350517273, 1.5716829299926758, 5.696666240692139], [-0.1843237578868866, 0.9066946506500244, 5.527577877044678], [-0.3561575710773468, 0.9248912334442139, 5.399906635284424], [-0.2911083400249481, 1.5793564319610596, 5.405635356903076], [-0.11927451193332672, 1.5611598491668701, 5.533306121826172]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 217, "image_id": 31, "category_id": 62, "category_name": "statue", "bbox2D_proj": [387.0, 236.0, 418.0, 309.0], "bbox2D_tight": [387.0, 236.0, 418.0, 309.0], "bbox2D_trunc": [387.0, 236.0, 418.0, 309.0], "center_cam": [1.547333186412057, 0.15319731796935693, 4.561847279147591], "dimensions": [0.24414062261400926, 0.7090454188418379, 0.3710937455530083], "R_cam": [[0.6400795578956604, 0.10476964712142944, 0.7611316442489624], [-0.04259657859802246, 0.9939742684364319, -0.10099846124649048], [-0.7671268582344055, 0.032225459814071655, 0.6406855583190918]], "bbox3D_cam": [[1.298513650894165, -0.178956538438797, 4.614552021026611], [1.5360431671142578, -0.19476386904716492, 4.329875946044922], [1.6103296279907227, 0.5100090503692627, 4.352725028991699], [1.3728001117706299, 0.5258163213729858, 4.637401103973389], [1.4843368530273438, -0.20361438393592834, 4.770969390869141], [1.7218663692474365, -0.21942171454429626, 4.486293315887451], [1.7961528301239014, 0.48535117506980896, 4.5091423988342285], [1.5586233139038086, 0.5011584758758545, 4.793818473815918]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 218, "image_id": 32, "category_id": 72, "category_name": "tree", "bbox2D_proj": [390.0, 141.0, 416.0, 240.0], "bbox2D_tight": [390.0, 141.0, 416.0, 240.0], "bbox2D_trunc": [390.0, 141.0, 416.0, 240.0], "center_cam": [3.348297356181856, -1.440634116916276, 9.886161103272622], "dimensions": [0.3284380308224044, 2.1509102556240123, 0.5929496395616393], "R_cam": [[0.9522309303283691, -0.05660376325249672, 0.3000870943069458], [0.0937214344739914, 0.989417552947998, -0.11076682060956955], [-0.2906416058540344, 0.13360019028186798, 0.9474589824676514]], "bbox3D_cam": [[3.0775797367095947, -2.5143041610717773, 9.673056602478027], [3.642204523086548, -2.4587321281433105, 9.500720977783203], [3.5204551219940186, -0.3305840492248535, 9.78808307647705], [2.9558300971984863, -0.3861560821533203, 9.960418701171875], [3.1761395931243896, -2.5506842136383057, 9.984238624572754], [3.740764617919922, -2.495112180709839, 9.81190299987793], [3.6190149784088135, -0.36696410179138184, 10.099265098571777], [3.0543901920318604, -0.42253613471984863, 10.271600723266602]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 219, "image_id": 32, "category_id": 45, "category_name": "person", "bbox2D_proj": [0.0, 230.0, 31.0, 390.0], "bbox2D_tight": [0.0, 230.0, 31.0, 390.0], "bbox2D_trunc": [0.0, 230.0, 31.0, 390.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 220, "image_id": 33, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [108.0, 203.0, 143.0, 265.0], "bbox2D_tight": [108.0, 203.0, 143.0, 265.0], "bbox2D_trunc": [108.0, 203.0, 143.0, 265.0], "center_cam": [-1.527490575656309, -0.25734425698422964, 5.092875937256679], "dimensions": [0.3281250660817695, 0.6375121736666417, 0.36718757401264857], "R_cam": [[0.7902806997299194, -0.06008720397949219, -0.60979163646698], [-0.0023173093795776367, 0.994879961013794, -0.10103611648082733], [0.6127405166625977, 0.08126001805067062, 0.786095142364502]], "bbox3D_cam": [[-1.5533840656280518, -0.5574666261672974, 4.825509548187256], [-1.2632029056549072, -0.5583175420761108, 5.050500392913818], [-1.301509141921997, 0.07593059539794922, 5.102304458618164], [-1.5916904211044312, 0.0767815113067627, 4.87731409072876], [-1.753472089767456, -0.5906190872192383, 5.083447456359863], [-1.463290810585022, -0.5914700031280518, 5.308437824249268], [-1.5015971660614014, 0.0427781343460083, 5.3602423667907715], [-1.791778326034546, 0.04362905025482178, 5.135251522064209]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 221, "image_id": 33, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [290.0, 163.0, 343.0, 268.0], "bbox2D_tight": [290.0, 163.0, 343.0, 268.0], "bbox2D_trunc": [290.0, 163.0, 343.0, 268.0], "center_cam": [0.828255542276019, -0.6031685244189429, 5.795725268796918], "dimensions": [0.6954362268506779, 1.2864483911974922, 2.1480975034628242], "R_cam": [[0.2004835605621338, -0.07253491133451462, -0.9770082235336304], [-0.06268338114023209, 0.9942624568939209, -0.08667862415313721], [0.9776897430419922, 0.0786198228597641, 0.19478654861450195]], "bbox3D_cam": [[0.9993060827255249, -1.1452374458312988, 4.62733793258667], [1.429964303970337, -1.2798874378204346, 6.727510929107666], [1.3366519212722778, -0.0008202195167541504, 6.828651428222656], [0.9059937000274658, 0.1338297724723816, 4.72847843170166], [0.3198591470718384, -1.2055168151855469, 4.762799263000488], [0.7505173683166504, -1.3401668071746826, 6.862972259521484], [0.6572049856185913, -0.06109970808029175, 6.964112758636475], [0.2265467643737793, 0.073550283908844, 4.8639397621154785]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 222, "image_id": 33, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [421.0, 204.0, 470.0, 276.0], "bbox2D_tight": [421.0, 204.0, 470.0, 276.0], "bbox2D_trunc": [421.0, 204.0, 470.0, 276.0], "center_cam": [3.0676095596216166, -0.265620022425302, 7.31662464598449], "dimensions": [0.3710937759294246, 1.0935057893833524, 0.6601562787957308], "R_cam": [[0.4005838632583618, 0.00944209098815918, 0.9162113666534424], [0.01745283603668213, 0.9996868371963501, -0.017932891845703125], [-0.9160938262939453, 0.02317407727241516, 0.40029358863830566]], "bbox3D_cam": [[2.760222911834717, -0.8146350383758545, 7.5320634841918945], [3.0246708393096924, -0.8031134605407715, 6.927298545837402], [3.0349957942962646, 0.29004982113838196, 6.952639579772949], [2.770547866821289, 0.27852824330329895, 7.557404518127441], [3.1002233028411865, -0.8212898969650269, 7.680609703063965], [3.364671230316162, -0.8097683191299438, 7.075844764709473], [3.3749961853027344, 0.2833949625492096, 7.1011857986450195], [3.110548257827759, 0.2718733847141266, 7.705950736999512]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 223, "image_id": 33, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [161.0, 204.0, 211.0, 265.0], "bbox2D_tight": [161.0, 204.0, 211.0, 265.0], "bbox2D_trunc": [161.0, 204.0, 211.0, 265.0], "center_cam": [-0.8072422066672693, -0.3017182195045598, 5.160191279849969], "dimensions": [0.5549699385095088, 0.6060077928455421, 0.795575256514863], "R_cam": [[0.1730175018310547, -0.07253491878509521, 0.9822441935539246], [0.09017610549926758, 0.9942624568939209, 0.05753832682967186], [-0.9807819724082947, 0.0786198079586029, 0.17856574058532715]], "bbox3D_cam": [[-1.1266460418701172, -0.6548205614089966, 5.476962566375732], [-0.9889976382255554, -0.5830786228179932, 4.696676731109619], [-1.0329543352127075, 0.019452065229415894, 4.744320869445801], [-1.170602798461914, -0.05228981375694275, 5.524606704711914], [-0.5815300941467285, -0.622888445854187, 5.576061248779297], [-0.443881630897522, -0.5511466264724731, 4.795775413513184], [-0.48783835768699646, 0.05138412117958069, 4.843419551849365], [-0.6254867911338806, -0.020357757806777954, 5.6237053871154785]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 224, "image_id": 33, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [239.0, 137.0, 294.0, 268.0], "bbox2D_tight": [239.0, 137.0, 294.0, 268.0], "bbox2D_trunc": [239.0, 137.0, 294.0, 268.0], "center_cam": [0.12383266562108868, -0.7329007663878169, 5.87599768968096], "dimensions": [0.5234375158180169, 1.6645507123263554, 0.6617432034010443], "R_cam": [[0.9993225932121277, -0.00047457218170166016, 0.03679676353931427], [0.012489378452301025, 0.9449427723884583, -0.3269971013069153], [-0.0346156507730484, 0.3272351622581482, 0.9443086385726929]], "bbox3D_cam": [[-0.21605023741722107, -1.4379044771194458, 5.367958068847656], [0.44524475932121277, -1.4296396970748901, 5.345051288604736], [0.44445475935935974, 0.1432654857635498, 5.8897504806518555], [-0.2168402373790741, 0.13500070571899414, 5.912657260894775], [-0.19678941369056702, -1.6090669631958008, 5.862244606018066], [0.4645055830478668, -1.6008021831512451, 5.8393378257751465], [0.4637155830860138, -0.027897000312805176, 6.384037017822266], [-0.19757941365242004, -0.03616178035736084, 6.4069437980651855]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 225, "image_id": 33, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [390.0, 180.0, 437.0, 270.0], "bbox2D_tight": [390.0, 180.0, 437.0, 270.0], "bbox2D_trunc": [390.0, 180.0, 437.0, 270.0], "center_cam": [3.433807516190004, -0.6600897429663781, 9.317168501892269], "dimensions": [0.3750000308653245, 1.7324217668874624, 0.5468750301350191], "R_cam": [[-0.37618568539619446, -0.0301668643951416, -0.9260530471801758], [0.05210179090499878, 0.9971996545791626, -0.053649574518203735], [0.925078272819519, -0.06843122839927673, -0.37356042861938477]], "bbox3D_cam": [[3.7364368438720703, -1.5280622243881226, 9.193535804748535], [3.530710220336914, -1.499569058418274, 9.699438095092773], [3.4784483909606934, 0.22800135612487793, 9.580885887145996], [3.6841750144958496, 0.1995081901550293, 9.074983596801758], [3.389166831970215, -1.5481808185577393, 9.053450584411621], [3.1834402084350586, -1.5196876525878906, 9.55935287475586], [3.131178379058838, 0.20788276195526123, 9.440800666809082], [3.336905002593994, 0.1793895959854126, 8.934898376464844]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 226, "image_id": 33, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [55.0, 198.0, 108.0, 266.0], "bbox2D_tight": [55.0, 198.0, 108.0, 266.0], "bbox2D_trunc": [55.0, 198.0, 108.0, 266.0], "center_cam": [-1.3058117308538304, -0.18429230967362087, 3.344452873655408], "dimensions": [0.2411195724085875, 0.5052623455113454, 0.44246948894098326], "R_cam": [[0.792880117893219, -0.07253492623567581, -0.6050452589988708], [0.009663810022175312, 0.9942625761032104, -0.10653170198202133], [0.6093010306358337, 0.0786198228597641, 0.789031982421875]], "bbox3D_cam": [[-1.3899556398391724, -0.42476850748062134, 3.0946669578552246], [-1.039130449295044, -0.420492559671402, 3.3642640113830566], [-1.0757795572280884, 0.08187073469161987, 3.4039876461029053], [-1.4266048669815063, 0.0775948166847229, 3.1343905925750732], [-1.5358439683914185, -0.45045536756515503, 3.2849180698394775], [-1.1850186586380005, -0.44617944955825806, 3.5545151233673096], [-1.2216678857803345, 0.05618385970592499, 3.594238758087158], [-1.572493076324463, 0.05190792679786682, 3.324641704559326]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 227, "image_id": 34, "category_id": 45, "category_name": "person", "bbox2D_proj": [27.0, 293.0, 61.0, 392.0], "bbox2D_tight": [27.0, 293.0, 61.0, 392.0], "bbox2D_trunc": [27.0, 293.0, 61.0, 392.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 228, "image_id": 34, "category_id": 45, "category_name": "person", "bbox2D_proj": [215.0, 287.0, 270.0, 419.0], "bbox2D_tight": [215.0, 287.0, 270.0, 419.0], "bbox2D_trunc": [215.0, 287.0, 270.0, 419.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 229, "image_id": 34, "category_id": 45, "category_name": "person", "bbox2D_proj": [124.0, 358.0, 213.0, 512.0], "bbox2D_tight": [124.0, 358.0, 213.0, 512.0], "bbox2D_trunc": [124.0, 358.0, 213.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 230, "image_id": 34, "category_id": 45, "category_name": "person", "bbox2D_proj": [237.0, 424.0, 339.0, 512.0], "bbox2D_tight": [237.0, 424.0, 339.0, 512.0], "bbox2D_trunc": [237.0, 424.0, 339.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 231, "image_id": 34, "category_id": 45, "category_name": "person", "bbox2D_proj": [400.0, 312.0, 457.0, 404.0], "bbox2D_tight": [400.0, 312.0, 457.0, 404.0], "bbox2D_trunc": [400.0, 312.0, 457.0, 404.0], "center_cam": [1.4325064168464492, 1.0421341427245323, 3.8112117590324495], "dimensions": [0.32617192206664924, 1.1416015651796143, 0.4765625449988572], "R_cam": [[0.8807237148284912, 0.060062527656555176, -0.4698067903518677], [-0.17606616020202637, 0.9623615741729736, -0.2070293128490448], [0.4396892786026001, 0.2650526463985443, 0.8581494092941284]], "bbox3D_cam": [[1.2649816274642944, 0.5685343742370605, 3.4151976108551025], [1.6847015619277954, 0.4846278429031372, 3.62473726272583], [1.7532689571380615, 1.5832611322402954, 3.927321672439575], [1.33354914188385, 1.6671676635742188, 3.7177822589874268], [1.1117439270019531, 0.5010071992874146, 3.6951019763946533], [1.5314637422561646, 0.4171006679534912, 3.9046413898468018], [1.6000312566757202, 1.5157339572906494, 4.207225799560547], [1.1803113222122192, 1.5996404886245728, 3.9976863861083984]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 232, "image_id": 34, "category_id": 45, "category_name": "person", "bbox2D_proj": [232.0, 311.0, 342.0, 451.0], "bbox2D_tight": [232.0, 311.0, 342.0, 451.0], "bbox2D_trunc": [232.0, 311.0, 342.0, 451.0], "center_cam": [0.2421759333589258, 1.1036759771942555, 3.255131388427383], "dimensions": [0.33007815146842234, 1.3779296664702916, 0.8957519475398732], "R_cam": [[0.994688868522644, 0.01745474338531494, -0.101437047123909], [-0.03254401683807373, 0.9882916212081909, -0.14906607568264008], [0.09764748811721802, 0.15157552063465118, 0.9836106300354004]], "bbox3D_cam": [[-0.19860589504241943, 0.461955189704895, 2.9446330070495605], [0.6923885345458984, 0.4328038692474365, 3.0321011543273926], [0.7164399027824402, 1.7946001291275024, 3.2409615516662598], [-0.17455452680587769, 1.823751449584961, 3.153493642807007], [-0.23208802938461304, 0.41275179386138916, 3.269301414489746], [0.6589064002037048, 0.38360047340393066, 3.356769323348999], [0.6829577684402466, 1.7453967332839966, 3.5656299591064453], [-0.2080366611480713, 1.774548053741455, 3.4781618118286133]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 233, "image_id": 34, "category_id": 45, "category_name": "person", "bbox2D_proj": [104.0, 245.0, 133.0, 351.0], "bbox2D_tight": [104.0, 245.0, 133.0, 351.0], "bbox2D_trunc": [104.0, 245.0, 133.0, 351.0], "center_cam": [-1.5845100225014859, 0.48175660123657515, 5.232706288770152], "dimensions": [0.2832031395437151, 1.2128906163708557, 0.5605469391278473], "R_cam": [[-0.48065444827079773, -0.0635063648223877, 0.8746075630187988], [0.1251671314239502, 0.9821933507919312, 0.14010582864284515], [-0.8679312467575073, 0.17681466042995453, -0.46414655447006226]], "bbox3D_cam": [[-1.535127878189087, -0.1688101589679718, 5.434459686279297], [-1.8045573234558105, -0.09864810109138489, 4.947943687438965], [-1.881583571434021, 1.0926449298858643, 5.162400245666504], [-1.612154245376587, 1.0224828720092773, 5.648916244506836], [-1.2874363660812378, -0.12913170456886292, 5.303011894226074], [-1.5568656921386719, -0.058969646692276, 4.816495895385742], [-1.6338920593261719, 1.1323233842849731, 5.030952453613281], [-1.3644626140594482, 1.0621613264083862, 5.517468452453613]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 234, "image_id": 34, "category_id": 45, "category_name": "person", "bbox2D_proj": [48.0, 337.0, 120.0, 421.0], "bbox2D_tight": [48.0, 337.0, 120.0, 421.0], "bbox2D_trunc": [48.0, 337.0, 120.0, 421.0], "center_cam": [-0.9087922191273456, 0.6594462748289359, 2.424546731733015], "dimensions": [0.3203137223328669, 0.4326778590263952, 0.542126086674529], "R_cam": [[0.3375509977340698, -0.004637185484170914, -0.9412958025932312], [-0.0026868735440075397, 0.9999791383743286, -0.005889801308512688], [0.9413034319877625, 0.004517251625657082, 0.33753156661987305]], "bbox3D_cam": [[-0.8485316038131714, 0.4447835087776184, 2.114358901977539], [-0.6655364036560059, 0.4433268904685974, 2.624664068222046], [-0.6675428152084351, 0.8759956359863281, 2.6266186237335205], [-0.8505380153656006, 0.8774522542953491, 2.1163134574890137], [-1.1500415802001953, 0.44289693236351013, 2.2224748134613037], [-0.9670463800430298, 0.44144031405448914, 2.7327799797058105], [-0.969052791595459, 0.8741090893745422, 2.734734535217285], [-1.1520479917526245, 0.8755657076835632, 2.2244293689727783]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 235, "image_id": 35, "category_id": 45, "category_name": "person", "bbox2D_proj": [144.0, 241.0, 178.0, 361.0], "bbox2D_tight": [144.0, 241.0, 178.0, 361.0], "bbox2D_trunc": [144.0, 241.0, 178.0, 361.0], "center_cam": [-0.6400354741085874, 0.30786507797134466, 3.170589438911498], "dimensions": [0.2519531262002662, 0.8389892089948423, 0.2890625024721878], "R_cam": [[0.6871573328971863, 0.034973859786987305, -0.7256662845611572], [-0.017961502075195312, 0.9993531107902527, 0.031155943870544434], [0.7262865304946899, -0.008374899625778198, 0.687341034412384]], "bbox3D_cam": [[-0.6626055836677551, -0.11268705129623413, 2.9825427532196045], [-0.46397411823272705, -0.11787903308868408, 3.1924848556518555], [-0.43463146686553955, 0.7205674052238464, 3.1854584217071533], [-0.6332628726959229, 0.7257593870162964, 2.9755163192749023], [-0.8454394340515137, -0.10483723878860474, 3.1557204723358154], [-0.6468080282211304, -0.11002922058105469, 3.3656625747680664], [-0.6174653172492981, 0.7284172177314758, 3.3586361408233643], [-0.8160967826843262, 0.7336091995239258, 3.1486940383911133]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 236, "image_id": 35, "category_id": 45, "category_name": "person", "bbox2D_proj": [466.0, 244.0, 500.0, 345.0], "bbox2D_tight": [466.0, 244.0, 500.0, 345.0], "bbox2D_trunc": [466.0, 244.0, 500.0, 345.0], "center_cam": [1.572838063831399, 0.2482128571509722, 3.0815708955073875], "dimensions": [0.22009279614931937, 0.6544189070092867, 0.2304687720206502], "R_cam": [[0.3678923547267914, 0.053493499755859375, -0.9283284544944763], [-0.0791158676147461, 0.996524453163147, 0.02606987953186035], [0.9264965653419495, 0.0638546347618103, 0.3708459138870239]], "bbox3D_cam": [[1.6150999069213867, -0.07161138951778412, 2.913102626800537], [1.6998875141143799, -0.08984510600566864, 3.126631021499634], [1.7348947525024414, 0.5622993111610413, 3.1684186458587646], [1.6501070261001587, 0.5805330276489258, 2.954890251159668], [1.4107813835144043, -0.06587360799312592, 2.994723081588745], [1.495569109916687, -0.08410732448101044, 3.208251476287842], [1.530576229095459, 0.5680370926856995, 3.2500391006469727], [1.4457886219024658, 0.586270809173584, 3.036510705947876]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 237, "image_id": 35, "category_id": 45, "category_name": "person", "bbox2D_proj": [348.0, 240.0, 378.0, 342.0], "bbox2D_tight": [348.0, 240.0, 378.0, 342.0], "bbox2D_trunc": [348.0, 240.0, 378.0, 342.0], "center_cam": [0.8184809981222496, 0.2571742808129608, 3.3414957666105343], "dimensions": [0.19140624683759447, 0.7299804261423795, 0.24511718312649497], "R_cam": [[0.7818468809127808, 0.04873543977737427, 0.6215630173683167], [0.04906904697418213, 0.9890378713607788, -0.13927128911018372], [-0.6215367913246155, 0.13938835263252258, 0.7708847522735596]], "bbox3D_cam": [[0.6453854441642761, -0.0964999794960022, 3.2930190563201904], [0.8370295166969299, -0.08447229862213135, 3.140669584274292], [0.8726055026054382, 0.6375059485435486, 3.2424204349517822], [0.6809614300727844, 0.6254782676696777, 3.3947696685791016], [0.7643564343452454, -0.12315738201141357, 3.4405710697174072], [0.9560005068778992, -0.11112970113754272, 3.288221836090088], [0.9915764927864075, 0.6108485460281372, 3.389972448348999], [0.7999324202537537, 0.5988208651542664, 3.5423219203948975]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 238, "image_id": 35, "category_id": 63, "category_name": "streetlight", "bbox2D_proj": [116.0, 109.0, 147.0, 172.0], "bbox2D_tight": [116.0, 109.0, 147.0, 172.0], "bbox2D_trunc": [116.0, 109.0, 147.0, 172.0], "center_cam": [-1.2793076202591327, -1.1593538721056742, 4.5647759910672585], "dimensions": [0.2646484302216864, 0.6259154913305198, 0.2968749871972294], "R_cam": [[0.06296330690383911, 0.005685567855834961, 0.9979996085166931], [0.15736007690429688, 0.9874188303947449, -0.015553116798400879], [-0.9855320453643799, 0.1580246090888977, 0.06127643585205078]], "bbox3D_cam": [[-1.4224926233291626, -1.4896743297576904, 4.653502464294434], [-1.403800368309021, -1.4429579973220825, 4.360922813415527], [-1.4002416133880615, -0.8249173164367676, 4.459832668304443], [-1.4189338684082031, -0.8716335296630859, 4.75241231918335], [-1.1583735942840576, -1.4937903881072998, 4.669719219207764], [-1.139681339263916, -1.4470741748809814, 4.377139568328857], [-1.1361225843429565, -0.829033374786377, 4.476049423217773], [-1.1548148393630981, -0.8757497072219849, 4.76862907409668]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 239, "image_id": 35, "category_id": 45, "category_name": "person", "bbox2D_proj": [454.0, 241.0, 476.0, 312.0], "bbox2D_tight": [454.0, 241.0, 476.0, 312.0], "bbox2D_trunc": [454.0, 241.0, 476.0, 312.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 240, "image_id": 35, "category_id": 45, "category_name": "person", "bbox2D_proj": [303.0, 244.0, 324.0, 282.0], "bbox2D_tight": [303.0, 244.0, 324.0, 282.0], "bbox2D_trunc": [303.0, 244.0, 324.0, 282.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 241, "image_id": 35, "category_id": 45, "category_name": "person", "bbox2D_proj": [16.0, 266.0, 108.0, 512.0], "bbox2D_tight": [16.0, 266.0, 108.0, 512.0], "bbox2D_trunc": [16.0, 266.0, 108.0, 512.0], "center_cam": [-0.7999569720655115, 0.5222734311057016, 1.7923881185452495], "dimensions": [0.24262728276859336, 0.960780896807642, 0.30732238030082704], "R_cam": [[-0.9035536050796509, 0.00040373086812905967, 0.42847520112991333], [0.0006041374290362, 0.9999998807907104, 0.00033173392876051366], [-0.42847496271133423, 0.000558597210329026, -0.9035534858703613]], "bbox3D_cam": [[-0.7132896780967712, 0.04175001382827759, 1.9675730466842651], [-0.9909719228744507, 0.04193568229675293, 1.835893154144287], [-0.9905840158462524, 1.002716302871704, 1.8364298343658447], [-0.712901771068573, 1.0025306940078735, 1.9681098461151123], [-0.6093299388885498, 0.041830480098724365, 1.7483463287353516], [-0.8870121836662292, 0.04201614856719971, 1.616666316986084], [-0.886624276638031, 1.0027968883514404, 1.6172031164169312], [-0.6089420318603516, 1.0026111602783203, 1.7488830089569092]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 242, "image_id": 35, "category_id": 45, "category_name": "person", "bbox2D_proj": [171.0, 250.0, 191.0, 288.0], "bbox2D_tight": [171.0, 250.0, 191.0, 288.0], "bbox2D_trunc": [171.0, 250.0, 191.0, 288.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 243, "image_id": 36, "category_id": 55, "category_name": "shirt", "bbox2D_proj": [0.0, 221.0, 86.0, 422.0], "bbox2D_tight": [0.0, 221.0, 86.0, 422.0], "bbox2D_trunc": [0.0, 221.0, 86.0, 422.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 244, "image_id": 36, "category_id": 45, "category_name": "person", "bbox2D_proj": [295.0, 235.0, 327.0, 333.0], "bbox2D_tight": [295.0, 235.0, 327.0, 333.0], "bbox2D_trunc": [295.0, 235.0, 327.0, 333.0], "center_cam": [0.718204255213457, 0.3266492520197519, 5.690769878451237], "dimensions": [0.3945312919566837, 1.2153320458436019, 0.4492188326776678], "R_cam": [[-0.24346664547920227, -0.05155211687088013, -0.9685382843017578], [-0.0341794490814209, 0.9984222650527954, -0.04455086588859558], [0.9693068265914917, 0.02225753664970398, -0.24484455585479736]], "bbox3D_cam": [[0.9952749609947205, -0.2635926604270935, 5.507828712463379], [0.8859051465988159, -0.2789466977119446, 5.943259239196777], [0.8232522010803223, 0.9344678521156311, 5.970309734344482], [0.9326220154762268, 0.9498218894004822, 5.534878730773926], [0.6131563186645508, -0.2811693549156189, 5.411229610443115], [0.5037865042686462, -0.29652339220046997, 5.846660614013672], [0.4411335587501526, 0.9168911576271057, 5.873710632324219], [0.5505033731460571, 0.9322451949119568, 5.43828010559082]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 245, "image_id": 36, "category_id": 45, "category_name": "person", "bbox2D_proj": [327.0, 245.0, 364.0, 314.0], "bbox2D_tight": [327.0, 245.0, 364.0, 314.0], "bbox2D_trunc": [327.0, 245.0, 364.0, 314.0], "center_cam": [1.2938733284458732, 0.3385205623917655, 6.45482084055201], "dimensions": [0.367187522567939, 0.9497070451613726, 0.5615234241233857], "R_cam": [[0.9885034561157227, -0.03706669807434082, -0.14658485352993011], [0.04774123430252075, 0.9964048862457275, 0.06998778879642487], [0.1434636265039444, -0.0761813223361969, 0.9867193698883057]], "bbox3D_cam": [[1.0608526468276978, -0.16087904572486877, 6.269560813903809], [1.6159205436706543, -0.13407114148139954, 6.350119113922119], [1.5807180404663086, 0.8122215270996094, 6.277769088745117], [1.0256502628326416, 0.7854136228561401, 6.197211265563965], [1.007028579711914, -0.13518038392066956, 6.631872177124023], [1.562096357345581, -0.10837247967720032, 6.712430000305176], [1.526893973350525, 0.8379201889038086, 6.640080451965332], [0.9718261361122131, 0.8111122846603394, 6.5595221519470215]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 246, "image_id": 36, "category_id": 45, "category_name": "person", "bbox2D_proj": [363.0, 258.0, 384.0, 319.0], "bbox2D_tight": [363.0, 258.0, 384.0, 319.0], "bbox2D_trunc": [363.0, 258.0, 384.0, 319.0], "center_cam": [1.7304784482611433, 0.4310204938476794, 6.471917666275013], "dimensions": [0.33105468386960435, 0.8521728608598163, 0.4960937858601253], "R_cam": [[-0.17902332544326782, -0.014981985092163086, 0.9837307333946228], [0.015059113502502441, 0.9997251629829407, 0.017966091632843018], [-0.9837295413017273, 0.01803046464920044, -0.1787484884262085]], "bbox3D_cam": [[1.6184338331222534, -0.0016580820083618164, 6.7378339767456055], [1.5296214818954468, 0.005812644958496094, 6.24981164932251], [1.5168542861938477, 0.8577513098716736, 6.265176773071289], [1.6056666374206543, 0.8502805829048157, 6.753199100494385], [1.9441025257110596, 0.004289686679840088, 6.678658485412598], [1.855290174484253, 0.011760413646697998, 6.190636157989502], [1.8425229787826538, 0.8636990785598755, 6.206001281738281], [1.9313353300094604, 0.8562283515930176, 6.694023609161377]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 247, "image_id": 36, "category_id": 45, "category_name": "person", "bbox2D_proj": [190.0, 205.0, 257.0, 443.0], "bbox2D_tight": [190.0, 205.0, 257.0, 443.0], "bbox2D_trunc": [190.0, 205.0, 257.0, 443.0], "center_cam": [-0.2786004181053099, 0.46452581113743646, 2.823664346302744], "dimensions": [0.4765625634439875, 1.5580749711905895, 0.5771484682704756], "R_cam": [[0.9765122532844543, -0.00020313262939453125, 0.21546190977096558], [0.019833743572235107, 0.995838463306427, -0.08895159512758255], [-0.21454718708992004, 0.09113574028015137, 0.9724525213241577]], "bbox3D_cam": [[-0.6115790605545044, -0.2957977056503296, 2.58286190032959], [-0.0479864627122879, -0.2843506336212158, 2.459036350250244], [-0.04830290377140045, 1.267240285873413, 2.6010324954986572], [-0.6118954420089722, 1.2557932138442993, 2.724858283996582], [-0.5088979601860046, -0.33818864822387695, 3.0462963581085205], [0.05469462275505066, -0.3267415761947632, 2.9224705696105957], [0.05437818169593811, 1.2248493432998657, 3.064466953277588], [-0.5092144012451172, 1.213402271270752, 3.1882925033569336]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 248, "image_id": 36, "category_id": 45, "category_name": "person", "bbox2D_proj": [252.0, 222.0, 265.0, 280.0], "bbox2D_tight": [252.0, 222.0, 265.0, 280.0], "bbox2D_trunc": [252.0, 222.0, 265.0, 280.0], "center_cam": [0.022267081241273884, -0.16616789130122123, 11.578321976335987], "dimensions": [0.44921941598925996, 1.4110107580797524, 0.4609382033250198], "R_cam": [[-0.5196570158004761, -0.012533485889434814, -0.8542829751968384], [0.0272371768951416, 0.9991410374641418, -0.031226929277181625], [0.8539406061172485, -0.03949549421668053, -0.518869161605835]], "bbox3D_cam": [[0.34275463223457336, -0.870330810546875, 11.525922775268555], [0.10322488099336624, -0.8577761650085449, 11.919536590576172], [0.0855400487780571, 0.5520226955413818, 11.863807678222656], [0.3250698149204254, 0.5394680500030518, 11.470193862915039], [-0.04100588709115982, -0.8843585252761841, 11.292837142944336], [-0.28053566813468933, -0.871803879737854, 11.686450958251953], [-0.2982204854488373, 0.5379949808120728, 11.630722045898438], [-0.058690719306468964, 0.5254403352737427, 11.23710823059082]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 249, "image_id": 36, "category_id": 43, "category_name": "palm_tree", "bbox2D_proj": [29.0, 54.0, 134.0, 243.0], "bbox2D_tight": [29.0, 54.0, 134.0, 243.0], "bbox2D_trunc": [29.0, 54.0, 134.0, 243.0], "center_cam": [-4.204427466010551, -2.2061280167976154, 10.427717513310299], "dimensions": [2.1513677199341044, 4.412902899755911, 2.3828132441332386], "R_cam": [[0.3648509979248047, 0.03359198570251465, 0.93045973777771], [-0.008963823318481445, 0.9994293451309204, -0.032567113637924194], [-0.9310227632522583, 0.003541618585586548, 0.3649439811706543]], "bbox3D_cam": [[-5.714112758636475, -4.365609169006348, 11.136565208435059], [-4.844740867614746, -4.38696813583374, 8.918111801147461], [-4.696502685546875, 0.023416519165039062, 8.933740615844727], [-5.5658745765686035, 0.04477548599243164, 11.152194023132324], [-3.7123520374298096, -4.435672760009766, 11.921693801879883], [-2.842979907989502, -4.457031726837158, 9.703240394592285], [-2.694741725921631, -0.046647071838378906, 9.71886920928955], [-3.5641138553619385, -0.025288105010986328, 11.937322616577148]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 250, "image_id": 36, "category_id": 45, "category_name": "person", "bbox2D_proj": [237.0, 224.0, 254.0, 274.0], "bbox2D_tight": [237.0, 224.0, 254.0, 274.0], "bbox2D_trunc": [237.0, 224.0, 254.0, 274.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 251, "image_id": 37, "category_id": 45, "category_name": "person", "bbox2D_proj": [0.0, 263.0, 39.0, 379.0], "bbox2D_tight": [0.0, 263.0, 39.0, 379.0], "bbox2D_trunc": [0.0, 263.0, 39.0, 379.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 252, "image_id": 37, "category_id": 58, "category_name": "signboard", "bbox2D_proj": [38.0, 219.0, 89.0, 263.0], "bbox2D_tight": [38.0, 219.0, 89.0, 263.0], "bbox2D_trunc": [38.0, 219.0, 89.0, 263.0], "center_cam": [-5.214897899598004, -0.36304319390903483, 12.004370822782857], "dimensions": [0.1249999993605618, 1.0273438171181413, 1.4804688160006665], "R_cam": [[0.5045551657676697, 0.02801566757261753, -0.8629248142242432], [0.07549512386322021, 0.9942134618759155, 0.07642034441232681], [0.8600724935531616, -0.10370489209890366, 0.499520480632782]], "bbox3D_cam": [[-5.548845291137695, -0.934403121471405, 11.389765739440918], [-4.8018670082092285, -0.8226349353790283, 12.663076400756836], [-4.773085594177246, 0.1987641453742981, 12.556535720825195], [-5.520063400268555, 0.08699601888656616, 11.283225059509277], [-5.656710624694824, -0.9248505234718323, 11.452205657958984], [-4.909732818603516, -0.8130823969841003, 12.725516319274902], [-4.880950927734375, 0.20831674337387085, 12.618975639343262], [-5.627929210662842, 0.09654855728149414, 11.345664978027344]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 253, "image_id": 37, "category_id": 23, "category_name": "dress", "bbox2D_proj": [176.0, 283.0, 203.0, 324.0], "bbox2D_tight": [176.0, 283.0, 203.0, 324.0], "bbox2D_trunc": [176.0, 283.0, 203.0, 324.0], "center_cam": [-0.9681076370484262, 0.6682271881756433, 6.506890455130182], "dimensions": [0.16015626327961957, 0.6953125567747722, 0.4060058590401903], "R_cam": [[0.9676063656806946, -0.07195675373077393, -0.2419920563697815], [-0.04011797904968262, 0.902519166469574, -0.4287770986557007], [0.24925583600997925, 0.4245956540107727, 0.870396614074707]], "bbox3D_cam": [[-1.1201400756835938, 0.3969404697418213, 6.238977432250977], [-0.7272862195968628, 0.38065236806869507, 6.340177059173584], [-0.7773185968399048, 1.0081852674484253, 6.635403633117676], [-1.1701724529266357, 1.0244734287261963, 6.534204006195068], [-1.1588966846466064, 0.3282691240310669, 6.3783769607543945], [-0.7660428285598755, 0.3119810223579407, 6.479576587677002], [-0.8160752058029175, 0.9395139217376709, 6.774803161621094], [-1.2089290618896484, 0.9558020234107971, 6.673603534698486]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 254, "image_id": 37, "category_id": 45, "category_name": "person", "bbox2D_proj": [324.0, 277.0, 356.0, 371.0], "bbox2D_tight": [324.0, 277.0, 356.0, 371.0], "bbox2D_trunc": [324.0, 277.0, 356.0, 371.0], "center_cam": [1.059816963796373, 0.8558583854681752, 5.716382651865949], "dimensions": [0.4443359327704415, 1.1532593566866416, 0.6835938142552611], "R_cam": [[-0.1385052502155304, -0.0018082261085510254, -0.9903600215911865], [0.062375545501708984, 0.9979970455169678, -0.010545581579208374], [0.9883954524993896, -0.0632348358631134, -0.13811492919921875]], "bbox3D_cam": [[1.3282265663146973, 0.2614067792892456, 5.445699691772461], [1.2335453033447266, 0.30404627323150635, 6.121360778808594], [1.2314599752426147, 1.4549957513809204, 6.048434734344482], [1.326141119003296, 1.4123562574386597, 5.37277364730835], [0.8881739974021912, 0.25672101974487305, 5.3843302726745605], [0.7934927344322205, 0.2993605136871338, 6.059991359710693], [0.7914074063301086, 1.4503099918365479, 5.987065315246582], [0.8860886096954346, 1.407670497894287, 5.311404228210449]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 255, "image_id": 37, "category_id": 45, "category_name": "person", "bbox2D_proj": [288.0, 265.0, 303.0, 317.0], "bbox2D_tight": [288.0, 265.0, 303.0, 317.0], "bbox2D_trunc": [288.0, 265.0, 303.0, 317.0], "center_cam": [0.8993006246329173, 0.7676133605369169, 9.678342781610878], "dimensions": [0.36523465998052096, 1.1337891409587602, 0.38281282836977754], "R_cam": [[-0.35301193594932556, -0.010483741760253906, 0.9355601072311401], [-0.13900578022003174, 0.9894273281097412, -0.041363298892974854], [-0.9252350926399231, -0.14464998245239258, -0.35073691606521606]], "bbox3D_cam": [[0.8019630312919617, 0.24087262153625488, 10.001490592956543], [0.666825532913208, 0.1876593828201294, 9.647298812866211], [0.6549392342567444, 1.3094613552093506, 9.483296394348145], [0.790076732635498, 1.362674593925476, 9.837488174438477], [1.1436620950698853, 0.22576534748077393, 9.87338924407959], [1.0085245370864868, 0.17255210876464844, 9.519197463989258], [0.9966382384300232, 1.2943540811538696, 9.355195045471191], [1.1317757368087769, 1.3475673198699951, 9.709386825561523]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 256, "image_id": 37, "category_id": 45, "category_name": "person", "bbox2D_proj": [269.0, 268.0, 286.0, 319.0], "bbox2D_tight": [269.0, 268.0, 286.0, 319.0], "bbox2D_trunc": [269.0, 268.0, 286.0, 319.0], "center_cam": [0.44203220936685783, 0.8376504969816714, 9.552105408495892], "dimensions": [0.2968750689366377, 1.0166016309602028, 0.3613281788438771], "R_cam": [[0.9488866329193115, 0.004253864288330078, 0.31558850407600403], [0.03269702196121216, 0.9932041168212891, -0.11169847846031189], [-0.31391894817352295, 0.11630799621343613, 0.9422988891601562]], "bbox3D_cam": [[0.22159504890441895, 0.3434771001338959, 9.40982723236084], [0.5644545555114746, 0.3552914559841156, 9.296399116516113], [0.5687789916992188, 1.3649842739105225, 9.414637565612793], [0.22591954469680786, 1.3531699180603027, 9.52806568145752], [0.31528541445732117, 0.31031662225723267, 9.68957233428955], [0.6581448912620544, 0.3221309781074524, 9.576144218444824], [0.6624693870544434, 1.3318238258361816, 9.694382667541504], [0.3196099102497101, 1.320009469985962, 9.80781078338623]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 257, "image_id": 37, "category_id": 45, "category_name": "person", "bbox2D_proj": [183.0, 270.0, 205.0, 354.0], "bbox2D_tight": [183.0, 270.0, 205.0, 354.0], "bbox2D_trunc": [183.0, 270.0, 205.0, 354.0], "center_cam": [-0.942368783544114, 0.7877180177175191, 6.301650519127243], "dimensions": [0.3632815786324497, 1.2016602362462696, 0.3818362568463636], "R_cam": [[0.8905521035194397, 0.0120164155960083, -0.45472240447998047], [-0.029048442840576172, 0.9991129040718079, -0.03048771619796753], [0.4539526700973511, 0.040359899401664734, 0.8901112675666809]], "bbox3D_cam": [[-1.0370150804519653, 0.1985045075416565, 6.029052734375], [-0.6969698667526245, 0.1874127984046936, 6.202388286590576], [-0.6825302839279175, 1.3880071640014648, 6.250887393951416], [-1.0225753784179688, 1.3990988731384277, 6.07755184173584], [-1.202207326889038, 0.18742889165878296, 6.352413654327393], [-0.862162172794342, 0.17633718252182007, 6.525749206542969], [-0.847722589969635, 1.3769314289093018, 6.574248313903809], [-1.187767744064331, 1.3880231380462646, 6.400912761688232]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 258, "image_id": 37, "category_id": 45, "category_name": "person", "bbox2D_proj": [248.0, 265.0, 263.0, 317.0], "bbox2D_tight": [248.0, 265.0, 263.0, 317.0], "bbox2D_trunc": [248.0, 265.0, 263.0, 317.0], "center_cam": [-0.0009369786984616477, 0.8023915836323438, 10.29321067273308], "dimensions": [0.33984442804330217, 1.1751709760955298, 0.3437507198589781], "R_cam": [[0.1927928924560547, 0.036900877952575684, -0.9805454015731812], [0.0020761489868164062, 0.9992750883102417, 0.03801393508911133], [0.9812372922897339, -0.009364604949951172, 0.19257652759552002]], "bbox3D_cam": [[0.11086071282625198, 0.20841580629348755, 10.097339630126953], [0.17713339626789093, 0.20912951231002808, 10.434640884399414], [0.2204982340335846, 1.383448600769043, 10.423635482788086], [0.15422554314136505, 1.382734775543213, 10.086335182189941], [-0.22237220406532288, 0.22133463621139526, 10.162786483764648], [-0.15609951317310333, 0.2220483422279358, 10.500086784362793], [-0.11273466795682907, 1.3963673114776611, 10.489082336425781], [-0.1790073662996292, 1.3956537246704102, 10.15178108215332]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 259, "image_id": 38, "category_id": 54, "category_name": "sculpture", "bbox2D_proj": [387.0, 243.0, 429.0, 282.0], "bbox2D_tight": [387.0, 243.0, 429.0, 282.0], "bbox2D_trunc": [387.0, 243.0, 429.0, 282.0], "center_cam": [2.4009550501539545, 0.09042764516282337, 7.0142244593771865], "dimensions": [0.3050588199840689, 0.6217840126962063, 0.6088812390454865], "R_cam": [[0.9226873517036438, 0.0012426578905433416, 0.385547012090683], [-0.0012753873597830534, 0.9999991655349731, -0.00017085637955460697], [-0.38554689288139343, -0.0003340747789479792, 0.9226881265640259]], "bbox3D_cam": [[2.0608577728271484, -0.22004976868629456, 6.990967273712158], [2.6226649284362793, -0.22082635760307312, 6.7562150955200195], [2.6234376430511475, 0.4009571373462677, 6.756007671356201], [2.0616304874420166, 0.40173372626304626, 6.99075984954834], [2.1784722805023193, -0.22010186314582825, 7.272441387176514], [2.74027943611145, -0.2208784520626068, 7.037689208984375], [2.7410521507263184, 0.400905042886734, 7.037481784820557], [2.1792449951171875, 0.4016816318035126, 7.272233963012695]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 260, "image_id": 38, "category_id": 13, "category_name": "building", "bbox2D_proj": [57.0, 78.0, 319.0, 278.0], "bbox2D_tight": [57.0, 78.0, 319.0, 278.0], "bbox2D_trunc": [57.0, 78.0, 319.0, 278.0], "center_cam": [-1.2502552495630446, -1.6483045802231344, 8.489925295663191], "dimensions": [2.3789062592801686, 3.2998047332715386, 4.242675810329894], "R_cam": [[-0.9948774576187134, -0.10063210129737854, -0.009611557237803936], [-0.10108870267868042, 0.9898616075515747, 0.09977508336305618], [-0.0005264627397991717, 0.10023558884859085, -0.9949638843536377]], "bbox3D_cam": [[1.037680983543396, -3.18571400642395, 9.509125709533691], [-3.183260440826416, -3.614600658416748, 9.506892204284668], [-3.515326499938965, -0.3482506275177002, 9.837650299072266], [0.7056149244308472, 0.08063602447509766, 9.839883804321289], [1.014816164970398, -2.9483585357666016, 7.142200469970703], [-3.206125259399414, -3.3772451877593994, 7.13996696472168], [-3.538191318511963, -0.11089515686035156, 7.470725059509277], [0.68274986743927, 0.3179914951324463, 7.472958564758301]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 261, "image_id": 38, "category_id": 13, "category_name": "building", "bbox2D_proj": [312.0, 149.0, 364.0, 265.0], "bbox2D_tight": [312.0, 149.0, 364.0, 265.0], "bbox2D_trunc": [312.0, 149.0, 364.0, 265.0], "center_cam": [2.3226351241445125, -1.0125904240250805, 8.60294620470933], "dimensions": [1.2304687566805237, 2.0429687681740427, 1.6796875059938026], "R_cam": [[-0.2374359667301178, -0.06926053762435913, -0.9689309597015381], [0.06877273321151733, 0.9937535524368286, -0.08788761496543884], [0.9689656496047974, -0.08750370144844055, -0.23118960857391357]], "bbox3D_cam": [[3.1889126300811768, -2.031381130218506, 8.02078628540039], [2.7900941371917725, -1.9158642292022705, 9.648345947265625], [2.648597002029419, 0.11434304714202881, 9.46957778930664], [3.0474154949188232, -0.0011736154556274414, 7.8420186042785645], [1.996673345565796, -2.139523983001709, 7.736314296722412], [1.5978548526763916, -2.0240073204040527, 9.363873481750488], [1.456357717514038, 0.006200194358825684, 9.18510627746582], [1.8551762104034424, -0.10931652784347534, 7.557547092437744]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 262, "image_id": 39, "category_id": 45, "category_name": "person", "bbox2D_proj": [175.0, 314.0, 219.0, 439.0], "bbox2D_tight": [175.0, 314.0, 219.0, 439.0], "bbox2D_trunc": [175.0, 314.0, 219.0, 439.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 263, "image_id": 39, "category_id": 63, "category_name": "streetlight", "bbox2D_proj": [237.0, 242.0, 259.0, 364.0], "bbox2D_tight": [237.0, 242.0, 259.0, 364.0], "bbox2D_trunc": [237.0, 242.0, 259.0, 364.0], "center_cam": [-0.1707805207668672, 0.8208166189077932, 8.471484757072158], "dimensions": [0.39286130419872417, 2.193909416365198, 0.8040080742299303], "R_cam": [[0.0458950400352478, -0.005974905099719763, 0.998928427696228], [0.008617619052529335, 0.9999473094940186, 0.005585068836808205], [-0.9989091157913208, 0.008352058008313179, 0.0459442138671875]], "bbox3D_cam": [[-0.37889647483825684, -0.28064167499542236, 8.854864120483398], [-0.3419964909553528, -0.27371299266815186, 8.051733016967773], [-0.35510489344596863, 1.9200807809829712, 8.070056915283203], [-0.3920048773288727, 1.9131520986557007, 8.873188018798828], [0.013543844223022461, -0.2784475088119507, 8.872913360595703], [0.050443828105926514, -0.2715188264846802, 8.069782257080078], [0.03733542561531067, 1.9222749471664429, 8.088106155395508], [0.0004354417324066162, 1.9153462648391724, 8.891237258911133]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 264, "image_id": 39, "category_id": 45, "category_name": "person", "bbox2D_proj": [416.0, 321.0, 439.0, 377.0], "bbox2D_tight": [416.0, 321.0, 439.0, 377.0], "bbox2D_trunc": [416.0, 321.0, 439.0, 377.0], "center_cam": [3.133900579062391, 1.723690011619857, 8.06552467568291], "dimensions": [0.3242187562598464, 1.0078124656879717, 0.3710937460015669], "R_cam": [[-0.9777315258979797, 0.14458870887756348, -0.152102530002594], [0.11077010631561279, 0.9711589217185974, 0.2111406773328781], [0.17824424803256989, 0.1895904839038849, -0.9655488729476929]], "bbox3D_cam": [[3.26711368560791, 1.1795361042022705, 8.093441009521484], [2.9042837619781494, 1.22064208984375, 8.159585952758789], [3.050001859664917, 2.199388265609741, 8.350658416748047], [3.412832021713257, 2.1582820415496826, 8.284512519836426], [3.217799425125122, 1.2479918003082275, 7.780392169952393], [2.8549692630767822, 1.2890979051589966, 7.8465375900268555], [3.000687599182129, 2.2678439617156982, 8.037609100341797], [3.3635175228118896, 2.2267379760742188, 7.971463680267334]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 265, "image_id": 39, "category_id": 45, "category_name": "person", "bbox2D_proj": [85.0, 291.0, 136.0, 408.0], "bbox2D_tight": [85.0, 291.0, 136.0, 408.0], "bbox2D_trunc": [85.0, 291.0, 136.0, 408.0], "center_cam": [-2.1900917296137963, 1.413145797845428, 6.659495507958274], "dimensions": [0.5117187616132085, 1.544677682855021, 0.6875000075134361], "R_cam": [[-0.8297591209411621, 0.014486312866210938, -0.5579336881637573], [0.09219449758529663, 0.9894876480102539, -0.1114203929901123], [0.5504543781280518, -0.14389055967330933, -0.8223718404769897]], "bbox3D_cam": [[-1.7732980251312256, 0.6457421779632568, 6.791820526123047], [-2.343757390975952, 0.7091258764266968, 7.170258045196533], [-2.321380615234375, 2.237565279006958, 6.947993278503418], [-1.7509212493896484, 2.1741814613342285, 6.569555759429932], [-2.058803081512451, 0.588726282119751, 6.370997428894043], [-2.6292624473571777, 0.6521099805831909, 6.749434947967529], [-2.6068856716156006, 2.180549383163452, 6.527170181274414], [-2.036426305770874, 2.1171655654907227, 6.148732662200928]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 266, "image_id": 39, "category_id": 45, "category_name": "person", "bbox2D_proj": [296.0, 303.0, 314.0, 388.0], "bbox2D_tight": [296.0, 303.0, 314.0, 388.0], "bbox2D_trunc": [296.0, 303.0, 314.0, 388.0], "center_cam": [0.72932215974752, 1.25166140109675, 6.523698232019617], "dimensions": [0.31079100450779873, 1.1965331650724398, 0.4765624978623765], "R_cam": [[-0.1165662407875061, -0.005925297737121582, 0.9931652545928955], [-0.21512484550476074, 0.9763934016227722, -0.019423693418502808], [-0.9696048498153687, -0.21591868996620178, -0.11508917808532715]], "bbox3D_cam": [[0.606309175491333, 0.721796452999115, 6.901798248291016], [0.5507580637931824, 0.6192759871482849, 6.43972110748291], [0.543668270111084, 1.7875630855560303, 6.181366920471191], [0.5992193818092346, 1.8900835514068604, 6.643444538116455], [0.9149760007858276, 0.715759813785553, 6.866029739379883], [0.859424889087677, 0.6132393479347229, 6.403952121734619], [0.8523350954055786, 1.7815263271331787, 6.145598411560059], [0.9078862071037292, 1.8840467929840088, 6.607675552368164]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 267, "image_id": 40, "category_id": 58, "category_name": "signboard", "bbox2D_proj": [142.0, 125.0, 192.0, 206.0], "bbox2D_tight": [142.0, 125.0, 192.0, 206.0], "bbox2D_trunc": [142.0, 125.0, 192.0, 206.0], "center_cam": [-0.8534759627347697, -0.8862268600526758, 4.316842178216822], "dimensions": [0.0937499993387493, 0.7607421625118593, 0.4322509817125765], "R_cam": [[0.9941559433937073, -0.01074373722076416, -0.10741665959358215], [-0.03503262996673584, 0.909074604511261, -0.415157675743103], [0.1021101325750351, 0.41649460792541504, 0.9033856391906738]], "bbox3D_cam": [[-1.0592166185379028, -1.2049806118011475, 4.0940046310424805], [-0.6294917464256287, -1.220123529434204, 4.138142108917236], [-0.6376649737358093, -0.5285520553588867, 4.454987049102783], [-1.067389965057373, -0.5134091377258301, 4.410849571228027], [-1.0692869424819946, -1.2439016103744507, 4.178697109222412], [-0.6395620703697205, -1.2590445280075073, 4.222834587097168], [-0.6477352976799011, -0.5674730539321899, 4.539679527282715], [-1.0774602890014648, -0.5523301362991333, 4.495542049407959]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 268, "image_id": 40, "category_id": 45, "category_name": "person", "bbox2D_proj": [326.0, 209.0, 345.0, 271.0], "bbox2D_tight": [326.0, 209.0, 345.0, 271.0], "bbox2D_trunc": [326.0, 209.0, 345.0, 271.0], "center_cam": [0.8204630682602082, -0.1678735624443275, 4.48995587465177], "dimensions": [0.18586159251344567, 0.6262206772297336, 0.21875000289265537], "R_cam": [[0.19858580827713013, 0.07558786869049072, -0.9771643877029419], [-0.044214725494384766, 0.9966973662376404, 0.06811323761940002], [0.9790856838226318, 0.02967873215675354, 0.20127207040786743]], "bbox3D_cam": [[0.8658840656280518, -0.4814436435699463, 4.3548712730407715], [0.9093247056007385, -0.49111562967300415, 4.569046497344971], [0.9566593766212463, 0.13303691148757935, 4.587631702423096], [0.9132187962532043, 0.1427088975906372, 4.373456954956055], [0.6842667460441589, -0.46878403425216675, 4.392280101776123], [0.7277073264122009, -0.4784560203552246, 4.606454849243164], [0.7750420570373535, 0.1456965208053589, 4.625040531158447], [0.7316014170646667, 0.15536850690841675, 4.410865306854248]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 269, "image_id": 40, "category_id": 45, "category_name": "person", "bbox2D_proj": [488.0, 195.0, 512.0, 257.0], "bbox2D_tight": [488.0, 195.0, 512.0, 257.0], "bbox2D_trunc": [488.0, 195.0, 512.0, 257.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 270, "image_id": 40, "category_id": 45, "category_name": "person", "bbox2D_proj": [270.0, 218.0, 290.0, 271.0], "bbox2D_tight": [270.0, 218.0, 290.0, 271.0], "bbox2D_trunc": [270.0, 218.0, 290.0, 271.0], "center_cam": [0.25427293544372687, -0.1156992771531021, 4.7404099941468445], "dimensions": [0.18359375276249423, 0.554199200904798, 0.21289063089171767], "R_cam": [[-0.9931446313858032, 0.061864256858825684, 0.09917961061000824], [0.08423006534576416, 0.9670528173446655, 0.24023786187171936], [-0.08104977011680603, 0.246944859623909, -0.9656341075897217]], "bbox3D_cam": [[0.33374160528182983, -0.41468822956085205, 4.769250869750977], [0.12231042981147766, -0.3967564105987549, 4.7519965171813965], [0.15659552812576294, 0.13918347656726837, 4.888853073120117], [0.3680266737937927, 0.1212516725063324, 4.9061079025268555], [0.35195034742355347, -0.37058204412460327, 4.59196662902832], [0.1405191868543625, -0.3526502251625061, 4.574711799621582], [0.17480428516864777, 0.18328966200351715, 4.711568832397461], [0.38623544573783875, 0.16535784304141998, 4.728823184967041]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 271, "image_id": 40, "category_id": 45, "category_name": "person", "bbox2D_proj": [0.0, 215.0, 19.0, 301.0], "bbox2D_tight": [0.0, 215.0, 19.0, 301.0], "bbox2D_trunc": [0.0, 215.0, 19.0, 301.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 272, "image_id": 40, "category_id": 45, "category_name": "person", "bbox2D_proj": [32.0, 223.0, 61.0, 297.0], "bbox2D_tight": [32.0, 223.0, 61.0, 297.0], "bbox2D_trunc": [32.0, 223.0, 61.0, 297.0], "center_cam": [-1.7563600267252113, 0.018334282275939917, 3.7383800823823274], "dimensions": [0.18359375618032894, 0.6257323966683543, 0.2338867264072698], "R_cam": [[0.7576945424079895, 0.07470202445983887, -0.6483198404312134], [0.03126513957977295, 0.9881313443183899, 0.1503962278366089], [0.6518600583076477, -0.13422423601150513, 0.7463660836219788]], "bbox3D_cam": [[-1.8088253736495972, -0.3082807660102844, 3.635629653930664], [-1.6316107511520386, -0.3009682893753052, 3.788090944290161], [-1.584867238998413, 0.3173375129699707, 3.7041025161743164], [-1.7620818614959717, 0.31002503633499146, 3.5516412258148193], [-1.9278528690338135, -0.2806689739227295, 3.772657871246338], [-1.7506382465362549, -0.27335649728775024, 3.925119161605835], [-1.7038947343826294, 0.34494930505752563, 3.8411307334899902], [-1.881109356880188, 0.3376368284225464, 3.688669443130493]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 273, "image_id": 40, "category_id": 22, "category_name": "door", "bbox2D_proj": [236.0, 35.0, 341.0, 258.0], "bbox2D_tight": [236.0, 35.0, 341.0, 258.0], "bbox2D_trunc": [236.0, 35.0, 341.0, 258.0], "center_cam": [0.3364039052914957, -1.163326902398948, 4.46156940412893], "dimensions": [0.11328124948496733, 2.1015624147668355, 1.0563964980473122], "R_cam": [[0.9901469349861145, 0.06456208229064941, -0.12426113337278366], [-0.046028852462768555, 0.9881207346916199, 0.14662450551986694], [0.13225138187408447, -0.13946020603179932, 0.9813564419746399]], "bbox3D_cam": [[-0.24739229679107666, -2.1856181621551514, 4.482671737670898], [0.7985954284667969, -2.2342429161071777, 4.622381687164307], [0.9342765808105469, -0.15764546394348145, 4.3292975425720215], [-0.11171114444732666, -0.10902070999145508, 4.189587593078613], [-0.261468768119812, -2.169008255004883, 4.593841075897217], [0.7845189571380615, -2.217633008956909, 4.733551025390625], [0.9202001094818115, -0.1410355567932129, 4.44046688079834], [-0.125787615776062, -0.09241080284118652, 4.300756931304932]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 274, "image_id": 40, "category_id": 45, "category_name": "person", "bbox2D_proj": [105.0, 259.0, 141.0, 308.0], "bbox2D_tight": [105.0, 259.0, 141.0, 308.0], "bbox2D_trunc": [105.0, 259.0, 141.0, 308.0], "center_cam": [-1.0872349279724207, 0.21870280105481985, 3.673908470459769], "dimensions": [0.2792969310114961, 0.38085936863725667, 0.2812500539877818], "R_cam": [[-0.9953810572624207, 0.024369359016418457, -0.09285955876111984], [0.005496859550476074, 0.9801273941993713, 0.19829347729682922], [0.09584646672010422, 0.19686709344387054, -0.9757342338562012]], "bbox3D_cam": [[-0.9389324188232422, 0.0035930871963500977, 3.7592005729675293], [-1.2188833951950073, 0.00513911247253418, 3.7861573696136475], [-1.2096021175384521, 0.3784297704696655, 3.861135959625244], [-0.929651141166687, 0.37688374519348145, 3.834179162979126], [-0.9648678302764893, 0.05897584557533264, 3.4866809844970703], [-1.2448188066482544, 0.060521870851516724, 3.5136377811431885], [-1.2355375289916992, 0.43381252884864807, 3.588616371154785], [-0.9555865526199341, 0.432266503572464, 3.561659574508667]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 275, "image_id": 41, "category_id": 45, "category_name": "person", "bbox2D_proj": [476.0, 241.0, 512.0, 449.0], "bbox2D_tight": [476.0, 241.0, 512.0, 449.0], "bbox2D_trunc": [476.0, 241.0, 512.0, 449.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 276, "image_id": 41, "category_id": 58, "category_name": "signboard", "bbox2D_proj": [58.0, 360.0, 244.0, 478.0], "bbox2D_tight": [58.0, 360.0, 244.0, 478.0], "bbox2D_trunc": [58.0, 360.0, 244.0, 478.0], "center_cam": [-0.6671387382436402, 0.992478874684949, 2.8278554113509857], "dimensions": [0.7675781135537827, 0.09960937576144713, 1.0117187292175085], "R_cam": [[0.8146741390228271, -0.21500955522060394, -0.5385880470275879], [-0.012172549962997437, 0.922184944152832, -0.38655757904052734], [0.5797913074493408, 0.32147443294525146, 0.7486629486083984]], "bbox3D_cam": [[-0.8618366122245789, 1.101063847541809, 2.2312228679656982], [-0.03761559724807739, 1.0887486934661865, 2.8178086280822754], [-0.059032559394836426, 1.1806069612503052, 2.8498306274414062], [-0.8832535743713379, 1.1929221153259277, 2.26324462890625], [-1.275244951248169, 0.804350733757019, 2.805880069732666], [-0.4510239362716675, 0.7920355796813965, 3.3924660682678223], [-0.4724408984184265, 0.8838938474655151, 3.424487829208374], [-1.2966618537902832, 0.8962090015411377, 2.837902069091797]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 277, "image_id": 41, "category_id": 74, "category_name": "trousers", "bbox2D_proj": [310.0, 409.0, 339.0, 505.0], "bbox2D_tight": [310.0, 409.0, 339.0, 505.0], "bbox2D_trunc": [310.0, 409.0, 339.0, 505.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 278, "image_id": 41, "category_id": 58, "category_name": "signboard", "bbox2D_proj": [82.0, 13.0, 204.0, 114.0], "bbox2D_tight": [82.0, 13.0, 204.0, 114.0], "bbox2D_trunc": [82.0, 13.0, 204.0, 114.0], "center_cam": [-0.7798771449444755, -1.406294994844493, 3.164672831601182], "dimensions": [0.07226562311140128, 0.7207031387437023, 0.8544921721980032], "R_cam": [[0.8208171129226685, -0.014769146218895912, -0.5710001587867737], [0.07176706939935684, 0.9944102764129639, 0.077444888651371], [0.5666646361351013, -0.10454709082841873, 0.817288875579834]], "bbox3D_cam": [[-1.104614019393921, -1.7980927228927612, 2.9307103157043457], [-0.40323227643966675, -1.7367682456970215, 3.4149208068847656], [-0.413876473903656, -1.0200936794281006, 3.339573383331299], [-1.1152582168579102, -1.0814181566238403, 2.855362892150879], [-1.1458778381347656, -1.7924962043762207, 2.989772319793701], [-0.4444959759712219, -1.731171727180481, 3.473982810974121], [-0.4551401734352112, -1.01449716091156, 3.3986353874206543], [-1.1565220355987549, -1.0758216381072998, 2.9144248962402344]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 279, "image_id": 41, "category_id": 35, "category_name": "jersey", "bbox2D_proj": [295.0, 309.0, 354.0, 410.0], "bbox2D_tight": [295.0, 309.0, 354.0, 410.0], "bbox2D_trunc": [295.0, 309.0, 354.0, 410.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 280, "image_id": 42, "category_id": 11, "category_name": "box", "bbox2D_proj": [20.0, 273.0, 62.0, 328.0], "bbox2D_tight": [20.0, 273.0, 62.0, 328.0], "bbox2D_trunc": [20.0, 273.0, 62.0, 328.0], "center_cam": [-1.6940673632235042, 0.3390007861419152, 3.490101604809738], "dimensions": [0.2664812357855504, 0.3924777700718781, 0.3078540390227189], "R_cam": [[0.8860675096511841, -0.1429072916507721, -0.44097834825515747], [0.05568339303135872, 0.9772186279296875, -0.20480012893676758], [0.4601997137069702, 0.15691155195236206, 0.873839259147644]], "bbox3D_cam": [[-1.743656873703003, 0.1659490019083023, 3.2720413208007812], [-1.4708774089813232, 0.18309135735034943, 3.4137156009674072], [-1.5269653797149658, 0.5666279792785645, 3.4753000736236572], [-1.7997448444366455, 0.5494856238365173, 3.3336257934570312], [-1.8611693382263184, 0.11137361824512482, 3.5049030780792236], [-1.5883898735046387, 0.12851597368717194, 3.6465773582458496], [-1.6444778442382812, 0.512052595615387, 3.7081618309020996], [-1.917257308959961, 0.49491024017333984, 3.5664875507354736]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 281, "image_id": 42, "category_id": 11, "category_name": "box", "bbox2D_proj": [131.0, 272.0, 163.0, 322.0], "bbox2D_tight": [131.0, 272.0, 163.0, 322.0], "bbox2D_trunc": [131.0, 272.0, 163.0, 322.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 282, "image_id": 42, "category_id": 31, "category_name": "hat", "bbox2D_proj": [251.0, 210.0, 330.0, 260.0], "bbox2D_tight": [251.0, 210.0, 330.0, 260.0], "bbox2D_trunc": [251.0, 210.0, 330.0, 260.0], "center_cam": [0.1291108559574451, -0.09246009912559736, 1.49493408132709], "dimensions": [0.24822998481848554, 0.1048583973164168, 0.27832033660806965], "R_cam": [[0.03698623180389404, -0.33791583776474, -0.9404492378234863], [0.10400572419166565, 0.937283992767334, -0.33268821239471436], [0.9938886761665344, -0.08550727367401123, 0.0698118507862091]], "bbox3D_cam": [[0.25840437412261963, -0.11478301882743835, 1.352442741394043], [0.26869839429855347, -0.08583608269691467, 1.6290621757507324], [0.23326505720615387, 0.012446016073226929, 1.6200960874557495], [0.22297106683254242, -0.01650090515613556, 1.3434765338897705], [0.024956658482551575, -0.19736620783805847, 1.3697720766067505], [0.035250648856163025, -0.16841928660869598, 1.6463916301727295], [-0.00018267333507537842, -0.07013717293739319, 1.637425422668457], [-0.010476663708686829, -0.09908410906791687, 1.3608059883117676]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 283, "image_id": 42, "category_id": 76, "category_name": "vest", "bbox2D_proj": [212.0, 276.0, 324.0, 384.0], "bbox2D_tight": [212.0, 276.0, 324.0, 384.0], "bbox2D_trunc": [212.0, 276.0, 324.0, 384.0], "center_cam": [0.05659648826605278, 0.2351379548874501, 1.4503386057938605], "dimensions": [0.2460937756522998, 0.334594861122187, 0.33488477761400304], "R_cam": [[0.9850145578384399, -0.005527491681277752, 0.1723826676607132], [-0.022539306432008743, 0.9867892265319824, 0.16043387353420258], [-0.1709921509027481, -0.16191507875919342, 0.9718772172927856]], "bbox3D_cam": [[-0.1286231130361557, 0.05408377945423126, 1.3864715099334717], [0.20124326646327972, 0.04653571546077728, 1.3292087316513062], [0.19939379394054413, 0.37671035528182983, 1.275032877922058], [-0.1304725855588913, 0.3842583894729614, 1.332295536994934], [-0.08620081841945648, 0.09356556832790375, 1.625644326210022], [0.24366556107997894, 0.08601750433444977, 1.568381667137146], [0.24181608855724335, 0.41619211435317993, 1.5142056941986084], [-0.08805029094219208, 0.4237402081489563, 1.571468472480774]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 284, "image_id": 43, "category_id": 63, "category_name": "streetlight", "bbox2D_proj": [190.0, 75.0, 242.0, 249.0], "bbox2D_tight": [190.0, 75.0, 242.0, 249.0], "bbox2D_trunc": [190.0, 75.0, 242.0, 249.0], "center_cam": [-1.2622364123470762, -2.93606172589694, 15.53748694622313], "dimensions": [1.2343750169209797, 6.285156188083615, 1.8476563031131699], "R_cam": [[0.8444259762763977, 0.00545048713684082, 0.53564453125], [0.370724081993103, 0.7158442139625549, -0.5917185544967651], [-0.3866632282733917, 0.6982388496398926, 0.60245680809021]], "bbox3D_cam": [[-2.3900625705718994, -5.162941932678223, 13.328598976135254], [-0.8298536539077759, -4.477971076965332, 12.614177703857422], [-0.7955963611602783, 0.021221160888671875, 17.002717971801758], [-2.3558053970336914, -0.6637494564056396, 17.717138290405273], [-1.7288763523101807, -5.893344402313232, 14.072256088256836], [-0.16866743564605713, -5.2083740234375, 13.35783576965332], [-0.13441014289855957, -0.7091813087463379, 17.746376037597656], [-1.694619059562683, -1.394152045249939, 18.460796356201172]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 285, "image_id": 43, "category_id": 40, "category_name": "motorcycle", "bbox2D_proj": [294.0, 289.0, 327.0, 323.0], "bbox2D_tight": [294.0, 289.0, 327.0, 323.0], "bbox2D_trunc": [294.0, 289.0, 327.0, 323.0], "center_cam": [1.4570627930687907, 1.2850280919035026, 11.838554543294737], "dimensions": [0.4617372660648532, 0.5245244274001404, 0.8536352778225769], "R_cam": [[-0.8723641633987427, 0.21165868639945984, 0.4406602382659912], [0.184456467628479, 0.9772958755493164, -0.10425248742103577], [-0.45272135734558105, -0.00966346263885498, -0.8915996551513672]], "bbox3D_cam": [[1.6721584796905518, 0.9740597009658813, 12.240160942077637], [0.9274777173995972, 1.1315182447433472, 11.8537015914917], [1.0384979248046875, 1.6441338062286377, 11.8486328125], [1.783178687095642, 1.4866752624511719, 12.235092163085938], [1.8756277561187744, 0.9259223937988281, 11.828475952148438], [1.1309469938278198, 1.083380937576294, 11.4420166015625], [1.2419672012329102, 1.5959964990615845, 11.4369478225708], [1.9866479635238647, 1.4385379552841187, 11.823407173156738]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 286, "image_id": 43, "category_id": 45, "category_name": "person", "bbox2D_proj": [218.0, 279.0, 242.0, 344.0], "bbox2D_tight": [218.0, 279.0, 242.0, 344.0], "bbox2D_trunc": [218.0, 279.0, 242.0, 344.0], "center_cam": [-0.5946474648007283, 1.2069952435039628, 9.651749386707694], "dimensions": [0.5156250092091876, 1.3798828031717068, 0.5830078365317785], "R_cam": [[-0.9858516454696655, 0.0523228645324707, 0.15924422442913055], [0.029343128204345703, 0.9892333745956421, -0.143374502658844], [-0.16503146290779114, -0.13667328655719757, -0.9767727851867676]], "bbox3D_cam": [[-0.3844226598739624, 0.55289226770401, 10.045977592468262], [-0.9591820240020752, 0.5699995160102844, 9.949763298034668], [-0.8869825601577759, 1.935025691986084, 9.761170387268066], [-0.3122231960296631, 1.9179184436798096, 9.85738468170166], [-0.30231237411499023, 0.47896474599838257, 9.542328834533691], [-0.877071738243103, 0.496071994304657, 9.446114540100098], [-0.8048722743988037, 1.861098289489746, 9.257521629333496], [-0.23011291027069092, 1.8439910411834717, 9.35373592376709]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 287, "image_id": 43, "category_id": 63, "category_name": "streetlight", "bbox2D_proj": [0.0, 0.0, 512.0, 269.0], "bbox2D_tight": [0.0, 0.0, 512.0, 269.0], "bbox2D_trunc": [0.0, 0.0, 512.0, 269.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 288, "image_id": 43, "category_id": 32, "category_name": "house", "bbox2D_proj": [312.0, 186.0, 512.0, 264.0], "bbox2D_tight": [312.0, 186.0, 512.0, 264.0], "bbox2D_trunc": [312.0, 186.0, 512.0, 264.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 289, "image_id": 43, "category_id": 45, "category_name": "person", "bbox2D_proj": [354.0, 261.0, 380.0, 338.0], "bbox2D_tight": [354.0, 261.0, 380.0, 338.0], "bbox2D_trunc": [354.0, 261.0, 380.0, 338.0], "center_cam": [1.9709018190373475, 0.7623229658983728, 7.886161644384897], "dimensions": [0.3828125017925157, 1.3276367093859447, 0.4709472787749978], "R_cam": [[-0.9821062684059143, 0.09419012069702148, -0.1630806177854538], [0.1075858473777771, 0.9913370013237, -0.07534001767635345], [0.15457157790660858, -0.09153705835342407, -0.9837318658828735]], "bbox3D_cam": [[2.170851469039917, 0.093342125415802, 8.098820686340332], [1.7083311080932617, 0.14400941133499146, 8.171615600585938], [1.8333815336227417, 1.4601449966430664, 8.050087928771973], [2.2959017753601074, 1.409477710723877, 7.977292537689209], [2.10842227935791, 0.06450098752975464, 7.722235679626465], [1.6459019184112549, 0.11516827344894409, 7.7950310707092285], [1.7709522247314453, 1.4313037395477295, 7.6735029220581055], [2.2334725856781006, 1.38063645362854, 7.6007080078125]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 290, "image_id": 43, "category_id": 45, "category_name": "person", "bbox2D_proj": [72.0, 285.0, 106.0, 381.0], "bbox2D_tight": [72.0, 285.0, 106.0, 381.0], "bbox2D_trunc": [72.0, 285.0, 106.0, 381.0], "center_cam": [-2.8579373858327735, 1.2410217148105107, 7.304032162010221], "dimensions": [0.45312500694613744, 1.4951171774540044, 0.6210937706567647], "R_cam": [[0.911578357219696, 0.05573230981826782, 0.40733110904693604], [-0.017332077026367188, 0.995097815990448, -0.09736421704292297], [-0.41076064109802246, 0.08169522136449814, 0.9080755710601807]], "bbox3D_cam": [[-3.2749743461608887, 0.5245692729949951, 7.164784908294678], [-2.70879864692688, 0.5138044357299805, 6.909664154052734], [-2.6254723072052, 2.0015923976898193, 7.031807899475098], [-3.191648006439209, 2.012357234954834, 7.286928653717041], [-3.090402364730835, 0.4804511070251465, 7.57625675201416], [-2.524226665496826, 0.46968626976013184, 7.321135997772217], [-2.4409003257751465, 1.9574742317199707, 7.44327974319458], [-3.0070760250091553, 1.9682390689849854, 7.698400497436523]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 291, "image_id": 43, "category_id": 45, "category_name": "person", "bbox2D_proj": [41.0, 290.0, 71.0, 346.0], "bbox2D_tight": [41.0, 290.0, 71.0, 346.0], "bbox2D_trunc": [41.0, 290.0, 71.0, 346.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 292, "image_id": 43, "category_id": 61, "category_name": "sports_car", "bbox2D_proj": [0.0, 345.0, 104.0, 433.0], "bbox2D_tight": [0.0, 345.0, 104.0, 433.0], "bbox2D_trunc": [0.0, 345.0, 104.0, 433.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 293, "image_id": 43, "category_id": 45, "category_name": "person", "bbox2D_proj": [449.0, 244.0, 496.0, 385.0], "bbox2D_tight": [449.0, 244.0, 496.0, 385.0], "bbox2D_trunc": [449.0, 244.0, 496.0, 385.0], "center_cam": [2.2944314908818084, 0.6065913613461014, 4.799819275646787], "dimensions": [0.49804688481728915, 1.5012206884811243, 0.6054687478069001], "R_cam": [[0.043652743101119995, 0.01781708002090454, 0.9988878965377808], [-0.08138489723205566, 0.9965813159942627, -0.01421937346458435], [-0.9957263469696045, -0.0806736946105957, 0.04495358467102051]], "bbox3D_cam": [[2.0190961360931396, -0.1132739782333374, 5.150619983673096], [2.0455265045166016, -0.1625499725341797, 4.547739028930664], [2.0722739696502686, 1.33353853225708, 4.426630020141602], [2.0458433628082275, 1.3828145265579224, 5.029510974884033], [2.5165889263153076, -0.12035584449768066, 5.173008918762207], [2.5430195331573486, -0.16963183879852295, 4.570127964019775], [2.5697667598724365, 1.3264566659927368, 4.449018955230713], [2.5433363914489746, 1.375732660293579, 5.0518999099731445]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 294, "image_id": 44, "category_id": 45, "category_name": "person", "bbox2D_proj": [244.0, 288.0, 274.0, 336.0], "bbox2D_tight": [244.0, 288.0, 274.0, 336.0], "bbox2D_trunc": [244.0, 288.0, 274.0, 336.0], "center_cam": [0.08375025914779043, 1.337597744956424, 8.755953676910487], "dimensions": [0.3984375017943041, 1.4296875044018202, 0.5761718865493841], "R_cam": [[-0.9765259623527527, 0.08809769153594971, 0.19655993580818176], [0.12270081043243408, 0.9775192141532898, 0.1714659184217453], [-0.1770353764295578, 0.19155898690223694, -0.9653825759887695]], "bbox3D_cam": [[0.2629392147064209, 0.569316565990448, 8.862342834472656], [-0.29970771074295044, 0.6400132775306702, 8.760339736938477], [-0.17375554144382477, 2.03756046295166, 9.034209251403809], [0.38889139890670776, 1.9668636322021484, 9.136212348937988], [0.3412560820579529, 0.6376350522041321, 8.47769832611084], [-0.22139085829257965, 0.7083317637443542, 8.37569522857666], [-0.09543867409229279, 2.1058788299560547, 8.649564743041992], [0.46720826625823975, 2.035182237625122, 8.751567840576172]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 295, "image_id": 44, "category_id": 61, "category_name": "sports_car", "bbox2D_proj": [421.0, 316.0, 512.0, 409.0], "bbox2D_tight": [421.0, 316.0, 512.0, 409.0], "bbox2D_trunc": [421.0, 316.0, 512.0, 409.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 296, "image_id": 44, "category_id": 45, "category_name": "person", "bbox2D_proj": [347.0, 283.0, 376.0, 369.0], "bbox2D_tight": [347.0, 283.0, 376.0, 369.0], "bbox2D_trunc": [347.0, 283.0, 376.0, 369.0], "center_cam": [1.7870077743016735, 1.1505751538020288, 7.554419720608961], "dimensions": [0.4453129213235494, 1.3850097702058501, 0.44921917436863135], "R_cam": [[0.7056323885917664, 0.022194743156433105, 0.7082304954528809], [-0.16478896141052246, 0.9772444367408752, 0.13355907797813416], [-0.6891499757766724, -0.21095211803913116, 0.6932327747344971]], "bbox3D_cam": [[1.455453872680664, 0.4811040759086609, 7.700941562652588], [1.772437572479248, 0.40707772970199585, 7.39136266708374], [1.8031775951385498, 1.760570764541626, 7.099191665649414], [1.4861938953399658, 1.834597110748291, 7.40877103805542], [1.7708380222320557, 0.540579617023468, 8.009647369384766], [2.0878217220306396, 0.466553270816803, 7.70006799697876], [2.1185617446899414, 1.8200461864471436, 7.407897472381592], [1.8015780448913574, 1.8940725326538086, 7.7174763679504395]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 297, "image_id": 44, "category_id": 61, "category_name": "sports_car", "bbox2D_proj": [0.0, 318.0, 308.0, 415.0], "bbox2D_tight": [0.0, 318.0, 308.0, 415.0], "bbox2D_trunc": [0.0, 318.0, 308.0, 415.0], "center_cam": [-1.2411531669463542, 1.5019730031198986, 5.677072275313932], "dimensions": [2.1281604872796556, 1.1216330922437432, 4.084622037364433], "R_cam": [[-0.9939498901367188, 0.018218280747532845, 0.10831344127655029], [0.014537811279296875, 0.9992930889129639, -0.03467199578881264], [-0.10886849462985992, -0.03288745880126953, -0.9935120344161987]], "bbox3D_cam": [[0.6633301973342896, 0.9487558603286743, 6.975035667419434], [-3.3965792655944824, 1.008137583732605, 6.530348777770996], [-3.3761448860168457, 2.1289777755737305, 6.4934611320495605], [0.6837645769119263, 2.0695958137512207, 6.938148021697998], [0.8938385248184204, 0.874968409538269, 4.860682964324951], [-3.1660709381103516, 0.9343501329421997, 4.415996074676514], [-3.145636558532715, 2.055190086364746, 4.379108428955078], [0.9142729043960571, 1.995808482170105, 4.823795318603516]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 298, "image_id": 44, "category_id": 45, "category_name": "person", "bbox2D_proj": [411.0, 277.0, 431.0, 363.0], "bbox2D_tight": [411.0, 277.0, 431.0, 363.0], "bbox2D_trunc": [411.0, 277.0, 431.0, 363.0], "center_cam": [3.0700508376382105, 1.1588572296039337, 8.123125759176334], "dimensions": [0.41662599488351604, 1.491943363842202, 0.5078125167621266], "R_cam": [[0.3527580797672272, 0.03361809253692627, -0.9351104497909546], [0.04927527904510498, 0.997300386428833, 0.05444234609603882], [0.9344162344932556, -0.06528282165527344, 0.3501492142677307]], "bbox3D_cam": [[3.1502010822296143, 0.39104706048965454, 7.861630439758301], [3.329335927963257, 0.4160696864128113, 8.336138725280762], [3.3794922828674316, 1.9039852619171143, 8.238739967346191], [3.200357437133789, 1.878962755203247, 7.764232158660889], [2.7606096267700195, 0.41372913122177124, 8.007512092590332], [2.939744472503662, 0.438751757144928, 8.482019424438477], [2.989900827407837, 1.9266674518585205, 8.384621620178223], [2.8107659816741943, 1.9016447067260742, 7.910113334655762]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 299, "image_id": 44, "category_id": 72, "category_name": "tree", "bbox2D_proj": [265.0, 49.0, 401.0, 276.0], "bbox2D_tight": [265.0, 49.0, 401.0, 276.0], "bbox2D_trunc": [265.0, 49.0, 401.0, 276.0], "center_cam": [2.9636457690821247, -2.7004032817720347, 13.763848303949258], "dimensions": [3.976563736993994, 6.285156280378786, 4.085938764142567], "R_cam": [[0.7633041143417358, 0.014133095741271973, 0.6458847522735596], [0.07992130517959595, 0.9900151491165161, -0.11611396074295044], [-0.6410767436027527, 0.14025023579597473, 0.7545530796051025]], "bbox3D_cam": [[0.0756232738494873, -5.744012832641602, 13.132536888122559], [3.194437026977539, -5.417459011077881, 10.51313591003418], [3.283266067504883, 0.8049411773681641, 11.394630432128906], [0.16445231437683105, 0.47838735580444336, 14.014032363891602], [2.6440253257751465, -6.205747604370117, 16.133066177368164], [5.762839317321777, -5.8791937828063965, 13.513664245605469], [5.851668357849121, 0.34320640563964844, 14.395159721374512], [2.7328543663024902, 0.016652584075927734, 17.01456069946289]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 300, "image_id": 44, "category_id": 45, "category_name": "person", "bbox2D_proj": [220.0, 280.0, 244.0, 333.0], "bbox2D_tight": [220.0, 280.0, 244.0, 333.0], "bbox2D_trunc": [220.0, 280.0, 244.0, 333.0], "center_cam": [-0.47548100782503383, 1.249033306492145, 8.809670440754024], "dimensions": [0.3906250045096864, 1.3498535193342738, 0.4458007936312677], "R_cam": [[-0.9811598062515259, 0.09104025363922119, 0.17040352523326874], [0.08689826726913452, 0.9957152605056763, -0.03162422403693199], [-0.1725524216890335, -0.01622062362730503, -0.9848669767379761]], "bbox3D_cam": [[-0.3515074849128723, 0.5638054609298706, 9.051437377929688], [-0.7889091968536377, 0.6025447845458984, 8.974513053894043], [-0.6660183668136597, 1.946614384651184, 8.952617645263672], [-0.2286166250705719, 1.9078750610351562, 9.029541015625], [-0.2849436402320862, 0.5514522790908813, 8.666723251342773], [-0.7223453521728516, 0.5901916027069092, 8.589799880981445], [-0.5994545221328735, 1.9342612028121948, 8.567903518676758], [-0.16205278038978577, 1.895521879196167, 8.644827842712402]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 301, "image_id": 44, "category_id": 45, "category_name": "person", "bbox2D_proj": [58.0, 273.0, 113.0, 415.0], "bbox2D_tight": [58.0, 273.0, 113.0, 415.0], "bbox2D_trunc": [58.0, 273.0, 113.0, 415.0], "center_cam": [-1.5618859504115297, 0.942994784298663, 4.02795738566594], "dimensions": [0.4785157320561143, 1.573242192123339, 0.49609386357048546], "R_cam": [[0.7577130198478699, 0.0354386568069458, -0.6516249775886536], [-0.05357491970062256, 0.9985318779945374, -0.0079919109120965], [0.6503850817680359, 0.04096624627709389, 0.7584991455078125]], "bbox3D_cam": [[-1.6218047142028809, 0.1727297306060791, 3.6529295444488525], [-1.2459080219268799, 0.14615154266357422, 3.975581645965576], [-1.1901543140411377, 1.7170840501785278, 4.040031433105469], [-1.5660511255264282, 1.7436622381210327, 3.717379570007324], [-1.9336175918579102, 0.16890549659729004, 4.015883445739746], [-1.5577207803726196, 0.14232730865478516, 4.338535308837891], [-1.501967191696167, 1.7132598161697388, 4.402985572814941], [-1.877863883972168, 1.7398380041122437, 4.080333232879639]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 302, "image_id": 44, "category_id": 45, "category_name": "person", "bbox2D_proj": [329.0, 283.0, 349.0, 371.0], "bbox2D_tight": [329.0, 283.0, 349.0, 371.0], "bbox2D_trunc": [329.0, 283.0, 349.0, 371.0], "center_cam": [1.5763501338883092, 1.22989678639621, 7.932966877088199], "dimensions": [0.414062522567642, 1.4912109421543083, 0.4921875270210322], "R_cam": [[0.6476249694824219, 0.013858318328857422, -0.7618332505226135], [-0.06014108657836914, 0.9976450204849243, -0.032977283000946045], [0.7595821022987366, 0.06717443466186523, 0.6469332575798035]], "bbox3D_cam": [[1.5643640756607056, 0.5076749324798584, 7.562017440795898], [1.8831169605255127, 0.47807419300079346, 7.935873985290527], [1.903782606124878, 1.965773344039917, 8.03604507446289], [1.5850297212600708, 1.995374083518982, 7.662188529968262], [1.248917579650879, 0.4940202236175537, 7.829888343811035], [1.567670464515686, 0.46441948413848877, 8.203744888305664], [1.5883361101150513, 1.9521186351776123, 8.303915977478027], [1.2695832252502441, 1.9817193746566772, 7.930059432983398]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 303, "image_id": 44, "category_id": 45, "category_name": "person", "bbox2D_proj": [117.0, 291.0, 152.0, 324.0], "bbox2D_tight": [117.0, 291.0, 152.0, 324.0], "bbox2D_trunc": [117.0, 291.0, 152.0, 324.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 304, "image_id": 45, "category_id": 5, "category_name": "baseball_cap", "bbox2D_proj": [55.0, 456.0, 146.0, 512.0], "bbox2D_tight": [55.0, 456.0, 146.0, 512.0], "bbox2D_trunc": [55.0, 456.0, 146.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 305, "image_id": 45, "category_id": 45, "category_name": "person", "bbox2D_proj": [229.0, 365.0, 268.0, 471.0], "bbox2D_tight": [229.0, 365.0, 268.0, 471.0], "bbox2D_trunc": [229.0, 365.0, 268.0, 471.0], "center_cam": [-0.08479872321194007, 3.350154833593621, 9.276930586452668], "dimensions": [0.6093750186464646, 1.9414062258584095, 0.7070312590230693], "R_cam": [[0.9276525378227234, -0.07852804660797119, -0.3650948107242584], [0.18282544612884521, 0.9479685425758362, 0.2606350779533386], [0.32563120126724243, -0.3085274398326874, 0.8937423229217529]], "bbox3D_cam": [[-0.22527122497558594, 2.285914897918701, 9.18899154663086], [0.4306080639362335, 2.4151782989501953, 9.419222831726074], [0.2781534194946289, 4.255570411682129, 8.820245742797852], [-0.37772589921951294, 4.126307010650635, 8.590014457702637], [-0.44775086641311646, 2.44473934173584, 9.73361587524414], [0.2081284523010254, 2.574002742767334, 9.963847160339355], [0.05567377805709839, 4.414394855499268, 9.364870071411133], [-0.6002055406570435, 4.285131454467773, 9.134638786315918]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 306, "image_id": 45, "category_id": 45, "category_name": "person", "bbox2D_proj": [264.0, 360.0, 282.0, 456.0], "bbox2D_tight": [264.0, 360.0, 282.0, 456.0], "bbox2D_trunc": [264.0, 360.0, 282.0, 456.0], "center_cam": [0.3199416198569265, 3.5043294503740614, 10.209547116132242], "dimensions": [0.5371093593896699, 2.1523437160683634, 0.6484374972320353], "R_cam": [[-0.20242464542388916, -0.010936737060546875, 0.9792367815971375], [-0.09771013259887695, 0.995173454284668, -0.009083598852157593], [-0.974411129951477, -0.09752005338668823, -0.20251625776290894]], "bbox3D_cam": [[0.13436266779899597, 2.467470645904541, 10.684804916381836], [0.003102928400039673, 2.404111862182617, 10.052959442138672], [-0.02043667435646057, 4.546067237854004, 9.843063354492188], [0.11082306504249573, 4.609426021575928, 10.474907875061035], [0.6603199243545532, 2.4625916481018066, 10.576030731201172], [0.5290601253509521, 2.399232864379883, 9.944186210632324], [0.5055205821990967, 4.5411882400512695, 9.734289169311523], [0.6367802619934082, 4.604547023773193, 10.366134643554688]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 307, "image_id": 45, "category_id": 45, "category_name": "person", "bbox2D_proj": [166.0, 374.0, 194.0, 480.0], "bbox2D_tight": [166.0, 374.0, 194.0, 480.0], "bbox2D_trunc": [166.0, 374.0, 194.0, 480.0], "center_cam": [-1.5188247568108597, 3.4291258683705568, 9.00319742796532], "dimensions": [0.4960937463797995, 1.9755859096660875, 0.7070312464799775], "R_cam": [[-0.6913325786590576, -0.012740492820739746, 0.7224243879318237], [-0.1781860589981079, 0.9719699621200562, -0.15337592363357544], [-0.7002207040786743, -0.23475970327854156, -0.6742246150970459]], "bbox3D_cam": [[-1.4410381317138672, 2.570056676864624, 9.649869918823242], [-1.9298319816589355, 2.444073438644409, 9.154791831970215], [-1.9550018310546875, 4.364283561706543, 8.691003799438477], [-1.4662079811096191, 4.490266799926758, 9.186081886291504], [-1.0826478004455566, 2.4939677715301514, 9.315391540527344], [-1.571441650390625, 2.3679847717285156, 8.820313453674316], [-1.596611499786377, 4.2881951332092285, 8.356525421142578], [-1.1078176498413086, 4.414177894592285, 8.851603507995605]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 308, "image_id": 45, "category_id": 45, "category_name": "person", "bbox2D_proj": [131.0, 370.0, 170.0, 492.0], "bbox2D_tight": [131.0, 370.0, 170.0, 492.0], "bbox2D_trunc": [131.0, 370.0, 170.0, 492.0], "center_cam": [-1.8809213679456933, 3.1373428529992458, 8.060374074506981], "dimensions": [0.6093750279901338, 1.9624023172101328, 0.712890652691083], "R_cam": [[0.7806748747825623, 0.015498757362365723, -0.6247451305389404], [0.18114304542541504, 0.9511633515357971, 0.24995099008083344], [0.5981085896492004, -0.3082987070083618, 0.739741861820221]], "bbox3D_cam": [[-1.9840445518493652, 2.06333589553833, 7.9242939949035645], [-1.42750883102417, 2.1924710273742676, 8.350680351257324], [-1.3970940113067627, 4.0590362548828125, 7.745674133300781], [-1.9536298513412476, 3.929901123046875, 7.31928825378418], [-2.36474871635437, 2.2156496047973633, 8.37507438659668], [-1.8082128763198853, 2.344784736633301, 8.801460266113281], [-1.7777981758117676, 4.211349964141846, 8.196454048156738], [-2.334333896636963, 4.082214832305908, 7.770068168640137]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 309, "image_id": 45, "category_id": 45, "category_name": "person", "bbox2D_proj": [73.0, 356.0, 120.0, 471.0], "bbox2D_tight": [73.0, 356.0, 120.0, 471.0], "bbox2D_trunc": [73.0, 356.0, 120.0, 471.0], "center_cam": [-2.7904777513780212, 2.842330264221091, 7.760820213884394], "dimensions": [0.5937500043446258, 2.024169893840037, 0.7352294822639165], "R_cam": [[0.939270555973053, -0.02300739288330078, -0.3424052894115448], [0.10474026203155518, 0.9693625569343567, 0.2221837192773819], [0.3268030285835266, -0.24455425143241882, 0.9129035472869873]], "bbox3D_cam": [[-3.0108304023742676, 1.7567881345748901, 7.61717414855957], [-2.320250988006592, 1.8337961435317993, 7.857449531555176], [-2.3668220043182373, 3.7959508895874023, 7.362430095672607], [-3.057401418685913, 3.718942642211914, 7.122154712677002], [-3.2141335010528564, 1.8887096643447876, 8.159211158752441], [-2.5235540866851807, 1.9657177925109863, 8.39948558807373], [-2.570125102996826, 3.9278721809387207, 7.90446662902832], [-3.260704517364502, 3.8508644104003906, 7.664191246032715]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 310, "image_id": 45, "category_id": 45, "category_name": "person", "bbox2D_proj": [311.0, 354.0, 336.0, 445.0], "bbox2D_tight": [311.0, 354.0, 336.0, 445.0], "bbox2D_trunc": [311.0, 354.0, 336.0, 445.0], "center_cam": [1.7878044164782692, 3.669299964383373, 11.605192026137008], "dimensions": [0.7343751402871492, 2.2608642261148573, 0.7773438982189625], "R_cam": [[-0.6914354562759399, -0.038517892360687256, -0.7214106917381287], [0.1340389847755432, 0.9743998646736145, -0.18049536645412445], [0.7098947167396545, -0.22149814665317535, -0.6685718297958374]], "bbox3D_cam": [[2.364980936050415, 2.5819854736328125, 11.825156211853027], [1.8274977207183838, 2.6861801147460938, 12.376988410949707], [1.740413784980774, 4.889165878295898, 11.876211166381836], [2.2778971195220947, 4.784971237182617, 11.324378967285156], [1.8351949453353882, 2.449434280395508, 11.334173202514648], [1.2977116107940674, 2.553628921508789, 11.886005401611328], [1.210627794265747, 4.756614685058594, 11.385228157043457], [1.7481110095977783, 4.6524200439453125, 10.833395957946777]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 311, "image_id": 45, "category_id": 45, "category_name": "person", "bbox2D_proj": [277.0, 371.0, 300.0, 452.0], "bbox2D_tight": [277.0, 371.0, 300.0, 452.0], "bbox2D_trunc": [277.0, 371.0, 300.0, 452.0], "center_cam": [0.8772520769111648, 3.7751367593828773, 11.021745772437981], "dimensions": [0.5429687528210094, 2.0954589539651, 0.6875000095842072], "R_cam": [[-0.5918310880661011, -0.007504403591156006, -0.8060270547866821], [0.163030207157135, 0.9781759977340698, -0.128813236951828], [0.789402961730957, -0.20764243602752686, -0.5776915550231934]], "bbox3D_cam": [[1.3073804378509521, 2.7292020320892334, 11.124775886535645], [0.9004964232444763, 2.841285228729248, 11.667490005493164], [0.8847712874412537, 4.891013145446777, 11.232383728027344], [1.2916553020477295, 4.778929710388184, 10.689669609069824], [0.8697329163551331, 2.6592605113983154, 10.811107635498047], [0.462848961353302, 2.77134370803833, 11.353821754455566], [0.44712382555007935, 4.821071624755859, 10.918715476989746], [0.8540077805519104, 4.708988189697266, 10.376001358032227]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 312, "image_id": 45, "category_id": 45, "category_name": "person", "bbox2D_proj": [362.0, 364.0, 380.0, 431.0], "bbox2D_tight": [362.0, 364.0, 380.0, 431.0], "bbox2D_trunc": [362.0, 364.0, 380.0, 431.0], "center_cam": [3.800149792317449, 4.590894493950327, 14.646691075942897], "dimensions": [0.6015625239140462, 2.100097625743838, 0.6953125175069117], "R_cam": [[0.8776191473007202, -0.011619329452514648, -0.4792177081108093], [0.09961974620819092, 0.982300877571106, 0.1586221605539322], [0.4688928723335266, -0.18694938719272614, 0.863243579864502]], "bbox3D_cam": [[3.6513805389404297, 3.4770870208740234, 14.420336723327637], [4.261600017547607, 3.546353816986084, 14.746363639831543], [4.237198352813721, 5.609281539916992, 14.353751182556152], [3.626978874206543, 5.540014266967773, 14.027724266052246], [3.363101005554199, 3.572507858276367, 14.939631462097168], [3.973320484161377, 3.641774892807007, 15.265658378601074], [3.9489188194274902, 5.704702377319336, 14.873045921325684], [3.3386993408203125, 5.635435581207275, 14.547019004821777]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 313, "image_id": 46, "category_id": 25, "category_name": "fish", "bbox2D_proj": [379.0, 424.0, 403.0, 440.0], "bbox2D_tight": [379.0, 424.0, 403.0, 440.0], "bbox2D_trunc": [379.0, 424.0, 403.0, 440.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 314, "image_id": 46, "category_id": 25, "category_name": "fish", "bbox2D_proj": [364.0, 90.0, 400.0, 112.0], "bbox2D_tight": [364.0, 90.0, 400.0, 112.0], "bbox2D_trunc": [364.0, 90.0, 400.0, 112.0], "center_cam": [1.7644699943340822, -2.1402471534447374, 6.184276482012645], "dimensions": [0.42541305187134215, 0.2181430147812078, 0.8838751419424771], "R_cam": [[0.31490635871887207, -0.013562305830419064, -0.9490258097648621], [0.007608662359416485, 0.9999018907546997, -0.011764651164412498], [0.9490922093391418, -0.0035160528495907784, 0.3149787187576294]], "bbox3D_cam": [[1.8286442756652832, -2.2501680850982666, 5.698222637176514], [2.1069822311401367, -2.243443012237549, 6.537101745605469], [2.1040236949920654, -2.0253212451934814, 6.53633451461792], [1.825685739517212, -2.032046318054199, 5.697455406188965], [1.4249162673950195, -2.2551729679107666, 5.832218647003174], [1.703254222869873, -2.248447895050049, 6.671097755432129], [1.7002956867218018, -2.0303261280059814, 6.67033052444458], [1.4219577312469482, -2.037051200866699, 5.831451416015625]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 315, "image_id": 46, "category_id": 25, "category_name": "fish", "bbox2D_proj": [386.0, 130.0, 427.0, 151.0], "bbox2D_tight": [386.0, 130.0, 427.0, 151.0], "bbox2D_trunc": [386.0, 130.0, 427.0, 151.0], "center_cam": [5.17063358640319, -3.696905154865421, 15.165911428562588], "dimensions": [1.159047335002994, 0.5865971116056024, 3.0869690166326222], "R_cam": [[0.31478947401046753, -0.013562304899096489, -0.9490646123886108], [0.0076072122901678085, 0.9999017715454102, -0.011765588074922562], [0.9491310119628906, -0.0035160528495907784, 0.3148617744445801]], "bbox3D_cam": [[5.238744258880615, -3.995098114013672, 13.51950454711914], [6.210489749908447, -3.9716148376464844, 16.44944190979004], [6.202534198760986, -3.385075330734253, 16.44738006591797], [5.230788707733154, -3.4085586071014404, 13.517441749572754], [4.138733386993408, -4.008734703063965, 13.884444236755371], [5.11047887802124, -3.9852516651153564, 16.814382553100586], [5.102523326873779, -3.398712158203125, 16.812318801879883], [4.130777835845947, -3.4221954345703125, 13.882381439208984]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 316, "image_id": 46, "category_id": 25, "category_name": "fish", "bbox2D_proj": [104.0, 176.0, 154.0, 195.0], "bbox2D_tight": [104.0, 176.0, 154.0, 195.0], "bbox2D_trunc": [104.0, 176.0, 154.0, 195.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 317, "image_id": 46, "category_id": 25, "category_name": "fish", "bbox2D_proj": [309.0, 312.0, 399.0, 352.0], "bbox2D_tight": [309.0, 312.0, 399.0, 352.0], "bbox2D_trunc": [309.0, 312.0, 399.0, 352.0], "center_cam": [0.3725151096545478, 0.27379589579149777, 1.6916678107474183], "dimensions": [0.09472656272866856, 0.1406250061373483, 0.3406982415717914], "R_cam": [[-0.9803299903869629, 0.1930220127105713, 0.041181813925504684], [0.19697877764701843, 0.9438007473945618, 0.2654043734073639], [0.012361455708742142, 0.2682957351207733, -0.9632574319839478]], "bbox3D_cam": [[0.5239911079406738, 0.16130933165550232, 1.716320514678955], [0.18999439477920532, 0.22841966152191162, 1.7205320596694946], [0.2171381115913391, 0.3611416220664978, 1.7582610845565796], [0.5511348247528076, 0.2940312922000885, 1.7540496587753296], [0.5278921127319336, 0.18645016849040985, 1.6250745058059692], [0.1938953995704651, 0.25356051325798035, 1.6292859315872192], [0.22103911638259888, 0.38628247380256653, 1.6670150756835938], [0.5550358295440674, 0.3191721439361572, 1.6628035306930542]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 318, "image_id": 46, "category_id": 25, "category_name": "fish", "bbox2D_proj": [74.0, 362.0, 180.0, 417.0], "bbox2D_tight": [74.0, 362.0, 180.0, 417.0], "bbox2D_trunc": [74.0, 362.0, 180.0, 417.0], "center_cam": [-0.43814307758395166, 0.45847294309725284, 1.5287711415259189], "dimensions": [0.13964843579819425, 0.16210937990748345, 0.33335876350672916], "R_cam": [[-0.9840340614318848, 0.05979102477431297, 0.1676362305879593], [0.05318080261349678, 0.9976303577423096, -0.043651778250932693], [-0.1698489636182785, -0.034039806574583054, -0.9848818778991699]], "bbox3D_cam": [[-0.2906762957572937, 0.3717941343784332, 1.6286091804504395], [-0.6187126636505127, 0.38952240347862244, 1.571988582611084], [-0.6090199947357178, 0.5512476563453674, 1.5664703845977783], [-0.2809836268424988, 0.5335193872451782, 1.6230909824371338], [-0.2672661542892456, 0.3656982183456421, 1.4910719394683838], [-0.5953025221824646, 0.3834265172481537, 1.4344513416290283], [-0.5856098532676697, 0.5451517701148987, 1.4289331436157227], [-0.2575734853744507, 0.5274234414100647, 1.4855537414550781]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 319, "image_id": 46, "category_id": 25, "category_name": "fish", "bbox2D_proj": [87.0, 404.0, 188.0, 460.0], "bbox2D_tight": [87.0, 404.0, 188.0, 460.0], "bbox2D_trunc": [87.0, 404.0, 188.0, 460.0], "center_cam": [-0.3482816652690319, 0.511278844607582, 1.2913940124073213], "dimensions": [0.0986328118211678, 0.14636231015988985, 0.2832031232348542], "R_cam": [[-0.9965906143188477, 0.02816646546125412, -0.07754901796579361], [0.04318280518054962, 0.9789711236953735, -0.1993761509656906], [0.07030252367258072, -0.20204518735408783, -0.9768496751785278]], "bbox3D_cam": [[-0.20539966225624084, 0.44335439801216125, 1.3443996906280518], [-0.4876372516155243, 0.4555839002132416, 1.364309549331665], [-0.4835147559642792, 0.5988683700561523, 1.334737777709961], [-0.20127716660499573, 0.586638867855072, 1.3148279190063477], [-0.2130485475063324, 0.4236893653869629, 1.2480502128601074], [-0.49528613686561584, 0.4359188675880432, 1.2679600715637207], [-0.4911636412143707, 0.5792033076286316, 1.2383882999420166], [-0.20892605185508728, 0.5669738054275513, 1.2184784412384033]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 320, "image_id": 46, "category_id": 25, "category_name": "fish", "bbox2D_proj": [0.0, 0.0, 75.0, 32.0], "bbox2D_tight": [0.0, 0.0, 75.0, 32.0], "bbox2D_trunc": [0.0, 0.0, 75.0, 32.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 321, "image_id": 46, "category_id": 25, "category_name": "fish", "bbox2D_proj": [398.0, 297.0, 512.0, 335.0], "bbox2D_tight": [398.0, 297.0, 512.0, 335.0], "bbox2D_trunc": [398.0, 297.0, 512.0, 335.0], "center_cam": [0.7949897882616834, 0.2486714701763841, 1.8060356541637481], "dimensions": [0.20738619771198352, 0.11647846218096758, 0.4499897890101345], "R_cam": [[-0.7481346130371094, -0.013562304899096489, -0.6634081602096558], [-0.007814294658601284, 0.9999017715454102, -0.011629081331193447], [0.6635007858276367, -0.0035160519182682037, -0.7481672763824463]], "bbox3D_cam": [[1.0328969955444336, 0.1934019923210144, 1.7345359325408936], [0.696243941783905, 0.18988563120365143, 2.033104419708252], [0.6946642398834229, 0.3063526749610901, 2.0326950550079346], [1.0313172340393066, 0.30986902117729187, 1.734126329421997], [0.8953152894973755, 0.19099028408527374, 1.5793763399124146], [0.5586622357368469, 0.18747392296791077, 1.8779449462890625], [0.5570825338363647, 0.30394095182418823, 1.877535343170166], [0.8937355875968933, 0.30745729804039, 1.578966736793518]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 322, "image_id": 46, "category_id": 25, "category_name": "fish", "bbox2D_proj": [278.0, 452.0, 386.0, 504.0], "bbox2D_tight": [278.0, 452.0, 386.0, 504.0], "bbox2D_trunc": [278.0, 452.0, 386.0, 504.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 323, "image_id": 46, "category_id": 25, "category_name": "fish", "bbox2D_proj": [0.0, 357.0, 18.0, 400.0], "bbox2D_tight": [0.0, 357.0, 18.0, 400.0], "bbox2D_trunc": [0.0, 357.0, 18.0, 400.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 324, "image_id": 46, "category_id": 25, "category_name": "fish", "bbox2D_proj": [198.0, 153.0, 263.0, 189.0], "bbox2D_tight": [198.0, 153.0, 263.0, 189.0], "bbox2D_trunc": [198.0, 153.0, 263.0, 189.0], "center_cam": [-0.1232406811152536, -0.4367475458390468, 2.274527688737157], "dimensions": [0.05761718625977039, 0.20996094319616068, 0.35009765654218794], "R_cam": [[-0.9411441087722778, 0.07104729115962982, -0.33045414090156555], [0.12792646884918213, 0.9798043966293335, -0.15368182957172394], [0.31286177039146423, -0.18691058456897736, -0.9312260150909424]], "bbox3D_cam": [[0.04356683790683746, -0.5575739145278931, 2.2662110328674316], [-0.2859255075454712, -0.5127871036529541, 2.3757431507110596], [-0.27100837230682373, -0.30706650018692017, 2.3364992141723633], [0.05848400294780731, -0.35185325145721436, 2.2269670963287354], [0.02452699840068817, -0.5664286017417908, 2.2125563621520996], [-0.30496537685394287, -0.5216418504714966, 2.3220884799957275], [-0.29004818201065063, -0.31592118740081787, 2.2828445434570312], [0.03944416344165802, -0.36070796847343445, 2.1733124256134033]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 325, "image_id": 47, "category_id": 45, "category_name": "person", "bbox2D_proj": [461.0, 120.0, 496.0, 236.0], "bbox2D_tight": [461.0, 120.0, 496.0, 236.0], "bbox2D_trunc": [461.0, 120.0, 496.0, 236.0], "center_cam": [1.7005439268225802, -0.553747412979477, 3.35229855786533], "dimensions": [0.20800781220358358, 0.8845215085856237, 0.39062499973927095], "R_cam": [[-0.7480470538139343, 0.16009974479675293, 0.6440448760986328], [0.20783770084381104, 0.9781618118286133, -0.0017559530679136515], [-0.6302611827850342, 0.13254328072071075, -0.7649859189987183]], "bbox3D_cam": [[1.7088578939437866, -1.0267605781555176, 3.4963393211364746], [1.416651964187622, -0.9455740451812744, 3.250143527984619], [1.5582635402679443, -0.08036893606185913, 3.3673808574676514], [1.8504694700241089, -0.16155552864074707, 3.613576650619507], [1.8428242206573486, -1.0271258354187012, 3.3372161388397217], [1.550618290901184, -0.945939302444458, 3.091020345687866], [1.6922298669815063, -0.08073419332504272, 3.2082576751708984], [1.984435796737671, -0.16192078590393066, 3.454453468322754]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 326, "image_id": 47, "category_id": 50, "category_name": "plastic_bag", "bbox2D_proj": [427.0, 337.0, 470.0, 425.0], "bbox2D_tight": [427.0, 337.0, 470.0, 425.0], "bbox2D_trunc": [427.0, 337.0, 470.0, 425.0], "center_cam": [0.9936064810192016, 0.6306640968637522, 2.2758363844123837], "dimensions": [0.16210937550770382, 0.4013671996758645, 0.2075195348748685], "R_cam": [[0.7622320055961609, -0.06077384948730469, 0.6444448828697205], [0.12191379070281982, 0.9912441372871399, -0.050717927515506744], [-0.6357197165489197, 0.11722563207149506, 0.7629669904708862]], "bbox3D_cam": [[0.8744785785675049, 0.4231988787651062, 2.2564313411712646], [1.0326565504074097, 0.44849836826324463, 2.124506950378418], [1.0082639455795288, 0.8463512063026428, 2.1715574264526367], [0.8500859141349792, 0.8210517168045044, 2.3034818172454834], [0.9789490699768066, 0.4149770140647888, 2.380115509033203], [1.1371270418167114, 0.44027650356292725, 2.2481911182403564], [1.1127344369888306, 0.8381293416023254, 2.295241594314575], [0.9545564651489258, 0.812829852104187, 2.427165985107422]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 327, "image_id": 47, "category_id": 45, "category_name": "person", "bbox2D_proj": [390.0, 112.0, 423.0, 219.0], "bbox2D_tight": [390.0, 112.0, 423.0, 219.0], "bbox2D_trunc": [390.0, 112.0, 423.0, 219.0], "center_cam": [1.2550157982353527, -0.7617732153269574, 3.749420336420319], "dimensions": [0.24804688018835416, 0.8459472880102578, 0.2832031321010299], "R_cam": [[0.5866643190383911, 0.06942588090896606, 0.8068488240242004], [0.0812121033668518, 0.9862524271011353, -0.14391252398490906], [-0.8057478666305542, 0.1499541997909546, 0.5729608535766602]], "bbox3D_cam": [[1.0425097942352295, -1.1725832223892212, 3.7290282249450684], [1.2086549997329712, -1.1495836973190308, 3.500838041305542], [1.2673856019973755, -0.3152661919593811, 3.6276912689208984], [1.1012403964996338, -0.33826571702957153, 3.855881690979004], [1.2426460981369019, -1.208280324935913, 3.8711495399475098], [1.4087913036346436, -1.1852807998657227, 3.6429591178894043], [1.4675219058990479, -0.3509632349014282, 3.76981258392334], [1.3013767004013062, -0.37396275997161865, 3.998002767562866]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 328, "image_id": 47, "category_id": 45, "category_name": "person", "bbox2D_proj": [382.0, 124.0, 397.0, 196.0], "bbox2D_tight": [382.0, 124.0, 397.0, 196.0], "bbox2D_trunc": [382.0, 124.0, 397.0, 196.0], "center_cam": [1.198197124296816, -0.8332326433291306, 3.819917318817347], "dimensions": [0.1542968791234888, 0.5189209116308342, 0.16992187870303688], "R_cam": [[0.16789963841438293, 0.045925021171569824, 0.9847338199615479], [0.07521986961364746, 0.9954053163528442, -0.059247881174087524], [-0.9829301834106445, 0.08401930332183838, 0.16367363929748535]], "bbox3D_cam": [[1.0960458517074585, -1.0933208465576172, 3.8690009117126465], [1.1245756149291992, -1.080539345741272, 3.701979637145996], [1.1484071016311646, -0.5640027523040771, 3.7455790042877197], [1.1198773384094238, -0.5767842531204224, 3.91260027885437], [1.247987151145935, -1.1024625301361084, 3.8942553997039795], [1.2765169143676758, -1.0896810293197632, 3.727234125137329], [1.3003484010696411, -0.5731444358825684, 3.7708334922790527], [1.2718186378479004, -0.5859259963035583, 3.937854766845703]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 329, "image_id": 47, "category_id": 45, "category_name": "person", "bbox2D_proj": [274.0, 125.0, 308.0, 216.0], "bbox2D_tight": [274.0, 125.0, 308.0, 216.0], "bbox2D_trunc": [274.0, 125.0, 308.0, 216.0], "center_cam": [0.3569748050144198, -0.8065091954347767, 4.282871540212925], "dimensions": [0.2656250152951198, 0.8361206270410688, 0.28027345456115366], "R_cam": [[-0.926406979560852, 0.16526317596435547, 0.3383168578147888], [0.18924880027770996, 0.9811569452285767, 0.03893519937992096], [-0.32550740242004395, 0.10009592026472092, -0.9402265548706055]], "bbox3D_cam": [[0.3727758228778839, -1.2483837604522705, 4.411515235900879], [0.11312849819660187, -1.1953423023223877, 4.320283889770508], [0.2513083815574646, -0.37497678399086, 4.403975963592529], [0.5109556913375854, -0.4280182421207428, 4.4952073097229], [0.46264123916625977, -1.238041639328003, 4.161767482757568], [0.20299391448497772, -1.1850001811981201, 4.070536136627197], [0.34117379784584045, -0.36463460326194763, 4.154228210449219], [0.6008211374282837, -0.41767606139183044, 4.24545955657959]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 330, "image_id": 47, "category_id": 8, "category_name": "boat", "bbox2D_proj": [0.0, 367.0, 390.0, 512.0], "bbox2D_tight": [0.0, 367.0, 390.0, 512.0], "bbox2D_trunc": [0.0, 367.0, 390.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 331, "image_id": 47, "category_id": 45, "category_name": "person", "bbox2D_proj": [364.0, 120.0, 389.0, 209.0], "bbox2D_tight": [364.0, 120.0, 389.0, 209.0], "bbox2D_trunc": [364.0, 120.0, 389.0, 209.0], "center_cam": [1.1997954652082852, -0.8301821817938559, 4.262001306155642], "dimensions": [0.28100586032212593, 0.909667993541333, 0.3320312497804971], "R_cam": [[0.38044458627700806, 0.1339864730834961, -0.9150462746620178], [-0.2002546787261963, 0.9779092073440552, 0.05993220955133438], [0.9028621912002563, 0.1604413539171219, 0.3988715410232544]], "bbox3D_cam": [[1.2042608261108398, -1.2501437664031982, 3.983095407485962], [1.3305803537368774, -1.3166345357894897, 4.28287410736084], [1.4524635076522827, -0.4270619750022888, 4.4288225173950195], [1.3261439800262451, -0.36057114601135254, 4.129044055938721], [0.9471274614334106, -1.233302354812622, 4.095180511474609], [1.0734469890594482, -1.2997932434082031, 4.394958972930908], [1.1953301429748535, -0.4102206826210022, 4.540907382965088], [1.069010615348816, -0.3437298536300659, 4.241128921508789]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 332, "image_id": 48, "category_id": 45, "category_name": "person", "bbox2D_proj": [306.0, 254.0, 347.0, 309.0], "bbox2D_tight": [306.0, 254.0, 347.0, 309.0], "bbox2D_trunc": [306.0, 254.0, 347.0, 309.0], "center_cam": [1.524876030199513, 0.5619946312307099, 9.244276332769106], "dimensions": [0.7148437960687797, 1.1347656570711209, 1.0156251041847124], "R_cam": [[0.5306779742240906, 0.03972649574279785, 0.8466421365737915], [0.01596200466156006, 0.9982554912567139, -0.056845732033252716], [-0.8474233150482178, 0.04368093982338905, 0.5291181802749634]], "bbox3D_cam": [[0.9302424788475037, 0.007813811302185059, 9.460705757141113], [1.4692124128341675, 0.024025321006774902, 8.600041389465332], [1.5142927169799805, 1.156811237335205, 8.649609565734863], [0.9753227829933167, 1.1405997276306152, 9.510273933410645], [1.535459280014038, -0.03282201290130615, 9.838942527770996], [2.0744292736053467, -0.01661050319671631, 8.978278160095215], [2.11950945854187, 1.1161754131317139, 9.027846336364746], [1.580539584159851, 1.099963903427124, 9.888510704040527]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 333, "image_id": 48, "category_id": 31, "category_name": "hat", "bbox2D_proj": [389.0, 267.0, 444.0, 292.0], "bbox2D_tight": [389.0, 267.0, 444.0, 292.0], "bbox2D_trunc": [389.0, 267.0, 444.0, 292.0], "center_cam": [3.3628241496113347, 0.49033415651278, 9.408909980055771], "dimensions": [0.9258649366907964, 0.33238004975385366, 1.0056762379705764], "R_cam": [[-0.015859227627515793, -0.06194073706865311, -0.9979538321495056], [0.09872055053710938, 0.9931056499481201, -0.063208669424057], [0.9949887990951538, -0.0995209813117981, -0.009635062888264656]], "bbox3D_cam": [[3.8430778980255127, 0.3049107789993286, 8.929591178894043], [3.8271286487579346, 0.40419167280197144, 9.930228233337402], [3.8065409660339355, 0.7342802286148071, 9.897149085998535], [3.8224902153015137, 0.6349992752075195, 8.896512985229492], [2.919107437133789, 0.24638807773590088, 8.920670509338379], [2.903158187866211, 0.3456690013408661, 9.921306610107422], [2.882570505142212, 0.6757575273513794, 9.888228416442871], [2.89851975440979, 0.5764766335487366, 8.887591361999512]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 334, "image_id": 48, "category_id": 45, "category_name": "person", "bbox2D_proj": [132.0, 197.0, 186.0, 306.0], "bbox2D_tight": [132.0, 197.0, 186.0, 306.0], "bbox2D_trunc": [132.0, 197.0, 186.0, 306.0], "center_cam": [-2.015844453510778, -0.06255663948097057, 9.321221231655038], "dimensions": [0.8281251408669129, 2.3222656737204233, 0.9843751374115255], "R_cam": [[0.8677083253860474, -0.04450798034667969, -0.4950772523880005], [-0.07045590877532959, 0.9749151468276978, -0.21113185584545135], [0.4920552968978882, 0.21808193624019623, 0.8428061008453369]], "bbox3D_cam": [[-2.1862471103668213, -1.0724631547927856, 8.47684097290039], [-1.3320965766906738, -1.1418181657791138, 8.96120834350586], [-1.4354557991027832, 1.122193455696106, 9.467652320861816], [-2.2896060943603516, 1.191548466682434, 8.983285903930664], [-2.5962328910827637, -1.2473067045211792, 9.174790382385254], [-1.7420824766159058, -1.3166617155075073, 9.659156799316406], [-1.8454416990280151, 0.9473499059677124, 10.16560173034668], [-2.699592113494873, 1.0167049169540405, 9.681234359741211]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 335, "image_id": 49, "category_id": 45, "category_name": "person", "bbox2D_proj": [286.0, 247.0, 321.0, 369.0], "bbox2D_tight": [286.0, 247.0, 321.0, 369.0], "bbox2D_trunc": [286.0, 247.0, 321.0, 369.0], "center_cam": [0.6272917199032108, 0.6449818010185231, 5.751261581425357], "dimensions": [0.441406248746435, 1.4935302403494075, 0.4947510165348186], "R_cam": [[0.9984079003334045, -0.03727245330810547, 0.042335085570812225], [0.026918411254882812, 0.9744297862052917, 0.223073810338974], [-0.04956706613302231, -0.22157907485961914, 0.973881721496582]], "bbox3D_cam": [[0.3988003730773926, -0.13858044147491455, 5.714052200317383], [0.8927637338638306, -0.12526249885559082, 5.689528942108154], [0.8370961546897888, 1.330077886581421, 5.358593940734863], [0.3431328237056732, 1.3167599439620972, 5.383117198944092], [0.41748732328414917, -0.04011428356170654, 6.143929481506348], [0.9114506244659424, -0.026796340942382812, 6.119406223297119], [0.8557831048965454, 1.428544044494629, 5.788471221923828], [0.3618197739124298, 1.4152261018753052, 5.812994480133057]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 336, "image_id": 49, "category_id": 13, "category_name": "building", "bbox2D_proj": [333.0, 0.0, 445.0, 254.0], "bbox2D_tight": [333.0, 0.0, 445.0, 254.0], "bbox2D_trunc": [333.0, 0.0, 445.0, 254.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 337, "image_id": 49, "category_id": 45, "category_name": "person", "bbox2D_proj": [188.0, 234.0, 259.0, 436.0], "bbox2D_tight": [188.0, 234.0, 259.0, 436.0], "bbox2D_trunc": [188.0, 234.0, 259.0, 436.0], "center_cam": [-0.33633003207097095, 0.6519776707604725, 3.8859931818565827], "dimensions": [0.6376957981933935, 1.65563960815824, 0.6738286262978364], "R_cam": [[-0.6310344338417053, -0.013306140899658203, -0.7756408452987671], [0.0011141300201416016, 0.9998364448547363, -0.018058927729725838], [0.7757542133331299, -0.012260081246495247, -0.6309164762496948]], "bbox3D_cam": [[0.13460096716880798, -0.17032402753829956, 3.8359460830688477], [-0.29060792922973633, -0.16957324743270874, 4.358671188354492], [-0.3126382827758789, 1.485795497894287, 4.338373184204102], [0.1125706136226654, 1.4850447177886963, 3.815647840499878], [-0.36002177000045776, -0.18184012174606323, 3.4336135387420654], [-0.7852306365966797, -0.1810893416404724, 3.95633864402771], [-0.8072609901428223, 1.4742794036865234, 3.9360404014587402], [-0.38205212354660034, 1.4735286235809326, 3.4133152961730957]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 338, "image_id": 49, "category_id": 45, "category_name": "person", "bbox2D_proj": [137.0, 251.0, 193.0, 438.0], "bbox2D_tight": [137.0, 251.0, 193.0, 438.0], "bbox2D_trunc": [137.0, 251.0, 193.0, 438.0], "center_cam": [-0.7819236965179241, 0.772293320014745, 4.000997828178177], "dimensions": [0.5874024168002246, 1.578750570489631, 0.7890625465263913], "R_cam": [[-0.33800816535949707, -0.00037682056427001953, -0.9411431550979614], [-0.00807046890258789, 0.9999643564224243, 0.002498030662536621], [0.9411086440086365, 0.008439719676971436, -0.3379991054534912]], "bbox3D_cam": [[-0.37185657024383545, -0.01460343599319458, 3.7223098278045654], [-0.6385661363601685, -0.020971477031707764, 4.464903354644775], [-0.6391611099243164, 1.557722806930542, 4.478227615356445], [-0.3724515438079834, 1.5640907287597656, 3.7356340885162354], [-0.9246863126754761, -0.013136088848114014, 3.523768424987793], [-1.191395878791809, -0.019504129886627197, 4.266361713409424], [-1.191990852355957, 1.559190034866333, 4.279685974121094], [-0.925281286239624, 1.5655581951141357, 3.537092685699463]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 339, "image_id": 49, "category_id": 45, "category_name": "person", "bbox2D_proj": [322.0, 248.0, 348.0, 363.0], "bbox2D_tight": [322.0, 248.0, 348.0, 363.0], "bbox2D_trunc": [322.0, 248.0, 348.0, 363.0], "center_cam": [1.1245805885673068, 0.6384721443592578, 6.298178352932386], "dimensions": [0.41086654430635106, 1.4709722046323088, 1.1804552370022225], "R_cam": [[0.16247761249542236, -0.05535613000392914, -0.9851582646369934], [-0.04058825969696045, 0.9972052574157715, -0.06272707879543304], [0.9858770966529846, 0.05017760768532753, 0.15977680683135986]], "bbox3D_cam": [[1.2717798948287964, -0.05811578035354614, 5.646557807922363], [1.4635772705078125, -0.10602837800979614, 6.810341835021973], [1.3821499347686768, 1.3608324527740479, 6.884151458740234], [1.1903525590896606, 1.4087450504302979, 5.720367908477783], [0.867011308670044, -0.0838882327079773, 5.712204933166504], [1.05880868434906, -0.1318008303642273, 6.875988483428955], [0.9773813486099243, 1.3350601196289062, 6.949798583984375], [0.7855839729309082, 1.3829727172851562, 5.786014556884766]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 340, "image_id": 49, "category_id": 45, "category_name": "person", "bbox2D_proj": [89.0, 261.0, 107.0, 340.0], "bbox2D_tight": [89.0, 261.0, 107.0, 340.0], "bbox2D_trunc": [89.0, 261.0, 107.0, 340.0], "center_cam": [-2.4767916208018272, 0.6604865576893258, 7.130253513908712], "dimensions": [0.35778814147031585, 1.205078097517068, 0.4531250419351227], "R_cam": [[-0.3666246831417084, -0.034464120864868164, -0.9297304153442383], [-0.15239667892456055, 0.9880406856536865, 0.023469656705856323], [0.9178025722503662, 0.15029239654541016, -0.36749231815338135]], "bbox3D_cam": [[-2.206639051437378, 0.0954822301864624, 6.897498607635498], [-2.3727657794952393, 0.026427507400512695, 7.31337833404541], [-2.4142978191375732, 1.2170937061309814, 7.494492053985596], [-2.248170852661133, 1.2861484289169312, 7.078612804412842], [-2.53928542137146, 0.10387945175170898, 6.766014575958252], [-2.7054123878479004, 0.03482472896575928, 7.181893825531006], [-2.7469441890716553, 1.225490927696228, 7.36300802230835], [-2.580817461013794, 1.2945456504821777, 6.9471282958984375]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 341, "image_id": 49, "category_id": 45, "category_name": "person", "bbox2D_proj": [105.0, 262.0, 132.0, 341.0], "bbox2D_tight": [105.0, 262.0, 132.0, 341.0], "bbox2D_trunc": [105.0, 262.0, 132.0, 341.0], "center_cam": [-2.1443811034259594, 0.6780864048839375, 6.922143961646144], "dimensions": [0.3664551086554472, 1.1907958709130777, 0.5664062540429291], "R_cam": [[0.23093533515930176, 0.030639588832855225, 0.9724866151809692], [0.007978200912475586, 0.99941086769104, -0.033382564783096313], [-0.9729365110397339, 0.015467941761016846, 0.23055481910705566]], "bbox3D_cam": [[-2.4062118530273438, 0.08689641952514648, 7.146228790283203], [-2.2754085063934326, 0.09141528606414795, 6.595151901245117], [-2.2389230728149414, 1.281509518623352, 6.613570690155029], [-2.3697261810302734, 1.2769906520843506, 7.164648056030273], [-2.0498390197753906, 0.07466328144073486, 7.230717182159424], [-1.9190359115600586, 0.07918214797973633, 6.67963981628418], [-1.8825503587722778, 1.2692763805389404, 6.69805908203125], [-2.0133535861968994, 1.264757513999939, 7.249135971069336]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 342, "image_id": 49, "category_id": 45, "category_name": "person", "bbox2D_proj": [74.0, 256.0, 94.0, 319.0], "bbox2D_tight": [74.0, 256.0, 94.0, 319.0], "bbox2D_trunc": [74.0, 256.0, 94.0, 319.0], "center_cam": [-3.2598581553586303, 0.5781776976374235, 8.702177932511933], "dimensions": [0.34375004313312507, 1.178955056080568, 0.3906250164531322], "R_cam": [[0.1197541356086731, 0.1006772518157959, -0.9876856803894043], [0.12991046905517578, 0.9847021698951721, 0.1161244809627533], [0.9842673540115356, -0.14221712946891785, 0.1048431396484375]], "bbox3D_cam": [[-3.1728360652923584, -0.047614216804504395, 8.575752258300781], [-3.1260571479797363, 0.0031321048736572266, 8.96023178100586], [-3.0073630809783936, 1.1640517711639404, 8.792564392089844], [-3.0541419982910156, 1.1133054494857788, 8.408084869384766], [-3.5123531818389893, -0.007696390151977539, 8.611791610717773], [-3.465574264526367, 0.04304993152618408, 8.996271133422852], [-3.3468801975250244, 1.2039695978164673, 8.828603744506836], [-3.3936591148376465, 1.1532232761383057, 8.444124221801758]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 343, "image_id": 49, "category_id": 45, "category_name": "person", "bbox2D_proj": [362.0, 245.0, 370.0, 255.0], "bbox2D_tight": [362.0, 245.0, 370.0, 255.0], "bbox2D_trunc": [362.0, 245.0, 370.0, 255.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 344, "image_id": 49, "category_id": 13, "category_name": "building", "bbox2D_proj": [205.0, 27.0, 269.0, 254.0], "bbox2D_tight": [205.0, 27.0, 269.0, 254.0], "bbox2D_trunc": [205.0, 27.0, 269.0, 254.0], "center_cam": [0.29522664875259863, -3.812920011837596, 16.864017373697937], "dimensions": [2.0703126931722817, 9.26757790635822, 2.9453128783428104], "R_cam": [[0.8382611870765686, 0.024386227130889893, 0.5447234511375427], [0.05620777606964111, 0.9898130297660828, -0.13080887496471405], [-0.542364239692688, 0.1402697116136551, 0.8283510208129883]], "bbox3D_cam": [[-1.6161187887191772, -8.346872329711914, 16.15528106689453], [0.8528226613998413, -8.18132209777832, 14.55784797668457], [1.0788241624832153, 0.9918465614318848, 15.857809066772461], [-1.3901172876358032, 0.8262972831726074, 17.45524024963379], [-0.4883708655834198, -8.617687225341797, 17.87022590637207], [1.980570673942566, -8.452136993408203, 16.272794723510742], [2.2065720558166504, 0.721031665802002, 17.57275390625], [-0.2623693645000458, 0.5554823875427246, 19.17018699645996]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 345, "image_id": 50, "category_id": 45, "category_name": "person", "bbox2D_proj": [126.0, 251.0, 259.0, 512.0], "bbox2D_tight": [126.0, 251.0, 259.0, 512.0], "bbox2D_trunc": [126.0, 251.0, 259.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 346, "image_id": 50, "category_id": 45, "category_name": "person", "bbox2D_proj": [284.0, 246.0, 324.0, 338.0], "bbox2D_tight": [284.0, 246.0, 324.0, 338.0], "bbox2D_trunc": [284.0, 246.0, 324.0, 338.0], "center_cam": [0.5480933125003313, 0.39569316579501, 5.007570625990812], "dimensions": [0.3789062835441015, 0.9499511749508962, 0.4603271721236317], "R_cam": [[0.9912614822387695, -0.03897899389266968, 0.12602058053016663], [0.04848837852478027, 0.9961309432983398, -0.07329344749450684], [-0.12267611920833588, 0.07876350730657578, 0.9893163442611694]], "bbox3D_cam": [[0.3145800828933716, -0.07471933960914612, 4.810966491699219], [0.7708846926689148, -0.05239883065223694, 4.754495143890381], [0.7338565587997437, 0.8938770294189453, 4.82931661605835], [0.27755194902420044, 0.8715565204620361, 4.8857879638671875], [0.3623300790786743, -0.10249069333076477, 5.185824871063232], [0.8186346888542175, -0.08017018437385559, 5.1293535232543945], [0.7816065549850464, 0.8661056756973267, 5.204174995422363], [0.3253019452095032, 0.8437851667404175, 5.260646343231201]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 347, "image_id": 50, "category_id": 45, "category_name": "person", "bbox2D_proj": [449.0, 231.0, 482.0, 339.0], "bbox2D_tight": [449.0, 231.0, 482.0, 339.0], "bbox2D_trunc": [449.0, 231.0, 482.0, 339.0], "center_cam": [2.4984121432549724, 0.3380995885394662, 5.3046301754484], "dimensions": [0.3798828319489843, 1.209960936521861, 0.49609379309492857], "R_cam": [[-0.1751691848039627, -0.04189348220825195, 0.9836466312408447], [-0.04407227039337158, 0.9984264969825745, 0.03467443957924843], [-0.9835515022277832, -0.037277672439813614, -0.17673981189727783]], "bbox3D_cam": [[2.3803718090057373, -0.2615830898284912, 5.604719638824463], [2.293471336364746, -0.2834470272064209, 5.116786003112793], [2.2427821159362793, 0.9246100187301636, 5.071681499481201], [2.3296823501586914, 0.9464739561080933, 5.559615135192871], [2.754042148590088, -0.24841082096099854, 5.53757905960083], [2.667141914367676, -0.2702747583389282, 5.04964542388916], [2.61645245552063, 0.9377822875976562, 5.004540920257568], [2.703352928161621, 0.9596462249755859, 5.492474555969238]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 348, "image_id": 50, "category_id": 45, "category_name": "person", "bbox2D_proj": [252.0, 236.0, 278.0, 303.0], "bbox2D_tight": [252.0, 236.0, 278.0, 303.0], "bbox2D_trunc": [252.0, 236.0, 278.0, 303.0], "center_cam": [0.1410512451816365, 0.17851070451529646, 6.679523989073015], "dimensions": [0.3896484894974595, 0.9737548812369591, 0.42578132029977045], "R_cam": [[0.2831880450248718, 0.015627920627593994, 0.9589370489120483], [0.019550085067749023, 0.9995654225349426, -0.022063493728637695], [-0.9588651061058044, 0.024995476007461548, 0.282759428024292]], "bbox3D_cam": [[-0.11366991698741913, -0.30801868438720703, 6.816399097442627], [0.006906285881996155, -0.29969459772109985, 6.408132553100586], [0.022124066948890686, 0.6736370921134949, 6.432471752166748], [-0.0984521359205246, 0.6653130054473877, 6.840738773345947], [0.25997841358184814, -0.3166157007217407, 6.926576137542725], [0.3805546164512634, -0.30829161405563354, 6.518309116363525], [0.39577239751815796, 0.6650400757789612, 6.542648792266846], [0.2751961946487427, 0.656715989112854, 6.950915336608887]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 349, "image_id": 50, "category_id": 45, "category_name": "person", "bbox2D_proj": [91.0, 241.0, 111.0, 302.0], "bbox2D_tight": [91.0, 241.0, 111.0, 302.0], "bbox2D_trunc": [91.0, 241.0, 111.0, 302.0], "center_cam": [-2.1039191666489927, 0.20734712505974606, 5.964140639031646], "dimensions": [0.2382812638535191, 0.7722167951889, 0.3398437799209365], "R_cam": [[0.3020220398902893, 0.008868932723999023, -0.9532597064971924], [0.01625502109527588, 0.9997634291648865, 0.014451712369918823], [0.9531623125076294, -0.019859999418258667, 0.3018064498901367]], "bbox3D_cam": [[-2.0450918674468994, -0.18315380811691284, 5.773888111114502], [-1.9424514770507812, -0.17762964963912964, 6.097814083099365], [-1.9356027841567993, 0.5944044589996338, 6.082478046417236], [-2.038243055343628, 0.5888803005218506, 5.758551597595215], [-2.272235870361328, -0.17971020936965942, 5.8458027839660645], [-2.16959547996521, -0.17418605089187622, 6.169729232788086], [-2.1627466678619385, 0.5978480577468872, 6.154392719268799], [-2.2653870582580566, 0.592323899269104, 5.8304667472839355]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 350, "image_id": 50, "category_id": 13, "category_name": "building", "bbox2D_proj": [225.0, 0.0, 313.0, 239.0], "bbox2D_tight": [225.0, 0.0, 313.0, 239.0], "bbox2D_trunc": [225.0, 0.0, 313.0, 239.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 351, "image_id": 50, "category_id": 13, "category_name": "building", "bbox2D_proj": [59.0, 0.0, 133.0, 234.0], "bbox2D_tight": [59.0, 0.0, 133.0, 234.0], "bbox2D_trunc": [59.0, 0.0, 133.0, 234.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 352, "image_id": 50, "category_id": 45, "category_name": "person", "bbox2D_proj": [359.0, 235.0, 388.0, 335.0], "bbox2D_tight": [359.0, 235.0, 388.0, 335.0], "bbox2D_trunc": [359.0, 235.0, 388.0, 335.0], "center_cam": [1.3575449137729803, 0.32429995640704323, 5.380371312985019], "dimensions": [0.2617187676886532, 1.1900634766498335, 0.4970703279724229], "R_cam": [[0.9923455119132996, 0.014558672904968262, -0.12263114750385284], [-0.024984002113342285, 0.996160089969635, -0.08390956372022629], [0.12093864381313324, 0.0863310918211937, 0.988898754119873]], "bbox3D_cam": [[1.11829674243927, -0.2512572109699249, 5.16953706741333], [1.6115622520446777, -0.2636759579181671, 5.229652404785156], [1.6288880109786987, 0.9218178987503052, 5.332391738891602], [1.135622501373291, 0.9342366456985474, 5.272276878356934], [1.086201786994934, -0.27321794629096985, 5.428350448608398], [1.5794672966003418, -0.28563669323921204, 5.488465309143066], [1.5967930555343628, 0.8998571634292603, 5.59120512008667], [1.103527545928955, 0.9122759103775024, 5.531089782714844]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 353, "image_id": 50, "category_id": 45, "category_name": "person", "bbox2D_proj": [10.0, 232.0, 26.0, 252.0], "bbox2D_tight": [10.0, 232.0, 26.0, 252.0], "bbox2D_trunc": [10.0, 232.0, 26.0, 252.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 354, "image_id": 50, "category_id": 13, "category_name": "building", "bbox2D_proj": [136.0, 144.0, 188.0, 236.0], "bbox2D_tight": [136.0, 144.0, 188.0, 236.0], "bbox2D_trunc": [136.0, 144.0, 188.0, 236.0], "center_cam": [-2.430489145707434, -1.5588201137498294, 11.055022504225375], "dimensions": [0.7170074985666967, 1.9680658528144213, 2.7922580910475223], "R_cam": [[0.09480023384094238, 0.02576342225074768, -0.9951629042625427], [0.0005193352699279785, 0.9996637105941772, 0.025929391384124756], [0.9954962730407715, -0.002974987030029297, 0.09475484490394592]], "bbox3D_cam": [[-2.2314248085021973, -2.5525429248809814, 9.634138107299805], [-1.966718077659607, -2.5510926246643066, 12.41382122039795], [-1.9160139560699463, -0.5836888551712036, 12.407965660095215], [-2.180720806121826, -0.5851390361785889, 9.628283500671387], [-2.9449641704559326, -2.5339512825012207, 9.702078819274902], [-2.6802573204040527, -2.532501220703125, 12.48176097869873], [-2.6295533180236816, -0.5650973320007324, 12.475906372070312], [-2.8942599296569824, -0.5665475130081177, 9.696223258972168]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 355, "image_id": 51, "category_id": 15, "category_name": "car", "bbox2D_proj": [40.0, 345.0, 403.0, 512.0], "bbox2D_tight": [40.0, 345.0, 403.0, 512.0], "bbox2D_trunc": [40.0, 345.0, 403.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 356, "image_id": 51, "category_id": 43, "category_name": "palm_tree", "bbox2D_proj": [116.0, 205.0, 180.0, 284.0], "bbox2D_tight": [116.0, 205.0, 180.0, 284.0], "bbox2D_trunc": [116.0, 205.0, 180.0, 284.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 357, "image_id": 51, "category_id": 15, "category_name": "car", "bbox2D_proj": [223.0, 277.0, 280.0, 322.0], "bbox2D_tight": [223.0, 277.0, 280.0, 322.0], "bbox2D_trunc": [223.0, 277.0, 280.0, 322.0], "center_cam": [-0.20216308409143602, 1.3181075743824635, 15.041272580792713], "dimensions": [1.7529296315241751, 1.3378906934699641, 4.101562608702274], "R_cam": [[0.003420710563659668, -0.0023404955863952637, 0.9999914169311523], [0.09249818325042725, 0.9957108497619629, 0.0020140409469604492], [-0.9957069754600525, 0.09249043464660645, 0.003622502088546753]], "bbox3D_cam": [[-1.0840697288513184, 0.4605727195739746, 17.018203735351562], [-1.0700397491455078, 0.8399597406387329, 12.934248924255371], [-1.0731710195541382, 2.172111988067627, 13.057991027832031], [-1.0872011184692383, 1.7927249670028687, 17.141944885253906], [0.6688448786735535, 0.46410322189331055, 17.024553298950195], [0.6828749179840088, 0.8434902429580688, 12.940598487854004], [0.6797435879707336, 2.175642490386963, 13.064340591430664], [0.6657135486602783, 1.7962554693222046, 17.148296356201172]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 358, "image_id": 51, "category_id": 45, "category_name": "person", "bbox2D_proj": [197.0, 270.0, 216.0, 329.0], "bbox2D_tight": [197.0, 270.0, 216.0, 329.0], "bbox2D_trunc": [197.0, 270.0, 216.0, 329.0], "center_cam": [-1.3522072930861175, 1.1447910600581976, 12.225657368814538], "dimensions": [0.45974735938740985, 1.5585938337401797, 0.4843750769292989], "R_cam": [[0.1394551396369934, 0.0095367431640625, 0.9901824593544006], [0.30146270990371704, 0.9520792365074158, -0.05162709951400757], [-0.9432245492935181, 0.30570274591445923, 0.1298973560333252]], "bbox3D_cam": [[-1.6210304498672485, 0.34169578552246094, 12.186001777648926], [-1.553481936454773, 0.48771679401397705, 11.729126930236816], [-1.5386179685592651, 1.9716216325759888, 12.20559310913086], [-1.6061666011810303, 1.8256006240844727, 12.662467956542969], [-1.1657966375350952, 0.31796038150787354, 12.245721817016602], [-1.09824800491333, 0.46398138999938965, 11.788846969604492], [-1.0833841562271118, 1.9478862285614014, 12.265313148498535], [-1.1509326696395874, 1.8018652200698853, 12.722187995910645]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 359, "image_id": 51, "category_id": 63, "category_name": "streetlight", "bbox2D_proj": [448.0, 163.0, 470.0, 277.0], "bbox2D_tight": [448.0, 163.0, 470.0, 277.0], "bbox2D_trunc": [448.0, 163.0, 470.0, 277.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 360, "image_id": 51, "category_id": 45, "category_name": "person", "bbox2D_proj": [370.0, 280.0, 395.0, 348.0], "bbox2D_tight": [370.0, 280.0, 395.0, 348.0], "bbox2D_trunc": [370.0, 280.0, 395.0, 348.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 361, "image_id": 51, "category_id": 63, "category_name": "streetlight", "bbox2D_proj": [79.0, 34.0, 132.0, 321.0], "bbox2D_tight": [79.0, 34.0, 132.0, 321.0], "bbox2D_trunc": [79.0, 34.0, 132.0, 321.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 362, "image_id": 51, "category_id": 15, "category_name": "car", "bbox2D_proj": [2.0, 276.0, 97.0, 323.0], "bbox2D_tight": [2.0, 276.0, 97.0, 323.0], "bbox2D_trunc": [2.0, 276.0, 97.0, 323.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 363, "image_id": 52, "category_id": 13, "category_name": "building", "bbox2D_proj": [286.0, 0.0, 512.0, 276.0], "bbox2D_tight": [286.0, 0.0, 512.0, 276.0], "bbox2D_trunc": [286.0, 0.0, 512.0, 276.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 364, "image_id": 52, "category_id": 45, "category_name": "person", "bbox2D_proj": [463.0, 291.0, 488.0, 354.0], "bbox2D_tight": [463.0, 291.0, 488.0, 354.0], "bbox2D_trunc": [463.0, 291.0, 488.0, 354.0], "center_cam": [2.181842369491071, 0.6616093857723677, 4.40057855476786], "dimensions": [0.21093753165596102, 0.6240234277054625, 0.23144533608220663], "R_cam": [[-0.9825729727745056, 0.17177867889404297, -0.07101070135831833], [0.15746158361434937, 0.9722360968589783, 0.17309780418872833], [0.09877367317676544, 0.15889975428581238, -0.9823415279388428]], "bbox3D_cam": [[2.2494406700134277, 0.32178205251693726, 4.443175792694092], [2.022028923034668, 0.35822582244873047, 4.466036796569824], [2.1292226314544678, 0.9649239182472229, 4.5651936531066895], [2.3566346168518066, 0.9284801483154297, 4.542333126068115], [2.234462022781372, 0.35829490423202515, 4.235963344573975], [2.007050037384033, 0.39473867416381836, 4.258823871612549], [2.114243984222412, 1.001436710357666, 4.357981204986572], [2.341655731201172, 0.9649930000305176, 4.33512020111084]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 365, "image_id": 52, "category_id": 62, "category_name": "statue", "bbox2D_proj": [412.0, 178.0, 444.0, 234.0], "bbox2D_tight": [412.0, 178.0, 444.0, 234.0], "bbox2D_trunc": [412.0, 178.0, 444.0, 234.0], "center_cam": [2.650924711501039, -0.763071376859052, 6.857024178718106], "dimensions": [0.2265625116095583, 0.7753906159315942, 0.4580078226115567], "R_cam": [[0.954082727432251, 0.02621215581893921, 0.29839450120925903], [-0.06562316417694092, 0.9902552366256714, 0.12283440679311752], [-0.29226693511009216, -0.13677577674388885, 0.9465055465698242]], "bbox3D_cam": [[2.3884711265563965, -1.1458755731582642, 6.869760513305664], [2.825448513031006, -1.175931453704834, 6.735899925231934], [2.845773220062256, -0.4080968201160431, 6.629845142364502], [2.4087958335876465, -0.37804093956947327, 6.763705730438232], [2.456076145172119, -1.1180459260940552, 7.084203243255615], [2.8930535316467285, -1.148101806640625, 6.950342655181885], [2.9133782386779785, -0.3802671730518341, 6.844287872314453], [2.476400852203369, -0.3502112925052643, 6.978148460388184]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 366, "image_id": 52, "category_id": 13, "category_name": "building", "bbox2D_proj": [91.0, 133.0, 254.0, 283.0], "bbox2D_tight": [91.0, 133.0, 254.0, 283.0], "bbox2D_trunc": [91.0, 133.0, 254.0, 283.0], "center_cam": [-1.62069446763749, -0.74316906682859, 7.2166976923698165], "dimensions": [1.3398438241088564, 2.3767089512763233, 2.4453125982142945], "R_cam": [[0.7563251852989197, 0.11060196161270142, -0.6447786092758179], [-0.07893019914627075, 0.9938325881958008, 0.07789172977209091], [0.6494169235229492, -0.00801897794008255, 0.7603904008865356]], "bbox3D_cam": [[-2.244903087615967, -1.8798712491989136, 5.922811508178711], [-0.3954519033432007, -2.072880268096924, 7.510838508605957], [-0.13258326053619385, 0.28917038440704346, 7.491779804229736], [-1.982034683227539, 0.48217928409576416, 5.903752326965332], [-3.1088056564331055, -1.7755085229873657, 6.941615581512451], [-1.2593543529510498, -1.9685174226760864, 8.529643058776855], [-0.9964858293533325, 0.3935331106185913, 8.510583877563477], [-2.8459372520446777, 0.586542010307312, 6.9225568771362305]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 367, "image_id": 52, "category_id": 13, "category_name": "building", "bbox2D_proj": [69.0, 175.0, 123.0, 287.0], "bbox2D_tight": [69.0, 175.0, 123.0, 287.0], "bbox2D_trunc": [69.0, 175.0, 123.0, 287.0], "center_cam": [-2.5054771573793175, -0.2957185493607315, 6.495735776438104], "dimensions": [0.7910158900812847, 1.5068359115950014, 0.8515627880315266], "R_cam": [[0.768865168094635, 0.050251126289367676, 0.6374335885047913], [-0.005252242088317871, 0.9973698854446411, -0.07229138910770416], [-0.63938969373703, 0.052234482020139694, 0.7671068906784058]], "bbox3D_cam": [[-3.1228158473968506, -1.016326665878296, 6.425224781036377], [-2.468078851699829, -1.020799160003662, 5.880744457244873], [-2.3923585414886475, 0.48207324743270874, 5.959453105926514], [-3.04709529876709, 0.48654574155807495, 6.503933429718018], [-2.618595838546753, -1.0735104084014893, 7.032018184661865], [-1.963858962059021, -1.0779829025268555, 6.487537860870361], [-1.8881385326385498, 0.42488962411880493, 6.566246509552002], [-2.5428755283355713, 0.42936211824417114, 7.110726833343506]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 368, "image_id": 52, "category_id": 45, "category_name": "person", "bbox2D_proj": [241.0, 397.0, 289.0, 512.0], "bbox2D_tight": [241.0, 397.0, 289.0, 512.0], "bbox2D_trunc": [241.0, 397.0, 289.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 369, "image_id": 52, "category_id": 20, "category_name": "coat", "bbox2D_proj": [340.0, 414.0, 395.0, 512.0], "bbox2D_tight": [340.0, 414.0, 395.0, 512.0], "bbox2D_trunc": [340.0, 414.0, 395.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 370, "image_id": 52, "category_id": 13, "category_name": "building", "bbox2D_proj": [251.0, 167.0, 290.0, 262.0], "bbox2D_tight": [251.0, 167.0, 290.0, 262.0], "bbox2D_trunc": [251.0, 167.0, 290.0, 262.0], "center_cam": [0.4148124074585802, -0.7451818177843788, 7.668242990426149], "dimensions": [0.9492193591496076, 1.275878900084118, 0.9765630922656579], "R_cam": [[0.8563610315322876, 0.09013593196868896, -0.508449912071228], [-0.11540007591247559, 0.9931504726409912, -0.01830187439918518], [0.5033175945281982, 0.07434818148612976, 0.8608970642089844]], "bbox3D_cam": [[0.18048107624053955, -1.3137177228927612, 6.9664626121521], [1.016771674156189, -1.4264131784439087, 7.45798397064209], [1.1317741870880127, -0.15927338600158691, 7.55284309387207], [0.2954835891723633, -0.04657793045043945, 7.06132173538208], [-0.30214932560920715, -1.3310902118682861, 7.783642768859863], [0.5341412425041199, -1.4437856674194336, 8.275163650512695], [0.6491437554359436, -0.17664587497711182, 8.370023727416992], [-0.18714681267738342, -0.06395041942596436, 7.878501892089844]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 371, "image_id": 53, "category_id": 47, "category_name": "pipe", "bbox2D_proj": [215.0, 83.0, 286.0, 240.0], "bbox2D_tight": [215.0, 83.0, 286.0, 240.0], "bbox2D_trunc": [215.0, 83.0, 286.0, 240.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 372, "image_id": 53, "category_id": 47, "category_name": "pipe", "bbox2D_proj": [134.0, 181.0, 386.0, 512.0], "bbox2D_tight": [134.0, 181.0, 386.0, 512.0], "bbox2D_trunc": [134.0, 181.0, 386.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 373, "image_id": 53, "category_id": 47, "category_name": "pipe", "bbox2D_proj": [173.0, 349.0, 193.0, 454.0], "bbox2D_tight": [173.0, 349.0, 193.0, 454.0], "bbox2D_trunc": [173.0, 349.0, 193.0, 454.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 374, "image_id": 53, "category_id": 47, "category_name": "pipe", "bbox2D_proj": [216.0, 338.0, 253.0, 426.0], "bbox2D_tight": [216.0, 338.0, 253.0, 426.0], "bbox2D_trunc": [216.0, 338.0, 253.0, 426.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 375, "image_id": 53, "category_id": 47, "category_name": "pipe", "bbox2D_proj": [270.0, 281.0, 332.0, 353.0], "bbox2D_tight": [270.0, 281.0, 332.0, 353.0], "bbox2D_trunc": [270.0, 281.0, 332.0, 353.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 376, "image_id": 53, "category_id": 47, "category_name": "pipe", "bbox2D_proj": [32.0, 122.0, 63.0, 512.0], "bbox2D_tight": [32.0, 122.0, 63.0, 512.0], "bbox2D_trunc": [32.0, 122.0, 63.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 377, "image_id": 53, "category_id": 47, "category_name": "pipe", "bbox2D_proj": [270.0, 263.0, 348.0, 278.0], "bbox2D_tight": [270.0, 263.0, 348.0, 278.0], "bbox2D_trunc": [270.0, 263.0, 348.0, 278.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 378, "image_id": 53, "category_id": 47, "category_name": "pipe", "bbox2D_proj": [177.0, 224.0, 203.0, 295.0], "bbox2D_tight": [177.0, 224.0, 203.0, 295.0], "bbox2D_trunc": [177.0, 224.0, 203.0, 295.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 379, "image_id": 53, "category_id": 47, "category_name": "pipe", "bbox2D_proj": [364.0, 224.0, 390.0, 303.0], "bbox2D_tight": [364.0, 224.0, 390.0, 303.0], "bbox2D_trunc": [364.0, 224.0, 390.0, 303.0], "center_cam": [0.2321080986041487, 0.01888899728458903, 0.8563654371447937], "dimensions": [0.03724346719785875, 0.15450204678684898, 0.055147891841479176], "R_cam": [[-0.18012842535972595, 0.10048708319664001, 0.9784968495368958], [-0.06153641268610954, 0.9916684627532959, -0.11316779255867004], [-0.9817163348197937, -0.08059792220592499, -0.17244407534599304]], "bbox3D_cam": [[0.21109092235565186, -0.05391422659158707, 0.89287269115448], [0.20115721225738525, -0.057307831943035126, 0.8387331366539001], [0.21668267250061035, 0.09590698033571243, 0.8262805938720703], [0.22661638259887695, 0.09930058568716049, 0.8804201483726501], [0.24753352999687195, -0.05812899023294449, 0.8864502906799316], [0.23759981989860535, -0.06152259558439255, 0.8323107361793518], [0.25312528014183044, 0.09169221669435501, 0.819858193397522], [0.26305899024009705, 0.09508582204580307, 0.8739977478981018]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 380, "image_id": 53, "category_id": 47, "category_name": "pipe", "bbox2D_proj": [120.0, 136.0, 215.0, 158.0], "bbox2D_tight": [120.0, 136.0, 215.0, 158.0], "bbox2D_trunc": [120.0, 136.0, 215.0, 158.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 381, "image_id": 54, "category_id": 47, "category_name": "pipe", "bbox2D_proj": [364.0, 146.0, 398.0, 290.0], "bbox2D_tight": [364.0, 146.0, 398.0, 290.0], "bbox2D_trunc": [364.0, 146.0, 398.0, 290.0], "center_cam": [0.8806589546994403, -0.28051433226450573, 3.2214091214710456], "dimensions": [0.16457025651400473, 1.1948636716370802, 0.17332106874366035], "R_cam": [[0.9876648783683777, 0.12397067993879318, -0.09565241634845734], [-0.13020676374435425, 0.9895498752593994, -0.061948277056217194], [0.08697304874658585, 0.07363872975111008, 0.9934854507446289]], "bbox3D_cam": [[0.728874146938324, -0.8553215265274048, 3.0881288051605225], [0.900057315826416, -0.8778891563415527, 3.103203058242798], [1.0481853485107422, 0.30448779463768005, 3.1911911964416504], [0.8770022392272949, 0.327055424451828, 3.176116943359375], [0.7131326198577881, -0.8655164241790771, 3.251626968383789], [0.8843157291412354, -0.8880840539932251, 3.2667012214660645], [1.0324437618255615, 0.2942928969860077, 3.354689359664917], [0.8612606525421143, 0.31686052680015564, 3.3396151065826416]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 382, "image_id": 54, "category_id": 46, "category_name": "piano_leg", "bbox2D_proj": [0.0, 398.0, 41.0, 477.0], "bbox2D_tight": [0.0, 398.0, 41.0, 477.0], "bbox2D_trunc": [0.0, 398.0, 41.0, 477.0], "center_cam": [-1.0240521331885692, 0.776375941435808, 1.9385531036779753], "dimensions": [0.10404016740549205, 0.3287544570365394, 0.19742321764218151], "R_cam": [[-0.7773371934890747, 0.02781050279736519, -0.6284690499305725], [-0.011583355255424976, 0.9982202053070068, 0.05849957838654518], [0.6289774775505066, 0.05275368317961693, -0.7756316065788269]], "bbox3D_cam": [[-0.9191983342170715, 0.6103914976119995, 1.9081426858901978], [-1.0726627111434937, 0.6081047058105469, 2.0323173999786377], [-1.0635199546813965, 0.9362740516662598, 2.0496604442596436], [-0.9100555181503296, 0.9385608434677124, 1.925485610961914], [-0.984584391117096, 0.6164778470993042, 1.8274457454681396], [-1.138048768043518, 0.6141910552978516, 1.9516205787658691], [-1.1289058923721313, 0.9423604011535645, 1.9689635038375854], [-0.9754415154457092, 0.9446471929550171, 1.8447887897491455]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 383, "image_id": 54, "category_id": 38, "category_name": "light_fixture", "bbox2D_proj": [271.0, 8.0, 319.0, 51.0], "bbox2D_tight": [271.0, 8.0, 319.0, 51.0], "bbox2D_trunc": [271.0, 8.0, 319.0, 51.0], "center_cam": [0.23983842633941635, -1.4257781037436834, 2.7636306069177228], "dimensions": [0.17507657844793983, 0.08035698269512889, 0.20377078297841872], "R_cam": [[-0.9994934797286987, 0.02675345540046692, 0.01723340153694153], [0.02111722156405449, 0.9626955986022949, -0.26976144313812256], [-0.023807574063539505, -0.26926088333129883, -0.9627729654312134]], "bbox3D_cam": [[0.33908870816230774, -1.4429948329925537, 2.861154317855835], [0.13542114198207855, -1.4386918544769287, 2.8563029766082764], [0.13757096230983734, -1.3613325357437134, 2.8346660137176514], [0.34123852849006653, -1.365635633468628, 2.83951735496521], [0.3421058654785156, -1.49022376537323, 2.6925952434539795], [0.13843831419944763, -1.4859206676483154, 2.687743902206421], [0.14058813452720642, -1.4085614681243896, 2.666106939315796], [0.3442556858062744, -1.4128644466400146, 2.6709582805633545]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 384, "image_id": 55, "category_id": 45, "category_name": "person", "bbox2D_proj": [218.0, 241.0, 247.0, 343.0], "bbox2D_tight": [218.0, 241.0, 247.0, 343.0], "bbox2D_trunc": [218.0, 241.0, 247.0, 343.0], "center_cam": [-0.25928113678599396, 0.33358832866993016, 4.268075876486761], "dimensions": [0.2880859454450715, 0.9709472740393772, 0.39062500583761484], "R_cam": [[0.40010562539100647, -0.003465414047241211, -0.9164625406265259], [0.10905969142913818, 0.9930672645568848, 0.04385778307914734], [0.9099569320678711, -0.11749687790870667, 0.3977097272872925]], "bbox3D_cam": [[-0.2037343978881836, -0.17613771557807922, 4.090104103088379], [-0.04744315147399902, -0.13353627920150757, 4.445556163787842], [-0.0508078932762146, 0.8306795954704285, 4.331472873687744], [-0.20709913969039917, 0.7880781292915344, 3.9760210514068604], [-0.4677543640136719, -0.16350293159484863, 4.204679012298584], [-0.3114631175994873, -0.12090146541595459, 4.560131072998047], [-0.3148278594017029, 0.8433144092559814, 4.446047782897949], [-0.47111910581588745, 0.8007129430770874, 4.090595722198486]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 385, "image_id": 55, "category_id": 45, "category_name": "person", "bbox2D_proj": [218.0, 204.0, 234.0, 248.0], "bbox2D_tight": [218.0, 204.0, 234.0, 248.0], "bbox2D_trunc": [218.0, 204.0, 234.0, 248.0], "center_cam": [-0.397017725340434, -0.3800839811588857, 5.937406595260108], "dimensions": [0.14453124919861077, 0.6235580489396657, 0.20605469081235575], "R_cam": [[0.9757358431816101, -0.015032172203063965, 0.21843403577804565], [0.03937935829162598, 0.993420422077179, -0.10754097998142242], [-0.21538026630878448, 0.1135333776473999, 0.9699079990386963]], "bbox3D_cam": [[-0.5086437463760376, -0.686097264289856, 5.8541083335876465], [-0.3075888156890869, -0.6779829859733582, 5.809728145599365], [-0.31696224212646484, -0.05852764844894409, 5.880522727966309], [-0.5180171728134155, -0.0666419267654419, 5.92490291595459], [-0.47707319259643555, -0.7016403079032898, 5.994290351867676], [-0.27601826190948486, -0.693526029586792, 5.9499101638793945], [-0.2853916883468628, -0.07407069206237793, 6.020704746246338], [-0.4864466190338135, -0.08218497037887573, 6.065084934234619]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 386, "image_id": 55, "category_id": 45, "category_name": "person", "bbox2D_proj": [282.0, 176.0, 298.0, 218.0], "bbox2D_tight": [282.0, 176.0, 298.0, 218.0], "bbox2D_trunc": [282.0, 176.0, 298.0, 218.0], "center_cam": [0.4857135347231861, -0.8691792759050381, 6.378381515360168], "dimensions": [0.16796875355158997, 0.5417175338028297, 0.21191407055794576], "R_cam": [[0.9235740900039673, -0.05073052644729614, 0.3800491988658905], [0.08627903461456299, 0.9932845830917358, -0.07708272337913513], [-0.3735865354537964, 0.10398191213607788, 0.9217488169670105]], "bbox3D_cam": [[0.36967700719833374, -1.1408871412277222, 6.312388896942139], [0.5653953552246094, -1.122603416442871, 6.23322057723999], [0.5379136800765991, -0.5845237970352173, 6.289549350738525], [0.34219539165496826, -0.6028075218200684, 6.368717670440674], [0.4335133731365204, -1.1538347005844116, 6.467214107513428], [0.6292316913604736, -1.1355509757995605, 6.388045787811279], [0.6017500758171082, -0.5974713563919067, 6.4443745613098145], [0.4060317575931549, -0.6157550811767578, 6.523542881011963]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 387, "image_id": 55, "category_id": 45, "category_name": "person", "bbox2D_proj": [249.0, 241.0, 273.0, 301.0], "bbox2D_tight": [249.0, 241.0, 273.0, 301.0], "bbox2D_trunc": [249.0, 241.0, 273.0, 301.0], "center_cam": [0.09970066017933663, 0.18805352688384075, 5.5253918738889105], "dimensions": [0.18750000066682454, 0.7326660199057273, 0.2675781307636962], "R_cam": [[0.8953790068626404, 0.012258052825927734, -0.44513630867004395], [0.00026869773864746094, 0.9996060729026794, 0.028067294508218765], [0.4453049600124359, -0.02525051310658455, 0.8950228691101074]], "bbox3D_cam": [[0.017149746417999268, -0.1808023899793625, 5.3911566734313965], [0.25673356652259827, -0.18073050677776337, 5.510310649871826], [0.2657146155834198, 0.5516468286514282, 5.491810321807861], [0.0261307954788208, 0.5515749454498291, 5.37265682220459], [-0.06631329655647278, -0.1755397766828537, 5.558973789215088], [0.17327052354812622, -0.17546789348125458, 5.678127288818359], [0.18225157260894775, 0.556909441947937, 5.659627437591553], [-0.057332247495651245, 0.5568375587463379, 5.540473461151123]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 388, "image_id": 55, "category_id": 45, "category_name": "person", "bbox2D_proj": [299.0, 178.0, 313.0, 218.0], "bbox2D_tight": [299.0, 178.0, 313.0, 218.0], "bbox2D_trunc": [299.0, 178.0, 313.0, 218.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 389, "image_id": 55, "category_id": 39, "category_name": "monument", "bbox2D_proj": [250.0, 50.0, 392.0, 166.0], "bbox2D_tight": [250.0, 50.0, 392.0, 166.0], "bbox2D_trunc": [250.0, 50.0, 392.0, 166.0], "center_cam": [1.0900654260033131, -2.431378625352364, 7.680016423492935], "dimensions": [1.3320312354768702, 1.8852539429648945, 2.222656273037577], "R_cam": [[-0.9962781667709351, -0.000780129455961287, -0.08619464933872223], [-0.009911657311022282, 0.9943631291389465, 0.10556381195783615], [0.08562642335891724, 0.10602524131536484, -0.9906699657440186]], "bbox3D_cam": [[2.255399703979492, -3.4279842376708984, 8.1447172164917], [0.04101598262786865, -3.450014352798462, 8.33503532409668], [0.03954517841339111, -1.5753873586654663, 8.534919738769531], [2.2539291381835938, -1.5533571243286133, 8.34460163116455], [2.1405858993530273, -3.287369728088379, 6.825113296508789], [-0.07379806041717529, -3.3094000816345215, 7.0154314041137695], [-0.07526886463165283, -1.4347730875015259, 7.215316295623779], [2.1391148567199707, -1.4127428531646729, 7.024998188018799]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 390, "image_id": 55, "category_id": 45, "category_name": "person", "bbox2D_proj": [317.0, 241.0, 335.0, 297.0], "bbox2D_tight": [317.0, 241.0, 335.0, 297.0], "bbox2D_trunc": [317.0, 241.0, 335.0, 297.0], "center_cam": [0.8750143021904881, 0.16823161285064755, 5.6165668083963], "dimensions": [0.24218751808646416, 0.6872253469089664, 0.2812500188520377], "R_cam": [[-0.6470067501068115, -0.0812608003616333, -0.7581417560577393], [0.002466857433319092, 0.9940764904022217, -0.10865446925163269], [0.7624802589416504, -0.07217040657997131, -0.6429736614227295]], "bbox3D_cam": [[1.0857281684875488, -0.16053521633148193, 5.612001419067383], [0.9037574529647827, -0.1598414182662964, 5.826449394226074], [0.8479129672050476, 0.5233131647109985, 5.776852130889893], [1.029883623123169, 0.522619366645813, 5.562404155731201], [0.9021156430244446, -0.1868499517440796, 5.4562811851501465], [0.7201449275016785, -0.18615615367889404, 5.670729160308838], [0.6643004417419434, 0.4969984292984009, 5.621131896972656], [0.8462711572647095, 0.49630463123321533, 5.406683921813965]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 391, "image_id": 55, "category_id": 45, "category_name": "person", "bbox2D_proj": [34.0, 231.0, 63.0, 372.0], "bbox2D_tight": [34.0, 231.0, 63.0, 372.0], "bbox2D_trunc": [34.0, 231.0, 63.0, 372.0], "center_cam": [-1.5690277944798865, 0.3253854020946151, 3.2961515868910247], "dimensions": [0.27343753736240173, 1.0278320367214853, 0.29736332320485925], "R_cam": [[0.7323161959648132, 0.002610921859741211, -0.6809598207473755], [-0.003173351287841797, 0.9999949336051941, 0.0004214346408843994], [0.6809574365615845, 0.0018523037433624268, 0.7323206663131714]], "bbox3D_cam": [[-1.5861515998840332, -0.18811380863189697, 3.093831777572632], [-1.3683875799179077, -0.18905746936798096, 3.296323537826538], [-1.36570405960083, 0.8387693166732788, 3.298227548599243], [-1.583467960357666, 0.8397129774093628, 3.095735788345337], [-1.7723515033721924, -0.18799853324890137, 3.2940757274627686], [-1.5545876026153564, -0.18894219398498535, 3.496567487716675], [-1.5519039630889893, 0.8388845920562744, 3.49847149848938], [-1.7696679830551147, 0.8398282527923584, 3.2959797382354736]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 392, "image_id": 55, "category_id": 53, "category_name": "scaffolding", "bbox2D_proj": [41.0, 99.0, 225.0, 221.0], "bbox2D_tight": [41.0, 99.0, 225.0, 221.0], "bbox2D_trunc": [41.0, 99.0, 225.0, 221.0], "center_cam": [-1.5912952614626046, -1.5353234494348165, 7.215081099171853], "dimensions": [1.155517585069596, 1.0078125080858285, 1.8007812186551797], "R_cam": [[0.1644648313522339, 0.1321796476840973, 0.9774864912033081], [-0.06089112162590027, 0.9904512166976929, -0.123687744140625], [-0.9845017194747925, -0.03917801380157471, 0.17094293236732483]], "bbox3D_cam": [[-2.3707354068756104, -1.9081306457519531, 8.02249526977539], [-2.074570417404175, -2.017782211303711, 6.2496232986450195], [-1.9413580894470215, -1.0195931196212769, 6.210139274597168], [-2.237523078918457, -0.9099414348602295, 7.983011722564697], [-1.2412323951721191, -2.051054000854492, 8.220023155212402], [-0.9450674653053284, -2.16070556640625, 6.447150707244873], [-0.811855137348175, -1.1625163555145264, 6.4076666831970215], [-1.1080200672149658, -1.0528647899627686, 8.18053913116455]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 393, "image_id": 55, "category_id": 56, "category_name": "shoe", "bbox2D_proj": [7.0, 413.0, 42.0, 435.0], "bbox2D_tight": [7.0, 413.0, 42.0, 435.0], "bbox2D_trunc": [7.0, 413.0, 42.0, 435.0], "center_cam": [-1.3298742425934713, 0.9664487928721965, 2.5498669492898096], "dimensions": [0.061311656178790856, 0.06308222823507349, 0.17190866605458197], "R_cam": [[0.6347513198852539, -0.25424858927726746, -0.729690670967102], [0.09484612941741943, 0.9628137350082397, -0.25297054648399353], [0.7668735980987549, 0.09136509895324707, 0.6352617144584656]], "bbox3D_cam": [[-1.3540453910827637, 0.9356831312179565, 2.461594581604004], [-1.24492609500885, 0.9519880414009094, 2.5934267044067383], [-1.2609646320343018, 1.0127243995666504, 2.5991902351379395], [-1.3700839281082153, 0.9964196085929871, 2.467358112335205], [-1.3987839221954346, 0.9201731085777283, 2.5005435943603516], [-1.289664626121521, 0.9364779591560364, 2.632375717163086], [-1.3057031631469727, 0.9972144365310669, 2.638139247894287], [-1.4148224592208862, 0.980909526348114, 2.5063071250915527]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 394, "image_id": 55, "category_id": 45, "category_name": "person", "bbox2D_proj": [373.0, 250.0, 399.0, 294.0], "bbox2D_tight": [373.0, 250.0, 399.0, 294.0], "bbox2D_trunc": [373.0, 250.0, 399.0, 294.0], "center_cam": [1.3547904440769836, 0.1596379890838548, 4.701253708027852], "dimensions": [0.26171876915238157, 0.4418945366051692, 0.3046875228222369], "R_cam": [[0.6949895620346069, 0.023986220359802246, -0.718619704246521], [-0.07264161109924316, 0.9966721534729004, -0.036985963582992554], [0.7153410911560059, 0.0779065489768982, 0.6944190263748169]], "bbox3D_cam": [[1.3376516103744507, -0.044667527079582214, 4.48419189453125], [1.5494061708450317, -0.06680051982402802, 4.702147006988525], [1.56000554561615, 0.37362343072891235, 4.736573696136475], [1.3482509851455688, 0.39575642347335815, 4.518618106842041], [1.1495753526687622, -0.0543474406003952, 4.665934085845947], [1.3613299131393433, -0.076480433344841, 4.883889675140381], [1.3719292879104614, 0.36394351720809937, 4.918315887451172], [1.1601747274398804, 0.38607650995254517, 4.7003607749938965]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 395, "image_id": 55, "category_id": 45, "category_name": "person", "bbox2D_proj": [420.0, 236.0, 479.0, 358.0], "bbox2D_tight": [420.0, 236.0, 479.0, 358.0], "bbox2D_trunc": [420.0, 236.0, 479.0, 358.0], "center_cam": [1.6962967217469274, 0.3467806802541318, 3.878410087317768], "dimensions": [0.3906250035331445, 1.000732428060905, 0.5274047995709686], "R_cam": [[0.9321852922439575, -0.04379308223724365, 0.35932275652885437], [0.04013097286224365, 0.999038577079773, 0.01764829456806183], [-0.3597501516342163, -0.002031475305557251, 0.9330464601516724]], "bbox3D_cam": [[1.4022095203399658, -0.16713401675224304, 3.792057991027832], [1.8938485383987427, -0.14596876502037048, 3.6023240089416504], [1.8500233888626099, 0.8538014888763428, 3.6002910137176514], [1.358384370803833, 0.8326362371444702, 3.790024995803833], [1.5425699949264526, -0.16024014353752136, 4.156529426574707], [2.0342090129852295, -0.1390748918056488, 3.9667952060699463], [1.9903838634490967, 0.8606953620910645, 3.9647622108459473], [1.4987448453903198, 0.8395301103591919, 4.154496192932129]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 396, "image_id": 56, "category_id": 45, "category_name": "person", "bbox2D_proj": [210.0, 222.0, 244.0, 305.0], "bbox2D_tight": [210.0, 222.0, 244.0, 305.0], "bbox2D_trunc": [210.0, 222.0, 244.0, 305.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 397, "image_id": 56, "category_id": 45, "category_name": "person", "bbox2D_proj": [282.0, 239.0, 315.0, 334.0], "bbox2D_tight": [282.0, 239.0, 315.0, 334.0], "bbox2D_trunc": [282.0, 239.0, 315.0, 334.0], "center_cam": [0.6289847243864777, 0.42438848287048836, 6.418242570193996], "dimensions": [0.4531250219505342, 1.3417968607863862, 0.4978027234934664], "R_cam": [[-0.9993372559547424, 0.022372841835021973, -0.028714828193187714], [0.02495354413986206, 0.9953612685203552, -0.09291498363018036], [0.026502862572669983, -0.09356994181871414, -0.9952600002288818]], "bbox3D_cam": [[0.8692169785499573, -0.22855782508850098, 6.6999101638793945], [0.37174418568611145, -0.21613585948944092, 6.713103294372559], [0.401763916015625, 1.1194368600845337, 6.587551593780518], [0.8992366790771484, 1.1070148944854736, 6.5743584632873535], [0.8562055826187134, -0.2706599235534668, 6.2489333152771], [0.35873278975486755, -0.25823795795440674, 6.262126445770264], [0.3887525200843811, 1.0773347616195679, 6.136574745178223], [0.8862253427505493, 1.0649127960205078, 6.123381614685059]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 398, "image_id": 56, "category_id": 45, "category_name": "person", "bbox2D_proj": [124.0, 213.0, 242.0, 512.0], "bbox2D_tight": [124.0, 213.0, 242.0, 512.0], "bbox2D_trunc": [124.0, 213.0, 242.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 399, "image_id": 56, "category_id": 45, "category_name": "person", "bbox2D_proj": [321.0, 229.0, 349.0, 340.0], "bbox2D_tight": [321.0, 229.0, 349.0, 340.0], "bbox2D_trunc": [321.0, 229.0, 349.0, 340.0], "center_cam": [1.2108399917074382, 0.40783060569317964, 6.571645342228137], "dimensions": [0.44335945314279473, 1.5019531129293848, 0.5000001124259194], "R_cam": [[-0.34871068596839905, -0.003070831298828125, -0.9372254610061646], [-0.1324406862258911, 0.9901214838027954, 0.046032607555389404], [0.9278256297111511, 0.1401788294315338, -0.345672607421875]], "bbox3D_cam": [[1.5080876350402832, -0.3128216862678528, 6.311046600341797], [1.3337323665618896, -0.3790420889854431, 6.774959087371826], [1.3291200399398804, 1.1080739498138428, 6.985501289367676], [1.5034754276275635, 1.1742942333221436, 6.521588325500488], [1.0925599336624146, -0.2924126982688904, 6.15778923034668], [0.9182045459747314, -0.3586331009864807, 6.621702194213867], [0.9135922789573669, 1.1284828186035156, 6.832243919372559], [1.0879476070404053, 1.1947033405303955, 6.368331432342529]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 400, "image_id": 56, "category_id": 45, "category_name": "person", "bbox2D_proj": [9.0, 230.0, 65.0, 327.0], "bbox2D_tight": [9.0, 230.0, 65.0, 327.0], "bbox2D_trunc": [9.0, 230.0, 65.0, 327.0], "center_cam": [-1.8364085613443208, 0.1829257931659953, 3.7150273637900124], "dimensions": [0.3622361279458125, 0.795783256297051, 0.7629227203753128], "R_cam": [[0.5885055065155029, -0.040016427636146545, 0.807502269744873], [0.046031005680561066, 0.9988126754760742, 0.01594969816505909], [-0.807181715965271, 0.027783656492829323, 0.5896487236022949]], "bbox3D_cam": [[-2.1912317276000977, -0.2349412441253662, 3.9050850868225098], [-1.7422475814819336, -0.19982314109802246, 3.2892677783966064], [-1.7740919589996338, 0.595015287399292, 3.31137752532959], [-2.223076105117798, 0.5598971843719482, 3.927194833755493], [-1.8987252712249756, -0.22916370630264282, 4.118677139282227], [-1.4497411251068115, -0.19404560327529907, 3.5028598308563232], [-1.4815855026245117, 0.6007928252220154, 3.5249695777893066], [-1.9305696487426758, 0.5656747221946716, 4.140787124633789]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 401, "image_id": 56, "category_id": 45, "category_name": "person", "bbox2D_proj": [69.0, 232.0, 125.0, 344.0], "bbox2D_tight": [69.0, 232.0, 125.0, 344.0], "bbox2D_trunc": [69.0, 232.0, 125.0, 344.0], "center_cam": [-1.6165403934808644, 0.4177555174583713, 4.565321865351535], "dimensions": [0.42578129145710997, 1.2819824094596708, 0.4980468901641444], "R_cam": [[0.9757902026176453, -0.06413328647613525, 0.2090943455696106], [0.08581429719924927, 0.991644561290741, -0.09631750732660294], [-0.20117011666297913, 0.11192896962165833, 0.9731405973434448]], "bbox3D_cam": [[-1.8629404306411743, -0.21874460577964783, 4.33650016784668], [-1.3769512176513672, -0.17600509524345398, 4.2363080978393555], [-1.459168791770935, 1.0952657461166382, 4.379798889160156], [-1.9451581239700317, 1.0525262355804443, 4.4799909591674805], [-1.7739120721817017, -0.2597547471523285, 4.750844955444336], [-1.287922739982605, -0.21701523661613464, 4.650652885437012], [-1.3701404333114624, 1.0542556047439575, 4.7941436767578125], [-1.8561296463012695, 1.0115160942077637, 4.894335746765137]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 402, "image_id": 56, "category_id": 45, "category_name": "person", "bbox2D_proj": [464.0, 238.0, 488.0, 327.0], "bbox2D_tight": [464.0, 238.0, 488.0, 327.0], "bbox2D_trunc": [464.0, 238.0, 488.0, 327.0], "center_cam": [3.6941036390431927, 0.45625006287247905, 7.487664436291382], "dimensions": [0.3369140692278028, 1.4276122858332578, 0.4101562847851763], "R_cam": [[-0.21494054794311523, -0.04307866096496582, 0.9756765961647034], [0.026634633541107178, 0.9983965158462524, 0.049949437379837036], [-0.9762638807296753, 0.03672295808792114, -0.21344852447509766]], "bbox3D_cam": [[3.6045734882354736, -0.27028799057006836, 7.69761848449707], [3.5164144039154053, -0.25936365127563477, 7.2971978187561035], [3.4549145698547363, 1.1659594774246216, 7.349623680114746], [3.543073892593384, 1.155035138130188, 7.750044822692871], [3.933292865753174, -0.2534593343734741, 7.625704765319824], [3.8451335430145264, -0.24253499507904053, 7.225283622741699], [3.7836339473724365, 1.1827881336212158, 7.2777099609375], [3.871793031692505, 1.1718637943267822, 7.678130626678467]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 403, "image_id": 56, "category_id": 45, "category_name": "person", "bbox2D_proj": [410.0, 226.0, 448.0, 351.0], "bbox2D_tight": [410.0, 226.0, 448.0, 351.0], "bbox2D_trunc": [410.0, 226.0, 448.0, 351.0], "center_cam": [2.3993370282069, 0.4707985971428982, 6.234378256122195], "dimensions": [0.5625001970573987, 1.7045898202902903, 0.5742189896157892], "R_cam": [[0.16740188002586365, 0.005836963653564453, -0.9858714938163757], [0.0212705135345459, 0.9997283220291138, 0.009530693292617798], [0.9856592416763306, -0.02256542444229126, 0.1672322154045105]], "bbox3D_cam": [[2.6235759258270264, -0.39005225896835327, 5.923584461212158], [2.7197012901306152, -0.3778383135795593, 6.489568710327148], [2.7296509742736816, 1.3262884616851807, 6.451104164123535], [2.6335256099700928, 1.3140745162963867, 5.885119915008545], [2.0690231323242188, -0.38469117879867554, 6.01765251159668], [2.1651484966278076, -0.3724772334098816, 6.58363676071167], [2.175098180770874, 1.3316495418548584, 6.545172214508057], [2.078972816467285, 1.3194355964660645, 5.979187965393066]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 404, "image_id": 56, "category_id": 45, "category_name": "person", "bbox2D_proj": [231.0, 232.0, 258.0, 338.0], "bbox2D_tight": [231.0, 232.0, 258.0, 338.0], "bbox2D_trunc": [231.0, 232.0, 258.0, 338.0], "center_cam": [-0.1505544645288398, 0.434680296101308, 5.98777632429533], "dimensions": [0.4218750124693046, 1.4277343805010878, 0.5664063021606887], "R_cam": [[-0.255317747592926, -0.03931140899658203, -0.9660576581954956], [0.2911849021911621, 0.9496566653251648, -0.11560076475143433], [0.9219675660133362, -0.31081628799438477, -0.2310173511505127]], "bbox3D_cam": [[0.1535932868719101, -0.3013283610343933, 5.997283935546875], [0.00897960364818573, -0.13639944791793823, 6.519492149353027], [-0.04714660346508026, 1.2194581031799316, 6.075728893280029], [0.0974670797586441, 1.0545291900634766, 5.553520679473877], [-0.25396233797073364, -0.3500974774360657, 5.8998236656188965], [-0.398576021194458, -0.1851685643196106, 6.422031879425049], [-0.4547021985054016, 1.1706888675689697, 5.978268623352051], [-0.31008851528167725, 1.0057599544525146, 5.456060409545898]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 405, "image_id": 57, "category_id": 45, "category_name": "person", "bbox2D_proj": [402.0, 232.0, 479.0, 391.0], "bbox2D_tight": [402.0, 232.0, 479.0, 391.0], "bbox2D_trunc": [402.0, 232.0, 479.0, 391.0], "center_cam": [1.527221865567474, 0.4219751211992685, 3.5980132562310723], "dimensions": [0.3535156513467804, 1.2075195895695006, 0.5029297138061104], "R_cam": [[-0.6742905974388123, -0.12277752161026001, -0.7281880974769592], [-0.022109150886535645, 0.9889963865280151, -0.1462789922952652], [0.7381350994110107, -0.08253494650125504, -0.6695854663848877]], "bbox3D_cam": [[1.8996233940124512, -0.14372539520263672, 3.5805838108062744], [1.5605026483535767, -0.1548447608947754, 3.9518139362335205], [1.4122463464736938, 1.039387583732605, 3.852151393890381], [1.7513670921325684, 1.0505069494247437, 3.4809212684631348], [1.6421974897384644, -0.19543731212615967, 3.343874931335449], [1.3030767440795898, -0.20655667781829834, 3.7151050567626953], [1.154820442199707, 0.987675666809082, 3.6154425144195557], [1.4939411878585815, 0.9987950325012207, 3.2442123889923096]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 406, "image_id": 57, "category_id": 45, "category_name": "person", "bbox2D_proj": [233.0, 218.0, 271.0, 356.0], "bbox2D_tight": [233.0, 218.0, 271.0, 356.0], "bbox2D_trunc": [233.0, 218.0, 271.0, 356.0], "center_cam": [-0.03454173624107626, 0.2665791653666344, 4.179444272654852], "dimensions": [0.2773437614129627, 1.2597656846803362, 0.3828125275288633], "R_cam": [[0.8243212699890137, -0.044146060943603516, -0.5643984079360962], [0.06228417158126831, 0.9979749917984009, 0.012908399105072021], [0.5626856684684753, -0.045793741941452026, 0.8254015445709229]], "bbox3D_cam": [[-0.08624894917011261, -0.37573981285095215, 3.9861273765563965], [0.22931157052516937, -0.35189664363861084, 4.201530456542969], [0.17369787395000458, 0.905318021774292, 4.14384126663208], [-0.1418626457452774, 0.8814748525619507, 3.928438186645508], [-0.2427813559770584, -0.3721597194671631, 4.215047359466553], [0.07277917861938477, -0.3483165502548218, 4.430450439453125], [0.017165478318929672, 0.908898115158081, 4.372761249542236], [-0.298395037651062, 0.8850549459457397, 4.157358169555664]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 407, "image_id": 57, "category_id": 45, "category_name": "person", "bbox2D_proj": [405.0, 241.0, 442.0, 358.0], "bbox2D_tight": [405.0, 241.0, 442.0, 358.0], "bbox2D_trunc": [405.0, 241.0, 442.0, 358.0], "center_cam": [1.5593895829060023, 0.4169569083141239, 4.07995739061312], "dimensions": [0.31445316337295837, 1.0621948742376066, 0.37988285611137385], "R_cam": [[0.7721410989761353, -0.009395182132720947, 0.6353816986083984], [0.015429079532623291, 0.9998730421066284, -0.003965288400650024], [-0.6352638006210327, 0.0128650963306427, 0.7721880674362183]], "bbox3D_cam": [[1.3178188800811768, -0.11638027429580688, 4.072379112243652], [1.6111420392990112, -0.11051899194717407, 3.8310534954071045], [1.6011625528335571, 0.951541006565094, 3.8447186946868896], [1.3078393936157227, 0.9456797242164612, 4.0860443115234375], [1.517616629600525, -0.11762720346450806, 4.3151960372924805], [1.8109397888183594, -0.11176592111587524, 4.073870658874512], [1.8009603023529053, 0.9502940773963928, 4.087535858154297], [1.5076371431350708, 0.94443279504776, 4.328861713409424]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 408, "image_id": 57, "category_id": 2, "category_name": "backpack", "bbox2D_proj": [299.0, 239.0, 342.0, 300.0], "bbox2D_tight": [299.0, 239.0, 342.0, 300.0], "bbox2D_trunc": [299.0, 239.0, 342.0, 300.0], "center_cam": [0.5442986283273268, 0.09916080038570993, 3.3795545475725914], "dimensions": [0.3024902548973143, 0.4394227014144192, 0.45117196820513517], "R_cam": [[-0.2732698917388916, -0.11495038121938705, 0.9550445079803467], [-0.11517343670129776, 0.9896022081375122, 0.08615484088659286], [-0.9550176858901978, -0.08645223826169968, -0.2836676836013794]], "bbox3D_cam": [[0.48675456643104553, -0.10531500726938248, 3.656891107559204], [0.3634628653526306, -0.15727806091308594, 3.2260138988494873], [0.31295105814933777, 0.27757561206817627, 3.1880247592926025], [0.4362427592277527, 0.32953864336013794, 3.6189019680023193], [0.7756462097167969, -0.07925400882959366, 3.5710842609405518], [0.6523545384407043, -0.13121703267097473, 3.140207052230835], [0.6018427610397339, 0.3036366105079651, 3.10221791267395], [0.7251344323158264, 0.35559964179992676, 3.533095121383667]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 409, "image_id": 58, "category_id": 45, "category_name": "person", "bbox2D_proj": [249.0, 300.0, 266.0, 354.0], "bbox2D_tight": [249.0, 300.0, 266.0, 354.0], "bbox2D_trunc": [249.0, 300.0, 266.0, 354.0], "center_cam": [0.0030448663972869536, 0.6770832646351772, 4.328447438171834], "dimensions": [0.18066407228903653, 0.5204467861107344, 0.22460938588246895], "R_cam": [[-0.4415791928768158, -0.05874598026275635, 0.8952970504760742], [-0.19927453994750977, 0.9793528318405151, -0.034024953842163086], [-0.8748128414154053, -0.19343462586402893, -0.44416844844818115]], "bbox3D_cam": [[-0.012950636446475983, 0.44768577814102173, 4.517151832580566], [-0.11213349550962448, 0.40292683243751526, 4.320660591125488], [-0.14270764589309692, 0.9126278162002563, 4.2199883460998535], [-0.043524790555238724, 0.9573867321014404, 4.416479587554932], [0.1487973928451538, 0.4415386915206909, 4.436906337738037], [0.049614522606134415, 0.39677974581718445, 4.240415096282959], [0.019040368497371674, 0.9064807295799255, 4.139742851257324], [0.11822322756052017, 0.9512397050857544, 4.336234092712402]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 410, "image_id": 59, "category_id": 45, "category_name": "person", "bbox2D_proj": [123.0, 291.0, 191.0, 465.0], "bbox2D_tight": [123.0, 291.0, 191.0, 465.0], "bbox2D_trunc": [123.0, 291.0, 191.0, 465.0], "center_cam": [-0.6247155436098002, 0.771741191944616, 2.7963612230529002], "dimensions": [0.2636718789977689, 1.0454101612063982, 0.42651367845254745], "R_cam": [[0.9836888313293457, -0.059491634368896484, -0.16975560784339905], [0.05237758159637451, 0.997563362121582, -0.04608672112226486], [0.17208373546600342, 0.03644360601902008, 0.984407901763916]], "bbox3D_cam": [[-0.7810174226760864, 0.2452157735824585, 2.6108336448669434], [-0.36146071553230286, 0.26755547523498535, 2.684229612350464], [-0.42365390062332153, 1.3104183673858643, 2.7223281860351562], [-0.8432106375694275, 1.2880786657333374, 2.6489319801330566], [-0.8257772326469421, 0.23306405544281006, 2.870394229888916], [-0.4062204957008362, 0.2554037570953369, 2.9437904357910156], [-0.46841368079185486, 1.2982666492462158, 2.981888771057129], [-0.8879704475402832, 1.275926947593689, 2.9084928035736084]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 411, "image_id": 59, "category_id": 58, "category_name": "signboard", "bbox2D_proj": [436.0, 342.0, 488.0, 430.0], "bbox2D_tight": [436.0, 342.0, 488.0, 430.0], "bbox2D_trunc": [436.0, 342.0, 488.0, 430.0], "center_cam": [1.7770687214718843, 1.145002763910128, 3.805543025177036], "dimensions": [0.36596680241395096, 0.680664067457378, 0.5937500089327299], "R_cam": [[-0.5371823310852051, -0.025700092315673828, 0.8430745601654053], [0.010367155075073242, 0.9992589950561523, 0.03706678748130798], [-0.8434023857116699, 0.028651922941207886, -0.536517858505249]], "bbox3D_cam": [[1.7910226583480835, 0.7950625419616699, 4.144351005554199], [1.4720706939697266, 0.8012180328369141, 3.643580436706543], [1.4545774459838867, 1.4813777208328247, 3.6630828380584717], [1.7735295295715332, 1.4752222299575806, 4.163853168487549], [2.099560022354126, 0.808627724647522, 3.948003053665161], [1.7806079387664795, 0.8147832155227661, 3.447232723236084], [1.7631148099899292, 1.4949429035186768, 3.4667351245880127], [2.082066774368286, 1.4887874126434326, 3.96750545501709]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 412, "image_id": 59, "category_id": 59, "category_name": "skirt", "bbox2D_proj": [136.0, 408.0, 214.0, 499.0], "bbox2D_tight": [136.0, 408.0, 214.0, 499.0], "bbox2D_trunc": [136.0, 408.0, 214.0, 499.0], "center_cam": [-0.4438869085299241, 0.9907927234018727, 2.396061552242863], "dimensions": [0.2519531292739694, 0.3862304712424127, 0.4233398492273387], "R_cam": [[0.8229193091392517, 0.10280338674783707, -0.5587801933288574], [-0.058462902903556824, 0.9935951232910156, 0.09670113027095795], [0.5651423931121826, -0.04690931364893913, 0.82365882396698]], "bbox3D_cam": [[-0.5675338506698608, 0.7991071939468384, 2.1817352771759033], [-0.219159334897995, 0.7743574976921082, 2.420982599258423], [-0.1794535219669342, 1.1581141948699951, 2.402864694595337], [-0.5278280973434448, 1.1828638315200806, 2.1636173725128174], [-0.7083202600479126, 0.8234713077545166, 2.389258623123169], [-0.35994574427604675, 0.7987216711044312, 2.6285059452056885], [-0.32023993134498596, 1.1824783086776733, 2.6103880405426025], [-0.6686145067214966, 1.2072279453277588, 2.371140718460083]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 413, "image_id": 59, "category_id": 55, "category_name": "shirt", "bbox2D_proj": [140.0, 341.0, 203.0, 411.0], "bbox2D_tight": [140.0, 341.0, 203.0, 411.0], "bbox2D_trunc": [140.0, 341.0, 203.0, 411.0], "center_cam": [-0.45662132405284606, 0.6961789704038002, 2.501871178570969], "dimensions": [0.1835937532055008, 0.3305664090877284, 0.36450195837032784], "R_cam": [[0.9418632388114929, 0.10722178220748901, -0.3184291124343872], [-0.04231840744614601, 0.9780244827270508, 0.2041502147912979], [0.3333207964897156, -0.17880617082118988, 0.9257028102874756]], "bbox3D_cam": [[-0.6167680025100708, 0.5235002040863037, 2.385699987411499], [-0.27345699071884155, 0.5080749988555908, 2.5071961879730225], [-0.23801305890083313, 0.8313770294189453, 2.4480888843536377], [-0.58132404088974, 0.8468022346496582, 2.3265929222106934], [-0.675229549407959, 0.5609809160232544, 2.5556533336639404], [-0.3319185972213745, 0.5455557107925415, 2.6771492958068848], [-0.2964746654033661, 0.868857741355896, 2.618042230606079], [-0.639785647392273, 0.8842829465866089, 2.4965460300445557]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 414, "image_id": 60, "category_id": 45, "category_name": "person", "bbox2D_proj": [209.0, 289.0, 231.0, 349.0], "bbox2D_tight": [209.0, 289.0, 231.0, 349.0], "bbox2D_trunc": [209.0, 289.0, 231.0, 349.0], "center_cam": [-0.5474242254383408, 0.8782587795587465, 6.423055544013763], "dimensions": [0.2265625227190394, 0.7988281266594712, 0.2812500252157977], "R_cam": [[0.7822576761245728, -0.011796116828918457, -0.6228433847427368], [0.1903725266456604, 0.956517219543457, 0.2209821492433548], [0.593153715133667, -0.2914372682571411, 0.7504885196685791]], "bbox3D_cam": [[-0.5821611881256104, 0.44440802931785583, 6.371031284332275], [-0.36215120553970337, 0.49795034527778625, 6.537855625152588], [-0.3715742230415344, 1.2620432376861572, 6.305047512054443], [-0.5915842056274414, 1.208500862121582, 6.138223171234131], [-0.7232741713523865, 0.494474321603775, 6.5410637855529785], [-0.5032641887664795, 0.5480166673660278, 6.707888126373291], [-0.5126872062683105, 1.3121094703674316, 6.4750800132751465], [-0.7326971888542175, 1.258567214012146, 6.308255672454834]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 415, "image_id": 61, "category_id": 45, "category_name": "person", "bbox2D_proj": [90.0, 322.0, 174.0, 391.0], "bbox2D_tight": [90.0, 322.0, 174.0, 391.0], "bbox2D_trunc": [90.0, 322.0, 174.0, 391.0], "center_cam": [-0.7624420216062877, 0.676057712454406, 2.679780812535547], "dimensions": [0.26367188053873575, 0.5517578496030107, 0.4826660774303216], "R_cam": [[0.9179880619049072, -0.11082315444946289, -0.3808097839355469], [-0.028725624084472656, 0.9390662908554077, -0.3425336182117462], [0.39556631445884705, 0.325380802154541, 0.8588681221008301]], "bbox3D_cam": [[-0.9032046794891357, 0.46907979249954224, 2.381322145462036], [-0.4601229131221771, 0.45521485805511475, 2.5722484588623047], [-0.5212705135345459, 0.9733520746231079, 2.7517800331115723], [-0.9643522500991821, 0.9872170090675354, 2.5608534812927246], [-1.0036134719848633, 0.3787633180618286, 2.607781410217285], [-0.560531735420227, 0.3648983836174011, 2.798707962036133], [-0.6216793060302734, 0.8830356001853943, 2.9782392978668213], [-1.0647610425949097, 0.8969005346298218, 2.7873129844665527]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 416, "image_id": 61, "category_id": 33, "category_name": "jacket", "bbox2D_proj": [38.0, 345.0, 99.0, 461.0], "bbox2D_tight": [38.0, 345.0, 99.0, 461.0], "bbox2D_trunc": [38.0, 345.0, 99.0, 461.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 417, "image_id": 61, "category_id": 45, "category_name": "person", "bbox2D_proj": [81.0, 373.0, 173.0, 512.0], "bbox2D_tight": [81.0, 373.0, 173.0, 512.0], "bbox2D_trunc": [81.0, 373.0, 173.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 418, "image_id": 61, "category_id": 45, "category_name": "person", "bbox2D_proj": [340.0, 300.0, 393.0, 452.0], "bbox2D_tight": [340.0, 300.0, 393.0, 452.0], "bbox2D_trunc": [340.0, 300.0, 393.0, 452.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 419, "image_id": 61, "category_id": 45, "category_name": "person", "bbox2D_proj": [153.0, 261.0, 202.0, 382.0], "bbox2D_tight": [153.0, 261.0, 202.0, 382.0], "bbox2D_trunc": [153.0, 261.0, 202.0, 382.0], "center_cam": [-0.7376881674569243, 0.6716996379838868, 4.156335306255865], "dimensions": [0.4101563419494232, 1.2587890634759944, 0.44128430582983946], "R_cam": [[0.96649169921875, -0.11431419849395752, -0.22983913123607635], [0.010125160217285156, 0.9116487503051758, -0.41084548830986023], [0.2564980089664459, 0.39475154876708984, 0.8822585344314575]], "bbox3D_cam": [[-0.8318532705307007, 0.1799342930316925, 3.6703546047210693], [-0.40535569190979004, 0.18440237641334534, 3.783543109893799], [-0.5492531061172485, 1.3319759368896484, 4.280452251434326], [-0.9757506847381592, 1.327507734298706, 4.167263507843018], [-0.9261232614517212, 0.01142340898513794, 4.0322184562683105], [-0.49962568283081055, 0.01589149236679077, 4.145407199859619], [-0.643523097038269, 1.1634650230407715, 4.642315864562988], [-1.0700206756591797, 1.1589969396591187, 4.529127597808838]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 420, "image_id": 61, "category_id": 37, "category_name": "lantern", "bbox2D_proj": [328.0, 141.0, 360.0, 191.0], "bbox2D_tight": [328.0, 141.0, 360.0, 191.0], "bbox2D_trunc": [328.0, 141.0, 360.0, 191.0], "center_cam": [0.9052861966663848, -0.9418204412848259, 4.600917127310712], "dimensions": [0.3203142293244693, 0.5234375017486654, 0.3222673510799887], "R_cam": [[0.44445741176605225, 0.006458282470703125, 0.8957767486572266], [0.11115598678588867, 0.9918481111526489, -0.06230330467224121], [-0.8888767957687378, 0.127262145280838, 0.44011640548706055]], "bbox3D_cam": [[0.6885138750076294, -1.2093384265899658, 4.640350818634033], [0.8317479491233826, -1.1735163927078247, 4.3538947105407715], [0.8351284861564636, -0.6543458700180054, 4.42050838470459], [0.6918944120407104, -0.6901678442955017, 4.706964492797852], [0.9754438996315002, -1.229295015335083, 4.7813262939453125], [1.1186779737472534, -1.1934731006622314, 4.494870185852051], [1.1220585107803345, -0.6743025183677673, 4.561483860015869], [0.9788244366645813, -0.7101244926452637, 4.847939968109131]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 421, "image_id": 61, "category_id": 45, "category_name": "person", "bbox2D_proj": [5.0, 291.0, 55.0, 364.0], "bbox2D_tight": [5.0, 291.0, 55.0, 364.0], "bbox2D_trunc": [5.0, 291.0, 55.0, 364.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 422, "image_id": 61, "category_id": 45, "category_name": "person", "bbox2D_proj": [239.0, 409.0, 348.0, 512.0], "bbox2D_tight": [239.0, 409.0, 348.0, 512.0], "bbox2D_trunc": [239.0, 409.0, 348.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 423, "image_id": 61, "category_id": 45, "category_name": "person", "bbox2D_proj": [468.0, 272.0, 494.0, 319.0], "bbox2D_tight": [468.0, 272.0, 494.0, 319.0], "bbox2D_trunc": [468.0, 272.0, 494.0, 319.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 424, "image_id": 61, "category_id": 45, "category_name": "person", "bbox2D_proj": [410.0, 262.0, 433.0, 343.0], "bbox2D_tight": [410.0, 262.0, 433.0, 343.0], "bbox2D_trunc": [410.0, 262.0, 433.0, 343.0], "center_cam": [2.164250301005812, 0.6286482408971286, 5.897987342909468], "dimensions": [0.31750491075874987, 1.0673828114470758, 0.48046876859709253], "R_cam": [[-0.40244609117507935, -0.007129073143005371, 0.91541588306427], [0.16613495349884033, 0.9827960133552551, 0.08069208264350891], [-0.9002423286437988, 0.18455681204795837, -0.3943380117416382]], "bbox3D_cam": [[2.1194119453430176, 0.05141705274581909, 6.078362464904785], [1.9260491132736206, 0.13123971223831177, 5.645823955535889], [1.9184396266937256, 1.1802592277526855, 5.8428168296813965], [2.111802577972412, 1.1004366874694824, 6.275354862213135], [2.4100611209869385, 0.07703715562820435, 5.953157901763916], [2.216698169708252, 0.15685981512069702, 5.520619869232178], [2.2090888023376465, 1.2058794498443604, 5.717612266540527], [2.402451515197754, 1.1260566711425781, 6.150150775909424]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 425, "image_id": 61, "category_id": 45, "category_name": "person", "bbox2D_proj": [0.0, 369.0, 47.0, 512.0], "bbox2D_tight": [0.0, 369.0, 47.0, 512.0], "bbox2D_trunc": [0.0, 369.0, 47.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 426, "image_id": 61, "category_id": 45, "category_name": "person", "bbox2D_proj": [140.0, 253.0, 166.0, 334.0], "bbox2D_tight": [140.0, 253.0, 166.0, 334.0], "bbox2D_trunc": [140.0, 253.0, 166.0, 334.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 427, "image_id": 61, "category_id": 45, "category_name": "person", "bbox2D_proj": [161.0, 356.0, 241.0, 512.0], "bbox2D_tight": [161.0, 356.0, 241.0, 512.0], "bbox2D_trunc": [161.0, 356.0, 241.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 428, "image_id": 61, "category_id": 45, "category_name": "person", "bbox2D_proj": [382.0, 343.0, 471.0, 488.0], "bbox2D_tight": [382.0, 343.0, 471.0, 488.0], "bbox2D_trunc": [382.0, 343.0, 471.0, 488.0], "center_cam": [1.0187062077680635, 1.0524813168514588, 2.8214701356907956], "dimensions": [0.37109380129445185, 1.0966796924963345, 0.49072271563375464], "R_cam": [[0.583380937576294, -0.00883185863494873, 0.8121507167816162], [0.2959500551223755, 0.9335063099861145, -0.20243415236473083], [-0.7563599348068237, 0.3584522306919098, 0.5472036600112915]], "bbox3D_cam": [[0.7297178506851196, 0.505548894405365, 2.708966016769409], [1.0159962177276611, 0.6507782936096191, 2.3378028869628906], [1.0063104629516602, 1.6745357513427734, 2.730910301208496], [0.7200321555137634, 1.529306411743164, 3.1020731925964355], [1.031101942062378, 0.4304268956184387, 2.91202974319458], [1.3173801898956299, 0.5756562352180481, 2.5408668518066406], [1.3076945543289185, 1.5994136333465576, 2.933974027633667], [1.021416187286377, 1.4541842937469482, 3.3051371574401855]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 429, "image_id": 62, "category_id": 49, "category_name": "plaque", "bbox2D_proj": [209.0, 170.0, 237.0, 230.0], "bbox2D_tight": [209.0, 170.0, 237.0, 230.0], "bbox2D_trunc": [209.0, 170.0, 237.0, 230.0], "center_cam": [-0.3275620789743749, -0.5354834689864307, 4.2227556982604915], "dimensions": [0.06147079049919214, 0.7700621739842148, 0.5676542506913006], "R_cam": [[-0.516389012336731, 0.019967883825302124, 0.856121301651001], [-0.047741323709487915, 0.9975020289421082, -0.05206167697906494], [-0.8550223112106323, -0.06775641441345215, -0.5141457915306091]], "bbox3D_cam": [[-0.21499836444854736, -0.9044023156166077, 4.507325172424316], [-0.5081287622451782, -0.9315028786659241, 4.021968364715576], [-0.4927522838115692, -0.16336435079574585, 3.9697914123535156], [-0.19962185621261597, -0.13626378774642944, 4.455148696899414], [-0.1623719036579132, -0.9076026082038879, 4.475720405578613], [-0.45550233125686646, -0.9347031712532043, 3.990363121032715], [-0.44012582302093506, -0.16656464338302612, 3.9381866455078125], [-0.1469953954219818, -0.13946408033370972, 4.423543453216553]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 430, "image_id": 62, "category_id": 45, "category_name": "person", "bbox2D_proj": [443.0, 238.0, 477.0, 320.0], "bbox2D_tight": [443.0, 238.0, 477.0, 320.0], "bbox2D_trunc": [443.0, 238.0, 477.0, 320.0], "center_cam": [2.039656330203323, 0.22050264899054356, 4.458063805623365], "dimensions": [0.2724609739391544, 0.7666015761281663, 0.3046875193843932], "R_cam": [[0.12404066324234009, 0.01447749137878418, -0.9921715259552002], [0.016675591468811035, 0.9997219443321228, 0.01667243242263794], [0.9921370148658752, -0.018613100051879883, 0.1237647533416748]], "bbox3D_cam": [[2.150374412536621, -0.1675032675266266, 4.297191619873047], [2.1881680488586426, -0.16242244839668274, 4.599483489990234], [2.1992664337158203, 0.6039659976959229, 4.585214614868164], [2.161472797393799, 0.598885178565979, 4.282922744750977], [1.8800463676452637, -0.16296067833900452, 4.3309125900268555], [1.9178400039672852, -0.15787985920906067, 4.633204460144043], [1.9289385080337524, 0.6085085868835449, 4.618935585021973], [1.8911447525024414, 0.6034277677536011, 4.316643714904785]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 431, "image_id": 62, "category_id": 45, "category_name": "person", "bbox2D_proj": [477.0, 225.0, 512.0, 321.0], "bbox2D_tight": [477.0, 225.0, 512.0, 321.0], "bbox2D_trunc": [477.0, 225.0, 512.0, 321.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 432, "image_id": 63, "category_id": 62, "category_name": "statue", "bbox2D_proj": [355.0, 217.0, 421.0, 317.0], "bbox2D_tight": [355.0, 217.0, 421.0, 317.0], "bbox2D_trunc": [355.0, 217.0, 421.0, 317.0], "center_cam": [1.0135980077535, 0.07937704135285677, 3.370331602512916], "dimensions": [0.40820313200332303, 0.6815185657746454, 0.528320326733086], "R_cam": [[0.9890398979187012, 0.0601041316986084, -0.13486118614673615], [-0.06168508529663086, 0.9980669021606445, -0.007571198046207428], [0.13414543867111206, 0.015807151794433594, 0.9908355474472046]], "bbox3D_cam": [[0.7593773603439331, -0.24288351833820343, 3.1272780895233154], [1.2819072008132935, -0.2754729986190796, 3.1981499195098877], [1.3228693008422852, 0.4047281742095947, 3.208922863006592], [0.8003394603729248, 0.4373176693916321, 3.1380510330200195], [0.7043266296386719, -0.2459740787744522, 3.531740188598633], [1.2268564701080322, -0.27856355905532837, 3.602612018585205], [1.267818570137024, 0.40163761377334595, 3.613384962081909], [0.7452887296676636, 0.4342271089553833, 3.542513132095337]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 433, "image_id": 63, "category_id": 49, "category_name": "plaque", "bbox2D_proj": [325.0, 213.0, 378.0, 292.0], "bbox2D_tight": [325.0, 213.0, 378.0, 292.0], "bbox2D_trunc": [325.0, 213.0, 378.0, 292.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 434, "image_id": 63, "category_id": 62, "category_name": "statue", "bbox2D_proj": [283.0, 121.0, 319.0, 225.0], "bbox2D_tight": [283.0, 121.0, 319.0, 225.0], "bbox2D_trunc": [283.0, 121.0, 319.0, 225.0], "center_cam": [0.4286340568556922, -0.708037809461245, 3.938633324114877], "dimensions": [0.2089843761299714, 0.8679199345057482, 0.31054687969620487], "R_cam": [[0.8937607407569885, 0.07913649082183838, -0.4415076971054077], [-0.1639869213104248, 0.9738215804100037, -0.15741586685180664], [0.4174923896789551, 0.21309363842010498, 0.8833409547805786]], "bbox3D_cam": [[0.3016487956047058, -1.0887258052825928, 3.6890316009521484], [0.5792034268379211, -1.1396514177322388, 3.8186826705932617], [0.6478875279426575, -0.2944522798061371, 4.003630638122559], [0.37033289670944214, -0.2435266673564911, 3.8739798069000244], [0.20938056707382202, -1.1216232776641846, 3.87363600730896], [0.48693519830703735, -1.1725488901138306, 4.003286838531494], [0.5556192994117737, -0.3273497521877289, 4.188235282897949], [0.27806466817855835, -0.2764241397380829, 4.058584213256836]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 435, "image_id": 63, "category_id": 45, "category_name": "person", "bbox2D_proj": [228.0, 215.0, 257.0, 314.0], "bbox2D_tight": [228.0, 215.0, 257.0, 314.0], "bbox2D_trunc": [228.0, 215.0, 257.0, 314.0], "center_cam": [-0.10778724338435688, 0.05821057666847554, 3.6904491216869246], "dimensions": [0.2197265685018985, 0.7767334095599829, 0.28906250698670133], "R_cam": [[0.12326660752296448, 0.03650832176208496, -0.9917018413543701], [-0.06713759899139404, 0.9973403215408325, 0.02837085723876953], [0.9900999069213867, 0.06308329105377197, 0.12538981437683105]], "bbox3D_cam": [[-0.03083013743162155, -0.3225365877151489, 3.5090737342834473], [0.004801623523235321, -0.34194356203079224, 3.795274496078491], [0.033158861100673676, 0.4327239394187927, 3.844273328781128], [-0.002472899854183197, 0.45213091373443604, 3.558072566986084], [-0.24873334169387817, -0.3163027763366699, 3.5366251468658447], [-0.2131015956401825, -0.33570975065231323, 3.8228259086608887], [-0.18474435806274414, 0.43895775079727173, 3.8718247413635254], [-0.22037610411643982, 0.45836472511291504, 3.5856239795684814]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 436, "image_id": 64, "category_id": 45, "category_name": "person", "bbox2D_proj": [58.0, 277.0, 93.0, 357.0], "bbox2D_tight": [58.0, 277.0, 93.0, 357.0], "bbox2D_trunc": [58.0, 277.0, 93.0, 357.0], "center_cam": [-3.5068071368408127, 1.1833765510614138, 8.761991462486884], "dimensions": [0.5312500358419627, 1.425292938349921, 0.7597656734981242], "R_cam": [[-0.8046349287033081, -0.02382683753967285, 0.5932915210723877], [-0.09295201301574707, 0.9919297695159912, -0.08622723817825317], [-0.5864489674568176, -0.1245291531085968, -0.8003562092781067]], "bbox3D_cam": [[-3.3417530059814453, 0.5346962213516235, 9.286113739013672], [-3.9530868530273438, 0.4640744924545288, 8.84054946899414], [-3.9870471954345703, 1.8778650760650635, 8.66305923461914], [-3.375713348388672, 1.9484868049621582, 9.108622550964355], [-3.026566982269287, 0.4888880252838135, 8.860923767089844], [-3.6379008293151855, 0.41826629638671875, 8.415360450744629], [-3.671861171722412, 1.8320568799972534, 8.237869262695312], [-3.0605273246765137, 1.9026786088943481, 8.683433532714844]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 437, "image_id": 64, "category_id": 45, "category_name": "person", "bbox2D_proj": [5.0, 265.0, 35.0, 361.0], "bbox2D_tight": [5.0, 265.0, 35.0, 361.0], "bbox2D_trunc": [5.0, 265.0, 35.0, 361.0], "center_cam": [-4.279154399618708, 1.036983316466333, 8.007094332055162], "dimensions": [0.4455526127283136, 1.6847326158870048, 0.9058499501264325], "R_cam": [[0.4809291362762451, 0.023915477097034454, 0.8764331936836243], [-0.05225619673728943, 0.9986326694488525, 0.001424809917807579], [-0.8752008080482483, -0.04648429900407791, 0.48152124881744385]], "bbox3D_cam": [[-4.71237325668335, 0.2191196084022522, 8.335379600524902], [-4.276723861694336, 0.17178338766098022, 7.542579174041748], [-4.2364325523376465, 1.8542122840881348, 7.464265823364258], [-4.67208194732666, 1.9015486240386963, 8.25706672668457], [-4.321876049041748, 0.2197543978691101, 8.549922943115234], [-3.8862266540527344, 0.17241817712783813, 7.75712251663208], [-3.845935344696045, 1.8548471927642822, 7.678808689117432], [-4.281584739685059, 1.9021832942962646, 8.471609115600586]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 438, "image_id": 64, "category_id": 45, "category_name": "person", "bbox2D_proj": [37.0, 272.0, 57.0, 351.0], "bbox2D_tight": [37.0, 272.0, 57.0, 351.0], "bbox2D_trunc": [37.0, 272.0, 57.0, 351.0], "center_cam": [-4.122231002932407, 1.0736380932776834, 8.883360075558294], "dimensions": [0.4682618341440944, 1.4891356968626281, 0.5078126319545935], "R_cam": [[-0.5279037356376648, -0.00024127960205078125, -0.8493043184280396], [0.05056101083755493, 0.9982174634933472, -0.03171107545495033], [0.8477979898452759, -0.05968216806650162, -0.5269505977630615]], "bbox3D_cam": [[-3.7891647815704346, 0.32498425245285034, 8.835911750793457], [-4.057240962982178, 0.3506597876548767, 9.266433715820312], [-4.057600498199463, 1.8371410369873047, 9.177558898925781], [-3.7895243167877197, 1.8114655017852783, 8.747036933898926], [-4.186861515045166, 0.3101351857185364, 8.589160919189453], [-4.454937934875488, 0.33581072092056274, 9.019682884216309], [-4.455296993255615, 1.8222918510437012, 8.930808067321777], [-4.187221050262451, 1.7966163158416748, 8.500286102294922]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 439, "image_id": 64, "category_id": 45, "category_name": "person", "bbox2D_proj": [91.0, 266.0, 126.0, 349.0], "bbox2D_tight": [91.0, 266.0, 126.0, 349.0], "bbox2D_trunc": [91.0, 266.0, 126.0, 349.0], "center_cam": [-3.1117587580404846, 0.9161499334077272, 9.675988036853742], "dimensions": [0.4960938181396854, 1.4257812145985969, 0.5781250668948985], "R_cam": [[0.8222219347953796, 0.04770457744598389, 0.5671643018722534], [0.02389425039291382, 0.9927096962928772, -0.11813715100288391], [-0.5686651468276978, 0.11068692803382874, 0.8150877952575684]], "bbox3D_cam": [[-3.5241236686706543, 0.23085308074951172, 9.559280395507812], [-3.048776626586914, 0.2446669340133667, 9.230520248413086], [-2.980760335922241, 1.6600538492202759, 9.388336181640625], [-3.4561076164245605, 1.646239995956421, 9.717095375061035], [-3.2427570819854736, 0.17224597930908203, 9.963640213012695], [-2.7674098014831543, 0.186059832572937, 9.634881019592285], [-2.6993937492370605, 1.6014467477798462, 9.792695999145508], [-3.174740791320801, 1.5876328945159912, 10.121456146240234]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 440, "image_id": 64, "category_id": 63, "category_name": "streetlight", "bbox2D_proj": [426.0, 67.0, 452.0, 246.0], "bbox2D_tight": [426.0, 67.0, 452.0, 246.0], "bbox2D_trunc": [426.0, 67.0, 452.0, 246.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 441, "image_id": 64, "category_id": 45, "category_name": "person", "bbox2D_proj": [152.0, 280.0, 167.0, 334.0], "bbox2D_tight": [152.0, 280.0, 167.0, 334.0], "bbox2D_trunc": [152.0, 280.0, 167.0, 334.0], "center_cam": [-2.760702825066981, 1.4475619089699192, 12.618925543724647], "dimensions": [0.4296875178477845, 1.5136718282946262, 0.4531249993738711], "R_cam": [[0.994568943977356, -0.08452951908111572, 0.06072351709008217], [0.0869450569152832, 0.9954766035079956, -0.03830013424158096], [-0.05721134692430496, 0.04337173327803612, 0.9974195957183838]], "bbox3D_cam": [[-2.935106039047241, 0.6826794147491455, 12.384772300720215], [-2.4844419956207275, 0.722076416015625, 12.358848571777344], [-2.612391948699951, 2.2289013862609863, 12.42449951171875], [-3.063055992126465, 2.189504384994507, 12.450423240661621], [-2.9090137481689453, 0.666222333908081, 12.813350677490234], [-2.4583497047424316, 0.7056193351745605, 12.787426948547363], [-2.5862996578216553, 2.212444305419922, 12.85307788848877], [-3.036963701248169, 2.1730473041534424, 12.87900161743164]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 442, "image_id": 64, "category_id": 45, "category_name": "person", "bbox2D_proj": [298.0, 221.0, 429.0, 512.0], "bbox2D_tight": [298.0, 221.0, 429.0, 512.0], "bbox2D_trunc": [298.0, 221.0, 429.0, 512.0], "center_cam": [0.5905520688956831, 0.62088405540479, 2.4808234496671204], "dimensions": [0.277828826298272, 1.6437148971276452, 0.6761034057146441], "R_cam": [[0.9954380989074707, 0.023915477097034454, 0.092363640666008], [-0.028083346784114838, 0.9986326694488525, 0.04409155994653702], [-0.0911828875541687, -0.04648429900407791, 0.994748592376709]], "bbox3D_cam": [[0.22155678272247314, -0.19648098945617676, 2.4116666316986084], [0.8945758938789368, -0.21546828746795654, 2.350017547607422], [0.9338861107826233, 1.4259991645812988, 2.2736105918884277], [0.26086699962615967, 1.4449864625930786, 2.3352596759796143], [0.2472180724143982, -0.18423104286193848, 2.6880364418029785], [0.9202371835708618, -0.20321834087371826, 2.626387357711792], [0.9595474004745483, 1.438249111175537, 2.549980401992798], [0.2865282893180847, 1.457236409187317, 2.6116294860839844]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 443, "image_id": 64, "category_id": 45, "category_name": "person", "bbox2D_proj": [112.0, 279.0, 128.0, 336.0], "bbox2D_tight": [112.0, 279.0, 128.0, 336.0], "bbox2D_trunc": [112.0, 279.0, 128.0, 336.0], "center_cam": [-3.8606966145397057, 1.3903614204598433, 12.682362290878839], "dimensions": [0.37500000736175293, 1.6005858952305887, 0.7968750332731407], "R_cam": [[0.47573989629745483, 0.07674264907836914, 0.8762317895889282], [-0.119346022605896, 0.9926058650016785, -0.02213752269744873], [-0.8714516758918762, -0.09404304623603821, 0.4813811779022217]], "bbox3D_cam": [[-4.275959014892578, 0.647688627243042, 13.0145845413208], [-3.8968539237976074, 0.5525847673416138, 12.320146560668945], [-3.7740206718444824, 2.141335964202881, 12.169622421264648], [-4.153125762939453, 2.2364397048950195, 12.864060401916504], [-3.9473724365234375, 0.6393870115280151, 13.19510269165039], [-3.5682671070098877, 0.5442831516265869, 12.500664710998535], [-3.4454338550567627, 2.1330342292785645, 12.350140571594238], [-3.8245391845703125, 2.228137969970703, 13.044578552246094]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 444, "image_id": 64, "category_id": 61, "category_name": "sports_car", "bbox2D_proj": [387.0, 282.0, 512.0, 444.0], "bbox2D_tight": [387.0, 282.0, 512.0, 444.0], "bbox2D_trunc": [387.0, 282.0, 512.0, 444.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 445, "image_id": 64, "category_id": 45, "category_name": "person", "bbox2D_proj": [183.0, 278.0, 195.0, 323.0], "bbox2D_tight": [183.0, 278.0, 195.0, 323.0], "bbox2D_trunc": [183.0, 278.0, 195.0, 323.0], "center_cam": [-2.5169042755138538, 1.6226883920240287, 16.243638145368973], "dimensions": [0.4697267637085176, 1.5507812053078855, 0.4843752244510938], "R_cam": [[-0.2686876058578491, -0.0263289213180542, -0.9628674387931824], [-0.09206151962280273, 0.9957520961761475, -0.0015383660793304443], [0.9588178396224976, 0.0882297158241272, -0.269970178604126]], "bbox3D_cam": [[-2.2052741050720215, 0.8732490539550781, 16.006418228149414], [-2.3354196548461914, 0.8286566734313965, 16.47084617614746], [-2.3762500286102295, 2.3728504180908203, 16.6076717376709], [-2.2461044788360596, 2.417442798614502, 16.14324378967285], [-2.6575586795806885, 0.8725264072418213, 15.879606246948242], [-2.7877042293548584, 0.8279340267181396, 16.34403419494629], [-2.8285346031188965, 2.3721277713775635, 16.480859756469727], [-2.6983890533447266, 2.416720151901245, 16.01643180847168]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 446, "image_id": 64, "category_id": 15, "category_name": "car", "bbox2D_proj": [222.0, 291.0, 282.0, 330.0], "bbox2D_tight": [222.0, 291.0, 282.0, 330.0], "bbox2D_trunc": [222.0, 291.0, 282.0, 330.0], "center_cam": [-0.12056642984051197, 1.3740369134919905, 13.03492007891007], "dimensions": [1.5034179667671346, 1.0244140348466493, 2.3906251034313373], "R_cam": [[0.08171963691711426, -0.04703819751739502, 0.9955446720123291], [0.08855077624320984, 0.9952779412269592, 0.03975677490234375], [-0.9927138090133667, 0.0849074125289917, 0.085499107837677]], "bbox3D_cam": [[-0.9425137042999268, 0.7285171747207642, 14.113761901855469], [-0.7471524477005005, 0.940208911895752, 11.740555763244629], [-0.7953389883041382, 1.9597855806350708, 11.827536582946777], [-0.9907002449035645, 1.748093843460083, 14.200742721557617], [0.554206132888794, 0.7882882356643677, 14.242302894592285], [0.7495673894882202, 0.9999800324440002, 11.869096755981445], [0.7013808488845825, 2.0195565223693848, 11.956077575683594], [0.5060195922851562, 1.8078649044036865, 14.329283714294434]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 447, "image_id": 65, "category_id": 45, "category_name": "person", "bbox2D_proj": [2.0, 294.0, 24.0, 376.0], "bbox2D_tight": [2.0, 294.0, 24.0, 376.0], "bbox2D_trunc": [2.0, 294.0, 24.0, 376.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 448, "image_id": 65, "category_id": 63, "category_name": "streetlight", "bbox2D_proj": [390.0, 80.0, 421.0, 254.0], "bbox2D_tight": [390.0, 80.0, 421.0, 254.0], "bbox2D_trunc": [390.0, 80.0, 421.0, 254.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 449, "image_id": 65, "category_id": 61, "category_name": "sports_car", "bbox2D_proj": [218.0, 300.0, 262.0, 329.0], "bbox2D_tight": [218.0, 300.0, 262.0, 329.0], "bbox2D_trunc": [218.0, 300.0, 262.0, 329.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 450, "image_id": 65, "category_id": 15, "category_name": "car", "bbox2D_proj": [111.0, 320.0, 224.0, 386.0], "bbox2D_tight": [111.0, 320.0, 224.0, 386.0], "bbox2D_trunc": [111.0, 320.0, 224.0, 386.0], "center_cam": [-1.4031331611930513, 1.5274077354706654, 7.643888476032785], "dimensions": [1.4609374851921353, 1.0136718357534613, 2.480468645113027], "R_cam": [[0.17217731475830078, 0.04738926887512207, -0.983925461769104], [0.04886654019355774, 0.9972014427185059, 0.0565798282623291], [0.9838531017303467, -0.0578228235244751, 0.16937971115112305]], "bbox3D_cam": [[-0.9219652414321899, 0.9200543761253357, 6.329259872436523], [-0.494884729385376, 1.0412663221359253, 8.76967716217041], [-0.4468475580215454, 2.0521016120910645, 8.711063385009766], [-0.8739280700683594, 1.93088960647583, 6.270646572113037], [-2.3594188690185547, 1.002713918685913, 6.5767130851745605], [-1.9323382377624512, 1.1239259243011475, 9.017129898071289], [-1.8843010663986206, 2.134761095046997, 8.958517074584961], [-2.3113815784454346, 2.0135490894317627, 6.518099784851074]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 451, "image_id": 65, "category_id": 45, "category_name": "person", "bbox2D_proj": [58.0, 286.0, 92.0, 371.0], "bbox2D_tight": [58.0, 286.0, 92.0, 371.0], "bbox2D_trunc": [58.0, 286.0, 92.0, 371.0], "center_cam": [-4.024646066587742, 1.550177069159794, 10.003899428533494], "dimensions": [0.7070312827349692, 1.7551268837691973, 0.859375030020852], "R_cam": [[0.5049207210540771, 0.06095534563064575, 0.8610107898712158], [-0.0544661283493042, 0.9977655410766602, -0.038696467876434326], [-0.8614456057548523, -0.0273573100566864, 0.5071125030517578]], "bbox3D_cam": [[-4.599477291107178, 0.7116577625274658, 10.21878719329834], [-4.165561199188232, 0.6648509502410889, 9.478483200073242], [-4.058576583862305, 2.4160561561584473, 9.43046760559082], [-4.492493152618408, 2.462862968444824, 10.170772552490234], [-3.990715742111206, 0.6842981576919556, 10.57733154296875], [-3.5567996501922607, 0.6374913454055786, 9.837026596069336], [-3.449815273284912, 2.3886964321136475, 9.78901195526123], [-3.8837313652038574, 2.4355032444000244, 10.529315948486328]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 452, "image_id": 65, "category_id": 45, "category_name": "person", "bbox2D_proj": [417.0, 260.0, 451.0, 289.0], "bbox2D_tight": [417.0, 260.0, 451.0, 289.0], "bbox2D_trunc": [417.0, 260.0, 451.0, 289.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 453, "image_id": 65, "category_id": 45, "category_name": "person", "bbox2D_proj": [260.0, 233.0, 407.0, 512.0], "bbox2D_tight": [260.0, 233.0, 407.0, 512.0], "bbox2D_trunc": [260.0, 233.0, 407.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 454, "image_id": 65, "category_id": 45, "category_name": "person", "bbox2D_proj": [25.0, 302.0, 44.0, 380.0], "bbox2D_tight": [25.0, 302.0, 44.0, 380.0], "bbox2D_trunc": [25.0, 302.0, 44.0, 380.0], "center_cam": [-4.263239586260449, 1.6159084547443814, 8.675755817966841], "dimensions": [0.4453125435582149, 1.3701171337912355, 0.4843750358790675], "R_cam": [[-0.40720561146736145, -0.06361508369445801, 0.9111183285713196], [0.004990696907043457, 0.9974014759063721, 0.07186996936798096], [-0.9133228063583374, 0.0338129997253418, -0.4058300256729126]], "bbox3D_cam": [[-4.3239054679870605, 0.9154190421104431, 8.964147567749023], [-4.521145820617676, 0.9178363680839539, 8.521757125854492], [-4.608305931091309, 2.284393310546875, 8.568084716796875], [-4.411065578460693, 2.2819759845733643, 9.010475158691406], [-3.918172836303711, 0.9474236369132996, 8.783426284790039], [-4.115413188934326, 0.9498409628868103, 8.341035842895508], [-4.202573299407959, 2.3163979053497314, 8.38736343383789], [-4.005332946777344, 2.3139805793762207, 8.829753875732422]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 455, "image_id": 65, "category_id": 45, "category_name": "person", "bbox2D_proj": [84.0, 297.0, 104.0, 355.0], "bbox2D_tight": [84.0, 297.0, 104.0, 355.0], "bbox2D_trunc": [84.0, 297.0, 104.0, 355.0], "center_cam": [-4.339347055418194, 1.711091073151294, 11.906374373751321], "dimensions": [0.5546884444056269, 1.6845702464408001, 0.5566415892925899], "R_cam": [[-0.9849635362625122, 0.10773491859436035, 0.13505591452121735], [0.09006565809249878, 0.9873173236846924, -0.13073915243148804], [-0.1474282145500183, -0.1166093721985817, -0.9821747541427612]], "bbox3D_cam": [[-4.193411350250244, 0.8906809687614441, 12.318025588989258], [-4.741683006286621, 0.940815269947052, 12.235960006713867], [-4.560196399688721, 2.604020595550537, 12.03952407836914], [-4.011924743652344, 2.5538864135742188, 12.121588706970215], [-4.118497371673584, 0.8181614279747009, 11.773223876953125], [-4.666769027709961, 0.8682957291603088, 11.69115924835205], [-4.4852824211120605, 2.531501054763794, 11.494722366333008], [-3.9370105266571045, 2.4813668727874756, 11.576787948608398]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 456, "image_id": 65, "category_id": 72, "category_name": "tree", "bbox2D_proj": [5.0, 228.0, 117.0, 302.0], "bbox2D_tight": [5.0, 228.0, 117.0, 302.0], "bbox2D_trunc": [5.0, 228.0, 117.0, 302.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 457, "image_id": 66, "category_id": 45, "category_name": "person", "bbox2D_proj": [360.0, 254.0, 382.0, 328.0], "bbox2D_tight": [360.0, 254.0, 382.0, 328.0], "bbox2D_trunc": [360.0, 254.0, 382.0, 328.0], "center_cam": [1.8951362175267925, 0.6711816050761871, 7.551281398394707], "dimensions": [0.41796878802173887, 1.4020996508747081, 0.5078125626855841], "R_cam": [[0.41466018557548523, 0.06204569339752197, -0.9078586101531982], [-0.06374788284301758, 0.9972022771835327, 0.03903517127037048], [0.9077407121658325, 0.041687726974487305, 0.41745543479919434]], "bbox3D_cam": [[1.9360826015472412, -0.019878625869750977, 7.204333305358887], [2.1466522216796875, -0.05225062370300293, 7.665295600891113], [2.2336463928222656, 1.3459264039993286, 7.723746299743652], [2.0230767726898193, 1.3782984018325806, 7.262784004211426], [1.5566259622573853, -0.0035631656646728516, 7.378816604614258], [1.7671955823898315, -0.035935163497924805, 7.839778900146484], [1.8541898727416992, 1.3622418642044067, 7.898229598999023], [1.643620252609253, 1.3946138620376587, 7.437267303466797]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 458, "image_id": 66, "category_id": 45, "category_name": "person", "bbox2D_proj": [387.0, 251.0, 428.0, 328.0], "bbox2D_tight": [387.0, 251.0, 428.0, 328.0], "bbox2D_trunc": [387.0, 251.0, 428.0, 328.0], "center_cam": [2.4932455420300776, 0.6406137902150233, 7.251274290167872], "dimensions": [0.39843750836552716, 1.4815674208236354, 0.7753906432734445], "R_cam": [[0.7392334938049316, -0.004070281982421875, 0.6734368801116943], [0.00036519765853881836, 0.9999840259552002, 0.005643069744110107], [-0.6734490990638733, -0.003925591707229614, 0.7392231225967407]], "bbox3D_cam": [[2.0755021572113037, -0.10142379999160767, 7.368008136749268], [2.6486968994140625, -0.10114067792892456, 6.845821857452393], [2.6426665782928467, 1.3804030418395996, 6.840005874633789], [2.069471836090088, 1.380119800567627, 7.362192153930664], [2.343824625015259, -0.09917539358139038, 7.662542343139648], [2.9170193672180176, -0.09889227151870728, 7.140356063842773], [2.9109890460968018, 1.3826513290405273, 7.13454008102417], [2.337794303894043, 1.3823683261871338, 7.656726360321045]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 459, "image_id": 66, "category_id": 45, "category_name": "person", "bbox2D_proj": [185.0, 260.0, 206.0, 309.0], "bbox2D_tight": [185.0, 260.0, 206.0, 309.0], "bbox2D_trunc": [185.0, 260.0, 206.0, 309.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 460, "image_id": 66, "category_id": 45, "category_name": "person", "bbox2D_proj": [315.0, 257.0, 339.0, 310.0], "bbox2D_tight": [315.0, 257.0, 339.0, 310.0], "bbox2D_trunc": [315.0, 257.0, 339.0, 310.0], "center_cam": [1.3510434523803223, 0.7033472923250146, 8.37437060867137], "dimensions": [0.37890630821073956, 1.269531288740597, 0.4172363706972979], "R_cam": [[-0.9801517724990845, 0.07054781913757324, -0.18527105450630188], [0.023830711841583252, 0.9696913957595825, 0.24316778779029846], [0.19681069254875183, 0.2339262217283249, -0.9521260261535645]], "bbox3D_cam": [[1.545839786529541, 0.03678005933761597, 8.36520767211914], [1.1368848085403442, 0.04672306776046753, 8.4473237991333], [1.2264474630355835, 1.2777767181396484, 8.744300842285156], [1.6354025602340698, 1.2678337097167969, 8.66218376159668], [1.4756394624710083, 0.1289178729057312, 8.004440307617188], [1.066684365272522, 0.13886088132858276, 8.086557388305664], [1.1562471389770508, 1.3699145317077637, 8.383533477783203], [1.5652021169662476, 1.359971523284912, 8.301417350769043]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 461, "image_id": 66, "category_id": 3, "category_name": "banner", "bbox2D_proj": [245.0, 173.0, 268.0, 277.0], "bbox2D_tight": [245.0, 173.0, 268.0, 277.0], "bbox2D_trunc": [245.0, 173.0, 268.0, 277.0], "center_cam": [-0.002879957378193153, -0.7309372125440641, 11.961776316304238], "dimensions": [0.05468750087295131, 3.0429688150658722, 0.5722655994760739], "R_cam": [[0.9852056503295898, -0.009515881538391113, -0.17111195623874664], [-0.08665430545806885, 0.8337546586990356, -0.5452927350997925], [0.1478542983531952, 0.5520530939102173, 0.8205952644348145]], "bbox3D_cam": [[-0.2656225860118866, -1.9597768783569336, 11.057092666625977], [0.29817673563957214, -2.009366035461426, 11.141704559326172], [0.26922038197517395, 0.5277232527732849, 12.821584701538086], [-0.2945789396762848, 0.5773124098777771, 12.73697280883789], [-0.2749802768230438, -1.9895975589752197, 11.101968765258789], [0.2888190448284149, -2.039186716079712, 11.186580657958984], [0.2598626911640167, 0.4979025721549988, 12.866460800170898], [-0.303936630487442, 0.547491729259491, 12.781848907470703]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 462, "image_id": 66, "category_id": 45, "category_name": "person", "bbox2D_proj": [207.0, 263.0, 228.0, 303.0], "bbox2D_tight": [207.0, 263.0, 228.0, 303.0], "bbox2D_trunc": [207.0, 263.0, 228.0, 303.0], "center_cam": [-1.0506431610557647, 0.9280035099225952, 11.689427851107482], "dimensions": [0.4062500303798091, 1.3521118522153281, 0.5546875407965435], "R_cam": [[-0.7599023580551147, -0.01618945598602295, -0.6498355269432068], [-0.0025418996810913086, 0.9997560977935791, -0.021934418007731438], [0.6500322222709656, -0.015016136690974236, -0.7597581148147583]], "bbox3D_cam": [[-0.6969462037086487, 0.2572728991508484, 11.673623085021973], [-1.1184545755386353, 0.25586289167404175, 12.034187316894531], [-1.140344500541687, 1.607645034790039, 12.013883590698242], [-0.7188360691070557, 1.6090550422668457, 11.653319358825684], [-0.9609419703483582, 0.2483620047569275, 11.364971160888672], [-1.3824503421783447, 0.24695199728012085, 11.72553539276123], [-1.4043402671813965, 1.5987341403961182, 11.705231666564941], [-0.9828318357467651, 1.6001441478729248, 11.344667434692383]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 463, "image_id": 66, "category_id": 45, "category_name": "person", "bbox2D_proj": [293.0, 251.0, 316.0, 299.0], "bbox2D_tight": [293.0, 251.0, 316.0, 299.0], "bbox2D_trunc": [293.0, 251.0, 316.0, 299.0], "center_cam": [0.9506084735827931, 0.5675135804042917, 8.83163462669096], "dimensions": [0.36718774458638836, 1.1271972959174943, 0.3828127599696447], "R_cam": [[0.6789199113845825, 0.022672295570373535, 0.733862042427063], [-0.14215755462646484, 0.9846680164337158, 0.10109391808509827], [-0.7203185558319092, -0.17295876145362854, 0.6717338562011719]], "bbox3D_cam": [[0.6731482148170471, 0.021205663681030273, 8.943660736083984], [0.9330474734306335, -0.03321409225463867, 8.667914390563965], [0.95860356092453, 1.076701045036316, 8.472955703735352], [0.6987043619155884, 1.1311208009719849, 8.748703002929688], [0.942613422870636, 0.058326125144958496, 9.190313339233398], [1.2025126218795776, 0.003906369209289551, 8.914566040039062], [1.2280688285827637, 1.1138215065002441, 8.719608306884766], [0.9681695103645325, 1.168241262435913, 8.995354652404785]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 464, "image_id": 66, "category_id": 61, "category_name": "sports_car", "bbox2D_proj": [77.0, 273.0, 173.0, 324.0], "bbox2D_tight": [77.0, 273.0, 173.0, 324.0], "bbox2D_trunc": [77.0, 273.0, 173.0, 324.0], "center_cam": [-3.6896218952210327, 1.3092543534310717, 14.253494408746331], "dimensions": [2.0234374958327344, 1.2319336273977528, 4.28906261494442], "R_cam": [[0.4273190498352051, -0.015188485383987427, -0.9039732217788696], [-0.0010291635990142822, 0.9998500347137451, -0.017285823822021484], [0.9041001796722412, 0.00831693410873413, 0.42723944783210754]], "bbox3D_cam": [[-3.682098627090454, 0.7130755186080933, 11.877253532409668], [-1.8493003845214844, 0.7086613178253174, 15.754997253417969], [-1.868011474609375, 1.9404101371765137, 15.765242576599121], [-3.700809955596924, 1.9448243379592896, 11.887499809265137], [-5.511232376098633, 0.6780986785888672, 12.741745948791504], [-3.678433895111084, 0.6736844778060913, 16.619489669799805], [-3.6971452236175537, 1.9054332971572876, 16.62973403930664], [-5.529943466186523, 1.9098474979400635, 12.751991271972656]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 465, "image_id": 66, "category_id": 45, "category_name": "person", "bbox2D_proj": [343.0, 257.0, 363.0, 323.0], "bbox2D_tight": [343.0, 257.0, 363.0, 323.0], "bbox2D_trunc": [343.0, 257.0, 363.0, 323.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 466, "image_id": 66, "category_id": 45, "category_name": "person", "bbox2D_proj": [171.0, 262.0, 187.0, 311.0], "bbox2D_tight": [171.0, 262.0, 187.0, 311.0], "bbox2D_trunc": [171.0, 262.0, 187.0, 311.0], "center_cam": [-2.0437183916670327, 1.0195992283272806, 11.780230793408668], "dimensions": [0.3359375214394326, 1.3750000385993832, 0.4843750269801345], "R_cam": [[0.7241062521934509, -0.039186716079711914, -0.6885741949081421], [0.10106825828552246, 0.9936354756355286, 0.0497359037399292], [0.6822428107261658, -0.10560709238052368, 0.7234582901000977]], "bbox3D_cam": [[-2.0764880180358887, 0.30364322662353516, 11.566086769104004], [-1.7257490158081055, 0.3525981903076172, 11.896547317504883], [-1.7796306610107422, 1.7188470363616943, 11.751338005065918], [-2.1303696632385254, 1.6698920726776123, 11.420876502990723], [-2.3078060150146484, 0.32035136222839355, 11.809123039245605], [-1.9570668935775757, 0.3693063259124756, 12.1395845413208], [-2.010948657989502, 1.7355551719665527, 11.99437427520752], [-2.361687660217285, 1.6866002082824707, 11.66391372680664]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 467, "image_id": 66, "category_id": 61, "category_name": "sports_car", "bbox2D_proj": [105.0, 295.0, 512.0, 472.0], "bbox2D_tight": [105.0, 295.0, 512.0, 472.0], "bbox2D_trunc": [105.0, 295.0, 512.0, 472.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 468, "image_id": 66, "category_id": 45, "category_name": "person", "bbox2D_proj": [488.0, 253.0, 512.0, 346.0], "bbox2D_tight": [488.0, 253.0, 512.0, 346.0], "bbox2D_trunc": [488.0, 253.0, 512.0, 346.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 469, "image_id": 67, "category_id": 45, "category_name": "person", "bbox2D_proj": [308.0, 341.0, 343.0, 489.0], "bbox2D_tight": [308.0, 341.0, 343.0, 489.0], "bbox2D_trunc": [308.0, 341.0, 343.0, 489.0], "center_cam": [1.251733278219569, 2.8295773807960107, 7.935117489154363], "dimensions": [0.5654296922646185, 2.4702148993051183, 0.7421875081189542], "R_cam": [[0.29740282893180847, 0.00012123584747314453, -0.9547520875930786], [0.1258193850517273, 0.9912736415863037, 0.03931832313537598], [0.9464253783226013, -0.13181963562965393, 0.29479241371154785]], "bbox3D_cam": [[1.4111418724060059, 1.5474412441253662, 7.663374423980713], [1.6318705081939697, 1.6408228874206543, 8.365799903869629], [1.6321699619293213, 4.089481830596924, 8.040176391601562], [1.4114413261413574, 3.9961001873016357, 7.337751388549805], [0.8712966442108154, 1.5696730613708496, 7.830058574676514], [1.0920252799987793, 1.6630547046661377, 8.53248405456543], [1.0923247337341309, 4.111713409423828, 8.206860542297363], [0.8715961575508118, 4.018332004547119, 7.504436016082764]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 470, "image_id": 67, "category_id": 74, "category_name": "trousers", "bbox2D_proj": [380.0, 432.0, 422.0, 498.0], "bbox2D_tight": [380.0, 432.0, 422.0, 498.0], "bbox2D_trunc": [380.0, 432.0, 422.0, 498.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 471, "image_id": 67, "category_id": 45, "category_name": "person", "bbox2D_proj": [246.0, 322.0, 286.0, 479.0], "bbox2D_tight": [246.0, 322.0, 286.0, 479.0], "bbox2D_trunc": [246.0, 322.0, 286.0, 479.0], "center_cam": [0.24676581421682692, 2.7794240647781496, 8.611901122496239], "dimensions": [0.7944336023879865, 2.7612305359411864, 1.1718750169618586], "R_cam": [[-0.0803987979888916, -0.034238576889038086, -0.9961745738983154], [0.2259657382965088, 0.9727638959884644, -0.05167108774185181], [0.9708117842674255, -0.22925567626953125, -0.07047224044799805]], "bbox3D_cam": [[0.7368420958518982, 1.3245340585708618, 8.3875732421875], [0.6426247358322144, 1.589337706565857, 9.525242805480957], [0.5480841398239136, 4.275362968444824, 8.892215728759766], [0.6423014402389526, 4.010559558868408, 7.754545211791992], [-0.054552510380744934, 1.2834848165512085, 8.331586837768555], [-0.14876984059810638, 1.5482884645462036, 9.469257354736328], [-0.24331046640872955, 4.23431396484375, 8.83622932434082], [-0.1490931361913681, 3.969510078430176, 7.698559761047363]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 472, "image_id": 67, "category_id": 45, "category_name": "person", "bbox2D_proj": [178.0, 343.0, 215.0, 473.0], "bbox2D_tight": [178.0, 343.0, 215.0, 473.0], "bbox2D_trunc": [178.0, 343.0, 215.0, 473.0], "center_cam": [-1.38086460340638, 3.3784392693531915, 10.431030945941838], "dimensions": [0.789062515602715, 3.127929760334224, 0.8984375185896165], "R_cam": [[0.6143072843551636, 0.05401664972305298, 0.7872158885002136], [-0.29299354553222656, 0.9419432878494263, 0.1640050709247589], [-0.7326536178588867, -0.3313986659049988, 0.5944690704345703]], "bbox3D_cam": [[-2.051884412765503, 1.9721859693527222, 11.043911933898926], [-1.4999676942825317, 1.7089496850967407, 10.385668754577637], [-1.3310073614120483, 4.655282020568848, 9.349077224731445], [-1.8829240798950195, 4.918518543243408, 10.007320404052734], [-1.4307218790054321, 2.1015963554382324, 11.512985229492188], [-0.8788051605224609, 1.8383599519729614, 10.854742050170898], [-0.7098448276519775, 4.784692287445068, 9.818150520324707], [-1.2617615461349487, 5.047928810119629, 10.476393699645996]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 473, "image_id": 67, "category_id": 45, "category_name": "person", "bbox2D_proj": [208.0, 329.0, 245.0, 415.0], "bbox2D_tight": [208.0, 329.0, 245.0, 415.0], "bbox2D_trunc": [208.0, 329.0, 245.0, 415.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 474, "image_id": 67, "category_id": 45, "category_name": "person", "bbox2D_proj": [129.0, 326.0, 167.0, 405.0], "bbox2D_tight": [129.0, 326.0, 167.0, 405.0], "bbox2D_trunc": [129.0, 326.0, 167.0, 405.0], "center_cam": [-2.6961184156871085, 2.867691993620548, 11.09976617735008], "dimensions": [0.6328125063852188, 2.1972656731436944, 0.9765625085287708], "R_cam": [[0.9861132502555847, 0.0539700984954834, 0.1570604145526886], [-0.03994476795196533, 0.9950379729270935, -0.09112560749053955], [-0.16119912266731262, 0.0835864245891571, 0.9833759069442749]], "bbox3D_cam": [[-3.286607265472412, 1.822847604751587, 10.77549934387207], [-2.323606014251709, 1.7838389873504639, 10.618078231811523], [-2.205019474029541, 3.9702017307281494, 10.801739692687988], [-3.168020486831665, 4.009210586547852, 10.959160804748535], [-3.1872172355651855, 1.7651822566986084, 11.397791862487793], [-2.2242162227630615, 1.7261736392974854, 11.240370750427246], [-2.1056294441223145, 3.912536382675171, 11.424032211303711], [-3.0686306953430176, 3.951545000076294, 11.581453323364258]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 475, "image_id": 67, "category_id": 26, "category_name": "flag", "bbox2D_proj": [85.0, 259.0, 140.0, 320.0], "bbox2D_tight": [85.0, 259.0, 140.0, 320.0], "bbox2D_trunc": [85.0, 259.0, 140.0, 320.0], "center_cam": [-0.8140877109422819, 0.1868833929218292, 2.5148597090434817], "dimensions": [0.019531250219791692, 0.34082032031425613, 0.30444336277267003], "R_cam": [[0.9910054206848145, 0.09588980674743652, -0.09334515780210495], [-0.05832564830780029, 0.9372934103012085, 0.34362635016441345], [0.12044208496809006, -0.33509117364883423, 0.9344557523727417]], "bbox3D_cam": [[-0.9803692102432251, 0.03268176317214966, 2.5445032119750977], [-0.6786642074584961, 0.01492491364479065, 2.5811710357666016], [-0.6459829807281494, 0.3343735635280609, 2.4669651985168457], [-0.9476880431175232, 0.3521304130554199, 2.430297374725342], [-0.9821923971176147, 0.039393216371536255, 2.5627541542053223], [-0.680487334728241, 0.021636366844177246, 2.599421977996826], [-0.6478061676025391, 0.3410850167274475, 2.4852161407470703], [-0.9495111703872681, 0.3588418662548065, 2.4485483169555664]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 476, "image_id": 67, "category_id": 45, "category_name": "person", "bbox2D_proj": [280.0, 323.0, 300.0, 399.0], "bbox2D_tight": [280.0, 323.0, 300.0, 399.0], "bbox2D_trunc": [280.0, 323.0, 300.0, 399.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 477, "image_id": 67, "category_id": 45, "category_name": "person", "bbox2D_proj": [94.0, 326.0, 131.0, 397.0], "bbox2D_tight": [94.0, 326.0, 131.0, 397.0], "bbox2D_trunc": [94.0, 326.0, 131.0, 397.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 478, "image_id": 67, "category_id": 45, "category_name": "person", "bbox2D_proj": [165.0, 322.0, 195.0, 439.0], "bbox2D_tight": [165.0, 322.0, 195.0, 439.0], "bbox2D_trunc": [165.0, 322.0, 195.0, 439.0], "center_cam": [-2.4909341284510695, 4.02034212588635, 14.31398522647637], "dimensions": [0.9921875143694574, 3.520507894272681, 1.1718750151838857], "R_cam": [[0.7534059286117554, -0.01074075698852539, 0.6574679613113403], [-0.11718273162841797, 0.9816681146621704, 0.1503191888332367], [-0.6470298767089844, -0.19029530882835388, 0.7383360266685486]], "bbox3D_cam": [[-3.2396421432495117, 2.2864465713500977, 14.661787986755371], [-2.3567447662353516, 2.149122953414917, 13.903550148010254], [-2.394557476043701, 5.605093002319336, 13.233613967895508], [-3.2774550914764404, 5.742416858673096, 13.991851806640625], [-2.587310791015625, 2.435591459274292, 15.394355773925781], [-1.7044131755828857, 2.2982678413391113, 14.636117935180664], [-1.7422261238098145, 5.754238128662109, 13.966181755065918], [-2.6251235008239746, 5.891561508178711, 14.724419593811035]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 479, "image_id": 67, "category_id": 45, "category_name": "person", "bbox2D_proj": [409.0, 337.0, 494.0, 512.0], "bbox2D_tight": [409.0, 337.0, 494.0, 512.0], "bbox2D_trunc": [409.0, 337.0, 494.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 480, "image_id": 68, "category_id": 55, "category_name": "shirt", "bbox2D_proj": [121.0, 407.0, 173.0, 512.0], "bbox2D_tight": [121.0, 407.0, 173.0, 512.0], "bbox2D_trunc": [121.0, 407.0, 173.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 481, "image_id": 68, "category_id": 45, "category_name": "person", "bbox2D_proj": [465.0, 353.0, 484.0, 429.0], "bbox2D_tight": [465.0, 353.0, 484.0, 429.0], "bbox2D_trunc": [465.0, 353.0, 484.0, 429.0], "center_cam": [4.158349275686498, 2.6105133201577453, 8.539911663141279], "dimensions": [0.35156254077257, 1.3222655354224588, 0.468750047247635], "R_cam": [[0.7953239679336548, -0.012206554412841797, -0.6060618162155151], [0.061129212379455566, 0.9963157176971436, 0.060152262449264526], [0.6030946969985962, -0.08488863706588745, 0.7931399345397949]], "bbox3D_cam": [[4.086549758911133, 1.9269155263900757, 8.315264701843262], [4.459358215332031, 1.955569863319397, 8.597965240478516], [4.443217754364014, 3.272963523864746, 8.485719680786133], [4.070409774780273, 3.244309425354004, 8.203019142150879], [3.873481273651123, 1.948062777519226, 8.59410285949707], [4.246289253234863, 1.9767171144485474, 8.876803398132324], [4.230149269104004, 3.2941107749938965, 8.764557838439941], [3.8573410511016846, 3.2654566764831543, 8.481857299804688]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 482, "image_id": 68, "category_id": 45, "category_name": "person", "bbox2D_proj": [208.0, 367.0, 242.0, 486.0], "bbox2D_tight": [208.0, 367.0, 242.0, 486.0], "bbox2D_trunc": [208.0, 367.0, 242.0, 486.0], "center_cam": [-0.45999574679636335, 2.523691602392978, 6.556073882591957], "dimensions": [0.4936523518050839, 1.5051268947414587, 0.5390625496677854], "R_cam": [[-0.062230296432971954, -0.014932036399841309, 0.9979501962661743], [-0.3079582452774048, 0.9513869881629944, -0.004968464840203524], [-0.949362576007843, -0.3076360821723938, -0.06380343437194824]], "bbox3D_cam": [[-0.6783057451248169, 1.891943335533142, 7.059220790863037], [-0.7118517160415649, 1.725934624671936, 6.547454833984375], [-0.7343262434005737, 3.1578927040100098, 6.084423542022705], [-0.7007802128791809, 3.323901414871216, 6.596189498901367], [-0.1856652796268463, 1.8894906044006348, 7.027723789215088], [-0.21921126544475555, 1.7234818935394287, 6.515957832336426], [-0.24168577790260315, 3.155439853668213, 6.052926540374756], [-0.2081398069858551, 3.321448802947998, 6.564692497253418]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 483, "image_id": 68, "category_id": 45, "category_name": "person", "bbox2D_proj": [422.0, 362.0, 445.0, 425.0], "bbox2D_tight": [422.0, 362.0, 445.0, 425.0], "bbox2D_trunc": [422.0, 362.0, 445.0, 425.0], "center_cam": [3.7670058371600352, 2.900918552665756, 9.40424704282222], "dimensions": [0.36718754140101917, 1.2727660477644123, 0.4296875228545146], "R_cam": [[0.9728179574012756, -0.05034303665161133, -0.22603224217891693], [0.09809941053390503, 0.9737644791603088, 0.2053266167640686], [0.20976540446281433, -0.22191907465457916, 0.9522342681884766]], "bbox3D_cam": [[3.631537675857544, 2.2224583625793457, 9.325581550598145], [4.0495452880859375, 2.264610528945923, 9.415715217590332], [3.9854702949523926, 3.5039849281311035, 9.133264541625977], [3.567462682723999, 3.4618330001831055, 9.043130874633789], [3.54854154586792, 2.297852039337158, 9.675230026245117], [3.9665491580963135, 2.3400039672851562, 9.765363693237305], [3.9024741649627686, 3.579378604888916, 9.48291301727295], [3.484466314315796, 3.537226438522339, 9.392779350280762]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 484, "image_id": 68, "category_id": 45, "category_name": "person", "bbox2D_proj": [248.0, 363.0, 271.0, 468.0], "bbox2D_tight": [248.0, 363.0, 271.0, 468.0], "bbox2D_trunc": [248.0, 363.0, 271.0, 468.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 485, "image_id": 68, "category_id": 45, "category_name": "person", "bbox2D_proj": [308.0, 355.0, 339.0, 456.0], "bbox2D_tight": [308.0, 355.0, 339.0, 456.0], "bbox2D_trunc": [308.0, 355.0, 339.0, 456.0], "center_cam": [1.0857049797384606, 2.463074705879716, 7.410672605958114], "dimensions": [0.5234376583132206, 1.6652831360198175, 0.5703126864161997], "R_cam": [[-0.5718175172805786, -0.07049620151519775, 0.8173463344573975], [-0.2553461790084839, 0.9621058702468872, -0.09565910696983337], [-0.7796300649642944, -0.26340582966804504, -0.5681499242782593]], "bbox3D_cam": [[1.0935454368591309, 1.7598347663879395, 8.001007080078125], [0.7674306631088257, 1.6142076253890991, 7.556374549865723], [0.650034487247467, 3.216386318206787, 7.117729187011719], [0.976149320602417, 3.362013339996338, 7.562362194061279], [1.5213754177093506, 1.7097631692886353, 7.703616142272949], [1.1952605247497559, 1.564136028289795, 7.258983135223389], [1.077864408493042, 3.1663146018981934, 6.820338249206543], [1.4039791822433472, 3.311941623687744, 7.264970779418945]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 486, "image_id": 68, "category_id": 45, "category_name": "person", "bbox2D_proj": [42.0, 362.0, 89.0, 512.0], "bbox2D_tight": [42.0, 362.0, 89.0, 512.0], "bbox2D_trunc": [42.0, 362.0, 89.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 487, "image_id": 68, "category_id": 45, "category_name": "person", "bbox2D_proj": [264.0, 365.0, 297.0, 490.0], "bbox2D_tight": [264.0, 365.0, 297.0, 490.0], "bbox2D_trunc": [264.0, 365.0, 297.0, 490.0], "center_cam": [0.4172847828505091, 2.645779913589895, 6.907124444642177], "dimensions": [0.41015626916763653, 1.7661131754444983, 0.7109375521930895], "R_cam": [[0.580767810344696, -0.00439453125, -0.8140574097633362], [0.11045777797698975, 0.9911628365516663, 0.07345253229141235], [0.8065406680107117, -0.1325778365135193, 0.5761208534240723]], "bbox3D_cam": [[0.38166600465774536, 1.7161991596221924, 6.619348526000977], [0.7945556044578552, 1.7947278022766113, 7.192748546600342], [0.7867943644523621, 3.5452334880828857, 6.958600997924805], [0.3739047646522522, 3.466704845428467, 6.3852009773254395], [0.047775208950042725, 1.746326208114624, 6.855648040771484], [0.4606648087501526, 1.824854850769043, 7.42904806137085], [0.4529035687446594, 3.5753605365753174, 7.1949005126953125], [0.04001396894454956, 3.4968318939208984, 6.621500492095947]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 488, "image_id": 69, "category_id": 9, "category_name": "bottle", "bbox2D_proj": [0.0, 0.0, 255.0, 173.0], "bbox2D_tight": [0.0, 0.0, 255.0, 173.0], "bbox2D_trunc": [0.0, 0.0, 255.0, 173.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 489, "image_id": 69, "category_id": 9, "category_name": "bottle", "bbox2D_proj": [33.0, 57.0, 91.0, 190.0], "bbox2D_tight": [33.0, 57.0, 91.0, 190.0], "bbox2D_trunc": [33.0, 57.0, 91.0, 190.0], "center_cam": [-0.7779908628181011, -0.5145553023856938, 1.7665518372600615], "dimensions": [0.14843785863693076, 0.14697302101417709, 0.5791015674157847], "R_cam": [[0.2807508707046509, -0.2943553924560547, 0.9135282039642334], [-0.40778136253356934, 0.8250471353530884, 0.39116692543029785], [-0.8688459396362305, -0.4823402166366577, 0.11160010099411011]], "bbox3D_cam": [[-0.9054524898529053, -0.48614370822906494, 2.0452895164489746], [-0.7428691387176514, -0.7222905158996582, 1.5421395301818848], [-0.7861314415931702, -0.6010308265686035, 1.4712485074996948], [-0.9487147331237793, -0.36488401889801025, 1.9743984937667847], [-0.7698503136634827, -0.4280797243118286, 2.0618553161621094], [-0.6072670221328735, -0.6642265319824219, 1.55870521068573], [-0.6505292654037476, -0.5429668426513672, 1.48781418800354], [-0.8131126165390015, -0.3068200349807739, 1.9909641742706299]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 490, "image_id": 69, "category_id": 10, "category_name": "bowl", "bbox2D_proj": [0.0, 165.0, 73.0, 249.0], "bbox2D_tight": [0.0, 165.0, 73.0, 249.0], "bbox2D_trunc": [0.0, 165.0, 73.0, 249.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 491, "image_id": 69, "category_id": 10, "category_name": "bowl", "bbox2D_proj": [91.0, 164.0, 158.0, 227.0], "bbox2D_tight": [91.0, 164.0, 158.0, 227.0], "bbox2D_trunc": [91.0, 164.0, 158.0, 227.0], "center_cam": [-0.5747719447610611, -0.3672446329544359, 1.8073932744213708], "dimensions": [0.17333983787490415, 0.0708007849015693, 0.22363281128333262], "R_cam": [[0.07207965850830078, 0.10291299223899841, -0.9920753240585327], [-0.08371028304100037, 0.9917773008346558, 0.09680008888244629], [0.9938797950744629, 0.07606959342956543, 0.08010181784629822]], "bbox3D_cam": [[-0.5004916787147522, -0.4013833999633789, 1.6866259574890137], [-0.4843723177909851, -0.4201037883758545, 1.9088900089263916], [-0.47708600759506226, -0.34988516569137573, 1.914275884628296], [-0.49320536851882935, -0.33116480708122253, 1.6920117139816284], [-0.6724578738212585, -0.3846040964126587, 1.7005107402801514], [-0.6563385128974915, -0.4033244550228119, 1.9227749109268188], [-0.6490522027015686, -0.3331058621406555, 1.9281606674194336], [-0.6651715636253357, -0.31438547372817993, 1.7058966159820557]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 492, "image_id": 69, "category_id": 11, "category_name": "box", "bbox2D_proj": [305.0, 220.0, 446.0, 317.0], "bbox2D_tight": [305.0, 220.0, 446.0, 317.0], "bbox2D_trunc": [305.0, 220.0, 446.0, 317.0], "center_cam": [0.5179751018847871, 0.01103082987302037, 2.0646073090119135], "dimensions": [0.2148437541164261, 0.524414116514485, 0.5718231202393348], "R_cam": [[-0.9946542978286743, 0.02238527126610279, -0.10080529749393463], [-0.0287631805986166, 0.8775209188461304, 0.47867491841316223], [0.09917402267456055, 0.4790155589580536, -0.8721861839294434]], "bbox3D_cam": [[0.8073173761367798, -0.26225778460502625, 2.004343032836914], [0.2385510802268982, -0.2787052392959595, 2.0610530376434326], [0.2502902150154114, 0.18147912621498108, 2.312255382537842], [0.819056510925293, 0.1979265809059143, 2.2555456161499023], [0.7856599688529968, -0.15941748023033142, 1.816959261894226], [0.21689367294311523, -0.17586493492126465, 1.8736692667007446], [0.22863280773162842, 0.2843194305896759, 2.1248717308044434], [0.79739910364151, 0.30076688528060913, 2.068161725997925]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 493, "image_id": 70, "category_id": 71, "category_name": "tray", "bbox2D_proj": [68.0, 127.0, 362.0, 168.0], "bbox2D_tight": [68.0, 127.0, 362.0, 168.0], "bbox2D_trunc": [68.0, 127.0, 362.0, 168.0], "center_cam": [-0.03282163109952651, -0.0812401197363306, 0.3376753304179836], "dimensions": [0.12227420652568993, 0.021567081561235338, 0.2136605618361443], "R_cam": [[0.9998171329498291, -0.018957942724227905, -0.002500295639038086], [0.01785576343536377, 0.9723794460296631, -0.23272165656089783], [0.006843119859695435, 0.23263442516326904, 0.9725401401519775]], "bbox3D_cam": [[-0.13927508890628815, -0.07940541952848434, 0.27497735619544983], [0.07434640824794769, -0.0755903497338295, 0.27643948793411255], [0.07393753528594971, -0.0546189621090889, 0.28145670890808105], [-0.13968396186828613, -0.058434031903743744, 0.2799946069717407], [-0.13958080112934113, -0.10786127299070358, 0.3938939571380615], [0.07404069602489471, -0.10404620319604874, 0.39535605907440186], [0.07363182306289673, -0.08307481557130814, 0.40037330985069275], [-0.1399896740913391, -0.08688988536596298, 0.39891117811203003]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 494, "image_id": 70, "category_id": 10, "category_name": "bowl", "bbox2D_proj": [35.0, 42.0, 234.0, 121.0], "bbox2D_tight": [35.0, 42.0, 234.0, 121.0], "bbox2D_trunc": [35.0, 42.0, 234.0, 121.0], "center_cam": [-0.13523809015721802, -0.22535703286817796, 0.5844914616752505], "dimensions": [0.20007324200003207, 0.08433532870285611, 0.22607421789183624], "R_cam": [[0.41988325119018555, 0.03223174810409546, 0.9070056080818176], [0.28847819566726685, 0.9428014755249023, -0.16705000400543213], [-0.860510528087616, 0.33179283142089844, 0.38656842708587646]], "bbox3D_cam": [[-0.2747933864593506, -0.28101038932800293, 0.6290991902351379], [-0.17986860871315002, -0.21579290926456451, 0.4345599412918091], [-0.17715033888816833, -0.13628143072128296, 0.4625418186187744], [-0.2720751166343689, -0.20149891078472137, 0.6570810079574585], [-0.09332584589719772, -0.31443262100219727, 0.7064411640167236], [0.001598939299583435, -0.24921514093875885, 0.5119019746780396], [0.0043172091245651245, -0.1697036623954773, 0.5398837924003601], [-0.09060757607221603, -0.2349211424589157, 0.734423041343689]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 495, "image_id": 70, "category_id": 9, "category_name": "bottle", "bbox2D_proj": [234.0, 331.0, 273.0, 463.0], "bbox2D_tight": [234.0, 331.0, 273.0, 463.0], "bbox2D_trunc": [234.0, 331.0, 273.0, 463.0], "center_cam": [-0.0018469857602987532, 0.14110379654747135, 0.44143540204874376], "dimensions": [0.03906250609627748, 0.1293945330448812, 0.03918457647580339], "R_cam": [[-0.968185544013977, 0.010325431823730469, 0.2500205636024475], [0.06735527515411377, 0.9730260372161865, 0.22064371407032013], [-0.2409982532262802, 0.23046423494815826, -0.9427651166915894]], "bbox3D_cam": [[0.011570742353796959, 0.07252257317304611, 0.4496600925922394], [-0.026367200538516045, 0.07516185939311981, 0.44021666049957275], [-0.02503114379942417, 0.20106610655784607, 0.4700374901294708], [0.012906799092888832, 0.19842681288719177, 0.47948089241981506], [0.021337172016501427, 0.08114147186279297, 0.4128333032131195], [-0.016600770875811577, 0.08378075808286667, 0.40338990092277527], [-0.015264714136719704, 0.20968499779701233, 0.43321070075035095], [0.0226732287555933, 0.20704571902751923, 0.4426541328430176]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 496, "image_id": 70, "category_id": 11, "category_name": "box", "bbox2D_proj": [98.0, 325.0, 213.0, 493.0], "bbox2D_tight": [98.0, 325.0, 213.0, 493.0], "bbox2D_trunc": [98.0, 325.0, 213.0, 493.0], "center_cam": [-0.07097456700916796, 0.1523433285358472, 0.3732668683720095], "dimensions": [0.041872387430891896, 0.09058192979920357, 0.051349561524744514], "R_cam": [[0.0359455943107605, -0.035729870200157166, 0.998714804649353], [-0.19257646799087524, 0.9803824424743652, 0.04200519621372223], [-0.9806233644485474, -0.19383887946605682, 0.028359651565551758]], "bbox3D_cam": [[-0.09118850529193878, 0.1120057925581932, 0.4066295623779297], [-0.08934271335601807, 0.10211707651615143, 0.3562749922275543], [-0.0925792008638382, 0.19092202186584473, 0.33871668577194214], [-0.09442498534917831, 0.2008107304573059, 0.3890712857246399], [-0.0493699349462986, 0.11376465111970901, 0.4078170657157898], [-0.04752414673566818, 0.10387593507766724, 0.35746246576309204], [-0.050760626792907715, 0.19268086552619934, 0.33990418910980225], [-0.05260641872882843, 0.20256958901882172, 0.3902587592601776]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 497, "image_id": 71, "category_id": 13, "category_name": "building", "bbox2D_proj": [0.0, 0.0, 197.0, 287.0], "bbox2D_tight": [0.0, 0.0, 197.0, 287.0], "bbox2D_trunc": [0.0, 0.0, 197.0, 287.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 498, "image_id": 71, "category_id": 28, "category_name": "flowerpot", "bbox2D_proj": [333.0, 253.0, 388.0, 298.0], "bbox2D_tight": [333.0, 253.0, 388.0, 298.0], "bbox2D_trunc": [333.0, 253.0, 388.0, 298.0], "center_cam": [2.4694497474494033, 0.4627812849781471, 10.492923807615071], "dimensions": [1.0089036494000803, 1.1382870326409953, 1.291710439739313], "R_cam": [[0.8746082782745361, 0.010363265872001648, 0.4847196042537689], [0.027727752923965454, 0.9970660209655762, -0.07134795188903809], [-0.4840368628501892, 0.07584166526794434, 0.8717547655105591]], "bbox3D_cam": [[1.6541635990142822, -0.08660885691642761, 10.32261848449707], [2.7839040756225586, -0.05079266428947449, 9.697382926940918], [2.7957005500793457, 1.0841546058654785, 9.783712387084961], [1.6659599542617798, 1.0483384132385254, 10.408947944641113], [2.1431989669799805, -0.1585920751094818, 11.20213508605957], [3.272939682006836, -0.12277588248252869, 10.576899528503418], [3.284735918045044, 1.0121713876724243, 10.663228988647461], [2.1549954414367676, 0.9763551950454712, 11.288464546203613]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 499, "image_id": 71, "category_id": 47, "category_name": "pipe", "bbox2D_proj": [278.0, 133.0, 286.0, 263.0], "bbox2D_tight": [278.0, 133.0, 286.0, 263.0], "bbox2D_trunc": [278.0, 133.0, 286.0, 263.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 500, "image_id": 71, "category_id": 45, "category_name": "person", "bbox2D_proj": [34.0, 251.0, 52.0, 312.0], "bbox2D_tight": [34.0, 251.0, 52.0, 312.0], "bbox2D_trunc": [34.0, 251.0, 52.0, 312.0], "center_cam": [-5.903241293000028, 0.7067777061071427, 12.215737267624188], "dimensions": [0.4687499914679731, 1.5908203490391881, 0.6484374786589219], "R_cam": [[0.04466664791107178, 0.09175026416778564, -0.9947797656059265], [0.08066880702972412, 0.9921905994415283, 0.09513357281684875], [0.9957396984100342, -0.08449703454971313, 0.036916375160217285]], "bbox3D_cam": [[-5.757550239562988, -0.13087201118469238, 11.951457023620605], [-5.7285871505737305, -0.07856333255767822, 12.597132682800293], [-5.5826287269592285, 1.499833583831787, 12.462713241577148], [-5.6115922927856445, 1.447524905204773, 11.817037582397461], [-6.223853588104248, -0.08627820014953613, 11.968761444091797], [-6.194890022277832, -0.03396952152252197, 12.614437103271484], [-6.048932075500488, 1.5444273948669434, 12.48001766204834], [-6.077895164489746, 1.4921187162399292, 11.834342002868652]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 501, "image_id": 71, "category_id": 40, "category_name": "motorcycle", "bbox2D_proj": [265.0, 258.0, 327.0, 298.0], "bbox2D_tight": [265.0, 258.0, 327.0, 298.0], "bbox2D_trunc": [265.0, 258.0, 327.0, 298.0], "center_cam": [1.1092616333749203, 0.5870246006231994, 12.232313801218913], "dimensions": [0.7109374927724099, 1.0341797325511426, 1.6699218564574227], "R_cam": [[-0.944050669670105, 0.006475778296589851, -0.3297371566295624], [-0.045013055205345154, 0.9879210591316223, 0.1482761651277542], [0.32671448588371277, 0.15482266247272491, -0.9323559999465942]], "bbox3D_cam": [[2.0113697052001953, 0.06105726957321167, 12.21088695526123], [0.4348788857460022, -0.014110982418060303, 12.756474494934082], [0.44157594442367554, 1.0075769424438477, 12.91658878326416], [2.018066883087158, 1.08274507522583, 12.371001243591309], [1.776947259902954, 0.16647237539291382, 11.548039436340332], [0.200456440448761, 0.09130412340164185, 12.093626976013184], [0.20715349912643433, 1.1129920482635498, 12.253741264343262], [1.783644437789917, 1.1881601810455322, 11.70815372467041]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 502, "image_id": 71, "category_id": 45, "category_name": "person", "bbox2D_proj": [468.0, 217.0, 490.0, 286.0], "bbox2D_tight": [468.0, 217.0, 490.0, 286.0], "bbox2D_trunc": [468.0, 217.0, 490.0, 286.0], "center_cam": [5.006940895944277, -0.09691494875049458, 10.023343274504635], "dimensions": [0.4121093862407672, 1.479980494498581, 0.45312500561654223], "R_cam": [[0.27934730052948, 0.02891707420349121, -0.9597545862197876], [-0.00847327709197998, 0.9995816946029663, 0.027650803327560425], [0.9601527452468872, 0.0004080832004547119, 0.27947551012039185]], "bbox3D_cam": [[5.120014667510986, -0.8403734564781189, 9.747919082641602], [5.246593952178955, -0.8442129492759705, 10.182988166809082], [5.289390563964844, 0.6351484656333923, 10.183592796325684], [5.162811279296875, 0.6389879584312439, 9.748522758483887], [4.724491119384766, -0.8289783596992493, 9.863093376159668], [4.851070404052734, -0.8328178524971008, 10.298163414001465], [4.893867015838623, 0.646543562412262, 10.29876708984375], [4.767287731170654, 0.6503830552101135, 9.86369800567627]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 503, "image_id": 71, "category_id": 45, "category_name": "person", "bbox2D_proj": [448.0, 220.0, 470.0, 285.0], "bbox2D_tight": [448.0, 220.0, 470.0, 285.0], "bbox2D_trunc": [448.0, 220.0, 470.0, 285.0], "center_cam": [4.640414326224228, -0.08690511267926004, 10.083484215463924], "dimensions": [0.47656249660031147, 1.433837920114036, 0.5312500028291752], "R_cam": [[0.9856420159339905, -0.000261843204498291, 0.16884826123714447], [-0.014656305313110352, 0.9960917830467224, 0.08709985017776489], [-0.1682111620903015, -0.08832396566867828, 0.9817860722541809]], "bbox3D_cam": [[4.338557243347168, -0.8178833723068237, 9.957545280456543], [4.862179756164551, -0.825669527053833, 9.868183135986328], [4.861804485321045, 0.6025645732879639, 9.741540908813477], [4.338181972503662, 0.6103507280349731, 9.830903053283691], [4.4190239906311035, -0.7763748168945312, 10.42542839050293], [4.942646503448486, -0.7841609716415405, 10.336066246032715], [4.9422712326049805, 0.6440731287002563, 10.209424018859863], [4.418648719787598, 0.6518592834472656, 10.298786163330078]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 504, "image_id": 72, "category_id": 50, "category_name": "plastic_bag", "bbox2D_proj": [426.0, 337.0, 470.0, 425.0], "bbox2D_tight": [426.0, 337.0, 470.0, 425.0], "bbox2D_trunc": [426.0, 337.0, 470.0, 425.0], "center_cam": [1.0336968781988802, 0.6413365663437828, 2.3484148142986703], "dimensions": [0.18847656725725145, 0.4304809674160996, 0.23046875652395288], "R_cam": [[0.0024050178471952677, -0.09208190441131592, 0.9957486391067505], [-0.27801692485809326, 0.9564334154129028, 0.0891176238656044], [-0.9605731964111328, -0.27704933285713196, -0.023299992084503174]], "bbox3D_cam": [[0.9594018459320068, 0.4591121971607208, 2.5209338665008545], [0.959956169128418, 0.39503800868988037, 2.2995517253875732], [0.9203166961669922, 0.8067643642425537, 2.1802873611450195], [0.919762372970581, 0.8708385229110718, 2.401669502258301], [1.1470770835876465, 0.4759087860584259, 2.516542434692383], [1.1476314067840576, 0.41183459758758545, 2.2951602935791016], [1.1079919338226318, 0.8235609531402588, 2.175895929336548], [1.1074376106262207, 0.8876351118087769, 2.397278070449829]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 505, "image_id": 72, "category_id": 45, "category_name": "person", "bbox2D_proj": [342.0, 120.0, 382.0, 211.0], "bbox2D_tight": [342.0, 120.0, 382.0, 211.0], "bbox2D_trunc": [342.0, 120.0, 382.0, 211.0], "center_cam": [0.9043183393582369, -0.7570226674137712, 3.949603591904771], "dimensions": [0.31445314452916584, 0.9370117375390234, 0.3417968945576776], "R_cam": [[0.014216216281056404, 0.12008106708526611, 0.9926623702049255], [-0.12593066692352295, 0.9850727319717407, -0.11735956370830536], [-0.9919372797012329, -0.12333817780017853, 0.02912592887878418]], "bbox3D_cam": [[0.6895571947097778, -1.1785615682601929, 4.172329425811768], [0.6944162249565125, -1.221604347229004, 3.8332884311676025], [0.8069336414337158, -0.2985796630382538, 3.717719078063965], [0.8020746111869812, -0.2555369734764099, 4.056759834289551], [1.0017030239105225, -1.2154656648635864, 4.181488037109375], [1.0065619945526123, -1.2585084438323975, 3.84244704246521], [1.1190794706344604, -0.33548375964164734, 3.7268776893615723], [1.114220380783081, -0.2924410402774811, 4.065918922424316]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 506, "image_id": 72, "category_id": 45, "category_name": "person", "bbox2D_proj": [271.0, 133.0, 300.0, 217.0], "bbox2D_tight": [271.0, 133.0, 300.0, 217.0], "bbox2D_trunc": [271.0, 133.0, 300.0, 217.0], "center_cam": [0.31690255591533534, -0.725106404449583, 4.35806604048817], "dimensions": [0.29736330131922206, 0.9005127122792522, 0.32812502138126254], "R_cam": [[0.0634593665599823, 0.084084153175354, 0.9944359660148621], [0.21554142236709595, 0.9717719554901123, -0.09592249989509583], [-0.9744305610656738, 0.22042936086654663, 0.04354441165924072]], "bbox3D_cam": [[0.1207774430513382, -1.183753252029419, 4.412209510803223], [0.14160004258155823, -1.1130287647247314, 4.092474460601807], [0.21731890738010406, -0.23793575167655945, 4.290974140167236], [0.19649630784988403, -0.3086602985858917, 4.610709190368652], [0.4164862036705017, -1.2122770547866821, 4.4251580238342285], [0.43730878829956055, -1.1415525674819946, 4.1054229736328125], [0.5130276679992676, -0.26645955443382263, 4.303922653198242], [0.49220505356788635, -0.3371841013431549, 4.623657703399658]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 507, "image_id": 72, "category_id": 45, "category_name": "person", "bbox2D_proj": [372.0, 115.0, 415.0, 218.0], "bbox2D_tight": [372.0, 115.0, 415.0, 218.0], "bbox2D_trunc": [372.0, 115.0, 415.0, 218.0], "center_cam": [1.208552144716968, -0.729570170545488, 3.8679830657159977], "dimensions": [0.34179692918893795, 0.9592895694941868, 0.34765630170056194], "R_cam": [[-0.7977666854858398, 0.08556842803955078, -0.5968637466430664], [0.05401545763015747, 0.9960411787033081, 0.07059890031814575], [0.6005419492721558, 0.02408158779144287, -0.7992305755615234]], "bbox3D_cam": [[1.4081871509552002, -1.2287707328796387, 3.8886287212371826], [1.130838394165039, -1.2099919319152832, 4.097410678863525], [1.212923288345337, -0.25450000166893005, 4.120512008666992], [1.490272045135498, -0.2732788026332855, 3.9117298126220703], [1.2041809558868408, -1.20464026927948, 3.6154541969299316], [0.9268322587013245, -1.1858614683151245, 3.8242363929748535], [1.0089170932769775, -0.23036953806877136, 3.847337484359741], [1.2862658500671387, -0.24914833903312683, 3.6385552883148193]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 508, "image_id": 72, "category_id": 20, "category_name": "coat", "bbox2D_proj": [170.0, 237.0, 191.0, 274.0], "bbox2D_tight": [170.0, 237.0, 191.0, 274.0], "bbox2D_trunc": [170.0, 237.0, 191.0, 274.0], "center_cam": [-0.8796809779275176, 0.031602268550838274, 5.167177306126245], "dimensions": [0.13671874929599365, 0.44256592819720303, 0.3085937532342404], "R_cam": [[0.7099753022193909, 0.0020132064819335938, -0.7042236328125], [0.01819479465484619, 0.999609649181366, 0.021200984716415405], [0.7039914131164551, -0.02786538004875183, 0.709661602973938]], "bbox3D_cam": [[-0.9415331482887268, -0.19385099411010742, 5.016207695007324], [-0.722439169883728, -0.18823620676994324, 5.233455181121826], [-0.7215481996536255, 0.2541569471359253, 5.221122741699219], [-0.9406421780586243, 0.2485421597957611, 5.003875255584717], [-1.0378137826919556, -0.19095242023468018, 5.113231658935547], [-0.8187198042869568, -0.185337632894516, 5.330479145050049], [-0.8178288340568542, 0.25705552101135254, 5.318146705627441], [-1.036922812461853, 0.25144073367118835, 5.1008992195129395]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 509, "image_id": 72, "category_id": 45, "category_name": "person", "bbox2D_proj": [415.0, 121.0, 464.0, 218.0], "bbox2D_tight": [415.0, 121.0, 464.0, 218.0], "bbox2D_trunc": [415.0, 121.0, 464.0, 218.0], "center_cam": [1.6212967061768617, -0.7954151082196522, 4.042506218376174], "dimensions": [0.22070312663040753, 0.9160156430865509, 0.49804687416571647], "R_cam": [[0.5005819201469421, 0.05669224262237549, 0.8638308048248291], [-0.0309220552444458, 0.9983875155448914, -0.04760393500328064], [-0.8651367425918579, -0.0028817355632781982, 0.5015277862548828]], "bbox3D_cam": [[1.375349521636963, -1.2397308349609375, 4.203920841217041], [1.6246627569198608, -1.255131483078003, 3.7730424404144287], [1.6765937805175781, -0.34059298038482666, 3.770402669906616], [1.4272805452346802, -0.32519233226776123, 4.201281547546387], [1.5659997463226318, -1.250237226486206, 4.314610004425049], [1.8153129816055298, -1.2656378746032715, 3.8837311267852783], [1.867244005203247, -0.35109931230545044, 3.881091356277466], [1.6179307699203491, -0.335698664188385, 4.311970233917236]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 510, "image_id": 72, "category_id": 45, "category_name": "person", "bbox2D_proj": [247.0, 184.0, 257.0, 220.0], "bbox2D_tight": [247.0, 184.0, 257.0, 220.0], "bbox2D_trunc": [247.0, 184.0, 257.0, 220.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 511, "image_id": 72, "category_id": 45, "category_name": "person", "bbox2D_proj": [21.0, 272.0, 67.0, 366.0], "bbox2D_tight": [21.0, 272.0, 67.0, 366.0], "bbox2D_trunc": [21.0, 272.0, 67.0, 366.0], "center_cam": [-1.7260670087213832, 0.553758617887872, 3.675826492208304], "dimensions": [0.22851562565849193, 0.8271484527413207, 0.30371094281966365], "R_cam": [[-0.5333968997001648, -0.013412117958068848, 0.8457587957382202], [0.209894597530365, 0.9665032029151917, 0.1477017104625702], [-0.8194096088409424, 0.2563038170337677, -0.512714684009552]], "bbox3D_cam": [[-1.736155390739441, 0.10528808832168579, 3.7528393268585205], [-1.8981540203094482, 0.16903537511825562, 3.5039756298065186], [-1.909247875213623, 0.9684770107269287, 3.7159769535064697], [-1.7472492456436157, 0.9047297239303589, 3.9648406505584717], [-1.5428862571716309, 0.13904023170471191, 3.635676145553589], [-1.7048848867416382, 0.20278751850128174, 3.386812448501587], [-1.715978741645813, 1.0022292137145996, 3.598813772201538], [-1.5539801120758057, 0.938481867313385, 3.84767746925354]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 512, "image_id": 73, "category_id": 74, "category_name": "trousers", "bbox2D_proj": [105.0, 301.0, 162.0, 382.0], "bbox2D_tight": [105.0, 301.0, 162.0, 382.0], "bbox2D_trunc": [105.0, 301.0, 162.0, 382.0], "center_cam": [-1.3012738679804976, 0.9198034168427855, 4.652010602896932], "dimensions": [0.5336085504234315, 0.9797653697400517, 0.7829400077401063], "R_cam": [[-0.2571830749511719, 0.0011949838371947408, -0.9663619995117188], [-0.0006316837389022112, 0.9999988079071045, 0.0014046919532120228], [0.966362476348877, 0.0009716982021927834, -0.2571820020675659]], "bbox3D_cam": [[-0.9433502554893494, 0.4297938942909241, 4.3418498039245605], [-1.1447091102600098, 0.4292992949485779, 5.098453521728516], [-1.1435383558273315, 1.409063458442688, 5.099405765533447], [-0.9421794414520264, 1.4095580577850342, 4.342802047729492], [-1.4590092897415161, 0.4305434226989746, 4.204615116119385], [-1.6603682041168213, 0.4300488233566284, 4.96121883392334], [-1.6591973304748535, 1.4098129272460938, 4.9621710777282715], [-1.457838535308838, 1.4103076457977295, 4.205567359924316]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 513, "image_id": 73, "category_id": 74, "category_name": "trousers", "bbox2D_proj": [234.0, 312.0, 307.0, 391.0], "bbox2D_tight": [234.0, 312.0, 307.0, 391.0], "bbox2D_trunc": [234.0, 312.0, 307.0, 391.0], "center_cam": [0.19008760807899783, 1.0140129471773336, 4.581800794586496], "dimensions": [0.5272715569781734, 0.9240508728621452, 0.7893633951018271], "R_cam": [[-0.41363227367401123, 0.0011949838371947408, 0.9104432463645935], [0.0013789612567052245, 0.9999988079071045, -0.0006860389839857817], [-0.9104430079460144, 0.0009716980857774615, -0.41363340616226196]], "bbox3D_cam": [[0.11276315152645111, 0.5516246557235718, 5.0497355461120605], [-0.21374301612377167, 0.55271315574646, 4.3310651779174805], [-0.21263878047466278, 1.4767630100250244, 4.331963062286377], [0.11386738717556, 1.4756743907928467, 5.050633430480957], [0.5928139686584473, 0.5512629151344299, 4.831638813018799], [0.2663078308105469, 0.5523514151573181, 4.112968444824219], [0.26741206645965576, 1.4764012098312378, 4.113866329193115], [0.5939182043075562, 1.4753127098083496, 4.832536697387695]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 514, "image_id": 73, "category_id": 33, "category_name": "jacket", "bbox2D_proj": [243.0, 259.0, 325.0, 318.0], "bbox2D_tight": [243.0, 259.0, 325.0, 318.0], "bbox2D_trunc": [243.0, 259.0, 325.0, 318.0], "center_cam": [0.33472905917090967, 0.3275498858959888, 4.6720901451633665], "dimensions": [0.3476562699907327, 0.6409912118526435, 0.934570384915416], "R_cam": [[-0.9375177621841431, 0.1138777956366539, -0.32877445220947266], [0.14444002509117126, 0.987034797668457, -0.06999858468770981], [0.3165404796600342, -0.11311310529708862, -0.9418107867240906]], "bbox3D_cam": [[0.7934701442718506, -0.04411730170249939, 4.724140644073486], [-0.08270618319511414, 0.09087203443050385, 5.019970417022705], [-0.009711533784866333, 0.7235524654388428, 4.947465896606445], [0.8664647340774536, 0.5885632038116455, 4.651636600494385], [0.6791696548461914, -0.06845274567604065, 4.396714210510254], [-0.19700667262077332, 0.06653657555580139, 4.6925435066223145], [-0.12401202321052551, 0.6992170810699463, 4.620039463043213], [0.7521642446517944, 0.5642277002334595, 4.324209690093994]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 515, "image_id": 73, "category_id": 23, "category_name": "dress", "bbox2D_proj": [303.0, 290.0, 332.0, 363.0], "bbox2D_tight": [303.0, 290.0, 332.0, 363.0], "bbox2D_trunc": [303.0, 290.0, 332.0, 363.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 516, "image_id": 73, "category_id": 33, "category_name": "jacket", "bbox2D_proj": [94.0, 244.0, 156.0, 306.0], "bbox2D_tight": [94.0, 244.0, 156.0, 306.0], "bbox2D_trunc": [94.0, 244.0, 156.0, 306.0], "center_cam": [-1.3988892134279445, 0.11089300300906173, 4.496389595015218], "dimensions": [0.6757814469385341, 0.626464923468931, 0.6953127738526439], "R_cam": [[0.7233314514160156, -0.1350855827331543, 0.6771584749221802], [0.18369051814079285, 0.9829841256141663, -0.00012123584747314453], [-0.6656196713447571, 0.12447535991668701, 0.7358371615409851]], "bbox3D_cam": [[-1.8368523120880127, -0.26082971692085266, 4.440174102783203], [-1.3339108228683472, -0.13310733437538147, 3.977360248565674], [-1.4185371398925781, 0.4826976954936981, 4.055339813232422], [-1.9214787483215332, 0.35497531294822693, 4.518153667449951], [-1.3792412281036377, -0.2609116733074188, 4.93743896484375], [-0.8762996196746826, -0.13318929076194763, 4.474625110626221], [-0.9609259963035583, 0.48261573910713196, 4.552604675292969], [-1.4638675451278687, 0.35489335656166077, 5.015418529510498]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 517, "image_id": 73, "category_id": 31, "category_name": "hat", "bbox2D_proj": [249.0, 205.0, 319.0, 248.0], "bbox2D_tight": [249.0, 205.0, 319.0, 248.0], "bbox2D_trunc": [249.0, 205.0, 319.0, 248.0], "center_cam": [0.29378650624286146, -0.3252128735178006, 4.820400478779644], "dimensions": [0.38671878823524586, 0.46484375325938565, 0.7485351911067853], "R_cam": [[-0.998336911201477, 0.027383044362068176, -0.05073335021734238], [0.022366080433130264, 0.995038628578186, 0.096944160759449], [0.05313625931739807, 0.09564820677042007, -0.9939959645271301]], "bbox3D_cam": [[0.6708769798278809, -0.5835975408554077, 4.9704813957214355], [-0.07641330361366272, -0.566855788230896, 5.010255813598633], [-0.06368449330329895, -0.10431832075119019, 5.054717063903809], [0.6836057901382446, -0.12106010317802429, 5.014942646026611], [0.6512575149536133, -0.5461074113845825, 4.586084365844727], [-0.09603282809257507, -0.5293656587600708, 4.625858783721924], [-0.0833040177822113, -0.06682819128036499, 4.6703200340271], [0.663986325263977, -0.0835699737071991, 4.630545616149902]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 518, "image_id": 74, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [97.0, 11.0, 125.0, 195.0], "bbox2D_tight": [97.0, 11.0, 125.0, 195.0], "bbox2D_trunc": [97.0, 11.0, 125.0, 195.0], "center_cam": [-1.5203253016091878, -1.7333794537416554, 4.964827069623553], "dimensions": [0.1291656496816211, 1.9008789474096717, 0.37500000952545354], "R_cam": [[-0.3001062273979187, -0.04586219787597656, -0.9528026580810547], [-0.20590579509735107, 0.9784106612205505, 0.01775982975959778], [0.9314178228378296, 0.20151743292808533, -0.3030703067779541]], "bbox3D_cam": [[-1.358931541442871, -2.6258392333984375, 4.618229389190674], [-1.4714713096618652, -2.7030539512634277, 4.96751070022583], [-1.5586497783660889, -0.8432137370109558, 5.350571155548096], [-1.4461098909378052, -0.7659990191459656, 5.001289367675781], [-1.4820008277893066, -2.6235451698303223, 4.57908296585083], [-1.5945407152175903, -2.7007598876953125, 4.9283647537231445], [-1.6817190647125244, -0.8409197926521301, 5.311424732208252], [-1.5691792964935303, -0.7637050747871399, 4.962143421173096]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 519, "image_id": 74, "category_id": 45, "category_name": "person", "bbox2D_proj": [44.0, 248.0, 93.0, 356.0], "bbox2D_tight": [44.0, 248.0, 93.0, 356.0], "bbox2D_trunc": [44.0, 248.0, 93.0, 356.0], "center_cam": [-1.250487027801999, 0.29800420286932927, 2.9566471215029955], "dimensions": [0.28320315057047474, 0.712884919464102, 0.3200683813158325], "R_cam": [[0.9471245408058167, -0.04823005199432373, -0.3172209560871124], [0.04631638526916504, 0.9988346695899963, -0.013575198128819466], [0.31750598549842834, -0.0018351676408201456, 0.9482545852661133]], "bbox3D_cam": [[-1.339949131011963, -0.06351277232170105, 2.7722151279449463], [-1.036804437637329, -0.04868832230567932, 2.8738386631011963], [-1.071186900138855, 0.6633657217025757, 2.872530460357666], [-1.3743314743041992, 0.6485413312911987, 2.770906925201416], [-1.429787039756775, -0.06735733151435852, 3.0407638549804688], [-1.1266424655914307, -0.05253288149833679, 3.1423873901367188], [-1.161024808883667, 0.659521222114563, 3.1410791873931885], [-1.4641695022583008, 0.6446967124938965, 3.0394556522369385]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 520, "image_id": 74, "category_id": 45, "category_name": "person", "bbox2D_proj": [295.0, 242.0, 326.0, 361.0], "bbox2D_tight": [295.0, 242.0, 326.0, 361.0], "bbox2D_trunc": [295.0, 242.0, 326.0, 361.0], "center_cam": [0.45618854155478633, 0.3555589733799115, 3.5515407939858177], "dimensions": [0.2636719215608528, 0.923614521965787, 0.28320317890632196], "R_cam": [[-0.5049896240234375, -0.012921571731567383, -0.8630287647247314], [-0.04757821559906006, 0.9987844824790955, 0.012885542586445808], [0.8618131875991821, 0.04756844788789749, -0.5049905776977539]], "bbox3D_cam": [[0.6474413871765137, -0.10064858198165894, 3.4741151332855225], [0.5044267177581787, -0.11412286758422852, 3.7181835174560547], [0.492492139339447, 0.8083689212799072, 3.762118339538574], [0.635506808757782, 0.8218432068824768, 3.518050193786621], [0.41988492012023926, -0.09725099802017212, 3.340963363647461], [0.2768702507019043, -0.1107252836227417, 3.585031509399414], [0.2649356722831726, 0.811766505241394, 3.6289665699005127], [0.40795034170150757, 0.8252407908439636, 3.3848981857299805]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 521, "image_id": 74, "category_id": 13, "category_name": "building", "bbox2D_proj": [351.0, 0.0, 473.0, 203.0], "bbox2D_tight": [351.0, 0.0, 473.0, 203.0], "bbox2D_trunc": [351.0, 0.0, 473.0, 203.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 522, "image_id": 74, "category_id": 45, "category_name": "person", "bbox2D_proj": [202.0, 243.0, 224.0, 343.0], "bbox2D_tight": [202.0, 243.0, 224.0, 343.0], "bbox2D_trunc": [202.0, 243.0, 224.0, 343.0], "center_cam": [-0.30672512029172116, 0.286975278395723, 3.547831316865393], "dimensions": [0.27539080009046474, 0.7949371518466755, 0.27929704638337105], "R_cam": [[0.9481967091560364, -0.04933929443359375, -0.31382912397384644], [0.03571200370788574, 0.9981587529182434, -0.049027904868125916], [0.3156702518463135, 0.035280629992485046, 0.9482128620147705]], "bbox3D_cam": [[-0.37631574273109436, -0.10799768567085266, 3.359160900115967], [-0.11148720979690552, -0.0980234444141388, 3.44732666015625], [-0.15070882439613342, 0.6954500675201416, 3.475372552871704], [-0.41553735733032227, 0.6854758262634277, 3.387206792831421], [-0.4627414047718048, -0.12149950861930847, 3.6202900409698486], [-0.19791287183761597, -0.1115252673625946, 3.708455801010132], [-0.23713448643684387, 0.681948184967041, 3.736501693725586], [-0.5019630193710327, 0.6719739437103271, 3.6483359336853027]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 523, "image_id": 74, "category_id": 45, "category_name": "person", "bbox2D_proj": [150.0, 238.0, 170.0, 316.0], "bbox2D_tight": [150.0, 238.0, 170.0, 316.0], "bbox2D_trunc": [150.0, 238.0, 170.0, 316.0], "center_cam": [-0.8281480055963675, 0.19033285296944835, 3.8647202136931775], "dimensions": [0.18115237597062406, 0.6458740380099075, 0.19335941254567832], "R_cam": [[0.4505816102027893, 0.050364673137664795, 0.8913133144378662], [-0.031159520149230957, 0.9986861944198608, -0.04067983850836754], [-0.8921911716461182, -0.009443371556699276, 0.4515589475631714]], "bbox3D_cam": [[-0.968706488609314, -0.1254827380180359, 3.913125991821289], [-0.8815822601318359, -0.1315077543258667, 3.740612506866455], [-0.8490530848503113, 0.5135177373886108, 3.734513282775879], [-0.9361772537231445, 0.5195427536964417, 3.907026767730713], [-0.8072429299354553, -0.13285201787948608, 3.994926929473877], [-0.7201187610626221, -0.1388770341873169, 3.822413444519043], [-0.6875895261764526, 0.5061484575271606, 3.816314220428467], [-0.7747137546539307, 0.5121734738349915, 3.988827705383301]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 524, "image_id": 74, "category_id": 45, "category_name": "person", "bbox2D_proj": [270.0, 243.0, 290.0, 321.0], "bbox2D_tight": [270.0, 243.0, 290.0, 321.0], "bbox2D_trunc": [270.0, 243.0, 290.0, 321.0], "center_cam": [0.25558297108621164, 0.24440265327887212, 4.266027747138728], "dimensions": [0.23223876980430863, 0.7303466957064868, 0.2734375079893444], "R_cam": [[-0.05109906196594238, -0.029870271682739258, 0.9982467889785767], [-0.018735408782958984, 0.9994053840637207, 0.028945952653884888], [-0.9985178709030151, -0.017223447561264038, -0.051628291606903076]], "bbox3D_cam": [[0.15756118297576904, -0.12135326862335205, 4.414828777313232], [0.14358878135681152, -0.1264762282371521, 4.141796588897705], [0.12177310883998871, 0.6034361720085144, 4.129217147827148], [0.13574551045894623, 0.6085591316223145, 4.402249336242676], [0.38939279317855835, -0.11463087797164917, 4.402838706970215], [0.37542039155960083, -0.11975383758544922, 4.1298065185546875], [0.3536047339439392, 0.6101585626602173, 4.117227077484131], [0.36757713556289673, 0.6152815222740173, 4.390259265899658]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 525, "image_id": 74, "category_id": 45, "category_name": "person", "bbox2D_proj": [110.0, 228.0, 128.0, 304.0], "bbox2D_tight": [110.0, 228.0, 128.0, 304.0], "bbox2D_trunc": [110.0, 228.0, 128.0, 304.0], "center_cam": [-1.189618899055155, 0.0845812839191567, 3.952767097411286], "dimensions": [0.18066407252428335, 0.6813964995978016, 0.22460939083767825], "R_cam": [[-0.4804171919822693, -0.04241502285003662, -0.876013994216919], [0.07367479801177979, 0.9933477640151978, -0.08850038796663284], [0.8739402294158936, -0.10705731809139252, -0.474096417427063]], "bbox3D_cam": [[-1.0420830249786377, -0.25413012504577637, 3.933919906616211], [-1.1499892473220825, -0.23758208751678467, 4.130215167999268], [-1.1788907051086426, 0.43928152322769165, 4.057266712188721], [-1.0709844827651978, 0.42273348569869995, 3.860971450805664], [-1.2003471851348877, -0.27011895179748535, 3.8482675552368164], [-1.3082534074783325, -0.25357091426849365, 4.044562816619873], [-1.3371548652648926, 0.42329269647598267, 3.971614360809326], [-1.2292486429214478, 0.40674465894699097, 3.7753190994262695]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 526, "image_id": 74, "category_id": 45, "category_name": "person", "bbox2D_proj": [240.0, 248.0, 263.0, 344.0], "bbox2D_tight": [240.0, 248.0, 263.0, 344.0], "bbox2D_trunc": [240.0, 248.0, 263.0, 344.0], "center_cam": [-0.05421228636380251, 0.3058841837798693, 3.6227621803379826], "dimensions": [0.18164064427648413, 0.7509765789775987, 0.20898439475427702], "R_cam": [[0.8364123702049255, -0.02794361114501953, 0.5473881363868713], [0.008009910583496094, 0.9992161393165588, 0.03876975551247597], [-0.548042356967926, -0.028042946010828018, 0.8359804153442383]], "bbox3D_cam": [[-0.18083231151103973, -0.07366779446601868, 3.6146340370178223], [-0.006035201251506805, -0.0719938576221466, 3.5001018047332764], [-0.02702019363641739, 0.6783939599990845, 3.4790422916412354], [-0.20181728899478912, 0.6767200231552124, 3.5935745239257812], [-0.08140438050031662, -0.06662562489509583, 3.76648211479187], [0.09339271485805511, -0.06495168805122375, 3.651949882507324], [0.07240773737430573, 0.6854361295700073, 3.630890369415283], [-0.1023893728852272, 0.6837621927261353, 3.745422601699829]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 527, "image_id": 74, "category_id": 13, "category_name": "building", "bbox2D_proj": [182.0, 103.0, 278.0, 212.0], "bbox2D_tight": [182.0, 103.0, 278.0, 212.0], "bbox2D_trunc": [182.0, 103.0, 278.0, 212.0], "center_cam": [-0.36400905117817745, -1.2716147258443755, 5.536356276820759], "dimensions": [0.6271549049828619, 1.083105330831632, 1.3014632008529212], "R_cam": [[-0.7459681034088135, -0.0003257096104789525, -0.6659815907478333], [0.0021024944726377726, 0.9999938607215881, -0.0028439760208129883], [0.6659783720970154, -0.003521740436553955, -0.7459628582000732]], "bbox3D_cam": [[0.33042922616004944, -1.8136403560638428, 5.338807582855225], [-0.6404210329055786, -1.8109040260314941, 6.205554008483887], [-0.6407737731933594, -0.7278054356575012, 6.201739311218262], [0.3300764858722687, -0.7305417656898499, 5.334993362426758], [-0.08724436163902283, -1.8154239654541016, 4.870973587036133], [-1.0580946207046509, -1.812687635421753, 5.737719535827637], [-1.0584473609924316, -0.72958904504776, 5.73390531539917], [-0.08759710192680359, -0.7323253750801086, 4.867158889770508]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 528, "image_id": 74, "category_id": 45, "category_name": "person", "bbox2D_proj": [40.0, 233.0, 65.0, 282.0], "bbox2D_tight": [40.0, 233.0, 65.0, 282.0], "bbox2D_trunc": [40.0, 233.0, 65.0, 282.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 529, "image_id": 74, "category_id": 45, "category_name": "person", "bbox2D_proj": [214.0, 246.0, 253.0, 352.0], "bbox2D_tight": [214.0, 246.0, 253.0, 352.0], "bbox2D_trunc": [214.0, 246.0, 253.0, 352.0], "center_cam": [-0.16370245799877975, 0.32435310816260376, 3.3559043811211744], "dimensions": [0.24414063878335737, 0.7556152507683072, 0.3002929785304276], "R_cam": [[0.9574723243713379, -0.01289457082748413, 0.28823670744895935], [-0.01988697052001953, 0.9936754703521729, 0.11051423847675323], [-0.28783881664276123, -0.11154650896787643, 0.9511604309082031]], "bbox3D_cam": [[-0.3377770483493805, -0.06156963109970093, 3.3251569271087646], [-0.05025482922792435, -0.06754153966903687, 3.2387208938598633], [-0.05999816209077835, 0.6832948327064514, 3.1544346809387207], [-0.3475203812122345, 0.6892667412757874, 3.240870714187622], [-0.26740676164627075, -0.034588634967803955, 3.5573740005493164], [0.02011546492576599, -0.04056054353713989, 3.470937967300415], [0.010372132062911987, 0.7102758288383484, 3.3866517543792725], [-0.27715009450912476, 0.7162477374076843, 3.473087787628174]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 530, "image_id": 75, "category_id": 45, "category_name": "person", "bbox2D_proj": [274.0, 236.0, 299.0, 308.0], "bbox2D_tight": [274.0, 236.0, 299.0, 308.0], "bbox2D_trunc": [274.0, 236.0, 299.0, 308.0], "center_cam": [0.5417757377207219, 0.2722633609472698, 7.9439812603532465], "dimensions": [0.5012207073710895, 1.2758788716193195, 0.6171875499057302], "R_cam": [[-0.02747121825814247, -0.04156148433685303, -0.9987583160400391], [0.06958609819412231, 0.9966320991516113, -0.04338708892464638], [0.9971977472305298, -0.07069171220064163, -0.024486660957336426]], "bbox3D_cam": [[0.82706618309021, -0.3741281032562256, 7.687485694885254], [0.8101112246513367, -0.3311804533004761, 8.30294418334961], [0.7570837736129761, 0.9404013156890869, 8.212749481201172], [0.7740386724472046, 0.8974536657333374, 7.597291946411133], [0.3264677822589874, -0.39587461948394775, 7.675212383270264], [0.3095128536224365, -0.35292696952819824, 8.290670394897461], [0.25648537278175354, 0.9186547994613647, 8.20047664642334], [0.27344030141830444, 0.8757071495056152, 7.585018634796143]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 531, "image_id": 75, "category_id": 43, "category_name": "palm_tree", "bbox2D_proj": [225.0, 196.0, 263.0, 239.0], "bbox2D_tight": [225.0, 196.0, 263.0, 239.0], "bbox2D_trunc": [225.0, 196.0, 263.0, 239.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 532, "image_id": 75, "category_id": 63, "category_name": "streetlight", "bbox2D_proj": [272.0, 160.0, 294.0, 238.0], "bbox2D_tight": [272.0, 160.0, 294.0, 238.0], "bbox2D_trunc": [272.0, 160.0, 294.0, 238.0], "center_cam": [0.9393778590883921, -2.1048716455430903, 15.808335471290063], "dimensions": [0.7182812092322697, 2.323797527536704, 2.7229975718981105], "R_cam": [[0.032892704010009766, -0.006936638616025448, -0.9994348883628845], [0.0024642457719892263, 0.9999735355377197, -0.006859275046736002], [0.9994558691978455, -0.0022372319363057613, 0.03290903568267822]], "bbox3D_cam": [[1.2615915536880493, -3.2676310539245605, 14.438358306884766], [1.351158618927002, -3.260921001434326, 17.159873962402344], [1.3350393772125244, -0.9371854066848755, 17.154674530029297], [1.2454721927642822, -0.9438954591751099, 14.433158874511719], [0.543716311454773, -3.2725582122802734, 14.461996078491211], [0.6332834362983704, -3.265848159790039, 17.18351173400879], [0.617164134979248, -0.9421123266220093, 17.178312301635742], [0.5275970101356506, -0.9488223791122437, 14.456796646118164]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 533, "image_id": 75, "category_id": 45, "category_name": "person", "bbox2D_proj": [304.0, 244.0, 313.0, 273.0], "bbox2D_tight": [304.0, 244.0, 313.0, 273.0], "bbox2D_trunc": [304.0, 244.0, 313.0, 273.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 534, "image_id": 75, "category_id": 45, "category_name": "person", "bbox2D_proj": [179.0, 239.0, 195.0, 283.0], "bbox2D_tight": [179.0, 239.0, 195.0, 283.0], "bbox2D_trunc": [179.0, 239.0, 195.0, 283.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 535, "image_id": 75, "category_id": 45, "category_name": "person", "bbox2D_proj": [309.0, 235.0, 338.0, 310.0], "bbox2D_tight": [309.0, 235.0, 338.0, 310.0], "bbox2D_trunc": [309.0, 235.0, 338.0, 310.0], "center_cam": [1.1514173394874287, 0.2751265253574463, 7.595191197798416], "dimensions": [0.4843752625976204, 1.2460937085911679, 0.5015871558393453], "R_cam": [[0.9774414896965027, -0.021723031997680664, 0.21008670330047607], [0.011967360973358154, 0.9987949728965759, 0.04759673774242401], [-0.2108674794435501, -0.04400882124900818, 0.9765235185623169]], "bbox3D_cam": [[0.8689354062080383, -0.3616982102394104, 7.438992977142334], [1.3592073917388916, -0.35569554567337036, 7.333224296569824], [1.3321385383605957, 0.8888965249061584, 7.278385162353516], [0.8418664932250977, 0.8828938603401184, 7.384153842926025], [0.970696210861206, -0.33864349126815796, 7.911996841430664], [1.460968255996704, -0.3326408267021179, 7.806228160858154], [1.4338994026184082, 0.9119512438774109, 7.751389026641846], [0.9436272978782654, 0.9059485793113708, 7.8571577072143555]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 536, "image_id": 76, "category_id": 28, "category_name": "flowerpot", "bbox2D_proj": [441.0, 226.0, 477.0, 263.0], "bbox2D_tight": [441.0, 226.0, 477.0, 263.0], "bbox2D_trunc": [441.0, 226.0, 477.0, 263.0], "center_cam": [1.483309855654972, -0.08823121342473988, 3.2941457962783627], "dimensions": [0.1360355072235322, 0.27433517382291484, 0.2778472097893263], "R_cam": [[-0.8945909738540649, -0.05792875587940216, 0.44311556220054626], [-0.07230858504772186, 0.9972602128982544, -0.01560894213616848], [-0.44099727272987366, -0.04600467532873154, -0.8963286280632019]], "bbox3D_cam": [[1.5853958129882812, -0.21391594409942627, 3.422687292098999], [1.336836338043213, -0.23400667309761047, 3.3001575469970703], [1.3209444284439087, 0.03957686573266983, 3.287536859512329], [1.5695040225982666, 0.059667594730854034, 3.410066604614258], [1.6456753015518188, -0.21603929996490479, 3.3007547855377197], [1.397115707397461, -0.236130028963089, 3.178225040435791], [1.3812239170074463, 0.037453509867191315, 3.16560435295105], [1.6297833919525146, 0.05754423886537552, 3.2881340980529785]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 537, "image_id": 77, "category_id": 45, "category_name": "person", "bbox2D_proj": [42.0, 237.0, 67.0, 334.0], "bbox2D_tight": [42.0, 237.0, 67.0, 334.0], "bbox2D_trunc": [42.0, 237.0, 67.0, 334.0], "center_cam": [-1.510459119469454, 0.21357083288022405, 3.3347805150070973], "dimensions": [0.14648437692448507, 0.7175293158075865, 0.22851563314660092], "R_cam": [[-0.5527068972587585, -0.036250174045562744, -0.8325868844985962], [-0.10199761390686035, 0.994485080242157, 0.024411320686340332], [0.8271103501319885, 0.09841415286064148, -0.5533561706542969]], "bbox3D_cam": [[-1.3733222484588623, -0.13334918022155762, 3.2454981803894043], [-1.4996243715286255, -0.15665721893310547, 3.4345057010650635], [-1.525635004043579, 0.5569149851799011, 3.5051207542419434], [-1.3993327617645264, 0.580223023891449, 3.316113233566284], [-1.4952831268310547, -0.1297733187675476, 3.164440155029297], [-1.6215853691101074, -0.15308135747909546, 3.353447675704956], [-1.6475958824157715, 0.5604908466339111, 3.424062728881836], [-1.5212937593460083, 0.583798885345459, 3.2350552082061768]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 538, "image_id": 77, "category_id": 45, "category_name": "person", "bbox2D_proj": [327.0, 246.0, 353.0, 309.0], "bbox2D_tight": [327.0, 246.0, 353.0, 309.0], "bbox2D_trunc": [327.0, 246.0, 353.0, 309.0], "center_cam": [0.7996911728495091, 0.2086022829269572, 4.116155786409653], "dimensions": [0.22656256964816301, 0.577514664813232, 0.2441406990515475], "R_cam": [[0.7561142444610596, -0.04488527774810791, -0.6528985500335693], [0.08894336223602295, 0.9954365491867065, 0.03457024693489075], [0.6483674049377441, -0.08421006798744202, 0.7566560506820679]], "bbox3D_cam": [[0.7943142056465149, -0.09361082315444946, 3.9756104946136475], [0.9789124727249146, -0.07189613580703735, 4.133903503417969], [0.9529905915260315, 0.502983033657074, 4.085270881652832], [0.7683923244476318, 0.48126834630966187, 3.9269778728485107], [0.6463918089866638, -0.08577847480773926, 4.147040367126465], [0.8309900760650635, -0.06406378746032715, 4.305333137512207], [0.8050681948661804, 0.5108153820037842, 4.25670051574707], [0.6204699277877808, 0.48910069465637207, 4.098407745361328]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 539, "image_id": 77, "category_id": 45, "category_name": "person", "bbox2D_proj": [196.0, 240.0, 236.0, 367.0], "bbox2D_tight": [196.0, 240.0, 236.0, 367.0], "bbox2D_trunc": [196.0, 240.0, 236.0, 367.0], "center_cam": [-0.26952866634337147, 0.32623047476154576, 3.2405030106476085], "dimensions": [0.28515627682551714, 0.8776855701081708, 0.31591798391232406], "R_cam": [[0.9807039499282837, 0.02376943826675415, 0.19404852390289307], [-0.04205965995788574, 0.9949908256530762, 0.0906873345375061], [-0.19092091917991638, -0.09709903597831726, 0.9767911434173584]], "bbox3D_cam": [[-0.4625377655029297, -0.11670038104057312, 3.1740028858184814], [-0.1527157574892044, -0.12998780608177185, 3.113687515258789], [-0.13185368478298187, 0.743301272392273, 3.0284650325775146], [-0.44167572259902954, 0.7565886974334717, 3.088780403137207], [-0.4072036147117615, -0.09084030985832214, 3.4525411128997803], [-0.0973816066980362, -0.10412773489952087, 3.392225742340088], [-0.07651953399181366, 0.7691613435745239, 3.3070032596588135], [-0.38634157180786133, 0.7824487686157227, 3.367318630218506]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 540, "image_id": 77, "category_id": 45, "category_name": "person", "bbox2D_proj": [290.0, 241.0, 338.0, 362.0], "bbox2D_tight": [290.0, 241.0, 338.0, 362.0], "bbox2D_trunc": [290.0, 241.0, 338.0, 362.0], "center_cam": [0.41251971551346234, 0.3198580234599364, 3.2164864598202705], "dimensions": [0.3310546957710251, 0.835704824902914, 0.4335937747394052], "R_cam": [[0.40685707330703735, 0.029856860637664795, 0.9130038022994995], [0.013862848281860352, 0.9991489052772522, -0.038851648569107056], [-0.9133867025375366, 0.028463929891586304, 0.4060969352722168]], "bbox3D_cam": [[0.16071149706840515, -0.09421312808990479, 3.3353919982910156], [0.33712220191955566, -0.08820229768753052, 2.9393532276153564], [0.36207374930381775, 0.7467911839485168, 2.9631407260894775], [0.18566304445266724, 0.7407803535461426, 3.3591794967651367], [0.4629656970500946, -0.10707515478134155, 3.469832181930542], [0.6393764019012451, -0.10106432437896729, 3.073793411254883], [0.6643279790878296, 0.7339291572570801, 3.097580909729004], [0.4879172444343567, 0.7279183268547058, 3.493619680404663]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 541, "image_id": 77, "category_id": 45, "category_name": "person", "bbox2D_proj": [244.0, 240.0, 285.0, 363.0], "bbox2D_tight": [244.0, 240.0, 285.0, 363.0], "bbox2D_trunc": [244.0, 240.0, 285.0, 363.0], "center_cam": [0.024148270971445812, 0.32489828732705484, 3.294449343033529], "dimensions": [0.23828125181955212, 0.8677978744505753, 0.40625001041418884], "R_cam": [[-0.5694639086723328, -0.0005296468734741211, 0.8220162391662598], [0.07287919521331787, 0.9960293173789978, 0.05112990736961365], [-0.8187793493270874, 0.08902454376220703, -0.5671640634536743]], "bbox3D_cam": [[0.04211490601301193, -0.12817302346229553, 3.489708423614502], [-0.18922977149486542, -0.09856584668159485, 3.1570794582366943], [-0.18968941271305084, 0.7657862901687622, 3.234334707260132], [0.0416552796959877, 0.7361791133880615, 3.5669636726379395], [0.23798595368862152, -0.11598971486091614, 3.3545639514923096], [0.006641261279582977, -0.08638253808021545, 3.021934986114502], [0.006181634962558746, 0.7779695987701416, 3.0991902351379395], [0.2375263124704361, 0.7483624219894409, 3.431819200515747]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 542, "image_id": 77, "category_id": 45, "category_name": "person", "bbox2D_proj": [88.0, 246.0, 110.0, 299.0], "bbox2D_tight": [88.0, 246.0, 110.0, 299.0], "bbox2D_trunc": [88.0, 246.0, 110.0, 299.0], "center_cam": [-1.41734959491327, 0.14706315517176802, 3.9521818164438356], "dimensions": [0.1484375037845415, 0.46728516928325636, 0.1669921835264645], "R_cam": [[0.9966979026794434, -0.04113936424255371, -0.07000502198934555], [0.03308790922164917, 0.9930984973907471, -0.11251848936080933], [0.07415083050727844, 0.10983064025640488, 0.991180419921875]], "bbox3D_cam": [[-1.485762357711792, -0.07937867939472198, 3.8467652797698975], [-1.319321632385254, -0.0738532692193985, 3.859147787094116], [-1.3385454416275024, 0.3902069330215454, 3.9104700088500977], [-1.5049861669540405, 0.3846815228462219, 3.898087501525879], [-1.496153712272644, -0.09608064591884613, 3.993893623352051], [-1.329712986946106, -0.09055523574352264, 4.0062761306762695], [-1.3489367961883545, 0.37350499629974365, 4.05759859085083], [-1.5153775215148926, 0.36797958612442017, 4.045215606689453]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 543, "image_id": 77, "category_id": 45, "category_name": "person", "bbox2D_proj": [115.0, 247.0, 126.0, 324.0], "bbox2D_tight": [115.0, 247.0, 126.0, 324.0], "bbox2D_trunc": [115.0, 247.0, 126.0, 324.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 544, "image_id": 77, "category_id": 45, "category_name": "person", "bbox2D_proj": [115.0, 247.0, 126.0, 324.0], "bbox2D_tight": [115.0, 247.0, 126.0, 324.0], "bbox2D_trunc": [115.0, 247.0, 126.0, 324.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 545, "image_id": 77, "category_id": 45, "category_name": "person", "bbox2D_proj": [61.0, 257.0, 94.0, 329.0], "bbox2D_tight": [61.0, 257.0, 94.0, 329.0], "bbox2D_trunc": [61.0, 257.0, 94.0, 329.0], "center_cam": [-1.4425390533932436, 0.27239540512845895, 3.472658253660494], "dimensions": [0.2148437608756111, 0.5024414243324378, 0.30078126274213496], "R_cam": [[0.8476595282554626, -0.07414776086807251, 0.5253335237503052], [0.14535492658615112, 0.9847550988197327, -0.0955471396446228], [-0.5102402567863464, 0.15735122561454773, 0.8455148935317993]], "bbox3D_cam": [[-1.6078240871429443, 0.013408362865447998, 3.419036865234375], [-1.3528639078140259, 0.05712839961051941, 3.265566110610962], [-1.3901188373565674, 0.5519101619720459, 3.344625949859619], [-1.6450788974761963, 0.5081901550292969, 3.4980967044830322], [-1.4949593544006348, -0.007119357585906982, 3.6006903648376465], [-1.2399992942810059, 0.03660067915916443, 3.4472196102142334], [-1.2772541046142578, 0.5313824415206909, 3.5262794494628906], [-1.5322142839431763, 0.4876624047756195, 3.6797502040863037]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 546, "image_id": 77, "category_id": 77, "category_name": "window", "bbox2D_proj": [148.0, 162.0, 205.0, 249.0], "bbox2D_tight": [148.0, 162.0, 205.0, 249.0], "bbox2D_trunc": [148.0, 162.0, 205.0, 249.0], "center_cam": [-0.9269240535841178, -0.5982994562327522, 5.265283594174115], "dimensions": [0.32111803167826025, 1.0329585919362707, 0.6723391681951123], "R_cam": [[-0.9878842830657959, 0.08902288228273392, 0.12712162733078003], [0.11542816460132599, 0.9690039157867432, 0.21842196583747864], [-0.10373678058385849, 0.23044899106025696, -0.9675391316413879]], "bbox3D_cam": [[-0.6612163782119751, -1.1726429462432861, 5.33648157119751], [-1.3254096508026123, -1.0950360298156738, 5.266735553741455], [-1.2334527969360352, -0.09409517049789429, 5.504779815673828], [-0.5692594647407532, -0.1717020869255066, 5.574525833129883], [-0.6203953623771667, -1.102503776550293, 5.025787353515625], [-1.2845885753631592, -1.0248968601226807, 4.95604133605957], [-1.192631721496582, -0.023956000804901123, 5.194085597991943], [-0.5284384489059448, -0.10156285762786865, 5.263831615447998]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 547, "image_id": 78, "category_id": 13, "category_name": "building", "bbox2D_proj": [280.0, 149.0, 341.0, 234.0], "bbox2D_tight": [280.0, 149.0, 341.0, 234.0], "bbox2D_trunc": [280.0, 149.0, 341.0, 234.0], "center_cam": [1.2318416362763966, -1.01586455245402, 7.669787321635014], "dimensions": [0.9541015322914346, 1.4331054991073642, 1.6562500606263166], "R_cam": [[-0.16364359855651855, -0.03729458525776863, -0.9858143925666809], [0.060532089322805405, 0.9970226883888245, -0.04776683449745178], [0.9846606850624084, -0.06749013066291809, -0.16089892387390137]], "bbox3D_cam": [[1.864366054534912, -1.757624864578247, 6.979482650756836], [1.5933313369750977, -1.657368540763855, 8.610326766967773], [1.5398842096328735, -0.2285299301147461, 8.513606071472168], [1.810918927192688, -0.3287862539291382, 6.8827619552612305], [0.9237991571426392, -1.803199291229248, 6.8259687423706055], [0.6527644395828247, -1.702942967414856, 8.456812858581543], [0.5993173122406006, -0.27410435676574707, 8.360092163085938], [0.870352029800415, -0.37436068058013916, 6.729248046875]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 548, "image_id": 78, "category_id": 0, "category_name": "air_conditioner_unit", "bbox2D_proj": [1.0, 108.0, 52.0, 161.0], "bbox2D_tight": [1.0, 108.0, 52.0, 161.0], "bbox2D_trunc": [1.0, 108.0, 52.0, 161.0], "center_cam": [-1.7524425235899048, -0.9114174199484822, 3.355098072899315], "dimensions": [0.2529478872383368, 0.3448035794077526, 0.46622942125529165], "R_cam": [[-0.17339634895324707, 0.031099796295166016, 0.9843609929084778], [-0.03590887784957886, 0.9986370801925659, -0.037876248359680176], [-0.9841972589492798, -0.04191482067108154, -0.1720433235168457]], "bbox3D_cam": [[-1.841878890991211, -1.0704230070114136, 3.613513946533203], [-1.9227213859558105, -1.0871647596359253, 3.1546523571014404], [-1.9119980335235596, -0.7428311109542847, 3.140199899673462], [-1.83115553855896, -0.726089358329773, 3.5990617275238037], [-1.5928869247436523, -1.0800037384033203, 3.5699961185455322], [-1.673729419708252, -1.096745491027832, 3.1111342906951904], [-1.663006067276001, -0.7524118423461914, 3.096682071685791], [-1.5821635723114014, -0.7356700897216797, 3.5555436611175537]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 549, "image_id": 78, "category_id": 45, "category_name": "person", "bbox2D_proj": [377.0, 234.0, 399.0, 291.0], "bbox2D_tight": [377.0, 234.0, 399.0, 291.0], "bbox2D_trunc": [377.0, 234.0, 399.0, 291.0], "center_cam": [1.4339080136696827, 0.04663922033211883, 4.782979107690979], "dimensions": [0.18359375451255489, 0.5826950130285724, 0.1962890537635016], "R_cam": [[-0.9970226883888245, 0.07248866558074951, 0.02629484236240387], [0.07324671745300293, 0.9968888163566589, 0.029116304591298103], [-0.024102432653307915, 0.03095562383532524, -0.9992302656173706]], "bbox3D_cam": [[1.5082271099090576, -0.2536633610725403, 4.868052005767822], [1.312522530555725, -0.23928584158420563, 4.863320827484131], [1.3547612428665161, 0.34159624576568604, 4.881358623504639], [1.5504659414291382, 0.3272187113761902, 4.88608980178833], [1.5130547285079956, -0.24831779301166534, 4.68459939956665], [1.3173500299453735, -0.2339402586221695, 4.679868221282959], [1.359588861465454, 0.34694182872772217, 4.697906017303467], [1.5552934408187866, 0.3325642943382263, 4.702637195587158]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 550, "image_id": 78, "category_id": 45, "category_name": "person", "bbox2D_proj": [310.0, 212.0, 371.0, 370.0], "bbox2D_tight": [310.0, 212.0, 371.0, 370.0], "bbox2D_trunc": [310.0, 212.0, 371.0, 370.0], "center_cam": [0.6145365515754917, 0.22777584129930056, 3.21343919634295], "dimensions": [0.26367188833949623, 1.0898437605721734, 0.42846679507360186], "R_cam": [[0.9463234543800354, 0.052726924419403076, 0.31889116764068604], [-0.07391810417175293, 0.995762288570404, 0.054711975157260895], [-0.31465503573417664, -0.07534708082675934, 0.9462106227874756]], "bbox3D_cam": [[0.3410290777683258, -0.3062140643596649, 3.197162628173828], [0.7464972734451294, -0.3378855884075165, 3.0623433589935303], [0.8039612770080566, 0.7473397254943848, 2.980226755142212], [0.39849308133125305, 0.7790112495422363, 3.1150460243225098], [0.4251117408275604, -0.2917880713939667, 3.4466516971588135], [0.8305799961090088, -0.32345959544181824, 3.3118324279785156], [0.888043999671936, 0.761765718460083, 3.2297158241271973], [0.48257574439048767, 0.7934372425079346, 3.364535093307495]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 551, "image_id": 78, "category_id": 45, "category_name": "person", "bbox2D_proj": [89.0, 260.0, 117.0, 348.0], "bbox2D_tight": [89.0, 260.0, 117.0, 348.0], "bbox2D_trunc": [89.0, 260.0, 117.0, 348.0], "center_cam": [-1.2741505910674906, 0.38502912745326645, 3.654748849616091], "dimensions": [0.22094728516967177, 0.7125244217492961, 0.24609378706711582], "R_cam": [[0.22895729541778564, 0.0943681001663208, 0.9688514471054077], [-0.05700123310089111, 0.9948817491531372, -0.08343305438756943], [-0.9717661142349243, -0.03612315282225609, 0.23316454887390137]], "bbox3D_cam": [[-1.442975401878357, 0.04682132601737976, 3.761432409286499], [-1.3866304159164429, 0.032793670892715454, 3.522286891937256], [-1.319390892982483, 0.7416712045669556, 3.4965481758117676], [-1.375735878944397, 0.7556989192962646, 3.73569393157959], [-1.2289103269577026, 0.02838703989982605, 3.8129496574401855], [-1.1725653409957886, 0.014359384775161743, 3.5738039016723633], [-1.1053258180618286, 0.7232369184494019, 3.548065423965454], [-1.1616708040237427, 0.7372646331787109, 3.7872109413146973]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 552, "image_id": 78, "category_id": 45, "category_name": "person", "bbox2D_proj": [194.0, 259.0, 250.0, 385.0], "bbox2D_tight": [194.0, 259.0, 250.0, 385.0], "bbox2D_trunc": [194.0, 259.0, 250.0, 385.0], "center_cam": [-0.2386056043237073, 0.4682799737350106, 3.185657071618955], "dimensions": [0.29296875688139434, 0.8540039173862448, 0.3941650224433395], "R_cam": [[-0.9940571188926697, 0.09284281730651855, 0.05683824047446251], [0.08772653341293335, 0.9923632740974426, -0.08671341091394424], [-0.06445489078760147, -0.0812118649482727, -0.9946105480194092]], "bbox3D_cam": [[-0.09066429734230042, 0.03995174169540405, 3.378732442855835], [-0.48248690366744995, 0.07453048229217529, 3.3533265590667725], [-0.4031987488269806, 0.9220125675201416, 3.2839713096618652], [-0.011376142501831055, 0.8874338269233704, 3.3093771934509277], [-0.07401245832443237, 0.014547407627105713, 3.0873427391052246], [-0.4658350646495819, 0.04912614822387695, 3.061936855316162], [-0.38654690980911255, 0.8966082334518433, 2.992581605911255], [0.005275696516036987, 0.862029492855072, 3.0179874897003174]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 553, "image_id": 78, "category_id": 45, "category_name": "person", "bbox2D_proj": [254.0, 248.0, 269.0, 283.0], "bbox2D_tight": [254.0, 248.0, 269.0, 283.0], "bbox2D_trunc": [254.0, 248.0, 269.0, 283.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 554, "image_id": 78, "category_id": 45, "category_name": "person", "bbox2D_proj": [404.0, 227.0, 427.0, 278.0], "bbox2D_tight": [404.0, 227.0, 427.0, 278.0], "bbox2D_trunc": [404.0, 227.0, 427.0, 278.0], "center_cam": [1.8447737489248495, -0.07254961858195508, 5.097000771594484], "dimensions": [0.19531255450265378, 0.5864257896112, 0.21557622251240385], "R_cam": [[-0.9052160382270813, 0.11818766593933105, -0.40818580985069275], [0.18016600608825684, 0.9766824841499329, -0.11675398051738739], [0.3848690390586853, -0.1792287528514862, -0.9054019451141357]], "bbox3D_cam": [[1.947553038597107, -0.36694347858428955, 5.196486473083496], [1.7524100542068481, -0.3281039595603943, 5.279455184936523], [1.8217183351516724, 0.2446478009223938, 5.174350738525391], [2.0168614387512207, 0.20580828189849854, 5.0913825035095215], [1.8678292036056519, -0.3897470235824585, 5.019650459289551], [1.672686219215393, -0.35090750455856323, 5.10261869430542], [1.7419945001602173, 0.22184425592422485, 4.997514724731445], [1.937137484550476, 0.1830047369003296, 4.914546012878418]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 555, "image_id": 78, "category_id": 45, "category_name": "person", "bbox2D_proj": [294.0, 239.0, 322.0, 316.0], "bbox2D_tight": [294.0, 239.0, 322.0, 316.0], "bbox2D_trunc": [294.0, 239.0, 322.0, 316.0], "center_cam": [0.5053224611079913, 0.1905610755079425, 4.231859080677158], "dimensions": [0.2460937888709433, 0.6894531336650178, 0.2795410434927345], "R_cam": [[-0.961483359336853, 0.08672237396240234, -0.26082363724708557], [0.10584622621536255, 0.9925607442855835, -0.06016387790441513], [0.2536657452583313, -0.08545377850532532, -0.9635099172592163]], "bbox3D_cam": [[0.6419075727462769, -0.15899215638637543, 4.344419479370117], [0.37313342094421387, -0.12940381467342377, 4.415329456329346], [0.43292444944381714, 0.5549202561378479, 4.356412887573242], [0.7016985416412354, 0.5253319144248962, 4.285502910614014], [0.5777204632759094, -0.17379812896251678, 4.107305526733398], [0.3089463710784912, -0.14420978724956512, 4.178215503692627], [0.3687373697757721, 0.5401142835617065, 4.119298934936523], [0.6375114917755127, 0.5105259418487549, 4.048388957977295]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 556, "image_id": 78, "category_id": 13, "category_name": "building", "bbox2D_proj": [337.0, 104.0, 399.0, 232.0], "bbox2D_tight": [337.0, 104.0, 399.0, 232.0], "bbox2D_trunc": [337.0, 104.0, 399.0, 232.0], "center_cam": [1.6545745577818378, -1.278462372230973, 6.577633206274102], "dimensions": [0.4284689794256451, 1.7938121727764509, 0.938055990888384], "R_cam": [[0.9051050543785095, 0.07086846232414246, 0.41924044489860535], [0.031645577400922775, 0.9720489978790283, -0.23263545334339142], [-0.4240087568759918, 0.22382663190364838, 0.8775638341903687]], "bbox3D_cam": [[1.076676845550537, -2.1153032779693604, 6.387749671936035], [1.9257159233093262, -2.085617780685425, 5.9900054931640625], [2.0528407096862793, -0.34194451570510864, 6.39150857925415], [1.2038015127182007, -0.37162989377975464, 6.789252281188965], [1.2563083171844482, -2.214980363845825, 6.763758182525635], [2.1053476333618164, -2.1852948665618896, 6.36601448059082], [2.2324721813201904, -0.4416216015815735, 6.76751708984375], [1.3834331035614014, -0.4713069796562195, 7.165261268615723]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 557, "image_id": 79, "category_id": 14, "category_name": "cabinet", "bbox2D_proj": [11.0, 168.0, 34.0, 246.0], "bbox2D_tight": [11.0, 168.0, 34.0, 246.0], "bbox2D_trunc": [11.0, 168.0, 34.0, 246.0], "center_cam": [-4.237662038501066, -1.0260715216646625, 7.9964957771092955], "dimensions": [0.14062500358468205, 1.067871070941552, 0.4023437554110783], "R_cam": [[-0.5677276849746704, -0.09518587589263916, 0.817694902420044], [0.1269853115081787, 0.9712780714035034, 0.20123031735420227], [-0.8133634328842163, 0.21807929873466492, -0.539334237575531]], "bbox3D_cam": [[-4.130122184753418, -1.5843663215637207, 8.081603050231934], [-4.358543872833252, -1.533274531364441, 7.754351615905762], [-4.4601898193359375, -0.4960747957229614, 7.987232208251953], [-4.2317681312561035, -0.5471665859222412, 8.314483642578125], [-4.015133857727051, -1.5560683012008667, 8.005759239196777], [-4.243555545806885, -1.504976511001587, 7.6785078048706055], [-4.34520149230957, -0.4677767753601074, 7.911388397216797], [-4.116779804229736, -0.5188685655593872, 8.238639831542969]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 558, "image_id": 79, "category_id": 66, "category_name": "sweater", "bbox2D_proj": [313.0, 297.0, 385.0, 387.0], "bbox2D_tight": [313.0, 297.0, 385.0, 387.0], "bbox2D_trunc": [313.0, 297.0, 385.0, 387.0], "center_cam": [0.5941115030449267, 0.5424233914755221, 2.7377237416800972], "dimensions": [0.3467259967851266, 0.5717538053330617, 0.39454239112774614], "R_cam": [[0.3121209144592285, 0.0034398874267935753, 0.9500361680984497], [-0.01164739765226841, 0.9999321699142456, 0.00020603742450475693], [-0.9499709606170654, -0.011129757389426231, 0.3121398687362671]], "bbox3D_cam": [[0.36685454845428467, 0.2588278353214264, 2.8741939067840576], [0.4899994730949402, 0.2542324364185333, 2.499390125274658], [0.49196624755859375, 0.8259474039077759, 2.4930267333984375], [0.36882129311561584, 0.830542802810669, 2.867830514907837], [0.6962567567825317, 0.2588993012905121, 2.9824209213256836], [0.819401741027832, 0.254303902387619, 2.607617139816284], [0.8213684558868408, 0.8260189294815063, 2.6012537479400635], [0.6982235312461853, 0.8306143283843994, 2.976057529449463]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 559, "image_id": 79, "category_id": 45, "category_name": "person", "bbox2D_proj": [383.0, 191.0, 512.0, 512.0], "bbox2D_tight": [383.0, 191.0, 512.0, 512.0], "bbox2D_trunc": [383.0, 191.0, 512.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 560, "image_id": 79, "category_id": 14, "category_name": "cabinet", "bbox2D_proj": [126.0, 145.0, 164.0, 246.0], "bbox2D_tight": [126.0, 145.0, 164.0, 246.0], "bbox2D_trunc": [126.0, 145.0, 164.0, 246.0], "center_cam": [-1.3870941400312806, -0.6447995214348639, 5.564644388829126], "dimensions": [0.1679687480751637, 1.4122314118968091, 0.5234375150379287], "R_cam": [[0.9851423501968384, 0.014413595199584961, 0.17113380134105682], [-0.016882896423339844, 0.9997731447219849, 0.01298222690820694], [-0.1709078550338745, -0.015678569674491882, 0.9851622581481934]], "bbox3D_cam": [[-1.6694746017456055, -1.3474268913269043, 5.5377068519592285], [-1.1538141965866089, -1.3562638759613037, 5.448246955871582], [-1.1334588527679443, 0.055647194385528564, 5.426105499267578], [-1.649119257926941, 0.06448429822921753, 5.515564918518066], [-1.6407294273376465, -1.3452463150024414, 5.703183174133301], [-1.12506902217865, -1.3540832996368408, 5.6137237548828125], [-1.1047136783599854, 0.057827770709991455, 5.59158182144165], [-1.620374083518982, 0.06666487455368042, 5.681041717529297]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 561, "image_id": 79, "category_id": 17, "category_name": "chandelier", "bbox2D_proj": [227.0, 24.0, 304.0, 143.0], "bbox2D_tight": [227.0, 24.0, 304.0, 143.0], "bbox2D_trunc": [227.0, 24.0, 304.0, 143.0], "center_cam": [0.06707507151665784, -1.1189011035837633, 2.955126560700675], "dimensions": [0.4381713604678823, 0.7186804814887107, 0.508311639184005], "R_cam": [[0.9903287887573242, 0.0034398864954710007, 0.13869763910770416], [-0.004950117319822311, 0.9999322891235352, 0.010545171797275543], [-0.13865195214748383, -0.011129757389426231, 0.9902787208557129]], "bbox3D_cam": [[-0.21624547243118286, -1.47926926612854, 2.777409315109253], [0.28715014457702637, -1.4817854166030884, 2.7069308757781982], [0.28962230682373047, -0.7631536722183228, 2.69893217086792], [-0.21377331018447876, -0.7606374621391296, 2.7694106101989746], [-0.15547215938568115, -1.4746485948562622, 3.2113208770751953], [0.3479234576225281, -1.4771647453308105, 3.1408424377441406], [0.3503956198692322, -0.7585330605506897, 3.1328437328338623], [-0.15299999713897705, -0.7560168504714966, 3.203322172164917]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 562, "image_id": 80, "category_id": 61, "category_name": "sports_car", "bbox2D_proj": [41.0, 346.0, 404.0, 512.0], "bbox2D_tight": [41.0, 346.0, 404.0, 512.0], "bbox2D_trunc": [41.0, 346.0, 404.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 563, "image_id": 80, "category_id": 15, "category_name": "car", "bbox2D_proj": [137.0, 276.0, 203.0, 320.0], "bbox2D_tight": [137.0, 276.0, 203.0, 320.0], "bbox2D_trunc": [137.0, 276.0, 203.0, 320.0], "center_cam": [-2.6599087353899233, 1.2321718630034326, 14.2361367174671], "dimensions": [1.4550780590058268, 1.113281200842116, 3.4296874993803694], "R_cam": [[0.04064929485321045, -0.010709703899919987, -0.9991161823272705], [-0.033830318599939346, 0.9993545413017273, -0.012088596820831299], [0.9986006617546082, 0.034291863441467285, 0.040260735899209976]], "bbox3D_cam": [[-1.9967584609985352, 0.7426992654800415, 12.475313186645508], [-1.857344388961792, 0.6266717910766602, 15.900200843811035], [-1.869267225265503, 1.739234447479248, 15.938377380371094], [-2.008681297302246, 1.8552619218826294, 12.513489723205566], [-3.4505503177642822, 0.7251093983650208, 12.533895492553711], [-3.311136245727539, 0.6090818643569946, 15.958783149719238], [-3.32305908203125, 1.7216445207595825, 15.996959686279297], [-3.462473154067993, 1.8376719951629639, 12.57207202911377]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 564, "image_id": 80, "category_id": 43, "category_name": "palm_tree", "bbox2D_proj": [118.0, 209.0, 181.0, 285.0], "bbox2D_tight": [118.0, 209.0, 181.0, 285.0], "bbox2D_trunc": [118.0, 209.0, 181.0, 285.0], "center_cam": [-4.1384885718224185, -0.6715630506209993, 15.852346882210535], "dimensions": [2.6985512344261897, 3.1355649603795013, 2.7210197710962944], "R_cam": [[0.40107524394989014, 0.005235403776168823, 0.9160301685333252], [0.07671284675598145, 0.9962791204452515, -0.03928208351135254], [-0.9128273725509644, 0.08602631092071533, 0.3991812467575073]], "bbox3D_cam": [[-5.928340911865234, -2.2848782539367676, 16.420780181884766], [-4.83700704574585, -2.076141119003296, 13.936960220336914], [-4.820590972900391, 1.0477569103240967, 14.206701278686523], [-5.911924839019775, 0.839019775390625, 16.690521240234375], [-3.4563863277435303, -2.390882968902588, 17.49799156188965], [-2.3650527000427246, -2.182145833969116, 15.01417064666748], [-2.3486368656158447, 0.9417521953582764, 15.28391170501709], [-3.4399704933166504, 0.7330150604248047, 17.767732620239258]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 565, "image_id": 80, "category_id": 45, "category_name": "person", "bbox2D_proj": [226.0, 294.0, 259.0, 346.0], "bbox2D_tight": [226.0, 294.0, 259.0, 346.0], "bbox2D_trunc": [226.0, 294.0, 259.0, 346.0], "center_cam": [-0.20553111013812114, 1.019737889198818, 6.8184447412148845], "dimensions": [0.4967588608604284, 0.7237842717641274, 2.23328449064039], "R_cam": [[-0.03276669979095459, 0.00030066416366025805, -0.9994630217552185], [3.931725223083049e-05, 1.0, 0.00029953671037219465], [0.9994630217552185, -2.948130713775754e-05, -0.03276669979095459]], "bbox3D_cam": [[0.0791947990655899, 0.6577274799346924, 5.7105512619018555], [0.006017446517944336, 0.6578152179718018, 7.942636489868164], [0.006235063076019287, 1.3815994262695312, 7.942615509033203], [0.07941241562366486, 1.3815116882324219, 5.7105302810668945], [-0.41729727387428284, 0.6578762531280518, 5.694273948669434], [-0.4904746413230896, 0.6579639911651611, 7.926359176635742], [-0.49025702476501465, 1.3817481994628906, 7.926338195800781], [-0.4170796573162079, 1.3816604614257812, 5.694252967834473]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 566, "image_id": 80, "category_id": 45, "category_name": "person", "bbox2D_proj": [13.0, 271.0, 33.0, 330.0], "bbox2D_tight": [13.0, 271.0, 33.0, 330.0], "bbox2D_trunc": [13.0, 271.0, 33.0, 330.0], "center_cam": [-5.819005073778278, 1.0822505664939222, 11.076506512135621], "dimensions": [0.414062635565677, 1.3974608749586097, 0.4306641876946111], "R_cam": [[0.9421995282173157, 0.00961160659790039, -0.33491450548171997], [-0.016876697540283203, 0.9996810555458069, -0.018788829445838928], [0.33462709188461304, 0.02335505187511444, 0.942061185836792]], "bbox3D_cam": [[-5.959269046783447, 0.39126700162887573, 10.793095588684082], [-5.553497314453125, 0.3839988112449646, 10.937207221984863], [-5.540065765380859, 1.7810139656066895, 10.969844818115234], [-5.945837020874023, 1.7882821559906006, 10.825733184814453], [-6.097944259643555, 0.3834872841835022, 11.183168411254883], [-5.692173004150391, 0.37621909379959106, 11.327280044555664], [-5.678740978240967, 1.7732341289520264, 11.359917640686035], [-6.084512710571289, 1.7805023193359375, 11.215806007385254]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 567, "image_id": 80, "category_id": 63, "category_name": "streetlight", "bbox2D_proj": [448.0, 163.0, 470.0, 277.0], "bbox2D_tight": [448.0, 163.0, 470.0, 277.0], "bbox2D_trunc": [448.0, 163.0, 470.0, 277.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 568, "image_id": 80, "category_id": 48, "category_name": "plant", "bbox2D_proj": [229.0, 226.0, 256.0, 257.0], "bbox2D_tight": [229.0, 226.0, 256.0, 257.0], "bbox2D_trunc": [229.0, 226.0, 256.0, 257.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 569, "image_id": 80, "category_id": 45, "category_name": "person", "bbox2D_proj": [181.0, 284.0, 208.0, 358.0], "bbox2D_tight": [181.0, 284.0, 208.0, 358.0], "bbox2D_trunc": [181.0, 284.0, 208.0, 358.0], "center_cam": [-0.7488408711977869, 1.1816891586823148, 6.005851920937248], "dimensions": [0.38427733033062594, 1.4887694662434567, 0.46093750508821474], "R_cam": [[0.028368353843688965, 0.022828102111816406, -0.999336838722229], [-0.05877971649169922, 0.9980473518371582, 0.02113005518913269], [0.9978678226470947, 0.058141231536865234, 0.029654741287231445]], "bbox3D_cam": [[-0.5803605318069458, 0.44824492931365967, 5.726897239685059], [-0.5672844648361206, 0.42115116119384766, 6.186851978302002], [-0.5332987308502197, 1.9070135354995728, 6.273410797119141], [-0.5463747382164001, 1.9341073036193848, 5.813456058502197], [-0.9643830060958862, 0.4563647508621216, 5.738292694091797], [-0.9513069987297058, 0.42927098274230957, 6.19824743270874], [-0.9173212051391602, 1.9151333570480347, 6.284806251525879], [-0.9303972721099854, 1.9422271251678467, 5.8248515129089355]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 570, "image_id": 80, "category_id": 15, "category_name": "car", "bbox2D_proj": [30.0, 277.0, 98.0, 320.0], "bbox2D_tight": [30.0, 277.0, 98.0, 320.0], "bbox2D_trunc": [30.0, 277.0, 98.0, 320.0], "center_cam": [-5.573232205258704, 1.0835163474578882, 12.452867229118997], "dimensions": [1.4843749478149046, 0.7792968425047726, 2.5234375236306903], "R_cam": [[0.13285458087921143, -0.06781300902366638, -0.9888129234313965], [-0.08842062950134277, 0.9928677082061768, -0.0799710750579834], [0.9871835708618164, 0.09805595874786377, 0.12591096758842468]], "bbox3D_cam": [[-4.980549335479736, 0.8675625324249268, 11.075662612915039], [-4.645299434661865, 0.6444385647773743, 13.56675910949707], [-4.698145866394043, 1.4181772470474243, 13.643173217773438], [-5.033395767211914, 1.641301155090332, 11.152077674865723], [-6.4483184814453125, 0.748855471611023, 11.262561798095703], [-6.113068580627441, 0.5257315039634705, 13.753657341003418], [-6.165915012359619, 1.2994701862335205, 13.830072402954102], [-6.50116491317749, 1.5225942134857178, 11.33897590637207]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 571, "image_id": 80, "category_id": 61, "category_name": "sports_car", "bbox2D_proj": [450.0, 279.0, 512.0, 328.0], "bbox2D_tight": [450.0, 279.0, 512.0, 328.0], "bbox2D_trunc": [450.0, 279.0, 512.0, 328.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 572, "image_id": 80, "category_id": 63, "category_name": "streetlight", "bbox2D_proj": [80.0, 35.0, 132.0, 322.0], "bbox2D_tight": [80.0, 35.0, 132.0, 322.0], "bbox2D_trunc": [80.0, 35.0, 132.0, 322.0], "center_cam": [-4.083208653284015, -2.510035737152899, 12.107836908434802], "dimensions": [0.7265624701262711, 8.899413707776102, 1.7656250052476783], "R_cam": [[0.1667565256357193, 0.07635235786437988, 0.9830374717712402], [-0.22740471363067627, 0.9730970859527588, -0.03700483217835426], [-0.9594162702560425, -0.2173765003681183, 0.1796332597732544]], "bbox3D_cam": [[-4.927288055419922, -6.625833511352539, 13.856825828552246], [-4.632858753204346, -7.027344703674316, 12.162856101989746], [-3.953366994857788, 1.632648229598999, 10.22833251953125], [-4.247796535491943, 2.0341594219207764, 11.92230224609375], [-4.21304988861084, -6.652719497680664, 13.987340927124023], [-3.9186205863952637, -7.054230690002441, 12.293371200561523], [-3.239129066467285, 1.605762243270874, 10.358847618103027], [-3.5335583686828613, 2.0072734355926514, 12.052817344665527]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 573, "image_id": 81, "category_id": 77, "category_name": "window", "bbox2D_proj": [0.0, 194.0, 30.0, 341.0], "bbox2D_tight": [0.0, 194.0, 30.0, 341.0], "bbox2D_trunc": [0.0, 194.0, 30.0, 341.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 574, "image_id": 81, "category_id": 45, "category_name": "person", "bbox2D_proj": [188.0, 236.0, 243.0, 382.0], "bbox2D_tight": [188.0, 236.0, 243.0, 382.0], "bbox2D_trunc": [188.0, 236.0, 243.0, 382.0], "center_cam": [-0.39751673454125636, 0.5212769472410516, 4.785090361057842], "dimensions": [0.5253908363741797, 1.4837646349142972, 0.5878908397300501], "R_cam": [[0.5594211220741272, 0.07583868503570557, 0.8254069089889526], [-0.011631488800048828, 0.9964258074760437, -0.08366864919662476], [-0.8288019895553589, 0.037205278873443604, 0.558303713798523]], "bbox3D_cam": [[-0.8350499868392944, -0.1925552487373352, 4.854447364807129], [-0.506171464920044, -0.19939333200454712, 4.367202281951904], [-0.3936447501182556, 1.2790679931640625, 4.422406196594238], [-0.7225232720375061, 1.2859060764312744, 4.909651279449463], [-0.4013887047767639, -0.23651403188705444, 5.147774696350098], [-0.07251018285751343, -0.24335211515426636, 4.660529613494873], [0.0400165319442749, 1.2351090908050537, 4.715733528137207], [-0.2888619899749756, 1.2419471740722656, 5.202978610992432]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 575, "image_id": 81, "category_id": 3, "category_name": "banner", "bbox2D_proj": [366.0, 0.0, 416.0, 47.0], "bbox2D_tight": [366.0, 0.0, 416.0, 47.0], "bbox2D_trunc": [366.0, 0.0, 416.0, 47.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 576, "image_id": 81, "category_id": 45, "category_name": "person", "bbox2D_proj": [278.0, 242.0, 319.0, 383.0], "bbox2D_tight": [278.0, 242.0, 319.0, 383.0], "bbox2D_trunc": [278.0, 242.0, 319.0, 383.0], "center_cam": [0.48813015633947643, 0.5686362288637128, 4.784134631854712], "dimensions": [0.45898442211899393, 1.4279785021621927, 0.7460937970664872], "R_cam": [[0.5419995784759521, 0.014078378677368164, 0.8402608633041382], [0.05851167440414429, 0.9968010187149048, -0.05444338917732239], [-0.8383393287658691, 0.0786733627319336, 0.5394420623779297]], "bbox3D_cam": [[0.08305376768112183, -0.15240222215652466, 4.916904926300049], [0.48743635416030884, -0.10874706506729126, 4.2914252281188965], [0.5075399279594421, 1.3146634101867676, 4.403769016265869], [0.10315734148025513, 1.2710082530975342, 5.0292487144470215], [0.46872037649154663, -0.17739087343215942, 5.164500713348389], [0.8731029629707336, -0.13373571634292603, 4.539021015167236], [0.8932065367698669, 1.2896747589111328, 4.651364803314209], [0.48882395029067993, 1.2460196018218994, 5.276844501495361]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 577, "image_id": 81, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [254.0, 192.0, 274.0, 248.0], "bbox2D_tight": [254.0, 192.0, 274.0, 248.0], "bbox2D_trunc": [254.0, 192.0, 274.0, 248.0], "center_cam": [0.13147759047439722, -0.08832409979140987, 4.351133887920483], "dimensions": [0.17283143141604312, 0.6467210538531968, 0.24582742235800495], "R_cam": [[0.9785418510437012, 0.006426811218261719, -0.2059476375579834], [-0.0034971237182617188, 0.9998874664306641, 0.014586478471755981], [0.20601817965507507, -0.013553261756896973, 0.9784542918205261]], "bbox3D_cam": [[0.02692030370235443, -0.41247889399528503, 4.245640277862549], [0.2674727439880371, -0.4133385717868805, 4.296285152435303], [0.27162909507751465, 0.23330971598625183, 4.287519931793213], [0.031076669692993164, 0.2341693937778473, 4.236875057220459], [-0.00867392122745514, -0.4099579155445099, 4.414747714996338], [0.23187851905822754, -0.41081759333610535, 4.465392589569092], [0.23603488504886627, 0.23583069443702698, 4.456627368927002], [-0.004517555236816406, 0.23669037222862244, 4.405982494354248]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 578, "image_id": 81, "category_id": 45, "category_name": "person", "bbox2D_proj": [412.0, 226.0, 490.0, 388.0], "bbox2D_tight": [412.0, 226.0, 490.0, 388.0], "bbox2D_trunc": [412.0, 226.0, 490.0, 388.0], "center_cam": [1.8910648765487523, 0.4552540622068761, 4.286918382331838], "dimensions": [0.5039063054301283, 1.438354474571349, 0.6535645638476983], "R_cam": [[0.9051293730735779, 0.03039729595184326, 0.42404818534851074], [-0.017573118209838867, 0.9992632269859314, -0.03412117063999176], [-0.4247729182243347, 0.023432254791259766, 0.9049966335296631]], "bbox3D_cam": [[1.466583251953125, -0.24905380606651306, 4.1808576583862305], [2.0581438541412354, -0.26053890585899353, 3.9032411575317383], [2.1018660068511963, 1.1767557859420776, 3.9369449615478516], [1.510305404663086, 1.188240885734558, 4.214561462402344], [1.680263876914978, -0.2662477195262909, 4.6368913650512695], [2.271824359893799, -0.27773281931877136, 4.359274864196777], [2.3155465126037598, 1.1595618724822998, 4.392978668212891], [1.723986029624939, 1.1710469722747803, 4.670595169067383]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 579, "image_id": 81, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [290.0, 0.0, 321.0, 234.0], "bbox2D_tight": [290.0, 0.0, 321.0, 234.0], "bbox2D_trunc": [290.0, 0.0, 321.0, 234.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 580, "image_id": 81, "category_id": 45, "category_name": "person", "bbox2D_proj": [132.0, 229.0, 182.0, 369.0], "bbox2D_tight": [132.0, 229.0, 182.0, 369.0], "bbox2D_trunc": [132.0, 229.0, 182.0, 369.0], "center_cam": [-1.273711837796462, 0.4988980185638321, 5.373948488784441], "dimensions": [0.5214844808188317, 1.637817363676452, 0.6230470322006139], "R_cam": [[0.8725170493125916, 0.05222052335739136, 0.4857850968837738], [-0.030589580535888672, 0.9981598258018494, -0.05235762894153595], [-0.4876253008842468, 0.030822962522506714, 0.8725088834762573]], "bbox3D_cam": [[-1.7149498462677002, -0.2953224778175354, 5.273114204406738], [-1.1713308095932007, -0.3143811821937561, 4.969300746917725], [-1.0858030319213867, 1.3204221725463867, 5.019783020019531], [-1.6294221878051758, 1.3394808769226074, 5.323596477508545], [-1.461620569229126, -0.32262617349624634, 5.728114128112793], [-0.9180014133453369, -0.34168487787246704, 5.424300670623779], [-0.8324736952781677, 1.2931184768676758, 5.474782943725586], [-1.376092791557312, 1.3121771812438965, 5.7785964012146]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 581, "image_id": 82, "category_id": 13, "category_name": "building", "bbox2D_proj": [0.0, 0.0, 370.0, 284.0], "bbox2D_tight": [0.0, 0.0, 370.0, 284.0], "bbox2D_trunc": [0.0, 0.0, 370.0, 284.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 582, "image_id": 82, "category_id": 45, "category_name": "person", "bbox2D_proj": [385.0, 304.0, 414.0, 407.0], "bbox2D_tight": [385.0, 304.0, 414.0, 407.0], "bbox2D_trunc": [385.0, 304.0, 414.0, 407.0], "center_cam": [2.8004218160986776, 1.947416057713915, 8.71804750627597], "dimensions": [0.47656252717586733, 1.8999023075824146, 0.6249999919282846], "R_cam": [[0.9951099753379822, -0.048569321632385254, -0.08600754290819168], [0.06343650817871094, 0.9816940426826477, 0.17959028482437134], [0.07571049779653549, -0.18416808545589447, 0.9799745082855225]], "bbox3D_cam": [[2.556082248687744, 0.9522377848625183, 8.635828971862793], [3.178025960922241, 0.9918856024742126, 8.683147430419922], [3.0857491493225098, 2.857008457183838, 8.333246231079102], [2.4638054370880127, 2.8173606395721436, 8.285927772521973], [2.51509428024292, 1.0378236770629883, 9.102848052978516], [3.137037992477417, 1.0774714946746826, 9.150166511535645], [3.0447611808776855, 2.942594289779663, 8.800265312194824], [2.4228174686431885, 2.9029464721679688, 8.752946853637695]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 583, "image_id": 82, "category_id": 45, "category_name": "person", "bbox2D_proj": [326.0, 302.0, 352.0, 377.0], "bbox2D_tight": [326.0, 302.0, 352.0, 377.0], "bbox2D_trunc": [326.0, 302.0, 352.0, 377.0], "center_cam": [1.777745380315934, 1.8241822586163392, 9.513951778702724], "dimensions": [0.5048828080596741, 1.564453094211963, 0.8828125502843563], "R_cam": [[0.25103604793548584, 0.04552125930786133, -0.9669067859649658], [-0.07608664035797119, 0.9967309236526489, 0.027171194553375244], [0.9649827480316162, 0.06674781441688538, 0.25367897748947144]], "bbox3D_cam": [[1.8754158020019531, 1.0712388753890991, 8.971752166748047], [2.0970335006713867, 1.0040686130523682, 9.823650360107422], [2.1682496070861816, 2.5634074211120605, 9.928074836730957], [1.9466317892074585, 2.630577564239502, 9.076175689697266], [1.387241244316101, 1.0849571228027344, 9.09982967376709], [1.6088589429855347, 1.0177868604660034, 9.951728820800781], [1.68007493019104, 2.5771255493164062, 10.05615234375], [1.458457112312317, 2.6442959308624268, 9.204254150390625]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 584, "image_id": 82, "category_id": 45, "category_name": "person", "bbox2D_proj": [464.0, 312.0, 512.0, 512.0], "bbox2D_tight": [464.0, 312.0, 512.0, 512.0], "bbox2D_trunc": [464.0, 312.0, 512.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 585, "image_id": 82, "category_id": 45, "category_name": "person", "bbox2D_proj": [209.0, 291.0, 232.0, 312.0], "bbox2D_tight": [209.0, 291.0, 232.0, 312.0], "bbox2D_trunc": [209.0, 291.0, 232.0, 312.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 586, "image_id": 82, "category_id": 45, "category_name": "person", "bbox2D_proj": [465.0, 298.0, 505.0, 465.0], "bbox2D_tight": [465.0, 298.0, 505.0, 465.0], "bbox2D_trunc": [465.0, 298.0, 505.0, 465.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 587, "image_id": 82, "category_id": 45, "category_name": "person", "bbox2D_proj": [405.0, 300.0, 422.0, 352.0], "bbox2D_tight": [405.0, 300.0, 422.0, 352.0], "bbox2D_trunc": [405.0, 300.0, 422.0, 352.0], "center_cam": [4.8437798962995915, 2.309093399961837, 13.783363628000588], "dimensions": [0.4843750537936793, 1.7636718448464037, 0.6254883187754539], "R_cam": [[0.9236463308334351, 0.04471170902252197, 0.38062894344329834], [0.023310363292694092, 0.9847781658172607, -0.17224565148353577], [-0.38253650069236755, 0.16796666383743286, 0.9085445404052734]], "bbox3D_cam": [[4.423303127288818, 1.4751062393188477, 13.534842491149902], [5.001032829284668, 1.4896866083145142, 13.295570373535156], [5.07988977432251, 3.2265121936798096, 13.591808319091797], [4.50216007232666, 3.2119317054748535, 13.831080436706543], [4.607670307159424, 1.3916747570037842, 13.974918365478516], [5.185400009155273, 1.4062551259994507, 13.73564624786377], [5.264256954193115, 3.143080711364746, 14.03188419342041], [4.686527252197266, 3.128500461578369, 14.271156311035156]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 588, "image_id": 82, "category_id": 45, "category_name": "person", "bbox2D_proj": [361.0, 291.0, 386.0, 374.0], "bbox2D_tight": [361.0, 291.0, 386.0, 374.0], "bbox2D_trunc": [361.0, 291.0, 386.0, 374.0], "center_cam": [3.387253384126499, 2.1468051953925267, 12.740334710168572], "dimensions": [0.5781250225093635, 2.354003848335386, 1.289062536878071], "R_cam": [[-0.7770822048187256, -0.07074582576751709, 0.6254105567932129], [-0.054953813552856445, 0.9974943399429321, 0.04455476999282837], [-0.6269955039024353, 0.00025406479835510254, -0.7790228128433228]], "bbox3D_cam": [[3.7905924320220947, 0.9952927827835083, 13.369339942932129], [2.7888848781585693, 0.924453854560852, 12.561103820800781], [2.6223487854003906, 3.272559642791748, 12.561701774597168], [3.624056339263916, 3.3433985710144043, 13.369937896728516], [4.152157783508301, 1.021051049232483, 12.918967247009277], [3.1504502296447754, 0.9502121210098267, 12.11073112487793], [2.9839141368865967, 3.2983179092407227, 12.111329078674316], [3.985621690750122, 3.369156837463379, 12.919565200805664]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 589, "image_id": 82, "category_id": 45, "category_name": "person", "bbox2D_proj": [250.0, 285.0, 265.0, 304.0], "bbox2D_tight": [250.0, 285.0, 265.0, 304.0], "bbox2D_trunc": [250.0, 285.0, 265.0, 304.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 590, "image_id": 82, "category_id": 45, "category_name": "person", "bbox2D_proj": [108.0, 311.0, 184.0, 512.0], "bbox2D_tight": [108.0, 311.0, 184.0, 512.0], "bbox2D_trunc": [108.0, 311.0, 184.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 591, "image_id": 83, "category_id": 1, "category_name": "awning", "bbox2D_proj": [0.0, 0.0, 512.0, 173.0], "bbox2D_tight": [0.0, 0.0, 512.0, 173.0], "bbox2D_trunc": [0.0, 0.0, 512.0, 173.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 592, "image_id": 83, "category_id": 11, "category_name": "box", "bbox2D_proj": [342.0, 301.0, 413.0, 353.0], "bbox2D_tight": [342.0, 301.0, 413.0, 353.0], "bbox2D_trunc": [342.0, 301.0, 413.0, 353.0], "center_cam": [0.8493877239786417, 0.5017602073056147, 3.1380251934469885], "dimensions": [0.3830795477291784, 0.31993487944596716, 0.4963557149610803], "R_cam": [[0.9435386657714844, -0.058633480221033096, 0.3260320723056793], [0.07544399797916412, 0.996381402015686, -0.039146535098552704], [-0.3225569427013397, 0.06153343245387077, 0.9445480108261108]], "bbox3D_cam": [[0.5621536374092102, 0.3311461806297302, 3.0273149013519287], [1.0304844379425049, 0.3685932755470276, 2.8672120571136475], [1.0117255449295044, 0.6873704195022583, 2.8868985176086426], [0.5433947443962097, 0.6499233245849609, 3.047001600265503], [0.6870498657226562, 0.3161499500274658, 3.3891520500183105], [1.1553807258605957, 0.3535970449447632, 3.22904896736145], [1.1366217136383057, 0.6723741888999939, 3.2487356662750244], [0.6682909727096558, 0.6349270939826965, 3.4088385105133057]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 593, "image_id": 83, "category_id": 56, "category_name": "shoe", "bbox2D_proj": [384.0, 350.0, 474.0, 405.0], "bbox2D_tight": [384.0, 350.0, 474.0, 405.0], "bbox2D_trunc": [384.0, 350.0, 474.0, 405.0], "center_cam": [0.7350864906649988, 0.49361864213240136, 1.8059677478248237], "dimensions": [0.21675265468682758, 0.19139010769041304, 0.3935124315264691], "R_cam": [[0.8403310179710388, -0.058633483946323395, -0.5388932228088379], [0.01598825678229332, 0.9963815212249756, -0.08347827941179276], [0.5418378114700317, 0.061533428728580475, 0.8382277488708496]], "bbox3D_cam": [[0.6337603330612183, 0.4041711390018463, 1.6026252508163452], [0.9644410610198975, 0.41046273708343506, 1.8158451318740845], [0.9532191753387451, 0.6011602878570557, 1.8276220560073853], [0.6225385069847107, 0.5948686599731445, 1.614402174949646], [0.5169538259506226, 0.38607701659202576, 1.7843133211135864], [0.847634494304657, 0.3923685848712921, 1.9975332021713257], [0.8364126682281494, 0.5830661058425903, 2.009310007095337], [0.5057319402694702, 0.576774537563324, 1.7960902452468872]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 594, "image_id": 83, "category_id": 45, "category_name": "person", "bbox2D_proj": [67.0, 171.0, 117.0, 252.0], "bbox2D_tight": [67.0, 171.0, 117.0, 252.0], "bbox2D_trunc": [67.0, 171.0, 117.0, 252.0], "center_cam": [-2.017789119820475, -0.43058601271241603, 5.568143301621384], "dimensions": [0.38281251031860125, 1.1054687304206618, 0.614624078113678], "R_cam": [[0.9341029524803162, -0.13187921047210693, -0.33175233006477356], [0.11815410852432251, 0.9911012053489685, -0.06130313128232956], [0.3368847072124481, 0.01806551404297352, 0.9413726329803467]], "bbox3D_cam": [[-2.168456554412842, -1.0029780864715576, 5.274444580078125], [-1.594334363937378, -0.9303576946258545, 5.481502056121826], [-1.740122675895691, 0.16527369618415833, 5.5014729499816895], [-2.3142449855804443, 0.0926533043384552, 5.294415473937988], [-2.2954554557800293, -1.026445746421814, 5.6348137855529785], [-1.721333384513855, -0.9538253545761108, 5.84187126159668], [-1.867121696472168, 0.14180603623390198, 5.861842155456543], [-2.441243886947632, 0.06918567419052124, 5.654784679412842]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 595, "image_id": 83, "category_id": 56, "category_name": "shoe", "bbox2D_proj": [385.0, 463.0, 460.0, 504.0], "bbox2D_tight": [385.0, 463.0, 460.0, 504.0], "bbox2D_trunc": [385.0, 463.0, 460.0, 504.0], "center_cam": [0.7201750140336564, 0.9684975238179943, 1.9646659596573708], "dimensions": [0.12200949340044696, 0.14135179388936348, 0.32861611861393825], "R_cam": [[0.9050332903862, -0.08407027274370193, 0.4169498682022095], [0.04288077354431152, 0.9933118224143982, 0.10720570385456085], [-0.42317402362823486, -0.07914543151855469, 0.9025851488113403]], "bbox3D_cam": [[0.5519765615463257, 0.88470858335495, 1.9847285747528076], [0.8493850827217102, 0.8987999558448792, 1.8456668853759766], [0.8375016450881958, 1.0392062664031982, 1.8344794511795044], [0.5400931239128113, 1.0251150131225586, 1.973541259765625], [0.6028484106063843, 0.8977887034416199, 2.0948524475097656], [0.9002569317817688, 0.9118800163269043, 1.9557907581329346], [0.8883734941482544, 1.0522863864898682, 1.944603443145752], [0.5909649729728699, 1.0381951332092285, 2.083665132522583]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 596, "image_id": 83, "category_id": 31, "category_name": "hat", "bbox2D_proj": [357.0, 264.0, 398.0, 302.0], "bbox2D_tight": [357.0, 264.0, 398.0, 302.0], "bbox2D_trunc": [357.0, 264.0, 398.0, 302.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 597, "image_id": 83, "category_id": 47, "category_name": "pipe", "bbox2D_proj": [292.0, 0.0, 403.0, 17.0], "bbox2D_tight": [292.0, 0.0, 403.0, 17.0], "bbox2D_trunc": [292.0, 0.0, 403.0, 17.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 598, "image_id": 83, "category_id": 45, "category_name": "person", "bbox2D_proj": [194.0, 260.0, 283.0, 413.0], "bbox2D_tight": [194.0, 260.0, 283.0, 413.0], "bbox2D_trunc": [194.0, 260.0, 283.0, 413.0], "center_cam": [-0.10647210908242308, 0.4986642239158604, 2.760350186604243], "dimensions": [0.34559876590335925, 0.9193857594406456, 0.5572966326735351], "R_cam": [[0.8922219276428223, -0.0586334653198719, -0.44777461886405945], [0.02465641498565674, 0.9963812828063965, -0.08134068548679352], [0.45092353224754333, 0.06153342127799988, 0.8904389142990112]], "bbox3D_cam": [[-0.25075969099998474, 0.04781997203826904, 2.452547311782837], [0.24647259712219238, 0.06156092882156372, 2.703845500946045], [0.19256582856178284, 0.9776197075843811, 2.76041841506958], [-0.3046664595603943, 0.9638787508010864, 2.509120225906372], [-0.4055100381374359, 0.019708752632141113, 2.760282039642334], [0.09172224253416061, 0.03344970941543579, 3.011580228805542], [0.03781547397375107, 0.9495084881782532, 3.068153142929077], [-0.45941680669784546, 0.9357675313949585, 2.816854953765869]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 599, "image_id": 83, "category_id": 45, "category_name": "person", "bbox2D_proj": [219.0, 241.0, 309.0, 392.0], "bbox2D_tight": [219.0, 241.0, 309.0, 392.0], "bbox2D_trunc": [219.0, 241.0, 309.0, 392.0], "center_cam": [0.026557320027285378, 0.4846684345008099, 3.244088326269253], "dimensions": [0.5898438431686372, 1.1522216409562207, 0.7041016956761454], "R_cam": [[0.8610662817955017, 0.015382885932922363, -0.5082600116729736], [0.006081581115722656, 0.9991592764854431, 0.04054337739944458], [0.5084563493728638, -0.03800155222415924, 0.8602488040924072]], "bbox3D_cam": [[-0.1355469971895218, -0.10505616664886475, 2.833272933959961], [0.470731258392334, -0.10077416896820068, 3.1912777423858643], [0.48845571279525757, 1.0504788160324097, 3.147491455078125], [-0.1178225502371788, 1.0461968183517456, 2.7894866466522217], [-0.4353410601615906, -0.08114194869995117, 3.3406853675842285], [0.1709371954202652, -0.07685995101928711, 3.698690176010132], [0.18866164982318878, 1.0743930339813232, 3.6549038887023926], [-0.417616605758667, 1.0701110363006592, 3.2968990802764893]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 600, "image_id": 84, "category_id": 74, "category_name": "trousers", "bbox2D_proj": [307.0, 364.0, 348.0, 471.0], "bbox2D_tight": [307.0, 364.0, 348.0, 471.0], "bbox2D_trunc": [307.0, 364.0, 348.0, 471.0], "center_cam": [0.5428684865183269, 1.1930253724086026, 3.607616621574333], "dimensions": [0.2812500166046026, 0.9499511594801513, 0.3125000172868527], "R_cam": [[0.8758606314659119, -0.06682097911834717, -0.4779154658317566], [0.267020583152771, 0.8920424580574036, 0.364637166261673], [0.4019555151462555, -0.44698458909988403, 0.799147367477417]], "bbox3D_cam": [[0.5049604177474976, 0.6763278841972351, 3.644737720489502], [0.7786668539047241, 0.7597718238830566, 3.7703487873077393], [0.7151902914047241, 1.6071686744689941, 3.3457353115081787], [0.44148382544517517, 1.5237246751785278, 3.2201242446899414], [0.37054669857025146, 0.7788820862770081, 3.8694980144500732], [0.644253134727478, 0.8623260259628296, 3.9951090812683105], [0.580776572227478, 1.7097227573394775, 3.57049560546875], [0.3070701062679291, 1.6262788772583008, 3.4448845386505127]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 601, "image_id": 84, "category_id": 45, "category_name": "person", "bbox2D_proj": [54.0, 261.0, 101.0, 324.0], "bbox2D_tight": [54.0, 261.0, 101.0, 324.0], "bbox2D_trunc": [54.0, 261.0, 101.0, 324.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 602, "image_id": 84, "category_id": 45, "category_name": "person", "bbox2D_proj": [128.0, 247.0, 155.0, 333.0], "bbox2D_tight": [128.0, 247.0, 155.0, 333.0], "bbox2D_trunc": [128.0, 247.0, 155.0, 333.0], "center_cam": [-3.3962003602029363, 0.9203085665992059, 13.294858216467077], "dimensions": [0.7343750069291428, 2.491455050747112, 0.9482421893875768], "R_cam": [[0.9299159646034241, -0.10985052585601807, -0.35098302364349365], [0.11713355779647827, 0.9931160807609558, -0.0004844069480895996], [0.34862011671066284, -0.04066140949726105, 0.9363815784454346]], "bbox3D_cam": [[-3.5713727474212646, -0.3722010850906372, 12.836395263671875], [-2.689587116241455, -0.2611302137374878, 13.166971206665039], [-2.9632749557495117, 2.2131738662719727, 13.065665245056152], [-3.8450605869293213, 2.1021032333374023, 12.735089302062988], [-3.8291258811950684, -0.37255680561065674, 13.52405071258545], [-2.947340250015259, -0.2614859342575073, 13.854626655578613], [-3.2210280895233154, 2.212818145751953, 13.753320693969727], [-4.102813720703125, 2.101747512817383, 13.422744750976562]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 603, "image_id": 84, "category_id": 5, "category_name": "baseball_cap", "bbox2D_proj": [206.0, 227.0, 250.0, 254.0], "bbox2D_tight": [206.0, 227.0, 250.0, 254.0], "bbox2D_trunc": [206.0, 227.0, 250.0, 254.0], "center_cam": [-0.1648009609648012, -0.1045948167965746, 2.821164341409525], "dimensions": [0.16271323347359273, 0.12647914827055629, 0.26259135108281256], "R_cam": [[-0.9452961683273315, -0.2600097358226776, 0.19700288772583008], [-0.23343420028686523, 0.9610046148300171, 0.14825224876403809], [-0.2278677225112915, 0.09415507316589355, -0.9691290855407715]], "bbox3D_cam": [[-0.040272220969200134, -0.14678072929382324, 2.9239730834960938], [-0.2884988784790039, -0.2080785483121872, 2.8641371726989746], [-0.3213846683502197, -0.08653150498867035, 2.8760457038879395], [-0.07315804064273834, -0.02523370087146759, 2.9358818531036377], [-0.008217230439186096, -0.1226581335067749, 2.7662830352783203], [-0.2564438581466675, -0.18395593762397766, 2.706446886062622], [-0.2893297076225281, -0.06240890175104141, 2.718355655670166], [-0.041103050112724304, -0.0011110901832580566, 2.778191566467285]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 604, "image_id": 84, "category_id": 45, "category_name": "person", "bbox2D_proj": [161.0, 249.0, 189.0, 300.0], "bbox2D_tight": [161.0, 249.0, 189.0, 300.0], "bbox2D_trunc": [161.0, 249.0, 189.0, 300.0], "center_cam": [-2.6079816790436636, 0.5304091481468745, 13.307406889541749], "dimensions": [0.4218749980822394, 1.515624980494345, 0.5742187463581829], "R_cam": [[0.7892880439758301, -0.5296170711517334, 0.3106936514377594], [0.6140072345733643, 0.6771209836006165, -0.4055887758731842], [0.004429489839822054, 0.5108944773674011, 0.8596322536468506]], "bbox3D_cam": [[-2.4987802505493164, -0.07345491647720337, 12.73764419555664], [-2.0455563068389893, 0.2791195511817932, 12.740187644958496], [-2.848257064819336, 1.3053810596466064, 13.514512062072754], [-3.301480770111084, 0.9528065323829651, 13.511968612670898], [-2.367706298828125, -0.24456268548965454, 13.100300788879395], [-1.914482593536377, 0.10801178216934204, 13.10284423828125], [-2.7171831130981445, 1.1342732906341553, 13.877168655395508], [-3.1704070568084717, 0.7816987633705139, 13.874625205993652]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 605, "image_id": 84, "category_id": 47, "category_name": "pipe", "bbox2D_proj": [203.0, 132.0, 241.0, 184.0], "bbox2D_tight": [203.0, 132.0, 241.0, 184.0], "bbox2D_trunc": [203.0, 132.0, 241.0, 184.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 606, "image_id": 84, "category_id": 2, "category_name": "backpack", "bbox2D_proj": [157.0, 275.0, 232.0, 388.0], "bbox2D_tight": [157.0, 275.0, 232.0, 388.0], "bbox2D_trunc": [157.0, 275.0, 232.0, 388.0], "center_cam": [-0.3808917697233993, 0.4289853649096861, 2.7694313327588267], "dimensions": [0.36523438152354676, 0.648681636372784, 0.43945312987052587], "R_cam": [[0.8244950175285339, 0.18894463777542114, 0.5333927273750305], [-0.23917794227600098, 0.9706307053565979, 0.025882527232170105], [-0.5128369927406311, -0.14891578257083893, 0.8454716205596924]], "bbox3D_cam": [[-0.7207443714141846, 0.16199734807014465, 2.776017189025879], [-0.35841742157936096, 0.056889861822128296, 2.5506491661071777], [-0.23585250973701477, 0.6865202188491821, 2.454050302505493], [-0.5981794595718384, 0.7916276454925537, 2.6794180870056152], [-0.5259310007095337, 0.17145052552223206, 3.0848124027252197], [-0.16360408067703247, 0.0663430392742157, 2.8594446182250977], [-0.04103916883468628, 0.6959733963012695, 2.762845516204834], [-0.4033661186695099, 0.8010808229446411, 2.988213539123535]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 607, "image_id": 85, "category_id": 45, "category_name": "person", "bbox2D_proj": [379.0, 223.0, 432.0, 374.0], "bbox2D_tight": [379.0, 223.0, 432.0, 374.0], "bbox2D_trunc": [379.0, 223.0, 432.0, 374.0], "center_cam": [0.9478403368902379, 0.24791312829982365, 2.7915655564796067], "dimensions": [0.3779296955347247, 0.9086914447571974, 0.4843750094726147], "R_cam": [[0.7507457733154297, 0.0013483762741088867, -0.660589873790741], [0.004051923751831055, 0.9999697208404541, 0.006646066904067993], [0.6605788469314575, -0.007666170597076416, 0.7507175803184509]], "bbox3D_cam": [[0.8902347087860107, -0.20865604281425476, 2.4932055473327637], [1.2538771629333496, -0.2066933810710907, 2.813173532485962], [1.255102515220642, 0.7019705772399902, 2.8062071800231934], [0.8914600014686584, 0.7000079154968262, 2.486239433288574], [0.6405781507492065, -0.2061443030834198, 2.7769241333007812], [1.004220724105835, -0.20418164134025574, 3.0968918800354004], [1.005445957183838, 0.7044823169708252, 3.089925765991211], [0.6418034434318542, 0.7025196552276611, 2.7699577808380127]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 608, "image_id": 85, "category_id": 16, "category_name": "chair", "bbox2D_proj": [129.0, 301.0, 178.0, 357.0], "bbox2D_tight": [129.0, 301.0, 178.0, 357.0], "bbox2D_trunc": [129.0, 301.0, 178.0, 357.0], "center_cam": [-0.6729833865366344, 0.5510903991615572, 3.2840522706541546], "dimensions": [0.23388671661337151, 0.3405761975662831, 0.2675781327857962], "R_cam": [[-0.003629237413406372, 0.08022737503051758, 0.9967700242996216], [-0.15103137493133545, 0.9852983951568604, -0.07985395193099976], [-0.9885223507881165, -0.15083327889442444, 0.008540987968444824]], "bbox3D_cam": [[-0.8027252554893494, 0.412850558757782, 3.4409921169281006], [-0.80369633436203, 0.37243789434432983, 3.176485300064087], [-0.7763727903366089, 0.7080070376396179, 3.125114917755127], [-0.7754017114639282, 0.7484197616577148, 3.3896219730377197], [-0.5695940256118774, 0.394173800945282, 3.4429898262023926], [-0.5705651044845581, 0.35376107692718506, 3.1784827709198], [-0.543241560459137, 0.6893302798271179, 3.127112627029419], [-0.5422704815864563, 0.7297429442405701, 3.3916194438934326]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 609, "image_id": 85, "category_id": 16, "category_name": "chair", "bbox2D_proj": [245.0, 293.0, 282.0, 361.0], "bbox2D_tight": [245.0, 293.0, 282.0, 361.0], "bbox2D_trunc": [245.0, 293.0, 282.0, 361.0], "center_cam": [0.022788827763558346, 0.5315376986149085, 3.3375684279465725], "dimensions": [0.31835949149067355, 0.4440918249423887, 0.32617199776340144], "R_cam": [[0.7466741800308228, 0.07000786066055298, 0.6614956855773926], [-0.12922072410583496, 0.9907675981521606, 0.04100459814071655], [-0.6525179147720337, -0.11609604954719543, 0.7488269805908203]], "bbox3D_cam": [[-0.21982493996620178, 0.3260887861251831, 3.3505656719207764], [0.023719264194369316, 0.2839406132698059, 3.13773250579834], [0.05480915307998657, 0.7239324450492859, 3.0861752033233643], [-0.18873506784439087, 0.7660806179046631, 3.299008369445801], [-0.00923149473965168, 0.33914297819137573, 3.5889618396759033], [0.23431271314620972, 0.29699480533599854, 3.376128673553467], [0.26540258526802063, 0.7369866371154785, 3.324571371078491], [0.021858392283320427, 0.7791348099708557, 3.5374045372009277]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 610, "image_id": 85, "category_id": 1, "category_name": "awning", "bbox2D_proj": [243.0, 128.0, 431.0, 196.0], "bbox2D_tight": [243.0, 128.0, 431.0, 196.0], "bbox2D_trunc": [243.0, 128.0, 431.0, 196.0], "center_cam": [0.6692018191007743, -0.7166406858358322, 3.4735480243498937], "dimensions": [0.25390626410410155, 0.20043184298027678, 1.6630859100571538], "R_cam": [[0.8780889511108398, -0.20614509284496307, -0.43181484937667847], [0.08770506083965302, 0.9564892649650574, -0.2782738208770752], [0.4703909754753113, 0.20647668838500977, 0.8579625487327576]], "bbox3D_cam": [[0.014512360095977783, -0.8500989675521851, 2.952784299850464], [1.4748497009277344, -0.7042379379272461, 3.7350850105285645], [1.4335317611694336, -0.5125269889831543, 3.7764694690704346], [-0.02680569887161255, -0.658388078212738, 2.994168758392334], [-0.0951281189918518, -0.9207544326782227, 3.170626401901245], [1.3652093410491943, -0.7748933434486389, 3.9529271125793457], [1.3238911628723145, -0.5831824541091919, 3.994311571121216], [-0.13644617795944214, -0.7290434837341309, 3.2120108604431152]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 611, "image_id": 86, "category_id": 45, "category_name": "person", "bbox2D_proj": [382.0, 228.0, 512.0, 512.0], "bbox2D_tight": [382.0, 228.0, 512.0, 512.0], "bbox2D_trunc": [382.0, 228.0, 512.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 612, "image_id": 86, "category_id": 45, "category_name": "person", "bbox2D_proj": [171.0, 247.0, 199.0, 337.0], "bbox2D_tight": [171.0, 247.0, 199.0, 337.0], "bbox2D_trunc": [171.0, 247.0, 199.0, 337.0], "center_cam": [-0.768840993710659, 0.38361293556521403, 4.734260862770366], "dimensions": [0.302490358676348, 0.881103578437912, 0.30859388411438077], "R_cam": [[0.03816491737961769, 0.0017962455749511719, 0.9992699027061462], [-0.03886830806732178, 0.9992443919181824, -0.0003117621236015111], [-0.9985153675079346, -0.038827959448099136, 0.03820598125457764]], "bbox3D_cam": [[-0.9266558289527893, -0.050561487674713135, 4.899656295776367], [-0.9148783683776855, -0.06255602836608887, 4.591520309448242], [-0.9132956266403198, 0.8178816437721252, 4.557309150695801], [-0.9250730872154236, 0.829876184463501, 4.865444660186768], [-0.6243863105773926, -0.0506557822227478, 4.911212921142578], [-0.6126088500022888, -0.06265032291412354, 4.603077411651611], [-0.6110261082649231, 0.8177873492240906, 4.568865776062012], [-0.6228035688400269, 0.8297818899154663, 4.877001762390137]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 613, "image_id": 86, "category_id": 45, "category_name": "person", "bbox2D_proj": [146.0, 242.0, 176.0, 336.0], "bbox2D_tight": [146.0, 242.0, 176.0, 336.0], "bbox2D_trunc": [146.0, 242.0, 176.0, 336.0], "center_cam": [-1.007995210266709, 0.3300200351740267, 4.812775547235385], "dimensions": [0.253906272265678, 0.9658203812177473, 0.31445315070316526], "R_cam": [[0.9502691030502319, 0.028583943843841553, 0.31011533737182617], [-0.0271608829498291, 0.9995913505554199, -0.008906841278076172], [-0.3102432191371918, 4.0903687477111816e-05, 0.9506572484970093]], "bbox3D_cam": [[-1.2105764150619507, -0.1472916603088379, 4.740845203399658], [-0.9117612838745117, -0.1558324694633484, 4.643288612365723], [-0.8841543197631836, 0.8095932602882385, 4.6433281898498535], [-1.1829694509506226, 0.818134069442749, 4.740884780883789], [-1.131836175918579, -0.14955317974090576, 4.982223033905029], [-0.8330210447311401, -0.15809398889541626, 4.884666442871094], [-0.805414080619812, 0.8073317408561707, 4.884706020355225], [-1.104229211807251, 0.8158725500106812, 4.98226261138916]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 614, "image_id": 86, "category_id": 45, "category_name": "person", "bbox2D_proj": [216.0, 237.0, 242.0, 347.0], "bbox2D_tight": [216.0, 237.0, 242.0, 347.0], "bbox2D_trunc": [216.0, 237.0, 242.0, 347.0], "center_cam": [-0.25588282938433227, 0.3621996276402547, 4.534779818347715], "dimensions": [0.25390625354299945, 1.1220703929467226, 0.3710937659939191], "R_cam": [[0.4112323820590973, 0.020804524421691895, 0.9112931489944458], [-0.06921231746673584, 0.9975661039352417, 0.008458733558654785], [-0.9088991284370422, -0.06655123829841614, 0.41167140007019043]], "bbox3D_cam": [[-0.45954930782318115, -0.1857018768787384, 4.688498020172119], [-0.30694353580474854, -0.21138611435890198, 4.351211071014404], [-0.2835993766784668, 0.9079533815383911, 4.276535987854004], [-0.4362051486968994, 0.9336376190185547, 4.613822937011719], [-0.22816628217697144, -0.18355408310890198, 4.793024063110352], [-0.07556051015853882, -0.20923832058906555, 4.455737113952637], [-0.05221635103225708, 0.9101011753082275, 4.381062030792236], [-0.2048221230506897, 0.9357854127883911, 4.718348979949951]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 615, "image_id": 87, "category_id": 45, "category_name": "person", "bbox2D_proj": [322.0, 239.0, 344.0, 299.0], "bbox2D_tight": [322.0, 239.0, 344.0, 299.0], "bbox2D_trunc": [322.0, 239.0, 344.0, 299.0], "center_cam": [0.8320558733763583, 0.11827357997735559, 4.669979331776334], "dimensions": [0.22460938475107142, 0.6274604803056165, 0.24023438664416036], "R_cam": [[0.8113414645195007, 0.023398280143737793, -0.5841041207313538], [-0.040767550468444824, 0.9990306496620178, -0.016607999801635742], [0.5831493139266968, 0.037287235260009766, 0.8115087747573853]], "bbox3D_cam": [[0.7928566932678223, -0.18839052319526672, 4.497098445892334], [0.987768828868866, -0.1981842815876007, 4.637190818786621], [1.0024503469467163, 0.42866799235343933, 4.660587310791016], [0.8075382113456726, 0.4384617507457733, 4.5204949378967285], [0.6616614460945129, -0.19212082028388977, 4.679370880126953], [0.8565735220909119, -0.20191457867622375, 4.81946325302124], [0.8712550401687622, 0.4249376952648163, 4.842859745025635], [0.6763429045677185, 0.43473145365715027, 4.702767372131348]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 616, "image_id": 87, "category_id": 58, "category_name": "signboard", "bbox2D_proj": [437.0, 262.0, 508.0, 364.0], "bbox2D_tight": [437.0, 262.0, 508.0, 364.0], "bbox2D_trunc": [437.0, 262.0, 508.0, 364.0], "center_cam": [1.432779151583677, 0.4078652751512401, 3.0082620133237086], "dimensions": [0.25309044164954825, 0.6650128968704978, 0.7048153865137712], "R_cam": [[0.18119466304779053, 0.013766080141067505, 0.9833508729934692], [0.03455066680908203, 0.9991956353187561, -0.020354270935058594], [-0.9828401803970337, 0.03766357898712158, 0.18057328462600708]], "bbox3D_cam": [[1.2399091720581055, 0.06602609157562256, 3.3192481994628906], [1.3676178455352783, 0.09037792682647705, 2.6265273094177246], [1.3767725229263306, 0.7548559308052063, 2.65157413482666], [1.2490637302398682, 0.7305040955543518, 3.344295024871826], [1.4887858629226685, 0.06087464094161987, 3.3649497032165527], [1.6164946556091309, 0.08522647619247437, 2.6722288131713867], [1.6256492137908936, 0.7497044801712036, 2.6972756385803223], [1.4979405403137207, 0.7253526449203491, 3.3899965286254883]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 617, "image_id": 87, "category_id": 8, "category_name": "boat", "bbox2D_proj": [115.0, 208.0, 183.0, 232.0], "bbox2D_tight": [115.0, 208.0, 183.0, 232.0], "bbox2D_trunc": [115.0, 208.0, 183.0, 232.0], "center_cam": [-1.1405889413048378, -0.3541352239692017, 4.802876391610987], "dimensions": [0.26363625046756733, 0.27636018238451093, 0.8348663616962657], "R_cam": [[0.9845510125160217, -0.07210108637809753, -0.1595643162727356], [0.10260307788848877, 0.9760035276412964, 0.19206708669662476], [0.1418870985507965, -0.20547163486480713, 0.9683229923248291]], "bbox3D_cam": [[-1.52057683467865, -0.5571473240852356, 4.644397735595703], [-0.6986083388328552, -0.47148746252059937, 4.76285457611084], [-0.7185342311859131, -0.2017589509487152, 4.706070423126221], [-1.5405027866363525, -0.28741881251335144, 4.587613582611084], [-1.5626437664031982, -0.5065114498138428, 4.899682521820068], [-0.7406752705574036, -0.42085161805152893, 5.018139362335205], [-0.7606011629104614, -0.15112310647964478, 4.961355209350586], [-1.5825695991516113, -0.236782968044281, 4.842898368835449]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 618, "image_id": 87, "category_id": 44, "category_name": "parking_meter", "bbox2D_proj": [235.0, 270.0, 251.0, 355.0], "bbox2D_tight": [235.0, 270.0, 251.0, 355.0], "bbox2D_trunc": [235.0, 270.0, 251.0, 355.0], "center_cam": [-0.10020225072737977, 0.4277474999452549, 3.393323094921408], "dimensions": [0.1177825971245822, 0.6435241700643626, 0.17382813157777685], "R_cam": [[0.021375179290771484, 0.015394985675811768, 0.9996529817581177], [-0.04033160209655762, 0.9990807771682739, -0.01452377438545227], [-0.9989577531814575, -0.04000723361968994, 0.021976470947265625]], "bbox3D_cam": [[-0.16588443517684937, 0.11064186692237854, 3.491725206375122], [-0.16216881573200226, 0.10363110899925232, 3.3180782794952393], [-0.15226176381111145, 0.7465637922286987, 3.292332649230957], [-0.15597739815711975, 0.7535744905471802, 3.46597957611084], [-0.048142723739147186, 0.10893121361732483, 3.4943137168884277], [-0.04442709684371948, 0.10192045569419861, 3.320666790008545], [-0.03452005237340927, 0.744853138923645, 3.2949211597442627], [-0.038235679268836975, 0.7518638372421265, 3.4685680866241455]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 619, "image_id": 87, "category_id": 45, "category_name": "person", "bbox2D_proj": [377.0, 231.0, 411.0, 334.0], "bbox2D_tight": [377.0, 231.0, 411.0, 334.0], "bbox2D_trunc": [377.0, 231.0, 411.0, 334.0], "center_cam": [1.162107201489546, 0.21417245852505568, 3.716180441350433], "dimensions": [0.2558593857428306, 0.845504761858722, 0.2968750115658758], "R_cam": [[-0.5172473192214966, -0.01867389678955078, -0.8556321859359741], [-0.06418478488922119, 0.9977928400039673, 0.01702454686164856], [0.8534257411956787, 0.06372442841529846, -0.5173041820526123]], "bbox3D_cam": [[1.3562413454055786, -0.20029735565185547, 3.6287388801574707], [1.2026835680007935, -0.21935218572616577, 3.8820996284484863], [1.1868946552276611, 0.6242863535881042, 3.935978889465332], [1.3404524326324463, 0.6433411836624146, 3.6826181411743164], [1.137319803237915, -0.19594144821166992, 3.4963817596435547], [0.9837620258331299, -0.21499627828598022, 3.7497425079345703], [0.9679731130599976, 0.6286422610282898, 3.803621768951416], [1.1215308904647827, 0.6476970911026001, 3.5502610206604004]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 620, "image_id": 88, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [471.0, 216.0, 512.0, 271.0], "bbox2D_tight": [471.0, 216.0, 512.0, 271.0], "bbox2D_trunc": [471.0, 216.0, 512.0, 271.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 621, "image_id": 88, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [0.0, 194.0, 16.0, 269.0], "bbox2D_tight": [0.0, 194.0, 16.0, 269.0], "bbox2D_trunc": [0.0, 194.0, 16.0, 269.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 622, "image_id": 88, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [354.0, 176.0, 396.0, 260.0], "bbox2D_tight": [354.0, 176.0, 396.0, 260.0], "bbox2D_trunc": [354.0, 176.0, 396.0, 260.0], "center_cam": [3.5645166386166216, -1.1425926424789163, 13.69937397020097], "dimensions": [0.5078125127381394, 2.5058594825580034, 1.3027343478653857], "R_cam": [[-0.9963002800941467, 0.07221877574920654, 0.046586357057094574], [0.08210015296936035, 0.9600465893745422, 0.26752591133117676], [-0.0254046767950058, 0.27036088705062866, -0.9624238014221191]], "bbox3D_cam": [[4.1111602783203125, -2.466867446899414, 13.621543884277344], [2.8132457733154297, -2.359912633895874, 13.588448524475098], [2.994215726852417, 0.045829057693481445, 14.265934944152832], [4.292130470275879, -0.061125755310058594, 14.299030303955078], [4.134817123413086, -2.331014394760132, 13.132813453674316], [2.8369028568267822, -2.224059581756592, 13.09971809387207], [3.0178728103637695, 0.18168210983276367, 13.777204513549805], [4.315787315368652, 0.07472729682922363, 13.81029987335205]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 623, "image_id": 88, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [179.0, 130.0, 235.0, 246.0], "bbox2D_tight": [179.0, 130.0, 235.0, 246.0], "bbox2D_trunc": [179.0, 130.0, 235.0, 246.0], "center_cam": [-0.7845236290428914, -1.0037305278415976, 6.865904651204507], "dimensions": [0.8701172918658239, 1.7238770306179445, 0.9492189117184048], "R_cam": [[-0.24433156847953796, -0.043305397033691406, -0.968724250793457], [-0.2736905813217163, 0.9614650011062622, 0.026049315929412842], [0.9302664399147034, 0.2714953124523163, -0.24676847457885742]], "bbox3D_cam": [[-0.20978307723999023, -1.7138911485671997, 6.297738075256348], [-0.44170716404914856, -1.9736833572387695, 7.180764675140381], [-0.5163604021072388, -0.31623589992523193, 7.648788928985596], [-0.28443628549575806, -0.05644369125366211, 6.765762805938721], [-1.0526868104934692, -1.6912251710891724, 6.0830206871032715], [-1.2846109867095947, -1.9510173797607422, 6.9660468101501465], [-1.3592641353607178, -0.2935699224472046, 7.4340715408325195], [-1.1273400783538818, -0.033777713775634766, 6.551044940948486]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 624, "image_id": 88, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [95.0, 201.0, 150.0, 269.0], "bbox2D_tight": [95.0, 201.0, 150.0, 269.0], "bbox2D_trunc": [95.0, 201.0, 150.0, 269.0], "center_cam": [-1.4006729477311755, -0.26555748639145105, 4.91299253991635], "dimensions": [0.6965772350511745, 0.677086069666355, 2.247601106370869], "R_cam": [[0.3375590443611145, -0.09232211112976074, 0.9367660284042358], [0.11859031021595001, 0.9914202690124512, 0.05497507005929947], [-0.9338041543960571, 0.09253404289484024, 0.3456113338470459]], "bbox3D_cam": [[-2.0750317573547363, -0.7536149621009827, 5.810702800750732], [-1.3163337707519531, -0.4870712161064148, 3.711883544921875], [-1.3788437843322754, 0.18420559167861938, 3.7745370864868164], [-2.1375417709350586, -0.08233813941478729, 5.873356342315674], [-1.422502040863037, -0.7153205871582031, 6.051447868347168], [-0.6638039350509644, -0.44877684116363525, 3.9526286125183105], [-0.7263139486312866, 0.22249996662139893, 4.015282154083252], [-1.4850120544433594, -0.04404376447200775, 6.114101409912109]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 625, "image_id": 88, "category_id": 13, "category_name": "building", "bbox2D_proj": [165.0, 241.0, 266.0, 268.0], "bbox2D_tight": [165.0, 241.0, 266.0, 268.0], "bbox2D_trunc": [165.0, 241.0, 266.0, 268.0], "center_cam": [-0.45248294519149923, -0.010639968775161521, 4.9567246279299715], "dimensions": [0.5495995329496784, 0.15142202135477006, 0.6228183519589938], "R_cam": [[-0.9653710126876831, 0.017153792083263397, 0.26031628251075745], [0.0048764050006866455, 0.9988481402397156, -0.04773604869842529], [-0.2608352601528168, -0.04481363296508789, -0.9643426537513733]], "bbox3D_cam": [[-0.22469112277030945, -0.07466445863246918, 5.306344985961914], [-0.8259419202804565, -0.07162734121084213, 5.143892288208008], [-0.8233444690704346, 0.07962025701999664, 5.137106418609619], [-0.22209367156028748, 0.076583132147789, 5.299559593200684], [-0.0816214382648468, -0.10090018808841705, 4.776342868804932], [-0.6828721761703491, -0.09786306321620941, 4.613889694213867], [-0.6802747249603271, 0.05338452383875847, 4.607104301452637], [-0.07902398705482483, 0.050347402691841125, 4.769556999206543]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 626, "image_id": 88, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [369.0, 200.0, 435.0, 272.0], "bbox2D_tight": [369.0, 200.0, 435.0, 272.0], "bbox2D_trunc": [369.0, 200.0, 435.0, 272.0], "center_cam": [3.039801362606225, -0.4312840917343725, 9.283363240254161], "dimensions": [1.0605601644234153, 1.4375610915561046, 1.0625133379882874], "R_cam": [[-0.5560362339019775, -0.010125875473022461, 0.8310962915420532], [-0.03667914867401123, 0.9992505311965942, -0.012365251779556274], [-0.8303482532501221, -0.03735944628715515, -0.555990993976593]], "bbox3D_cam": [[2.901763677597046, -1.1234828233718872, 10.046175956726074], [2.3109679222106934, -1.1624549627304077, 9.163919448852539], [2.2964112758636475, 0.2740287482738495, 9.110213279724121], [2.887207269668579, 0.31300088763237, 9.99246883392334], [3.783191442489624, -1.136596918106079, 9.456513404846191], [3.1923954486846924, -1.1755690574645996, 8.574257850646973], [3.1778390407562256, 0.2609146535396576, 8.520550727844238], [3.768634796142578, 0.2998867928981781, 9.402807235717773]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 627, "image_id": 88, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [243.0, 157.0, 300.0, 265.0], "bbox2D_tight": [243.0, 157.0, 300.0, 265.0], "bbox2D_trunc": [243.0, 157.0, 300.0, 265.0], "center_cam": [0.26080330093597, -0.7927916853897645, 7.378341731690391], "dimensions": [0.7631836107989727, 1.521850644074997, 0.8828125620464625], "R_cam": [[0.16325518488883972, 0.015486955642700195, -0.9864622950553894], [-0.025714874267578125, 0.9996038675308228, 0.011437654495239258], [0.9862486720085144, 0.02349942922592163, 0.1635887622833252]], "bbox3D_cam": [[0.5533829927444458, -1.5464293956756592, 6.86269998550415], [0.6975066661834717, -1.5691306591033936, 7.733372688293457], [0.7210755348205566, -0.04788297414779663, 7.769135475158691], [0.5769518613815308, -0.025181591510772705, 6.898462295532227], [-0.1994689404964447, -1.5377004146575928, 6.987547874450684], [-0.055345237255096436, -1.5604016780853271, 7.858221054077148], [-0.03177633881568909, -0.039153993129730225, 7.893983364105225], [-0.17590004205703735, -0.0164526104927063, 7.023310661315918]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 628, "image_id": 88, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [24.0, 200.0, 77.0, 262.0], "bbox2D_tight": [24.0, 200.0, 77.0, 262.0], "bbox2D_trunc": [24.0, 200.0, 77.0, 262.0], "center_cam": [-2.4912465169165388, -0.2474672614276677, 5.5821077964196215], "dimensions": [0.6937207277334447, 0.7363281735376954, 0.6937207595711135], "R_cam": [[-0.005037814844399691, 0.14433062076568604, -0.9895168542861938], [0.39571231603622437, 0.9090441465377808, 0.13057808578014374], [0.9183608293533325, -0.3909061849117279, -0.06169307231903076]], "bbox3D_cam": [[-2.1994123458862305, -0.7646939754486084, 5.428881645202637], [-2.202907085418701, -0.4901801347732544, 6.065967559814453], [-2.096632480621338, 0.17917467653751373, 5.778132438659668], [-2.093137741088867, -0.09533917903900146, 5.141046524047852], [-2.8858604431152344, -0.6741092205047607, 5.386083602905273], [-2.889355182647705, -0.39959535002708435, 6.02316951751709], [-2.783080577850342, 0.2697594165802002, 5.735334396362305], [-2.779585838317871, -0.004754394292831421, 5.098248481750488]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 629, "image_id": 89, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [427.0, 140.0, 487.0, 258.0], "bbox2D_tight": [427.0, 140.0, 487.0, 258.0], "bbox2D_trunc": [427.0, 140.0, 487.0, 258.0], "center_cam": [1.5905481793048615, -0.38238866357437923, 3.4504908438821227], "dimensions": [0.35156252708711416, 0.8972397083217367, 0.5234375774858215], "R_cam": [[-0.4522840976715088, -0.020290374755859375, -0.8916430473327637], [-0.0036023855209350586, 0.9997745752334595, -0.020923763513565063], [0.8918666839599609, -0.006251424551010132, -0.4522552490234375]], "bbox3D_cam": [[1.8747562170028687, -0.8262865543365479, 3.299375295639038], [1.6380137205123901, -0.8281722068786621, 3.766211748123169], [1.6198084354400635, 0.06886523962020874, 3.7606027126312256], [1.856550931930542, 0.070750892162323, 3.2937662601470947], [1.5612878799438477, -0.8336425423622131, 3.1403791904449463], [1.3245453834533691, -0.8355281949043274, 3.607215642929077], [1.3063400983810425, 0.06150925159454346, 3.601606607437134], [1.543082594871521, 0.06339490413665771, 3.134770154953003]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 630, "image_id": 89, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [41.0, 108.0, 123.0, 237.0], "bbox2D_tight": [41.0, 108.0, 123.0, 237.0], "bbox2D_trunc": [41.0, 108.0, 123.0, 237.0], "center_cam": [-1.7933633428696367, -0.9211601041180355, 4.637373400188112], "dimensions": [0.5049111832606448, 1.2896512544268015, 0.8159490904655483], "R_cam": [[0.8935151696205139, -0.009942248463630676, -0.4489229917526245], [0.008493153378367424, 0.9999502897262573, -0.0052414159290492535], [0.44895273447036743, 0.0008705136133357882, 0.8935551643371582]], "bbox3D_cam": [[-2.0381505489349365, -1.5680954456329346, 4.228067874908447], [-1.3090877532958984, -1.5611653327941895, 4.594390392303467], [-1.321909785270691, -0.2715783715248108, 4.595513343811035], [-2.0509727001190186, -0.27850836515426636, 4.229190349578857], [-2.2648167610168457, -1.570741891860962, 4.679233551025391], [-1.5357539653778076, -1.5638117790222168, 5.045556545257568], [-1.5485761165618896, -0.27422481775283813, 5.0466790199279785], [-2.2776389122009277, -0.2811548113822937, 4.680356502532959]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 631, "image_id": 89, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [502.0, 96.0, 512.0, 226.0], "bbox2D_tight": [502.0, 96.0, 512.0, 226.0], "bbox2D_trunc": [502.0, 96.0, 512.0, 226.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 632, "image_id": 89, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [283.0, 190.0, 324.0, 268.0], "bbox2D_tight": [283.0, 190.0, 324.0, 268.0], "bbox2D_trunc": [283.0, 190.0, 324.0, 268.0], "center_cam": [0.712448251684609, -0.4044413748085739, 6.888198916128834], "dimensions": [0.4238281484183538, 1.1310425097130774, 0.6718750873387119], "R_cam": [[-0.42993900179862976, -0.009373903274536133, -0.9028093218803406], [0.0060776472091674805, 0.9998934268951416, -0.013276278972625732], [0.9028375148773193, -0.011195003986358643, -0.4298362731933594]], "bbox3D_cam": [[1.0534999370574951, -0.9691305160522461, 6.682321071624756], [0.7646347284317017, -0.9650471210479736, 7.288915157318115], [0.7540324926376343, 0.1658746898174286, 7.2762532234191895], [1.0428977012634277, 0.16179129481315613, 6.66965913772583], [0.6708639860153198, -0.9747574329376221, 6.5001444816589355], [0.38199877738952637, -0.9706740379333496, 7.106738567352295], [0.3713964819908142, 0.1602477729320526, 7.094076633453369], [0.6602617502212524, 0.15616437792778015, 6.48748254776001]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 633, "image_id": 89, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [305.0, 166.0, 338.0, 267.0], "bbox2D_tight": [305.0, 166.0, 338.0, 267.0], "bbox2D_trunc": [305.0, 166.0, 338.0, 267.0], "center_cam": [1.248399941318897, -0.7817972951343464, 8.411871502241137], "dimensions": [0.39062502382125924, 1.8211670397519422, 0.632812581381192], "R_cam": [[-0.47102317214012146, -0.02316462993621826, -0.8818167448043823], [0.014075040817260742, 0.9993306398391724, -0.033769939094781876], [0.8820086717605591, -0.02831811085343361, -0.47038185596466064]], "bbox3D_cam": [[1.5907578468322754, -1.6896288394927979, 8.250455856323242], [1.2926884889602661, -1.6807219982147217, 8.808602333068848], [1.2505017518997192, 0.13922566175460815, 8.757030487060547], [1.5485711097717285, 0.13031882047653198, 8.198884010314941], [1.2462981939315796, -1.7028203010559082, 8.066713333129883], [0.9482288360595703, -1.693913459777832, 8.624859809875488], [0.9060420989990234, 0.12603431940078735, 8.573287963867188], [1.2041114568710327, 0.11712747812271118, 8.015141487121582]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 634, "image_id": 89, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [407.0, 215.0, 429.0, 278.0], "bbox2D_tight": [407.0, 215.0, 429.0, 278.0], "bbox2D_trunc": [407.0, 215.0, 429.0, 278.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 635, "image_id": 89, "category_id": 13, "category_name": "building", "bbox2D_proj": [32.0, 232.0, 113.0, 263.0], "bbox2D_tight": [32.0, 232.0, 113.0, 263.0], "bbox2D_trunc": [32.0, 232.0, 113.0, 263.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 636, "image_id": 89, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [121.0, 144.0, 178.0, 262.0], "bbox2D_tight": [121.0, 144.0, 178.0, 262.0], "bbox2D_trunc": [121.0, 144.0, 178.0, 262.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 637, "image_id": 90, "category_id": 45, "category_name": "person", "bbox2D_proj": [420.0, 294.0, 459.0, 409.0], "bbox2D_tight": [420.0, 294.0, 459.0, 409.0], "bbox2D_trunc": [420.0, 294.0, 459.0, 409.0], "center_cam": [2.015063479509716, 1.046087987064837, 4.932166281477825], "dimensions": [0.390808105531583, 1.2924804265116072, 0.5624999923625963], "R_cam": [[-0.45947265625, -0.12149465084075928, 0.8798432350158691], [0.07067787647247314, 0.9824576377868652, 0.1725737750530243], [-0.8853753805160522, 0.14147844910621643, -0.4428253769874573]], "bbox3D_cam": [[2.050879955291748, 0.3575845956802368, 5.176278591156006], [1.792426586151123, 0.39734089374542236, 4.678255081176758], [1.63539719581604, 1.6671481132507324, 4.86111307144165], [1.893850564956665, 1.6273918151855469, 5.359137058258057], [2.3947298526763916, 0.42502784729003906, 5.003219127655029], [2.1362764835357666, 0.4647841453552246, 4.505195140838623], [1.9792470932006836, 1.7345913648605347, 4.688053607940674], [2.2377004623413086, 1.6948350667953491, 5.186077117919922]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 638, "image_id": 90, "category_id": 45, "category_name": "person", "bbox2D_proj": [216.0, 325.0, 338.0, 512.0], "bbox2D_tight": [216.0, 325.0, 338.0, 512.0], "bbox2D_trunc": [216.0, 325.0, 338.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 639, "image_id": 90, "category_id": 37, "category_name": "lantern", "bbox2D_proj": [359.0, 115.0, 397.0, 173.0], "bbox2D_tight": [359.0, 115.0, 397.0, 173.0], "bbox2D_trunc": [359.0, 115.0, 397.0, 173.0], "center_cam": [1.2383577495208917, -1.168434480668719, 4.564769392351718], "dimensions": [0.270683280458033, 0.6069318983500098, 0.5040406466566809], "R_cam": [[0.5485749244689941, -0.009818725287914276, -0.8360437750816345], [0.0033267533872276545, 0.9999487400054932, -0.009560801088809967], [0.8360947966575623, 0.0024635042063891888, 0.5485794544219971]], "bbox3D_cam": [[1.21623694896698, -1.4714293479919434, 4.2790632247924805], [1.4927409887313843, -1.469752550125122, 4.700489044189453], [1.4867817163467407, -0.8628517389297485, 4.70198392868042], [1.2102776765823364, -0.8645285367965698, 4.2805585861206055], [0.9899338483810425, -1.4740172624588013, 4.427554607391357], [1.2664378881454468, -1.47234046459198, 4.848979949951172], [1.2604786157608032, -0.8654396533966064, 4.850475311279297], [0.9839745759963989, -0.8671164512634277, 4.429049491882324]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 640, "image_id": 90, "category_id": 45, "category_name": "person", "bbox2D_proj": [265.0, 272.0, 298.0, 335.0], "bbox2D_tight": [265.0, 272.0, 298.0, 335.0], "bbox2D_trunc": [265.0, 272.0, 298.0, 335.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 641, "image_id": 90, "category_id": 45, "category_name": "person", "bbox2D_proj": [161.0, 341.0, 232.0, 510.0], "bbox2D_tight": [161.0, 341.0, 232.0, 510.0], "bbox2D_trunc": [161.0, 341.0, 232.0, 510.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 642, "image_id": 90, "category_id": 45, "category_name": "person", "bbox2D_proj": [358.0, 329.0, 406.0, 512.0], "bbox2D_tight": [358.0, 329.0, 406.0, 512.0], "bbox2D_trunc": [358.0, 329.0, 406.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 643, "image_id": 90, "category_id": 45, "category_name": "person", "bbox2D_proj": [272.0, 381.0, 363.0, 512.0], "bbox2D_tight": [272.0, 381.0, 363.0, 512.0], "bbox2D_trunc": [272.0, 381.0, 363.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 644, "image_id": 90, "category_id": 45, "category_name": "person", "bbox2D_proj": [304.0, 296.0, 347.0, 369.0], "bbox2D_tight": [304.0, 296.0, 347.0, 369.0], "bbox2D_trunc": [304.0, 296.0, 347.0, 369.0], "center_cam": [0.642044034153199, 0.843287320954421, 4.1359231853318965], "dimensions": [0.269531238519922, 0.9707030902992102, 0.4013671808459734], "R_cam": [[0.9781716465950012, 0.06590378284454346, -0.1970708668231964], [-0.1429286003112793, 0.9017875790596008, -0.40786099433898926], [0.1508365124464035, 0.42712512612342834, 0.8915225863456726]], "bbox3D_cam": [[0.440312922000885, 0.4892524480819702, 3.778200626373291], [0.8329188823699951, 0.43188560009002686, 3.8387413024902344], [0.8968918323516846, 1.3072535991668701, 4.253353118896484], [0.5042858719825745, 1.3646204471588135, 4.192812442779541], [0.3871961534023285, 0.3793211579322815, 4.01849365234375], [0.779802143573761, 0.32195430994033813, 4.079034328460693], [0.8437750935554504, 1.1973222494125366, 4.493646144866943], [0.45116913318634033, 1.25468909740448, 4.43310546875]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 645, "image_id": 91, "category_id": 45, "category_name": "person", "bbox2D_proj": [280.0, 330.0, 320.0, 465.0], "bbox2D_tight": [280.0, 330.0, 320.0, 465.0], "bbox2D_trunc": [280.0, 330.0, 320.0, 465.0], "center_cam": [0.43777907604189215, 1.4416354516694052, 4.592101313570569], "dimensions": [0.37011717200504235, 1.3133544926119303, 0.49218750659715876], "R_cam": [[0.17375151813030243, 0.02139449119567871, 0.9845572113990784], [-0.14960289001464844, 0.9887341260910034, 0.004916042555123568], [-0.9733599424362183, -0.14814670383930206, 0.1749948263168335]], "bbox3D_cam": [[0.19876983761787415, 0.828262984752655, 4.896539211273193], [0.2842881977558136, 0.7546303868293762, 4.417463779449463], [0.3123868405818939, 2.0531885623931885, 4.222894668579102], [0.22686848044395447, 2.1268210411071777, 4.701970100402832], [0.5631712675094604, 0.8300824761390686, 4.961307525634766], [0.6486896276473999, 0.7564498782157898, 4.482232093811035], [0.676788330078125, 2.0550079345703125, 4.287662982940674], [0.5912699699401855, 2.128640651702881, 4.766738414764404]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 646, "image_id": 91, "category_id": 45, "category_name": "person", "bbox2D_proj": [312.0, 306.0, 339.0, 404.0], "bbox2D_tight": [312.0, 306.0, 339.0, 404.0], "bbox2D_trunc": [312.0, 306.0, 339.0, 404.0], "center_cam": [0.9241212088262631, 1.377454697774127, 6.163777460968657], "dimensions": [0.46630863476003204, 1.2517089869123028, 0.5351563183567158], "R_cam": [[-0.29955413937568665, -0.018315553665161133, 0.9539034366607666], [-0.07666242122650146, 0.9970449209213257, -0.004930406808853149], [-0.9509942531585693, -0.0746055543422699, -0.3000730276107788]], "bbox3D_cam": [[0.793331503868103, 0.7751123309135437, 6.534898281097412], [0.6330232620239258, 0.7340859770774841, 6.025967597961426], [0.6100975275039673, 1.9820959568023682, 5.932583332061768], [0.7704057693481445, 2.0231223106384277, 6.441514015197754], [1.238144874572754, 0.7728132605552673, 6.3949713706970215], [1.0778366327285767, 0.7317869067192078, 5.886040687561035], [1.0549108982086182, 1.9797968864440918, 5.792656421661377], [1.2152191400527954, 2.0208232402801514, 6.301587104797363]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 647, "image_id": 91, "category_id": 45, "category_name": "person", "bbox2D_proj": [228.0, 348.0, 259.0, 416.0], "bbox2D_tight": [228.0, 348.0, 259.0, 416.0], "bbox2D_trunc": [228.0, 348.0, 259.0, 416.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 648, "image_id": 91, "category_id": 45, "category_name": "person", "bbox2D_proj": [483.0, 324.0, 512.0, 492.0], "bbox2D_tight": [483.0, 324.0, 512.0, 492.0], "bbox2D_trunc": [483.0, 324.0, 512.0, 492.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 649, "image_id": 91, "category_id": 30, "category_name": "handbag", "bbox2D_proj": [62.0, 409.0, 83.0, 447.0], "bbox2D_tight": [62.0, 409.0, 83.0, 447.0], "bbox2D_trunc": [62.0, 409.0, 83.0, 447.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 650, "image_id": 91, "category_id": 13, "category_name": "building", "bbox2D_proj": [161.0, 40.0, 277.0, 276.0], "bbox2D_tight": [161.0, 40.0, 277.0, 276.0], "bbox2D_trunc": [161.0, 40.0, 277.0, 276.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 651, "image_id": 91, "category_id": 45, "category_name": "person", "bbox2D_proj": [227.0, 298.0, 253.0, 357.0], "bbox2D_tight": [227.0, 298.0, 253.0, 357.0], "bbox2D_trunc": [227.0, 298.0, 253.0, 357.0], "center_cam": [-0.4081706613549642, 1.3627537779555619, 8.428483669920734], "dimensions": [0.3828125321505487, 1.1855468854981486, 0.48828128706218354], "R_cam": [[0.8161107301712036, 0.1370534896850586, 0.5614087581634521], [0.007435977458953857, 0.9688998460769653, -0.24734193086624146], [-0.5778478980064392, 0.20603309571743011, 0.789710521697998]], "bbox3D_cam": [[-0.7961152791976929, 0.8339430689811707, 8.296273231506348], [-0.3976237177848816, 0.8375739455223083, 8.014121055603027], [-0.23514029383659363, 1.9862499237060547, 8.258382797241211], [-0.6336318850517273, 1.982619047164917, 8.540535926818848], [-0.5812010765075684, 0.7392575144767761, 8.59858512878418], [-0.1827094554901123, 0.7428883910179138, 8.316431999206543], [-0.02022603154182434, 1.8915643692016602, 8.560694694519043], [-0.418717622756958, 1.8879334926605225, 8.842846870422363]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 652, "image_id": 91, "category_id": 45, "category_name": "person", "bbox2D_proj": [166.0, 328.0, 241.0, 503.0], "bbox2D_tight": [166.0, 328.0, 241.0, 503.0], "bbox2D_trunc": [166.0, 328.0, 241.0, 503.0], "center_cam": [-0.5517734945358798, 1.6250596183828216, 4.605313308481568], "dimensions": [0.6191406741710925, 1.5869140698376314, 0.7968750538196148], "R_cam": [[0.841206431388855, 0.055610060691833496, 0.5378468036651611], [-0.014221787452697754, 0.9966286420822144, -0.08080215752124786], [-0.5405269861221313, 0.06032216548919678, 0.8391613960266113]], "bbox3D_cam": [[-1.0975673198699951, 0.8649579882621765, 4.513037204742432], [-0.4272308945655823, 0.8536249995231628, 4.08230447769165], [-0.3389824628829956, 2.4351890087127686, 4.178030490875244], [-1.0093189477920532, 2.4465219974517822, 4.608763217926025], [-0.7645645141601562, 0.8149301409721375, 5.032596111297607], [-0.09422802925109863, 0.8035971522331238, 4.601863384246826], [-0.005979597568511963, 2.3851611614227295, 4.69758939743042], [-0.6763160824775696, 2.396494150161743, 5.128322124481201]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 653, "image_id": 91, "category_id": 45, "category_name": "person", "bbox2D_proj": [189.0, 278.0, 215.0, 321.0], "bbox2D_tight": [189.0, 278.0, 215.0, 321.0], "bbox2D_trunc": [189.0, 278.0, 215.0, 321.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 654, "image_id": 91, "category_id": 45, "category_name": "person", "bbox2D_proj": [440.0, 324.0, 498.0, 474.0], "bbox2D_tight": [440.0, 324.0, 498.0, 474.0], "bbox2D_trunc": [440.0, 324.0, 498.0, 474.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 655, "image_id": 91, "category_id": 45, "category_name": "person", "bbox2D_proj": [226.0, 277.0, 240.0, 306.0], "bbox2D_tight": [226.0, 277.0, 240.0, 306.0], "bbox2D_trunc": [226.0, 277.0, 240.0, 306.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 656, "image_id": 91, "category_id": 45, "category_name": "person", "bbox2D_proj": [0.0, 504.0, 6.0, 512.0], "bbox2D_tight": [0.0, 504.0, 6.0, 512.0], "bbox2D_trunc": [0.0, 504.0, 6.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 657, "image_id": 92, "category_id": 45, "category_name": "person", "bbox2D_proj": [139.0, 347.0, 168.0, 438.0], "bbox2D_tight": [139.0, 347.0, 168.0, 438.0], "bbox2D_trunc": [139.0, 347.0, 168.0, 438.0], "center_cam": [-2.0204412465108703, 2.6318029401459064, 8.66614088221854], "dimensions": [0.5937543412237272, 1.6796875988356588, 0.5952191753063402], "R_cam": [[0.9459852576255798, -0.006530642509460449, -0.3241439759731293], [0.016297101974487305, 0.9994910359382629, 0.027424965053796768], [0.32379987835884094, -0.03122623637318611, 0.9456102848052979]], "bbox3D_cam": [[-2.2002599239349365, 1.7793946266174316, 8.315269470214844], [-1.6371914148330688, 1.7890950441360474, 8.508001327514648], [-1.648160696029663, 3.467927932739258, 8.455551147460938], [-2.2112293243408203, 3.4582273960113525, 8.262819290161133], [-2.3927218914031982, 1.7956782579421997, 8.876729965209961], [-1.829653263092041, 1.8053786754608154, 9.069461822509766], [-1.8406226634979248, 3.4842114448547363, 9.017011642456055], [-2.403691291809082, 3.47451114654541, 8.82427978515625]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 658, "image_id": 92, "category_id": 45, "category_name": "person", "bbox2D_proj": [16.0, 345.0, 46.0, 420.0], "bbox2D_tight": [16.0, 345.0, 46.0, 420.0], "bbox2D_trunc": [16.0, 345.0, 46.0, 420.0], "center_cam": [-4.2792560858356685, 2.391810813792384, 8.461118769338679], "dimensions": [0.47802749950193646, 1.3515625804995905, 0.5000001827311042], "R_cam": [[-0.3598681092262268, -0.0022242069244384766, -0.9330004453659058], [0.05228829383850098, 0.9983773231506348, -0.022548077628016472], [0.9315367341041565, -0.05689927190542221, -0.35916781425476074]], "bbox3D_cam": [[-3.9647858142852783, 1.7094433307647705, 8.352532386779785], [-4.144720077514648, 1.735587477684021, 8.818300247192383], [-4.147726058959961, 3.0849571228027344, 8.741397857666016], [-3.96779203414917, 3.0588130950927734, 8.275629043579102], [-4.410785675048828, 1.698664665222168, 8.180839538574219], [-4.590719699859619, 1.7248088121414185, 8.646608352661133], [-4.593725681304932, 3.074178457260132, 8.56970500946045], [-4.413791656494141, 3.048034191131592, 8.103937149047852]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 659, "image_id": 92, "category_id": 63, "category_name": "streetlight", "bbox2D_proj": [178.0, 198.0, 200.0, 401.0], "bbox2D_tight": [178.0, 198.0, 200.0, 401.0], "bbox2D_trunc": [178.0, 198.0, 200.0, 401.0], "center_cam": [-1.6316555269436823, 0.8261935001412506, 10.915383085592758], "dimensions": [0.3647096225365367, 4.723147484438275, 6.140255502654618], "R_cam": [[0.14669513702392578, -0.05236867815256119, 0.9877945780754089], [0.06751786917448044, 0.9967989921569824, 0.04281910881400108], [-0.9868748784065247, 0.06041242927312851, 0.14976143836975098]], "bbox3D_cam": [[-2.1384849548339844, -1.7429170608520508, 13.775237083435059], [-1.2377395629882812, -1.3283400535583496, 7.715573310852051], [-1.4850845336914062, 3.379687786102295, 8.000909805297852], [-2.3858299255371094, 2.9651107788085938, 14.06057357788086], [-1.778226613998413, -1.7273006439208984, 13.829856872558594], [-0.8774813413619995, -1.3127236366271973, 7.770192623138428], [-1.1248263120651245, 3.3953042030334473, 8.055529594421387], [-2.025571584701538, 2.980727195739746, 14.115193367004395]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 660, "image_id": 92, "category_id": 45, "category_name": "person", "bbox2D_proj": [95.0, 360.0, 119.0, 418.0], "bbox2D_tight": [95.0, 360.0, 119.0, 418.0], "bbox2D_trunc": [95.0, 360.0, 119.0, 418.0], "center_cam": [-2.6950956008986413, 2.442360243979067, 7.86840567551447], "dimensions": [0.3398437852167273, 1.1289063203302923, 0.3906250520900757], "R_cam": [[-0.2563132047653198, -0.10756832361221313, -0.9605896472930908], [0.049006104469299316, 0.991064190864563, -0.12405714392662048], [0.9653506278991699, -0.07887217402458191, -0.24875140190124512]], "bbox3D_cam": [[-2.4210917949676514, 1.8944593667984009, 7.766648769378662], [-2.521214246749878, 1.913602352142334, 8.143738746643066], [-2.642648696899414, 3.032421112060547, 8.054699897766113], [-2.5425264835357666, 3.013278007507324, 7.677609443664551], [-2.747542381286621, 1.8522993326187134, 7.682112216949463], [-2.8476645946502686, 1.8714423179626465, 8.059202194213867], [-2.969099283218384, 2.9902610778808594, 7.970162868499756], [-2.8689768314361572, 2.9711179733276367, 7.593072891235352]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 661, "image_id": 92, "category_id": 45, "category_name": "person", "bbox2D_proj": [264.0, 374.0, 285.0, 445.0], "bbox2D_tight": [264.0, 374.0, 285.0, 445.0], "bbox2D_trunc": [264.0, 374.0, 285.0, 445.0], "center_cam": [0.37999942981147633, 2.963833197206881, 8.631779245699095], "dimensions": [0.4140628586618704, 1.3286133643661535, 0.4238285011814697], "R_cam": [[0.9296475052833557, -0.0465923547744751, 0.3654923737049103], [-0.020056486129760742, 0.9841023087501526, 0.17646640539169312], [-0.3679038882255554, -0.17138203978538513, 0.9139337539672852]], "bbox3D_cam": [[0.1382770836353302, 2.277803421020508, 8.634381294250488], [0.5322881937026978, 2.2693030834198, 8.478452682495117], [0.47038495540618896, 3.5767946243286133, 8.250752449035645], [0.07637384533882141, 3.5852949619293213, 8.4066801071167], [0.28961390256881714, 2.3508715629577637, 9.01280689239502], [0.6836249828338623, 2.3423712253570557, 8.856879234313965], [0.6217217445373535, 3.649862766265869, 8.629178047180176], [0.22771066427230835, 3.658363103866577, 8.785106658935547]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 662, "image_id": 92, "category_id": 45, "category_name": "person", "bbox2D_proj": [220.0, 381.0, 236.0, 438.0], "bbox2D_tight": [220.0, 381.0, 236.0, 438.0], "bbox2D_trunc": [220.0, 381.0, 236.0, 438.0], "center_cam": [-0.5120781089495976, 2.8119978955440654, 8.805319139865297], "dimensions": [0.1840820323324982, 0.789062563093542, 0.3398437682455787], "R_cam": [[0.026105433702468872, 0.04832947254180908, 0.9984902739524841], [0.43975627422332764, 0.8964383602142334, -0.05488729476928711], [-0.8977376818656921, 0.44052523374557495, 0.002148747444152832]], "bbox3D_cam": [[-0.6274835467338562, 2.3886525630950928, 8.783864974975586], [-0.618611752986908, 2.5381009578704834, 8.478775024414062], [-0.5804767608642578, 3.2454469203948975, 8.826376914978027], [-0.589348554611206, 3.095998525619507, 9.131467819213867], [-0.44367945194244385, 2.3785488605499268, 8.784260749816895], [-0.4348076283931732, 2.5279972553253174, 8.479169845581055], [-0.39667266607284546, 3.2353432178497314, 8.826772689819336], [-0.4055444598197937, 3.085894823074341, 9.13186264038086]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 663, "image_id": 93, "category_id": 54, "category_name": "sculpture", "bbox2D_proj": [378.0, 251.0, 419.0, 289.0], "bbox2D_tight": [378.0, 251.0, 419.0, 289.0], "bbox2D_trunc": [378.0, 251.0, 419.0, 289.0], "center_cam": [2.3099325260882155, 0.24524365794453706, 7.117536588328331], "dimensions": [0.3255250730840992, 0.5896338177230972, 0.486200670023763], "R_cam": [[-0.9613289833068848, -0.18910808861255646, 0.20021164417266846], [-0.18396686017513275, 0.9819403886795044, 0.04415404796600342], [-0.20494575798511505, 0.005614280700683594, -0.978757381439209]], "bbox3D_cam": [[2.5667972564697266, -0.0067131370306015015, 7.325008869171143], [2.099398374557495, -0.09615795314311981, 7.2253642082214355], [1.98789381980896, 0.48282718658447266, 7.228674411773682], [2.4552927017211914, 0.572272002696991, 7.328319072723389], [2.6319711208343506, 0.00766010582447052, 7.006398677825928], [2.164572238922119, -0.08178471028804779, 6.906754016876221], [2.053067684173584, 0.4972004294395447, 6.910064220428467], [2.5204665660858154, 0.586645245552063, 7.009708881378174]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 664, "image_id": 93, "category_id": 13, "category_name": "building", "bbox2D_proj": [99.0, 74.0, 316.0, 273.0], "bbox2D_tight": [99.0, 74.0, 316.0, 273.0], "bbox2D_trunc": [99.0, 74.0, 316.0, 273.0], "center_cam": [-0.9829770017034952, -1.5946059424143537, 8.436797164406865], "dimensions": [2.082031236130999, 3.584473224282781, 3.69287181436695], "R_cam": [[-0.9543163776397705, -0.12936587631702423, 0.2693413197994232], [-0.11819867044687271, 0.9913327097892761, 0.05734618753194809], [-0.2744254767894745, 0.022890619933605194, -0.9613358974456787]], "bbox3D_cam": [[0.7305726408958435, -3.2127606868743896, 9.90324592590332], [-2.793595314025879, -3.6492531299591064, 8.8898286819458], [-3.2573037147521973, -0.09584760665893555, 8.971879005432129], [0.26686424016952515, 0.34064483642578125, 9.985297203063965], [1.2913498878479004, -3.0933642387390137, 7.901715278625488], [-2.232818126678467, -3.5298566818237305, 6.888297080993652], [-2.696526527404785, 0.02354884147644043, 6.970347881317139], [0.8276414275169373, 0.4600412845611572, 7.983766078948975]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 665, "image_id": 93, "category_id": 13, "category_name": "building", "bbox2D_proj": [0.0, 104.0, 52.0, 241.0], "bbox2D_tight": [0.0, 104.0, 52.0, 241.0], "bbox2D_trunc": [0.0, 104.0, 52.0, 241.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 666, "image_id": 93, "category_id": 13, "category_name": "building", "bbox2D_proj": [305.0, 154.0, 360.0, 268.0], "bbox2D_tight": [305.0, 154.0, 360.0, 268.0], "bbox2D_trunc": [305.0, 154.0, 360.0, 268.0], "center_cam": [1.6266898206824045, -1.1038560781247901, 9.468217053402636], "dimensions": [1.2050781604621936, 2.073486307219569, 1.6796874975484535], "R_cam": [[-0.2125920057296753, -0.10440921783447266, -0.97154700756073], [-0.21362507343292236, 0.975189208984375, -0.05805573612451553], [0.9535036087036133, 0.19520452618598938, -0.22962188720703125]], "bbox3D_cam": [[2.4988746643066406, -1.900484323501587, 8.603402137756348], [2.1417860984802246, -2.259307622909546, 10.20499038696289], [1.9252949953079224, -0.23726624250411987, 10.60974407196045], [2.282383441925049, 0.12155699729919434, 9.008155822753906], [1.3280845880508423, -1.9704458713531494, 8.326689720153809], [0.9709962606430054, -2.3292691707611084, 9.928277969360352], [0.7545050382614136, -0.3072279095649719, 10.33303165435791], [1.1115933656692505, 0.051595449447631836, 8.731443405151367]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 667, "image_id": 93, "category_id": 13, "category_name": "building", "bbox2D_proj": [44.0, 112.0, 105.0, 250.0], "bbox2D_tight": [44.0, 112.0, 105.0, 250.0], "bbox2D_trunc": [44.0, 112.0, 105.0, 250.0], "center_cam": [-2.7778899310595437, -1.1468733621127472, 6.797374484252473], "dimensions": [0.19987172923441054, 2.1708954685218744, 0.8420663214492498], "R_cam": [[0.9041684865951538, 0.0026290405075997114, -0.42716798186302185], [-0.0024711780715733767, 0.999996542930603, 0.0009239220526069403], [0.42716893553733826, 0.0002202270261477679, 0.9041718244552612]], "bbox3D_cam": [[-3.118739128112793, -2.2313694953918457, 6.526923656463623], [-2.3573694229125977, -2.233450412750244, 6.886628150939941], [-2.3516619205474854, -0.06256210803985596, 6.887106418609619], [-3.1130318641662598, -0.06048119068145752, 6.527401924133301], [-3.204118013381958, -2.231184482574463, 6.707642078399658], [-2.4427480697631836, -2.2332653999328613, 7.067346572875977], [-2.4370408058166504, -0.062377333641052246, 7.067824840545654], [-3.1984105110168457, -0.06029641628265381, 6.708120346069336]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 668, "image_id": 94, "category_id": 45, "category_name": "person", "bbox2D_proj": [100.0, 228.0, 154.0, 383.0], "bbox2D_tight": [100.0, 228.0, 154.0, 383.0], "bbox2D_trunc": [100.0, 228.0, 154.0, 383.0], "center_cam": [-1.3956987303196309, 0.46230850233551535, 4.704966113819757], "dimensions": [0.5546875940673903, 1.5156249638015755, 0.5664063235746534], "R_cam": [[-0.9955134987831116, 0.013080120086669922, -0.09371204674243927], [0.019680678844451904, 0.9973625540733337, -0.06986172497272491], [0.0925510823726654, -0.07139261066913605, -0.993145227432251]], "bbox3D_cam": [[-1.0976879596710205, -0.2797032296657562, 5.008300304412842], [-1.661553144454956, -0.26855596899986267, 5.0607218742370605], [-1.6417286396026611, 1.2430716753005981, 4.952517509460449], [-1.0778635740280151, 1.2319244146347046, 4.9000959396362305], [-1.1496689319610596, -0.31845471262931824, 4.457414627075195], [-1.7135339975357056, -0.3073074519634247, 4.509836196899414], [-1.6937096118927002, 1.2043201923370361, 4.401631832122803], [-1.1298444271087646, 1.1931729316711426, 4.349210262298584]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 669, "image_id": 94, "category_id": 45, "category_name": "person", "bbox2D_proj": [0.0, 296.0, 512.0, 512.0], "bbox2D_tight": [0.0, 296.0, 512.0, 512.0], "bbox2D_trunc": [0.0, 296.0, 512.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 670, "image_id": 94, "category_id": 44, "category_name": "parking_meter", "bbox2D_proj": [278.0, 163.0, 295.0, 314.0], "bbox2D_tight": [278.0, 163.0, 295.0, 314.0], "bbox2D_trunc": [278.0, 163.0, 295.0, 314.0], "center_cam": [0.6738364375787576, 0.48084978453399185, 9.67657234787449], "dimensions": [0.3118183922968558, 1.648607281447243, 0.8028253983022235], "R_cam": [[-0.08895719051361084, 0.013801571913063526, 0.9959398508071899], [0.02198217064142227, 0.999687671661377, -0.011890063062310219], [-0.9957928657531738, 0.020835211500525475, -0.08923286199569702]], "bbox3D_cam": [[0.5428920984268188, -0.35016658902168274, 10.073034286499023], [0.4714750051498413, -0.33251872658729553, 9.27358627319336], [0.4942283630371094, 1.3155736923217773, 9.30793571472168], [0.5656454563140869, 1.2979258298873901, 10.107383728027344], [0.8534444570541382, -0.3538741171360016, 10.045209884643555], [0.7820273637771606, -0.3362262547016144, 9.24576187133789], [0.8047807216644287, 1.3118661642074585, 9.280111312866211], [0.8761978149414062, 1.2942183017730713, 10.079559326171875]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 671, "image_id": 94, "category_id": 58, "category_name": "signboard", "bbox2D_proj": [131.0, 162.0, 172.0, 203.0], "bbox2D_tight": [131.0, 162.0, 172.0, 203.0], "bbox2D_trunc": [131.0, 162.0, 172.0, 203.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 672, "image_id": 94, "category_id": 45, "category_name": "person", "bbox2D_proj": [157.0, 248.0, 180.0, 304.0], "bbox2D_tight": [157.0, 248.0, 180.0, 304.0], "bbox2D_trunc": [157.0, 248.0, 180.0, 304.0], "center_cam": [-2.697814037697431, 0.5659986611737432, 13.626044741590114], "dimensions": [0.5625000061880017, 1.7309569886181155, 0.6289062322818486], "R_cam": [[-0.9986798763275146, 0.020669937133789062, -0.047024939209222794], [0.021551907062530518, 0.999599814414978, -0.018325358629226685], [0.046627335250377655, -0.019314642995595932, -0.9987256526947021]], "bbox3D_cam": [[-2.388439655303955, -0.30075645446777344, 13.908989906311035], [-3.0165157318115234, -0.2872023582458496, 13.938314437866211], [-2.98073673248291, 1.4430618286132812, 13.904881477355957], [-2.352660655975342, 1.4295077323913574, 13.875556945800781], [-2.414891242980957, -0.3110644817352295, 13.347207069396973], [-3.0429673194885254, -0.29751038551330566, 13.376531600952148], [-3.007188320159912, 1.4327538013458252, 13.343098640441895], [-2.3791122436523438, 1.4191997051239014, 13.313774108886719]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 673, "image_id": 94, "category_id": 15, "category_name": "car", "bbox2D_proj": [302.0, 260.0, 329.0, 308.0], "bbox2D_tight": [302.0, 260.0, 329.0, 308.0], "bbox2D_trunc": [302.0, 260.0, 329.0, 308.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 674, "image_id": 94, "category_id": 45, "category_name": "person", "bbox2D_proj": [41.0, 225.0, 95.0, 386.0], "bbox2D_tight": [41.0, 225.0, 95.0, 386.0], "bbox2D_trunc": [41.0, 225.0, 95.0, 386.0], "center_cam": [-2.0091557728529423, 0.49322254909116514, 4.783027609924619], "dimensions": [0.49609397957072493, 1.6381835537125666, 0.5156252314219031], "R_cam": [[0.8185092210769653, 0.029568970203399658, 0.5737320780754089], [-0.04651474952697754, 0.9988068342208862, 0.014882953837513924], [-0.5726074576377869, -0.03886875882744789, 0.8189079761505127]], "bbox3D_cam": [[-2.3867101669311523, -0.3165915012359619, 4.759362697601318], [-1.9646660089492798, -0.34057557582855225, 4.464111804962158], [-1.9162265062332153, 1.295653223991394, 4.400437355041504], [-2.338270425796509, 1.3196372985839844, 4.695688247680664], [-2.1020851135253906, -0.3092081546783447, 5.165617942810059], [-1.6800410747528076, -0.33319222927093506, 4.870367050170898], [-1.6316014528274536, 1.3030365705490112, 4.806692600250244], [-2.053645372390747, 1.3270206451416016, 5.101943492889404]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 675, "image_id": 94, "category_id": 45, "category_name": "person", "bbox2D_proj": [158.0, 247.0, 180.0, 304.0], "bbox2D_tight": [158.0, 247.0, 180.0, 304.0], "bbox2D_trunc": [158.0, 247.0, 180.0, 304.0], "center_cam": [-2.6753353266192725, 0.5741373453434597, 13.665024873316643], "dimensions": [0.5703124986512408, 1.7631835520671966, 0.7617187173789995], "R_cam": [[-0.999841034412384, 0.007752895355224609, -0.016061386093497276], [0.009239256381988525, 0.9954680800437927, -0.09464722871780396], [0.015254812315106392, -0.0947805643081665, -0.9953814744949341]], "bbox3D_cam": [[-2.2967915534973145, -0.27998876571655273, 14.026611328125], [-3.058389186859131, -0.27295100688934326, 14.03823184967041], [-3.0447194576263428, 1.4822418689727783, 13.871116638183594], [-2.2831218242645264, 1.4752041101455688, 13.859496116638184], [-2.3059513568878174, -0.3339672088623047, 13.458932876586914], [-3.067548990249634, -0.3269294500350952, 13.470553398132324], [-3.0538792610168457, 1.4282634258270264, 13.303438186645508], [-2.2922816276550293, 1.421225666999817, 13.291817665100098]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 676, "image_id": 94, "category_id": 45, "category_name": "person", "bbox2D_proj": [174.0, 220.0, 259.0, 472.0], "bbox2D_tight": [174.0, 220.0, 259.0, 472.0], "bbox2D_trunc": [174.0, 220.0, 259.0, 472.0], "center_cam": [-0.241031519049141, 0.5179877162410949, 2.840283014563498], "dimensions": [0.5347900175533687, 1.3796386384779487, 0.7871093745318485], "R_cam": [[0.043149858713150024, 0.017485499382019043, 0.9989156126976013], [-0.030015230178833008, 0.9994182586669922, -0.016197770833969116], [-0.9986176490783691, -0.02928370237350464, 0.04364967346191406]], "bbox3D_cam": [[-0.5371802449226379, -0.1552864909172058, 3.2418224811553955], [-0.5032166242599487, -0.1789117455482483, 2.455801010131836], [-0.47909292578697205, 1.1999242305755615, 2.4154000282287598], [-0.5130565762519836, 1.2235496044158936, 3.2014214992523193], [-0.002970099449157715, -0.16394883394241333, 3.2651658058166504], [0.030993536114692688, -0.1875740885734558, 2.479144334793091], [0.05511723458766937, 1.1912620067596436, 2.4387433528900146], [0.021153584122657776, 1.2148871421813965, 3.224764823913574]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 677, "image_id": 94, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [287.0, 53.0, 361.0, 248.0], "bbox2D_tight": [287.0, 53.0, 361.0, 248.0], "bbox2D_trunc": [287.0, 53.0, 361.0, 248.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 678, "image_id": 95, "category_id": 50, "category_name": "plastic_bag", "bbox2D_proj": [158.0, 368.0, 208.0, 456.0], "bbox2D_tight": [158.0, 368.0, 208.0, 456.0], "bbox2D_trunc": [158.0, 368.0, 208.0, 456.0], "center_cam": [-0.30535665920351973, 0.6696511903976944, 1.8731085610737828], "dimensions": [0.16998677734167922, 0.35894887280372606, 0.20065133172764027], "R_cam": [[-0.9781479835510254, -0.0036427746526896954, 0.2078782320022583], [-0.003718836698681116, 0.999993085861206, 2.490458427928388e-05], [-0.20787689089775085, -0.0007487048860639334, -0.978154718875885]], "bbox3D_cam": [[-0.22423779964447021, 0.4905489683151245, 1.977234959602356], [-0.42050448060035706, 0.4898027777671814, 1.9355242252349854], [-0.4218120574951172, 0.8487492203712463, 1.9352554082870483], [-0.22554537653923035, 0.8494954109191895, 1.976966142654419], [-0.18890124559402466, 0.49055320024490356, 1.8109616041183472], [-0.3851679265499115, 0.48980700969696045, 1.7692508697509766], [-0.38647550344467163, 0.8487534523010254, 1.7689820528030396], [-0.1902088224887848, 0.8494996428489685, 1.8106927871704102]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 679, "image_id": 95, "category_id": 45, "category_name": "person", "bbox2D_proj": [241.0, 251.0, 266.0, 332.0], "bbox2D_tight": [241.0, 251.0, 266.0, 332.0], "bbox2D_trunc": [241.0, 251.0, 266.0, 332.0], "center_cam": [-0.03461907353506685, 0.2875571275317753, 4.390160785817881], "dimensions": [0.216796986535636, 0.885742187106044, 0.22119151168856305], "R_cam": [[0.9627304673194885, -0.013561725616455078, 0.27012237906455994], [0.10030734539031982, 0.9454187750816345, -0.3100351095199585], [-0.2511741518974304, 0.32557550072669983, 0.9115438461303711]], "bbox3D_cam": [[-0.16436773538589478, -0.10862773656845093, 4.174941539764404], [0.048580069094896317, -0.08644062280654907, 4.119383811950684], [0.036567870527505875, 0.750956654548645, 4.407759666442871], [-0.17637993395328522, 0.7287695407867432, 4.463317394256592], [-0.10580602288246155, -0.17584240436553955, 4.372561454772949], [0.10714177787303925, -0.1536552906036377, 4.3170037269592285], [0.0951295793056488, 0.6837419867515564, 4.605379581451416], [-0.11781822144985199, 0.6615548729896545, 4.660937309265137]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 680, "image_id": 95, "category_id": 45, "category_name": "person", "bbox2D_proj": [262.0, 242.0, 282.0, 325.0], "bbox2D_tight": [262.0, 242.0, 282.0, 325.0], "bbox2D_trunc": [262.0, 242.0, 282.0, 325.0], "center_cam": [0.13682907413458775, 0.28341828426672977, 4.513042000655421], "dimensions": [0.23046882794061213, 0.7380981451495295, 0.2358399144312442], "R_cam": [[0.9835097789764404, -0.07268476486206055, -0.16560667753219604], [0.06524485349655151, 0.9966189861297607, -0.049937304109334946], [0.1686764359474182, 0.03830883651971817, 0.9849268198013306]], "bbox3D_cam": [[0.06676146388053894, -0.08632218837738037, 4.365516185760498], [0.2987123131752014, -0.07093483209609985, 4.405296802520752], [0.2450638711452484, 0.6646677851676941, 4.433572769165039], [0.013113021850585938, 0.6492804288864136, 4.393792152404785], [0.028594285249710083, -0.09783118963241577, 4.592511177062988], [0.26054513454437256, -0.08244383335113525, 4.632291793823242], [0.20689669251441956, 0.6531587839126587, 4.660567760467529], [-0.02505415678024292, 0.6377714276313782, 4.620787143707275]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 681, "image_id": 95, "category_id": 45, "category_name": "person", "bbox2D_proj": [302.0, 246.0, 318.0, 300.0], "bbox2D_tight": [302.0, 246.0, 318.0, 300.0], "bbox2D_trunc": [302.0, 246.0, 318.0, 300.0], "center_cam": [0.677250742205399, 0.1920121050644461, 5.576205723494164], "dimensions": [0.18750000653154264, 0.5986328129651344, 0.24609376412076708], "R_cam": [[-0.4967527985572815, -0.05807197093963623, 0.8659470081329346], [-0.12357425689697266, 0.9923258423805237, -0.004341542720794678], [-0.8590494990348816, -0.10916540026664734, -0.5001168251037598]], "bbox3D_cam": [[0.6745740175247192, -0.08939486742019653, 5.761469841003418], [0.5523262023925781, -0.11980569362640381, 5.550063133239746], [0.5175623893737793, 0.47423309087753296, 5.484713554382324], [0.6398102045059204, 0.5046439170837402, 5.696120262145996], [0.8369390964508057, -0.09020888805389404, 5.667697906494141], [0.7146912813186646, -0.12061971426010132, 5.456291198730469], [0.6799274682998657, 0.47341907024383545, 5.390941619873047], [0.8021752834320068, 0.5038298964500427, 5.602348327636719]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 682, "image_id": 95, "category_id": 45, "category_name": "person", "bbox2D_proj": [29.0, 214.0, 108.0, 486.0], "bbox2D_tight": [29.0, 214.0, 108.0, 486.0], "bbox2D_trunc": [29.0, 214.0, 108.0, 486.0], "center_cam": [-0.8564231702676492, 0.39416667496049684, 2.0488639199058443], "dimensions": [0.36560069725701017, 1.1887817374038105, 0.3847657519838027], "R_cam": [[-0.4312575161457062, -0.02033179998397827, -0.9019997119903564], [-0.0519564151763916, 0.99864661693573, 0.002330780029296875], [0.90073162317276, 0.04786983132362366, -0.4317302703857422]], "bbox3D_cam": [[-0.5964857339859009, -0.18985030055046082, 1.926045536994934], [-0.7624188661575317, -0.20984134078025818, 2.272616147994995], [-0.7865889072418213, 0.9773315191268921, 2.3295230865478516], [-0.6206557750701904, 0.9973225593566895, 1.982952356338501], [-0.9262574911117554, -0.18899819254875183, 1.768204689025879], [-1.0921906232833862, -0.2089892327785492, 2.1147754192352295], [-1.1163606643676758, 0.9781836271286011, 2.171682119369507], [-0.9504275321960449, 0.9981746673583984, 1.8251115083694458]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 683, "image_id": 95, "category_id": 35, "category_name": "jersey", "bbox2D_proj": [104.0, 259.0, 200.0, 373.0], "bbox2D_tight": [104.0, 259.0, 200.0, 373.0], "bbox2D_trunc": [104.0, 259.0, 200.0, 373.0], "center_cam": [-0.4633616524378773, 0.2625083095202601, 2.02226007033519], "dimensions": [0.28808594270767784, 0.5072021539490744, 0.4394531201301467], "R_cam": [[0.9768384099006653, -0.05225330591201782, 0.2075003832578659], [0.05242639780044556, 0.9986138939857483, 0.004668660461902618], [-0.20745670795440674, 0.006317988038063049, 0.9782238006591797]], "bbox3D_cam": [[-0.6946364641189575, -0.002933204174041748, 1.92533540725708], [-0.2653617858886719, 0.02010573446750641, 1.8341679573059082], [-0.2918647825717926, 0.5266048312187195, 1.8373724222183228], [-0.7211394309997559, 0.5035659074783325, 1.9285399913787842], [-0.6348584890365601, -0.0015882253646850586, 2.2071480751037598], [-0.2055838406085968, 0.021450713276863098, 2.115980386734009], [-0.23208683729171753, 0.5279498100280762, 2.119184970855713], [-0.6613615155220032, 0.5049108862876892, 2.2103524208068848]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 684, "image_id": 96, "category_id": 63, "category_name": "streetlight", "bbox2D_proj": [127.0, 229.0, 153.0, 268.0], "bbox2D_tight": [127.0, 229.0, 153.0, 268.0], "bbox2D_trunc": [127.0, 229.0, 153.0, 268.0], "center_cam": [-3.9589541086796394, -0.2594763817642427, 15.074259252685799], "dimensions": [0.46345720457127015, 1.2776367422508585, 0.8621761844574338], "R_cam": [[0.9872950911521912, -0.01033621933311224, -0.1585608869791031], [0.0006812274805270135, 0.9981480836868286, -0.060825251042842865], [0.15889595448970795, 0.059944458305835724, 0.9854737520217896]], "bbox3D_cam": [[-4.341218948364258, -0.8833105564117432, 14.739104270935059], [-3.489996910095215, -0.8827232122421265, 14.876100540161133], [-3.5032029151916504, 0.3925476372241974, 14.952688217163086], [-4.354424953460693, 0.3919602930545807, 14.815691947937012], [-4.414705276489258, -0.9115004539489746, 15.195829391479492], [-3.5634829998016357, -0.9109131097793579, 15.332825660705566], [-3.5766890048980713, 0.36435773968696594, 15.40941333770752], [-4.427911281585693, 0.36377039551734924, 15.272417068481445]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 685, "image_id": 96, "category_id": 15, "category_name": "car", "bbox2D_proj": [33.0, 255.0, 50.0, 276.0], "bbox2D_tight": [33.0, 255.0, 50.0, 276.0], "bbox2D_trunc": [33.0, 255.0, 50.0, 276.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 686, "image_id": 97, "category_id": 15, "category_name": "car", "bbox2D_proj": [439.0, 281.0, 512.0, 345.0], "bbox2D_tight": [439.0, 281.0, 512.0, 345.0], "bbox2D_trunc": [439.0, 281.0, 512.0, 345.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 687, "image_id": 97, "category_id": 45, "category_name": "person", "bbox2D_proj": [319.0, 275.0, 344.0, 358.0], "bbox2D_tight": [319.0, 275.0, 344.0, 358.0], "bbox2D_trunc": [319.0, 275.0, 344.0, 358.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 688, "image_id": 97, "category_id": 50, "category_name": "plastic_bag", "bbox2D_proj": [87.0, 322.0, 112.0, 370.0], "bbox2D_tight": [87.0, 322.0, 112.0, 370.0], "bbox2D_trunc": [87.0, 322.0, 112.0, 370.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 689, "image_id": 97, "category_id": 50, "category_name": "plastic_bag", "bbox2D_proj": [260.0, 306.0, 288.0, 343.0], "bbox2D_tight": [260.0, 306.0, 288.0, 343.0], "bbox2D_trunc": [260.0, 306.0, 288.0, 343.0], "center_cam": [0.21117777799872786, 0.8884799678611808, 5.451470411577488], "dimensions": [0.1757812568266121, 0.48986819014879224, 0.4140625276637635], "R_cam": [[0.6791063547134399, 0.20478808879852295, -0.7048947215080261], [0.029473304748535156, 0.951913058757782, 0.3049475848674774], [0.7334480285644531, -0.22786745429039001, 0.6404142379760742]], "bbox3D_cam": [[0.08237561583518982, 0.622420072555542, 5.299149990081787], [0.3635680675506592, 0.6346238851547241, 5.602843284606934], [0.46388721466064453, 1.100935697555542, 5.491218090057373], [0.18269476294517517, 1.0887320041656494, 5.187524795532227], [-0.04153166711330414, 0.6760241389274597, 5.411722660064697], [0.23966079950332642, 0.6882279515266418, 5.715415954589844], [0.33997994661331177, 1.1545398235321045, 5.603790760040283], [0.05878749489784241, 1.1423360109329224, 5.300097465515137]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 690, "image_id": 97, "category_id": 45, "category_name": "person", "bbox2D_proj": [77.0, 287.0, 119.0, 378.0], "bbox2D_tight": [77.0, 287.0, 119.0, 378.0], "bbox2D_trunc": [77.0, 287.0, 119.0, 378.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 691, "image_id": 97, "category_id": 32, "category_name": "house", "bbox2D_proj": [117.0, 160.0, 356.0, 328.0], "bbox2D_tight": [117.0, 160.0, 356.0, 328.0], "bbox2D_trunc": [117.0, 160.0, 356.0, 328.0], "center_cam": [-0.6680650334597021, -1.152627833984405, 19.87597608048221], "dimensions": [5.468750105051869, 6.332031451338992, 9.134766054089766], "R_cam": [[-0.9893288612365723, 0.057690124958753586, -0.1337914615869522], [0.04954778030514717, 0.9967566728591919, 0.0634118914604187], [0.13701577484607697, 0.056106146425008774, -0.9889786243438721]], "bbox3D_cam": [[4.033767223358154, -4.708070755004883, 21.776779174804688], [-5.003520488739014, -4.255463600158691, 23.028385162353516], [-4.638225078582764, 2.0560312271118164, 23.383651733398438], [4.399062633514404, 1.6034241914749146, 22.132043838500977], [3.3020949363708496, -4.3612871170043945, 16.368301391601562], [-5.735192775726318, -3.908679962158203, 17.619909286499023], [-5.369897365570068, 2.4028148651123047, 17.975173950195312], [3.6673903465270996, 1.9502078294754028, 16.723567962646484]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 692, "image_id": 97, "category_id": 45, "category_name": "person", "bbox2D_proj": [225.0, 283.0, 268.0, 360.0], "bbox2D_tight": [225.0, 283.0, 268.0, 360.0], "bbox2D_trunc": [225.0, 283.0, 268.0, 360.0], "center_cam": [-0.11915570758062008, 0.9509876154217543, 5.7754874552040025], "dimensions": [0.43261729005014177, 1.30468752850973, 0.4511719745147115], "R_cam": [[-0.28990665078163147, -0.05178391933441162, 0.9556530714035034], [0.5816627740859985, 0.7834216356277466, 0.2189042568206787], [-0.7600148916244507, 0.6193296313285828, -0.1969982385635376]], "bbox3D_cam": [[-0.22669194638729095, 0.26136165857315063, 5.5855326652526855], [-0.3574897050857544, 0.5237916111946106, 5.242635250091553], [-0.4250515103340149, 1.5459117889404297, 6.050666809082031], [-0.29425376653671265, 1.2834818363189697, 6.393564224243164], [0.18674010038375854, 0.3560634255409241, 5.500308036804199], [0.055942341685295105, 0.618493378162384, 5.157410621643066], [-0.011619463562965393, 1.6406135559082031, 5.965442180633545], [0.11917828023433685, 1.3781836032867432, 6.308339595794678]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 693, "image_id": 97, "category_id": 15, "category_name": "car", "bbox2D_proj": [6.0, 338.0, 400.0, 489.0], "bbox2D_tight": [6.0, 338.0, 400.0, 489.0], "bbox2D_trunc": [6.0, 338.0, 400.0, 489.0], "center_cam": [-0.40692427705161044, 1.2553252665193175, 3.7300556277913843], "dimensions": [1.682756589160066, 0.954617989018285, 2.8521134669658736], "R_cam": [[0.9985342621803284, -0.00894954800605774, 0.05337977409362793], [-0.0018309354782104492, 0.9800853729248047, 0.19856864213943481], [-0.054093748331069946, -0.19837522506713867, 0.9786323308944702]], "bbox3D_cam": [[-1.8715314865112305, 0.62306147813797, 3.0784826278686523], [0.9764013290405273, 0.6178394556045532, 2.924201011657715], [0.967857837677002, 1.5534465312957764, 2.734828472137451], [-1.8800749778747559, 1.558668613433838, 2.8891100883483887], [-1.7817063331604004, 0.9572041034698486, 4.725282669067383], [1.0662264823913574, 0.9519820809364319, 4.571001052856445], [1.057682991027832, 1.8875892162322998, 4.381628513336182], [-1.7902498245239258, 1.8928111791610718, 4.535910129547119]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 694, "image_id": 97, "category_id": 45, "category_name": "person", "bbox2D_proj": [283.0, 273.0, 323.0, 356.0], "bbox2D_tight": [283.0, 273.0, 323.0, 356.0], "bbox2D_trunc": [283.0, 273.0, 323.0, 356.0], "center_cam": [0.6590064606079455, 0.9680369067137451, 6.122230364480994], "dimensions": [0.37890625695193514, 1.4682617512882437, 0.5309448527529204], "R_cam": [[-0.988244354724884, 0.04857766628265381, -0.1449604034423828], [0.03169494867324829, 0.9926756024360657, 0.11657935380935669], [0.1495617926120758, 0.1106143593788147, -0.9825456142425537]], "bbox3D_cam": [[0.9131590127944946, 0.20878267288208008, 6.187467098236084], [0.38845571875572205, 0.22561097145080566, 6.266876220703125], [0.45978036522865295, 1.683118462562561, 6.429286956787109], [0.9844835996627808, 1.6662901639938354, 6.349877834320068], [0.8582326173782349, 0.2529553174972534, 5.815174102783203], [0.3335293233394623, 0.269783616065979, 5.894583225250244], [0.4048539698123932, 1.7272911071777344, 6.0569939613342285], [0.929557204246521, 1.7104628086090088, 5.9775848388671875]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 695, "image_id": 97, "category_id": 45, "category_name": "person", "bbox2D_proj": [150.0, 294.0, 187.0, 366.0], "bbox2D_tight": [150.0, 294.0, 187.0, 366.0], "bbox2D_trunc": [150.0, 294.0, 187.0, 366.0], "center_cam": [-1.2104896616072884, 1.1470480844607858, 5.9036242556488485], "dimensions": [0.30468750838573694, 1.2265625287823188, 0.36074831446836164], "R_cam": [[0.9856871962547302, -0.09612500667572021, -0.13849541544914246], [0.0801461935043335, 0.9899320006370544, -0.11666807532310486], [0.14831572771072388, 0.1038983166217804, 0.9834673404693604]], "bbox3D_cam": [[-1.3082315921783447, 0.5432587265968323, 5.663327693939209], [-0.9526466131210327, 0.5721713900566101, 5.716832637786865], [-1.0705498456954956, 1.7863848209381104, 5.8442702293396], [-1.4261348247528076, 1.757472038269043, 5.790765762329102], [-1.3504294157028198, 0.5077114701271057, 5.962977886199951], [-0.9948444366455078, 0.5366241335868835, 6.016482353210449], [-1.1127476692199707, 1.7508375644683838, 6.143920421600342], [-1.4683326482772827, 1.7219247817993164, 6.0904154777526855]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 696, "image_id": 98, "category_id": 45, "category_name": "person", "bbox2D_proj": [354.0, 225.0, 383.0, 320.0], "bbox2D_tight": [354.0, 225.0, 383.0, 320.0], "bbox2D_trunc": [354.0, 225.0, 383.0, 320.0], "center_cam": [1.8375161497441606, 0.24705260178801125, 7.35129271521056], "dimensions": [0.4384766280538211, 1.4541014978907252, 0.47265633125779066], "R_cam": [[0.4150514602661133, 0.03125452995300293, -0.9092609882354736], [0.059770941734313965, 0.9963139295578003, 0.06153053045272827], [0.9078324437141418, -0.07988575100898743, 0.41165345907211304]], "bbox3D_cam": [[1.9160490036010742, -0.5049335956573486, 7.10457706451416], [2.1122257709503174, -0.4766824245452881, 7.533669948577881], [2.157672882080078, 0.9720591306686401, 7.417507648468018], [1.9614962339401245, 0.9438079595565796, 6.988415241241455], [1.5173593759536743, -0.4779539108276367, 7.2850775718688965], [1.7135361433029175, -0.44970273971557617, 7.714169979095459], [1.7589833736419678, 0.999038815498352, 7.598008155822754], [1.5628066062927246, 0.9707876443862915, 7.168915271759033]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 697, "image_id": 98, "category_id": 45, "category_name": "person", "bbox2D_proj": [386.0, 220.0, 415.0, 322.0], "bbox2D_tight": [386.0, 220.0, 415.0, 322.0], "bbox2D_trunc": [386.0, 220.0, 415.0, 322.0], "center_cam": [2.2143413955062616, 0.23545479458456955, 6.934866376407939], "dimensions": [0.4824218887893513, 1.5502928933320472, 0.5507812832023973], "R_cam": [[0.12253585457801819, 0.0052748918533325195, 0.9924500584602356], [-0.033165931701660156, 0.9994491338729858, -0.0012171566486358643], [-0.9919097423553467, -0.03276628255844116, 0.12264323234558105]], "bbox3D_cam": [[1.937117576599121, -0.529837429523468, 7.203845024108887], [2.004607915878296, -0.5481045842170715, 6.657519340515137], [2.0127854347229004, 1.0013341903686523, 6.606722354888916], [1.9452952146530151, 1.0196013450622559, 7.153047561645508], [2.4158973693847656, -0.5304246544837952, 7.263010501861572], [2.4833874702453613, -0.5486918091773987, 6.7166852951049805], [2.491565227508545, 1.0007469654083252, 6.665887832641602], [2.42407488822937, 1.0190141201019287, 7.212213516235352]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 698, "image_id": 98, "category_id": 32, "category_name": "house", "bbox2D_proj": [287.0, 102.0, 512.0, 264.0], "bbox2D_tight": [287.0, 102.0, 512.0, 264.0], "bbox2D_trunc": [287.0, 102.0, 512.0, 264.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 699, "image_id": 98, "category_id": 15, "category_name": "car", "bbox2D_proj": [18.0, 286.0, 181.0, 399.0], "bbox2D_tight": [18.0, 286.0, 181.0, 399.0], "bbox2D_trunc": [18.0, 286.0, 181.0, 399.0], "center_cam": [-2.5916510940110524, 1.1029339168341878, 6.861114245176964], "dimensions": [1.8906250774866198, 1.1235351117499612, 3.4648438755062294], "R_cam": [[0.6368987560272217, 0.07910177111625671, 0.7668786644935608], [-0.014339566230773926, 0.9957658052444458, -0.09080195426940918], [-0.770814061164856, 0.04683494567871094, 0.6353362798690796]], "bbox3D_cam": [[-4.464405536651611, 0.6542232632637024, 7.569587707519531], [-2.25765061378479, 0.6045389771461487, 4.898837089538574], [-2.1687769889831543, 1.7233169078826904, 4.951457977294922], [-4.375532150268555, 1.7730011940002441, 7.622208118438721], [-3.0145254135131836, 0.4825509190559387, 8.770770072937012], [-0.8077704906463623, 0.432866632938385, 6.100019931793213], [-0.7188968658447266, 1.5516445636749268, 6.152640342712402], [-2.925651788711548, 1.6013288497924805, 8.82339096069336]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 700, "image_id": 98, "category_id": 45, "category_name": "person", "bbox2D_proj": [412.0, 225.0, 446.0, 326.0], "bbox2D_tight": [412.0, 225.0, 446.0, 326.0], "bbox2D_trunc": [412.0, 225.0, 446.0, 326.0], "center_cam": [2.4076964920885655, 0.25889282500784805, 6.2186837757783335], "dimensions": [0.4726579357258064, 1.3798827464166707, 0.4746110729457783], "R_cam": [[-0.5387335419654846, 0.048722028732299805, -0.8410662412643433], [0.02739328145980835, 0.9988115429878235, 0.040313541889190674], [0.8420308232307434, -0.0013213157653808594, -0.5394279956817627]], "bbox3D_cam": [[2.7006940841674805, -0.4462563991546631, 6.14725923538208], [2.445004940032959, -0.4332551956176758, 6.546896457672119], [2.512235641479492, 0.9449875354766846, 6.54507303237915], [2.7679245471954346, 0.9319863319396973, 6.145435810089111], [2.303157329559326, -0.42720186710357666, 5.892294406890869], [2.047468423843384, -0.41420066356658936, 6.291931629180908], [2.114698886871338, 0.964042067527771, 6.2901082038879395], [2.3703880310058594, 0.9510408639907837, 5.8904709815979]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 701, "image_id": 98, "category_id": 32, "category_name": "house", "bbox2D_proj": [187.0, 140.0, 326.0, 255.0], "bbox2D_tight": [187.0, 140.0, 326.0, 255.0], "bbox2D_trunc": [187.0, 140.0, 326.0, 255.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 702, "image_id": 98, "category_id": 61, "category_name": "sports_car", "bbox2D_proj": [121.0, 265.0, 235.0, 323.0], "bbox2D_tight": [121.0, 265.0, 235.0, 323.0], "bbox2D_trunc": [121.0, 265.0, 235.0, 323.0], "center_cam": [-2.215679095348723, 0.8369113260728998, 10.915099144377349], "dimensions": [1.6972656883864476, 1.1982421462390733, 3.7890626159333562], "R_cam": [[0.5871751308441162, 0.09221634268760681, 0.8041898608207703], [-0.023643910884857178, 0.9950194954872131, -0.09683525562286377], [-0.8091144561767578, 0.03784513473510742, 0.5864312052726746]], "bbox3D_cam": [[-4.065811634063721, 0.3677457869052887, 11.927653312683105], [-1.840968132019043, 0.2781575918197632, 8.861867904663086], [-1.7304706573486328, 1.4704320430755615, 8.907215118408203], [-3.9553141593933105, 1.5600202083587646, 11.973001480102539], [-2.700887680053711, 0.20339059829711914, 12.922983169555664], [-0.4760441780090332, 0.11380243301391602, 9.857196807861328], [-0.36554670333862305, 1.3060768842697144, 9.902544975280762], [-2.590390205383301, 1.3956650495529175, 12.968330383300781]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 703, "image_id": 99, "category_id": 45, "category_name": "person", "bbox2D_proj": [383.0, 316.0, 399.0, 346.0], "bbox2D_tight": [383.0, 316.0, 399.0, 346.0], "bbox2D_trunc": [383.0, 316.0, 399.0, 346.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 704, "image_id": 99, "category_id": 45, "category_name": "person", "bbox2D_proj": [340.0, 244.0, 384.0, 356.0], "bbox2D_tight": [340.0, 244.0, 384.0, 356.0], "bbox2D_trunc": [340.0, 244.0, 384.0, 356.0], "center_cam": [1.8539302120481307, 0.7507078462553745, 7.732723958816953], "dimensions": [0.4921875346867576, 1.8649901890675988, 0.8476562742249423], "R_cam": [[0.9279674291610718, 0.02726876735687256, 0.3716623783111572], [-0.09401202201843262, 0.9821922779083252, 0.16266581416130066], [-0.36060819029808044, -0.18588924407958984, 0.9140061140060425]], "bbox3D_cam": [[1.3437397480010986, -0.16536766290664673, 7.833969593048096], [2.1303369998931885, -0.24505752325057983, 7.5282979011535645], [2.1811933517456055, 1.586721420288086, 7.181616306304932], [1.3945958614349365, 1.6664111614227295, 7.487287998199463], [1.5266672372817993, -0.08530563116073608, 8.283832550048828], [2.3132646083831787, -0.1649954915046692, 7.978160381317139], [2.3641207218170166, 1.666783332824707, 7.631478786468506], [1.5775234699249268, 1.7464733123779297, 7.937150478363037]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 705, "image_id": 99, "category_id": 13, "category_name": "building", "bbox2D_proj": [246.0, 126.0, 453.0, 272.0], "bbox2D_tight": [246.0, 126.0, 453.0, 272.0], "bbox2D_trunc": [246.0, 126.0, 453.0, 272.0], "center_cam": [3.5242060430099125, -2.370333775113229, 16.252773127395095], "dimensions": [4.417536556173178, 5.358036114161918, 7.337122226499884], "R_cam": [[0.728809118270874, 0.14573410153388977, 0.6690285205841064], [-0.04902622103691101, 0.9856862425804138, -0.1613045334815979], [-0.6829596757888794, 0.08476030826568604, 0.7255217432975769]], "bbox3D_cam": [[-1.0176277160644531, -4.474864959716797, 16.928668975830078], [4.329733848571777, -4.834575653076172, 11.917709350585938], [5.11058235168457, 0.4467661380767822, 12.371858596801758], [-0.23677897453308105, 0.8064773082733154, 17.3828182220459], [1.9378302097320557, -5.187433242797852, 20.13368797302246], [7.285191535949707, -5.547144889831543, 15.12272834777832], [8.0660400390625, -0.26580262184143066, 15.57687759399414], [2.7186787128448486, 0.09390854835510254, 20.58783721923828]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 706, "image_id": 99, "category_id": 45, "category_name": "person", "bbox2D_proj": [411.0, 260.0, 447.0, 336.0], "bbox2D_tight": [411.0, 260.0, 447.0, 336.0], "bbox2D_trunc": [411.0, 260.0, 447.0, 336.0], "center_cam": [3.708009645548165, 0.7176778724006321, 9.53770293625714], "dimensions": [0.6093751322849805, 1.2851562373635923, 0.6992188735071625], "R_cam": [[-0.862812876701355, 0.2131255865097046, -0.45840078592300415], [0.08315634727478027, 0.9542685747146606, 0.2871520519256592], [0.49863699078559875, 0.20963957905769348, -0.8410780429840088]], "bbox3D_cam": [[4.012376308441162, -0.01207822561264038, 9.484930992126465], [3.409081220626831, 0.046066224575042725, 9.833586692810059], [3.682981014251709, 1.2724506855010986, 10.103006362915039], [4.286276340484619, 1.2143062353134155, 9.754350662231445], [3.7330384254455566, 0.16290515661239624, 8.97239875793457], [3.1297430992126465, 0.22104957699775696, 9.321054458618164], [3.4036428928375244, 1.4474339485168457, 9.590474128723145], [4.0069379806518555, 1.3892896175384521, 9.24181842803955]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 707, "image_id": 100, "category_id": 45, "category_name": "person", "bbox2D_proj": [361.0, 289.0, 383.0, 374.0], "bbox2D_tight": [361.0, 289.0, 383.0, 374.0], "bbox2D_trunc": [361.0, 289.0, 383.0, 374.0], "center_cam": [1.7501749184782063, 1.1178390145607675, 6.67697533211888], "dimensions": [0.3867188032545945, 1.232421811511288, 0.40234380149283167], "R_cam": [[-0.8628525733947754, 0.07911074161529541, 0.4992263913154602], [0.05115461349487305, 0.9962722063064575, -0.06946127116680145], [-0.5028604865074158, -0.03439708054065704, -0.8636829853057861]], "bbox3D_cam": [[1.7784775495529175, 0.5070653557777405, 6.966333866119385], [1.43131422996521, 0.527647078037262, 6.764010906219482], [1.5288119316101074, 1.75547456741333, 6.721619129180908], [1.8759753704071045, 1.7348928451538086, 6.9239420890808105], [1.9715378284454346, 0.4802033305168152, 6.632331371307373], [1.6243743896484375, 0.5007850527763367, 6.430008411407471], [1.7218722105026245, 1.7286126613616943, 6.3876166343688965], [2.069035530090332, 1.7080309391021729, 6.589939594268799]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 708, "image_id": 100, "category_id": 41, "category_name": "ornament", "bbox2D_proj": [166.0, 169.0, 194.0, 249.0], "bbox2D_tight": [166.0, 169.0, 194.0, 249.0], "bbox2D_trunc": [166.0, 169.0, 194.0, 249.0], "center_cam": [-1.3793799258568256, -0.7959016702591747, 7.871626020924642], "dimensions": [0.32812500897734276, 1.3525389966437822, 0.3906250106200822], "R_cam": [[-0.7842332124710083, 0.11052775382995605, -0.6105422377586365], [0.018226265907287598, 0.9876848459243774, 0.15539127588272095], [0.6201983690261841, 0.11073511838912964, -0.7765897512435913]], "bbox3D_cam": [[-1.2007887363433838, -1.4928964376449585, 7.80301570892334], [-1.5071297883987427, -1.4857767820358276, 8.045280456542969], [-1.35763680934906, -0.1498945951461792, 8.195054054260254], [-1.0512957572937012, -0.15701425075531006, 7.952789306640625], [-1.4011229276657104, -1.4419087171554565, 7.548197269439697], [-1.7074639797210693, -1.4347890615463257, 7.790462493896484], [-1.5579710006713867, -0.09890687465667725, 7.9402360916137695], [-1.2516299486160278, -0.1060265302658081, 7.697970867156982]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 709, "image_id": 100, "category_id": 45, "category_name": "person", "bbox2D_proj": [450.0, 264.0, 472.0, 343.0], "bbox2D_tight": [450.0, 264.0, 472.0, 343.0], "bbox2D_trunc": [450.0, 264.0, 472.0, 343.0], "center_cam": [3.628543067024025, 0.854629242367358, 7.91345336105335], "dimensions": [0.425781328346806, 1.4011229869534612, 0.4296875856685889], "R_cam": [[-0.2792499363422394, -0.03412759304046631, -0.9596117734909058], [0.178511381149292, 0.980101466178894, -0.08680358529090881], [0.9434792995452881, -0.19554150104522705, -0.2676011323928833]], "bbox3D_cam": [[3.916738986968994, 0.14813554286956787, 7.904711723327637], [3.7967488765716553, 0.2248396873474121, 8.310112953186035], [3.748931884765625, 1.5980823040008545, 8.03613567352295], [3.868922233581543, 1.5213781595230103, 7.630733966827393], [3.5081543922424316, 0.11117613315582275, 7.790771961212158], [3.3881640434265137, 0.187880277633667, 8.196173667907715], [3.3403472900390625, 1.5611228942871094, 7.9221954345703125], [3.4603374004364014, 1.4844187498092651, 7.516794204711914]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 710, "image_id": 100, "category_id": 19, "category_name": "christmas_tree", "bbox2D_proj": [0.0, 0.0, 173.0, 332.0], "bbox2D_tight": [0.0, 0.0, 173.0, 332.0], "bbox2D_trunc": [0.0, 0.0, 173.0, 332.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 711, "image_id": 100, "category_id": 41, "category_name": "ornament", "bbox2D_proj": [8.0, 241.0, 22.0, 287.0], "bbox2D_tight": [8.0, 241.0, 22.0, 287.0], "bbox2D_trunc": [8.0, 241.0, 22.0, 287.0], "center_cam": [-4.515429070260367, 0.13516663157213277, 8.314736488790416], "dimensions": [0.25130485807688285, 0.7287991350638696, 0.3173175442459275], "R_cam": [[-0.3062474727630615, 0.0936700627207756, -0.9473322629928589], [-0.03937982767820358, 0.9930486679077148, 0.11092086881399155], [0.9511370658874512, 0.0712750181555748, -0.3004299998283386]], "bbox3D_cam": [[-4.381938934326172, -0.23438940942287445, 8.175607681274414], [-4.479116439819336, -0.24688534438610077, 8.47741985321045], [-4.4108500480651855, 0.47684770822525024, 8.529364585876465], [-4.313672065734863, 0.48934364318847656, 8.22755241394043], [-4.6200079917907715, -0.20651446282863617, 8.10010814666748], [-4.717185974121094, -0.2190103977918625, 8.401920318603516], [-4.648919105529785, 0.5047226548194885, 8.453865051269531], [-4.551741600036621, 0.5172185897827148, 8.152052879333496]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 712, "image_id": 100, "category_id": 19, "category_name": "christmas_tree", "bbox2D_proj": [342.0, 195.0, 385.0, 326.0], "bbox2D_tight": [342.0, 195.0, 385.0, 326.0], "bbox2D_trunc": [342.0, 195.0, 385.0, 326.0], "center_cam": [1.2964279115583248, 0.12532798833984654, 7.3022465685185765], "dimensions": [0.8515626180841472, 2.080932529741516, 0.8588868227450449], "R_cam": [[0.999902606010437, -0.0017054080963134766, 0.01385761983692646], [0.0037139058113098145, 0.9892406463623047, -0.14625118672847748], [-0.013459110632538795, 0.14628839492797852, 0.9891505241394043]], "bbox3D_cam": [[0.8629003763198853, -0.8432673811912537, 6.734656810760498], [1.7217035293579102, -0.8400775790214539, 6.72309684753418], [1.7181549072265625, 1.2184653282165527, 7.027513027191162], [0.8593517541885376, 1.215275526046753, 7.0390729904174805], [0.8747010231018066, -0.9678093791007996, 7.576980113983154], [1.7335041761398315, -0.9646195769309998, 7.565420150756836], [1.7299555540084839, 1.0939233303070068, 7.869836330413818], [0.871152400970459, 1.090733528137207, 7.881396293640137]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 713, "image_id": 101, "category_id": 45, "category_name": "person", "bbox2D_proj": [68.0, 249.0, 125.0, 438.0], "bbox2D_tight": [68.0, 249.0, 125.0, 438.0], "bbox2D_trunc": [68.0, 249.0, 125.0, 438.0], "center_cam": [-1.3767080923999568, 0.6935693522996316, 3.7580058350865313], "dimensions": [0.4624176733474941, 1.4692078354307134, 0.5800781828208523], "R_cam": [[0.40145251154899597, 0.00558781623840332, 0.9158629179000854], [0.00476837158203125, 0.9999551773071289, -0.008191139437258244], [-0.9158675670623779, 0.007655591703951359, 0.4014078378677368]], "bbox3D_cam": [[-1.7090054750442505, -0.040490686893463135, 3.925210475921631], [-1.4761316776275635, -0.03772467374801636, 3.3939356803894043], [-1.4679219722747803, 1.4314172267913818, 3.4051833152770996], [-1.7007957696914673, 1.4286510944366455, 3.936458110809326], [-1.285494327545166, -0.04427844285964966, 4.110828399658203], [-1.052620530128479, -0.04151242971420288, 3.5795536041259766], [-1.0444108247756958, 1.4276294708251953, 3.590801239013672], [-1.2772846221923828, 1.424863338470459, 4.122076034545898]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 714, "image_id": 101, "category_id": 45, "category_name": "person", "bbox2D_proj": [329.0, 236.0, 390.0, 414.0], "bbox2D_tight": [329.0, 236.0, 390.0, 414.0], "bbox2D_trunc": [329.0, 236.0, 390.0, 414.0], "center_cam": [0.8842168175546511, 0.5819457139554147, 3.9426870132599205], "dimensions": [0.42187504374456886, 1.5017090613702944, 0.5957031998234336], "R_cam": [[0.8202399015426636, -0.05923926830291748, 0.568943977355957], [0.02056211233139038, 0.9970337152481079, 0.07416842877864838], [-0.571649968624115, -0.04913720488548279, 0.819024920463562]], "bbox3D_cam": [[0.5643755197525024, -0.18845093250274658, 3.977085828781128], [1.0529950857162476, -0.17620205879211426, 3.636551856994629], [0.964034914970398, 1.3210525512695312, 3.5627622604370117], [0.47541534900665283, 1.308803677558899, 3.9032959938049316], [0.804398775100708, -0.15716111660003662, 4.3226118087768555], [1.2930183410644531, -0.1449122428894043, 3.9820780754089355], [1.2040581703186035, 1.3523423671722412, 3.9082882404327393], [0.7154386639595032, 1.3400934934616089, 4.248822212219238]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 715, "image_id": 101, "category_id": 45, "category_name": "person", "bbox2D_proj": [266.0, 238.0, 313.0, 420.0], "bbox2D_tight": [266.0, 238.0, 313.0, 420.0], "bbox2D_trunc": [266.0, 238.0, 313.0, 420.0], "center_cam": [0.3020405612164869, 0.5997483090455282, 4.0288453839974725], "dimensions": [0.4179689054735708, 1.630310154446811, 0.45898453632883734], "R_cam": [[-0.6019880771636963, -0.04624360799789429, -0.7971649169921875], [0.22792714834213257, 0.946835994720459, -0.22704777121543884], [0.7652839422225952, -0.3183755874633789, -0.5594438314437866]], "bbox3D_cam": [[0.6444829702377319, -0.17692798376083374, 4.229659080505371], [0.3681797385215759, -0.07231289148330688, 4.5809125900268555], [0.2927883267402649, 1.4713234901428223, 4.061861515045166], [0.5690915584564209, 1.366708517074585, 3.7106080055236816], [0.31129276752471924, -0.27182692289352417, 3.995828866958618], [0.034989506006240845, -0.16721183061599731, 4.347082614898682], [-0.04040190577507019, 1.3764245510101318, 3.828031539916992], [0.2359013706445694, 1.2718095779418945, 3.476778030395508]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 716, "image_id": 101, "category_id": 30, "category_name": "handbag", "bbox2D_proj": [298.0, 335.0, 321.0, 395.0], "bbox2D_tight": [298.0, 335.0, 321.0, 395.0], "bbox2D_trunc": [298.0, 335.0, 321.0, 395.0], "center_cam": [0.46226040583174205, 0.9642281816652455, 3.994870353869322], "dimensions": [0.16015626001395797, 0.4755859748829452, 0.36328125883197876], "R_cam": [[-0.18088634312152863, -0.012636303901672363, 0.9834228754043579], [-0.11335277557373047, 0.9935219883918762, -0.008083493448793888], [-0.9769500494003296, -0.11293579638004303, -0.18114686012268066]], "bbox3D_cam": [[0.4193708896636963, 0.749212384223938, 4.213685512542725], [0.3536582589149475, 0.7080334424972534, 3.8587779998779297], [0.34764859080314636, 1.180538535118103, 3.8050670623779297], [0.41336122155189514, 1.2217174768447876, 4.159974575042725], [0.5768722295761108, 0.7479177713394165, 4.18467378616333], [0.5111595392227173, 0.7067388296127319, 3.829766035079956], [0.5051499009132385, 1.1792439222335815, 3.776055335998535], [0.5708625316619873, 1.2204228639602661, 4.13096284866333]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 717, "image_id": 101, "category_id": 58, "category_name": "signboard", "bbox2D_proj": [422.0, 0.0, 508.0, 432.0], "bbox2D_tight": [422.0, 0.0, 508.0, 432.0], "bbox2D_trunc": [422.0, 0.0, 508.0, 432.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 718, "image_id": 102, "category_id": 31, "category_name": "hat", "bbox2D_proj": [192.0, 331.0, 263.0, 413.0], "bbox2D_tight": [192.0, 331.0, 263.0, 413.0], "bbox2D_trunc": [192.0, 331.0, 263.0, 413.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 719, "image_id": 102, "category_id": 45, "category_name": "person", "bbox2D_proj": [138.0, 277.0, 422.0, 512.0], "bbox2D_tight": [138.0, 277.0, 422.0, 512.0], "bbox2D_trunc": [138.0, 277.0, 422.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 720, "image_id": 102, "category_id": 45, "category_name": "person", "bbox2D_proj": [10.0, 179.0, 71.0, 296.0], "bbox2D_tight": [10.0, 179.0, 71.0, 296.0], "bbox2D_trunc": [10.0, 179.0, 71.0, 296.0], "center_cam": [-2.535508970835116, -0.1404380606084921, 5.299351776324441], "dimensions": [0.4023437407567568, 1.4785156055813218, 0.6884765815632548], "R_cam": [[0.9951932430267334, -0.09308803081512451, -0.03041258454322815], [0.08364075422286987, 0.9694828987121582, -0.2304498255252838], [0.050936609506607056, 0.2267983853816986, 0.9726088047027588]], "bbox3D_cam": [[-2.8031582832336426, -0.8395681977272034, 4.918493270874023], [-2.1179909706115723, -0.7819835543632507, 4.953561782836914], [-2.2556231021881104, 0.6514120697975159, 5.288887023925781], [-2.9407904148101807, 0.5938274264335632, 5.253818511962891], [-2.815394639968872, -0.9322882294654846, 5.309816360473633], [-2.1302273273468018, -0.874703586101532, 5.344884872436523], [-2.26785945892334, 0.5586920380592346, 5.680210113525391], [-2.95302677154541, 0.501107394695282, 5.6451416015625]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 721, "image_id": 102, "category_id": 35, "category_name": "jersey", "bbox2D_proj": [430.0, 220.0, 479.0, 262.0], "bbox2D_tight": [430.0, 220.0, 479.0, 262.0], "bbox2D_trunc": [430.0, 220.0, 479.0, 262.0], "center_cam": [1.9218086860375476, -0.15245063288289562, 4.311607250228287], "dimensions": [0.22775058497263956, 0.41366651867558785, 0.7279415488360765], "R_cam": [[-0.02829301357269287, -0.00196774210780859, -0.9995977282524109], [0.0006162495701573789, 0.9999978542327881, -0.0019859722815454006], [0.9995995163917542, -0.0006721908575855196, -0.028291761875152588]], "bbox3D_cam": [[2.0463430881500244, -0.35928159952163696, 3.9511430263519287], [2.025747299194336, -0.3588330149650574, 4.678792953491211], [2.024933338165283, 0.05483262240886688, 4.6785149574279785], [2.0455291271209717, 0.05438403785228729, 3.9508650302886963], [1.8186841011047363, -0.3597338795661926, 3.94469952583313], [1.7980884313583374, -0.35928529500961304, 4.672349452972412], [1.7972743511199951, 0.05438031256198883, 4.67207145690918], [1.817870020866394, 0.05393172800540924, 3.9444215297698975]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 722, "image_id": 102, "category_id": 45, "category_name": "person", "bbox2D_proj": [376.0, 206.0, 409.0, 275.0], "bbox2D_tight": [376.0, 206.0, 409.0, 275.0], "bbox2D_trunc": [376.0, 206.0, 409.0, 275.0], "center_cam": [1.953488434601868, -0.24574002391080854, 6.433193339912041], "dimensions": [0.347039078607809, 0.7158330000027908, 0.6320523586902675], "R_cam": [[0.08224505186080933, -0.0019677418749779463, -0.996610164642334], [0.0008317519095726311, 0.9999978542327881, -0.0019057905301451683], [0.9966117143630981, -0.0006721907993778586, 0.08224642276763916]], "bbox3D_cam": [[2.101132392883301, -0.6035879254341125, 6.1042070388793945], [2.153115749359131, -0.6030622124671936, 6.7341179847717285], [2.151707172393799, 0.1127692461013794, 6.733636856079102], [2.0997238159179688, 0.11224353313446045, 6.103725910186768], [1.7552697658538818, -0.6042492985725403, 6.132749557495117], [1.8072530031204224, -0.6037235856056213, 6.762660503387451], [1.8058444261550903, 0.11210787296295166, 6.762179374694824], [1.7538611888885498, 0.11158215999603271, 6.13226842880249]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 723, "image_id": 102, "category_id": 45, "category_name": "person", "bbox2D_proj": [106.0, 178.0, 175.0, 297.0], "bbox2D_tight": [106.0, 178.0, 175.0, 297.0], "bbox2D_trunc": [106.0, 178.0, 175.0, 297.0], "center_cam": [-1.032075267490038, -0.14753811768839598, 3.8947734220043495], "dimensions": [0.3867187572339726, 1.0261230387648956, 0.7075195655347655], "R_cam": [[0.8544694185256958, -0.07162654399871826, -0.5145401954650879], [0.06189626455307007, 0.9974309206008911, -0.036059752106666565], [0.5158011317253113, -0.001036137342453003, 0.8567075729370117]], "bbox3D_cam": [[-1.1981122493743896, -0.674205482006073, 3.547183036804199], [-0.5935583114624023, -0.6304126977920532, 3.9121222496032715], [-0.6670560240745544, 0.3930742144584656, 3.9110591411590576], [-1.271609902381897, 0.3492814898490906, 3.5461196899414062], [-1.397094488143921, -0.6881504654884338, 3.8784878253936768], [-0.7925406694412231, -0.6443576812744141, 4.243427276611328], [-0.8660383820533752, 0.37912923097610474, 4.242363929748535], [-1.4705922603607178, 0.33533650636672974, 3.877424716949463]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 724, "image_id": 103, "category_id": 43, "category_name": "palm_tree", "bbox2D_proj": [0.0, 43.0, 123.0, 324.0], "bbox2D_tight": [0.0, 43.0, 123.0, 324.0], "bbox2D_trunc": [0.0, 43.0, 123.0, 324.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 725, "image_id": 103, "category_id": 48, "category_name": "plant", "bbox2D_proj": [265.0, 303.0, 335.0, 395.0], "bbox2D_tight": [265.0, 303.0, 335.0, 395.0], "bbox2D_trunc": [265.0, 303.0, 335.0, 395.0], "center_cam": [0.7514106364648946, 1.397496971531728, 7.064722300949634], "dimensions": [1.0252413086350614, 1.1903664696318248, 1.1214739377767626], "R_cam": [[-0.09455573558807373, -0.029201090335845947, 0.9950911998748779], [-0.08724045753479004, 0.9959672093391418, 0.02093702182173729], [-0.9916896224021912, -0.08483248949050903, -0.09672193229198456]], "bbox3D_cam": [[0.3117072582244873, 0.8429000973701477, 7.720871925354004], [0.2056654691696167, 0.7450621724128723, 6.608717918395996], [0.1709054708480835, 1.9306282997131348, 6.5077362060546875], [0.2769472599029541, 2.02846622467041, 7.619890213012695], [1.3319158554077148, 0.8643656373023987, 7.621708869934082], [1.2258740663528442, 0.7665277123451233, 6.509554862976074], [1.191114068031311, 1.9520938396453857, 6.408573150634766], [1.2971558570861816, 2.049931764602661, 7.520727157592773]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 726, "image_id": 103, "category_id": 77, "category_name": "window", "bbox2D_proj": [326.0, 181.0, 363.0, 232.0], "bbox2D_tight": [326.0, 181.0, 363.0, 232.0], "bbox2D_trunc": [326.0, 181.0, 363.0, 232.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 727, "image_id": 104, "category_id": 73, "category_name": "tree_trunk", "bbox2D_proj": [287.0, 0.0, 329.0, 147.0], "bbox2D_tight": [287.0, 0.0, 329.0, 147.0], "bbox2D_trunc": [287.0, 0.0, 329.0, 147.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 728, "image_id": 104, "category_id": 55, "category_name": "shirt", "bbox2D_proj": [210.0, 238.0, 278.0, 333.0], "bbox2D_tight": [210.0, 238.0, 278.0, 333.0], "bbox2D_trunc": [210.0, 238.0, 278.0, 333.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 729, "image_id": 104, "category_id": 2, "category_name": "backpack", "bbox2D_proj": [242.0, 241.0, 299.0, 349.0], "bbox2D_tight": [242.0, 241.0, 299.0, 349.0], "bbox2D_trunc": [242.0, 241.0, 299.0, 349.0], "center_cam": [0.08421354128065701, 0.20366193225030457, 2.3774330709876104], "dimensions": [0.22070314014911618, 0.5397949354580127, 0.26953127013729805], "R_cam": [[0.6141658425331116, 0.11306631565093994, -0.7810355424880981], [-0.2055807113647461, 0.9784355759620667, -0.020015180110931396], [0.7619298100471497, 0.17285838723182678, 0.6241658329963684]], "bbox3D_cam": [[0.05711730569601059, -0.030501380562782288, 2.159219264984131], [0.22265414893627167, -0.085911825299263, 2.3645832538604736], [0.2836867570877075, 0.44224268198013306, 2.4578914642333984], [0.11814992874860764, 0.49765312671661377, 2.2525274753570557], [-0.11525969207286835, -0.03491879999637604, 2.2969746589660645], [0.05027715116739273, -0.09032924473285675, 2.5023386478424072], [0.11130977421998978, 0.4378252625465393, 2.595646858215332], [-0.0542270690202713, 0.49323570728302, 2.3902828693389893]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 730, "image_id": 105, "category_id": 45, "category_name": "person", "bbox2D_proj": [251.0, 337.0, 294.0, 469.0], "bbox2D_tight": [251.0, 337.0, 294.0, 469.0], "bbox2D_trunc": [251.0, 337.0, 294.0, 469.0], "center_cam": [0.09974555574887199, 1.0177229523493756, 3.127112611390688], "dimensions": [0.31054689123852525, 0.8691405908347756, 0.34243775365788653], "R_cam": [[-0.9992480278015137, 0.01569807529449463, 0.03545348346233368], [0.015415370464324951, 0.9998472929000854, -0.008232707157731056], [-0.035577304661273956, -0.007679987698793411, -0.9993374347686768]], "bbox3D_cam": [[0.2585088014602661, 0.5818579196929932, 3.2917122840881348], [-0.08367148041725159, 0.5871367454528809, 3.279529094696045], [-0.07002764940261841, 1.4561445713043213, 3.2728543281555176], [0.2721526324748993, 1.4508657455444336, 3.2850372791290283], [0.26951876282691956, 0.5793013572692871, 2.9813709259033203], [-0.07266151905059814, 0.5845801830291748, 2.9691879749298096], [-0.059017688035964966, 1.4535880088806152, 2.962512969970703], [0.28316259384155273, 1.4483091831207275, 2.974696159362793]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 731, "image_id": 105, "category_id": 45, "category_name": "person", "bbox2D_proj": [435.0, 271.0, 463.0, 343.0], "bbox2D_tight": [435.0, 271.0, 463.0, 343.0], "bbox2D_trunc": [435.0, 271.0, 463.0, 343.0], "center_cam": [2.064959606115316, 0.5470921554072306, 4.758120294763498], "dimensions": [0.22265627142838665, 0.737304666176561, 0.2678222865249841], "R_cam": [[-0.8634796142578125, 0.13723909854888916, -0.48535406589508057], [0.043418049812316895, 0.9789239168167114, 0.19955715537071228], [0.5025116801261902, 0.15124034881591797, -0.8512394428253174]], "bbox3D_cam": [[2.1840291023254395, 0.15817910432815552, 4.72983980178833], [1.9527699947357178, 0.16980743408203125, 4.864423751831055], [2.053956985473633, 0.8915725350379944, 4.975934028625488], [2.2852160930633545, 0.8799442052841187, 4.841350078582764], [2.0759620666503906, 0.2026117444038391, 4.540306091308594], [1.844702959060669, 0.21424007415771484, 4.674890041351318], [1.945889949798584, 0.936005175113678, 4.786400318145752], [2.1771490573883057, 0.9243768453598022, 4.651816368103027]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 732, "image_id": 105, "category_id": 33, "category_name": "jacket", "bbox2D_proj": [351.0, 365.0, 425.0, 467.0], "bbox2D_tight": [351.0, 365.0, 425.0, 467.0], "bbox2D_trunc": [351.0, 365.0, 425.0, 467.0], "center_cam": [0.7161376506805799, 0.8214058955891348, 2.373274160987825], "dimensions": [0.14793404759796314, 0.4280058629374701, 0.37405326476658685], "R_cam": [[0.9795941710472107, 0.0014277806039899588, -0.20098060369491577], [-0.0012345665600150824, 0.9999985694885254, 0.0010866941884160042], [0.20098188519477844, -0.0008163953316397965, 0.9795945882797241]], "bbox3D_cam": [[0.5474878549575806, 0.6075537800788879, 2.263402223587036], [0.9139082431793213, 0.6070919632911682, 2.3385801315307617], [0.9145193099975586, 1.0350972414016724, 2.338230609893799], [0.5480989217758179, 1.035559058189392, 2.2630527019500732], [0.5177559852600098, 0.6077145338058472, 2.4083175659179688], [0.8841763734817505, 0.6072527170181274, 2.4834954738616943], [0.8847874402999878, 1.0352580547332764, 2.4831459522247314], [0.5183670520782471, 1.0357197523117065, 2.407968044281006]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 733, "image_id": 105, "category_id": 45, "category_name": "person", "bbox2D_proj": [0.0, 318.0, 62.0, 488.0], "bbox2D_tight": [0.0, 318.0, 62.0, 488.0], "bbox2D_trunc": [0.0, 318.0, 62.0, 488.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 734, "image_id": 105, "category_id": 45, "category_name": "person", "bbox2D_proj": [484.0, 265.0, 510.0, 352.0], "bbox2D_tight": [484.0, 265.0, 510.0, 352.0], "bbox2D_trunc": [484.0, 265.0, 510.0, 352.0], "center_cam": [2.364777799251555, 0.5658981039203143, 4.351266681298263], "dimensions": [0.13921902030183997, 0.7973053869313231, 0.2138931368054091], "R_cam": [[0.8673852682113647, 0.001427780487574637, 0.4976350665092468], [-0.001644704258069396, 0.9999984502792358, -2.3834579678805312e-06], [-0.4976344108581543, -0.0008163952734321356, 0.8673863410949707]], "bbox3D_cam": [[2.236804485321045, 0.16742202639579773, 4.3444342613220215], [2.422332286834717, 0.16707023978233337, 4.2379937171936035], [2.4234707355499268, 0.9643745422363281, 4.237342834472656], [2.237942934036255, 0.9647263288497925, 4.343783378601074], [2.3060848712921143, 0.16742166876792908, 4.465190887451172], [2.491612672805786, 0.16706988215446472, 4.358750343322754], [2.492751121520996, 0.9643741846084595, 4.358099460601807], [2.307223320007324, 0.9647259712219238, 4.464540004730225]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 735, "image_id": 106, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [97.0, 9.0, 125.0, 196.0], "bbox2D_tight": [97.0, 9.0, 125.0, 196.0], "bbox2D_trunc": [97.0, 9.0, 125.0, 196.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 736, "image_id": 106, "category_id": 45, "category_name": "person", "bbox2D_proj": [297.0, 241.0, 329.0, 361.0], "bbox2D_tight": [297.0, 241.0, 329.0, 361.0], "bbox2D_trunc": [297.0, 241.0, 329.0, 361.0], "center_cam": [0.4440956950356841, 0.33937204934416004, 3.4599403828721975], "dimensions": [0.25585945154163253, 0.888992325505157, 0.270507896762225], "R_cam": [[0.8127525448799133, -0.04212391376495361, 0.5810841917991638], [0.05313783884048462, 0.9985852837562561, -0.0019336342811584473], [-0.5801806449890137, 0.03244912624359131, 0.8138411641120911]], "bbox3D_cam": [[0.27855366468429565, -0.11143505573272705, 3.4198741912841797], [0.4984096586704254, -0.09706085920333862, 3.2629306316375732], [0.46096181869506836, 0.7906738519668579, 3.2917776107788086], [0.241105854511261, 0.7762996554374695, 3.448721170425415], [0.4272295832633972, -0.11192977428436279, 3.628103256225586], [0.6470855474472046, -0.09755557775497437, 3.4711596965789795], [0.6096377372741699, 0.7901791334152222, 3.500006675720215], [0.38978174328804016, 0.7758049368858337, 3.6569502353668213]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 737, "image_id": 106, "category_id": 45, "category_name": "person", "bbox2D_proj": [47.0, 247.0, 92.0, 355.0], "bbox2D_tight": [47.0, 247.0, 92.0, 355.0], "bbox2D_trunc": [47.0, 247.0, 92.0, 355.0], "center_cam": [-1.2325585357177165, 0.2900848541330921, 2.896055648690986], "dimensions": [0.2597656495145537, 0.7005615387451187, 0.2978821162690437], "R_cam": [[0.9286283254623413, -0.1383267641067505, -0.34426048398017883], [0.11257660388946533, 0.9892058372497559, -0.09380020201206207], [0.3535194993019104, 0.04834982007741928, 0.9341769218444824]], "bbox3D_cam": [[-1.2777026891708374, -0.060999125242233276, 2.705132484436035], [-1.001080870628357, -0.02746453881263733, 2.8104398250579834], [-1.0979872941970825, 0.6655349731445312, 2.8443117141723633], [-1.3746089935302734, 0.6320003271102905, 2.739004611968994], [-1.3671296834945679, -0.08536520600318909, 2.9477996826171875], [-1.090507984161377, -0.05183061957359314, 3.0531067848205566], [-1.187414288520813, 0.6411688327789307, 3.0869789123535156], [-1.4640361070632935, 0.6076343059539795, 2.9816715717315674]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 738, "image_id": 106, "category_id": 13, "category_name": "building", "bbox2D_proj": [352.0, 0.0, 473.0, 203.0], "bbox2D_tight": [352.0, 0.0, 473.0, 203.0], "bbox2D_trunc": [352.0, 0.0, 473.0, 203.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 739, "image_id": 106, "category_id": 45, "category_name": "person", "bbox2D_proj": [333.0, 255.0, 366.0, 353.0], "bbox2D_tight": [333.0, 255.0, 366.0, 353.0], "bbox2D_trunc": [333.0, 255.0, 366.0, 353.0], "center_cam": [0.766318674242944, 0.38539542071181904, 3.6420012506237063], "dimensions": [0.2578125201274729, 0.7978515765765706, 0.31835939027439764], "R_cam": [[-0.2348152995109558, -0.027946293354034424, -0.9716382026672363], [-0.08561086654663086, 0.9962968230247498, -0.007966041564941406], [0.9682626724243164, 0.0813121497631073, -0.23633825778961182]], "bbox3D_cam": [[0.9400953054428101, 0.0026012957096099854, 3.485901355743408], [0.8653395771980286, -0.024653702974319458, 3.794156789779663], [0.8430426120758057, 0.7702432870864868, 3.859031915664673], [0.9177982807159424, 0.7974982261657715, 3.550776481628418], [0.6895947456359863, 0.000547558069229126, 3.4249703884124756], [0.6148390769958496, -0.026707440614700317, 3.7332258224487305], [0.5925420522689819, 0.768189549446106, 3.7981009483337402], [0.6672977805137634, 0.7954444885253906, 3.4898455142974854]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 740, "image_id": 106, "category_id": 45, "category_name": "person", "bbox2D_proj": [264.0, 243.0, 288.0, 322.0], "bbox2D_tight": [264.0, 243.0, 288.0, 322.0], "bbox2D_trunc": [264.0, 243.0, 288.0, 322.0], "center_cam": [0.20473682445486485, 0.23491110695209164, 4.144910385315753], "dimensions": [0.20898441014315064, 0.6936035292707582, 0.23437503994048028], "R_cam": [[0.7147598266601562, -0.098652184009552, 0.6923772096633911], [0.11965298652648926, 0.9926540851593018, 0.01791560649871826], [-0.6890584826469421, 0.07003968954086304, 0.7213132977485657]], "bbox3D_cam": [[0.08284063637256622, -0.12523695826530457, 4.125998020172119], [0.2503625154495239, -0.09719327092170715, 3.9644997119903564], [0.18193700909614563, 0.5913151502609253, 4.013079643249512], [0.014415144920349121, 0.5632714033126831, 4.174577713012695], [0.2275366485118866, -0.1214928925037384, 4.276741027832031], [0.3950585126876831, -0.09344920516014099, 4.115242958068848], [0.3266330361366272, 0.5950591564178467, 4.163822650909424], [0.1591111570596695, 0.567015528678894, 4.325320720672607]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 741, "image_id": 106, "category_id": 45, "category_name": "person", "bbox2D_proj": [148.0, 237.0, 169.0, 311.0], "bbox2D_tight": [148.0, 237.0, 169.0, 311.0], "bbox2D_trunc": [148.0, 237.0, 169.0, 311.0], "center_cam": [-0.8383826074019962, 0.14918986708412127, 4.045681401526104], "dimensions": [0.21093755820226304, 0.6889648560581351, 0.21739966354750562], "R_cam": [[0.9729071259498596, -0.011284232139587402, -0.23092079162597656], [-0.03131461143493652, 0.9831722378730774, -0.17997737228870392], [0.22906579077243805, 0.18233245611190796, 0.9561818838119507]], "bbox3D_cam": [[-0.9158952832221985, -0.16710977256298065, 3.8571243286132812], [-0.7043856382369995, -0.17391757667064667, 3.906923294067383], [-0.712160050868988, 0.5034534931182861, 4.032543659210205], [-0.923669695854187, 0.5102612972259521, 3.9827451705932617], [-0.9646051526069641, -0.2050737589597702, 4.05881929397583], [-0.7530955076217651, -0.21188156306743622, 4.108617782592773], [-0.7608699202537537, 0.4654895067214966, 4.234238624572754], [-0.9723795652389526, 0.4722973108291626, 4.184439659118652]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 742, "image_id": 106, "category_id": 45, "category_name": "person", "bbox2D_proj": [111.0, 229.0, 131.0, 305.0], "bbox2D_tight": [111.0, 229.0, 131.0, 305.0], "bbox2D_trunc": [111.0, 229.0, 131.0, 305.0], "center_cam": [-1.172337703165954, 0.08010692711322523, 3.9530686634762215], "dimensions": [0.19238284390020005, 0.6674804817023694, 0.21679690854218436], "R_cam": [[-0.5870190858840942, -0.09465914964675903, -0.8040200471878052], [-0.020897984504699707, 0.9945815801620483, -0.10183665156364441], [0.8093032836914062, -0.042977601289749146, -0.5858166217803955]], "bbox3D_cam": [[-0.9997743368148804, -0.23976384103298187, 3.936035394668579], [-1.1270382404327393, -0.2442944496870041, 4.111489772796631], [-1.1902213096618652, 0.41956931352615356, 4.082803249359131], [-1.0629574060440063, 0.4240999221801758, 3.9073486328125], [-1.154453992843628, -0.25935548543930054, 3.8233344554901123], [-1.2817178964614868, -0.26388609409332275, 3.998788833618164], [-1.3449009656906128, 0.3999776840209961, 3.970102071762085], [-1.217637062072754, 0.4045082926750183, 3.794647693634033]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 743, "image_id": 106, "category_id": 13, "category_name": "building", "bbox2D_proj": [276.0, 33.0, 357.0, 208.0], "bbox2D_tight": [276.0, 33.0, 357.0, 208.0], "bbox2D_trunc": [276.0, 33.0, 357.0, 208.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 744, "image_id": 106, "category_id": 13, "category_name": "building", "bbox2D_proj": [183.0, 103.0, 279.0, 212.0], "bbox2D_tight": [183.0, 103.0, 279.0, 212.0], "bbox2D_trunc": [183.0, 103.0, 279.0, 212.0], "center_cam": [-0.24599025365171212, -1.2149679025941165, 5.888349816309702], "dimensions": [0.6816406490211009, 1.5244141115930008, 1.6835938497616636], "R_cam": [[0.7749848365783691, -0.020289098843932152, 0.6316540837287903], [-0.050979871302843094, 0.994220495223999, 0.09448283910751343], [-0.6299203038215637, -0.10542440414428711, 0.7694715261459351]], "bbox3D_cam": [[-1.0981861352920532, -1.9620565176010132, 6.236718654632568], [0.20657357573509216, -2.0478858947753906, 5.176188945770264], [0.17564460635185242, -0.5322824716567993, 5.015478134155273], [-1.129115104675293, -0.4464530944824219, 6.076008319854736], [-0.6676250696182251, -1.8976532220840454, 6.761221885681152], [0.6371346712112427, -1.9834825992584229, 5.7006916999816895], [0.6062057018280029, -0.46787917613983154, 5.539981365203857], [-0.6985540390014648, -0.3820497989654541, 6.600511074066162]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 745, "image_id": 106, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [119.0, 0.0, 161.0, 213.0], "bbox2D_tight": [119.0, 0.0, 161.0, 213.0], "bbox2D_trunc": [119.0, 0.0, 161.0, 213.0], "center_cam": [-1.2704889828731856, -1.5939045685892197, 4.90599856462569], "dimensions": [0.41655285336731485, 2.1225000834728123, 0.8510022601287766], "R_cam": [[-0.2457054853439331, -0.054404884576797485, -0.9678166508674622], [-0.01983916573226452, 0.9984968900680542, -0.051092859357595444], [0.9691415429115295, 0.006646882742643356, -0.24641543626785278]], "bbox3D_cam": [[-0.9066304564476013, -2.63447642326355, 4.537896633148193], [-1.115726351737976, -2.6513595581054688, 5.362637996673584], [-1.2312006950378418, -0.5320498943328857, 5.37674617767334], [-1.0221048593521118, -0.5151667594909668, 4.552004337310791], [-1.3097772598266602, -2.655759334564209, 4.435251235961914], [-1.5188730955123901, -2.672642469406128, 5.259993076324463], [-1.6343474388122559, -0.5533328056335449, 5.2741007804870605], [-1.4252516031265259, -0.536449670791626, 4.44935941696167]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 746, "image_id": 107, "category_id": 21, "category_name": "coral_formation", "bbox2D_proj": [125.0, 186.0, 230.0, 265.0], "bbox2D_tight": [125.0, 186.0, 230.0, 265.0], "bbox2D_trunc": [125.0, 186.0, 230.0, 265.0], "center_cam": [-0.5720429722906825, -0.21635471011836416, 3.2989617518795273], "dimensions": [0.19619171930633314, 0.5995162037483266, 0.6705516118129633], "R_cam": [[-0.9038500785827637, 0.08190083503723145, 0.4199371933937073], [-0.11136937141418457, 0.9026355743408203, -0.4157474637031555], [-0.41310030221939087, -0.4225414991378784, -0.8067259788513184]], "bbox3D_cam": [[-0.33474844694137573, -0.40880444645881653, 3.643260955810547], [-0.9408266544342041, -0.48348337411880493, 3.366255760192871], [-0.8917257785797119, 0.05766125023365021, 3.1129353046417236], [-0.28564757108688354, 0.13234014809131622, 3.3899405002593994], [-0.2523602247238159, -0.4903706908226013, 3.48498797416687], [-0.8584384322166443, -0.5650495886802673, 3.2079827785491943], [-0.8093375563621521, -0.02390497922897339, 2.954662322998047], [-0.20325934886932373, 0.05077393352985382, 3.2316675186157227]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 747, "image_id": 108, "category_id": 21, "category_name": "coral_formation", "bbox2D_proj": [454.0, 234.0, 493.0, 304.0], "bbox2D_tight": [454.0, 234.0, 493.0, 304.0], "bbox2D_trunc": [454.0, 234.0, 493.0, 304.0], "center_cam": [1.2464881232544047, 0.07107236459638339, 2.551894257537553], "dimensions": [0.09514105855299348, 0.3736613117434574, 0.20255191299735487], "R_cam": [[-0.8796288967132568, 0.000924794003367424, -0.4756595492362976], [0.0007780967280268669, 0.9999995231628418, 0.0005053133936598897], [0.4756597876548767, 7.43791606510058e-05, -0.8796293139457703]], "bbox3D_cam": [[1.3580279350280762, -0.11586105078458786, 2.5455517768859863], [1.1798573732376099, -0.11570345610380173, 2.641897678375244], [1.1802029609680176, 0.25795769691467285, 2.64192533493042], [1.3583735227584839, 0.2578001022338867, 2.545579671859741], [1.3127732276916504, -0.11581297963857651, 2.4618630409240723], [1.134602665901184, -0.11565538495779037, 2.558208703994751], [1.1349482536315918, 0.2580057680606842, 2.558236598968506], [1.313118815422058, 0.25784817337989807, 2.461890697479248]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 748, "image_id": 109, "category_id": 45, "category_name": "person", "bbox2D_proj": [469.0, 245.0, 497.0, 313.0], "bbox2D_tight": [469.0, 245.0, 497.0, 313.0], "bbox2D_trunc": [469.0, 245.0, 497.0, 313.0], "center_cam": [5.548578988304959, 0.5141383380890122, 10.917223042087885], "dimensions": [0.5625000182613866, 1.6273193140831475, 0.6757812715762173], "R_cam": [[-0.6375468969345093, -0.07154834270477295, -0.7670819759368896], [0.008047103881835938, 0.9950053691864014, -0.09949564933776855], [0.7703694701194763, -0.06960594654083252, -0.6337869167327881]], "bbox3D_cam": [[6.037958145141602, -0.27019327878952026, 10.891810417175293], [5.607115745544434, -0.2647551894187927, 11.4124116897583], [5.4906840324401855, 1.3544363975524902, 11.299140930175781], [5.921525955200195, 1.3489983081817627, 10.778539657592773], [5.60647439956665, -0.32615965604782104, 10.53530502319336], [5.175632476806641, -0.3207215666770935, 11.055906295776367], [5.059200286865234, 1.2984700202941895, 10.942635536193848], [5.490042686462402, 1.293031930923462, 10.42203426361084]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 749, "image_id": 109, "category_id": 43, "category_name": "palm_tree", "bbox2D_proj": [238.0, 76.0, 311.0, 274.0], "bbox2D_tight": [238.0, 76.0, 311.0, 274.0], "bbox2D_trunc": [238.0, 76.0, 311.0, 274.0], "center_cam": [0.716107893284241, -2.620910528310881, 15.271661551026504], "dimensions": [2.347656278681334, 6.859374926302901, 3.1484375680970134], "R_cam": [[-0.04365706443786621, -0.02870476245880127, 0.9986341595649719], [0.11491751670837402, 0.9928079843521118, 0.03356102108955383], [-0.9924153089523315, 0.11622577905654907, -0.04004436731338501]], "bbox3D_cam": [[-0.28894299268722534, -6.246232032775879, 16.482328414916992], [-0.426394522190094, -5.884421348571777, 13.357769966125488], [-0.6232909560203552, 0.9256207942962646, 14.155006408691406], [-0.4858394265174866, 0.5638101100921631, 17.279563903808594], [2.055506706237793, -6.167442321777344, 16.388317108154297], [1.9180552959442139, -5.805631637573242, 13.26375961303711], [1.721158742904663, 1.0044105052947998, 14.060996055603027], [1.8586103916168213, 0.6425998210906982, 17.1855525970459]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 750, "image_id": 110, "category_id": 15, "category_name": "car", "bbox2D_proj": [38.0, 345.0, 401.0, 512.0], "bbox2D_tight": [38.0, 345.0, 401.0, 512.0], "bbox2D_trunc": [38.0, 345.0, 401.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 751, "image_id": 110, "category_id": 61, "category_name": "sports_car", "bbox2D_proj": [449.0, 280.0, 503.0, 330.0], "bbox2D_tight": [449.0, 280.0, 503.0, 330.0], "bbox2D_trunc": [449.0, 280.0, 503.0, 330.0], "center_cam": [6.805121909135969, 1.4196327016016708, 13.844552023283004], "dimensions": [1.3828557878995609, 1.6705548622618211, 4.958761844893052], "R_cam": [[0.40564876794815063, -0.1887633204460144, -0.8943251371383667], [0.04972822964191437, 0.9815515279769897, -0.18461821973323822], [0.9126752614974976, 0.030416950583457947, 0.4075521230697632]], "bbox3D_cam": [[6.575395107269287, 0.6041198968887329, 11.274482727050781], [8.58691120147705, 0.850710391998291, 15.800222396850586], [8.271571159362793, 2.490445852279663, 15.851035118103027], [6.2600555419921875, 2.2438554763793945, 11.325296401977539], [5.338672637939453, 0.3488194942474365, 11.838068962097168], [7.350188255310059, 0.5954099893569946, 16.363807678222656], [7.034848690032959, 2.2351455688476562, 16.414621353149414], [5.0233330726623535, 1.9885549545288086, 11.88888168334961]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 752, "image_id": 110, "category_id": 63, "category_name": "streetlight", "bbox2D_proj": [81.0, 33.0, 134.0, 320.0], "bbox2D_tight": [81.0, 33.0, 134.0, 320.0], "bbox2D_trunc": [81.0, 33.0, 134.0, 320.0], "center_cam": [-4.249533041139568, -3.048584934295854, 12.67476104316761], "dimensions": [1.1114502492682587, 10.224609895931138, 1.9843750453820395], "R_cam": [[0.23116591572761536, 0.11697423458099365, 0.9658567905426025], [-0.40752530097961426, 0.9131007194519043, -0.013048827648162842], [-0.8834508657455444, -0.3905946910381317, 0.2587476968765259]], "bbox3D_cam": [[-5.613651752471924, -7.3050408363342285, 15.404356002807617], [-5.154932022094727, -8.113723754882812, 13.65125846862793], [-3.958916187286377, 1.222374439239502, 9.657580375671387], [-4.417635917663574, 2.031057834625244, 11.410677909851074], [-4.540150165557861, -7.319544315338135, 15.691941261291504], [-4.081430435180664, -8.128227233886719, 13.938843727111816], [-2.8854146003723145, 1.2078709602355957, 9.945165634155273], [-3.3441343307495117, 2.016554355621338, 11.698263168334961]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 753, "image_id": 110, "category_id": 43, "category_name": "palm_tree", "bbox2D_proj": [266.0, 201.0, 312.0, 274.0], "bbox2D_tight": [266.0, 201.0, 312.0, 274.0], "bbox2D_trunc": [266.0, 201.0, 312.0, 274.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 754, "image_id": 110, "category_id": 15, "category_name": "car", "bbox2D_proj": [107.0, 268.0, 144.0, 298.0], "bbox2D_tight": [107.0, 268.0, 144.0, 298.0], "bbox2D_trunc": [107.0, 268.0, 144.0, 298.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 755, "image_id": 110, "category_id": 45, "category_name": "person", "bbox2D_proj": [164.0, 301.0, 203.0, 363.0], "bbox2D_tight": [164.0, 301.0, 203.0, 363.0], "bbox2D_trunc": [164.0, 301.0, 203.0, 363.0], "center_cam": [-0.8947385944923318, 1.2368704874280094, 5.315970022563617], "dimensions": [0.363281248239544, 1.3125000683135086, 0.42773439459390183], "R_cam": [[0.9990467429161072, -0.04145002365112305, 0.013691078871488571], [0.04118126630783081, 0.9989641308784485, 0.0193604975938797], [-0.014479387551546097, -0.018778227269649506, 0.9997187852859497]], "bbox3D_cam": [[-1.08368718624115, 0.5689763426780701, 5.1498003005981445], [-0.6563605666160583, 0.5865909457206726, 5.143607139587402], [-0.710763692855835, 1.8977313041687012, 5.118960380554199], [-1.1380903720855713, 1.8801167011260986, 5.1251540184021], [-1.0787135362625122, 0.5760096907615662, 5.512979507446289], [-0.6513868570327759, 0.5936242938041687, 5.506785869598389], [-0.7057900428771973, 1.9047646522521973, 5.482139587402344], [-1.1331167221069336, 1.8871500492095947, 5.488332748413086]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 756, "image_id": 110, "category_id": 63, "category_name": "streetlight", "bbox2D_proj": [448.0, 165.0, 470.0, 279.0], "bbox2D_tight": [448.0, 165.0, 470.0, 279.0], "bbox2D_trunc": [448.0, 165.0, 470.0, 279.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 757, "image_id": 110, "category_id": 45, "category_name": "person", "bbox2D_proj": [267.0, 277.0, 283.0, 326.0], "bbox2D_tight": [267.0, 277.0, 283.0, 326.0], "bbox2D_trunc": [267.0, 277.0, 283.0, 326.0], "center_cam": [0.37969182033361326, 1.2500042922997339, 10.747071594463621], "dimensions": [0.34765628656562375, 1.4052735109519263, 0.45312503829862144], "R_cam": [[-0.5219599008560181, -0.023511171340942383, 0.8526458740234375], [0.004490077495574951, 0.9995304346084595, 0.03031015396118164], [-0.8529582023620605, 0.019649118185043335, -0.5216092467308044]], "bbox3D_cam": [[0.36625435948371887, 0.5414113998413086, 11.017184257507324], [0.12974120676517487, 0.5434459447860718, 10.63068675994873], [0.09670153260231018, 1.9480596780776978, 10.658299446105957], [0.3332147002220154, 1.9460251331329346, 11.044795989990234], [0.662682056427002, 0.5519489049911499, 10.835843086242676], [0.42616891860961914, 0.5539834499359131, 10.449346542358398], [0.39312925934791565, 1.958597183227539, 10.476958274841309], [0.6296424269676208, 1.9565626382827759, 10.863455772399902]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 758, "image_id": 110, "category_id": 15, "category_name": "car", "bbox2D_proj": [1.0, 276.0, 97.0, 319.0], "bbox2D_tight": [1.0, 276.0, 97.0, 319.0], "bbox2D_trunc": [1.0, 276.0, 97.0, 319.0], "center_cam": [-5.6529607219907865, 1.219151777888633, 12.257702116698496], "dimensions": [1.7103408072761648, 0.9996945021684065, 3.1520676813464146], "R_cam": [[0.14702241122722626, -0.01123583409935236, -0.9890693426132202], [0.01462411880493164, 0.9998509883880615, -0.009184458293020725], [0.9890251159667969, -0.013113975524902344, 0.14716480672359467]], "bbox3D_cam": [[-5.033234119415283, 0.7041851878166199, 10.579668998718262], [-4.569809436798096, 0.7502814531326294, 13.697142601013184], [-4.5810418128967285, 1.7498269081115723, 13.684032440185547], [-5.044466495513916, 1.703730583190918, 10.566558837890625], [-6.724879741668701, 0.6884766221046448, 10.831371307373047], [-6.261455059051514, 0.7345728874206543, 13.948844909667969], [-6.2726874351501465, 1.7341182231903076, 13.935734748840332], [-6.736112117767334, 1.6880220174789429, 10.81826114654541]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 759, "image_id": 111, "category_id": 45, "category_name": "person", "bbox2D_proj": [264.0, 404.0, 329.0, 491.0], "bbox2D_tight": [264.0, 404.0, 329.0, 491.0], "bbox2D_trunc": [264.0, 404.0, 329.0, 491.0], "center_cam": [0.19713451749141572, 1.023598721985195, 2.355096549823959], "dimensions": [0.24218750814282963, 0.4287109425568652, 0.3779297163129109], "R_cam": [[0.8919835090637207, -0.0037202835083007812, 0.4520528018474579], [-0.05209958553314209, 0.9924572706222534, 0.1109699159860611], [-0.44905591011047363, -0.1225350946187973, 0.8850615620613098]], "bbox3D_cam": [[-0.02536231279373169, 0.8072673082351685, 2.3590431213378906], [0.31174471974372864, 0.7875772714614868, 2.189331531524658], [0.31014978885650635, 1.2130545377731323, 2.1367993354797363], [-0.02695724368095398, 1.232744574546814, 2.3065109252929688], [0.08411925286054611, 0.834142804145813, 2.5733938217163086], [0.42122629284858704, 0.8144527673721313, 2.403682231903076], [0.41963136196136475, 1.2399300336837769, 2.3511500358581543], [0.08252432197332382, 1.2596200704574585, 2.5208616256713867]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 760, "image_id": 111, "category_id": 45, "category_name": "person", "bbox2D_proj": [310.0, 342.0, 365.0, 435.0], "bbox2D_tight": [310.0, 342.0, 365.0, 435.0], "bbox2D_trunc": [310.0, 342.0, 365.0, 435.0], "center_cam": [0.6080867803044836, 1.0920014769959416, 3.2004859120079976], "dimensions": [0.29296876283344364, 0.9135742088276779, 0.37292484340624493], "R_cam": [[0.9563327431678772, 0.04871886968612671, 0.28819113969802856], [-0.03218364715576172, 0.9975669980049133, -0.06184118986129761], [-0.2905028164386749, 0.049865707755088806, 0.9555739164352417]], "bbox3D_cam": [[0.36529698967933655, 0.651385486125946, 3.0918991565704346], [0.7219372391700745, 0.6393834352493286, 2.9835634231567383], [0.766445517539978, 1.5507349967956543, 3.0291194915771484], [0.4098052978515625, 1.562736988067627, 3.1374552249908447], [0.44972801208496094, 0.6332679390907288, 3.371852397918701], [0.8063682317733765, 0.6212658882141113, 3.263516664505005], [0.8508765697479248, 1.5326173305511475, 3.309072732925415], [0.4942363202571869, 1.5446194410324097, 3.4174084663391113]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 761, "image_id": 111, "category_id": 45, "category_name": "person", "bbox2D_proj": [14.0, 374.0, 47.0, 473.0], "bbox2D_tight": [14.0, 374.0, 47.0, 473.0], "bbox2D_trunc": [14.0, 374.0, 47.0, 473.0], "center_cam": [-1.53177147990162, 1.1597880209520652, 3.073001656958279], "dimensions": [0.1663818845299695, 0.5961914033521007, 0.18359379610823182], "R_cam": [[-0.49165260791778564, 0.13599944114685059, -0.8601057529449463], [0.307218074798584, 0.951305627822876, -0.025191783905029297], [0.8147973418235779, -0.2766256630420685, -0.509493350982666]], "bbox3D_cam": [[-1.4556270837783813, 0.8501019477844238, 3.123051881790161], [-1.5458914041519165, 0.906505286693573, 3.272643566131592], [-1.464809775352478, 1.473665475845337, 3.1077218055725098], [-1.3745453357696533, 1.4172621965408325, 2.958130121231079], [-1.5987330675125122, 0.8459104895591736, 3.0382814407348633], [-1.688997507095337, 0.9023138284683228, 3.187873125076294], [-1.6079157590866089, 1.4694740772247314, 3.022951364517212], [-1.5176514387130737, 1.4130706787109375, 2.8733596801757812]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 762, "image_id": 111, "category_id": 45, "category_name": "person", "bbox2D_proj": [117.0, 356.0, 156.0, 402.0], "bbox2D_tight": [117.0, 356.0, 156.0, 402.0], "bbox2D_trunc": [117.0, 356.0, 156.0, 402.0], "center_cam": [-0.8568763301942887, 0.8730937335075135, 3.1700531220192705], "dimensions": [0.1816406261995937, 0.33105483511408423, 0.3359376599019087], "R_cam": [[0.9390718936920166, -0.09258873015642166, 0.33101561665534973], [0.1886540800333023, 0.9438557028770447, -0.27119365334510803], [-0.2873214781284332, 0.3171177804470062, 0.9038156270980835]], "bbox3D_cam": [[-1.0293481349945068, 0.7098016142845154, 3.08373761177063], [-0.7138785123825073, 0.7731776237487793, 2.987215518951416], [-0.744530439376831, 1.0856456756591797, 3.0921988487243652], [-1.0600000619888306, 1.022269606590271, 3.188720941543579], [-0.9692221879959106, 0.660541832447052, 3.2479071617126465], [-0.6537525653839111, 0.7239178419113159, 3.1513850688934326], [-0.6844045519828796, 1.0363857746124268, 3.256368398666382], [-0.9998741149902344, 0.9730098247528076, 3.3528904914855957]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 763, "image_id": 111, "category_id": 13, "category_name": "building", "bbox2D_proj": [0.0, 0.0, 76.0, 320.0], "bbox2D_tight": [0.0, 0.0, 76.0, 320.0], "bbox2D_trunc": [0.0, 0.0, 76.0, 320.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 764, "image_id": 111, "category_id": 13, "category_name": "building", "bbox2D_proj": [86.0, 134.0, 253.0, 284.0], "bbox2D_tight": [86.0, 134.0, 253.0, 284.0], "bbox2D_trunc": [86.0, 134.0, 253.0, 284.0], "center_cam": [-1.8391166056314512, -0.7231024932428108, 7.153706054847749], "dimensions": [1.468750074243069, 2.315429691813513, 2.3925782495625616], "R_cam": [[0.6548213958740234, 0.05073336884379387, -0.7540789246559143], [-0.06665195524692535, 0.9977334141731262, 0.009247371926903725], [0.7528389096260071, 0.04420545697212219, 0.6567187309265137]], "bbox3D_cam": [[-2.1274304389953613, -1.8052492141723633, 5.719637870788574], [-0.5607187747955322, -1.964719295501709, 7.520864009857178], [-0.4432492256164551, 0.34546226263046265, 7.623218536376953], [-2.009960889816284, 0.5049323439598083, 5.82199239730835], [-3.2349839210510254, -1.7916672229766846, 6.6841936111450195], [-1.6682722568511963, -1.9511373043060303, 8.485420227050781], [-1.5508027076721191, 0.35904425382614136, 8.587774276733398], [-3.1175143718719482, 0.5185143351554871, 6.786548137664795]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 765, "image_id": 111, "category_id": 45, "category_name": "person", "bbox2D_proj": [324.0, 300.0, 338.0, 341.0], "bbox2D_tight": [324.0, 300.0, 338.0, 341.0], "bbox2D_trunc": [324.0, 300.0, 338.0, 341.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 766, "image_id": 111, "category_id": 13, "category_name": "building", "bbox2D_proj": [250.0, 161.0, 292.0, 262.0], "bbox2D_tight": [250.0, 161.0, 292.0, 262.0], "bbox2D_trunc": [250.0, 161.0, 292.0, 262.0], "center_cam": [0.4120392323439914, -0.8028758209202298, 7.743863744316664], "dimensions": [1.0156255323638534, 1.4291992425118436, 1.0634771852221592], "R_cam": [[0.949147641658783, 0.08860504627227783, 0.30210551619529724], [-0.047953009605407715, 0.9890703558921814, -0.1394280046224594], [-0.3111576437950134, 0.11785086989402771, 0.9430227279663086]], "bbox3D_cam": [[-0.30938929319381714, -1.4133632183074951, 7.346222877502441], [0.7000075578689575, -1.464360237121582, 7.015314102172852], [0.8266416788101196, -0.05078166723251343, 7.183746337890625], [-0.18275517225265503, 0.00021535158157348633, 7.514655113220215], [-0.002563267946243286, -1.5549700260162354, 8.303980827331543], [1.006833553314209, -1.6059670448303223, 7.973072052001953], [1.133467674255371, -0.1923883557319641, 8.141504287719727], [0.12407085299491882, -0.1413913369178772, 8.472413063049316]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 767, "image_id": 111, "category_id": 45, "category_name": "person", "bbox2D_proj": [313.0, 426.0, 415.0, 512.0], "bbox2D_tight": [313.0, 426.0, 415.0, 512.0], "bbox2D_trunc": [313.0, 426.0, 415.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 768, "image_id": 111, "category_id": 45, "category_name": "person", "bbox2D_proj": [341.0, 341.0, 375.0, 420.0], "bbox2D_tight": [341.0, 341.0, 375.0, 420.0], "bbox2D_trunc": [341.0, 341.0, 375.0, 420.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 769, "image_id": 111, "category_id": 45, "category_name": "person", "bbox2D_proj": [440.0, 409.0, 512.0, 512.0], "bbox2D_tight": [440.0, 409.0, 512.0, 512.0], "bbox2D_trunc": [440.0, 409.0, 512.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 770, "image_id": 111, "category_id": 13, "category_name": "building", "bbox2D_proj": [69.0, 168.0, 123.0, 288.0], "bbox2D_tight": [69.0, 168.0, 123.0, 288.0], "bbox2D_trunc": [69.0, 168.0, 123.0, 288.0], "center_cam": [-2.3056422514097754, -0.4747236572704117, 6.613042959955109], "dimensions": [0.5678711189296666, 1.517333964546085, 0.7695312269393062], "R_cam": [[0.22550728917121887, 0.013527154922485352, 0.9741476774215698], [0.000529170036315918, 0.9999018907546997, -0.014007451012730598], [-0.9742414355278015, 0.0036743883974850178, 0.22547805309295654]], "bbox3D_cam": [[-2.679267644882202, -1.22954261302948, 6.921088695526123], [-2.505732774734497, -1.2291353940963745, 6.171379566192627], [-2.4852073192596436, 0.2880496084690094, 6.176954746246338], [-2.6587421894073486, 0.28764238953590393, 6.926663875579834], [-2.12607741355896, -1.2374969720840454, 7.049130916595459], [-1.9525425434112549, -1.23708975315094, 6.299421787261963], [-1.9320170879364014, 0.28009524941444397, 6.304996967315674], [-2.1055519580841064, 0.2796880304813385, 7.05470609664917]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 771, "image_id": 112, "category_id": 45, "category_name": "person", "bbox2D_proj": [330.0, 277.0, 357.0, 369.0], "bbox2D_tight": [330.0, 277.0, 357.0, 369.0], "bbox2D_trunc": [330.0, 277.0, 357.0, 369.0], "center_cam": [1.6663297859911572, 1.2569721072175444, 8.520465686044073], "dimensions": [0.4648437955109025, 1.7222289610552721, 0.5000000279584687], "R_cam": [[-0.11513882875442505, -0.0389406681060791, -0.9925858974456787], [0.036919474601745605, 0.9983732104301453, -0.04345029592514038], [0.9926630854606628, -0.041648536920547485, -0.11351382732391357]], "bbox3D_cam": [[1.9593455791473389, 0.39812737703323364, 8.33454704284668], [1.9017760753631592, 0.41658705472946167, 8.830879211425781], [1.8347113132476807, 2.136014461517334, 8.759150505065918], [1.8922808170318604, 2.1175546646118164, 8.262819290161133], [1.497948169708252, 0.3779297471046448, 8.281781196594238], [1.4403786659240723, 0.3963894248008728, 8.778112411499023], [1.3733139038085938, 2.115816831588745, 8.706384658813477], [1.4308834075927734, 2.0973570346832275, 8.210052490234375]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 772, "image_id": 112, "category_id": 45, "category_name": "person", "bbox2D_proj": [302.0, 274.0, 328.0, 355.0], "bbox2D_tight": [302.0, 274.0, 328.0, 355.0], "bbox2D_trunc": [302.0, 274.0, 328.0, 355.0], "center_cam": [1.3690197294233983, 1.372367324091623, 10.750245434269722], "dimensions": [0.5312500021655465, 1.8681640207787606, 0.7695312728050887], "R_cam": [[0.9094550013542175, 0.02070772647857666, -0.41528648138046265], [0.023614943027496338, 0.9945747256278992, 0.10130859911441803], [0.4151313304901123, -0.10194255411624908, 0.9040319323539734]], "bbox3D_cam": [[1.110060453414917, 0.4073566794395447, 10.445606231689453], [1.8099145889282227, 0.4255290627479553, 10.76506233215332], [1.848599910736084, 2.283557891845703, 10.574617385864258], [1.1487458944320679, 2.265385389328003, 10.255160331726074], [0.8894395232200623, 0.46117693185806274, 10.925872802734375], [1.5892935991287231, 0.4793493151664734, 11.245329856872559], [1.627979040145874, 2.3373780250549316, 11.05488395690918], [0.9281249642372131, 2.3192057609558105, 10.735427856445312]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 773, "image_id": 112, "category_id": 45, "category_name": "person", "bbox2D_proj": [263.0, 276.0, 287.0, 382.0], "bbox2D_tight": [263.0, 276.0, 287.0, 382.0], "bbox2D_trunc": [263.0, 276.0, 287.0, 382.0], "center_cam": [0.21935482075369106, 1.230254476357819, 7.595637834472654], "dimensions": [0.5644534872042904, 1.7524413654657713, 0.5820316121435608], "R_cam": [[-0.5811728239059448, -0.05507457256317139, 0.8119143843650818], [-0.09972739219665527, 0.9950071573257446, -0.003891170024871826], [-0.8076463341712952, -0.08323162794113159, -0.5837635397911072]], "bbox3D_cam": [[0.20759885013103485, 0.3885291814804077, 8.068358421325684], [-0.13066215813159943, 0.33048462867736816, 7.598282814025879], [-0.22717709839344025, 2.07417631149292, 7.4524245262146], [0.11108391731977463, 2.13222074508667, 7.922500133514404], [0.6658867597579956, 0.38633275032043457, 7.738851070404053], [0.32762572169303894, 0.328288197517395, 7.268775463104248], [0.23111079633235931, 2.0719799995422363, 7.122917175292969], [0.5693718194961548, 2.1300244331359863, 7.592992782592773]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 774, "image_id": 112, "category_id": 45, "category_name": "person", "bbox2D_proj": [282.0, 274.0, 306.0, 353.0], "bbox2D_tight": [282.0, 274.0, 306.0, 353.0], "bbox2D_trunc": [282.0, 274.0, 306.0, 353.0], "center_cam": [1.0698000781035464, 1.4020229288959796, 10.9874879551819], "dimensions": [0.6367189132569465, 1.983276319335781, 0.6875001679423567], "R_cam": [[0.6530806422233582, 0.06425309181213379, -0.754557728767395], [-0.02236795425415039, 0.9975960850715637, 0.06558877229690552], [0.7569580674171448, -0.025956839323043823, 0.6529477834701538]], "bbox3D_cam": [[1.0218082666397095, 0.39957690238952637, 10.545150756835938], [1.4708013534545898, 0.3841989040374756, 11.065559387207031], [1.5982329845428467, 2.3627073764801025, 11.014080047607422], [1.1492398977279663, 2.3780853748321533, 10.493671417236328], [0.5413671135902405, 0.4413384795188904, 10.960895538330078], [0.9903601408004761, 0.4259604811668396, 11.481304168701172], [1.117791771888733, 2.4044690132141113, 11.429824829101562], [0.6687986850738525, 2.419847011566162, 10.909416198730469]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 775, "image_id": 112, "category_id": 45, "category_name": "person", "bbox2D_proj": [352.0, 273.0, 368.0, 349.0], "bbox2D_tight": [352.0, 273.0, 368.0, 349.0], "bbox2D_trunc": [352.0, 273.0, 368.0, 349.0], "center_cam": [3.149551726577893, 1.7223148847404812, 14.031707149460036], "dimensions": [0.7578125890909051, 2.3935546314060616, 0.8203126262648393], "R_cam": [[0.9266056418418884, 0.01814281940460205, 0.3755969703197479], [0.011411190032958984, 0.9970187544822693, -0.07631198316812515], [-0.3758617043495178, 0.07499716430902481, 0.9236361980438232]], "bbox3D_cam": [[2.6054694652557373, 0.5533400774002075, 13.746142387390137], [3.3655757904052734, 0.5627008676528931, 13.43781852722168], [3.4090018272399902, 2.9491195678710938, 13.617328643798828], [2.648895502090454, 2.939758777618408, 13.925652503967285], [2.890101432800293, 0.4955099821090698, 14.446084976196289], [3.650207757949829, 0.5048707723617554, 14.137761116027832], [3.693633794784546, 2.891289710998535, 14.31727123260498], [2.9335274696350098, 2.8819289207458496, 14.625595092773438]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 776, "image_id": 112, "category_id": 45, "category_name": "person", "bbox2D_proj": [468.0, 279.0, 500.0, 360.0], "bbox2D_tight": [468.0, 279.0, 500.0, 360.0], "bbox2D_trunc": [468.0, 279.0, 500.0, 360.0], "center_cam": [4.58152614840799, 1.2744333166959252, 9.057607960782196], "dimensions": [0.5312499757481155, 1.6367187150777522, 0.6992187478272169], "R_cam": [[-0.9953729510307312, 0.0955883264541626, -0.00977112352848053], [0.09316205978393555, 0.984973132610321, 0.14542584121227264], [0.023525312542915344, 0.1438426524400711, -0.9893208742141724]], "bbox3D_cam": [[4.853888034820557, 0.3971722722053528, 9.194456100463867], [4.157904148101807, 0.46231287717819214, 9.210906028747559], [4.314355373382568, 2.074436902999878, 9.446335792541504], [5.010339260101318, 2.009296417236328, 9.429886817932129], [4.848697185516357, 0.47442978620529175, 8.668879508972168], [4.152713298797607, 0.5395703911781311, 8.685328483581543], [4.309164524078369, 2.1516945362091064, 8.920759201049805], [5.005148410797119, 2.0865538120269775, 8.904309272766113]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 777, "image_id": 112, "category_id": 45, "category_name": "person", "bbox2D_proj": [508.0, 295.0, 512.0, 341.0], "bbox2D_tight": [508.0, 295.0, 512.0, 341.0], "bbox2D_trunc": [508.0, 295.0, 512.0, 341.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 778, "image_id": 112, "category_id": 45, "category_name": "person", "bbox2D_proj": [46.0, 318.0, 130.0, 512.0], "bbox2D_tight": [46.0, 318.0, 130.0, 512.0], "bbox2D_trunc": [46.0, 318.0, 130.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 779, "image_id": 112, "category_id": 37, "category_name": "lantern", "bbox2D_proj": [311.0, 260.0, 331.0, 287.0], "bbox2D_tight": [311.0, 260.0, 331.0, 287.0], "bbox2D_trunc": [311.0, 260.0, 331.0, 287.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 780, "image_id": 112, "category_id": 45, "category_name": "person", "bbox2D_proj": [0.0, 366.0, 45.0, 512.0], "bbox2D_tight": [0.0, 366.0, 45.0, 512.0], "bbox2D_trunc": [0.0, 366.0, 45.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 781, "image_id": 112, "category_id": 45, "category_name": "person", "bbox2D_proj": [0.0, 266.0, 61.0, 397.0], "bbox2D_tight": [0.0, 266.0, 61.0, 397.0], "bbox2D_trunc": [0.0, 266.0, 61.0, 397.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 782, "image_id": 112, "category_id": 45, "category_name": "person", "bbox2D_proj": [177.0, 274.0, 216.0, 416.0], "bbox2D_tight": [177.0, 274.0, 216.0, 416.0], "bbox2D_trunc": [177.0, 274.0, 216.0, 416.0], "center_cam": [-0.8760810192135822, 1.260318563805917, 6.473392834205672], "dimensions": [0.5039063177339631, 1.953124953641363, 0.5634766504163874], "R_cam": [[0.8903501033782959, 0.011568784713745117, -0.4551295042037964], [0.027885138988494873, 0.9964145421981812, 0.07987795770168304], [0.4544217586517334, -0.08381067216396332, 0.8868351578712463]], "bbox3D_cam": [[-1.0235530138015747, 0.2592756748199463, 6.203770637512207], [-0.5218615531921387, 0.27498823404312134, 6.459826469421387], [-0.49926629662513733, 2.2211103439331055, 6.296133518218994], [-1.000957727432251, 2.205397844314575, 6.0400776863098145], [-1.252895712852478, 0.2995266318321228, 6.6506524085998535], [-0.7512041926383972, 0.3152392506599426, 6.906708240509033], [-0.7286089658737183, 2.2613613605499268, 6.743015289306641], [-1.2303004264831543, 2.2456488609313965, 6.486959457397461]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 783, "image_id": 113, "category_id": 47, "category_name": "pipe", "bbox2D_proj": [281.0, 78.0, 329.0, 186.0], "bbox2D_tight": [281.0, 78.0, 329.0, 186.0], "bbox2D_trunc": [281.0, 78.0, 329.0, 186.0], "center_cam": [0.3561304642130255, -0.8911912843813546, 3.194270378329633], "dimensions": [0.12480012955205222, 0.7187191674628318, 0.3515129691859598], "R_cam": [[0.987682580947876, -0.0035122204571962357, 0.1564314216375351], [0.03171950578689575, 0.9834847450256348, -0.17819048464298248], [-0.15322206914424896, 0.18095757067203522, 0.9714821577072144]], "bbox3D_cam": [[0.17403964698314667, -1.2390717267990112, 3.095550775527954], [0.5212228894233704, -1.227921962738037, 3.041691303253174], [0.5186985731124878, -0.5210726261138916, 3.1717488765716553], [0.1715153604745865, -0.5322225093841553, 3.2256083488464355], [0.193562313914299, -1.2613099813461304, 3.216791868209839], [0.5407455563545227, -1.2501600980758667, 3.1629323959350586], [0.5382212400436401, -0.5433108806610107, 3.29298996925354], [0.19103802740573883, -0.5544606447219849, 3.3468494415283203]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 784, "image_id": 113, "category_id": 23, "category_name": "dress", "bbox2D_proj": [234.0, 241.0, 419.0, 512.0], "bbox2D_tight": [234.0, 241.0, 419.0, 512.0], "bbox2D_trunc": [234.0, 241.0, 419.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 785, "image_id": 113, "category_id": 47, "category_name": "pipe", "bbox2D_proj": [241.0, 166.0, 265.0, 240.0], "bbox2D_tight": [241.0, 166.0, 265.0, 240.0], "bbox2D_trunc": [241.0, 166.0, 265.0, 240.0], "center_cam": [-0.02356563122781553, -0.4122943777402376, 3.4085239376099485], "dimensions": [0.03906249927363793, 0.62695311983789, 0.15847206428067595], "R_cam": [[-0.9966956973075867, 0.08122432231903076, -0.0005952269420959055], [0.07832509279251099, 0.9591279625892639, -0.2719170153141022], [-0.021515386179089546, -0.2710651457309723, -0.9623205661773682]], "bbox3D_cam": [[0.029958300292491913, -0.7138538360595703, 3.5139966011047363], [-0.12799012660980225, -0.7014414072036743, 3.510587215423584], [-0.07706630975008011, -0.10011318325996399, 3.340641975402832], [0.08088210225105286, -0.11252555251121521, 3.3440515995025635], [0.029935047030448914, -0.724475622177124, 3.4764060974121094], [-0.12801337242126465, -0.712063193321228, 3.472996473312378], [-0.07708956301212311, -0.1107349693775177, 3.303051471710205], [0.08085885643959045, -0.12314733862876892, 3.3064608573913574]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 786, "image_id": 113, "category_id": 38, "category_name": "light_fixture", "bbox2D_proj": [275.0, 8.0, 323.0, 51.0], "bbox2D_tight": [275.0, 8.0, 323.0, 51.0], "bbox2D_trunc": [275.0, 8.0, 323.0, 51.0], "center_cam": [0.2680031638647685, -1.4178576613437308, 2.7780541875186175], "dimensions": [0.16202054449899972, 0.20172643404362856, 0.29324622019913565], "R_cam": [[0.9828696250915527, -0.003512220922857523, 0.18426866829395294], [0.03674030676484108, 0.9834847450256348, -0.17722341418266296], [-0.18060295283794403, 0.1809575855731964, 0.966766357421875]], "bbox3D_cam": [[0.10931837558746338, -1.5080851316452026, 2.7079648971557617], [0.3975411653518677, -1.4973111152648926, 2.655003786087036], [0.3968326449394226, -1.2989163398742676, 2.691507577896118], [0.10860985517501831, -1.309690237045288, 2.7444686889648438], [0.139173686504364, -1.5367989540100098, 2.864600896835327], [0.4273964762687683, -1.5260250568389893, 2.8116397857666016], [0.42668795585632324, -1.3276301622390747, 2.8481435775756836], [0.13846516609191895, -1.3384041786193848, 2.901104688644409]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 787, "image_id": 113, "category_id": 46, "category_name": "piano_leg", "bbox2D_proj": [38.0, 386.0, 75.0, 446.0], "bbox2D_tight": [38.0, 386.0, 75.0, 446.0], "bbox2D_trunc": [38.0, 386.0, 75.0, 446.0], "center_cam": [-0.994836788350614, 0.7452915606914368, 2.1699447692901033], "dimensions": [0.06201171987015543, 0.27046585440401827, 0.24023437569953277], "R_cam": [[0.097240149974823, 0.15526843070983887, 0.9830747842788696], [-0.21716082096099854, 0.9672661423683167, -0.13129132986068726], [-0.9712803959846497, -0.20071852207183838, 0.12777531147003174]], "bbox3D_cam": [[-1.0579955577850342, 0.6446408629417419, 2.3097941875457764], [-1.034635066986084, 0.5924713611602783, 2.0764591693878174], [-0.9926402568817139, 0.8540838360786438, 2.02217173576355], [-1.016000747680664, 0.9062533378601074, 2.255506753921509], [-0.9970333576202393, 0.6364992260932922, 2.3177177906036377], [-0.9736729264259338, 0.5843297243118286, 2.0843827724456787], [-0.9316781163215637, 0.8459421992301941, 2.030095338821411], [-0.9550385475158691, 0.8981117010116577, 2.26343035697937]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 788, "image_id": 113, "category_id": 45, "category_name": "person", "bbox2D_proj": [260.0, 192.0, 380.0, 315.0], "bbox2D_tight": [260.0, 192.0, 380.0, 315.0], "bbox2D_trunc": [260.0, 192.0, 380.0, 315.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 789, "image_id": 114, "category_id": 47, "category_name": "pipe", "bbox2D_proj": [364.0, 148.0, 396.0, 292.0], "bbox2D_tight": [364.0, 148.0, 396.0, 292.0], "bbox2D_trunc": [364.0, 148.0, 396.0, 292.0], "center_cam": [0.8843851856685998, -0.288986551912073, 3.1948002327549827], "dimensions": [0.1586106948257447, 1.1620772477527954, 0.16456650903597342], "R_cam": [[0.9953930974006653, 0.09520849585533142, 0.011311055161058903], [-0.09266773611307144, 0.985617995262146, -0.14131377637386322], [-0.024602653458714485, 0.13961459696292877, 0.9899001121520996]], "bbox3D_cam": [[0.7462641596794128, -0.8428367972373962, 3.037198781967163], [0.9100725054740906, -0.8580867648124695, 3.0331499576568604], [1.02071213722229, 0.2872775197029114, 3.1953928470611572], [0.8569037914276123, 0.3025274872779846, 3.19944167137146], [0.7480581998825073, -0.8652506470680237, 3.1942074298858643], [0.9118665456771851, -0.8805006146430969, 3.1901586055755615], [1.0225062370300293, 0.26486366987228394, 3.3524014949798584], [0.8586978316307068, 0.2801136374473572, 3.356450319290161]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 790, "image_id": 114, "category_id": 36, "category_name": "lamp", "bbox2D_proj": [274.0, 8.0, 322.0, 51.0], "bbox2D_tight": [274.0, 8.0, 322.0, 51.0], "bbox2D_trunc": [274.0, 8.0, 322.0, 51.0], "center_cam": [0.2513963250395084, -1.4113559562553801, 2.7539056279883516], "dimensions": [0.1976364256526182, 0.19418838834659802, 0.2799354675245993], "R_cam": [[0.9915986061096191, -0.0435265451669693, -0.12180986255407333], [0.027496159076690674, 0.9910911321640015, -0.13031478226184845], [0.12639684975147247, 0.12587065994739532, 0.9839614629745483]], "bbox3D_cam": [[0.1288677155971527, -1.4985562562942505, 2.6267595291137695], [0.40645134449005127, -1.4908591508865356, 2.662142276763916], [0.39799898862838745, -1.2984007596969604, 2.686584949493408], [0.12041537463665009, -1.3060978651046753, 2.6512019634246826], [0.10479365289211273, -1.5243111848831177, 2.821226119995117], [0.3823772668838501, -1.5166140794754028, 2.8566091060638428], [0.37392494082450867, -1.3241556882858276, 2.881051540374756], [0.09634129703044891, -1.3318527936935425, 2.8456687927246094]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 791, "image_id": 114, "category_id": 23, "category_name": "dress", "bbox2D_proj": [234.0, 257.0, 427.0, 512.0], "bbox2D_tight": [234.0, 257.0, 427.0, 512.0], "bbox2D_trunc": [234.0, 257.0, 427.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 792, "image_id": 114, "category_id": 46, "category_name": "piano_leg", "bbox2D_proj": [42.0, 389.0, 63.0, 447.0], "bbox2D_tight": [42.0, 389.0, 63.0, 447.0], "bbox2D_trunc": [42.0, 389.0, 63.0, 447.0], "center_cam": [-1.0008874894981048, 0.7708968549426118, 2.182877942626052], "dimensions": [0.05664062724905159, 0.25830077687328434, 0.1464843745979333], "R_cam": [[-0.018793972209095955, 0.08346885442733765, 0.9963332414627075], [-0.05105924606323242, 0.995128870010376, -0.0843312218785286], [-0.9985188841819763, -0.05245674401521683, -0.014440417289733887]], "bbox3D_cam": [[-1.0385074615478516, 0.6485035419464111, 2.263195514678955], [-1.0412604808807373, 0.6410241723060608, 2.1169281005859375], [-1.0197004079818726, 0.8980666995048523, 2.1033785343170166], [-1.0169473886489868, 0.9055460691452026, 2.249645948410034], [-0.9820745587348938, 0.6437270045280457, 2.2623775005340576], [-0.9848275780677795, 0.6362476348876953, 2.11611008644104], [-0.9632675051689148, 0.8932901620864868, 2.102560520172119], [-0.960514485836029, 0.9007695317268372, 2.2488279342651367]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 793, "image_id": 114, "category_id": 47, "category_name": "pipe", "bbox2D_proj": [436.0, 141.0, 446.0, 167.0], "bbox2D_tight": [436.0, 141.0, 446.0, 167.0], "bbox2D_trunc": [436.0, 141.0, 446.0, 167.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 794, "image_id": 114, "category_id": 45, "category_name": "person", "bbox2D_proj": [272.0, 195.0, 365.0, 310.0], "bbox2D_tight": [272.0, 195.0, 365.0, 310.0], "bbox2D_trunc": [272.0, 195.0, 365.0, 310.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 795, "image_id": 115, "category_id": 45, "category_name": "person", "bbox2D_proj": [262.0, 226.0, 284.0, 298.0], "bbox2D_tight": [262.0, 226.0, 284.0, 298.0], "bbox2D_trunc": [262.0, 226.0, 284.0, 298.0], "center_cam": [0.17059363140134, 0.06498260112998129, 4.5822585945097645], "dimensions": [0.23052977879558673, 0.7094726789058139, 0.2851562443696679], "R_cam": [[-0.08761724829673767, -0.03425788879394531, 0.9955650568008423], [0.14508187770843506, 0.9883133172988892, 0.04677671194076538], [-0.9855325818061829, 0.14853695034980774, -0.08162307739257812]], "bbox3D_cam": [[0.0804847851395607, -0.3116852641105652, 4.67949104309082], [0.05550013482570648, -0.2703142762184143, 4.398460388183594], [0.03119508922100067, 0.4308670163154602, 4.503842830657959], [0.05617973208427429, 0.3894960284233093, 4.784873962402344], [0.3099921941757202, -0.3009018301963806, 4.660674571990967], [0.2850075364112854, -0.25953084230422974, 4.379643440246582], [0.2607024908065796, 0.4416504502296448, 4.4850263595581055], [0.2856871485710144, 0.4002794623374939, 4.766057014465332]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 796, "image_id": 115, "category_id": 45, "category_name": "person", "bbox2D_proj": [146.0, 238.0, 161.0, 297.0], "bbox2D_tight": [146.0, 238.0, 161.0, 297.0], "bbox2D_trunc": [146.0, 238.0, 161.0, 297.0], "center_cam": [-1.055970673604104, 0.10205129075316359, 4.517798316476803], "dimensions": [0.1796874965637277, 0.5940246747845236, 0.19531249700822564], "R_cam": [[0.45648816227912903, 0.02436506748199463, 0.8893958330154419], [-0.09523820877075195, 0.9952198266983032, 0.021617412567138672], [-0.8846176266670227, -0.09457254409790039, 0.4566265344619751]], "bbox3D_cam": [[-1.1876929998397827, -0.18618285655975342, 4.591250896453857], [-1.098535180091858, -0.20478403568267822, 4.418474197387695], [-1.084061622619629, 0.38640105724334717, 4.362295627593994], [-1.1732195615768433, 0.405002236366272, 4.5350728034973145], [-1.0278797149658203, -0.182298481464386, 4.6733012199401855], [-0.9387218356132507, -0.2008996605873108, 4.500524044036865], [-0.9242483377456665, 0.3902854323387146, 4.444345951080322], [-1.0134061574935913, 0.4088866114616394, 4.617122650146484]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 797, "image_id": 115, "category_id": 45, "category_name": "person", "bbox2D_proj": [500.0, 457.0, 512.0, 510.0], "bbox2D_tight": [500.0, 457.0, 512.0, 510.0], "bbox2D_trunc": [500.0, 457.0, 512.0, 510.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 798, "image_id": 115, "category_id": 45, "category_name": "person", "bbox2D_proj": [294.0, 226.0, 326.0, 276.0], "bbox2D_tight": [294.0, 226.0, 326.0, 276.0], "bbox2D_trunc": [294.0, 226.0, 326.0, 276.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 799, "image_id": 115, "category_id": 45, "category_name": "person", "bbox2D_proj": [101.0, 233.0, 121.0, 291.0], "bbox2D_tight": [101.0, 233.0, 121.0, 291.0], "bbox2D_trunc": [101.0, 233.0, 121.0, 291.0], "center_cam": [-1.4931935389755613, 0.0657336766513022, 4.475654334905412], "dimensions": [0.203124997932087, 0.5810547036357852, 0.21386718427887824], "R_cam": [[0.8350876569747925, 0.06309902667999268, -0.5464861989021301], [-0.008332967758178711, 0.9947370290756226, 0.10212184488773346], [0.5500538349151611, -0.08072686195373535, 0.8312183618545532]], "bbox3D_cam": [[-1.5453219413757324, -0.23274528980255127, 4.355867862701416], [-1.3667240142822266, -0.23452740907669067, 4.473505973815918], [-1.3300601243972778, 0.34346914291381836, 4.426599502563477], [-1.5086579322814941, 0.34525126218795776, 4.308960914611816], [-1.6563268899917603, -0.21200180053710938, 4.5247087478637695], [-1.477729082107544, -0.21378391981124878, 4.64234733581543], [-1.4410650730133057, 0.36421263217926025, 4.59544038772583], [-1.6196630001068115, 0.36599475145339966, 4.477802276611328]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 800, "image_id": 115, "category_id": 45, "category_name": "person", "bbox2D_proj": [86.0, 238.0, 102.0, 285.0], "bbox2D_tight": [86.0, 238.0, 102.0, 285.0], "bbox2D_trunc": [86.0, 238.0, 102.0, 285.0], "center_cam": [-1.640168418659525, 0.04918745093356193, 4.459118065050333], "dimensions": [0.1801810930080746, 0.4363403439359877, 0.18018109340098637], "R_cam": [[0.07509824633598328, -0.022847652435302734, -0.9969143271446228], [-0.045124173164367676, 0.9986354112625122, -0.026286303997039795], [0.9961546063423157, 0.046958982944488525, 0.07396483421325684]], "bbox3D_cam": [[-1.5521368980407715, -0.16225160658359528, 4.3524651527404785], [-1.5386055707931519, -0.17038212716579437, 4.53195333480835], [-1.5485749244689941, 0.26536279916763306, 4.552443504333496], [-1.5621061325073242, 0.27349334955215454, 4.372955322265625], [-1.7317619323730469, -0.16698791086673737, 4.365792274475098], [-1.7182307243347168, -0.17511843144893646, 4.545280456542969], [-1.7281999588012695, 0.26062649488449097, 4.565770626068115], [-1.7417312860488892, 0.26875704526901245, 4.386282444000244]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 801, "image_id": 115, "category_id": 45, "category_name": "person", "bbox2D_proj": [298.0, 220.0, 314.0, 247.0], "bbox2D_tight": [298.0, 220.0, 314.0, 247.0], "bbox2D_trunc": [298.0, 220.0, 314.0, 247.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 802, "image_id": 115, "category_id": 45, "category_name": "person", "bbox2D_proj": [315.0, 227.0, 365.0, 357.0], "bbox2D_tight": [315.0, 227.0, 365.0, 357.0], "bbox2D_trunc": [315.0, 227.0, 365.0, 357.0], "center_cam": [0.6220964015494315, 0.2594573335678047, 3.30395295208194], "dimensions": [0.35498045903671427, 0.9185791245465083, 0.41406248927816747], "R_cam": [[0.4405491352081299, 0.010216236114501953, -0.8976703882217407], [0.008492112159729004, 0.9998431205749512, 0.015546739101409912], [0.8976883888244629, -0.014472216367721558, 0.44039320945739746]], "bbox3D_cam": [[0.6855245232582092, -0.2042776644229889, 3.0465848445892334], [0.8679393529891968, -0.20076140761375427, 3.4182839393615723], [0.8773237466812134, 0.7176735401153564, 3.4049899578094482], [0.6949089765548706, 0.714157223701477, 3.0332908630371094], [0.3668690621852875, -0.19875887036323547, 3.202915906906128], [0.5492838621139526, -0.19524261355400085, 3.574615001678467], [0.558668315410614, 0.7231923341751099, 3.5613210201263428], [0.37625348567962646, 0.7196760177612305, 3.189621925354004]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 803, "image_id": 115, "category_id": 45, "category_name": "person", "bbox2D_proj": [113.0, 238.0, 124.0, 282.0], "bbox2D_tight": [113.0, 238.0, 124.0, 282.0], "bbox2D_trunc": [113.0, 238.0, 124.0, 282.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 804, "image_id": 115, "category_id": 45, "category_name": "person", "bbox2D_proj": [162.0, 225.0, 184.0, 298.0], "bbox2D_tight": [162.0, 225.0, 184.0, 298.0], "bbox2D_trunc": [162.0, 225.0, 184.0, 298.0], "center_cam": [-0.8506573683777232, 0.04219826222115658, 4.432415733657047], "dimensions": [0.22851562158528496, 0.7080078304261256, 0.23144530881917752], "R_cam": [[-0.9700257778167725, 0.03477597236633301, -0.2405007779598236], [0.03231531381607056, 0.9993772506713867, 0.014169156551361084], [0.2408437728881836, 0.005972586572170258, -0.9705455303192139]], "bbox3D_cam": [[-0.7232351303100586, -0.3169437348842621, 4.513322830200195], [-0.9477430582046509, -0.3094644844532013, 4.569065093994141], [-0.9231213331222534, 0.39810243248939514, 4.573293685913086], [-0.6986134648323059, 0.39062318205833435, 4.517551422119141], [-0.7781933546066284, -0.3137058913707733, 4.291538238525391], [-1.0027012825012207, -0.3062266409397125, 4.347280502319336], [-0.9780795574188232, 0.4013402760028839, 4.351509094238281], [-0.753571629524231, 0.3938610255718231, 4.295766830444336]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 805, "image_id": 116, "category_id": 15, "category_name": "car", "bbox2D_proj": [248.0, 270.0, 315.0, 317.0], "bbox2D_tight": [248.0, 270.0, 315.0, 317.0], "bbox2D_trunc": [248.0, 270.0, 315.0, 317.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 806, "image_id": 116, "category_id": 45, "category_name": "person", "bbox2D_proj": [0.0, 267.0, 13.0, 328.0], "bbox2D_tight": [0.0, 267.0, 13.0, 328.0], "bbox2D_trunc": [0.0, 267.0, 13.0, 328.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 807, "image_id": 116, "category_id": 28, "category_name": "flowerpot", "bbox2D_proj": [169.0, 238.0, 214.0, 264.0], "bbox2D_tight": [169.0, 238.0, 214.0, 264.0], "bbox2D_trunc": [169.0, 238.0, 214.0, 264.0], "center_cam": [-1.91561804282304, -0.1542058922352232, 13.426419989521616], "dimensions": [1.4041854582566042, 0.9541561670438873, 1.4100639853192114], "R_cam": [[-0.9983859658241272, 0.0008011031895875931, 0.056788019835948944], [-0.0073887649923563, 0.9895703196525574, -0.14386111497879028], [-0.0563109815120697, -0.1440485119819641, -0.9879671931266785]], "bbox3D_cam": [[-1.2519766092300415, -0.5200949907302856, 14.228487968444824], [-2.6597647666931152, -0.5305136442184448, 14.149085998535156], [-2.6590003967285156, 0.4136909544467926, 14.011641502380371], [-1.251212239265442, 0.4241096079349518, 14.091043472290039], [-1.1722357273101807, -0.7221027612686157, 12.841198921203613], [-2.580023765563965, -0.7325214147567749, 12.761796951293945], [-2.5792593955993652, 0.2116832435131073, 12.62435245513916], [-1.171471357345581, 0.22210189700126648, 12.703754425048828]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 808, "image_id": 116, "category_id": 63, "category_name": "streetlight", "bbox2D_proj": [188.0, 0.0, 334.0, 159.0], "bbox2D_tight": [188.0, 0.0, 334.0, 159.0], "bbox2D_trunc": [188.0, 0.0, 334.0, 159.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 809, "image_id": 116, "category_id": 45, "category_name": "person", "bbox2D_proj": [47.0, 257.0, 76.0, 346.0], "bbox2D_tight": [47.0, 257.0, 76.0, 346.0], "bbox2D_trunc": [47.0, 257.0, 76.0, 346.0], "center_cam": [-7.46932241908335, 1.75103734563745, 16.80268291308437], "dimensions": [1.0156250364636712, 3.2519532452560616, 1.0390625403579303], "R_cam": [[0.966698169708252, -0.018075108528137207, -0.2552802264690399], [-0.0008025169372558594, 0.9972838163375854, -0.07365109026432037], [0.25591808557510376, 0.07140321284532547, 0.9640579223632812]], "bbox3D_cam": [[-7.812528133392334, 0.16729509830474854, 16.064064025878906], [-6.80806827545166, 0.16646134853363037, 16.329978942871094], [-6.866847515106201, 3.4095816612243652, 16.562179565429688], [-7.871307373046875, 3.4104151725769043, 16.2962646484375], [-8.071797370910645, 0.09249317646026611, 17.04318618774414], [-7.0673370361328125, 0.09165942668914795, 17.309101104736328], [-7.1261162757873535, 3.334779739379883, 17.541301727294922], [-8.130576133728027, 3.335613250732422, 17.275386810302734]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 810, "image_id": 116, "category_id": 45, "category_name": "person", "bbox2D_proj": [70.0, 253.0, 93.0, 336.0], "bbox2D_tight": [70.0, 253.0, 93.0, 336.0], "bbox2D_trunc": [70.0, 253.0, 93.0, 336.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 811, "image_id": 116, "category_id": 63, "category_name": "streetlight", "bbox2D_proj": [154.0, 0.0, 499.0, 238.0], "bbox2D_tight": [154.0, 0.0, 499.0, 238.0], "bbox2D_trunc": [154.0, 0.0, 499.0, 238.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 812, "image_id": 116, "category_id": 45, "category_name": "person", "bbox2D_proj": [112.0, 258.0, 137.0, 293.0], "bbox2D_tight": [112.0, 258.0, 137.0, 293.0], "bbox2D_trunc": [112.0, 258.0, 137.0, 293.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 813, "image_id": 116, "category_id": 13, "category_name": "building", "bbox2D_proj": [233.0, 210.0, 337.0, 268.0], "bbox2D_tight": [233.0, 210.0, 337.0, 268.0], "bbox2D_trunc": [233.0, 210.0, 337.0, 268.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 814, "image_id": 116, "category_id": 45, "category_name": "person", "bbox2D_proj": [142.0, 257.0, 186.0, 407.0], "bbox2D_tight": [142.0, 257.0, 186.0, 407.0], "bbox2D_trunc": [142.0, 257.0, 186.0, 407.0], "center_cam": [-1.6056018652160238, 1.242724471421603, 7.6286957654942436], "dimensions": [0.7861328315490593, 2.4124756747949387, 1.0195312724513759], "R_cam": [[-0.4676782488822937, -0.013935685157775879, -0.8837889432907104], [0.02423703670501709, 0.999297559261322, -0.028582632541656494], [0.8835664391517639, -0.034787893295288086, -0.4670119285583496]], "bbox3D_cam": [[-1.0029981136322021, 0.03621363639831543, 7.403813362121582], [-1.4798107147216797, 0.06092405319213867, 8.30463695526123], [-1.5134302377700806, 2.4717049598693848, 8.220711708068848], [-1.0366175174713135, 2.4469945430755615, 7.319888591766357], [-1.6977735757827759, 0.013743877410888672, 7.036679744720459], [-2.174586296081543, 0.038454294204711914, 7.937503337860107], [-2.2082056999206543, 2.449235200881958, 7.853578567504883], [-1.7313930988311768, 2.4245247840881348, 6.952754974365234]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 815, "image_id": 116, "category_id": 45, "category_name": "person", "bbox2D_proj": [76.0, 259.0, 104.0, 347.0], "bbox2D_tight": [76.0, 259.0, 104.0, 347.0], "bbox2D_trunc": [76.0, 259.0, 104.0, 347.0], "center_cam": [-6.679305837212453, 1.75194221577196, 17.681746326320436], "dimensions": [1.0468750390512787, 3.299316534056166, 1.0937500427637068], "R_cam": [[-0.983715832233429, 0.04646313190460205, -0.17362181842327118], [0.074404776096344, 0.9846203923225403, -0.15807177126407623], [0.16360707581043243, -0.16841600835323334, -0.9720437526702881]], "bbox3D_cam": [[-6.127104759216309, 0.16970551013946533, 18.37890625], [-7.2030439376831055, 0.25108587741851807, 18.557851791381836], [-7.049747467041016, 3.499660015106201, 18.002193450927734], [-5.973808288574219, 3.4182796478271484, 17.8232479095459], [-6.308864593505859, 0.004224181175231934, 17.361297607421875], [-7.384803771972656, 0.08560454845428467, 17.54024314880371], [-7.231507301330566, 3.334178924560547, 16.98458480834961], [-6.1555681228637695, 3.252798557281494, 16.805639266967773]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 816, "image_id": 116, "category_id": 45, "category_name": "person", "bbox2D_proj": [104.0, 271.0, 143.0, 410.0], "bbox2D_tight": [104.0, 271.0, 143.0, 410.0], "bbox2D_trunc": [104.0, 271.0, 143.0, 410.0], "center_cam": [-2.2253501567285756, 1.3682827869388277, 7.554863635991686], "dimensions": [0.6694336073960254, 2.183349688852684, 0.7617187627589549], "R_cam": [[-0.14480428397655487, -0.007338285446166992, -0.989433228969574], [-0.025716304779052734, 0.9996627569198608, -0.0036506359465420246], [0.9891262054443359, 0.024915877729654312, -0.1449441909790039]], "bbox3D_cam": [[-1.8310091495513916, 0.28799235820770264, 7.199460506439209], [-1.9413092136383057, 0.26840388774871826, 7.952896595001221], [-1.9573314189910889, 2.451016902923584, 8.007296562194824], [-1.8470312356948853, 2.4706053733825684, 7.253860950469971], [-2.4933688640594482, 0.2855485677719116, 7.10243034362793], [-2.6036689281463623, 0.26596009731292725, 7.855865955352783], [-2.6196911334991455, 2.448573112487793, 7.910266399383545], [-2.5093910694122314, 2.4681615829467773, 7.156830310821533]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 817, "image_id": 117, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [300.0, 185.0, 324.0, 234.0], "bbox2D_tight": [300.0, 185.0, 324.0, 234.0], "bbox2D_trunc": [300.0, 185.0, 324.0, 234.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 818, "image_id": 117, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [146.0, 147.0, 182.0, 191.0], "bbox2D_tight": [146.0, 147.0, 182.0, 191.0], "bbox2D_trunc": [146.0, 147.0, 182.0, 191.0], "center_cam": [-1.6104269239019036, -1.4852825323365437, 7.768369023028743], "dimensions": [0.5000000343505464, 0.6656494603339559, 0.6024170592352798], "R_cam": [[0.9876528382301331, -0.06466281414031982, -0.14269007742404938], [0.047899484634399414, 0.9918647408485413, -0.11793965101242065], [0.14915558695793152, 0.10964865982532501, 0.982715368270874]], "bbox3D_cam": [[-1.8507224321365356, -1.8003425598144531, 7.441269397735596], [-1.2557435035705566, -1.7714869976043701, 7.531123638153076], [-1.2987862825393677, -1.111252784729004, 7.604111194610596], [-1.8937652111053467, -1.1401081085205078, 7.514256954193115], [-1.9220675230026245, -1.8593122959136963, 7.932627201080322], [-1.3270885944366455, -1.8304569721221924, 8.022480964660645], [-1.3701313734054565, -1.170222520828247, 8.095468521118164], [-1.9651103019714355, -1.19907808303833, 8.005615234375]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 819, "image_id": 117, "category_id": 65, "category_name": "suv", "bbox2D_proj": [500.0, 281.0, 512.0, 315.0], "bbox2D_tight": [500.0, 281.0, 512.0, 315.0], "bbox2D_trunc": [500.0, 281.0, 512.0, 315.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 820, "image_id": 117, "category_id": 65, "category_name": "suv", "bbox2D_proj": [254.0, 253.0, 349.0, 299.0], "bbox2D_tight": [254.0, 253.0, 349.0, 299.0], "bbox2D_trunc": [254.0, 253.0, 349.0, 299.0], "center_cam": [0.6655839985133604, 0.26903661372437926, 6.373687673247725], "dimensions": [0.660156277566629, 0.5158081315020131, 1.4101563516956483], "R_cam": [[0.8892598152160645, -0.13431818783283234, -0.437236487865448], [0.11006198823451996, 0.9906607866287231, -0.0804828405380249], [0.4439634084701538, 0.023447036743164062, 0.8957381248474121]], "bbox3D_cam": [[0.21754980087280273, -0.03749552369117737, 5.75894832611084], [1.4715451002120972, 0.11770911514759064, 6.385005950927734], [1.4022626876831055, 0.6287000179290771, 6.39709997177124], [0.14826738834381104, 0.47349536418914795, 5.771042346954346], [-0.07109463214874268, -0.0906268060207367, 6.35027551651001], [1.1829006671905518, 0.0645778626203537, 6.976333141326904], [1.11361825466156, 0.5755687952041626, 6.98842716217041], [-0.14037704467773438, 0.4203641414642334, 6.362369537353516]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 821, "image_id": 117, "category_id": 26, "category_name": "flag", "bbox2D_proj": [106.0, 23.0, 183.0, 215.0], "bbox2D_tight": [106.0, 23.0, 183.0, 215.0], "bbox2D_trunc": [106.0, 23.0, 183.0, 215.0], "center_cam": [-1.330180737467015, -1.5980024879303327, 5.517984463644836], "dimensions": [0.18750000519726545, 2.497070431091263, 0.7822266040502377], "R_cam": [[0.8214300870895386, -0.0703054666519165, -0.5659592747688293], [0.14337623119354248, 0.9859579801559448, 0.0856165811419487], [0.5519927144050598, -0.15147319436073303, 0.8199758529663086]], "bbox3D_cam": [[-1.510615587234497, -2.893108606338501, 5.414339542388916], [-0.8680710792541504, -2.7809557914733887, 5.846122741699219], [-1.0436285734176636, -0.31894946098327637, 5.467883586883545], [-1.6861730813980103, -0.43110227584838867, 5.036100387573242], [-1.6167329549789429, -2.8770554065704346, 5.568085193634033], [-0.9741884469985962, -2.7649025917053223, 5.999868392944336], [-1.1497459411621094, -0.30289626121520996, 5.621629238128662], [-1.792290449142456, -0.41504907608032227, 5.189846038818359]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 822, "image_id": 117, "category_id": 65, "category_name": "suv", "bbox2D_proj": [356.0, 265.0, 470.0, 317.0], "bbox2D_tight": [356.0, 265.0, 470.0, 317.0], "bbox2D_trunc": [356.0, 265.0, 470.0, 317.0], "center_cam": [2.1761694307117505, 0.49042187229261236, 6.110630527778238], "dimensions": [0.7773437726863565, 0.5723877234078848, 1.5644532407741971], "R_cam": [[0.9416711330413818, -0.11496289819478989, -0.3162897527217865], [0.10292351245880127, 0.9931913018226624, -0.05457043647766113], [0.32040977478027344, 0.018833577632904053, 0.9470918774604797]], "bbox3D_cam": [[1.595403790473938, 0.14687708020210266, 5.486499309539795], [3.068603992462158, 0.30789610743522644, 5.987765312194824], [3.002800941467285, 0.8763865232467651, 5.9985456466674805], [1.5296005010604858, 0.7153675556182861, 5.497279644012451], [1.349537968635559, 0.10445716977119446, 6.222715377807617], [2.8227381706237793, 0.26547619700431824, 6.7239813804626465], [2.7569351196289062, 0.8339666128158569, 6.734761714935303], [1.283734679222107, 0.6729476451873779, 6.233495712280273]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 823, "image_id": 118, "category_id": 62, "category_name": "statue", "bbox2D_proj": [0.0, 0.0, 512.0, 239.0], "bbox2D_tight": [0.0, 0.0, 512.0, 239.0], "bbox2D_trunc": [0.0, 0.0, 512.0, 239.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 824, "image_id": 118, "category_id": 45, "category_name": "person", "bbox2D_proj": [239.0, 265.0, 271.0, 350.0], "bbox2D_tight": [239.0, 265.0, 271.0, 350.0], "bbox2D_trunc": [239.0, 265.0, 271.0, 350.0], "center_cam": [-0.02092740640642888, 0.4725501952054214, 3.8072253441142117], "dimensions": [0.2734376178198812, 0.7390137270991216, 0.28710949797674323], "R_cam": [[-0.7105844616889954, 0.04568225145339966, -0.7021275162696838], [0.07509750127792358, 0.9971141815185547, -0.011127115227282047], [0.6995929479598999, -0.060634858906269073, -0.7119643688201904]], "bbox3D_cam": [[0.1601945161819458, 0.09485036134719849, 3.8265392780303955], [-0.0438210591673851, 0.11641156673431396, 4.027399063110352], [-0.010061241686344147, 0.8532925844192505, 3.98258900642395], [0.19395431876182556, 0.831731379032135, 3.781729221343994], [-0.03179357200860977, 0.0918077826499939, 3.631861448287964], [-0.23580914735794067, 0.11336898803710938, 3.83272123336792], [-0.20204931497573853, 0.8502500057220459, 3.7879111766815186], [0.001966245472431183, 0.8286888003349304, 3.5870513916015625]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 825, "image_id": 118, "category_id": 45, "category_name": "person", "bbox2D_proj": [151.0, 304.0, 176.0, 344.0], "bbox2D_tight": [151.0, 304.0, 176.0, 344.0], "bbox2D_trunc": [151.0, 304.0, 176.0, 344.0], "center_cam": [-0.9305265426344838, 0.7706144985483847, 4.3942491052950325], "dimensions": [0.2304687566062101, 0.5629883226291817, 0.2714843925736946], "R_cam": [[0.9892910718917847, -0.011035025119781494, 0.1455390751361847], [0.004017055034637451, 0.9988187551498413, 0.04842671379446983], [-0.14590154588222504, -0.04732345789670944, 0.9881665706634521]], "bbox3D_cam": [[-1.0784798860549927, 0.48332715034484863, 4.313504695892334], [-0.8099028468132019, 0.48441773653030396, 4.273894309997559], [-0.8161154389381409, 1.046741008758545, 4.247251987457275], [-1.0846924781799316, 1.0456504821777344, 4.286861896514893], [-1.0449377298355103, 0.494488000869751, 4.541245937347412], [-0.7763606309890747, 0.4955785870552063, 4.501636028289795], [-0.7825732231140137, 1.0579018592834473, 4.4749932289123535], [-1.0511503219604492, 1.0568113327026367, 4.514603614807129]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 826, "image_id": 118, "category_id": 39, "category_name": "monument", "bbox2D_proj": [53.0, 48.0, 328.0, 349.0], "bbox2D_tight": [53.0, 48.0, 328.0, 349.0], "bbox2D_trunc": [53.0, 48.0, 328.0, 349.0], "center_cam": [-0.7202418512630806, -0.6689565551903711, 6.424814596958683], "dimensions": [2.546875169725988, 3.3359379816357033, 3.6152347089042327], "R_cam": [[-0.42827606201171875, 0.004322679713368416, 0.9036376476287842], [0.059099189937114716, 0.9979816675186157, 0.023235877975821495], [-0.9017133712768555, 0.06335561722517014, -0.4276670813560486]], "bbox3D_cam": [[-1.1040189266204834, -2.4699771404266357, 8.49370002746582], [-2.6523373126983643, -2.256319761276245, 5.233794212341309], [-2.6379170417785645, 1.072885274887085, 5.4451446533203125], [-1.0895987749099731, 0.8592278361320496, 8.705049514770508], [1.1974334716796875, -2.4107983112335205, 7.404484748840332], [-0.35088491439819336, -2.19714093208313, 4.1445794105529785], [-0.3364647626876831, 1.1320641040802002, 4.355929851531982], [1.2118537425994873, 0.9184066653251648, 7.615835189819336]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 827, "image_id": 118, "category_id": 45, "category_name": "person", "bbox2D_proj": [273.0, 259.0, 296.0, 310.0], "bbox2D_tight": [273.0, 259.0, 296.0, 310.0], "bbox2D_trunc": [273.0, 259.0, 296.0, 310.0], "center_cam": [0.2408344958782485, 0.24227186749603757, 3.801744838323679], "dimensions": [0.13313622974819328, 0.4268568340154612, 0.19338208399884377], "R_cam": [[-0.9977790117263794, 0.0022258046083152294, -0.0665755569934845], [0.0022336547262966633, 0.999997615814209, -4.3477306462591514e-05], [0.06657528877258301, -0.0001920875220093876, -0.9977813959121704]], "bbox3D_cam": [[0.34126752614974976, 0.028630897402763367, 3.861769199371338], [0.1483149528503418, 0.029062852263450623, 3.874643564224243], [0.14926505088806152, 0.4559186100959778, 3.8745615482330322], [0.3422176241874695, 0.4554866552352905, 3.861687183380127], [0.33240392804145813, 0.028625115752220154, 3.728928327560425], [0.13945133984088898, 0.02905707061290741, 3.74180269241333], [0.1404014378786087, 0.45591282844543457, 3.741720676422119], [0.33335402607917786, 0.4554808735847473, 3.728846311569214]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 828, "image_id": 118, "category_id": 45, "category_name": "person", "bbox2D_proj": [345.0, 317.0, 370.0, 356.0], "bbox2D_tight": [345.0, 317.0, 370.0, 356.0], "bbox2D_trunc": [345.0, 317.0, 370.0, 356.0], "center_cam": [1.0065090930134573, 0.8096961329755786, 4.4033959658842186], "dimensions": [0.22653391373077295, 0.3855921169435499, 0.26650321590369863], "R_cam": [[0.29494959115982056, 0.0022258043754845858, -0.9555102586746216], [-0.00047295918921008706, 0.9999974966049194, 0.002183440374210477], [0.9555127024650574, -0.00019208750745747238, 0.29494988918304443]], "bbox3D_cam": [[1.0750051736831665, 0.6167162656784058, 4.242701530456543], [1.1536102294921875, 0.6165902614593506, 4.497348785400391], [1.1544684171676636, 1.0021814107894897, 4.497274398803711], [1.0758633613586426, 1.002307415008545, 4.2426276206970215], [0.8585497140884399, 0.617210865020752, 4.309517860412598], [0.9371547102928162, 0.6170848608016968, 4.564164638519287], [0.938012957572937, 1.002676010131836, 4.564090728759766], [0.8594079613685608, 1.0028020143508911, 4.309443473815918]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 829, "image_id": 118, "category_id": 13, "category_name": "building", "bbox2D_proj": [299.0, 223.0, 421.0, 296.0], "bbox2D_tight": [299.0, 223.0, 421.0, 296.0], "bbox2D_trunc": [299.0, 223.0, 421.0, 296.0], "center_cam": [2.6227452352758, -0.037970495585853095, 7.975732342362022], "dimensions": [1.8339847023159488, 1.0773926699249907, 2.082031580299815], "R_cam": [[0.6240072250366211, 0.13529762625694275, -0.7696166038513184], [-0.031124502420425415, 0.988418459892273, 0.14852690696716309], [0.7807985544204712, -0.06872791051864624, 0.6209912300109863]], "bbox3D_cam": [[2.605992317199707, -0.674224853515625, 6.63048791885376], [3.9051947593688965, -0.7390270233154297, 8.256134986877441], [4.050963401794434, 0.3258877992630005, 8.182087898254395], [2.751760959625244, 0.3906899690628052, 6.556441307067871], [1.1945271492004395, -0.4018287658691406, 7.769376754760742], [2.493729591369629, -0.4666309356689453, 9.395023345947266], [2.639498233795166, 0.5982838869094849, 9.320976257324219], [1.3402957916259766, 0.6630860567092896, 7.695329666137695]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 830, "image_id": 118, "category_id": 13, "category_name": "building", "bbox2D_proj": [421.0, 235.0, 487.0, 293.0], "bbox2D_tight": [421.0, 235.0, 487.0, 293.0], "bbox2D_trunc": [421.0, 235.0, 487.0, 293.0], "center_cam": [3.1374024676735557, 0.19421968573894133, 7.150764793702377], "dimensions": [0.5351562692436376, 0.7656250629382391, 0.8452148805835943], "R_cam": [[0.8652757406234741, 0.06257280707359314, 0.49737560749053955], [-0.03356398642063141, 0.997184157371521, -0.06706099957227707], [-0.5001713037490845, 0.04133234918117523, 0.8649394512176514]], "bbox3D_cam": [[2.614690065383911, -0.15538644790649414, 7.114879608154297], [3.346034049987793, -0.18375521898269653, 6.692127227783203], [3.3939414024353027, 0.5797139406204224, 6.7237725257873535], [2.662597417831421, 0.6080827116966248, 7.146524906158447], [2.880863666534424, -0.19127458333969116, 7.577757358551025], [3.6122076511383057, -0.21964335441589355, 7.155004978179932], [3.6601150035858154, 0.5438258051872253, 7.186650276184082], [2.9287710189819336, 0.5721945762634277, 7.609402656555176]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 831, "image_id": 119, "category_id": 8, "category_name": "boat", "bbox2D_proj": [74.0, 383.0, 213.0, 469.0], "bbox2D_tight": [74.0, 383.0, 213.0, 469.0], "bbox2D_trunc": [74.0, 383.0, 213.0, 469.0], "center_cam": [-2.0072674836068005, 3.089585111074068, 8.39308185856764], "dimensions": [1.644531274903457, 0.9355468720036041, 3.1191406509409685], "R_cam": [[0.5851898193359375, -0.009005367755889893, -0.8108464479446411], [-0.061708658933639526, 0.9965442419052124, -0.055602967739105225], [0.8085450530052185, 0.08257460594177246, 0.5826116800308228]], "bbox3D_cam": [[-2.2489683628082275, 2.765387535095215, 6.614411354064941], [-0.4236793518066406, 2.5729095935821533, 9.13637638092041], [-0.432104229927063, 3.505223274230957, 9.213628768920898], [-2.2573933601379395, 3.6977014541625977, 6.69166374206543], [-3.582430839538574, 2.6739468574523926, 7.572534084320068], [-1.7571417093276978, 2.481468677520752, 10.094499588012695], [-1.7655665874481201, 3.4137825965881348, 10.171751976013184], [-3.590855598449707, 3.6062605381011963, 7.649786472320557]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 832, "image_id": 119, "category_id": 8, "category_name": "boat", "bbox2D_proj": [176.0, 311.0, 249.0, 357.0], "bbox2D_tight": [176.0, 311.0, 249.0, 357.0], "bbox2D_trunc": [176.0, 311.0, 249.0, 357.0], "center_cam": [-1.7608876858787148, 2.596057046875143, 15.008551638256108], "dimensions": [0.9921875088415708, 1.2226562619525816, 2.492187538541252], "R_cam": [[-0.8108489513397217, -0.34736302495002747, -0.4710234999656677], [0.04383602738380432, 0.7665094137191772, -0.6407353281974792], [0.5836116671562195, -0.5401872992515564, -0.606296181678772]], "bbox3D_cam": [[-0.30446934700012207, 2.390709161758423, 14.912328720092773], [-2.3252570629119873, 2.4999568462371826, 16.366798400878906], [-2.749962568283081, 3.437134265899658, 15.706335067749023], [-0.7291748523712158, 3.3278865814208984, 14.25186538696289], [-0.771812915802002, 1.7549796104431152, 14.310768127441406], [-2.792600631713867, 1.8642271757125854, 15.765237808227539], [-3.217306137084961, 2.8014047145843506, 15.104774475097656], [-1.1965184211730957, 2.692157030105591, 13.650304794311523]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 833, "image_id": 119, "category_id": 8, "category_name": "boat", "bbox2D_proj": [88.0, 319.0, 183.0, 366.0], "bbox2D_tight": [88.0, 319.0, 183.0, 366.0], "bbox2D_trunc": [88.0, 319.0, 183.0, 366.0], "center_cam": [-3.975092955523004, 2.6106487425793543, 14.05156408066925], "dimensions": [1.8671875152560766, 1.3378906232451555, 3.7031250531521795], "R_cam": [[0.8298724889755249, 0.026457998901605606, 0.5573257803916931], [0.0329996682703495, 0.9947991371154785, -0.09636342525482178], [-0.5569767355918884, 0.09836101531982422, 0.8246831893920898]], "bbox3D_cam": [[-6.049668312072754, 1.9740458726882935, 14.247124671936035], [-2.9765472412109375, 2.096247673034668, 12.1845703125], [-2.9411494731903076, 3.427180051803589, 12.316165924072266], [-6.014270305633545, 3.304978132247925, 14.3787202835083], [-5.009036064147949, 1.7941172122955322, 15.786962509155273], [-1.935915470123291, 1.9163191318511963, 13.724408149719238], [-1.9005177021026611, 3.247251510620117, 13.856003761291504], [-4.973638534545898, 3.125049591064453, 15.918558120727539]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 834, "image_id": 119, "category_id": 8, "category_name": "boat", "bbox2D_proj": [292.0, 279.0, 377.0, 308.0], "bbox2D_tight": [292.0, 279.0, 377.0, 308.0], "bbox2D_trunc": [292.0, 279.0, 377.0, 308.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 835, "image_id": 119, "category_id": 13, "category_name": "building", "bbox2D_proj": [144.0, 225.0, 192.0, 266.0], "bbox2D_tight": [144.0, 225.0, 192.0, 266.0], "bbox2D_trunc": [144.0, 225.0, 192.0, 266.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 836, "image_id": 119, "category_id": 8, "category_name": "boat", "bbox2D_proj": [322.0, 327.0, 392.0, 363.0], "bbox2D_tight": [322.0, 327.0, 392.0, 363.0], "bbox2D_trunc": [322.0, 327.0, 392.0, 363.0], "center_cam": [3.1906319007964186, 2.6319251786034052, 12.981599522819787], "dimensions": [1.3476562672396257, 0.5703124979825362, 2.9296875096674544], "R_cam": [[0.5422604084014893, 0.05755731463432312, -0.8382367491722107], [-0.06715667247772217, 0.9974280595779419, 0.02504408359527588], [0.8375222682952881, 0.04271280765533447, 0.5447311401367188]], "bbox3D_cam": [[2.9447197914123535, 2.4290008544921875, 11.37552547454834], [4.5333733558654785, 2.232252836227417, 13.829204559326172], [4.566198825836182, 2.801098585128784, 13.85356330871582], [2.9775452613830566, 2.9978466033935547, 11.399885177612305], [1.815064787864685, 2.462751626968384, 12.109636306762695], [3.4037184715270996, 2.2660036087036133, 14.563314437866211], [3.4365439414978027, 2.8348493576049805, 14.587674140930176], [1.8478904962539673, 3.031597375869751, 12.133995056152344]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 837, "image_id": 119, "category_id": 13, "category_name": "building", "bbox2D_proj": [52.0, 228.0, 76.0, 269.0], "bbox2D_tight": [52.0, 228.0, 76.0, 269.0], "bbox2D_trunc": [52.0, 228.0, 76.0, 269.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 838, "image_id": 119, "category_id": 13, "category_name": "building", "bbox2D_proj": [74.0, 214.0, 125.0, 269.0], "bbox2D_tight": [74.0, 214.0, 125.0, 269.0], "bbox2D_trunc": [74.0, 214.0, 125.0, 269.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 839, "image_id": 119, "category_id": 8, "category_name": "boat", "bbox2D_proj": [198.0, 301.0, 291.0, 340.0], "bbox2D_tight": [198.0, 301.0, 291.0, 340.0], "bbox2D_trunc": [198.0, 301.0, 291.0, 340.0], "center_cam": [-0.5207337069252035, 3.220407325074311, 17.272462882224435], "dimensions": [2.199041145288833, 1.4381008785181455, 4.060416132522284], "R_cam": [[-0.9982331991195679, -0.01830443926155567, 0.05652964115142822], [-0.013443946838378906, 0.9962736368179321, 0.08519498258829117], [-0.05787838250398636, 0.08428454399108887, -0.9947594404220581]], "bbox3D_cam": [[1.4568935632705688, 2.4376566410064697, 18.42312240600586], [-2.596348285675049, 2.383068561553955, 18.1881103515625], [-2.6226720809936523, 3.8158106803894043, 18.3093204498291], [1.4305697679519653, 3.87039852142334, 18.544330596923828], [1.5812045335769653, 2.6250038146972656, 16.235605239868164], [-2.4720373153686523, 2.57041597366333, 16.000595092773438], [-2.498361110687256, 4.003158092498779, 16.121803283691406], [1.5548807382583618, 4.057745933532715, 16.356815338134766]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 840, "image_id": 119, "category_id": 8, "category_name": "boat", "bbox2D_proj": [246.0, 286.0, 341.0, 328.0], "bbox2D_tight": [246.0, 286.0, 341.0, 328.0], "bbox2D_trunc": [246.0, 286.0, 341.0, 328.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 841, "image_id": 119, "category_id": 8, "category_name": "boat", "bbox2D_proj": [279.0, 358.0, 349.0, 408.0], "bbox2D_tight": [279.0, 358.0, 349.0, 408.0], "bbox2D_trunc": [279.0, 358.0, 349.0, 408.0], "center_cam": [1.6848564271313387, 3.0537749444941653, 10.911910960678883], "dimensions": [0.9863281348847931, 0.7167968720225437, 2.523437500766355], "R_cam": [[0.5274257659912109, 0.01099538803100586, -0.8495299816131592], [-0.004822909832000732, 0.9999389052391052, 0.009947896003723145], [0.8495874404907227, -0.0011495351791381836, 0.5274465680122375]], "bbox3D_cam": [[1.4344103336334229, 2.696577548980713, 9.580265045166016], [2.765336275100708, 2.6844072341918945, 11.724145889282227], [2.7732176780700684, 3.40116024017334, 11.723321914672852], [1.4422918558120728, 3.413330554962158, 9.57944107055664], [0.5964950323104858, 2.7063894271850586, 10.100500106811523], [1.927420973777771, 2.6942191123962402, 12.244380950927734], [1.935302495956421, 3.4109721183776855, 12.24355697631836], [0.6043765544891357, 3.423142433166504, 10.099676132202148]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 842, "image_id": 120, "category_id": 2, "category_name": "backpack", "bbox2D_proj": [346.0, 224.0, 411.0, 304.0], "bbox2D_tight": [346.0, 224.0, 411.0, 304.0], "bbox2D_trunc": [346.0, 224.0, 411.0, 304.0], "center_cam": [0.5812861753780989, 0.012519952794565192, 2.171145654618578], "dimensions": [0.2265625058532889, 0.3728029872813302, 0.3798830860915021], "R_cam": [[0.4863651394844055, 0.08453807234764099, 0.8696563839912415], [0.20266786217689514, 0.9572491645812988, -0.2063971310853958], [-0.8499262928962708, 0.2766357660293579, 0.44843947887420654]], "bbox3D_cam": [[0.37463146448135376, -0.18102684617042542, 2.2302169799804688], [0.5593933463096619, -0.10403674095869064, 1.9073443412780762], [0.5909093618392944, 0.25282859802246094, 2.010474920272827], [0.4061475098133087, 0.17583850026130676, 2.3333475589752197], [0.5716630220413208, -0.22778868675231934, 2.3318164348602295], [0.7564249038696289, -0.15079858899116516, 2.008943796157837], [0.7879409193992615, 0.20606675744056702, 2.112074375152588], [0.6031790375709534, 0.12907664477825165, 2.4349470138549805]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 843, "image_id": 120, "category_id": 50, "category_name": "plastic_bag", "bbox2D_proj": [130.0, 422.0, 171.0, 485.0], "bbox2D_tight": [130.0, 422.0, 171.0, 485.0], "bbox2D_trunc": [130.0, 422.0, 171.0, 485.0], "center_cam": [-0.3097813271785663, 0.5571501002186112, 1.3421940325460033], "dimensions": [0.0795898445625081, 0.16796875959361804, 0.18066408384530158], "R_cam": [[0.025533556938171387, 0.09434294700622559, -0.9952122569084167], [-0.12803031504154205, 0.9876470565795898, 0.0903409942984581], [0.991441547870636, 0.12511062622070312, 0.03729689121246338]], "bbox3D_cam": [[-0.28040674328804016, 0.4821733236312866, 1.2406436204910278], [-0.27579376101493835, 0.45904284715652466, 1.4197614192962646], [-0.2599470913410187, 0.6249366998672485, 1.4407761096954346], [-0.2645600736141205, 0.6480671763420105, 1.2616581916809082], [-0.3596155345439911, 0.48936355113983154, 1.2436120510101318], [-0.3550025522708893, 0.4662330746650696, 1.4227299690246582], [-0.3391558825969696, 0.6321269273757935, 1.4437445402145386], [-0.3437688648700714, 0.6552574038505554, 1.2646267414093018]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 844, "image_id": 120, "category_id": 68, "category_name": "table", "bbox2D_proj": [17.0, 403.0, 379.0, 512.0], "bbox2D_tight": [17.0, 403.0, 379.0, 512.0], "bbox2D_trunc": [17.0, 403.0, 379.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 845, "image_id": 120, "category_id": 59, "category_name": "skirt", "bbox2D_proj": [126.0, 291.0, 165.0, 335.0], "bbox2D_tight": [126.0, 291.0, 165.0, 335.0], "bbox2D_trunc": [126.0, 291.0, 165.0, 335.0], "center_cam": [-0.7139674356151517, 0.3260287889794523, 2.8618290576446466], "dimensions": [0.21484375898559893, 0.2973632802070687, 0.26757813661193264], "R_cam": [[-0.9946013689041138, 0.10173952579498291, 0.020429270341992378], [0.10289090871810913, 0.9924485683441162, 0.06677885353565216], [-0.01348094828426838, 0.06852032244205475, -0.9975587129592896]], "bbox3D_cam": [[-0.598222017288208, 0.15753073990345, 2.960604667663574], [-0.8643555641174316, 0.18506209552288055, 2.9569973945617676], [-0.8341019749641418, 0.4801798462867737, 2.977372884750366], [-0.5679684281349182, 0.45264846086502075, 2.9809799194335938], [-0.5938329100608826, 0.17187775671482086, 2.7462852001190186], [-0.8599664568901062, 0.1994091123342514, 2.742678165435791], [-0.8297128677368164, 0.49452686309814453, 2.7630534172058105], [-0.5635793209075928, 0.4669954776763916, 2.766660690307617]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 846, "image_id": 120, "category_id": 45, "category_name": "person", "bbox2D_proj": [80.0, 238.0, 108.0, 319.0], "bbox2D_tight": [80.0, 238.0, 108.0, 319.0], "bbox2D_trunc": [80.0, 238.0, 108.0, 319.0], "center_cam": [-1.381053416901307, 0.22086175505454625, 3.887585939970169], "dimensions": [0.23046877983015251, 0.7657470413402689, 0.24609378287393363], "R_cam": [[-0.6696876883506775, 0.12858378887176514, -0.7314264178276062], [0.03315609693527222, 0.9890913367271423, 0.14352351427078247], [0.7419023513793945, 0.07186466455459595, -0.6666456460952759]], "bbox3D_cam": [[-1.2635962963104248, -0.178453728556633, 3.845602512359619], [-1.428402304649353, -0.17029421031475067, 4.028180122375488], [-1.329939603805542, 0.587099552154541, 4.083209991455078], [-1.1651337146759033, 0.5789400339126587, 3.900632619857788], [-1.4321672916412354, -0.1453760713338852, 3.6919615268707275], [-1.596973180770874, -0.13721655309200287, 3.8745391368865967], [-1.4985105991363525, 0.6201772093772888, 3.9295692443847656], [-1.3337045907974243, 0.6120176911354065, 3.7469916343688965]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 847, "image_id": 121, "category_id": 54, "category_name": "sculpture", "bbox2D_proj": [186.0, 254.0, 210.0, 302.0], "bbox2D_tight": [186.0, 254.0, 210.0, 302.0], "bbox2D_trunc": [186.0, 254.0, 210.0, 302.0], "center_cam": [-0.6569660471342027, 0.23948805961082187, 4.829347225576345], "dimensions": [0.2608032219492479, 0.4838867219184262, 0.3398437805090989], "R_cam": [[0.16319969296455383, 0.08367747068405151, 0.9830381274223328], [0.17363876104354858, 0.9784073829650879, -0.11211004853248596], [-0.9711928367614746, 0.1889898180961609, 0.14514613151550293]], "bbox3D_cam": [[-0.8331322073936462, -0.012116789817810059, 4.929721832275391], [-0.7776697874069214, 0.04689325392246246, 4.599668025970459], [-0.7371793985366821, 0.5203315615653992, 4.691117763519287], [-0.7926417589187622, 0.46132153272628784, 5.021171569824219], [-0.5767526626586914, -0.0413554310798645, 4.967576503753662], [-0.5212903022766113, 0.017654582858085632, 4.6375226974487305], [-0.4807998538017273, 0.4910929203033447, 4.728972434997559], [-0.5362622737884521, 0.4320828914642334, 5.05902624130249]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 848, "image_id": 121, "category_id": 45, "category_name": "person", "bbox2D_proj": [299.0, 241.0, 319.0, 303.0], "bbox2D_tight": [299.0, 241.0, 319.0, 303.0], "bbox2D_trunc": [299.0, 241.0, 319.0, 303.0], "center_cam": [0.5576202075273706, 0.19460517488471885, 4.683737716299565], "dimensions": [0.18359376624410917, 0.6008300661185179, 0.2070388832888984], "R_cam": [[-0.9949340224266052, 0.035756707191467285, -0.09395629167556763], [0.026518583297729492, 0.9948533177375793, 0.09779389202594757], [0.09696951508522034, 0.09480687975883484, -0.9907616376876831]], "bbox3D_cam": [[0.6584982872009277, -0.11598607897758484, 4.736166954040527], [0.45250827074050903, -0.11049571633338928, 4.7562432289123535], [0.47399193048477173, 0.48724207282066345, 4.813206195831299], [0.6799819469451904, 0.4817517101764679, 4.793129920959473], [0.6412485241889954, -0.09803172945976257, 4.554269313812256], [0.4352584779262543, -0.09254136681556702, 4.574345588684082], [0.45674216747283936, 0.5051964521408081, 4.631308555603027], [0.6627321839332581, 0.49970605969429016, 4.611232280731201]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 849, "image_id": 121, "category_id": 35, "category_name": "jersey", "bbox2D_proj": [467.0, 230.0, 512.0, 328.0], "bbox2D_tight": [467.0, 230.0, 512.0, 328.0], "bbox2D_trunc": [467.0, 230.0, 512.0, 328.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 850, "image_id": 121, "category_id": 45, "category_name": "person", "bbox2D_proj": [266.0, 256.0, 285.0, 312.0], "bbox2D_tight": [266.0, 256.0, 285.0, 312.0], "bbox2D_trunc": [266.0, 256.0, 285.0, 312.0], "center_cam": [0.20752521360433546, 0.2683691136271779, 4.4844340847969395], "dimensions": [0.14453127402583266, 0.5351409780223819, 0.1699218946864187], "R_cam": [[0.9311477541923523, -0.017771542072296143, 0.36420881748199463], [0.01917022466659546, 0.9998162388801575, -0.00022527575492858887], [-0.3641378879547119, 0.0071917325258255005, 0.9313172698020935]], "bbox3D_cam": [[0.10684937238693237, -0.0007646679878234863, 4.446145057678223], [0.2650717496871948, 0.0024927854537963867, 4.384270191192627], [0.2555614709854126, 0.5375354290008545, 4.388118743896484], [0.09733909368515015, 0.5342779755592346, 4.44999361038208], [0.15948893129825592, -0.0007972121238708496, 4.58074951171875], [0.31771132349967957, 0.0024602413177490234, 4.518874645233154], [0.30820104479789734, 0.5375028848648071, 4.522723197937012], [0.1499786525964737, 0.5342454314231873, 4.584598064422607]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 851, "image_id": 121, "category_id": 45, "category_name": "person", "bbox2D_proj": [480.0, 228.0, 490.0, 290.0], "bbox2D_tight": [480.0, 228.0, 490.0, 290.0], "bbox2D_trunc": [480.0, 228.0, 490.0, 290.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 852, "image_id": 121, "category_id": 45, "category_name": "person", "bbox2D_proj": [345.0, 244.0, 361.0, 301.0], "bbox2D_tight": [345.0, 244.0, 361.0, 301.0], "bbox2D_trunc": [345.0, 244.0, 361.0, 301.0], "center_cam": [0.9506550595173522, 0.15059000707747708, 4.374063205510561], "dimensions": [0.1557617230499151, 0.5429687426116738, 0.1757812674556617], "R_cam": [[0.11528237164020538, 0.014178037643432617, -0.9932316541671753], [-0.20862174034118652, 0.9779427647590637, -0.010254592634737492], [0.9711781740188599, 0.20839181542396545, 0.11569726467132568]], "bbox3D_cam": [[1.01402747631073, -0.09577161073684692, 4.223119735717773], [1.0342918634414673, -0.132443368434906, 4.393834590911865], [1.0419901609420776, 0.3985488712787628, 4.506985187530518], [1.0217256546020508, 0.4352206587791443, 4.336269855499268], [0.8593199849128723, -0.09736886620521545, 4.241140842437744], [0.8795844316482544, -0.13404065370559692, 4.411856174468994], [0.88728266954422, 0.3969516158103943, 4.525006294250488], [0.8670181632041931, 0.43362337350845337, 4.3542914390563965]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 853, "image_id": 121, "category_id": 43, "category_name": "palm_tree", "bbox2D_proj": [257.0, 139.0, 344.0, 247.0], "bbox2D_tight": [257.0, 139.0, 344.0, 247.0], "bbox2D_trunc": [257.0, 139.0, 344.0, 247.0], "center_cam": [0.2982878209366092, -0.42934168332423334, 3.1815229777254292], "dimensions": [0.5927257245402849, 0.8079925572897011, 0.6479169789363437], "R_cam": [[-0.9976357221603394, 0.04013468325138092, 0.05578645318746567], [0.04142909124493599, 0.9988939762115479, 0.022243022918701172], [-0.05483203008770943, 0.024501681327819824, -0.9981950521469116]], "bbox3D_cam": [[0.5887330770492554, -0.8529043197631836, 3.485215663909912], [-0.057652056217193604, -0.8260617256164551, 3.4496891498565674], [-0.02522355318069458, -0.018963009119033813, 3.4694862365722656], [0.6211615800857544, -0.04580560326576233, 3.5050129890441895], [0.6217991709709167, -0.8397203683853149, 2.8935599327087402], [-0.024585962295532227, -0.8128777742385864, 2.8580331802368164], [0.007842540740966797, -0.005778998136520386, 2.8778305053710938], [0.6542276740074158, -0.0326215922832489, 2.9133570194244385]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 854, "image_id": 122, "category_id": 45, "category_name": "person", "bbox2D_proj": [262.0, 286.0, 289.0, 379.0], "bbox2D_tight": [262.0, 286.0, 289.0, 379.0], "bbox2D_trunc": [262.0, 286.0, 289.0, 379.0], "center_cam": [0.18254023130620758, 0.7730074898211454, 4.650747632662437], "dimensions": [0.2773437574028442, 0.9289550508975992, 0.47851562337767306], "R_cam": [[-0.5284053683280945, -0.051888346672058105, -0.8474050760269165], [0.09805333614349365, 0.9877213835716248, -0.12162208557128906], [0.8433108925819397, -0.14735668897628784, -0.5168294906616211]], "bbox3D_cam": [[0.45057758688926697, 0.30763861536979675, 4.58909273147583], [0.19772732257843018, 0.35455867648124695, 4.9926300048828125], [0.14952537417411804, 1.272107481956482, 4.855742454528809], [0.40237563848495483, 1.2251874208450317, 4.452204704284668], [0.2155551016330719, 0.27390751242637634, 4.44575309753418], [-0.03729516267776489, 0.32082757353782654, 4.84929084777832], [-0.08549711108207703, 1.2383763790130615, 4.712402820587158], [0.16735315322875977, 1.1914563179016113, 4.308865547180176]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 855, "image_id": 122, "category_id": 45, "category_name": "person", "bbox2D_proj": [289.0, 299.0, 315.0, 380.0], "bbox2D_tight": [289.0, 299.0, 315.0, 380.0], "bbox2D_trunc": [289.0, 299.0, 315.0, 380.0], "center_cam": [0.46901975320995315, 0.8431321169172835, 4.6149044906390415], "dimensions": [0.2812500515393451, 0.7734374759669355, 0.31250005588635454], "R_cam": [[-0.7927919626235962, -0.002406477928161621, -0.6094875335693359], [-0.012602686882019043, 0.9998431205749512, 0.012445151805877686], [0.609362006187439, 0.017547577619552612, -0.7926979064941406]], "bbox3D_cam": [[0.6795333623886108, 0.4566931128501892, 4.624378681182861], [0.43178582191467285, 0.45275479555130005, 4.814804553985596], [0.42992454767227173, 1.2260708808898926, 4.828376293182373], [0.6776720881462097, 1.2300093173980713, 4.637950897216797], [0.5081149339675903, 0.46019333600997925, 4.401432514190674], [0.26036739349365234, 0.4562550187110901, 4.59185791015625], [0.2585061192512512, 1.2295711040496826, 4.6054301261901855], [0.5062536597251892, 1.2335095405578613, 4.415004253387451]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 856, "image_id": 122, "category_id": 45, "category_name": "person", "bbox2D_proj": [198.0, 289.0, 227.0, 362.0], "bbox2D_tight": [198.0, 289.0, 227.0, 362.0], "bbox2D_trunc": [198.0, 289.0, 227.0, 362.0], "center_cam": [-0.46468222277211496, 0.7553445059798802, 4.908771045167559], "dimensions": [0.2304687494144541, 0.7749023218992916, 0.3808593866136357], "R_cam": [[0.8501559495925903, -0.06865322589874268, -0.5220360159873962], [0.120694100856781, 0.9904733896255493, 0.06629735231399536], [0.5125113129615784, -0.11936973035335541, 0.8503429889678955]], "bbox3D_cam": [[-0.5398209095001221, 0.34096094965934753, 4.759434700012207], [-0.216031014919281, 0.38692840933799744, 4.954629421234131], [-0.26923057436943054, 1.1544486284255981, 4.8621296882629395], [-0.5930204391479492, 1.1084811687469482, 4.666934967041016], [-0.6601338386535645, 0.3562404215335846, 4.9554123878479], [-0.33634400367736816, 0.4022078812122345, 5.150607109069824], [-0.3895435631275177, 1.1697280406951904, 5.058107376098633], [-0.7133334279060364, 1.1237605810165405, 4.862912654876709]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 857, "image_id": 123, "category_id": 45, "category_name": "person", "bbox2D_proj": [326.0, 277.0, 377.0, 401.0], "bbox2D_tight": [326.0, 277.0, 377.0, 401.0], "bbox2D_trunc": [326.0, 277.0, 377.0, 401.0], "center_cam": [0.8228808587494774, 0.6821072273072556, 3.8100205009718233], "dimensions": [0.3691406407099822, 0.9827576171411327, 0.43469238578755454], "R_cam": [[0.9897743463516235, -0.02047884464263916, 0.1411643922328949], [0.015778779983520508, 0.9992858171463013, 0.03433448076248169], [-0.1417667120695114, -0.03175598382949829, 0.9893906116485596]], "bbox3D_cam": [[0.591765284538269, 0.18131273984909058, 3.6738250255584717], [1.022012710571289, 0.1881716251373291, 3.6122000217437744], [1.0018869638442993, 1.1702274084091187, 3.580991744995117], [0.5716395378112793, 1.1633684635162354, 3.6426165103912354], [0.6438748240470886, 0.19398701190948486, 4.03904914855957], [1.0741221904754639, 0.2008458971977234, 3.977424383163452], [1.0539964437484741, 1.1829016208648682, 3.946215867996216], [0.6237490773200989, 1.1760427951812744, 4.007840633392334]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 858, "image_id": 123, "category_id": 45, "category_name": "person", "bbox2D_proj": [294.0, 261.0, 337.0, 388.0], "bbox2D_tight": [294.0, 261.0, 337.0, 388.0], "bbox2D_trunc": [294.0, 261.0, 337.0, 388.0], "center_cam": [0.5566103185113014, 0.5940381850475447, 4.02152152429986], "dimensions": [0.40429706916971536, 1.0877686129093993, 0.41992207681566096], "R_cam": [[-0.6671009659767151, -0.07998281717300415, -0.7406612038612366], [-0.010324716567993164, 0.9951169490814209, -0.09816192090511322], [0.7448957562446594, -0.05783689767122269, -0.664669394493103]], "bbox3D_cam": [[0.8899006247520447, 0.07482081651687622, 4.030941009521484], [0.6097701191902161, 0.07048529386520386, 4.343739032745361], [0.5227672457695007, 1.152942180633545, 4.280826091766357], [0.8028977513313293, 1.1572775840759277, 3.9680278301239014], [0.5904534459114075, 0.03513425588607788, 3.7622170448303223], [0.31032294034957886, 0.030798733234405518, 4.075015068054199], [0.22332006692886353, 1.113255500793457, 4.012102127075195], [0.5034505724906921, 1.117591142654419, 3.6993041038513184]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 859, "image_id": 123, "category_id": 45, "category_name": "person", "bbox2D_proj": [216.0, 271.0, 255.0, 384.0], "bbox2D_tight": [216.0, 271.0, 255.0, 384.0], "bbox2D_trunc": [216.0, 271.0, 255.0, 384.0], "center_cam": [-0.18236442737325614, 0.6223118027339567, 4.060048075142989], "dimensions": [0.36975097029897064, 0.9924450402234029, 0.4140625088140468], "R_cam": [[-0.031003326177597046, -0.004316926002502441, 0.9995099306106567], [-0.032073974609375, 0.9994798898696899, 0.0033218860626220703], [-0.9990044832229614, -0.03195527195930481, -0.031125664710998535]], "bbox3D_cam": [[-0.3585885167121887, 0.13237354159355164, 4.288484573364258], [-0.3714258074760437, 0.11909288167953491, 3.8748342990875244], [-0.375710129737854, 1.111021876335144, 3.8431203365325928], [-0.362872838973999, 1.1243023872375488, 4.256770610809326], [0.010981246829032898, 0.1336018145084381, 4.276975631713867], [-0.0018560290336608887, 0.12032121419906616, 3.863325595855713], [-0.0061403363943099976, 1.1122500896453857, 3.8316116333007812], [0.006696939468383789, 1.12553071975708, 4.245262145996094]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 860, "image_id": 124, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [278.0, 198.0, 295.0, 248.0], "bbox2D_tight": [278.0, 198.0, 295.0, 248.0], "bbox2D_trunc": [278.0, 198.0, 295.0, 248.0], "center_cam": [1.0066774999277928, -1.0551476792673578, 14.144687284536195], "dimensions": [0.4319131153189984, 1.508300735690559, 0.431913122667675], "R_cam": [[0.9999520778656006, -0.008490324020385742, 0.004872901365160942], [0.00870424509048462, 0.9989179372787476, -0.045685894787311554], [-0.00447973795235157, 0.045726120471954346, 0.9989439249038696]], "bbox3D_cam": [[0.7960819602012634, -1.8004956245422363, 13.895442008972168], [1.2279744148254395, -1.7967360019683838, 13.89350700378418], [1.2151683568954468, -0.2900673747062683, 13.962475776672363], [0.7832759618759155, -0.2938268780708313, 13.964410781860352], [0.7981866598129272, -1.820227861404419, 14.326899528503418], [1.2300790548324585, -1.8164684772491455, 14.32496452331543], [1.2172729969024658, -0.3097997307777405, 14.393933296203613], [0.7853806018829346, -0.31355923414230347, 14.395868301391602]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 861, "image_id": 124, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [347.0, 198.0, 375.0, 267.0], "bbox2D_tight": [347.0, 198.0, 375.0, 267.0], "bbox2D_trunc": [347.0, 198.0, 375.0, 267.0], "center_cam": [1.5105582081806914, -0.28348106142327145, 6.364580964692648], "dimensions": [0.32421877228024015, 0.9782714562335918, 0.4570312822733085], "R_cam": [[-0.7685213088989258, 0.03430122137069702, -0.6389040946960449], [0.0038354992866516113, 0.998790979385376, 0.049009084701538086], [0.639812707901001, 0.035214006900787354, -0.7677236795425415]], "bbox3D_cam": [[1.772971749305725, -0.7808467149734497, 6.3256049156188965], [1.4217334985733032, -0.7790938019752502, 6.618019104003906], [1.4552894830703735, 0.19799494743347168, 6.652468204498291], [1.8065277338027954, 0.19624203443527222, 6.360053539276123], [1.5658270120620728, -0.764957070350647, 6.076694011688232], [1.2145887613296509, -0.7632041573524475, 6.3691086769104], [1.2481447458267212, 0.21388459205627441, 6.403557300567627], [1.599382996559143, 0.21213167905807495, 6.111143112182617]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 862, "image_id": 124, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [143.0, 125.0, 201.0, 249.0], "bbox2D_tight": [143.0, 125.0, 201.0, 249.0], "bbox2D_trunc": [143.0, 125.0, 201.0, 249.0], "center_cam": [-0.9156849745583744, -0.7146798108640686, 4.918541502717584], "dimensions": [0.646484412769714, 1.3085937259058857, 0.7382812866474978], "R_cam": [[-0.03778848052024841, -0.018233001232147217, -0.9991194009780884], [-0.10811436176300049, 0.9940391778945923, -0.014051258563995361], [0.9934200644493103, 0.10748812556266785, -0.039534568786621094]], "bbox3D_cam": [[-0.5668483376502991, -1.3206251859664917, 4.494279861450195], [-0.5947468876838684, -1.4004440307617188, 5.227703094482422], [-0.6186065077781677, -0.09965062141418457, 5.368361473083496], [-0.5907079577445984, -0.01983177661895752, 4.6349382400512695], [-1.2127635478973389, -1.3297090530395508, 4.468721389770508], [-1.2406620979309082, -1.4095278978347778, 5.202144622802734], [-1.264521598815918, -0.10873448848724365, 5.342803001403809], [-1.2366230487823486, -0.0289156436920166, 4.609379768371582]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 863, "image_id": 124, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [337.0, 195.0, 349.0, 265.0], "bbox2D_tight": [337.0, 195.0, 349.0, 265.0], "bbox2D_trunc": [337.0, 195.0, 349.0, 265.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 864, "image_id": 124, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [212.0, 155.0, 257.0, 267.0], "bbox2D_tight": [212.0, 155.0, 257.0, 267.0], "bbox2D_trunc": [212.0, 155.0, 257.0, 267.0], "center_cam": [-0.26002238185926557, -0.6075710545429129, 5.209285440333199], "dimensions": [0.5620118193292727, 1.5976562959771983, 0.6093750982690629], "R_cam": [[-0.24617454409599304, -0.03361773490905762, -0.9686422944068909], [-0.6356487274169922, 0.7600529193878174, 0.13516780734062195], [0.731675386428833, 0.648991048336029, -0.20847487449645996]], "bbox3D_cam": [[0.114033043384552, -1.059031367301941, 4.526503086090088], [-0.03597961366176605, -1.4463798999786377, 4.972367763519287], [-0.08968925476074219, -0.23207661509513855, 6.009232521057129], [0.06032338738441467, 0.15527182817459106, 5.56336784362793], [-0.4303554892539978, -0.9830654859542847, 4.409337997436523], [-0.580368161201477, -1.3704140186309814, 4.855202674865723], [-0.634077787399292, -0.1561107337474823, 5.8920674324035645], [-0.48406511545181274, 0.23123770952224731, 5.446202754974365]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 865, "image_id": 124, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [0.0, 195.0, 39.0, 261.0], "bbox2D_tight": [0.0, 195.0, 39.0, 261.0], "bbox2D_trunc": [0.0, 195.0, 39.0, 261.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 866, "image_id": 124, "category_id": 13, "category_name": "building", "bbox2D_proj": [162.0, 238.0, 226.0, 267.0], "bbox2D_tight": [162.0, 238.0, 226.0, 267.0], "bbox2D_trunc": [162.0, 238.0, 226.0, 267.0], "center_cam": [-0.5261531918698498, -0.021807320840500927, 3.865037242444195], "dimensions": [0.3677153514068719, 0.1820673959721255, 0.3907691735002708], "R_cam": [[0.028854727745056152, 0.010893763042986393, 0.9995243549346924], [-0.0005508959875442088, 0.9999406337738037, -0.010882377624511719], [-0.9995835423469543, -0.00023663043975830078, 0.02885899320244789]], "bbox3D_cam": [[-0.7165528535842896, -0.11072716861963272, 4.055056095123291], [-0.7052773237228394, -0.11094244569540024, 3.664449691772461], [-0.7032939195632935, 0.07111414521932602, 3.6644065380096436], [-0.7145694494247437, 0.07132942229509354, 4.0550127029418945], [-0.34901246428489685, -0.11472878605127335, 4.065668106079102], [-0.33773693442344666, -0.11494406312704086, 3.6750614643096924], [-0.33575353026390076, 0.0671125277876854, 3.675018310546875], [-0.34702906012535095, 0.06732780486345291, 4.065624713897705]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 867, "image_id": 124, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [58.0, 199.0, 116.0, 250.0], "bbox2D_tight": [58.0, 199.0, 116.0, 250.0], "bbox2D_trunc": [58.0, 199.0, 116.0, 250.0], "center_cam": [-1.657863505966081, -0.30876113000278915, 4.323540712486247], "dimensions": [0.2656250161417968, 0.44799804995350834, 0.48828129449540947], "R_cam": [[0.7748252153396606, -0.0015026740729808807, -0.6321737170219421], [0.04360148683190346, 0.9977428913116455, 0.05106864124536514], [0.6306701302528381, -0.06713298708200455, 0.7731419801712036]], "bbox3D_cam": [[-1.7627326250076294, -0.5496820211410522, 4.081923484802246], [-1.3844000101089478, -0.5283921957015991, 4.389867782592773], [-1.385073184967041, -0.08140535652637482, 4.359792232513428], [-1.7634057998657227, -0.10269515216350555, 4.0518479347229], [-1.9306538105010986, -0.536116898059845, 4.287289142608643], [-1.552321195602417, -0.5148270726203918, 4.59523344039917], [-1.5529943704605103, -0.06784023344516754, 4.565157890319824], [-1.931326985359192, -0.08913002908229828, 4.257213592529297]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 868, "image_id": 125, "category_id": 67, "category_name": "sweatshirt", "bbox2D_proj": [103.0, 278.0, 188.0, 346.0], "bbox2D_tight": [103.0, 278.0, 188.0, 346.0], "bbox2D_trunc": [103.0, 278.0, 188.0, 346.0], "center_cam": [-0.569462895227777, 0.2719747437846641, 2.2325999739136293], "dimensions": [0.4121097212909828, 0.33618164383528737, 0.42382847183122474], "R_cam": [[0.42479777336120605, 0.06495684385299683, 0.9029549360275269], [0.037892311811447144, 0.9952725768089294, -0.08942461013793945], [-0.9044949412345886, 0.07220238447189331, 0.42032819986343384]], "bbox3D_cam": [[-0.8564605116844177, 0.115075021982193, 2.325528144836426], [-0.6764190793037415, 0.13113486766815186, 1.942177414894104], [-0.6545817852020264, 0.46572721004486084, 1.9664504528045654], [-0.8346232175827026, 0.449667364358902, 2.3498013019561768], [-0.4843440055847168, 0.07822227478027344, 2.4987494945526123], [-0.3043026030063629, 0.0942821204662323, 2.115398645401001], [-0.28246527910232544, 0.4288744628429413, 2.139671802520752], [-0.4625066816806793, 0.4128146171569824, 2.5230226516723633]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 869, "image_id": 125, "category_id": 30, "category_name": "handbag", "bbox2D_proj": [478.0, 261.0, 512.0, 362.0], "bbox2D_tight": [478.0, 261.0, 512.0, 362.0], "bbox2D_trunc": [478.0, 261.0, 512.0, 362.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 870, "image_id": 125, "category_id": 45, "category_name": "person", "bbox2D_proj": [249.0, 202.0, 340.0, 488.0], "bbox2D_tight": [249.0, 202.0, 340.0, 488.0], "bbox2D_trunc": [249.0, 202.0, 340.0, 488.0], "center_cam": [0.17206565996030168, 0.405612799903947, 2.1548260379728035], "dimensions": [0.3925781276129353, 1.2730560272883433, 0.5009765921801475], "R_cam": [[0.9741693735122681, -0.002400696277618408, 0.22580555081367493], [0.028946876525878906, 0.9930214881896973, -0.11432485282421112], [-0.22395533323287964, 0.11790811270475388, 0.9674407839775085]], "bbox3D_cam": [[-0.11474741995334625, -0.21128341555595398, 1.9459742307662964], [0.373288631439209, -0.196781724691391, 1.833777904510498], [0.37023240327835083, 1.0673904418945312, 1.9838814735412598], [-0.1178036481142044, 1.0528887510299683, 2.0960779190063477], [-0.026101097464561462, -0.25616487860679626, 2.325770378112793], [0.46193498373031616, -0.24166318774223328, 2.213573932647705], [0.458878755569458, 1.022508978843689, 2.363677501678467], [-0.029157325625419617, 1.008007287979126, 2.4758739471435547]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 871, "image_id": 125, "category_id": 45, "category_name": "person", "bbox2D_proj": [448.0, 223.0, 491.0, 404.0], "bbox2D_tight": [448.0, 223.0, 491.0, 404.0], "bbox2D_trunc": [448.0, 223.0, 491.0, 404.0], "center_cam": [1.249063365396971, 0.30053423156662473, 2.5781064694798452], "dimensions": [0.2568360183543629, 1.0327148411077238, 0.27929696724298364], "R_cam": [[0.8010677099227905, -0.07725012302398682, -0.5935681462287903], [0.1540529727935791, 0.9848401546478271, 0.0797346755862236], [0.5784102082252502, -0.15531384944915771, 0.8008242845535278]], "bbox3D_cam": [[1.2533090114593506, -0.23974791169166565, 2.474689483642578], [1.477044701576233, -0.19672134518623352, 2.636237621307373], [1.397267460823059, 0.8203376531600952, 2.4758427143096924], [1.1735316514968872, 0.7773110866546631, 2.3142945766448975], [1.10085928440094, -0.21926918625831604, 2.6803700923919678], [1.3245950937271118, -0.1762426197528839, 2.8419182300567627], [1.2448177337646484, 0.8408163785934448, 2.681523323059082], [1.0210820436477661, 0.7977898120880127, 2.519975185394287]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 872, "image_id": 125, "category_id": 45, "category_name": "person", "bbox2D_proj": [380.0, 197.0, 458.0, 440.0], "bbox2D_tight": [380.0, 197.0, 458.0, 440.0], "bbox2D_trunc": [380.0, 197.0, 458.0, 440.0], "center_cam": [0.9060679165089888, 0.2978892596360656, 2.442399088606769], "dimensions": [0.37792971639419226, 1.2343749934204205, 0.4677734900148849], "R_cam": [[0.8992486000061035, -0.01698744297027588, -0.4371080994606018], [0.02683311700820923, 0.9995061159133911, 0.016359196975827217], [0.43661433458328247, -0.026439983397722244, 0.8992602825164795]], "bbox3D_cam": [[0.7888280749320984, -0.3283606469631195, 2.1866705417633057], [1.20947265625, -0.3158087432384491, 2.3909072875976562], [1.1885038614273071, 0.9179564714431763, 2.3582704067230225], [0.7678592205047607, 0.9054045677185059, 2.154033660888672], [0.6236319541931152, -0.3221779763698578, 2.5265276432037354], [1.0442765951156616, -0.3096260726451874, 2.730764389038086], [1.0233078002929688, 0.924139142036438, 2.698127508163452], [0.6026631593704224, 0.9115872383117676, 2.4938907623291016]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 873, "image_id": 126, "category_id": 45, "category_name": "person", "bbox2D_proj": [119.0, 286.0, 157.0, 410.0], "bbox2D_tight": [119.0, 286.0, 157.0, 410.0], "bbox2D_trunc": [119.0, 286.0, 157.0, 410.0], "center_cam": [-1.153654674261102, 0.8486409005687303, 4.266751445507439], "dimensions": [0.37500005749544374, 1.1801757564122808, 0.404296952992918], "R_cam": [[-0.9295268058776855, 0.06445145606994629, -0.36307820677757263], [0.11467933654785156, 0.986308217048645, -0.11851039528846741], [0.35046887397766113, -0.1517961323261261, -0.9241912364959717]], "bbox3D_cam": [[-0.9357070922851562, 0.2656707763671875, 4.458763599395752], [-1.3115119934082031, 0.31203532218933105, 4.600457191467285], [-1.235447883605957, 1.4760524034500122, 4.421310901641846], [-0.8596430420875549, 1.4296878576278687, 4.2796173095703125], [-1.0718615055084229, 0.2212294340133667, 4.112191677093506], [-1.4476664066314697, 0.26759397983551025, 4.253885269165039], [-1.3716022968292236, 1.4316110610961914, 4.0747389793396], [-0.9957973957061768, 1.3852465152740479, 3.9330456256866455]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 874, "image_id": 126, "category_id": 45, "category_name": "person", "bbox2D_proj": [191.0, 306.0, 218.0, 407.0], "bbox2D_tight": [191.0, 306.0, 218.0, 407.0], "bbox2D_trunc": [191.0, 306.0, 218.0, 407.0], "center_cam": [-0.45104417967542604, 0.8745357183479371, 3.9548232592342405], "dimensions": [0.29785172887639, 0.895751937126639, 0.31054704373437103], "R_cam": [[-0.5405617952346802, -0.013382375240325928, -0.8411978483200073], [0.17771512269973755, 0.9754947423934937, -0.12972036004066467], [0.8223199844360352, -0.21961545944213867, -0.5249370336532593]], "bbox3D_cam": [[-0.23583942651748657, 0.4293593466281891, 4.003675937652588], [-0.403709352016449, 0.4845482409000397, 4.259045124053955], [-0.4156966507434845, 1.3583495616912842, 4.062324047088623], [-0.2478267252445221, 1.3031606674194336, 3.806954860687256], [-0.48639169335365295, 0.3907219469547272, 3.847322463989258], [-0.654261589050293, 0.44591084122657776, 4.102691650390625], [-0.6662489175796509, 1.3197121620178223, 3.905970573425293], [-0.4983789920806885, 1.2645232677459717, 3.650601625442505]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 875, "image_id": 126, "category_id": 45, "category_name": "person", "bbox2D_proj": [334.0, 274.0, 362.0, 388.0], "bbox2D_tight": [334.0, 274.0, 362.0, 388.0], "bbox2D_trunc": [334.0, 274.0, 362.0, 388.0], "center_cam": [0.9830028117326294, 0.8046747285994424, 4.7481420021147915], "dimensions": [0.29687500583075577, 1.2203979192056402, 0.41796873867525386], "R_cam": [[-0.2951664626598358, -0.011636614799499512, 0.955375075340271], [-0.0314784049987793, 0.9995014667510986, 0.0024486780166625977], [-0.9549272060394287, -0.02935078740119934, -0.29538553953170776]], "bbox3D_cam": [[0.9099751710891724, 0.20099502801895142, 5.009462833404541], [0.7866048812866211, 0.18783801794052124, 4.61033296585083], [0.7724035978317261, 1.4076275825500488, 4.5745134353637695], [0.8957738876342773, 1.4207844734191895, 4.973642826080322], [1.1936020851135254, 0.20172196626663208, 4.921770095825195], [1.0702317953109741, 0.1885649561882019, 4.522640705108643], [1.056030511856079, 1.4083545207977295, 4.486820697784424], [1.1794008016586304, 1.4215114116668701, 4.885950565338135]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 876, "image_id": 126, "category_id": 45, "category_name": "person", "bbox2D_proj": [230.0, 273.0, 258.0, 407.0], "bbox2D_tight": [230.0, 273.0, 258.0, 407.0], "bbox2D_trunc": [230.0, 273.0, 258.0, 407.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 877, "image_id": 126, "category_id": 18, "category_name": "chimney", "bbox2D_proj": [88.0, 106.0, 106.0, 233.0], "bbox2D_tight": [88.0, 106.0, 106.0, 233.0], "bbox2D_trunc": [88.0, 106.0, 106.0, 233.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 878, "image_id": 126, "category_id": 45, "category_name": "person", "bbox2D_proj": [155.0, 311.0, 192.0, 415.0], "bbox2D_tight": [155.0, 311.0, 192.0, 415.0], "bbox2D_trunc": [155.0, 311.0, 192.0, 415.0], "center_cam": [-0.7193123181583233, 0.9446627090094322, 3.950220876595687], "dimensions": [0.24218749023195835, 0.8492431459083365, 0.35937500234921793], "R_cam": [[0.9750826358795166, 0.029999256134033203, 0.2198040932416916], [-0.06526196002960205, 0.9857606887817383, 0.15497323870658875], [-0.21202516555786133, -0.16545654833316803, 0.96315598487854]], "bbox3D_cam": [[-0.93387770652771, 0.5190479159355164, 3.941943407058716], [-0.583457350730896, 0.4955943822860718, 3.8657467365264893], [-0.5579807162284851, 1.332744836807251, 3.725234031677246], [-0.9084010124206543, 1.3561984300613403, 3.8014304637908936], [-0.880643904209137, 0.5565804839134216, 4.175207614898682], [-0.5302236080169678, 0.533126950263977, 4.099010944366455], [-0.5047469139099121, 1.3702774047851562, 3.958498239517212], [-0.8551672697067261, 1.3937309980392456, 4.034694671630859]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 879, "image_id": 127, "category_id": 45, "category_name": "person", "bbox2D_proj": [251.0, 242.0, 271.0, 305.0], "bbox2D_tight": [251.0, 242.0, 271.0, 305.0], "bbox2D_trunc": [251.0, 242.0, 271.0, 305.0], "center_cam": [0.005992625554008877, 0.1793405174764794, 4.916631462199797], "dimensions": [0.18359375090209093, 0.6645507577050949, 0.2509765687607004], "R_cam": [[0.9663656949996948, -0.041510045528411865, 0.2537996172904968], [0.06457126140594482, 0.9944373369216919, -0.0832165852189064], [-0.24893349409103394, 0.09680583328008652, 0.9636704325675964]], "bbox3D_cam": [[-0.12478020042181015, -0.15155041217803955, 4.827241897583008], [0.11775495857000351, -0.13534456491470337, 4.76476526260376], [0.09016942977905273, 0.5255094766616821, 4.829097747802734], [-0.15236572921276093, 0.509303629398346, 4.891574382781982], [-0.07818417251110077, -0.166828453540802, 5.0041656494140625], [0.1643509715795517, -0.15062260627746582, 4.9416890144348145], [0.13676545023918152, 0.5102314352989197, 5.006021499633789], [-0.10576970130205154, 0.4940255880355835, 5.068498134613037]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 880, "image_id": 127, "category_id": 45, "category_name": "person", "bbox2D_proj": [93.0, 246.0, 113.0, 321.0], "bbox2D_tight": [93.0, 246.0, 113.0, 321.0], "bbox2D_trunc": [93.0, 246.0, 113.0, 321.0], "center_cam": [-1.4216538344476064, 0.25477953948746906, 4.105906776673228], "dimensions": [0.18969727501983735, 0.6483154062498251, 0.22656250818797752], "R_cam": [[0.4231226146221161, 0.01635122299194336, 0.9059248566627502], [-0.10153853893280029, 0.9943947792053223, 0.029476672410964966], [-0.9003649950027466, -0.1044585108757019, 0.4224112033843994]], "bbox3D_cam": [[-1.5608118772506714, -0.0588546097278595, 4.20169734954834], [-1.4649481773376465, -0.08185943961143494, 3.997708320617676], [-1.4543473720550537, 0.5628221035003662, 3.9299862384796143], [-1.5502110719680786, 0.5858268737792969, 4.133975505828857], [-1.388960361480713, -0.05326297879219055, 4.281827449798584], [-1.293096661567688, -0.07626780867576599, 4.07783842086792], [-1.2824958562850952, 0.5684137344360352, 4.0101165771484375], [-1.3783595561981201, 0.5914185047149658, 4.214105606079102]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 881, "image_id": 127, "category_id": 45, "category_name": "person", "bbox2D_proj": [316.0, 251.0, 334.0, 293.0], "bbox2D_tight": [316.0, 251.0, 334.0, 293.0], "bbox2D_trunc": [316.0, 251.0, 334.0, 293.0], "center_cam": [0.8929666977671074, 0.1916619962668084, 5.881710315325548], "dimensions": [0.17187499873837409, 0.5452270318128654, 0.25097656637630017], "R_cam": [[0.9873917698860168, 0.042957425117492676, -0.1523556411266327], [-0.03255164623260498, 0.9970054030418396, 0.07014840096235275], [0.1549127697944641, -0.06430453807115555, 0.9858331084251404]], "bbox3D_cam": [[0.7704429030418396, -0.08207865059375763, 5.79508113861084], [1.0182551145553589, -0.09024836122989655, 5.83396053314209], [1.041676640510559, 0.4533458948135376, 5.798900127410889], [0.7938644289970398, 0.4615156054496765, 5.7600202560424805], [0.7442567348480225, -0.07002188265323639, 5.9645209312438965], [0.9920689463615417, -0.0781915932893753, 6.003400802612305], [1.0154905319213867, 0.46540266275405884, 5.968339920043945], [0.7676782608032227, 0.47357237339019775, 5.929460525512695]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 882, "image_id": 127, "category_id": 45, "category_name": "person", "bbox2D_proj": [227.0, 241.0, 254.0, 321.0], "bbox2D_tight": [227.0, 241.0, 254.0, 321.0], "bbox2D_trunc": [227.0, 241.0, 254.0, 321.0], "center_cam": [-0.14742922404885161, 0.23929081588784729, 4.443398558060606], "dimensions": [0.32421877015227873, 0.7871093461725331, 0.3847656456437009], "R_cam": [[0.571549117565155, 0.025349020957946777, -0.8201761245727539], [0.019099831581115723, 0.9988409280776978, 0.04418095573782921], [0.820345401763916, -0.04091673716902733, 0.5704025626182556]], "bbox3D_cam": [[-0.13440343737602234, -0.16464434564113617, 4.2092132568359375], [0.08550906181335449, -0.15729539096355438, 4.5248541831970215], [0.10546150803565979, 0.6289016604423523, 4.492648124694824], [-0.11445098370313644, 0.6215527057647705, 4.177007675170898], [-0.4003199636936188, -0.15032003819942474, 4.394148826599121], [-0.18040746450424194, -0.14297108352184296, 4.709789276123047], [-0.16045501828193665, 0.6432259678840637, 4.677583694458008], [-0.3803675174713135, 0.6358770132064819, 4.361942768096924]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 883, "image_id": 127, "category_id": 45, "category_name": "person", "bbox2D_proj": [397.0, 241.0, 446.0, 349.0], "bbox2D_tight": [397.0, 241.0, 446.0, 349.0], "bbox2D_trunc": [397.0, 241.0, 446.0, 349.0], "center_cam": [1.4605666961140804, 0.3341425925443373, 3.9419530957464786], "dimensions": [0.2617187545392138, 0.9360351246270939, 0.4130859466658326], "R_cam": [[0.7888198494911194, -0.08877313137054443, 0.6081798672676086], [0.01901620626449585, 0.9925656914710999, 0.12021581828594208], [-0.6143303513526917, -0.0832633376121521, 0.7846435308456421]], "bbox3D_cam": [[1.2596027851104736, -0.15005454421043396, 4.005129337310791], [1.5854531526565552, -0.14219924807548523, 3.7513582706451416], [1.5023584365844727, 0.7868770360946655, 3.6734209060668945], [1.1765080690383911, 0.7790217399597168, 3.927192211151123], [1.4187748432159424, -0.11859181523323059, 4.210485458374023], [1.744625210762024, -0.11073651909828186, 3.956714153289795], [1.6615304946899414, 0.8183397054672241, 3.878776788711548], [1.3356801271438599, 0.8104844093322754, 4.132547855377197]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 884, "image_id": 127, "category_id": 45, "category_name": "person", "bbox2D_proj": [59.0, 261.0, 91.0, 332.0], "bbox2D_tight": [59.0, 261.0, 91.0, 332.0], "bbox2D_trunc": [59.0, 261.0, 91.0, 332.0], "center_cam": [-1.5502392389778514, 0.3436929371406321, 3.799465428455006], "dimensions": [0.2695312529469885, 0.5942382622068783, 0.3105468716037599], "R_cam": [[-0.008465737104415894, -0.05988800525665283, -0.9981691837310791], [-0.1082383394241333, 0.9923949241638184, -0.05862352252006531], [0.994088888168335, 0.10754391551017761, -0.01488351821899414]], "bbox3D_cam": [[-1.3966119289398193, 0.07354038953781128, 3.6151623725891113], [-1.3992409706115723, 0.03992730379104614, 3.9238734245300293], [-1.4348286390304565, 0.629646360874176, 3.9877800941467285], [-1.4321997165679932, 0.6632594466209412, 3.6790690422058105], [-1.6656497716903687, 0.0577394962310791, 3.6111507415771484], [-1.668278694152832, 0.024126410484313965, 3.9198617935180664], [-1.7038664817810059, 0.6138454675674438, 3.9837684631347656], [-1.701237440109253, 0.647458553314209, 3.6750574111938477]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 885, "image_id": 127, "category_id": 45, "category_name": "person", "bbox2D_proj": [446.0, 250.0, 483.0, 348.0], "bbox2D_tight": [446.0, 250.0, 483.0, 348.0], "bbox2D_trunc": [446.0, 250.0, 483.0, 348.0], "center_cam": [1.7256327232308597, 0.3321348870371809, 3.7355110268444864], "dimensions": [0.31835938242739026, 0.7420348847694395, 0.3579101720587271], "R_cam": [[0.982623279094696, -0.01925957202911377, 0.18460942804813385], [0.02549612522125244, 0.9991795420646667, -0.03146815299987793], [-0.18385189771652222, 0.035628169775009155, 0.982308030128479]], "bbox3D_cam": [[1.527546763420105, -0.038131773471832275, 3.598830223083496], [1.8792376518249512, -0.02900642156600952, 3.5330276489257812], [1.8649463653564453, 0.7124196887016296, 3.559464931488037], [1.5132554769515991, 0.7032943367958069, 3.625267505645752], [1.5863189697265625, -0.048149943351745605, 3.911557197570801], [1.9380098581314087, -0.03902459144592285, 3.845754623413086], [1.9237185716629028, 0.7024015188217163, 3.872191905975342], [1.5720276832580566, 0.6932761669158936, 3.9379944801330566]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 886, "image_id": 127, "category_id": 45, "category_name": "person", "bbox2D_proj": [148.0, 228.0, 207.0, 356.0], "bbox2D_tight": [148.0, 228.0, 207.0, 356.0], "bbox2D_trunc": [148.0, 228.0, 207.0, 356.0], "center_cam": [-0.6550662192553678, 0.25506556950601633, 3.6398153472116905], "dimensions": [0.3515624970799526, 0.983398403296776, 0.44238281914646], "R_cam": [[0.9970919489860535, -0.05311417579650879, 0.05464788153767586], [0.04960668087005615, 0.9967381358146667, 0.06365618109703064], [-0.057850681245326996, -0.060760173946619034, 0.9964743852615356]], "bbox3D_cam": [[-0.8591042160987854, -0.2571919560432434, 3.5073256492614746], [-0.41800785064697266, -0.23524680733680725, 3.4817333221435547], [-0.4702403247356415, 0.7449439764022827, 3.4219820499420166], [-0.9113366603851318, 0.722998857498169, 3.4475741386413574], [-0.8398920297622681, -0.23481282591819763, 3.8576486110687256], [-0.3987956941127777, -0.21286770701408386, 3.8320565223693848], [-0.45102816820144653, 0.7673230767250061, 3.7723050117492676], [-0.8921245336532593, 0.7453778982162476, 3.7978973388671875]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 887, "image_id": 127, "category_id": 45, "category_name": "person", "bbox2D_proj": [371.0, 242.0, 398.0, 326.0], "bbox2D_tight": [371.0, 242.0, 398.0, 326.0], "bbox2D_trunc": [371.0, 242.0, 398.0, 326.0], "center_cam": [1.3188489907971868, 0.2695104565978385, 4.52421786277713], "dimensions": [0.23925781515345929, 0.8070068066606043, 0.24999999746708684], "R_cam": [[0.010133475065231323, 0.0004302859306335449, 0.9999485611915588], [-0.11452031135559082, 0.9934206008911133, 0.0007330477237701416], [-0.9933692216873169, -0.1145218014717102, 0.010116100311279297]], "bbox3D_cam": [[1.1977858543395996, -0.11711084842681885, 4.693388938903809], [1.2003192901611328, -0.14574092626571655, 4.445046901702881], [1.2006665468215942, 0.6559563279151917, 4.352626800537109], [1.198133111000061, 0.6845864057540894, 4.600969314575195], [1.4370313882827759, -0.11693543195724487, 4.695809364318848], [1.439564824104309, -0.14556550979614258, 4.447466850280762], [1.4399120807647705, 0.6561317443847656, 4.355047225952148], [1.4373786449432373, 0.6847618222236633, 4.603389263153076]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 888, "image_id": 128, "category_id": 45, "category_name": "person", "bbox2D_proj": [129.0, 223.0, 177.0, 348.0], "bbox2D_tight": [129.0, 223.0, 177.0, 348.0], "bbox2D_trunc": [129.0, 223.0, 177.0, 348.0], "center_cam": [-1.3391333744340082, 0.3792764761022288, 5.8534782806594094], "dimensions": [0.4179687546929975, 1.5416259431658932, 0.5654297115906697], "R_cam": [[0.9160189628601074, 0.03161966800689697, -0.3998870253562927], [-0.06335079669952393, 0.995781421661377, -0.06637915968894958], [0.396101176738739, 0.08613769710063934, 0.9141576290130615]], "bbox3D_cam": [[-1.5389082431793213, -0.35650232434272766, 5.484054088592529], [-1.0209639072418213, -0.39232268929481506, 5.70802116394043], [-0.9722182154655457, 1.142799735069275, 5.840813636779785], [-1.4901624917984009, 1.1786201000213623, 5.616846084594727], [-1.7060484886169434, -0.38424673676490784, 5.866143226623535], [-1.188104271888733, -0.42006710171699524, 6.090110778808594], [-1.1393585205078125, 1.1150553226470947, 6.222902774810791], [-1.6573028564453125, 1.1508756875991821, 5.998935699462891]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 889, "image_id": 128, "category_id": 15, "category_name": "car", "bbox2D_proj": [394.0, 235.0, 493.0, 291.0], "bbox2D_tight": [394.0, 235.0, 493.0, 291.0], "bbox2D_trunc": [394.0, 235.0, 493.0, 291.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 890, "image_id": 128, "category_id": 45, "category_name": "person", "bbox2D_proj": [208.0, 216.0, 259.0, 350.0], "bbox2D_tight": [208.0, 216.0, 259.0, 350.0], "bbox2D_trunc": [208.0, 216.0, 259.0, 350.0], "center_cam": [-0.2374203138948387, 0.34587734958058697, 5.779803008962251], "dimensions": [0.4765624930110084, 1.6711425395309447, 0.7226562658033397], "R_cam": [[0.9391839504241943, 0.0017031431198120117, -0.34341031312942505], [-0.013192415237426758, 0.9994285106658936, -0.031123027205467224], [0.34316104650497437, 0.03376065194606781, 0.9386696219444275]], "bbox3D_cam": [[-0.49636873602867126, -0.4770336151123047, 5.403932094573975], [0.1823383867740631, -0.48656725883483887, 5.651919841766357], [0.1851845681667328, 1.1836203336715698, 5.708338737487793], [-0.4935225546360016, 1.193153977394104, 5.46035099029541], [-0.6600252389907837, -0.4918656349182129, 5.851266860961914], [0.01868191361427307, -0.5013992786407471, 6.099254608154297], [0.02152809500694275, 1.1687883138656616, 6.155673503875732], [-0.6571789979934692, 1.1783219575881958, 5.90768575668335]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 891, "image_id": 128, "category_id": 45, "category_name": "person", "bbox2D_proj": [328.0, 224.0, 358.0, 305.0], "bbox2D_tight": [328.0, 224.0, 358.0, 305.0], "bbox2D_trunc": [328.0, 224.0, 358.0, 305.0], "center_cam": [1.3874428733843722, 0.2607400693564661, 6.742054799996706], "dimensions": [0.4804687807032502, 1.4804687250344166, 0.5429688014482295], "R_cam": [[-0.9516047239303589, 0.07645893096923828, 0.29766204953193665], [0.17606616020202637, 0.9294878244400024, 0.32411906123161316], [-0.25189146399497986, 0.3608414828777313, -0.8979668617248535]], "bbox3D_cam": [[1.5176825523376465, -0.5529624223709106, 6.759054660797119], [1.000990867614746, -0.4573639929294586, 6.622285842895508], [1.1141858100891113, 0.9187135696411133, 7.156499862670898], [1.6308774948120117, 0.8231151103973389, 7.293269157409668], [1.6606998443603516, -0.39723339676856995, 6.327610015869141], [1.1440081596374512, -0.30163493752479553, 6.190840721130371], [1.2572031021118164, 1.0744426250457764, 6.72505521774292], [1.7738947868347168, 0.978844165802002, 6.861824035644531]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 892, "image_id": 128, "category_id": 45, "category_name": "person", "bbox2D_proj": [485.0, 220.0, 512.0, 265.0], "bbox2D_tight": [485.0, 220.0, 512.0, 265.0], "bbox2D_trunc": [485.0, 220.0, 512.0, 265.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 893, "image_id": 128, "category_id": 45, "category_name": "person", "bbox2D_proj": [355.0, 224.0, 392.0, 302.0], "bbox2D_tight": [355.0, 224.0, 392.0, 302.0], "bbox2D_trunc": [355.0, 224.0, 392.0, 302.0], "center_cam": [1.5564314355017694, 0.2726742217906797, 5.9392791326937715], "dimensions": [0.40625003412598004, 1.2866210702759102, 0.45312505506620626], "R_cam": [[-0.9390151500701904, 0.0846322774887085, -0.33329862356185913], [0.016623198986053467, 0.9792797565460205, 0.20182862877845764], [0.3434738218784332, 0.18397963047027588, -0.9209654331207275]], "bbox3D_cam": [[1.7824335098266602, -0.4020693600177765, 5.93017578125], [1.3569421768188477, -0.3945370018482208, 6.085812568664551], [1.4658318758010864, 0.8654249906539917, 6.322524547576904], [1.891323208808899, 0.857892632484436, 6.1668877601623535], [1.6470309495925903, -0.32007649540901184, 5.556033611297607], [1.2215396165847778, -0.3125441372394562, 5.711670398712158], [1.3304293155670166, 0.9474178552627563, 5.948382377624512], [1.755920648574829, 0.9398854970932007, 5.792745590209961]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 894, "image_id": 128, "category_id": 45, "category_name": "person", "bbox2D_proj": [83.0, 231.0, 125.0, 351.0], "bbox2D_tight": [83.0, 231.0, 125.0, 351.0], "bbox2D_trunc": [83.0, 231.0, 125.0, 351.0], "center_cam": [-2.0082537126224413, 0.4527027499095439, 5.716410158908616], "dimensions": [0.47656255992548024, 1.4790038754066863, 0.5078125851200785], "R_cam": [[0.9630889892578125, -0.03507077693939209, 0.2668888568878174], [0.06576681137084961, 0.9920859336853027, -0.10695883631706238], [-0.2610255479812622, 0.12056330591440201, 0.9577735662460327]], "bbox3D_cam": [[-2.290447950363159, -0.27215903997421265, 5.465310096740723], [-1.8013792037963867, -0.23876184225082397, 5.332757949829102], [-1.853248953819275, 1.2285370826721191, 5.51107120513916], [-2.342317581176758, 1.1951398849487305, 5.643623352050781], [-2.1632585525512695, -0.32313162088394165, 5.921749114990234], [-1.6741899251937866, -0.289734423160553, 5.789196968078613], [-1.7260596752166748, 1.1775646209716797, 5.967510223388672], [-2.2151284217834473, 1.144167423248291, 6.100062370300293]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 895, "image_id": 128, "category_id": 61, "category_name": "sports_car", "bbox2D_proj": [255.0, 265.0, 512.0, 449.0], "bbox2D_tight": [255.0, 265.0, 512.0, 449.0], "bbox2D_trunc": [255.0, 265.0, 512.0, 449.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 896, "image_id": 128, "category_id": 30, "category_name": "handbag", "bbox2D_proj": [97.0, 275.0, 121.0, 312.0], "bbox2D_tight": [97.0, 275.0, 121.0, 312.0], "bbox2D_trunc": [97.0, 275.0, 121.0, 312.0], "center_cam": [-1.8217174390473156, 0.4674283508035003, 5.552396812012708], "dimensions": [0.20312499344073268, 0.4121093667704976, 0.34179687890329585], "R_cam": [[0.9529179930686951, 0.013075768947601318, 0.3029458522796631], [0.0013427138328552246, 0.9988780617713928, -0.047336921095848083], [-0.30322492122650146, 0.045514971017837524, 0.9518313407897949]], "bbox3D_cam": [[-2.0180318355560303, 0.2661830186843872, 5.498168468475342], [-1.6923274993896484, 0.2666419744491577, 5.394526958465576], [-1.686938762664795, 0.678288996219635, 5.4132843017578125], [-2.012643337249756, 0.6778300404548645, 5.516925811767578], [-1.956496000289917, 0.25656771659851074, 5.691509246826172], [-1.6307915449142456, 0.25702667236328125, 5.587867736816406], [-1.6254029273986816, 0.6686736941337585, 5.606625080108643], [-1.9511072635650635, 0.668214738368988, 5.710266590118408]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 897, "image_id": 129, "category_id": 45, "category_name": "person", "bbox2D_proj": [312.0, 341.0, 337.0, 417.0], "bbox2D_tight": [312.0, 341.0, 337.0, 417.0], "bbox2D_trunc": [312.0, 341.0, 337.0, 417.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 898, "image_id": 129, "category_id": 45, "category_name": "person", "bbox2D_proj": [90.0, 344.0, 119.0, 420.0], "bbox2D_tight": [90.0, 344.0, 119.0, 420.0], "bbox2D_trunc": [90.0, 344.0, 119.0, 420.0], "center_cam": [-5.824578655331582, 4.981141089620149, 17.20644970563207], "dimensions": [1.1311035149519566, 2.986328170969347, 1.2031250001894616], "R_cam": [[-0.35805246233940125, -0.008044719696044922, -0.9336668252944946], [0.022327065467834473, 0.9996031522750854, -0.017175108194351196], [0.9334344863891602, -0.026995599269866943, -0.3577308654785156]], "bbox3D_cam": [[-5.069138526916504, 3.484851837158203, 16.887554168701172], [-5.499920845031738, 3.511713981628418, 18.01059341430664], [-5.523944854736328, 6.496857166290283, 17.929975509643555], [-5.093163013458252, 6.469995021820068, 16.806936264038086], [-6.125212669372559, 3.4654250144958496, 16.48292350769043], [-6.555994510650635, 3.4922871589660645, 17.6059627532959], [-6.580018997192383, 6.47743034362793, 17.525344848632812], [-6.149236679077148, 6.450568199157715, 16.402305603027344]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 899, "image_id": 129, "category_id": 31, "category_name": "hat", "bbox2D_proj": [59.0, 410.0, 97.0, 441.0], "bbox2D_tight": [59.0, 410.0, 97.0, 441.0], "bbox2D_trunc": [59.0, 410.0, 97.0, 441.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 900, "image_id": 129, "category_id": 45, "category_name": "person", "bbox2D_proj": [174.0, 336.0, 195.0, 399.0], "bbox2D_tight": [174.0, 336.0, 195.0, 399.0], "bbox2D_trunc": [174.0, 336.0, 195.0, 399.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 901, "image_id": 129, "category_id": 45, "category_name": "person", "bbox2D_proj": [354.0, 352.0, 393.0, 445.0], "bbox2D_tight": [354.0, 352.0, 393.0, 445.0], "bbox2D_trunc": [354.0, 352.0, 393.0, 445.0], "center_cam": [2.9977172340877525, 3.567220966957482, 11.188400602394251], "dimensions": [0.8125000024736215, 2.141113325664391, 1.1328124964875452], "R_cam": [[0.8599636554718018, -0.061334967613220215, 0.506656289100647], [-0.10852491855621338, 0.9480699300765991, 0.29897454380989075], [-0.4986831843852997, -0.3120920658111572, 0.8086493015289307]], "bbox3D_cam": [[2.370461940765381, 2.4922690391540527, 11.476455688476562], [3.344639301300049, 2.369330883026123, 10.911541938781738], [3.2133142948150635, 4.399255752563477, 10.243316650390625], [2.2391366958618164, 4.5221943855285645, 10.808231353759766], [2.7821199893951416, 2.7351861000061035, 12.13348388671875], [3.7562975883483887, 2.6122474670410156, 11.56856918334961], [3.624972343444824, 4.642172813415527, 10.900344848632812], [2.6507949829101562, 4.765110969543457, 11.465258598327637]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 902, "image_id": 129, "category_id": 45, "category_name": "person", "bbox2D_proj": [435.0, 349.0, 447.0, 402.0], "bbox2D_tight": [435.0, 349.0, 447.0, 402.0], "bbox2D_trunc": [435.0, 349.0, 447.0, 402.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 903, "image_id": 129, "category_id": 45, "category_name": "person", "bbox2D_proj": [191.0, 360.0, 231.0, 499.0], "bbox2D_tight": [191.0, 360.0, 231.0, 499.0], "bbox2D_trunc": [191.0, 360.0, 231.0, 499.0], "center_cam": [-0.7480761639454383, 2.9473477390714318, 7.63596523551952], "dimensions": [0.6879882970295735, 2.1733398804120987, 0.6992187677299925], "R_cam": [[-0.22359660267829895, -0.01844686269760132, -0.9745071530342102], [0.11673539876937866, 0.9921172857284546, -0.04556465148925781], [0.9676659107208252, -0.12394756078720093, -0.21968066692352295]], "bbox3D_cam": [[-0.3146343231201172, 1.844105839729309, 7.5079193115234375], [-0.470977246761322, 1.9257293939590454, 8.184529304504395], [-0.5110685229301453, 4.081937313079834, 7.915149211883545], [-0.35472559928894043, 4.000313758850098, 7.238539218902588], [-0.9850837588310242, 1.8127578496932983, 7.356781482696533], [-1.141426682472229, 1.8943814039230347, 8.033391952514648], [-1.1815179586410522, 4.050589561462402, 7.764011383056641], [-1.0251750946044922, 3.968966007232666, 7.087401390075684]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 904, "image_id": 129, "category_id": 45, "category_name": "person", "bbox2D_proj": [409.0, 341.0, 458.0, 442.0], "bbox2D_tight": [409.0, 341.0, 458.0, 442.0], "bbox2D_trunc": [409.0, 341.0, 458.0, 442.0], "center_cam": [4.265631305809988, 3.246207830069829, 10.622744469223123], "dimensions": [0.8203125012075632, 2.233398481677604, 1.046874998208583], "R_cam": [[-0.682762861251831, -0.088875412940979, -0.7252146005630493], [0.10737544298171997, 0.9695919156074524, -0.21991434693336487], [0.7227070927619934, -0.22801968455314636, -0.6524584293365479]], "bbox3D_cam": [[5.019713401794434, 2.197460174560547, 10.766692161560059], [4.304945945739746, 2.309868812561035, 11.523275375366211], [4.106451511383057, 4.475353717803955, 11.014017105102539], [4.821218967437744, 4.362945079803467, 10.25743293762207], [4.424810886383057, 2.017061710357666, 10.23147201538086], [3.710043430328369, 2.1294703483581543, 10.988056182861328], [3.5115489959716797, 4.294955253601074, 10.47879695892334], [4.226316452026367, 4.182546615600586, 9.722213745117188]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 905, "image_id": 130, "category_id": 45, "category_name": "person", "bbox2D_proj": [479.0, 357.0, 512.0, 469.0], "bbox2D_tight": [479.0, 357.0, 512.0, 469.0], "bbox2D_trunc": [479.0, 357.0, 512.0, 469.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 906, "image_id": 130, "category_id": 45, "category_name": "person", "bbox2D_proj": [388.0, 354.0, 433.0, 466.0], "bbox2D_tight": [388.0, 354.0, 433.0, 466.0], "bbox2D_trunc": [388.0, 354.0, 433.0, 466.0], "center_cam": [2.6926836388647746, 2.6410323035322376, 7.610361321581742], "dimensions": [0.7031250640708014, 1.7133788612625809, 0.875000095832186], "R_cam": [[-0.4931553304195404, -0.04040318727493286, -0.8690024614334106], [0.07834082841873169, 0.9927996397018433, -0.09061700105667114], [0.8664066195487976, -0.11276659369468689, -0.48643922805786133]], "bbox3D_cam": [[3.248560905456543, 1.7880946397781372, 7.498928070068359], [2.817049980163574, 1.8566428422927856, 8.257034301757812], [2.74782395362854, 3.557684898376465, 8.063821792602539], [3.179335117340088, 3.4891366958618164, 7.305716037750244], [2.6375434398651123, 1.724379539489746, 7.156900405883789], [2.2060322761535645, 1.7929277420043945, 7.915006160736084], [2.1368064880371094, 3.4939699172973633, 7.721794128417969], [2.568317413330078, 3.425421714782715, 6.963688373565674]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 907, "image_id": 130, "category_id": 45, "category_name": "person", "bbox2D_proj": [150.0, 338.0, 173.0, 408.0], "bbox2D_tight": [150.0, 338.0, 173.0, 408.0], "bbox2D_trunc": [150.0, 338.0, 173.0, 408.0], "center_cam": [-3.657078003511919, 4.366880088223992, 16.72483541166217], "dimensions": [0.6542968964502159, 2.5253905145354647, 0.9218750570152321], "R_cam": [[0.010406018234789371, 0.02122974395751953, -0.999720573425293], [0.03698456287384033, 0.9990824460983276, 0.021601052954792976], [0.999261736869812, -0.03719914332032204, 0.009611248970031738]], "bbox3D_cam": [[-3.361624240875244, 3.0812289714813232, 16.30806541442871], [-3.3520312309265137, 3.1153242588043213, 17.229259490966797], [-3.298417806625366, 5.638397216796875, 17.135318756103516], [-3.3080108165740967, 5.604302406311035, 16.214122772216797], [-4.015738010406494, 3.095362424850464, 16.314353942871094], [-4.006145000457764, 3.129457712173462, 17.235549926757812], [-3.9525318145751953, 5.652530670166016, 17.1416072845459], [-3.962124824523926, 5.618435859680176, 16.220413208007812]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 908, "image_id": 130, "category_id": 45, "category_name": "person", "bbox2D_proj": [242.0, 355.0, 267.0, 430.0], "bbox2D_tight": [242.0, 355.0, 267.0, 430.0], "bbox2D_trunc": [242.0, 355.0, 267.0, 430.0], "center_cam": [-0.03233808601582566, 3.4542888797468443, 11.401467011702158], "dimensions": [0.6621094507708492, 1.7725829743898336, 0.718750106703719], "R_cam": [[-0.27090397477149963, -0.01057577133178711, 0.9625483751296997], [-0.20412778854370117, 0.9778294563293457, -0.046706974506378174], [-0.9407140612602234, -0.20913591980934143, -0.26705658435821533]], "bbox3D_cam": [[-0.2442649006843567, 2.6764681339263916, 12.013301849365234], [-0.43897712230682373, 2.5297513008117676, 11.337163925170898], [-0.45772355794906616, 4.263034820556641, 10.966453552246094], [-0.2630113363265991, 4.409751892089844, 11.64259147644043], [0.39304739236831665, 2.645542860031128, 11.836481094360352], [0.19833515584468842, 2.498826026916504, 11.160343170166016], [0.17958873510360718, 4.232110023498535, 10.789632797241211], [0.3743009567260742, 4.37882661819458, 11.465770721435547]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 909, "image_id": 130, "category_id": 31, "category_name": "hat", "bbox2D_proj": [117.0, 449.0, 149.0, 488.0], "bbox2D_tight": [117.0, 449.0, 149.0, 488.0], "bbox2D_trunc": [117.0, 449.0, 149.0, 488.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 910, "image_id": 130, "category_id": 31, "category_name": "hat", "bbox2D_proj": [35.0, 408.0, 71.0, 438.0], "bbox2D_tight": [35.0, 408.0, 71.0, 438.0], "bbox2D_trunc": [35.0, 408.0, 71.0, 438.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 911, "image_id": 130, "category_id": 45, "category_name": "person", "bbox2D_proj": [317.0, 347.0, 346.0, 391.0], "bbox2D_tight": [317.0, 347.0, 346.0, 391.0], "bbox2D_trunc": [317.0, 347.0, 346.0, 391.0], "center_cam": [2.509573961729559, 3.595600798480354, 14.070882474609267], "dimensions": [0.4609375297175902, 1.546875023618341, 0.8828125674184095], "R_cam": [[-0.7706000208854675, 0.1593126654624939, -0.6170859336853027], [-0.1182093620300293, 0.9157231450080872, 0.38402819633483887], [0.6262603998184204, 0.36887750029563904, -0.6868240833282471]], "bbox3D_cam": [[2.868722438812256, 2.851017951965332, 13.667435646057129], [2.188426971435547, 2.7466611862182617, 14.220306396484375], [2.434863567352295, 4.16317081451416, 14.790913581848145], [3.115159034729004, 4.2675275802612305, 14.238042831420898], [2.5842843055725098, 3.02803111076355, 13.350852012634277], [1.9039887189865112, 2.9236743450164795, 13.903722763061523], [2.150425434112549, 4.340183734893799, 14.474329948425293], [2.830720901489258, 4.444540500640869, 13.921459197998047]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 912, "image_id": 130, "category_id": 45, "category_name": "person", "bbox2D_proj": [39.0, 343.0, 59.0, 389.0], "bbox2D_tight": [39.0, 343.0, 59.0, 389.0], "bbox2D_trunc": [39.0, 343.0, 59.0, 389.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 913, "image_id": 130, "category_id": 45, "category_name": "person", "bbox2D_proj": [299.0, 370.0, 352.0, 512.0], "bbox2D_tight": [299.0, 370.0, 352.0, 512.0], "bbox2D_trunc": [299.0, 370.0, 352.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 914, "image_id": 130, "category_id": 45, "category_name": "person", "bbox2D_proj": [304.0, 338.0, 319.0, 387.0], "bbox2D_tight": [304.0, 338.0, 319.0, 387.0], "bbox2D_trunc": [304.0, 338.0, 319.0, 387.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 915, "image_id": 130, "category_id": 45, "category_name": "person", "bbox2D_proj": [497.0, 349.0, 512.0, 430.0], "bbox2D_tight": [497.0, 349.0, 512.0, 430.0], "bbox2D_trunc": [497.0, 349.0, 512.0, 430.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 916, "image_id": 130, "category_id": 45, "category_name": "person", "bbox2D_proj": [466.0, 337.0, 491.0, 419.0], "bbox2D_tight": [466.0, 337.0, 491.0, 419.0], "bbox2D_trunc": [466.0, 337.0, 491.0, 419.0], "center_cam": [4.490585749270488, 2.4763928546695353, 9.067860910725145], "dimensions": [0.5092774168452099, 1.657714810527928, 0.5703125935698592], "R_cam": [[-0.5157086849212646, -0.12940895557403564, 0.8469343781471252], [-0.2576289176940918, 0.9661997556686401, -0.0092410147190094], [-0.8171119689941406, -0.22296041250228882, -0.5316171050071716]], "bbox3D_cam": [[4.529242515563965, 1.751368522644043, 9.621038436889648], [4.2351274490356445, 1.6044394969940186, 9.155028343200684], [4.020604133605957, 3.2061233520507812, 8.78542423248291], [4.3147196769714355, 3.3530521392822266, 9.251433372497559], [4.960567474365234, 1.7466622591018677, 9.350296974182129], [4.666451930999756, 1.5997332334518433, 8.88428783416748], [4.451929092407227, 3.2014169692993164, 8.51468276977539], [4.746044158935547, 3.348345994949341, 8.980692863464355]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 917, "image_id": 131, "category_id": 77, "category_name": "window", "bbox2D_proj": [358.0, 207.0, 402.0, 255.0], "bbox2D_tight": [358.0, 207.0, 402.0, 255.0], "bbox2D_trunc": [358.0, 207.0, 402.0, 255.0], "center_cam": [3.4521028682133883, -0.7146287178279176, 12.543003565281396], "dimensions": [1.114043583462259, 1.3590951642046107, 2.4156691703133113], "R_cam": [[-0.21779119968414307, -0.00764788594096899, 0.9759654998779297], [0.009694148786365986, 0.9999030828475952, 0.009998760186135769], [-0.9759472608566284, 0.011638796888291836, -0.21769589185714722]], "bbox3D_cam": [[3.1767215728759766, -1.411388874053955, 13.835139274597168], [2.6506102085113525, -1.3879709243774414, 11.47757339477539], [2.6402158737182617, -0.02900761365890503, 11.493391990661621], [3.166327476501465, -0.05242544412612915, 13.850956916809082], [4.2639899253845215, -1.400249719619751, 13.592616081237793], [3.7378783226013184, -1.3768320083618164, 11.235051155090332], [3.7274842262268066, -0.01786857843399048, 11.250868797302246], [4.253595352172852, -0.0412864089012146, 13.608434677124023]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 918, "image_id": 131, "category_id": 58, "category_name": "signboard", "bbox2D_proj": [401.0, 227.0, 422.0, 297.0], "bbox2D_tight": [401.0, 227.0, 422.0, 297.0], "bbox2D_trunc": [401.0, 227.0, 422.0, 297.0], "center_cam": [2.705429063959066, 0.08778409992319855, 7.965707911608117], "dimensions": [0.3476562552632806, 1.2124023662311751, 0.5156250133261386], "R_cam": [[0.889539897441864, -0.021724462509155273, -0.45634087920188904], [0.03322333097457886, 0.9993001818656921, 0.017189593985676765], [0.4556480646133423, -0.03045201674103737, 0.889639139175415]], "bbox3D_cam": [[2.5685887336730957, -0.5295462608337402, 7.712051868438721], [3.0272579193115234, -0.5124154090881348, 7.946995258331299], [3.0009191036224365, 0.6991384029388428, 7.9100751876831055], [2.542250156402588, 0.6820075511932373, 7.675131797790527], [2.4099390506744385, -0.52357017993927, 8.021340370178223], [2.868607997894287, -0.5064393281936646, 8.2562837600708], [2.8422694206237793, 0.705114483833313, 8.219364166259766], [2.3836002349853516, 0.6879836320877075, 7.984420299530029]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 919, "image_id": 131, "category_id": 28, "category_name": "flowerpot", "bbox2D_proj": [164.0, 270.0, 202.0, 307.0], "bbox2D_tight": [164.0, 270.0, 202.0, 307.0], "bbox2D_trunc": [164.0, 270.0, 202.0, 307.0], "center_cam": [-1.2635083191228682, 0.5220796872571467, 7.21433700639848], "dimensions": [0.5785874616928364, 0.45972686397290674, 0.6004482121224957], "R_cam": [[-0.032771408557891846, -0.021039292216300964, -0.9992414116859436], [0.06904566287994385, 0.9973422288894653, -0.02326374687254429], [0.997075080871582, -0.0697556734085083, -0.031231634318828583]], "bbox3D_cam": [[-0.9597591161727905, 0.27882808446884155, 6.940060138702393], [-0.9794366359710693, 0.3202863931655884, 7.53875207901001], [-0.9891090393066406, 0.7787914276123047, 7.506683826446533], [-0.9694314002990723, 0.7373331189155579, 6.907991886138916], [-1.537907600402832, 0.26536795496940613, 6.921989917755127], [-1.5575852394104004, 0.30682629346847534, 7.520681858062744], [-1.5672575235366821, 0.7653313279151917, 7.488613605499268], [-1.5475800037384033, 0.7238730192184448, 6.88992166519165]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 920, "image_id": 132, "category_id": 71, "category_name": "tray", "bbox2D_proj": [71.0, 101.0, 363.0, 157.0], "bbox2D_tight": [71.0, 101.0, 363.0, 157.0], "bbox2D_trunc": [71.0, 101.0, 363.0, 157.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 921, "image_id": 132, "category_id": 10, "category_name": "bowl", "bbox2D_proj": [78.0, 25.0, 235.0, 105.0], "bbox2D_tight": [78.0, 25.0, 235.0, 105.0], "bbox2D_trunc": [78.0, 25.0, 235.0, 105.0], "center_cam": [-0.12835263136741246, -0.2497615944906217, 0.5725865974844622], "dimensions": [0.19935607893131144, 0.08692932332578508, 0.20019532285585745], "R_cam": [[0.0057146549224853516, -0.009365320205688477, 0.9999397993087769], [0.4328385293483734, 0.9014517068862915, 0.005969226360321045], [-0.9014533758163452, 0.43277835845947266, 0.009205043315887451]], "bbox3D_cam": [[-0.228189617395401, -0.33286401629447937, 0.6430918574333191], [-0.22704559564590454, -0.24621176719665527, 0.462625116109848], [-0.2278597056865692, -0.16784918308258057, 0.5002462267875671], [-0.22900374233722687, -0.25450143218040466, 0.6807129979133606], [-0.028845541179180145, -0.3316740095615387, 0.6449269652366638], [-0.02770151197910309, -0.2450217604637146, 0.46446019411087036], [-0.028515629470348358, -0.1666591763496399, 0.5020813345909119], [-0.029659658670425415, -0.253311425447464, 0.6825480461120605]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 922, "image_id": 132, "category_id": 58, "category_name": "signboard", "bbox2D_proj": [15.0, 206.0, 100.0, 280.0], "bbox2D_tight": [15.0, 206.0, 100.0, 280.0], "bbox2D_trunc": [15.0, 206.0, 100.0, 280.0], "center_cam": [-0.16672427279250457, -0.015108538746555489, 0.3941573909428914], "dimensions": [0.010690843825155316, 0.07575542305366789, 0.06353533012647003], "R_cam": [[0.9934571981430054, 0.019174328073859215, 0.11258532106876373], [0.04135595262050629, 0.8585034608840942, -0.5111375451087952], [-0.10645560920238495, 0.5124495029449463, 0.8520933389663696]], "bbox3D_cam": [[-0.19961218535900116, -0.0462082177400589, 0.37357401847839355], [-0.1364925652742386, -0.04358065128326416, 0.36681032180786133], [-0.1350400149822235, 0.021455632522702217, 0.4056311547756195], [-0.19815963506698608, 0.01882806606590748, 0.41239485144615173], [-0.19840854406356812, -0.051672711968421936, 0.3826836049556732], [-0.13528892397880554, -0.0490451455116272, 0.375919908285141], [-0.13383637368679047, 0.01599113829433918, 0.41474074125289917], [-0.19695599377155304, 0.01336357556283474, 0.4215044379234314]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 923, "image_id": 132, "category_id": 9, "category_name": "bottle", "bbox2D_proj": [233.0, 316.0, 269.0, 442.0], "bbox2D_tight": [233.0, 316.0, 269.0, 442.0], "bbox2D_trunc": [233.0, 316.0, 269.0, 442.0], "center_cam": [-0.0044757201595492496, 0.12313930381759214, 0.44553720795478113], "dimensions": [0.051540876850795496, 0.12072754063899215, 0.05154087928578768], "R_cam": [[-0.0038520991802215576, 0.005113840103149414, -0.9999794960021973], [-0.17953407764434814, 0.9837350845336914, 0.005722373723983765], [0.9837442636489868, 0.17955243587493896, -0.002871274948120117]], "bbox3D_cam": [[0.021084768697619438, 0.06823655217885971, 0.40942123532295227], [0.02088622748851776, 0.0589832067489624, 0.46012425422668457], [0.021503610536456108, 0.17774713039398193, 0.48180118203163147], [0.021702151745557785, 0.18700046837329865, 0.4310981333255768], [-0.030455050989985466, 0.06853149086236954, 0.409273236989975], [-0.030653592199087143, 0.05927814543247223, 0.45997628569602966], [-0.030036209151148796, 0.17804205417633057, 0.4816531836986542], [-0.02983766794204712, 0.18729540705680847, 0.4309501647949219]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 924, "image_id": 132, "category_id": 11, "category_name": "box", "bbox2D_proj": [101.0, 311.0, 211.0, 471.0], "bbox2D_tight": [101.0, 311.0, 211.0, 471.0], "bbox2D_trunc": [101.0, 311.0, 211.0, 471.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 925, "image_id": 133, "category_id": 50, "category_name": "plastic_bag", "bbox2D_proj": [425.0, 337.0, 468.0, 425.0], "bbox2D_tight": [425.0, 337.0, 468.0, 425.0], "bbox2D_trunc": [425.0, 337.0, 468.0, 425.0], "center_cam": [1.0146181045948517, 0.646416708746528, 2.32194266319782], "dimensions": [0.1816406255741334, 0.4018554735269002, 0.23291015703863915], "R_cam": [[0.6939893960952759, 0.05765724182128906, 0.7176728844642639], [-0.09494400024414062, 0.995412290096283, 0.011839987710118294], [-0.7136977314949036, -0.07635549455881119, 0.6962798833847046]], "bbox3D_cam": [[0.8570353388786316, 0.45639219880104065, 2.3571617603302], [1.0186724662780762, 0.43427878618240356, 2.190934419631958], [1.0418424606323242, 0.834290623664856, 2.160250663757324], [0.8802052736282349, 0.8564040660858154, 2.3264780044555664], [0.987393856048584, 0.4585428237915039, 2.4836344718933105], [1.1490310430526733, 0.4364294111728668, 2.3174071311950684], [1.1722009181976318, 0.8364412784576416, 2.2867233753204346], [1.010563850402832, 0.8585546612739563, 2.4529507160186768]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 926, "image_id": 133, "category_id": 45, "category_name": "person", "bbox2D_proj": [415.0, 126.0, 452.0, 222.0], "bbox2D_tight": [415.0, 126.0, 452.0, 222.0], "bbox2D_trunc": [415.0, 126.0, 452.0, 222.0], "center_cam": [1.4627771913877547, -0.6700367996767059, 3.780842040829098], "dimensions": [0.2988281694847672, 0.8530273521256004, 0.3046875458088251], "R_cam": [[-0.8094384074211121, 0.06296193599700928, 0.583819568157196], [0.027044296264648438, 0.9971771836280823, -0.0700448751449585], [-0.5865817070007324, -0.04090803861618042, -0.8088562488555908]], "bbox3D_cam": [[1.472005009651184, -1.0890008211135864, 4.0085062980651855], [1.225379228591919, -1.0807607173919678, 3.829782247543335], [1.2790875434875488, -0.23014140129089355, 3.794886589050293], [1.525713324546814, -0.23838144540786743, 3.9736108779907227], [1.6464667320251465, -1.1099321842193604, 3.7667975425720215], [1.3998409509658813, -1.1016921997070312, 3.588073253631592], [1.4535492658615112, -0.2510727643966675, 3.55317759513855], [1.7001750469207764, -0.25931280851364136, 3.7319018840789795]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 927, "image_id": 133, "category_id": 45, "category_name": "person", "bbox2D_proj": [278.0, 128.0, 310.0, 217.0], "bbox2D_tight": [278.0, 128.0, 310.0, 217.0], "bbox2D_trunc": [278.0, 128.0, 310.0, 217.0], "center_cam": [0.3533735007413946, -0.7921180763278104, 4.257719529932042], "dimensions": [0.19335937355302452, 0.85229492985496, 0.3144531240086864], "R_cam": [[0.9251835346221924, 0.05876731872558594, -0.37494248151779175], [-0.047612547874450684, 0.9981060028076172, 0.03895430266857147], [0.37652158737182617, -0.018187910318374634, 0.9262292981147766]], "bbox3D_cam": [[0.21911586821079254, -1.2137385606765747, 4.116723537445068], [0.5100427269935608, -1.228710412979126, 4.235121726989746], [0.5601297616958618, -0.37802979350090027, 4.219620227813721], [0.26920294761657715, -0.3630578815937042, 4.101222038269043], [0.14661721885204315, -1.2062063217163086, 4.29581880569458], [0.437544047832489, -1.2211782932281494, 4.414216995239258], [0.4876311421394348, -0.37049761414527893, 4.398715496063232], [0.19670428335666656, -0.3555257022380829, 4.280317306518555]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 928, "image_id": 133, "category_id": 8, "category_name": "boat", "bbox2D_proj": [0.0, 297.0, 419.0, 493.0], "bbox2D_tight": [0.0, 297.0, 419.0, 493.0], "bbox2D_trunc": [0.0, 297.0, 419.0, 493.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 929, "image_id": 133, "category_id": 45, "category_name": "person", "bbox2D_proj": [342.0, 115.0, 372.0, 209.0], "bbox2D_tight": [342.0, 115.0, 372.0, 209.0], "bbox2D_trunc": [342.0, 115.0, 372.0, 209.0], "center_cam": [0.9212119716796685, -0.8928611662839845, 4.1444085666213875], "dimensions": [0.30798339915662054, 0.8979492276577936, 0.3515624991811308], "R_cam": [[0.30025210976600647, 0.09027957916259766, -0.949578046798706], [0.024069666862487793, 0.9944769144058228, 0.10215902328491211], [0.9535561800003052, -0.0535295307636261, 0.296420693397522]], "bbox3D_cam": [[0.9741271138191223, -1.359318733215332, 3.9551784992218018], [1.0796844959259033, -1.3508566617965698, 4.290412902832031], [1.1607509851455688, -0.45786696672439575, 4.242346286773682], [1.0551936626434326, -0.4663289785385132, 3.907111644744873], [0.6816729307174683, -1.3278553485870361, 4.046471118927002], [0.7872303128242493, -1.3193933963775635, 4.3817057609558105], [0.8682968020439148, -0.4264037013053894, 4.333639144897461], [0.7627394199371338, -0.43486571311950684, 3.9984042644500732]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 930, "image_id": 133, "category_id": 45, "category_name": "person", "bbox2D_proj": [29.0, 341.0, 85.0, 389.0], "bbox2D_tight": [29.0, 341.0, 85.0, 389.0], "bbox2D_trunc": [29.0, 341.0, 85.0, 389.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 931, "image_id": 133, "category_id": 45, "category_name": "person", "bbox2D_proj": [113.0, 326.0, 138.0, 367.0], "bbox2D_tight": [113.0, 326.0, 138.0, 367.0], "bbox2D_trunc": [113.0, 326.0, 138.0, 367.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 932, "image_id": 133, "category_id": 45, "category_name": "person", "bbox2D_proj": [146.0, 236.0, 166.0, 287.0], "bbox2D_tight": [146.0, 236.0, 166.0, 287.0], "bbox2D_trunc": [146.0, 236.0, 166.0, 287.0], "center_cam": [-1.1236361559570114, 0.06273551945208314, 5.011832908837624], "dimensions": [0.08664040074960822, 0.5523270524568461, 0.30352223506503684], "R_cam": [[-0.792610764503479, 0.0028757103718817234, -0.6097212433815002], [0.002426148857921362, 0.9999958276748657, 0.0015625284286215901], [0.6097231507301331, -0.00024079764261841774, -0.7926144003868103]], "bbox3D_cam": [[-0.9777295589447021, -0.21386271715164185, 4.953702926635742], [-1.2183045148849487, -0.2131263017654419, 5.138767719268799], [-1.2167161703109741, 0.33919841051101685, 5.13863468170166], [-0.9761412143707275, 0.3384619951248169, 4.953570365905762], [-1.030556082725525, -0.21372735500335693, 4.885030746459961], [-1.2711310386657715, -0.21299093961715698, 5.070095062255859], [-1.2695426940917969, 0.33933377265930176, 5.069962501525879], [-1.0289677381515503, 0.3385973572731018, 4.884897708892822]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 933, "image_id": 133, "category_id": 8, "category_name": "boat", "bbox2D_proj": [0.0, 281.0, 329.0, 424.0], "bbox2D_tight": [0.0, 281.0, 329.0, 424.0], "bbox2D_trunc": [0.0, 281.0, 329.0, 424.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 934, "image_id": 133, "category_id": 45, "category_name": "person", "bbox2D_proj": [470.0, 124.0, 512.0, 219.0], "bbox2D_tight": [470.0, 124.0, 512.0, 219.0], "bbox2D_trunc": [470.0, 124.0, 512.0, 219.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 935, "image_id": 134, "category_id": 45, "category_name": "person", "bbox2D_proj": [300.0, 285.0, 331.0, 407.0], "bbox2D_tight": [300.0, 285.0, 331.0, 407.0], "bbox2D_trunc": [300.0, 285.0, 331.0, 407.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 936, "image_id": 134, "category_id": 45, "category_name": "person", "bbox2D_proj": [256.0, 282.0, 284.0, 395.0], "bbox2D_tight": [256.0, 282.0, 284.0, 395.0], "bbox2D_trunc": [256.0, 282.0, 284.0, 395.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 937, "image_id": 134, "category_id": 45, "category_name": "person", "bbox2D_proj": [142.0, 280.0, 174.0, 392.0], "bbox2D_tight": [142.0, 280.0, 174.0, 392.0], "bbox2D_trunc": [142.0, 280.0, 174.0, 392.0], "center_cam": [-2.5248101256278073, 2.115593241282609, 11.801655153963008], "dimensions": [0.8281251275134223, 2.8889160760270083, 0.875000102654466], "R_cam": [[0.9648879170417786, 0.011814594268798828, 0.26239657402038574], [-0.01769876480102539, 0.9996419548988342, 0.020071731880307198], [-0.26206544041633606, -0.024011027067899704, 0.9647514820098877]], "bbox3D_cam": [[-3.072662830352783, 0.6710846424102783, 11.55152416229248], [-2.2283859252929688, 0.6555984020233154, 11.322216987609863], [-2.1942543983459473, 3.5434799194335938, 11.252850532531738], [-3.0385313034057617, 3.5589661598205566, 11.482157707214355], [-2.855365753173828, 0.687706470489502, 12.350459098815918], [-2.0110888481140137, 0.6722202301025391, 12.1211519241333], [-1.9769572019577026, 3.5601017475128174, 12.051785469055176], [-2.8212342262268066, 3.5755879878997803, 12.281092643737793]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 938, "image_id": 134, "category_id": 45, "category_name": "person", "bbox2D_proj": [14.0, 303.0, 75.0, 497.0], "bbox2D_tight": [14.0, 303.0, 75.0, 497.0], "bbox2D_trunc": [14.0, 303.0, 75.0, 497.0], "center_cam": [-2.634856394567413, 1.7165170962444516, 5.419657519756721], "dimensions": [0.6992189168315462, 2.190429745260906, 0.7646486237334051], "R_cam": [[0.7554888725280762, 0.08260548114776611, -0.6499330401420593], [0.05274718999862671, 0.9811302423477173, 0.18601401150226593], [0.6530347466468811, -0.1748136729001999, 0.7368757128715515]], "bbox3D_cam": [[-2.7869462966918945, 0.5567699670791626, 5.103826522827148], [-2.2092628479003906, 0.5971029996871948, 5.603168487548828], [-2.0283212661743164, 2.746199607849121, 5.220251560211182], [-2.6060047149658203, 2.705866813659668, 4.720909595489502], [-3.241391658782959, 0.686834454536438, 5.619063854217529], [-2.663708209991455, 0.7271674871444702, 6.118405818939209], [-2.482766628265381, 2.8762640953063965, 5.7354888916015625], [-3.0604500770568848, 2.8359313011169434, 5.236146926879883]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 939, "image_id": 134, "category_id": 45, "category_name": "person", "bbox2D_proj": [350.0, 288.0, 374.0, 380.0], "bbox2D_tight": [350.0, 288.0, 374.0, 380.0], "bbox2D_trunc": [350.0, 288.0, 374.0, 380.0], "center_cam": [1.8777035440372938, 1.464850764851771, 8.39839679139224], "dimensions": [0.5024414177437639, 1.595275915358652, 0.5546875348214643], "R_cam": [[0.140973299741745, 0.008014678955078125, -0.989980936050415], [0.08877968788146973, 0.9958360195159912, 0.020704329013824463], [0.9860246777534485, -0.09080895781517029, 0.13967478275299072]], "bbox3D_cam": [[2.080916404724121, 0.6407102942466736, 8.162272453308105], [2.1591124534606934, 0.6899552941322327, 8.709207534790039], [2.171898126602173, 2.2785885334014893, 8.564342498779297], [2.0937020778656006, 2.2293436527252197, 8.017406463623047], [1.5835089683532715, 0.651112973690033, 8.232450485229492], [1.6617050170898438, 0.700357973575592, 8.779386520385742], [1.6744906902313232, 2.2889912128448486, 8.634520530700684], [1.596294641494751, 2.239746332168579, 8.08758544921875]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 940, "image_id": 134, "category_id": 42, "category_name": "painting", "bbox2D_proj": [139.0, 85.0, 171.0, 138.0], "bbox2D_tight": [139.0, 85.0, 171.0, 138.0], "bbox2D_trunc": [139.0, 85.0, 171.0, 138.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 941, "image_id": 134, "category_id": 42, "category_name": "painting", "bbox2D_proj": [356.0, 168.0, 402.0, 268.0], "bbox2D_tight": [356.0, 168.0, 402.0, 268.0], "bbox2D_trunc": [356.0, 168.0, 402.0, 268.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 942, "image_id": 135, "category_id": 13, "category_name": "building", "bbox2D_proj": [390.0, 66.0, 458.0, 142.0], "bbox2D_tight": [390.0, 66.0, 458.0, 142.0], "bbox2D_trunc": [390.0, 66.0, 458.0, 142.0], "center_cam": [7.2707774319089005, -6.186059537674119, 18.90267520196746], "dimensions": [1.4531250729158325, 2.3632814453487585, 2.50268597395882], "R_cam": [[0.8808148503303528, 0.06911002844572067, 0.4683898091316223], [-0.10542826354503632, 0.9930803775787354, 0.05173248052597046], [-0.4615734815597534, -0.09494825452566147, 0.8820061087608337]], "bbox3D_cam": [[5.746598243713379, -7.265183448791504, 18.951623916625977], [7.951001167297363, -7.5290374755859375, 17.796451568603516], [8.114327430725098, -5.1821088790893555, 17.57206153869629], [5.909924507141113, -4.91825532913208, 18.727235794067383], [6.427227020263672, -7.190010070800781, 20.23328971862793], [8.631629943847656, -7.453863620758057, 19.078115463256836], [8.79495620727539, -5.106935501098633, 18.853727340698242], [6.590553283691406, -4.843081474304199, 20.008899688720703]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 943, "image_id": 136, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [97.0, 10.0, 125.0, 196.0], "bbox2D_tight": [97.0, 10.0, 125.0, 196.0], "bbox2D_trunc": [97.0, 10.0, 125.0, 196.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 944, "image_id": 136, "category_id": 45, "category_name": "person", "bbox2D_proj": [201.0, 248.0, 231.0, 321.0], "bbox2D_tight": [201.0, 248.0, 231.0, 321.0], "bbox2D_trunc": [201.0, 248.0, 231.0, 321.0], "center_cam": [-0.3625817941454664, 0.24422253431415553, 3.9635436761814846], "dimensions": [0.24267578252883754, 0.6022949287470714, 0.2773437483727381], "R_cam": [[-0.18818971514701843, -0.020229697227478027, -0.981924295425415], [-0.1228412389755249, 0.9924215078353882, 0.003096967935562134], [0.9744201898574829, 0.12120363116264343, -0.18924856185913086]], "bbox3D_cam": [[-0.21124839782714844, -0.03798384964466095, 3.8148818016052246], [-0.26344165205955505, -0.07205308973789215, 4.0851311683654785], [-0.27562594413757324, 0.5256773829460144, 4.1581315994262695], [-0.22343267500400543, 0.5597466230392456, 3.8878822326660156], [-0.44953763484954834, -0.03723229467868805, 3.768955707550049], [-0.5017309188842773, -0.07130153477191925, 4.039205074310303], [-0.5139151811599731, 0.5264289379119873, 4.112205505371094], [-0.46172192692756653, 0.5604981780052185, 3.84195613861084]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 945, "image_id": 136, "category_id": 45, "category_name": "person", "bbox2D_proj": [161.0, 240.0, 187.0, 326.0], "bbox2D_tight": [161.0, 240.0, 187.0, 326.0], "bbox2D_trunc": [161.0, 240.0, 187.0, 326.0], "center_cam": [-0.7018258020601562, 0.20188347312703248, 3.8063857032500374], "dimensions": [0.23828125260087032, 0.7695312611087983, 0.28320312971736017], "R_cam": [[0.8229718804359436, -0.053546011447906494, 0.5655530691146851], [0.2202264666557312, 0.9477675557136536, -0.23073171079158783], [-0.523658037185669, 0.3144354522228241, 0.7917781472206116]], "bbox3D_cam": [[-0.8651375770568848, -0.16647975146770477, 3.665219783782959], [-0.6320693492889404, -0.10411094129085541, 3.516918182373047], [-0.6732746958732605, 0.6252257227897644, 3.7588858604431152], [-0.9063428640365601, 0.562856912612915, 3.9071874618530273], [-0.7303768992424011, -0.2214587777853012, 3.8538856506347656], [-0.4973087012767792, -0.15908996760845184, 3.7055840492248535], [-0.5385140180587769, 0.570246696472168, 3.947551727294922], [-0.7715822458267212, 0.5078778862953186, 4.095853328704834]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 946, "image_id": 136, "category_id": 45, "category_name": "person", "bbox2D_proj": [264.0, 242.0, 285.0, 322.0], "bbox2D_tight": [264.0, 242.0, 285.0, 322.0], "bbox2D_trunc": [264.0, 242.0, 285.0, 322.0], "center_cam": [0.19721706287445212, 0.24211136990161902, 4.205576635729912], "dimensions": [0.21142577959336092, 0.7351074264557891, 0.26562499379171256], "R_cam": [[-0.16919422149658203, -0.02148759365081787, -0.9853484630584717], [0.032472848892211914, 0.9990979433059692, -0.02736338973045349], [0.9850475788116455, -0.036626845598220825, -0.1683439016342163]], "bbox3D_cam": [[0.3317500352859497, -0.12653093039989471, 4.106008052825928], [0.2868078351020813, -0.11790530383586884, 4.367661476135254], [0.2710121273994446, 0.6165390014648438, 4.3407368659973145], [0.3159543573856354, 0.6079133749008179, 4.079083442687988], [0.12342198938131332, -0.13231627643108368, 4.07041597366333], [0.07847977429628372, -0.1236906498670578, 4.332069396972656], [0.0626840740442276, 0.6107536554336548, 4.305144786834717], [0.1076262816786766, 0.6021280288696289, 4.043491363525391]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 947, "image_id": 136, "category_id": 13, "category_name": "building", "bbox2D_proj": [156.0, 0.0, 319.0, 215.0], "bbox2D_tight": [156.0, 0.0, 319.0, 215.0], "bbox2D_trunc": [156.0, 0.0, 319.0, 215.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 948, "image_id": 136, "category_id": 13, "category_name": "building", "bbox2D_proj": [275.0, 33.0, 356.0, 208.0], "bbox2D_tight": [275.0, 33.0, 356.0, 208.0], "bbox2D_trunc": [275.0, 33.0, 356.0, 208.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 949, "image_id": 136, "category_id": 45, "category_name": "person", "bbox2D_proj": [277.0, 239.0, 341.0, 423.0], "bbox2D_tight": [277.0, 239.0, 341.0, 423.0], "bbox2D_trunc": [277.0, 239.0, 341.0, 423.0], "center_cam": [0.3187323383551579, 0.46981983490074547, 2.5907785244806094], "dimensions": [0.29687500214077456, 1.1870117312559811, 0.34570312927431857], "R_cam": [[0.9069263935089111, -0.008188486099243164, -0.4212096035480499], [-0.1426619291305542, 0.9347720146179199, -0.3253442347049713], [0.39639899134635925, 0.3551538288593292, 0.8466012477874756]], "bbox3D_cam": [[0.22935189306735992, -0.01202017068862915, 2.185807228088379], [0.5428791642189026, -0.061338841915130615, 2.322843551635742], [0.5331594347953796, 1.0482463836669922, 2.744415283203125], [0.2196321338415146, 1.0975651741027832, 2.6073789596557617], [0.10430528223514557, -0.10860675573348999, 2.4371418952941895], [0.41783255338668823, -0.15792542695999146, 2.5741782188415527], [0.4081128239631653, 0.9516598582267761, 2.9957499504089355], [0.09458552300930023, 1.0009784698486328, 2.8587136268615723]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 950, "image_id": 136, "category_id": 13, "category_name": "building", "bbox2D_proj": [182.0, 103.0, 279.0, 220.0], "bbox2D_tight": [182.0, 103.0, 279.0, 220.0], "bbox2D_trunc": [182.0, 103.0, 279.0, 220.0], "center_cam": [-0.3341530147427898, -1.2201094982221925, 5.5289117504380725], "dimensions": [0.552013016598574, 1.2818145549660056, 1.3489857240153655], "R_cam": [[-0.7846729755401611, 0.0010335147380828857, -0.6199090480804443], [0.009013742208480835, 0.999911904335022, -0.009742438793182373], [0.6198443174362183, -0.01323235034942627, -0.7846132516860962]], "bbox3D_cam": [[0.3655398190021515, -1.8643510341644287, 5.335870265960693], [-0.6929727792739868, -1.8521915674209595, 6.172031402587891], [-0.691648006439209, -0.5704898834228516, 6.155069828033447], [0.3668645918369293, -0.5826493501663208, 5.31890869140625], [0.02334192395210266, -1.8697290420532227, 4.9027533531188965], [-1.0351706743240356, -1.8575695753097534, 5.738914489746094], [-1.0338459014892578, -0.5758678913116455, 5.72195291519165], [0.024666696786880493, -0.5880273580551147, 4.885791778564453]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 951, "image_id": 136, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [119.0, 0.0, 161.0, 213.0], "bbox2D_tight": [119.0, 0.0, 161.0, 213.0], "bbox2D_trunc": [119.0, 0.0, 161.0, 213.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 952, "image_id": 137, "category_id": 45, "category_name": "person", "bbox2D_proj": [357.0, 269.0, 476.0, 384.0], "bbox2D_tight": [357.0, 269.0, 476.0, 384.0], "bbox2D_trunc": [357.0, 269.0, 476.0, 384.0], "center_cam": [1.736347962689061, 0.69004886002862, 4.587811974971559], "dimensions": [0.7792968984471627, 1.0477753011984645, 1.4765625997689804], "R_cam": [[0.3154628276824951, 0.051405169069767, 0.9475446343421936], [-0.06347064673900604, 0.9974386692047119, -0.03298089653253555], [-0.9468129277229309, -0.04973702132701874, 0.3179175853729248]], "bbox3D_cam": [[1.1073077917099, 0.22721323370933533, 5.189006805419922], [1.5731085538864136, 0.13349485397338867, 3.790978193283081], [1.626969575881958, 1.1785863637924194, 3.7388651371002197], [1.1611688137054443, 1.2723047733306885, 5.136893272399902], [1.8457262516021729, 0.20151135325431824, 5.436758995056152], [2.3115270137786865, 0.10779297351837158, 4.038730621337891], [2.3653879165649414, 1.1528844833374023, 3.98661732673645], [1.8995872735977173, 1.2466028928756714, 5.384645462036133]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 953, "image_id": 137, "category_id": 45, "category_name": "person", "bbox2D_proj": [468.0, 227.0, 491.0, 289.0], "bbox2D_tight": [468.0, 227.0, 491.0, 289.0], "bbox2D_trunc": [468.0, 227.0, 491.0, 289.0], "center_cam": [6.5174375877564295, 0.00563715288822586, 12.957556779689359], "dimensions": [0.7382813248105383, 1.6347656706288856, 1.0781250854639466], "R_cam": [[0.8195444941520691, 0.06133723258972168, -0.5697232484817505], [-0.1252589225769043, 0.9893854260444641, -0.07366563379764557], [0.5591574907302856, 0.13173514604568481, 0.818528413772583]], "bbox3D_cam": [[6.235823631286621, -0.7083541750907898, 12.246305465698242], [7.1193952560424805, -0.8433988690376282, 12.84914779663086], [7.219667434692383, 0.7740145325660706, 13.06450366973877], [6.336095809936523, 0.9090592265129089, 12.461662292480469], [5.815207481384277, -0.7627401947975159, 12.85060977935791], [6.698779106140137, -0.8977848887443542, 13.453451156616211], [6.799051284790039, 0.7196285128593445, 13.668807983398438], [5.91547966003418, 0.8546732068061829, 13.06596565246582]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 954, "image_id": 137, "category_id": 45, "category_name": "person", "bbox2D_proj": [307.0, 255.0, 349.0, 311.0], "bbox2D_tight": [307.0, 255.0, 349.0, 311.0], "bbox2D_trunc": [307.0, 255.0, 349.0, 311.0], "center_cam": [1.5902026751455078, 0.5838829622150479, 9.43676452223065], "dimensions": [0.703125070818803, 1.1796875400175013, 1.007812556791294], "R_cam": [[0.9087457656860352, -0.03696751594543457, 0.41571006178855896], [0.09997236728668213, 0.986351728439331, -0.13082841038703918], [-0.40519988536834717, 0.1604493111371994, 0.9000385999679565]], "bbox3D_cam": [[1.007936954498291, -0.0022927522659301758, 9.229887962341309], [1.923782229423523, 0.09846079349517822, 8.821521759033203], [1.8801722526550293, 1.2620474100112915, 9.010802268981934], [0.9643270373344421, 1.161293864250183, 9.419167518615723], [1.3002331256866455, -0.09428143501281738, 9.862727165222168], [2.216078281402588, 0.006472110748291016, 9.454361915588379], [2.172468423843384, 1.1700587272644043, 9.643641471862793], [1.2566231489181519, 1.069305181503296, 10.052007675170898]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 955, "image_id": 138, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [189.0, 276.0, 215.0, 347.0], "bbox2D_tight": [189.0, 276.0, 215.0, 347.0], "bbox2D_trunc": [189.0, 276.0, 215.0, 347.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 956, "image_id": 138, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [69.0, 255.0, 112.0, 372.0], "bbox2D_tight": [69.0, 255.0, 112.0, 372.0], "bbox2D_trunc": [69.0, 255.0, 112.0, 372.0], "center_cam": [-2.1249606251702575, 0.7161663088833317, 5.6885593050778205], "dimensions": [0.5062296669787664, 1.4061463731757342, 0.6379715103063877], "R_cam": [[0.37699949741363525, 0.00048523407895118, 0.9262133240699768], [-0.0011663767509162426, 0.9999992847442627, -4.9135880544781685e-05], [-0.926212728023529, -0.001061789458617568, 0.37699973583221436]], "bbox3D_cam": [[-2.4799976348876953, 0.013478100299835205, 5.8893303871154785], [-2.2394826412200928, 0.012733995914459229, 5.298433303833008], [-2.238800287246704, 1.418879508972168, 5.296940326690674], [-2.4793152809143066, 1.419623613357544, 5.8878374099731445], [-2.0111210346221924, 0.013453185558319092, 6.080178737640381], [-1.7706060409545898, 0.012709081172943115, 5.48928165435791], [-1.7699236869812012, 1.4188544750213623, 5.487788677215576], [-2.0104386806488037, 1.4195985794067383, 6.078685760498047]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 957, "image_id": 138, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [4.0, 252.0, 43.0, 376.0], "bbox2D_tight": [4.0, 252.0, 43.0, 376.0], "bbox2D_trunc": [4.0, 252.0, 43.0, 376.0], "center_cam": [-2.7799722186508045, 0.676386629645932, 5.3065844245153055], "dimensions": [0.38689462964981214, 1.3659182451195004, 0.6213733401836903], "R_cam": [[0.4981920123100281, 0.0004852340498473495, 0.8670665621757507], [-0.0011623820755630732, 0.9999992847442627, 0.00010824509081430733], [-0.867065966129303, -0.0010617895750328898, 0.4981921911239624]], "bbox3D_cam": [[-3.1028170585632324, -0.006231784820556641, 5.480321407318115], [-2.7932538986206055, -0.006954073905944824, 4.941549777984619], [-2.792591094970703, 1.3589632511138916, 4.940099239349365], [-3.10215425491333, 1.3596855401992798, 5.4788713455200195], [-2.7673535346984863, -0.006189942359924316, 5.673069477081299], [-2.4577903747558594, -0.0069122314453125, 5.1342973709106445], [-2.457127571105957, 1.359005093574524, 5.132847309112549], [-2.766690731048584, 1.359727382659912, 5.671618938446045]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 958, "image_id": 138, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [32.0, 243.0, 73.0, 365.0], "bbox2D_tight": [32.0, 243.0, 73.0, 365.0], "bbox2D_trunc": [32.0, 243.0, 73.0, 365.0], "center_cam": [-2.5641149913125987, 0.6394595114706079, 5.65249520345577], "dimensions": [0.4355474518786141, 1.6166991854958808, 0.43750058753319065], "R_cam": [[0.2781057357788086, 0.004120469093322754, -0.9605416059494019], [-0.13365280628204346, 0.9904292821884155, -0.03444778919219971], [0.951206624507904, 0.13795924186706543, 0.27599483728408813]], "bbox3D_cam": [[-2.419100761413574, -0.12441521883010864, 5.272794723510742], [-2.297429323196411, -0.1828884482383728, 5.688948631286621], [-2.2907676696777344, 1.4183378219604492, 5.911986827850342], [-2.4124393463134766, 1.476811170578003, 5.495833396911621], [-2.8374624252319336, -0.13941890001296997, 5.393003940582275], [-2.7157907485961914, -0.19789212942123413, 5.809157371520996], [-2.7091293334960938, 1.403334140777588, 6.032196044921875], [-2.830800771713257, 1.4618074893951416, 5.616042137145996]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 959, "image_id": 138, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [166.0, 228.0, 199.0, 346.0], "bbox2D_tight": [166.0, 228.0, 199.0, 346.0], "bbox2D_trunc": [166.0, 228.0, 199.0, 346.0], "center_cam": [-1.084663411093332, 0.3240900703027337, 6.73649019967084], "dimensions": [0.4062500081320761, 2.0458984055489853, 0.496093769341686], "R_cam": [[0.18932944536209106, 0.03883624076843262, -0.9811453819274902], [0.23372411727905273, 0.9687156081199646, 0.08344551920890808], [0.9536914825439453, -0.24511602520942688, 0.17432940006256104]], "bbox3D_cam": [[-0.9720583558082581, -0.7417812943458557, 6.7152605056762695], [-0.8781331777572632, -0.625832200050354, 7.188381195068359], [-0.7986781597137451, 1.3560616970062256, 6.686898708343506], [-0.89260333776474, 1.240112543106079, 6.213778018951416], [-1.3706486225128174, -0.707881510257721, 6.786081790924072], [-1.2767233848571777, -0.5919324159622192, 7.259202480316162], [-1.1972683668136597, 1.3899614810943604, 6.757719993591309], [-1.2911936044692993, 1.2740123271942139, 6.284599304199219]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 960, "image_id": 138, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [241.0, 263.0, 275.0, 341.0], "bbox2D_tight": [241.0, 263.0, 275.0, 341.0], "bbox2D_trunc": [241.0, 263.0, 275.0, 341.0], "center_cam": [0.11603672177132343, 0.7280312857550651, 6.831685480158628], "dimensions": [0.5664062877661638, 1.164306625497996, 0.6328125533356832], "R_cam": [[-0.3329741060733795, -0.027831196784973145, 0.9425251483917236], [-0.1375265121459961, 0.9903092384338379, -0.019343018531799316], [-0.9328529834747314, -0.1360628604888916, -0.3335748314857483]], "bbox3D_cam": [[-0.029332317411899567, 0.20051175355911255, 7.300525188446045], [-0.24004244804382324, 0.1134832501411438, 6.710203647613525], [-0.2724464535713196, 1.2665069103240967, 6.551784992218018], [-0.06173635274171829, 1.3535354137420654, 7.142106056213379], [0.5045198798179626, 0.18955570459365845, 7.111586093902588], [0.29380980134010315, 0.1025272011756897, 6.521265029907227], [0.2614057660102844, 1.2555508613586426, 6.3628458976745605], [0.4721158742904663, 1.3425793647766113, 6.95316743850708]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 961, "image_id": 138, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [210.0, 258.0, 242.0, 346.0], "bbox2D_tight": [210.0, 258.0, 242.0, 346.0], "bbox2D_trunc": [210.0, 258.0, 242.0, 346.0], "center_cam": [-0.4431817452595312, 0.6515140274967055, 6.462824603458909], "dimensions": [0.35720931193831973, 1.243598569143419, 0.4528871155817686], "R_cam": [[0.9950717687606812, 0.00048523407895118, -0.09915606677532196], [-0.0003775596269406378, 0.9999992847442627, 0.0011046709259971976], [0.09915652871131897, -0.0010617895750328898, 0.995071291923523]], "bbox3D_cam": [[-0.6511013507843018, 0.02960336208343506, 6.263307094573975], [-0.20044614374637604, 0.02943241596221924, 6.30821418762207], [-0.19984270632266998, 1.273030161857605, 6.306893348693848], [-0.6504979133605957, 1.2732011079788208, 6.26198673248291], [-0.6865208148956299, 0.029997944831848145, 6.618756294250488], [-0.23586560785770416, 0.029826998710632324, 6.663662910461426], [-0.2352621704339981, 1.273424744606018, 6.662342548370361], [-0.6859173774719238, 1.2735956907272339, 6.617435455322266]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 962, "image_id": 139, "category_id": 45, "category_name": "person", "bbox2D_proj": [14.0, 214.0, 54.0, 303.0], "bbox2D_tight": [14.0, 214.0, 54.0, 303.0], "bbox2D_trunc": [14.0, 214.0, 54.0, 303.0], "center_cam": [-3.060218876981127, 0.02754271355515253, 6.084715584673916], "dimensions": [0.5195312495782659, 1.2143554717294767, 0.5859375072159532], "R_cam": [[0.9285669326782227, -0.03735131025314331, 0.36928078532218933], [0.015493988990783691, 0.9979571104049683, 0.06197939068078995], [-0.3708414137363434, -0.05183041840791702, 0.9272487163543701]], "bbox3D_cam": [[-3.4055075645446777, -0.5990340113639832, 5.9839630126953125], [-2.8614253997802734, -0.5899555087089539, 5.7666730880737305], [-2.906783103942871, 0.6219192147254944, 5.703732967376709], [-3.4508652687072754, 0.6128407120704651, 5.921022891998291], [-3.2136545181274414, -0.5668337941169739, 6.465697765350342], [-2.669572353363037, -0.5577552914619446, 6.24840784072876], [-2.7149300575256348, 0.6541194319725037, 6.185467720031738], [-3.259012222290039, 0.6450409293174744, 6.40275764465332]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 963, "image_id": 139, "category_id": 45, "category_name": "person", "bbox2D_proj": [72.0, 216.0, 102.0, 301.0], "bbox2D_tight": [72.0, 216.0, 102.0, 301.0], "bbox2D_trunc": [72.0, 216.0, 102.0, 301.0], "center_cam": [-2.3859066510084013, 0.02889287737582988, 6.2079454475858595], "dimensions": [0.3850097985640958, 1.1596679697959102, 0.41015628133279414], "R_cam": [[0.29990676045417786, 0.010440587997436523, 0.9539114236831665], [0.026087641716003418, 0.999476432800293, -0.01914125680923462], [-0.9536117911338806, 0.030625909566879272, 0.29947733879089355]], "bbox3D_cam": [[-2.6370973587036133, -0.5523027181625366, 6.328101634979248], [-2.5140888690948486, -0.5416027307510376, 5.936971664428711], [-2.501981258392334, 0.6174579858779907, 5.972487449645996], [-2.6249897480010986, 0.6067579984664917, 6.363617420196533], [-2.269832134246826, -0.5596722364425659, 6.443403244018555], [-2.1468236446380615, -0.5489722490310669, 6.052273273468018], [-2.134716033935547, 0.6100884675979614, 6.087789058685303], [-2.2577245235443115, 0.5993884801864624, 6.47891902923584]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 964, "image_id": 139, "category_id": 63, "category_name": "streetlight", "bbox2D_proj": [115.0, 34.0, 155.0, 181.0], "bbox2D_tight": [115.0, 34.0, 155.0, 181.0], "bbox2D_trunc": [115.0, 34.0, 155.0, 181.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 965, "image_id": 139, "category_id": 43, "category_name": "palm_tree", "bbox2D_proj": [38.0, 75.0, 68.0, 167.0], "bbox2D_tight": [38.0, 75.0, 68.0, 167.0], "bbox2D_trunc": [38.0, 75.0, 68.0, 167.0], "center_cam": [-5.902333264128773, -4.070926283845628, 12.89011848915277], "dimensions": [0.7617187873163928, 2.2070312610280842, 0.8281250374183063], "R_cam": [[-0.18396788835525513, -0.09021061658859253, -0.9787838459014893], [-0.2686481475830078, 0.9624800086021423, -0.038214027881622314], [0.9455072283744812, 0.2559182941913605, -0.2013002634048462]], "bbox3D_cam": [[-5.3538312911987305, -5.007246494293213, 12.292877197265625], [-5.5061798095703125, -5.2297210693359375, 13.075875282287598], [-5.705277442932129, -3.105497360229492, 13.640694618225098], [-5.552928924560547, -2.883023262023926, 12.857696533203125], [-6.09938907623291, -5.036355018615723, 12.139542579650879], [-6.251737594604492, -5.258829116821289, 12.922540664672852], [-6.450835227966309, -3.134605884552002, 13.487360000610352], [-6.298486709594727, -2.9121313095092773, 12.704361915588379]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 966, "image_id": 139, "category_id": 45, "category_name": "person", "bbox2D_proj": [309.0, 241.0, 322.0, 284.0], "bbox2D_tight": [309.0, 241.0, 322.0, 284.0], "bbox2D_trunc": [309.0, 241.0, 322.0, 284.0], "center_cam": [1.4230507853645145, 0.14089537361483384, 10.62607983320974], "dimensions": [0.33593753175604124, 1.0014648452466088, 0.3515625288523031], "R_cam": [[0.4777292311191559, 0.010863542556762695, -0.8784399628639221], [-0.04533696174621582, 0.9988960027694702, -0.012302756309509277], [0.8773365020751953, 0.04570329189300537, 0.4776943325996399]], "bbox3D_cam": [[1.4811856746673584, -0.34924831986427307, 10.36873722076416], [1.6491373777389526, -0.3651871085166931, 10.677176475524902], [1.6600167751312256, 0.6351720094680786, 10.722946166992188], [1.4920650720596313, 0.651110827922821, 10.414507865905762], [1.1860847473144531, -0.35338130593299866, 10.529212951660156], [1.3540364503860474, -0.3693200945854187, 10.837651252746582], [1.3649158477783203, 0.631039023399353, 10.883421897888184], [1.196964144706726, 0.6469778418540955, 10.574982643127441]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 967, "image_id": 139, "category_id": 45, "category_name": "person", "bbox2D_proj": [323.0, 242.0, 335.0, 282.0], "bbox2D_tight": [323.0, 242.0, 335.0, 282.0], "bbox2D_trunc": [323.0, 242.0, 335.0, 282.0], "center_cam": [1.8000573154647443, 0.11209390277991613, 11.012958115778392], "dimensions": [0.28810328692859194, 0.88161738675099, 1.1233446110819596], "R_cam": [[0.19453716278076172, -0.11709471046924591, -0.9738810062408447], [-0.0880487710237503, 0.9867565631866455, -0.1362309455871582], [0.9769353866577148, 0.11225100606679916, 0.18165087699890137]], "bbox3D_cam": [[1.8826966285705566, -0.25379809737205505, 10.388592720031738], [2.101228952407837, -0.35270723700523376, 11.486027717590332], [1.997996211051941, 0.5172345042228699, 11.584990501403809], [1.7794640064239502, 0.6161436438560486, 10.487555503845215], [1.6021183729171753, -0.2930466830730438, 10.440926551818848], [1.820650577545166, -0.39195582270622253, 11.538361549377441], [1.7174179553985596, 0.4779858887195587, 11.637324333190918], [1.4988856315612793, 0.5768950581550598, 10.539889335632324]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 968, "image_id": 139, "category_id": 45, "category_name": "person", "bbox2D_proj": [247.0, 226.0, 278.0, 302.0], "bbox2D_tight": [247.0, 226.0, 278.0, 302.0], "bbox2D_trunc": [247.0, 226.0, 278.0, 302.0], "center_cam": [0.10969031490372858, 0.10979899454334205, 7.603550970995692], "dimensions": [0.43750007775692445, 1.2272338890583128, 0.4531250841934242], "R_cam": [[0.7655235528945923, -0.0013894438743591309, 0.6434065699577332], [0.03548330068588257, 0.9985671043395996, -0.04006150737404823], [-0.6424288153648376, 0.053498275578022, 0.7644757032394409]], "bbox3D_cam": [[-0.20364123582839966, -0.5022143125534058, 7.549044609069824], [0.14323663711547852, -0.48613598942756653, 7.257944107055664], [0.14153146743774414, 0.7393392324447632, 7.323598861694336], [-0.20534640550613403, 0.7232608795166016, 7.614699363708496], [0.07784915715456009, -0.5197411775588989, 7.883502960205078], [0.42472702264785767, -0.5036628246307373, 7.592402458190918], [0.4230218529701233, 0.72181236743927, 7.65805721282959], [0.07614398747682571, 0.7057340145111084, 7.94915771484375]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 969, "image_id": 139, "category_id": 45, "category_name": "person", "bbox2D_proj": [216.0, 224.0, 240.0, 297.0], "bbox2D_tight": [216.0, 224.0, 240.0, 297.0], "bbox2D_trunc": [216.0, 224.0, 240.0, 297.0], "center_cam": [-0.4965201039157763, 0.06592473136479893, 8.315342891140622], "dimensions": [0.45117187453508234, 1.3105468784393621, 0.5195312419804693], "R_cam": [[-0.28028979897499084, -0.0606389045715332, 0.9579982757568359], [-0.07008826732635498, 0.9966317415237427, 0.04257795214653015], [-0.9573532342910767, -0.055210262537002563, -0.2835958003997803]], "bbox3D_cam": [[-0.6000863313674927, -0.5785399675369263, 8.664183616638184], [-0.7457056641578674, -0.6149530410766602, 8.166808128356934], [-0.8251757621765137, 0.6911795139312744, 8.094452857971191], [-0.6795564293861389, 0.7275925874710083, 8.591827392578125], [-0.16786441206932068, -0.5593299865722656, 8.536232948303223], [-0.3134837746620178, -0.5957430601119995, 8.038858413696289], [-0.39295390248298645, 0.7103894948959351, 7.9665021896362305], [-0.2473345398902893, 0.746802568435669, 8.46387767791748]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 970, "image_id": 140, "category_id": 75, "category_name": "vent", "bbox2D_proj": [308.0, 130.0, 343.0, 172.0], "bbox2D_tight": [308.0, 130.0, 343.0, 172.0], "bbox2D_trunc": [308.0, 130.0, 343.0, 172.0], "center_cam": [0.7533386352906098, -1.142432676997641, 4.815444860261349], "dimensions": [0.08701834596143954, 0.4583234233259771, 0.3651080597805323], "R_cam": [[-0.9808794260025024, 0.0004138768999837339, -0.19461657106876373], [0.0003660993243101984, 1.0, 0.0002814640465658158], [0.1946166604757309, 0.0002048332680715248, -0.9808793663978577]], "bbox3D_cam": [[0.9407749176025391, -1.3716734647750854, 4.822547435760498], [0.5826479196548462, -1.371539831161499, 4.893603324890137], [0.5828375816345215, -0.9132164120674133, 4.893697261810303], [0.9409645795822144, -0.9133501052856445, 4.822640895843506], [0.9238396883010864, -1.371648907661438, 4.737192630767822], [0.5657126903533936, -1.3715152740478516, 4.808248996734619], [0.5659023523330688, -0.9131919145584106, 4.808342456817627], [0.9240293502807617, -0.9133256077766418, 4.737286567687988]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 971, "image_id": 140, "category_id": 75, "category_name": "vent", "bbox2D_proj": [255.0, 131.0, 287.0, 171.0], "bbox2D_tight": [255.0, 131.0, 287.0, 171.0], "bbox2D_trunc": [255.0, 131.0, 287.0, 171.0], "center_cam": [0.1651355215449557, -1.1474809895113487, 4.8709643264931906], "dimensions": [0.04687500255296624, 0.4082031063804451, 0.36474609012114145], "R_cam": [[0.9957255125045776, 0.011557698249816895, -0.09163645654916763], [-0.00735926628112793, 0.9989132881164551, 0.04602281004190445], [0.09206878393888474, -0.0451517179608345, 0.9947284460067749]], "bbox3D_cam": [[-0.016669169068336487, -1.3510972261428833, 4.8400750160217285], [0.34651780128479004, -1.3537814617156982, 4.873656749725342], [0.35123568773269653, -0.9460220336914062, 4.855226039886475], [-0.011951282620429993, -0.9433377385139465, 4.821644306182861], [-0.020964637398719788, -1.3489398956298828, 4.886703014373779], [0.34222233295440674, -1.3516241312026978, 4.920284748077393], [0.34694021940231323, -0.9438647031784058, 4.901854038238525], [-0.016246750950813293, -0.941180408000946, 4.868272304534912]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 972, "image_id": 140, "category_id": 45, "category_name": "person", "bbox2D_proj": [0.0, 253.0, 20.0, 307.0], "bbox2D_tight": [0.0, 253.0, 20.0, 307.0], "bbox2D_trunc": [0.0, 253.0, 20.0, 307.0], "center_cam": [-1.9294862658535608, 0.18528026230814115, 3.479826472453233], "dimensions": [0.1332054919003881, 0.42890890319780606, 0.18838840072931706], "R_cam": [[-0.5419591665267944, 0.0004138768126722425, -0.8404048085212708], [5.2161398343741894e-05, 1.0, 0.00045883533312007785], [0.8404049277305603, 0.0002048332680715248, -0.5419589877128601]], "bbox3D_cam": [[-1.8225523233413696, -0.029209643602371216, 3.4367172718048096], [-1.9246511459350586, -0.029199808835983276, 3.5950398445129395], [-1.9244736433029175, 0.3997090458869934, 3.595127582550049], [-1.8223748207092285, 0.39969921112060547, 3.436805009841919], [-1.934498906135559, -0.029148519039154053, 3.364525318145752], [-2.036597728729248, -0.029138684272766113, 3.522847890853882], [-2.0364201068878174, 0.39977017045021057, 3.522935628890991], [-1.934321403503418, 0.39976033568382263, 3.3646130561828613]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 973, "image_id": 140, "category_id": 45, "category_name": "person", "bbox2D_proj": [285.0, 254.0, 315.0, 309.0], "bbox2D_tight": [285.0, 254.0, 315.0, 309.0], "bbox2D_trunc": [285.0, 254.0, 315.0, 309.0], "center_cam": [0.4560686732716525, 0.2486756111365209, 4.4327377433987785], "dimensions": [0.19531254048618696, 0.5383300598487741, 0.22656253562430567], "R_cam": [[-0.9184572696685791, 0.18900275230407715, -0.34743955731391907], [0.14713585376739502, 0.978662371635437, 0.14342594146728516], [0.3671339154243469, 0.0806097686290741, -0.926668643951416]], "bbox3D_cam": [[0.543169379234314, -0.04542025923728943, 4.459946155548096], [0.33508139848709106, -0.012084782123565674, 4.543125152587891], [0.43682724237442017, 0.5147585868835449, 4.586519718170166], [0.6449152827262878, 0.48142310976982117, 4.503340721130371], [0.4753100872039795, -0.017407387495040894, 4.278955936431885], [0.2672220468521118, 0.01592811942100525, 4.36213493347168], [0.3689679205417633, 0.5427714586257935, 4.405529499053955], [0.5770559310913086, 0.5094360113143921, 4.32235050201416]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 974, "image_id": 141, "category_id": 45, "category_name": "person", "bbox2D_proj": [164.0, 248.0, 200.0, 335.0], "bbox2D_tight": [164.0, 248.0, 200.0, 335.0], "bbox2D_trunc": [164.0, 248.0, 200.0, 335.0], "center_cam": [-1.1225950234127575, 0.5017443037991268, 6.766458545176537], "dimensions": [0.54589842108532, 1.1650390703247218, 0.632812523446008], "R_cam": [[-0.04358336329460144, -0.0008553266525268555, 0.9990494847297668], [0.0651099681854248, 0.9978712797164917, 0.0036947131156921387], [-0.9969258904457092, 0.06520909070968628, -0.043434858322143555]], "bbox3D_cam": [[-1.380996584892273, -0.10114485025405884, 7.05576229095459], [-1.4085767269134521, -0.059942424297332764, 6.4248948097229], [-1.4095731973648071, 1.102616548538208, 6.500865936279297], [-1.381993055343628, 1.0614142417907715, 7.131733417510986], [-0.835616946220398, -0.09912794828414917, 7.032051086425781], [-0.8631970882415771, -0.057925522327423096, 6.401183605194092], [-0.8641935586929321, 1.1046335697174072, 6.477154731750488], [-0.8366134762763977, 1.0634310245513916, 7.108022212982178]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 975, "image_id": 141, "category_id": 45, "category_name": "person", "bbox2D_proj": [370.0, 234.0, 406.0, 330.0], "bbox2D_tight": [370.0, 234.0, 406.0, 330.0], "bbox2D_trunc": [370.0, 234.0, 406.0, 330.0], "center_cam": [2.262148102152661, 0.42068325119245087, 7.541041717988053], "dimensions": [0.4296875471167827, 1.518066416559628, 0.5595703590026108], "R_cam": [[0.8394525051116943, -0.002585768699645996, 0.5434268712997437], [-0.010140299797058105, 0.9997400045394897, 0.020421147346496582], [-0.543338418006897, -0.022653132677078247, 0.8392080664634705]], "bbox3D_cam": [[1.9124925136566162, -0.33970290422439575, 7.529955863952637], [2.382225275039673, -0.3453771471977234, 7.225919723510742], [2.3782999515533447, 1.1722946166992188, 7.191530704498291], [1.908567190170288, 1.177968978881836, 7.4955668449401855], [2.145996332168579, -0.33092814683914185, 7.890552997589111], [2.6157290935516357, -0.3366023898124695, 7.586516857147217], [2.6118037700653076, 1.1810693740844727, 7.552127838134766], [2.142071008682251, 1.1867437362670898, 7.85616397857666]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 976, "image_id": 141, "category_id": 45, "category_name": "person", "bbox2D_proj": [193.0, 242.0, 223.0, 334.0], "bbox2D_tight": [193.0, 242.0, 223.0, 334.0], "bbox2D_trunc": [193.0, 242.0, 223.0, 334.0], "center_cam": [-0.7586160865372324, 0.4697337528502198, 6.7391643617586805], "dimensions": [0.48046885992927824, 1.312866220908131, 0.539062638948295], "R_cam": [[-0.5347543954849243, -0.019268512725830078, -0.8447877764701843], [-0.059118032455444336, 0.9981434345245361, 0.014655619859695435], [0.8429369926452637, 0.05777937173843384, -0.5349006652832031]], "bbox3D_cam": [[-0.39888742566108704, -0.17306724190711975, 6.602539539337158], [-0.6871535181999207, -0.20493558049201965, 7.056935787200928], [-0.7124505043029785, 1.105493187904358, 7.132791996002197], [-0.4241844117641449, 1.1373615264892578, 6.678396224975586], [-0.8047816753387451, -0.16602566838264465, 6.345536708831787], [-1.0930477380752563, -0.19789400696754456, 6.799932479858398], [-1.118344783782959, 1.112534761428833, 6.875789165496826], [-0.830078661441803, 1.144403100013733, 6.421392917633057]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 977, "image_id": 141, "category_id": 45, "category_name": "person", "bbox2D_proj": [234.0, 253.0, 266.0, 329.0], "bbox2D_tight": [234.0, 253.0, 266.0, 329.0], "bbox2D_trunc": [234.0, 253.0, 266.0, 329.0], "center_cam": [-0.08200019047694536, 0.5493079893905892, 7.298330323950033], "dimensions": [0.49218813848500365, 1.128662119132799, 0.5039068909118927], "R_cam": [[0.8342810869216919, 0.023702263832092285, -0.5508297681808472], [0.04320263862609863, 0.9931931495666504, 0.1081714928150177], [0.5496442317962646, -0.11404275894165039, 0.8275781273841858]], "bbox3D_cam": [[-0.17002016305923462, -0.0486871600151062, 7.020541191101074], [0.2503798007965088, -0.02691704034805298, 7.297511100769043], [0.2771316468715668, 1.094062328338623, 7.168795108795166], [-0.14326831698417664, 1.0722923278808594, 6.8918256759643555], [-0.4411320388317108, 0.004553616046905518, 7.427865505218506], [-0.02073206752538681, 0.02632373571395874, 7.704834938049316], [0.006019778549671173, 1.1473031044006348, 7.576119422912598], [-0.41438019275665283, 1.125533103942871, 7.299149513244629]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 978, "image_id": 141, "category_id": 45, "category_name": "person", "bbox2D_proj": [146.0, 243.0, 168.0, 303.0], "bbox2D_tight": [146.0, 243.0, 168.0, 303.0], "bbox2D_trunc": [146.0, 243.0, 168.0, 303.0], "center_cam": [-2.034160690328695, 0.3045029998127575, 9.133915243747666], "dimensions": [0.398437542374417, 1.2106933680186744, 0.46875002236048435], "R_cam": [[0.9721618294715881, 0.016221165657043457, 0.23374830186367035], [0.0015450119972229004, 0.99713534116745, -0.0756225734949112], [-0.23430536687374115, 0.07387851178646088, 0.9693517684936523]], "bbox3D_cam": [[-2.3183975219726562, -0.28440621495246887, 8.950995445251465], [-1.862696647644043, -0.2836820185184479, 8.841164588928223], [-1.8430578708648682, 0.9235430955886841, 8.930608749389648], [-2.2987587451934814, 0.9228188991546631, 9.04043960571289], [-2.2252633571624756, -0.31453707814216614, 9.337221145629883], [-1.7695624828338623, -0.31381288170814514, 9.22739028930664], [-1.7499237060546875, 0.8934122323989868, 9.316834449768066], [-2.205624580383301, 0.8926880359649658, 9.426665306091309]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 979, "image_id": 141, "category_id": 45, "category_name": "person", "bbox2D_proj": [234.0, 248.0, 245.0, 273.0], "bbox2D_tight": [234.0, 248.0, 245.0, 273.0], "bbox2D_trunc": [234.0, 248.0, 245.0, 273.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 980, "image_id": 141, "category_id": 45, "category_name": "person", "bbox2D_proj": [163.0, 244.0, 175.0, 262.0], "bbox2D_tight": [163.0, 244.0, 175.0, 262.0], "bbox2D_trunc": [163.0, 244.0, 175.0, 262.0], "center_cam": [-1.532171486484185, -0.025771903269837027, 7.767361987735577], "dimensions": [0.15642581932178612, 0.35240899560814176, 0.26252093508904206], "R_cam": [[0.9988206028938293, 0.004317056387662888, -0.04836124926805496], [-0.008545671589672565, 0.9961211681365967, -0.08757591992616653], [0.04779559373855591, 0.08788590878248215, 0.9949832558631897]], "bbox3D_cam": [[-1.6602553129196167, -0.19332164525985718, 7.667781829833984], [-1.3980439901351929, -0.19556507468223572, 7.680329322814941], [-1.3965226411819458, 0.15547698736190796, 7.711301326751709], [-1.6587339639663696, 0.1577204167842865, 7.698753833770752], [-1.6678203344345093, -0.20702078938484192, 7.823422908782959], [-1.4056090116500854, -0.20926421880722046, 7.835970401763916], [-1.4040876626968384, 0.14177784323692322, 7.866942405700684], [-1.6662989854812622, 0.14402127265930176, 7.854394912719727]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 981, "image_id": 141, "category_id": 45, "category_name": "person", "bbox2D_proj": [147.0, 246.0, 168.0, 303.0], "bbox2D_tight": [147.0, 246.0, 168.0, 303.0], "bbox2D_trunc": [147.0, 246.0, 168.0, 303.0], "center_cam": [-1.9957820090364768, 0.32010671211978736, 9.037545060021907], "dimensions": [0.390625010160605, 1.241210951037323, 0.43359373296493986], "R_cam": [[-0.9981984496116638, 0.05849933624267578, -0.01333368755877018], [0.05997568368911743, 0.9665840268135071, -0.24923554062843323], [-0.0016919674817472696, -0.24958622455596924, -0.9683512449264526]], "bbox3D_cam": [[-1.8130764961242676, -0.24408432841300964, 9.381937980651855], [-2.2458889484405518, -0.21807917952537537, 9.381203651428223], [-2.173279047012329, 0.9816553592681885, 9.071414947509766], [-1.7404664754867554, 0.9556502103805542, 9.072148323059082], [-1.8182848691940308, -0.34144195914268494, 9.00367546081543], [-2.2510974407196045, -0.31543681025505066, 9.002942085266113], [-2.178487539291382, 0.8842977285385132, 8.69315242767334], [-1.745674967765808, 0.8582925796508789, 8.693886756896973]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 982, "image_id": 141, "category_id": 45, "category_name": "person", "bbox2D_proj": [228.0, 249.0, 237.0, 284.0], "bbox2D_tight": [228.0, 249.0, 237.0, 284.0], "bbox2D_trunc": [228.0, 249.0, 237.0, 284.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 983, "image_id": 142, "category_id": 45, "category_name": "person", "bbox2D_proj": [328.0, 253.0, 376.0, 377.0], "bbox2D_tight": [328.0, 253.0, 376.0, 377.0], "bbox2D_trunc": [328.0, 253.0, 376.0, 377.0], "center_cam": [1.019303272085279, 0.6322353292497184, 4.726477753520989], "dimensions": [0.5371093680212435, 1.2474746900006721, 0.7499999964030939], "R_cam": [[0.47025221586227417, 0.035068392753601074, 0.8818350434303284], [-0.02694845199584961, 0.9993148446083069, -0.025369614362716675], [-0.8821204900741577, -0.011834025382995605, 0.4708750247955322]], "bbox3D_cam": [[0.58426433801651, 0.025844156742095947, 4.938198566436768], [0.9369534850120544, 0.00563281774520874, 4.276607990264893], [0.9807004332542419, 1.2522528171539307, 4.261845588684082], [0.6280112862586975, 1.2724640369415283, 4.923435688018799], [1.057906150817871, 0.012217938899993896, 5.191109657287598], [1.410595417022705, -0.00799340009689331, 4.529519557952881], [1.4543423652648926, 1.238626480102539, 4.514756679534912], [1.1016530990600586, 1.2588379383087158, 5.176347255706787]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 984, "image_id": 142, "category_id": 45, "category_name": "person", "bbox2D_proj": [179.0, 231.0, 222.0, 358.0], "bbox2D_tight": [179.0, 231.0, 222.0, 358.0], "bbox2D_trunc": [179.0, 231.0, 222.0, 358.0], "center_cam": [-0.6430638858132769, 0.4136422733914379, 5.058622489318919], "dimensions": [0.394531249750349, 1.4323425492949378, 0.4980468702982748], "R_cam": [[0.9047970771789551, -0.006393074989318848, -0.42579519748687744], [-0.024558544158935547, 0.9974398612976074, -0.06716171652078629], [0.42513447999954224, 0.0712246224284172, 0.9023237228393555]], "bbox3D_cam": [[-0.7798063158988953, -0.2813311219215393, 4.723747253417969], [-0.3291749954223633, -0.2935623526573181, 4.935484409332275], [-0.33833199739456177, 1.135113000869751, 5.037502288818359], [-0.7889633178710938, 1.1473443508148193, 4.825765609741211], [-0.9477958083152771, -0.30782848596572876, 5.079742431640625], [-0.4971644878387451, -0.32005971670150757, 5.291479110717773], [-0.5063214898109436, 1.1086156368255615, 5.393497467041016], [-0.9569528102874756, 1.1208469867706299, 5.181760311126709]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 985, "image_id": 142, "category_id": 13, "category_name": "building", "bbox2D_proj": [64.0, 16.0, 133.0, 240.0], "bbox2D_tight": [64.0, 16.0, 133.0, 240.0], "bbox2D_trunc": [64.0, 16.0, 133.0, 240.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 986, "image_id": 142, "category_id": 45, "category_name": "person", "bbox2D_proj": [248.0, 241.0, 293.0, 384.0], "bbox2D_tight": [248.0, 241.0, 293.0, 384.0], "bbox2D_trunc": [248.0, 241.0, 293.0, 384.0], "center_cam": [0.1602117403685661, 0.5658629257142161, 4.794647855489178], "dimensions": [0.5356445266640435, 1.43750002093035, 0.644531250671059], "R_cam": [[-0.2809521555900574, -0.03689122200012207, 0.9590123891830444], [-0.03205060958862305, 0.9990641474723816, 0.02904239296913147], [-0.9591864347457886, -0.022577494382858276, -0.2818716764450073]], "bbox3D_cam": [[0.02042365074157715, -0.14966386556625366, 5.195479393005371], [-0.1606588363647461, -0.170321524143219, 4.577253818511963], [-0.21368998289108276, 1.2658333778381348, 4.544798851013184], [-0.03260749578475952, 1.2864909172058105, 5.163024425506592], [0.5341134667396545, -0.13410741090774536, 5.044496536254883], [0.3530309796333313, -0.1547650694847107, 4.426270961761475], [0.29999983310699463, 1.2813897132873535, 4.393815994262695], [0.48108232021331787, 1.3020474910736084, 5.0120415687561035]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 987, "image_id": 142, "category_id": 45, "category_name": "person", "bbox2D_proj": [139.0, 223.0, 181.0, 280.0], "bbox2D_tight": [139.0, 223.0, 181.0, 280.0], "bbox2D_trunc": [139.0, 223.0, 181.0, 280.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 988, "image_id": 142, "category_id": 45, "category_name": "person", "bbox2D_proj": [289.0, 244.0, 321.0, 381.0], "bbox2D_tight": [289.0, 244.0, 321.0, 381.0], "bbox2D_trunc": [289.0, 244.0, 321.0, 381.0], "center_cam": [0.47148384589582215, 0.5417789167166587, 4.645229314220714], "dimensions": [0.4326171812949877, 1.3723144743368603, 0.5664062486380008], "R_cam": [[-0.29197457432746887, 0.0017973780632019043, 0.956424355506897], [0.099997878074646, 0.9945749044418335, 0.028658002614974976], [-0.9511841535568237, 0.10400781035423279, -0.29057031869888306]], "bbox3D_cam": [[0.34605586528778076, -0.17517447471618652, 4.906094551086426], [0.18067967891693115, -0.11853504180908203, 4.367338180541992], [0.18314623832702637, 1.246334433555603, 4.510069370269775], [0.348522424697876, 1.1896950006484985, 5.048826217651367], [0.7598214745521545, -0.16277658939361572, 4.780389308929443], [0.5944452881813049, -0.10613715648651123, 4.241632461547852], [0.5969118475914001, 1.2587323188781738, 4.384364128112793], [0.7622880339622498, 1.2020928859710693, 4.923120498657227]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 989, "image_id": 142, "category_id": 47, "category_name": "pipe", "bbox2D_proj": [439.0, 93.0, 452.0, 263.0], "bbox2D_tight": [439.0, 93.0, 452.0, 263.0], "bbox2D_trunc": [439.0, 93.0, 452.0, 263.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 990, "image_id": 142, "category_id": 13, "category_name": "building", "bbox2D_proj": [227.0, 0.0, 292.0, 239.0], "bbox2D_tight": [227.0, 0.0, 292.0, 239.0], "bbox2D_trunc": [227.0, 0.0, 292.0, 239.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 991, "image_id": 142, "category_id": 45, "category_name": "person", "bbox2D_proj": [117.0, 247.0, 183.0, 440.0], "bbox2D_tight": [117.0, 247.0, 183.0, 440.0], "bbox2D_trunc": [117.0, 247.0, 183.0, 440.0], "center_cam": [-0.789118298656819, 0.6099607349855158, 3.2910093217634544], "dimensions": [0.4518127368979579, 1.3686523664354595, 0.5839843734471434], "R_cam": [[-0.3041556179523468, -0.0038968920707702637, -0.952614426612854], [0.1175837516784668, 0.9921911954879761, -0.041601479053497314], [0.94533771276474, -0.1246652901172638, -0.30132222175598145]], "bbox3D_cam": [[-0.482438862323761, -0.09395712614059448, 3.168360471725464], [-0.6600608825683594, -0.025290071964263916, 3.7204229831695557], [-0.6653943657875061, 1.3326747417449951, 3.5497994422912598], [-0.4877723455429077, 1.264007568359375, 2.997737169265747], [-0.9128422141075134, -0.11275321245193481, 3.032219409942627], [-1.0904642343521118, -0.04408615827560425, 3.5842816829681396], [-1.0957977771759033, 1.3138785362243652, 3.413658380508423], [-0.9181756973266602, 1.2452116012573242, 2.861595869064331]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 992, "image_id": 142, "category_id": 45, "category_name": "person", "bbox2D_proj": [401.0, 243.0, 454.0, 384.0], "bbox2D_tight": [401.0, 243.0, 454.0, 384.0], "bbox2D_trunc": [401.0, 243.0, 454.0, 384.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 993, "image_id": 143, "category_id": 45, "category_name": "person", "bbox2D_proj": [371.0, 245.0, 455.0, 466.0], "bbox2D_tight": [371.0, 245.0, 455.0, 466.0], "bbox2D_trunc": [371.0, 245.0, 455.0, 466.0], "center_cam": [1.0208815957057014, 0.6661663486313985, 3.044970877932625], "dimensions": [0.4218750141976495, 1.4083118153599308, 0.7080078259723847], "R_cam": [[0.7953705191612244, -0.1025395393371582, 0.5973871350288391], [0.11042630672454834, 0.9936057925224304, 0.023525893688201904], [-0.5959796905517578, 0.04725545644760132, 0.8016078472137451]], "bbox3D_cam": [[0.6855099201202393, -0.07754093408584595, 3.0535857677459717], [1.248638391494751, 0.0006417632102966309, 2.6316275596618652], [1.1042306423187256, 1.3999485969543457, 2.6981778144836426], [0.5411022305488586, 1.3217658996582031, 3.120136260986328], [0.9375326037406921, -0.06761592626571655, 3.3917641639709473], [1.5006611347198486, 0.010566771030426025, 2.9698057174682617], [1.3562533855438232, 1.4098737239837646, 3.036356210708618], [0.7931249141693115, 1.331691026687622, 3.4583144187927246]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 994, "image_id": 143, "category_id": 45, "category_name": "person", "bbox2D_proj": [18.0, 237.0, 39.0, 310.0], "bbox2D_tight": [18.0, 237.0, 39.0, 310.0], "bbox2D_trunc": [18.0, 237.0, 39.0, 310.0], "center_cam": [-3.0982588836516918, 0.23230331685093314, 5.984124553605839], "dimensions": [0.31445313112387296, 1.0097656096532943, 0.44140627123305476], "R_cam": [[-0.27805182337760925, -0.06025505065917969, -0.9586743712425232], [-0.1615370512008667, 0.9867501258850098, -0.015167921781539917], [0.9468859434127808, 0.15064388513565063, -0.28410112857818604]], "bbox3D_cam": [[-2.855741262435913, -0.22785332798957825, 5.743754863739014], [-2.9784750938415527, -0.2991567850112915, 6.161715984344482], [-3.039318561553955, 0.6972295045852661, 6.313831329345703], [-2.9165847301483154, 0.7685329914093018, 5.895869731903076], [-3.1571993827819824, -0.232622891664505, 5.654417991638184], [-3.279933214187622, -0.30392634868621826, 6.0723795890808105], [-3.3407766819000244, 0.6924599409103394, 6.224494457244873], [-3.2180428504943848, 0.763763427734375, 5.806533336639404]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 995, "image_id": 143, "category_id": 45, "category_name": "person", "bbox2D_proj": [0.0, 231.0, 32.0, 369.0], "bbox2D_tight": [0.0, 231.0, 32.0, 369.0], "bbox2D_trunc": [0.0, 231.0, 32.0, 369.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 996, "image_id": 143, "category_id": 45, "category_name": "person", "bbox2D_proj": [338.0, 242.0, 361.0, 324.0], "bbox2D_tight": [338.0, 242.0, 361.0, 324.0], "bbox2D_trunc": [338.0, 242.0, 361.0, 324.0], "center_cam": [1.4585017654435772, 0.3952831468261919, 6.601290779090272], "dimensions": [0.4531250763160288, 1.2412109206585642, 0.4902344456938865], "R_cam": [[0.8706799149513245, 0.007435917854309082, 0.4917938709259033], [0.08308076858520508, 0.9832945466041565, -0.16195480525493622], [-0.48478251695632935, 0.18186938762664795, 0.8555170297622681]], "bbox3D_cam": [[1.1290463209152222, -0.19862648844718933, 6.413422107696533], [1.5558836460113525, -0.1578974425792694, 6.175765037536621], [1.5651131868362427, 1.062578558921814, 6.401503086090088], [1.1382758617401123, 1.021849513053894, 6.63916015625], [1.3518904447555542, -0.272012323141098, 6.8010783195495605], [1.7787277698516846, -0.2312832772731781, 6.563421249389648], [1.7879573106765747, 0.9891927242279053, 6.789159297943115], [1.3611199855804443, 0.9484636783599854, 7.026816368103027]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 997, "image_id": 143, "category_id": 45, "category_name": "person", "bbox2D_proj": [64.0, 240.0, 84.0, 296.0], "bbox2D_tight": [64.0, 240.0, 84.0, 296.0], "bbox2D_trunc": [64.0, 240.0, 84.0, 296.0], "center_cam": [-2.8565198658121123, 0.16897626380830247, 6.91604119984446], "dimensions": [0.2910156308135096, 0.864868144651396, 0.36328126802628347], "R_cam": [[-0.16321206092834473, -0.07738059759140015, -0.9835517406463623], [-0.011526107788085938, 0.9970009326934814, -0.07652610540390015], [0.9865236878395081, -0.0011535286903381348, -0.16361451148986816]], "bbox3D_cam": [[-2.6502976417541504, -0.24893216788768768, 6.761154651641846], [-2.7095894813537598, -0.25311940908432007, 7.119540214538574], [-2.7765133380889893, 0.6091549396514893, 7.118542671203613], [-2.71722149848938, 0.6133421659469604, 6.760157108306885], [-2.9365265369415283, -0.2712024450302124, 6.713540077209473], [-2.9958183765411377, -0.2753896713256836, 7.071925640106201], [-3.062742233276367, 0.5868846774101257, 7.07092809677124], [-3.003450393676758, 0.5910719037055969, 6.712542533874512]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 998, "image_id": 143, "category_id": 45, "category_name": "person", "bbox2D_proj": [319.0, 244.0, 339.0, 305.0], "bbox2D_tight": [319.0, 244.0, 339.0, 305.0], "bbox2D_trunc": [319.0, 244.0, 339.0, 305.0], "center_cam": [1.3901327202177702, 0.31789692380254564, 7.915226108257794], "dimensions": [0.4140626830066481, 1.0898437313388727, 0.4296876934779109], "R_cam": [[-0.5494027733802795, -0.04538702964782715, -0.8343241810798645], [-0.1179959774017334, 0.9927314519882202, 0.02369586005806923], [0.8271843194961548, 0.11146534979343414, -0.5507650375366211]], "bbox3D_cam": [[1.7056320905685425, -0.20261922478675842, 7.790796279907227], [1.4695605039596558, -0.2533206045627594, 8.14622688293457], [1.420095682144165, 0.8286014795303345, 8.267706871032715], [1.6561672687530518, 0.8793028593063354, 7.912276268005371], [1.3601696491241455, -0.19280758500099182, 7.562745094299316], [1.1240980625152588, -0.2435089647769928, 7.91817569732666], [1.074633240699768, 0.8384131193161011, 8.039655685424805], [1.3107048273086548, 0.889114499092102, 7.684225082397461]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 999, "image_id": 144, "category_id": 13, "category_name": "building", "bbox2D_proj": [0.0, 0.0, 143.0, 279.0], "bbox2D_tight": [0.0, 0.0, 143.0, 279.0], "bbox2D_trunc": [0.0, 0.0, 143.0, 279.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1000, "image_id": 144, "category_id": 66, "category_name": "sweater", "bbox2D_proj": [377.0, 268.0, 426.0, 321.0], "bbox2D_tight": [377.0, 268.0, 426.0, 321.0], "bbox2D_trunc": [377.0, 268.0, 426.0, 321.0], "center_cam": [1.879189063495696, 0.5209059851452222, 5.83541530409992], "dimensions": [0.5422885772597246, 0.5578374349526665, 0.6034600923491789], "R_cam": [[0.8132978677749634, -0.05992871895432472, 0.5787531733512878], [0.07097786664962769, 0.9974716901779175, 0.0035439138300716877], [-0.5775021910667419, 0.03819640353322029, 0.8154952526092529]], "bbox3D_cam": [[1.4935822486877441, 0.22031539678573608, 5.777894496917725], [1.984375, 0.2631477117538452, 5.4293951988220215], [1.9509445428848267, 0.8195747137069702, 5.450702667236328], [1.4601517915725708, 0.7767423987388611, 5.799201965332031], [1.8074334859848022, 0.222237229347229, 6.220128059387207], [2.2982263565063477, 0.26506954431533813, 5.871628761291504], [2.2647957801818848, 0.8214965462684631, 5.8929362297058105], [1.774003028869629, 0.778664231300354, 6.241435527801514]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1001, "image_id": 144, "category_id": 45, "category_name": "person", "bbox2D_proj": [120.0, 255.0, 154.0, 330.0], "bbox2D_tight": [120.0, 255.0, 154.0, 330.0], "bbox2D_trunc": [120.0, 255.0, 154.0, 330.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1002, "image_id": 144, "category_id": 13, "category_name": "building", "bbox2D_proj": [137.0, 87.0, 201.0, 255.0], "bbox2D_tight": [137.0, 87.0, 201.0, 255.0], "bbox2D_trunc": [137.0, 87.0, 201.0, 255.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1003, "image_id": 144, "category_id": 45, "category_name": "person", "bbox2D_proj": [328.0, 274.0, 337.0, 288.0], "bbox2D_tight": [328.0, 274.0, 337.0, 288.0], "bbox2D_trunc": [328.0, 274.0, 337.0, 288.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1004, "image_id": 144, "category_id": 45, "category_name": "person", "bbox2D_proj": [63.0, 256.0, 82.0, 304.0], "bbox2D_tight": [63.0, 256.0, 82.0, 304.0], "bbox2D_trunc": [63.0, 256.0, 82.0, 304.0], "center_cam": [-3.9515432303662905, 0.5101406387365842, 9.588274532825402], "dimensions": [0.2812500191634793, 1.0275879073633036, 0.38525394972822535], "R_cam": [[0.8981485962867737, 0.027943015098571777, -0.43880322575569153], [-0.01858830451965332, 0.9994993805885315, 0.025601550936698914], [0.43929892778396606, -0.014837414026260376, 0.8982183933258057]], "bbox3D_cam": [[-4.0772013664245605, -0.003415703773498535, 9.384965896606445], [-3.7311859130859375, -0.010576963424682617, 9.554206848144531], [-3.702471971511841, 1.0164965391159058, 9.538960456848145], [-4.048487186431885, 1.0236577987670898, 9.369718551635742], [-4.2006144523620605, 0.003784775733947754, 9.637589454650879], [-3.8545994758605957, -0.003376483917236328, 9.806831359863281], [-3.825885534286499, 1.023697018623352, 9.791584014892578], [-4.171900749206543, 1.0308582782745361, 9.622343063354492]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1005, "image_id": 144, "category_id": 13, "category_name": "building", "bbox2D_proj": [258.0, 0.0, 330.0, 265.0], "bbox2D_tight": [258.0, 0.0, 330.0, 265.0], "bbox2D_trunc": [258.0, 0.0, 330.0, 265.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1006, "image_id": 144, "category_id": 45, "category_name": "person", "bbox2D_proj": [231.0, 257.0, 246.0, 288.0], "bbox2D_tight": [231.0, 257.0, 246.0, 288.0], "bbox2D_trunc": [231.0, 257.0, 246.0, 288.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1007, "image_id": 144, "category_id": 45, "category_name": "person", "bbox2D_proj": [259.0, 260.0, 290.0, 374.0], "bbox2D_tight": [259.0, 260.0, 290.0, 374.0], "bbox2D_trunc": [259.0, 260.0, 290.0, 374.0], "center_cam": [0.20163319930473986, 0.7474379677121918, 5.377891902047406], "dimensions": [0.38964848176004224, 1.3115234643830793, 0.5156250336967687], "R_cam": [[0.3652641475200653, 0.005692839622497559, 0.930886447429657], [-0.11803996562957764, 0.9921927452087402, 0.04024916887283325], [-0.923389732837677, -0.1245834231376648, 0.36308443546295166]], "bbox3D_cam": [[-0.07762886583805084, 0.11938661336898804, 5.626913070678711], [0.11071045696735382, 0.058522164821624756, 5.150789737701416], [0.11817672848701477, 1.3598062992095947, 4.987395763397217], [-0.07016260921955109, 1.420670747756958, 5.4635186195373535], [0.2850896716117859, 0.13506966829299927, 5.768388271331787], [0.47342902421951294, 0.07420521974563599, 5.29226541519165], [0.4808952808380127, 1.3754892349243164, 5.128870964050293], [0.29255592823028564, 1.4363536834716797, 5.604994297027588]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1008, "image_id": 144, "category_id": 45, "category_name": "person", "bbox2D_proj": [319.0, 261.0, 378.0, 449.0], "bbox2D_tight": [319.0, 261.0, 378.0, 449.0], "bbox2D_trunc": [319.0, 261.0, 378.0, 449.0], "center_cam": [0.813399521215088, 0.8487792935875215, 3.96941793725099], "dimensions": [0.46484378314984937, 1.572937040899202, 0.8496094091302229], "R_cam": [[0.494918555021286, 0.008390069007873535, -0.8688988089561462], [0.03678858280181885, 0.998854398727417, 0.030599445104599], [0.8681602478027344, -0.047109782695770264, 0.4940430521965027]], "bbox3D_cam": [[0.79850834608078, 0.040471792221069336, 3.522843360900879], [1.2189958095550537, 0.07172775268554688, 4.260440349578857], [1.232192873954773, 1.6428629159927368, 4.186339855194092], [0.8117054104804993, 1.6116069555282593, 3.4487428665161133], [0.3946061134338379, 0.054695725440979004, 3.7524962425231934], [0.8150935769081116, 0.08595168590545654, 4.490093231201172], [0.8282906413078308, 1.6570868492126465, 4.415992736816406], [0.40780317783355713, 1.625830888748169, 3.6783955097198486]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1009, "image_id": 145, "category_id": 13, "category_name": "building", "bbox2D_proj": [113.0, 130.0, 172.0, 238.0], "bbox2D_tight": [113.0, 130.0, 172.0, 238.0], "bbox2D_trunc": [113.0, 130.0, 172.0, 238.0], "center_cam": [-4.292017084540836, -2.5720962211050358, 16.888733418638374], "dimensions": [0.5838058805594306, 3.686631775272624, 5.155544148576535], "R_cam": [[-0.0033582448959350586, -0.09272464364767075, -0.9956861138343811], [-0.09027526527643204, 0.9916541576385498, -0.09204469621181488], [0.995911180973053, 0.08957672119140625, -0.011700987815856934]], "bbox3D_cam": [[-3.8217954635620117, -4.140450954437256, 14.159797668457031], [-3.839109420776367, -4.605869293212891, 19.294261932373047], [-4.180951118469238, -0.950005054473877, 19.62449836730957], [-4.163637161254883, -0.4845869541168213, 14.490034103393555], [-4.403082847595215, -4.194187164306641, 14.15296745300293], [-4.42039680480957, -4.659605026245117, 19.287431716918945], [-4.762238502502441, -1.0037412643432617, 19.61766815185547], [-4.744924545288086, -0.538323163986206, 14.483203887939453]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1010, "image_id": 145, "category_id": 15, "category_name": "car", "bbox2D_proj": [0.0, 242.0, 113.0, 299.0], "bbox2D_tight": [0.0, 242.0, 113.0, 299.0], "bbox2D_trunc": [0.0, 242.0, 113.0, 299.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1011, "image_id": 145, "category_id": 45, "category_name": "person", "bbox2D_proj": [157.0, 242.0, 188.0, 363.0], "bbox2D_tight": [157.0, 242.0, 188.0, 363.0], "bbox2D_trunc": [157.0, 242.0, 188.0, 363.0], "center_cam": [-0.9061965729624246, 0.4836234367408536, 4.727486219148385], "dimensions": [0.38476563957652443, 1.2181396783986285, 0.4238281398261622], "R_cam": [[0.44814175367355347, 0.03031909465789795, -0.8934482932090759], [-0.029204845428466797, 0.9993878602981567, 0.019265415146946907], [0.893485426902771, 0.017459334805607796, 0.448752760887146]], "bbox3D_cam": [[-0.8477464914321899, -0.12259089946746826, 4.441177845001221], [-0.6578114032745361, -0.13496875762939453, 4.819861888885498], [-0.6208785772323608, 1.0824251174926758, 4.841129779815674], [-0.8108136057853699, 1.094802975654602, 4.4624457359313965], [-1.1915146112442017, -0.11517822742462158, 4.613842487335205], [-1.0015796422958374, -0.12755608558654785, 4.992526531219482], [-0.9646466970443726, 1.0898377895355225, 5.013794422149658], [-1.1545817852020264, 1.1022156476974487, 4.635110378265381]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1012, "image_id": 145, "category_id": 45, "category_name": "person", "bbox2D_proj": [424.0, 236.0, 445.0, 317.0], "bbox2D_tight": [424.0, 236.0, 445.0, 317.0], "bbox2D_trunc": [424.0, 236.0, 445.0, 317.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1013, "image_id": 145, "category_id": 45, "category_name": "person", "bbox2D_proj": [63.0, 257.0, 149.0, 501.0], "bbox2D_tight": [63.0, 257.0, 149.0, 501.0], "bbox2D_trunc": [63.0, 257.0, 149.0, 501.0], "center_cam": [-0.9237447024030848, 0.6720640769224464, 2.620979630443866], "dimensions": [0.48828126401497685, 1.2533417056988758, 0.769531271212132], "R_cam": [[0.18687865138053894, 0.003518819808959961, -0.9823766946792603], [0.0061342716217041016, 0.9999698400497437, 0.004748791456222534], [0.9823638200759888, -0.006913632154464722, 0.18685144186019897]], "bbox3D_cam": [[-0.7580162286758423, 0.041892409324645996, 2.201714277267456], [-0.6142072677612305, 0.04661297798156738, 2.957674026489258], [-0.6097970008850098, 1.2999169826507568, 2.9490087032318115], [-0.7536059617996216, 1.2951964139938354, 2.193049192428589], [-1.2376923561096191, 0.04421114921569824, 2.292950391769409], [-1.0938833951950073, 0.04893171787261963, 3.048909902572632], [-1.0894731283187866, 1.302235722541809, 3.0402448177337646], [-1.2332820892333984, 1.2975151538848877, 2.284285068511963]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1014, "image_id": 145, "category_id": 45, "category_name": "person", "bbox2D_proj": [259.0, 238.0, 277.0, 264.0], "bbox2D_tight": [259.0, 238.0, 277.0, 264.0], "bbox2D_trunc": [259.0, 238.0, 277.0, 264.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1015, "image_id": 145, "category_id": 45, "category_name": "person", "bbox2D_proj": [276.0, 248.0, 299.0, 284.0], "bbox2D_tight": [276.0, 248.0, 299.0, 284.0], "bbox2D_trunc": [276.0, 248.0, 299.0, 284.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1016, "image_id": 146, "category_id": 45, "category_name": "person", "bbox2D_proj": [126.0, 252.0, 150.0, 311.0], "bbox2D_tight": [126.0, 252.0, 150.0, 311.0], "bbox2D_trunc": [126.0, 252.0, 150.0, 311.0], "center_cam": [-2.2547056353980333, 0.45528260024551276, 8.431584076001172], "dimensions": [0.42773441089476716, 1.1774901812748078, 0.45312504299789913], "R_cam": [[0.4936583638191223, 0.045375704765319824, 0.8684713244438171], [-0.14779973030090332, 0.9884875416755676, 0.03236636519432068], [-0.8570045232772827, -0.1443377137184143, 0.49468159675598145]], "bbox3D_cam": [[-2.5790023803710938, -0.10012087225914001, 8.604931831359863], [-2.355313539505005, -0.16709265112876892, 8.216601371765137], [-2.3018839359283447, 0.9968417882919312, 8.046645164489746], [-2.5255730152130127, 1.06381356716156, 8.434974670410156], [-2.2075273990631104, -0.08627662062644958, 8.816523551940918], [-1.9838383197784424, -0.1532483994960785, 8.428194046020508], [-1.9304089546203613, 1.0106860399246216, 8.2582368850708], [-2.15409779548645, 1.0776578187942505, 8.646567344665527]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1017, "image_id": 146, "category_id": 45, "category_name": "person", "bbox2D_proj": [78.0, 258.0, 101.0, 328.0], "bbox2D_tight": [78.0, 258.0, 101.0, 328.0], "bbox2D_trunc": [78.0, 258.0, 101.0, 328.0], "center_cam": [-2.608727845598188, 0.5633236323908011, 6.96346105827679], "dimensions": [0.3417968807839188, 1.0751952715643696, 0.46093751451976883], "R_cam": [[-0.2303680181503296, -0.0916067361831665, 0.9687820672988892], [0.15114986896514893, 0.9801074266433716, 0.12861979007720947], [-0.9612929821014404, 0.17606115341186523, -0.21193909645080566]], "bbox3D_cam": [[-2.6719510555267334, -0.020396173000335693, 7.1265788078308105], [-2.7781362533569336, 0.0492745041847229, 6.683483123779297], [-2.876631498336792, 1.103081464767456, 6.872783184051514], [-2.770446300506592, 1.033410906791687, 7.315878868103027], [-2.3408243656158447, 0.023565709590911865, 7.054138660430908], [-2.447009563446045, 0.09323632717132568, 6.6110429763793945], [-2.5455048084259033, 1.1470434665679932, 6.800343036651611], [-2.439319610595703, 1.0773727893829346, 7.243438720703125]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1018, "image_id": 146, "category_id": 45, "category_name": "person", "bbox2D_proj": [57.0, 257.0, 78.0, 327.0], "bbox2D_tight": [57.0, 257.0, 78.0, 327.0], "bbox2D_trunc": [57.0, 257.0, 78.0, 327.0], "center_cam": [-2.9049036590955044, 0.5552836749034907, 7.059794607668272], "dimensions": [0.3085937569010205, 1.0691832867647162, 0.46484375632760955], "R_cam": [[0.9928491711616516, -0.012697696685791016, -0.11869846284389496], [0.01253819465637207, 0.9999192357063293, -0.0020901113748550415], [0.11871541291475296, 0.0005868934094905853, 0.9929282665252686]], "bbox3D_cam": [[-3.110560655593872, 0.01814359426498413, 6.878683090209961], [-2.649040937423706, 0.023971855640411377, 6.93386697769165], [-2.6626169681549072, 1.0930688381195068, 6.934494495391846], [-3.1241366863250732, 1.08724045753479, 6.879310607910156], [-3.1471903324127197, 0.017498552799224854, 7.185094356536865], [-2.6856706142425537, 0.0233268141746521, 7.240278244018555], [-2.699246644973755, 1.092423677444458, 7.24090576171875], [-3.160766363143921, 1.0865955352783203, 7.1857218742370605]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1019, "image_id": 146, "category_id": 13, "category_name": "building", "bbox2D_proj": [199.0, 204.0, 221.0, 250.0], "bbox2D_tight": [199.0, 204.0, 221.0, 250.0], "bbox2D_trunc": [199.0, 204.0, 221.0, 250.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1020, "image_id": 146, "category_id": 13, "category_name": "building", "bbox2D_proj": [6.0, 0.0, 106.0, 264.0], "bbox2D_tight": [6.0, 0.0, 106.0, 264.0], "bbox2D_trunc": [6.0, 0.0, 106.0, 264.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1021, "image_id": 146, "category_id": 13, "category_name": "building", "bbox2D_proj": [98.0, 86.0, 133.0, 250.0], "bbox2D_tight": [98.0, 86.0, 133.0, 250.0], "bbox2D_trunc": [98.0, 86.0, 133.0, 250.0], "center_cam": [-6.153809971472324, -3.6408864723341985, 18.451489678753042], "dimensions": [1.1972656395301633, 5.750487942636159, 3.6406250755273364], "R_cam": [[0.2196645736694336, 0.025019824504852295, 0.9752545952796936], [-0.00028312206268310547, 0.9996726512908936, -0.025582462549209595], [-0.9755754470825195, 0.005343437194824219, 0.21959972381591797]], "bbox3D_cam": [[-7.209425449371338, -6.499359130859375, 20.08051872253418], [-6.409709453582764, -6.50039005279541, 16.5288143157959], [-6.265833377838135, -0.7517848014831543, 16.559541702270508], [-7.065549373626709, -0.7507538795471191, 20.11124610900879], [-6.0417866706848145, -6.5299882888793945, 20.34343910217285], [-5.24207067489624, -6.53101921081543, 16.79173469543457], [-5.098194599151611, -0.7824139595031738, 16.82246208190918], [-5.8979105949401855, -0.7813830375671387, 20.37416648864746]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1022, "image_id": 146, "category_id": 45, "category_name": "person", "bbox2D_proj": [377.0, 240.0, 460.0, 464.0], "bbox2D_tight": [377.0, 240.0, 460.0, 464.0], "bbox2D_trunc": [377.0, 240.0, 460.0, 464.0], "center_cam": [1.2969722024647152, 0.7208400083559992, 3.4535670099711306], "dimensions": [0.5859375312470674, 1.6293944391702204, 0.667236359968902], "R_cam": [[0.8505085110664368, -0.032280147075653076, 0.5249695181846619], [0.018841207027435303, 0.9993440508842468, 0.030924450606107712], [-0.5256235003471375, -0.016410497948527336, 0.8505589962005615]], "bbox3D_cam": [[0.8857258558273315, -0.1086685061454773, 3.3931069374084473], [1.4532161951065063, -0.096096932888031, 3.042391777038574], [1.4006190299987793, 1.532228708267212, 3.015652656555176], [0.8331287503242493, 1.5196571350097656, 3.366367816925049], [1.1933252811431885, -0.09054869413375854, 3.891481399536133], [1.7608156204223633, -0.07797712087631226, 3.5407662391662598], [1.7082184553146362, 1.5503485202789307, 3.5140271186828613], [1.1407281160354614, 1.5377769470214844, 3.8647422790527344]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1023, "image_id": 146, "category_id": 45, "category_name": "person", "bbox2D_proj": [202.0, 252.0, 216.0, 293.0], "bbox2D_tight": [202.0, 252.0, 216.0, 293.0], "bbox2D_trunc": [202.0, 252.0, 216.0, 293.0], "center_cam": [-1.2766398480204322, 0.4108416203065548, 11.891073459185382], "dimensions": [0.3359375122707048, 1.0627440826537204, 0.35253907144383945], "R_cam": [[0.9970316290855408, -0.03916370868682861, 0.06628786772489548], [0.03562718629837036, 0.9979203343391418, 0.05371824651956558], [-0.06825382262468338, -0.05119713768362999, 0.9963533878326416]], "bbox3D_cam": [[-1.4427099227905273, -0.13472840189933777, 11.76295280456543], [-1.091217279434204, -0.1221683919429779, 11.738890647888184], [-1.1328383684158325, 0.9383655786514282, 11.684481620788574], [-1.4843308925628662, 0.9258055686950684, 11.70854377746582], [-1.4204412698745728, -0.11668238043785095, 12.097664833068848], [-1.068948745727539, -0.10412237048149109, 12.073602676391602], [-1.110569715499878, 0.956411600112915, 12.019193649291992], [-1.4620623588562012, 0.9438515901565552, 12.043255805969238]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1024, "image_id": 146, "category_id": 45, "category_name": "person", "bbox2D_proj": [330.0, 242.0, 384.0, 449.0], "bbox2D_tight": [330.0, 242.0, 384.0, 449.0], "bbox2D_trunc": [330.0, 242.0, 384.0, 449.0], "center_cam": [0.9079940339091254, 0.7219896876988927, 3.556409663470088], "dimensions": [0.5429687862404027, 1.6204833042084985, 0.5703125421805741], "R_cam": [[-0.2652987837791443, -0.026276826858520508, -0.9638080596923828], [-0.0008020401000976562, 0.9996342062950134, -0.0270327627658844], [0.9641659259796143, -0.0063987672328948975, -0.26522278785705566]], "bbox3D_cam": [[1.2665951251983643, -0.0803878903388977, 3.3586599826812744], [1.1152918338775635, -0.08084529638290405, 3.908535957336426], [1.0727107524871826, 1.5390453338623047, 3.8981668949127197], [1.2240140438079834, 1.5395026206970215, 3.3482909202575684], [0.7432773113250732, -0.0950658917427063, 3.2146522998809814], [0.5919740796089172, -0.09552329778671265, 3.764528274536133], [0.5493929386138916, 1.524367332458496, 3.7541592121124268], [0.7006962299346924, 1.524824619293213, 3.2042832374572754]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1025, "image_id": 146, "category_id": 45, "category_name": "person", "bbox2D_proj": [220.0, 254.0, 230.0, 292.0], "bbox2D_tight": [220.0, 254.0, 230.0, 292.0], "bbox2D_trunc": [220.0, 254.0, 230.0, 292.0], "center_cam": [-0.8401144502125261, 0.4328024952157982, 11.871821859415117], "dimensions": [0.2740675426759882, 0.7782629815474986, 1.6033356211320253], "R_cam": [[0.07715517282485962, -0.051448747515678406, 0.9956908226013184], [0.05402916669845581, 0.9974160194396973, 0.04735122248530388], [-0.9955540895462036, 0.05014294758439064, 0.0797356367111206]], "bbox3D_cam": [[-1.01839017868042, -0.005125641822814941, 12.639486312866211], [-0.8946846127510071, 0.08150124549865723, 11.043278694152832], [-0.934725284576416, 0.8577532172203064, 11.082303047180176], [-1.0584309101104736, 0.7711263298988342, 12.678510665893555], [-0.7455036640167236, 0.007851779460906982, 12.66133975982666], [-0.621798038482666, 0.09447866678237915, 11.065132141113281], [-0.661838710308075, 0.8707306385040283, 11.104156494140625], [-0.7855443358421326, 0.7841037511825562, 12.700364112854004]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1026, "image_id": 147, "category_id": 45, "category_name": "person", "bbox2D_proj": [320.0, 217.0, 365.0, 299.0], "bbox2D_tight": [320.0, 217.0, 365.0, 299.0], "bbox2D_trunc": [320.0, 217.0, 365.0, 299.0], "center_cam": [1.122762045709901, 0.006258021044299497, 5.596287871077445], "dimensions": [0.35546877057831494, 0.9917907590729781, 0.548828148891553], "R_cam": [[0.9155715703964233, 0.0539739727973938, 0.39851653575897217], [-0.09378910064697266, 0.9922847747802734, 0.08108346164226532], [-0.39106547832489014, -0.11161422729492188, 0.9135699272155762]], "bbox3D_cam": [[0.7739207744598389, -0.47448572516441345, 5.5965776443481445], [1.2764122486114502, -0.525959849357605, 5.3819499015808105], [1.3299431800842285, 0.4581790864467621, 5.271252155303955], [0.8274517059326172, 0.5096532106399536, 5.485879898071289], [0.9155809879302979, -0.44566306471824646, 5.921323299407959], [1.4180724620819092, -0.497137188911438, 5.706695556640625], [1.4716033935546875, 0.4870017468929291, 5.5959978103637695], [0.9691119194030762, 0.5384758710861206, 5.8106255531311035]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1027, "image_id": 147, "category_id": 45, "category_name": "person", "bbox2D_proj": [248.0, 223.0, 268.0, 308.0], "bbox2D_tight": [248.0, 223.0, 268.0, 308.0], "bbox2D_trunc": [248.0, 223.0, 268.0, 308.0], "center_cam": [0.07072733658840351, 0.11033218413040242, 5.358437630144824], "dimensions": [0.29492189520387346, 0.9774856417043306, 0.35546877874744365], "R_cam": [[0.5674843788146973, 0.04396188259124756, 0.8222097158432007], [0.031423330307006836, 0.9966897964477539, -0.07497918605804443], [-0.8227843046188354, 0.06838610768318176, 0.5642244815826416]], "bbox3D_cam": [[-0.17286403477191925, -0.37132132053375244, 5.388050079345703], [0.028858937323093414, -0.3601512908935547, 5.095576286315918], [0.07183105498552322, 0.6140987277030945, 5.1624226570129395], [-0.12989191710948944, 0.6029286980628967, 5.454896926879883], [0.06962361186742783, -0.3934343457221985, 5.554452419281006], [0.2713465690612793, -0.38226431608200073, 5.2619781494140625], [0.3143187165260315, 0.5919857025146484, 5.328824996948242], [0.11259572952985764, 0.5808156728744507, 5.621298789978027]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1028, "image_id": 147, "category_id": 45, "category_name": "person", "bbox2D_proj": [356.0, 216.0, 384.0, 288.0], "bbox2D_tight": [356.0, 216.0, 384.0, 288.0], "bbox2D_trunc": [356.0, 216.0, 384.0, 288.0], "center_cam": [1.3839119162237044, -0.04728602052096943, 5.379422471504727], "dimensions": [0.2656250253148028, 0.8555908090164202, 0.30126955746614253], "R_cam": [[0.9111769795417786, 0.047525763511657715, 0.40926507115364075], [-0.006485939025878906, 0.9948564171791077, -0.10108725726604462], [-0.4119642376899719, 0.08945390582084656, 0.9067983627319336]], "bbox3D_cam": [[1.1719701290130615, -0.4584783911705017, 5.282776832580566], [1.4464800357818604, -0.46043241024017334, 5.158664226531982], [1.4871426820755005, 0.39075762033462524, 5.23520040512085], [1.2126327753067017, 0.3927116394042969, 5.359312534332275], [1.2806812524795532, -0.48532968759536743, 5.523644924163818], [1.555191159248352, -0.48728370666503906, 5.399532794952393], [1.5958538055419922, 0.3639063239097595, 5.476068496704102], [1.3213438987731934, 0.36586034297943115, 5.6001811027526855]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1029, "image_id": 147, "category_id": 45, "category_name": "person", "bbox2D_proj": [418.0, 210.0, 441.0, 277.0], "bbox2D_tight": [418.0, 210.0, 441.0, 277.0], "bbox2D_trunc": [418.0, 210.0, 441.0, 277.0], "center_cam": [2.047434010654195, -0.1598770223380741, 5.249451567430224], "dimensions": [0.2327658655373312, 0.817187908841863, 0.38407627408041733], "R_cam": [[0.3909190893173218, 0.0003960027825087309, -0.9204249382019043], [-0.00011636312410701066, 1.0, 0.00038081774255260825], [0.9204250574111938, -4.1765408241190016e-05, 0.3909190893173218]], "bbox3D_cam": [[2.079322576522827, -0.5684928894042969, 5.027215480804443], [2.2294654846191406, -0.5685375928878784, 5.3807291984558105], [2.2297890186309814, 0.24865023791790009, 5.38069486618042], [2.079646348953247, 0.24869494140148163, 5.027181625366211], [1.8650791645050049, -0.5684042572975159, 5.118208408355713], [2.0152218341827393, -0.5684489607810974, 5.471721649169922], [2.015545606613159, 0.2487388700246811, 5.4716877937316895], [1.8654026985168457, 0.24878357350826263, 5.118174076080322]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1030, "image_id": 147, "category_id": 45, "category_name": "person", "bbox2D_proj": [399.0, 205.0, 421.0, 283.0], "bbox2D_tight": [399.0, 205.0, 421.0, 283.0], "bbox2D_trunc": [399.0, 205.0, 421.0, 283.0], "center_cam": [1.8262273333506287, -0.1551045758716696, 5.327743669928137], "dimensions": [0.25488282051933314, 0.9005126851861108, 0.3320312669455999], "R_cam": [[0.008210808038711548, 0.0029731392860412598, 0.9999618530273438], [-0.09834980964660645, 0.9951496124267578, -0.002151280641555786], [-0.9951180219650269, -0.09832832217216492, 0.008463382720947266]], "bbox3D_cam": [[1.6960889101028442, -0.5865752696990967, 5.536142826080322], [1.6988152265548706, -0.6192304491996765, 5.205732822418213], [1.7014925479888916, 0.27691441774368286, 5.117187023162842], [1.6987663507461548, 0.3095695972442627, 5.447597026824951], [1.9509620666503906, -0.5871235728263855, 5.538300037384033], [1.9536882638931274, -0.6197787523269653, 5.207890033721924], [1.956365704536438, 0.27636611461639404, 5.119344234466553], [1.9536393880844116, 0.3090212941169739, 5.449754238128662]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1031, "image_id": 147, "category_id": 45, "category_name": "person", "bbox2D_proj": [375.0, 206.0, 398.0, 282.0], "bbox2D_tight": [375.0, 206.0, 398.0, 282.0], "bbox2D_trunc": [375.0, 206.0, 398.0, 282.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1032, "image_id": 147, "category_id": 34, "category_name": "jeans", "bbox2D_proj": [271.0, 265.0, 294.0, 310.0], "bbox2D_tight": [271.0, 265.0, 294.0, 310.0], "bbox2D_trunc": [271.0, 265.0, 294.0, 310.0], "center_cam": [0.3297184060634244, 0.34070117727810806, 5.344576313586513], "dimensions": [0.17968750868138925, 0.5556640567572357, 0.28738404173726867], "R_cam": [[-0.9972975254058838, 0.06880414485931396, -0.025764338672161102], [0.06477302312850952, 0.988911509513855, 0.13363616168498993], [0.034673359245061874, 0.13160616159439087, -0.9906957149505615]], "bbox3D_cam": [[0.4562208652496338, 0.04463613033294678, 5.392037391662598], [0.1696135252714157, 0.06325089931488037, 5.402001857757568], [0.20784547924995422, 0.6127534508705139, 5.475131034851074], [0.4944528341293335, 0.5941386818885803, 5.465166091918945], [0.4515913426876068, 0.06864887475967407, 5.214021682739258], [0.16498400270938873, 0.08726364374160767, 5.223986625671387], [0.20321594178676605, 0.6367661952972412, 5.297115325927734], [0.48982328176498413, 0.6181514263153076, 5.287150859832764]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1033, "image_id": 148, "category_id": 45, "category_name": "person", "bbox2D_proj": [152.0, 249.0, 174.0, 305.0], "bbox2D_tight": [152.0, 249.0, 174.0, 305.0], "bbox2D_trunc": [152.0, 249.0, 174.0, 305.0], "center_cam": [-1.4760986541348977, 0.27617608426058793, 6.915520217216875], "dimensions": [0.3330078288993378, 0.8752441393400141, 0.3867187724234541], "R_cam": [[0.04647904634475708, 0.0022219419479370117, -0.9989168643951416], [0.16836297512054443, 0.9856740832328796, 0.010026335716247559], [0.9846286773681641, -0.16864660382270813, 0.04543912410736084]], "bbox3D_cam": [[-1.3197345733642578, -0.18940064311027527, 6.791370868682861], [-1.3017603158950806, -0.12429150938987732, 7.172144889831543], [-1.2998155355453491, 0.73841392993927, 7.024538040161133], [-1.3177897930145264, 0.6733047962188721, 6.643763542175293], [-1.6523817777633667, -0.1860617697238922, 6.806502342224121], [-1.6344075202941895, -0.12095263600349426, 7.187276840209961], [-1.632462739944458, 0.7417528629302979, 7.039669513702393], [-1.6504369974136353, 0.6766437292098999, 6.658895492553711]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1034, "image_id": 148, "category_id": 45, "category_name": "person", "bbox2D_proj": [452.0, 223.0, 479.0, 300.0], "bbox2D_tight": [452.0, 223.0, 479.0, 300.0], "bbox2D_trunc": [452.0, 223.0, 479.0, 300.0], "center_cam": [2.9556835461959405, 0.07801533734406238, 6.317932726621603], "dimensions": [0.3505859562752581, 1.0177001876472342, 0.3632812699872058], "R_cam": [[-0.6735044121742249, -0.07329726219177246, 0.7355402708053589], [0.01704847812652588, 0.9932665824890137, 0.11459042131900787], [-0.7389866709709167, 0.08971703797578812, -0.6677197217941284]], "bbox3D_cam": [[2.9863815307617188, -0.450592041015625, 6.523556709289551], [2.7417099475860596, -0.4443986415863037, 6.255096435546875], [2.6671154499053955, 0.5664489269256592, 6.346401691436768], [2.9117867946624756, 0.5602555274963379, 6.614861488342285], [3.2442514896392822, -0.41041824221611023, 6.289463520050049], [2.999580144882202, -0.40422484278678894, 6.021003723144531], [2.924985408782959, 0.6066226959228516, 6.112308502197266], [3.169656991958618, 0.6004292964935303, 6.380768775939941]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1035, "image_id": 148, "category_id": 45, "category_name": "person", "bbox2D_proj": [426.0, 215.0, 463.0, 303.0], "bbox2D_tight": [426.0, 215.0, 463.0, 303.0], "bbox2D_trunc": [426.0, 215.0, 463.0, 303.0], "center_cam": [2.452412506453153, 0.03775736224880308, 5.852899205354041], "dimensions": [0.3906250392873012, 1.0947265497430922, 0.40234378918346936], "R_cam": [[0.533567488193512, 0.0066945552825927734, 0.8457310795783997], [0.012238144874572754, 0.9998029470443726, -0.01563519425690174], [-0.8456690311431885, 0.01869267411530018, 0.5333805084228516]], "bbox3D_cam": [[2.176227569580078, -0.5089063048362732, 5.908616542816162], [2.3909051418304443, -0.5039823651313782, 5.568366527557373], [2.3982338905334473, 0.5905284285545349, 5.58882999420166], [2.183556318283081, 0.5856044888496399, 5.929079532623291], [2.506591320037842, -0.5150137543678284, 6.116968154907227], [2.721268892288208, -0.5100898146629333, 5.776718616485596], [2.728597640991211, 0.5844209790229797, 5.797181606292725], [2.5139200687408447, 0.5794970393180847, 6.137431621551514]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1036, "image_id": 149, "category_id": 74, "category_name": "trousers", "bbox2D_proj": [414.0, 318.0, 476.0, 429.0], "bbox2D_tight": [414.0, 318.0, 476.0, 429.0], "bbox2D_trunc": [414.0, 318.0, 476.0, 429.0], "center_cam": [1.0820596630893684, 0.6546770459835096, 2.5255691284338546], "dimensions": [0.25878906414991176, 0.6177368010642588, 0.2812500003854584], "R_cam": [[-0.38747090101242065, -0.0010393261909484863, -0.9218813180923462], [0.09544754028320312, 0.9945798516273499, -0.04123833775520325], [0.9169274568557739, -0.10396993160247803, -0.3852715492248535]], "bbox3D_cam": [[1.2561551332473755, 0.3393964171409607, 2.4785914421081543], [1.1471788883209229, 0.3662410378456116, 2.7364771366119385], [1.146536946296692, 0.9806296825408936, 2.6722512245178223], [1.255513072013855, 0.9537850618362427, 2.414365291595459], [1.0175822973251343, 0.32872438430786133, 2.378887176513672], [0.9086061120033264, 0.3555690050125122, 2.636773109436035], [0.9079641103744507, 0.9699576497077942, 2.57254695892334], [1.0169403553009033, 0.9431130290031433, 2.3146612644195557]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1037, "image_id": 149, "category_id": 20, "category_name": "coat", "bbox2D_proj": [23.0, 272.0, 81.0, 369.0], "bbox2D_tight": [23.0, 272.0, 81.0, 369.0], "bbox2D_trunc": [23.0, 272.0, 81.0, 369.0], "center_cam": [-1.933447729586126, 0.5666630864313467, 4.193272505717367], "dimensions": [0.41015624670600814, 0.8431396281200695, 0.4589843685769039], "R_cam": [[0.7587642669677734, 0.12726950645446777, 0.6388107538223267], [-0.20377099514007568, 0.9778794050216675, 0.04721266031265259], [-0.6186712384223938, -0.16599440574645996, 0.767913818359375]], "bbox3D_cam": [[-2.2922372817993164, 0.19150018692016602, 4.247748851776123], [-1.9439762830734253, 0.09797245264053345, 3.9637882709503174], [-1.8366703987121582, 0.9224614500999451, 3.823831796646118], [-2.1849312782287598, 1.0159891843795776, 4.107792377471924], [-2.0302250385284424, 0.21086472272872925, 4.562713623046875], [-1.6819641590118408, 0.11733698844909668, 4.27875280380249], [-1.5746581554412842, 0.9418259859085083, 4.138796329498291], [-1.9229191541671753, 1.035353660583496, 4.422757148742676]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1038, "image_id": 149, "category_id": 45, "category_name": "person", "bbox2D_proj": [75.0, 290.0, 98.0, 344.0], "bbox2D_tight": [75.0, 290.0, 98.0, 344.0], "bbox2D_trunc": [75.0, 290.0, 98.0, 344.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1039, "image_id": 149, "category_id": 33, "category_name": "jacket", "bbox2D_proj": [200.0, 245.0, 243.0, 301.0], "bbox2D_tight": [200.0, 245.0, 243.0, 301.0], "bbox2D_trunc": [200.0, 245.0, 243.0, 301.0], "center_cam": [-0.33365872060322854, 0.16832633858701104, 4.473061818297438], "dimensions": [0.30468749309110926, 0.5495605400978198, 0.5117187480039069], "R_cam": [[0.819491982460022, 0.004491686820983887, -0.5730728507041931], [-0.05402112007141113, 0.9961221218109131, -0.06944271177053452], [0.5705386996269226, 0.08786580711603165, 0.8165566921234131]], "bbox3D_cam": [[-0.4572635889053345, -0.08098742365837097, 4.1785430908203125], [-0.037914127111434937, -0.10863102972507477, 4.470498561859131], [-0.035445719957351685, 0.4387984275817871, 4.5187859535217285], [-0.4547951817512512, 0.4664420485496521, 4.226830959320068], [-0.6318717002868652, -0.10214574635028839, 4.427338123321533], [-0.21252226829528809, -0.12978936731815338, 4.719293117523193], [-0.21005386114120483, 0.4176400899887085, 4.767580986022949], [-0.6294033527374268, 0.4452837109565735, 4.475625514984131]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1040, "image_id": 149, "category_id": 45, "category_name": "person", "bbox2D_proj": [89.0, 213.0, 143.0, 432.0], "bbox2D_tight": [89.0, 213.0, 143.0, 432.0], "bbox2D_trunc": [89.0, 213.0, 143.0, 432.0], "center_cam": [-0.9247618228738772, 0.42034734164793086, 2.931499292988277], "dimensions": [0.35427855965507565, 1.3881835591734275, 0.5859374896041692], "R_cam": [[0.2550137937068939, 0.03462398052215576, 0.9663171768188477], [-0.04391276836395264, 0.9987422227859497, -0.02419697865843773], [-0.9659397006034851, -0.03626319393515587, 0.25621354579925537]], "bbox3D_cam": [[-1.1946778297424316, -0.25572019815444946, 3.1942739486694336], [-1.0452556610107422, -0.2814503312110901, 2.628293514251709], [-0.997191309928894, 1.104987382888794, 2.577953577041626], [-1.1466134786605835, 1.1307175159454346, 3.1439340114593506], [-0.852332353591919, -0.2642926573753357, 3.2850449085235596], [-0.7029101848602295, -0.2900227904319763, 2.719064474105835], [-0.6548457741737366, 1.0964148044586182, 2.668724536895752], [-0.8042680025100708, 1.1221449375152588, 3.2347049713134766]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1041, "image_id": 149, "category_id": 67, "category_name": "sweatshirt", "bbox2D_proj": [404.0, 221.0, 486.0, 323.0], "bbox2D_tight": [404.0, 221.0, 486.0, 323.0], "bbox2D_trunc": [404.0, 221.0, 486.0, 323.0], "center_cam": [1.0915937798129582, 0.07180522754163016, 2.5516656293542197], "dimensions": [0.42773441832676634, 0.5526122950485239, 0.43617252721927735], "R_cam": [[0.8893571496009827, 0.04749482870101929, 0.4547398090362549], [0.019976317882537842, 0.9896038174629211, -0.14242719113826752], [-0.45677676796913147, 0.13575267791748047, 0.8791624307632446]], "bbox3D_cam": [[0.787260115146637, -0.17552444338798523, 2.4257490634918213], [1.175173282623291, -0.16681131720542908, 2.226515531539917], [1.201419472694397, 0.38005590438842773, 2.3015341758728027], [0.8135063648223877, 0.3713427782058716, 2.500767707824707], [0.9817679524421692, -0.23644544184207916, 2.8017969131469727], [1.3696811199188232, -0.227732315659523, 2.6025633811950684], [1.3959274291992188, 0.3191348910331726, 2.677582025527954], [1.00801420211792, 0.31042176485061646, 2.8768155574798584]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1042, "image_id": 149, "category_id": 45, "category_name": "person", "bbox2D_proj": [392.0, 241.0, 424.0, 377.0], "bbox2D_tight": [392.0, 241.0, 424.0, 377.0], "bbox2D_trunc": [392.0, 241.0, 424.0, 377.0], "center_cam": [1.6304810605316842, 0.579613539136794, 4.65154621289146], "dimensions": [0.30761718089915907, 1.368713346042238, 0.5468749918919437], "R_cam": [[0.5554333925247192, 0.1632932424545288, -0.815370500087738], [-0.05817866325378418, 0.9857581853866577, 0.1577850580215454], [0.8295233249664307, -0.04020190238952637, 0.5570231676101685]], "bbox3D_cam": [[1.4922648668289185, -0.10335701704025269, 4.366560935974121], [1.7960175275802612, -0.135173499584198, 4.820206165313721], [2.019519090652466, 1.2140467166900635, 4.765181541442871], [1.7157665491104126, 1.2458631992340088, 4.311535835266113], [1.2414429187774658, -0.05481964349746704, 4.537910461425781], [1.545195460319519, -0.08663612604141235, 4.991556167602539], [1.7686971426010132, 1.2625842094421387, 4.936531066894531], [1.4649444818496704, 1.294400691986084, 4.482885837554932]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1043, "image_id": 149, "category_id": 45, "category_name": "person", "bbox2D_proj": [140.0, 241.0, 182.0, 361.0], "bbox2D_tight": [140.0, 241.0, 182.0, 361.0], "bbox2D_trunc": [140.0, 241.0, 182.0, 361.0], "center_cam": [-0.9482232940582962, 0.44974943998225014, 4.62379381061778], "dimensions": [0.406250003561952, 1.250488250652534, 0.45312500279795315], "R_cam": [[-0.9554869532585144, 0.08064186573028564, -0.2837985157966614], [0.08133512735366821, 0.9966428875923157, 0.00936029851436615], [0.2836005687713623, -0.014139145612716675, -0.9588382244110107]], "bbox3D_cam": [[-0.7245200872421265, -0.19372448325157166, 4.7631449699401855], [-1.1574749946594238, -0.15686950087547302, 4.891651153564453], [-1.0566333532333374, 1.0894206762313843, 4.8739705085754395], [-0.6236783862113953, 1.0525656938552856, 4.745463848114014], [-0.839813232421875, -0.18992182612419128, 4.373616695404053], [-1.272768259048462, -0.15306684374809265, 4.5021233558654785], [-1.171926498413086, 1.0932233333587646, 4.484442234039307], [-0.7389715313911438, 1.056368350982666, 4.355936050415039]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1044, "image_id": 150, "category_id": 45, "category_name": "person", "bbox2D_proj": [125.0, 245.0, 157.0, 366.0], "bbox2D_tight": [125.0, 245.0, 157.0, 366.0], "bbox2D_trunc": [125.0, 245.0, 157.0, 366.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1045, "image_id": 150, "category_id": 16, "category_name": "chair", "bbox2D_proj": [209.0, 398.0, 300.0, 475.0], "bbox2D_tight": [209.0, 398.0, 300.0, 475.0], "bbox2D_trunc": [209.0, 398.0, 300.0, 475.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1046, "image_id": 150, "category_id": 16, "category_name": "chair", "bbox2D_proj": [178.0, 334.0, 229.0, 411.0], "bbox2D_tight": [178.0, 334.0, 229.0, 411.0], "bbox2D_trunc": [178.0, 334.0, 229.0, 411.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1047, "image_id": 150, "category_id": 45, "category_name": "person", "bbox2D_proj": [48.0, 261.0, 116.0, 308.0], "bbox2D_tight": [48.0, 261.0, 116.0, 308.0], "bbox2D_trunc": [48.0, 261.0, 116.0, 308.0], "center_cam": [-0.8391531664937428, 0.13705891792349426, 2.122977059546447], "dimensions": [0.10033990749119637, 0.33032786590516355, 0.1402992634642118], "R_cam": [[-0.4438692331314087, 0.6075218319892883, 0.658708930015564], [0.5947362184524536, 0.7495740056037903, -0.2905644178390503], [-0.6702752709388733, 0.2627854347229004, -0.6940280795097351]], "bbox3D_cam": [[-0.9414039850234985, -0.013886600732803345, 2.1614131927490234], [-1.003678560256958, 0.06955446302890778, 2.0673742294311523], [-0.8029971122741699, 0.31715962290763855, 2.154179573059082], [-0.7407225966453552, 0.23371857404708862, 2.248218536376953], [-0.8753092288970947, -0.04304179549217224, 2.0917744636535645], [-0.9375837445259094, 0.040399253368377686, 1.9977353811264038], [-0.7369023561477661, 0.28800442814826965, 2.084540843963623], [-0.6746278405189514, 0.20456336438655853, 2.178579807281494]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1048, "image_id": 150, "category_id": 47, "category_name": "pipe", "bbox2D_proj": [207.0, 102.0, 404.0, 140.0], "bbox2D_tight": [207.0, 102.0, 404.0, 140.0], "bbox2D_trunc": [207.0, 102.0, 404.0, 140.0], "center_cam": [0.3676146597651694, -1.11696279444537, 3.679582935756193], "dimensions": [0.5783816430892839, 0.20030091592800847, 1.618932758204041], "R_cam": [[-0.9926555156707764, 0.025091825053095818, -0.11834529787302017], [0.010874198749661446, 0.9928005933761597, 0.1192852035164833], [0.12048635631799698, 0.11712219566106796, -0.9857816100120544]], "bbox3D_cam": [[1.2028473615646362, -1.2596906423568726, 3.8554024696350098], [-0.4041951596736908, -1.2420860528945923, 4.050461769104004], [-0.39916929602622986, -1.043227195739746, 4.073921203613281], [1.2078732252120972, -1.060831904411316, 3.878862142562866], [1.1343985795974731, -1.1906983852386475, 3.2852442264556885], [-0.4726439416408539, -1.1730936765670776, 3.4803035259246826], [-0.46761807799339294, -0.9742348790168762, 3.503763198852539], [1.139424443244934, -0.9918394684791565, 3.308703899383545]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1049, "image_id": 150, "category_id": 16, "category_name": "chair", "bbox2D_proj": [174.0, 397.0, 345.0, 512.0], "bbox2D_tight": [174.0, 397.0, 345.0, 512.0], "bbox2D_trunc": [174.0, 397.0, 345.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1050, "image_id": 150, "category_id": 16, "category_name": "chair", "bbox2D_proj": [289.0, 289.0, 339.0, 363.0], "bbox2D_tight": [289.0, 289.0, 339.0, 363.0], "bbox2D_trunc": [289.0, 289.0, 339.0, 363.0], "center_cam": [0.37334174846000057, 0.458218351459766, 2.9459583462189576], "dimensions": [0.36132817283761604, 0.4449462816142092, 0.37792973646807015], "R_cam": [[0.9330971837043762, 0.012568652629852295, 0.35940462350845337], [-0.017296791076660156, 0.999800980091095, 0.009942501783370972], [-0.3592081367969513, -0.015493884682655334, 0.9331289529800415]], "bbox3D_cam": [[0.12929144501686096, 0.23726171255111694, 2.8487002849578857], [0.48193663358688354, 0.2307247519493103, 2.712944746017456], [0.4875290095806122, 0.6755825281143188, 2.7060508728027344], [0.1348838210105896, 0.6821194887161255, 2.841806173324585], [0.25915446877479553, 0.24085423350334167, 3.185865879058838], [0.6117996573448181, 0.23431727290153503, 3.0501105785369873], [0.6173920631408691, 0.6791750192642212, 3.0432164669036865], [0.26474684476852417, 0.6857119798660278, 3.178972005844116]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1051, "image_id": 150, "category_id": 56, "category_name": "shoe", "bbox2D_proj": [83.0, 458.0, 138.0, 489.0], "bbox2D_tight": [83.0, 458.0, 138.0, 489.0], "bbox2D_trunc": [83.0, 458.0, 138.0, 489.0], "center_cam": [-0.5517296778404068, 0.8374805404095962, 1.709195293549285], "dimensions": [0.07094598555345984, 0.08171365835878888, 0.17084084875161704], "R_cam": [[-0.8785941004753113, 0.0353144109249115, 0.47626185417175293], [0.022069990634918213, 0.9991991519927979, -0.03337574005126953], [-0.477059006690979, -0.01881265640258789, -0.8786698579788208]], "bbox3D_cam": [[-0.49501705169677734, 0.7959551215171814, 1.7818834781646729], [-0.6451168060302734, 0.7997255921363831, 1.7003823518753052], [-0.6422311663627625, 0.8813738226890564, 1.6988451480865479], [-0.49213141202926636, 0.8776033520698547, 1.7803462743759155], [-0.4612281918525696, 0.7935872673988342, 1.7195453643798828], [-0.6113279461860657, 0.7973577380180359, 1.6380442380905151], [-0.6084423065185547, 0.8790059685707092, 1.6365070343017578], [-0.4583425521850586, 0.8752354979515076, 1.7180081605911255]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1052, "image_id": 150, "category_id": 68, "category_name": "table", "bbox2D_proj": [168.0, 285.0, 217.0, 336.0], "bbox2D_tight": [168.0, 285.0, 217.0, 336.0], "bbox2D_trunc": [168.0, 285.0, 217.0, 336.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1053, "image_id": 150, "category_id": 68, "category_name": "table", "bbox2D_proj": [283.0, 351.0, 512.0, 495.0], "bbox2D_tight": [283.0, 351.0, 512.0, 495.0], "bbox2D_trunc": [283.0, 351.0, 512.0, 495.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1054, "image_id": 150, "category_id": 45, "category_name": "person", "bbox2D_proj": [344.0, 225.0, 373.0, 273.0], "bbox2D_tight": [344.0, 225.0, 373.0, 273.0], "bbox2D_trunc": [344.0, 225.0, 373.0, 273.0], "center_cam": [0.9216393929091599, 0.036009768101714426, 3.9626575261684462], "dimensions": [0.2167968899189024, 0.6289062504766818, 0.24414064000866464], "R_cam": [[-0.9081441760063171, 0.14310073852539062, -0.3934418857097626], [-0.02028822898864746, 0.9236231446266174, 0.3827647566795349], [0.418165922164917, 0.3555877208709717, -0.8358798027038574]], "bbox3D_cam": [[1.030146837234497, -0.29344093799591064, 3.890404224395752], [0.8084319829940796, -0.2983940839767456, 3.992495536804199], [0.8984288573265076, 0.2824782729148865, 4.216126918792725], [1.1201437711715698, 0.28743141889572144, 4.114035606384277], [0.9448499083518982, -0.21045872569084167, 3.7091879844665527], [0.7231349945068359, -0.21541188657283783, 3.811279296875], [0.8131318688392639, 0.36546045541763306, 4.034910678863525], [1.0348467826843262, 0.370413601398468, 3.932819366455078]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1055, "image_id": 150, "category_id": 45, "category_name": "person", "bbox2D_proj": [262.0, 265.0, 279.0, 280.0], "bbox2D_tight": [262.0, 265.0, 279.0, 280.0], "bbox2D_trunc": [262.0, 265.0, 279.0, 280.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1056, "image_id": 151, "category_id": 45, "category_name": "person", "bbox2D_proj": [153.0, 242.0, 186.0, 346.0], "bbox2D_tight": [153.0, 242.0, 186.0, 346.0], "bbox2D_trunc": [153.0, 242.0, 186.0, 346.0], "center_cam": [-1.865259104573344, 0.789218030043919, 9.643534257314226], "dimensions": [0.6562500672103876, 2.1552734862420118, 0.7138672867862792], "R_cam": [[-0.9990513920783997, 0.04154801368713379, -0.013039149343967438], [0.042670369148254395, 0.9937905669212341, -0.10275985300540924], [0.008688714355230331, -0.10321876406669617, -0.9946208000183105]], "bbox3D_cam": [[-1.549159049987793, -0.26323968172073364, 10.078025817871094], [-2.2623493671417236, -0.2327786087989807, 10.084228515625], [-2.172801971435547, 1.9091119766235352, 9.861763954162598], [-1.4596118927001953, 1.8786509037017822, 9.855561256408691], [-1.5577161312103271, -0.3306758999824524, 9.425305366516113], [-2.2709062099456787, -0.30021482706069946, 9.43150806427002], [-2.181359052658081, 1.8416757583618164, 9.209043502807617], [-1.4681687355041504, 1.8112146854400635, 9.202840805053711]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1057, "image_id": 151, "category_id": 45, "category_name": "person", "bbox2D_proj": [181.0, 247.0, 213.0, 348.0], "bbox2D_tight": [181.0, 247.0, 213.0, 348.0], "bbox2D_trunc": [181.0, 247.0, 213.0, 348.0], "center_cam": [-1.0771691154177596, 0.7358529769283109, 8.472596018479482], "dimensions": [0.638671958789597, 1.8288574627553915, 0.7617188388088583], "R_cam": [[0.3829768896102905, 0.05079174041748047, -0.9223605394363403], [-0.0026580095291137695, 0.9985437393188477, 0.05388316512107849], [0.923754096031189, -0.01818445324897766, 0.3825541138648987]], "bbox3D_cam": [[-0.9749318361282349, -0.1934385895729065, 8.015240669250488], [-0.6832112073898315, -0.19546324014663696, 8.718881607055664], [-0.5903204679489136, 1.6307308673858643, 8.685625076293945], [-0.8820410966873169, 1.6327555179595947, 7.9819841384887695], [-1.564017653465271, -0.1590248942375183, 8.259567260742188], [-1.2722970247268677, -0.16104954481124878, 8.963208198547363], [-1.1794062852859497, 1.665144443511963, 8.929951667785645], [-1.471126914024353, 1.6671690940856934, 8.226310729980469]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1058, "image_id": 151, "category_id": 45, "category_name": "person", "bbox2D_proj": [80.0, 245.0, 111.0, 370.0], "bbox2D_tight": [80.0, 245.0, 111.0, 370.0], "bbox2D_trunc": [80.0, 245.0, 111.0, 370.0], "center_cam": [-2.773864353132084, 0.8323325380657599, 7.4723664335306355], "dimensions": [0.5410156950551932, 2.0590820756129897, 0.6484375754700095], "R_cam": [[0.7509812712669373, 0.060443341732025146, 0.6575515866279602], [-0.06030714511871338, 0.9979183077812195, -0.022854717448353767], [-0.657564103603363, -0.022491486743092537, 0.7530630826950073]], "bbox3D_cam": [[-3.257448196411133, -0.16933006048202515, 7.505007266998291], [-2.77048397064209, -0.20843547582626343, 7.078618049621582], [-2.6460258960723877, 1.8463599681854248, 7.03230619430542], [-3.1329903602600098, 1.885465383529663, 7.458695411682129], [-2.901702642440796, -0.18169492483139038, 7.912426471710205], [-2.414738178253174, -0.22080034017562866, 7.486037254333496], [-2.290280342102051, 1.8339951038360596, 7.439725399017334], [-2.7772445678710938, 1.8731005191802979, 7.866114616394043]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1059, "image_id": 151, "category_id": 13, "category_name": "building", "bbox2D_proj": [294.0, 227.0, 368.0, 257.0], "bbox2D_tight": [294.0, 227.0, 368.0, 257.0], "bbox2D_trunc": [294.0, 227.0, 368.0, 257.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1060, "image_id": 151, "category_id": 45, "category_name": "person", "bbox2D_proj": [53.0, 240.0, 89.0, 367.0], "bbox2D_tight": [53.0, 240.0, 89.0, 367.0], "bbox2D_trunc": [53.0, 240.0, 89.0, 367.0], "center_cam": [-3.3369122188799833, 0.8564809677584169, 8.029278991328617], "dimensions": [0.5400390823969435, 2.172454880554763, 0.7031249957198711], "R_cam": [[-0.17361630499362946, -0.012549340724945068, -0.9847334623336792], [-0.019186735153198242, 0.9997721910476685, -0.00935834739357233], [0.9846265316009521, 0.017268987372517586, -0.17381751537322998]], "bbox3D_cam": [[-2.9963464736938477, -0.22022676467895508, 7.711297035217285], [-3.118420362472534, -0.2337174415588379, 8.40361213684082], [-3.1456832885742188, 1.9382424354553223, 8.441128730773926], [-3.0236093997955322, 1.951733112335205, 7.748813152313232], [-3.5281410217285156, -0.2252805233001709, 7.617428779602051], [-3.650214910507202, -0.2387712001800537, 8.309743881225586], [-3.6774778366088867, 1.9331886768341064, 8.347260475158691], [-3.5554039478302, 1.9466793537139893, 7.654944896697998]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1061, "image_id": 152, "category_id": 45, "category_name": "person", "bbox2D_proj": [326.0, 249.0, 350.0, 326.0], "bbox2D_tight": [326.0, 249.0, 350.0, 326.0], "bbox2D_trunc": [326.0, 249.0, 350.0, 326.0], "center_cam": [2.1790753825766624, 0.8091507311907282, 11.661010091916282], "dimensions": [0.6093751362623613, 1.9213868293082352, 0.6230470670869648], "R_cam": [[-0.9515621066093445, 0.02856302261352539, -0.3061273992061615], [-0.0011960268020629883, 0.9953240752220154, 0.0965852290391922], [0.3074547052383423, 0.09227292239665985, -0.9470784664154053]], "bbox3D_cam": [[2.5413424968719482, -0.17610621452331543, 11.76514720916748], [1.9484745264053345, -0.17685139179229736, 11.956706047058105], [2.003355026245117, 1.735551118850708, 12.133997917175293], [2.5962228775024414, 1.73629629611969, 11.942439079284668], [2.3547959327697754, -0.11724960803985596, 11.188021659851074], [1.7619280815124512, -0.11799478530883789, 11.3795804977417], [1.8168084621429443, 1.7944077253341675, 11.556872367858887], [2.4096765518188477, 1.7951529026031494, 11.365313529968262]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1062, "image_id": 152, "category_id": 63, "category_name": "streetlight", "bbox2D_proj": [383.0, 0.0, 455.0, 424.0], "bbox2D_tight": [383.0, 0.0, 455.0, 424.0], "bbox2D_trunc": [383.0, 0.0, 455.0, 424.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1063, "image_id": 152, "category_id": 15, "category_name": "car", "bbox2D_proj": [360.0, 250.0, 404.0, 279.0], "bbox2D_tight": [360.0, 250.0, 404.0, 279.0], "bbox2D_trunc": [360.0, 250.0, 404.0, 279.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1064, "image_id": 152, "category_id": 13, "category_name": "building", "bbox2D_proj": [348.0, 191.0, 442.0, 249.0], "bbox2D_tight": [348.0, 191.0, 442.0, 249.0], "bbox2D_trunc": [348.0, 191.0, 442.0, 249.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1065, "image_id": 152, "category_id": 45, "category_name": "person", "bbox2D_proj": [264.0, 248.0, 277.0, 277.0], "bbox2D_tight": [264.0, 248.0, 277.0, 277.0], "bbox2D_trunc": [264.0, 248.0, 277.0, 277.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1066, "image_id": 152, "category_id": 45, "category_name": "person", "bbox2D_proj": [237.0, 256.0, 286.0, 407.0], "bbox2D_tight": [237.0, 256.0, 286.0, 407.0], "bbox2D_trunc": [237.0, 256.0, 286.0, 407.0], "center_cam": [-0.02876257412020361, 1.0307410944492956, 6.286465980026499], "dimensions": [0.8593753025032724, 2.0153809829287614, 0.9765628573988439], "R_cam": [[0.5723503828048706, 0.01784813404083252, 0.8198150396347046], [0.04506152868270874, 0.9975679516792297, -0.05317778140306473], [-0.8187702894210815, 0.06737855821847916, 0.5701541900634766]], "bbox3D_cam": [[-0.6784805059432983, 0.026348352432250977, 6.373371601104736], [-0.11954443901777267, 0.0703539252281189, 5.573791027069092], [-0.08357339352369308, 2.0808334350585938, 5.7095842361450195], [-0.6425094604492188, 2.03682804107666, 6.509164810180664], [0.026048248633742332, -0.01935124397277832, 6.863348007202148], [0.584984302520752, 0.024654269218444824, 6.063767433166504], [0.6209553480148315, 2.0351338386535645, 6.199560642242432], [0.06201929599046707, 1.9911282062530518, 6.999141216278076]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1067, "image_id": 152, "category_id": 45, "category_name": "person", "bbox2D_proj": [47.0, 271.0, 104.0, 463.0], "bbox2D_tight": [47.0, 271.0, 104.0, 463.0], "bbox2D_trunc": [47.0, 271.0, 104.0, 463.0], "center_cam": [-2.1724794902380746, 1.2859555658066748, 5.303415576736146], "dimensions": [0.6557619768122083, 2.1203614526439987, 0.7304690064166746], "R_cam": [[0.2739035487174988, 0.018039822578430176, 0.9615879058837891], [-0.08281946182250977, 0.9965524673461914, 0.00489500118419528], [-0.9581845998764038, -0.08097898215055466, 0.2744532823562622]], "bbox3D_cam": [[-2.6069302558898926, 0.2580733299255371, 5.649242401123047], [-2.4068522453308105, 0.19757628440856934, 4.949317932128906], [-2.3686013221740723, 2.3106279373168945, 4.777613162994385], [-2.5686793327331543, 2.3711249828338623, 5.477537631988525], [-1.9763574600219727, 0.26128315925598145, 5.82921838760376], [-1.7762794494628906, 0.20078611373901367, 5.129293918609619], [-1.7380285263061523, 2.313837766647339, 4.957589149475098], [-1.9381065368652344, 2.3743348121643066, 5.657513618469238]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1068, "image_id": 152, "category_id": 45, "category_name": "person", "bbox2D_proj": [0.0, 255.0, 59.0, 448.0], "bbox2D_tight": [0.0, 255.0, 59.0, 448.0], "bbox2D_trunc": [0.0, 255.0, 59.0, 448.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1069, "image_id": 152, "category_id": 45, "category_name": "person", "bbox2D_proj": [183.0, 250.0, 238.0, 405.0], "bbox2D_tight": [183.0, 250.0, 238.0, 405.0], "bbox2D_trunc": [183.0, 250.0, 238.0, 405.0], "center_cam": [-0.6575780078240845, 1.0707651454808813, 6.487491662725135], "dimensions": [0.7734375267730649, 2.2052308305133197, 0.7988282244779409], "R_cam": [[-0.9748454689979553, 0.04370737075805664, -0.21855449676513672], [0.038848161697387695, 0.9988941550254822, 0.02648288384079933], [0.2194703072309494, 0.01732625998556614, -0.9754655361175537]], "bbox3D_cam": [[-0.23188424110412598, -0.0563887357711792, 6.75795841217041], [-1.0106182098388672, -0.02535569667816162, 6.933277606964111], [-0.9142335057258606, 2.177436351776123, 6.9714860916137695], [-0.13549953699111938, 2.1464033126831055, 6.796166896820068], [-0.4009224772453308, -0.03590595722198486, 6.003497123718262], [-1.1796565055847168, -0.004872918128967285, 6.178816318511963], [-1.0832717418670654, 2.1979188919067383, 6.217024803161621], [-0.3045377731323242, 2.1668858528137207, 6.04170560836792]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1070, "image_id": 152, "category_id": 63, "category_name": "streetlight", "bbox2D_proj": [317.0, 37.0, 404.0, 248.0], "bbox2D_tight": [317.0, 37.0, 404.0, 248.0], "bbox2D_trunc": [317.0, 37.0, 404.0, 248.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1071, "image_id": 153, "category_id": 15, "category_name": "car", "bbox2D_proj": [226.0, 289.0, 277.0, 326.0], "bbox2D_tight": [226.0, 289.0, 277.0, 326.0], "bbox2D_trunc": [226.0, 289.0, 277.0, 326.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1072, "image_id": 153, "category_id": 45, "category_name": "person", "bbox2D_proj": [127.0, 277.0, 157.0, 382.0], "bbox2D_tight": [127.0, 277.0, 157.0, 382.0], "bbox2D_trunc": [127.0, 277.0, 157.0, 382.0], "center_cam": [-2.953413192460016, 1.7348906925901648, 11.599251526059527], "dimensions": [0.7421883572875594, 2.4265137087490327, 0.7734384008554329], "R_cam": [[0.7487627267837524, -0.023484468460083008, -0.6624220013618469], [0.0770716667175293, 0.9956781268119812, 0.05181831866502762], [0.658342182636261, -0.0898536816239357, 0.747336745262146]], "bbox3D_cam": [[-2.968660593032837, 0.47784292697906494, 11.17634105682373], [-2.3895387649536133, 0.537453293800354, 11.685528755187988], [-2.446524143218994, 2.953479766845703, 11.467497825622559], [-3.0256457328796387, 2.893869400024414, 10.9583101272583], [-3.4603023529052734, 0.5163017511367798, 11.731005668640137], [-2.881180763244629, 0.5759121179580688, 12.240193367004395], [-2.9381659030914307, 2.991938591003418, 12.022162437438965], [-3.5172877311706543, 2.932328224182129, 11.512974739074707]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1073, "image_id": 153, "category_id": 45, "category_name": "person", "bbox2D_proj": [180.0, 276.0, 201.0, 352.0], "bbox2D_tight": [180.0, 276.0, 201.0, 352.0], "bbox2D_trunc": [180.0, 276.0, 201.0, 352.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1074, "image_id": 153, "category_id": 63, "category_name": "streetlight", "bbox2D_proj": [191.0, 110.0, 205.0, 283.0], "bbox2D_tight": [191.0, 110.0, 205.0, 283.0], "bbox2D_trunc": [191.0, 110.0, 205.0, 283.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1075, "image_id": 153, "category_id": 13, "category_name": "building", "bbox2D_proj": [253.0, 210.0, 512.0, 286.0], "bbox2D_tight": [253.0, 210.0, 512.0, 286.0], "bbox2D_trunc": [253.0, 210.0, 512.0, 286.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1076, "image_id": 153, "category_id": 13, "category_name": "building", "bbox2D_proj": [74.0, 174.0, 168.0, 280.0], "bbox2D_tight": [74.0, 174.0, 168.0, 280.0], "bbox2D_trunc": [74.0, 174.0, 168.0, 280.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1077, "image_id": 153, "category_id": 45, "category_name": "person", "bbox2D_proj": [94.0, 285.0, 135.0, 416.0], "bbox2D_tight": [94.0, 285.0, 135.0, 416.0], "bbox2D_trunc": [94.0, 285.0, 135.0, 416.0], "center_cam": [-2.744702029966045, 1.754900477940589, 8.561898569247086], "dimensions": [0.785156322342369, 2.463867231659647, 0.8359375015842352], "R_cam": [[0.0187951922416687, 0.04443526268005371, -0.9988355040550232], [0.17429733276367188, 0.9835690855979919, 0.04703587293624878], [0.9845137000083923, -0.17497843503952026, 0.010741353034973145]], "bbox3D_cam": [[-2.415178060531616, 0.451892614364624, 8.361746788024902], [-2.3994665145874023, 0.5975942611694336, 9.184739112854004], [-2.2899839878082275, 3.020977735519409, 8.753615379333496], [-2.3056955337524414, 2.8752760887145996, 7.930623531341553], [-3.199420213699341, 0.48882317543029785, 8.3701810836792], [-3.183708667755127, 0.6345248222351074, 9.193172454833984], [-3.074226140975952, 3.057908296585083, 8.762049674987793], [-3.089937686920166, 2.9122066497802734, 7.939057350158691]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1078, "image_id": 154, "category_id": 48, "category_name": "plant", "bbox2D_proj": [280.0, 209.0, 420.0, 298.0], "bbox2D_tight": [280.0, 209.0, 420.0, 298.0], "bbox2D_trunc": [280.0, 209.0, 420.0, 298.0], "center_cam": [2.845168927683674, 0.030683566810106255, 12.851754189064922], "dimensions": [3.428503686693296, 2.1225283439333884, 3.7754660978657992], "R_cam": [[-0.995040774345398, 0.08561795204877853, -0.05062687397003174], [0.07554876804351807, 0.9816262125968933, 0.17522032558918], [0.06469862908124924, 0.1705266237258911, -0.9832265973091125]], "bbox3D_cam": [[4.71946382522583, -1.454068899154663, 14.23414421081543], [0.9627212285995483, -1.168837308883667, 14.478411674499512], [1.144447922706604, 0.9146924614906311, 14.840359687805176], [4.901190757751465, 0.629460871219635, 14.596092224121094], [4.545889854431152, -0.8533253073692322, 10.86314868927002], [0.789146900177002, -0.5680937170982361, 11.107416152954102], [0.9708737134933472, 1.5154359340667725, 11.469364166259766], [4.727616310119629, 1.2302043437957764, 11.225096702575684]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1079, "image_id": 155, "category_id": 58, "category_name": "signboard", "bbox2D_proj": [78.0, 109.0, 138.0, 208.0], "bbox2D_tight": [78.0, 109.0, 138.0, 208.0], "bbox2D_trunc": [78.0, 109.0, 138.0, 208.0], "center_cam": [-3.0025757202625267, -1.9286555368687792, 8.947481994755112], "dimensions": [0.5247479243840099, 1.318146388629608, 2.748377108927598], "R_cam": [[0.03854149580001831, 0.008862841874361038, 0.9992177486419678], [-0.02929602935910225, 0.9995408058166504, -0.0077357105910778046], [-0.9988274574279785, -0.02897496521472931, 0.03878343105316162]], "bbox3D_cam": [[-3.3235487937927246, -2.545138120651245, 10.328980445861816], [-3.2176222801208496, -2.625654697418213, 7.583826065063477], [-3.205939769744873, -1.3081135749816895, 7.545632362365723], [-3.311866283416748, -1.2275969982147217, 10.290786743164062], [-2.7992115020751953, -2.5491974353790283, 10.349331855773926], [-2.6932849884033203, -2.629714012145996, 7.604177474975586], [-2.6816024780273438, -1.3121728897094727, 7.565983772277832], [-2.7875289916992188, -1.2316563129425049, 10.311138153076172]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1080, "image_id": 155, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [299.0, 80.0, 334.0, 267.0], "bbox2D_tight": [299.0, 80.0, 334.0, 267.0], "bbox2D_trunc": [299.0, 80.0, 334.0, 267.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1081, "image_id": 155, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [347.0, 0.0, 512.0, 229.0], "bbox2D_tight": [347.0, 0.0, 512.0, 229.0], "bbox2D_trunc": [347.0, 0.0, 512.0, 229.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1082, "image_id": 155, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [281.0, 66.0, 315.0, 166.0], "bbox2D_tight": [281.0, 66.0, 315.0, 166.0], "bbox2D_trunc": [281.0, 66.0, 315.0, 166.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1083, "image_id": 155, "category_id": 45, "category_name": "person", "bbox2D_proj": [205.0, 269.0, 268.0, 439.0], "bbox2D_tight": [205.0, 269.0, 268.0, 439.0], "bbox2D_trunc": [205.0, 269.0, 268.0, 439.0], "center_cam": [-0.2003096242273835, 0.9448989400314696, 4.48930257525223], "dimensions": [0.6147461058481383, 1.5810548291055797, 0.8437500103076448], "R_cam": [[0.12834236025810242, 0.014087319374084473, -0.9916298985481262], [0.18875038623809814, 0.981275200843811, 0.038369327783584595], [0.9736024141311646, -0.19209498167037964, 0.12328016757965088]], "bbox3D_cam": [[0.03920994699001312, 0.0777512788772583, 4.1925272941589355], [0.14749868214130402, 0.23700940608978271, 5.014004707336426], [0.1697714775800705, 1.788459300994873, 4.710291862487793], [0.0614827424287796, 1.6292011737823486, 3.888814926147461], [-0.5703907012939453, 0.10133862495422363, 4.268313407897949], [-0.4621019959449768, 0.26059675216674805, 5.089790344238281], [-0.43982917070388794, 1.8120466470718384, 4.786077976226807], [-0.5481179356575012, 1.652788519859314, 3.9646005630493164]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1084, "image_id": 155, "category_id": 11, "category_name": "box", "bbox2D_proj": [314.0, 307.0, 343.0, 353.0], "bbox2D_tight": [314.0, 307.0, 343.0, 353.0], "bbox2D_trunc": [314.0, 307.0, 343.0, 353.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1085, "image_id": 155, "category_id": 45, "category_name": "person", "bbox2D_proj": [183.0, 273.0, 196.0, 304.0], "bbox2D_tight": [183.0, 273.0, 196.0, 304.0], "bbox2D_trunc": [183.0, 273.0, 196.0, 304.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1086, "image_id": 155, "category_id": 45, "category_name": "person", "bbox2D_proj": [156.0, 274.0, 183.0, 347.0], "bbox2D_tight": [156.0, 274.0, 183.0, 347.0], "bbox2D_trunc": [156.0, 274.0, 183.0, 347.0], "center_cam": [-1.9860027702508112, 1.242971698311261, 10.410095798870886], "dimensions": [0.5156250159266464, 1.5906983496494638, 0.6015625367389695], "R_cam": [[0.9642901420593262, 0.02094823122024536, 0.2640184760093689], [-0.027182817459106445, 0.999430775642395, 0.01998293399810791], [-0.2634495794773102, -0.026446126401424408, 0.9643106460571289]], "bbox3D_cam": [[-2.360771656036377, 0.4510994553565979, 10.261759757995605], [-1.7806907892227173, 0.43474727869033813, 10.103278160095215], [-1.7473684549331665, 2.0245401859283447, 10.061210632324219], [-2.327449321746826, 2.0408923625946045, 10.219691276550293], [-2.224637031555176, 0.4614031910896301, 10.758981704711914], [-1.6445562839508057, 0.44505101442337036, 10.60050106048584], [-1.6112339496612549, 2.034843921661377, 10.558432579040527], [-2.191314935684204, 2.0511960983276367, 10.716914176940918]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1087, "image_id": 156, "category_id": 45, "category_name": "person", "bbox2D_proj": [50.0, 264.0, 202.0, 512.0], "bbox2D_tight": [50.0, 264.0, 202.0, 512.0], "bbox2D_trunc": [50.0, 264.0, 202.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1088, "image_id": 156, "category_id": 45, "category_name": "person", "bbox2D_proj": [254.0, 237.0, 307.0, 373.0], "bbox2D_tight": [254.0, 237.0, 307.0, 373.0], "bbox2D_trunc": [254.0, 237.0, 307.0, 373.0], "center_cam": [0.14998998074794267, 0.31070200668435877, 2.8438039890782534], "dimensions": [0.24218760393230943, 0.8618163811499306, 0.2724610535854448], "R_cam": [[-0.7325425744056702, 0.11870992183685303, -0.6702905893325806], [-0.02958989143371582, 0.9781934022903442, 0.20557788014411926], [0.6800779104232788, 0.17042827606201172, -0.7130558490753174]], "bbox3D_cam": [[0.2797996401786804, -0.1316727101802826, 2.764064311981201], [0.08021029829978943, -0.13973477482795715, 2.9493589401245117], [0.18251636624336243, 0.7032883167266846, 3.0962367057800293], [0.3821057081222534, 0.7113503217697144, 2.9109420776367188], [0.11746358871459961, -0.08188429474830627, 2.5913710594177246], [-0.08212575316429138, -0.08994635939598083, 2.776665687561035], [0.020180314779281616, 0.7530766725540161, 2.9235434532165527], [0.2197696566581726, 0.7611387968063354, 2.738248825073242]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1089, "image_id": 156, "category_id": 45, "category_name": "person", "bbox2D_proj": [133.0, 257.0, 180.0, 340.0], "bbox2D_tight": [133.0, 257.0, 180.0, 340.0], "bbox2D_trunc": [133.0, 257.0, 180.0, 340.0], "center_cam": [-0.7212944578042261, 0.27201981450155854, 3.12542839912411], "dimensions": [0.1875000021723981, 0.6157226318866754, 0.3890381221314778], "R_cam": [[0.9471341967582703, -0.003816962242126465, -0.32081499695777893], [-0.05581033229827881, 0.9827244877815247, -0.17645934224128723], [0.3159462809562683, 0.18503543734550476, 0.9305589199066162]], "bbox3D_cam": [[-0.8742786645889282, -0.0031238198280334473, 2.9197657108306885], [-0.5058073401451111, -0.02483612298965454, 3.0426807403564453], [-0.50815749168396, 0.580249547958374, 3.156611442565918], [-0.8766287565231323, 0.6019618511199951, 3.033696174621582], [-0.9344314336776733, -0.036209940910339355, 3.094245433807373], [-0.565960168838501, -0.05792224407196045, 3.217160701751709], [-0.5683102607727051, 0.5471634268760681, 3.3310911655426025], [-0.9367815852165222, 0.5688757300376892, 3.2081761360168457]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1090, "image_id": 156, "category_id": 45, "category_name": "person", "bbox2D_proj": [165.0, 250.0, 193.0, 312.0], "bbox2D_tight": [165.0, 250.0, 193.0, 312.0], "bbox2D_trunc": [165.0, 250.0, 193.0, 312.0], "center_cam": [-0.6468051905836503, 0.19308593687665598, 3.6481194794118452], "dimensions": [0.15820312790985142, 0.5247802522543583, 0.23986819006425203], "R_cam": [[0.9691892266273499, 0.020044445991516113, -0.2455003708600998], [-0.03706026077270508, 0.9972041249275208, -0.06488827615976334], [0.2435133457183838, 0.0719873458147049, 0.9672223329544067]], "bbox3D_cam": [[-0.7488839626312256, -0.058993011713027954, 3.5235164165496826], [-0.5164062976837158, -0.06788262724876404, 3.581927537918091], [-0.5058873891830444, 0.45543041825294495, 3.6197049617767334], [-0.7383650541305542, 0.46432003378868103, 3.561293840408325], [-0.7877229452133179, -0.06925854086875916, 3.6765339374542236], [-0.5552452802658081, -0.07814815640449524, 3.734945058822632], [-0.5447263717651367, 0.44516488909721375, 3.7727224826812744], [-0.7772040367126465, 0.45405450463294983, 3.714311361312866]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1091, "image_id": 156, "category_id": 45, "category_name": "person", "bbox2D_proj": [3.0, 261.0, 35.0, 322.0], "bbox2D_tight": [3.0, 261.0, 35.0, 322.0], "bbox2D_trunc": [3.0, 261.0, 35.0, 322.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1092, "image_id": 156, "category_id": 45, "category_name": "person", "bbox2D_proj": [293.0, 232.0, 346.0, 383.0], "bbox2D_tight": [293.0, 232.0, 346.0, 383.0], "bbox2D_trunc": [293.0, 232.0, 346.0, 383.0], "center_cam": [0.38014716523675396, 0.30922945538295266, 2.7053777225706006], "dimensions": [0.2915039384017768, 0.8909911790658407, 0.357421878884601], "R_cam": [[0.13485845923423767, 0.07638132572174072, 0.9879165887832642], [0.07853412628173828, 0.9930640459060669, -0.08749988675117493], [-0.9877477884292603, 0.08938530087471008, 0.12792468070983887]], "bbox3D_cam": [[0.17802812159061432, -0.1344577968120575, 2.8234331607818604], [0.22622951865196228, -0.10638800263404846, 2.470390558242798], [0.2942846417427063, 0.7784233093261719, 2.550031900405884], [0.24608322978019714, 0.7503534555435181, 2.9030745029449463], [0.4660096764564514, -0.15996435284614563, 2.8607237339019775], [0.5142110586166382, -0.1318945586681366, 2.507681131362915], [0.5822662115097046, 0.752916693687439, 2.587322473526001], [0.534064769744873, 0.7248469591140747, 2.9403650760650635]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1093, "image_id": 156, "category_id": 45, "category_name": "person", "bbox2D_proj": [215.0, 246.0, 247.0, 338.0], "bbox2D_tight": [215.0, 246.0, 247.0, 338.0], "bbox2D_trunc": [215.0, 246.0, 247.0, 338.0], "center_cam": [-0.20741965785600527, 0.2384725355682184, 3.277402823435646], "dimensions": [0.17773438683039283, 0.6398925523664134, 0.25732425472020226], "R_cam": [[0.9190651178359985, 0.03149700164794922, -0.392845094203949], [0.0035553574562072754, 0.9960980415344238, 0.08818159997463226], [0.3940896987915039, -0.08244135975837708, 0.9153670072555542]], "bbox3D_cam": [[-0.3008348345756531, -0.08851923048496246, 3.17172908782959], [-0.0643371045589447, -0.08760435879230499, 3.2731380462646484], [-0.04418240487575531, 0.5497913956642151, 3.220384359359741], [-0.2806801497936249, 0.5488765239715576, 3.1189756393432617], [-0.37065690755844116, -0.07284630835056305, 3.334421396255493], [-0.1341591775417328, -0.07193143665790558, 3.4358301162719727], [-0.1140044778585434, 0.5654643177986145, 3.3830766677856445], [-0.35050222277641296, 0.564549446105957, 3.281667709350586]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1094, "image_id": 157, "category_id": 45, "category_name": "person", "bbox2D_proj": [119.0, 220.0, 153.0, 328.0], "bbox2D_tight": [119.0, 220.0, 153.0, 328.0], "bbox2D_trunc": [119.0, 220.0, 153.0, 328.0], "center_cam": [-1.9510131534809017, 0.22860940911594227, 7.227409018524018], "dimensions": [0.3984374967981373, 1.5710449032313716, 0.5585937484571029], "R_cam": [[-0.5698835253715515, -0.006330370903015137, 0.8217011094093323], [-0.09241127967834473, 0.9941205382347107, -0.056432366371154785], [-0.8165127038955688, -0.10809433460235596, -0.5671178102493286]], "bbox3D_cam": [[-1.9505722522735596, -0.5152419805526733, 7.65334939956665], [-2.2689056396484375, -0.5668623447418213, 7.1972503662109375], [-2.278850793838501, 0.9949455261230469, 7.027429580688477], [-1.960517406463623, 1.0465658903121948, 7.483528137207031], [-1.6231756210327148, -0.5377267599105835, 7.4273881912231445], [-1.9415090084075928, -0.5893471240997314, 6.97128963470459], [-1.9514541625976562, 0.9724607467651367, 6.801468372344971], [-1.6331208944320679, 1.0240811109542847, 7.257567405700684]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1095, "image_id": 157, "category_id": 45, "category_name": "person", "bbox2D_proj": [217.0, 232.0, 255.0, 311.0], "bbox2D_tight": [217.0, 232.0, 255.0, 311.0], "bbox2D_trunc": [217.0, 232.0, 255.0, 311.0], "center_cam": [-0.3864342261331494, 0.2455769782680236, 7.452183989554279], "dimensions": [0.49999999487470015, 1.2416381699029437, 0.7207031055548991], "R_cam": [[0.9333825707435608, -0.04481649398803711, -0.35607361793518066], [0.030656635761260986, 0.9985023140907288, -0.045313507318496704], [0.35757115483283997, 0.031378790736198425, 0.9333586692810059]], "bbox3D_cam": [[-0.6059387922286987, -0.374031126499176, 7.070512771606445], [0.06675297021865845, -0.3519367575645447, 7.3282151222229], [0.011107146739959717, 0.8878418803215027, 7.367176532745361], [-0.6615846157073975, 0.8657475113868713, 7.109473705291748], [-0.7839756011962891, -0.39668792486190796, 7.537191867828369], [-0.11128383874893188, -0.3745935559272766, 7.794894695281982], [-0.16692966222763062, 0.8651850819587708, 7.833855628967285], [-0.8396214246749878, 0.8430907130241394, 7.57615327835083]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1096, "image_id": 157, "category_id": 45, "category_name": "person", "bbox2D_proj": [151.0, 233.0, 188.0, 314.0], "bbox2D_tight": [151.0, 233.0, 188.0, 314.0], "bbox2D_trunc": [151.0, 233.0, 188.0, 314.0], "center_cam": [-1.6572396528342663, 0.28124964256283214, 8.187778656240315], "dimensions": [0.6406249934396966, 1.33789060933734, 0.7626342512624286], "R_cam": [[0.9872751235961914, -0.06912565231323242, -0.1432117521762848], [0.0589105486869812, 0.9954880475997925, -0.0743849128484726], [0.1477074921131134, 0.06500168144702911, 0.9868927001953125]], "bbox3D_cam": [[-1.9415907859802246, -0.3833146095275879, 7.771858215332031], [-1.188660979270935, -0.3383873701095581, 7.884505271911621], [-1.2811435461044312, 0.9934667348861694, 7.971470355987549], [-2.0340733528137207, 0.9485394954681396, 7.858823776245117], [-2.0333359241485596, -0.43096745014190674, 8.40408706665039], [-1.2804059982299805, -0.38604021072387695, 8.516733169555664], [-1.3728885650634766, 0.9458138942718506, 8.60369873046875], [-2.1258182525634766, 0.9008866548538208, 8.49105167388916]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1097, "image_id": 157, "category_id": 45, "category_name": "person", "bbox2D_proj": [298.0, 200.0, 350.0, 344.0], "bbox2D_tight": [298.0, 200.0, 350.0, 344.0], "bbox2D_trunc": [298.0, 200.0, 350.0, 344.0], "center_cam": [0.7886901241098541, 0.13684814102949963, 4.740300280453287], "dimensions": [0.4726562576802207, 1.472900376418611, 0.5898437567882185], "R_cam": [[0.7756987810134888, 0.007643461227416992, -0.63105708360672], [-0.018422484397888184, 0.9997748136520386, -0.010535627603530884], [0.6308344602584839, 0.01979804039001465, 0.7756648659706116]], "bbox3D_cam": [[0.7034271955490112, -0.5915130972862244, 4.356361389160156], [1.1609681844711304, -0.6023795008659363, 4.728455543518066], [1.1722261905670166, 0.8701891303062439, 4.75761604309082], [0.7146852016448975, 0.8810555338859558, 4.385522365570068], [0.4051540493965149, -0.5964928269386292, 4.722984313964844], [0.8626950979232788, -0.6073592305183411, 5.095077991485596], [0.873953104019165, 0.8652094006538391, 5.124238967895508], [0.4164120852947235, 0.876075804233551, 4.752144813537598]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1098, "image_id": 157, "category_id": 47, "category_name": "pipe", "bbox2D_proj": [278.0, 106.0, 328.0, 195.0], "bbox2D_tight": [278.0, 106.0, 328.0, 195.0], "bbox2D_trunc": [278.0, 106.0, 328.0, 195.0], "center_cam": [1.0072967076555341, -2.3518139367137953, 9.811638205074331], "dimensions": [0.9113145006728918, 2.1004497219960236, 1.4193277400467217], "R_cam": [[0.03875255584716797, 0.0657011866569519, -0.9970865249633789], [-0.056421004235744476, 0.9963881969451904, 0.06346230953931808], [0.9976546764373779, 0.053797293454408646, 0.042319536209106445]], "bbox3D_cam": [[1.3651241064071655, -3.387122631072998, 9.02785587310791], [1.4201266765594482, -3.467202663421631, 10.443855285644531], [1.5581287145614624, -1.3743394613265991, 10.556853294372559], [1.5031261444091797, -1.2942596673965454, 9.140854835510254], [0.45646464824676514, -3.3292884826660156, 9.066422462463379], [0.5114672183990479, -3.4093685150146484, 10.482420921325684], [0.649469256401062, -1.3165053129196167, 10.595419883728027], [0.5944666862487793, -1.236425518989563, 9.179420471191406]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1099, "image_id": 158, "category_id": 45, "category_name": "person", "bbox2D_proj": [0.0, 295.0, 135.0, 512.0], "bbox2D_tight": [0.0, 295.0, 135.0, 512.0], "bbox2D_trunc": [0.0, 295.0, 135.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1100, "image_id": 158, "category_id": 2, "category_name": "backpack", "bbox2D_proj": [184.0, 329.0, 246.0, 414.0], "bbox2D_tight": [184.0, 329.0, 246.0, 414.0], "bbox2D_trunc": [184.0, 329.0, 246.0, 414.0], "center_cam": [-0.22796446744335458, 0.6560784220075349, 2.601553542379207], "dimensions": [0.2968750279541706, 0.4711914028355758, 0.3817653838897782], "R_cam": [[-0.9993357062339783, -0.03587907552719116, 0.006390072405338287], [-0.036223411560058594, 0.99715656042099, -0.06608124077320099], [-0.004000965505838394, -0.06626880913972855, -0.9977937936782837]], "bbox3D_cam": [[-0.029704108834266663, 0.4378759562969208, 2.7660398483276367], [-0.41121596097946167, 0.4240471124649048, 2.764512538909912], [-0.4281218647956848, 0.8938987255096436, 2.7332870960235596], [-0.04661001265048981, 0.9077275395393372, 2.7348146438598633], [-0.027807042002677917, 0.41825810074806213, 2.4698197841644287], [-0.4093189239501953, 0.40442925691604614, 2.468292236328125], [-0.42622482776641846, 0.8742808103561401, 2.4370670318603516], [-0.04471294581890106, 0.8881096839904785, 2.438594341278076]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1101, "image_id": 159, "category_id": 35, "category_name": "jersey", "bbox2D_proj": [196.0, 334.0, 264.0, 400.0], "bbox2D_tight": [196.0, 334.0, 264.0, 400.0], "bbox2D_trunc": [196.0, 334.0, 264.0, 400.0], "center_cam": [-0.18375616439255438, 0.6618297216324471, 2.533869229859346], "dimensions": [0.23242190574028496, 0.40551761965076094, 0.4448242638351563], "R_cam": [[0.9232450723648071, 0.02327730506658554, -0.38350579142570496], [0.08699890971183777, 0.9595715999603271, 0.26768189668655396], [0.37423214316368103, -0.280500590801239, 0.883894681930542]], "bbox3D_cam": [[-0.3492491841316223, 0.41681092977523804, 2.4047911167144775], [0.061432644724845886, 0.4555101990699768, 2.571258783340454], [0.0708719938993454, 0.8446333408355713, 2.4575109481811523], [-0.3398098349571228, 0.8059341311454773, 2.291043281555176], [-0.4383842945098877, 0.47902607917785645, 2.610227584838867], [-0.027702495455741882, 0.5177252888679504, 2.7766952514648438], [-0.01826314628124237, 0.9068484902381897, 2.662947416305542], [-0.4289449453353882, 0.8681492209434509, 2.4964797496795654]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1102, "image_id": 159, "category_id": 45, "category_name": "person", "bbox2D_proj": [157.0, 276.0, 213.0, 422.0], "bbox2D_tight": [157.0, 276.0, 213.0, 422.0], "bbox2D_trunc": [157.0, 276.0, 213.0, 422.0], "center_cam": [-0.6040498037803035, 0.7667375201499572, 3.7301661034778135], "dimensions": [0.4370118418129396, 1.2001952961025102, 0.46484392231171723], "R_cam": [[-0.06814689189195633, -0.04775214195251465, 0.9965319633483887], [-0.21359002590179443, 0.9763932824134827, 0.03218087926506996], [-0.9745436906814575, -0.21065622568130493, -0.07673746347427368]], "bbox3D_cam": [[-0.7773032188415527, 0.2234174609184265, 4.099853515625], [-0.8089808225631714, 0.12413150072097778, 3.6468427181243896], [-0.8662926554679871, 1.2959940433502197, 3.3940141201019287], [-0.8346149921417236, 1.395280122756958, 3.847024917602539], [-0.34180694818496704, 0.23748093843460083, 4.066318035125732], [-0.37348461151123047, 0.1381949782371521, 3.613307476043701], [-0.43079641461372375, 1.3100576400756836, 3.3604788780212402], [-0.3991187810897827, 1.4093434810638428, 3.8134896755218506]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1103, "image_id": 159, "category_id": 45, "category_name": "person", "bbox2D_proj": [278.0, 303.0, 300.0, 365.0], "bbox2D_tight": [278.0, 303.0, 300.0, 365.0], "bbox2D_trunc": [278.0, 303.0, 300.0, 365.0], "center_cam": [0.4549577462292418, 1.1374649693820924, 6.3357580929883115], "dimensions": [0.2823702814179486, 0.6902537530448227, 0.4114032273195898], "R_cam": [[0.0405617356300354, -0.004535434767603874, -0.99916672706604], [0.0018784679705277085, 0.999988317489624, -0.004462906159460545], [0.9991753101348877, -0.0016958791529759765, 0.04056990146636963]], "bbox3D_cam": [[0.589246928691864, 0.7925858497619629, 6.1250834465026855], [0.6059341430664062, 0.7933586835861206, 6.536147594451904], [0.6028035879135132, 1.4836043119430542, 6.534976959228516], [0.5861163139343262, 1.4828314781188965, 6.123913288116455], [0.3071119487285614, 0.7913256883621216, 6.136539459228516], [0.323799192905426, 0.7920985221862793, 6.547603130340576], [0.3206685781478882, 1.482344150543213, 6.546432971954346], [0.30398136377334595, 1.4815713167190552, 6.135368824005127]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1104, "image_id": 159, "category_id": 59, "category_name": "skirt", "bbox2D_proj": [176.0, 399.0, 248.0, 479.0], "bbox2D_tight": [176.0, 399.0, 248.0, 479.0], "bbox2D_trunc": [176.0, 399.0, 248.0, 479.0], "center_cam": [-0.24433414177081586, 0.9697080016203496, 2.398176652955307], "dimensions": [0.11861930354622707, 0.35438181602234486, 0.38006327231146303], "R_cam": [[-0.9614990949630737, -0.004535434301942587, 0.2747708261013031], [-0.004826842341572046, 0.999988317489624, -0.00038440345088019967], [-0.27476587891578674, -0.0016958790365606546, -0.961509644985199]], "bbox3D_cam": [[-0.07711184024810791, 0.7934592366218567, 2.507718086242676], [-0.44254231452941895, 0.7916247248649597, 2.403289794921875], [-0.44414958357810974, 1.1460024118423462, 2.40268874168396], [-0.0787191092967987, 1.1478369235992432, 2.50711727142334], [-0.04451870918273926, 0.7934136390686035, 2.393664598464966], [-0.4099491834640503, 0.7915791273117065, 2.289236068725586], [-0.4115564525127411, 1.1459567546844482, 2.28863525390625], [-0.046125978231430054, 1.1477912664413452, 2.393063545227051]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1105, "image_id": 160, "category_id": 72, "category_name": "tree", "bbox2D_proj": [94.0, 58.0, 139.0, 150.0], "bbox2D_tight": [94.0, 58.0, 139.0, 150.0], "bbox2D_trunc": [94.0, 58.0, 139.0, 150.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1106, "image_id": 160, "category_id": 45, "category_name": "person", "bbox2D_proj": [266.0, 277.0, 296.0, 369.0], "bbox2D_tight": [266.0, 277.0, 296.0, 369.0], "bbox2D_trunc": [266.0, 277.0, 296.0, 369.0], "center_cam": [0.2570672312647243, 0.6739580810985066, 4.625582773054954], "dimensions": [0.3105468888817341, 0.922119159123896, 0.3437500234929887], "R_cam": [[-0.14077460765838623, -0.055109500885009766, 0.9885066747665405], [-0.14246249198913574, 0.98918616771698, 0.03485909104347229], [-0.9797382354736328, -0.13591790199279785, -0.14710330963134766]], "bbox3D_cam": [[0.15318278968334198, 0.2369573414325714, 4.879482746124268], [0.10479152202606201, 0.1879858672618866, 4.542697429656982], [0.05397398769855499, 1.1001334190368652, 4.417365074157715], [0.10236525535583496, 1.1491048336029053, 4.754150390625], [0.460160493850708, 0.24778273701667786, 4.833800315856934], [0.41176921129226685, 0.19881126284599304, 4.497014999389648], [0.36095166206359863, 1.1109588146209717, 4.371682643890381], [0.4093429446220398, 1.1599302291870117, 4.708467960357666]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1107, "image_id": 160, "category_id": 45, "category_name": "person", "bbox2D_proj": [333.0, 293.0, 358.0, 372.0], "bbox2D_tight": [333.0, 293.0, 358.0, 372.0], "bbox2D_trunc": [333.0, 293.0, 358.0, 372.0], "center_cam": [0.9521712181247683, 0.8028819792081303, 4.778259839772411], "dimensions": [0.27246094211583927, 0.7890014804968992, 0.3593750116833119], "R_cam": [[-0.053741782903671265, -0.060254037380218506, -0.9967352747917175], [0.08109253644943237, 0.9946174621582031, -0.06449833512306213], [0.9952566623687744, -0.08429402112960815, -0.048566341400146484]], "bbox3D_cam": [[1.1213839054107666, 0.4047199487686157, 4.639294624328613], [1.1020704507827759, 0.433862566947937, 4.996965408325195], [1.0545299053192139, 1.2186172008514404, 4.93045711517334], [1.0738434791564941, 1.1894745826721191, 4.572786808013916], [0.8498124480247498, 0.38714665174484253, 4.626062393188477], [0.830498993396759, 0.4162892699241638, 4.9837327003479], [0.782958447933197, 1.201043963432312, 4.917224884033203], [0.8022719621658325, 1.1719013452529907, 4.559554100036621]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1108, "image_id": 160, "category_id": 45, "category_name": "person", "bbox2D_proj": [236.0, 283.0, 264.0, 354.0], "bbox2D_tight": [236.0, 283.0, 264.0, 354.0], "bbox2D_trunc": [236.0, 283.0, 264.0, 354.0], "center_cam": [-0.07737015648414833, 0.6965186027368198, 5.070274416847199], "dimensions": [0.24218750606703077, 0.7675171048810286, 0.3237304708473536], "R_cam": [[0.994412362575531, -0.07662498950958252, 0.07261329144239426], [0.07100033760070801, 0.9944913983345032, 0.07710961252450943], [-0.07812180370092392, -0.07152318209409714, 0.9943749904632568]], "bbox3D_cam": [[-0.2177184820175171, 0.2940440773963928, 4.989954471588135], [0.10420309752225876, 0.31702905893325806, 4.964663982391357], [0.04539214074611664, 1.0803182125091553, 4.909769058227539], [-0.2765294313430786, 1.05733323097229, 4.935059547424316], [-0.20013245940208435, 0.31271904706954956, 5.230779647827148], [0.1217891201376915, 0.3357040286064148, 5.205489158630371], [0.06297817081212997, 1.0989930629730225, 5.150594234466553], [-0.2589434087276459, 1.0760080814361572, 5.17588472366333]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1109, "image_id": 160, "category_id": 45, "category_name": "person", "bbox2D_proj": [298.0, 290.0, 329.0, 372.0], "bbox2D_tight": [298.0, 290.0, 329.0, 372.0], "bbox2D_trunc": [298.0, 290.0, 329.0, 372.0], "center_cam": [0.5828049749511409, 0.7717707655080681, 4.619401471482826], "dimensions": [0.22656250969393024, 0.7978515779722317, 0.2871093839315081], "R_cam": [[0.985053539276123, -0.05970156192779541, -0.16157136857509613], [0.08431494235992432, 0.9850763082504272, 0.15005256235599518], [0.15020175278186798, -0.16143269836902618, 0.9753866195678711]], "bbox3D_cam": [[0.4835154116153717, 0.3496965169906616, 4.551745891571045], [0.7663335204124451, 0.37390410900115967, 4.594870090484619], [0.7187005281448364, 1.159848690032959, 4.466071128845215], [0.43588244915008545, 1.135641098022461, 4.422946453094482], [0.4469093978404999, 0.38369280099868774, 4.772731781005859], [0.7297275066375732, 0.4079003930091858, 4.815856456756592], [0.6820945739746094, 1.1938450336456299, 4.687057018280029], [0.3992764353752136, 1.1696374416351318, 4.643932819366455]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1110, "image_id": 161, "category_id": 29, "category_name": "fume_hood", "bbox2D_proj": [218.0, 158.0, 373.0, 201.0], "bbox2D_tight": [218.0, 158.0, 373.0, 201.0], "bbox2D_trunc": [218.0, 158.0, 373.0, 201.0], "center_cam": [0.35710667357922, -0.7867177651326488, 4.508380391580787], "dimensions": [1.1347656724019652, 0.431152347484178, 1.4941405660145655], "R_cam": [[0.9990506172180176, 0.028886517509818077, -0.03261209651827812], [-0.028934350237250328, 0.9995809197425842, -0.000995635986328125], [0.03256966546177864, 0.0019382238388061523, 0.999467670917511]], "bbox3D_cam": [[-0.3769780397415161, -0.980022668838501, 3.9165499210357666], [1.1157439947128296, -1.023254632949829, 3.9652137756347656], [1.128198504447937, -0.5922830700874329, 3.9660494327545166], [-0.3645235300064087, -0.5490511059761047, 3.9173855781555176], [-0.41398513317108154, -0.9811524748802185, 5.050711631774902], [1.0787369012832642, -1.0243844985961914, 5.099375247955322], [1.0911914110183716, -0.5934128761291504, 5.100210666656494], [-0.4015306234359741, -0.5501808524131775, 5.051547050476074]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1111, "image_id": 161, "category_id": 28, "category_name": "flowerpot", "bbox2D_proj": [63.0, 210.0, 97.0, 241.0], "bbox2D_tight": [63.0, 210.0, 97.0, 241.0], "bbox2D_trunc": [63.0, 210.0, 97.0, 241.0], "center_cam": [-1.6401822966317292, -0.2665609346176333, 4.169144168326936], "dimensions": [0.27986561504290525, 0.22932334506683957, 0.2839960237297538], "R_cam": [[-0.06345119327306747, -0.0031115137971937656, -0.9979801177978516], [0.07951700687408447, 0.9968001246452332, -0.008163501508533955], [0.9948120713233948, -0.07987439632415771, -0.06300073862075806]], "bbox3D_cam": [[-1.4911653995513916, -0.39100462198257446, 4.0458574295043945], [-1.5091853141784668, -0.36842209100723267, 4.3283796310424805], [-1.5098987817764282, -0.13983258605003357, 4.310062885284424], [-1.4918789863586426, -0.16241510212421417, 4.02754020690918], [-1.7704657316207886, -0.3932892978191376, 4.028225421905518], [-1.7884855270385742, -0.37070679664611816, 4.310748100280762], [-1.7891991138458252, -0.14211726188659668, 4.292430877685547], [-1.77117919921875, -0.16469977796077728, 4.009908676147461]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1112, "image_id": 161, "category_id": 28, "category_name": "flowerpot", "bbox2D_proj": [449.0, 210.0, 482.0, 240.0], "bbox2D_tight": [449.0, 210.0, 482.0, 240.0], "bbox2D_trunc": [449.0, 210.0, 482.0, 240.0], "center_cam": [2.3851418451125506, -0.3512271467831685, 5.05046117060413], "dimensions": [0.04638000621809368, 0.328688510567823, 0.4300836721713588], "R_cam": [[-0.9638125896453857, 0.0009543851483613253, 0.2665787637233734], [0.0012283027172088623, 0.9999988079071045, 0.0008607947966083884], [-0.2665776312351227, 0.0011570843635126948, -0.9638127684593201]], "bbox3D_cam": [[2.5860631465911865, -0.5158553123474121, 5.129947185516357], [2.1715428829193115, -0.5153270363807678, 5.015296459197998], [2.171856641769409, -0.18663889169692993, 5.015676975250244], [2.586376905441284, -0.18716716766357422, 5.1303277015686035], [2.5984270572662354, -0.5158153772354126, 5.085245609283447], [2.1839067935943604, -0.5152871012687683, 4.970594882965088], [2.184220552444458, -0.18659895658493042, 4.970975399017334], [2.598740816116333, -0.1871272325515747, 5.085626125335693]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1113, "image_id": 162, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [86.0, 0.0, 131.0, 240.0], "bbox2D_tight": [86.0, 0.0, 131.0, 240.0], "bbox2D_trunc": [86.0, 0.0, 131.0, 240.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1114, "image_id": 162, "category_id": 2, "category_name": "backpack", "bbox2D_proj": [336.0, 280.0, 374.0, 329.0], "bbox2D_tight": [336.0, 280.0, 374.0, 329.0], "bbox2D_trunc": [336.0, 280.0, 374.0, 329.0], "center_cam": [1.1024245857740493, 0.5616843184856908, 4.945397197539591], "dimensions": [0.30664063551402343, 0.5745239561785371, 0.4824218904629073], "R_cam": [[-0.6256060004234314, -0.04237395524978638, -0.7789875864982605], [0.01221919059753418, 0.9978691339492798, -0.0640936866402626], [0.7800434827804565, -0.049616046249866486, -0.6237552165985107]], "bbox3D_cam": [[1.384934663772583, 0.2819139063358307, 4.867129325866699], [1.0831286907196045, 0.28780874609947205, 5.243439674377441], [1.058783769607544, 0.8611084222793579, 5.2149338722229], [1.3605897426605225, 0.8552136421203613, 4.838624000549316], [1.1460654735565186, 0.26226016879081726, 4.67586088180542], [0.8442594408988953, 0.2681550085544586, 5.052170753479004], [0.8199145197868347, 0.8414547443389893, 5.023665428161621], [1.121720552444458, 0.8355598449707031, 4.647355079650879]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1115, "image_id": 162, "category_id": 45, "category_name": "person", "bbox2D_proj": [176.0, 288.0, 209.0, 404.0], "bbox2D_tight": [176.0, 288.0, 209.0, 404.0], "bbox2D_trunc": [176.0, 288.0, 209.0, 404.0], "center_cam": [-0.8827301848134685, 1.2342706032123085, 6.225131563243751], "dimensions": [0.5000000181909022, 1.563964918021004, 0.7187500196762171], "R_cam": [[-0.49264946579933167, -0.020668387413024902, -0.8699823617935181], [0.04708963632583618, 0.9976201057434082, -0.05036640167236328], [0.8689528703689575, -0.06578013300895691, -0.49050378799438477]], "bbox3D_cam": [[-0.47202640771865845, 0.449817955493927, 6.086916446685791], [-0.8261182308197021, 0.4836636185646057, 6.7114763259887695], [-0.8584427833557129, 2.0439064502716064, 6.608598232269287], [-0.504351019859314, 2.0100607872009277, 5.984038829803467], [-0.9070175886154175, 0.42463475465774536, 5.841664791107178], [-1.2611093521118164, 0.4584804177284241, 6.466224193572998], [-1.2934339046478271, 2.018723249435425, 6.363346576690674], [-0.9393421411514282, 1.984877586364746, 5.738786697387695]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1116, "image_id": 162, "category_id": 64, "category_name": "suitcase", "bbox2D_proj": [355.0, 360.0, 411.0, 440.0], "bbox2D_tight": [355.0, 360.0, 411.0, 440.0], "bbox2D_trunc": [355.0, 360.0, 411.0, 440.0], "center_cam": [1.1923799593703015, 1.3126864526526982, 4.1569629248330395], "dimensions": [0.4062500236224499, 0.6831055161868196, 0.5051269716870764], "R_cam": [[0.9866154193878174, -0.10530436038970947, 0.12450329959392548], [0.03570687770843506, 0.8845078945159912, 0.46515682339668274], [-0.15910717844963074, -0.4544852375984192, 0.8764290809631348]], "bbox3D_cam": [[0.9538742303848267, 0.9070770740509033, 4.17435359954834], [1.452240228652954, 0.9251135587692261, 4.093984127044678], [1.3803062438964844, 1.5293258428573608, 3.783522844314575], [0.8819402456283569, 1.511289358139038, 3.863892078399658], [1.0044536590576172, 1.096047043800354, 4.530403137207031], [1.5028196573257446, 1.1140835285186768, 4.450033664703369], [1.430885672569275, 1.7182958126068115, 4.1395721435546875], [0.9325196743011475, 1.7002593278884888, 4.21994161605835]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1117, "image_id": 162, "category_id": 45, "category_name": "person", "bbox2D_proj": [233.0, 259.0, 291.0, 407.0], "bbox2D_tight": [233.0, 259.0, 291.0, 407.0], "bbox2D_trunc": [233.0, 259.0, 291.0, 407.0], "center_cam": [0.07384580761584669, 0.9325599256114592, 5.6718588183210485], "dimensions": [0.5898437780119494, 1.7490235202942608, 0.668945353553112], "R_cam": [[0.9573735594749451, 0.03148573637008667, 0.2871319055557251], [-0.05206918716430664, 0.9965693354606628, 0.06433204561471939], [-0.2841212749481201, -0.0765404999256134, 0.9557285308837891]], "bbox3D_cam": [[-0.3585856556892395, 0.05949115753173828, 5.551959991455078], [0.2818448543548584, 0.02465975284576416, 5.361898422241211], [0.3369143009185791, 1.7676827907562256, 5.22802734375], [-0.3035162091255188, 1.8025141954421997, 5.418088912963867], [-0.18922269344329834, 0.09743702411651611, 6.115690231323242], [0.45120781660079956, 0.06260561943054199, 5.925628662109375], [0.5062772631645203, 1.8056286573410034, 5.791757583618164], [-0.13415324687957764, 1.8404600620269775, 5.981819152832031]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1118, "image_id": 162, "category_id": 45, "category_name": "person", "bbox2D_proj": [302.0, 259.0, 338.0, 401.0], "bbox2D_tight": [302.0, 259.0, 338.0, 401.0], "bbox2D_trunc": [302.0, 259.0, 338.0, 401.0], "center_cam": [0.85961115234567, 0.9119094598696511, 5.535173833754801], "dimensions": [0.4179687593444558, 1.7167969587277363, 0.650390646465438], "R_cam": [[0.8941150307655334, -0.00596165657043457, -0.4477977752685547], [0.08236813545227051, 0.9850425124168396, 0.15134978294372559], [0.44019752740859985, -0.17220838367938995, 0.8812323212623596]], "bbox3D_cam": [[0.6675493717193604, 0.007934987545013428, 5.355683326721191], [1.2490733861923218, 0.061506450176239014, 5.641983509063721], [1.2388384342193604, 1.75262451171875, 5.346336841583252], [0.6573144197463989, 1.6990530490875244, 5.060036659240723], [0.48038387298583984, 0.07119446992874146, 5.724010944366455], [1.0619078874588013, 0.12476593255996704, 6.010311126708984], [1.0516729354858398, 1.8158838748931885, 5.714664459228516], [0.4701489210128784, 1.762312412261963, 5.428364276885986]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1119, "image_id": 162, "category_id": 45, "category_name": "person", "bbox2D_proj": [358.0, 258.0, 389.0, 353.0], "bbox2D_tight": [358.0, 258.0, 389.0, 353.0], "bbox2D_trunc": [358.0, 258.0, 389.0, 353.0], "center_cam": [1.32066992743432, 0.5129052969352328, 5.051597768770384], "dimensions": [0.3067940484034929, 1.035895452089182, 3.2748250135722854], "R_cam": [[0.22539275884628296, 0.00427858205512166, -0.9742586016654968], [-0.00023502347175963223, 0.999990701675415, 0.004337215330451727], [0.9742680191993713, -0.0007486038375645876, 0.22539174556732178]], "bbox3D_cam": [[1.0988414287567139, -0.005318045616149902, 3.4221322536468506], [1.8369629383087158, -0.006087660789489746, 6.612689971923828], [1.8413951396942139, 1.0297980308532715, 6.611914157867432], [1.103273630142212, 1.0305676460266113, 3.421356678009033], [0.7999446988105774, -0.003987431526184082, 3.491281032562256], [1.5380661487579346, -0.004757046699523926, 6.681838512420654], [1.5424983501434326, 1.0311286449432373, 6.681062698364258], [0.8043768405914307, 1.0318982601165771, 3.4905054569244385]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1120, "image_id": 163, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [210.0, 133.0, 265.0, 251.0], "bbox2D_tight": [210.0, 133.0, 265.0, 251.0], "bbox2D_trunc": [210.0, 133.0, 265.0, 251.0], "center_cam": [-0.23928020138769035, -0.8094885566543211, 5.6931457609055], "dimensions": [0.8095703291870058, 1.4355469353410073, 0.8906250470374553], "R_cam": [[0.1801033616065979, 0.00816565752029419, 0.9836137890815735], [0.2859032154083252, 0.9563600420951843, -0.06028932332992554], [-0.9411812424659729, 0.29207664728164673, 0.16990900039672852]], "bbox3D_cam": [[-0.7234958410263062, -1.5988504886627197, 5.833844184875488], [-0.5630912780761719, -1.3442178964614868, 4.995604515075684], [-0.5513690710067749, 0.02868187427520752, 5.414894104003906], [-0.7117736339569092, -0.2259507179260254, 6.253133773803711], [0.07280871272087097, -1.6476589441299438, 5.971397399902344], [0.23321327567100525, -1.393026351928711, 5.133157730102539], [0.24493542313575745, -0.0201265811920166, 5.552447319030762], [0.08453086018562317, -0.2747591733932495, 6.390686988830566]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1121, "image_id": 163, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [397.0, 202.0, 451.0, 273.0], "bbox2D_tight": [397.0, 202.0, 451.0, 273.0], "bbox2D_trunc": [397.0, 202.0, 451.0, 273.0], "center_cam": [2.7394141523737874, -0.30615733488534863, 7.211622853366281], "dimensions": [0.7539112433601188, 1.0969238635177847, 0.7548878059284769], "R_cam": [[0.7939344644546509, -0.014594316482543945, 0.6078283190727234], [-0.030567646026611328, 0.9974895715713501, 0.06387729197740555], [-0.6072345972061157, -0.06929425150156021, 0.7914950847625732]], "bbox3D_cam": [[2.2186286449432373, -0.86578369140625, 7.180466651916504], [2.817960023880005, -0.8888587951660156, 6.722072601318359], [2.8019511699676514, 0.20531120896339417, 6.646061897277832], [2.202619791030884, 0.2283863127231598, 7.104455947875977], [2.67687726020813, -0.817625880241394, 7.777183532714844], [3.2762086391448975, -0.8407009840011597, 7.318789482116699], [3.260199785232544, 0.2534690201282501, 7.242778778076172], [2.6608684062957764, 0.27654412388801575, 7.701172828674316]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1122, "image_id": 163, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [268.0, 164.0, 315.0, 266.0], "bbox2D_tight": [268.0, 164.0, 315.0, 266.0], "bbox2D_trunc": [268.0, 164.0, 315.0, 266.0], "center_cam": [0.5226586752488427, -0.5820624048741094, 5.743824655985408], "dimensions": [0.4411825689930615, 1.2881059385360922, 0.8942754381371971], "R_cam": [[0.6917953491210938, -0.0005918098613619804, -0.7220933437347412], [4.365836502984166e-06, 0.9999997615814209, -0.0008153923554345965], [0.7220935821533203, 0.0005609320942312479, 0.6917952299118042]], "bbox3D_cam": [[0.37299954891204834, -1.2259372472763062, 5.267983913421631], [0.9916551113128662, -1.225933313369751, 5.913734436035156], [0.990892767906189, 0.06217217445373535, 5.914456844329834], [0.3722372055053711, 0.062168240547180176, 5.268706321716309], [0.05442452430725098, -1.2262970209121704, 5.573192119598389], [0.6730800867080688, -1.2262930870056152, 6.218942642211914], [0.6723177433013916, 0.061812400817871094, 6.219665050506592], [0.05366218090057373, 0.06180846691131592, 5.573914527893066]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1123, "image_id": 163, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [129.0, 202.0, 182.0, 267.0], "bbox2D_tight": [129.0, 202.0, 182.0, 267.0], "bbox2D_trunc": [129.0, 202.0, 182.0, 267.0], "center_cam": [-1.0688481274036454, -0.2723650039984986, 4.651570599250798], "dimensions": [0.5376924296694309, 0.6720333249419901, 1.24902719416899], "R_cam": [[0.20761364698410034, -0.0005918098031543195, 0.9782106876373291], [0.0006715778145007789, 0.9999997615814209, 0.00046245750854723155], [-0.9782106876373291, 0.0005609320942312479, 0.20761406421661377]], "bbox3D_cam": [[-1.4612951278686523, -0.6089252829551697, 5.206471920013428], [-1.2019799947738647, -0.6080864667892456, 3.9846601486206055], [-1.2023776769638062, 0.06394660472869873, 3.985037088394165], [-1.4616928100585938, 0.06310778856277466, 5.206849098205566], [-0.9353185892105103, -0.6086766123771667, 5.318104267120361], [-0.6760034561157227, -0.6078377962112427, 4.096292495727539], [-0.6764011979103088, 0.06419527530670166, 4.096669673919678], [-0.9357162714004517, 0.06335645914077759, 5.3184814453125]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1124, "image_id": 163, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [62.0, 202.0, 110.0, 266.0], "bbox2D_tight": [62.0, 202.0, 110.0, 266.0], "bbox2D_trunc": [62.0, 202.0, 110.0, 266.0], "center_cam": [-1.7478199168772526, -0.22099462662053143, 4.6141595630921], "dimensions": [0.49117592208832606, 0.5898411369411867, 0.5489256354699386], "R_cam": [[0.44116249680519104, -0.0005918098031543195, 0.8974270224571228], [0.0007644800934940577, 0.9999995231628418, 0.0002836438361555338], [-0.8974268436431885, 0.0005609320942312479, 0.4411627948284149]], "bbox3D_cam": [[-2.089125394821167, -0.5161945223808289, 4.751960277557373], [-1.8469599485397339, -0.5157749056816101, 4.259339332580566], [-1.8473089933395386, 0.07406598329544067, 4.259670257568359], [-2.0894744396209717, 0.07364636659622192, 4.752291202545166], [-1.648330807685852, -0.5160552263259888, 4.968648910522461], [-1.406165361404419, -0.51563560962677, 4.476027965545654], [-1.4065144062042236, 0.07420527935028076, 4.476358890533447], [-1.6486798524856567, 0.07378566265106201, 4.968979835510254]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1125, "image_id": 163, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [372.0, 177.0, 417.0, 264.0], "bbox2D_tight": [372.0, 177.0, 417.0, 264.0], "bbox2D_trunc": [372.0, 177.0, 417.0, 264.0], "center_cam": [2.79157429048015, -0.6550642301679774, 8.628711601649348], "dimensions": [0.3125000011832709, 1.6518555154436942, 0.5273437527023681], "R_cam": [[0.6478795409202576, 0.12488067150115967, 0.7514365315437317], [-0.03313469886779785, 0.9901565909385681, -0.1359851062297821], [-0.7610217332839966, 0.06320333480834961, 0.6456401348114014]], "bbox3D_cam": [[2.4001922607421875, -1.4428777694702148, 8.676289558410645], [2.741847515106201, -1.4603509902954102, 8.274969100952148], [2.948132276535034, 0.17524462938308716, 8.379371643066406], [2.6064770221710205, 0.19271796941757202, 8.780692100524902], [2.6350162029266357, -1.4853730201721191, 8.8780517578125], [2.9766714572906494, -1.5028464794158936, 8.476731300354004], [3.1829562187194824, 0.1327492594718933, 8.581133842468262], [2.8413009643554688, 0.15022259950637817, 8.982454299926758]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1126, "image_id": 163, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [3.0, 196.0, 59.0, 268.0], "bbox2D_tight": [3.0, 196.0, 59.0, 268.0], "bbox2D_trunc": [3.0, 196.0, 59.0, 268.0], "center_cam": [-1.5894338264396297, -0.16950282182482967, 3.1516461457755405], "dimensions": [0.23482676696440308, 0.5092279745771453, 0.43396288900857616], "R_cam": [[0.7019294500350952, -0.0005918098613619804, -0.7122462391853333], [1.588690975040663e-05, 0.9999998807907104, -0.0008152492810040712], [0.7122464776039124, 0.0005609321524389088, 0.7019294500350952]], "bbox3D_cam": [[-1.6579614877700806, -0.42402446269989014, 2.9145431518554688], [-1.3533501625061035, -0.4240175485610962, 3.2236316204071045], [-1.353651523590088, 0.08521026372909546, 3.223917245864868], [-1.658262848854065, 0.08520334959030151, 2.9148287773132324], [-1.8252160549163818, -0.4242159128189087, 3.0793750286102295], [-1.5206047296524048, -0.42420899868011475, 3.3884634971618652], [-1.5209060907363892, 0.0850188136100769, 3.388749122619629], [-1.8255174160003662, 0.08501189947128296, 3.079660654067993]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1127, "image_id": 164, "category_id": 74, "category_name": "trousers", "bbox2D_proj": [225.0, 428.0, 264.0, 503.0], "bbox2D_tight": [225.0, 428.0, 264.0, 503.0], "bbox2D_trunc": [225.0, 428.0, 264.0, 503.0], "center_cam": [-0.13853944207500277, 2.1579498969503366, 4.847543711700756], "dimensions": [0.3476562596718943, 1.117187485278857, 0.36389161696577144], "R_cam": [[-0.9885944128036499, 0.13361752033233643, 0.06948128342628479], [0.14855623245239258, 0.9409793615341187, 0.30412009358406067], [-0.024744678288698196, 0.31097325682640076, -0.950096607208252]], "bbox3D_cam": [[-0.045384518802165985, 1.5524308681488037, 4.843491554260254], [-0.4051257371902466, 1.6064893007278442, 4.834487438201904], [-0.2558499574661255, 2.6577396392822266, 5.181902885437012], [0.10389122366905212, 2.6036813259124756, 5.190907001495361], [-0.021228931844234467, 1.6581602096557617, 4.513184547424316], [-0.3809701204299927, 1.7122185230255127, 4.504180431365967], [-0.23169437050819397, 2.7634689807891846, 4.851595878601074], [0.12804682552814484, 2.7094106674194336, 4.860599994659424]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1128, "image_id": 164, "category_id": 2, "category_name": "backpack", "bbox2D_proj": [217.0, 367.0, 257.0, 417.0], "bbox2D_tight": [217.0, 367.0, 257.0, 417.0], "bbox2D_trunc": [217.0, 367.0, 257.0, 417.0], "center_cam": [-0.2058334824630545, 1.437220152999594, 4.66968003152267], "dimensions": [0.26562499929112965, 0.4697265541380257, 0.39990234781222683], "R_cam": [[0.9989423155784607, 0.006336212158203125, -0.045542631298303604], [-0.0025380849838256836, 0.9965483546257019, 0.08297596126794815], [0.04591119661927223, -0.08277260512113571, 0.9955103397369385]], "bbox3D_cam": [[-0.401012659072876, 1.1926547288894653, 4.54772424697876], [-0.00153331458568573, 1.19163978099823, 4.566083908081055], [0.0014429837465286255, 1.6597449779510498, 4.527203559875488], [-0.3980363607406616, 1.6607599258422852, 4.508843421936035], [-0.4131099581718445, 1.2146952152252197, 4.812156677246094], [-0.013630583882331848, 1.2136802673339844, 4.830516815185547], [-0.010654285550117493, 1.6817854642868042, 4.791635990142822], [-0.4101336598396301, 1.6828004121780396, 4.773276329040527]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1129, "image_id": 164, "category_id": 15, "category_name": "car", "bbox2D_proj": [342.0, 365.0, 409.0, 410.0], "bbox2D_tight": [342.0, 365.0, 409.0, 410.0], "bbox2D_trunc": [342.0, 365.0, 409.0, 410.0], "center_cam": [4.642126769404925, 4.894643811311062, 16.78865279974903], "dimensions": [1.722656276767383, 1.3510742028969354, 4.164062493020168], "R_cam": [[0.16456007957458496, 0.07067037373781204, 0.9838322401046753], [-0.2296547293663025, 0.9727635383605957, -0.03146231174468994], [-0.9592595100402832, -0.22076427936553955, 0.1763077825307846]], "bbox3D_cam": [[3.404364585876465, 4.742753505706787, 18.78313636779785], [4.089602470397949, 3.786457061767578, 14.78872013092041], [4.185083389282227, 5.100732803344727, 14.490450859069824], [3.4998457431793213, 6.0570292472839355, 18.484867095947266], [5.099169731140137, 4.688554763793945, 19.08685302734375], [5.784407615661621, 3.7322583198547363, 15.092437744140625], [5.879888534545898, 5.046534061431885, 14.794168472290039], [5.194650650024414, 6.002830505371094, 18.788585662841797]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1130, "image_id": 164, "category_id": 45, "category_name": "person", "bbox2D_proj": [160.0, 354.0, 191.0, 452.0], "bbox2D_tight": [160.0, 354.0, 191.0, 452.0], "bbox2D_trunc": [160.0, 354.0, 191.0, 452.0], "center_cam": [-1.6824274073962333, 3.000148509801663, 9.1415024256676], "dimensions": [0.7226568233781043, 1.8142089575623381, 0.7265630679996653], "R_cam": [[0.2732119858264923, 0.06497561931610107, -0.9597569704055786], [0.21204060316085815, 0.9691081047058105, 0.1259698122739792], [0.9382932186126709, -0.2379239797592163, 0.2509944438934326]], "bbox3D_cam": [[-1.4938324689865112, 1.9985193014144897, 8.92576789855957], [-1.2953267097473145, 2.1525802612304688, 9.607497215270996], [-1.1774473190307617, 3.9107446670532227, 9.175853729248047], [-1.3759530782699585, 3.756683826446533, 8.494124412536621], [-2.1874074935913086, 2.089552402496338, 9.10715103149414], [-1.9889017343521118, 2.2436132431030273, 9.788880348205566], [-1.871022343635559, 4.001777648925781, 9.357236862182617], [-2.069528102874756, 3.847716808319092, 8.675507545471191]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1131, "image_id": 164, "category_id": 45, "category_name": "person", "bbox2D_proj": [114.0, 355.0, 147.0, 444.0], "bbox2D_tight": [114.0, 355.0, 147.0, 444.0], "bbox2D_trunc": [114.0, 355.0, 147.0, 444.0], "center_cam": [-2.633545873972957, 2.950013578312715, 9.235017786881649], "dimensions": [0.53906252543464, 1.6732177441752984, 0.6064453451654723], "R_cam": [[0.88620924949646, 0.045330047607421875, -0.46106213331222534], [0.06337356567382812, 0.9739853143692017, 0.21756933629512787], [0.4589301347732544, -0.2220311164855957, 0.8602821230888367]], "bbox3D_cam": [[-2.815917491912842, 2.0573108196258545, 9.049739837646484], [-2.278480052947998, 2.095743417739868, 9.328056335449219], [-2.2026329040527344, 3.725432872772217, 8.956549644470215], [-2.7400705814361572, 3.687000274658203, 8.678234100341797], [-3.0644588470458984, 2.1745944023132324, 9.5134859085083], [-2.5270211696624756, 2.213027000427246, 9.791801452636719], [-2.451174259185791, 3.8427164554595947, 9.420295715332031], [-2.9886116981506348, 3.804283857345581, 9.141979217529297]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1132, "image_id": 164, "category_id": 13, "category_name": "building", "bbox2D_proj": [281.0, 117.0, 375.0, 288.0], "bbox2D_tight": [281.0, 117.0, 375.0, 288.0], "bbox2D_trunc": [281.0, 117.0, 375.0, 288.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1133, "image_id": 164, "category_id": 45, "category_name": "person", "bbox2D_proj": [200.0, 354.0, 223.0, 444.0], "bbox2D_tight": [200.0, 354.0, 223.0, 444.0], "bbox2D_trunc": [200.0, 354.0, 223.0, 444.0], "center_cam": [-0.9071763278019706, 2.9132120458335855, 9.077265001451735], "dimensions": [0.5703125786709374, 1.683227511307987, 0.5898438371616628], "R_cam": [[0.934696614742279, -0.00623166561126709, -0.3553921580314636], [0.09305435419082642, 0.9692650437355042, 0.2277417927980423], [0.3430499732494354, -0.24594026803970337, 0.9065486192703247]], "bbox3D_cam": [[-1.0762519836425781, 2.005079507827759, 8.924570083618164], [-0.5249269604682922, 2.059967041015625, 9.126916885375977], [-0.5354161262512207, 3.691460609436035, 8.712943077087402], [-1.0867410898208618, 3.636573076248169, 8.510597229003906], [-1.278936505317688, 2.1349635124206543, 9.4415864944458], [-0.7276115417480469, 2.1898510456085205, 9.643932342529297], [-0.7381007075309753, 3.8213446140289307, 9.229959487915039], [-1.2894256114959717, 3.7664570808410645, 9.027612686157227]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1134, "image_id": 164, "category_id": 13, "category_name": "building", "bbox2D_proj": [293.0, 261.0, 388.0, 369.0], "bbox2D_tight": [293.0, 261.0, 388.0, 369.0], "bbox2D_trunc": [293.0, 261.0, 388.0, 369.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1135, "image_id": 164, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [242.0, 135.0, 288.0, 308.0], "bbox2D_tight": [242.0, 135.0, 288.0, 308.0], "bbox2D_trunc": [242.0, 135.0, 288.0, 308.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1136, "image_id": 164, "category_id": 65, "category_name": "suv", "bbox2D_proj": [408.0, 357.0, 512.0, 440.0], "bbox2D_tight": [408.0, 357.0, 512.0, 440.0], "bbox2D_trunc": [408.0, 357.0, 512.0, 440.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1137, "image_id": 164, "category_id": 63, "category_name": "streetlight", "bbox2D_proj": [222.0, 147.0, 284.0, 362.0], "bbox2D_tight": [222.0, 147.0, 284.0, 362.0], "bbox2D_trunc": [222.0, 147.0, 284.0, 362.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1138, "image_id": 164, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [162.0, 278.0, 214.0, 362.0], "bbox2D_tight": [162.0, 278.0, 214.0, 362.0], "bbox2D_trunc": [162.0, 278.0, 214.0, 362.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1139, "image_id": 165, "category_id": 45, "category_name": "person", "bbox2D_proj": [352.0, 281.0, 368.0, 348.0], "bbox2D_tight": [352.0, 281.0, 368.0, 348.0], "bbox2D_trunc": [352.0, 281.0, 368.0, 348.0], "center_cam": [1.4997200722654176, 0.7839829876233007, 6.0001495281642], "dimensions": [0.22265633245546734, 0.9736633432261645, 0.2343750838095685], "R_cam": [[-0.5573905110359192, 0.07950425148010254, -0.8264352083206177], [0.09545004367828369, 0.9949408769607544, 0.0313381589949131], [0.8247455954551697, -0.06141579896211624, -0.5621594190597534]], "bbox3D_cam": [[1.6183396577835083, 0.2849399447441101, 5.995983123779297], [1.487701177597046, 0.3073110580444336, 6.1892828941345215], [1.565111517906189, 1.2760484218597412, 6.1294846534729], [1.6957499980926514, 1.2536773681640625, 5.936184883117676], [1.4343286752700806, 0.2919175624847412, 5.870814800262451], [1.3036901950836182, 0.3142886757850647, 6.064114570617676], [1.3811005353927612, 1.2830259799957275, 6.004316329956055], [1.5117390155792236, 1.2606549263000488, 5.81101655960083]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1140, "image_id": 165, "category_id": 45, "category_name": "person", "bbox2D_proj": [387.0, 282.0, 419.0, 364.0], "bbox2D_tight": [387.0, 282.0, 419.0, 364.0], "bbox2D_trunc": [387.0, 282.0, 419.0, 364.0], "center_cam": [1.785694560433701, 0.7480812192801112, 5.3720417058431496], "dimensions": [0.31250001056536975, 0.8710937775868685, 0.4296875169074009], "R_cam": [[-0.7502681016921997, 0.07695674896240234, -0.6566395163536072], [-0.1076352596282959, 0.9657334089279175, 0.2361646592617035], [0.6523131132125854, 0.24786441028118134, -0.7162756323814392]], "bbox3D_cam": [[2.0159666538238525, 0.3136831223964691, 5.235857963562012], [1.6935858726501465, 0.2674335539340973, 5.516148567199707], [1.7606223821640015, 1.108677864074707, 5.732061862945557], [2.083003282546997, 1.154927372932434, 5.451770782470703], [1.8107668161392212, 0.3874845802783966, 5.012021541595459], [1.4883859157562256, 0.3412350118160248, 5.2923126220703125], [1.5554225444793701, 1.1824792623519897, 5.508225440979004], [1.8778033256530762, 1.2287288904190063, 5.227934837341309]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1141, "image_id": 165, "category_id": 45, "category_name": "person", "bbox2D_proj": [274.0, 286.0, 295.0, 361.0], "bbox2D_tight": [274.0, 286.0, 295.0, 361.0], "bbox2D_trunc": [274.0, 286.0, 295.0, 361.0], "center_cam": [0.3485597092458783, 0.7813369013032813, 5.495810950352052], "dimensions": [0.25866702501926697, 0.9257812651082742, 0.2656250300973457], "R_cam": [[-0.09758266806602478, -0.04440927505493164, 0.9942361116409302], [-0.4289228916168213, 0.9033393859863281, -0.0017488598823547363], [-0.8980550169944763, -0.42662128806114197, -0.10719841718673706]], "bbox3D_cam": [[0.2534885108470917, 0.4203821122646332, 5.826427459716797], [0.22756808996200562, 0.30644944310188293, 5.587881565093994], [0.18645480275154114, 1.1427440643310547, 5.192923545837402], [0.2123752236366272, 1.2566767930984497, 5.431469440460205], [0.5106645822525024, 0.41992971301078796, 5.798698425292969], [0.48474419116973877, 0.3059970438480377, 5.560152530670166], [0.4436309039592743, 1.1422916650772095, 5.165194511413574], [0.46955132484436035, 1.2562243938446045, 5.403740406036377]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1142, "image_id": 165, "category_id": 45, "category_name": "person", "bbox2D_proj": [401.0, 284.0, 415.0, 360.0], "bbox2D_tight": [401.0, 284.0, 415.0, 360.0], "bbox2D_trunc": [401.0, 284.0, 415.0, 360.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1143, "image_id": 165, "category_id": 13, "category_name": "building", "bbox2D_proj": [340.0, 87.0, 512.0, 354.0], "bbox2D_tight": [340.0, 87.0, 512.0, 354.0], "bbox2D_trunc": [340.0, 87.0, 512.0, 354.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1144, "image_id": 165, "category_id": 45, "category_name": "person", "bbox2D_proj": [261.0, 304.0, 273.0, 360.0], "bbox2D_tight": [261.0, 304.0, 273.0, 360.0], "bbox2D_trunc": [261.0, 304.0, 273.0, 360.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1145, "image_id": 165, "category_id": 45, "category_name": "person", "bbox2D_proj": [247.0, 288.0, 264.0, 341.0], "bbox2D_tight": [247.0, 288.0, 264.0, 341.0], "bbox2D_trunc": [247.0, 288.0, 264.0, 341.0], "center_cam": [0.04762608716241899, 0.7312444702953582, 5.755273719525524], "dimensions": [0.2226563081313378, 0.6704101681680681, 0.23632819155071022], "R_cam": [[0.8698469996452332, 0.029237985610961914, 0.49245432019233704], [0.022547125816345215, 0.9948427081108093, -0.09889174997806549], [-0.49280601739883423, 0.0971241295337677, 0.8647017478942871]], "bbox3D_cam": [[-0.11978333443403244, 0.40611326694488525, 5.684683799743652], [0.08578602969646454, 0.4114418029785156, 5.5682196617126465], [0.10538744926452637, 1.0783944129943848, 5.6333327293396], [-0.10018191486597061, 1.073065996170044, 5.7497968673706055], [-0.010135281831026077, 0.3840944170951843, 5.8772149085998535], [0.1954340934753418, 0.3894229531288147, 5.760750770568848], [0.21503549814224243, 1.0563756227493286, 5.825863838195801], [0.009466137737035751, 1.0510470867156982, 5.942327976226807]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1146, "image_id": 165, "category_id": 45, "category_name": "person", "bbox2D_proj": [263.0, 282.0, 275.0, 304.0], "bbox2D_tight": [263.0, 282.0, 275.0, 304.0], "bbox2D_trunc": [263.0, 282.0, 275.0, 304.0], "center_cam": [0.16857697367157526, 0.48228039216683866, 5.875363299399879], "dimensions": [0.15160238972641646, 0.2526939579606524, 0.4603743982245767], "R_cam": [[0.017064392566680908, 0.0023468572180718184, -0.9998515844345093], [0.0017069668974727392, 0.9999957084655762, 0.0023763279896229506], [0.9998528957366943, -0.0017472642939537764, 0.017060279846191406]], "bbox3D_cam": [[0.24014243483543396, 0.3553609251976013, 5.644137382507324], [0.24799838662147522, 0.35614675283432007, 6.10444450378418], [0.24859142303466797, 0.6088396310806274, 6.104002952575684], [0.2407354712486267, 0.6080538034439087, 5.643695831298828], [0.08856252580881119, 0.3557211756706238, 5.646723747253418], [0.09641847759485245, 0.35650700330734253, 6.107030868530273], [0.0970115140080452, 0.6091998815536499, 6.106589317321777], [0.08915556222200394, 0.6084140539169312, 5.646282196044922]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1147, "image_id": 166, "category_id": 45, "category_name": "person", "bbox2D_proj": [171.0, 316.0, 198.0, 433.0], "bbox2D_tight": [171.0, 316.0, 198.0, 433.0], "bbox2D_trunc": [171.0, 316.0, 198.0, 433.0], "center_cam": [-0.9143089437011558, 1.4403226038024899, 5.6309250576969125], "dimensions": [0.313476575282259, 1.329101525437874, 0.47265629950638877], "R_cam": [[-0.32437819242477417, -0.019957780838012695, -0.9457168579101562], [0.07755202054977417, 0.9958506226539612, -0.04761585593223572], [0.9427430629730225, -0.08878776431083679, -0.3214843273162842]], "bbox3D_cam": [[-0.6761562824249268, 0.7676648497581482, 5.517521381378174], [-0.8294756412506104, 0.8043202757835388, 5.9631147384643555], [-0.8560015559196472, 2.1279067993164062, 5.845107078552246], [-0.7026821374893188, 2.0912513732910156, 5.399513244628906], [-0.9726163744926453, 0.7527384161949158, 5.416743278503418], [-1.1259357929229736, 0.7893938422203064, 5.862337112426758], [-1.1524616479873657, 2.112980365753174, 5.74432897567749], [-0.9991422891616821, 2.076324939727783, 5.298735618591309]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1148, "image_id": 166, "category_id": 45, "category_name": "person", "bbox2D_proj": [345.0, 331.0, 386.0, 390.0], "bbox2D_tight": [345.0, 331.0, 386.0, 390.0], "bbox2D_trunc": [345.0, 331.0, 386.0, 390.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1149, "image_id": 166, "category_id": 45, "category_name": "person", "bbox2D_proj": [61.0, 319.0, 89.0, 409.0], "bbox2D_tight": [61.0, 319.0, 89.0, 409.0], "bbox2D_trunc": [61.0, 319.0, 89.0, 409.0], "center_cam": [-2.813881068167415, 1.578324873454622, 6.846219453353955], "dimensions": [0.3886720618412484, 1.1909179335937665, 0.42187519559066594], "R_cam": [[0.77159184217453, 0.014900684356689453, 0.6359434127807617], [-0.052081942558288574, 0.9978490471839905, 0.03981071710586548], [-0.6339823007583618, -0.06383875012397766, 0.7707082033157349]], "bbox3D_cam": [[-3.109098434448242, 0.9873961210250854, 6.868187427520752], [-2.783582925796509, 0.9654240608215332, 6.6007256507873535], [-2.7658374309539795, 2.153780460357666, 6.5246992111206055], [-3.091352939605713, 2.1757524013519287, 6.792160511016846], [-2.861924886703491, 1.0028694868087769, 7.1677398681640625], [-2.536409378051758, 0.9808974266052246, 6.900278568267822], [-2.5186638832092285, 2.1692538261413574, 6.824251651763916], [-2.844179391860962, 2.19122576713562, 7.0917134284973145]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1150, "image_id": 166, "category_id": 63, "category_name": "streetlight", "bbox2D_proj": [245.0, 253.0, 261.0, 374.0], "bbox2D_tight": [245.0, 253.0, 261.0, 374.0], "bbox2D_trunc": [245.0, 253.0, 261.0, 374.0], "center_cam": [-0.042075729744471706, 1.168653167893924, 8.982072748920213], "dimensions": [0.4687504777248886, 2.41113273929569, 0.480469210197678], "R_cam": [[-0.9368817210197449, 0.020420074462890625, -0.3490498661994934], [0.05523681640625, 0.9944010376930237, -0.09008671343326569], [0.34525591135025024, -0.10368101298809052, -0.9327640533447266]], "bbox3D_cam": [[0.2401866614818573, -0.02231895923614502, 9.242741584777832], [-0.20995616912841797, 0.00422060489654541, 9.408626556396484], [-0.1607208400964737, 2.401853561401367, 9.158638000488281], [0.28942200541496277, 2.3753137588500977, 8.992753028869629], [0.07656937837600708, -0.06454718112945557, 8.80550765991211], [-0.3735734522342682, -0.03800761699676514, 8.971392631530762], [-0.3243381083011627, 2.3596253395080566, 8.721404075622559], [0.12580472230911255, 2.333085536956787, 8.555519104003906]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1151, "image_id": 166, "category_id": 45, "category_name": "person", "bbox2D_proj": [417.0, 337.0, 440.0, 389.0], "bbox2D_tight": [417.0, 337.0, 440.0, 389.0], "bbox2D_trunc": [417.0, 337.0, 440.0, 389.0], "center_cam": [3.1806975329945555, 1.9893876528518564, 8.107762780123315], "dimensions": [0.28125003191915254, 0.9248046558015602, 0.3839111519054229], "R_cam": [[0.9489859938621521, 0.07696741819381714, 0.30578017234802246], [-0.07766211032867432, 0.9969304203987122, -0.009911999106407166], [-0.3056045174598694, -0.014341190457344055, 0.9520505666732788]], "bbox3D_cam": [[2.9199440479278564, 1.5447062253952026, 8.03917407989502], [3.2842702865600586, 1.5148909091949463, 7.921849250793457], [3.35545015335083, 2.436856746673584, 7.908586502075195], [2.991123914718628, 2.46667218208313, 8.025911331176758], [3.0059447288513184, 1.5419185161590576, 8.306938171386719], [3.3702709674835205, 1.5121030807495117, 8.189613342285156], [3.441450834274292, 2.4340689182281494, 8.176350593566895], [3.07712459564209, 2.4638843536376953, 8.293675422668457]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1152, "image_id": 166, "category_id": 45, "category_name": "person", "bbox2D_proj": [28.0, 396.0, 80.0, 489.0], "bbox2D_tight": [28.0, 396.0, 80.0, 489.0], "bbox2D_trunc": [28.0, 396.0, 80.0, 489.0], "center_cam": [-1.3920539883473344, 1.3042415778198098, 3.0553038684279783], "dimensions": [0.2929161393772224, 0.6518530950863819, 0.3692253398024432], "R_cam": [[-0.4643261432647705, 0.12691950798034668, -0.8765231966972351], [0.02060513012111187, 0.9909589290618896, 0.1325743943452835], [0.8854246735572815, 0.04349688068032265, -0.46274328231811523]], "bbox3D_cam": [[-1.2193260192871094, 0.9580411911010742, 2.945438861846924], [-1.390766978263855, 0.9656491279602051, 3.27236008644104], [-1.308034062385559, 1.6116087436676025, 3.3007137775421143], [-1.1365931034088135, 1.6040008068084717, 2.973792552947998], [-1.4760738611221313, 0.9968743324279785, 2.809893846511841], [-1.647514820098877, 1.0044822692871094, 3.136815071105957], [-1.564781904220581, 1.6504418849945068, 3.1651687622070312], [-1.3933409452438354, 1.642833948135376, 2.838247537612915]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1153, "image_id": 167, "category_id": 45, "category_name": "person", "bbox2D_proj": [0.0, 272.0, 14.0, 370.0], "bbox2D_tight": [0.0, 272.0, 14.0, 370.0], "bbox2D_trunc": [0.0, 272.0, 14.0, 370.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1154, "image_id": 167, "category_id": 32, "category_name": "house", "bbox2D_proj": [47.0, 58.0, 512.0, 275.0], "bbox2D_tight": [47.0, 58.0, 512.0, 275.0], "bbox2D_trunc": [47.0, 58.0, 512.0, 275.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1155, "image_id": 167, "category_id": 45, "category_name": "person", "bbox2D_proj": [177.0, 233.0, 204.0, 331.0], "bbox2D_tight": [177.0, 233.0, 204.0, 331.0], "bbox2D_trunc": [177.0, 233.0, 204.0, 331.0], "center_cam": [-0.9610749600049476, 0.39758161014348903, 6.204233330312952], "dimensions": [0.4077148657731762, 1.3754882690735428, 0.5742188061792944], "R_cam": [[-0.32525330781936646, -0.03996706008911133, -0.944782018661499], [-0.14479148387908936, 0.9894300699234009, 0.00799036119133234], [0.9344762563705444, 0.13939522206783295, -0.3276022672653198]], "bbox3D_cam": [[-0.6476036906242371, -0.24295100569725037, 5.9068522453308105], [-0.8343702554702759, -0.326092928647995, 6.443446159362793], [-0.8893445730209351, 1.0348563194274902, 6.6351823806762695], [-0.7025780081748962, 1.1179982423782349, 6.098588466644287], [-1.032805323600769, -0.23969313502311707, 5.773283958435059], [-1.219571828842163, -0.3228350579738617, 6.309877872467041], [-1.2745461463928223, 1.0381141901016235, 6.501614093780518], [-1.0877796411514282, 1.1212561130523682, 5.965020179748535]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1156, "image_id": 167, "category_id": 45, "category_name": "person", "bbox2D_proj": [76.0, 236.0, 126.0, 366.0], "bbox2D_tight": [76.0, 236.0, 126.0, 366.0], "bbox2D_trunc": [76.0, 236.0, 126.0, 366.0], "center_cam": [-1.9356651972695795, 0.5361929553749488, 5.517283660674231], "dimensions": [0.335937521886809, 1.5073241894373206, 0.560058603734403], "R_cam": [[-0.9875996112823486, 0.06878519058227539, 0.14112278819084167], [0.06048327684402466, 0.996222972869873, -0.0623016282916069], [-0.1448751986026764, -0.05299350619316101, -0.9880297183990479]], "bbox3D_cam": [[-1.7346534729003906, -0.22109496593475342, 5.763750076293945], [-2.287767171859741, -0.18722081184387207, 5.682611465454102], [-2.1840856075286865, 1.3144103288650513, 5.602733135223389], [-1.6309717893600464, 1.28053617477417, 5.683871746063232], [-1.6872450113296509, -0.24202442169189453, 5.431833744049072], [-2.240358591079712, -0.20815026760101318, 5.3506951332092285], [-2.1366770267486572, 1.2934808731079102, 5.270816802978516], [-1.5835633277893066, 1.2596067190170288, 5.351955413818359]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1157, "image_id": 167, "category_id": 45, "category_name": "person", "bbox2D_proj": [229.0, 232.0, 261.0, 327.0], "bbox2D_tight": [229.0, 232.0, 261.0, 327.0], "bbox2D_trunc": [229.0, 232.0, 261.0, 327.0], "center_cam": [-0.20869219612658757, 0.3870195714824716, 7.404846691666693], "dimensions": [0.4609375645654529, 1.5017089609685552, 0.5078125463806253], "R_cam": [[0.9783847332000732, 0.003810703754425049, 0.2067577838897705], [0.015027344226837158, 0.995876669883728, -0.08946439623832703], [-0.20624616742134094, 0.09063762426376343, 0.9742932319641113]], "bbox3D_cam": [[-0.5076227188110352, -0.34393566846847534, 7.164614200592041], [-0.010786637663841248, -0.33630460500717163, 7.059879779815674], [-0.005064114928245544, 1.159212350845337, 7.195991039276123], [-0.5019001960754395, 1.1515812873840332, 7.30072546005249], [-0.41232025623321533, -0.38517314195632935, 7.613702297210693], [0.084515780210495, -0.37754207849502563, 7.508967876434326], [0.0902383029460907, 1.1179747581481934, 7.645079135894775], [-0.40659773349761963, 1.1103436946868896, 7.749813556671143]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1158, "image_id": 167, "category_id": 45, "category_name": "person", "bbox2D_proj": [419.0, 224.0, 463.0, 346.0], "bbox2D_tight": [419.0, 224.0, 463.0, 346.0], "bbox2D_trunc": [419.0, 224.0, 463.0, 346.0], "center_cam": [2.266394191975332, 0.32779331692734137, 5.473109605859036], "dimensions": [0.46582036177614605, 1.4740066281317583, 0.6250000702976899], "R_cam": [[0.6910911202430725, 0.07131791114807129, -0.7192404866218567], [-0.08294224739074707, 0.996371328830719, 0.01910141110420227], [0.7179927825927734, 0.046454548835754395, 0.694498598575592]], "bbox3D_cam": [[2.1653850078582764, -0.3850650489330292, 5.052743911743164], [2.5973169803619385, -0.4369039237499237, 5.501489639282227], [2.702440023422241, 1.0317538976669312, 5.5699639320373535], [2.270508050918579, 1.0835927724838257, 5.121218204498291], [1.830348253250122, -0.37616726756095886, 5.376255512237549], [2.262280225753784, -0.4280061423778534, 5.825001239776611], [2.367403268814087, 1.0406516790390015, 5.893475532531738], [1.9354712963104248, 1.092490553855896, 5.444729804992676]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1159, "image_id": 167, "category_id": 45, "category_name": "person", "bbox2D_proj": [493.0, 223.0, 512.0, 342.0], "bbox2D_tight": [493.0, 223.0, 512.0, 342.0], "bbox2D_trunc": [493.0, 223.0, 512.0, 342.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1160, "image_id": 167, "category_id": 45, "category_name": "person", "bbox2D_proj": [15.0, 243.0, 70.0, 370.0], "bbox2D_tight": [15.0, 243.0, 70.0, 370.0], "bbox2D_trunc": [15.0, 243.0, 70.0, 370.0], "center_cam": [-2.603455838049741, 0.6040760848421483, 5.390040971293526], "dimensions": [0.5625000754668685, 1.5158691131754707, 0.6435547441679068], "R_cam": [[0.9769893884658813, -0.04009139537811279, -0.20948660373687744], [0.029904484748840332, 0.9982215166091919, -0.05157206952571869], [0.2111816108226776, 0.04412076994776726, 0.9764506816864014]], "bbox3D_cam": [[-2.828524112701416, -0.14762836694717407, 5.014019966125488], [-2.1997780799865723, -0.12838321924209595, 5.149927139282227], [-2.2605512142181396, 1.3847899436950684, 5.216808319091797], [-2.8892972469329834, 1.3655447959899902, 5.080901145935059], [-2.9463603496551514, -0.1766377091407776, 5.5632734298706055], [-2.3176143169403076, -0.15739256143569946, 5.699180603027344], [-2.378387451171875, 1.3557806015014648, 5.766061782836914], [-3.0071334838867188, 1.3365354537963867, 5.630154609680176]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1161, "image_id": 167, "category_id": 32, "category_name": "house", "bbox2D_proj": [15.0, 98.0, 271.0, 281.0], "bbox2D_tight": [15.0, 98.0, 271.0, 281.0], "bbox2D_trunc": [15.0, 98.0, 271.0, 281.0], "center_cam": [-4.178132978654251, -3.1991126235675393, 19.651008587125336], "dimensions": [5.968750737064154, 6.855469084049938, 9.816406316783613], "R_cam": [[-0.9992231130599976, -0.009667636826634407, 0.03820973262190819], [-0.004517423454672098, 0.9911538362503052, 0.13264162838459015], [-0.0391540490090847, 0.13236595690250397, -0.9904273152351379]], "bbox3D_cam": [[0.6453628540039062, -6.9702043533325195, 22.34527587890625], [-9.163416862487793, -7.014549255371094, 21.96092414855957], [-9.229693412780762, -0.2197253704071045, 22.86835479736328], [0.5790863037109375, -0.17538046836853027, 23.25270652770996], [0.8734273910522461, -6.178500175476074, 16.43366241455078], [-8.935352325439453, -6.222845077514648, 16.0493106842041], [-9.001628875732422, 0.571979284286499, 16.956741333007812], [0.8071508407592773, 0.6163241863250732, 17.341093063354492]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1162, "image_id": 167, "category_id": 45, "category_name": "person", "bbox2D_proj": [159.0, 240.0, 215.0, 364.0], "bbox2D_tight": [159.0, 240.0, 215.0, 364.0], "bbox2D_trunc": [159.0, 240.0, 215.0, 364.0], "center_cam": [-0.8682860885561433, 0.5567565026455306, 5.573570470292131], "dimensions": [0.6992216992607743, 1.464752173534378, 0.7010527287328094], "R_cam": [[-0.9789583086967468, 0.024644970893859863, 0.20256689190864563], [0.03332829475402832, 0.9986609816551208, 0.03956740349531174], [-0.20132049918174744, 0.04548604041337967, -0.9784687757492065]], "bbox3D_cam": [[-0.614004373550415, -0.20015448331832886, 5.952908992767334], [-1.300305724143982, -0.17678958177566528, 5.811772346496582], [-1.2642070055007935, 1.286001205444336, 5.878398418426514], [-0.577905535697937, 1.2626361846923828, 6.019534587860107], [-0.4723651707172394, -0.17248815298080444, 5.268742084503174], [-1.1586666107177734, -0.14912325143814087, 5.12760591506958], [-1.1225677728652954, 1.3136675357818604, 5.1942315101623535], [-0.43626639246940613, 1.2903025150299072, 5.3353681564331055]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1163, "image_id": 168, "category_id": 45, "category_name": "person", "bbox2D_proj": [29.0, 281.0, 66.0, 401.0], "bbox2D_tight": [29.0, 281.0, 66.0, 401.0], "bbox2D_trunc": [29.0, 281.0, 66.0, 401.0], "center_cam": [-2.7483877817632867, 1.090769781972905, 5.788801246403732], "dimensions": [0.406249998486133, 1.442108152045181, 0.4824219055045229], "R_cam": [[-0.9973196983337402, 0.05540275573730469, 0.04779110476374626], [0.053000807762145996, 0.9973348379135132, -0.05014054849743843], [-0.05044165626168251, -0.04747318848967552, -0.9975981712341309]], "bbox3D_cam": [[-2.5574793815612793, 0.3690378665924072, 6.037836074829102], [-3.0386080741882324, 0.3946065902709961, 6.01350212097168], [-2.9587113857269287, 1.8328713178634644, 5.945040702819824], [-2.4775824546813965, 1.8073025941848755, 5.969374656677246], [-2.5380642414093018, 0.3486682176589966, 5.632561683654785], [-3.019193172454834, 0.37423694133758545, 5.608227729797363], [-2.939296245574951, 1.8125016689300537, 5.539766311645508], [-2.458167552947998, 1.7869329452514648, 5.56410026550293]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1164, "image_id": 168, "category_id": 45, "category_name": "person", "bbox2D_proj": [66.0, 273.0, 108.0, 401.0], "bbox2D_tight": [66.0, 273.0, 108.0, 401.0], "bbox2D_trunc": [66.0, 273.0, 108.0, 401.0], "center_cam": [-2.117469746519553, 1.0089931638559808, 5.5456485499809975], "dimensions": [0.5117188555938728, 1.4863281218708508, 0.5253907683736395], "R_cam": [[0.9956432580947876, -0.015854477882385254, 0.09188678115606308], [0.019276559352874756, 0.9991486072540283, -0.03647598624229431], [-0.09123024344444275, 0.03808832913637161, 0.9951012134552002]], "bbox3D_cam": [[-2.3907482624053955, 0.2707306146621704, 5.286702632904053], [-1.86764657497406, 0.2808583974838257, 5.238770961761475], [-1.8912115097045898, 1.7659211158752441, 5.295382499694824], [-2.414313316345215, 1.7557933330535889, 5.343314170837402], [-2.3437280654907227, 0.25206518173217773, 5.795914649963379], [-1.8206263780593872, 0.262192964553833, 5.747982978820801], [-1.844191312789917, 1.7472556829452515, 5.80459451675415], [-2.367293119430542, 1.7371279001235962, 5.8525261878967285]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1165, "image_id": 168, "category_id": 45, "category_name": "person", "bbox2D_proj": [171.0, 253.0, 211.0, 391.0], "bbox2D_tight": [171.0, 253.0, 211.0, 391.0], "bbox2D_trunc": [171.0, 253.0, 211.0, 391.0], "center_cam": [-0.7919363124600755, 0.8426619677955411, 5.682737514878326], "dimensions": [0.5578614013478697, 1.7058105429605979, 0.6718750503990455], "R_cam": [[0.2693033218383789, 0.021366238594055176, 0.9628183841705322], [-0.04630124568939209, 0.9988850355148315, -0.009216099977493286], [-0.9619418382644653, -0.04209768772125244, 0.2699923515319824]], "bbox3D_cam": [[-1.1691884994506836, 0.008832573890686035, 5.966485977172852], [-0.9882502555847168, -0.02227604389190674, 5.320181369781494], [-0.95180344581604, 1.6816326379776, 5.24837064743042], [-1.1327416896820068, 1.7127412557601929, 5.894675254821777], [-0.6320692300796509, 0.0036913156509399414, 6.1171040534973145], [-0.45113104581832886, -0.027417302131652832, 5.470799446105957], [-0.4146842360496521, 1.676491379737854, 5.398988723754883], [-0.5956224203109741, 1.7075999975204468, 6.04529333114624]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1166, "image_id": 168, "category_id": 45, "category_name": "person", "bbox2D_proj": [208.0, 263.0, 231.0, 360.0], "bbox2D_tight": [208.0, 263.0, 231.0, 360.0], "bbox2D_trunc": [208.0, 263.0, 231.0, 360.0], "center_cam": [-0.6677317478019293, 0.8981097643498088, 7.25848533204246], "dimensions": [0.5039065027794107, 1.5394287064596046, 0.5390627631204628], "R_cam": [[0.6314198970794678, 0.033853232860565186, 0.7747017741203308], [-0.00991511344909668, 0.9993174076080322, -0.035587191581726074], [-0.7753776907920837, 0.014789164066314697, 0.6313245296478271]], "bbox3D_cam": [[-1.0591652393341064, 0.1405596137046814, 7.29702615737915], [-0.7187902331352234, 0.13521474599838257, 6.879048824310303], [-0.6666756272315979, 1.6735925674438477, 6.901815891265869], [-1.0070505142211914, 1.6789374351501465, 7.319793224334717], [-0.6687878966331482, 0.12262696027755737, 7.61515474319458], [-0.3284129500389099, 0.11728209257125854, 7.197177410125732], [-0.2762983441352844, 1.6556599140167236, 7.219944477081299], [-0.6166732907295227, 1.6610047817230225, 7.6379218101501465]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1167, "image_id": 168, "category_id": 45, "category_name": "person", "bbox2D_proj": [119.0, 266.0, 169.0, 394.0], "bbox2D_tight": [119.0, 266.0, 169.0, 394.0], "bbox2D_trunc": [119.0, 266.0, 169.0, 394.0], "center_cam": [-1.4649016487055884, 0.9315452938263724, 5.767880416081084], "dimensions": [0.3593750086034987, 1.5440673812497572, 0.5730591275627541], "R_cam": [[0.947210967540741, 0.07168853282928467, -0.3124934136867523], [-0.05405008792877197, 0.9964361786842346, 0.0647575706243515], [0.3160220980644226, -0.04444876313209534, 0.9477100372314453]], "bbox3D_cam": [[-1.735500454902649, 0.16611385345458984, 5.541355133056641], [-1.192692518234253, 0.13513994216918945, 5.72245454788208], [-1.082000494003296, 1.6737045049667358, 5.653822422027588], [-1.624808430671692, 1.7046784162521362, 5.472723007202148], [-1.8478028774261475, 0.18938612937927246, 5.881938457489014], [-1.3049949407577515, 0.15841221809387207, 6.063037872314453], [-1.1943029165267944, 1.6969767808914185, 5.994405746459961], [-1.7371108531951904, 1.7279506921768188, 5.8133063316345215]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1168, "image_id": 168, "category_id": 32, "category_name": "house", "bbox2D_proj": [67.0, 139.0, 312.0, 310.0], "bbox2D_tight": [67.0, 139.0, 312.0, 310.0], "bbox2D_trunc": [67.0, 139.0, 312.0, 310.0], "center_cam": [-2.4016397266411893, -1.8103195327044257, 19.84163751636217], "dimensions": [6.0312499657411385, 6.810546883602197, 9.788574774512398], "R_cam": [[-0.9942600727081299, 0.007692303508520126, -0.10671443492174149], [0.0031349777709692717, 0.9990785121917725, 0.04280799999833107], [0.10694537311792374, 0.04222773388028145, -0.9933677315711975]], "bbox3D_cam": [[2.7601711750030518, -5.35689115524292, 22.1700439453125], [-6.9722185134887695, -5.326204299926758, 23.216886520385742], [-6.919829368591309, 1.478066086769104, 23.504480361938477], [2.8125603199005127, 1.447379231452942, 22.457637786865234], [2.1165497303009033, -5.098705291748047, 16.17879295349121], [-7.615839958190918, -5.068018436431885, 17.225635528564453], [-7.563450813293457, 1.736251950263977, 17.513229370117188], [2.1689388751983643, 1.705565094947815, 16.466386795043945]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1169, "image_id": 168, "category_id": 32, "category_name": "house", "bbox2D_proj": [292.0, 95.0, 512.0, 305.0], "bbox2D_tight": [292.0, 95.0, 512.0, 305.0], "bbox2D_trunc": [292.0, 95.0, 512.0, 305.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1170, "image_id": 168, "category_id": 18, "category_name": "chimney", "bbox2D_proj": [291.0, 93.0, 308.0, 163.0], "bbox2D_tight": [291.0, 93.0, 308.0, 163.0], "bbox2D_trunc": [291.0, 93.0, 308.0, 163.0], "center_cam": [1.8850523975638118, -5.324568351324142, 18.182682443327202], "dimensions": [0.5937500469320407, 2.5444335900915007, 0.632812588230377], "R_cam": [[-0.9908699989318848, 0.07982814311981201, 0.1086464375257492], [0.1152338981628418, 0.9197772741317749, 0.37514111399650574], [-0.06998372077941895, 0.38423585891723633, -0.9205787181854248]], "bbox3D_cam": [[2.0647568702697754, -6.642555236816406, 17.989290237426758], [1.4377217292785645, -6.569633483886719, 17.945003509521484], [1.6408392190933228, -4.229321479797363, 18.922666549682617], [2.267874240875244, -4.302243232727051, 18.96695327758789], [2.129265785217285, -6.4198150634765625, 17.442697525024414], [1.5022306442260742, -6.346893310546875, 17.39841079711914], [1.705348014831543, -4.0065813064575195, 18.376073837280273], [2.332383155822754, -4.079503059387207, 18.420360565185547]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1171, "image_id": 169, "category_id": 45, "category_name": "person", "bbox2D_proj": [247.0, 262.0, 267.0, 326.0], "bbox2D_tight": [247.0, 262.0, 267.0, 326.0], "bbox2D_trunc": [247.0, 262.0, 267.0, 326.0], "center_cam": [0.007624588193306157, 0.6621882395503462, 7.558971433322852], "dimensions": [0.3046875080860164, 1.0363769260463294, 0.33203125957096347], "R_cam": [[0.8061398267745972, -0.07138180732727051, 0.5874038338661194], [-0.006468534469604492, 0.991574764251709, 0.12937438488006592], [-0.5916897654533386, -0.1080935001373291, 0.7988861203193665]], "bbox3D_cam": [[-0.17870528995990753, 0.12973016500473022, 7.591508865356445], [0.08895831555128098, 0.1275823712348938, 7.395049095153809], [0.014979823492467403, 1.155227541923523, 7.283023357391357], [-0.25268375873565674, 1.1573753356933594, 7.479483127593994], [0.0002693524584174156, 0.16914889216423035, 7.834919452667236], [0.2679329514503479, 0.16700109839439392, 7.6384596824646], [0.1939544528722763, 1.1946463584899902, 7.526433944702148], [-0.07370913773775101, 1.196794033050537, 7.722893714904785]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1172, "image_id": 169, "category_id": 38, "category_name": "light_fixture", "bbox2D_proj": [292.0, 202.0, 362.0, 231.0], "bbox2D_tight": [292.0, 202.0, 362.0, 231.0], "bbox2D_trunc": [292.0, 202.0, 362.0, 231.0], "center_cam": [1.5795347580995922, -1.0514023502243814, 10.597609120644112], "dimensions": [0.8622940967561527, 0.23375432803365193, 0.9727626181702673], "R_cam": [[-0.18163937330245972, -0.014157474040985107, 0.983263373374939], [-0.08119538426399231, 0.9966980218887329, -0.0006483197212219238], [-0.9800074100494385, -0.07995414733886719, -0.1821891963481903]], "bbox3D_cam": [[1.245604395866394, -1.128122091293335, 11.162161827087402], [1.068912386894226, -1.2071058750152588, 10.208847045898438], [1.0656030178070068, -0.974123477935791, 10.190157890319824], [1.2422950267791748, -0.8951396346092224, 11.143472671508789], [2.0934665203094482, -1.1286811828613281, 11.005061149597168], [1.9167745113372803, -1.207664966583252, 10.051746368408203], [1.913465142250061, -0.9746825098991394, 10.03305721282959], [2.0901570320129395, -0.8956987261772156, 10.986371994018555]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1173, "image_id": 169, "category_id": 45, "category_name": "person", "bbox2D_proj": [220.0, 252.0, 245.0, 344.0], "bbox2D_tight": [220.0, 252.0, 245.0, 344.0], "bbox2D_trunc": [220.0, 252.0, 245.0, 344.0], "center_cam": [-0.28903983242918085, 0.5411724704916769, 5.858130152901496], "dimensions": [0.2773437487269699, 1.2407226239286642, 0.4101562466734154], "R_cam": [[-0.45280852913856506, -0.050632357597351074, -0.8901689648628235], [-0.17924773693084717, 0.9831720590591431, 0.03525695204734802], [0.8734040260314941, 0.1755254864692688, -0.45426440238952637]], "bbox3D_cam": [[-0.04132696986198425, -0.036878764629364014, 5.633118629455566], [-0.22704920172691345, -0.11039835214614868, 5.9913506507873535], [-0.28986987471580505, 1.109445333480835, 6.2091288566589355], [-0.10414764285087585, 1.1829650402069092, 5.850896835327148], [-0.2882097661495209, -0.02710050344467163, 5.507131099700928], [-0.4739319980144501, -0.1006200909614563, 5.865363121032715], [-0.5367527008056641, 1.1192235946655273, 6.083141326904297], [-0.3510304391384125, 1.1927433013916016, 5.72490930557251]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1174, "image_id": 169, "category_id": 45, "category_name": "person", "bbox2D_proj": [330.0, 257.0, 358.0, 333.0], "bbox2D_tight": [330.0, 257.0, 358.0, 333.0], "bbox2D_trunc": [330.0, 257.0, 358.0, 333.0], "center_cam": [1.4326290633737497, 0.6295210748282809, 7.103216473434339], "dimensions": [0.40234376450395004, 1.1809081717986305, 0.4335937657031109], "R_cam": [[0.7381676435470581, -0.004957437515258789, -0.6745992302894592], [-0.005716681480407715, 0.9998912215232849, -0.013603122904896736], [0.6745931506156921, 0.013897808268666267, 0.7380590438842773]], "bbox3D_cam": [[1.4112341403961182, 0.04310721158981323, 6.800284385681152], [1.7312990427017212, 0.04062849283218384, 7.092783451080322], [1.7254447937011719, 1.2214081287384033, 7.109195709228516], [1.4053798913955688, 1.2238867282867432, 6.8166961669921875], [1.1398134231567383, 0.037634074687957764, 7.097237586975098], [1.4598783254623413, 0.03515535593032837, 7.389737129211426], [1.454024076461792, 1.2159349918365479, 7.406148910522461], [1.133959174156189, 1.2184135913848877, 7.113649845123291]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1175, "image_id": 169, "category_id": 45, "category_name": "person", "bbox2D_proj": [296.0, 258.0, 324.0, 334.0], "bbox2D_tight": [296.0, 258.0, 324.0, 334.0], "bbox2D_trunc": [296.0, 258.0, 324.0, 334.0], "center_cam": [0.859682647929355, 0.634443492292313, 7.0652366804593765], "dimensions": [0.44140626092153934, 1.1547851255366164, 0.48046876341955147], "R_cam": [[0.8534924387931824, -0.013898611068725586, -0.5209197998046875], [0.0008767843246459961, 0.9996811747550964, -0.025235697627067566], [0.5211044549942017, 0.02108171582221985, 0.8532326221466064]], "bbox3D_cam": [[0.7776379585266113, 0.06259399652481079, 6.739565849304199], [1.1877143383026123, 0.06301528215408325, 6.989940166473389], [1.1716644763946533, 1.2174322605133057, 7.014285087585449], [0.7615880966186523, 1.2170109748840332, 6.76391077041626], [0.5477007031440735, 0.05145484209060669, 7.116188049316406], [0.9577771425247192, 0.05187612771987915, 7.366562366485596], [0.9417272806167603, 1.2062931060791016, 7.390907287597656], [0.5316508412361145, 1.205871820449829, 7.140532970428467]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1176, "image_id": 169, "category_id": 45, "category_name": "person", "bbox2D_proj": [263.0, 254.0, 284.0, 324.0], "bbox2D_tight": [263.0, 254.0, 284.0, 324.0], "bbox2D_trunc": [263.0, 254.0, 284.0, 324.0], "center_cam": [0.26535261922325765, 0.573851754887442, 7.692269506683001], "dimensions": [0.3554687522425565, 1.2290038732600967, 0.4179687537364843], "R_cam": [[0.7832454442977905, -0.07179629802703857, 0.617553174495697], [0.09774219989776611, 0.9951773881912231, -0.008268296718597412], [-0.613981306552887, 0.0668371319770813, 0.7864856719970703]], "bbox3D_cam": [[0.03602507710456848, -0.05664372444152832, 7.6397247314453125], [0.3633972108364105, -0.015790581703186035, 7.383099555969238], [0.2751592993736267, 1.2072863578796387, 7.465242862701416], [-0.05221283435821533, 1.1664332151412964, 7.721867561340332], [0.2555459141731262, -0.05958282947540283, 7.919295787811279], [0.5829180479049683, -0.018729686737060547, 7.662671089172363], [0.49468013644218445, 1.2043472528457642, 7.744813919067383], [0.1673080027103424, 1.1634941101074219, 8.001439094543457]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1177, "image_id": 169, "category_id": 1, "category_name": "awning", "bbox2D_proj": [164.0, 212.0, 193.0, 255.0], "bbox2D_tight": [164.0, 212.0, 193.0, 255.0], "bbox2D_trunc": [164.0, 212.0, 193.0, 255.0], "center_cam": [-2.1862995900379474, -0.3145954336329605, 11.50971786553562], "dimensions": [0.5234374988716952, 0.9042968593505767, 0.9531249914891444], "R_cam": [[0.5939407348632812, 0.16879266500473022, -0.7866024971008301], [0.11587891727685928, 0.949597954750061, 0.2912657856941223], [0.7961196899414062, -0.26414525508880615, 0.5444453954696655]], "bbox3D_cam": [[-2.3398001194000244, -0.8754079341888428, 11.107258796691895], [-1.773700475692749, -0.7649608254432678, 11.866060256958008], [-1.6210618019104004, 0.09375762939453125, 11.62719440460205], [-2.187161445617676, -0.0166894793510437, 10.868392944335938], [-2.751537322998047, -0.7229484915733337, 11.392241477966309], [-2.1854376792907715, -0.6125013828277588, 12.151042938232422], [-2.032799005508423, 0.24621710181236267, 11.912177085876465], [-2.5988986492156982, 0.13576996326446533, 11.153375625610352]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1178, "image_id": 169, "category_id": 45, "category_name": "person", "bbox2D_proj": [444.0, 256.0, 512.0, 498.0], "bbox2D_tight": [444.0, 256.0, 512.0, 498.0], "bbox2D_trunc": [444.0, 256.0, 512.0, 498.0], "center_cam": [1.4850435381455944, 0.7636117395965845, 2.9427714841316828], "dimensions": [0.2867049987302486, 1.5160256373609864, 0.4526366402605326], "R_cam": [[0.9480549097061157, -0.03435296192765236, 0.3162464499473572], [0.057693954557180405, 0.9962329864501953, -0.06473900377750397], [-0.31283116340637207, 0.07962164282798767, 0.9464654922485352]], "bbox3D_cam": [[1.2511866092681885, 0.0046776533126831055, 2.8175384998321533], [1.6803109645843506, 0.0307919979095459, 2.6759395599365234], [1.6282310485839844, 1.5411068201065063, 2.7966480255126953], [1.1991066932678223, 1.5149924755096436, 2.938246965408325], [1.3418560028076172, -0.013883352279663086, 3.088894844055176], [1.7709803581237793, 0.012230992317199707, 2.947295904159546], [1.718900442123413, 1.5225458145141602, 3.0680043697357178], [1.289776086807251, 1.4964314699172974, 3.2096033096313477]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1179, "image_id": 169, "category_id": 38, "category_name": "light_fixture", "bbox2D_proj": [144.0, 188.0, 392.0, 234.0], "bbox2D_tight": [144.0, 188.0, 392.0, 234.0], "bbox2D_trunc": [144.0, 188.0, 392.0, 234.0], "center_cam": [0.31668835556337477, -1.8798627132715175, 8.441461767801338], "dimensions": [1.6944978784902514, 0.06746783187343307, 1.9041617805564341], "R_cam": [[-0.9994126558303833, -0.03407728299498558, 0.003624570555984974], [-0.034211501479148865, 0.998275876045227, -0.04769623279571533], [-0.0019929632544517517, -0.04779219627380371, -0.9988553524017334]], "bbox3D_cam": [[1.2662887573242188, -1.8405556678771973, 9.291250228881836], [-0.6367548108100891, -1.9056999683380127, 9.287455558776855], [-0.6390538811683655, -1.8383485078811646, 9.284231185913086], [1.2639896869659424, -1.7732042074203491, 9.288025856018066], [1.272430658340454, -1.9213768243789673, 7.598691940307617], [-0.6306130290031433, -1.9865211248397827, 7.594897270202637], [-0.6329120993614197, -1.9191696643829346, 7.591672897338867], [1.2701315879821777, -1.8540253639221191, 7.595467567443848]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1180, "image_id": 170, "category_id": 45, "category_name": "person", "bbox2D_proj": [448.0, 304.0, 483.0, 393.0], "bbox2D_tight": [448.0, 304.0, 483.0, 393.0], "bbox2D_trunc": [448.0, 304.0, 483.0, 393.0], "center_cam": [2.9863959434030045, 1.322856574387301, 6.441185535328595], "dimensions": [0.39062502265681553, 1.2277832189569342, 0.6640625113568593], "R_cam": [[0.9150354266166687, 0.05917823314666748, -0.3990088701248169], [-0.010288000106811523, 0.9922818541526794, 0.12357525527477264], [0.40324217081069946, -0.1089707762002945, 0.9085819125175476]], "bbox3D_cam": [[2.724177837371826, 0.6929831504821777, 6.196735382080078], [3.3318185806274414, 0.6861512660980225, 6.464513301849365], [3.4044766426086426, 1.9044582843780518, 6.330720901489258], [2.7968358993530273, 1.911290168762207, 6.062942981719971], [2.568315029144287, 0.7412548065185547, 6.551650047302246], [3.1759557723999023, 0.7344229221343994, 6.819427967071533], [3.2486138343811035, 1.9527299404144287, 6.685635566711426], [2.6409730911254883, 1.959561824798584, 6.417857646942139]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1181, "image_id": 170, "category_id": 45, "category_name": "person", "bbox2D_proj": [87.0, 366.0, 131.0, 484.0], "bbox2D_tight": [87.0, 366.0, 131.0, 484.0], "bbox2D_trunc": [87.0, 366.0, 131.0, 484.0], "center_cam": [-1.8219270295775938, 2.0649883213973066, 5.455387461122005], "dimensions": [0.5722662687917026, 1.3337402539844092, 0.5781256842630522], "R_cam": [[0.1919972002506256, 0.08209502696990967, -0.97795569896698], [0.14607930183410645, 0.9830034971237183, 0.11119776964187622], [0.9704627394676208, -0.16420873999595642, 0.1767416000366211]], "bbox3D_cam": [[-1.6523475646972656, 1.3354092836380005, 5.233797073364258], [-1.541348934173584, 1.4198614358901978, 5.794846534729004], [-1.43185555934906, 2.7309327125549316, 5.57583475112915], [-1.5428540706634521, 2.6464805603027344, 5.014785289764404], [-2.211998462677002, 1.3990440368652344, 5.334940433502197], [-2.1010000705718994, 1.4834961891174316, 5.895989894866943], [-1.991506576538086, 2.794567584991455, 5.67697811126709], [-2.1025052070617676, 2.710115432739258, 5.115928649902344]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1182, "image_id": 170, "category_id": 41, "category_name": "ornament", "bbox2D_proj": [63.0, 200.0, 111.0, 241.0], "bbox2D_tight": [63.0, 200.0, 111.0, 241.0], "bbox2D_trunc": [63.0, 200.0, 111.0, 241.0], "center_cam": [-3.531244488868624, -0.7623529004525939, 9.199176724720981], "dimensions": [0.05468750085590732, 0.9140626096913436, 0.9897461789029236], "R_cam": [[0.8955127000808716, -0.1105351597070694, -0.43109050393104553], [-0.07036276161670685, 0.9213145971298218, -0.3823985755443573], [0.43943843245506287, 0.37277546525001526, 0.81727135181427]], "bbox3D_cam": [[-3.9121038913726807, -1.1381456851959229, 8.788992881774902], [-3.025773763656616, -1.2077869176864624, 9.223925590515137], [-3.12680983543396, -0.36564770340919495, 9.564665794372559], [-4.0131402015686035, -0.2960064709186554, 9.129733085632324], [-3.9356791973114014, -1.1590580940246582, 8.833687782287598], [-3.049349069595337, -1.2286993265151978, 9.268620491027832], [-3.1503851413726807, -0.3865601122379303, 9.609360694885254], [-4.036715507507324, -0.31691887974739075, 9.17442798614502]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1183, "image_id": 170, "category_id": 19, "category_name": "christmas_tree", "bbox2D_proj": [0.0, 0.0, 244.0, 374.0], "bbox2D_tight": [0.0, 0.0, 244.0, 374.0], "bbox2D_trunc": [0.0, 0.0, 244.0, 374.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1184, "image_id": 170, "category_id": 27, "category_name": "flagpole", "bbox2D_proj": [459.0, 172.0, 487.0, 289.0], "bbox2D_tight": [459.0, 172.0, 487.0, 289.0], "bbox2D_trunc": [459.0, 172.0, 487.0, 289.0], "center_cam": [6.377563138479648, -0.786902638791708, 13.044363284850247], "dimensions": [0.429789210609531, 3.4333476253648696, 0.8825225123733684], "R_cam": [[0.36756402254104614, 0.13171015679836273, -0.920624315738678], [-0.09719397127628326, 0.9899399280548096, 0.10282166302204132], [0.9249053597450256, 0.05168558284640312, 0.37666773796081543]], "bbox3D_cam": [[6.187105178833008, -2.465514659881592, 12.466567039489746], [6.511488437652588, -2.551290512084961, 13.282816886901855], [6.963695526123047, 0.8475176095962524, 13.460271835327148], [6.639311790466309, 0.9332934617996216, 12.644021987915039], [5.791430473327637, -2.421322822570801, 12.628454208374023], [6.115814208984375, -2.50709867477417, 13.444704055786133], [6.568020820617676, 0.8917092084884644, 13.622159004211426], [6.243637561798096, 0.9774850606918335, 12.805909156799316]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1185, "image_id": 170, "category_id": 45, "category_name": "person", "bbox2D_proj": [382.0, 316.0, 417.0, 425.0], "bbox2D_tight": [382.0, 316.0, 417.0, 425.0], "bbox2D_trunc": [382.0, 316.0, 417.0, 425.0], "center_cam": [1.948908853442191, 1.5397175378066068, 6.006001801846779], "dimensions": [0.4555664209084024, 1.3745117349663543, 0.6445313013425296], "R_cam": [[0.36077630519866943, 0.037940144538879395, -0.9318804740905762], [0.09301519393920898, 0.9927270412445068, 0.07642809301614761], [0.9280025959014893, -0.11425258219242096, 0.35462331771850586]], "bbox3D_cam": [[2.0188350677490234, 0.8100755214691162, 5.704681873321533], [2.25136661529541, 0.870026707649231, 6.30280876159668], [2.303515911102295, 2.234541416168213, 6.1457672119140625], [2.070984363555908, 2.1745903491973877, 5.547640800476074], [1.594301700592041, 0.8448935747146606, 5.866236686706543], [1.8268332481384277, 0.9048447608947754, 6.464363098144531], [1.878982424736023, 2.269359588623047, 6.307322025299072], [1.6464508771896362, 2.2094082832336426, 5.709195137023926]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1186, "image_id": 170, "category_id": 45, "category_name": "person", "bbox2D_proj": [420.0, 325.0, 463.0, 428.0], "bbox2D_tight": [420.0, 325.0, 463.0, 428.0], "bbox2D_trunc": [420.0, 325.0, 463.0, 428.0], "center_cam": [2.357563110799693, 1.5359308448982343, 5.742262904347811], "dimensions": [0.45898441004432233, 1.2529297013033187, 0.6835937788637545], "R_cam": [[0.8793631792068481, 0.0435560941696167, -0.4741555452346802], [-0.010220050811767578, 0.9973045587539673, 0.07265875488519669], [0.4760421812534332, -0.05904757231473923, 0.8774378895759583]], "bbox3D_cam": [[2.1385281085968018, 0.8979732394218445, 5.415179252624512], [2.7396552562713623, 0.8909868597984314, 5.740598678588867], [2.7942278385162354, 2.1405391693115234, 5.666615962982178], [2.193100929260254, 2.1475255489349365, 5.3411970138549805], [1.920898199081421, 0.9313225150108337, 5.8179097175598145], [2.5220251083374023, 0.9243361353874207, 6.143328666687012], [2.5765979290008545, 2.1738884449005127, 6.0693464279174805], [1.975470781326294, 2.180874824523926, 5.743927001953125]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1187, "image_id": 170, "category_id": 45, "category_name": "person", "bbox2D_proj": [273.0, 332.0, 315.0, 474.0], "bbox2D_tight": [273.0, 332.0, 315.0, 474.0], "bbox2D_trunc": [273.0, 332.0, 315.0, 474.0], "center_cam": [0.3745242578048144, 1.650852111644853, 5.13015685357981], "dimensions": [0.5126953343330825, 1.5151367367118587, 0.7812500576896056], "R_cam": [[-0.48987051844596863, -0.0072765350341796875, 0.8717648386955261], [-0.05833077430725098, 0.9979978799819946, -0.024447590112686157], [-0.8698415756225586, -0.06282687187194824, -0.4893141984939575]], "bbox3D_cam": [[0.3479176163673401, 0.9238529801368713, 5.642969131469727], [-0.03479388356208801, 0.8782820105552673, 4.963405132293701], [-0.045818835496902466, 2.390385389328003, 4.868214130401611], [0.33689266443252563, 2.4359562397003174, 5.5477776527404785], [0.7948673963546753, 0.911318838596344, 5.392099857330322], [0.4121558666229248, 0.86574786901474, 4.712536334991455], [0.40113091468811035, 2.3778512477874756, 4.617344856262207], [0.7838424444198608, 2.42342209815979, 5.296908855438232]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1188, "image_id": 170, "category_id": 45, "category_name": "person", "bbox2D_proj": [127.0, 365.0, 188.0, 511.0], "bbox2D_tight": [127.0, 365.0, 188.0, 511.0], "bbox2D_trunc": [127.0, 365.0, 188.0, 511.0], "center_cam": [-1.0896288586671656, 1.9274805546213656, 4.788510310539425], "dimensions": [0.6222155593692715, 1.3882619421909466, 0.7986213719311603], "R_cam": [[-0.348726749420166, 0.13171014189720154, -0.9279235005378723], [-0.0025354549288749695, 0.9899399280548096, 0.1414656639099121], [0.9372209906578064, 0.05168558284640312, -0.34488457441329956]], "bbox3D_cam": [[-0.7531183958053589, 1.1973340511322021, 4.485687732696533], [-1.0316189527511597, 1.1953091621398926, 5.234172344207764], [-0.8487708568572998, 2.5696051120758057, 5.305925369262695], [-0.5702701807022095, 2.5716300010681152, 4.557440757751465], [-1.33048677444458, 1.285356044769287, 4.271095275878906], [-1.6089874505996704, 1.2833311557769775, 5.019579887390137], [-1.426139235496521, 2.6576271057128906, 5.091332912445068], [-1.1476386785507202, 2.6596519947052, 4.342848300933838]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1189, "image_id": 170, "category_id": 45, "category_name": "person", "bbox2D_proj": [473.0, 296.0, 507.0, 382.0], "bbox2D_tight": [473.0, 296.0, 507.0, 382.0], "bbox2D_trunc": [473.0, 296.0, 507.0, 382.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1190, "image_id": 170, "category_id": 13, "category_name": "building", "bbox2D_proj": [249.0, 153.0, 468.0, 299.0], "bbox2D_tight": [249.0, 153.0, 468.0, 299.0], "bbox2D_trunc": [249.0, 153.0, 468.0, 299.0], "center_cam": [5.650379358904415, -1.2968654314556256, 15.740717486552601], "dimensions": [3.046875040175639, 5.404297245334697, 5.640625582224926], "R_cam": [[0.38372528553009033, 0.13227242231369019, 0.9139249920845032], [-0.05005235597491264, 0.9912126064300537, -0.12244302779436111], [-0.9220898747444153, 0.0012403875589370728, 0.3869739770889282]], "bbox3D_cam": [[2.8184266090393066, -3.647571563720703, 17.748416900634766], [4.982877254486084, -3.929898262023926, 12.547253608703613], [5.69771671295166, 1.4269094467163086, 12.553956985473633], [3.533266067504883, 1.7092361450195312, 17.7551212310791], [5.603041648864746, -4.0206403732299805, 18.927478790283203], [7.767492294311523, -4.302967071533203, 13.726314544677734], [8.482332229614258, 1.0538406372070312, 13.733017921447754], [6.317881107330322, 1.336167335510254, 18.934181213378906]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1191, "image_id": 171, "category_id": 63, "category_name": "streetlight", "bbox2D_proj": [0.0, 0.0, 230.0, 215.0], "bbox2D_tight": [0.0, 0.0, 230.0, 215.0], "bbox2D_trunc": [0.0, 0.0, 230.0, 215.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1192, "image_id": 171, "category_id": 58, "category_name": "signboard", "bbox2D_proj": [231.0, 95.0, 262.0, 179.0], "bbox2D_tight": [231.0, 95.0, 262.0, 179.0], "bbox2D_trunc": [231.0, 95.0, 262.0, 179.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1193, "image_id": 171, "category_id": 45, "category_name": "person", "bbox2D_proj": [229.0, 234.0, 253.0, 305.0], "bbox2D_tight": [229.0, 234.0, 253.0, 305.0], "bbox2D_trunc": [229.0, 234.0, 253.0, 305.0], "center_cam": [-0.3932569848057224, 0.3237434739867102, 10.812514152713774], "dimensions": [0.4531250010925265, 1.6528319992066431, 0.6445312922772533], "R_cam": [[0.9791553020477295, -0.0102386474609375, 0.2028549462556839], [0.034076988697052, 0.9928532838821411, -0.11437322944402695], [-0.20023414492607117, 0.11890183389186859, 0.9725063443183899]], "bbox3D_cam": [[-0.7463030815124512, -0.4818354845046997, 10.558446884155273], [-0.11520680785179138, -0.459871768951416, 10.429389953613281], [-0.13212957978248596, 1.181147813796997, 10.625914573669434], [-0.763225793838501, 1.1591840982437134, 10.754971504211426], [-0.6543843746185303, -0.533660888671875, 10.999114036560059], [-0.02328816056251526, -0.5116971731185913, 10.870057106018066], [-0.04021093249320984, 1.1293224096298218, 11.066581726074219], [-0.6713072061538696, 1.107358694076538, 11.195638656616211]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1194, "image_id": 171, "category_id": 58, "category_name": "signboard", "bbox2D_proj": [266.0, 93.0, 302.0, 191.0], "bbox2D_tight": [266.0, 93.0, 302.0, 191.0], "bbox2D_trunc": [266.0, 93.0, 302.0, 191.0], "center_cam": [0.6175759830547238, -2.41355131038221, 10.237452004017605], "dimensions": [0.0976562528505954, 1.4648437237200067, 3.1249998957869947], "R_cam": [[0.18136078119277954, 0.04521971195936203, 0.9823763966560364], [-0.14190593361854553, 0.989690899848938, -0.019358523190021515], [-0.9731243252754211, -0.13589417934417725, 0.18590807914733887]], "bbox3D_cam": [[0.253112256526947, -2.9157493114471436, 11.84841251373291], [0.8198646903038025, -3.3592052459716797, 8.807398796081543], [0.8861045241355896, -1.9094629287719727, 8.608335494995117], [0.31935209035873413, -1.466006875038147, 11.649349212646484], [0.3490474820137024, -2.91763973236084, 11.866567611694336], [0.9157999157905579, -3.361095905303955, 8.825553894042969], [0.982039749622345, -1.911353349685669, 8.626490592956543], [0.4152873158454895, -1.4678972959518433, 11.66750431060791]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1195, "image_id": 171, "category_id": 58, "category_name": "signboard", "bbox2D_proj": [349.0, 168.0, 390.0, 369.0], "bbox2D_tight": [349.0, 168.0, 390.0, 369.0], "bbox2D_trunc": [349.0, 168.0, 390.0, 369.0], "center_cam": [1.0740033582888755, 0.09564911063201006, 4.167030273682055], "dimensions": [0.36215133087571594, 1.8582553901455823, 0.41175824378329295], "R_cam": [[0.2813037931919098, 0.08225710690021515, -0.9560868740081787], [-0.07516199350357056, 0.9951473474502563, 0.0635032057762146], [0.9566707015037537, 0.053997695446014404, 0.28612127900123596]], "bbox3D_cam": [[1.1127854585647583, -0.8249943256378174, 3.868091583251953], [1.2286145687103271, -0.8559428453445435, 4.2620086669921875], [1.3814692497253418, 0.9932948350906372, 4.362349987030029], [1.265640139579773, 1.0242433547973633, 3.968432903289795], [0.7665373682975769, -0.8019965887069702, 3.971710681915283], [0.8823664784431458, -0.8329451084136963, 4.365627765655518], [1.0352212190628052, 1.0162925720214844, 4.465969085693359], [0.9193920493125916, 1.0472410917282104, 4.072052001953125]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1196, "image_id": 171, "category_id": 26, "category_name": "flag", "bbox2D_proj": [243.0, 166.0, 268.0, 212.0], "bbox2D_tight": [243.0, 166.0, 268.0, 212.0], "bbox2D_trunc": [243.0, 166.0, 268.0, 212.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1197, "image_id": 171, "category_id": 47, "category_name": "pipe", "bbox2D_proj": [332.0, 0.0, 512.0, 138.0], "bbox2D_tight": [332.0, 0.0, 512.0, 138.0], "bbox2D_trunc": [332.0, 0.0, 512.0, 138.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1198, "image_id": 171, "category_id": 45, "category_name": "person", "bbox2D_proj": [152.0, 219.0, 205.0, 373.0], "bbox2D_tight": [152.0, 219.0, 205.0, 373.0], "bbox2D_trunc": [152.0, 219.0, 205.0, 373.0], "center_cam": [-0.8470910509478762, 0.41301433727535697, 4.804179925268016], "dimensions": [0.4687500758195875, 1.6010741889169773, 0.5498047968179083], "R_cam": [[0.879677951335907, -0.001768946647644043, -0.4755667448043823], [0.06313639879226685, 0.9915758967399597, 0.11309798061847687], [0.471360445022583, -0.1295153647661209, 0.8723790049552917]], "bbox3D_cam": [[-0.9760395288467407, -0.4246425926685333, 4.573820114135742], [-0.49238842725753784, -0.3899299204349518, 4.832976341247559], [-0.4952206611633301, 1.1976566314697266, 4.625612735748291], [-0.9788718223571777, 1.162943959236145, 4.366456508636475], [-1.1989614963531494, -0.37162795662879944, 4.982747554779053], [-0.7153103351593018, -0.3369152843952179, 5.241903781890869], [-0.7181426286697388, 1.2506712675094604, 5.034540176391602], [-1.2017936706542969, 1.215958595275879, 4.775383949279785]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1199, "image_id": 172, "category_id": 73, "category_name": "tree_trunk", "bbox2D_proj": [252.0, 198.0, 290.0, 325.0], "bbox2D_tight": [252.0, 198.0, 290.0, 325.0], "bbox2D_trunc": [252.0, 198.0, 290.0, 325.0], "center_cam": [0.2861364478541366, -0.08414966617356034, 3.9832950962916507], "dimensions": [0.1679687593703292, 0.8034667941583771, 0.20654297182580572], "R_cam": [[-0.9494242072105408, 0.15746772289276123, -0.27165696024894714], [0.20205777883529663, 0.9686234593391418, -0.1447104662656784], [0.24034608900547028, -0.19228202104568481, -0.9514522552490234]], "bbox3D_cam": [[0.3437398076057434, -0.4819914698600769, 4.115627765655518], [0.14764288067817688, -0.44025784730911255, 4.165269374847412], [0.27416297793388367, 0.33799898624420166, 4.010776996612549], [0.4702599048614502, 0.2962653636932373, 3.9611353874206543], [0.29810991883277893, -0.506298303604126, 3.95581316947937], [0.1020129919052124, -0.4645646810531616, 4.005455017089844], [0.2285330891609192, 0.3136921525001526, 3.8509628772735596], [0.4246300160884857, 0.27195852994918823, 3.801321029663086]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1200, "image_id": 172, "category_id": 45, "category_name": "person", "bbox2D_proj": [444.0, 205.0, 470.0, 276.0], "bbox2D_tight": [444.0, 205.0, 470.0, 276.0], "bbox2D_trunc": [444.0, 205.0, 470.0, 276.0], "center_cam": [2.2342846633549978, -0.17591511343921662, 4.996934509861261], "dimensions": [0.277343757825106, 0.7937011692226468, 0.39843749480703006], "R_cam": [[0.957457959651947, 0.08666443824768066, -0.27525219321250916], [-0.08568871021270752, 0.9962000250816345, 0.01559220440685749], [0.2755575478076935, 0.008657113648951054, 0.961245596408844]], "bbox3D_cam": [[2.0473179817199707, -0.5563490390777588, 4.805305004119873], [2.428805112838745, -0.5904906392097473, 4.915097236633301], [2.4975907802581787, 0.20019443333148956, 4.921968460083008], [2.1161036491394043, 0.2343360334634781, 4.81217622756958], [1.9709784984588623, -0.5520246624946594, 5.071900367736816], [2.3524656295776367, -0.586166262626648, 5.181692600250244], [2.4212512969970703, 0.20451880991458893, 5.188563823699951], [2.039764165878296, 0.23866041004657745, 5.078771591186523]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1201, "image_id": 172, "category_id": 45, "category_name": "person", "bbox2D_proj": [92.0, 263.0, 157.0, 471.0], "bbox2D_tight": [92.0, 263.0, 157.0, 471.0], "bbox2D_trunc": [92.0, 263.0, 157.0, 471.0], "center_cam": [-0.7502563662702553, 0.6294828908336888, 2.655704050161982], "dimensions": [0.39648520207036236, 1.1550292911090034, 0.4003914484414083], "R_cam": [[0.8878156542778015, 0.00959312915802002, -0.4600992798805237], [-0.05081069469451904, 0.9957135319709778, -0.07728442549705505], [0.45738568902015686, 0.09199225902557373, 0.8844974637031555]], "bbox3D_cam": [[-0.8423221111297607, 0.07993686199188232, 2.335665464401245], [-0.4868483543395996, 0.05959272384643555, 2.518798828125], [-0.47576799988746643, 1.2096710205078125, 2.6250524520874023], [-0.83124178647995, 1.2300151586532593, 2.4419190883636475], [-1.0247447490692139, 0.04929471015930176, 2.6863555908203125], [-0.669270932674408, 0.02895057201385498, 2.8694889545440674], [-0.6581906080245972, 1.179028868675232, 2.9757425785064697], [-1.0136643648147583, 1.1993730068206787, 2.792609214782715]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1202, "image_id": 173, "category_id": 45, "category_name": "person", "bbox2D_proj": [54.0, 260.0, 102.0, 384.0], "bbox2D_tight": [54.0, 260.0, 102.0, 384.0], "bbox2D_trunc": [54.0, 260.0, 102.0, 384.0], "center_cam": [-1.3180695140810197, 0.4942848127373188, 3.3616520392307208], "dimensions": [0.27148438482453835, 0.9409179540511741, 0.34179686805312187], "R_cam": [[-0.9999153017997742, 0.010065317153930664, 0.008254628628492355], [0.010792911052703857, 0.9955664277076721, 0.0934402197599411], [-0.00727752223610878, 0.09352138638496399, -0.9955906867980957]], "bbox3D_cam": [[-1.1530413627624512, 0.011383384466171265, 3.4540414810180664], [-1.4948092699050903, 0.015072375535964966, 3.4515540599823], [-1.485338568687439, 0.9518187046051025, 3.5395500659942627], [-1.1435706615447998, 0.9481296539306641, 3.5420374870300293], [-1.150800347328186, 0.03675094246864319, 3.1837542057037354], [-1.4925682544708252, 0.04043993353843689, 3.1812667846679688], [-1.4830975532531738, 0.9771862030029297, 3.2692627906799316], [-1.1413296461105347, 0.9734972715377808, 3.2717502117156982]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1203, "image_id": 173, "category_id": 45, "category_name": "person", "bbox2D_proj": [237.0, 237.0, 263.0, 319.0], "bbox2D_tight": [237.0, 237.0, 263.0, 319.0], "bbox2D_trunc": [237.0, 237.0, 263.0, 319.0], "center_cam": [-0.09072886163836162, 0.2247138217156877, 4.782787117756761], "dimensions": [0.26953125728126776, 0.8474121010228222, 0.45312502836502966], "R_cam": [[0.4373086988925934, 0.08987438678741455, -0.8948092460632324], [-0.15337085723876953, 0.9878706932067871, 0.02426651120185852], [0.8861367702484131, 0.12662574648857117, 0.4457886219024658]], "bbox3D_cam": [[-0.10729744285345078, -0.16237519681453705, 4.468292713165283], [0.0908581018447876, -0.2318713515996933, 4.869823455810547], [0.16701875627040863, 0.6052622199058533, 4.977128028869629], [-0.03113679587841034, 0.6747583746910095, 4.575597286224365], [-0.34847646951675415, -0.1558346003293991, 4.588446617126465], [-0.15032093226909637, -0.22533075511455536, 4.9899773597717285], [-0.07416028529405594, 0.6118028163909912, 5.0972819328308105], [-0.2723158299922943, 0.6812989711761475, 4.695751190185547]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1204, "image_id": 173, "category_id": 45, "category_name": "person", "bbox2D_proj": [172.0, 249.0, 202.0, 334.0], "bbox2D_tight": [172.0, 249.0, 202.0, 334.0], "bbox2D_trunc": [172.0, 249.0, 202.0, 334.0], "center_cam": [-0.6869195040146991, 0.35560479257880717, 4.490217208021581], "dimensions": [0.30859389034187956, 0.8447265482083923, 0.3100587171429612], "R_cam": [[-0.9940937161445618, 0.08144187927246094, 0.07172837108373642], [0.07731884717941284, 0.9952887892723083, -0.05849868804216385], [-0.0761546865105629, -0.0526072196662426, -0.9957072734832764]], "bbox3D_cam": [[-0.5782713294029236, -0.06772914528846741, 4.677877426147461], [-0.886498749256134, -0.04375573992729187, 4.6542649269104], [-0.8177026510238647, 0.7969911098480225, 4.60982608795166], [-0.5094751715660095, 0.7730176448822021, 4.633438587188721], [-0.5561363697052002, -0.08578148484230042, 4.370608329772949], [-0.8643638491630554, -0.06180807948112488, 4.346995830535889], [-0.7955676913261414, 0.7789387702941895, 4.302556991577148], [-0.4873402714729309, 0.7549653053283691, 4.326169490814209]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1205, "image_id": 173, "category_id": 45, "category_name": "person", "bbox2D_proj": [50.0, 266.0, 65.0, 343.0], "bbox2D_tight": [50.0, 266.0, 65.0, 343.0], "bbox2D_trunc": [50.0, 266.0, 65.0, 343.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1206, "image_id": 174, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [95.0, 2.0, 124.0, 193.0], "bbox2D_tight": [95.0, 2.0, 124.0, 193.0], "bbox2D_trunc": [95.0, 2.0, 124.0, 193.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1207, "image_id": 174, "category_id": 45, "category_name": "person", "bbox2D_proj": [288.0, 242.0, 323.0, 363.0], "bbox2D_tight": [288.0, 242.0, 323.0, 363.0], "bbox2D_trunc": [288.0, 242.0, 323.0, 363.0], "center_cam": [0.3751325166216319, 0.3409816822794365, 3.342403467562855], "dimensions": [0.2500000518010085, 0.8684082244517671, 0.29199224605934077], "R_cam": [[0.7373951077461243, -0.013418316841125488, 0.6753283143043518], [0.09730422496795654, 0.9914844632148743, -0.08654692769050598], [-0.6684162616729736, 0.12953156232833862, 0.7324215173721313]], "bbox3D_cam": [[0.18888592720031738, -0.09291264414787292, 3.292193651199341], [0.40419960021972656, -0.06450054049491882, 3.0970213413238525], [0.39254701137542725, 0.7965127229690552, 3.209507703781128], [0.17723333835601807, 0.7681006193161011, 3.404680013656616], [0.3577180504798889, -0.11454936861991882, 3.475299119949341], [0.5730317234992981, -0.08613726496696472, 3.2801268100738525], [0.5613791346549988, 0.7748759984970093, 3.392613172531128], [0.3460654616355896, 0.7464638948440552, 3.587785482406616]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1208, "image_id": 174, "category_id": 13, "category_name": "building", "bbox2D_proj": [154.0, 0.0, 318.0, 214.0], "bbox2D_tight": [154.0, 0.0, 318.0, 214.0], "bbox2D_trunc": [154.0, 0.0, 318.0, 214.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1209, "image_id": 174, "category_id": 45, "category_name": "person", "bbox2D_proj": [43.0, 248.0, 94.0, 355.0], "bbox2D_tight": [43.0, 248.0, 94.0, 355.0], "bbox2D_trunc": [43.0, 248.0, 94.0, 355.0], "center_cam": [-1.2459268371957548, 0.27807626053525514, 2.886956137734409], "dimensions": [0.27343758343742824, 0.7131347812222537, 0.30004891265254974], "R_cam": [[0.8376932144165039, -0.2566044330596924, -0.48210394382476807], [0.1889427900314331, 0.964402437210083, -0.18500958383083344], [0.5124164819717407, 0.06389123201370239, 0.8563569784164429]], "bbox3D_cam": [[-1.2141919136047363, -0.06884995102882385, 2.670219659805298], [-0.9628429412841797, -0.01215788722038269, 2.823969602584839], [-1.1458364725112915, 0.675590991973877, 2.869532585144043], [-1.3971854448318481, 0.6188989877700806, 2.715782642364502], [-1.3460172414779663, -0.11943849921226501, 2.9043798446655273], [-1.0946682691574097, -0.06274643540382385, 3.0581297874450684], [-1.2776618003845215, 0.6250025033950806, 3.1036927700042725], [-1.5290107727050781, 0.5683103799819946, 2.9499428272247314]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1210, "image_id": 174, "category_id": 45, "category_name": "person", "bbox2D_proj": [108.0, 227.0, 127.0, 304.0], "bbox2D_tight": [108.0, 227.0, 127.0, 304.0], "bbox2D_trunc": [108.0, 227.0, 127.0, 304.0], "center_cam": [-1.1666178454714426, 0.0659875360732845, 3.826990147202604], "dimensions": [0.16845705366443608, 0.6406250124375841, 0.21093753302255588], "R_cam": [[-0.4839295446872711, -0.054698169231414795, -0.8733959197998047], [0.01822727918624878, 0.997198224067688, -0.07255092263221741], [0.8749171495437622, -0.05102923512458801, -0.48157668113708496]], "bbox3D_cam": [[-1.0244930982589722, -0.24923905730247498, 3.791621446609497], [-1.1265720129013062, -0.2453942596912384, 3.9761743545532227], [-1.1616129875183105, 0.3934358060359955, 3.943483829498291], [-1.0595340728759766, 0.3895910084247589, 3.7589309215545654], [-1.1716227531433105, -0.2614607512950897, 3.710496425628662], [-1.2737016677856445, -0.25761595368385315, 3.8950493335723877], [-1.308742642402649, 0.38121411204338074, 3.862358808517456], [-1.206663727760315, 0.37736931443214417, 3.6778059005737305]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1211, "image_id": 174, "category_id": 45, "category_name": "person", "bbox2D_proj": [251.0, 249.0, 285.0, 344.0], "bbox2D_tight": [251.0, 249.0, 285.0, 344.0], "bbox2D_trunc": [251.0, 249.0, 285.0, 344.0], "center_cam": [0.09419132365270913, 0.32121240479639035, 3.757205334300057], "dimensions": [0.2636720099626, 0.7856445490274737, 0.2700196564867047], "R_cam": [[0.9822053909301758, -0.04319894313812256, -0.182774156332016], [0.020337045192718506, 0.9919286966323853, -0.1251552253961563], [0.18670551478862762, 0.11921104788780212, 0.975156307220459]], "bbox3D_cam": [[0.002649657428264618, -0.054684996604919434, 3.5566086769104004], [0.2678644359111786, -0.049193620681762695, 3.607022762298584], [0.23392540216445923, 0.7301097512245178, 3.7006802558898926], [-0.03128936141729355, 0.7246183753013611, 3.650266170501709], [-0.04554276913404465, -0.08768492937088013, 3.813730239868164], [0.21967199444770813, -0.08219355344772339, 3.8641443252563477], [0.18573299050331116, 0.6971098184585571, 3.9578018188476562], [-0.07948180288076401, 0.6916184425354004, 3.9073877334594727]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1212, "image_id": 174, "category_id": 45, "category_name": "person", "bbox2D_proj": [150.0, 240.0, 170.0, 316.0], "bbox2D_tight": [150.0, 240.0, 170.0, 316.0], "bbox2D_trunc": [150.0, 240.0, 170.0, 316.0], "center_cam": [-0.8471097575635134, 0.17621024019124015, 3.881539284022195], "dimensions": [0.1746826327234117, 0.6503906430219155, 0.21875002929900644], "R_cam": [[-0.260357528924942, -0.010181784629821777, -0.9654585719108582], [-0.1860179901123047, 0.9817395210266113, 0.0398104190826416], [0.94742351770401, 0.18995755910873413, -0.25749731063842773]], "bbox3D_cam": [[-0.730997622013092, -0.12617821991443634, 3.7386317253112793], [-0.787950873374939, -0.166869655251503, 3.945880651473999], [-0.7945730090141296, 0.4716445207595825, 4.069427490234375], [-0.7376197576522827, 0.5123359560966492, 3.862178325653076], [-0.8996464610099792, -0.11922402679920197, 3.6936514377593994], [-0.9565997123718262, -0.15991546213626862, 3.900900363922119], [-0.9632218480110168, 0.4785987138748169, 4.024446964263916], [-0.9062685966491699, 0.5192901492118835, 3.8171980381011963]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1213, "image_id": 174, "category_id": 13, "category_name": "building", "bbox2D_proj": [181.0, 103.0, 277.0, 217.0], "bbox2D_tight": [181.0, 103.0, 277.0, 217.0], "bbox2D_trunc": [181.0, 103.0, 277.0, 217.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1214, "image_id": 174, "category_id": 45, "category_name": "person", "bbox2D_proj": [168.0, 239.0, 222.0, 362.0], "bbox2D_tight": [168.0, 239.0, 222.0, 362.0], "bbox2D_trunc": [168.0, 239.0, 222.0, 362.0], "center_cam": [-0.43080001096479326, 0.3074217069105212, 3.261374364666677], "dimensions": [0.353515670269286, 0.8544922033891845, 0.4658203558530968], "R_cam": [[0.9162699580192566, -0.05195552110671997, 0.3971775472164154], [0.04471266269683838, 0.9986218810081482, 0.02748154103755951], [-0.3980579972267151, -0.007421642541885376, 0.917330265045166]], "bbox3D_cam": [[-0.692215085029602, -0.13450714945793152, 3.1951117515563965], [-0.2653978765010834, -0.11367908120155334, 3.009688377380371], [-0.30979347229003906, 0.7396354675292969, 3.0033464431762695], [-0.7366106510162354, 0.7188073396682739, 3.188770055770874], [-0.5518065690994263, -0.12479200959205627, 3.519402503967285], [-0.12498939037322998, -0.1039639413356781, 3.3339788913726807], [-0.16938498616218567, 0.7493505477905273, 3.327637195587158], [-0.5962021350860596, 0.728522539138794, 3.5130605697631836]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1215, "image_id": 174, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [117.0, 0.0, 160.0, 212.0], "bbox2D_tight": [117.0, 0.0, 160.0, 212.0], "bbox2D_trunc": [117.0, 0.0, 160.0, 212.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1216, "image_id": 175, "category_id": 15, "category_name": "car", "bbox2D_proj": [137.0, 275.0, 205.0, 320.0], "bbox2D_tight": [137.0, 275.0, 205.0, 320.0], "bbox2D_trunc": [137.0, 275.0, 205.0, 320.0], "center_cam": [-2.68312333948132, 1.294373528927135, 14.848278574565912], "dimensions": [1.6582030918054682, 1.1103516032025387, 3.8203125058196075], "R_cam": [[0.08745622634887695, -0.02552655339241028, -0.9958412647247314], [-0.03836715221405029, 0.9988436102867126, -0.028972983360290527], [0.995429277420044, 0.0407414436340332, 0.0863756537437439]], "bbox3D_cam": [[-2.010352849960327, 0.8371485471725464, 12.852621078491211], [-1.6762431859970093, 0.690574049949646, 16.655471801757812], [-1.7045867443084717, 1.7996416091918945, 16.700708389282227], [-2.0386962890625, 1.946216106414795, 12.897857666015625], [-3.6616599559783936, 0.7891054153442383, 12.995848655700684], [-3.3275504112243652, 0.6425309181213379, 16.7987003326416], [-3.355893850326538, 1.7515984773635864, 16.843936920166016], [-3.6900033950805664, 1.8981729745864868, 13.041086196899414]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1217, "image_id": 175, "category_id": 61, "category_name": "sports_car", "bbox2D_proj": [40.0, 344.0, 403.0, 512.0], "bbox2D_tight": [40.0, 344.0, 403.0, 512.0], "bbox2D_trunc": [40.0, 344.0, 403.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1218, "image_id": 175, "category_id": 15, "category_name": "car", "bbox2D_proj": [108.0, 269.0, 145.0, 298.0], "bbox2D_tight": [108.0, 269.0, 145.0, 298.0], "bbox2D_trunc": [108.0, 269.0, 145.0, 298.0], "center_cam": [-4.641070833252576, 1.1319094250018467, 15.809956299492603], "dimensions": [1.1453766678923443, 0.7937698120398101, 2.5195189185580404], "R_cam": [[-0.035786837339401245, -0.016754096373915672, 0.9992189407348633], [0.14096599817276, 0.9897778034210205, 0.021644465625286102], [-0.9893673658370972, 0.1416304111480713, -0.033059261739254]], "bbox3D_cam": [[-5.161579608917236, 0.5491027235984802, 17.01904296875], [-5.251745223999023, 0.9042691588401794, 14.526312828063965], [-5.265044212341309, 1.689924955368042, 14.638734817504883], [-5.1748785972595215, 1.3347585201263428, 17.131465911865234], [-4.017097473144531, 0.5738938450813293, 16.981178283691406], [-4.107263088226318, 0.9290602207183838, 14.488448143005371], [-4.1205620765686035, 1.7147159576416016, 14.600870132446289], [-4.030396461486816, 1.3595495223999023, 17.093599319458008]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1219, "image_id": 175, "category_id": 61, "category_name": "sports_car", "bbox2D_proj": [450.0, 280.0, 512.0, 329.0], "bbox2D_tight": [450.0, 280.0, 512.0, 329.0], "bbox2D_trunc": [450.0, 280.0, 512.0, 329.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1220, "image_id": 175, "category_id": 43, "category_name": "palm_tree", "bbox2D_proj": [270.0, 201.0, 312.0, 272.0], "bbox2D_tight": [270.0, 201.0, 312.0, 272.0], "bbox2D_trunc": [270.0, 201.0, 312.0, 272.0], "center_cam": [0.8299335577683501, -1.1417207408162207, 13.899113779875826], "dimensions": [0.8275289557939218, 2.4837003442142755, 11.672226563692137], "R_cam": [[0.03798174858093262, 0.00041337800212204456, -0.9992783665657043], [3.5156263038516045e-05, 1.0, 0.0004150127642787993], [0.9992784857749939, -5.089383921585977e-05, 0.03798174858093262]], "bbox3D_cam": [[1.0212210416793823, -2.3839476108551025, 8.051558494567871], [1.4645512104034424, -2.3835372924804688, 19.715364456176758], [1.4655779600143433, 0.10016274452209473, 19.71523666381836], [1.0222477912902832, 0.09975242614746094, 8.051431655883789], [0.1942892074584961, -2.3836042881011963, 8.082989692687988], [0.6376193761825562, -2.3831939697265625, 19.746795654296875], [0.638646125793457, 0.10050606727600098, 19.74666976928711], [0.1953158974647522, 0.10009574890136719, 8.082862854003906]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1221, "image_id": 175, "category_id": 43, "category_name": "palm_tree", "bbox2D_proj": [117.0, 207.0, 181.0, 285.0], "bbox2D_tight": [117.0, 207.0, 181.0, 285.0], "bbox2D_trunc": [117.0, 207.0, 181.0, 285.0], "center_cam": [-4.065384641575027, -0.43806711467196174, 16.942881402479394], "dimensions": [1.906250152596077, 2.6328127796956515, 2.382812681740071], "R_cam": [[0.7398387789726257, -0.20097172260284424, 0.6420661807060242], [0.012630879878997803, 0.9583228230476379, 0.28540822863578796], [-0.6726655960083008, -0.20304620265960693, 0.7115428447723389]], "bbox3D_cam": [[-5.2942423820495605, -1.9866876602172852, 17.33340072631836], [-3.5313451290130615, -1.9565906524658203, 15.73056411743164], [-4.0604658126831055, 0.5664939880371094, 15.195981979370117], [-5.823363304138184, 0.5363969802856445, 16.798818588256836], [-4.070303916931152, -1.4426281452178955, 18.68977928161621], [-2.307406425476074, -1.4125311374664307, 17.086942672729492], [-2.8365273475646973, 1.110553503036499, 16.55236053466797], [-4.599424362182617, 1.0804564952850342, 18.155197143554688]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1222, "image_id": 175, "category_id": 63, "category_name": "streetlight", "bbox2D_proj": [448.0, 164.0, 470.0, 278.0], "bbox2D_tight": [448.0, 164.0, 470.0, 278.0], "bbox2D_trunc": [448.0, 164.0, 470.0, 278.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1223, "image_id": 175, "category_id": 63, "category_name": "streetlight", "bbox2D_proj": [81.0, 34.0, 133.0, 321.0], "bbox2D_tight": [81.0, 34.0, 133.0, 321.0], "bbox2D_trunc": [81.0, 34.0, 133.0, 321.0], "center_cam": [-3.9816959208278706, -3.1445301266237617, 11.844548148048812], "dimensions": [0.9843750076383069, 7.03125023527924, 1.449218719862062], "R_cam": [[-0.9902135133743286, 0.10935342311859131, 0.08671253174543381], [0.07402056455612183, 0.9382485151290894, -0.3379506766796112], [-0.11831396818161011, -0.3282248079776764, -0.9371607303619385]], "bbox3D_cam": [[-3.6913022994995117, -6.3303608894348145, 13.545454025268555], [-5.126338481903076, -6.22308874130249, 13.373991012573242], [-4.357447147369385, 0.37397098541259766, 11.066160202026367], [-2.9224109649658203, 0.26669883728027344, 11.23762321472168], [-3.6059446334838867, -6.663031101226807, 12.622936248779297], [-5.040980815887451, -6.555758953094482, 12.451473236083984], [-4.27208948135376, 0.04130077362060547, 10.14364242553711], [-2.8370532989501953, -0.06597137451171875, 10.315105438232422]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1224, "image_id": 175, "category_id": 45, "category_name": "person", "bbox2D_proj": [502.0, 296.0, 512.0, 342.0], "bbox2D_tight": [502.0, 296.0, 512.0, 342.0], "bbox2D_trunc": [502.0, 296.0, 512.0, 342.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1225, "image_id": 175, "category_id": 45, "category_name": "person", "bbox2D_proj": [257.0, 280.0, 278.0, 336.0], "bbox2D_tight": [257.0, 280.0, 278.0, 336.0], "bbox2D_trunc": [257.0, 280.0, 278.0, 336.0], "center_cam": [0.2924991667133658, 1.4771626016541353, 12.455064160166394], "dimensions": [0.4316406253147202, 1.439453178561899, 0.6562500103335428], "R_cam": [[-0.35893258452415466, -0.10488927364349365, 0.9274511337280273], [-0.014417767524719238, 0.994170069694519, 0.10685500502586365], [-0.9332520961761475, 0.02498200535774231, -0.35835230350494385]], "bbox3D_cam": [[0.28560271859169006, 0.7433013319969177, 12.820646286010742], [0.0500531941652298, 0.7338396906852722, 12.208200454711914], [-0.10093003511428833, 2.1649010181427, 12.244160652160645], [0.13461948931217194, 2.1743626594543457, 12.856607437133789], [0.6859283447265625, 0.7894242405891418, 12.665966987609863], [0.4503788352012634, 0.7799625992774963, 12.053520202636719], [0.2993955910205841, 2.2110238075256348, 12.089481353759766], [0.5349451303482056, 2.2204854488372803, 12.701927185058594]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1226, "image_id": 175, "category_id": 15, "category_name": "car", "bbox2D_proj": [2.0, 276.0, 97.0, 322.0], "bbox2D_tight": [2.0, 276.0, 97.0, 322.0], "bbox2D_trunc": [2.0, 276.0, 97.0, 322.0], "center_cam": [-5.435355106243459, 1.1360044736120232, 11.57766208034839], "dimensions": [1.66265339327259, 0.8646196858843607, 2.7358833382153955], "R_cam": [[0.1073824018239975, 0.0005891099572181702, -0.9942176342010498], [-0.014237642288208008, 0.9998981952667236, -0.0009452849626541138], [0.9941158294677734, 0.014256834983825684, 0.10737985372543335]], "bbox3D_cam": [[-4.755982875823975, 0.7240006923675537, 10.122339248657227], [-4.462197303771973, 0.6850482225418091, 12.842123985290527], [-4.461688041687012, 1.5495798587799072, 12.854450225830078], [-4.755473613739014, 1.5885323286056519, 10.134665489196777], [-6.409022331237793, 0.7224290370941162, 10.300874710083008], [-6.115236759185791, 0.6834765672683716, 13.020659446716309], [-6.11472749710083, 1.5480082035064697, 13.03298568725586], [-6.408513069152832, 1.5869606733322144, 10.313200950622559]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1227, "image_id": 176, "category_id": 45, "category_name": "person", "bbox2D_proj": [309.0, 399.0, 363.0, 504.0], "bbox2D_tight": [309.0, 399.0, 363.0, 504.0], "bbox2D_trunc": [309.0, 399.0, 363.0, 504.0], "center_cam": [0.524211204019479, 1.3467372043044916, 2.7360588212666714], "dimensions": [0.289062738140892, 0.8310546675819885, 0.2958986876901841], "R_cam": [[-0.9031234979629517, 0.060178160667419434, 0.42514273524284363], [0.06433290243148804, 0.997917890548706, -0.004592239391058683], [-0.4245339035987854, 0.023203281685709953, -0.9051146507263184]], "bbox3D_cam": [[0.5713756084442139, 0.923220694065094, 2.920044183731079], [0.3041425347328186, 0.9422566890716553, 2.7944250106811523], [0.35415390133857727, 1.7715810537338257, 2.8137083053588867], [0.6213870048522949, 1.7525451183319092, 2.9393272399902344], [0.6942685842514038, 0.9218932390213013, 2.6584091186523438], [0.42703548073768616, 0.9409292340278625, 2.532790184020996], [0.4770468473434448, 1.7702536582946777, 2.5520732402801514], [0.7442799210548401, 1.7512176036834717, 2.677692413330078]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1228, "image_id": 176, "category_id": 45, "category_name": "person", "bbox2D_proj": [314.0, 338.0, 374.0, 430.0], "bbox2D_tight": [314.0, 338.0, 374.0, 430.0], "bbox2D_trunc": [314.0, 338.0, 374.0, 430.0], "center_cam": [0.6588489046694397, 1.1035691284438094, 3.416762202260253], "dimensions": [0.28515624816939716, 0.9316406029632268, 0.4599609540613301], "R_cam": [[-0.9977964758872986, 0.030339479446411133, 0.05900545418262482], [0.04345226287841797, 0.9708840250968933, 0.2355758249759674], [-0.05014018714427948, 0.23762065172195435, -0.9700629711151123]], "bbox3D_cam": [[0.8657769560813904, 0.607730507850647, 3.4559147357940674], [0.40682947635650635, 0.6277168393135071, 3.432852029800415], [0.43509507179260254, 1.5322318077087402, 3.654229164123535], [0.8940424919128418, 1.512245535850525, 3.6772916316986084], [0.8826026916503906, 0.6749064326286316, 3.179295063018799], [0.42365527153015137, 0.6948927640914917, 3.1562325954437256], [0.4519208073616028, 1.5994077920913696, 3.3776094913482666], [0.9108682870864868, 1.5794215202331543, 3.400672197341919]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1229, "image_id": 176, "category_id": 13, "category_name": "building", "bbox2D_proj": [284.0, 0.0, 512.0, 274.0], "bbox2D_tight": [284.0, 0.0, 512.0, 274.0], "bbox2D_trunc": [284.0, 0.0, 512.0, 274.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1230, "image_id": 176, "category_id": 45, "category_name": "person", "bbox2D_proj": [448.0, 379.0, 506.0, 512.0], "bbox2D_tight": [448.0, 379.0, 506.0, 512.0], "bbox2D_trunc": [448.0, 379.0, 506.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1231, "image_id": 176, "category_id": 45, "category_name": "person", "bbox2D_proj": [400.0, 375.0, 453.0, 452.0], "bbox2D_tight": [400.0, 375.0, 453.0, 452.0], "bbox2D_trunc": [400.0, 375.0, 453.0, 452.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1232, "image_id": 176, "category_id": 45, "category_name": "person", "bbox2D_proj": [234.0, 324.0, 262.0, 403.0], "bbox2D_tight": [234.0, 324.0, 262.0, 403.0], "bbox2D_trunc": [234.0, 324.0, 262.0, 403.0], "center_cam": [-0.07102556688214935, 1.1086666315002867, 4.656754270304316], "dimensions": [0.24218753557952458, 0.7944335767618358, 0.27539067102281634], "R_cam": [[-0.8878572583198547, 0.10959994792938232, 0.44687512516975403], [0.11258566379547119, 0.9934415221214294, -0.019963338971138], [-0.44613224267959595, 0.032587140798568726, -0.8943736553192139]], "bbox3D_cam": [[-0.04642048850655556, 0.700969934463501, 4.813543796539307], [-0.29092809557914734, 0.7319749593734741, 4.690682888031006], [-0.20385821163654327, 1.5211982727050781, 4.71657133102417], [0.04064938426017761, 1.490193247795105, 4.839432239532471], [0.06180708110332489, 0.6961350440979004, 4.596937656402588], [-0.182700514793396, 0.7271400690078735, 4.474076747894287], [-0.09563064575195312, 1.5163633823394775, 4.499965190887451], [0.14887696504592896, 1.4853583574295044, 4.622826099395752]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1233, "image_id": 176, "category_id": 45, "category_name": "person", "bbox2D_proj": [110.0, 355.0, 153.0, 403.0], "bbox2D_tight": [110.0, 355.0, 153.0, 403.0], "bbox2D_trunc": [110.0, 355.0, 153.0, 403.0], "center_cam": [-0.9591564642422261, 0.9515416839622373, 3.387676608274435], "dimensions": [0.1914062471833503, 0.3681643280828799, 0.3662112207222253], "R_cam": [[-0.9925608038902283, 0.12132322788238525, -0.01019176933914423], [0.117870032787323, 0.9785184264183044, 0.16914041340351105], [0.030493516474962234, 0.16668082773685455, -0.9855392575263977]], "bbox3D_cam": [[-0.79877108335495, 0.7336439490318298, 3.4457294940948486], [-1.1622579097747803, 0.7768092751502991, 3.4568965435028076], [-1.1175910234451294, 1.137064814567566, 3.5182623863220215], [-0.7541041970252991, 1.0938994884490967, 3.5070953369140625], [-0.8007218241691589, 0.7660185098648071, 3.2570910453796387], [-1.1642087697982788, 0.8091838359832764, 3.2682580947875977], [-1.119541883468628, 1.1694393157958984, 3.3296239376068115], [-0.7560549378395081, 1.1262741088867188, 3.3184568881988525]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1234, "image_id": 176, "category_id": 45, "category_name": "person", "bbox2D_proj": [429.0, 300.0, 450.0, 375.0], "bbox2D_tight": [429.0, 300.0, 450.0, 375.0], "bbox2D_trunc": [429.0, 300.0, 450.0, 375.0], "center_cam": [1.8844798482199794, 0.8188582607889885, 4.544619740584588], "dimensions": [0.24780274734231744, 0.7474365105226747, 0.3828125073654088], "R_cam": [[-0.43981271982192993, -0.1197054386138916, 0.8900761008262634], [-0.27187836170196533, 0.9623190760612488, -0.00492173433303833], [-0.8559480309486389, -0.24415701627731323, -0.4557853937149048]], "bbox3D_cam": [[1.903117299079895, 0.5118710994720459, 4.856171607971191], [1.7347514629364014, 0.40779268741607666, 4.528504371643066], [1.6452791690826416, 1.1270650625228882, 4.346012115478516], [1.8136450052261353, 1.2311434745788574, 4.673679828643799], [2.123680591583252, 0.5106514692306519, 4.743227005004883], [1.9553147554397583, 0.4065730571746826, 4.4155592918396], [1.8658424615859985, 1.1258454322814941, 4.233067512512207], [2.034208297729492, 1.2299238443374634, 4.560734748840332]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1235, "image_id": 176, "category_id": 45, "category_name": "person", "bbox2D_proj": [462.0, 291.0, 486.0, 348.0], "bbox2D_tight": [462.0, 291.0, 486.0, 348.0], "bbox2D_trunc": [462.0, 291.0, 486.0, 348.0], "center_cam": [2.276207020182471, 0.6586191447181922, 4.684749887232078], "dimensions": [0.19140624712743012, 0.6113281121504319, 0.25000000803071365], "R_cam": [[-0.991321325302124, 0.11623084545135498, -0.0614204965531826], [0.10563892126083374, 0.9823975563049316, 0.15406350791454315], [0.07824626564979553, 0.1462380290031433, -0.9861502647399902]], "bbox3D_cam": [[2.3704726696014404, 0.33038634061813354, 4.724647045135498], [2.1226422786712646, 0.3567960858345032, 4.744208812713623], [2.193697452545166, 0.9573633074760437, 4.833608150482178], [2.441527843475342, 0.9309535622596741, 4.814046859741211], [2.3587164878845215, 0.35987502336502075, 4.535892009735107], [2.1108860969543457, 0.3862847685813904, 4.555453300476074], [2.181941270828247, 0.9868519902229309, 4.644853115081787], [2.429771661758423, 0.9604422450065613, 4.625291347503662]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1236, "image_id": 176, "category_id": 45, "category_name": "person", "bbox2D_proj": [381.0, 296.0, 402.0, 363.0], "bbox2D_tight": [381.0, 296.0, 402.0, 363.0], "bbox2D_trunc": [381.0, 296.0, 402.0, 363.0], "center_cam": [1.4763859557086993, 0.7874266876367015, 4.8620574492573745], "dimensions": [0.2158203291920577, 0.6923827960615585, 0.2382812580880724], "R_cam": [[0.21842417120933533, 0.07010173797607422, -0.9733327627182007], [-0.10040760040283203, 0.9937371015548706, 0.04903891682624817], [0.9706746339797974, 0.08701863884925842, 0.22409498691558838]], "bbox3D_cam": [[1.531126618385315, 0.45007428526878357, 4.692103862762451], [1.5831730365753174, 0.42614904046058655, 4.923397064208984], [1.6317102909088135, 1.1141955852508545, 4.983647346496582], [1.579663872718811, 1.1381207704544067, 4.752353668212891], [1.321061611175537, 0.46065786480903625, 4.7404680252075195], [1.3731080293655396, 0.43673262000083923, 4.971761703491211], [1.4216452836990356, 1.1247791051864624, 5.03201150894165], [1.3695988655090332, 1.1487044095993042, 4.800718307495117]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1237, "image_id": 176, "category_id": 45, "category_name": "person", "bbox2D_proj": [487.0, 314.0, 509.0, 392.0], "bbox2D_tight": [487.0, 314.0, 509.0, 392.0], "bbox2D_trunc": [487.0, 314.0, 509.0, 392.0], "center_cam": [2.1767927263363713, 0.8650637914251749, 3.9982378984571088], "dimensions": [0.16626786031145638, 0.6893488584904715, 0.6337163879746512], "R_cam": [[0.46042120456695557, 0.0019636668730527163, -0.8876984119415283], [-0.0008145643514581025, 0.9999980926513672, 0.0017895946511998773], [0.8877002000808716, -0.00010087981354445219, 0.46042191982269287]], "bbox3D_cam": [[2.104025363922119, 0.5204993486404419, 3.6787209510803223], [2.3958020210266113, 0.519983172416687, 4.241271018981934], [2.397155523300171, 1.209330677986145, 4.241201400756836], [2.105379104614258, 1.2098468542099, 3.6786513328552246], [1.9564297199249268, 0.5207968950271606, 3.7552742958068848], [2.24820613861084, 0.5202807188034058, 4.317824363708496], [2.2495598793029785, 1.2096282243728638, 4.317754745483398], [1.9577833414077759, 1.2101444005966187, 3.755204677581787]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1238, "image_id": 176, "category_id": 45, "category_name": "person", "bbox2D_proj": [290.0, 344.0, 320.0, 409.0], "bbox2D_tight": [290.0, 344.0, 320.0, 409.0], "bbox2D_trunc": [290.0, 344.0, 320.0, 409.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1239, "image_id": 176, "category_id": 13, "category_name": "building", "bbox2D_proj": [0.0, 0.0, 73.0, 318.0], "bbox2D_tight": [0.0, 0.0, 73.0, 318.0], "bbox2D_trunc": [0.0, 0.0, 73.0, 318.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1240, "image_id": 176, "category_id": 13, "category_name": "building", "bbox2D_proj": [78.0, 133.0, 251.0, 281.0], "bbox2D_tight": [78.0, 133.0, 251.0, 281.0], "bbox2D_trunc": [78.0, 133.0, 251.0, 281.0], "center_cam": [-1.6648220970737708, -0.7378977903322572, 7.2279075834015085], "dimensions": [1.4101563166194941, 2.2775879163397588, 2.416015787570034], "R_cam": [[0.6978381276130676, 0.08135860413312912, -0.7116197943687439], [-0.0784812942147255, 0.9962310791015625, 0.03693648800253868], [0.7119428515434265, 0.030073149129748344, 0.7015931606292725]], "bbox3D_cam": [[-2.0987191200256348, -1.8036367893218994, 5.838950157165527], [-0.4127311706542969, -1.9932489395141602, 7.559015274047852], [-0.22742986679077148, 0.27575498819351196, 7.627509117126465], [-1.9134178161621094, 0.4653671383857727, 5.907444000244141], [-3.1022143363952637, -1.7515506744384766, 6.828306198120117], [-1.4162263870239258, -1.9411628246307373, 8.548371315002441], [-1.2309250831604004, 0.3278411030769348, 8.616865158081055], [-2.9169130325317383, 0.5174532532691956, 6.8968000411987305]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1241, "image_id": 176, "category_id": 45, "category_name": "person", "bbox2D_proj": [200.0, 339.0, 228.0, 429.0], "bbox2D_tight": [200.0, 339.0, 228.0, 429.0], "bbox2D_trunc": [200.0, 339.0, 228.0, 429.0], "center_cam": [-0.38563963614671704, 1.1969479257122497, 4.124054101527241], "dimensions": [0.2988282725659742, 0.7713622886918938, 0.3085938919251823], "R_cam": [[0.4655284583568573, 0.09385573863983154, -0.8800423741340637], [0.07480436563491821, 0.9866303205490112, 0.1447935253381729], [0.8818660974502563, -0.1332366019487381, 0.45228350162506104]], "bbox3D_cam": [[-0.3621768653392792, 0.7832469940185547, 3.9717941284179688], [-0.21851764619350433, 0.8063311576843262, 4.243932247161865], [-0.14612087607383728, 1.567380428314209, 4.141158580780029], [-0.2897800803184509, 1.5442962646484375, 3.869020462036133], [-0.625158429145813, 0.8265153765678406, 4.106949329376221], [-0.48149919509887695, 0.8495995402336121, 4.379087448120117], [-0.4091024100780487, 1.6106488704681396, 4.276313781738281], [-0.5527616143226624, 1.5875647068023682, 4.004175662994385]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1242, "image_id": 176, "category_id": 45, "category_name": "person", "bbox2D_proj": [262.0, 316.0, 284.0, 390.0], "bbox2D_tight": [262.0, 316.0, 284.0, 390.0], "bbox2D_trunc": [262.0, 316.0, 284.0, 390.0], "center_cam": [0.172652448652866, 1.0169256381501044, 4.7656589246735], "dimensions": [0.25781252155541035, 0.763671858504962, 0.28320316039686433], "R_cam": [[-0.942773163318634, 0.1032567024230957, -0.31704387068748474], [0.07363104820251465, 0.9918399453163147, 0.1040763407945633], [0.3252033591270447, 0.07477609068155289, -0.9426829814910889]], "bbox3D_cam": [[0.3075924515724182, 0.6143631935119629, 4.812574863433838], [0.04059609770774841, 0.6352157592773438, 4.9046735763549805], [0.11945034563541412, 1.3926560878753662, 4.961778163909912], [0.38644668459892273, 1.3718035221099854, 4.8696794509887695], [0.2258545607328415, 0.6411952972412109, 4.569539546966553], [-0.041141778230667114, 0.6620478630065918, 4.661638259887695], [0.0377124547958374, 1.4194881916046143, 4.718742847442627], [0.3047088086605072, 1.3986356258392334, 4.626644134521484]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1243, "image_id": 176, "category_id": 45, "category_name": "person", "bbox2D_proj": [341.0, 417.0, 419.0, 512.0], "bbox2D_tight": [341.0, 417.0, 419.0, 512.0], "bbox2D_trunc": [341.0, 417.0, 419.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1244, "image_id": 177, "category_id": 47, "category_name": "pipe", "bbox2D_proj": [282.0, 78.0, 328.0, 179.0], "bbox2D_tight": [282.0, 78.0, 328.0, 179.0], "bbox2D_trunc": [282.0, 78.0, 328.0, 179.0], "center_cam": [0.35731654803457447, -0.9193092104459077, 3.1911098919491443], "dimensions": [0.13591897218225002, 0.6596237594401585, 0.3181315906460378], "R_cam": [[-0.991279125213623, 0.04574965313076973, -0.12358366698026657], [0.0250219888985157, 0.9860869646072388, 0.1643369346857071], [0.12938258051872253, 0.15981145203113556, -0.9786319136619568]], "bbox3D_cam": [[0.5083050727844238, -1.2596807479858398, 3.1843292713165283], [0.1929478496313095, -1.2517204284667969, 3.225489854812622], [0.2231254130601883, -0.6012741327285767, 3.3309051990509033], [0.5384826064109802, -0.6092344522476196, 3.2897446155548096], [0.49150770902633667, -1.2373442649841309, 3.05131459236145], [0.17615048587322235, -1.229383945465088, 3.092475175857544], [0.20632804930210114, -0.5789376497268677, 3.197890520095825], [0.5216852426528931, -0.5868979692459106, 3.1567299365997314]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1245, "image_id": 177, "category_id": 38, "category_name": "light_fixture", "bbox2D_proj": [275.0, 8.0, 323.0, 51.0], "bbox2D_tight": [275.0, 8.0, 323.0, 51.0], "bbox2D_trunc": [275.0, 8.0, 323.0, 51.0], "center_cam": [0.27073328319661233, -1.420378068772101, 2.7862592762115037], "dimensions": [0.13820305597797145, 0.20714847904615452, 0.295310383121651], "R_cam": [[-0.9810425043106079, 0.04574964568018913, -0.18831442296504974], [0.014192802831530571, 0.9860867261886597, 0.16562393307685852], [0.19327162206172943, 0.15981143712997437, -0.9680425524711609]], "bbox3D_cam": [[0.42386364936828613, -1.5360517501831055, 2.8080625534057617], [0.1341516077518463, -1.5318604707717896, 2.8651375770568848], [0.1436285674571991, -1.3275941610336304, 2.898242235183716], [0.4333406090736389, -1.3317854404449463, 2.8411672115325928], [0.3978380262851715, -1.5131620168685913, 2.674276113510132], [0.10812598466873169, -1.5089707374572754, 2.731351137161255], [0.11760294437408447, -1.3047044277191162, 2.764455795288086], [0.4073149859905243, -1.3088957071304321, 2.707380771636963]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1246, "image_id": 177, "category_id": 23, "category_name": "dress", "bbox2D_proj": [235.0, 241.0, 422.0, 512.0], "bbox2D_tight": [235.0, 241.0, 422.0, 512.0], "bbox2D_trunc": [235.0, 241.0, 422.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1247, "image_id": 177, "category_id": 47, "category_name": "pipe", "bbox2D_proj": [396.0, 121.0, 476.0, 283.0], "bbox2D_tight": [396.0, 121.0, 476.0, 283.0], "bbox2D_trunc": [396.0, 121.0, 476.0, 283.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1248, "image_id": 177, "category_id": 47, "category_name": "pipe", "bbox2D_proj": [383.0, 147.0, 405.0, 289.0], "bbox2D_tight": [383.0, 147.0, 405.0, 289.0], "bbox2D_trunc": [383.0, 147.0, 405.0, 289.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1249, "image_id": 178, "category_id": 72, "category_name": "tree", "bbox2D_proj": [334.0, 101.0, 392.0, 259.0], "bbox2D_tight": [334.0, 101.0, 392.0, 259.0], "bbox2D_trunc": [334.0, 101.0, 392.0, 259.0], "center_cam": [2.076889499503226, -1.6548349950827421, 9.120558506506018], "dimensions": [0.9273220464273981, 3.4114732153583414, 1.993022083719275], "R_cam": [[-0.4113013744354248, -0.0008386626141145825, 0.9114989638328552], [-0.004202800337225199, 0.999990701675415, -0.0009763730922713876], [-0.9114896655082703, -0.004232431761920452, -0.4113011360168457]], "bbox3D_cam": [[2.0655598640441895, -3.355914831161499, 10.226792335510254], [1.2458271980285645, -3.364291191101074, 8.410173416137695], [1.2429660558700562, 0.047150373458862305, 8.395733833312988], [2.0626988410949707, 0.0555267333984375, 10.212352752685547], [2.9108128547668457, -3.3568203449249268, 9.845383644104004], [2.0910801887512207, -3.365196704864502, 8.028764724731445], [2.088219165802002, 0.04624485969543457, 8.014325141906738], [2.907951831817627, 0.054621219635009766, 9.830944061279297]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1250, "image_id": 179, "category_id": 45, "category_name": "person", "bbox2D_proj": [98.0, 231.0, 149.0, 369.0], "bbox2D_tight": [98.0, 231.0, 149.0, 369.0], "bbox2D_trunc": [98.0, 231.0, 149.0, 369.0], "center_cam": [-0.8130132807124287, 0.25162493816180365, 2.709099577430088], "dimensions": [0.2324218845863045, 0.7984008534141194, 0.3226928815149044], "R_cam": [[0.9641073942184448, 0.04038870334625244, -0.2624225318431854], [0.014868497848510742, 0.9785990715026855, 0.20523834228515625], [0.2650957405567169, -0.20177365839481354, 0.9428741335868835]], "bbox3D_cam": [[-0.9541953802108765, -0.16528216004371643, 2.637303113937378], [-0.6430847644805908, -0.1604842245578766, 2.7228477001190186], [-0.6108384132385254, 0.6208301782608032, 2.561751365661621], [-0.921949028968811, 0.6160322427749634, 2.4762067794799805], [-1.0151880979537964, -0.11758026480674744, 2.856447696685791], [-0.7040774822235107, -0.11278232932090759, 2.9419922828674316], [-0.6718311309814453, 0.6685320138931274, 2.780895948410034], [-0.982941746711731, 0.6637340784072876, 2.6953513622283936]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1251, "image_id": 179, "category_id": 74, "category_name": "trousers", "bbox2D_proj": [364.0, 292.0, 397.0, 363.0], "bbox2D_tight": [364.0, 292.0, 397.0, 363.0], "bbox2D_trunc": [364.0, 292.0, 397.0, 363.0], "center_cam": [0.7045934211956572, 0.38581762893092225, 2.4523008155980057], "dimensions": [0.13867188120088625, 0.3826599037945233, 0.17089844510178526], "R_cam": [[0.7915527820587158, 0.04658985137939453, -0.609322190284729], [0.09998393058776855, 0.9737797975540161, 0.20434314012527466], [0.6028659343719482, -0.2226708084344864, 0.7661399245262146]], "bbox3D_cam": [[0.6702897548675537, 0.17679250240325928, 2.3902690410614014], [0.8055648803710938, 0.1938796043395996, 2.493297815322876], [0.823392927646637, 0.5665060877799988, 2.408090591430664], [0.6881178021430969, 0.5494189858436584, 2.3050618171691895], [0.5857939124107361, 0.20512914657592773, 2.4965109825134277], [0.7210690379142761, 0.22221624851226807, 2.5995397567749023], [0.7388970851898193, 0.5948427319526672, 2.5143325328826904], [0.6036219596862793, 0.5777556300163269, 2.411303758621216]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1252, "image_id": 179, "category_id": 45, "category_name": "person", "bbox2D_proj": [171.0, 234.0, 204.0, 374.0], "bbox2D_tight": [171.0, 234.0, 204.0, 374.0], "bbox2D_trunc": [171.0, 234.0, 204.0, 374.0], "center_cam": [-0.436785344399516, 0.2840408407311379, 2.652681471261512], "dimensions": [0.2500000068227103, 0.8159179337214268, 0.30273438607160086], "R_cam": [[-0.16179290413856506, -0.006936192512512207, 0.9868004322052002], [-0.04812216758728027, 0.9988411664962769, -0.0008692145347595215], [-0.9856507778167725, -0.04762759804725647, -0.16193914413452148]], "bbox3D_cam": [[-0.5328155755996704, -0.11605256795883179, 2.8415491580963135], [-0.581795871257782, -0.1306207776069641, 2.543159008026123], [-0.587455153465271, 0.6843515634536743, 2.504298686981201], [-0.5384749174118042, 0.6989197731018066, 2.8026890754699707], [-0.28611549735069275, -0.11626988649368286, 2.8010644912719727], [-0.33509576320648193, -0.13083809614181519, 2.502674102783203], [-0.3407551050186157, 0.6841342449188232, 2.4638140201568604], [-0.29177480936050415, 0.6987024545669556, 2.762204170227051]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1253, "image_id": 179, "category_id": 45, "category_name": "person", "bbox2D_proj": [268.0, 225.0, 288.0, 295.0], "bbox2D_tight": [268.0, 225.0, 288.0, 295.0], "bbox2D_trunc": [268.0, 225.0, 288.0, 295.0], "center_cam": [0.18973360906430842, 0.022902698787754305, 3.913675442068372], "dimensions": [0.17480469701307166, 0.5826415779302545, 0.19335938666758742], "R_cam": [[0.5606651306152344, 0.015868186950683594, -0.8278905749320984], [0.06389766931533813, 0.9960060119628906, 0.06236332654953003], [0.8255735635757446, -0.08786523342132568, 0.5574119091033936]], "bbox3D_cam": [[0.20326551795005798, -0.27888286113739014, 3.810737133026123], [0.31167539954185486, -0.2665276527404785, 3.970369577407837], [0.3209208846092224, 0.3137868642807007, 3.919175624847412], [0.21251100301742554, 0.30143165588378906, 3.7595431804656982], [0.05854634940624237, -0.26798146963119507, 3.908175468444824], [0.16695621609687805, -0.25562626123428345, 4.067807674407959], [0.1762017011642456, 0.32468825578689575, 4.016613960266113], [0.06779182702302933, 0.31233304738998413, 3.8569815158843994]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1254, "image_id": 179, "category_id": 52, "category_name": "potted_plant", "bbox2D_proj": [217.0, 224.0, 233.0, 262.0], "bbox2D_tight": [217.0, 224.0, 233.0, 262.0], "bbox2D_trunc": [217.0, 224.0, 233.0, 262.0], "center_cam": [-0.3025450612986109, -0.12907731525766247, 4.277290190865142], "dimensions": [0.0745680852706192, 0.3538498234996156, 0.15162493842538652], "R_cam": [[0.9993841052055359, 0.004418669734150171, -0.034812502562999725], [-0.004403882194310427, 0.9999901056289673, 0.0005014511407352984], [0.03481437265872955, -0.00034783215960487723, 0.9993937015533447]], "bbox3D_cam": [[-0.37779468297958374, -0.3056853115558624, 4.237451076507568], [-0.2262631207704544, -0.30635306239128113, 4.242729663848877], [-0.22469957172870636, 0.04749327898025513, 4.2426066398620605], [-0.3762311339378357, 0.04816102981567383, 4.237328052520752], [-0.38039058446884155, -0.30564790964126587, 4.311974048614502], [-0.22885902225971222, -0.30631566047668457, 4.3172526359558105], [-0.22729547321796417, 0.047530680894851685, 4.317129611968994], [-0.3788270354270935, 0.048198431730270386, 4.3118510246276855]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1255, "image_id": 179, "category_id": 45, "category_name": "person", "bbox2D_proj": [473.0, 249.0, 512.0, 327.0], "bbox2D_tight": [473.0, 249.0, 512.0, 327.0], "bbox2D_trunc": [473.0, 249.0, 512.0, 327.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1256, "image_id": 179, "category_id": 45, "category_name": "person", "bbox2D_proj": [459.0, 233.0, 485.0, 320.0], "bbox2D_tight": [459.0, 233.0, 485.0, 320.0], "bbox2D_trunc": [459.0, 233.0, 485.0, 320.0], "center_cam": [1.420292793793216, 0.11835319376940852, 2.878724306055437], "dimensions": [0.16601563328316832, 0.5487975871677228, 0.19335938541731462], "R_cam": [[0.7708238363265991, -0.04278254508972168, -0.6356101632118225], [0.10229259729385376, 0.9931080341339111, 0.05720788240432739], [0.6287820339202881, -0.10911542177200317, 0.7698876857757568]], "bbox3D_cam": [[1.410269856452942, -0.16879278421401978, 2.783968210220337], [1.559315800666809, -0.14901351928710938, 2.9055492877960205], [1.535836935043335, 0.39600175619125366, 2.8456668853759766], [1.3867908716201782, 0.37622249126434326, 2.724086046218872], [1.30474853515625, -0.15929538011550903, 2.9117817878723145], [1.4537945985794067, -0.13951611518859863, 3.033362627029419], [1.430315613746643, 0.4054991602897644, 2.973480463027954], [1.2812696695327759, 0.385719895362854, 2.8518993854522705]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1257, "image_id": 179, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [109.0, 71.0, 207.0, 172.0], "bbox2D_tight": [109.0, 71.0, 207.0, 172.0], "bbox2D_trunc": [109.0, 71.0, 207.0, 172.0], "center_cam": [-0.9505413130999008, -1.4039522989158748, 4.587448671465108], "dimensions": [0.47128268066927337, 0.9758318344931931, 0.8378741191374608], "R_cam": [[0.9932128190994263, 0.004418670665472746, -0.1162274181842804], [-0.004348294343799353, 0.9999902248382568, 0.0008590538054704666], [0.1162300705909729, -0.00034783215960487723, 0.9932223558425903]], "bbox3D_cam": [[-1.3414028882980347, -1.8902441263198853, 4.3048810958862305], [-0.5092155933380127, -1.8938874006271362, 4.402266979217529], [-0.5049037933349609, -0.9180651903152466, 4.401927947998047], [-1.337091088294983, -0.9144219160079956, 4.30454158782959], [-1.3961788415908813, -1.8898392915725708, 4.7729692459106445], [-0.5639915466308594, -1.8934825658798218, 4.870355606079102], [-0.5596797466278076, -0.9176603555679321, 4.870016098022461], [-1.3918670415878296, -0.9140170812606812, 4.772630214691162]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1258, "image_id": 180, "category_id": 45, "category_name": "person", "bbox2D_proj": [321.0, 258.0, 360.0, 383.0], "bbox2D_tight": [321.0, 258.0, 360.0, 383.0], "bbox2D_trunc": [321.0, 258.0, 360.0, 383.0], "center_cam": [0.49733405939245734, 0.3480748663214317, 2.6832894052453877], "dimensions": [0.26953127916515646, 0.7843093758490187, 0.2753906557868308], "R_cam": [[0.9146726131439209, 0.011451244354248047, -0.40403324365615845], [0.10152602195739746, 0.9610427618026733, 0.2570784091949463], [0.3912370800971985, -0.2761625051498413, 0.877876877784729]], "bbox3D_cam": [[0.421347051858902, -0.07742759585380554, 2.61940860748291], [0.6732393503189087, -0.04946824908256531, 2.72715163230896], [0.6822206974029541, 0.7042865753173828, 2.510554790496826], [0.430328369140625, 0.6763272285461426, 2.4028117656707764], [0.3124474585056305, -0.008136898279190063, 2.8560237884521484], [0.5643397569656372, 0.01982244849205017, 2.9637668132781982], [0.5733211040496826, 0.7735773324966431, 2.7471699714660645], [0.3214287757873535, 0.7456179857254028, 2.6394269466400146]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1259, "image_id": 180, "category_id": 45, "category_name": "person", "bbox2D_proj": [0.0, 254.0, 121.0, 512.0], "bbox2D_tight": [0.0, 254.0, 121.0, 512.0], "bbox2D_trunc": [0.0, 254.0, 121.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1260, "image_id": 180, "category_id": 45, "category_name": "person", "bbox2D_proj": [170.0, 248.0, 202.0, 339.0], "bbox2D_tight": [170.0, 248.0, 202.0, 339.0], "bbox2D_trunc": [170.0, 248.0, 202.0, 339.0], "center_cam": [-0.5053834138569682, 0.25319134283967865, 3.1929097426404365], "dimensions": [0.20117188304820816, 0.6524047734152121, 0.20825196287010422], "R_cam": [[0.9570106863975525, 0.021973490715026855, -0.28921937942504883], [-0.036049485206604004, 0.9984058737754822, -0.04343161731958389], [0.2878039479255676, 0.051990702748298645, 0.956277072429657]], "bbox3D_cam": [[-0.5831094980239868, -0.06436872482299805, 3.0497941970825195], [-0.3838101625442505, -0.07187610864639282, 3.1097300052642822], [-0.36947453022003174, 0.5794886350631714, 3.143649101257324], [-0.5687738656997681, 0.5869960188865662, 3.0837132930755615], [-0.6412923336029053, -0.07310593128204346, 3.2421703338623047], [-0.44199296832084656, -0.08061331510543823, 3.3021061420440674], [-0.4276573657989502, 0.570751428604126, 3.3360252380371094], [-0.6269567012786865, 0.5782588124275208, 3.2760894298553467]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1261, "image_id": 180, "category_id": 45, "category_name": "person", "bbox2D_proj": [263.0, 237.0, 302.0, 377.0], "bbox2D_tight": [263.0, 237.0, 302.0, 377.0], "bbox2D_trunc": [263.0, 237.0, 302.0, 377.0], "center_cam": [0.1768680790946141, 0.31279559888122577, 2.7546419046803585], "dimensions": [0.19287109519086865, 0.8289794771992901, 0.2734375003504501], "R_cam": [[0.31023597717285156, 0.043157339096069336, 0.9496795535087585], [-0.01551210880279541, 0.9990658760070801, -0.04033428803086281], [-0.9505330920219421, -0.0022183062974363565, 0.3106156587600708]], "bbox3D_cam": [[0.024981871247291565, -0.0952964723110199, 2.855562686920166], [0.10981202125549316, -0.09953805804252625, 2.595651388168335], [0.14558857679367065, 0.7286670207977295, 2.5938124656677246], [0.060758426785469055, 0.7329086065292358, 2.8537237644195557], [0.2081475853919983, -0.10307577252388, 2.9154715538024902], [0.2929777503013611, -0.10731735825538635, 2.655560255050659], [0.3287543058395386, 0.7208876609802246, 2.653721332550049], [0.24392414093017578, 0.725129246711731, 2.91363263130188]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1262, "image_id": 181, "category_id": 58, "category_name": "signboard", "bbox2D_proj": [170.0, 184.0, 228.0, 221.0], "bbox2D_tight": [170.0, 184.0, 228.0, 221.0], "bbox2D_trunc": [170.0, 184.0, 228.0, 221.0], "center_cam": [-2.2002922806940926, -2.0978312434632196, 16.98812569995107], "dimensions": [0.25000000668714534, 1.3183593646464167, 2.17578127781888], "R_cam": [[-0.9906136989593506, -0.04123980551958084, -0.13032153248786926], [-0.02898278273642063, 0.9950945973396301, -0.0945873111486435], [0.13358300924301147, -0.08992241322994232, -0.9869495630264282]], "bbox3D_cam": [[-1.0791382789611816, -2.7104239463806152, 17.02544403076172], [-3.2344970703125, -2.773483991622925, 17.316091537475586], [-3.2888660430908203, -1.4615917205810547, 17.197542190551758], [-1.133507251739502, -1.3985316753387451, 16.90689468383789], [-1.1117186546325684, -2.7340707778930664, 16.77870750427246], [-3.2670774459838867, -2.797130823135376, 17.069355010986328], [-3.321446418762207, -1.4852385520935059, 16.9508056640625], [-1.1660876274108887, -1.4221785068511963, 16.660158157348633]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1263, "image_id": 181, "category_id": 58, "category_name": "signboard", "bbox2D_proj": [299.0, 180.0, 328.0, 235.0], "bbox2D_tight": [299.0, 180.0, 328.0, 235.0], "bbox2D_trunc": [299.0, 180.0, 328.0, 235.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1264, "image_id": 181, "category_id": 58, "category_name": "signboard", "bbox2D_proj": [124.0, 292.0, 168.0, 311.0], "bbox2D_tight": [124.0, 292.0, 168.0, 311.0], "bbox2D_trunc": [124.0, 292.0, 168.0, 311.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1265, "image_id": 181, "category_id": 45, "category_name": "person", "bbox2D_proj": [234.0, 358.0, 255.0, 422.0], "bbox2D_tight": [234.0, 358.0, 255.0, 422.0], "bbox2D_trunc": [234.0, 358.0, 255.0, 422.0], "center_cam": [-0.29928302923659333, 3.7743112844787676, 12.704660792891536], "dimensions": [0.5781250254577756, 1.7988281430117534, 0.7109375322780838], "R_cam": [[-0.7090520262718201, -0.02716827392578125, 0.7046326398849487], [-0.28879475593566895, 0.9227997660636902, -0.2550259232521057], [-0.6433062553405762, -0.38432085514068604, -0.6621590256690979]], "bbox3D_cam": [[-0.2264845371246338, 3.1207082271575928, 13.470404624938965], [-0.73057621717453, 2.915393114089966, 13.013053894042969], [-0.7794472575187683, 4.575351238250732, 12.32172679901123], [-0.27535557746887207, 4.780666351318359, 12.779077529907227], [0.18088120222091675, 2.973271369934082, 13.087594032287598], [-0.3232104778289795, 2.767956256866455, 12.630243301391602], [-0.3720815181732178, 4.427914619445801, 11.938916206359863], [0.13201016187667847, 4.6332292556762695, 12.39626693725586]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1266, "image_id": 181, "category_id": 45, "category_name": "person", "bbox2D_proj": [223.0, 361.0, 233.0, 411.0], "bbox2D_tight": [223.0, 361.0, 233.0, 411.0], "bbox2D_trunc": [223.0, 361.0, 233.0, 411.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1267, "image_id": 181, "category_id": 58, "category_name": "signboard", "bbox2D_proj": [6.0, 138.0, 117.0, 271.0], "bbox2D_tight": [6.0, 138.0, 117.0, 271.0], "bbox2D_trunc": [6.0, 138.0, 117.0, 271.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1268, "image_id": 182, "category_id": 45, "category_name": "person", "bbox2D_proj": [178.0, 240.0, 213.0, 362.0], "bbox2D_tight": [178.0, 240.0, 213.0, 362.0], "bbox2D_trunc": [178.0, 240.0, 213.0, 362.0], "center_cam": [-0.4584954874350018, 0.32443063891493945, 3.3981623213595045], "dimensions": [0.24218754699838482, 0.9113769769130804, 0.27685550405303094], "R_cam": [[0.9380346536636353, 0.016867637634277344, -0.3461306691169739], [-0.0020700693130493164, 0.9990695714950562, 0.043076783418655396], [0.34653523564338684, -0.039691001176834106, 0.9371968507766724]], "bbox3D_cam": [[-0.5541176795959473, -0.13576364517211914, 3.2547903060913086], [-0.2944175899028778, -0.13633674383163452, 3.3507304191589355], [-0.2790448069572449, 0.7741922736167908, 3.3145570755004883], [-0.5387448668479919, 0.7747653722763062, 3.2186167240142822], [-0.6379461884498596, -0.12533098459243774, 3.4817676544189453], [-0.37824612855911255, -0.12590408325195312, 3.5777080059051514], [-0.3628733158111572, 0.7846249341964722, 3.541534423828125], [-0.6225733757019043, 0.7851980328559875, 3.445594310760498]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1269, "image_id": 182, "category_id": 45, "category_name": "person", "bbox2D_proj": [119.0, 225.0, 166.0, 359.0], "bbox2D_tight": [119.0, 225.0, 166.0, 359.0], "bbox2D_trunc": [119.0, 225.0, 166.0, 359.0], "center_cam": [-0.8928417254324826, 0.2662537166487232, 3.4125865410704472], "dimensions": [0.3164062808226405, 0.9770508056406861, 0.3681640690141059], "R_cam": [[0.9956355690956116, -0.02489495277404785, 0.08994562923908234], [0.02263641357421875, 0.9994046092033386, 0.026042211800813675], [-0.09054037928581238, -0.02389250323176384, 0.9956061840057373]], "bbox3D_cam": [[-1.078188180923462, -0.23026767373085022, 3.2834174633026123], [-0.7116310000419617, -0.2219337522983551, 3.2500836849212646], [-0.7359545230865479, 0.7545351982116699, 3.2267394065856934], [-1.1025117635726929, 0.7462012767791748, 3.260073184967041], [-1.0497288703918457, -0.2220277488231659, 3.598433494567871], [-0.6831716299057007, -0.21369382739067078, 3.5650997161865234], [-0.7074952125549316, 0.7627750635147095, 3.541755437850952], [-1.074052333831787, 0.7544411420822144, 3.5750892162323]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1270, "image_id": 182, "category_id": 45, "category_name": "person", "bbox2D_proj": [231.0, 238.0, 246.0, 287.0], "bbox2D_tight": [231.0, 238.0, 246.0, 287.0], "bbox2D_trunc": [231.0, 238.0, 246.0, 287.0], "center_cam": [-0.2245361540649923, 0.06900675598090258, 5.432919236796534], "dimensions": [0.15625000860503352, 0.5621032867722056, 0.19189452668950718], "R_cam": [[-0.9916150569915771, 0.03076791763305664, 0.12551087141036987], [0.036400794982910156, 0.9984188079833984, 0.0428355410695076], [-0.12399444729089737, 0.047045059502124786, -0.9911670684814453]], "bbox3D_cam": [[-0.1478463113307953, -0.21843959391117096, 5.509028911590576], [-0.3381318151950836, -0.21145446598529816, 5.48523473739624], [-0.3208370804786682, 0.3497600555419922, 5.511679172515869], [-0.13055157661437988, 0.3427749276161194, 5.535472869873047], [-0.12823522090911865, -0.21174652874469757, 5.354158878326416], [-0.318520724773407, -0.20476140081882477, 5.330365180969238], [-0.3012259900569916, 0.3564531207084656, 5.356809139251709], [-0.11094049364328384, 0.3494679927825928, 5.380603313446045]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1271, "image_id": 182, "category_id": 45, "category_name": "person", "bbox2D_proj": [80.0, 233.0, 134.0, 382.0], "bbox2D_tight": [80.0, 233.0, 134.0, 382.0], "bbox2D_trunc": [80.0, 233.0, 134.0, 382.0], "center_cam": [-1.0321730496390475, 0.14264794642569995, 3.083924225885789], "dimensions": [0.31912028741707665, 0.5718295921734176, 0.3406802458807281], "R_cam": [[-0.0770108699798584, 0.09000727534294128, 0.9929592609405518], [0.15850508213043213, 0.9843564033508301, -0.07693430036306381], [-0.984350323677063, 0.1514643132686615, -0.0900726318359375]], "bbox3D_cam": [[-1.203226089477539, -0.15351822972297668, 3.2226648330688477], [-1.2294621467590332, -0.09951867163181305, 2.8873159885406494], [-1.1779932975769043, 0.4633654057979584, 2.9739279747009277], [-1.1517573595046997, 0.40936586260795593, 3.309276580810547], [-0.8863527178764343, -0.17806950211524963, 3.193920612335205], [-0.9125887751579285, -0.12406995892524719, 2.858572006225586], [-0.8611199259757996, 0.4388141334056854, 2.945183753967285], [-0.8348839282989502, 0.3848145604133606, 3.2805325984954834]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1272, "image_id": 183, "category_id": 45, "category_name": "person", "bbox2D_proj": [8.0, 325.0, 116.0, 512.0], "bbox2D_tight": [8.0, 325.0, 116.0, 512.0], "bbox2D_trunc": [8.0, 325.0, 116.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1273, "image_id": 183, "category_id": 12, "category_name": "brick", "bbox2D_proj": [61.0, 255.0, 113.0, 288.0], "bbox2D_tight": [61.0, 255.0, 113.0, 288.0], "bbox2D_trunc": [61.0, 255.0, 113.0, 288.0], "center_cam": [-1.3744406991222493, 0.1051276201276232, 3.716973221977229], "dimensions": [0.07421875211890651, 0.2376708907690299, 0.5468750137435964], "R_cam": [[-0.9014203548431396, 0.03928147628903389, -0.43115922808647156], [0.04657808318734169, 0.9988943338394165, -0.006374424323439598], [0.43043211102485657, -0.025828605517745018, -0.9022533297538757]], "bbox3D_cam": [[-1.116626501083374, -0.026076078414916992, 3.6358284950256348], [-1.609590768814087, -0.0006036907434463501, 3.8712210655212402], [-1.600254774093628, 0.23680442571640015, 3.865082263946533], [-1.107290506362915, 0.2113320231437683, 3.6296896934509277], [-1.1486265659332275, -0.026549190282821655, 3.568864345550537], [-1.6415908336639404, -0.0010767877101898193, 3.8042569160461426], [-1.6322548389434814, 0.23633131384849548, 3.7981181144714355], [-1.1392905712127686, 0.21085892617702484, 3.56272554397583]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1274, "image_id": 183, "category_id": 45, "category_name": "person", "bbox2D_proj": [288.0, 302.0, 327.0, 441.0], "bbox2D_tight": [288.0, 302.0, 327.0, 441.0], "bbox2D_trunc": [288.0, 302.0, 327.0, 441.0], "center_cam": [0.37165941288185633, 0.9179640023651522, 3.7055097483071044], "dimensions": [0.2753906405265749, 1.1674804329870347, 0.3867187713928336], "R_cam": [[0.8325331807136536, 0.12419939041137695, 0.5398730635643005], [-0.05237853527069092, 0.9878259301185608, -0.14647965133190155], [-0.5514932870864868, 0.09367140382528305, 0.828903317451477]], "bbox3D_cam": [[0.06384313106536865, 0.37162768840789795, 3.6433300971984863], [0.385799378156662, 0.3513718843460083, 3.4300572872161865], [0.5307996869087219, 1.5046393871307373, 3.539416790008545], [0.2088434398174286, 1.524895191192627, 3.752689838409424], [0.212519109249115, 0.33128857612609863, 3.8716025352478027], [0.5344753265380859, 0.311032772064209, 3.658329486846924], [0.6794756650924683, 1.464300274848938, 3.7676892280578613], [0.3575194180011749, 1.4845560789108276, 3.980962038040161]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1275, "image_id": 183, "category_id": 45, "category_name": "person", "bbox2D_proj": [0.0, 321.0, 28.0, 495.0], "bbox2D_tight": [0.0, 321.0, 28.0, 495.0], "bbox2D_trunc": [0.0, 321.0, 28.0, 495.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1276, "image_id": 184, "category_id": 45, "category_name": "person", "bbox2D_proj": [238.0, 310.0, 263.0, 374.0], "bbox2D_tight": [238.0, 310.0, 263.0, 374.0], "bbox2D_trunc": [238.0, 310.0, 263.0, 374.0], "center_cam": [-0.05354602037471909, 0.8457303706927897, 4.371814244905913], "dimensions": [0.23046876238300373, 0.5896606422040385, 0.2592773723107907], "R_cam": [[0.9780018925666809, -0.0248185396194458, -0.20711468160152435], [0.05366373062133789, 0.9894130825996399, 0.1348411589860916], [0.2015753984451294, -0.14298945665359497, 0.9689797163009644]], "bbox3D_cam": [[-0.14914892613887787, 0.5315262079238892, 4.276180267333984], [0.10442481189966202, 0.5454399585723877, 4.328444004058838], [0.08979035168886185, 1.1288578510284424, 4.244128704071045], [-0.16378340125083923, 1.1149441003799438, 4.191864967346191], [-0.19688239693641663, 0.5626028776168823, 4.499499797821045], [0.056691356003284454, 0.5765166282653809, 4.551763534545898], [0.042056888341903687, 1.1599345207214355, 4.4674482345581055], [-0.2115168571472168, 1.146020770072937, 4.415184497833252]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1277, "image_id": 184, "category_id": 45, "category_name": "person", "bbox2D_proj": [185.0, 295.0, 221.0, 372.0], "bbox2D_tight": [185.0, 295.0, 221.0, 372.0], "bbox2D_trunc": [185.0, 295.0, 221.0, 372.0], "center_cam": [-0.543506520332971, 0.7592615887519265, 4.483794867359839], "dimensions": [0.3085937597478202, 0.691162105597386, 0.36596683010557574], "R_cam": [[0.9745056629180908, -0.024163484573364258, -0.22305801510810852], [0.031972527503967285, 0.9989933967590332, 0.031463734805583954], [0.22207319736480713, -0.03779330849647522, 0.974297285079956]], "bbox3D_cam": [[-0.679057240486145, 0.4033232033252716, 4.305888652801514], [-0.32242053747177124, 0.415024071931839, 4.387159824371338], [-0.33912143111228943, 1.1054904460906982, 4.361038684844971], [-0.6957581639289856, 1.0937895774841309, 4.2797675132751465], [-0.7478915452957153, 0.41303274035453796, 4.606550693511963], [-0.39125484228134155, 0.42473360896110535, 4.687821865081787], [-0.40795573592185974, 1.1152000427246094, 4.66170072555542], [-0.7645924687385559, 1.103499174118042, 4.580429553985596]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1278, "image_id": 185, "category_id": 72, "category_name": "tree", "bbox2D_proj": [168.0, 0.0, 317.0, 293.0], "bbox2D_tight": [168.0, 0.0, 317.0, 293.0], "bbox2D_trunc": [168.0, 0.0, 317.0, 293.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1279, "image_id": 185, "category_id": 45, "category_name": "person", "bbox2D_proj": [135.0, 369.0, 153.0, 473.0], "bbox2D_tight": [135.0, 369.0, 153.0, 473.0], "bbox2D_trunc": [135.0, 369.0, 153.0, 473.0], "center_cam": [-0.8660455440985385, 1.2558476029479313, 3.420247997371255], "dimensions": [0.12716000002282746, 0.6541431324916906, 0.41004476617091523], "R_cam": [[0.25298601388931274, -0.028501860797405243, 0.9670500159263611], [0.08910973370075226, 0.9960033893585205, 0.006043575704097748], [-0.9633573889732361, 0.0846446305513382, 0.2545146942138672]], "bbox3D_cam": [[-0.9700762033462524, 0.9114294052124023, 3.5738909244537354], [-0.8663406372070312, 0.9479683637619019, 3.1788713932037354], [-0.8849849104881287, 1.5994973182678223, 3.234241008758545], [-0.9887205362319946, 1.5629582405090332, 3.629260540008545], [-0.8471061587333679, 0.9121978878974915, 3.606255054473877], [-0.743370532989502, 0.948736846446991, 3.211235523223877], [-0.7620148658752441, 1.6002657413482666, 3.2666051387786865], [-0.8657504320144653, 1.563726782798767, 3.6616246700286865]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1280, "image_id": 185, "category_id": 45, "category_name": "person", "bbox2D_proj": [157.0, 357.0, 180.0, 443.0], "bbox2D_tight": [157.0, 357.0, 180.0, 443.0], "bbox2D_trunc": [157.0, 357.0, 180.0, 443.0], "center_cam": [-0.7392570696108989, 1.2569794955868825, 3.8793558238000347], "dimensions": [0.22265626085111234, 0.6970215002668443, 0.23242188684959553], "R_cam": [[0.8475905656814575, 0.04732096195220947, -0.5285366773605347], [0.02211707830429077, 0.9920002222061157, 0.12428387999534607], [0.5301897525787354, -0.117031529545784, 0.839763343334198]], "bbox3D_cam": [[-0.795407235622406, 0.8948502540588379, 3.7650394439697266], [-0.5984086394309998, 0.8999906778335571, 3.8882672786712646], [-0.565424919128418, 1.5914361476898193, 3.8066937923431396], [-0.7624235153198242, 1.5862956047058105, 3.6834659576416016], [-0.9130892753601074, 0.922522783279419, 3.9520180225372314], [-0.7160906791687012, 0.9276633262634277, 4.0752458572387695], [-0.6831069588661194, 1.6191086769104004, 3.9936723709106445], [-0.8801055550575256, 1.6139682531356812, 3.8704445362091064]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1281, "image_id": 185, "category_id": 45, "category_name": "person", "bbox2D_proj": [169.0, 360.0, 211.0, 472.0], "bbox2D_tight": [169.0, 360.0, 211.0, 472.0], "bbox2D_trunc": [169.0, 360.0, 211.0, 472.0], "center_cam": [-0.5248242275989825, 1.2877309135296162, 3.588513122149127], "dimensions": [0.277343763307061, 0.8559570495072268, 0.3505859554580576], "R_cam": [[0.8887988924980164, 0.012865304946899414, -0.4581170082092285], [0.013508260250091553, 0.9984362721443176, 0.05424664169549942], [0.45809850096702576, -0.05440276116132736, 0.8872351050376892]], "bbox3D_cam": [[-0.6226025223731995, 0.850531280040741, 3.4084603786468506], [-0.31100213527679443, 0.8552671074867249, 3.569063186645508], [-0.2999899983406067, 1.709885597229004, 3.5224967002868652], [-0.6115903854370117, 1.70514976978302, 3.361893892288208], [-0.7496584057807922, 0.8655762672424316, 3.654529571533203], [-0.4380580186843872, 0.8703120946884155, 3.8151323795318604], [-0.42704588174819946, 1.7249305248260498, 3.7685658931732178], [-0.7386462688446045, 1.7201948165893555, 3.6079630851745605]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1282, "image_id": 186, "category_id": 4, "category_name": "base", "bbox2D_proj": [247.0, 404.0, 341.0, 454.0], "bbox2D_tight": [247.0, 404.0, 341.0, 454.0], "bbox2D_trunc": [247.0, 404.0, 341.0, 454.0], "center_cam": [0.11852425149703372, 0.4393595394705605, 1.1981607753311732], "dimensions": [0.22070331035798751, 0.07983398433450488, 0.22119159107658537], "R_cam": [[-0.942512035369873, -0.013140320777893066, 0.33391374349594116], [0.005738183856010437, 0.9984428882598877, 0.055487990379333496], [-0.3341229259967804, 0.05421411991119385, -0.9409689903259277]], "bbox3D_cam": [[0.18643870949745178, 0.3927468955516815, 1.3367867469787598], [-0.022037029266357422, 0.3940161466598511, 1.2628816366195679], [-0.023086071014404297, 0.473725825548172, 1.267209768295288], [0.1853896677494049, 0.47245657444000244, 1.34111487865448], [0.26013457775115967, 0.4049932658672333, 1.1291117668151855], [0.05165883153676987, 0.40626251697540283, 1.0552066564559937], [0.05060978978872299, 0.48597219586372375, 1.0595347881317139], [0.2590855360031128, 0.4847029447555542, 1.1334398984909058]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1283, "image_id": 186, "category_id": 29, "category_name": "fume_hood", "bbox2D_proj": [249.0, 157.0, 364.0, 200.0], "bbox2D_tight": [249.0, 157.0, 364.0, 200.0], "bbox2D_trunc": [249.0, 157.0, 364.0, 200.0], "center_cam": [0.42324685159583564, -0.713612691596839, 4.0798720088184695], "dimensions": [0.8718263307588698, 0.28704098138092005, 0.8844859329751114], "R_cam": [[-0.9990736842155457, -0.007715749554336071, 0.04233499988913536], [-0.0050628152675926685, 0.9980373382568359, 0.062418341636657715], [-0.042733509093523026, 0.06214618682861328, -0.9971518516540527]], "bbox3D_cam": [[0.8477331399917603, -0.8818214535713196, 4.52452278137207], [-0.03593340516090393, -0.8862994313240051, 4.486725807189941], [-0.03814813494682312, -0.5998218655586243, 4.50456428527832], [0.8455183506011963, -0.5953438878059387, 4.542361259460449], [0.8846418857574463, -0.8274034857749939, 3.655179977416992], [0.0009753406047821045, -0.8318814635276794, 3.617382764816284], [-0.001239389181137085, -0.5454038977622986, 3.635221242904663], [0.8824270963668823, -0.540925920009613, 3.673018455505371]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1284, "image_id": 186, "category_id": 28, "category_name": "flowerpot", "bbox2D_proj": [43.0, 87.0, 78.0, 117.0], "bbox2D_tight": [43.0, 87.0, 78.0, 117.0], "bbox2D_trunc": [43.0, 87.0, 78.0, 117.0], "center_cam": [-1.597082688973168, -1.2708548084496145, 3.6330790048438666], "dimensions": [0.2335763363581798, 0.17795103656142527, 0.23364256995511767], "R_cam": [[-0.9999410510063171, 0.004009629599750042, -0.010090786963701248], [0.003893786808475852, 0.9999266266822815, 0.011473655700683594], [0.01013605110347271, 0.011433720588684082, -0.999883234500885]], "bbox3D_cam": [[-1.4794466495513916, -1.3616186380386353, 3.747652053833008], [-1.7130753993988037, -1.3607089519500732, 3.7500202655792236], [-1.7123618125915527, -1.1827709674835205, 3.7520549297332764], [-1.4787330627441406, -1.183680772781372, 3.7496867179870605], [-1.4818036556243896, -1.3589386940002441, 3.5141031742095947], [-1.7154324054718018, -1.3580288887023926, 3.5164713859558105], [-1.7147188186645508, -1.1800910234451294, 3.5185060501098633], [-1.4810900688171387, -1.1810007095336914, 3.5161378383636475]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1285, "image_id": 186, "category_id": 28, "category_name": "flowerpot", "bbox2D_proj": [440.0, 207.0, 472.0, 237.0], "bbox2D_tight": [440.0, 207.0, 472.0, 237.0], "bbox2D_trunc": [440.0, 207.0, 472.0, 237.0], "center_cam": [2.1219458150725905, -0.35736932881330863, 4.703844274860062], "dimensions": [0.07885028634019786, 0.30350675175125574, 0.4010889899098813], "R_cam": [[-0.8963279724121094, -0.0017282363260164857, 0.4433884918689728], [-0.001853679190389812, 0.9999983310699463, 0.00015049753710627556], [-0.4433879554271698, -0.0006870048237033188, -0.8963295221328735]], "bbox3D_cam": [[2.2844810485839844, -0.5087566375732422, 4.828205108642578], [1.9249738454818726, -0.5095001459121704, 4.650367259979248], [1.9244493246078491, -0.2059938907623291, 4.650158882141113], [2.283956527709961, -0.20525041222572327, 4.827996730804443], [2.3194425106048584, -0.5087447762489319, 4.757529258728027], [1.959935188293457, -0.5094882249832153, 4.579691410064697], [1.9594106674194336, -0.2059820294380188, 4.5794830322265625], [2.318917989730835, -0.20523855090141296, 4.757320880889893]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1286, "image_id": 187, "category_id": 45, "category_name": "person", "bbox2D_proj": [263.0, 221.0, 306.0, 346.0], "bbox2D_tight": [263.0, 221.0, 306.0, 346.0], "bbox2D_trunc": [263.0, 221.0, 306.0, 346.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1287, "image_id": 187, "category_id": 45, "category_name": "person", "bbox2D_proj": [77.0, 222.0, 93.0, 250.0], "bbox2D_tight": [77.0, 222.0, 93.0, 250.0], "bbox2D_trunc": [77.0, 222.0, 93.0, 250.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1288, "image_id": 187, "category_id": 45, "category_name": "person", "bbox2D_proj": [307.0, 232.0, 332.0, 319.0], "bbox2D_tight": [307.0, 232.0, 332.0, 319.0], "bbox2D_trunc": [307.0, 232.0, 332.0, 319.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1289, "image_id": 187, "category_id": 45, "category_name": "person", "bbox2D_proj": [149.0, 222.0, 168.0, 249.0], "bbox2D_tight": [149.0, 222.0, 168.0, 249.0], "bbox2D_trunc": [149.0, 222.0, 168.0, 249.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1290, "image_id": 187, "category_id": 45, "category_name": "person", "bbox2D_proj": [457.0, 296.0, 512.0, 512.0], "bbox2D_tight": [457.0, 296.0, 512.0, 512.0], "bbox2D_trunc": [457.0, 296.0, 512.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1291, "image_id": 187, "category_id": 45, "category_name": "person", "bbox2D_proj": [343.0, 241.0, 368.0, 307.0], "bbox2D_tight": [343.0, 241.0, 368.0, 307.0], "bbox2D_trunc": [343.0, 241.0, 368.0, 307.0], "center_cam": [1.6687053129874077, 0.29942398652310925, 7.4457300208955886], "dimensions": [0.478862935860736, 1.0717773229365781, 0.4788629485318264], "R_cam": [[0.07209613919258118, -0.053630828857421875, -0.9959547519683838], [-0.007426261901855469, 0.9984967708587646, -0.054305195808410645], [0.9973700046539307, 0.01131141185760498, 0.07158946990966797]], "bbox3D_cam": [[1.9186463356018066, -0.22087866067886353, 7.183725833892822], [1.9531704187393188, -0.22443479299545288, 7.661329746246338], [1.8956902027130127, 0.8457314372062683, 7.673452854156494], [1.861166000366211, 0.8492875695228577, 7.195849418640137], [1.4417204856872559, -0.24688345193862915, 7.218007564544678], [1.4762446880340576, -0.2504395842552185, 7.695611000061035], [1.418764352798462, 0.8197266459465027, 7.70773458480835], [1.3842402696609497, 0.823282778263092, 7.230130672454834]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1292, "image_id": 187, "category_id": 45, "category_name": "person", "bbox2D_proj": [239.0, 224.0, 273.0, 341.0], "bbox2D_tight": [239.0, 224.0, 273.0, 341.0], "bbox2D_trunc": [239.0, 224.0, 273.0, 341.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1293, "image_id": 187, "category_id": 45, "category_name": "person", "bbox2D_proj": [369.0, 251.0, 395.0, 296.0], "bbox2D_tight": [369.0, 251.0, 395.0, 296.0], "bbox2D_trunc": [369.0, 251.0, 395.0, 296.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1294, "image_id": 187, "category_id": 43, "category_name": "palm_tree", "bbox2D_proj": [128.0, 95.0, 203.0, 182.0], "bbox2D_tight": [128.0, 95.0, 203.0, 182.0], "bbox2D_trunc": [128.0, 95.0, 203.0, 182.0], "center_cam": [-2.773400561452818, -3.2260616535283715, 12.41697367556766], "dimensions": [2.0507815357449912, 2.3027347893727006, 2.273438266002807], "R_cam": [[-0.6652076840400696, -0.13334107398986816, -0.7346556186676025], [-0.13060986995697021, 0.9895345568656921, -0.061338871717453], [0.735146164894104, 0.05515018105506897, -0.675661563873291]], "bbox3D_cam": [[-1.11041259765625, -4.154016494750977, 12.210638046264648], [-2.6227211952209473, -4.450949668884277, 13.88194751739502], [-2.9297702312469482, -2.172314167022705, 14.008943557739258], [-1.4174617528915405, -1.8753807544708252, 12.337635040283203], [-2.6170308589935303, -4.27980899810791, 10.825004577636719], [-4.129339218139648, -4.576742172241211, 12.496313095092773], [-4.4363884925842285, -2.2981066703796387, 12.623310089111328], [-2.9240798950195312, -2.001173257827759, 10.952000617980957]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1295, "image_id": 187, "category_id": 45, "category_name": "person", "bbox2D_proj": [100.0, 217.0, 110.0, 223.0], "bbox2D_tight": [100.0, 217.0, 110.0, 223.0], "bbox2D_trunc": [100.0, 217.0, 110.0, 223.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1296, "image_id": 188, "category_id": 58, "category_name": "signboard", "bbox2D_proj": [106.0, 189.0, 173.0, 226.0], "bbox2D_tight": [106.0, 189.0, 173.0, 226.0], "bbox2D_trunc": [106.0, 189.0, 173.0, 226.0], "center_cam": [-1.5019554087383162, -0.6301109195837798, 5.723309954246305], "dimensions": [0.5382744586831141, 0.432832166111028, 0.8321639827582391], "R_cam": [[0.9791960120201111, 0.005893041845411062, -0.202830970287323], [-0.0056767514906823635, 0.9999823570251465, 0.0016481031198054552], [0.20283713936805725, -0.00046239508083090186, 0.9792122840881348]], "bbox3D_cam": [[-1.856067180633545, -0.8446047902107239, 5.3754706382751465], [-1.0412155389785767, -0.8493287563323975, 5.544264316558838], [-1.0386648178100586, -0.4165042042732239, 5.544064521789551], [-1.8535164594650269, -0.4117801785469055, 5.375270366668701], [-1.9652459621429443, -0.843717634677887, 5.902555465698242], [-1.150394320487976, -0.8484416604042053, 6.071349620819092], [-1.147843599319458, -0.41561704874038696, 6.0711493492126465], [-1.9626952409744263, -0.4108930826187134, 5.902355670928955]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1297, "image_id": 188, "category_id": 45, "category_name": "person", "bbox2D_proj": [0.0, 349.0, 189.0, 512.0], "bbox2D_tight": [0.0, 349.0, 189.0, 512.0], "bbox2D_trunc": [0.0, 349.0, 189.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1298, "image_id": 189, "category_id": 45, "category_name": "person", "bbox2D_proj": [473.0, 385.0, 512.0, 502.0], "bbox2D_tight": [473.0, 385.0, 512.0, 502.0], "bbox2D_trunc": [473.0, 385.0, 512.0, 502.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1299, "image_id": 189, "category_id": 45, "category_name": "person", "bbox2D_proj": [349.0, 353.0, 391.0, 482.0], "bbox2D_tight": [349.0, 353.0, 391.0, 482.0], "bbox2D_trunc": [349.0, 353.0, 391.0, 482.0], "center_cam": [2.0532005164388285, 2.8360897126970706, 7.889154216533859], "dimensions": [0.74023450053302, 2.1689453193654566, 0.7734376629274142], "R_cam": [[-0.1516801118850708, -0.03960603475570679, -0.9876357913017273], [0.28789854049682617, 0.9541027545928955, -0.08247649669647217], [0.9455726146697998, -0.29684895277023315, -0.1333158016204834]], "bbox3D_cam": [[2.520350694656372, 1.7205814123153687, 7.894750595092773], [2.4030356407165527, 1.9432530403137207, 8.626091957092285], [2.3171322345733643, 4.0126495361328125, 7.982243061065674], [2.4344475269317627, 3.78997802734375, 7.250901699066162], [1.7892686128616333, 1.6595295667648315, 7.796065807342529], [1.671953558921814, 1.882201075553894, 8.5274076461792], [1.5860501527786255, 3.9515976905822754, 7.88355827331543], [1.7033653259277344, 3.728926181793213, 7.15221643447876]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1300, "image_id": 189, "category_id": 45, "category_name": "person", "bbox2D_proj": [408.0, 359.0, 440.0, 489.0], "bbox2D_tight": [408.0, 359.0, 440.0, 489.0], "bbox2D_trunc": [408.0, 359.0, 440.0, 489.0], "center_cam": [2.810664721134367, 2.7186680547157414, 7.342853815255809], "dimensions": [0.5312500026621363, 1.9584961008598856, 0.6484375300456279], "R_cam": [[-0.1223856508731842, -0.07222390174865723, -0.9898512363433838], [0.28235161304473877, 0.9536035060882568, -0.10448920726776123], [0.9514721632003784, -0.2922740876674652, -0.09631478786468506]], "bbox3D_cam": [[3.1839988231658936, 1.7210650444030762, 7.346161365509033], [3.1046392917633057, 1.9041523933410645, 7.963131904602051], [2.963189125061035, 3.7717809677124023, 7.390714168548584], [3.042548418045044, 3.588693618774414, 6.773743629455566], [2.658140182495117, 1.6655551195144653, 7.294993877410889], [2.5787808895111084, 1.848642349243164, 7.911964416503906], [2.437330484390259, 3.716270923614502, 7.3395466804504395], [2.5166900157928467, 3.5331835746765137, 6.722576141357422]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1301, "image_id": 189, "category_id": 45, "category_name": "person", "bbox2D_proj": [210.0, 353.0, 234.0, 489.0], "bbox2D_tight": [210.0, 353.0, 234.0, 489.0], "bbox2D_trunc": [210.0, 353.0, 234.0, 489.0], "center_cam": [-0.43180208074862314, 2.4801566035958356, 6.774473330752386], "dimensions": [0.536132843403347, 1.884277346782513, 0.6484375562420397], "R_cam": [[0.3496388792991638, 0.02052217721939087, 0.9366597533226013], [-0.15652477741241455, 0.9869881272315979, 0.03680306673049927], [-0.9237167835235596, -0.15947824716567993, 0.34830164909362793]], "bbox3D_cam": [[-0.8155834078788757, 1.5911595821380615, 7.130842208862305], [-0.5888643860816956, 1.489663004875183, 6.531869411468506], [-0.5501948595046997, 3.3494224548339844, 6.231368064880371], [-0.7769138813018799, 3.4509189128875732, 6.83034086227417], [-0.31340932846069336, 1.6108909845352173, 7.317578315734863], [-0.08669030666351318, 1.5093944072723389, 6.7186055183410645], [-0.048020780086517334, 3.3691537380218506, 6.41810417175293], [-0.2747398018836975, 3.4706501960754395, 7.0170769691467285]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1302, "image_id": 189, "category_id": 45, "category_name": "person", "bbox2D_proj": [0.0, 355.0, 45.0, 512.0], "bbox2D_tight": [0.0, 355.0, 45.0, 512.0], "bbox2D_trunc": [0.0, 355.0, 45.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1303, "image_id": 189, "category_id": 45, "category_name": "person", "bbox2D_proj": [445.0, 381.0, 475.0, 495.0], "bbox2D_tight": [445.0, 381.0, 475.0, 495.0], "bbox2D_trunc": [445.0, 381.0, 475.0, 495.0], "center_cam": [2.84735812076713, 2.4997016051918655, 6.156118727784504], "dimensions": [0.3867188282515277, 1.3695068403858657, 0.42773446005106563], "R_cam": [[-0.7067752480506897, -0.10293412208557129, -0.6999094486236572], [0.07357603311538696, 0.9732970595359802, -0.21743839979171753], [0.7036016583442688, -0.20517662167549133, -0.6803287863731384]], "bbox3D_cam": [[3.2043328285217285, 1.8595411777496338, 6.277685165405273], [2.9020206928253174, 1.891012191772461, 6.578639507293701], [2.761051654815674, 3.2239491939544678, 6.297648906707764], [3.063364028930664, 3.1924781799316406, 5.996694087982178], [2.9336647987365723, 1.775453805923462, 6.014588832855225], [2.631352424621582, 1.806924819946289, 6.3155436515808105], [2.4903836250305176, 3.139861822128296, 6.034552574157715], [2.7926957607269287, 3.1083908081054688, 5.733598232269287]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1304, "image_id": 189, "category_id": 45, "category_name": "person", "bbox2D_proj": [125.0, 317.0, 185.0, 512.0], "bbox2D_tight": [125.0, 317.0, 185.0, 512.0], "bbox2D_trunc": [125.0, 317.0, 185.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1305, "image_id": 189, "category_id": 13, "category_name": "building", "bbox2D_proj": [390.0, 238.0, 512.0, 392.0], "bbox2D_tight": [390.0, 238.0, 512.0, 392.0], "bbox2D_trunc": [390.0, 238.0, 512.0, 392.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1306, "image_id": 189, "category_id": 45, "category_name": "person", "bbox2D_proj": [399.0, 345.0, 414.0, 387.0], "bbox2D_tight": [399.0, 345.0, 414.0, 387.0], "bbox2D_trunc": [399.0, 345.0, 414.0, 387.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1307, "image_id": 189, "category_id": 45, "category_name": "person", "bbox2D_proj": [260.0, 356.0, 284.0, 474.0], "bbox2D_tight": [260.0, 356.0, 284.0, 474.0], "bbox2D_trunc": [260.0, 356.0, 284.0, 474.0], "center_cam": [0.3320284637300387, 3.010132847479004, 8.617377919136313], "dimensions": [0.5546875407457121, 1.9882812542392327, 0.6484375234221771], "R_cam": [[-0.9484308362007141, 0.07460916042327881, -0.3080786466598511], [0.08806544542312622, 0.9956632256507874, -0.029987022280693054], [0.30450522899627686, -0.05557169020175934, -0.9508881568908691]], "bbox3D_cam": [[0.6507992744445801, 2.000067710876465, 8.837620735168457], [0.035801082849502563, 2.0571727752685547, 9.035073280334473], [0.18414512276649475, 4.036831378936768, 8.924581527709961], [0.7991433143615723, 3.9797263145446777, 8.727128982543945], [0.47991183400154114, 1.9834343194961548, 8.310174942016602], [-0.135086327791214, 2.040539264678955, 8.507627487182617], [0.013257712125778198, 4.020197868347168, 8.397135734558105], [0.6282558441162109, 3.963092803955078, 8.19968318939209]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1308, "image_id": 189, "category_id": 45, "category_name": "person", "bbox2D_proj": [96.0, 358.0, 139.0, 477.0], "bbox2D_tight": [96.0, 358.0, 139.0, 477.0], "bbox2D_trunc": [96.0, 358.0, 139.0, 477.0], "center_cam": [-2.724880491743226, 3.11335066397222, 8.78433935072915], "dimensions": [0.6718750213744107, 2.174804690994409, 0.7929687415792848], "R_cam": [[-0.9988487958908081, 0.039939284324645996, 0.02656901255249977], [0.037253379821777344, 0.9947919845581055, -0.09487447142601013], [-0.030219852924346924, -0.09377546608448029, -0.995134711265564]], "bbox3D_cam": [[-2.3812079429626465, 2.048713207244873, 9.232595443725586], [-3.1732640266418457, 2.078253746032715, 9.20863151550293], [-3.0864038467407227, 4.241732120513916, 9.004688262939453], [-2.2943480014801025, 4.212191104888916, 9.02865219116211], [-2.3633570671081543, 1.9849692583084106, 8.563989639282227], [-3.1554129123687744, 2.014510154724121, 8.54002571105957], [-3.0685529708862305, 4.177988052368164, 8.336082458496094], [-2.2764968872070312, 4.148447513580322, 8.36004638671875]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1309, "image_id": 189, "category_id": 45, "category_name": "person", "bbox2D_proj": [38.0, 346.0, 73.0, 463.0], "bbox2D_tight": [38.0, 346.0, 73.0, 463.0], "bbox2D_trunc": [38.0, 346.0, 73.0, 463.0], "center_cam": [-5.178546842926096, 3.7037165808672055, 11.10553539745445], "dimensions": [0.804687553739902, 2.7431640661377976, 0.9570312774872278], "R_cam": [[0.9508564472198486, -0.021655559539794922, 0.30887365341186523], [-0.01434183120727539, 0.9934002161026001, 0.11379934102296829], [-0.3092995584011078, -0.11263664811849594, 0.9442704916000366]], "bbox3D_cam": [[-5.7281174659729, 2.302262783050537, 11.028109550476074], [-4.818118095397949, 2.2885375022888184, 10.732099533081055], [-4.877522945404053, 5.013597011566162, 10.423118591308594], [-5.787522315979004, 5.027322769165039, 10.719128608703613], [-5.4795708656311035, 2.39383602142334, 11.787952423095703], [-4.569571495056152, 2.380110263824463, 11.491942405700684], [-4.628976345062256, 5.105170249938965, 11.182961463928223], [-5.538975715637207, 5.118895530700684, 11.478971481323242]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1310, "image_id": 189, "category_id": 45, "category_name": "person", "bbox2D_proj": [227.0, 341.0, 271.0, 512.0], "bbox2D_tight": [227.0, 341.0, 271.0, 512.0], "bbox2D_trunc": [227.0, 341.0, 271.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1311, "image_id": 189, "category_id": 45, "category_name": "person", "bbox2D_proj": [309.0, 350.0, 350.0, 512.0], "bbox2D_tight": [309.0, 350.0, 350.0, 512.0], "bbox2D_trunc": [309.0, 350.0, 350.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1312, "image_id": 190, "category_id": 45, "category_name": "person", "bbox2D_proj": [336.0, 265.0, 357.0, 345.0], "bbox2D_tight": [336.0, 265.0, 357.0, 345.0], "bbox2D_trunc": [336.0, 265.0, 357.0, 345.0], "center_cam": [0.9463764891529085, 0.5101276827139969, 4.59565926000399], "dimensions": [0.2414550936128726, 0.8183593551790762, 0.2539062649808941], "R_cam": [[0.3193131685256958, 0.022636055946350098, -0.9473788738250732], [-0.11681997776031494, 0.9930298328399658, -0.015647321939468384], [0.9404213428497314, 0.11566916108131409, 0.31973183155059814]], "bbox3D_cam": [[1.0109511613845825, 0.1205197274684906, 4.3903398513793945], [1.0920268297195435, 0.09085842967033386, 4.629118919372559], [1.1105512380599976, 0.9035136699676514, 4.723777770996094], [1.0294755697250366, 0.9331749677658081, 4.48499870300293], [0.7822017669677734, 0.11674162745475769, 4.467540740966797], [0.8632773756980896, 0.08708032965660095, 4.706319808959961], [0.8818017840385437, 0.8997355699539185, 4.800978660583496], [0.8007261753082275, 0.9293968677520752, 4.562199592590332]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1313, "image_id": 190, "category_id": 45, "category_name": "person", "bbox2D_proj": [485.0, 257.0, 512.0, 310.0], "bbox2D_tight": [485.0, 257.0, 512.0, 310.0], "bbox2D_trunc": [485.0, 257.0, 512.0, 310.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1314, "image_id": 190, "category_id": 45, "category_name": "person", "bbox2D_proj": [416.0, 264.0, 459.0, 338.0], "bbox2D_tight": [416.0, 264.0, 459.0, 338.0], "bbox2D_trunc": [416.0, 264.0, 459.0, 338.0], "center_cam": [1.4781240073966653, 0.3813913022645006, 3.5905792624213353], "dimensions": [0.2959731108797754, 0.6335427067806526, 0.5022582074720043], "R_cam": [[-0.23113703727722168, 0.09700867533683777, 0.968072772026062], [0.18883243203163147, 0.980568528175354, -0.05317521095275879], [-0.9544202089309692, 0.17051278054714203, -0.24496418237686157]], "bbox3D_cam": [[1.3621779680252075, 0.031223148107528687, 3.812499761581421], [1.2460874319076538, 0.12606582045555115, 3.333134412765503], [1.307546615600586, 0.7472978830337524, 3.441161632537842], [1.4236371517181396, 0.65245521068573, 3.9205269813537598], [1.6487014293670654, 0.015484720468521118, 3.739996910095215], [1.5326108932495117, 0.11032739281654358, 3.260631561279297], [1.5940700769424438, 0.7315595149993896, 3.3686587810516357], [1.7101606130599976, 0.6367168426513672, 3.8480241298675537]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1315, "image_id": 190, "category_id": 45, "category_name": "person", "bbox2D_proj": [354.0, 273.0, 373.0, 347.0], "bbox2D_tight": [354.0, 273.0, 373.0, 347.0], "bbox2D_trunc": [354.0, 273.0, 373.0, 347.0], "center_cam": [1.082799650814457, 0.5528142859413141, 4.549680535269589], "dimensions": [0.18750000537084682, 0.7094726399807294, 0.23437500579338838], "R_cam": [[0.3382391333580017, 0.016060590744018555, 0.9409230947494507], [-0.13773775100708008, 0.9899315237998962, 0.03261628746986389], [-0.9309256076812744, -0.1406327486038208, 0.3370457887649536]], "bbox3D_cam": [[0.9492534399032593, 0.21473297476768494, 4.67706298828125], [1.0285282135009766, 0.18245068192481995, 4.4588775634765625], [1.039922833442688, 0.8847800493240356, 4.359102249145508], [0.9606480002403259, 0.9170624017715454, 4.5772881507873535], [1.1256765127182007, 0.22084853053092957, 4.740259170532227], [1.204951286315918, 0.18856623768806458, 4.522073268890381], [1.2163459062576294, 0.8908956050872803, 4.422298431396484], [1.137071132659912, 0.92317795753479, 4.640483856201172]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1316, "image_id": 190, "category_id": 45, "category_name": "person", "bbox2D_proj": [281.0, 270.0, 330.0, 400.0], "bbox2D_tight": [281.0, 270.0, 330.0, 400.0], "bbox2D_trunc": [281.0, 270.0, 330.0, 400.0], "center_cam": [0.4001079094031256, 0.647062279300859, 3.2827328870209227], "dimensions": [0.322265637554267, 1.0573730253633364, 0.36621095495812866], "R_cam": [[-0.8708309531211853, 0.14896881580352783, 0.46846717596054077], [0.17681634426116943, 0.9841179251670837, 0.01574101857841015], [-0.4586820602416992, 0.09654039144515991, -0.88334059715271]], "bbox3D_cam": [[0.40531855821609497, 0.09185993671417236, 3.4580156803131104], [0.08641070127487183, 0.15661203861236572, 3.290041208267212], [0.24392640590667725, 1.197191834449768, 3.392120599746704], [0.5628342628479004, 1.1324398517608643, 3.5600948333740234], [0.5562894344329834, 0.09693276882171631, 3.1733453273773193], [0.23738157749176025, 0.1616848111152649, 3.00537109375], [0.3948972821235657, 1.202264666557312, 3.107450246810913], [0.7138051390647888, 1.1375125646591187, 3.2754247188568115]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1317, "image_id": 191, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [24.0, 252.0, 62.0, 372.0], "bbox2D_tight": [24.0, 252.0, 62.0, 372.0], "bbox2D_trunc": [24.0, 252.0, 62.0, 372.0], "center_cam": [-2.6617729198487163, 0.6739380986499097, 5.532412880712601], "dimensions": [0.4119401397128192, 1.3742480970762954, 0.7292394831389286], "R_cam": [[0.46536070108413696, -1.7122802091762424e-06, 0.8851211071014404], [-9.18004079721868e-05, 1.0, 5.019942909711972e-05], [-0.8851211071014404, -0.00010461532656336203, 0.4653606414794922]], "bbox3D_cam": [[-3.0137598514556885, -0.013162791728973389, 5.759366989135742], [-2.674400568008423, -0.013229787349700928, 5.1139020919799805], [-2.674402952194214, 1.361018419265747, 5.113758087158203], [-3.0137622356414795, 1.3610854148864746, 5.759223461151123], [-2.6491429805755615, -0.013142168521881104, 5.951067924499512], [-2.309783697128296, -0.013209164142608643, 5.305602550506592], [-2.309786081314087, 1.3610389232635498, 5.305459022521973], [-2.6491453647613525, 1.3611059188842773, 5.950923919677734]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1318, "image_id": 191, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [49.0, 244.0, 87.0, 346.0], "bbox2D_tight": [49.0, 244.0, 87.0, 346.0], "bbox2D_trunc": [49.0, 244.0, 87.0, 346.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1319, "image_id": 191, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [257.0, 263.0, 289.0, 342.0], "bbox2D_tight": [257.0, 263.0, 289.0, 342.0], "bbox2D_trunc": [257.0, 263.0, 289.0, 342.0], "center_cam": [0.25067623696091357, 0.6795971309051846, 6.546400022111152], "dimensions": [0.2935307893433201, 1.1211188908633853, 0.43201711767853734], "R_cam": [[0.9834893345832825, -1.712277480692137e-06, 0.1809660792350769], [-1.7247817595489323e-05, 1.0, 0.0001031979190884158], [-0.1809660792350769, -0.00010461531928740442, 0.9834893941879272]], "bbox3D_cam": [[0.011675521731376648, 0.1190263032913208, 6.441206932067871], [0.4365597367286682, 0.1190187931060791, 6.363026142120361], [0.4365578293800354, 1.2401376962661743, 6.362908840179443], [0.011673614382743835, 1.240145206451416, 6.441089630126953], [0.0647946447134018, 0.1190565824508667, 6.729891300201416], [0.48967885971069336, 0.119049072265625, 6.651710510253906], [0.48967695236206055, 1.2401679754257202, 6.651593208312988], [0.06479273736476898, 1.240175485610962, 6.729773998260498]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1320, "image_id": 191, "category_id": 13, "category_name": "building", "bbox2D_proj": [297.0, 324.0, 369.0, 350.0], "bbox2D_tight": [297.0, 324.0, 369.0, 350.0], "bbox2D_trunc": [297.0, 324.0, 369.0, 350.0], "center_cam": [1.1089600070669379, 1.1651468036849386, 6.412838229614811], "dimensions": [0.15281125983781507, 0.33261154684349603, 0.9966727931272221], "R_cam": [[0.9994698762893677, -1.712278276500001e-06, 0.03255631774663925], [-1.6945192555795074e-06, 1.0, 0.00010461562487762421], [-0.03255631774663925, -0.00010461533383931965, 0.9994699954986572]], "bbox3D_cam": [[0.6084005832672119, 0.9988338947296143, 6.352714538574219], [1.6045451164245605, 0.9988322257995605, 6.3202667236328125], [1.6045445203781128, 1.3314437866210938, 6.320231914520264], [0.6083999872207642, 1.3314454555511475, 6.35267972946167], [0.6133755445480347, 0.9988498687744141, 6.5054450035095215], [1.6095200777053833, 0.9988481998443604, 6.472997188568115], [1.6095194816589355, 1.3314597606658936, 6.472962379455566], [0.6133749485015869, 1.3314614295959473, 6.505410194396973]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1321, "image_id": 191, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [293.0, 258.0, 314.0, 327.0], "bbox2D_tight": [293.0, 258.0, 314.0, 327.0], "bbox2D_trunc": [293.0, 258.0, 314.0, 327.0], "center_cam": [0.71073284041729, 0.6004150183549196, 6.7996549198116565], "dimensions": [0.2421874865633449, 1.0626221292954132, 0.33642578463141515], "R_cam": [[-0.9994094371795654, 0.010633468627929688, -0.032676659524440765], [0.0102919340133667, 0.9998908042907715, 0.010602837428450584], [0.03278584033250809, 0.010260270908474922, -0.9994096755981445]], "bbox3D_cam": [[0.8771536350250244, 0.06614679098129272, 6.909710884094238], [0.5409265160560608, 0.06960922479629517, 6.920740604400635], [0.5522258877754211, 1.132115364074707, 6.931643486022949], [0.8884530067443848, 1.128652811050415, 6.920613765716553], [0.8692397475242615, 0.0687146782875061, 6.667666435241699], [0.5330126285552979, 0.07217711210250854, 6.678696155548096], [0.5443120002746582, 1.1346831321716309, 6.68959903717041], [0.8805391192436218, 1.131220817565918, 6.678569316864014]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1322, "image_id": 191, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [278.0, 310.0, 297.0, 347.0], "bbox2D_tight": [278.0, 310.0, 297.0, 347.0], "bbox2D_trunc": [278.0, 310.0, 297.0, 347.0], "center_cam": [0.45774140406316577, 1.062670792727249, 6.476665454215697], "dimensions": [0.13855976079241472, 0.4917246419617759, 0.27788639766808876], "R_cam": [[-0.9999773502349854, -1.7122780491263256e-06, -0.00673865620046854], [-1.0072725444842945e-06, 1.0, -0.0001046244942699559], [0.00673865620046854, -0.00010461532656336203, -0.9999772906303406]], "bbox3D_cam": [[0.5971487164497375, 0.8168158531188965, 6.5450334548950195], [0.3192686438560486, 0.8168156147003174, 6.546905994415283], [0.31926780939102173, 1.3085402250289917, 6.546854496002197], [0.5971478819847107, 1.3085405826568604, 6.544981956481934], [0.596215009689331, 0.8168014287948608, 6.4064764976501465], [0.3183349370956421, 0.816801130771637, 6.40834903717041], [0.31833410263061523, 1.308525800704956, 6.408297538757324], [0.5962141752243042, 1.3085260391235352, 6.4064249992370605]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1323, "image_id": 191, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [252.0, 222.0, 272.0, 319.0], "bbox2D_tight": [252.0, 222.0, 272.0, 319.0], "bbox2D_trunc": [252.0, 222.0, 272.0, 319.0], "center_cam": [0.11832236819480804, 0.2611829237662364, 6.893458590009633], "dimensions": [0.34375014942958915, 1.6162110420880085, 0.3632813968309948], "R_cam": [[-0.48860421776771545, 0.07426035404205322, -0.8693395853042603], [-0.1828852891921997, 0.9655205011367798, 0.18526530265808105], [0.8531230688095093, 0.24951079487800598, -0.4581761360168457]], "bbox3D_cam": [[0.29648029804229736, -0.5176825523376465, 6.615614414215088], [0.11897953599691391, -0.5841213464736938, 6.925538063049316], [0.23900002241134644, 0.9763634204864502, 7.328800201416016], [0.4165008068084717, 1.0428022146224976, 7.018876552581787], [-0.0023552998900413513, -0.45399758219718933, 6.45811653137207], [-0.1798560619354248, -0.5204364061355591, 6.768040180206299], [-0.05983557552099228, 1.040048360824585, 7.171302318572998], [0.11766519397497177, 1.1064871549606323, 6.8613786697387695]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1324, "image_id": 191, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [87.0, 255.0, 126.0, 367.0], "bbox2D_tight": [87.0, 255.0, 126.0, 367.0], "bbox2D_trunc": [87.0, 255.0, 126.0, 367.0], "center_cam": [-2.038885047934609, 0.8298721956601043, 6.0406462642345655], "dimensions": [0.3554687646128087, 1.4609375980132442, 0.42578125637673925], "R_cam": [[-0.20952579379081726, -0.09952652454376221, 0.9727246761322021], [0.3737451434135437, 0.911116361618042, 0.1737280935049057], [-0.9035559892654419, 0.39995163679122925, -0.15370488166809082]], "bbox3D_cam": [[-2.0944645404815674, 0.05388575792312622, 5.968171119689941], [-2.1836767196655273, 0.21301943063735962, 5.583454132080078], [-2.3290789127349854, 1.5441036224365234, 6.167758464813232], [-2.2398667335510254, 1.38496994972229, 6.552475452423096], [-1.7486913204193115, 0.11564069986343384, 5.913533687591553], [-1.8379034996032715, 0.27477437257766724, 5.5288166999816895], [-1.9833056926727295, 1.605858564376831, 6.113121032714844], [-1.89409339427948, 1.4467248916625977, 6.497838020324707]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1325, "image_id": 191, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [181.0, 228.0, 213.0, 346.0], "bbox2D_tight": [181.0, 228.0, 213.0, 346.0], "bbox2D_trunc": [181.0, 228.0, 213.0, 346.0], "center_cam": [-0.9133596981314112, 0.3885283469960398, 6.734019436416467], "dimensions": [0.3803711065089766, 1.7518311545436558, 0.4374999876681098], "R_cam": [[-0.054584234952926636, -0.011792004108428955, -0.9984395503997803], [-0.0498347282409668, 0.9987162351608276, -0.009070813655853271], [0.9972648024559021, 0.04926180839538574, -0.055101871490478516]], "bbox3D_cam": [[-0.7012017965316772, -0.47363632917404175, 6.483198165893555], [-0.7250824570655823, -0.49543899297714233, 6.919501304626465], [-0.7457400560379028, 1.254143238067627, 7.005799770355225], [-0.721859335899353, 1.2759459018707275, 6.569496154785156], [-1.080979347229004, -0.47708660364151, 6.462238788604736], [-1.1048600673675537, -0.4988892674446106, 6.898542404174805], [-1.1255176067352295, 1.2506930828094482, 6.984840393066406], [-1.1016368865966797, 1.2724957466125488, 6.548537254333496]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1326, "image_id": 192, "category_id": 13, "category_name": "building", "bbox2D_proj": [108.0, 102.0, 143.0, 239.0], "bbox2D_tight": [108.0, 102.0, 143.0, 239.0], "bbox2D_trunc": [108.0, 102.0, 143.0, 239.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1327, "image_id": 192, "category_id": 45, "category_name": "person", "bbox2D_proj": [0.0, 225.0, 99.0, 512.0], "bbox2D_tight": [0.0, 225.0, 99.0, 512.0], "bbox2D_trunc": [0.0, 225.0, 99.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1328, "image_id": 192, "category_id": 45, "category_name": "person", "bbox2D_proj": [285.0, 237.0, 312.0, 356.0], "bbox2D_tight": [285.0, 237.0, 312.0, 356.0], "bbox2D_trunc": [285.0, 237.0, 312.0, 356.0], "center_cam": [0.4501469193521879, 0.4706188617018334, 5.07499275003692], "dimensions": [0.3134087665963623, 1.083697815446814, 0.7643870787167311], "R_cam": [[-0.1041100025177002, -0.09680358320474625, 0.989843487739563], [0.10174190253019333, 0.9889938831329346, 0.10742154717445374], [-0.9893480539321899, 0.1118922233581543, -0.09311527013778687]], "bbox3D_cam": [[0.38727718591690063, -0.1209850013256073, 5.407077789306641], [0.3076968491077423, -0.0432148277759552, 4.6508331298828125], [0.2027910053730011, 1.0285558700561523, 4.772090435028076], [0.2823713421821594, 0.9507856965065002, 5.5283355712890625], [0.697502851486206, -0.08731815218925476, 5.377894878387451], [0.6179224848747253, -0.009547948837280273, 4.621649742126465], [0.5130166411399841, 1.0622227191925049, 4.742907524108887], [0.5925970077514648, 0.9844526052474976, 5.499152183532715]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1329, "image_id": 192, "category_id": 45, "category_name": "person", "bbox2D_proj": [71.0, 252.0, 171.0, 512.0], "bbox2D_tight": [71.0, 252.0, 171.0, 512.0], "bbox2D_trunc": [71.0, 252.0, 171.0, 512.0], "center_cam": [-0.7293287668231684, 0.636024824938239, 2.362529811716472], "dimensions": [0.5045667106383063, 1.24129088022713, 0.638381866754743], "R_cam": [[0.16248953342437744, -0.09680358320474625, 0.9819502234458923], [0.12661555409431458, 0.9889941215515137, 0.07654610276222229], [-0.9785528779029846, 0.1118922233581543, 0.17295801639556885]], "bbox3D_cam": [[-0.9688429236412048, -0.03751564025878906, 2.561795234680176], [-0.8651125431060791, 0.04331338405609131, 1.9371047019958496], [-0.9852739572525024, 1.2709426879882812, 2.075995445251465], [-1.0890042781829834, 1.1901136636734009, 2.700685977935791], [-0.4733835458755493, 0.0011069774627685547, 2.649064064025879], [-0.3696531653404236, 0.08193600177764893, 2.0243735313415527], [-0.4898145794868469, 1.3095653057098389, 2.163264274597168], [-0.5935449600219727, 1.2287362813949585, 2.787954807281494]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1330, "image_id": 192, "category_id": 45, "category_name": "person", "bbox2D_proj": [0.0, 281.0, 8.0, 454.0], "bbox2D_tight": [0.0, 281.0, 8.0, 454.0], "bbox2D_trunc": [0.0, 281.0, 8.0, 454.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1331, "image_id": 192, "category_id": 45, "category_name": "person", "bbox2D_proj": [158.0, 242.0, 227.0, 495.0], "bbox2D_tight": [158.0, 242.0, 227.0, 495.0], "bbox2D_trunc": [158.0, 242.0, 227.0, 495.0], "center_cam": [-0.3890078575865183, 0.6363985768922206, 2.6731957240331017], "dimensions": [0.47460938038147726, 1.427978628462118, 0.6406250029718209], "R_cam": [[0.17229114472866058, 0.016942858695983887, 0.9849002361297607], [-0.0014632940292358398, 0.9998552799224854, -0.016944078728556633], [-0.9850449562072754, 0.0014781055506318808, 0.17229092121124268]], "bbox3D_cam": [[-0.6900132894515991, -0.0729978084564209, 2.94677734375], [-0.5796393156051636, -0.07393527030944824, 2.315732717514038], [-0.5554453134536743, 1.3538367748260498, 2.317843437194824], [-0.6658192873001099, 1.3547742366790771, 2.948888063430786], [-0.22257038950920105, -0.0810396671295166, 3.028548240661621], [-0.1121964156627655, -0.08197712898254395, 2.397503614425659], [-0.08800241351127625, 1.345794916152954, 2.3996143341064453], [-0.19837640225887299, 1.3467323780059814, 3.0306589603424072]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1332, "image_id": 192, "category_id": 67, "category_name": "sweatshirt", "bbox2D_proj": [249.0, 258.0, 291.0, 302.0], "bbox2D_tight": [249.0, 258.0, 291.0, 302.0], "bbox2D_trunc": [249.0, 258.0, 291.0, 302.0], "center_cam": [0.1604958016583175, 0.23419594915336073, 4.8641476031983935], "dimensions": [0.28515625010285023, 0.4440308050961415, 0.42869568923035334], "R_cam": [[0.9999719858169556, -0.006058096885681152, -0.004412141628563404], [0.006022095680236816, 0.9999488592147827, -0.008127267472445965], [0.004461151547729969, 0.008100468665361404, 0.999957263469696]], "bbox3D_cam": [[-0.05187194049358368, 0.012059852480888367, 4.718821048736572], [0.376811683177948, 0.01464150846004486, 4.720733642578125], [0.3741217255592346, 0.45864957571029663, 4.724330425262451], [-0.054561927914619446, 0.45606791973114014, 4.722417831420898], [-0.05313010513782501, 0.009742304682731628, 5.003964900970459], [0.37555354833602905, 0.012323960661888123, 5.005877494812012], [0.3728635311126709, 0.4563320279121399, 5.009474277496338], [-0.05582009255886078, 0.4537503719329834, 5.007561683654785]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1333, "image_id": 192, "category_id": 45, "category_name": "person", "bbox2D_proj": [230.0, 230.0, 252.0, 320.0], "bbox2D_tight": [230.0, 230.0, 252.0, 320.0], "bbox2D_trunc": [230.0, 230.0, 252.0, 320.0], "center_cam": [-0.26084292007366167, 0.2990651382763436, 6.061742698984558], "dimensions": [0.33593756533995306, 1.2111817481677927, 0.33886725251450067], "R_cam": [[0.9324549436569214, -0.02886068820953369, -0.3601318895816803], [0.10649454593658447, 0.9744722843170166, 0.19764292240142822], [0.34523439407348633, -0.22264520823955536, 0.9117250442504883]], "bbox3D_cam": [[-0.3408634662628174, -0.3423079550266266, 5.984939098358154], [-0.024885058403015137, -0.3062204420566559, 6.101927757263184], [-0.05984055995941162, 0.8740426301956177, 5.832263946533203], [-0.37581896781921387, 0.837955117225647, 5.715275287628174], [-0.4618452787399292, -0.2759123146533966, 6.291221618652344], [-0.14586687088012695, -0.2398248016834259, 6.408210277557373], [-0.18082237243652344, 0.9404382705688477, 6.138546466827393], [-0.4968007802963257, 0.904350757598877, 6.021557807922363]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1334, "image_id": 192, "category_id": 74, "category_name": "trousers", "bbox2D_proj": [260.0, 299.0, 288.0, 358.0], "bbox2D_tight": [260.0, 299.0, 288.0, 358.0], "bbox2D_trunc": [260.0, 299.0, 288.0, 358.0], "center_cam": [0.18968366804417977, 0.7311192713435501, 4.8890194389214585], "dimensions": [0.24609375115910398, 0.6694336531940444, 0.2944183400252749], "R_cam": [[-0.9947633147239685, 0.10186612606048584, 0.008330504409968853], [0.1021527647972107, 0.9935678839683533, 0.04886471480131149], [-0.0032992647029459476, 0.04945980757474899, -0.9987708330154419]], "bbox3D_cam": [[0.30100059509277344, 0.3775049149990082, 4.995845794677734], [0.008124098181724548, 0.40758058428764343, 4.994874477386475], [0.07631663233041763, 1.0727083683013916, 5.027984619140625], [0.3691931366920471, 1.0426326990127563, 5.028955936431885], [0.303050696849823, 0.389530211687088, 4.750054359436035], [0.010174170136451721, 0.41960588097572327, 4.749083042144775], [0.078366719186306, 1.0847336053848267, 4.782193183898926], [0.3712432384490967, 1.0546579360961914, 4.7831645011901855]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1335, "image_id": 192, "category_id": 13, "category_name": "building", "bbox2D_proj": [4.0, 91.0, 109.0, 241.0], "bbox2D_tight": [4.0, 91.0, 109.0, 241.0], "bbox2D_trunc": [4.0, 91.0, 109.0, 241.0], "center_cam": [-5.5723798486075, -2.5744388299190337, 12.202311646612635], "dimensions": [1.764550498946111, 3.845845567836876, 5.229787129542262], "R_cam": [[-0.09495586156845093, 0.02019965648651123, 0.9952765703201294], [-0.020504742860794067, 0.9995422959327698, -0.02224254608154297], [-0.9952702522277832, -0.022519946098327637, -0.09449821710586548]], "bbox3D_cam": [[-6.241030693054199, -4.423239707946777, 14.93151569366455], [-6.7376298904418945, -4.53047513961792, 9.726463317871094], [-6.659945487976074, -0.6863899230957031, 9.639854431152344], [-6.163345813751221, -0.5791544914245605, 14.844907760620117], [-4.484814643859863, -4.462487697601318, 14.764768600463867], [-4.981414318084717, -4.569723129272461, 9.559715270996094], [-4.903729438781738, -0.7256379127502441, 9.47310733795166], [-4.407130241394043, -0.6184024810791016, 14.678159713745117]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1336, "image_id": 193, "category_id": 45, "category_name": "person", "bbox2D_proj": [0.0, 349.0, 24.0, 461.0], "bbox2D_tight": [0.0, 349.0, 24.0, 461.0], "bbox2D_trunc": [0.0, 349.0, 24.0, 461.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1337, "image_id": 193, "category_id": 13, "category_name": "building", "bbox2D_proj": [286.0, 0.0, 512.0, 276.0], "bbox2D_tight": [286.0, 0.0, 512.0, 276.0], "bbox2D_trunc": [286.0, 0.0, 512.0, 276.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1338, "image_id": 193, "category_id": 45, "category_name": "person", "bbox2D_proj": [108.0, 356.0, 156.0, 418.0], "bbox2D_tight": [108.0, 356.0, 156.0, 418.0], "bbox2D_trunc": [108.0, 356.0, 156.0, 418.0], "center_cam": [-0.845924872994831, 1.0229417336079725, 3.1353115204105726], "dimensions": [0.19726562239241116, 0.6533203263797154, 0.28417968727359183], "R_cam": [[0.9841815233230591, -0.028429627418518066, 0.17486707866191864], [0.09324055910110474, 0.9224004745483398, -0.3748113512992859], [-0.15064173936843872, 0.3851870894432068, 0.9104602932929993]], "bbox3D_cam": [[-0.9937278628349304, 0.7453503608703613, 2.941089630126953], [-0.7140434980392456, 0.7718474864959717, 2.898280382156372], [-0.7326171398162842, 1.3744704723358154, 3.149930953979492], [-1.0123014450073242, 1.347973346710205, 3.1927402019500732], [-0.9592325687408447, 0.6714129447937012, 3.120692253112793], [-0.6795482039451599, 0.6979100704193115, 3.077883005142212], [-0.6981218457221985, 1.3005330562591553, 3.329533576965332], [-0.9778062105178833, 1.274035930633545, 3.372342824935913]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1339, "image_id": 193, "category_id": 45, "category_name": "person", "bbox2D_proj": [182.0, 331.0, 206.0, 409.0], "bbox2D_tight": [182.0, 331.0, 206.0, 409.0], "bbox2D_trunc": [182.0, 331.0, 206.0, 409.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1340, "image_id": 193, "category_id": 13, "category_name": "building", "bbox2D_proj": [0.0, 0.0, 76.0, 318.0], "bbox2D_tight": [0.0, 0.0, 76.0, 318.0], "bbox2D_trunc": [0.0, 0.0, 76.0, 318.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1341, "image_id": 193, "category_id": 45, "category_name": "person", "bbox2D_proj": [243.0, 344.0, 278.0, 380.0], "bbox2D_tight": [243.0, 344.0, 278.0, 380.0], "bbox2D_trunc": [243.0, 344.0, 278.0, 380.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1342, "image_id": 193, "category_id": 45, "category_name": "person", "bbox2D_proj": [308.0, 331.0, 341.0, 431.0], "bbox2D_tight": [308.0, 331.0, 341.0, 431.0], "bbox2D_trunc": [308.0, 331.0, 341.0, 431.0], "center_cam": [0.6205741182712491, 1.1349831772101053, 4.057092145549081], "dimensions": [0.24218749502953452, 0.8312988399864191, 0.31933593904677937], "R_cam": [[0.9877597093582153, -0.021318793296813965, 0.15451911091804504], [0.012314856052398682, 0.9981822967529297, 0.05899517610669136], [-0.15549595654010773, -0.05637018010020256, 0.9862268567085266]], "bbox3D_cam": [[0.4530103802680969, 0.7109790444374084, 3.985924243927002], [0.7684375643730164, 0.7149116396903992, 3.9362688064575195], [0.7507152557373047, 1.5446994304656982, 3.8894083499908447], [0.43528807163238525, 1.5407668352127075, 3.939063787460327], [0.4904329776763916, 0.7252669334411621, 4.224776268005371], [0.805860161781311, 0.7291995286941528, 4.175120830535889], [0.7881378531455994, 1.5589873790740967, 4.128260135650635], [0.47271066904067993, 1.5550546646118164, 4.177915573120117]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1343, "image_id": 193, "category_id": 45, "category_name": "person", "bbox2D_proj": [286.0, 351.0, 315.0, 460.0], "bbox2D_tight": [286.0, 351.0, 315.0, 460.0], "bbox2D_trunc": [286.0, 351.0, 315.0, 460.0], "center_cam": [0.37587645657566965, 1.1983871661643284, 3.726731943660898], "dimensions": [0.24691793504835388, 0.8762989724085434, 0.5734584340419064], "R_cam": [[0.06785058975219727, 0.0024816778022795916, -0.9976924061775208], [-3.356230445206165e-05, 0.9999969005584717, 0.002485127653926611], [0.9976955056190491, -0.0001351325772702694, 0.06785047054290771]], "bbox3D_cam": [[0.47850844264030457, 0.759941816329956, 3.4323461055755615], [0.5174179077148438, 0.7599226236343384, 4.004482746124268], [0.5195926427841187, 1.636218786239624, 4.004364490509033], [0.4806831181049347, 1.6362380981445312, 3.432227611541748], [0.2321603000164032, 0.7605555057525635, 3.449099540710449], [0.27106979489326477, 0.7605361938476562, 4.021236419677734], [0.2732444703578949, 1.6368324756622314, 4.0211181640625], [0.23433499038219452, 1.6368516683578491, 3.4489810466766357]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1344, "image_id": 193, "category_id": 13, "category_name": "building", "bbox2D_proj": [69.0, 175.0, 122.0, 287.0], "bbox2D_tight": [69.0, 175.0, 122.0, 287.0], "bbox2D_trunc": [69.0, 175.0, 122.0, 287.0], "center_cam": [-2.226958020003731, -0.36370948789417057, 6.169918179638375], "dimensions": [0.32284287179062954, 1.5152508322217475, 0.8828573547595706], "R_cam": [[0.31863242387771606, 0.0024816778022795916, -0.9478751420974731], [-0.0006626557442359626, 0.9999969005584717, 0.0023953858762979507], [0.9478781223297119, -0.0001351325772702694, 0.3186330795288086]], "bbox3D_cam": [[-2.216484308242798, -1.1214267015457153, 5.700165748596191], [-1.9351773262023926, -1.1220117807388306, 6.537006855010986], [-1.9314169883728027, 0.39323440194129944, 6.536802291870117], [-2.212723970413208, 0.3938194811344147, 5.699960708618164], [-2.5224990844726562, -1.1206533908843994, 5.803033828735352], [-2.241192102432251, -1.1212384700775146, 6.639875411987305], [-2.237431764602661, 0.39400771260261536, 6.639670372009277], [-2.5187387466430664, 0.3945927917957306, 5.802829265594482]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1345, "image_id": 193, "category_id": 45, "category_name": "person", "bbox2D_proj": [240.0, 360.0, 287.0, 473.0], "bbox2D_tight": [240.0, 360.0, 287.0, 473.0], "bbox2D_trunc": [240.0, 360.0, 287.0, 473.0], "center_cam": [0.09649386469769519, 1.2613023063273836, 3.401773661065768], "dimensions": [0.26367187256982766, 0.8759765758730034, 0.41210937693310357], "R_cam": [[0.8704297542572021, 0.024448633193969727, -0.491685152053833], [-0.06150078773498535, 0.9963419437408447, -0.059332475066185], [0.48843592405319214, 0.08188378810882568, 0.8687493205070496]], "bbox3D_cam": [[-0.02874869853258133, 0.845410943031311, 3.1507327556610107], [0.3299635648727417, 0.8200658559799194, 3.3520216941833496], [0.35137999057769775, 1.6928380727767944, 3.4237499237060547], [-0.007332280278205872, 1.718183159828186, 3.222460985183716], [-0.15839225053787231, 0.8297666311264038, 3.3797974586486816], [0.20032000541687012, 0.8044215440750122, 3.5810863971710205], [0.22173643112182617, 1.6771937608718872, 3.6528146266937256], [-0.13697582483291626, 1.7025388479232788, 3.4515256881713867]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1346, "image_id": 193, "category_id": 70, "category_name": "trash_can", "bbox2D_proj": [432.0, 413.0, 489.0, 512.0], "bbox2D_tight": [432.0, 413.0, 489.0, 512.0], "bbox2D_trunc": [432.0, 413.0, 489.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1347, "image_id": 194, "category_id": 70, "category_name": "trash_can", "bbox2D_proj": [433.0, 413.0, 487.0, 496.0], "bbox2D_tight": [433.0, 413.0, 487.0, 496.0], "bbox2D_trunc": [433.0, 413.0, 487.0, 496.0], "center_cam": [1.3219510925298612, 1.2907934036121014, 2.884564326559703], "dimensions": [0.3183596429312966, 0.48291016172769863, 0.32519558456243325], "R_cam": [[0.4718283414840698, 0.0072479248046875, 0.8816607594490051], [-0.05346333980560303, 0.9983614087104797, 0.020403923466801643], [-0.8800681233406067, -0.05676359683275223, 0.47144269943237305]], "bbox3D_cam": [[1.1031402349472046, 1.0551791191101074, 2.966323137283325], [1.256576657295227, 1.0377931594848633, 2.680129051208496], [1.260076880455017, 1.5199118852615356, 2.652717351913452], [1.106640338897705, 1.5372979640960693, 2.9389114379882812], [1.383825421333313, 1.061674952507019, 3.1164114475250244], [1.537261962890625, 1.0442888736724854, 2.8302173614501953], [1.5407620668411255, 1.5264077186584473, 2.8028056621551514], [1.387325644493103, 1.5437936782836914, 3.0889997482299805]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1348, "image_id": 194, "category_id": 45, "category_name": "person", "bbox2D_proj": [464.0, 292.0, 490.0, 356.0], "bbox2D_tight": [464.0, 292.0, 490.0, 356.0], "bbox2D_trunc": [464.0, 292.0, 490.0, 356.0], "center_cam": [2.271455288287725, 0.6839109782200103, 4.5226115622644425], "dimensions": [0.2226562764334919, 0.6540527418371281, 0.2548828387895541], "R_cam": [[0.6443331241607666, 0.07757288217544556, 0.7608003616333008], [-0.19679021835327148, 0.9781584739685059, 0.06692948937416077], [-0.738991379737854, -0.19284304976463318, 0.6455254554748535]], "bbox3D_cam": [[2.0792737007141113, 0.38165542483329773, 4.607989311218262], [2.2435030937194824, 0.3314969837665558, 4.419632911682129], [2.2942399978637695, 0.9712642431259155, 4.293503761291504], [2.1300103664398193, 1.0214226245880127, 4.4818596839904785], [2.2486705780029297, 0.3965577185153961, 4.7517194747924805], [2.41290020942688, 0.3463992774486542, 4.563363552093506], [2.463636875152588, 0.9861664772033691, 4.437233924865723], [2.299407482147217, 1.0363249778747559, 4.6255903244018555]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1349, "image_id": 194, "category_id": 62, "category_name": "statue", "bbox2D_proj": [413.0, 181.0, 445.0, 235.0], "bbox2D_tight": [413.0, 181.0, 445.0, 235.0], "bbox2D_trunc": [413.0, 181.0, 445.0, 235.0], "center_cam": [2.6454042404316978, -0.733927339333293, 6.791765572097881], "dimensions": [0.21093750276264417, 0.7661132899281792, 0.43505858652900053], "R_cam": [[0.9576110243797302, 0.10393476486206055, 0.2686609625816345], [-0.0900580883026123, 0.9939097762107849, -0.06350447982549667], [-0.27362507581710815, 0.03661751747131348, 0.9611392021179199]], "bbox3D_cam": [[2.3689475059509277, -1.0883631706237793, 6.7358903884887695], [2.785564661026001, -1.1275436878204346, 6.616847515106201], [2.865190267562866, -0.3660961091518402, 6.644900798797607], [2.448573350906372, -0.32691559195518494, 6.763943672180176], [2.4256184101104736, -1.101758599281311, 6.9386305809021], [2.8422353267669678, -1.1409391164779663, 6.819587707519531], [2.921861171722412, -0.3794915974140167, 6.8476409912109375], [2.505244016647339, -0.34031108021736145, 6.966683864593506]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1350, "image_id": 194, "category_id": 45, "category_name": "person", "bbox2D_proj": [107.0, 356.0, 140.0, 394.0], "bbox2D_tight": [107.0, 356.0, 140.0, 394.0], "bbox2D_trunc": [107.0, 356.0, 140.0, 394.0], "center_cam": [-1.0057319601547239, 0.8607127547824311, 3.2760478829832773], "dimensions": [0.17187500241802342, 0.2519531273173008, 0.3564453057668449], "R_cam": [[-0.9267141819000244, 0.06967608630657196, -0.36925065517425537], [-0.006022635847330093, 0.9797783493995667, 0.1999952495098114], [0.37571871280670166, 0.18756228685379028, -0.9075548648834229]], "bbox3D_cam": [[-0.8176155686378479, 0.7211699485778809, 3.263450860977173], [-1.1479384899139404, 0.7190232276916504, 3.397374153137207], [-1.1303833723068237, 0.9658814072608948, 3.4446310997009277], [-0.8000604510307312, 0.96802818775177, 3.3107078075408936], [-0.8810805082321167, 0.755544126033783, 3.1074647903442383], [-1.2114033699035645, 0.7533973455429077, 3.2413880825042725], [-1.1938483715057373, 1.0002555847167969, 3.288645029067993], [-0.863525390625, 1.0024023056030273, 3.154721736907959]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1351, "image_id": 194, "category_id": 45, "category_name": "person", "bbox2D_proj": [296.0, 311.0, 316.0, 394.0], "bbox2D_tight": [296.0, 311.0, 316.0, 394.0], "bbox2D_trunc": [296.0, 311.0, 316.0, 394.0], "center_cam": [0.5154854022817748, 0.9324341469127366, 4.447584410361289], "dimensions": [0.2285156344709021, 0.7617187569871129, 0.3242187651939954], "R_cam": [[0.37235233187675476, 0.08299005031585693, 0.9243735671043396], [-0.06505334377288818, 0.9958781003952026, -0.06320515275001526], [-0.9258087873458862, -0.036599040031433105, 0.3762162923812866]], "bbox3D_cam": [[0.3178991675376892, 0.5709120631217957, 4.568620204925537], [0.43862277269363403, 0.5498205423355103, 4.268455982208252], [0.5018378496170044, 1.3083995580673218, 4.240577697753906], [0.3811142146587372, 1.329491138458252, 4.54074239730835], [0.5291329622268677, 0.5564687252044678, 4.6545915603637695], [0.6498565673828125, 0.5353772044181824, 4.354426860809326], [0.7130716443061829, 1.2939562797546387, 4.326549053192139], [0.592348039150238, 1.3150477409362793, 4.626713275909424]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1352, "image_id": 194, "category_id": 13, "category_name": "building", "bbox2D_proj": [92.0, 133.0, 256.0, 282.0], "bbox2D_tight": [92.0, 133.0, 256.0, 282.0], "bbox2D_trunc": [92.0, 133.0, 256.0, 282.0], "center_cam": [-1.0913228780000983, -0.9607376303109206, 7.345273699776531], "dimensions": [1.371093779873831, 2.2551269722067087, 2.375976535416942], "R_cam": [[0.989334762096405, 0.05790582299232483, 0.13365480303764343], [-0.02175123430788517, 0.966027021408081, -0.2575241029262543], [-0.14402630925178528, 0.25187042355537415, 0.9569836854934692]], "bbox3D_cam": [[-2.42356014251709, -1.8476094007492065, 6.57631778717041], [-0.07292389869689941, -1.8992897272109985, 6.234114646911621], [0.05766105651855469, 0.2792237401008606, 6.802114486694336], [-2.2929751873016357, 0.3309040665626526, 7.144317626953125], [-2.240306854248047, -2.2006990909576416, 7.888432502746582], [0.11032938957214355, -2.2523794174194336, 7.546229362487793], [0.24091434478759766, -0.07386589050292969, 8.114229202270508], [-2.1097218990325928, -0.022185564041137695, 8.456432342529297]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1353, "image_id": 194, "category_id": 45, "category_name": "person", "bbox2D_proj": [144.0, 318.0, 178.0, 377.0], "bbox2D_tight": [144.0, 318.0, 178.0, 377.0], "bbox2D_trunc": [144.0, 318.0, 178.0, 377.0], "center_cam": [-0.9873660910728219, 0.958616623797145, 4.752718496245723], "dimensions": [0.24609376311378905, 0.6406250074901889, 0.3051757907042958], "R_cam": [[0.9983675479888916, -0.05698657035827637, 0.0038609211333096027], [0.05253475904464722, 0.8896416425704956, -0.4536275267601013], [0.022415848448872566, 0.45308980345726013, 0.8911831378936768]], "bbox3D_cam": [[-1.1219264268875122, 0.7214545607566833, 4.494510650634766], [-0.8172488808631897, 0.7374868988990784, 4.501351356506348], [-0.8537558913230896, 1.3074135780334473, 4.791611671447754], [-1.158433437347412, 1.2913812398910522, 4.784770965576172], [-1.1209763288497925, 0.6098196506500244, 4.713825225830078], [-0.8162987232208252, 0.6258519887924194, 4.72066593170166], [-0.8528057336807251, 1.1957786083221436, 5.010926246643066], [-1.1574833393096924, 1.179746389389038, 5.004085540771484]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1354, "image_id": 194, "category_id": 45, "category_name": "person", "bbox2D_proj": [346.0, 311.0, 364.0, 343.0], "bbox2D_tight": [346.0, 311.0, 364.0, 343.0], "bbox2D_trunc": [346.0, 311.0, 364.0, 343.0], "center_cam": [0.992466120123812, 0.7782615536405788, 4.4840877275712225], "dimensions": [0.1643113729952378, 0.3412079592494792, 1.263130692232083], "R_cam": [[0.20106810331344604, 0.0024089007638394833, -0.9795743823051453], [-0.00032239232677966356, 0.9999971389770508, 0.0023929483722895384], [0.9795772433280945, -0.00016533839516341686, 0.20106840133666992]], "bbox3D_cam": [[0.9455450177192688, 0.6076650619506836, 3.8489303588867188], [1.199520468711853, 0.6072578430175781, 5.086264133453369], [1.2003424167633057, 0.9484648108482361, 5.086207866668701], [0.9463669657707214, 0.9488720297813416, 3.8488738536834717], [0.7845897674560547, 0.6080582737922668, 3.8819680213928223], [1.0385652780532837, 0.6076510548591614, 5.119301795959473], [1.0393872261047363, 0.9488580226898193, 5.119245529174805], [0.7854117155075073, 0.9492652416229248, 3.8819117546081543]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1355, "image_id": 194, "category_id": 45, "category_name": "person", "bbox2D_proj": [282.0, 325.0, 303.0, 407.0], "bbox2D_tight": [282.0, 325.0, 303.0, 407.0], "bbox2D_trunc": [282.0, 325.0, 303.0, 407.0], "center_cam": [0.36792219853124075, 1.0838860908413466, 4.4109819814637845], "dimensions": [0.2236328103147005, 0.7285156309879324, 0.2617187564573265], "R_cam": [[0.2538013160228729, 0.031468749046325684, -0.9667443037033081], [0.07413637638092041, 0.995897650718689, 0.05188089609146118], [0.9644110798835754, -0.08483836054801941, 0.25042712688446045]], "bbox3D_cam": [[0.43134504556655884, 0.7056200504302979, 4.2876811027526855], [0.4977695941925049, 0.7250229120254517, 4.540085792541504], [0.5206950902938843, 1.4505499601364136, 4.4782795906066895], [0.45427054166793823, 1.4311470985412598, 4.225874900817871], [0.21514928340911865, 0.7172223329544067, 4.343684673309326], [0.2815738320350647, 0.7366251945495605, 4.5960893630981445], [0.3044993281364441, 1.4621522426605225, 4.53428316116333], [0.23807476460933685, 1.4427493810653687, 4.281878471374512]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1356, "image_id": 194, "category_id": 45, "category_name": "person", "bbox2D_proj": [364.0, 351.0, 411.0, 481.0], "bbox2D_tight": [364.0, 351.0, 411.0, 481.0], "bbox2D_trunc": [364.0, 351.0, 411.0, 481.0], "center_cam": [0.9974903416187647, 1.2006752285698736, 3.251773563492388], "dimensions": [0.28515626296837193, 0.9131469836276042, 0.4042968900814691], "R_cam": [[0.9586530923843384, 0.06941425800323486, -0.27598193287849426], [-0.0014439821243286133, 0.9709693193435669, 0.2391997128725052], [0.28457382321357727, -0.22891102731227875, 0.9309229254722595]], "bbox3D_cam": [[0.8113564252853394, 0.723543643951416, 3.1660327911376953], [1.1989368200302124, 0.7229598760604858, 3.281085252761841], [1.262322187423706, 1.6095975637435913, 3.0720558166503906], [0.874741792678833, 1.6101813316345215, 2.957003593444824], [0.7326584458351135, 0.7917529344558716, 3.4314913749694824], [1.1202389001846313, 0.7911691665649414, 3.546543598175049], [1.183624267578125, 1.6778068542480469, 3.3375144004821777], [0.796043872833252, 1.678390622138977, 3.2224619388580322]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1357, "image_id": 194, "category_id": 45, "category_name": "person", "bbox2D_proj": [310.0, 297.0, 335.0, 368.0], "bbox2D_tight": [310.0, 297.0, 335.0, 368.0], "bbox2D_trunc": [310.0, 297.0, 335.0, 368.0], "center_cam": [0.6897831339632126, 0.8270776923812979, 4.737798306620646], "dimensions": [0.21679688419683057, 0.7344970771130453, 0.30859376394642246], "R_cam": [[0.8881683349609375, 0.015287041664123535, -0.45926395058631897], [0.05060094594955444, 0.9901148080825806, 0.13081379234790802], [0.45672380924224854, -0.13942387700080872, 0.8786150217056274]], "bbox3D_cam": [[0.5969108939170837, 0.4414719045162201, 4.623290061950684], [0.8709940910339355, 0.4570870101451874, 4.764232158660889], [0.8822224140167236, 1.1843234300613403, 4.661825656890869], [0.608139157295227, 1.168708324432373, 4.520883560180664], [0.49734392762184143, 0.4698319137096405, 4.813770771026611], [0.7714271545410156, 0.4854470193386078, 4.954712867736816], [0.7826554179191589, 1.2126834392547607, 4.852306365966797], [0.5085722208023071, 1.1970683336257935, 4.711364269256592]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1358, "image_id": 194, "category_id": 13, "category_name": "building", "bbox2D_proj": [70.0, 174.0, 123.0, 287.0], "bbox2D_tight": [70.0, 174.0, 123.0, 287.0], "bbox2D_trunc": [70.0, 174.0, 123.0, 287.0], "center_cam": [-2.2752120110140863, -0.36593818180188775, 6.731612945962366], "dimensions": [0.734619207997673, 1.4802246247973936, 0.8750000871926723], "R_cam": [[0.3530978262424469, 0.09601575136184692, 0.930646538734436], [0.10091555118560791, 0.9850078821182251, -0.13991284370422363], [-0.9301279783248901, 0.14331963658332825, 0.33811473846435547]], "bbox3D_cam": [[-2.842590093612671, -1.0877138376235962, 6.908278942108154], [-2.5336294174194336, -0.9994127750396729, 6.094416618347168], [-2.3915045261383057, 0.4586200714111328, 6.3065619468688965], [-2.700465202331543, 0.3703190088272095, 7.120423793792725], [-2.1589195728302, -1.1904964447021484, 7.1566643714904785], [-1.849958896636963, -1.102195382118225, 6.34280252456665], [-1.707834005355835, 0.35583746433258057, 6.554947376251221], [-2.0167946815490723, 0.2675364017486572, 7.368809700012207]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1359, "image_id": 194, "category_id": 13, "category_name": "building", "bbox2D_proj": [251.0, 160.0, 294.0, 264.0], "bbox2D_tight": [251.0, 160.0, 294.0, 264.0], "bbox2D_trunc": [251.0, 160.0, 294.0, 264.0], "center_cam": [0.26882794900940915, -0.666048263443278, 7.252302663134148], "dimensions": [0.5195680114350614, 1.6776137951060561, 0.6866780899731598], "R_cam": [[-0.9966118335723877, 0.002408900298178196, -0.08221423625946045], [0.002414338756352663, 0.9999971389770508, 3.326734440634027e-05], [0.08221407234668732, -0.00016533839516341686, -0.9966146945953369]], "bbox3D_cam": [[0.6303410530090332, -1.505690336227417, 7.483118534088135], [-0.05401045083999634, -1.5040324926376343, 7.5395731925964355], [-0.049969255924224854, 0.1735764741897583, 7.539295673370361], [0.6343822479248047, 0.17191863059997559, 7.4828410148620605], [0.5876251459121704, -1.5056730508804321, 6.9653096199035645], [-0.09672635793685913, -1.5040152072906494, 7.021764278411865], [-0.09268516302108765, 0.17359375953674316, 7.021486759185791], [0.5916663408279419, 0.17193591594696045, 6.96503210067749]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1360, "image_id": 194, "category_id": 45, "category_name": "person", "bbox2D_proj": [354.0, 432.0, 428.0, 512.0], "bbox2D_tight": [354.0, 432.0, 428.0, 512.0], "bbox2D_trunc": [354.0, 432.0, 428.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1361, "image_id": 194, "category_id": 45, "category_name": "person", "bbox2D_proj": [333.0, 361.0, 390.0, 504.0], "bbox2D_tight": [333.0, 361.0, 390.0, 504.0], "bbox2D_trunc": [333.0, 361.0, 390.0, 504.0], "center_cam": [0.7401921515910401, 1.2768946530631018, 3.2030106130906013], "dimensions": [0.3496093936413223, 0.9384765692207198, 0.36889649110789535], "R_cam": [[0.927907407283783, 0.03405481576919556, 0.3712520897388458], [-0.009205222129821777, 0.997608482837677, -0.06850288808345795], [-0.37269705533981323, 0.06014692783355713, 0.926001787185669]], "bbox3D_cam": [[0.48816484212875366, 0.822451114654541, 3.0816612243652344], [0.830466628074646, 0.8190553784370422, 2.9441745281219482], [0.8624262809753418, 1.755287528038025, 3.0006210803985596], [0.5201244950294495, 1.758683204650879, 3.1381077766418457], [0.6179580688476562, 0.7985018491744995, 3.405400037765503], [0.9602598547935486, 0.7951061129570007, 3.267913341522217], [0.9922195076942444, 1.7313382625579834, 3.324359893798828], [0.649917721748352, 1.734734058380127, 3.4618465900421143]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1362, "image_id": 195, "category_id": 47, "category_name": "pipe", "bbox2D_proj": [210.0, 156.0, 231.0, 286.0], "bbox2D_tight": [210.0, 156.0, 231.0, 286.0], "bbox2D_trunc": [210.0, 156.0, 231.0, 286.0], "center_cam": [-0.18684361732310414, -0.1825787391712803, 2.3090729318170777], "dimensions": [0.0738281478289311, 0.6659471050839713, 0.1057925288109205], "R_cam": [[-0.9979379177093506, 0.0013688205508515239, -0.06417175382375717], [0.0013706436147913337, 0.9999990463256836, 1.561384488013573e-05], [0.06417170912027359, -7.237493991851807e-05, -0.997938871383667]], "bbox3D_cam": [[-0.13214337825775146, -0.515625, 2.3425405025482178], [-0.23771774768829346, -0.5154800415039062, 2.3493294715881348], [-0.23680618405342102, 0.1504664123058319, 2.3492813110351562], [-0.13123181462287903, 0.15032139420509338, 2.3424923419952393], [-0.1368810534477234, -0.515623927116394, 2.268864631652832], [-0.24245542287826538, -0.5154788494110107, 2.275653600692749], [-0.24154385924339294, 0.15046754479408264, 2.2756054401397705], [-0.13596948981285095, 0.15032252669334412, 2.2688164710998535]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1363, "image_id": 195, "category_id": 47, "category_name": "pipe", "bbox2D_proj": [148.0, 189.0, 207.0, 282.0], "bbox2D_tight": [148.0, 189.0, 207.0, 282.0], "bbox2D_trunc": [148.0, 189.0, 207.0, 282.0], "center_cam": [-0.4082007726643797, -0.10773583128818073, 2.3479740801475018], "dimensions": [0.0654355127795001, 0.48060163293589964, 0.30239420863431343], "R_cam": [[-0.9954009056091309, 0.0013688205508515239, -0.09578873217105865], [0.0013694589724764228, 0.9999991655349731, 5.907547165406868e-05], [0.09578871726989746, -7.237494719447568e-05, -0.9954016804695129]], "bbox3D_cam": [[-0.254893958568573, -0.34824541211128235, 2.3660757541656494], [-0.5558974742889404, -0.3478313088417053, 2.3950417041778564], [-0.5552395582199097, 0.1327698826789856, 2.3950068950653076], [-0.254236102104187, 0.13235577940940857, 2.3660409450531006], [-0.2611619532108307, -0.34824153780937195, 2.300941228866577], [-0.5621654391288757, -0.3478274345397949, 2.329907178878784], [-0.5615075826644897, 0.132773756980896, 2.3298723697662354], [-0.2605040967464447, 0.13235965371131897, 2.3009064197540283]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1364, "image_id": 195, "category_id": 47, "category_name": "pipe", "bbox2D_proj": [355.0, 174.0, 363.0, 275.0], "bbox2D_tight": [355.0, 174.0, 363.0, 275.0], "bbox2D_trunc": [355.0, 174.0, 363.0, 275.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1365, "image_id": 195, "category_id": 47, "category_name": "pipe", "bbox2D_proj": [408.0, 169.0, 419.0, 250.0], "bbox2D_tight": [408.0, 169.0, 419.0, 250.0], "bbox2D_trunc": [408.0, 169.0, 419.0, 250.0], "center_cam": [0.7884934989950292, -0.23392408445577617, 2.215328542360875], "dimensions": [0.03906251462406064, 0.39575195887893755, 0.04003907721780128], "R_cam": [[-0.5903520584106445, 0.037068724632263184, -0.806294322013855], [-0.05789840221405029, 0.9944267272949219, 0.08810991048812866], [0.8050666451454163, 0.09869900345802307, -0.5849156379699707]], "bbox3D_cam": [[0.8087249994277954, -0.43125903606414795, 2.191105365753174], [0.7850878834724426, -0.4335772395133972, 2.223339557647705], [0.7997578978538513, -0.04003094136714935, 2.262399911880493], [0.8233950138092041, -0.037712737917900085, 2.230165719985962], [0.7772291302680969, -0.4278172254562378, 2.168256998062134], [0.7535920143127441, -0.43013542890548706, 2.200491189956665], [0.7682620286941528, -0.036589160561561584, 2.239551544189453], [0.7918991446495056, -0.03427095711231232, 2.207317352294922]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1366, "image_id": 195, "category_id": 47, "category_name": "pipe", "bbox2D_proj": [378.0, 172.0, 389.0, 275.0], "bbox2D_tight": [378.0, 172.0, 389.0, 275.0], "bbox2D_trunc": [378.0, 172.0, 389.0, 275.0], "center_cam": [0.6437739093008705, -0.15934154576394968, 2.2443280957863934], "dimensions": [0.051587345325627254, 0.5287250336344037, 0.08230244812776721], "R_cam": [[0.2842005491256714, 0.001368820434436202, -0.958763837814331], [-0.00031962915090844035, 0.9999990463256836, 0.001332945772446692], [0.9587647914886475, -7.237493991851807e-05, 0.28420066833496094]], "bbox3D_cam": [[0.6564468741416931, -0.42372506856918335, 2.1975622177124023], [0.6798372864723206, -0.4237513542175293, 2.276470899581909], [0.6805610060691833, 0.1049731969833374, 2.276432752609253], [0.6571705937385559, 0.10499948263168335, 2.197524070739746], [0.6069868206977844, -0.42365628480911255, 2.2122232913970947], [0.6303772330284119, -0.4236825704574585, 2.2911319732666016], [0.6311009526252747, 0.1050419807434082, 2.2910938262939453], [0.6077105402946472, 0.10506826639175415, 2.2121851444244385]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1367, "image_id": 196, "category_id": 45, "category_name": "person", "bbox2D_proj": [409.0, 215.0, 466.0, 367.0], "bbox2D_tight": [409.0, 215.0, 466.0, 367.0], "bbox2D_trunc": [409.0, 215.0, 466.0, 367.0], "center_cam": [1.6373243017090813, 0.30827618273413543, 4.0854236153234496], "dimensions": [0.40234376691642776, 1.3544921682183548, 0.513671882043549], "R_cam": [[0.9992721080780029, 0.008777022361755371, 0.037124402821063995], [-0.01087653636932373, 0.9983301162719727, 0.05673437565565109], [-0.03656444698572159, -0.05709686130285263, 0.9976987838745117]], "bbox3D_cam": [[1.3672627210617065, -0.3764588236808777, 3.932774305343628], [1.8805607557296753, -0.38204580545425415, 3.913992166519165], [1.892449140548706, 0.9701845049858093, 3.8366549015045166], [1.3791512250900269, 0.9757714867591858, 3.8554370403289795], [1.3821995258331299, -0.3536321520805359, 4.334192276000977], [1.895497441291809, -0.35921913385391235, 4.315410137176514], [1.9073859453201294, 0.9930111765861511, 4.238072872161865], [1.3940879106521606, 0.9985981583595276, 4.256855010986328]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1368, "image_id": 196, "category_id": 20, "category_name": "coat", "bbox2D_proj": [25.0, 275.0, 77.0, 357.0], "bbox2D_tight": [25.0, 275.0, 77.0, 357.0], "bbox2D_trunc": [25.0, 275.0, 77.0, 357.0], "center_cam": [-2.045577477181192, 0.593697881639828, 4.347330008859897], "dimensions": [0.4160156441680496, 0.8338012703981588, 0.5546875362880033], "R_cam": [[0.6648380756378174, 0.11997723579406738, 0.7372896075248718], [-0.19699478149414062, 0.9802370667457581, 0.018124939873814583], [-0.7205439209938049, -0.1572922319173813, 0.6753339767456055]], "bbox3D_cam": [[-2.433346748352051, 0.2359015941619873, 4.472269058227539], [-2.0645694732666016, 0.12663108110427856, 4.072592258453369], [-1.9645321369171143, 0.9439539313316345, 3.941441774368286], [-2.3333096504211426, 1.0532244443893433, 4.341118335723877], [-2.1266229152679443, 0.2434418797492981, 4.753218650817871], [-1.757845401763916, 0.13417136669158936, 4.353541851043701], [-1.6578081846237183, 0.9514942169189453, 4.222391128540039], [-2.026585578918457, 1.0607647895812988, 4.622067928314209]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1369, "image_id": 196, "category_id": 45, "category_name": "person", "bbox2D_proj": [297.0, 227.0, 336.0, 383.0], "bbox2D_tight": [297.0, 227.0, 336.0, 383.0], "bbox2D_trunc": [297.0, 227.0, 336.0, 383.0], "center_cam": [0.5158452348934688, 0.39422027068421145, 3.9980227933216783], "dimensions": [0.3627929670614237, 1.3356933384114011, 0.43750001108694375], "R_cam": [[0.12291225790977478, 0.018754005432128906, 0.992240309715271], [-0.005067110061645508, 0.9998202323913574, -0.018269598484039307], [-0.9924046397209167, -0.002782195806503296, 0.12298524379730225]], "bbox3D_cam": [[0.29644447565078735, -0.2690839469432831, 4.194660186767578], [0.35021859407424927, -0.2713007628917694, 3.7604832649230957], [0.37526819109916687, 1.064152479171753, 3.7567670345306396], [0.32149410247802734, 1.0663692951202393, 4.190944194793701], [0.6564222574234009, -0.2757119834423065, 4.239278316497803], [0.7101963758468628, -0.27792879939079285, 3.8051013946533203], [0.7352460026741028, 1.0575244426727295, 3.8013854026794434], [0.6814718842506409, 1.0597412586212158, 4.235562324523926]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1370, "image_id": 196, "category_id": 45, "category_name": "person", "bbox2D_proj": [0.0, 204.0, 50.0, 512.0], "bbox2D_tight": [0.0, 204.0, 50.0, 512.0], "bbox2D_trunc": [0.0, 204.0, 50.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1371, "image_id": 196, "category_id": 45, "category_name": "person", "bbox2D_proj": [329.0, 233.0, 354.0, 347.0], "bbox2D_tight": [329.0, 233.0, 354.0, 347.0], "bbox2D_trunc": [329.0, 233.0, 354.0, 347.0], "center_cam": [0.8748457444919551, 0.3455686649435785, 4.779651994201288], "dimensions": [0.36816434675399434, 1.1784667793112125, 0.37500029311368455], "R_cam": [[0.4405753016471863, 0.02487790584564209, -0.8973709344863892], [0.011019468307495117, 0.9993907809257507, 0.03311634063720703], [0.89764803647995, -0.024478822946548462, 0.4400327205657959]], "bbox3D_cam": [[0.942768931388855, -0.2514680027961731, 4.544764518737793], [1.1079847812652588, -0.24733573198318481, 4.881382942199707], [1.1373025178909302, 0.9304130673408508, 4.852535247802734], [0.9720866680145264, 0.9262807965278625, 4.5159173011779785], [0.6123889684677124, -0.2392757534980774, 4.706768989562988], [0.7776048183441162, -0.2351434826850891, 5.043386936187744], [0.8069225549697876, 0.9426053166389465, 5.01453971862793], [0.6417067050933838, 0.9384730458259583, 4.677921295166016]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1372, "image_id": 196, "category_id": 45, "category_name": "person", "bbox2D_proj": [227.0, 185.0, 342.0, 482.0], "bbox2D_tight": [227.0, 185.0, 342.0, 482.0], "bbox2D_trunc": [227.0, 185.0, 342.0, 482.0], "center_cam": [0.15445281581481363, 0.42957859194052783, 2.517420378074698], "dimensions": [0.625000024996198, 1.5454101418334436, 0.8291016110458398], "R_cam": [[-0.6249657273292542, -0.010320305824279785, -0.7805839776992798], [0.07641243934631348, 0.9943022131919861, -0.0743245780467987], [0.7769033908843994, -0.10609659552574158, -0.6206161975860596]], "bbox3D_cam": [[0.6654397249221802, -0.3471742272377014, 2.471278190612793], [0.1472797989845276, -0.28382056951522827, 3.115410089492798], [0.13133078813552856, 1.252784252166748, 2.9514472484588623], [0.6494907140731812, 1.1894307136535645, 2.3073155879974365], [0.17757484316825867, -0.3936271071434021, 2.0833933353424072], [-0.3405851125717163, -0.33027344942092896, 2.727524995803833], [-0.35653412342071533, 1.206331491470337, 2.5635623931884766], [0.16162583231925964, 1.1429777145385742, 1.9194304943084717]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1373, "image_id": 197, "category_id": 45, "category_name": "person", "bbox2D_proj": [211.0, 354.0, 275.0, 512.0], "bbox2D_tight": [211.0, 354.0, 275.0, 512.0], "bbox2D_trunc": [211.0, 354.0, 275.0, 512.0], "center_cam": [-0.13489961928014663, 1.971081974035234, 4.77706172524371], "dimensions": [0.6655998048046279, 1.9185189289929974, 1.2561906884805154], "R_cam": [[-0.04530620574951172, -0.00012338462693151087, 0.9989731907844543], [-0.0001672807993600145, 1.0, 0.00011592480586841702], [-0.9989731907844543, -0.000161856907652691, -0.04530608654022217]], "bbox3D_cam": [[-0.43878284096717834, 1.0118889808654785, 5.419745445251465], [-0.4956960678100586, 1.01167893409729, 4.164844512939453], [-0.49593278765678406, 2.9301977157592773, 4.164534091949463], [-0.4390195608139038, 2.930408000946045, 5.419435024261475], [0.2261335551738739, 1.0119662284851074, 5.389589786529541], [0.16922032833099365, 1.0117559432983398, 4.134688854217529], [0.1689836084842682, 2.9302749633789062, 4.134378433227539], [0.22589683532714844, 2.9304850101470947, 5.389279365539551]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1374, "image_id": 197, "category_id": 45, "category_name": "person", "bbox2D_proj": [211.0, 328.0, 255.0, 399.0], "bbox2D_tight": [211.0, 328.0, 255.0, 399.0], "bbox2D_trunc": [211.0, 328.0, 255.0, 399.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1375, "image_id": 197, "category_id": 45, "category_name": "person", "bbox2D_proj": [260.0, 337.0, 282.0, 391.0], "bbox2D_tight": [260.0, 337.0, 282.0, 391.0], "bbox2D_trunc": [260.0, 337.0, 282.0, 391.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1376, "image_id": 197, "category_id": 13, "category_name": "building", "bbox2D_proj": [458.0, 10.0, 512.0, 279.0], "bbox2D_tight": [458.0, 10.0, 512.0, 279.0], "bbox2D_trunc": [458.0, 10.0, 512.0, 279.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1377, "image_id": 198, "category_id": 45, "category_name": "person", "bbox2D_proj": [338.0, 223.0, 352.0, 285.0], "bbox2D_tight": [338.0, 223.0, 352.0, 285.0], "bbox2D_trunc": [338.0, 223.0, 352.0, 285.0], "center_cam": [0.9452835353543383, -0.029845559461884413, 4.781154828554861], "dimensions": [0.18554701634009507, 0.6345214977633029, 0.18750013739332272], "R_cam": [[-0.06668511033058167, -0.003415703773498535, 0.9977682828903198], [-0.01969313621520996, 0.999803900718689, 0.00210648775100708], [-0.9975797533988953, -0.019508719444274902, -0.06673932075500488]], "bbox3D_cam": [[0.8600524663925171, -0.34539327025413513, 4.887058734893799], [0.8475490212440491, -0.3490857183933258, 4.700012683868408], [0.8453816771507263, 0.2853113114833832, 4.687633991241455], [0.8578851222991943, 0.28900375962257385, 4.874680042266846], [1.0451853275299072, -0.3450024425983429, 4.874675273895264], [1.032681941986084, -0.34869489073753357, 4.687629222869873], [1.0305145978927612, 0.2857021391391754, 4.67525053024292], [1.043018102645874, 0.2893945872783661, 4.8622965812683105]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1378, "image_id": 198, "category_id": 45, "category_name": "person", "bbox2D_proj": [433.0, 221.0, 449.0, 282.0], "bbox2D_tight": [433.0, 221.0, 449.0, 282.0], "bbox2D_trunc": [433.0, 221.0, 449.0, 282.0], "center_cam": [1.810821255861379, -0.04408465269337373, 4.36554315752579], "dimensions": [0.15917969941183585, 0.5684814572768295, 0.19921876455585708], "R_cam": [[0.5417600870132446, 0.06819641590118408, -0.8377619981765747], [-0.04828178882598877, 0.9975823163986206, 0.049983590841293335], [0.839145302772522, 0.013369530439376831, 0.5437429547309875]], "bbox3D_cam": [[1.804150104522705, -0.32680702209472656, 4.234879970550537], [1.912078857421875, -0.33642566204071045, 4.402053356170654], [1.9508472681045532, 0.23068134486675262, 4.409653663635254], [1.8429183959960938, 0.2402999848127365, 4.242480278015137], [1.6707953214645386, -0.31885063648223877, 4.321433067321777], [1.778724193572998, -0.32846927642822266, 4.4886064529418945], [1.8174924850463867, 0.23863773047924042, 4.496206760406494], [1.7095637321472168, 0.2482563704252243, 4.329033374786377]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1379, "image_id": 198, "category_id": 45, "category_name": "person", "bbox2D_proj": [397.0, 226.0, 411.0, 283.0], "bbox2D_tight": [397.0, 226.0, 411.0, 283.0], "bbox2D_trunc": [397.0, 226.0, 411.0, 283.0], "center_cam": [1.487240919119896, -0.0363728128618068, 4.353864994334796], "dimensions": [0.14062500777359815, 0.6137695468159345, 0.18750001125181343], "R_cam": [[0.8620479106903076, -0.01904505491256714, 0.5064687728881836], [-0.11364686489105225, 0.9665838479995728, 0.2297825813293457], [-0.4939207434654236, -0.25564220547676086, 0.8310772180557251]], "bbox3D_cam": [[1.376657485961914, -0.3385048508644104, 4.420187950134277], [1.5382914543151855, -0.3598136305809021, 4.327577590942383], [1.5266021490097046, 0.23344606161117554, 4.170672416687012], [1.364968180656433, 0.25475484132766724, 4.263282299041748], [1.447879672050476, -0.30619168281555176, 4.537057876586914], [1.6095136404037476, -0.32750046253204346, 4.444447994232178], [1.5978243350982666, 0.2657592296600342, 4.287542343139648], [1.4361903667449951, 0.2870680093765259, 4.380152702331543]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1380, "image_id": 198, "category_id": 45, "category_name": "person", "bbox2D_proj": [288.0, 215.0, 313.0, 292.0], "bbox2D_tight": [288.0, 215.0, 313.0, 292.0], "bbox2D_trunc": [288.0, 215.0, 313.0, 292.0], "center_cam": [0.45676235186254444, -0.0385191415348799, 4.636599354292002], "dimensions": [0.23437500678985046, 0.799255391995694, 0.41015625176866666], "R_cam": [[0.4088861346244812, 0.018017053604125977, 0.9124075174331665], [0.09457069635391235, 0.9935855269432068, -0.06200087070465088], [-0.9076719880104065, 0.11163830757141113, 0.4045593738555908]], "bbox3D_cam": [[0.2587859034538269, -0.4477120637893677, 4.730720043182373], [0.4264930486679077, -0.40892332792282104, 4.358432769775391], [0.4408932626247406, 0.3852052688598633, 4.447660446166992], [0.2731860876083374, 0.34641653299331665, 4.819947719573975], [0.47263142466545105, -0.46224355697631836, 4.825538635253906], [0.6403385996818542, -0.42345482110977173, 4.453251361846924], [0.6547387838363647, 0.3706737756729126, 4.542479038238525], [0.48703163862228394, 0.33188503980636597, 4.914766311645508]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1381, "image_id": 198, "category_id": 45, "category_name": "person", "bbox2D_proj": [189.0, 230.0, 208.0, 295.0], "bbox2D_tight": [189.0, 230.0, 208.0, 295.0], "bbox2D_trunc": [189.0, 230.0, 208.0, 295.0], "center_cam": [-0.5920546262030204, 0.05737071549622459, 4.5762678363911995], "dimensions": [0.21875001897796803, 0.6340942526251898, 0.23022463598796233], "R_cam": [[-0.9995853900909424, 0.012737870216369629, 0.02582268975675106], [0.014793932437896729, 0.9965989589691162, 0.0810665413737297], [-0.024702250957489014, 0.08141495287418365, -0.9963741302490234]], "bbox3D_cam": [[-0.4838528633117676, -0.2691677212715149, 4.6622772216796875], [-0.7139820456504822, -0.2657617926597595, 4.656590461730957], [-0.7059050798416138, 0.3661758303642273, 4.70821475982666], [-0.47577589750289917, 0.3627699017524719, 4.713901996612549], [-0.4782041609287262, -0.2514343857765198, 4.4443206787109375], [-0.7083333134651184, -0.2480284571647644, 4.438633441925049], [-0.70025634765625, 0.3839091658592224, 4.49025821685791], [-0.4701271653175354, 0.38050323724746704, 4.495944976806641]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1382, "image_id": 198, "category_id": 45, "category_name": "person", "bbox2D_proj": [347.0, 255.0, 374.0, 280.0], "bbox2D_tight": [347.0, 255.0, 374.0, 280.0], "bbox2D_trunc": [347.0, 255.0, 374.0, 280.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1383, "image_id": 198, "category_id": 45, "category_name": "person", "bbox2D_proj": [485.0, 223.0, 512.0, 294.0], "bbox2D_tight": [485.0, 223.0, 512.0, 294.0], "bbox2D_trunc": [485.0, 223.0, 512.0, 294.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1384, "image_id": 198, "category_id": 45, "category_name": "person", "bbox2D_proj": [240.0, 231.0, 268.0, 301.0], "bbox2D_tight": [240.0, 231.0, 268.0, 301.0], "bbox2D_trunc": [240.0, 231.0, 268.0, 301.0], "center_cam": [-0.01965646393152431, 0.09629114345415875, 4.391606281320385], "dimensions": [0.1992187496036656, 0.6582031392094039, 0.27856446146270875], "R_cam": [[-0.997721791267395, 0.04810893535614014, 0.04729623347520828], [0.04717963933944702, 0.998674750328064, -0.020568927749991417], [-0.0482230968773365, -0.01829064078629017, -0.9986693859100342]], "bbox3D_cam": [[0.09876459836959839, -0.23689666390419006, 4.503819465637207], [-0.17916521430015564, -0.22375407814979553, 4.490386009216309], [-0.14749982953071594, 0.43357667326927185, 4.478346824645996], [0.13042998313903809, 0.4204340875148773, 4.4917802810668945], [0.10818690061569214, -0.24099436402320862, 4.304865837097168], [-0.1697429120540619, -0.2278517782688141, 4.2914323806762695], [-0.1380775272846222, 0.4294789731502533, 4.279393196105957], [0.13985228538513184, 0.41633638739585876, 4.2928266525268555]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1385, "image_id": 198, "category_id": 45, "category_name": "person", "bbox2D_proj": [163.0, 224.0, 184.0, 298.0], "bbox2D_tight": [163.0, 224.0, 184.0, 298.0], "bbox2D_trunc": [163.0, 224.0, 184.0, 298.0], "center_cam": [-0.8837867537969044, 0.03822838489252944, 4.595015109184318], "dimensions": [0.23437506936452776, 0.7391357602828548, 0.24609381895660287], "R_cam": [[0.3333258032798767, 0.04491555690765381, -0.9417412281036377], [0.09878110885620117, 0.9917032122612, 0.08226171135902405], [0.9376226663589478, -0.12044623494148254, 0.3261234760284424]], "bbox3D_cam": [[-0.8310404419898987, -0.35006803274154663, 4.485939025878906], [-0.7490110397338867, -0.32575857639312744, 4.716681957244873], [-0.7158123254776001, 0.4072447419166565, 4.627655982971191], [-0.7978417873382568, 0.3829352855682373, 4.396912574768066], [-1.0517611503601074, -0.3307879567146301, 4.562374114990234], [-0.9697316884994507, -0.30647850036621094, 4.793117523193359], [-0.9365330338478088, 0.426524817943573, 4.7040910720825195], [-1.0185624361038208, 0.4022153615951538, 4.473348140716553]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1386, "image_id": 198, "category_id": 45, "category_name": "person", "bbox2D_proj": [184.0, 230.0, 195.0, 283.0], "bbox2D_tight": [184.0, 230.0, 195.0, 283.0], "bbox2D_trunc": [184.0, 230.0, 195.0, 283.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1387, "image_id": 198, "category_id": 45, "category_name": "person", "bbox2D_proj": [153.0, 217.0, 165.0, 263.0], "bbox2D_tight": [153.0, 217.0, 165.0, 263.0], "bbox2D_trunc": [153.0, 217.0, 165.0, 263.0], "center_cam": [-1.0408045067265357, -0.18131233312912712, 4.732248039200732], "dimensions": [0.14671454212137094, 0.4301336594544576, 0.3562520426518141], "R_cam": [[0.20813465118408203, 0.04669785499572754, 0.9769848585128784], [0.20854699611663818, 0.9737722873687744, -0.09097269922494888], [-0.9556088447570801, 0.22268182039260864, 0.19293713569641113]], "bbox3D_cam": [[-1.1595908403396606, -0.4212125539779663, 4.840421676635742], [-1.0854424238204956, -0.3469172716140747, 4.499984264373779], [-1.0653561353683472, 0.07193489372730255, 4.595767021179199], [-1.1395044326782227, -0.0023603886365890503, 4.93620491027832], [-1.016252875328064, -0.43455958366394043, 4.8687286376953125], [-0.9421045184135437, -0.36026430130004883, 4.528290748596191], [-0.9220182299613953, 0.05858789384365082, 4.6240739822387695], [-0.9961665868759155, -0.015707388520240784, 4.964511394500732]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1388, "image_id": 198, "category_id": 45, "category_name": "person", "bbox2D_proj": [209.0, 227.0, 238.0, 305.0], "bbox2D_tight": [209.0, 227.0, 238.0, 305.0], "bbox2D_trunc": [209.0, 227.0, 238.0, 305.0], "center_cam": [-0.2971682796840429, 0.09096470669506253, 4.305763025895633], "dimensions": [0.2578124992674161, 0.771209734262305, 0.3275795072972844], "R_cam": [[0.9943684935569763, -7.30752944946289e-05, -0.10597875714302063], [-0.008178353309631348, 0.9969651103019714, -0.07742036134004593], [0.1056627631187439, 0.0778510794043541, 0.9913500547409058]], "bbox3D_cam": [[-0.4463461637496948, -0.28215035796165466, 4.130645751953125], [-0.12061147391796112, -0.28482940793037415, 4.165258884429932], [-0.12066774070262909, 0.48403969407081604, 4.2252984046936035], [-0.4464024305343628, 0.4867187440395355, 4.190685272216797], [-0.47366881370544434, -0.3021102845668793, 4.386228084564209], [-0.14793412387371063, -0.30478933453559875, 4.420841217041016], [-0.1479903906583786, 0.46407976746559143, 4.4808807373046875], [-0.4737250804901123, 0.4667588174343109, 4.446267604827881]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1389, "image_id": 198, "category_id": 45, "category_name": "person", "bbox2D_proj": [376.0, 216.0, 399.0, 292.0], "bbox2D_tight": [376.0, 216.0, 399.0, 292.0], "bbox2D_trunc": [376.0, 216.0, 399.0, 292.0], "center_cam": [1.3532064387677107, -0.02116145644922568, 4.517750289129494], "dimensions": [0.23046880211227472, 0.728027361723361, 0.2431641218489702], "R_cam": [[-0.9681046009063721, 0.07926762104034424, -0.23767700791358948], [0.03419739007949829, 0.9815607070922852, 0.18806707859039307], [0.24820199608802795, 0.17394061386585236, -0.9529640674591064]], "bbox3D_cam": [[1.4694446325302124, -0.40429258346557617, 4.53407096862793], [1.2340363264083862, -0.3959769606590271, 4.594424724578857], [1.2917453050613403, 0.3186260461807251, 4.721058368682861], [1.5271536111831665, 0.310310423374176, 4.660704612731934], [1.4146674871444702, -0.36094897985458374, 4.314442157745361], [1.179259181022644, -0.35263335704803467, 4.374795913696289], [1.2369681596755981, 0.36196964979171753, 4.501429557800293], [1.4723764657974243, 0.35365402698516846, 4.441075801849365]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1390, "image_id": 199, "category_id": 13, "category_name": "building", "bbox2D_proj": [254.0, 252.0, 392.0, 281.0], "bbox2D_tight": [254.0, 252.0, 392.0, 281.0], "bbox2D_trunc": [254.0, 252.0, 392.0, 281.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1391, "image_id": 199, "category_id": 15, "category_name": "car", "bbox2D_proj": [292.0, 290.0, 347.0, 336.0], "bbox2D_tight": [292.0, 290.0, 347.0, 336.0], "bbox2D_trunc": [292.0, 290.0, 347.0, 336.0], "center_cam": [2.480470021060636, 2.0270115254216226, 16.735571447574635], "dimensions": [1.695312495468088, 1.3686523648866171, 4.171875018357455], "R_cam": [[0.15663540363311768, 0.011796114966273308, 0.9875859618186951], [-0.04221993312239647, 0.9990944862365723, -0.005237221717834473], [-0.9867535829544067, -0.04087543487548828, 0.15699167549610138]], "bbox3D_cam": [[1.3085323572158813, 1.4358125925064087, 18.68877410888672], [1.9619959592819214, 1.2596763372421265, 14.572161674499512], [1.9781405925750732, 2.627089500427246, 14.516217231750488], [1.3246769905090332, 2.8032257556915283, 18.632829666137695], [2.9827992916107178, 1.426933765411377, 18.954925537109375], [3.636262893676758, 1.2507975101470947, 14.838312149047852], [3.652407646179199, 2.618210792541504, 14.782367706298828], [2.99894380569458, 2.794346809387207, 18.89897918701172]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1392, "image_id": 199, "category_id": 57, "category_name": "shorts", "bbox2D_proj": [126.0, 373.0, 174.0, 418.0], "bbox2D_tight": [126.0, 373.0, 174.0, 418.0], "bbox2D_trunc": [126.0, 373.0, 174.0, 418.0], "center_cam": [-1.1448264202707032, 1.4181124082465366, 4.7171414553111335], "dimensions": [0.29101562758833066, 0.48144532777584026, 0.4980468825753979], "R_cam": [[0.9540728330612183, 0.047046829015016556, 0.2958574891090393], [-0.01970989629626274, 0.9953095316886902, -0.0947127640247345], [-0.2989256978034973, 0.08453156054019928, 0.9505250453948975]], "bbox3D_cam": [[-1.436787724494934, 1.1972085237503052, 4.632923603057861], [-0.961614727973938, 1.187391996383667, 4.484044551849365], [-0.9389642477035522, 1.666579246520996, 4.524742126464844], [-1.4141372442245483, 1.6763956546783447, 4.67362117767334], [-1.3506885766983032, 1.1696455478668213, 4.909541130065918], [-0.8755155801773071, 1.1598291397094727, 4.760662078857422], [-0.8528650999069214, 1.6390162706375122, 4.8013596534729], [-1.3280380964279175, 1.6488327980041504, 4.9502387046813965]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1393, "image_id": 199, "category_id": 55, "category_name": "shirt", "bbox2D_proj": [117.0, 289.0, 183.0, 376.0], "bbox2D_tight": [117.0, 289.0, 183.0, 376.0], "bbox2D_trunc": [117.0, 289.0, 183.0, 376.0], "center_cam": [-1.1120259970075472, 0.7924162754300144, 4.635117892104747], "dimensions": [0.3125000016406522, 0.8281250133030141, 0.7138671852251967], "R_cam": [[0.9943842887878418, 0.014006733894348145, -0.10489878058433533], [-0.0005898475646972656, 0.9919209480285645, 0.12685592472553253], [0.10582812875509262, -0.1260816603899002, 0.9863588809967041]], "bbox3D_cam": [[-1.456364393234253, 0.36208829283714294, 4.495431423187256], [-0.7465060353279114, 0.3616672456264496, 4.57097864151001], [-0.7349067330360413, 1.183101773262024, 4.466567516326904], [-1.4447650909423828, 1.1835228204727173, 4.39102029800415], [-1.489145278930664, 0.4017307460308075, 4.80366849899292], [-0.7792869210243225, 0.40130969882011414, 4.879215717315674], [-0.7676876187324524, 1.2227442264556885, 4.774804592132568], [-1.477545976638794, 1.2231652736663818, 4.6992573738098145]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1394, "image_id": 199, "category_id": 45, "category_name": "person", "bbox2D_proj": [180.0, 286.0, 205.0, 364.0], "bbox2D_tight": [180.0, 286.0, 205.0, 364.0], "bbox2D_trunc": [180.0, 286.0, 205.0, 364.0], "center_cam": [-1.920594471507063, 2.051267325601279, 13.407096321044836], "dimensions": [0.667968756110705, 2.329589881279598, 0.9375000120067445], "R_cam": [[0.6159024238586426, 0.049832820892333984, 0.7862448692321777], [-0.1299682855606079, 0.9907501935958862, 0.039015740156173706], [-0.77702796459198, -0.1262167990207672, 0.6166820526123047]], "bbox3D_cam": [[-2.529937267303467, 0.9451384544372559, 13.712382316589355], [-1.952528715133667, 0.8232932090759277, 12.983918190002441], [-1.836438775062561, 3.1313350200653076, 12.689885139465332], [-2.4138472080230713, 3.2531802654266357, 13.418349266052246], [-2.0047502517700195, 0.9711997509002686, 14.124306678771973], [-1.4273416996002197, 0.8493545055389404, 13.395842552185059], [-1.3112517595291138, 3.1573963165283203, 13.10180950164795], [-1.888660192489624, 3.2792415618896484, 13.830273628234863]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1395, "image_id": 199, "category_id": 63, "category_name": "streetlight", "bbox2D_proj": [226.0, 159.0, 238.0, 275.0], "bbox2D_tight": [226.0, 159.0, 238.0, 275.0], "bbox2D_trunc": [226.0, 159.0, 238.0, 275.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1396, "image_id": 199, "category_id": 45, "category_name": "person", "bbox2D_proj": [212.0, 280.0, 236.0, 362.0], "bbox2D_tight": [212.0, 280.0, 236.0, 362.0], "bbox2D_trunc": [212.0, 280.0, 236.0, 362.0], "center_cam": [-1.1387070081842416, 2.246153201554388, 15.375962835337997], "dimensions": [0.6406250058446328, 2.6616211339421776, 0.8632812525861973], "R_cam": [[0.9681331515312195, -0.025331318378448486, 0.24915172159671783], [0.023113250732421875, 0.9996629357337952, 0.011824510991573334], [-0.24936726689338684, -0.005688980221748352, 0.9683922529220581]], "bbox3D_cam": [[-1.6026878356933594, 0.9020270109176636, 15.18098258972168], [-0.7669166922569275, 0.9219802618026733, 14.96570873260498], [-0.8343390822410583, 3.5827040672302246, 14.950567245483398], [-1.6701102256774902, 3.562750816345215, 15.165841102600098], [-1.4430749416351318, 0.9096020460128784, 15.801359176635742], [-0.6073038578033447, 0.9295552968978882, 15.586085319519043], [-0.6747262477874756, 3.5902791023254395, 15.570943832397461], [-1.5104973316192627, 3.5703258514404297, 15.78621768951416]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1397, "image_id": 199, "category_id": 45, "category_name": "person", "bbox2D_proj": [44.0, 280.0, 75.0, 358.0], "bbox2D_tight": [44.0, 280.0, 75.0, 358.0], "bbox2D_trunc": [44.0, 280.0, 75.0, 358.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1398, "image_id": 199, "category_id": 45, "category_name": "person", "bbox2D_proj": [0.0, 258.0, 29.0, 430.0], "bbox2D_tight": [0.0, 258.0, 29.0, 430.0], "bbox2D_trunc": [0.0, 258.0, 29.0, 430.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1399, "image_id": 199, "category_id": 45, "category_name": "person", "bbox2D_proj": [66.0, 277.0, 111.0, 423.0], "bbox2D_tight": [66.0, 277.0, 111.0, 423.0], "bbox2D_trunc": [66.0, 277.0, 111.0, 423.0], "center_cam": [-2.7571400271056143, 1.4793386272460207, 7.235970016665243], "dimensions": [0.7109374986290058, 2.1835937835208474, 1.1054687564339152], "R_cam": [[-0.14884307980537415, -0.008717000484466553, -0.9888224005699158], [-0.030292034149169922, 0.9995321035385132, -0.004251658916473389], [0.9883967638015747, 0.02932065725326538, -0.14903748035430908]], "bbox3D_cam": [[-2.313856601715088, 0.4063074588775635, 6.710615158081055], [-2.478397846221924, 0.3728206157684326, 7.803256988525391], [-2.497432231903076, 2.5553925037384033, 7.867281436920166], [-2.3328909873962402, 2.588879346847534, 6.77463960647583], [-3.016847610473633, 0.40328478813171387, 6.604658603668213], [-3.1813888549804688, 0.369797945022583, 7.697300434112549], [-3.200423240661621, 2.5523698329925537, 7.761324882507324], [-3.035881996154785, 2.5858566761016846, 6.668683052062988]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1400, "image_id": 199, "category_id": 13, "category_name": "building", "bbox2D_proj": [405.0, 143.0, 512.0, 286.0], "bbox2D_tight": [405.0, 143.0, 512.0, 286.0], "bbox2D_trunc": [405.0, 143.0, 512.0, 286.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1401, "image_id": 199, "category_id": 45, "category_name": "person", "bbox2D_proj": [239.0, 283.0, 304.0, 505.0], "bbox2D_tight": [239.0, 283.0, 304.0, 505.0], "bbox2D_trunc": [239.0, 283.0, 304.0, 505.0], "center_cam": [0.11285183308697136, 0.9589796033764022, 4.412304271871563], "dimensions": [0.4509499678810416, 1.8392788147563306, 0.6754342431988913], "R_cam": [[-0.7002757787704468, -0.0077812811359763145, -0.7138299942016602], [-0.004601466469466686, 0.9999690055847168, -0.006386315915733576], [0.7138575315475464, -0.001187517773360014, -0.7002899050712585]], "bbox3D_cam": [[0.5174537301063538, 0.04236263036727905, 4.330212593078613], [0.044463492929935455, 0.039254605770111084, 4.812376022338867], [0.030151553452014923, 1.8784763813018799, 4.810192108154297], [0.5031418204307556, 1.8815844058990479, 4.328028202056885], [0.19555211067199707, 0.03948277235031128, 4.014416694641113], [-0.27743813395500183, 0.03637474775314331, 4.496580600738525], [-0.29175007343292236, 1.875596523284912, 4.494396209716797], [0.18124017119407654, 1.87870454788208, 4.012232780456543]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1402, "image_id": 199, "category_id": 13, "category_name": "building", "bbox2D_proj": [145.0, 113.0, 202.0, 272.0], "bbox2D_tight": [145.0, 113.0, 202.0, 272.0], "bbox2D_trunc": [145.0, 113.0, 202.0, 272.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1403, "image_id": 199, "category_id": 47, "category_name": "pipe", "bbox2D_proj": [144.0, 23.0, 157.0, 118.0], "bbox2D_tight": [144.0, 23.0, 157.0, 118.0], "bbox2D_trunc": [144.0, 23.0, 157.0, 118.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1404, "image_id": 199, "category_id": 1, "category_name": "awning", "bbox2D_proj": [63.0, 215.0, 181.0, 287.0], "bbox2D_tight": [63.0, 215.0, 181.0, 287.0], "bbox2D_trunc": [63.0, 215.0, 181.0, 287.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1405, "image_id": 199, "category_id": 65, "category_name": "suv", "bbox2D_proj": [343.0, 285.0, 512.0, 386.0], "bbox2D_tight": [343.0, 285.0, 512.0, 386.0], "bbox2D_trunc": [343.0, 285.0, 512.0, 386.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1406, "image_id": 200, "category_id": 45, "category_name": "person", "bbox2D_proj": [188.0, 271.0, 208.0, 332.0], "bbox2D_tight": [188.0, 271.0, 208.0, 332.0], "bbox2D_trunc": [188.0, 271.0, 208.0, 332.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1407, "image_id": 200, "category_id": 45, "category_name": "person", "bbox2D_proj": [98.0, 274.0, 130.0, 390.0], "bbox2D_tight": [98.0, 274.0, 130.0, 390.0], "bbox2D_trunc": [98.0, 274.0, 130.0, 390.0], "center_cam": [-2.943592583614616, 1.557295778566803, 9.286363996828076], "dimensions": [0.6171875212806037, 2.2828368155384657, 0.7460937749934315], "R_cam": [[0.7712830305099487, 0.030470848083496094, -0.6357625722885132], [0.012151837348937988, 0.9979664087295532, 0.06257283687591553], [0.6363763213157654, -0.055987030267715454, 0.7693442702293396]], "bbox3D_cam": [[-3.0699050426483154, 0.39435577392578125, 8.875454902648926], [-2.494455575942993, 0.40342211723327637, 9.350251197814941], [-2.4248952865600586, 2.68161678314209, 9.222442626953125], [-3.00034499168396, 2.6725504398345947, 8.74764633178711], [-3.462289810180664, 0.43297481536865234, 9.350284576416016], [-2.8868401050567627, 0.44204115867614746, 9.825080871582031], [-2.8172800540924072, 2.720235824584961, 9.697272300720215], [-3.3927295207977295, 2.711169481277466, 9.2224760055542]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1408, "image_id": 200, "category_id": 45, "category_name": "person", "bbox2D_proj": [207.0, 272.0, 227.0, 323.0], "bbox2D_tight": [207.0, 272.0, 227.0, 323.0], "bbox2D_trunc": [207.0, 272.0, 227.0, 323.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1409, "image_id": 200, "category_id": 45, "category_name": "person", "bbox2D_proj": [10.0, 271.0, 31.0, 281.0], "bbox2D_tight": [10.0, 271.0, 31.0, 281.0], "bbox2D_trunc": [10.0, 271.0, 31.0, 281.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1410, "image_id": 200, "category_id": 45, "category_name": "person", "bbox2D_proj": [135.0, 277.0, 163.0, 352.0], "bbox2D_tight": [135.0, 277.0, 163.0, 352.0], "bbox2D_trunc": [135.0, 277.0, 163.0, 352.0], "center_cam": [-3.3618940715493526, 1.848550991916261, 13.94250354314854], "dimensions": [0.782959030984983, 2.3046874170318095, 0.8125000473211288], "R_cam": [[-0.23928162455558777, -0.06939899921417236, -0.9684668183326721], [-0.1566479206085205, 0.9871348142623901, -0.032033294439315796], [0.9582304954528809, 0.14404338598251343, -0.24707448482513428]], "bbox3D_cam": [[-2.805579423904419, 0.7872109413146973, 13.483960151672363], [-2.9999959468841553, 0.6599345207214355, 14.26252269744873], [-3.1599388122558594, 2.934971809387207, 14.594497680664062], [-2.965522527694702, 3.0622482299804688, 13.815935134887695], [-3.563849449157715, 0.7621302604675293, 13.290510177612305], [-3.758265733718872, 0.6348538398742676, 14.069072723388672], [-3.9182088375091553, 2.909891128540039, 14.401047706604004], [-3.723792314529419, 3.037167549133301, 13.622485160827637]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1411, "image_id": 200, "category_id": 63, "category_name": "streetlight", "bbox2D_proj": [260.0, 136.0, 276.0, 261.0], "bbox2D_tight": [260.0, 136.0, 276.0, 261.0], "bbox2D_trunc": [260.0, 136.0, 276.0, 261.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1412, "image_id": 200, "category_id": 45, "category_name": "person", "bbox2D_proj": [83.0, 258.0, 100.0, 312.0], "bbox2D_tight": [83.0, 258.0, 100.0, 312.0], "bbox2D_trunc": [83.0, 258.0, 100.0, 312.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1413, "image_id": 200, "category_id": 45, "category_name": "person", "bbox2D_proj": [136.0, 261.0, 357.0, 512.0], "bbox2D_tight": [136.0, 261.0, 357.0, 512.0], "bbox2D_trunc": [136.0, 261.0, 357.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1414, "image_id": 200, "category_id": 58, "category_name": "signboard", "bbox2D_proj": [281.0, 253.0, 320.0, 299.0], "bbox2D_tight": [281.0, 253.0, 320.0, 299.0], "bbox2D_trunc": [281.0, 253.0, 320.0, 299.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1415, "image_id": 200, "category_id": 45, "category_name": "person", "bbox2D_proj": [0.0, 340.0, 111.0, 512.0], "bbox2D_tight": [0.0, 340.0, 111.0, 512.0], "bbox2D_trunc": [0.0, 340.0, 111.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1416, "image_id": 200, "category_id": 15, "category_name": "car", "bbox2D_proj": [403.0, 290.0, 436.0, 326.0], "bbox2D_tight": [403.0, 290.0, 436.0, 326.0], "bbox2D_trunc": [403.0, 290.0, 436.0, 326.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1417, "image_id": 200, "category_id": 13, "category_name": "building", "bbox2D_proj": [307.0, 208.0, 512.0, 285.0], "bbox2D_tight": [307.0, 208.0, 512.0, 285.0], "bbox2D_trunc": [307.0, 208.0, 512.0, 285.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1418, "image_id": 201, "category_id": 45, "category_name": "person", "bbox2D_proj": [352.0, 327.0, 370.0, 381.0], "bbox2D_tight": [352.0, 327.0, 370.0, 381.0], "bbox2D_trunc": [352.0, 327.0, 370.0, 381.0], "center_cam": [1.6804658440394846, 1.5454532331227573, 7.061935140017682], "dimensions": [0.25390626859026943, 0.8066406081479012, 0.3359375275368664], "R_cam": [[-0.5583304762840271, -0.03427016735076904, 0.8289105892181396], [-0.04972374439239502, 0.9987326860427856, 0.007798732258379459], [-0.8281273245811462, -0.03686222806572914, -0.5593267679214478]], "bbox3D_cam": [[1.682836890220642, 1.1500060558319092, 7.286910057067871], [1.4952727556228638, 1.1333019733428955, 7.008710861206055], [1.467629075050354, 1.938920259475708, 6.978976249694824], [1.6551932096481323, 1.9556243419647217, 7.257175445556641], [1.8933025598526, 1.1519861221313477, 7.144893646240234], [1.7057384252548218, 1.135282039642334, 6.866694450378418], [1.678094744682312, 1.9409003257751465, 6.8369598388671875], [1.8656588792800903, 1.9576044082641602, 7.115159034729004]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1419, "image_id": 201, "category_id": 45, "category_name": "person", "bbox2D_proj": [412.0, 344.0, 474.0, 512.0], "bbox2D_tight": [412.0, 344.0, 474.0, 512.0], "bbox2D_trunc": [412.0, 344.0, 474.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1420, "image_id": 202, "category_id": 45, "category_name": "person", "bbox2D_proj": [150.0, 246.0, 174.0, 337.0], "bbox2D_tight": [150.0, 246.0, 174.0, 337.0], "bbox2D_trunc": [150.0, 246.0, 174.0, 337.0], "center_cam": [-1.7632217621002804, 0.6696306593060162, 8.046303932824506], "dimensions": [0.406250025562777, 1.656249958277632, 0.5351562773063229], "R_cam": [[-0.5711434483528137, -0.042548954486846924, -0.8197467923164368], [0.011904478073120117, 0.9981213212013245, -0.060101717710494995], [0.8207639455795288, -0.04408538341522217, -0.5695638656616211]], "bbox3D_cam": [[-1.408649206161499, -0.147915780544281, 7.978886127471924], [-1.7143003940582275, -0.14154499769210815, 8.418123245239258], [-1.7847720384597778, 1.5115933418273926, 8.345107078552246], [-1.4791209697723389, 1.5052225589752197, 7.905869960784912], [-1.7416714429855347, -0.17233210802078247, 7.747500896453857], [-2.0473225116729736, -0.16596132516860962, 8.186738014221191], [-2.1177942752838135, 1.4871771335601807, 8.113720893859863], [-1.812143087387085, 1.4808063507080078, 7.6744842529296875]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1421, "image_id": 202, "category_id": 45, "category_name": "person", "bbox2D_proj": [229.0, 255.0, 255.0, 332.0], "bbox2D_tight": [229.0, 255.0, 255.0, 332.0], "bbox2D_trunc": [229.0, 255.0, 255.0, 332.0], "center_cam": [-0.2877839037270852, 0.7371261658232897, 8.560615363703558], "dimensions": [0.4453125390269217, 1.4941405860911683, 0.5273438032377707], "R_cam": [[0.823344349861145, -0.0015991926193237305, -0.5675398111343384], [0.08233261108398438, 0.9897541999816895, 0.11665302515029907], [0.5615383982658386, -0.1427726000547409, 0.8150402307510376]], "bbox3D_cam": [[-0.3773156404495239, -0.04997211694717407, 8.337740898132324], [0.05686989426612854, -0.006554543972015381, 8.633864402770996], [0.05448046326637268, 1.4722774028778076, 8.42054271697998], [-0.3797050714492798, 1.4288599491119385, 8.124418258666992], [-0.6300482749938965, 0.0019748806953430176, 8.700688362121582], [-0.19586269557476044, 0.04539245367050171, 8.99681282043457], [-0.19825215637683868, 1.5242245197296143, 8.783490180969238], [-0.6324377059936523, 1.480806827545166, 8.487366676330566]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1422, "image_id": 202, "category_id": 45, "category_name": "person", "bbox2D_proj": [21.0, 278.0, 68.0, 323.0], "bbox2D_tight": [21.0, 278.0, 68.0, 323.0], "bbox2D_trunc": [21.0, 278.0, 68.0, 323.0], "center_cam": [-4.218816919114349, 0.9932131848708033, 9.38120455673871], "dimensions": [0.8078586015918474, 0.7410598818504025, 1.0897154434552083], "R_cam": [[0.22815203666687012, -0.12315413355827332, -0.965805172920227], [-0.28202101588249207, 0.941082239151001, -0.18662333488464355], [0.9318856000900269, 0.31495583057403564, 0.17997774481773376]], "bbox3D_cam": [[-3.9073777198791504, 0.873557984828949, 8.684061050415039], [-3.658757209777832, 0.5662353038787842, 9.69955062866211], [-3.7500216960906982, 1.2636337280273438, 9.932951927185059], [-3.9986424446105957, 1.5709563493728638, 8.917461395263672], [-4.687612056732178, 0.7227926850318909, 8.82945728302002], [-4.438991069793701, 0.4154700040817261, 9.844947814941406], [-4.5302557945251465, 1.1128684282302856, 10.078348159790039], [-4.778876304626465, 1.4201910495758057, 9.062858581542969]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1423, "image_id": 202, "category_id": 2, "category_name": "backpack", "bbox2D_proj": [197.0, 433.0, 270.0, 506.0], "bbox2D_tight": [197.0, 433.0, 270.0, 506.0], "bbox2D_trunc": [197.0, 433.0, 270.0, 506.0], "center_cam": [-0.13970313544615512, 1.3827960529238186, 2.9546244085736757], "dimensions": [0.29486955816526905, 0.4164616722348015, 0.40019149349901534], "R_cam": [[0.7486615777015686, -0.6526151299476624, -0.11661684513092041], [0.6234551072120667, 0.6332699060440063, 0.4585553705692291], [-0.22541022300720215, -0.4160080850124359, 0.8809810876846313]], "bbox3D_cam": [[-0.1364191472530365, 1.0585720539093018, 2.9564664363861084], [0.16318883001804352, 1.3080734014511108, 2.8662593364715576], [-0.10860037803649902, 1.5718060731887817, 2.6930079460144043], [-0.40820837020874023, 1.322304606437683, 2.783215045928955], [-0.1708059012889862, 1.1937860250473022, 3.216240882873535], [0.1288020759820938, 1.4432874917984009, 3.1260337829589844], [-0.14298713207244873, 1.7070200443267822, 2.952782392501831], [-0.44259512424468994, 1.4575186967849731, 3.042989492416382]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1424, "image_id": 202, "category_id": 45, "category_name": "person", "bbox2D_proj": [86.0, 238.0, 107.0, 287.0], "bbox2D_tight": [86.0, 238.0, 107.0, 287.0], "bbox2D_trunc": [86.0, 238.0, 107.0, 287.0], "center_cam": [-4.564662410610348, 0.3664621128791432, 12.496948075456682], "dimensions": [0.5390625429982026, 1.765624965247694, 0.558593814974183], "R_cam": [[0.9895157217979431, -0.12281656265258789, 0.075992651283741], [0.14054536819458008, 0.9400022625923157, -0.310874342918396], [-0.03325274959206581, 0.3182954490184784, 0.9474084377288818]], "bbox3D_cam": [[-4.753089427947998, -0.41884708404541016, 11.969883918762207], [-4.200352191925049, -0.3403393030166626, 11.951309204101562], [-4.417200088500977, 1.3193520307540894, 12.513299942016602], [-4.969937324523926, 1.2408442497253418, 12.531874656677246], [-4.712124824523926, -0.5864278078079224, 12.480596542358398], [-4.159387588500977, -0.5079200267791748, 12.462021827697754], [-4.376235485076904, 1.1517713069915771, 13.024012565612793], [-4.9289727210998535, 1.0732635259628296, 13.042587280273438]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1425, "image_id": 202, "category_id": 45, "category_name": "person", "bbox2D_proj": [46.0, 235.0, 59.0, 283.0], "bbox2D_tight": [46.0, 235.0, 59.0, 283.0], "bbox2D_trunc": [46.0, 235.0, 59.0, 283.0], "center_cam": [-6.267271037078988, 0.14557913991735272, 13.406328145594621], "dimensions": [0.433593868648166, 1.5034179321375467, 0.4375001041124446], "R_cam": [[-0.0702856183052063, -0.07000696659088135, -0.9950673580169678], [-0.05944561958312988, 0.9960554242134094, -0.06587749719619751], [0.995754063129425, 0.0545220673084259, -0.07416999340057373]], "bbox3D_cam": [[-5.983543872833252, -0.575878918170929, 13.163601875305176], [-6.014293670654297, -0.6018863320350647, 13.599244117736816], [-6.119543075561523, 0.8956013321876526, 13.681214332580566], [-6.0887932777404785, 0.9216087460517883, 13.24557113647461], [-6.414999008178711, -0.6044430136680603, 13.131442070007324], [-6.445748805999756, -0.630450427532196, 13.567085266113281], [-6.550998210906982, 0.8670372366905212, 13.649054527282715], [-6.5202484130859375, 0.893044650554657, 13.213412284851074]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1426, "image_id": 202, "category_id": 43, "category_name": "palm_tree", "bbox2D_proj": [371.0, 15.0, 465.0, 258.0], "bbox2D_tight": [371.0, 15.0, 465.0, 258.0], "bbox2D_trunc": [371.0, 15.0, 465.0, 258.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1427, "image_id": 202, "category_id": 45, "category_name": "person", "bbox2D_proj": [116.0, 245.0, 143.0, 335.0], "bbox2D_tight": [116.0, 245.0, 143.0, 335.0], "bbox2D_trunc": [116.0, 245.0, 143.0, 335.0], "center_cam": [-2.5326216258461582, 0.6637154643959569, 8.896728417252069], "dimensions": [0.5390625197363738, 1.722656212490246, 0.5937499998156627], "R_cam": [[-0.04095056653022766, -0.11568403244018555, 0.9924415349960327], [0.12496542930603027, 0.9848824739456177, 0.11995920538902283], [-0.9913156032562256, 0.12893328070640564, -0.025874972343444824]], "bbox3D_cam": [[-2.688316583633423, -0.25402331352233887, 9.086945533752441], [-2.7126309871673584, -0.1798250675201416, 8.49835205078125], [-2.911914825439453, 1.5167887210845947, 8.720459938049316], [-2.8876004219055176, 1.4425904750823975, 9.309053421020508], [-2.1533284187316895, -0.18935775756835938, 9.072997093200684], [-2.177642822265625, -0.11515951156616211, 8.484403610229492], [-2.3769266605377197, 1.5814542770385742, 8.706511497497559], [-2.352612257003784, 1.507256031036377, 9.29510498046875]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1428, "image_id": 202, "category_id": 43, "category_name": "palm_tree", "bbox2D_proj": [453.0, 39.0, 512.0, 191.0], "bbox2D_tight": [453.0, 39.0, 512.0, 191.0], "bbox2D_trunc": [453.0, 39.0, 512.0, 191.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1429, "image_id": 203, "category_id": 62, "category_name": "statue", "bbox2D_proj": [274.0, 123.0, 310.0, 226.0], "bbox2D_tight": [274.0, 123.0, 310.0, 226.0], "bbox2D_trunc": [274.0, 123.0, 310.0, 226.0], "center_cam": [0.34722728664312774, -0.7125413043018417, 4.1409138872219415], "dimensions": [0.2285156257205253, 0.9248047554848202, 0.34374999633931647], "R_cam": [[0.911902904510498, 0.07133948802947998, -0.4041581153869629], [-0.20810604095458984, 0.9291591644287109, -0.3055408000946045], [0.35373008251190186, 0.36273133754730225, 0.8621490597724915]], "bbox3D_cam": [[0.20368465781211853, -1.0715079307556152, 3.8138816356658936], [0.5171512365341187, -1.1430444717407227, 3.935476303100586], [0.5831263065338135, -0.2837536931037903, 4.270931720733643], [0.26965972781181335, -0.21221721172332764, 4.149337291717529], [0.11132821440696716, -1.1413288116455078, 4.0108962059021], [0.4247948229312897, -1.2128653526306152, 4.132490634918213], [0.4907698929309845, -0.35357457399368286, 4.467946529388428], [0.177303284406662, -0.2820380926132202, 4.346351623535156]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1430, "image_id": 203, "category_id": 3, "category_name": "banner", "bbox2D_proj": [110.0, 126.0, 146.0, 221.0], "bbox2D_tight": [110.0, 126.0, 146.0, 221.0], "bbox2D_trunc": [110.0, 126.0, 146.0, 221.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1431, "image_id": 203, "category_id": 52, "category_name": "potted_plant", "bbox2D_proj": [267.0, 234.0, 318.0, 284.0], "bbox2D_tight": [267.0, 234.0, 318.0, 284.0], "bbox2D_trunc": [267.0, 234.0, 318.0, 284.0], "center_cam": [0.3362437409229809, 0.008752224153234955, 3.9256909866487746], "dimensions": [0.37695477846961434, 0.3750016887239612, 0.44433593539422234], "R_cam": [[0.9838864803314209, 0.03815990686416626, -0.17467401921749115], [-0.08258187770843506, 0.9634952545166016, -0.25467050075531006], [0.15857939422130585, 0.26499176025390625, 0.9511213302612305]], "bbox3D_cam": [[0.14342275261878967, -0.10555727034807205, 3.661508560180664], [0.5805989503860474, -0.1422513723373413, 3.731971025466919], [0.5949089527130127, 0.2190609872341156, 3.831343412399292], [0.1577327847480774, 0.25575509667396545, 3.760880947113037], [0.07757854461669922, -0.20155653357505798, 4.02003812789917], [0.5147547125816345, -0.23825064301490784, 4.090500831604004], [0.5290647745132446, 0.12306172400712967, 4.189873218536377], [0.09188857674598694, 0.15975582599639893, 4.119410514831543]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1432, "image_id": 203, "category_id": 47, "category_name": "pipe", "bbox2D_proj": [319.0, 88.0, 444.0, 109.0], "bbox2D_tight": [319.0, 88.0, 444.0, 109.0], "bbox2D_trunc": [319.0, 88.0, 444.0, 109.0], "center_cam": [1.0803411993136163, -1.4304317231191528, 3.7156118284735653], "dimensions": [0.14985219649811815, 0.11186134169377156, 1.0760675007839757], "R_cam": [[-0.9996262192726135, -0.015474766492843628, 0.022539053112268448], [0.0009980574250221252, 0.8031932711601257, 0.5957176685333252], [-0.02732180804014206, 0.5955175161361694, -0.8028776049613953]], "bbox3D_cam": [[1.6173505783081055, -1.520526647567749, 3.7571606636047363], [0.5416854023933411, -1.519452691078186, 3.7277607917785645], [0.5399543642997742, -1.4296064376831055, 3.7943761348724365], [1.615619421005249, -1.4306803941726685, 3.8237762451171875], [1.6207280158996582, -1.4312570095062256, 3.636847734451294], [0.5450629591941833, -1.4301830530166626, 3.607447624206543], [0.5433319211006165, -1.340336799621582, 3.674063205718994], [1.6189970970153809, -1.341410756111145, 3.703463077545166]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1433, "image_id": 203, "category_id": 45, "category_name": "person", "bbox2D_proj": [398.0, 216.0, 424.0, 310.0], "bbox2D_tight": [398.0, 216.0, 424.0, 310.0], "bbox2D_trunc": [398.0, 216.0, 424.0, 310.0], "center_cam": [1.1878051177728923, 0.049230401355236014, 3.5013447229318286], "dimensions": [0.22460936795179293, 0.6882324645860052, 0.2812499937335976], "R_cam": [[0.5172003507614136, 0.004119932651519775, 0.8558544516563416], [-0.04151451587677002, 0.9989321231842041, 0.0202789306640625], [-0.8548569083213806, -0.04601866006851196, 0.5168190002441406]], "bbox3D_cam": [[1.017539620399475, -0.2909577786922455, 3.5793535709381104], [1.1630022525787354, -0.30263373255729675, 3.3389248847961426], [1.1658377647399902, 0.3848637640476227, 3.307253360748291], [1.02037513256073, 0.39653971791267395, 3.547682046890259], [1.2097725868225098, -0.28640297055244446, 3.6954360008239746], [1.35523521900177, -0.2980789244174957, 3.455007314682007], [1.358070731163025, 0.3894185721874237, 3.4233357906341553], [1.2126080989837646, 0.401094526052475, 3.663764476776123]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1434, "image_id": 203, "category_id": 68, "category_name": "table", "bbox2D_proj": [108.0, 220.0, 148.0, 260.0], "bbox2D_tight": [108.0, 220.0, 148.0, 260.0], "bbox2D_trunc": [108.0, 220.0, 148.0, 260.0], "center_cam": [-1.1373718774586794, -0.15171661485920576, 3.9622225810448004], "dimensions": [0.21013855109592994, 0.35920110451133447, 0.3137668525183251], "R_cam": [[-0.9504499435424805, 0.0741289034485817, 0.3019108772277832], [0.1260504573583603, 0.9796353578567505, 0.1562890112400055], [-0.2841770052909851, 0.18660086393356323, -0.9404379725456238]], "bbox3D_cam": [[-1.0332971811294556, -0.3638560175895691, 4.0721025466918945], [-1.3315168619155884, -0.32430559396743774, 3.9829373359680176], [-1.3048896789550781, 0.02758045494556427, 4.049964427947998], [-1.0066699981689453, -0.011969998478889465, 4.139130115509033], [-0.9698541164398193, -0.33101367950439453, 3.8744804859161377], [-1.2680737972259521, -0.2914632558822632, 3.7853152751922607], [-1.241446614265442, 0.06042279303073883, 3.852342367172241], [-0.9432269334793091, 0.020872339606285095, 3.9415078163146973]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1435, "image_id": 203, "category_id": 45, "category_name": "person", "bbox2D_proj": [198.0, 194.0, 218.0, 264.0], "bbox2D_tight": [198.0, 194.0, 218.0, 264.0], "bbox2D_trunc": [198.0, 194.0, 218.0, 264.0], "center_cam": [-0.43488583093985156, -0.25694575530643954, 4.211000243226752], "dimensions": [0.17773437168783052, 0.6567383212200361, 0.2207031213839169], "R_cam": [[0.7381415963172913, 0.04744720458984375, 0.6729752421379089], [0.004727602005004883, 0.997135579586029, -0.07548707723617554], [-0.6746292114257812, 0.05890172719955444, 0.7358028888702393]], "bbox3D_cam": [[-0.591726541519165, -0.5781877040863037, 4.200716495513916], [-0.42881637811660767, -0.5771443247795105, 4.051823616027832], [-0.39765599370002747, 0.07771283388137817, 4.0905070304870605], [-0.5605661273002625, 0.07666945457458496, 4.239399433135986], [-0.4721156656742096, -0.5916043519973755, 4.331493854522705], [-0.3092055320739746, -0.5905609726905823, 4.182601451873779], [-0.278045117855072, 0.0642961859703064, 4.22128438949585], [-0.4409552812576294, 0.06325280666351318, 4.370177268981934]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1436, "image_id": 203, "category_id": 49, "category_name": "plaque", "bbox2D_proj": [315.0, 217.0, 367.0, 294.0], "bbox2D_tight": [315.0, 217.0, 367.0, 294.0], "bbox2D_trunc": [315.0, 217.0, 367.0, 294.0], "center_cam": [0.7062645488353445, -0.007509465024529038, 3.6535502181701967], "dimensions": [0.2779926300737485, 0.5900086692099008, 0.4030859867911309], "R_cam": [[-0.9674636125564575, 0.0741288959980011, -0.24190738797187805], [0.025255154818296432, 0.9796352386474609, 0.19919124245643616], [0.25174680352211, 0.18660084903240204, -0.9496334195137024]], "bbox3D_cam": [[0.9130059480667114, -0.3292829394340515, 3.6797597408294678], [0.523034930229187, -0.319102942943573, 3.781235456466675], [0.5667716264724731, 0.2588902711868286, 3.891331672668457], [0.9567426443099976, 0.2487102746963501, 3.78985595703125], [0.8457574844360352, -0.27390921115875244, 3.415768623352051], [0.45578646659851074, -0.2637292146682739, 3.517244338989258], [0.4995231628417969, 0.3142639994621277, 3.62734055519104], [0.8894941806793213, 0.30408400297164917, 3.525864839553833]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1437, "image_id": 204, "category_id": 45, "category_name": "person", "bbox2D_proj": [413.0, 235.0, 445.0, 385.0], "bbox2D_tight": [413.0, 235.0, 445.0, 385.0], "bbox2D_trunc": [413.0, 235.0, 445.0, 385.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1438, "image_id": 204, "category_id": 45, "category_name": "person", "bbox2D_proj": [22.0, 226.0, 57.0, 352.0], "bbox2D_tight": [22.0, 226.0, 57.0, 352.0], "bbox2D_trunc": [22.0, 226.0, 57.0, 352.0], "center_cam": [-1.763420437796252, 0.2566519402066453, 3.6355026530447576], "dimensions": [0.2363281319225037, 0.9992675843463978, 0.35546876169800784], "R_cam": [[-0.283151239156723, -0.004037141799926758, -0.9590667486190796], [0.05021578073501587, 0.9985570907592773, -0.01902887225151062], [0.9577597379684448, -0.05354830622673035, -0.28253984451293945]], "bbox3D_cam": [[-1.5977504253387451, -0.2489374876022339, 3.525416374206543], [-1.698401927947998, -0.231087327003479, 3.8658699989318848], [-1.702436089515686, 0.7667384147644043, 3.812361001968384], [-1.601784586906433, 0.7488882541656494, 3.471907377243042], [-1.8244048357009888, -0.25343453884124756, 3.458644151687622], [-1.9250563383102417, -0.23558437824249268, 3.799097776412964], [-1.9290904998779297, 0.7622413635253906, 3.745588779449463], [-1.8284389972686768, 0.7443912029266357, 3.405135154724121]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1439, "image_id": 204, "category_id": 45, "category_name": "person", "bbox2D_proj": [162.0, 238.0, 187.0, 329.0], "bbox2D_tight": [162.0, 238.0, 187.0, 329.0], "bbox2D_trunc": [162.0, 238.0, 187.0, 329.0], "center_cam": [-0.7819201465158347, 0.2797749960440813, 4.544603158346958], "dimensions": [0.30468751343678874, 0.9016113359442626, 0.3378906408157556], "R_cam": [[0.7265785932540894, -0.08027303218841553, 0.6823780536651611], [0.12934398651123047, 0.9913753271102905, -0.02109953761100769], [-0.6747989654541016, 0.10359194874763489, 0.7306948900222778]], "bbox3D_cam": [[-0.9724407196044922, -0.18578025698661804, 4.500590801239014], [-0.7269365787506104, -0.14207616448402405, 4.272582530975342], [-0.799311637878418, 0.7517590522766113, 4.3659820556640625], [-1.0448157787322998, 0.7080549001693726, 4.593990325927734], [-0.7645286321640015, -0.19220903515815735, 4.723224639892578], [-0.5190244913101196, -0.14850494265556335, 4.495216369628906], [-0.5913995504379272, 0.7453302145004272, 4.588615894317627], [-0.8369036912918091, 0.701626181602478, 4.816624164581299]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1440, "image_id": 204, "category_id": 45, "category_name": "person", "bbox2D_proj": [181.0, 244.0, 211.0, 329.0], "bbox2D_tight": [181.0, 244.0, 211.0, 329.0], "bbox2D_trunc": [181.0, 244.0, 211.0, 329.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1441, "image_id": 204, "category_id": 45, "category_name": "person", "bbox2D_proj": [91.0, 241.0, 120.0, 338.0], "bbox2D_tight": [91.0, 241.0, 120.0, 338.0], "bbox2D_trunc": [91.0, 241.0, 120.0, 338.0], "center_cam": [-1.3724273211187081, 0.3075651346010724, 4.13747468619335], "dimensions": [0.27685547813431727, 0.8760986423792236, 0.33593751268468497], "R_cam": [[0.5162865519523621, 0.0238802433013916, 0.8560827970504761], [-0.16879403591156006, 0.9828407764434814, 0.0743803009390831], [-0.8396168947219849, -0.18290330469608307, 0.511458158493042]], "bbox3D_cam": [[-1.5881136655807495, -0.10491177439689636, 4.287824630737305], [-1.4146736860275269, -0.16161605715751648, 4.005765914916992], [-1.3937522172927856, 0.6994494199752808, 3.845524311065674], [-1.5671923160552979, 0.7561537027359009, 4.1275835037231445], [-1.3511024713516235, -0.08431920409202576, 4.42942476272583], [-1.1776623725891113, -0.14102348685264587, 4.147365570068359], [-1.1567410230636597, 0.7200419902801514, 3.987124443054199], [-1.3301810026168823, 0.7767462730407715, 4.269183158874512]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1442, "image_id": 204, "category_id": 23, "category_name": "dress", "bbox2D_proj": [387.0, 259.0, 420.0, 369.0], "bbox2D_tight": [387.0, 259.0, 420.0, 369.0], "bbox2D_trunc": [387.0, 259.0, 420.0, 369.0], "center_cam": [1.0926957412107863, 0.4258781235551523, 3.301448589553954], "dimensions": [0.22265625757301183, 0.7189941457131996, 0.34179688597631197], "R_cam": [[0.8404640555381775, 0.016053438186645508, -0.5416293740272522], [0.024130821228027344, 0.9974605441093445, 0.06700843572616577], [0.5413296818733215, -0.06938813626766205, 0.8379424214363098]], "bbox3D_cam": [[1.003589153289795, 0.05571013689041138, 3.140594482421875], [1.2908570766448975, 0.06395798921585083, 3.3256192207336426], [1.3023993968963623, 0.7811262607574463, 3.2757296562194824], [1.0151314735412598, 0.7728784084320068, 3.0907046794891357], [0.8829919695854187, 0.0706300139427185, 3.327167510986328], [1.170259952545166, 0.07887786626815796, 3.512192487716675], [1.1818022727966309, 0.7960461378097534, 3.4623026847839355], [0.8945342898368835, 0.787798285484314, 3.277277946472168]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1443, "image_id": 205, "category_id": 58, "category_name": "signboard", "bbox2D_proj": [487.0, 192.0, 512.0, 247.0], "bbox2D_tight": [487.0, 192.0, 512.0, 247.0], "bbox2D_trunc": [487.0, 192.0, 512.0, 247.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1444, "image_id": 205, "category_id": 15, "category_name": "car", "bbox2D_proj": [408.0, 355.0, 512.0, 512.0], "bbox2D_tight": [408.0, 355.0, 512.0, 512.0], "bbox2D_trunc": [408.0, 355.0, 512.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1445, "image_id": 205, "category_id": 45, "category_name": "person", "bbox2D_proj": [396.0, 274.0, 433.0, 358.0], "bbox2D_tight": [396.0, 274.0, 433.0, 358.0], "bbox2D_trunc": [396.0, 274.0, 433.0, 358.0], "center_cam": [2.653252852532346, 0.9861431734300726, 7.427970627291165], "dimensions": [0.4765625455115511, 1.3502196716134502, 0.5458984955512002], "R_cam": [[-0.8502545356750488, 0.11464667320251465, -0.5137346982955933], [0.12822437286376953, 0.9917035102844238, 0.009094446897506714], [0.5105150938034058, -0.05814070999622345, -0.857900857925415]], "bbox3D_cam": [[2.9303433895111084, 0.2794685363769531, 7.532298564910889], [2.466190814971924, 0.34946608543395996, 7.810988426208496], [2.6209888458251953, 1.688483715057373, 7.732485294342041], [3.085141658782959, 1.6184861660003662, 7.453795909881592], [2.685516834259033, 0.2838026285171509, 7.12345552444458], [2.2213640213012695, 0.3538001775741577, 7.402144908905029], [2.37616229057312, 1.6928178071975708, 7.323642253875732], [2.8403148651123047, 1.622820258140564, 7.044952392578125]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1446, "image_id": 205, "category_id": 45, "category_name": "person", "bbox2D_proj": [464.0, 261.0, 493.0, 352.0], "bbox2D_tight": [464.0, 261.0, 493.0, 352.0], "bbox2D_trunc": [464.0, 261.0, 493.0, 352.0], "center_cam": [3.481858023639826, 0.8163218407404429, 6.997710876076336], "dimensions": [0.4023437541504752, 1.40991204437482, 0.5000000178817561], "R_cam": [[0.19780120253562927, 0.07152509689331055, 0.9776291847229004], [-0.017017364501953125, 0.9974346160888672, -0.06953108310699463], [-0.9800944328308105, -0.002883404493331909, 0.19851088523864746]], "bbox3D_cam": [[3.185314178466797, 0.13141638040542603, 7.204832077026367], [3.284214735031128, 0.12290769815444946, 6.714785099029541], [3.385058879852295, 1.5292026996612549, 6.710719585418701], [3.286158323287964, 1.5377113819122314, 7.2007670402526855], [3.5786571502685547, 0.10344094038009644, 7.284701824188232], [3.6775577068328857, 0.09493225812911987, 6.794654369354248], [3.7784018516540527, 1.5012273788452148, 6.790589332580566], [3.6795012950897217, 1.5097360610961914, 7.280636310577393]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1447, "image_id": 205, "category_id": 45, "category_name": "person", "bbox2D_proj": [200.0, 290.0, 215.0, 359.0], "bbox2D_tight": [200.0, 290.0, 215.0, 359.0], "bbox2D_trunc": [200.0, 290.0, 215.0, 359.0], "center_cam": [-1.0153671821864192, 1.7533062028204143, 10.894291513895885], "dimensions": [0.43359375187575866, 1.7890624381121634, 0.4921875165984618], "R_cam": [[0.4805213212966919, 0.04281187057495117, 0.8759375810623169], [0.19407832622528076, 0.9688513875007629, -0.15382052958011627], [-0.8552385568618774, 0.2439146637916565, 0.45724475383758545]], "bbox3D_cam": [[-1.3618175983428955, 0.872224748134613, 10.787442207336426], [-1.1253108978271484, 0.9677477478981018, 10.366504669189453], [-1.0487178564071655, 2.701083183288574, 10.80288314819336], [-1.285224437713623, 2.605560064315796, 11.223820686340332], [-0.9820165038108826, 0.8055291771888733, 10.985700607299805], [-0.745509922504425, 0.9010521769523621, 10.564763069152832], [-0.6689167618751526, 2.634387493133545, 11.001141548156738], [-0.9054233431816101, 2.5388646125793457, 11.422079086303711]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1448, "image_id": 205, "category_id": 45, "category_name": "person", "bbox2D_proj": [439.0, 272.0, 481.0, 360.0], "bbox2D_tight": [439.0, 272.0, 481.0, 360.0], "bbox2D_trunc": [439.0, 272.0, 481.0, 360.0], "center_cam": [3.1547709004295914, 0.9721807169738206, 6.856804528957049], "dimensions": [0.4023437673276716, 1.4013671381399186, 0.5087890936503665], "R_cam": [[0.7648992538452148, 0.09904801845550537, 0.63648921251297], [-0.17542743682861328, 0.9827892780303955, 0.05788180232048035], [-0.6198017597198486, -0.1559315323829651, 0.7691104412078857]], "bbox3D_cam": [[2.762739658355713, 0.3165399432182312, 6.969013690948486], [3.151911973953247, 0.22728437185287476, 6.653665542602539], [3.2907145023345947, 1.6045331954956055, 6.435148239135742], [2.9015421867370605, 1.693788766860962, 6.7504963874816895], [3.018827199935913, 0.3398283123970032, 7.278460502624512], [3.4079995155334473, 0.25057274103164673, 6.9631123542785645], [3.546802043914795, 1.627821445465088, 6.744595050811768], [3.1576297283172607, 1.7170770168304443, 7.059943199157715]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1449, "image_id": 205, "category_id": 3, "category_name": "banner", "bbox2D_proj": [217.0, 202.0, 241.0, 305.0], "bbox2D_tight": [217.0, 202.0, 241.0, 305.0], "bbox2D_trunc": [217.0, 202.0, 241.0, 305.0], "center_cam": [-0.8154299427733976, -0.05593014609565505, 13.419346921870478], "dimensions": [0.039062499732908346, 3.4921873936833774, 0.746093756152906], "R_cam": [[0.8467573523521423, 0.06563198566436768, 0.5279151201248169], [-0.26606225967407227, 0.9115788340568542, 0.3134244382381439], [-0.46066561341285706, -0.405852735042572, 0.7893482446670532]], "bbox3D_cam": [[-1.2562205791473389, -1.5545001029968262, 14.28443717956543], [-0.6244601607322693, -1.753007411956787, 13.940736770629883], [-0.3952610492706299, 1.4303967952728271, 12.523423194885254], [-1.0270214080810547, 1.628904104232788, 12.867122650146484], [-1.2355988025665283, -1.5422570705413818, 14.31527042388916], [-0.6038384437561035, -1.7407643795013428, 13.97157096862793], [-0.3746393322944641, 1.4426398277282715, 12.554256439208984], [-1.0063997507095337, 1.6411471366882324, 12.897956848144531]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1450, "image_id": 205, "category_id": 45, "category_name": "person", "bbox2D_proj": [142.0, 290.0, 165.0, 356.0], "bbox2D_tight": [142.0, 290.0, 165.0, 356.0], "bbox2D_trunc": [142.0, 290.0, 165.0, 356.0], "center_cam": [-2.971319773361471, 1.903568568517494, 12.707777712581258], "dimensions": [0.5312500312496972, 1.7867125687744347, 0.6718750305829855], "R_cam": [[0.6322208642959595, 0.004019379615783691, -0.7747777700424194], [0.054712891578674316, 0.9972585439682007, 0.049819499254226685], [0.7728539705276489, -0.07388728857040405, 0.6302677392959595]], "bbox3D_cam": [[-2.981496810913086, 0.9810481071472168, 12.346739768981934], [-2.5567233562469482, 1.0178083181381226, 12.86600112915039], [-2.54954195022583, 2.7996225357055664, 12.733985900878906], [-2.9743151664733887, 2.762862205505371, 12.21472454071045], [-3.393097400665283, 1.0075147151947021, 12.681570053100586], [-2.9683241844177246, 1.044274926185608, 13.200831413269043], [-2.9611425399780273, 2.8260891437530518, 13.068816184997559], [-3.385915994644165, 2.7893290519714355, 12.549554824829102]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1451, "image_id": 205, "category_id": 45, "category_name": "person", "bbox2D_proj": [187.0, 292.0, 200.0, 357.0], "bbox2D_tight": [187.0, 292.0, 200.0, 357.0], "bbox2D_trunc": [187.0, 292.0, 200.0, 357.0], "center_cam": [-1.6317591047924063, 1.6373660602318716, 10.81869033560327], "dimensions": [0.4335937466733233, 1.5440596851048984, 0.5312500121800818], "R_cam": [[0.3276180028915405, 0.04058718681335449, 0.9439381957054138], [-0.0815201997756958, 0.9965654611587524, -0.01455649919807911], [-0.9412869215011597, -0.07218093425035477, 0.32980144023895264]], "bbox3D_cam": [[-1.954759955406189, 0.8927974104881287, 11.052945137023926], [-1.7807128429412842, 0.8494898676872253, 10.552886962890625], [-1.7180438041687012, 2.3882462978363037, 10.441434860229492], [-1.8920907974243164, 2.431553840637207, 10.94149398803711], [-1.5454742908477783, 0.8864858746528625, 11.195945739746094], [-1.371427297592163, 0.8431783318519592, 10.695886611938477], [-1.3087581396102905, 2.381934642791748, 10.58443546295166], [-1.4828052520751953, 2.4252421855926514, 11.084493637084961]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1452, "image_id": 205, "category_id": 45, "category_name": "person", "bbox2D_proj": [353.0, 273.0, 393.0, 359.0], "bbox2D_tight": [353.0, 273.0, 393.0, 359.0], "bbox2D_trunc": [353.0, 273.0, 393.0, 359.0], "center_cam": [2.0573636226813883, 1.036465945190895, 7.825879354930603], "dimensions": [0.36718750591881966, 1.5239257178483578, 0.7861328308710098], "R_cam": [[0.8673676252365112, -0.020178914070129395, 0.49725884199142456], [-0.033782958984375, 0.9944854974746704, 0.09928403794765472], [-0.49652013182640076, -0.10291458666324615, 0.8619027733802795]], "bbox3D_cam": [[1.640512466430664, 0.2737560272216797, 7.941222190856934], [2.322378635406494, 0.24719810485839844, 7.550891399383545], [2.2916274070739746, 1.7627201080322266, 7.394057273864746], [1.6097612380981445, 1.7892780303955078, 7.784388065338135], [1.8230996131896973, 0.3102118968963623, 8.257701873779297], [2.5049657821655273, 0.28365397453308105, 7.867371082305908], [2.474214553833008, 1.7991759777069092, 7.710536956787109], [1.7923485040664673, 1.8257339000701904, 8.100868225097656]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1453, "image_id": 205, "category_id": 45, "category_name": "person", "bbox2D_proj": [287.0, 281.0, 314.0, 362.0], "bbox2D_tight": [287.0, 281.0, 314.0, 362.0], "bbox2D_trunc": [287.0, 281.0, 314.0, 362.0], "center_cam": [0.9319516243669304, 1.4100976765474504, 9.544500450450583], "dimensions": [0.4062500340483767, 1.697997985460122, 0.46875004317939556], "R_cam": [[0.8490926027297974, 0.07444244623184204, 0.5229725241661072], [-0.16297149658203125, 0.9786429405212402, 0.12529383599758148], [-0.502476155757904, -0.19161570072174072, 0.8430904150009155]], "bbox3D_cam": [[0.5635152459144592, 0.5919771194458008, 9.65369701385498], [0.9615273475646973, 0.5155842304229736, 9.418161392211914], [1.08793044090271, 2.1773176193237305, 9.092798233032227], [0.6899183988571167, 2.2537107467651367, 9.328333854675293], [0.7759727835655212, 0.6428776979446411, 9.99620246887207], [1.1739848852157593, 0.566484808921814, 9.760666847229004], [1.3003880977630615, 2.2282183170318604, 9.435303688049316], [0.9023759365081787, 2.3046112060546875, 9.670839309692383]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1454, "image_id": 205, "category_id": 45, "category_name": "person", "bbox2D_proj": [169.0, 288.0, 190.0, 371.0], "bbox2D_tight": [169.0, 288.0, 190.0, 371.0], "bbox2D_trunc": [169.0, 288.0, 190.0, 371.0], "center_cam": [-1.8996930991910423, 1.7490885620017607, 10.804874960761369], "dimensions": [0.6054687872602633, 1.9374999234200134, 0.7421875539313598], "R_cam": [[0.2645760774612427, 0.016003012657165527, -0.9642319679260254], [0.11273622512817383, 0.9924933910369873, 0.047405749559402466], [0.9577525854110718, -0.12124630808830261, 0.26078593730926514]], "bbox3D_cam": [[-1.7214723825454712, 0.7314234972000122, 10.487967491149902], [-1.5251072645187378, 0.8150948882102966, 11.198800086975098], [-1.4941015243530273, 2.738050937652588, 10.963885307312012], [-1.6904666423797607, 2.654379367828369, 10.253052711486816], [-2.3052847385406494, 0.7601262331008911, 10.645865440368652], [-2.108919620513916, 0.8437976241111755, 11.356698036193848], [-2.077913761138916, 2.766753673553467, 11.121783256530762], [-2.2742788791656494, 2.683082103729248, 10.410950660705566]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1455, "image_id": 205, "category_id": 45, "category_name": "person", "bbox2D_proj": [329.0, 277.0, 351.0, 364.0], "bbox2D_tight": [329.0, 277.0, 351.0, 364.0], "bbox2D_trunc": [329.0, 277.0, 351.0, 364.0], "center_cam": [1.5011273073390856, 1.1513790927953893, 8.218928674291906], "dimensions": [0.4414062740443966, 1.5644530696340344, 0.554687535883543], "R_cam": [[0.285073459148407, 0.03449726104736328, -0.9578847289085388], [0.162406325340271, 0.9831641316413879, 0.08374097943305969], [0.9446467161178589, -0.17943888902664185, 0.27467143535614014]], "bbox3D_cam": [[1.606487512588501, 0.318797767162323, 8.036677360534668], [1.764614224433899, 0.4088825583457947, 8.560661315917969], [1.8185834884643555, 1.9469966888427734, 8.279937744140625], [1.660456895828247, 1.8569118976593018, 7.755953788757324], [1.183671236038208, 0.3557615876197815, 8.157918930053711], [1.3417978286743164, 0.4458463788032532, 8.681902885437012], [1.3957672119140625, 1.9839603900909424, 8.401179313659668], [1.2376405000686646, 1.8938755989074707, 7.877195358276367]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1456, "image_id": 205, "category_id": 45, "category_name": "person", "bbox2D_proj": [314.0, 281.0, 335.0, 361.0], "bbox2D_tight": [314.0, 281.0, 335.0, 361.0], "bbox2D_trunc": [314.0, 281.0, 335.0, 361.0], "center_cam": [1.3484563913773107, 1.306572799255855, 8.888094616683466], "dimensions": [0.41796876765371704, 1.5662841073593023, 0.49609378180295427], "R_cam": [[0.6600050330162048, 0.02356630563735962, 0.7508914470672607], [-0.04485273361206055, 0.9989610314369202, 0.008071959018707275], [-0.7499210834503174, -0.039006978273391724, 0.6603763103485107]], "bbox3D_cam": [[1.0093637704849243, 0.5336831212043762, 8.966650009155273], [1.3367881774902344, 0.5114319920539856, 8.594618797302246], [1.37369966506958, 2.0760886669158936, 8.533522605895996], [1.0462753772735596, 2.098339796066284, 8.905553817749023], [1.3232131004333496, 0.5370569825172424, 9.242667198181152], [1.6506373882293701, 0.5148058533668518, 8.870635986328125], [1.6875489950180054, 2.0794625282287598, 8.809539794921875], [1.3601245880126953, 2.1017136573791504, 9.181571006774902]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1457, "image_id": 205, "category_id": 61, "category_name": "sports_car", "bbox2D_proj": [0.0, 318.0, 109.0, 388.0], "bbox2D_tight": [0.0, 318.0, 109.0, 388.0], "bbox2D_trunc": [0.0, 318.0, 109.0, 388.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1458, "image_id": 206, "category_id": 58, "category_name": "signboard", "bbox2D_proj": [238.0, 156.0, 283.0, 288.0], "bbox2D_tight": [238.0, 156.0, 283.0, 288.0], "bbox2D_trunc": [238.0, 156.0, 283.0, 288.0], "center_cam": [0.02568260454023162, -0.3434196753931438, 4.538160213816845], "dimensions": [0.09374999615232141, 1.356445293437996, 0.48925783274876644], "R_cam": [[0.9820759892463684, 0.008397340774536133, -0.18829819560050964], [-0.09759283065795898, 0.8773221373558044, -0.46987396478652954], [0.16125249862670898, 0.47982850670814514, 0.8624165058135986]], "bbox3D_cam": [[-0.2114303708076477, -0.8925400376319885, 4.132856845855713], [0.2690580189228058, -0.9402881264686584, 4.2117509841918945], [0.2804485261440277, 0.24975138902664185, 4.862612247467041], [-0.20003986358642578, 0.29749947786331177, 4.783718109130859], [-0.2290833294391632, -0.9365907311439514, 4.213708400726318], [0.2514050602912903, -0.9843388199806213, 4.2926025390625], [0.2627955675125122, 0.20570069551467896, 4.9434638023376465], [-0.21769282221794128, 0.2534487843513489, 4.864569664001465]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1459, "image_id": 206, "category_id": 45, "category_name": "person", "bbox2D_proj": [152.0, 242.0, 178.0, 334.0], "bbox2D_tight": [152.0, 242.0, 178.0, 334.0], "bbox2D_trunc": [152.0, 242.0, 178.0, 334.0], "center_cam": [-1.2256593518888632, 0.3904073115288529, 6.0224622628192765], "dimensions": [0.322021595983244, 1.1523437459631114, 0.35156259279637103], "R_cam": [[0.2775205671787262, 0.0082167387008667, 0.9606845378875732], [0.08484542369842529, 0.9958466291427612, -0.033027440309524536], [-0.9569658041000366, 0.0906754732131958, 0.27567076683044434]], "bbox3D_cam": [[-1.4338572025299072, -0.19296795129776, 6.094048500061035], [-1.3362913131713867, -0.16313952207565308, 5.757615089416504], [-1.3268227577209473, 0.9844180941581726, 5.862104415893555], [-1.4243886470794678, 0.9545896649360657, 6.198537826538086], [-1.1244959831237793, -0.20360344648361206, 6.1828203201293945], [-1.0269300937652588, -0.17377501726150513, 5.846386909484863], [-1.0174615383148193, 0.9737825989723206, 5.950876235961914], [-1.1150274276733398, 0.9439541697502136, 6.287309646606445]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1460, "image_id": 206, "category_id": 51, "category_name": "poster", "bbox2D_proj": [0.0, 134.0, 15.0, 362.0], "bbox2D_tight": [0.0, 134.0, 15.0, 362.0], "bbox2D_trunc": [0.0, 134.0, 15.0, 362.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1461, "image_id": 206, "category_id": 58, "category_name": "signboard", "bbox2D_proj": [261.0, 155.0, 347.0, 189.0], "bbox2D_tight": [261.0, 155.0, 347.0, 189.0], "bbox2D_trunc": [261.0, 155.0, 347.0, 189.0], "center_cam": [0.5484421725785338, -0.8839501592339448, 4.6711286169929345], "dimensions": [0.015624999196392765, 0.3349609356979945, 1.01269533397124], "R_cam": [[-0.9237051010131836, 0.031043142080307007, 0.3818444013595581], [0.002546866424381733, 0.9971871376037598, -0.07490817457437515], [-0.38309574127197266, -0.06822056323289871, -0.9211859703063965]], "bbox3D_cam": [[1.0079758167266846, -1.0516639947891235, 4.883730888366699], [0.07254397869110107, -1.0490847826004028, 4.495771408081055], [0.08294224739074707, -0.7150659561157227, 4.4729204177856445], [1.0183740854263306, -0.7176451683044434, 4.860879421234131], [1.0139421224594116, -1.052834391593933, 4.86933708190918], [0.07851028442382812, -1.0502551794052124, 4.481378078460693], [0.08890855312347412, -0.716236412525177, 4.458526611328125], [1.0243403911590576, -0.7188156247138977, 4.8464860916137695]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1462, "image_id": 206, "category_id": 47, "category_name": "pipe", "bbox2D_proj": [294.0, 204.0, 392.0, 232.0], "bbox2D_tight": [294.0, 204.0, 392.0, 232.0], "bbox2D_trunc": [294.0, 204.0, 392.0, 232.0], "center_cam": [2.3585713958842107, -1.0067898288024315, 12.286188947353887], "dimensions": [1.1634717138911688, 0.706081909354388, 3.81607211178871], "R_cam": [[0.3395618796348572, -0.05438784509897232, 0.9390099048614502], [0.05918976664543152, 0.9975837469100952, 0.03637644276022911], [-0.9387195110321045, 0.043227728456258774, 0.3419606685638428]], "bbox3D_cam": [[1.1836204528808594, -1.4930753707885742, 13.863107681274414], [2.4794130325317383, -1.2672029733657837, 10.28088665008545], [2.4410107135772705, -0.5628271698951721, 10.311408996582031], [1.1452181339263916, -0.7886995673179626, 13.893630027770996], [2.2761318683624268, -1.4507524967193604, 14.260969161987305], [3.5719244480133057, -1.2248799800872803, 10.67874813079834], [3.533522129058838, -0.5205041766166687, 10.709270477294922], [2.237729549407959, -0.746376633644104, 14.291491508483887]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1463, "image_id": 206, "category_id": 51, "category_name": "poster", "bbox2D_proj": [91.0, 200.0, 108.0, 300.0], "bbox2D_tight": [91.0, 200.0, 108.0, 300.0], "bbox2D_trunc": [91.0, 200.0, 108.0, 300.0], "center_cam": [-1.582372959541992, -0.049200171047426994, 4.713133235526992], "dimensions": [0.003906250131781059, 0.9733887189507733, 0.9960937371868602], "R_cam": [[0.03084176778793335, 0.007277962751686573, 0.9994977116584778], [0.019303321838378906, 0.9997825622558594, -0.007875683717429638], [-0.9993378520011902, 0.01953652873635292, 0.03069448471069336]], "bbox3D_cam": [[-1.6032278537750244, -0.545387327671051, 5.201282024383545], [-1.5725065469741821, -0.526159405708313, 4.20584774017334], [-1.5654222965240479, 0.44701775908470154, 4.224864482879639], [-1.5961436033248901, 0.4277898371219635, 5.220298767089844], [-1.5993235111236572, -0.5454180836677551, 5.201402187347412], [-1.568602204322815, -0.5261901617050171, 4.205967903137207], [-1.5615179538726807, 0.44698700308799744, 4.224984645843506], [-1.592239260673523, 0.4277590811252594, 5.220418930053711]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1464, "image_id": 206, "category_id": 51, "category_name": "poster", "bbox2D_proj": [93.0, 205.0, 117.0, 294.0], "bbox2D_tight": [93.0, 205.0, 117.0, 294.0], "bbox2D_trunc": [93.0, 205.0, 117.0, 294.0], "center_cam": [-1.6234488032424426, -0.05198073630266499, 4.943367014307112], "dimensions": [0.013671875459234484, 0.9697265587199326, 1.558593649043341], "R_cam": [[-0.05272114276885986, -0.012121947482228279, -0.998535692691803], [-0.02925591543316841, 0.9995158910751343, -0.010589178651571274], [0.9981805682182312, 0.028654802590608597, -0.05305027961730957]], "bbox3D_cam": [[-1.5696600675582886, -0.5137378573417664, 4.151957035064697], [-1.6518309116363525, -0.5593359470367432, 5.707715034484863], [-1.6635857820510864, 0.40992116928100586, 5.735502243041992], [-1.5814149379730225, 0.4555191993713379, 4.179744243621826], [-1.583311915397644, -0.5138826370239258, 4.15123176574707], [-1.665482759475708, -0.5594806671142578, 5.706989765167236], [-1.677237629890442, 0.40977638959884644, 5.734776973724365], [-1.595066785812378, 0.45537447929382324, 4.179018974304199]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1465, "image_id": 206, "category_id": 58, "category_name": "signboard", "bbox2D_proj": [237.0, 145.0, 253.0, 181.0], "bbox2D_tight": [237.0, 145.0, 253.0, 181.0], "bbox2D_trunc": [237.0, 145.0, 253.0, 181.0], "center_cam": [-0.09722509449547169, -0.8902346019572345, 4.293490526108904], "dimensions": [0.1340710621276054, 0.3093237331612624, 0.4992548598384534], "R_cam": [[0.1535278558731079, -0.05438784882426262, 0.9866464138031006], [0.05113160237669945, 0.9975836277008057, 0.047034382820129395], [-0.9868205785751343, 0.043227724730968475, 0.1559377908706665]], "bbox3D_cam": [[-0.1932784616947174, -1.0604395866394043, 4.522688865661621], [-0.11662900447845459, -1.034911870956421, 4.0300140380859375], [-0.13345246016979218, -0.7263355255126953, 4.043385028839111], [-0.2101019322872162, -0.7518632411956787, 4.536060333251953], [-0.060997720807790756, -1.054133653640747, 4.543595790863037], [0.01565174013376236, -1.0286059379577637, 4.050920486450195], [-0.0011717155575752258, -0.7200295925140381, 4.064291954040527], [-0.07782118022441864, -0.7455573081970215, 4.556966781616211]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1466, "image_id": 207, "category_id": 41, "category_name": "ornament", "bbox2D_proj": [13.0, 149.0, 67.0, 193.0], "bbox2D_tight": [13.0, 149.0, 67.0, 193.0], "bbox2D_trunc": [13.0, 149.0, 67.0, 193.0], "center_cam": [-3.9128862648506635, -1.5371202057002011, 8.034424931484615], "dimensions": [0.05468749810183755, 0.853515725276502, 0.9208985433530136], "R_cam": [[0.9738108515739441, 0.07855392247438431, -0.21335820853710175], [-0.0503234826028347, 0.9896119832992554, 0.13466721773147583], [0.22172053158283234, -0.1204034686088562, 0.9676480293273926]], "bbox3D_cam": [[-4.3889665603637695, -1.9399559497833252, 7.9572577476501465], [-3.492185354232788, -1.9862987995147705, 8.161439895629883], [-3.425138473510742, -1.1416492462158203, 8.058673858642578], [-4.3219194412231445, -1.095306396484375, 7.854491233825684], [-4.400634288787842, -1.932591199874878, 8.010175704956055], [-3.5038533210754395, -1.9789340496063232, 8.21435832977295], [-3.4368064403533936, -1.134284496307373, 8.111592292785645], [-4.333587646484375, -1.0879416465759277, 7.90740966796875]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1467, "image_id": 207, "category_id": 45, "category_name": "person", "bbox2D_proj": [441.0, 272.0, 467.0, 344.0], "bbox2D_tight": [441.0, 272.0, 467.0, 344.0], "bbox2D_trunc": [441.0, 272.0, 467.0, 344.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1468, "image_id": 207, "category_id": 11, "category_name": "box", "bbox2D_proj": [307.0, 122.0, 354.0, 159.0], "bbox2D_tight": [307.0, 122.0, 354.0, 159.0], "bbox2D_trunc": [307.0, 122.0, 354.0, 159.0], "center_cam": [1.1722499628909382, -1.8387222051115217, 7.06973480992182], "dimensions": [0.32015565610316976, 0.5515711899404743, 0.6650914736215561], "R_cam": [[-0.9735872745513916, 0.11105168610811234, -0.19948716461658478], [0.08800878375768661, 0.9887551069259644, 0.12090343236923218], [0.21067048609256744, 0.10015343129634857, -0.9724131226539612]], "bbox3D_cam": [[1.497319221496582, -2.160027503967285, 7.127717971801758], [0.8497945666313171, -2.1014935970306396, 7.267833232879639], [0.9110475182533264, -1.5561248064041138, 7.323074817657471], [1.5585722923278809, -1.6146587133407593, 7.18295955657959], [1.4334523677825928, -2.1213197708129883, 6.816394329071045], [0.7859275937080383, -2.0627856254577637, 6.956509590148926], [0.8471805453300476, -1.5174169540405273, 7.011751174926758], [1.4947052001953125, -1.5759508609771729, 6.871635913848877]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1469, "image_id": 207, "category_id": 41, "category_name": "ornament", "bbox2D_proj": [28.0, 142.0, 53.0, 273.0], "bbox2D_tight": [28.0, 142.0, 53.0, 273.0], "bbox2D_trunc": [28.0, 142.0, 53.0, 273.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1470, "image_id": 207, "category_id": 19, "category_name": "christmas_tree", "bbox2D_proj": [0.0, 0.0, 202.0, 321.0], "bbox2D_tight": [0.0, 0.0, 202.0, 321.0], "bbox2D_trunc": [0.0, 0.0, 202.0, 321.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1471, "image_id": 207, "category_id": 7, "category_name": "bench", "bbox2D_proj": [357.0, 289.0, 450.0, 358.0], "bbox2D_tight": [357.0, 289.0, 450.0, 358.0], "bbox2D_trunc": [357.0, 289.0, 450.0, 358.0], "center_cam": [2.017610868831602, 0.8892823864476874, 6.1463724841574985], "dimensions": [0.36148681796793447, 0.7513972216545874, 1.4067428434992038], "R_cam": [[-0.9467990398406982, 0.11105167865753174, 0.30205830931663513], [0.13588932156562805, 0.9887552261352539, 0.062428176403045654], [-0.2917289435863495, 0.10015343129634857, -0.9512431621551514]], "bbox3D_cam": [[2.587245225906372, 0.4109443128108978, 6.485869407653809], [1.2553424835205078, 0.6021056175231934, 6.07548189163208], [1.3387863636016846, 1.3450535535812378, 6.1507368087768555], [2.670689105987549, 1.153892159461975, 6.561124801635742], [2.6964352130889893, 0.43351128697395325, 6.142007827758789], [1.364532470703125, 0.6246726512908936, 5.731619834899902], [1.4479763507843018, 1.3676204681396484, 5.806875228881836], [2.779879093170166, 1.1764591932296753, 6.2172627449035645]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1472, "image_id": 208, "category_id": 45, "category_name": "person", "bbox2D_proj": [216.0, 224.0, 247.0, 314.0], "bbox2D_tight": [216.0, 224.0, 247.0, 314.0], "bbox2D_trunc": [216.0, 224.0, 247.0, 314.0], "center_cam": [-0.7213250408631656, 0.33803200301585057, 12.108140886639614], "dimensions": [0.593750008587795, 2.3422850768848997, 0.9726562517762377], "R_cam": [[0.765672504901886, 0.013411402702331543, 0.6430907845497131], [-0.0609668493270874, 0.9967947602272034, 0.051800280809402466], [-0.6403348445892334, -0.0788692831993103, 0.7640359401702881]], "bbox3D_cam": [[-1.3003172874450684, -0.8150851726531982, 12.2850980758667], [-0.5555812120437622, -0.874384880065918, 11.662272453308105], [-0.5241678953170776, 1.460392713546753, 11.477538108825684], [-1.2689040899276733, 1.5196924209594727, 12.100363731384277], [-0.9184821844100952, -0.7843286991119385, 12.738743782043457], [-0.1737459897994995, -0.8436284065246582, 12.115918159484863], [-0.1423327922821045, 1.4911491870880127, 11.931183815002441], [-0.8870688676834106, 1.5504488945007324, 12.554009437561035]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1473, "image_id": 208, "category_id": 45, "category_name": "person", "bbox2D_proj": [293.0, 229.0, 316.0, 292.0], "bbox2D_tight": [293.0, 229.0, 316.0, 292.0], "bbox2D_trunc": [293.0, 229.0, 316.0, 292.0], "center_cam": [1.5343549736751976, 0.18573003407843694, 14.149853158900406], "dimensions": [0.7783203459041069, 2.02734368414567, 0.9218750461639378], "R_cam": [[-0.02643677592277527, -0.04159045219421387, 0.9987848997116089], [0.032626986503601074, 0.9985659122467041, 0.04244488477706909], [-0.999117910861969, 0.03370949625968933, -0.02504187822341919]], "bbox3D_cam": [[1.2000123262405396, -0.8580450415611267, 14.585958480834961], [1.1756409406661987, -0.8279669880867004, 13.664896965026855], [1.0913227796554565, 1.1964693069458008, 13.733237266540527], [1.115694284439087, 1.166391372680664, 14.65429973602295], [1.9773870706558228, -0.825009286403656, 14.566468238830566], [1.9530155658721924, -0.7949312925338745, 13.645405769348145], [1.8686975240707397, 1.2295050621032715, 13.713747024536133], [1.8930689096450806, 1.1994271278381348, 14.634808540344238]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1474, "image_id": 208, "category_id": 45, "category_name": "person", "bbox2D_proj": [258.0, 228.0, 277.0, 285.0], "bbox2D_tight": [258.0, 228.0, 277.0, 285.0], "bbox2D_trunc": [258.0, 228.0, 277.0, 285.0], "center_cam": [0.4103185483336926, -0.00501499251803067, 17.377833373270455], "dimensions": [0.6718750105292125, 2.160156190184812, 0.8281250015198754], "R_cam": [[0.7754243016242981, -0.044098734855651855, 0.6298987865447998], [0.11599373817443848, 0.990530788898468, -0.07344543933868408], [-0.6206952929496765, 0.13001568615436554, 0.773196816444397]], "bbox3D_cam": [[-0.07473209500312805, -1.0982213020324707, 17.234668731689453], [0.5674161911010742, -1.0021638870239258, 16.72065544128418], [0.47215595841407776, 1.1375374794006348, 17.001508712768555], [-0.16999226808547974, 1.0414800643920898, 17.515522003173828], [0.348481148481369, -1.1475675106048584, 17.754159927368164], [0.9906293749809265, -1.0515100955963135, 17.24014663696289], [0.8953691720962524, 1.088191270828247, 17.520999908447266], [0.25322094559669495, 0.9921338558197021, 18.03501319885254]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1475, "image_id": 208, "category_id": 45, "category_name": "person", "bbox2D_proj": [342.0, 225.0, 361.0, 277.0], "bbox2D_tight": [342.0, 225.0, 361.0, 277.0], "bbox2D_trunc": [342.0, 225.0, 361.0, 277.0], "center_cam": [3.5578335769486733, -0.23720511685818382, 16.716672825770118], "dimensions": [0.6718750699031683, 2.0468749381696494, 0.7167969425422129], "R_cam": [[0.991879940032959, -0.045644521713256836, 0.11870494484901428], [0.025915443897247314, 0.9863320589065552, 0.16271919012069702], [-0.12450972199440002, -0.1583215892314911, 0.9795058965682983]], "bbox3D_cam": [[3.2091822624206543, -1.3106058835983276, 16.594276428222656], [3.920158863067627, -1.2920297384262085, 16.505027770996094], [3.826730251312256, 0.7268686294555664, 16.18096351623535], [3.115753650665283, 0.7082924842834473, 16.270212173461914], [3.2889370918273926, -1.201278805732727, 17.252382278442383], [3.9999136924743652, -1.182702660560608, 17.16313362121582], [3.906485080718994, 0.8361955881118774, 16.839069366455078], [3.1955084800720215, 0.8176194429397583, 16.92831802368164]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1476, "image_id": 209, "category_id": 30, "category_name": "handbag", "bbox2D_proj": [98.0, 255.0, 165.0, 318.0], "bbox2D_tight": [98.0, 255.0, 165.0, 318.0], "bbox2D_trunc": [98.0, 255.0, 165.0, 318.0], "center_cam": [-0.48306061798544053, 0.11567474485391505, 1.7697644905883005], "dimensions": [0.1220703145128032, 0.22900394820915076, 0.23394780452579797], "R_cam": [[0.9179738163948059, -0.02859111875295639, -0.39560920000076294], [0.11842747777700424, 0.9716600179672241, 0.20457683503627777], [0.3785485625267029, -0.23464716970920563, 0.8953444361686707]], "bbox3D_cam": [[-0.5630198121070862, -0.0219215527176857, 1.6977043151855469], [-0.34826183319091797, 0.005784295499324799, 1.7862648963928223], [-0.35480934381484985, 0.22829827666282654, 1.7325297594070435], [-0.5695672631263733, 0.20059242844581604, 1.643969178199768], [-0.6113119125366211, 0.0030512064695358276, 1.8069993257522583], [-0.39655399322509766, 0.03075704723596573, 1.8955599069595337], [-0.40310144424438477, 0.25327104330062866, 1.8418247699737549], [-0.617859423160553, 0.22556519508361816, 1.7532641887664795]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1477, "image_id": 209, "category_id": 20, "category_name": "coat", "bbox2D_proj": [282.0, 215.0, 330.0, 284.0], "bbox2D_tight": [282.0, 215.0, 330.0, 284.0], "bbox2D_trunc": [282.0, 215.0, 330.0, 284.0], "center_cam": [0.3838933207921835, -0.052534219580067966, 3.525390709985009], "dimensions": [0.21289062662414182, 0.5155258055939442, 0.37744141234633877], "R_cam": [[0.9127545952796936, -0.012126564979553223, 0.4083281457424164], [-0.0111846923828125, 0.9984427094459534, 0.05465346574783325], [-0.4083550274372101, -0.05445224046707153, 0.9111976623535156]], "bbox3D_cam": [[0.1712987720966339, -0.3136025369167328, 3.519498825073242], [0.5158101320266724, -0.3178240954875946, 3.365368604660034], [0.5095586180686951, 0.19689889252185822, 3.337296962738037], [0.16504722833633423, 0.20112046599388123, 3.491427183151245], [0.25822800397872925, -0.3019673228263855, 3.713484287261963], [0.6027393937110901, -0.3061889111995697, 3.559354066848755], [0.5964878797531128, 0.2085340917110443, 3.531282424926758], [0.25197646021842957, 0.21275565028190613, 3.685412645339966]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1478, "image_id": 209, "category_id": 74, "category_name": "trousers", "bbox2D_proj": [293.0, 282.0, 319.0, 328.0], "bbox2D_tight": [293.0, 282.0, 319.0, 328.0], "bbox2D_trunc": [293.0, 282.0, 319.0, 328.0], "center_cam": [0.40604988587580587, 0.3592331064349644, 3.566535303351427], "dimensions": [0.11328125128551607, 0.4645995996078346, 0.18066406565359294], "R_cam": [[0.8757714033126831, -0.06243789196014404, 0.4786710739135742], [-0.07740259170532227, 0.9606063365936279, 0.2669164836406708], [-0.4764801561832428, -0.2708081603050232, 0.8364386558532715]], "bbox3D_cam": [[0.3143317401409149, 0.12795808911323547, 3.6251089572906494], [0.47255218029022217, 0.11397421360015869, 3.5390260219573975], [0.44354355335235596, 0.5602715015411377, 3.4132087230682373], [0.2853231430053711, 0.5742553472518921, 3.4992916584014893], [0.3685562014579773, 0.15819472074508667, 3.7198617458343506], [0.5267766118049622, 0.1442108452320099, 3.6337788105010986], [0.49776801466941833, 0.5905081033706665, 3.5079615116119385], [0.3395475745201111, 0.6044920086860657, 3.5940444469451904]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1479, "image_id": 209, "category_id": 45, "category_name": "person", "bbox2D_proj": [308.0, 175.0, 420.0, 494.0], "bbox2D_tight": [308.0, 175.0, 420.0, 494.0], "bbox2D_trunc": [308.0, 175.0, 420.0, 494.0], "center_cam": [0.5521062014600523, 0.3360965717225711, 2.075893211776691], "dimensions": [0.42626954203772627, 1.4311523103965196, 0.5546875130055441], "R_cam": [[-0.6754956841468811, -0.07844126224517822, 0.7331798076629639], [-0.06769454479217529, 0.9967235326766968, 0.04426870122551918], [-0.734250009059906, -0.019728900864720345, -0.6785924434661865]], "bbox3D_cam": [[0.6393153071403503, -0.36779552698135376, 2.438282012939453], [0.26462632417678833, -0.40534478425979614, 2.0310027599334717], [0.15236490964889526, 1.021118402481079, 2.002767562866211], [0.5270538926124573, 1.0586676597595215, 2.4100468158721924], [0.951847493648529, -0.3489251732826233, 2.1490187644958496], [0.577158510684967, -0.3864744305610657, 1.7417395114898682], [0.464897096157074, 1.0399887561798096, 1.7135043144226074], [0.839586079120636, 1.077538013458252, 2.120783567428589]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1480, "image_id": 209, "category_id": 74, "category_name": "trousers", "bbox2D_proj": [70.0, 248.0, 93.0, 354.0], "bbox2D_tight": [70.0, 248.0, 93.0, 354.0], "bbox2D_trunc": [70.0, 248.0, 93.0, 354.0], "center_cam": [-0.9790967983952228, 0.43712723244439455, 2.51642765969627], "dimensions": [0.1166992362039513, 0.10937501502531019, 0.46972656333988794], "R_cam": [[0.41658568382263184, -0.469879150390625, 0.7782480716705322], [0.5150357484817505, 0.8274168968200684, 0.22387397289276123], [-0.7491292953491211, 0.3075629472732544, 0.5866944789886475]], "bbox3D_cam": [[-1.0966514348983765, 0.2578519284725189, 2.641317367553711], [-0.9009701013565063, 0.4997778832912445, 2.289431571960449], [-0.952363133430481, 0.5902765989303589, 2.323071241378784], [-1.1480443477630615, 0.3483506441116333, 2.674957275390625], [-1.0058304071426392, 0.28397783637046814, 2.7097842693328857], [-0.8101491332054138, 0.5259038209915161, 2.357898235321045], [-0.8615421652793884, 0.6164025068283081, 2.391538143157959], [-1.0572234392166138, 0.3744765818119049, 2.7434239387512207]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1481, "image_id": 209, "category_id": 45, "category_name": "person", "bbox2D_proj": [415.0, 224.0, 431.0, 307.0], "bbox2D_tight": [415.0, 224.0, 431.0, 307.0], "bbox2D_trunc": [415.0, 224.0, 431.0, 307.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1482, "image_id": 209, "category_id": 45, "category_name": "person", "bbox2D_proj": [203.0, 198.0, 231.0, 318.0], "bbox2D_tight": [203.0, 198.0, 231.0, 318.0], "bbox2D_trunc": [203.0, 198.0, 231.0, 318.0], "center_cam": [-0.3512099801269788, -0.0005341295557677872, 4.288178478378708], "dimensions": [0.3183593958876124, 1.0806884485614567, 0.3457031458833545], "R_cam": [[-0.6330457329750061, -0.014114975929260254, 0.773985743522644], [0.05494147539138794, 0.9964931607246399, 0.06310960650444031], [-0.7721621990203857, 0.08247515559196472, -0.6300502419471741]], "bbox3D_cam": [[-0.35736286640167236, -0.5585259795188904, 4.477374076843262], [-0.5762088298797607, -0.539532482624054, 4.210435390472412], [-0.5914627313613892, 0.5373662114143372, 4.299565315246582], [-0.3726167678833008, 0.5183727145195007, 4.566504001617432], [-0.11095723509788513, -0.5384344458580017, 4.276791572570801], [-0.3298031687736511, -0.5194409489631653, 4.009852886199951], [-0.34505707025527954, 0.5574577450752258, 4.098982810974121], [-0.12621112167835236, 0.5384642481803894, 4.365921497344971]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1483, "image_id": 209, "category_id": 45, "category_name": "person", "bbox2D_proj": [219.0, 185.0, 270.0, 324.0], "bbox2D_tight": [219.0, 185.0, 270.0, 324.0], "bbox2D_trunc": [219.0, 185.0, 270.0, 324.0], "center_cam": [-0.09402460891976253, -0.024842824801477564, 3.8942479553227782], "dimensions": [0.3437500025110791, 1.144927950148387, 0.4536132881980654], "R_cam": [[0.9669371247291565, -0.01184004545211792, 0.25473982095718384], [-0.021788716316223145, 0.9914329648017883, 0.12878617644309998], [-0.2540822923183441, -0.13007861375808716, 0.9583954215049744]], "bbox3D_cam": [[-0.3503377437591553, -0.609595775604248, 3.861616611480713], [0.08827776461839676, -0.6194794178009033, 3.746361494064331], [0.07472173124551773, 0.5156399011611938, 3.597430944442749], [-0.3638938069343567, 0.5255235433578491, 3.712686061859131], [-0.26277095079421997, -0.5653254985809326, 4.191065311431885], [0.17584460973739624, -0.5752091407775879, 4.075809955596924], [0.16228854656219482, 0.5599101781845093, 3.926879405975342], [-0.276326984167099, 0.5697938203811646, 4.0421342849731445]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1484, "image_id": 209, "category_id": 20, "category_name": "coat", "bbox2D_proj": [83.0, 174.0, 178.0, 388.0], "bbox2D_tight": [83.0, 174.0, 178.0, 388.0], "bbox2D_trunc": [83.0, 174.0, 178.0, 388.0], "center_cam": [-0.5295066990918718, 0.028892756858353186, 1.8931241293116754], "dimensions": [0.3039550995986877, 1.073974581955914, 0.3203125200847777], "R_cam": [[-0.24351766705513, -0.04059720039367676, -0.9690463542938232], [-0.05198347568511963, 0.9982337355613708, -0.02875661477446556], [0.9685022830963135, 0.04337170347571373, -0.24519789218902588]], "bbox3D_cam": [[-0.32143232226371765, -0.49445027112960815, 1.7519869804382324], [-0.39943408966064453, -0.5111011862754822, 2.0622103214263916], [-0.44303441047668457, 0.5609765648841858, 2.108790397644043], [-0.3650326132774353, 0.5776274800300598, 1.7985670566558838], [-0.6159789562225342, -0.5031910538673401, 1.6774576902389526], [-0.6939807534217834, -0.5198419690132141, 1.9876811504364014], [-0.7375810146331787, 0.5522357821464539, 2.0342612266540527], [-0.6595792770385742, 0.5688866972923279, 1.724037766456604]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1485, "image_id": 210, "category_id": 47, "category_name": "pipe", "bbox2D_proj": [351.0, 168.0, 401.0, 246.0], "bbox2D_tight": [351.0, 168.0, 401.0, 246.0], "bbox2D_trunc": [351.0, 168.0, 401.0, 246.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1486, "image_id": 210, "category_id": 47, "category_name": "pipe", "bbox2D_proj": [424.0, 52.0, 465.0, 132.0], "bbox2D_tight": [424.0, 52.0, 465.0, 132.0], "bbox2D_trunc": [424.0, 52.0, 465.0, 132.0], "center_cam": [2.9001663306226653, -2.486958471600519, 6.823571770696393], "dimensions": [0.14843751073620443, 1.2037353593187508, 0.17187501327641566], "R_cam": [[-0.41367781162261963, -0.3211510181427002, -0.8518996238708496], [-0.462970495223999, 0.8799048066139221, -0.10689251124858856], [0.783919095993042, 0.3501853048801422, -0.5126804113388062]], "bbox3D_cam": [[3.1922340393066406, -2.968824863433838, 6.583488941192627], [3.1211330890655518, -3.0483977794647217, 6.718225002288818], [2.7345523834228516, -1.9892253875732422, 7.1397552490234375], [2.8056533336639404, -1.9096523523330688, 7.005019187927246], [3.0657801628112793, -2.984691619873047, 6.507388114929199], [2.9946792125701904, -3.0642647743225098, 6.642124176025391], [2.6080985069274902, -2.005092144012451, 7.06365442276001], [2.679199457168579, -1.9255192279815674, 6.928918361663818]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1487, "image_id": 211, "category_id": 74, "category_name": "trousers", "bbox2D_proj": [156.0, 321.0, 231.0, 403.0], "bbox2D_tight": [156.0, 321.0, 231.0, 403.0], "bbox2D_trunc": [156.0, 321.0, 231.0, 403.0], "center_cam": [-0.9038888001810463, 1.648243162144943, 6.374706784832329], "dimensions": [0.7851563212258954, 0.4755859756369022, 1.7402344589744638], "R_cam": [[0.5284295082092285, -0.3539166748523712, -0.7716898918151855], [0.6439895629882812, 0.7593965530395508, 0.0927056074142456], [0.5532084703445435, -0.5459486246109009, 0.6292061805725098]], "bbox3D_cam": [[-0.9765768647193909, 0.8709233403205872, 5.776160717010498], [-0.05698573589324951, 1.9916162490844727, 6.738873481750488], [-0.2253035306930542, 2.3527746200561523, 6.479227542877197], [-1.1448947191238403, 1.232081651687622, 5.516514778137207], [-1.5824741125106812, 0.9437116980552673, 6.270185947418213], [-0.662882924079895, 2.0644047260284424, 7.232898712158203], [-0.8312007784843445, 2.425563097000122, 6.973252773284912], [-1.7507919073104858, 1.3048701286315918, 6.010540008544922]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1488, "image_id": 211, "category_id": 74, "category_name": "trousers", "bbox2D_proj": [297.0, 294.0, 380.0, 372.0], "bbox2D_tight": [297.0, 294.0, 380.0, 372.0], "bbox2D_trunc": [297.0, 294.0, 380.0, 372.0], "center_cam": [1.105668380384139, 1.051268627402628, 5.985628891440658], "dimensions": [0.4707798054510457, 1.111940791528942, 1.152642621312839], "R_cam": [[-0.9680616855621338, -0.0032148754689842463, 0.2506912648677826], [-0.0038476756308227777, 0.9999904632568359, -0.0020341454073786736], [-0.2506823241710663, -0.0029337569139897823, -0.9680649638175964]], "bbox3D_cam": [[1.6063603162765503, 0.49799972772598267, 6.359606742858887], [0.4905308485031128, 0.49356478452682495, 6.070659160614014], [0.4869561195373535, 1.6054949760437012, 6.067397117614746], [1.602785587310791, 1.6099300384521484, 6.356344223022461], [1.7243807315826416, 0.49704211950302124, 5.903861045837402], [0.6085512638092041, 0.4926071763038635, 5.6149139404296875], [0.6049765348434448, 1.6045374870300293, 5.611651420593262], [1.7208060026168823, 1.6089723110198975, 5.900599002838135]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1489, "image_id": 211, "category_id": 31, "category_name": "hat", "bbox2D_proj": [264.0, 187.0, 334.0, 239.0], "bbox2D_tight": [264.0, 187.0, 334.0, 239.0], "bbox2D_trunc": [264.0, 187.0, 334.0, 239.0], "center_cam": [0.5439169674110403, -0.5034781902660773, 5.6524248916917985], "dimensions": [0.45050487943679635, 0.48279954451076823, 0.7663454654951946], "R_cam": [[-0.916776716709137, 0.3353152275085449, 0.21698889136314392], [0.3827959895133972, 0.892699658870697, 0.23781251907348633], [-0.11396376043558121, 0.30108344554901123, -0.9467635750770569]], "bbox3D_cam": [[0.7653784155845642, -0.9192204475402832, 5.836671829223633], [0.06281089782714844, -0.6258665323257446, 5.749336242675781], [0.224700927734375, -0.19487157464027405, 5.8946990966796875], [0.9272684454917908, -0.4882254898548126, 5.982034683227539], [0.8631329536437988, -0.8120847940444946, 5.410150527954102], [0.16056543588638306, -0.5187308192253113, 5.32281494140625], [0.3224554657936096, -0.08773592114448547, 5.468177795410156], [1.0250229835510254, -0.38108983635902405, 5.555513381958008]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1490, "image_id": 211, "category_id": 31, "category_name": "hat", "bbox2D_proj": [136.0, 218.0, 201.0, 259.0], "bbox2D_tight": [136.0, 218.0, 201.0, 259.0], "bbox2D_trunc": [136.0, 218.0, 201.0, 259.0], "center_cam": [-1.4447057053442585, -0.21538103638239825, 6.838997446415588], "dimensions": [1.043457080005711, 0.46289063357021265, 1.4101564392451036], "R_cam": [[0.24726152420043945, 0.22129440307617188, 0.9433400630950928], [-0.2860276401042938, 0.9468557238578796, -0.14714765548706055], [-0.9257699251174927, -0.23343729972839355, 0.2974173426628113]], "bbox3D_cam": [[-2.1624293327331543, -0.15608341991901398, 7.390594482421875], [-1.8137519359588623, -0.5594270825386047, 6.085114002227783], [-1.7113168239593506, -0.12113644182682037, 5.977057933807373], [-2.0599942207336426, 0.282207190990448, 7.282538414001465], [-1.1780946254730225, -0.30962562561035156, 7.700936794281006], [-0.8294171094894409, -0.7129693031311035, 6.395456314086914], [-0.7269819974899292, -0.27467864751815796, 6.287400245666504], [-1.0756595134735107, 0.1286649852991104, 7.592880725860596]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1491, "image_id": 211, "category_id": 24, "category_name": "figure", "bbox2D_proj": [11.0, 244.0, 116.0, 430.0], "bbox2D_tight": [11.0, 244.0, 116.0, 430.0], "bbox2D_trunc": [11.0, 244.0, 116.0, 430.0], "center_cam": [-3.3015263323352997, 1.477754022097265, 7.764696644496437], "dimensions": [1.0625001908917362, 3.453125059920784, 1.3513185050039087], "R_cam": [[-0.9172050356864929, 0.15671861171722412, 0.36629825830459595], [0.1339484453201294, 0.9871665835380554, -0.08694829791784286], [-0.3752238154411316, -0.030684296041727066, -0.9264264106750488]], "bbox3D_cam": [[-3.1469886302948, -0.2709629535675049, 8.563362121582031], [-4.386425018310547, -0.08995580673217773, 8.056315422058105], [-3.8452560901641846, 3.3188536167144775, 7.950358867645264], [-2.6058199405670166, 3.1378464698791504, 8.457406044006348], [-2.7577965259552, -0.3633456230163574, 7.579034328460693], [-3.997232675552368, -0.18233847618103027, 7.071987152099609], [-3.456063985824585, 3.226470947265625, 6.966030597686768], [-2.216627836227417, 3.045463800430298, 7.473077774047852]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1492, "image_id": 212, "category_id": 13, "category_name": "building", "bbox2D_proj": [147.0, 96.0, 199.0, 237.0], "bbox2D_tight": [147.0, 96.0, 199.0, 237.0], "bbox2D_trunc": [147.0, 96.0, 199.0, 237.0], "center_cam": [-3.117643125809475, -3.3444538593998847, 17.255512037651474], "dimensions": [1.308987200485789, 5.167916519514903, 3.5691352773232357], "R_cam": [[-0.12444925308227539, -0.04284771531820297, 0.9913004636764526], [0.09676075726747513, 0.993781328201294, 0.05510241910815239], [-0.9874967336654663, 0.1027764230966568, -0.11952924728393555]], "bbox3D_cam": [[-3.433638334274292, -6.1210832595825195, 18.830427169799805], [-3.8778140544891357, -5.775731086730957, 15.30591869354248], [-4.099247455596924, -0.6399528980255127, 15.837059020996094], [-3.65507173538208, -0.9853050708770752, 19.361568450927734], [-2.1360387802124023, -6.048954963684082, 18.673965454101562], [-2.580214500427246, -5.7036027908325195, 15.149456977844238], [-2.801647901535034, -0.5678246021270752, 15.680596351623535], [-2.3574721813201904, -0.9131767749786377, 19.20510482788086]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1493, "image_id": 212, "category_id": 45, "category_name": "person", "bbox2D_proj": [361.0, 222.0, 421.0, 431.0], "bbox2D_tight": [361.0, 222.0, 421.0, 431.0], "bbox2D_trunc": [361.0, 222.0, 421.0, 431.0], "center_cam": [1.12623556097332, 0.5589984713790619, 3.713036493649189], "dimensions": [0.5019531473888649, 1.6320799666383217, 0.6894531687673089], "R_cam": [[-0.4726409614086151, -0.030234694480895996, 0.8807363510131836], [-0.013348221778869629, 0.9995423555374146, 0.027149949222803116], [-0.8811540603637695, 0.001076012966223061, -0.47282809019088745]], "bbox3D_cam": [[1.0927960872650146, -0.25888049602508545, 4.134584426879883], [0.7669322490692139, -0.26808345317840576, 3.5270700454711914], [0.7175867557525635, 1.36324942111969, 3.5288262367248535], [1.0434505939483643, 1.3724523782730103, 4.136340618133545], [1.5348844528198242, -0.24525249004364014, 3.897246837615967], [1.2090206146240234, -0.25445544719696045, 3.2897324562072754], [1.159675121307373, 1.3768774271011353, 3.2914886474609375], [1.4855389595031738, 1.3860803842544556, 3.899003028869629]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1494, "image_id": 212, "category_id": 45, "category_name": "person", "bbox2D_proj": [39.0, 243.0, 81.0, 340.0], "bbox2D_tight": [39.0, 243.0, 81.0, 340.0], "bbox2D_trunc": [39.0, 243.0, 81.0, 340.0], "center_cam": [-2.419839740314264, 0.39119025103094685, 5.459533692398163], "dimensions": [0.4453125064693608, 1.1279296195957325, 0.6796875346138771], "R_cam": [[0.2634766697883606, 0.010495662689208984, -0.9646086692810059], [0.04289746284484863, 0.9988241791725159, 0.02258509397506714], [0.9637115001678467, -0.04732990264892578, 0.2627166509628296]], "bbox3D_cam": [[-2.3005237579345703, -0.19171860814094543, 5.100219249725342], [-2.1214418411254883, -0.16256168484687805, 5.755241870880127], [-2.1096036434173584, 0.9640417098999023, 5.701857089996338], [-2.2886853218078613, 0.934884786605835, 5.046834468841553], [-2.7300760746002197, -0.18166115880012512, 5.217210292816162], [-2.550994396209717, -0.15250423550605774, 5.872232913970947], [-2.539155960083008, 0.9740991592407227, 5.818848133087158], [-2.71823787689209, 0.9449422359466553, 5.163825511932373]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1495, "image_id": 212, "category_id": 45, "category_name": "person", "bbox2D_proj": [305.0, 260.0, 349.0, 446.0], "bbox2D_tight": [305.0, 260.0, 349.0, 446.0], "bbox2D_trunc": [305.0, 260.0, 349.0, 446.0], "center_cam": [0.5282724465473746, 0.7235859347076554, 3.530435780131822], "dimensions": [0.3999023442217836, 1.3225707184436433, 0.755859403122942], "R_cam": [[-0.1821058988571167, -0.05423605442047119, -0.9817819595336914], [0.02720022201538086, 0.9978176355361938, -0.06016707420349121], [0.9829026460647583, -0.03766140341758728, -0.18023324012756348]], "bbox3D_cam": [[0.8292696475982666, 0.06549447774887085, 3.2199106216430664], [0.6916231513023376, 0.08605402708053589, 3.9628467559814453], [0.6198921799659729, 1.405738353729248, 3.913036823272705], [0.7575386166572571, 1.385178804397583, 3.170100688934326], [0.4366527199745178, 0.041433513164520264, 3.1478347778320312], [0.29900628328323364, 0.0619930624961853, 3.89077091217041], [0.2272752821445465, 1.3816773891448975, 3.84096097946167], [0.3649217486381531, 1.3611178398132324, 3.098024845123291]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1496, "image_id": 212, "category_id": 45, "category_name": "person", "bbox2D_proj": [12.0, 241.0, 43.0, 339.0], "bbox2D_tight": [12.0, 241.0, 43.0, 339.0], "bbox2D_trunc": [12.0, 241.0, 43.0, 339.0], "center_cam": [-2.768204182781031, 0.4157867454517341, 5.489598067457871], "dimensions": [0.35156251740338107, 1.1071776625663903, 0.4335937837438889], "R_cam": [[0.3416635990142822, 0.017854928970336914, -0.9396527409553528], [0.03588074445724487, 0.9988428354263306, 0.0320260226726532], [0.9391372203826904, -0.04465758800506592, 0.3406275510787964]], "bbox3D_cam": [[-2.6869866847991943, -0.1505698561668396, 5.250842094421387], [-2.5388436317443848, -0.1350122094154358, 5.658046245574951], [-2.5190749168395996, 0.9708841443061829, 5.608602523803711], [-2.6672182083129883, 0.955326497554779, 5.2013983726501465], [-3.017333507537842, -0.13931065797805786, 5.370594024658203], [-2.869190216064453, -0.12375301122665405, 5.777798175811768], [-2.849421739578247, 0.9821433424949646, 5.728354454040527], [-2.9975647926330566, 0.9665856957435608, 5.321150302886963]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1497, "image_id": 212, "category_id": 45, "category_name": "person", "bbox2D_proj": [168.0, 231.0, 194.0, 310.0], "bbox2D_tight": [168.0, 231.0, 194.0, 310.0], "bbox2D_trunc": [168.0, 231.0, 194.0, 310.0], "center_cam": [-1.2732103282112908, 0.21824833881214506, 7.546423807378939], "dimensions": [0.35937501538982075, 1.3618163347135213, 0.5048828136546176], "R_cam": [[0.9939016103744507, -0.02677816152572632, 0.1069691926240921], [0.0015554428100585938, 0.9733740091323853, 0.22921742498874664], [-0.11025907099246979, -0.22765319049358368, 0.9674797058105469]], "bbox3D_cam": [[-1.525099754333496, -0.4861101806163788, 7.555424690246582], [-1.0232958793640137, -0.48532482981681824, 7.499756813049316], [-1.0597628355026245, 0.8402317762374878, 7.189734935760498], [-1.561566710472107, 0.8394464254379272, 7.245402812957764], [-1.486657738685608, -0.40373513102531433, 7.903112888336182], [-0.9848538637161255, -0.4029497802257538, 7.847445011138916], [-1.0213208198547363, 0.9226068258285522, 7.537423133850098], [-1.5231246948242188, 0.9218214750289917, 7.593091011047363]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1498, "image_id": 212, "category_id": 45, "category_name": "person", "bbox2D_proj": [237.0, 242.0, 322.0, 453.0], "bbox2D_tight": [237.0, 242.0, 322.0, 453.0], "bbox2D_trunc": [237.0, 242.0, 322.0, 453.0], "center_cam": [0.15509355466378802, 0.6308353989521396, 3.3524389196232165], "dimensions": [0.6445315664847214, 1.471008213454997, 0.663574531430948], "R_cam": [[0.9006934762001038, -0.05770683288574219, 0.43060562014579773], [0.0791933536529541, 0.9963415265083313, -0.03212520480155945], [-0.42717641592025757, 0.06303605437278748, 0.901968240737915]], "bbox3D_cam": [[-0.24007093906402588, -0.1179003119468689, 3.1571338176727295], [0.35760629177093506, -0.06534963846206665, 2.8736705780029297], [0.272719144821167, 1.4002768993377686, 2.9663970470428467], [-0.32495808601379395, 1.3477261066436768, 3.2498602867126465], [0.037467971444129944, -0.1386060118675232, 3.738480806350708], [0.6351451873779297, -0.08605533838272095, 3.455017566680908], [0.5502580404281616, 1.3795711994171143, 3.547744035720825], [-0.04741917550563812, 1.3270204067230225, 3.831207275390625]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1499, "image_id": 213, "category_id": 45, "category_name": "person", "bbox2D_proj": [353.0, 249.0, 393.0, 384.0], "bbox2D_tight": [353.0, 249.0, 393.0, 384.0], "bbox2D_trunc": [353.0, 249.0, 393.0, 384.0], "center_cam": [1.4162020486851987, 0.6704315262952929, 5.237739510349401], "dimensions": [0.42773443170777514, 1.5002441838145228, 0.49609379323375313], "R_cam": [[0.2378356158733368, 0.020592689514160156, 0.9710872173309326], [-0.06629180908203125, 0.9977882504463196, -0.004923016298562288], [-0.9690406322479248, -0.06320417672395706, 0.23867475986480713]], "bbox3D_cam": [[1.1340769529342651, -0.0605350136756897, 5.474473476409912], [1.252065658569336, -0.09342199563980103, 4.993738174438477], [1.2829598188400269, 1.4035038948059082, 4.898916721343994], [1.164971113204956, 1.4363908767700195, 5.3796515464782715], [1.549444317817688, -0.0626407265663147, 5.576562404632568], [1.6674330234527588, -0.09552770853042603, 5.095827579498291], [1.6983271837234497, 1.4013981819152832, 5.00100564956665], [1.580338478088379, 1.4342851638793945, 5.481740951538086]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1500, "image_id": 213, "category_id": 45, "category_name": "person", "bbox2D_proj": [447.0, 255.0, 504.0, 380.0], "bbox2D_tight": [447.0, 255.0, 504.0, 380.0], "bbox2D_trunc": [447.0, 255.0, 504.0, 380.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1501, "image_id": 213, "category_id": 45, "category_name": "person", "bbox2D_proj": [320.0, 263.0, 362.0, 405.0], "bbox2D_tight": [320.0, 263.0, 362.0, 405.0], "bbox2D_trunc": [320.0, 263.0, 362.0, 405.0], "center_cam": [0.9105949547229613, 0.8572772884433475, 4.974887904658331], "dimensions": [0.4570321486940908, 1.5366211398162062, 0.46289152667058264], "R_cam": [[-0.556759774684906, -0.014401078224182129, -0.8305486440658569], [-0.10065710544586182, 0.9936515092849731, 0.05024658888578415], [0.8245523571968079, 0.1115758866071701, -0.5546746253967285]], "bbox3D_cam": [[1.2403128147125244, 0.10565882921218872, 4.825075626373291], [0.9825934767723083, 0.05906552076339722, 5.206754207611084], [0.9604645371437073, 1.5859315395355225, 5.378203868865967], [1.2181838750839233, 1.6325247287750244, 4.996525764465332], [0.8607253432273865, 0.12862306833267212, 4.5715718269348145], [0.6030060052871704, 0.08202975988388062, 4.953249931335449], [0.5808770656585693, 1.6088957786560059, 5.12470006942749], [0.8385964035987854, 1.6554889678955078, 4.743021488189697]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1502, "image_id": 213, "category_id": 45, "category_name": "person", "bbox2D_proj": [15.0, 253.0, 86.0, 370.0], "bbox2D_tight": [15.0, 253.0, 86.0, 370.0], "bbox2D_trunc": [15.0, 253.0, 86.0, 370.0], "center_cam": [-1.4411656535271127, 0.5862509050305147, 2.9970437809866843], "dimensions": [0.2792968852948291, 1.108032257559376, 0.4717102403606606], "R_cam": [[0.9340139031410217, -0.025635480880737305, -0.35631588101387024], [0.039691388607025146, 0.9986934065818787, 0.03219190612435341], [0.355025053024292, -0.04421036317944527, 0.9338109493255615]], "bbox3D_cam": [[-1.5974962711334229, 0.019101738929748535, 2.8073973655700684], [-1.1569123268127441, 0.03782463073730469, 2.9748663902282715], [-1.1853172779083252, 1.144408941268921, 2.925879955291748], [-1.6259011030197144, 1.1256860494613647, 2.758410930633545], [-1.6970140933990479, 0.02809286117553711, 3.0682077407836914], [-1.2564302682876587, 0.04681575298309326, 3.2356767654418945], [-1.2848351001739502, 1.1534000635147095, 3.186690330505371], [-1.725419044494629, 1.1346771717071533, 3.019221305847168]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1503, "image_id": 213, "category_id": 34, "category_name": "jeans", "bbox2D_proj": [79.0, 385.0, 138.0, 458.0], "bbox2D_tight": [79.0, 385.0, 138.0, 458.0], "bbox2D_trunc": [79.0, 385.0, 138.0, 458.0], "center_cam": [-0.9535410644510034, 1.0185998611544127, 2.7638252644673607], "dimensions": [0.21956490222148317, 0.4485475254697646, 0.45719031215854233], "R_cam": [[0.4504689574241638, -0.1578335165977478, -0.8787299394607544], [-0.02119644731283188, 0.9820811748504639, -0.18726307153701782], [0.892540454864502, 0.10298216342926025, 0.4390515089035034]], "bbox3D_cam": [[-0.9246490597724915, 0.8237484693527222, 2.4884984493255615], [-0.7186989784240723, 0.8140576481819153, 2.896559238433838], [-0.7894948124885559, 1.2545676231384277, 2.94275164604187], [-0.9954448938369751, 1.2642585039138794, 2.5346908569335938], [-1.1175873279571533, 0.7826321125030518, 2.5848987102508545], [-0.9116371870040894, 0.7729412317276001, 2.992959499359131], [-0.982433021068573, 1.2134512662887573, 3.039151906967163], [-1.1883831024169922, 1.223142147064209, 2.6310911178588867]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1504, "image_id": 213, "category_id": 45, "category_name": "person", "bbox2D_proj": [226.0, 264.0, 269.0, 414.0], "bbox2D_tight": [226.0, 264.0, 269.0, 414.0], "bbox2D_trunc": [226.0, 264.0, 269.0, 414.0], "center_cam": [-0.02808275517635047, 0.7705081260979199, 4.281703992615903], "dimensions": [0.5679932164247445, 1.3685303142606289, 0.6601562784004914], "R_cam": [[-0.11363694071769714, -0.023924529552459717, -0.9932342767715454], [0.058631300926208496, 0.997806191444397, -0.030742734670639038], [0.991790771484375, -0.06172814965248108, -0.1119849681854248]], "bbox3D_cam": [[0.3078722059726715, 0.0771220326423645, 4.028377056121826], [0.23285406827926636, 0.11582785844802856, 4.683114051818848], [0.20011261105537415, 1.481355905532837, 4.598637580871582], [0.2751307487487793, 1.4426500797271729, 3.9439003467559814], [-0.2562781274318695, 0.059660375118255615, 3.964770555496216], [-0.33129626512527466, 0.09836620092391968, 4.619507312774658], [-0.36403772234916687, 1.4638941287994385, 4.535030841827393], [-0.2890195846557617, 1.4251883029937744, 3.880293846130371]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1505, "image_id": 213, "category_id": 45, "category_name": "person", "bbox2D_proj": [300.0, 265.0, 308.0, 277.0], "bbox2D_tight": [300.0, 265.0, 308.0, 277.0], "bbox2D_trunc": [300.0, 265.0, 308.0, 277.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1506, "image_id": 213, "category_id": 45, "category_name": "person", "bbox2D_proj": [121.0, 259.0, 157.0, 317.0], "bbox2D_tight": [121.0, 259.0, 157.0, 317.0], "bbox2D_trunc": [121.0, 259.0, 157.0, 317.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1507, "image_id": 213, "category_id": 45, "category_name": "person", "bbox2D_proj": [0.0, 264.0, 86.0, 512.0], "bbox2D_tight": [0.0, 264.0, 86.0, 512.0], "bbox2D_trunc": [0.0, 264.0, 86.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1508, "image_id": 213, "category_id": 13, "category_name": "building", "bbox2D_proj": [93.0, 26.0, 173.0, 251.0], "bbox2D_tight": [93.0, 26.0, 173.0, 251.0], "bbox2D_trunc": [93.0, 26.0, 173.0, 251.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1509, "image_id": 213, "category_id": 13, "category_name": "building", "bbox2D_proj": [186.0, 144.0, 255.0, 247.0], "bbox2D_tight": [186.0, 144.0, 255.0, 247.0], "bbox2D_trunc": [186.0, 144.0, 255.0, 247.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1510, "image_id": 213, "category_id": 34, "category_name": "jeans", "bbox2D_proj": [167.0, 366.0, 217.0, 484.0], "bbox2D_tight": [167.0, 366.0, 217.0, 484.0], "bbox2D_trunc": [167.0, 366.0, 217.0, 484.0], "center_cam": [-0.42065203728764156, 1.001323525296616, 2.7893154526752455], "dimensions": [0.23632813194908825, 0.7980957263654475, 0.2949218986028516], "R_cam": [[0.9889127612113953, -0.030049502849578857, 0.14542493224143982], [0.01982051134109497, 0.9972590804100037, 0.07128340750932693], [-0.14716836810112, -0.06761068850755692, 0.9867979884147644]], "bbox3D_cam": [[-0.5716708898544312, 0.5920236110687256, 2.721392869949341], [-0.28001880645751953, 0.5978690385818481, 2.6779897212982178], [-0.30400121212005615, 1.3937772512435913, 2.6240298748016357], [-0.595653235912323, 1.3879318237304688, 2.667433023452759], [-0.5373028516769409, 0.6088699102401733, 2.9546010494232178], [-0.24565081298351288, 0.6147153377532959, 2.9111979007720947], [-0.2696331739425659, 1.410623550415039, 2.8572380542755127], [-0.5612852573394775, 1.4047781229019165, 2.9006412029266357]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1511, "image_id": 214, "category_id": 13, "category_name": "building", "bbox2D_proj": [196.0, 0.0, 262.0, 255.0], "bbox2D_tight": [196.0, 0.0, 262.0, 255.0], "bbox2D_trunc": [196.0, 0.0, 262.0, 255.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1512, "image_id": 214, "category_id": 45, "category_name": "person", "bbox2D_proj": [63.0, 261.0, 86.0, 332.0], "bbox2D_tight": [63.0, 261.0, 86.0, 332.0], "bbox2D_trunc": [63.0, 261.0, 86.0, 332.0], "center_cam": [-2.536889700313184, 0.5588373707715603, 6.186659515717019], "dimensions": [0.29296875624977115, 0.9692382704041528, 0.449218757430095], "R_cam": [[-0.04095256328582764, -0.0418623685836792, -0.9982837438583374], [-0.06047356128692627, 0.9973940849304199, -0.03934428095817566], [0.9973293542861938, 0.05875846743583679, -0.04337739944458008]], "bbox3D_cam": [[-2.361171245574951, 0.0948273241519928, 5.940528392791748], [-2.379567861557007, 0.06766149401664734, 6.388547420501709], [-2.420142412185669, 1.0343739986419678, 6.445498466491699], [-2.4017457962036133, 1.061539888381958, 5.997479438781738], [-2.653637170791626, 0.08330067992210388, 5.927820205688477], [-2.6720337867736816, 0.05613487958908081, 6.3758392333984375], [-2.7126083374023438, 1.0228474140167236, 6.432790279388428], [-2.694211721420288, 1.0500131845474243, 5.984771251678467]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1513, "image_id": 214, "category_id": 45, "category_name": "person", "bbox2D_proj": [113.0, 251.0, 144.0, 320.0], "bbox2D_tight": [113.0, 251.0, 144.0, 320.0], "bbox2D_trunc": [113.0, 251.0, 144.0, 320.0], "center_cam": [-2.1556513965804944, 0.4774335324803203, 7.471786210106023], "dimensions": [0.44531251387029236, 1.1101074075100388, 0.528076189890399], "R_cam": [[0.9569679498672485, -0.012654662132263184, -0.28991761803627014], [0.020593225955963135, 0.9994914531707764, 0.02434791997075081], [0.28946205973625183, -0.029270533472299576, 0.9567419290542603]], "bbox3D_cam": [[-2.3367514610290527, -0.08819654583930969, 7.19857931137085], [-1.8313994407653809, -0.07732167840003967, 7.351437091827393], [-1.8454474210739136, 1.0322211980819702, 7.318943977355957], [-2.350799322128296, 1.0213463306427002, 7.166085720062256], [-2.465855360031128, -0.07735410332679749, 7.624628067016602], [-1.960503339767456, -0.06647923588752747, 7.777486324310303], [-1.9745513200759888, 1.0430636405944824, 7.744992733001709], [-2.479903221130371, 1.0321887731552124, 7.592134952545166]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1514, "image_id": 214, "category_id": 45, "category_name": "person", "bbox2D_proj": [44.0, 259.0, 66.0, 334.0], "bbox2D_tight": [44.0, 259.0, 66.0, 334.0], "bbox2D_trunc": [44.0, 259.0, 66.0, 334.0], "center_cam": [-2.7747522896999923, 0.5528100568146732, 6.204501633101416], "dimensions": [0.33593754000998244, 0.9868163939946227, 0.34765629142080823], "R_cam": [[0.8489347696304321, -0.038135409355163574, -0.5271199345588684], [0.059361279010772705, 0.997962236404419, 0.023403167724609375], [0.5251532793045044, -0.05115829408168793, 0.8494687080383301]], "bbox3D_cam": [[-2.81496524810791, 0.046157658100128174, 5.995772838592529], [-2.5198276042938232, 0.06679502129554749, 6.178345680236816], [-2.557460308074951, 1.051600456237793, 6.127861976623535], [-2.852597713470459, 1.0309631824493408, 5.945289134979248], [-2.992044448852539, 0.05401962995529175, 6.28114128112793], [-2.6969070434570312, 0.07465699315071106, 6.463714122772217], [-2.73453950881958, 1.059462547302246, 6.4132304191589355], [-3.029677152633667, 1.0388251543045044, 6.230657577514648]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1515, "image_id": 214, "category_id": 13, "category_name": "building", "bbox2D_proj": [180.0, 208.0, 205.0, 252.0], "bbox2D_tight": [180.0, 208.0, 205.0, 252.0], "bbox2D_trunc": [180.0, 208.0, 205.0, 252.0], "center_cam": [-2.497424967606136, -1.0069594369568966, 18.0834582412584], "dimensions": [1.0434571720513273, 1.4511718803430445, 1.0625001314276104], "R_cam": [[0.046604156494140625, 0.125249981880188, 0.9910299777984619], [-0.06423759460449219, 0.9904302358627319, -0.12215334177017212], [-0.9968457818031311, -0.057968586683273315, 0.05420398712158203]], "bbox3D_cam": [[-3.1301119327545166, -1.6277445554733276, 18.626813888549805], [-3.080595016479492, -1.6959969997406006, 17.567665100097656], [-2.8988356590270996, -0.2587125301361084, 17.483543395996094], [-2.948352575302124, -0.19046008586883545, 18.542692184448242], [-2.0960144996643066, -1.7552063465118408, 18.683372497558594], [-2.0464975833892822, -1.8234587907791138, 17.624223709106445], [-1.8647382259368896, -0.3861743211746216, 17.540102005004883], [-1.914255142211914, -0.31792187690734863, 18.59925079345703]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1516, "image_id": 214, "category_id": 13, "category_name": "building", "bbox2D_proj": [31.0, 30.0, 120.0, 253.0], "bbox2D_tight": [31.0, 30.0, 120.0, 253.0], "bbox2D_trunc": [31.0, 30.0, 120.0, 253.0], "center_cam": [-4.979062515839715, -3.1144288213017415, 11.929345161876283], "dimensions": [1.2719112363589162, 4.676883607482792, 5.4761845674521386], "R_cam": [[0.0007770061492919922, -0.0012651383876800537, 0.999998927116394], [0.02416864037513733, 0.9997071027755737, 0.0012459754943847656], [-0.9997075796127319, 0.024167537689208984, 0.0008072853088378906]], "bbox3D_cam": [[-5.6141862869262695, -5.519154071807861, 14.60960865020752], [-5.609931945800781, -5.3868021965026855, 9.135025978088379], [-5.615848541259766, -0.7112884521484375, 9.248054504394531], [-5.620103359222412, -0.8436403274536133, 14.722638130187988], [-4.342276573181152, -5.517569065093994, 14.610635757446289], [-4.338021755218506, -5.385217189788818, 9.136052131652832], [-4.343938827514648, -0.7097034454345703, 9.2490816116333], [-4.348193168640137, -0.8420553207397461, 14.723664283752441]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1517, "image_id": 214, "category_id": 45, "category_name": "person", "bbox2D_proj": [422.0, 256.0, 458.0, 335.0], "bbox2D_tight": [422.0, 256.0, 458.0, 335.0], "bbox2D_trunc": [422.0, 256.0, 458.0, 335.0], "center_cam": [3.185769089878626, 0.7021306469882719, 7.844426673170254], "dimensions": [0.5078125113359117, 1.3441161948585265, 0.7890625166086483], "R_cam": [[-0.414423406124115, -0.047121405601501465, -0.9088634252548218], [-0.013467550277709961, 0.9988667964935303, -0.04564684256911278], [0.9099844694137573, -0.006676941178739071, -0.41458845138549805]], "bbox3D_cam": [[3.611706495285034, 0.0477374792098999, 7.595163345336914], [3.284700393676758, 0.03711068630218506, 8.31319808959961], [3.2213637828826904, 1.3797038793563843, 8.30422306060791], [3.548369884490967, 1.3903306722640991, 7.586188793182373], [3.150174379348755, 0.02455747127532959, 7.38463020324707], [2.8231682777404785, 0.013930678367614746, 8.102664947509766], [2.759831666946411, 1.356523871421814, 8.093689918518066], [3.0868377685546875, 1.3671506643295288, 7.375655174255371]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1518, "image_id": 214, "category_id": 45, "category_name": "person", "bbox2D_proj": [250.0, 254.0, 265.0, 306.0], "bbox2D_tight": [250.0, 254.0, 265.0, 306.0], "bbox2D_trunc": [250.0, 254.0, 265.0, 306.0], "center_cam": [0.002191956279908175, 0.5018153044912588, 9.738026088277891], "dimensions": [0.3437500072263676, 1.1075439357526198, 0.5781250106879822], "R_cam": [[-0.0762714147567749, -0.04475522041320801, -0.9960821270942688], [0.12541675567626953, 0.9906272888183594, -0.05411344766616821], [0.9891679883003235, -0.12905269861221313, -0.06994342803955078]], "bbox3D_cam": [[0.22022497653961182, -0.07371878623962402, 9.535581588745117], [0.17613056302070618, -0.0012122392654418945, 10.107444763183594], [0.1265621930360794, 1.095950961112976, 9.964512825012207], [0.17065662145614624, 1.023444414138794, 9.39264965057373], [-0.12217828631401062, -0.09232032299041748, 9.5115385055542], [-0.16627269983291626, -0.01981377601623535, 10.083401679992676], [-0.21584105491638184, 1.0773494243621826, 9.940469741821289], [-0.1717466413974762, 1.0048428773880005, 9.368606567382812]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1519, "image_id": 215, "category_id": 45, "category_name": "person", "bbox2D_proj": [257.0, 244.0, 296.0, 350.0], "bbox2D_tight": [257.0, 244.0, 296.0, 350.0], "bbox2D_trunc": [257.0, 244.0, 296.0, 350.0], "center_cam": [0.28410378732636754, 0.5869955091006029, 6.47245908602919], "dimensions": [0.5966797113513242, 1.4414061782407588, 0.6796875116913138], "R_cam": [[0.16433553397655487, 0.02166426181793213, 0.9861665964126587], [-0.0035976171493530273, 0.9997653961181641, -0.02136358805000782], [-0.9863979816436768, -3.698468572110869e-05, 0.1643749475479126]], "bbox3D_cam": [[-0.08157089352607727, -0.12594223022460938, 6.758667469024658], [0.03012588620185852, -0.128387451171875, 6.088225364685059], [0.061352938413619995, 1.3126803636550903, 6.08817195892334], [-0.050343841314315796, 1.315125584602356, 6.7586140632629395], [0.5068546533584595, -0.13868939876556396, 6.856746673583984], [0.6185513734817505, -0.1411346197128296, 6.186304569244385], [0.6497784852981567, 1.2999331951141357, 6.186251163482666], [0.5380816459655762, 1.3023784160614014, 6.856693267822266]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1520, "image_id": 215, "category_id": 45, "category_name": "person", "bbox2D_proj": [227.0, 248.0, 261.0, 346.0], "bbox2D_tight": [227.0, 248.0, 261.0, 346.0], "bbox2D_trunc": [227.0, 248.0, 261.0, 346.0], "center_cam": [-0.15177281373775472, 0.6017924132746881, 6.543266468610522], "dimensions": [0.40625000158198066, 1.3814696605009638, 0.6210937666343906], "R_cam": [[0.9919801354408264, -0.03613913059234619, 0.12111702561378479], [0.04099506139755249, 0.9984424710273743, -0.03784312307834625], [-0.11956076323986053, 0.04250482842326164, 0.9919165968894958]], "bbox3D_cam": [[-0.4594684839248657, -0.0929105281829834, 6.349553108215332], [0.15664415061473846, -0.06744873523712158, 6.275294303894043], [0.10671906173229218, 1.3118691444396973, 6.33401346206665], [-0.509393572807312, 1.2864073514938354, 6.408271789550781], [-0.41026467084884644, -0.1082843542098999, 6.752519130706787], [0.20584796369075775, -0.08282256126403809, 6.678260803222656], [0.15592287480831146, 1.2964953184127808, 6.7369794845581055], [-0.4601897597312927, 1.271033525466919, 6.8112382888793945]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1521, "image_id": 215, "category_id": 13, "category_name": "building", "bbox2D_proj": [200.0, 79.0, 234.0, 208.0], "bbox2D_tight": [200.0, 79.0, 234.0, 208.0], "bbox2D_trunc": [200.0, 79.0, 234.0, 208.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1522, "image_id": 215, "category_id": 45, "category_name": "person", "bbox2D_proj": [325.0, 234.0, 456.0, 512.0], "bbox2D_tight": [325.0, 234.0, 456.0, 512.0], "bbox2D_trunc": [325.0, 234.0, 456.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1523, "image_id": 215, "category_id": 20, "category_name": "coat", "bbox2D_proj": [300.0, 268.0, 339.0, 330.0], "bbox2D_tight": [300.0, 268.0, 339.0, 330.0], "bbox2D_trunc": [300.0, 268.0, 339.0, 330.0], "center_cam": [0.6536086632961575, 0.4484629633228582, 4.617087334221427], "dimensions": [0.37304688420646204, 0.661926246707661, 0.49218750191711524], "R_cam": [[0.049138933420181274, 0.06873977184295654, 0.9964237213134766], [-0.058196067810058594, 0.9961310625076294, -0.06584969162940979], [-0.9970951080322266, -0.05475214123725891, 0.05294919013977051]], "bbox3D_cam": [[0.43290919065475464, 0.14538449048995972, 4.870710849761963], [0.4570947289466858, 0.1167411208152771, 4.379953384399414], [0.5025954246520996, 0.7761064171791077, 4.3437113761901855], [0.47840988636016846, 0.8047497868537903, 4.834468841552734], [0.8046219348907471, 0.12081950902938843, 4.890463352203369], [0.8288074731826782, 0.09217613935470581, 4.39970588684082], [0.874308168888092, 0.7515414357185364, 4.363463878631592], [0.8501226305961609, 0.780184805393219, 4.854221343994141]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1524, "image_id": 215, "category_id": 13, "category_name": "building", "bbox2D_proj": [204.0, 186.0, 235.0, 247.0], "bbox2D_tight": [204.0, 186.0, 235.0, 247.0], "bbox2D_trunc": [204.0, 186.0, 235.0, 247.0], "center_cam": [-0.6587688871801841, -0.5618620058385554, 8.17588694865928], "dimensions": [0.5835432319506608, 0.9758654345487426, 0.7900803127817135], "R_cam": [[0.12722063064575195, -0.006436705589294434, 0.991853654384613], [0.03500765562057495, 0.9993851184844971, 0.0019953250885009766], [-0.9912565350532532, 0.034468650817871094, 0.12736761569976807]], "bbox3D_cam": [[-0.9952801465988159, -1.063906192779541, 8.513492584228516], [-0.8947657346725464, -1.0362473726272583, 7.730320453643799], [-0.9010471105575562, -0.06098204851150513, 7.7639570236206055], [-1.0015615224838257, -0.088640958070755, 8.54712963104248], [-0.41649067401885986, -1.062741994857788, 8.587817192077637], [-0.31597626209259033, -1.0350830554962158, 7.80464506149292], [-0.3222576379776001, -0.059817731380462646, 7.838281631469727], [-0.42277204990386963, -0.08747658133506775, 8.621454238891602]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1525, "image_id": 215, "category_id": 45, "category_name": "person", "bbox2D_proj": [200.0, 248.0, 229.0, 325.0], "bbox2D_tight": [200.0, 248.0, 229.0, 325.0], "bbox2D_trunc": [200.0, 248.0, 229.0, 325.0], "center_cam": [-0.7571515733007554, 0.5596710625256334, 8.200667256462921], "dimensions": [0.5312500877160051, 1.4085997828864787, 0.5585938502028632], "R_cam": [[0.8970450162887573, -0.018778681755065918, -0.4415401220321655], [0.008833169937133789, 0.9996591806411743, -0.02456970512866974], [0.4418509602546692, 0.01813991367816925, 0.8969051837921143]], "bbox3D_cam": [[-0.8771835565567017, -0.1403294801712036, 7.8262434005737305], [-0.37609970569610596, -0.13539528846740723, 8.07305908203125], [-0.4025513231754303, 1.2727242708206177, 8.098610877990723], [-0.9036352038383484, 1.2677900791168213, 7.851795196533203], [-1.1117517948150635, -0.15338218212127686, 8.30272388458252], [-0.610667884349823, -0.14844799041748047, 8.549539566040039], [-0.6371195316314697, 1.2596715688705444, 8.575091361999512], [-1.1382033824920654, 1.254737377166748, 8.328275680541992]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1526, "image_id": 215, "category_id": 45, "category_name": "person", "bbox2D_proj": [181.0, 251.0, 200.0, 327.0], "bbox2D_tight": [181.0, 251.0, 200.0, 327.0], "bbox2D_trunc": [181.0, 251.0, 200.0, 327.0], "center_cam": [-1.1689126815442683, 0.5665212095906011, 7.932482417079074], "dimensions": [0.3598632905401511, 1.3544921192414447, 0.5390625026206655], "R_cam": [[-0.20485636591911316, -0.017881929874420166, -0.9786287546157837], [0.015958547592163086, 0.9996391534805298, -0.021606504917144775], [0.9786619544029236, -0.020043760538101196, -0.2044970989227295]], "bbox3D_cam": [[-0.925500750541687, -0.11089402437210083, 7.719072341918945], [-1.03593111038208, -0.10229140520095825, 8.24663257598877], [-1.0601520538330078, 1.2517118453979492, 8.219483375549316], [-0.9497216939926147, 1.2431092262268066, 7.691923141479492], [-1.2776732444763184, -0.11866945028305054, 7.645481109619141], [-1.3881036043167114, -0.11006683111190796, 8.173041343688965], [-1.4123245477676392, 1.243936538696289, 8.145892143249512], [-1.301894187927246, 1.2353339195251465, 7.618332386016846]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1527, "image_id": 215, "category_id": 13, "category_name": "building", "bbox2D_proj": [0.0, 0.0, 73.0, 246.0], "bbox2D_tight": [0.0, 0.0, 73.0, 246.0], "bbox2D_trunc": [0.0, 0.0, 73.0, 246.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1528, "image_id": 215, "category_id": 13, "category_name": "building", "bbox2D_proj": [231.0, 37.0, 253.0, 163.0], "bbox2D_tight": [231.0, 37.0, 253.0, 163.0], "bbox2D_trunc": [231.0, 37.0, 253.0, 163.0], "center_cam": [-0.4771395629012703, -6.417295860108331, 19.349484072443495], "dimensions": [0.6015625120381989, 4.048827978380677, 2.046875022938101], "R_cam": [[-0.2574528157711029, -0.017969965934753418, 0.9661237001419067], [0.20348262786865234, 0.9763990640640259, 0.07238516211509705], [-0.9446231126785278, 0.21522507071495056, -0.2477201223373413]], "bbox3D_cam": [[-0.46786606311798096, -8.623955726623535, 19.95505142211914], [-0.9948396682739258, -8.207452774047852, 18.021526336669922], [-1.0675969123840332, -4.254179954528809, 18.892934799194336], [-0.5406233668327332, -4.670683860778809, 20.826459884643555], [0.11331775784492493, -8.580411911010742, 19.806032180786133], [-0.41365575790405273, -8.163908004760742, 17.872507095336914], [-0.48641306161880493, -4.210636138916016, 18.743915557861328], [0.040560513734817505, -4.627139091491699, 20.677440643310547]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1529, "image_id": 215, "category_id": 13, "category_name": "building", "bbox2D_proj": [70.0, 36.0, 132.0, 247.0], "bbox2D_tight": [70.0, 36.0, 132.0, 247.0], "bbox2D_trunc": [70.0, 36.0, 132.0, 247.0], "center_cam": [-7.00027683892882, -4.788498917665513, 18.568446494441268], "dimensions": [1.6715706845640028, 5.75515122786992, 3.3377315945497905], "R_cam": [[-0.5040547847747803, -0.06699052453041077, -0.8610696792602539], [-0.05488215386867523, 0.9974567890167236, -0.04547429829835892], [0.8619261980056763, 0.024335816502571106, -0.5064494609832764]], "bbox3D_cam": [[-5.246637344360352, -7.529158592224121, 17.48326301574707], [-6.929037094116211, -7.712340354919434, 20.36014175415039], [-7.314577579498291, -1.9718255996704102, 20.500198364257812], [-5.63217830657959, -1.7886438369750977, 17.623319625854492], [-6.685976505279541, -7.605172157287598, 16.636695861816406], [-8.368375778198242, -7.78835391998291, 19.513574600219727], [-8.75391674041748, -2.0478391647338867, 19.65363121032715], [-7.071516990661621, -1.8646574020385742, 16.776752471923828]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1530, "image_id": 215, "category_id": 13, "category_name": "building", "bbox2D_proj": [231.0, 0.0, 280.0, 257.0], "bbox2D_tight": [231.0, 0.0, 280.0, 257.0], "bbox2D_trunc": [231.0, 0.0, 280.0, 257.0], "center_cam": [0.09106117857776574, -4.124620454839408, 16.388032208473163], "dimensions": [2.0087561947922232, 8.26895490601227, 7.124186360849368], "R_cam": [[0.05412137508392334, -0.06699052453041077, -0.9962846040725708], [-0.02072199620306492, 0.9974567890167236, -0.06819502264261246], [0.9983192682266235, 0.024335816502571106, 0.05259549617767334]], "bbox3D_cam": [[1.1758930683135986, -8.10627555847168, 12.678484916687012], [1.5614638328552246, -8.253904342651367, 19.79069709777832], [1.0075222253799438, -0.005978107452392578, 19.99193000793457], [0.6219514608383179, 0.14164972305297852, 12.879716873168945], [-0.8253998756408691, -8.243263244628906, 12.784136772155762], [-0.43982911109924316, -8.390890121459961, 19.89634895324707], [-0.9937707781791687, -0.14296507835388184, 20.09758186340332], [-1.3793416023254395, 0.004662990570068359, 12.985368728637695]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1531, "image_id": 215, "category_id": 45, "category_name": "person", "bbox2D_proj": [77.0, 241.0, 138.0, 382.0], "bbox2D_tight": [77.0, 241.0, 138.0, 382.0], "bbox2D_trunc": [77.0, 241.0, 138.0, 382.0], "center_cam": [-1.578031467388846, 0.5602016965222716, 4.711406041993627], "dimensions": [0.48046875122011135, 1.4531249299492073, 0.5976562638379332], "R_cam": [[0.9956242442131042, 0.014495849609375, -0.09231603145599365], [-0.007751941680908203, 0.9973021149635315, 0.07299616932868958], [0.093125119805336, -0.07196111977100372, 0.9930505156517029]], "bbox3D_cam": [[-1.8639066219329834, -0.17962026596069336, 4.497297286987305], [-1.2688655853271484, -0.18425321578979492, 4.552954196929932], [-1.2478013038635254, 1.2649513483047485, 4.448385715484619], [-1.8428423404693604, 1.26958429813385, 4.392728805541992], [-1.9082615375518799, -0.1445479393005371, 4.974426746368408], [-1.313220500946045, -0.14918088912963867, 5.030083656311035], [-1.2921562194824219, 1.3000236749649048, 4.925515174865723], [-1.8871972560882568, 1.3046566247940063, 4.869858264923096]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1532, "image_id": 216, "category_id": 0, "category_name": "air_conditioner_unit", "bbox2D_proj": [4.0, 106.0, 54.0, 158.0], "bbox2D_tight": [4.0, 106.0, 54.0, 158.0], "bbox2D_trunc": [4.0, 106.0, 54.0, 158.0], "center_cam": [-1.7391752492907164, -0.933419151121339, 3.366114037241946], "dimensions": [0.17371064896010566, 0.3714456681466693, 0.4526334998766447], "R_cam": [[-0.2284420132637024, 0.030470818281173706, 0.9730805158615112], [-0.06177768111228943, 0.9970419406890869, -0.04572421312332153], [-0.9715954065322876, -0.07055997848510742, -0.22588381171226501]], "bbox3D_cam": [[-1.777651309967041, -1.1006399393081665, 3.6187262535095215], [-1.881051778793335, -1.1286026239395142, 3.1789495944976807], [-1.8697335720062256, -0.758255660533905, 3.152740478515625], [-1.7663331031799316, -0.7302929759025574, 3.592517137527466], [-1.608616828918457, -1.1085827350616455, 3.5794878005981445], [-1.712017297744751, -1.1365453004837036, 3.1397111415863037], [-1.7006990909576416, -0.7661983966827393, 3.113502025604248], [-1.5972986221313477, -0.7382357716560364, 3.553278684616089]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1533, "image_id": 216, "category_id": 45, "category_name": "person", "bbox2D_proj": [152.0, 251.0, 188.0, 359.0], "bbox2D_tight": [152.0, 251.0, 188.0, 359.0], "bbox2D_trunc": [152.0, 251.0, 188.0, 359.0], "center_cam": [-0.7061741880517849, 0.38350253211273383, 3.581020832171562], "dimensions": [0.25390628006506016, 0.8197021463001595, 0.2729492483027068], "R_cam": [[0.8980966210365295, 0.047644615173339844, -0.43720972537994385], [-0.06794047355651855, 0.9972110390663147, -0.030889973044395447], [0.43451863527297974, 0.0574464350938797, 0.89882892370224]], "bbox3D_cam": [[-0.7927636504173279, -0.012011736631393433, 3.384066343307495], [-0.5476288199424744, -0.030556052923202515, 3.5026679039001465], [-0.5085744261741638, 0.7868599891662598, 3.5497570037841797], [-0.7537092566490173, 0.8054043054580688, 3.4311554431915283], [-0.9037739634513855, -0.019854873418807983, 3.6122846603393555], [-0.658639132976532, -0.038399189710617065, 3.730886220932007], [-0.6195847392082214, 0.7790168523788452, 3.77797532081604], [-0.864719569683075, 0.7975611686706543, 3.6593737602233887]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1534, "image_id": 216, "category_id": 63, "category_name": "streetlight", "bbox2D_proj": [419.0, 77.0, 465.0, 334.0], "bbox2D_tight": [419.0, 77.0, 465.0, 334.0], "bbox2D_trunc": [419.0, 77.0, 465.0, 334.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1535, "image_id": 216, "category_id": 45, "category_name": "person", "bbox2D_proj": [319.0, 227.0, 346.0, 313.0], "bbox2D_tight": [319.0, 227.0, 346.0, 313.0], "bbox2D_trunc": [319.0, 227.0, 346.0, 313.0], "center_cam": [0.7200319630020928, 0.12283158763465409, 4.181589863167718], "dimensions": [0.21484375943971074, 0.7862548802608206, 0.25329590535110735], "R_cam": [[0.9730965495109558, 0.030727863311767578, 0.22833967208862305], [-0.0202181339263916, 0.9986318945884705, -0.04822514206171036], [-0.2295091152191162, 0.04231111332774162, 0.9723865985870361]], "bbox3D_cam": [[0.5601826310157776, -0.2620169520378113, 4.0895676612854], [0.806663990020752, -0.26713812351226807, 4.031434059143066], [0.8308239579200745, 0.5180410146713257, 4.064701080322266], [0.5843425989151001, 0.5231621861457825, 4.122835159301758], [0.6092399954795837, -0.2723778486251831, 4.298479080200195], [0.8557213544845581, -0.2774990200996399, 4.240345001220703], [0.8798813223838806, 0.5076801180839539, 4.2736124992370605], [0.6333999633789062, 0.5128012895584106, 4.3317461013793945]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1536, "image_id": 216, "category_id": 45, "category_name": "person", "bbox2D_proj": [0.0, 279.0, 139.0, 512.0], "bbox2D_tight": [0.0, 279.0, 139.0, 512.0], "bbox2D_trunc": [0.0, 279.0, 139.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1537, "image_id": 216, "category_id": 58, "category_name": "signboard", "bbox2D_proj": [461.0, 135.0, 512.0, 377.0], "bbox2D_tight": [461.0, 135.0, 512.0, 377.0], "bbox2D_trunc": [461.0, 135.0, 512.0, 377.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1538, "image_id": 216, "category_id": 45, "category_name": "person", "bbox2D_proj": [252.0, 241.0, 268.0, 267.0], "bbox2D_tight": [252.0, 241.0, 268.0, 267.0], "bbox2D_trunc": [252.0, 241.0, 268.0, 267.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1539, "image_id": 216, "category_id": 45, "category_name": "person", "bbox2D_proj": [288.0, 236.0, 303.0, 265.0], "bbox2D_tight": [288.0, 236.0, 303.0, 265.0], "bbox2D_trunc": [288.0, 236.0, 303.0, 265.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1540, "image_id": 216, "category_id": 45, "category_name": "person", "bbox2D_proj": [285.0, 236.0, 347.0, 389.0], "bbox2D_tight": [285.0, 236.0, 347.0, 389.0], "bbox2D_trunc": [285.0, 236.0, 347.0, 389.0], "center_cam": [0.3865168382533602, 0.36137746720004693, 3.076615534257541], "dimensions": [0.3759765685093644, 0.9862976053759775, 0.5390625175496528], "R_cam": [[0.20602232217788696, 0.03617143630981445, 0.9778785705566406], [0.03582996129989624, 0.9983676075935364, -0.04447811841964722], [-0.9778911471366882, 0.044200897216796875, 0.2043900489807129]], "bbox3D_cam": [[0.12931975722312927, -0.13226225972175598, 3.2799673080444336], [0.24037867784500122, -0.11294764280319214, 2.7528228759765625], [0.2760545015335083, 0.87173992395401, 2.7964179515838623], [0.16499558091163635, 0.8524253368377686, 3.3235623836517334], [0.4969791769981384, -0.14898496866226196, 3.3568131923675537], [0.608038067817688, -0.1296703815460205, 2.8296687602996826], [0.6437139511108398, 0.8550171852111816, 2.8732638359069824], [0.5326550006866455, 0.8357025980949402, 3.4004082679748535]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1541, "image_id": 217, "category_id": 13, "category_name": "building", "bbox2D_proj": [251.0, 160.0, 294.0, 263.0], "bbox2D_tight": [251.0, 160.0, 294.0, 263.0], "bbox2D_trunc": [251.0, 160.0, 294.0, 263.0], "center_cam": [0.314255047445686, -0.774658065272775, 7.789147490263556], "dimensions": [1.003908169209218, 1.3437500210720126, 1.01172070996588], "R_cam": [[0.6442210078239441, 0.06479489803314209, 0.7620898485183716], [0.04428255558013916, 0.9915737509727478, -0.12173983454704285], [-0.7635563611984253, 0.11217465996742249, 0.6359233856201172]], "bbox3D_cam": [[-0.43769901990890503, -1.4021646976470947, 7.780828475952148], [0.21407264471054077, -1.3573631048202515, 7.008322715759277], [0.30114078521728516, -0.02493584156036377, 7.1590576171875], [-0.35063087940216064, -0.06973743438720703, 7.931563377380371], [0.3273693323135376, -1.5243803262710571, 8.41923713684082], [0.9791409969329834, -1.4795787334442139, 7.646731376647949], [1.066209077835083, -0.14715147018432617, 7.797466278076172], [0.414437472820282, -0.19195306301116943, 8.569972038269043]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1542, "image_id": 217, "category_id": 34, "category_name": "jeans", "bbox2D_proj": [380.0, 415.0, 413.0, 472.0], "bbox2D_tight": [380.0, 415.0, 413.0, 472.0], "bbox2D_trunc": [380.0, 415.0, 413.0, 472.0], "center_cam": [1.0205212079736432, 1.3641736359469703, 3.2881840382266327], "dimensions": [0.2087402366262682, 0.11328125272487091, 0.4687500113494908], "R_cam": [[0.15586984157562256, 0.07382842898368835, -0.9850146770477295], [-0.6541926860809326, 0.7548697590827942, -0.04694157838821411], [0.7400921583175659, 0.6517062187194824, 0.16595947742462158]], "bbox3D_cam": [[1.0826135873794556, 1.4796431064605713, 3.060490608215332], [1.1556775569915771, 1.1729902029037476, 3.4074087142944336], [1.1640409231185913, 1.2585028409957886, 3.4812347888946533], [1.0909769535064697, 1.5651556253433228, 3.1343166828155518], [0.8770014047622681, 1.4698444604873657, 3.095133066177368], [0.9500653743743896, 1.1631916761398315, 3.4420511722564697], [0.9584287405014038, 1.248704195022583, 3.5158772468566895], [0.8853647708892822, 1.5553570985794067, 3.168959140777588]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1543, "image_id": 217, "category_id": 45, "category_name": "person", "bbox2D_proj": [179.0, 337.0, 207.0, 407.0], "bbox2D_tight": [179.0, 337.0, 207.0, 407.0], "bbox2D_trunc": [179.0, 337.0, 207.0, 407.0], "center_cam": [-0.5541034208612041, 1.1797995950532245, 3.9242278960405947], "dimensions": [0.22424316329825586, 0.8581543062327027, 0.33398438543046993], "R_cam": [[0.08488985896110535, 0.013050436973571777, 0.9963048696517944], [-0.06812047958374023, 0.9976506233215332, -0.007263898849487305], [-0.9940589666366577, -0.06725215911865234, 0.08557939529418945]], "bbox3D_cam": [[-0.6855863332748413, 0.7639204263687134, 4.1094889640808105], [-0.6572344303131104, 0.7411693334579468, 3.777488946914673], [-0.6460351347923279, 1.597307562828064, 3.719776153564453], [-0.6743869781494141, 1.6200586557388306, 4.05177640914917], [-0.462171733379364, 0.7622915506362915, 4.1286797523498535], [-0.43381986021995544, 0.7395404577255249, 3.7966794967651367], [-0.422620564699173, 1.595678687095642, 3.738966941833496], [-0.45097243785858154, 1.6184297800064087, 4.070967197418213]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1544, "image_id": 217, "category_id": 45, "category_name": "person", "bbox2D_proj": [51.0, 380.0, 86.0, 512.0], "bbox2D_tight": [51.0, 380.0, 86.0, 512.0], "bbox2D_trunc": [51.0, 380.0, 86.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1545, "image_id": 217, "category_id": 45, "category_name": "person", "bbox2D_proj": [405.0, 295.0, 429.0, 359.0], "bbox2D_tight": [405.0, 295.0, 429.0, 359.0], "bbox2D_trunc": [405.0, 295.0, 429.0, 359.0], "center_cam": [1.7280525731395762, 0.7548923627753074, 4.701923167886402], "dimensions": [0.18164062526996483, 0.6523437586667076, 0.27734375974250797], "R_cam": [[-0.39982131123542786, -0.03201472759246826, -0.9160338640213013], [0.13661044836044312, 0.9861462116241455, -0.09409147500991821], [0.9063555598258972, -0.16275957226753235, -0.3899087905883789]], "bbox3D_cam": [[1.8771333694458008, 0.42284059524536133, 4.664736747741699], [1.7662453651428223, 0.46072864532470703, 4.91610860824585], [1.7453608512878418, 1.1040349006652832, 4.809933662414551], [1.8562487363815308, 1.0661468505859375, 4.558561325073242], [1.7107443809509277, 0.40574973821640015, 4.5939130783081055], [1.5998564958572388, 0.44363778829574585, 4.845285415649414], [1.5789718627929688, 1.0869441032409668, 4.739109992980957], [1.6898598670959473, 1.049056053161621, 4.487738132476807]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1546, "image_id": 217, "category_id": 45, "category_name": "person", "bbox2D_proj": [470.0, 290.0, 493.0, 353.0], "bbox2D_tight": [470.0, 290.0, 493.0, 353.0], "bbox2D_trunc": [470.0, 290.0, 493.0, 353.0], "center_cam": [2.3425201006310203, 0.6782077986704678, 4.601185314395472], "dimensions": [0.20703126053679283, 0.6486816495898791, 0.23632814452294043], "R_cam": [[-0.44278645515441895, -0.028899192810058594, -0.8961612582206726], [0.1643160581588745, 0.979938268661499, -0.1127881109714508], [0.8814421892166138, -0.19719475507736206, -0.4291548728942871]], "bbox3D_cam": [[2.496981382369995, 0.35263291001319885, 4.60541296005249], [2.392338514328003, 0.3914653956890106, 4.813722610473633], [2.3735921382904053, 1.0271333456039429, 4.6858062744140625], [2.4782350063323975, 0.9883009195327759, 4.47749662399292], [2.311447858810425, 0.3292822539806366, 4.51656436920166], [2.2068049907684326, 0.36811473965644836, 4.724874019622803], [2.188058614730835, 1.0037827491760254, 4.596957683563232], [2.292701482772827, 0.9649502038955688, 4.38864803314209]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1547, "image_id": 217, "category_id": 13, "category_name": "building", "bbox2D_proj": [86.0, 134.0, 253.0, 283.0], "bbox2D_tight": [86.0, 134.0, 253.0, 283.0], "bbox2D_trunc": [86.0, 134.0, 253.0, 283.0], "center_cam": [-1.0571639364791443, -0.923997283860372, 7.4392586307526125], "dimensions": [1.4335937987719434, 2.448730905342783, 2.4960942418261], "R_cam": [[0.8866109251976013, 0.11421404033899307, 0.44819211959838867], [0.003104165196418762, 0.9675393104553223, -0.25270137190818787], [-0.462505578994751, 0.22543907165527344, 0.8574764728546143]], "bbox3D_cam": [[-2.6247987747192383, -1.9313576221466064, 7.125831127166748], [-0.4117341637611389, -1.9236092567443848, 5.971373558044434], [-0.13205468654632568, 0.445634126663208, 6.523413181304932], [-2.3451192378997803, 0.43788576126098633, 7.677870750427246], [-1.9822732210159302, -2.293628692626953, 8.355103492736816], [0.23079133033752441, -2.2858803272247314, 7.20064640045166], [0.5104707479476929, 0.08336305618286133, 7.752686023712158], [-1.7025938034057617, 0.07561469078063965, 8.907143592834473]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1548, "image_id": 217, "category_id": 13, "category_name": "building", "bbox2D_proj": [69.0, 172.0, 123.0, 288.0], "bbox2D_tight": [69.0, 172.0, 123.0, 288.0], "bbox2D_trunc": [69.0, 172.0, 123.0, 288.0], "center_cam": [-2.0367105596737267, -0.3849229270796882, 6.725404354930634], "dimensions": [0.7304688365658434, 1.5134277543790888, 0.8437501103388578], "R_cam": [[0.38113102316856384, 0.047797560691833496, -0.923284649848938], [-0.1484752893447876, 0.988864541053772, -0.010097861289978027], [0.9125208258628845, 0.14093360304832458, 0.3839837312698364]], "bbox3D_cam": [[-1.896453857421875, -1.0668842792510986, 6.093544006347656], [-1.5748746395111084, -1.1921603679656982, 6.863483428955078], [-1.502536416053772, 0.30441462993621826, 7.076776504516602], [-1.8241157531738281, 0.42969071865081787, 6.30683708190918], [-2.5708847045898438, -1.0742604732513428, 6.374032020568848], [-2.249305248260498, -1.1995365619659424, 7.1439714431762695], [-2.176967144012451, 0.2970384359359741, 7.357264518737793], [-2.4985463619232178, 0.42231452465057373, 6.587325096130371]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1549, "image_id": 217, "category_id": 45, "category_name": "person", "bbox2D_proj": [61.0, 326.0, 86.0, 388.0], "bbox2D_tight": [61.0, 326.0, 86.0, 388.0], "bbox2D_trunc": [61.0, 326.0, 86.0, 388.0], "center_cam": [-1.840411014071532, 1.020452416698867, 4.529743301673749], "dimensions": [0.15234375746811488, 0.5791015695141056, 0.19726562840490408], "R_cam": [[-0.9906855821609497, 0.1353834867477417, 0.014613240957260132], [0.136103093624115, 0.9811263084411621, 0.1373579055070877], [0.004258543252944946, 0.13806739449501038, -0.9904139041900635]], "bbox3D_cam": [[-1.783010482788086, 0.7124794721603394, 4.5647873878479], [-1.9784386157989502, 0.7393279075622559, 4.565627574920654], [-1.9000378847122192, 1.307499647140503, 4.64558219909668], [-1.704609751701355, 1.2806512117385864, 4.644742488861084], [-1.780784249305725, 0.7334051132202148, 4.413904190063477], [-1.9762123823165894, 0.7602535486221313, 4.414743900299072], [-1.8978116512298584, 1.3284252882003784, 4.494699001312256], [-1.7023835182189941, 1.301576852798462, 4.493858814239502]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1550, "image_id": 217, "category_id": 45, "category_name": "person", "bbox2D_proj": [8.0, 324.0, 32.0, 365.0], "bbox2D_tight": [8.0, 324.0, 32.0, 365.0], "bbox2D_trunc": [8.0, 324.0, 32.0, 365.0], "center_cam": [-2.2980674852267513, 0.8499585934024287, 4.313951132542418], "dimensions": [0.20217734098003684, 0.3383146758114477, 0.3392894335228389], "R_cam": [[-0.44880783557891846, 0.005646648816764355, -0.8936105370521545], [0.003100796602666378, 0.9999840259552002, 0.004761466756463051], [0.8936230540275574, -0.0006339217070490122, -0.4488179683685303]], "bbox3D_cam": [[-2.1325509548187256, 0.679796576499939, 4.207830429077148], [-2.2848267555236816, 0.6808487176895142, 4.5110273361206055], [-2.282916307449341, 1.019157886505127, 4.510812759399414], [-2.1306405067443848, 1.0181058645248413, 4.207615852355957], [-2.313218832015991, 0.6807593107223511, 4.11708927154541], [-2.4654946327209473, 0.6818113327026367, 4.420286178588867], [-2.4635841846466064, 1.020120620727539, 4.420071601867676], [-2.3113083839416504, 1.0190684795379639, 4.116874694824219]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1551, "image_id": 217, "category_id": 70, "category_name": "trash_can", "bbox2D_proj": [434.0, 413.0, 491.0, 512.0], "bbox2D_tight": [434.0, 413.0, 491.0, 512.0], "bbox2D_trunc": [434.0, 413.0, 491.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1552, "image_id": 217, "category_id": 45, "category_name": "person", "bbox2D_proj": [336.0, 357.0, 387.0, 506.0], "bbox2D_tight": [336.0, 357.0, 387.0, 506.0], "bbox2D_trunc": [336.0, 357.0, 387.0, 506.0], "center_cam": [0.7472269367691706, 1.2076139390001555, 3.1507952964222508], "dimensions": [0.3115846115395129, 1.0055780658425295, 0.5261837048601228], "R_cam": [[-0.29995930194854736, 0.005646648816764355, -0.9539353251457214], [0.00229853019118309, 0.9999839067459106, 0.005196466110646725], [0.9539492726325989, -0.0006339217070490122, -0.29996734857559204]], "bbox3D_cam": [[0.9719204902648926, 0.7034187316894531, 2.9468703269958496], [0.8140867948532104, 0.7046282291412354, 3.4488229751586914], [0.8197649717330933, 1.7101900577545166, 3.448185443878174], [0.9775986671447754, 1.7089805603027344, 2.946232795715332], [0.6746889352798462, 0.7050378322601318, 2.853404998779297], [0.5168552398681641, 0.7062473297119141, 3.3553576469421387], [0.5225334167480469, 1.7118091583251953, 3.354720115661621], [0.680367112159729, 1.710599660873413, 2.8527674674987793]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1553, "image_id": 218, "category_id": 54, "category_name": "sculpture", "bbox2D_proj": [148.0, 64.0, 472.0, 394.0], "bbox2D_tight": [148.0, 64.0, 472.0, 394.0], "bbox2D_trunc": [148.0, 64.0, 472.0, 394.0], "center_cam": [0.6363956395040156, -0.18181139056179824, 3.56805036346703], "dimensions": [1.3505860063540718, 1.830078311836779, 2.2060548371555173], "R_cam": [[0.7086901664733887, 0.1216508075594902, -0.6949527859687805], [-0.104775570333004, 0.9922468662261963, 0.06684514135122299], [0.6976965069770813, 0.025441579520702362, 0.7159416079521179]], "bbox3D_cam": [[0.21267244219779968, -1.0193259716033936, 2.2917215824127197], [1.7760818004608154, -1.2504665851593018, 3.830878257751465], [1.9987123012542725, 0.5654229521751404, 3.877438545227051], [0.4353029429912567, 0.7965636849403381, 2.3382816314697266], [-0.725921094417572, -0.9290457367897034, 3.258662223815918], [0.8374882936477661, -1.160186529159546, 4.797819137573242], [1.0601187944412231, 0.6557031273841858, 4.844379425048828], [-0.503290593624115, 0.886843740940094, 3.305222511291504]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1554, "image_id": 218, "category_id": 54, "category_name": "sculpture", "bbox2D_proj": [210.0, 20.0, 308.0, 125.0], "bbox2D_tight": [210.0, 20.0, 308.0, 125.0], "bbox2D_trunc": [210.0, 20.0, 308.0, 125.0], "center_cam": [0.04117403560135943, -1.0413022614594358, 2.4892117814295225], "dimensions": [0.15007495491456613, 0.5270250144015615, 0.47590591071164545], "R_cam": [[-0.8456372022628784, 0.0012560191098600626, -0.53375643491745], [0.0012276822235435247, 0.9999990463256836, 0.00040813416126184165], [0.5337565541267395, -0.00031014980049803853, -0.8456381559371948]], "bbox3D_cam": [[0.28211668133735657, -1.305137276649475, 2.425739049911499], [-0.12032707035541534, -1.3045530319213867, 2.6797571182250977], [-0.11966513097286224, -0.7775284051895142, 2.679593563079834], [0.28277862071990967, -0.7781126499176025, 2.4255757331848145], [0.20201320946216583, -1.305076003074646, 2.298830032348633], [-0.20043055713176727, -1.3044917583465576, 2.5528478622436523], [-0.19976861774921417, -0.7774671316146851, 2.5526845455169678], [0.20267514884471893, -0.7780513763427734, 2.298666477203369]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1555, "image_id": 218, "category_id": 62, "category_name": "statue", "bbox2D_proj": [393.0, 15.0, 443.0, 115.0], "bbox2D_tight": [393.0, 15.0, 443.0, 115.0], "bbox2D_trunc": [393.0, 15.0, 443.0, 115.0], "center_cam": [1.1068418215113789, -1.324204801992695, 3.0830775596956315], "dimensions": [0.27539065990611666, 0.7324219202396107, 0.30541995512906284], "R_cam": [[0.9074325561523438, -0.04900389909744263, 0.4173305630683899], [0.0007542967796325684, 0.9933648109436035, 0.11500300467014313], [-0.420197069644928, -0.10404272377490997, 0.9014486074447632]], "bbox3D_cam": [[0.9287490844726562, -1.7039364576339722, 3.0612223148345947], [1.2058970928192139, -1.70370614528656, 2.9328856468200684], [1.1700055599212646, -0.9761438369750977, 2.856682538986206], [0.892857551574707, -0.9763742685317993, 2.9850192070007324], [1.0436780452728271, -1.6722657680511475, 3.3094727993011475], [1.3208260536193848, -1.6720353364944458, 3.181136131286621], [1.2849345207214355, -0.944473147392273, 3.104933023452759], [1.007786512374878, -0.9447034597396851, 3.233269691467285]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1556, "image_id": 218, "category_id": 69, "category_name": "traffic_cone", "bbox2D_proj": [36.0, 297.0, 60.0, 367.0], "bbox2D_tight": [36.0, 297.0, 60.0, 367.0], "bbox2D_trunc": [36.0, 297.0, 60.0, 367.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1557, "image_id": 218, "category_id": 63, "category_name": "streetlight", "bbox2D_proj": [201.0, 36.0, 222.0, 114.0], "bbox2D_tight": [201.0, 36.0, 222.0, 114.0], "bbox2D_trunc": [201.0, 36.0, 222.0, 114.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1558, "image_id": 218, "category_id": 74, "category_name": "trousers", "bbox2D_proj": [0.0, 323.0, 43.0, 402.0], "bbox2D_tight": [0.0, 323.0, 43.0, 402.0], "bbox2D_trunc": [0.0, 323.0, 43.0, 402.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1559, "image_id": 218, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [14.0, 29.0, 75.0, 223.0], "bbox2D_tight": [14.0, 29.0, 75.0, 223.0], "bbox2D_trunc": [14.0, 29.0, 75.0, 223.0], "center_cam": [-2.331402287855633, -1.3610616930107642, 4.781340003976172], "dimensions": [0.4335937918858078, 1.6765137735032276, 0.482421932495692], "R_cam": [[0.3686206638813019, 0.052533864974975586, -0.9280942678451538], [-0.1776723861694336, 0.9839773178100586, -0.014870792627334595], [0.9124424457550049, 0.17037835717201233, 0.3720482587814331]], "bbox3D_cam": [[-2.2631466388702393, -2.1398069858551025, 4.337769508361816], [-2.0853159427642822, -2.225520133972168, 4.777951717376709], [-1.9972420930862427, -0.5758684873580933, 5.06359338760376], [-2.1750729084014893, -0.4901554584503174, 4.623411178588867], [-2.665562629699707, -2.1462550163269043, 4.499086856842041], [-2.487731695175171, -2.2319679260253906, 4.939269065856934], [-2.399657964706421, -0.5823163986206055, 5.224910736083984], [-2.577488660812378, -0.4966033697128296, 4.784728527069092]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1560, "image_id": 218, "category_id": 13, "category_name": "building", "bbox2D_proj": [0.0, 186.0, 79.0, 290.0], "bbox2D_tight": [0.0, 186.0, 79.0, 290.0], "bbox2D_trunc": [0.0, 186.0, 79.0, 290.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1561, "image_id": 219, "category_id": 47, "category_name": "pipe", "bbox2D_proj": [281.0, 78.0, 329.0, 180.0], "bbox2D_tight": [281.0, 78.0, 329.0, 180.0], "bbox2D_trunc": [281.0, 78.0, 329.0, 180.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1562, "image_id": 219, "category_id": 36, "category_name": "lamp", "bbox2D_proj": [274.0, 8.0, 323.0, 51.0], "bbox2D_tight": [274.0, 8.0, 323.0, 51.0], "bbox2D_trunc": [274.0, 8.0, 323.0, 51.0], "center_cam": [0.28527928107556244, -1.4073384547307273, 2.7657013677926394], "dimensions": [0.24073312729463403, 0.187976551986197, 0.2697771926789325], "R_cam": [[0.751040518283844, -0.04387973994016647, 0.6587963700294495], [0.12479615956544876, 0.9892380237579346, -0.0763809084892273], [-0.6483548283576965, 0.13958041369915009, 0.7484339475631714]], "bbox3D_cam": [[0.10879959166049957, -1.5079551935195923, 2.7499516010284424], [0.3114131987094879, -1.474287986755371, 2.575040340423584], [0.30316483974456787, -1.2883343696594238, 2.601278066635132], [0.10055123269557953, -1.322001576423645, 2.7761895656585693], [0.26739370822906494, -1.5263426303863525, 2.930124521255493], [0.4700073003768921, -1.4926754236221313, 2.7552130222320557], [0.46175897121429443, -1.306721806526184, 2.7814509868621826], [0.2591453492641449, -1.3403890132904053, 2.956362247467041]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1563, "image_id": 219, "category_id": 47, "category_name": "pipe", "bbox2D_proj": [242.0, 162.0, 266.0, 240.0], "bbox2D_tight": [242.0, 162.0, 266.0, 240.0], "bbox2D_trunc": [242.0, 162.0, 266.0, 240.0], "center_cam": [-0.024666282494211732, -0.41849678227516246, 3.3538590199122904], "dimensions": [0.03710937606743943, 0.5843506042794322, 0.13769532197967072], "R_cam": [[-0.897637128829956, 0.10060644149780273, -0.4290992319583893], [0.08943092823028564, 0.9949215650558472, 0.04618707671761513], [0.4315667748451233, 0.0030844216234982014, -0.9020758867263794]], "bbox3D_cam": [[0.015701044350862503, -0.7162023782730103, 3.3399832248687744], [-0.10789939761161804, -0.7038881778717041, 3.3994078636169434], [-0.04911000654101372, -0.12250515818595886, 3.401210308074951], [0.07449042797088623, -0.1348194181919098, 3.341785430908203], [-0.00022256001830101013, -0.7144883871078491, 3.3065075874328613], [-0.12382300198078156, -0.702174186706543, 3.3659324645996094], [-0.06503361463546753, -0.12079116702079773, 3.367734670639038], [0.058566827327013016, -0.13310542702674866, 3.308310031890869]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1564, "image_id": 219, "category_id": 23, "category_name": "dress", "bbox2D_proj": [242.0, 244.0, 417.0, 512.0], "bbox2D_tight": [242.0, 244.0, 417.0, 512.0], "bbox2D_trunc": [242.0, 244.0, 417.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1565, "image_id": 219, "category_id": 47, "category_name": "pipe", "bbox2D_proj": [436.0, 141.0, 446.0, 168.0], "bbox2D_tight": [436.0, 141.0, 446.0, 168.0], "bbox2D_trunc": [436.0, 141.0, 446.0, 168.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1566, "image_id": 219, "category_id": 46, "category_name": "piano_leg", "bbox2D_proj": [41.0, 388.0, 61.0, 446.0], "bbox2D_tight": [41.0, 388.0, 61.0, 446.0], "bbox2D_trunc": [41.0, 388.0, 61.0, 446.0], "center_cam": [-0.9892129755638484, 0.7644347936104393, 2.1490704723344614], "dimensions": [0.05908203562961084, 0.2750396828778755, 0.09179687503288195], "R_cam": [[0.03329780697822571, 0.152756929397583, 0.9877026677131653], [-0.2256457805633545, 0.9638835191726685, -0.14146602153778076], [-0.9736402034759521, -0.2181604504585266, 0.06656408309936523]], "bbox3D_cam": [[-1.040926218032837, 0.6464175581932068, 2.2217941284179688], [-1.0378695726394653, 0.6257039904594421, 2.1324169635772705], [-0.9958553314208984, 0.8908101916313171, 2.0724141597747803], [-0.9989119172096252, 0.9115237593650818, 2.1617913246154785], [-0.9825706481933594, 0.6380594372749329, 2.225726842880249], [-0.9795140624046326, 0.6173458695411682, 2.136349678039551], [-0.9374998211860657, 0.8824520707130432, 2.0763468742370605], [-0.9405564665794373, 0.9031656384468079, 2.165724039077759]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1567, "image_id": 219, "category_id": 45, "category_name": "person", "bbox2D_proj": [270.0, 197.0, 404.0, 310.0], "bbox2D_tight": [270.0, 197.0, 404.0, 310.0], "bbox2D_trunc": [270.0, 197.0, 404.0, 310.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1568, "image_id": 220, "category_id": 45, "category_name": "person", "bbox2D_proj": [452.0, 222.0, 479.0, 298.0], "bbox2D_tight": [452.0, 222.0, 479.0, 298.0], "bbox2D_trunc": [452.0, 222.0, 479.0, 298.0], "center_cam": [2.765251538261622, 0.0642771085335251, 5.858712730951204], "dimensions": [0.3242187540253292, 0.9357910555959914, 0.35546875426197166], "R_cam": [[0.7231414318084717, 0.010682344436645508, -0.6906173825263977], [-0.06918191909790039, 0.9959724545478821, -0.05703438073396683], [0.6872266530990601, 0.08902207762002945, 0.7209678888320923]], "bbox3D_cam": [[2.7436819076538086, -0.3801921010017395, 5.57804012298584], [3.0007359981536865, -0.40478408336639404, 5.822327613830566], [3.010732412338257, 0.5272379517555237, 5.905633926391602], [2.753678321838379, 0.5518299341201782, 5.661346435546875], [2.519770860671997, -0.39868372678756714, 5.81179141998291], [2.776824951171875, -0.4232757091522217, 6.056078910827637], [2.7868213653564453, 0.508746325969696, 6.139385223388672], [2.5297672748565674, 0.5333383083343506, 5.895097732543945]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1569, "image_id": 220, "category_id": 33, "category_name": "jacket", "bbox2D_proj": [296.0, 242.0, 324.0, 279.0], "bbox2D_tight": [296.0, 242.0, 324.0, 279.0], "bbox2D_trunc": [296.0, 242.0, 324.0, 279.0], "center_cam": [0.713022619959579, 0.03839244552944124, 5.798758043281396], "dimensions": [0.3203125066949922, 0.42333987866646505, 0.3305664120289111], "R_cam": [[0.9980514049530029, -0.06202280521392822, -0.006802245043218136], [0.06051933765411377, 0.9888092279434204, -0.13635782897472382], [0.015183432027697563, 0.13568048179149628, 0.9906361103057861]], "bbox3D_cam": [[0.5622792840003967, -0.15907302498817444, 5.608872413635254], [0.8922016024589539, -0.1390674114227295, 5.6138916015625], [0.8659448623657227, 0.2795350253582001, 5.671330451965332], [0.5360225439071655, 0.2595294117927551, 5.666311264038086], [0.5601004362106323, -0.20275014638900757, 5.926185607910156], [0.8900227546691895, -0.18274453282356262, 5.931204795837402], [0.8637660145759583, 0.23585790395736694, 5.988643646240234], [0.5338436961174011, 0.215852290391922, 5.983624458312988]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1570, "image_id": 220, "category_id": 45, "category_name": "person", "bbox2D_proj": [265.0, 243.0, 291.0, 316.0], "bbox2D_tight": [265.0, 243.0, 291.0, 316.0], "bbox2D_trunc": [265.0, 243.0, 291.0, 316.0], "center_cam": [0.2997382833183155, 0.3212601243691158, 6.137805826862864], "dimensions": [0.3203125000324414, 0.9893799208709058, 0.3671875006138311], "R_cam": [[0.8040722608566284, 0.022827625274658203, -0.5940932631492615], [-0.031323790550231934, 0.9995013475418091, -0.003989905584603548], [0.593705952167511, 0.02181735821068287, 0.8043862581253052]], "bbox3D_cam": [[0.23597082495689392, -0.1667933166027069, 5.889184951782227], [0.5312160849571228, -0.17829501628875732, 6.107186317443848], [0.5538012981414795, 0.8105915784835815, 6.128771781921387], [0.2585560083389282, 0.8220932483673096, 5.910770416259766], [0.045675307512283325, -0.16807129979133606, 6.1468400955200195], [0.3409205675125122, -0.17957302927970886, 6.364841461181641], [0.3635057508945465, 0.8093135356903076, 6.38642692565918], [0.06826049089431763, 0.8208152651786804, 6.168425559997559]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1571, "image_id": 220, "category_id": 76, "category_name": "vest", "bbox2D_proj": [115.0, 249.0, 157.0, 310.0], "bbox2D_tight": [115.0, 249.0, 157.0, 310.0], "bbox2D_trunc": [115.0, 249.0, 157.0, 310.0], "center_cam": [-1.1301498989633523, 0.20479222991599433, 4.159082051959161], "dimensions": [0.308593754082649, 0.5478516106243416, 0.4511718826116624], "R_cam": [[0.7379320859909058, -0.08156239986419678, -0.6699281930923462], [-0.12626922130584717, 0.9584542512893677, -0.2557765543460846], [0.6629573106765747, 0.2733370065689087, 0.6969752311706543]], "bbox3D_cam": [[-1.1709070205688477, 0.010196954011917114, 3.827112913131714], [-0.83797287940979, -0.046772152185440063, 4.126220703125], [-0.8826569318771362, 0.47831854224205017, 4.275968551635742], [-1.2155911922454834, 0.535287618637085, 3.976861000061035], [-1.3776427507400513, -0.0687340795993805, 4.0421953201293945], [-1.044708490371704, -0.12570318579673767, 4.341302871704102], [-1.0893926620483398, 0.39938750863075256, 4.491050720214844], [-1.4223268032073975, 0.45635661482810974, 4.191943168640137]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1572, "image_id": 221, "category_id": 47, "category_name": "pipe", "bbox2D_proj": [203.0, 88.0, 403.0, 139.0], "bbox2D_tight": [203.0, 88.0, 403.0, 139.0], "bbox2D_trunc": [203.0, 88.0, 403.0, 139.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1573, "image_id": 221, "category_id": 38, "category_name": "light_fixture", "bbox2D_proj": [212.0, 181.0, 320.0, 219.0], "bbox2D_tight": [212.0, 181.0, 320.0, 219.0], "bbox2D_trunc": [212.0, 181.0, 320.0, 219.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1574, "image_id": 221, "category_id": 10, "category_name": "bowl", "bbox2D_proj": [351.0, 371.0, 437.0, 417.0], "bbox2D_tight": [351.0, 371.0, 437.0, 417.0], "bbox2D_trunc": [351.0, 371.0, 437.0, 417.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1575, "image_id": 221, "category_id": 71, "category_name": "tray", "bbox2D_proj": [303.0, 378.0, 435.0, 424.0], "bbox2D_tight": [303.0, 378.0, 435.0, 424.0], "bbox2D_trunc": [303.0, 378.0, 435.0, 424.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1576, "image_id": 221, "category_id": 16, "category_name": "chair", "bbox2D_proj": [286.0, 288.0, 337.0, 361.0], "bbox2D_tight": [286.0, 288.0, 337.0, 361.0], "bbox2D_trunc": [286.0, 288.0, 337.0, 361.0], "center_cam": [0.3755157264111632, 0.4425059113894822, 2.9070164330075428], "dimensions": [0.3183593722899841, 0.4504394402244084, 0.3310546878280599], "R_cam": [[0.9995925426483154, 0.005173921585083008, -0.028070621192455292], [-0.0066394805908203125, 0.9986056089401245, -0.05237194895744324], [0.027760513126850128, 0.0525369867682457, 0.9982330203056335]], "bbox3D_cam": [[0.2133588343858719, 0.22703582048416138, 2.7316906452178955], [0.544278621673584, 0.2248377799987793, 2.7408809661865234], [0.5466091632843018, 0.6746491193771362, 2.7645456790924072], [0.21568937599658966, 0.6768471598625183, 2.7553553581237793], [0.20442228019237518, 0.2103627324104309, 3.049487352371216], [0.5353420972824097, 0.20816469192504883, 3.0586776733398438], [0.5376726388931274, 0.6579760313034058, 3.0823423862457275], [0.20675282180309296, 0.6601740717887878, 3.0731520652770996]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1577, "image_id": 221, "category_id": 45, "category_name": "person", "bbox2D_proj": [210.0, 221.0, 247.0, 282.0], "bbox2D_tight": [210.0, 221.0, 247.0, 282.0], "bbox2D_trunc": [210.0, 221.0, 247.0, 282.0], "center_cam": [-0.21406877055244122, -0.03280565307489304, 3.420529689367687], "dimensions": [0.1655413741578471, 0.4624452963411252, 0.28279500552019043], "R_cam": [[-0.9994720220565796, -0.0006173821748234332, 0.03248579800128937], [-0.0006301350076682866, 0.9999996423721313, -0.0003823309962172061], [-0.03248555213212967, -0.0004025995440315455, -0.9994721412658691]], "bbox3D_cam": [[-0.07529203593730927, -0.2639074921607971, 3.5079431533813477], [-0.357937753200531, -0.26408565044403076, 3.4987564086914062], [-0.3582232594490051, 0.19835947453975677, 3.498570203781128], [-0.07557754218578339, 0.1985376626253128, 3.5077569484710693], [-0.06991429626941681, -0.2639707922935486, 3.342489004135132], [-0.35255998373031616, -0.2641489505767822, 3.3333022594451904], [-0.3528454899787903, 0.1982961744070053, 3.333116054534912], [-0.07019980251789093, 0.19847436249256134, 3.3423027992248535]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1578, "image_id": 221, "category_id": 56, "category_name": "shoe", "bbox2D_proj": [78.0, 456.0, 134.0, 486.0], "bbox2D_tight": [78.0, 456.0, 134.0, 486.0], "bbox2D_trunc": [78.0, 456.0, 134.0, 486.0], "center_cam": [-0.5762717226191159, 0.8327439893796238, 1.7148735298308961], "dimensions": [0.0720643062047191, 0.09523490026469074, 0.18758478827538896], "R_cam": [[-0.9102758169174194, 0.0377272367477417, 0.4122796058654785], [0.0039234161376953125, 0.9965806007385254, -0.0825333297252655], [-0.41398361325263977, -0.07351052761077881, -0.9073112607002258]], "bbox3D_cam": [[-0.5075465440750122, 0.7878952622413635, 1.7898948192596436], [-0.6783004403114319, 0.7886312007904053, 1.71223783493042], [-0.6747075319290161, 0.8835404515266418, 1.7052370309829712], [-0.5039536356925964, 0.8828045129776001, 1.7828940153121948], [-0.47783592343330383, 0.7819475531578064, 1.7245100736618042], [-0.6485897898674011, 0.7826834917068481, 1.6468530893325806], [-0.6449968814849854, 0.8775927424430847, 1.6398522853851318], [-0.4742429554462433, 0.876856803894043, 1.7175092697143555]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1579, "image_id": 221, "category_id": 45, "category_name": "person", "bbox2D_proj": [323.0, 255.0, 367.0, 298.0], "bbox2D_tight": [323.0, 255.0, 367.0, 298.0], "bbox2D_trunc": [323.0, 255.0, 367.0, 298.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1580, "image_id": 221, "category_id": 16, "category_name": "chair", "bbox2D_proj": [171.0, 397.0, 340.0, 512.0], "bbox2D_tight": [171.0, 397.0, 340.0, 512.0], "bbox2D_trunc": [171.0, 397.0, 340.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1581, "image_id": 221, "category_id": 68, "category_name": "table", "bbox2D_proj": [279.0, 356.0, 512.0, 465.0], "bbox2D_tight": [279.0, 356.0, 512.0, 465.0], "bbox2D_trunc": [279.0, 356.0, 512.0, 465.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1582, "image_id": 221, "category_id": 16, "category_name": "chair", "bbox2D_proj": [174.0, 333.0, 295.0, 473.0], "bbox2D_tight": [174.0, 333.0, 295.0, 473.0], "bbox2D_trunc": [174.0, 333.0, 295.0, 473.0], "center_cam": [-0.07515284990184923, 0.6257463043980294, 1.7258638596103937], "dimensions": [0.3686523491785784, 0.6273193197584668, 0.4580078204822028], "R_cam": [[-0.5687217712402344, -0.047812581062316895, 0.8211392164230347], [-0.11048722267150879, 0.9937022924423218, -0.01866316795349121], [-0.8150755763053894, -0.10133957862854004, -0.5704227685928345]], "bbox3D_cam": [[-0.08127392083406448, 0.34280410408973694, 2.0494492053985596], [-0.34175291657447815, 0.2922000586986542, 1.6761382818222046], [-0.37174665927886963, 0.9155687093734741, 1.6125659942626953], [-0.11126766353845596, 0.9661728143692017, 1.9858770370483398], [0.22144097089767456, 0.3359238803386688, 1.8391616344451904], [-0.0390380397439003, 0.28531983494758606, 1.465850591659546], [-0.06903178244829178, 0.9086885452270508, 1.4022784233093262], [0.19144722819328308, 0.9592925310134888, 1.7755893468856812]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1583, "image_id": 222, "category_id": 69, "category_name": "traffic_cone", "bbox2D_proj": [92.0, 341.0, 124.0, 426.0], "bbox2D_tight": [92.0, 341.0, 124.0, 426.0], "bbox2D_trunc": [92.0, 341.0, 124.0, 426.0], "center_cam": [-1.7783545034535222, 1.518264590098453, 5.350094279284418], "dimensions": [0.3769531405988027, 0.9355468884799922, 0.42187501140329486], "R_cam": [[0.13842056691646576, 0.007603883743286133, 0.9903444051742554], [-0.020128726959228516, 0.9997856616973877, -0.004863024223595858], [-0.9901690483093262, -0.019261213019490242, 0.138543963432312]], "bbox3D_cam": [[-1.9977662563323975, 1.0557539463043213, 5.541855812072754], [-1.939370036125183, 1.0472620725631714, 5.124128341674805], [-1.9322562217712402, 1.9826083183288574, 5.10610818862915], [-1.9906524419784546, 1.9911000728607178, 5.523836135864258], [-1.624452829360962, 1.0539207458496094, 5.594080448150635], [-1.5660566091537476, 1.045428991317749, 5.176352500915527], [-1.5589427947998047, 1.9807751178741455, 5.158332824707031], [-1.617339015007019, 1.9892669916152954, 5.5760602951049805]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1584, "image_id": 222, "category_id": 54, "category_name": "sculpture", "bbox2D_proj": [40.0, 125.0, 176.0, 411.0], "bbox2D_tight": [40.0, 125.0, 176.0, 411.0], "bbox2D_trunc": [40.0, 125.0, 176.0, 411.0], "center_cam": [-1.9500032999868167, 0.08997219031613574, 6.1258167542339335], "dimensions": [1.3261719679770958, 3.713378965322189, 1.5429688561907964], "R_cam": [[-0.690420925617218, -0.10947638750076294, -0.7150761485099792], [-0.3372758626937866, 0.9231876134872437, 0.1843089610338211], [0.639971911907196, 0.36842861771583557, -0.6743118762969971]], "bbox3D_cam": [[-0.7399333715438843, -1.4861100912094116, 5.395157814025879], [-1.8052315711975098, -2.0065159797668457, 6.382614612579346], [-2.211759328842163, 1.4216290712356567, 7.750729560852051], [-1.146461009979248, 1.9420350790023804, 6.763272762298584], [-1.6882472038269043, -1.2416847944259644, 4.500904083251953], [-2.7535455226898193, -1.762090802192688, 5.48836088180542], [-3.1600732803344727, 1.666054368019104, 6.856475830078125], [-2.0947749614715576, 2.186460494995117, 5.869019031524658]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1585, "image_id": 223, "category_id": 13, "category_name": "building", "bbox2D_proj": [169.0, 226.0, 189.0, 284.0], "bbox2D_tight": [169.0, 226.0, 189.0, 284.0], "bbox2D_trunc": [169.0, 226.0, 189.0, 284.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1586, "image_id": 223, "category_id": 45, "category_name": "person", "bbox2D_proj": [195.0, 332.0, 217.0, 401.0], "bbox2D_tight": [195.0, 332.0, 217.0, 401.0], "bbox2D_trunc": [195.0, 332.0, 217.0, 401.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1587, "image_id": 223, "category_id": 45, "category_name": "person", "bbox2D_proj": [293.0, 324.0, 327.0, 409.0], "bbox2D_tight": [293.0, 324.0, 327.0, 409.0], "bbox2D_trunc": [293.0, 324.0, 327.0, 409.0], "center_cam": [0.7054246940736568, 1.4431613738181672, 6.025660738230357], "dimensions": [0.3789063146704619, 1.0595703266658023, 0.3867188205715675], "R_cam": [[-0.9115525484085083, 0.09627854824066162, 0.3997530937194824], [0.10053688287734985, 0.9948794841766357, -0.010358274914324284], [-0.39870336651802063, 0.030747849494218826, -0.9165644645690918]], "bbox3D_cam": [[0.7549405694007874, 0.8986116647720337, 6.260109901428223], [0.40242600440979004, 0.9374911785125732, 6.105923652648926], [0.5044398307800293, 1.9916359186172485, 6.138503074645996], [0.8569543957710266, 1.952756404876709, 6.292689323425293], [0.906409502029419, 0.8946868181228638, 5.91281795501709], [0.5538949370384216, 0.9335663318634033, 5.758631706237793], [0.6559087634086609, 1.9877110719680786, 5.791211128234863], [1.0084233283996582, 1.948831558227539, 5.94539737701416]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1588, "image_id": 223, "category_id": 27, "category_name": "flagpole", "bbox2D_proj": [131.0, 0.0, 149.0, 132.0], "bbox2D_tight": [131.0, 0.0, 149.0, 132.0], "bbox2D_trunc": [131.0, 0.0, 149.0, 132.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1589, "image_id": 223, "category_id": 45, "category_name": "person", "bbox2D_proj": [261.0, 312.0, 280.0, 385.0], "bbox2D_tight": [261.0, 312.0, 280.0, 385.0], "bbox2D_trunc": [261.0, 312.0, 280.0, 385.0], "center_cam": [0.24242059052964862, 1.5555563859208381, 7.6442970370037], "dimensions": [0.3295898544254934, 1.2705078287017728, 0.41406251418945966], "R_cam": [[0.11071321368217468, 0.05856788158416748, -0.9921252131462097], [0.1733771562576294, 0.9818166494369507, 0.07730680704116821], [0.9786127209663391, -0.1805707812309265, 0.09854578971862793]], "bbox3D_cam": [[0.3457912504673004, 0.8832192420959473, 7.540162086486816], [0.39163339138031006, 0.9550082683563232, 7.945369243621826], [0.4660443067550659, 2.202414035797119, 7.715952396392822], [0.4202021658420563, 2.130625009536743, 7.310745716094971], [0.018796861171722412, 0.9086987972259521, 7.572641849517822], [0.06463900208473206, 0.9804878234863281, 7.977848529815674], [0.13904991745948792, 2.227893590927124, 7.748432159423828], [0.09320777654647827, 2.156104564666748, 7.343225002288818]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1590, "image_id": 223, "category_id": 13, "category_name": "building", "bbox2D_proj": [0.0, 166.0, 49.0, 308.0], "bbox2D_tight": [0.0, 166.0, 49.0, 308.0], "bbox2D_trunc": [0.0, 166.0, 49.0, 308.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1591, "image_id": 223, "category_id": 45, "category_name": "person", "bbox2D_proj": [17.0, 352.0, 51.0, 436.0], "bbox2D_tight": [17.0, 352.0, 51.0, 436.0], "bbox2D_trunc": [17.0, 352.0, 51.0, 436.0], "center_cam": [-3.086705526402357, 1.9075633653517519, 6.236407001243402], "dimensions": [0.3164062575330082, 1.1301269679460229, 0.3935546996960684], "R_cam": [[-0.9549999833106995, 0.19308900833129883, 0.22514787316322327], [0.16922533512115479, 0.9781158566474915, -0.12104593217372894], [-0.24359335005283356, -0.07749816030263901, -0.9667762517929077]], "bbox3D_cam": [[-3.0435097217559814, 1.3407158851623535, 6.481078624725342], [-3.4193544387817383, 1.4073152542114258, 6.38521146774292], [-3.201139450073242, 2.5127103328704834, 6.297628879547119], [-2.8252947330474854, 2.446110963821411, 6.393496036529541], [-2.97227144241333, 1.3024163246154785, 6.175184726715088], [-3.348116159439087, 1.3690156936645508, 6.079317569732666], [-3.129901170730591, 2.4744107723236084, 5.991734981536865], [-2.754056453704834, 2.407811403274536, 6.087602138519287]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1592, "image_id": 223, "category_id": 45, "category_name": "person", "bbox2D_proj": [0.0, 369.0, 20.0, 448.0], "bbox2D_tight": [0.0, 369.0, 20.0, 448.0], "bbox2D_trunc": [0.0, 369.0, 20.0, 448.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1593, "image_id": 223, "category_id": 13, "category_name": "building", "bbox2D_proj": [40.0, 204.0, 122.0, 304.0], "bbox2D_tight": [40.0, 204.0, 122.0, 304.0], "bbox2D_trunc": [40.0, 204.0, 122.0, 304.0], "center_cam": [-7.893861190358374, 0.04536199173308986, 19.249815344973438], "dimensions": [2.4218750214227773, 4.267822336028429, 3.179687580565092], "R_cam": [[0.5877509713172913, 0.08186042308807373, -0.804889976978302], [0.02870279550552368, 0.9921319484710693, 0.12186320126056671], [0.80853271484375, -0.09472788870334625, 0.5807767510414124]], "bbox3D_cam": [[-8.028305053710938, -2.264961004257202, 17.46323013305664], [-6.159440994262695, -2.1736948490142822, 20.03411293029785], [-5.810074806213379, 2.0605475902557373, 19.629831314086914], [-7.678938865661621, 1.9692814350128174, 17.058948516845703], [-9.97764778137207, -1.9698235988616943, 18.86979866027832], [-8.108783721923828, -1.8785574436187744, 21.44068145751953], [-7.759417533874512, 2.355684995651245, 21.036399841308594], [-9.628281593322754, 2.264418840408325, 18.465517044067383]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1594, "image_id": 223, "category_id": 45, "category_name": "person", "bbox2D_proj": [413.0, 288.0, 430.0, 318.0], "bbox2D_tight": [413.0, 288.0, 430.0, 318.0], "bbox2D_trunc": [413.0, 288.0, 430.0, 318.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1595, "image_id": 223, "category_id": 45, "category_name": "person", "bbox2D_proj": [367.0, 306.0, 401.0, 395.0], "bbox2D_tight": [367.0, 306.0, 401.0, 395.0], "bbox2D_trunc": [367.0, 306.0, 401.0, 395.0], "center_cam": [1.6615382354787531, 1.1815582412148442, 5.639937705351335], "dimensions": [0.363281263733226, 0.986328138098753, 0.3964843846123005], "R_cam": [[0.7646856307983398, 0.040937066078186035, 0.6431018114089966], [-0.14087796211242676, 0.984459638595581, 0.10484570264816284], [-0.6288157105445862, -0.17077288031578064, 0.7585692405700684]], "bbox3D_cam": [[1.3729431629180908, 0.7049418687820435, 5.7110276222229], [1.6761291027069092, 0.6490859389305115, 5.461711883544922], [1.7165064811706543, 1.6200861930847168, 5.29327392578125], [1.413320541381836, 1.675942063331604, 5.5425896644592285], [1.6065700054168701, 0.743030309677124, 5.986601829528809], [1.9097559452056885, 0.6871744394302368, 5.73728609085083], [1.9501333236694336, 1.6581746339797974, 5.568848133087158], [1.6469473838806152, 1.7140305042266846, 5.818163871765137]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1596, "image_id": 223, "category_id": 45, "category_name": "person", "bbox2D_proj": [331.0, 316.0, 363.0, 403.0], "bbox2D_tight": [331.0, 316.0, 363.0, 403.0], "bbox2D_trunc": [331.0, 316.0, 363.0, 403.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1597, "image_id": 224, "category_id": 13, "category_name": "building", "bbox2D_proj": [99.0, 255.0, 140.0, 284.0], "bbox2D_tight": [99.0, 255.0, 140.0, 284.0], "bbox2D_trunc": [99.0, 255.0, 140.0, 284.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1598, "image_id": 224, "category_id": 45, "category_name": "person", "bbox2D_proj": [234.0, 337.0, 263.0, 424.0], "bbox2D_tight": [234.0, 337.0, 263.0, 424.0], "bbox2D_trunc": [234.0, 337.0, 263.0, 424.0], "center_cam": [-0.12930390621178903, 1.8776683005423314, 6.6656215999247355], "dimensions": [0.4257813343030945, 1.288574258208977, 0.45898448423995863], "R_cam": [[-0.898971438407898, 0.09264481067657471, -0.4280973970890045], [0.12106138467788696, 0.9918559789657593, -0.03957170248031616], [0.42094483971595764, -0.0873999297618866, -0.9028658866882324]], "bbox3D_cam": [[0.10845121741294861, 1.2192699909210205, 6.817540645599365], [-0.30416274070739746, 1.2748353481292725, 7.010747909545898], [-0.18478313088417053, 2.552915334701538, 6.898126602172852], [0.22783082723617554, 2.497349977493286, 6.704919338226318], [-0.07382466644048691, 1.2024211883544922, 6.433116912841797], [-0.4864386320114136, 1.2579865455627441, 6.62632417678833], [-0.36705902218818665, 2.5360665321350098, 6.513702869415283], [0.045554935932159424, 2.480501174926758, 6.32049560546875]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1599, "image_id": 224, "category_id": 45, "category_name": "person", "bbox2D_proj": [180.0, 369.0, 221.0, 489.0], "bbox2D_tight": [180.0, 369.0, 221.0, 489.0], "bbox2D_trunc": [180.0, 369.0, 221.0, 489.0], "center_cam": [-0.6046310249449551, 1.832044664420096, 4.980614702766553], "dimensions": [0.46875000620486584, 1.3635254374646186, 0.505859401060369], "R_cam": [[-0.9873167276382446, 0.02487468719482422, -0.1568022072315216], [0.06493246555328369, 0.9645357131958008, -0.2558411657810211], [0.1448773741722107, -0.26277780532836914, -0.9539175033569336]], "bbox3D_cam": [[-0.335117369890213, 1.2179996967315674, 5.3466973304748535], [-0.8345608711242676, 1.2508463859558105, 5.419984817504883], [-0.8006436228752136, 2.5660152435302734, 5.061680793762207], [-0.30120012164115906, 2.5331685543060303, 4.988393306732178], [-0.40861839056015015, 1.098074197769165, 4.899548530578613], [-0.9080618619918823, 1.1309208869934082, 4.972836017608643], [-0.8741446733474731, 2.446089744567871, 4.614531993865967], [-0.3747011721134186, 2.413243055343628, 4.5412445068359375]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1600, "image_id": 224, "category_id": 45, "category_name": "person", "bbox2D_proj": [216.0, 342.0, 239.0, 472.0], "bbox2D_tight": [216.0, 342.0, 239.0, 472.0], "bbox2D_trunc": [216.0, 342.0, 239.0, 472.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1601, "image_id": 224, "category_id": 45, "category_name": "person", "bbox2D_proj": [79.0, 349.0, 126.0, 430.0], "bbox2D_tight": [79.0, 349.0, 126.0, 430.0], "bbox2D_trunc": [79.0, 349.0, 126.0, 430.0], "center_cam": [-1.7771695042608635, 1.7541057231451802, 5.068323887784612], "dimensions": [0.3789062647164828, 1.282226600485862, 0.5199890521542362], "R_cam": [[0.9539218544960022, 0.011096358299255371, -0.29985013604164124], [-0.03123939037322998, 0.997558057308197, -0.06246652454137802], [0.29842475056648254, 0.06895530223846436, 0.9519389867782593]], "bbox3D_cam": [[-1.9754904508590698, 1.134514570236206, 4.766179084777832], [-1.4794615507125854, 1.1182703971862793, 4.921357154846191], [-1.4652334451675415, 2.3973658084869385, 5.009773254394531], [-1.9612623453140259, 2.4136099815368652, 4.85459566116333], [-2.0891056060791016, 1.1108455657958984, 5.126874923706055], [-1.5930765867233276, 1.0946013927459717, 5.282052516937256], [-1.5788484811782837, 2.373696804046631, 5.370469093322754], [-2.0748775005340576, 2.3899409770965576, 5.2152910232543945]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1602, "image_id": 224, "category_id": 13, "category_name": "building", "bbox2D_proj": [0.0, 26.0, 98.0, 303.0], "bbox2D_tight": [0.0, 26.0, 98.0, 303.0], "bbox2D_trunc": [0.0, 26.0, 98.0, 303.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1603, "image_id": 224, "category_id": 13, "category_name": "building", "bbox2D_proj": [431.0, 139.0, 512.0, 275.0], "bbox2D_tight": [431.0, 139.0, 512.0, 275.0], "bbox2D_trunc": [431.0, 139.0, 512.0, 275.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1604, "image_id": 224, "category_id": 45, "category_name": "person", "bbox2D_proj": [108.0, 333.0, 134.0, 401.0], "bbox2D_tight": [108.0, 333.0, 134.0, 401.0], "bbox2D_trunc": [108.0, 333.0, 134.0, 401.0], "center_cam": [-2.035355362030872, 1.7479229122960218, 6.544234255147723], "dimensions": [0.324218745210906, 1.1669922221749864, 0.4140625147816819], "R_cam": [[-0.998881459236145, 0.03509557247161865, -0.03168659284710884], [0.032095909118652344, 0.9953641891479492, 0.09066389501094818], [0.03472159802913666, 0.08954547345638275, -0.9953773021697998]], "bbox3D_cam": [[-1.8438971042633057, 1.145789384841919, 6.646156311035156], [-2.2574963569641113, 1.1590790748596191, 6.660533428192139], [-2.2165403366088867, 2.3206613063812256, 6.7650322914123535], [-1.802940845489502, 2.3073716163635254, 6.750655174255371], [-1.8541704416275024, 1.1751844882965088, 6.323436260223389], [-2.2677698135375977, 1.188474178314209, 6.337813377380371], [-2.226813554763794, 2.3500564098358154, 6.442312240600586], [-1.8132141828536987, 2.3367667198181152, 6.4279351234436035]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1605, "image_id": 224, "category_id": 45, "category_name": "person", "bbox2D_proj": [267.0, 314.0, 290.0, 387.0], "bbox2D_tight": [267.0, 314.0, 290.0, 387.0], "bbox2D_trunc": [267.0, 314.0, 290.0, 387.0], "center_cam": [0.43960775976602834, 1.7661808313423024, 8.39918058637452], "dimensions": [0.3320312615967931, 1.3312988728691, 0.45703128183719344], "R_cam": [[0.8851724863052368, 0.05378812551498413, 0.46214354038238525], [-0.15571725368499756, 0.970260739326477, 0.18532775342464447], [-0.4384312331676483, -0.23601071536540985, 0.8672239780426025]], "bbox3D_cam": [[0.12480491399765015, 1.1251438856124878, 8.512496948242188], [0.5293563604354858, 1.05397629737854, 8.312119483947754], [0.6009645462036133, 2.3456830978393555, 7.997919082641602], [0.1964130699634552, 2.4168508052825928, 8.198295593261719], [0.2782509922981262, 1.1866785287857056, 8.80044174194336], [0.6828024387359619, 1.1155109405517578, 8.600065231323242], [0.7544106245040894, 2.4072179794311523, 8.285863876342773], [0.3498591482639313, 2.4783854484558105, 8.486241340637207]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1606, "image_id": 224, "category_id": 45, "category_name": "person", "bbox2D_proj": [292.0, 330.0, 322.0, 427.0], "bbox2D_tight": [292.0, 330.0, 322.0, 427.0], "bbox2D_trunc": [292.0, 330.0, 322.0, 427.0], "center_cam": [0.7045502591109952, 1.7452062747941353, 6.3147887460786745], "dimensions": [0.42187536756163413, 1.3344726976350354, 0.4335941174661102], "R_cam": [[-0.5930328369140625, -0.00205838680267334, 0.8051756620407104], [-0.07181417942047119, 0.996146559715271, -0.050346434116363525], [-0.8019693493843079, -0.08768013119697571, -0.590895414352417]], "bbox3D_cam": [[0.6646495461463928, 1.1067301034927368, 6.6717987060546875], [0.4075140357017517, 1.0755919218063354, 6.324069499969482], [0.40476715564727783, 2.4049222469329834, 6.2070631980896], [0.6619027256965637, 2.4360604286193848, 6.554792404174805], [1.0043333768844604, 1.0854902267456055, 6.42251443862915], [0.7471978068351746, 1.054352045059204, 6.074785232543945], [0.7444509863853455, 2.3836822509765625, 5.9577789306640625], [1.0015864372253418, 2.414820671081543, 6.305508136749268]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1607, "image_id": 224, "category_id": 45, "category_name": "person", "bbox2D_proj": [127.0, 336.0, 153.0, 416.0], "bbox2D_tight": [127.0, 336.0, 153.0, 416.0], "bbox2D_trunc": [127.0, 336.0, 153.0, 416.0], "center_cam": [-2.0256984624197707, 1.9034294168268584, 7.491339525203344], "dimensions": [0.4453124964816841, 1.4877930174050462, 0.5058593928783294], "R_cam": [[-0.9895582795143127, 0.10971665382385254, -0.09346938133239746], [0.1281105875968933, 0.9666909575462341, -0.22157646715641022], [0.0660453513264656, -0.2312372624874115, -0.9706528186798096]], "bbox3D_cam": [[-1.8362160921096802, 1.2012438774108887, 7.862773418426514], [-2.3367934226989746, 1.2660496234893799, 7.896183013916016], [-2.173557758331299, 2.7042858600616455, 7.552149772644043], [-1.6729803085327148, 2.639479875564575, 7.518740177154541], [-1.877839207649231, 1.1025729179382324, 7.430529594421387], [-2.3784165382385254, 1.1673789024353027, 7.463939189910889], [-2.2151808738708496, 2.6056149005889893, 7.119905948638916], [-1.7146034240722656, 2.540809154510498, 7.086496353149414]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1608, "image_id": 224, "category_id": 45, "category_name": "person", "bbox2D_proj": [30.0, 400.0, 107.0, 512.0], "bbox2D_tight": [30.0, 400.0, 107.0, 512.0], "bbox2D_trunc": [30.0, 400.0, 107.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1609, "image_id": 224, "category_id": 45, "category_name": "person", "bbox2D_proj": [455.0, 315.0, 476.0, 348.0], "bbox2D_tight": [455.0, 315.0, 476.0, 348.0], "bbox2D_trunc": [455.0, 315.0, 476.0, 348.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1610, "image_id": 225, "category_id": 45, "category_name": "person", "bbox2D_proj": [310.0, 223.0, 358.0, 362.0], "bbox2D_tight": [310.0, 223.0, 358.0, 362.0], "bbox2D_trunc": [310.0, 223.0, 358.0, 362.0], "center_cam": [0.837081390146763, 0.3753145836220315, 4.830641721536528], "dimensions": [0.48046880092758226, 1.4288940225927724, 0.49731451460087145], "R_cam": [[0.9783533215522766, 0.0067784786224365234, 0.20683060586452484], [0.00537717342376709, 0.9982932209968567, -0.058152347803115845], [-0.20687177777290344, 0.05800570547580719, 0.9766470193862915]], "bbox3D_cam": [[0.5392760038375854, -0.3252798914909363, 4.606015682220459], [1.0258252620697021, -0.32260578870773315, 4.5031352043151855], [1.0355110168457031, 1.1038494110107422, 4.586019515991211], [0.5489617586135864, 1.101175308227539, 4.688899517059326], [0.6386517286300659, -0.35322028398513794, 5.075263977050781], [1.1252009868621826, -0.3505461812019348, 4.972383975982666], [1.1348867416381836, 1.07590913772583, 5.055267810821533], [0.6483374238014221, 1.073235034942627, 5.158148288726807]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1611, "image_id": 225, "category_id": 47, "category_name": "pipe", "bbox2D_proj": [24.0, 106.0, 56.0, 419.0], "bbox2D_tight": [24.0, 106.0, 56.0, 419.0], "bbox2D_trunc": [24.0, 106.0, 56.0, 419.0], "center_cam": [-1.5461710358208107, 0.07026535376812332, 3.1629659693490453], "dimensions": [0.1581045946960069, 2.216358374413894, 0.17916102118249266], "R_cam": [[-0.8326296806335449, -0.007091108243912458, 0.5537848472595215], [0.017909422516822815, 0.999050498008728, 0.039719920605421066], [-0.5535405874252319, 0.04298995062708855, -0.8317118883132935]], "bbox3D_cam": [[-1.5075033903121948, -1.0416057109832764, 3.2306606769561768], [-1.6566781997680664, -1.0383970737457275, 3.1314878463745117], [-1.6723946332931519, 1.175856590270996, 3.226768970489502], [-1.5232198238372803, 1.1726479530334473, 3.325941801071167], [-1.4199475049972534, -1.0353257656097412, 3.099163055419922], [-1.569122314453125, -1.0321171283721924, 2.999990224838257], [-1.5848387479782104, 1.1821365356445312, 3.095271348953247], [-1.4356639385223389, 1.1789278984069824, 3.194444179534912]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1612, "image_id": 225, "category_id": 45, "category_name": "person", "bbox2D_proj": [484.0, 220.0, 512.0, 463.0], "bbox2D_tight": [484.0, 220.0, 512.0, 463.0], "bbox2D_trunc": [484.0, 220.0, 512.0, 463.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1613, "image_id": 225, "category_id": 58, "category_name": "signboard", "bbox2D_proj": [140.0, 278.0, 217.0, 388.0], "bbox2D_tight": [140.0, 278.0, 217.0, 388.0], "bbox2D_trunc": [140.0, 278.0, 217.0, 388.0], "center_cam": [-0.6927088813992145, 0.6475572003674717, 4.116476901380275], "dimensions": [0.558593742217157, 0.912597647445313, 0.682128907795134], "R_cam": [[0.9898651242256165, 0.03239023685455322, 0.1382671743631363], [-0.01716136932373047, 0.9937896132469177, -0.10994407534599304], [-0.14096960425376892, 0.1064569503068924, 0.9842735528945923]], "bbox3D_cam": [[-1.0837140083312988, 0.23065230250358582, 3.841075897216797], [-0.40849828720092773, 0.21894606947898865, 3.7449164390563965], [-0.37893903255462646, 1.1258761882781982, 3.842068910598755], [-1.054154634475708, 1.1375824213027954, 3.9382283687591553], [-1.0064787864685059, 0.16923823952674866, 4.390885353088379], [-0.33126312494277954, 0.1575320065021515, 4.2947258949279785], [-0.30170387029647827, 1.0644620656967163, 4.391878128051758], [-0.9769195318222046, 1.0761682987213135, 4.488037586212158]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1614, "image_id": 225, "category_id": 45, "category_name": "person", "bbox2D_proj": [266.0, 210.0, 316.0, 360.0], "bbox2D_tight": [266.0, 210.0, 316.0, 360.0], "bbox2D_trunc": [266.0, 210.0, 316.0, 360.0], "center_cam": [0.42111021172442464, 0.32008892945412803, 5.193029107917608], "dimensions": [0.4765624872255689, 1.6512450943828068, 0.6166992137871525], "R_cam": [[0.9971977472305298, -0.014703869819641113, 0.0733519047498703], [0.023245930671691895, 0.9928601980209351, -0.11699657887220383], [-0.0711078867316246, 0.11837385594844818, 0.9904197454452515]], "bbox3D_cam": [[0.10828611254692078, -0.4789286255836487, 4.881224632263184], [0.7232571840286255, -0.4645928740501404, 4.837372303009033], [0.6989775896072388, 1.1748626232147217, 5.032836437225342], [0.08400645852088928, 1.160526990890503, 5.076688766479492], [0.14324286580085754, -0.5346848368644714, 5.353221416473389], [0.758213996887207, -0.5203490853309631, 5.309369087219238], [0.7339342832565308, 1.1191065311431885, 5.504833221435547], [0.11896321177482605, 1.1047706604003906, 5.548685550689697]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1615, "image_id": 225, "category_id": 58, "category_name": "signboard", "bbox2D_proj": [144.0, 132.0, 189.0, 175.0], "bbox2D_tight": [144.0, 132.0, 189.0, 175.0], "bbox2D_trunc": [144.0, 132.0, 189.0, 175.0], "center_cam": [-0.8866061024960534, -1.038288464455861, 4.4723966615520805], "dimensions": [0.05078124819357347, 0.3959960891338774, 0.45800780657920065], "R_cam": [[-0.9928430318832397, 0.019550427794456482, -0.11781567335128784], [0.007333957590162754, 0.9946288466453552, 0.10324561595916748], [0.11920136213302612, 0.10164263844490051, -0.9876537322998047]], "bbox3D_cam": [[-0.6601207256317139, -1.239524006843567, 4.450051307678223], [-1.1148505210876465, -1.2361650466918945, 4.504646301269531], [-1.10710871219635, -0.8422958850860596, 4.544896602630615], [-0.6523787975311279, -0.8456549048423767, 4.490301609039307], [-0.6661035418510437, -1.234281063079834, 4.39989709854126], [-1.120833396911621, -1.2309221029281616, 4.454492092132568], [-1.1130914688110352, -0.8370529413223267, 4.494742393493652], [-0.6583616137504578, -0.8404119610786438, 4.440147399902344]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1616, "image_id": 225, "category_id": 45, "category_name": "person", "bbox2D_proj": [437.0, 217.0, 475.0, 331.0], "bbox2D_tight": [437.0, 217.0, 475.0, 331.0], "bbox2D_trunc": [437.0, 217.0, 475.0, 331.0], "center_cam": [2.842453750270807, 0.22328112013095197, 6.244644223341465], "dimensions": [0.4335937393215076, 1.52587888477517, 0.531249997127679], "R_cam": [[-0.9874668717384338, 0.15008485317230225, -0.048822760581970215], [0.1425168514251709, 0.980851948261261, 0.13273420929908752], [0.06780930608510971, 0.1241125762462616, -0.9899483919143677]], "bbox3D_cam": [[3.000828504562378, -0.591681957244873, 6.346559524536133], [2.4762368202209473, -0.5159698724746704, 6.382583141326904], [2.7052481174468994, 0.9806914329528809, 6.571964263916016], [3.229840040206909, 0.9049793481826782, 6.535940647125244], [2.97965931892395, -0.53412926197052, 5.917324066162109], [2.4550673961639404, -0.458417147397995, 5.953347682952881], [2.6840789318084717, 1.0382441282272339, 6.142728805541992], [3.2086706161499023, 0.9625320434570312, 6.106705188751221]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1617, "image_id": 225, "category_id": 45, "category_name": "person", "bbox2D_proj": [390.0, 221.0, 440.0, 371.0], "bbox2D_tight": [390.0, 221.0, 440.0, 371.0], "bbox2D_trunc": [390.0, 221.0, 440.0, 371.0], "center_cam": [1.6425503537538695, 0.3753997615427514, 4.4965122798569865], "dimensions": [0.3984375057544921, 1.422363261041864, 0.5117187575548701], "R_cam": [[0.7116639018058777, 0.03998851776123047, 0.7013811469078064], [-0.0754472017288208, 0.9969550371170044, 0.01971280761063099], [-0.6984571218490601, -0.06694609671831131, 0.7125139236450195]], "bbox3D_cam": [[1.292297124862671, -0.31823956966400146, 4.580883979797363], [1.6564688682556152, -0.35684728622436523, 4.223470211029053], [1.71334707736969, 1.0611847639083862, 4.128248691558838], [1.3491753339767456, 1.09979248046875, 4.485662460327148], [1.5717536211013794, -0.31038522720336914, 4.864776134490967], [1.9359253644943237, -0.3489929437637329, 4.507362365722656], [1.9928035736083984, 1.0690391063690186, 4.412140846252441], [1.628631830215454, 1.1076468229293823, 4.769554615020752]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1618, "image_id": 225, "category_id": 45, "category_name": "person", "bbox2D_proj": [462.0, 224.0, 499.0, 380.0], "bbox2D_tight": [462.0, 224.0, 499.0, 380.0], "bbox2D_trunc": [462.0, 224.0, 499.0, 380.0], "center_cam": [1.343271669267196, 0.24239513891520179, 2.6002070698946045], "dimensions": [0.22167968759709789, 0.8437499875183072, 0.28710937837501405], "R_cam": [[0.8669869899749756, -0.0023440122604370117, -0.49832531809806824], [0.01791369915008545, 0.9994891881942749, 0.026464983820915222], [0.49800872802734375, -0.031871646642684937, 0.8665862083435059]], "bbox3D_cam": [[1.2750346660614014, -0.1847693920135498, 2.4461092948913574], [1.5239548683166504, -0.17962616682052612, 2.589092254638672], [1.5219770669937134, 0.6636928915977478, 2.5622005462646484], [1.273056983947754, 0.6585496664047241, 2.419217586517334], [1.164566159248352, -0.17890262603759766, 2.638213634490967], [1.4134862422943115, -0.17375940084457397, 2.7811965942382812], [1.411508560180664, 0.6695596575737, 2.754304885864258], [1.162588357925415, 0.6644164323806763, 2.6113219261169434]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1619, "image_id": 226, "category_id": 75, "category_name": "vent", "bbox2D_proj": [377.0, 35.0, 479.0, 169.0], "bbox2D_tight": [377.0, 35.0, 479.0, 169.0], "bbox2D_trunc": [377.0, 35.0, 479.0, 169.0], "center_cam": [1.6654445454950668, -1.4978150954621428, 4.286221316602692], "dimensions": [0.3082476832027413, 0.06682604041761915, 1.7537298190324275], "R_cam": [[0.003636956214904785, -0.0585651695728302, -0.998276948928833], [0.15073084831237793, 0.9869099855422974, -0.057349205017089844], [0.9885681867599487, -0.15026259422302246, 0.012416929006576538]], "bbox3D_cam": [[1.8180705308914185, -1.6541224718093872, 3.422487735748291], [1.8244487047195435, -1.3897812366485596, 5.156169414520264], [1.8205349445343018, -1.323830008506775, 5.146127700805664], [1.8141568899154663, -1.5881712436676025, 3.4124462604522705], [1.5103540420532227, -1.6718002557754517, 3.4263153076171875], [1.516732096672058, -1.407459020614624, 5.15999698638916], [1.512818455696106, -1.3415077924728394, 5.1499552726745605], [1.506440281867981, -1.605849027633667, 3.416273593902588]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1620, "image_id": 226, "category_id": 7, "category_name": "bench", "bbox2D_proj": [141.0, 285.0, 197.0, 337.0], "bbox2D_tight": [141.0, 285.0, 197.0, 337.0], "bbox2D_trunc": [141.0, 285.0, 197.0, 337.0], "center_cam": [-1.4323956941689644, 0.8361272414097323, 6.351173218041502], "dimensions": [0.460937504731725, 0.7563476446023945, 1.1660156439825613], "R_cam": [[-0.6338130235671997, -0.025686394423246384, 0.7730596661567688], [-0.030519839376211166, 0.9995006322860718, 0.008187850937247276], [-0.772883951663971, -0.018404090777039528, -0.6342804431915283]], "bbox3D_cam": [[-1.2313299179077148, 0.4740484952926636, 6.9549126625061035], [-1.9703657627105713, 0.43846189975738525, 6.053717613220215], [-1.9897936582565308, 1.1944317817687988, 6.039797782897949], [-1.2507576942443848, 1.2300183773040771, 6.940992832183838], [-0.8749977350234985, 0.47782260179519653, 6.662549018859863], [-1.6140336990356445, 0.4422360062599182, 5.761353969573975], [-1.6334614753723145, 1.1982059478759766, 5.747434139251709], [-0.8944255709648132, 1.2337925434112549, 6.648629188537598]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1621, "image_id": 226, "category_id": 7, "category_name": "bench", "bbox2D_proj": [219.0, 278.0, 302.0, 330.0], "bbox2D_tight": [219.0, 278.0, 302.0, 330.0], "bbox2D_trunc": [219.0, 278.0, 302.0, 330.0], "center_cam": [0.0972765211432338, 0.8481207589691873, 7.9790245731326905], "dimensions": [0.5195312569307233, 0.8601074079924604, 1.4765625143644485], "R_cam": [[-0.7679011821746826, 0.019620858132839203, 0.6402677893638611], [0.01094441581517458, 0.9997867345809937, -0.017512118443846703], [-0.6404748558998108, -0.006440217141062021, -0.7679520845413208]], "bbox3D_cam": [[0.48944592475891113, 0.41462773084640503, 8.654131889343262], [-0.644408106803894, 0.4307878613471985, 7.708431243896484], [-0.6275320053100586, 1.2907118797302246, 7.702891826629639], [0.5063220262527466, 1.2745517492294312, 8.648592948913574], [0.8220850229263306, 0.40552961826324463, 8.255157470703125], [-0.3117690086364746, 0.4216897487640381, 7.309455871582031], [-0.29489290714263916, 1.281613826751709, 7.303916931152344], [0.838961124420166, 1.265453577041626, 8.249617576599121]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1622, "image_id": 226, "category_id": 58, "category_name": "signboard", "bbox2D_proj": [406.0, 231.0, 436.0, 271.0], "bbox2D_tight": [406.0, 231.0, 436.0, 271.0], "bbox2D_trunc": [406.0, 231.0, 436.0, 271.0], "center_cam": [1.943022949203715, -0.058951536101887, 5.355888363661679], "dimensions": [0.2812500072598212, 0.47180175043209116, 0.3681640636389654], "R_cam": [[0.9865260720252991, 0.010123014450073242, 0.16329053044319153], [-0.009070396423339844, 0.9999329447746277, -0.007190883159637451], [-0.1633523851633072, 0.005612894892692566, 0.9865517616271973]], "bbox3D_cam": [[1.7360705137252808, -0.2921556830406189, 5.245900630950928], [2.099273920059204, -0.29549506306648254, 5.185760021209717], [2.1040499210357666, 0.1762750744819641, 5.188408374786377], [1.7408465147018433, 0.17961445450782776, 5.248548984527588], [1.7819960117340088, -0.2941781282424927, 5.5233683586120605], [2.1451992988586426, -0.2975175082683563, 5.46322774887085], [2.149975538253784, 0.17425262928009033, 5.46587610244751], [1.7867720127105713, 0.17759200930595398, 5.526016712188721]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1623, "image_id": 226, "category_id": 45, "category_name": "person", "bbox2D_proj": [360.0, 243.0, 376.0, 290.0], "bbox2D_tight": [360.0, 243.0, 376.0, 290.0], "bbox2D_trunc": [360.0, 243.0, 376.0, 290.0], "center_cam": [3.1662711997036412, 0.29902450024026234, 12.718535264178396], "dimensions": [0.4140626091953035, 1.3437499913795172, 0.42187510138839446], "R_cam": [[-0.9758515954017639, 0.033883094787597656, 0.21579112112522125], [0.09864383935928345, 0.94978266954422, 0.2969553768634796], [-0.19489288330078125, 0.31107082962989807, -0.9301892518997192]], "bbox3D_cam": [[3.3046743869781494, -0.4213973581790924, 12.743223190307617], [2.89298677444458, -0.3797819912433624, 12.661003112792969], [2.9385170936584473, 0.8964883089065552, 13.079004287719727], [3.3502047061920166, 0.8548729419708252, 13.161224365234375], [3.3940253257751465, -0.29843929409980774, 12.35806655883789], [2.982337713241577, -0.25682392716407776, 12.275846481323242], [3.0278680324554443, 1.0194463729858398, 12.69384765625], [3.4395556449890137, 0.9778310060501099, 12.776067733764648]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1624, "image_id": 226, "category_id": 58, "category_name": "signboard", "bbox2D_proj": [357.0, 275.0, 430.0, 366.0], "bbox2D_tight": [357.0, 275.0, 430.0, 366.0], "bbox2D_trunc": [357.0, 275.0, 430.0, 366.0], "center_cam": [1.6479456101799714, 0.6466428811083261, 4.867929776199014], "dimensions": [0.6152344584673191, 0.9638671834949519, 0.6757813470889991], "R_cam": [[0.6520724892616272, 0.39625871181488037, -0.6463594436645508], [-0.3497023582458496, 0.9136335253715515, 0.20732103288173676], [0.6726884245872498, 0.09084513783454895, 0.7343279123306274]], "bbox3D_cam": [[1.435477375984192, 0.26071780920028687, 4.370961666107178], [1.8761357069015503, 0.024395465850830078, 4.825551986694336], [2.2580766677856445, 0.9050168395042419, 4.913114547729492], [1.817418098449707, 1.1413391828536987, 4.458524227142334], [1.037814736366272, 0.3882688879966736, 4.822745323181152], [1.47847318649292, 0.1519465446472168, 5.2773356437683105], [1.860413908958435, 1.0325679779052734, 5.364898204803467], [1.4197555780410767, 1.2688902616500854, 4.910307884216309]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1625, "image_id": 227, "category_id": 45, "category_name": "person", "bbox2D_proj": [11.0, 266.0, 44.0, 335.0], "bbox2D_tight": [11.0, 266.0, 44.0, 335.0], "bbox2D_trunc": [11.0, 266.0, 44.0, 335.0], "center_cam": [-2.144765888533823, 0.40822473905984924, 4.1022746791939255], "dimensions": [0.1972656459291572, 0.5324707133353139, 0.25195313820618304], "R_cam": [[0.3211737871170044, 0.04869985580444336, -0.9457672238349915], [0.010645508766174316, 0.9984281063079834, 0.05502668023109436], [0.94696044921875, -0.02774125337600708, 0.32015055418014526]], "bbox3D_cam": [[-2.1049082279205322, 0.13563936948776245, 3.9587883949279785], [-2.0239875316619873, 0.13832151889801025, 4.197378158569336], [-1.998056173324585, 0.6699552536010742, 4.1826066970825195], [-2.07897686958313, 0.6672731041908264, 3.944016933441162], [-2.291475534439087, 0.14649420976638794, 4.021943092346191], [-2.210554838180542, 0.14917635917663574, 4.260532855987549], [-2.1846234798431396, 0.6808100938796997, 4.245761394500732], [-2.2655441761016846, 0.6781279444694519, 4.007171630859375]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1626, "image_id": 227, "category_id": 34, "category_name": "jeans", "bbox2D_proj": [89.0, 315.0, 122.0, 375.0], "bbox2D_tight": [89.0, 315.0, 122.0, 375.0], "bbox2D_trunc": [89.0, 315.0, 122.0, 375.0], "center_cam": [-1.16081008538663, 0.6622667631510765, 3.3767417701061566], "dimensions": [0.15234374993247074, 0.4775390711332714, 0.21875001420013246], "R_cam": [[0.9755457639694214, 0.05542874336242676, 0.212692528963089], [-0.05367708206176758, 0.9984601736068726, -0.014006219804286957], [-0.21314135193824768, 0.0022470057010650635, 0.9770188331604004]], "bbox3D_cam": [[-1.2969462871551514, 0.43080273270606995, 3.325096368789673], [-1.0835456848144531, 0.4190608859062195, 3.2784717082977295], [-1.0570762157440186, 0.8958646059036255, 3.2795448303222656], [-1.2704769372940063, 0.9076064825057983, 3.326169490814209], [-1.2645440101623535, 0.4286689758300781, 3.4739389419555664], [-1.0511432886123657, 0.41692712903022766, 3.427314281463623], [-1.0246739387512207, 0.893730878829956, 3.428387403488159], [-1.238074541091919, 0.9054726958274841, 3.4750120639801025]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1627, "image_id": 227, "category_id": 45, "category_name": "person", "bbox2D_proj": [235.0, 222.0, 251.0, 271.0], "bbox2D_tight": [235.0, 222.0, 251.0, 271.0], "bbox2D_trunc": [235.0, 222.0, 251.0, 271.0], "center_cam": [-0.16379363001507008, -0.13183444918495638, 5.686355910164013], "dimensions": [0.19531249577400836, 0.6601562623003812, 0.24731446455663803], "R_cam": [[0.9976761937141418, 0.0154954195022583, -0.06634781509637833], [-0.01906120777130127, 0.9983884692192078, -0.0534515418112278], [0.06541263312101364, 0.05459200218319893, 0.9963638186454773]], "bbox3D_cam": [[-0.28579893708229065, -0.4538037180900574, 5.562946319580078], [-0.039059169590473175, -0.458517849445343, 5.5791239738464355], [-0.028829753398895264, 0.2005745768547058, 5.615163326263428], [-0.27556952834129333, 0.20528870820999146, 5.59898567199707], [-0.29875749349594116, -0.46424347162246704, 5.757548809051514], [-0.05201772600412369, -0.4689576029777527, 5.773726463317871], [-0.041788309812545776, 0.19013482332229614, 5.809765815734863], [-0.28852808475494385, 0.1948489546775818, 5.793588161468506]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1628, "image_id": 227, "category_id": 45, "category_name": "person", "bbox2D_proj": [279.0, 214.0, 298.0, 269.0], "bbox2D_tight": [279.0, 214.0, 298.0, 269.0], "bbox2D_trunc": [279.0, 214.0, 298.0, 269.0], "center_cam": [0.43318660010044135, -0.1885353878856053, 5.649467031138306], "dimensions": [0.1718750081396025, 0.6828613404310475, 0.2324218977931098], "R_cam": [[0.9237086176872253, 0.05797910690307617, 0.378682941198349], [-0.042025208473205566, 0.9978511929512024, -0.050267815589904785], [-0.38078370690345764, 0.03051862120628357, 0.9241604804992676]], "bbox3D_cam": [[0.2735025882720947, -0.5200287103652954, 5.603878021240234], [0.48819270730018616, -0.529796302318573, 5.51537561416626], [0.5277844667434692, 0.15159767866134644, 5.536215782165527], [0.3130943179130554, 0.16136527061462402, 5.624718189239502], [0.33858874440193176, -0.5286684632301331, 5.762718200683594], [0.5532788634300232, -0.5384360551834106, 5.674215793609619], [0.5928705930709839, 0.1429579257965088, 5.695055961608887], [0.37818047404289246, 0.15272551774978638, 5.783558368682861]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1629, "image_id": 227, "category_id": 45, "category_name": "person", "bbox2D_proj": [293.0, 213.0, 309.0, 270.0], "bbox2D_tight": [293.0, 213.0, 309.0, 270.0], "bbox2D_trunc": [293.0, 213.0, 309.0, 270.0], "center_cam": [0.5464374313339198, -0.20001205226649793, 5.573547429858901], "dimensions": [0.19335942447575777, 0.7022705202813551, 0.22070317831898284], "R_cam": [[0.6373842358589172, 0.10618478059768677, 0.763194739818573], [-0.10044777393341064, 0.9934577345848083, -0.054332584142684937], [-0.7639709711074829, -0.0420304536819458, 0.6438803672790527]], "bbox3D_cam": [[0.3650304079055786, -0.5325126647949219, 5.610361099243164], [0.5057031512260437, -0.5546817779541016, 5.4417500495910645], [0.5802736282348633, 0.14299428462982178, 5.412233352661133], [0.4396008849143982, 0.16516339778900146, 5.580844402313232], [0.5126012563705444, -0.5430184006690979, 5.734861373901367], [0.6532739996910095, -0.5651875138282776, 5.566250324249268], [0.7278444766998291, 0.13248854875564575, 5.536733627319336], [0.587171733379364, 0.15465766191482544, 5.7053446769714355]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1630, "image_id": 227, "category_id": 45, "category_name": "person", "bbox2D_proj": [35.0, 254.0, 58.0, 317.0], "bbox2D_tight": [35.0, 254.0, 58.0, 317.0], "bbox2D_trunc": [35.0, 254.0, 58.0, 317.0], "center_cam": [-1.914510883033032, 0.34332018021283073, 4.104244905739289], "dimensions": [0.21679692402888015, 0.6113281397258955, 0.2216797476689], "R_cam": [[0.9682276844978333, -0.19486284255981445, 0.1567278653383255], [0.23819172382354736, 0.9095026850700378, -0.34068989753723145], [-0.0761566311120987, 0.3671966791152954, 0.9270204305648804]], "bbox3D_cam": [[-1.9792555570602417, 0.07584702968597412, 3.8999595642089844], [-1.7646191120147705, 0.1286492943763733, 3.8830771446228027], [-1.883744239807129, 0.6846538782119751, 4.107554912567139], [-2.0983808040618896, 0.6318516135215759, 4.12443733215332], [-1.945277452468872, 0.0019865036010742188, 4.1009345054626465], [-1.7306410074234009, 0.05478876829147339, 4.084052085876465], [-1.8497661352157593, 0.6107933521270752, 4.308529853820801], [-2.0644025802612305, 0.557991087436676, 4.325412273406982]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1631, "image_id": 228, "category_id": 45, "category_name": "person", "bbox2D_proj": [290.0, 240.0, 324.0, 362.0], "bbox2D_tight": [290.0, 240.0, 324.0, 362.0], "bbox2D_trunc": [290.0, 240.0, 324.0, 362.0], "center_cam": [0.43113531911085917, 0.3516972094101136, 3.5539548856885093], "dimensions": [0.2753907930049473, 0.9128417767711723, 0.2792970482893632], "R_cam": [[0.8123812079429626, -0.029242992401123047, -0.5823929905891418], [-0.033899903297424316, 0.9946842789649963, -0.09723187983036041], [0.5821405053138733, 0.09873239696025848, 0.8070714473724365]], "bbox3D_cam": [[0.41122740507125854, -0.08417502045631409, 3.3164663314819336], [0.638123095035553, -0.09364315867424011, 3.4790563583374023], [0.6114289164543152, 0.814346194267273, 3.569183349609375], [0.38453322649002075, 0.8238143920898438, 3.4065933227539062], [0.25084173679351807, -0.11095181107521057, 3.538726329803467], [0.4777374267578125, -0.1204199492931366, 3.7013163566589355], [0.4510432481765747, 0.7875694036483765, 3.791443347930908], [0.22414754331111908, 0.7970376014709473, 3.6288533210754395]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1632, "image_id": 228, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [48.0, 86.0, 75.0, 189.0], "bbox2D_tight": [48.0, 86.0, 75.0, 189.0], "bbox2D_trunc": [48.0, 86.0, 75.0, 189.0], "center_cam": [-2.2534873093303593, -1.3014440543246772, 5.1431622624613595], "dimensions": [0.2299804762155901, 1.1416015367201147, 0.2617187550997882], "R_cam": [[0.4343549609184265, 0.054646849632263184, 0.8990826606750488], [-0.19330823421478271, 0.980556070804596, 0.03379005193710327], [-0.879754364490509, -0.18847694993019104, 0.43647313117980957]], "bbox3D_cam": [[-2.4449050426483154, -1.839735507965088, 5.31567907333374], [-2.331226110458374, -1.8903279304504395, 5.08543062210083], [-2.26884126663208, -0.7709236145019531, 4.870265007019043], [-2.3825199604034424, -0.7203311920166016, 5.100513458251953], [-2.238133430480957, -1.8319644927978516, 5.416059494018555], [-2.1244547367095947, -1.8825569152832031, 5.1858110427856445], [-2.0620696544647217, -0.7631525993347168, 4.970645427703857], [-2.175748586654663, -0.7125601768493652, 5.200893878936768]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1633, "image_id": 228, "category_id": 45, "category_name": "person", "bbox2D_proj": [202.0, 241.0, 227.0, 342.0], "bbox2D_tight": [202.0, 241.0, 227.0, 342.0], "bbox2D_trunc": [202.0, 241.0, 227.0, 342.0], "center_cam": [-0.34064652985105703, 0.2886700865156886, 3.696393489737747], "dimensions": [0.2377929763073299, 0.820657711401278, 0.2636718785421166], "R_cam": [[-0.3464886546134949, -0.012260079383850098, -0.9379740357398987], [-0.03426551818847656, 0.9994127154350281, -0.00040540099143981934], [0.9374281167984009, 0.03199964761734009, -0.34670519828796387]], "bbox3D_cam": [[-0.17841437458992004, -0.11685213446617126, 3.600898504257202], [-0.2697737216949463, -0.12588700652122498, 3.848071813583374], [-0.279835045337677, 0.6942887306213379, 3.8743326663970947], [-0.18847569823265076, 0.7033236026763916, 3.6271591186523438], [-0.4014580249786377, -0.11694851517677307, 3.5184543132781982], [-0.49281737208366394, -0.12598338723182678, 3.765627861022949], [-0.5028786659240723, 0.6941922903060913, 3.791888475418091], [-0.4115193486213684, 0.703227162361145, 3.544715166091919]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1634, "image_id": 228, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [103.0, 11.0, 122.0, 193.0], "bbox2D_tight": [103.0, 11.0, 122.0, 193.0], "bbox2D_trunc": [103.0, 11.0, 122.0, 193.0], "center_cam": [-1.4917395478268607, -1.9816484877611127, 4.802121872389526], "dimensions": [0.10937501443143913, 1.2470702835598142, 0.1152343914409246], "R_cam": [[0.9091200232505798, -0.05761456489562988, 0.41253048181533813], [0.08172541856765747, 0.9958100914955139, -0.04102732241153717], [-0.40843820571899414, 0.0710129588842392, 0.9100193977355957]], "bbox3D_cam": [[-1.5307559967041016, -2.6050362586975098, 4.731608867645264], [-1.4259941577911377, -2.595618724822998, 4.684542655944824], [-1.4978435039520264, -1.3537733554840088, 4.773100852966309], [-1.6026054620742798, -1.3631908893585205, 4.820167064666748], [-1.48563551902771, -2.6095235347747803, 4.831142425537109], [-1.3808735609054565, -2.6001060009002686, 4.78407621383667], [-1.4527230262756348, -1.3582607507705688, 4.872634410858154], [-1.5574848651885986, -1.3676782846450806, 4.919700622558594]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1635, "image_id": 228, "category_id": 45, "category_name": "person", "bbox2D_proj": [150.0, 238.0, 171.0, 319.0], "bbox2D_tight": [150.0, 238.0, 171.0, 319.0], "bbox2D_trunc": [150.0, 238.0, 171.0, 319.0], "center_cam": [-0.8066086320535519, 0.19484460162843004, 3.8729935931404675], "dimensions": [0.19921875763535296, 0.7060546713124172, 0.2207031296441192], "R_cam": [[0.23027858138084412, 0.01956486701965332, -0.9729280471801758], [-0.009826898574829102, 0.9997936487197876, 0.017779231071472168], [0.9730751514434814, 0.0054666101932525635, 0.23042333126068115]], "bbox3D_cam": [[-0.7420144081115723, -0.15879645943641663, 3.7407312393188477], [-0.6911911964416504, -0.16096529364585876, 3.955491781234741], [-0.6773773431777954, 0.5449436902999878, 3.9593515396118164], [-0.7282005548477173, 0.5471125841140747, 3.744590997695923], [-0.9358398914337158, -0.1552545130252838, 3.7866358757019043], [-0.885016679763794, -0.15742334723472595, 4.001396656036377], [-0.871202826499939, 0.5484856367111206, 4.005256175994873], [-0.9220260381698608, 0.5506545305252075, 3.7904956340789795]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1636, "image_id": 228, "category_id": 45, "category_name": "person", "bbox2D_proj": [269.0, 246.0, 288.0, 321.0], "bbox2D_tight": [269.0, 246.0, 288.0, 321.0], "bbox2D_trunc": [269.0, 246.0, 288.0, 321.0], "center_cam": [0.24635512934371234, 0.26257456595919715, 4.340721872612677], "dimensions": [0.21752930309161078, 0.7193603352696037, 0.24218750241492726], "R_cam": [[-0.18609485030174255, -0.043428897857666016, 0.9815714359283447], [-0.028314948081970215, 0.9988447427749634, 0.03882506489753723], [-0.9821237325668335, -0.020567983388900757, -0.1871095895767212]], "bbox3D_cam": [[0.17775030434131622, -0.09748414158821106, 4.487400054931641], [0.1326804757118225, -0.10434165596961975, 4.249541759490967], [0.10143941640853882, 0.6141877174377441, 4.234745979309082], [0.14650923013687134, 0.6210452318191528, 4.472604274749756], [0.39127084612846375, -0.08903858065605164, 4.446698188781738], [0.3462010324001312, -0.09589609503746033, 4.2088398933410645], [0.31495994329452515, 0.6226332187652588, 4.19404411315918], [0.36002978682518005, 0.6294907331466675, 4.4319024085998535]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1637, "image_id": 228, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [92.0, 36.0, 109.0, 105.0], "bbox2D_tight": [92.0, 36.0, 109.0, 105.0], "bbox2D_trunc": [92.0, 36.0, 109.0, 105.0], "center_cam": [-1.7775391082360734, -2.042486390105762, 4.961218507725237], "dimensions": [0.15966796617723134, 0.6596069201171564, 0.23046874304544487], "R_cam": [[-0.13000130653381348, -0.09632784128189087, -0.986823558807373], [-0.4020237922668457, 0.9149075746536255, -0.036346435546875], [0.9063534736633301, 0.3920014202594757, -0.15766525268554688]], "bbox3D_cam": [[-1.6520072221755981, -2.294997453689575, 4.740078926086426], [-1.6819684505462646, -2.3876514434814453, 4.948965072631836], [-1.745507001876831, -1.7841720581054688, 5.207531929016113], [-1.7155457735061646, -1.6915180683135986, 4.998645782470703], [-1.8095712661743164, -2.3008008003234863, 4.71490478515625], [-1.839532494544983, -2.3934547901153564, 4.92379093170166], [-1.9030710458755493, -1.7899754047393799, 5.1823577880859375], [-1.8731098175048828, -1.6973214149475098, 4.973471641540527]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1638, "image_id": 228, "category_id": 45, "category_name": "person", "bbox2D_proj": [108.0, 228.0, 131.0, 303.0], "bbox2D_tight": [108.0, 228.0, 131.0, 303.0], "bbox2D_trunc": [108.0, 228.0, 131.0, 303.0], "center_cam": [-1.2277070645163177, 0.07327471454333635, 4.040556201786293], "dimensions": [0.17968750081837964, 0.6741332858254583, 0.2324218775446746], "R_cam": [[0.8582197427749634, -0.08434593677520752, 0.5063048005104065], [0.10591340065002441, 0.9942783117294312, -0.013892099261283875], [-0.5022361278533936, 0.0655469298362732, 0.8622426986694336]], "bbox3D_cam": [[-1.3444997072219849, -0.2729235291481018, 3.999361038208008], [-1.1450306177139282, -0.24830691516399384, 3.8826303482055664], [-1.2018910646438599, 0.4219691753387451, 3.9268176555633545], [-1.401360034942627, 0.39735257625579834, 4.043548107147217], [-1.2535229921340942, -0.27541977167129517, 4.154294967651367], [-1.0540540218353271, -0.2508031725883484, 4.037564754486084], [-1.1109143495559692, 0.41947293281555176, 4.081751823425293], [-1.3103834390640259, 0.394856333732605, 4.198482513427734]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1639, "image_id": 228, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [115.0, 0.0, 158.0, 212.0], "bbox2D_tight": [115.0, 0.0, 158.0, 212.0], "bbox2D_trunc": [115.0, 0.0, 158.0, 212.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1640, "image_id": 228, "category_id": 13, "category_name": "building", "bbox2D_proj": [180.0, 103.0, 275.0, 219.0], "bbox2D_tight": [180.0, 103.0, 275.0, 219.0], "bbox2D_trunc": [180.0, 103.0, 275.0, 219.0], "center_cam": [-0.5976682777803675, -1.3173695507468288, 6.436729695519645], "dimensions": [0.8203124884871742, 1.9130859504563722, 1.992187505163534], "R_cam": [[0.5566407442092896, 0.08091090619564056, 0.8268037438392639], [0.05226553604006767, 0.989863395690918, -0.1320553570985794], [-0.8291075825691223, 0.11672073602676392, 0.5467694997787476]], "bbox3D_cam": [[-1.568648099899292, -2.2621145248413086, 6.926689624786377], [-0.4597153961658478, -2.157991886138916, 5.274951934814453], [-0.3049258589744568, -0.2642979621887207, 5.49824857711792], [-1.4138586521148682, -0.36842072010040283, 7.149986267089844], [-0.8904107213020325, -2.370441198348999, 7.375211238861084], [0.2185220718383789, -2.2663183212280273, 5.72347354888916], [0.3733115792274475, -0.37262463569641113, 5.946770191192627], [-0.7356212139129639, -0.47674739360809326, 7.598507881164551]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1641, "image_id": 229, "category_id": 45, "category_name": "person", "bbox2D_proj": [343.0, 210.0, 362.0, 243.0], "bbox2D_tight": [343.0, 210.0, 362.0, 243.0], "bbox2D_trunc": [343.0, 210.0, 362.0, 243.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1642, "image_id": 229, "category_id": 45, "category_name": "person", "bbox2D_proj": [428.0, 204.0, 469.0, 252.0], "bbox2D_tight": [428.0, 204.0, 469.0, 252.0], "bbox2D_trunc": [428.0, 204.0, 469.0, 252.0], "center_cam": [7.204001285282347, -0.8573900278089437, 16.311242457257816], "dimensions": [0.6874999732901781, 1.830566408548043, 1.017578102052974], "R_cam": [[0.9806827902793884, -0.0413895845413208, 0.19117631018161774], [0.07086789608001709, 0.9861376881599426, -0.15003490447998047], [-0.18231624364852905, 0.16068491339683533, 0.9700211882591248]], "bbox3D_cam": [[6.677206993103027, -1.7444674968719482, 15.923486709594727], [7.67512845993042, -1.6723538637161255, 15.73796558380127], [7.599361896514893, 0.1328364610671997, 16.0321102142334], [6.601440906524658, 0.06072282791137695, 16.21763038635254], [6.808640956878662, -1.8476165533065796, 16.590375900268555], [7.8065619468688965, -1.7755029201507568, 16.404855728149414], [7.730795860290527, 0.02968740463256836, 16.698999404907227], [6.732874393463135, -0.042426228523254395, 16.884521484375]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1643, "image_id": 229, "category_id": 45, "category_name": "person", "bbox2D_proj": [142.0, 146.0, 228.0, 248.0], "bbox2D_tight": [142.0, 146.0, 228.0, 248.0], "bbox2D_trunc": [142.0, 146.0, 228.0, 248.0], "center_cam": [-0.5731073047319489, -0.4707157927453144, 3.88394674887104], "dimensions": [0.47244484186498864, 0.9639139363957498, 0.6405288505926191], "R_cam": [[0.30748146772384644, -0.19123616814613342, -0.9321393966674805], [-0.5596317052841187, 0.7559260725975037, -0.339688241481781], [0.7695891261100769, 0.6261025667190552, 0.12541145086288452]], "bbox3D_cam": [[-0.3592228591442108, -0.5755675435066223, 3.3060951232910156], [-0.16227209568023682, -0.9340277910232544, 3.799039125442505], [-0.3466073274612427, -0.20538008213043213, 4.402548313140869], [-0.5435580611228943, 0.15308013558387756, 3.909604072570801], [-0.7996072769165039, -0.7360514998435974, 3.365345001220703], [-0.6026565432548523, -1.0945117473602295, 3.8582892417907715], [-0.7869917154312134, -0.3658640384674072, 4.461798191070557], [-0.9839425086975098, -0.007403820753097534, 3.9688541889190674]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1644, "image_id": 229, "category_id": 45, "category_name": "person", "bbox2D_proj": [474.0, 184.0, 510.0, 299.0], "bbox2D_tight": [474.0, 184.0, 510.0, 299.0], "bbox2D_trunc": [474.0, 184.0, 510.0, 299.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1645, "image_id": 230, "category_id": 25, "category_name": "fish", "bbox2D_proj": [173.0, 165.0, 207.0, 198.0], "bbox2D_tight": [173.0, 165.0, 207.0, 198.0], "bbox2D_trunc": [173.0, 165.0, 207.0, 198.0], "center_cam": [-0.32458402614807413, -0.3684954144853151, 2.174914617066691], "dimensions": [0.10235098849152358, 0.14560782792401203, 0.22658328270295547], "R_cam": [[-0.22245419025421143, -0.01016823947429657, 0.9748901128768921], [0.15295976400375366, 0.9871982336044312, 0.04519955441355705], [-0.96286940574646, 0.15917378664016724, -0.218051016330719]], "bbox3D_cam": [[-0.3485320210456848, -0.46000945568084717, 2.2835700511932373], [-0.3989364504814148, -0.4253513514995575, 2.0653998851776123], [-0.4004170298576355, -0.28160756826400757, 2.0885767936706543], [-0.3500126004219055, -0.31626567244529724, 2.3067469596862793], [-0.24875105917453766, -0.4553832411766052, 2.2612524032592773], [-0.29915547370910645, -0.42072513699531555, 2.0430822372436523], [-0.30063605308532715, -0.2769813537597656, 2.0662591457366943], [-0.25023162364959717, -0.3116394579410553, 2.2844293117523193]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1646, "image_id": 231, "category_id": 13, "category_name": "building", "bbox2D_proj": [287.0, 0.0, 512.0, 263.0], "bbox2D_tight": [287.0, 0.0, 512.0, 263.0], "bbox2D_trunc": [287.0, 0.0, 512.0, 263.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1647, "image_id": 231, "category_id": 45, "category_name": "person", "bbox2D_proj": [360.0, 434.0, 431.0, 512.0], "bbox2D_tight": [360.0, 434.0, 431.0, 512.0], "bbox2D_trunc": [360.0, 434.0, 431.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1648, "image_id": 231, "category_id": 13, "category_name": "building", "bbox2D_proj": [251.0, 168.0, 290.0, 263.0], "bbox2D_tight": [251.0, 168.0, 290.0, 263.0], "bbox2D_trunc": [251.0, 168.0, 290.0, 263.0], "center_cam": [0.18117058149706422, -0.7453095589214209, 7.679792868217539], "dimensions": [0.9531269163907261, 1.3239745551188977, 0.9589863239151706], "R_cam": [[-0.9292349815368652, 0.08016812801361084, -0.3606874346733093], [0.05291092395782471, 0.9949890375137329, 0.08483713865280151], [0.3656812608242035, 0.05974932014942169, -0.9288203716278076]], "bbox3D_cam": [[0.745552659034729, -1.4697803258895874, 7.9075398445129395], [-0.14557111263275146, -1.4190394878387451, 8.258223533630371], [-0.03943057358264923, -0.1016993522644043, 8.337329864501953], [0.8516932129859924, -0.15244019031524658, 7.98664665222168], [0.4017717242240906, -1.388919711112976, 7.022255897521973], [-0.4893520474433899, -1.3381788730621338, 7.372939109802246], [-0.38321149349212646, -0.02083873748779297, 7.452045917510986], [0.507912278175354, -0.07157957553863525, 7.101362705230713]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1649, "image_id": 231, "category_id": 70, "category_name": "trash_can", "bbox2D_proj": [433.0, 414.0, 485.0, 501.0], "bbox2D_tight": [433.0, 414.0, 485.0, 501.0], "bbox2D_trunc": [433.0, 414.0, 485.0, 501.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1650, "image_id": 231, "category_id": 45, "category_name": "person", "bbox2D_proj": [364.0, 354.0, 412.0, 437.0], "bbox2D_tight": [364.0, 354.0, 412.0, 437.0], "bbox2D_trunc": [364.0, 354.0, 412.0, 437.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1651, "image_id": 231, "category_id": 13, "category_name": "building", "bbox2D_proj": [0.0, 0.0, 76.0, 315.0], "bbox2D_tight": [0.0, 0.0, 76.0, 315.0], "bbox2D_trunc": [0.0, 0.0, 76.0, 315.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1652, "image_id": 231, "category_id": 45, "category_name": "person", "bbox2D_proj": [103.0, 357.0, 147.0, 414.0], "bbox2D_tight": [103.0, 357.0, 147.0, 414.0], "bbox2D_trunc": [103.0, 357.0, 147.0, 414.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1653, "image_id": 231, "category_id": 62, "category_name": "statue", "bbox2D_proj": [412.0, 181.0, 444.0, 237.0], "bbox2D_tight": [412.0, 181.0, 444.0, 237.0], "bbox2D_trunc": [412.0, 181.0, 444.0, 237.0], "center_cam": [2.613923261985427, -0.7226035000856513, 6.7269379281679775], "dimensions": [0.23046874645246715, 0.7861327750197593, 0.48754883266739346], "R_cam": [[0.9605603218078613, 0.03946125507354736, 0.27525728940963745], [-0.0668935775756836, 0.9936021566390991, 0.09099334478378296], [-0.26990556716918945, -0.1058175340294838, 0.957054615020752]], "bbox3D_cam": [[2.332533359527588, -1.107333779335022, 6.72404146194458], [2.8008532524108887, -1.1399476528167725, 6.592449188232422], [2.8318750858306885, -0.3588443398475647, 6.509262561798096], [2.3635549545288086, -0.3262304663658142, 6.640854835510254], [2.3959715366363525, -1.086362600326538, 6.944612979888916], [2.8642916679382324, -1.1189765930175781, 6.813020706176758], [2.895313262939453, -0.3378732204437256, 6.729834079742432], [2.4269933700561523, -0.3052593469619751, 6.86142635345459]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1654, "image_id": 231, "category_id": 13, "category_name": "building", "bbox2D_proj": [92.0, 133.0, 254.0, 280.0], "bbox2D_tight": [92.0, 133.0, 254.0, 280.0], "bbox2D_trunc": [92.0, 133.0, 254.0, 280.0], "center_cam": [-1.535408613561759, -0.7216865283091397, 7.196888405680443], "dimensions": [1.2031250017756268, 2.061035076151084, 2.1582031795325016], "R_cam": [[0.7995591163635254, 0.04972868785262108, -0.5985251069068909], [-0.06532730162143707, 0.9978543519973755, -0.0043624695390462875], [0.5970239043235779, 0.04258807748556137, 0.8010921478271484]], "bbox3D_cam": [[-2.0894100666046143, -1.6768739223480225, 6.026844024658203], [-0.36379921436309814, -1.8178634643554688, 7.315342903137207], [-0.26130664348602295, 0.2387494444847107, 7.40311861038208], [-1.986917495727539, 0.379738986492157, 6.114619731903076], [-2.8095107078552246, -1.6821224689483643, 6.990658283233643], [-1.083899736404419, -1.8231120109558105, 8.279157638549805], [-0.981407105922699, 0.2335008978843689, 8.36693286895752], [-2.7070178985595703, 0.3744904398918152, 7.078433990478516]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1655, "image_id": 231, "category_id": 45, "category_name": "person", "bbox2D_proj": [475.0, 308.0, 512.0, 423.0], "bbox2D_tight": [475.0, 308.0, 512.0, 423.0], "bbox2D_trunc": [475.0, 308.0, 512.0, 423.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1656, "image_id": 231, "category_id": 45, "category_name": "person", "bbox2D_proj": [459.0, 305.0, 486.0, 391.0], "bbox2D_tight": [459.0, 305.0, 486.0, 391.0], "bbox2D_trunc": [459.0, 305.0, 486.0, 391.0], "center_cam": [2.007668840995676, 0.8474029062281009, 4.035947168634525], "dimensions": [0.2070312458667469, 0.7294616357166945, 0.3300781284106609], "R_cam": [[0.9763643145561218, 0.05433356761932373, -0.20919013023376465], [-0.020241498947143555, 0.98661869764328, 0.16178296506404877], [0.2151811569929123, -0.1537247896194458, 0.9643991589546204]], "bbox3D_cam": [[1.8483678102493286, 0.4741462469100952, 3.956671714782715], [2.1706442832946777, 0.46746498346328735, 4.027698516845703], [2.2102785110473633, 1.1871654987335205, 3.915562152862549], [1.8880020380020142, 1.1938467025756836, 3.8445353507995605], [1.8050589561462402, 0.5076403617858887, 4.156332492828369], [2.127335548400879, 0.5009590983390808, 4.227359294891357], [2.1669697761535645, 1.220659613609314, 4.115222930908203], [1.8446931838989258, 1.2273409366607666, 4.044196128845215]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1657, "image_id": 231, "category_id": 45, "category_name": "person", "bbox2D_proj": [435.0, 300.0, 456.0, 373.0], "bbox2D_tight": [435.0, 300.0, 456.0, 373.0], "bbox2D_trunc": [435.0, 300.0, 456.0, 373.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1658, "image_id": 231, "category_id": 45, "category_name": "person", "bbox2D_proj": [256.0, 313.0, 285.0, 391.0], "bbox2D_tight": [256.0, 313.0, 285.0, 391.0], "bbox2D_trunc": [256.0, 313.0, 285.0, 391.0], "center_cam": [0.15315862005323652, 0.9790743969826154, 4.605063053948106], "dimensions": [0.2431640725831461, 0.7462157866929834, 0.30859375566566244], "R_cam": [[0.2906516194343567, 0.05225849151611328, -0.9554008841514587], [0.157728910446167, 0.9822304844856262, 0.1017102301120758], [0.9437390565872192, -0.1802566647529602, 0.27724409103393555]], "bbox3D_cam": [[0.2049735188484192, 0.5758932828903198, 4.49299430847168], [0.29466676712036133, 0.624567449092865, 4.784226417541504], [0.33366286754608154, 1.3575232028961182, 4.649715900421143], [0.2439696341753006, 1.3088490962982178, 4.358483791351318], [-0.02734564244747162, 0.6006255745887756, 4.560410022735596], [0.06234760582447052, 0.6492997407913208, 4.85164213180542], [0.10134371370077133, 1.3822555541992188, 4.717131614685059], [0.011650457978248596, 1.3335814476013184, 4.425899505615234]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1659, "image_id": 231, "category_id": 45, "category_name": "person", "bbox2D_proj": [334.0, 365.0, 385.0, 505.0], "bbox2D_tight": [334.0, 365.0, 385.0, 505.0], "bbox2D_trunc": [334.0, 365.0, 385.0, 505.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1660, "image_id": 231, "category_id": 45, "category_name": "person", "bbox2D_proj": [436.0, 455.0, 498.0, 512.0], "bbox2D_tight": [436.0, 455.0, 498.0, 512.0], "bbox2D_trunc": [436.0, 455.0, 498.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1661, "image_id": 231, "category_id": 45, "category_name": "person", "bbox2D_proj": [311.0, 304.0, 330.0, 368.0], "bbox2D_tight": [311.0, 304.0, 330.0, 368.0], "bbox2D_trunc": [311.0, 304.0, 330.0, 368.0], "center_cam": [0.7249527872736713, 0.8844479884394001, 4.907598825355212], "dimensions": [0.22656251528435992, 0.6400146194649028, 0.25000002378457276], "R_cam": [[0.9369021654129028, 0.01886773109436035, -0.34908217191696167], [0.032115161418914795, 0.9896750450134277, 0.13968533277511597], [0.34811344742774963, -0.1420823186635971, 0.9266226887702942]], "bbox3D_cam": [[0.6413466930389404, 0.5479066371917725, 4.8045830726623535], [0.8755722641944885, 0.5559354424476624, 4.891611576080322], [0.8876478672027588, 1.1893419027328491, 4.8006768226623535], [0.6534222960472107, 1.1813130378723145, 4.713648319244385], [0.5622577667236328, 0.5795540809631348, 5.01452112197876], [0.7964833378791809, 0.5875828862190247, 5.1015496253967285], [0.8085589408874512, 1.2209893465042114, 5.01061487197876], [0.5743333697319031, 1.2129604816436768, 4.923586368560791]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1662, "image_id": 231, "category_id": 45, "category_name": "person", "bbox2D_proj": [156.0, 327.0, 181.0, 388.0], "bbox2D_tight": [156.0, 327.0, 181.0, 388.0], "bbox2D_trunc": [156.0, 327.0, 181.0, 388.0], "center_cam": [-0.8563490796958575, 1.0400711817193913, 4.35365892406449], "dimensions": [0.18554688212966441, 0.6542968433098878, 0.23632813716589673], "R_cam": [[0.806130051612854, 0.017077326774597168, -0.5914918780326843], [-0.07254338264465332, 0.9948955774307251, -0.07014340162277222], [0.5872748494148254, 0.09945355355739594, 0.8032541275024414]], "bbox3D_cam": [[-0.9023167490959167, 0.7296720743179321, 4.1772074699401855], [-0.711805522441864, 0.7125280499458313, 4.315997123718262], [-0.700631856918335, 1.3634850978851318, 4.381069183349609], [-0.8911430835723877, 1.380629062652588, 4.242280006408691], [-1.0120662450790405, 0.7166571617126465, 4.326249122619629], [-0.8215550184249878, 0.6995131373405457, 4.465038299560547], [-0.8103813529014587, 1.3504701852798462, 4.530110836029053], [-1.0008926391601562, 1.3676142692565918, 4.391321182250977]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1663, "image_id": 232, "category_id": 45, "category_name": "person", "bbox2D_proj": [315.0, 358.0, 366.0, 503.0], "bbox2D_tight": [315.0, 358.0, 366.0, 503.0], "bbox2D_trunc": [315.0, 358.0, 366.0, 503.0], "center_cam": [0.6263296749994023, 1.2668582541414546, 3.26733045220633], "dimensions": [0.3632826535284198, 0.9853515873564538, 0.36474751271386674], "R_cam": [[-0.946793258190155, 0.07470107078552246, -0.3130533695220947], [0.06506192684173584, 0.9970328211784363, 0.041140422224998474], [0.3151977062225342, 0.01858361065387726, -0.9488441944122314]], "bbox3D_cam": [[0.8190599679946899, 0.7563058733940125, 3.373040199279785], [0.47371941804885864, 0.7800370454788208, 3.4880077838897705], [0.5473262071609497, 1.762465000152588, 3.506319284439087], [0.892666757106781, 1.7387337684631348, 3.3913516998291016], [0.7053331136703491, 0.7712514996528625, 3.02834153175354], [0.3599925637245178, 0.7949826717376709, 3.1433091163635254], [0.4335993528366089, 1.7774105072021484, 3.161620616912842], [0.7789399027824402, 1.7536793947219849, 3.0466530323028564]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1664, "image_id": 232, "category_id": 45, "category_name": "person", "bbox2D_proj": [338.0, 300.0, 361.0, 384.0], "bbox2D_tight": [338.0, 300.0, 361.0, 384.0], "bbox2D_trunc": [338.0, 300.0, 361.0, 384.0], "center_cam": [1.0513023142506177, 0.93993000174991, 4.8101037907167], "dimensions": [0.2578125454728821, 0.8593750233096967, 0.27734379038356827], "R_cam": [[0.3654778301715851, 0.04325103759765625, 0.9298146367073059], [-0.17382526397705078, 0.9845187664031982, 0.022529006004333496], [-0.9144455790519714, -0.1698591113090515, 0.3673379421234131]], "bbox3D_cam": [[0.8621774315834045, 0.5380951166152954, 4.962545871734619], [0.9635404348373413, 0.48988577723503113, 4.708930015563965], [1.0007092952728271, 1.3359565734863281, 4.562957286834717], [0.8993462920188904, 1.3841660022735596, 4.816573143005371], [1.1018953323364258, 0.5439034700393677, 5.057250499725342], [1.2032582759857178, 0.4956940710544586, 4.8036346435546875], [1.2404272556304932, 1.3417649269104004, 4.6576619148254395], [1.1390641927719116, 1.3899742364883423, 4.911277770996094]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1665, "image_id": 232, "category_id": 45, "category_name": "person", "bbox2D_proj": [170.0, 315.0, 198.0, 382.0], "bbox2D_tight": [170.0, 315.0, 198.0, 382.0], "bbox2D_trunc": [170.0, 315.0, 198.0, 382.0], "center_cam": [-0.7833163425850348, 0.9640974864268739, 4.753640141393323], "dimensions": [0.27343766494880495, 0.6545410330061088, 0.27783220865341496], "R_cam": [[-0.9316616654396057, 0.07777702808380127, 0.35490453243255615], [0.06329387426376343, 0.9966258406639099, -0.05225682258605957], [-0.3577713966369629, -0.026222392916679382, -0.9334409236907959]], "bbox3D_cam": [[-0.7278698086738586, 0.6362831592559814, 4.939541339874268], [-0.9867154359817505, 0.6538683176040649, 4.8401408195495605], [-0.9358071088790894, 1.3062007427215576, 4.822977066040039], [-0.6769615411758423, 1.2886157035827637, 4.922377586364746], [-0.6308255195617676, 0.6219942569732666, 4.684303283691406], [-0.8896710872650146, 0.6395792961120605, 4.584902763366699], [-0.8387628197669983, 1.2919118404388428, 4.567739009857178], [-0.5799171924591064, 1.2743266820907593, 4.667139530181885]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1666, "image_id": 232, "category_id": 45, "category_name": "person", "bbox2D_proj": [366.0, 309.0, 386.0, 365.0], "bbox2D_tight": [366.0, 309.0, 386.0, 365.0], "bbox2D_trunc": [366.0, 309.0, 386.0, 365.0], "center_cam": [1.2557687991411988, 0.8731559349044428, 4.632051480192056], "dimensions": [0.18188480979803082, 0.6474609537805732, 0.1914062909163516], "R_cam": [[0.12725631892681122, 0.08037745952606201, -0.9886078834533691], [-0.29060792922973633, 0.955992579460144, 0.04031780734658241], [0.9483423233032227, 0.2821665108203888, 0.14501428604125977]], "bbox3D_cam": [[1.3074756860733032, 0.5878175497055054, 4.436758518218994], [1.3318333625793457, 0.5321933627128601, 4.618277072906494], [1.383874535560608, 1.1511611938476562, 4.800968647003174], [1.359516978263855, 1.2067853212356567, 4.619450092315674], [1.127663016319275, 0.5951507687568665, 4.463134288787842], [1.1520205736160278, 0.5395265817642212, 4.644652843475342], [1.2040618658065796, 1.1584943532943726, 4.8273444175720215], [1.179704189300537, 1.214118480682373, 4.6458258628845215]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1667, "image_id": 232, "category_id": 45, "category_name": "person", "bbox2D_proj": [359.0, 353.0, 412.0, 486.0], "bbox2D_tight": [359.0, 353.0, 412.0, 486.0], "bbox2D_trunc": [359.0, 353.0, 412.0, 486.0], "center_cam": [0.9631385901061471, 1.2212655343779089, 3.2767062123048256], "dimensions": [0.32226564732019203, 0.9570312750718565, 0.37329105503564614], "R_cam": [[-0.9907616972923279, 0.03890228271484375, -0.12991522252559662], [0.032146334648132324, 0.9980395436286926, 0.05370112881064415], [0.13174961507320404, 0.04902870953083038, -0.9900698661804199]], "bbox3D_cam": [[1.1503781080245972, 0.7290350794792175, 3.3881874084472656], [0.7805355787277222, 0.7410350441932678, 3.437368392944336], [0.8177663087844849, 1.6961899995803833, 3.484290361404419], [1.1876087188720703, 1.684190034866333, 3.4351096153259277], [1.1085108518600464, 0.7463411092758179, 3.069122076034546], [0.7386683821678162, 0.7583410739898682, 3.118302822113037], [0.7758990526199341, 1.7134959697723389, 3.165225028991699], [1.145741581916809, 1.7014961242675781, 3.116044044494629]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1668, "image_id": 232, "category_id": 45, "category_name": "person", "bbox2D_proj": [474.0, 294.0, 504.0, 341.0], "bbox2D_tight": [474.0, 294.0, 504.0, 341.0], "bbox2D_trunc": [474.0, 294.0, 504.0, 341.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1669, "image_id": 232, "category_id": 13, "category_name": "building", "bbox2D_proj": [92.0, 132.0, 254.0, 281.0], "bbox2D_tight": [92.0, 132.0, 254.0, 281.0], "bbox2D_trunc": [92.0, 132.0, 254.0, 281.0], "center_cam": [-1.5384372273615805, -0.8254301738381518, 7.210009265758654], "dimensions": [1.3046875590974443, 2.172119277866102, 2.2597658450207296], "R_cam": [[0.7682278156280518, 0.0850103497505188, -0.6345071792602539], [-0.07679630815982819, 0.9962242841720581, 0.040491752326488495], [0.6355535984039307, 0.017620913684368134, 0.7718557119369507]], "bbox3D_cam": [[-2.0848541259765625, -1.847032904624939, 5.969255447387695], [-0.34883928298950195, -2.0205745697021484, 7.405457496643066], [-0.16418659687042236, 0.1433435082435608, 7.443732261657715], [-1.9002015590667725, 0.31688523292541504, 6.007530212402344], [-2.9126877784729004, -1.794203758239746, 6.976285934448242], [-1.1766729354858398, -1.9677455425262451, 8.412487983703613], [-0.9920202493667603, 0.1961725950241089, 8.450762748718262], [-2.7280352115631104, 0.36971426010131836, 7.014560699462891]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1670, "image_id": 232, "category_id": 45, "category_name": "person", "bbox2D_proj": [420.0, 293.0, 440.0, 356.0], "bbox2D_tight": [420.0, 293.0, 440.0, 356.0], "bbox2D_trunc": [420.0, 293.0, 440.0, 356.0], "center_cam": [1.8043968160869286, 0.7058825488773683, 4.6019465220329066], "dimensions": [0.18398620282538494, 0.6397705264724879, 0.2460937653077953], "R_cam": [[0.34511345624923706, -0.004419982433319092, -0.938550591468811], [0.23401910066604614, 0.9688109755516052, 0.08148840069770813], [0.9089179039001465, -0.2477615773677826, 0.3353840112686157]], "bbox3D_cam": [[1.849685788154602, 0.35968250036239624, 4.538508892059326], [1.9346160888671875, 0.4172731637954712, 4.762187957763672], [1.9317883253097534, 1.0370898246765137, 4.603677749633789], [1.846858024597168, 0.9794991612434387, 4.379998683929443], [1.677005410194397, 0.37467527389526367, 4.600214958190918], [1.7619357109069824, 0.4322659373283386, 4.823894023895264], [1.7591079473495483, 1.0520825386047363, 4.665383815765381], [1.674177646636963, 0.9944919347763062, 4.441704750061035]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1671, "image_id": 232, "category_id": 13, "category_name": "building", "bbox2D_proj": [70.0, 174.0, 123.0, 286.0], "bbox2D_tight": [70.0, 174.0, 123.0, 286.0], "bbox2D_trunc": [70.0, 174.0, 123.0, 286.0], "center_cam": [-2.3742755839425027, -0.35774971460654004, 6.612623086849341], "dimensions": [0.6368103573683306, 1.6871033210581277, 0.7890625407139291], "R_cam": [[0.38870981335639954, -0.0030875205993652344, 0.9213550090789795], [0.16893982887268066, 0.9832793474197388, -0.0679788887500763], [-0.9057395458221436, 0.18207761645317078, 0.38273191452026367]], "bbox3D_cam": [[-2.8183937072753906, -1.232203722000122, 6.694509983062744], [-2.5116772651672363, -1.0988996028900146, 5.979825019836426], [-2.5168862342834473, 0.5599940419197083, 6.287008762359619], [-2.8236026763916016, 0.42668992280960083, 7.0016937255859375], [-2.2316651344299316, -1.2754933834075928, 6.93823766708374], [-1.924948811531067, -1.1421892642974854, 6.223552703857422], [-1.9301577806472778, 0.5167043805122375, 6.530736446380615], [-2.2368741035461426, 0.3834002614021301, 7.245421409606934]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1672, "image_id": 232, "category_id": 45, "category_name": "person", "bbox2D_proj": [348.0, 435.0, 423.0, 512.0], "bbox2D_tight": [348.0, 435.0, 423.0, 512.0], "bbox2D_trunc": [348.0, 435.0, 423.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1673, "image_id": 232, "category_id": 13, "category_name": "building", "bbox2D_proj": [251.0, 159.0, 294.0, 263.0], "bbox2D_tight": [251.0, 159.0, 294.0, 263.0], "bbox2D_trunc": [251.0, 159.0, 294.0, 263.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1674, "image_id": 232, "category_id": 45, "category_name": "person", "bbox2D_proj": [435.0, 460.0, 502.0, 512.0], "bbox2D_tight": [435.0, 460.0, 502.0, 512.0], "bbox2D_trunc": [435.0, 460.0, 502.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1675, "image_id": 232, "category_id": 45, "category_name": "person", "bbox2D_proj": [239.0, 302.0, 265.0, 375.0], "bbox2D_tight": [239.0, 302.0, 265.0, 375.0], "bbox2D_trunc": [239.0, 302.0, 265.0, 375.0], "center_cam": [-0.029179589434794845, 0.9193884478659293, 4.9112620930397775], "dimensions": [0.20703125970203312, 0.7431640818918444, 0.2626953333358906], "R_cam": [[-0.9919066429138184, 0.03189659118652344, -0.12289723753929138], [0.006552159786224365, 0.979500412940979, 0.20133556425571442], [0.1267998069524765, 0.19890084862709045, -0.9717819690704346]], "bbox3D_cam": [[0.10197463631629944, 0.5337216854095459, 4.92129373550415], [-0.15859463810920715, 0.5354429483413696, 4.954603672027588], [-0.13489024341106415, 1.2633724212646484, 5.102419376373291], [0.12567904591560364, 1.2616512775421143, 5.069109916687012], [0.0765310674905777, 0.5754045248031616, 4.720104694366455], [-0.1840382218360901, 0.5771256685256958, 4.753414154052734], [-0.1603338122367859, 1.3050552606582642, 4.901230335235596], [0.1002354621887207, 1.3033339977264404, 4.867920398712158]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1676, "image_id": 232, "category_id": 13, "category_name": "building", "bbox2D_proj": [288.0, 0.0, 512.0, 273.0], "bbox2D_tight": [288.0, 0.0, 512.0, 273.0], "bbox2D_trunc": [288.0, 0.0, 512.0, 273.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1677, "image_id": 233, "category_id": 45, "category_name": "person", "bbox2D_proj": [369.0, 332.0, 406.0, 420.0], "bbox2D_tight": [369.0, 332.0, 406.0, 420.0], "bbox2D_trunc": [369.0, 332.0, 406.0, 420.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1678, "image_id": 233, "category_id": 45, "category_name": "person", "bbox2D_proj": [396.0, 366.0, 439.0, 496.0], "bbox2D_tight": [396.0, 366.0, 439.0, 496.0], "bbox2D_trunc": [396.0, 366.0, 439.0, 496.0], "center_cam": [1.1276617160917641, 1.1884501173645683, 3.1081629704213736], "dimensions": [0.25367932179177144, 0.9221067472279746, 0.28231429722428375], "R_cam": [[-0.9270772933959961, 0.0024694965686649084, -0.3748624622821808], [0.00242990511469543, 0.9999970197677612, 0.0005782902589999139], [0.3748627007007599, -0.000374760536942631, -0.9270802736282349]], "bbox3D_cam": [[1.3049341440200806, 0.7269818186759949, 3.1730117797851562], [1.0432069301605225, 0.7276678085327148, 3.2788407802581787], [1.0454840660095215, 1.6497716903686523, 3.2784953117370605], [1.3072112798690796, 1.6490857601165771, 3.172666072845459], [1.2098393440246582, 0.7271285057067871, 2.9378304481506348], [0.9481121301651001, 0.7278144955635071, 3.0436596870422363], [0.9503892660140991, 1.6499183177947998, 3.043313980102539], [1.2121164798736572, 1.6492323875427246, 2.9374849796295166]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1679, "image_id": 233, "category_id": 13, "category_name": "building", "bbox2D_proj": [284.0, 0.0, 512.0, 276.0], "bbox2D_tight": [284.0, 0.0, 512.0, 276.0], "bbox2D_trunc": [284.0, 0.0, 512.0, 276.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1680, "image_id": 233, "category_id": 45, "category_name": "person", "bbox2D_proj": [174.0, 340.0, 205.0, 424.0], "bbox2D_tight": [174.0, 340.0, 205.0, 424.0], "bbox2D_trunc": [174.0, 340.0, 205.0, 424.0], "center_cam": [-0.6026487091828946, 1.1897270539948606, 4.168129366711832], "dimensions": [0.26562499775151044, 0.7773437358804091, 0.3469238260161721], "R_cam": [[0.9543280601501465, 0.0696793794631958, -0.29052138328552246], [-0.06643199920654297, 0.9975690841674805, 0.021038413047790527], [0.2912811040878296, -0.0007776170969009399, 0.9566372036933899]], "bbox3D_cam": [[-0.7566858530044556, 0.8107292652130127, 3.990852117538452], [-0.42560669779777527, 0.7876824140548706, 4.091904640197754], [-0.37144187092781067, 1.5631365776062012, 4.091300010681152], [-0.702521026134491, 1.5861834287643433, 3.9902477264404297], [-0.8338556289672852, 0.8163175582885742, 4.244958877563477], [-0.5027764439582825, 0.7932707071304321, 4.346011161804199], [-0.44861161708831787, 1.5687248706817627, 4.345406532287598], [-0.7796907424926758, 1.5917717218399048, 4.244354248046875]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1681, "image_id": 233, "category_id": 45, "category_name": "person", "bbox2D_proj": [149.0, 310.0, 169.0, 359.0], "bbox2D_tight": [149.0, 310.0, 169.0, 359.0], "bbox2D_trunc": [149.0, 310.0, 169.0, 359.0], "center_cam": [-1.0972449477094417, 0.8945076278473764, 4.988189721042066], "dimensions": [0.17187499834728698, 0.5683593652427963, 0.23046874718261123], "R_cam": [[-0.9996903538703918, 0.013823986053466797, -0.020689688622951508], [0.008971750736236572, 0.9757983088493347, 0.2184883952140808], [0.0232093408703804, 0.21823513507843018, -0.9756201505661011]], "bbox3D_cam": [[-0.9841967821121216, 0.5973954200744629, 5.0073394775390625], [-1.2145941257476807, 0.5994631052017212, 5.012688636779785], [-1.2067371606826782, 1.1540671586990356, 5.136724472045898], [-0.9763397574424744, 1.1519994735717773, 5.131375312805176], [-0.9877527952194214, 0.6349481344223022, 4.839654922485352], [-1.2181501388549805, 0.6370158195495605, 4.845004081726074], [-1.210293173789978, 1.191619873046875, 4.9690399169921875], [-0.979895830154419, 1.1895521879196167, 4.963690757751465]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1682, "image_id": 233, "category_id": 13, "category_name": "building", "bbox2D_proj": [67.0, 154.0, 121.0, 287.0], "bbox2D_tight": [67.0, 154.0, 121.0, 287.0], "bbox2D_trunc": [67.0, 154.0, 121.0, 287.0], "center_cam": [-2.2039726533174653, -0.47287698243837883, 6.022897489760737], "dimensions": [0.2258517076491655, 1.5926883001700771, 0.7428662170768363], "R_cam": [[0.5463404655456543, 0.0024694965686649084, -0.8375595808029175], [-0.001035303808748722, 0.9999969005584717, 0.0022731046192348003], [0.8375625610351562, -0.0003747604205273092, 0.5463413000106812]], "bbox3D_cam": [[-2.31428599357605, -1.2690908908843994, 5.650401592254639], [-1.9084280729293823, -1.269860029220581, 6.272598743438721], [-1.9044950008392334, 0.3228234350681305, 6.27200174331665], [-2.3103528022766113, 0.32359257340431213, 5.649804592132568], [-2.5034501552581787, -1.2685774564743042, 5.773793697357178], [-2.097592353820801, -1.2693465948104858, 6.39599084854126], [-2.0936591625213623, 0.3233368694782257, 6.3953938484191895], [-2.4995169639587402, 0.32410600781440735, 5.773196697235107]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1683, "image_id": 233, "category_id": 70, "category_name": "trash_can", "bbox2D_proj": [431.0, 414.0, 487.0, 512.0], "bbox2D_tight": [431.0, 414.0, 487.0, 512.0], "bbox2D_trunc": [431.0, 414.0, 487.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1684, "image_id": 233, "category_id": 13, "category_name": "building", "bbox2D_proj": [249.0, 160.0, 292.0, 262.0], "bbox2D_tight": [249.0, 160.0, 292.0, 262.0], "bbox2D_trunc": [249.0, 160.0, 292.0, 262.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1685, "image_id": 233, "category_id": 45, "category_name": "person", "bbox2D_proj": [291.0, 346.0, 313.0, 401.0], "bbox2D_tight": [291.0, 346.0, 313.0, 401.0], "bbox2D_trunc": [291.0, 346.0, 313.0, 401.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1686, "image_id": 233, "category_id": 45, "category_name": "person", "bbox2D_proj": [323.0, 330.0, 346.0, 362.0], "bbox2D_tight": [323.0, 330.0, 346.0, 362.0], "bbox2D_trunc": [323.0, 330.0, 346.0, 362.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1687, "image_id": 233, "category_id": 45, "category_name": "person", "bbox2D_proj": [273.0, 343.0, 295.0, 383.0], "bbox2D_tight": [273.0, 343.0, 295.0, 383.0], "bbox2D_trunc": [273.0, 343.0, 295.0, 383.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1688, "image_id": 233, "category_id": 13, "category_name": "building", "bbox2D_proj": [0.0, 0.0, 74.0, 316.0], "bbox2D_tight": [0.0, 0.0, 74.0, 316.0], "bbox2D_trunc": [0.0, 0.0, 74.0, 316.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1689, "image_id": 233, "category_id": 45, "category_name": "person", "bbox2D_proj": [102.0, 345.0, 132.0, 398.0], "bbox2D_tight": [102.0, 345.0, 132.0, 398.0], "bbox2D_trunc": [102.0, 345.0, 132.0, 398.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1690, "image_id": 233, "category_id": 13, "category_name": "building", "bbox2D_proj": [89.0, 133.0, 251.0, 281.0], "bbox2D_tight": [89.0, 133.0, 251.0, 281.0], "bbox2D_trunc": [89.0, 133.0, 251.0, 281.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1691, "image_id": 233, "category_id": 45, "category_name": "person", "bbox2D_proj": [471.0, 285.0, 488.0, 330.0], "bbox2D_tight": [471.0, 285.0, 488.0, 330.0], "bbox2D_trunc": [471.0, 285.0, 488.0, 330.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1692, "image_id": 234, "category_id": 45, "category_name": "person", "bbox2D_proj": [191.0, 297.0, 223.0, 394.0], "bbox2D_tight": [191.0, 297.0, 223.0, 394.0], "bbox2D_trunc": [191.0, 297.0, 223.0, 394.0], "center_cam": [-1.1158675986598805, 2.0356855714431505, 10.308705518955655], "dimensions": [0.7663574448151291, 2.190917986223311, 0.9140625605705543], "R_cam": [[0.1664590835571289, 0.013328492641448975, 0.9859582781791687], [-0.16422629356384277, 0.9863176345825195, 0.014392971992492676], [-0.9722762107849121, -0.16431623697280884, 0.16637039184570312]], "bbox3D_cam": [[-1.584343671798706, 1.0247564315795898, 10.869318008422852], [-1.4321895837783813, 0.8746433258056641, 9.980596542358398], [-1.4029879570007324, 3.0355844497680664, 9.620593070983887], [-1.5551420450210571, 3.185697555541992, 10.50931453704834], [-0.8287472128868103, 1.0357866287231445, 10.996817588806152], [-0.6765931844711304, 0.8856735229492188, 10.1080961227417], [-0.6473916172981262, 3.046614646911621, 9.748092651367188], [-0.7995456457138062, 3.196727752685547, 10.63681411743164]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1693, "image_id": 234, "category_id": 47, "category_name": "pipe", "bbox2D_proj": [47.0, 421.0, 104.0, 501.0], "bbox2D_tight": [47.0, 421.0, 104.0, 501.0], "bbox2D_trunc": [47.0, 421.0, 104.0, 501.0], "center_cam": [-2.4396319166397813, 2.7838877552427963, 6.518533920941252], "dimensions": [0.16340784366515093, 0.3778495074320287, 1.8586589823043562], "R_cam": [[-0.18270790576934814, -0.010204402729868889, -0.9831143021583557], [-0.0016531073488295078, 0.9999480247497559, -0.010071906261146069], [0.9831659197807312, -0.00021502282470464706, -0.18271517753601074]], "bbox3D_cam": [[-2.1875839233398438, 2.597332239151001, 5.619817733764648], [-2.5271756649017334, 2.59425950050354, 7.447187900543213], [-2.531031370162964, 2.9720895290374756, 7.447106838226318], [-2.191439628601074, 2.9751620292663574, 5.619736671447754], [-2.3482325077056885, 2.595686197280884, 5.58996057510376], [-2.687824249267578, 2.592613697052002, 7.417330741882324], [-2.6916799545288086, 2.9704434871673584, 7.41724967956543], [-2.352088212966919, 2.9735162258148193, 5.589879512786865]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1694, "image_id": 234, "category_id": 63, "category_name": "streetlight", "bbox2D_proj": [333.0, 135.0, 347.0, 301.0], "bbox2D_tight": [333.0, 135.0, 347.0, 301.0], "bbox2D_trunc": [333.0, 135.0, 347.0, 301.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1695, "image_id": 234, "category_id": 45, "category_name": "person", "bbox2D_proj": [325.0, 298.0, 345.0, 328.0], "bbox2D_tight": [325.0, 298.0, 345.0, 328.0], "bbox2D_trunc": [325.0, 298.0, 345.0, 328.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1696, "image_id": 234, "category_id": 45, "category_name": "person", "bbox2D_proj": [260.0, 301.0, 282.0, 346.0], "bbox2D_tight": [260.0, 301.0, 282.0, 346.0], "bbox2D_trunc": [260.0, 301.0, 282.0, 346.0], "center_cam": [0.4361288354563899, 2.169592271725404, 12.483528446036813], "dimensions": [0.5937500865394233, 1.7226562634511287, 0.6328125684570987], "R_cam": [[-0.9901289939880371, 0.04410195350646973, 0.1330399215221405], [0.05780041217803955, 0.993213415145874, 0.10092636942863464], [-0.12768599390983582, 0.10761988162994385, -0.9859585762023926]], "bbox3D_cam": [[0.6719293594360352, 1.2658586502075195, 12.723938941955566], [0.045363277196884155, 1.3024356365203857, 12.64313793182373], [0.12133577466011047, 3.0134010314941406, 12.828530311584473], [0.7479019165039062, 2.9768240451812744, 12.909331321716309], [0.7509218454360962, 1.3257837295532227, 12.13852596282959], [0.12435576319694519, 1.3623607158660889, 12.057724952697754], [0.2003282606601715, 3.0733261108398438, 12.243117332458496], [0.8268944025039673, 3.0367491245269775, 12.323918342590332]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1697, "image_id": 234, "category_id": 45, "category_name": "person", "bbox2D_proj": [279.0, 295.0, 302.0, 340.0], "bbox2D_tight": [279.0, 295.0, 302.0, 340.0], "bbox2D_trunc": [279.0, 295.0, 302.0, 340.0], "center_cam": [0.9510728161314034, 1.9513183159222, 12.412706824397645], "dimensions": [0.4765625245191141, 1.8515625185438682, 0.6269531371544876], "R_cam": [[0.9296425580978394, 0.08088648319244385, 0.3594745993614197], [0.05965912342071533, 0.9296905994415283, -0.3634778559207916], [-0.36360058188438416, 0.35935044288635254, 0.8594543933868408]], "bbox3D_cam": [[0.4991123676300049, 1.158536434173584, 11.989214897155762], [1.0819547176361084, 1.1959397792816162, 11.76125431060791], [1.2317211627960205, 2.9173200130462646, 12.426613807678223], [0.6488787531852722, 2.8799166679382324, 12.654574394226074], [0.6704245209693909, 0.9853164553642273, 12.398798942565918], [1.2532668113708496, 1.0227198600769043, 12.170838356018066], [1.4030332565307617, 2.7441000938415527, 12.836197853088379], [0.8201909065246582, 2.7066967487335205, 13.06415843963623]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1698, "image_id": 234, "category_id": 45, "category_name": "person", "bbox2D_proj": [304.0, 301.0, 327.0, 372.0], "bbox2D_tight": [304.0, 301.0, 327.0, 372.0], "bbox2D_trunc": [304.0, 301.0, 327.0, 372.0], "center_cam": [1.321249361789978, 1.7856851468362605, 9.83155880035915], "dimensions": [0.49218752265961263, 1.5625000117897705, 0.5502929726130854], "R_cam": [[-0.9853454828262329, 0.061617493629455566, -0.15905222296714783], [0.048623085021972656, 0.9952501058578491, 0.08433847874403], [0.16349348425865173, 0.07536891847848892, -0.9836612939834595]], "bbox3D_cam": [[1.583366870880127, 0.9740123748779297, 9.969765663146973], [1.0411381721496582, 1.0007693767547607, 10.059734344482422], [1.1374154090881348, 2.555847644805908, 10.177498817443848], [1.6796441078186035, 2.529090642929077, 10.087529182434082], [1.5050833225250244, 1.0155227184295654, 9.48561954498291], [0.9628546237945557, 1.0422797203063965, 9.575589179992676], [1.0591318607330322, 2.597357988357544, 9.693352699279785], [1.601360559463501, 2.570600986480713, 9.603384017944336]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1699, "image_id": 234, "category_id": 13, "category_name": "building", "bbox2D_proj": [441.0, 194.0, 512.0, 297.0], "bbox2D_tight": [441.0, 194.0, 512.0, 297.0], "bbox2D_trunc": [441.0, 194.0, 512.0, 297.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1700, "image_id": 235, "category_id": 45, "category_name": "person", "bbox2D_proj": [250.0, 287.0, 269.0, 357.0], "bbox2D_tight": [250.0, 287.0, 269.0, 357.0], "bbox2D_trunc": [250.0, 287.0, 269.0, 357.0], "center_cam": [0.04646127227432863, 0.6060084629711304, 4.422400171194001], "dimensions": [0.22070315308450833, 0.6884765654965219, 0.23242190328973095], "R_cam": [[0.7886278629302979, 0.031095147132873535, -0.6140841841697693], [-0.19323277473449707, 0.9606541395187378, -0.1995118260383606], [0.5837185978889465, 0.2760017216205597, 0.7636070251464844]], "bbox3D_cam": [[0.011875119060277939, 0.31978675723075867, 4.175290107727051], [0.19516946375370026, 0.2748752534389496, 4.3109588623046875], [0.21657775342464447, 0.9362630844116211, 4.500979423522949], [0.03328339383006096, 0.9811745882034302, 4.3653106689453125], [-0.12365521490573883, 0.2757538855075836, 4.343820571899414], [0.05963915213942528, 0.23084238171577454, 4.479489326477051], [0.0810474306344986, 0.8922301530838013, 4.6695098876953125], [-0.10224692523479462, 0.9371416568756104, 4.533841133117676]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1701, "image_id": 235, "category_id": 45, "category_name": "person", "bbox2D_proj": [366.0, 292.0, 394.0, 343.0], "bbox2D_tight": [366.0, 292.0, 394.0, 343.0], "bbox2D_trunc": [366.0, 292.0, 394.0, 343.0], "center_cam": [1.368560134623302, 0.6780242173213265, 4.841266699775863], "dimensions": [0.2636718884199916, 0.5585937456689192, 0.34765626623316737], "R_cam": [[0.7628320455551147, 0.0001557469367980957, -0.6465965509414673], [-0.01651465892791748, 0.999678373336792, -0.01924288086593151], [0.6463856101036072, 0.02535742148756981, 0.7625892162322998]], "bbox3D_cam": [[1.3211596012115479, 0.40422481298446655, 4.621287822723389], [1.5863629579544067, 0.3984833359718323, 4.846007823944092], [1.5864498615264893, 0.9568974375724792, 4.860172271728516], [1.3212465047836304, 0.9626389145851135, 4.6354522705078125], [1.1506702899932861, 0.3991510272026062, 4.822360992431641], [1.415873646736145, 0.3934095501899719, 5.047080993652344], [1.4159605503082275, 0.9518236517906189, 5.061245441436768], [1.1507571935653687, 0.9575651288032532, 4.8365254402160645]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1702, "image_id": 235, "category_id": 45, "category_name": "person", "bbox2D_proj": [402.0, 305.0, 472.0, 512.0], "bbox2D_tight": [402.0, 305.0, 472.0, 512.0], "bbox2D_trunc": [402.0, 305.0, 472.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1703, "image_id": 235, "category_id": 45, "category_name": "person", "bbox2D_proj": [228.0, 276.0, 244.0, 331.0], "bbox2D_tight": [228.0, 276.0, 244.0, 331.0], "bbox2D_trunc": [228.0, 276.0, 244.0, 331.0], "center_cam": [-0.18763880627204566, 0.4930775010161107, 4.666872250813065], "dimensions": [0.18750001085654272, 0.5720214796192075, 0.19628907125406453], "R_cam": [[0.9988791942596436, -0.03778517246246338, 0.02850508689880371], [0.03819197416305542, 0.9991742372512817, -0.013861430808901787], [-0.027957793325185776, 0.014934559352695942, 0.9994974136352539]], "bbox3D_cam": [[-0.2775387167930603, 0.2048540711402893, 4.571641445159912], [-0.08146963268518448, 0.2123507261276245, 4.5661540031433105], [-0.10308358818292618, 0.7838999032974243, 4.5746965408325195], [-0.299152672290802, 0.7764032483100891, 4.580184459686279], [-0.2721940279006958, 0.20225507020950317, 4.759047508239746], [-0.07612492889165878, 0.20975172519683838, 4.753559589385986], [-0.09773888438940048, 0.7813009023666382, 4.7621026039123535], [-0.2938079833984375, 0.773804247379303, 4.767590045928955]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1704, "image_id": 235, "category_id": 45, "category_name": "person", "bbox2D_proj": [267.0, 279.0, 282.0, 338.0], "bbox2D_tight": [267.0, 279.0, 282.0, 338.0], "bbox2D_trunc": [267.0, 279.0, 282.0, 338.0], "center_cam": [0.2018906012138799, 0.48877242086363604, 4.401778043548507], "dimensions": [0.154296888329844, 0.5283203145883248, 0.16796876553832144], "R_cam": [[0.5212256908416748, 0.04718494415283203, -0.8521135449409485], [-0.27087175846099854, 0.9559893608093262, -0.11275142431259155], [0.8092913031578064, 0.28958243131637573, 0.5110672116279602]], "bbox3D_cam": [[0.2113906294107437, 0.2676857113838196, 4.217886447906494], [0.2989402711391449, 0.22218772768974304, 4.353821754455566], [0.3238690495491028, 0.7272562980651855, 4.506814002990723], [0.2363193929195404, 0.7727543115615845, 4.37087869644165], [0.07991217076778412, 0.2502885162830353, 4.2967424392700195], [0.1674618124961853, 0.20479050278663635, 4.432677745819092], [0.192390576004982, 0.7098591327667236, 4.585669994354248], [0.10484093427658081, 0.7553571462631226, 4.449734687805176]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1705, "image_id": 235, "category_id": 45, "category_name": "person", "bbox2D_proj": [75.0, 284.0, 114.0, 382.0], "bbox2D_tight": [75.0, 284.0, 114.0, 382.0], "bbox2D_trunc": [75.0, 284.0, 114.0, 382.0], "center_cam": [-1.1899453900121542, 0.5438302835015107, 3.307909001041542], "dimensions": [0.25097657337975326, 0.6591796863632859, 0.36718751691925056], "R_cam": [[0.8143665194511414, -0.11524581909179688, 0.5687931776046753], [0.13428616523742676, 0.9909060597419739, 0.0085085928440094], [-0.5646011829376221, 0.0694519579410553, 0.8224365711212158]], "bbox3D_cam": [[-1.372851014137268, 0.19151589274406433, 3.2854695320129395], [-1.073825716972351, 0.24082407355308533, 3.078155040740967], [-1.1497935056686401, 0.8940092325210571, 3.123936176300049], [-1.4488186836242676, 0.8447010517120361, 3.3312506675720215], [-1.2300971746444702, 0.19365134835243225, 3.491881847381592], [-0.9310719966888428, 0.24295952916145325, 3.284567356109619], [-1.0070396661758423, 0.8961446285247803, 3.330348491668701], [-1.3060649633407593, 0.8468364477157593, 3.537662982940674]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1706, "image_id": 235, "category_id": 45, "category_name": "person", "bbox2D_proj": [480.0, 290.0, 512.0, 392.0], "bbox2D_tight": [480.0, 290.0, 512.0, 392.0], "bbox2D_trunc": [480.0, 290.0, 512.0, 392.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1707, "image_id": 235, "category_id": 13, "category_name": "building", "bbox2D_proj": [231.0, 124.0, 435.0, 291.0], "bbox2D_tight": [231.0, 124.0, 435.0, 291.0], "bbox2D_trunc": [231.0, 124.0, 435.0, 291.0], "center_cam": [0.85630746833923, -0.8901477948722131, 7.302120904192032], "dimensions": [3.238281722628985, 2.150878916689912, 3.416016094651852], "R_cam": [[0.8869223594665527, -0.027607068419456482, 0.46109259128570557], [0.07423155009746552, 0.9937569499015808, -0.08328676223754883], [-0.4559146761894226, 0.10809648036956787, 0.8834347128868103]], "bbox3D_cam": [[-1.3754472732543945, -1.9508082866668701, 6.534170150756836], [1.6542940139770508, -1.6972322463989258, 4.976758003234863], [1.594914436340332, 0.4402186870574951, 5.209260940551758], [-1.4348268508911133, 0.18664252758026123, 6.766672611236572], [0.11770039796829224, -2.2205142974853516, 9.394980430603027], [3.147441864013672, -1.9669381380081177, 7.837568759918213], [3.088062286376953, 0.17051267623901367, 8.07007122039795], [0.058320820331573486, -0.08306336402893066, 9.627483367919922]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1708, "image_id": 235, "category_id": 45, "category_name": "person", "bbox2D_proj": [5.0, 290.0, 59.0, 375.0], "bbox2D_tight": [5.0, 290.0, 59.0, 375.0], "bbox2D_trunc": [5.0, 290.0, 59.0, 375.0], "center_cam": [-1.4765756301178508, 0.4994133043011807, 2.9610877133262927], "dimensions": [0.30838652078833606, 0.5110289092286632, 0.3612482799566479], "R_cam": [[0.9048524498939514, -0.1983087807893753, -0.3767169415950775], [0.13310612738132477, 0.9723027944564819, -0.192119762301445], [0.40438196063041687, 0.1236966997385025, 0.9061866998672485]], "bbox3D_cam": [[-1.531255841255188, 0.25655728578567505, 2.716712474822998], [-1.2043794393539429, 0.3046416640281677, 2.8627946376800537], [-1.3057209253311157, 0.8015164732933044, 2.9260072708129883], [-1.6325973272323608, 0.7534321546554565, 2.7799248695373535], [-1.6474303007125854, 0.19731014966964722, 2.9961681365966797], [-1.3205538988113403, 0.2453944981098175, 3.1422505378723145], [-1.4218953847885132, 0.7422693371772766, 3.20546293258667], [-1.7487717866897583, 0.6941849589347839, 3.0593807697296143]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1709, "image_id": 235, "category_id": 45, "category_name": "person", "bbox2D_proj": [156.0, 265.0, 172.0, 320.0], "bbox2D_tight": [156.0, 265.0, 172.0, 320.0], "bbox2D_trunc": [156.0, 265.0, 172.0, 320.0], "center_cam": [-0.9700324656653645, 0.37468967741678183, 4.652951925747221], "dimensions": [0.17419433980079807, 0.5595703087659933, 0.23828125911855325], "R_cam": [[0.17774951457977295, 0.00330960750579834, 0.9840702414512634], [0.06518864631652832, 0.9977582693099976, -0.015130490064620972], [-0.9819142818450928, 0.06683963537216187, 0.17713522911071777]], "bbox3D_cam": [[-1.0778453350067139, 0.08908292651176453, 4.735808849334717], [-1.0354909896850586, 0.10461613535881042, 4.501837253570557], [-1.0336389541625977, 0.6629320383071899, 4.539238452911377], [-1.0759934186935425, 0.647398829460144, 4.773210525512695], [-0.9064258933067322, 0.08644726872444153, 4.766664981842041], [-0.8640715479850769, 0.10198047757148743, 4.532692909240723], [-0.8622195720672607, 0.6602964401245117, 4.570094585418701], [-0.904573917388916, 0.6447632312774658, 4.804066181182861]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1710, "image_id": 235, "category_id": 45, "category_name": "person", "bbox2D_proj": [275.0, 283.0, 311.0, 365.0], "bbox2D_tight": [275.0, 283.0, 311.0, 365.0], "bbox2D_trunc": [275.0, 283.0, 311.0, 365.0], "center_cam": [0.3618815477905307, 0.6021883310373245, 4.21809187458983], "dimensions": [0.22265625875989453, 0.6442871042568942, 0.3437500141971654], "R_cam": [[-0.7369036674499512, -0.015400528907775879, -0.675822377204895], [-0.026750922203063965, 0.9996218085289001, 0.0063891420140862465], [0.6754683256149292, 0.022786976769566536, -0.7370370626449585]], "bbox3D_cam": [[0.5687361359596252, 0.28405314683914185, 4.176708221435547], [0.31542548537254333, 0.2748575806617737, 4.408900260925293], [0.30550307035446167, 0.9189009666442871, 4.423581600189209], [0.5588136911392212, 0.9280965328216553, 4.191389560699463], [0.41826003789901733, 0.2854757308959961, 4.01260232925415], [0.1649494171142578, 0.27628016471862793, 4.2447943687438965], [0.15502698719501495, 0.9203235507011414, 4.2594757080078125], [0.40833762288093567, 0.9295191168785095, 4.027283668518066]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1711, "image_id": 236, "category_id": 26, "category_name": "flag", "bbox2D_proj": [0.0, 0.0, 512.0, 125.0], "bbox2D_tight": [0.0, 0.0, 512.0, 125.0], "bbox2D_trunc": [0.0, 0.0, 512.0, 125.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1712, "image_id": 236, "category_id": 58, "category_name": "signboard", "bbox2D_proj": [275.0, 263.0, 328.0, 337.0], "bbox2D_tight": [275.0, 263.0, 328.0, 337.0], "bbox2D_trunc": [275.0, 263.0, 328.0, 337.0], "center_cam": [0.492585137140629, 0.5084703331974567, 4.895896870127672], "dimensions": [0.5477038580547943, 0.6445593548962609, 0.9578294119871682], "R_cam": [[0.03867310285568237, 0.08317121118307114, -0.9957846403121948], [-0.03211840242147446, 0.9961186647415161, 0.08195173740386963], [0.9987356662750244, 0.0288136787712574, 0.04119431972503662]], "bbox3D_cam": [[0.7199572324752808, 0.18038088083267212, 4.39702033996582], [0.7569993138313293, 0.14961695671081543, 5.353639125823975], [0.8106081485748291, 0.7916745543479919, 5.37221097946167], [0.7735660076141357, 0.8224384784698486, 4.415592670440674], [0.17456212639808655, 0.22526615858078003, 4.419582843780518], [0.21160423755645752, 0.19450223445892334, 5.376201152801514], [0.2652130424976349, 0.8365598320960999, 5.394773483276367], [0.22817093133926392, 0.8673237562179565, 4.438154697418213]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1713, "image_id": 236, "category_id": 45, "category_name": "person", "bbox2D_proj": [126.0, 247.0, 170.0, 376.0], "bbox2D_tight": [126.0, 247.0, 170.0, 376.0], "bbox2D_trunc": [126.0, 247.0, 170.0, 376.0], "center_cam": [-1.8778540327125532, 0.917702033125533, 7.717698604056455], "dimensions": [0.6054687978191771, 2.1875000361285513, 0.6562500368122426], "R_cam": [[0.38459065556526184, -0.15262937545776367, -0.9103814363479614], [-0.029585838317871094, 0.9836907386779785, -0.17741858959197998], [0.9226130247116089, 0.09516796469688416, 0.3738025426864624]], "bbox3D_cam": [[-1.5615055561065674, -0.09479111433029175, 7.197713375091553], [-1.3091180324554443, -0.11420673131942749, 7.803178310394287], [-1.6429948806762695, 2.037616491317749, 8.011358261108398], [-1.8953824043273926, 2.0570321083068848, 7.405893325805664], [-2.112713098526001, -0.20221251249313354, 7.424038887023926], [-1.860325574874878, -0.2216281294822693, 8.02950382232666], [-2.194202423095703, 1.9301950931549072, 8.23768424987793], [-2.446589946746826, 1.949610710144043, 7.632218837738037]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1714, "image_id": 236, "category_id": 45, "category_name": "person", "bbox2D_proj": [219.0, 256.0, 244.0, 376.0], "bbox2D_tight": [219.0, 256.0, 244.0, 376.0], "bbox2D_trunc": [219.0, 256.0, 244.0, 376.0], "center_cam": [-0.3816564772108956, 1.0751076622239517, 7.865007618907395], "dimensions": [0.3925781287018004, 2.208007850235272, 0.6015625004986587], "R_cam": [[-0.4250238537788391, -0.03968137502670288, -0.9043118953704834], [-0.17277216911315918, 0.9842279553413391, 0.03801432251930237], [0.8885406255722046, 0.17239698767662048, -0.42517614364624023]], "bbox3D_cam": [[-0.03250229358673096, 0.03302109241485596, 7.490881443023682], [-0.28818076848983765, -0.07091224193572998, 8.025394439697266], [-0.3757975101470947, 2.1022706031799316, 8.406047821044922], [-0.12011909484863281, 2.2062039375305176, 7.871535301208496], [-0.38751542568206787, 0.04794466495513916, 7.3239665031433105], [-0.6431938409805298, -0.05598866939544678, 7.8584794998168945], [-0.7308106422424316, 2.117194175720215, 8.23913288116455], [-0.47513216733932495, 2.221127510070801, 7.704620361328125]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1715, "image_id": 236, "category_id": 45, "category_name": "person", "bbox2D_proj": [233.0, 256.0, 263.0, 333.0], "bbox2D_tight": [233.0, 256.0, 263.0, 333.0], "bbox2D_trunc": [233.0, 256.0, 263.0, 333.0], "center_cam": [-0.16808014928989456, 0.8449488068995694, 7.187928806468655], "dimensions": [0.5042114446523704, 1.8906250293631741, 0.542968769050318], "R_cam": [[-0.0400736927986145, -0.05482316017150879, -0.9976915121078491], [-0.47588229179382324, 0.8790245056152344, -0.029187917709350586], [0.8785955309867859, 0.47361406683921814, -0.061315059661865234]], "bbox3D_cam": [[0.14614802598953247, 0.1505489945411682, 6.517148494720459], [0.12438923120498657, -0.10784024000167847, 6.994198322296143], [0.02073921263217926, 1.554065465927124, 7.889625072479248], [0.04249800741672516, 1.8124547004699707, 7.412574768066406], [-0.3568994998931885, 0.13583213090896606, 6.486232280731201], [-0.3786582946777344, -0.12255710363388062, 6.963282585144043], [-0.4823083281517029, 1.5393486022949219, 7.85870885848999], [-0.460549533367157, 1.7977378368377686, 7.381659030914307]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1716, "image_id": 236, "category_id": 47, "category_name": "pipe", "bbox2D_proj": [313.0, 182.0, 332.0, 276.0], "bbox2D_tight": [313.0, 182.0, 332.0, 276.0], "bbox2D_trunc": [313.0, 182.0, 332.0, 276.0], "center_cam": [1.3448896094864677, -0.6847445505746308, 9.208579372917816], "dimensions": [0.12109374810635035, 1.7636718824085669, 0.3955078100692735], "R_cam": [[0.9188352227210999, 0.040862858295440674, 0.39252012968063354], [0.17927128076553345, 0.8428599238395691, -0.5073942542076111], [-0.35157307982444763, 0.5365792512893677, 0.7671239376068115]], "bbox3D_cam": [[1.1033861637115479, -1.4327392578125, 8.758481979370117], [1.4667927026748657, -1.3618359565734863, 8.61943244934082], [1.5388613939285278, 0.12469238042831421, 9.565781593322754], [1.17545485496521, 0.05378919839859009, 9.704832077026367], [1.150917887687683, -1.4941813945770264, 8.8513765335083], [1.514324426651001, -1.4232783317565918, 8.712326049804688], [1.586393117904663, 0.06325012445449829, 9.658676147460938], [1.2229865789413452, -0.00765305757522583, 9.797725677490234]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1717, "image_id": 236, "category_id": 58, "category_name": "signboard", "bbox2D_proj": [317.0, 95.0, 436.0, 155.0], "bbox2D_tight": [317.0, 95.0, 436.0, 155.0], "bbox2D_trunc": [317.0, 95.0, 436.0, 155.0], "center_cam": [1.6695977606489159, -1.7118803558769482, 6.052161013574789], "dimensions": [0.14843749776509096, 0.8632812602940422, 1.4952392531091023], "R_cam": [[-0.9698681831359863, -0.24214397370815277, 0.0268724225461483], [-0.2199663668870926, 0.8229008913040161, -0.5238787531852722], [0.10474073886871338, -0.5140042901039124, -0.8513689041137695]], "bbox3D_cam": [[2.4972150325775146, -1.8637449741363525, 6.258907794952393], [1.047029972076416, -2.1926474571228027, 6.415520191192627], [0.8379915356636047, -1.4822523593902588, 5.971789836883545], [2.2881767749786377, -1.1533501148223877, 5.8151774406433105], [2.501204013824463, -1.9415082931518555, 6.132532596588135], [1.0510187149047852, -2.2704105377197266, 6.289144992828369], [0.8419803977012634, -1.5600156784057617, 5.845414638519287], [2.292165517807007, -1.231113314628601, 5.688802242279053]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1718, "image_id": 236, "category_id": 45, "category_name": "person", "bbox2D_proj": [152.0, 250.0, 192.0, 361.0], "bbox2D_tight": [152.0, 250.0, 192.0, 361.0], "bbox2D_trunc": [152.0, 250.0, 192.0, 361.0], "center_cam": [-1.859380950763475, 1.035222604440482, 10.608706307279874], "dimensions": [0.503906256081186, 2.2705078459780514, 0.7421875058560626], "R_cam": [[-0.53041011095047, -0.10429668426513672, -0.8413010239601135], [-0.10206472873687744, 0.9930408596992493, -0.05875980854034424], [0.8415747284889221, 0.054700374603271484, -0.5373638868331909]], "bbox3D_cam": [[-1.3321775197982788, -0.03945052623748779, 10.369694709777832], [-1.7258411645889282, -0.11520159244537354, 10.994300842285156], [-1.962647557258606, 2.139505386352539, 11.118498802185059], [-1.5689839124679565, 2.2152562141418457, 10.493892669677734], [-1.7561143636703491, -0.06905996799468994, 10.09891414642334], [-2.149777889251709, -0.14481103420257568, 10.723520278930664], [-2.3865842819213867, 2.109895706176758, 10.847718238830566], [-1.9929207563400269, 2.1856470108032227, 10.223112106323242]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1719, "image_id": 236, "category_id": 58, "category_name": "signboard", "bbox2D_proj": [324.0, 185.0, 353.0, 219.0], "bbox2D_tight": [324.0, 185.0, 353.0, 219.0], "bbox2D_trunc": [324.0, 185.0, 353.0, 219.0], "center_cam": [1.6914167649416656, -1.0851190915780555, 8.782796228963868], "dimensions": [0.019531249797846713, 0.6046142749900382, 0.8749999843000777], "R_cam": [[0.3158772587776184, -0.16977909207344055, -0.9334863424301147], [-0.10128557682037354, 0.9722039103507996, -0.21109437942504883], [0.9433784484863281, 0.16122861206531525, 0.28990089893341064]], "bbox3D_cam": [[1.6136620044708252, -1.3326493501663208, 8.318495750427246], [1.89005446434021, -1.4212743043899536, 9.143952369689941], [1.7874037027359009, -0.8334659337997437, 9.241433143615723], [1.5110111236572266, -0.7448410391807556, 8.415977478027344], [1.59542977809906, -1.3367723226547241, 8.324158668518066], [1.8718223571777344, -1.4253971576690674, 9.149614334106445], [1.7691714763641357, -0.8375888466835022, 9.247096061706543], [1.492779016494751, -0.7489639520645142, 8.421639442443848]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1720, "image_id": 237, "category_id": 19, "category_name": "christmas_tree", "bbox2D_proj": [399.0, 268.0, 428.0, 317.0], "bbox2D_tight": [399.0, 268.0, 428.0, 317.0], "bbox2D_trunc": [399.0, 268.0, 428.0, 317.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1721, "image_id": 237, "category_id": 45, "category_name": "person", "bbox2D_proj": [380.0, 346.0, 417.0, 446.0], "bbox2D_tight": [380.0, 346.0, 417.0, 446.0], "bbox2D_trunc": [380.0, 346.0, 417.0, 446.0], "center_cam": [1.6357419475585635, 1.624038706329547, 5.110668319984297], "dimensions": [0.4550787224165923, 1.1042480334943758, 0.46484435216267395], "R_cam": [[-0.5103340148925781, -0.015577554702758789, 0.8598352670669556], [-0.1234130859375, 0.9908134937286377, -0.055298298597335815], [-0.8510749340057373, -0.134335458278656, -0.5075681805610657]], "bbox3D_cam": [[1.5673092603683472, 1.118253231048584, 5.498138427734375], [1.3300834894180298, 1.0608854293823242, 5.102520942687988], [1.3128819465637207, 2.154989242553711, 4.95418119430542], [1.550107717514038, 2.2123570442199707, 5.349798679351807], [1.958601951599121, 1.093088150024414, 5.267155170440674], [1.7213761806488037, 1.0357203483581543, 4.871537685394287], [1.7041746377944946, 2.129824161529541, 4.723197937011719], [1.941400408744812, 2.187191963195801, 5.1188154220581055]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1722, "image_id": 237, "category_id": 45, "category_name": "person", "bbox2D_proj": [345.0, 358.0, 383.0, 464.0], "bbox2D_tight": [345.0, 358.0, 383.0, 464.0], "bbox2D_trunc": [345.0, 358.0, 383.0, 464.0], "center_cam": [1.104650957367641, 1.566550593902626, 4.498400675692983], "dimensions": [0.3798828223318551, 0.9858398308637478, 0.44921873650746824], "R_cam": [[-0.047941602766513824, -0.03112316131591797, -0.9983651638031006], [0.10519766807556152, 0.9937983751296997, -0.03603241220116615], [0.9932950735092163, -0.10675321519374847, -0.044370293617248535]], "bbox3D_cam": [[1.320391297340393, 1.0599032640457153, 4.336345672607422], [1.298854947090149, 1.1071600914001465, 4.782552719116211], [1.2681725025177002, 2.086885929107666, 4.677310943603516], [1.2897088527679443, 2.0396292209625244, 4.231104373931885], [0.9411294460296631, 1.0462151765823364, 4.319490432739258], [0.9195931553840637, 1.0934720039367676, 4.765697002410889], [0.888910710811615, 2.073197841644287, 4.660455703735352], [0.9104470014572144, 2.0259411334991455, 4.2142486572265625]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1723, "image_id": 237, "category_id": 45, "category_name": "person", "bbox2D_proj": [431.0, 347.0, 484.0, 500.0], "bbox2D_tight": [431.0, 347.0, 484.0, 500.0], "bbox2D_trunc": [431.0, 347.0, 484.0, 500.0], "center_cam": [1.710455456359893, 1.396459151328538, 3.76591235737771], "dimensions": [0.4042968653865897, 1.1711425600729732, 0.42187501439711866], "R_cam": [[0.991706907749176, -0.025426149368286133, -0.12597960233688354], [0.03527480363845825, 0.9964397549629211, 0.0765724629163742], [0.12358415126800537, -0.08038134127855301, 0.9890731573104858]], "bbox3D_cam": [[1.5416226387023926, 0.7900527715682983, 3.586973190307617], [1.9599990844726562, 0.8049342632293701, 3.6391103267669678], [1.9302213191986084, 1.971907377243042, 3.5449721813201904], [1.5118449926376343, 1.9570258855819702, 3.49283504486084], [1.4906895160675049, 0.8210108280181885, 3.9868524074554443], [1.909065842628479, 0.8358923196792603, 4.038989543914795], [1.8792881965637207, 2.0028653144836426, 3.9448513984680176], [1.460911750793457, 1.9879839420318604, 3.892714262008667]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1724, "image_id": 238, "category_id": 45, "category_name": "person", "bbox2D_proj": [167.0, 239.0, 195.0, 320.0], "bbox2D_tight": [167.0, 239.0, 195.0, 320.0], "bbox2D_trunc": [167.0, 239.0, 195.0, 320.0], "center_cam": [-1.02900031619262, 0.33800419608837223, 6.130401334273466], "dimensions": [0.3398437626654178, 1.0957031498078131, 0.3632812721849734], "R_cam": [[0.9879205822944641, -0.0016115903854370117, 0.15495282411575317], [0.0188446044921875, 0.9937739968299866, -0.10981017351150513], [-0.15381109714508057, 0.11140376329421997, 0.9818000793457031]], "bbox3D_cam": [[-1.2338937520980835, -0.1912001669406891, 5.930477619171143], [-0.8750007152557373, -0.18435433506965637, 5.874600887298584], [-0.876766562461853, 0.904526948928833, 5.996665954589844], [-1.2356595993041992, 0.8976811170578003, 6.052542686462402], [-1.1812340021133423, -0.2285185158252716, 6.26413631439209], [-0.8223409652709961, -0.2216726839542389, 6.208259582519531], [-0.8241068124771118, 0.8672086000442505, 6.330324649810791], [-1.182999849319458, 0.8603627681732178, 6.38620138168335]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1725, "image_id": 239, "category_id": 45, "category_name": "person", "bbox2D_proj": [167.0, 228.0, 201.0, 326.0], "bbox2D_tight": [167.0, 228.0, 201.0, 326.0], "bbox2D_trunc": [167.0, 228.0, 201.0, 326.0], "center_cam": [-0.6864511699514029, 0.1853937736088715, 4.218694973812601], "dimensions": [0.308593781947643, 0.910156219089385, 0.33007817032938835], "R_cam": [[0.18214188516139984, 0.000527501106262207, -0.9832721948623657], [-0.0032892227172851562, 0.9999946355819702, -7.286668551387265e-05], [0.9832668304443359, 0.0032473807223141193, 0.1821424961090088]], "bbox3D_cam": [[-0.5650359392166138, -0.269127756357193, 4.026835918426514], [-0.5049148797988892, -0.27021345496177673, 4.351390838623047], [-0.5044348239898682, 0.6399377584457397, 4.35434627532959], [-0.564555823802948, 0.6410235166549683, 4.029791355133057], [-0.8684675693511963, -0.2691502273082733, 4.083044052124023], [-0.8083465695381165, -0.27023592591285706, 4.407598972320557], [-0.8078664541244507, 0.6399153470993042, 4.4105544090271], [-0.8679875135421753, 0.6410009860992432, 4.085999488830566]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1726, "image_id": 240, "category_id": 15, "category_name": "car", "bbox2D_proj": [0.0, 268.0, 107.0, 396.0], "bbox2D_tight": [0.0, 268.0, 107.0, 396.0], "bbox2D_trunc": [0.0, 268.0, 107.0, 396.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1727, "image_id": 240, "category_id": 32, "category_name": "house", "bbox2D_proj": [10.0, 40.0, 512.0, 261.0], "bbox2D_tight": [10.0, 40.0, 512.0, 261.0], "bbox2D_trunc": [10.0, 40.0, 512.0, 261.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1728, "image_id": 240, "category_id": 45, "category_name": "person", "bbox2D_proj": [164.0, 205.0, 204.0, 343.0], "bbox2D_tight": [164.0, 205.0, 204.0, 343.0], "bbox2D_trunc": [164.0, 205.0, 204.0, 343.0], "center_cam": [-0.8491216601826769, 0.22011125977583273, 5.654931965906387], "dimensions": [0.615234432753627, 1.6899414102643184, 0.6660156808187885], "R_cam": [[0.5966992378234863, 0.0022492408752441406, -0.8024618029594421], [-0.004018545150756836, 0.9999918937683105, -0.00018525123596191406], [0.8024548888206482, 0.003335297107696533, 0.5967034697532654]], "bbox3D_cam": [[-0.8028767108917236, -0.6234574317932129, 5.201333999633789], [-0.40546563267707825, -0.6261337995529175, 5.735781192779541], [-0.4016645550727844, 1.0637938976287842, 5.74141788482666], [-0.7990756034851074, 1.0664702653884888, 5.20697021484375], [-1.2965788841247559, -0.6235713958740234, 5.568446159362793], [-0.8991677761077881, -0.626247763633728, 6.102893829345703], [-0.8953666687011719, 1.0636799335479736, 6.108530044555664], [-1.2927777767181396, 1.0663563013076782, 5.574082851409912]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1729, "image_id": 240, "category_id": 15, "category_name": "car", "bbox2D_proj": [344.0, 232.0, 472.0, 291.0], "bbox2D_tight": [344.0, 232.0, 472.0, 291.0], "bbox2D_trunc": [344.0, 232.0, 472.0, 291.0], "center_cam": [3.6163854093507775, -0.018460253549244104, 10.14689065781744], "dimensions": [1.3750000364404071, 1.2978516049575508, 3.111328160035441], "R_cam": [[0.9943544864654541, -0.03134142607450485, -0.10137620568275452], [0.013928625732660294, 0.9856699109077454, -0.16810965538024902], [0.10519226640462875, 0.16574841737747192, 0.9805417656898499]], "bbox3D_cam": [[2.159538507461548, -0.5641797780990601, 9.201565742492676], [5.25330114364624, -0.5208432674407959, 9.528853416442871], [5.212624549865723, 0.7584099769592285, 9.74397087097168], [2.1188619136810303, 0.7150734663009644, 9.416683197021484], [2.020146369934082, -0.7953305244445801, 10.549810409545898], [5.113908767700195, -0.7519940137863159, 10.877098083496094], [5.073232650756836, 0.5272592306137085, 11.092215538024902], [1.9794697761535645, 0.4839227497577667, 10.764927864074707]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1730, "image_id": 240, "category_id": 45, "category_name": "person", "bbox2D_proj": [469.0, 221.0, 509.0, 340.0], "bbox2D_tight": [469.0, 221.0, 509.0, 340.0], "bbox2D_trunc": [469.0, 221.0, 509.0, 340.0], "center_cam": [2.986274843754923, 0.40539597298332186, 5.681152258687627], "dimensions": [0.3035384054677621, 1.2193100952848943, 0.47165537914742606], "R_cam": [[-0.9481372833251953, -0.0074679250828921795, -0.31777331233024597], [-0.006698696408420801, 0.9999713897705078, -0.003513283096253872], [0.3177904784679413, -0.0012024077586829662, -0.9481602311134338]], "bbox3D_cam": [[3.262653112411499, -0.2021285891532898, 5.750843048095703], [2.8154590129852295, -0.2052881121635437, 5.900730609893799], [2.8063533306121826, 1.0139870643615723, 5.899264812469482], [3.253547191619873, 1.0171465873718262, 5.7493767738342285], [3.166196584701538, -0.20319503545761108, 5.463039875030518], [2.7190027236938477, -0.206354558467865, 5.6129279136657715], [2.7098968029022217, 1.012920618057251, 5.611461639404297], [3.157090902328491, 1.0160801410675049, 5.461574077606201]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1731, "image_id": 240, "category_id": 45, "category_name": "person", "bbox2D_proj": [276.0, 217.0, 316.0, 324.0], "bbox2D_tight": [276.0, 217.0, 316.0, 324.0], "bbox2D_trunc": [276.0, 217.0, 316.0, 324.0], "center_cam": [0.5104500259253377, 0.1933513049539771, 6.929752221888341], "dimensions": [0.41015625177555337, 1.6552734430664628, 0.6533203237589096], "R_cam": [[0.983677864074707, -0.04139268398284912, -0.17511317133903503], [0.0061165690422058105, 0.980311393737793, -0.19736319780349731], [0.17983481287956238, 0.19307070970535278, 0.9645638465881348]], "bbox3D_cam": [[0.2592916190624237, -0.5795135498046875, 6.51340389251709], [0.9019483327865601, -0.5755174160003662, 6.630893707275391], [0.8334321975708008, 1.047165870666504, 6.950478553771973], [0.19077548384666443, 1.0431697368621826, 6.83298921585083], [0.18746784329414368, -0.6604633331298828, 6.909026145935059], [0.8301244974136353, -0.6564671993255615, 7.026515483856201], [0.761608362197876, 0.9662160873413086, 7.346100807189941], [0.1189517080783844, 0.9622199535369873, 7.228610992431641]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1732, "image_id": 240, "category_id": 18, "category_name": "chimney", "bbox2D_proj": [256.0, 38.0, 273.0, 113.0], "bbox2D_tight": [256.0, 38.0, 273.0, 113.0], "bbox2D_trunc": [256.0, 38.0, 273.0, 113.0], "center_cam": [0.45918164828427593, -7.74365641101873, 18.731559244774527], "dimensions": [0.3652343791911886, 2.66601562915039, 0.6406250006206282], "R_cam": [[0.018244506791234016, 0.007473587989807129, 0.9998056888580322], [0.5483361482620239, 0.8361000418663025, -0.016255976632237434], [-0.836059033870697, 0.5485261082649231, 0.011156201362609863]], "bbox3D_cam": [[0.26079362630844116, -9.030855178833008, 18.266132354736328], [0.27248162031173706, -8.679576873779297, 17.730533599853516], [0.2924063205718994, -6.450520992279053, 19.19291114807129], [0.2807183265686035, -6.8017988204956055, 19.728511810302734], [0.6259569525718689, -9.036791801452637, 18.27020835876465], [0.6376449465751648, -8.685514450073242, 17.734607696533203], [0.6575696468353271, -6.456458568572998, 19.19698715209961], [0.6458816528320312, -6.807736396789551, 19.732585906982422]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1733, "image_id": 240, "category_id": 45, "category_name": "person", "bbox2D_proj": [317.0, 219.0, 347.0, 323.0], "bbox2D_tight": [317.0, 219.0, 347.0, 323.0], "bbox2D_trunc": [317.0, 219.0, 347.0, 323.0], "center_cam": [1.189671854120006, 0.22632387520313468, 6.7228001444546175], "dimensions": [0.503906301560445, 1.5014648473114787, 0.546875052642199], "R_cam": [[0.7004936337471008, 0.004661917686462402, -0.7136434316635132], [-0.028035640716552734, 0.9993864893913269, -0.020990610122680664], [0.7131077647209167, 0.034711241722106934, 0.7001945972442627]], "bbox3D_cam": [[1.1744354963302612, -0.5109933614730835, 6.325334548950195], [1.5575180053710938, -0.5263253450393677, 6.715315818786621], [1.5645177364349365, 0.9742183685302734, 6.767433166503906], [1.1814351081848145, 0.9895503520965576, 6.377452373504639], [0.8148260712623596, -0.5215706825256348, 6.678167343139648], [1.197908639907837, -0.536902666091919, 7.068148136138916], [1.2049082517623901, 0.9636410474777222, 7.120265960693359], [0.8218257427215576, 0.9789730310440063, 6.730284690856934]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1734, "image_id": 240, "category_id": 45, "category_name": "person", "bbox2D_proj": [417.0, 219.0, 448.0, 338.0], "bbox2D_tight": [417.0, 219.0, 448.0, 338.0], "bbox2D_trunc": [417.0, 219.0, 448.0, 338.0], "center_cam": [2.271140014028603, 0.26654630608190344, 5.732452237289636], "dimensions": [0.35449219318762665, 1.4927673380879984, 0.6171875042164883], "R_cam": [[0.6152656674385071, 0.02353358268737793, -0.7879683971405029], [-0.06612014770507812, 0.9975727200508118, -0.021834582090377808], [0.7855420112609863, 0.06553474068641663, 0.615328311920166]], "bbox3D_cam": [[2.2033722400665283, -0.45375126600265503, 5.33206033706665], [2.583106517791748, -0.4945598244667053, 5.816887378692627], [2.618236780166626, 0.9945841431617737, 5.91471529006958], [2.2385025024414062, 1.0353927612304688, 5.429888725280762], [1.9240435361862183, -0.46149152517318726, 5.55018949508667], [2.3037776947021484, -0.5023000836372375, 6.035016059875488], [2.3389079570770264, 0.9868438839912415, 6.1328444480896], [1.9591736793518066, 1.0276525020599365, 5.648017406463623]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1735, "image_id": 240, "category_id": 45, "category_name": "person", "bbox2D_proj": [0.0, 246.0, 4.0, 266.0], "bbox2D_tight": [0.0, 246.0, 4.0, 266.0], "bbox2D_trunc": [0.0, 246.0, 4.0, 266.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1736, "image_id": 240, "category_id": 45, "category_name": "person", "bbox2D_proj": [0.0, 219.0, 50.0, 281.0], "bbox2D_tight": [0.0, 219.0, 50.0, 281.0], "bbox2D_trunc": [0.0, 219.0, 50.0, 281.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1737, "image_id": 240, "category_id": 45, "category_name": "person", "bbox2D_proj": [68.0, 213.0, 120.0, 342.0], "bbox2D_tight": [68.0, 213.0, 120.0, 342.0], "bbox2D_trunc": [68.0, 213.0, 120.0, 342.0], "center_cam": [-2.0187568971575693, 0.221443725645925, 5.5532423964166675], "dimensions": [0.4531250033184471, 1.5253906305288925, 0.5585937616522729], "R_cam": [[0.9999208450317383, 0.0008783340454101562, -0.012553036212921143], [-0.004806041717529297, 0.9485962390899658, -0.31645241379737854], [0.011629819869995117, 0.31648769974708557, 0.9485253095626831]], "bbox3D_cam": [[-2.2958574295043945, -0.4290075898170471, 5.093709945678711], [-1.7373080253601074, -0.4316921830177307, 5.10020637512207], [-1.7359681129455566, 1.0152876377105713, 5.582973957061768], [-2.294517755508423, 1.0179722309112549, 5.576477527618408], [-2.3015456199645996, -0.5724001526832581, 5.523510456085205], [-1.742996096611023, -0.5750847458839417, 5.5300068855285645], [-1.7416561841964722, 0.8718950152397156, 6.012774467468262], [-2.300205707550049, 0.8745796084403992, 6.006278038024902]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1738, "image_id": 241, "category_id": 15, "category_name": "car", "bbox2D_proj": [0.0, 365.0, 155.0, 501.0], "bbox2D_tight": [0.0, 365.0, 155.0, 501.0], "bbox2D_trunc": [0.0, 365.0, 155.0, 501.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1739, "image_id": 241, "category_id": 45, "category_name": "person", "bbox2D_proj": [458.0, 259.0, 512.0, 381.0], "bbox2D_tight": [458.0, 259.0, 512.0, 381.0], "bbox2D_trunc": [458.0, 259.0, 512.0, 381.0], "center_cam": [2.9400542431948224, 0.7675531977750414, 5.761284802469372], "dimensions": [0.5055488062940925, 1.5478597571585593, 0.9027013397282406], "R_cam": [[0.4494728446006775, 0.1283145546913147, -0.8840302228927612], [-0.0010804085759446025, 0.9897069931030273, 0.1431039273738861], [0.8932932615280151, -0.06336621195077896, 0.444985032081604]], "bbox3D_cam": [[2.8613381385803223, -0.03409600257873535, 5.294656276702881], [3.267077922821045, -0.03507125377655029, 6.1010332107543945], [3.4656906127929688, 1.496856451034546, 6.002951622009277], [3.059951066970825, 1.4978317022323608, 5.1965742111206055], [2.4144177436828613, 0.038249969482421875, 5.519618034362793], [2.820157289505005, 0.037274718284606934, 6.325995445251465], [3.018770217895508, 1.5692024230957031, 6.2279133796691895], [2.613030433654785, 1.570177674293518, 5.421536445617676]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1740, "image_id": 241, "category_id": 45, "category_name": "person", "bbox2D_proj": [0.0, 343.0, 7.0, 375.0], "bbox2D_tight": [0.0, 343.0, 7.0, 375.0], "bbox2D_trunc": [0.0, 343.0, 7.0, 375.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1741, "image_id": 241, "category_id": 45, "category_name": "person", "bbox2D_proj": [125.0, 278.0, 175.0, 402.0], "bbox2D_tight": [125.0, 278.0, 175.0, 402.0], "bbox2D_trunc": [125.0, 278.0, 175.0, 402.0], "center_cam": [-1.429580183624729, 1.130793371269467, 5.940128486588609], "dimensions": [0.4765625149406316, 1.6523437953138271, 0.6391601874646052], "R_cam": [[0.9900790452957153, 0.031896233558654785, -0.13684366643428802], [-0.05035412311553955, 0.9897524118423462, -0.13362112641334534], [0.1311793327331543, 0.13918612897396088, 0.9815391898155212]], "bbox3D_cam": [[-1.7397342920303345, 0.3610193133354187, 5.549332141876221], [-1.1069151163101196, 0.3288349509239197, 5.633176803588867], [-1.0542116165161133, 1.9642462730407715, 5.863159656524658], [-1.6870306730270386, 1.9964306354522705, 5.77931547164917], [-1.8049488067626953, 0.297340452671051, 6.017096996307373], [-1.17212975025177, 0.265156090259552, 6.100941181182861], [-1.1194261312484741, 1.9005672931671143, 6.3309245109558105], [-1.752245306968689, 1.9327516555786133, 6.247079849243164]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1742, "image_id": 241, "category_id": 45, "category_name": "person", "bbox2D_proj": [68.0, 287.0, 110.0, 366.0], "bbox2D_tight": [68.0, 287.0, 110.0, 366.0], "bbox2D_trunc": [68.0, 287.0, 110.0, 366.0], "center_cam": [-2.114670757471088, 1.1040471819624726, 5.674639522463652], "dimensions": [0.536133758189, 1.3251953495518962, 0.53906344769313], "R_cam": [[-0.5342960357666016, -0.07811689376831055, -0.8416801691055298], [-0.10505938529968262, 0.9941370487213135, -0.02557504177093506], [0.838743269443512, 0.07476180791854858, -0.5393704175949097]], "bbox3D_cam": [[-1.6932743787765503, 0.4805070161819458, 5.543622016906738], [-1.9812939167022705, 0.42387330532073975, 5.995758056640625], [-2.0848140716552734, 1.741299033164978, 6.094831943511963], [-1.7967944145202637, 1.797932744026184, 5.642695903778076], [-2.1445274353027344, 0.46679532527923584, 5.2544474601745605], [-2.432547092437744, 0.4101616144180298, 5.706583499908447], [-2.536067008972168, 1.727587342262268, 5.805657386779785], [-2.2480475902557373, 1.7842210531234741, 5.353521347045898]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1743, "image_id": 241, "category_id": 45, "category_name": "person", "bbox2D_proj": [39.0, 294.0, 71.0, 366.0], "bbox2D_tight": [39.0, 294.0, 71.0, 366.0], "bbox2D_trunc": [39.0, 294.0, 71.0, 366.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1744, "image_id": 241, "category_id": 18, "category_name": "chimney", "bbox2D_proj": [296.0, 104.0, 313.0, 170.0], "bbox2D_tight": [296.0, 104.0, 313.0, 170.0], "bbox2D_trunc": [296.0, 104.0, 313.0, 170.0], "center_cam": [2.0735354624874924, -5.0335064933641895, 19.23671567356255], "dimensions": [0.28906251035494607, 2.7148438269862005, 1.1875000251234065], "R_cam": [[0.10202297568321228, 0.04624509811401367, 0.9937065243721008], [0.2764936685562134, 0.9582405090332031, -0.07298192381858826], [-0.9555848836898804, 0.2821994423866272, 0.08497607707977295]], "bbox3D_cam": [[1.8065636157989502, -6.487863063812256, 19.408748626708984], [1.9277158975601196, -6.159526824951172, 18.273990631103516], [2.0532641410827637, -3.558053493499756, 19.040119171142578], [1.9321117401123047, -3.88638973236084, 20.174875259399414], [2.093806743621826, -6.5089592933654785, 19.433311462402344], [2.214959144592285, -6.1806230545043945, 18.298555374145508], [2.3405072689056396, -3.5791497230529785, 19.064682006835938], [2.2193551063537598, -3.9074859619140625, 20.199440002441406]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1745, "image_id": 241, "category_id": 47, "category_name": "pipe", "bbox2D_proj": [312.0, 166.0, 328.0, 316.0], "bbox2D_tight": [312.0, 166.0, 328.0, 316.0], "bbox2D_trunc": [312.0, 166.0, 328.0, 316.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1746, "image_id": 241, "category_id": 32, "category_name": "house", "bbox2D_proj": [76.0, 152.0, 318.0, 319.0], "bbox2D_tight": [76.0, 152.0, 318.0, 319.0], "bbox2D_trunc": [76.0, 152.0, 318.0, 319.0], "center_cam": [-2.0076224314985023, -1.4746937030238803, 20.153047290379117], "dimensions": [5.921875132066521, 7.044922113224236, 9.843750362588485], "R_cam": [[-0.9922511577606201, 0.038511186838150024, -0.11812883615493774], [0.026654012501239777, 0.9945939779281616, 0.10036088526248932], [0.12135525047779083, 0.09643460810184479, -0.9879136085510254]], "bbox3D_cam": [[3.0902316570281982, -5.4064621925354, 22.141216278076172], [-6.677240371704102, -5.144086837768555, 23.335805892944336], [-6.405932426452637, 1.8627504110336304, 24.015180587768555], [3.361539602279663, 1.6003750562667847, 22.820589065551758], [2.3906877040863037, -4.812137603759766, 16.29091453552246], [-7.376784324645996, -4.54976224899292, 17.485506057739258], [-7.105476379394531, 2.4570751190185547, 18.164878845214844], [2.6619956493377686, 2.194699764251709, 16.97028923034668]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1747, "image_id": 241, "category_id": 45, "category_name": "person", "bbox2D_proj": [214.0, 275.0, 238.0, 370.0], "bbox2D_tight": [214.0, 275.0, 238.0, 370.0], "bbox2D_trunc": [214.0, 275.0, 238.0, 370.0], "center_cam": [-0.6216282117920493, 1.1501930545392216, 7.650544586683916], "dimensions": [0.5493176368279518, 1.648437545062573, 0.5507824753030479], "R_cam": [[-0.22718459367752075, 0.032183289527893066, -0.9733197689056396], [-0.11266458034515381, 0.9918742775917053, 0.05909407138824463], [0.9673126935958862, 0.1230839192867279, -0.22171258926391602]], "bbox3D_cam": [[-0.31825876235961914, 0.347467839717865, 7.343602657318115], [-0.44338810443878174, 0.2854141592979431, 7.8763813972473145], [-0.39033597707748413, 1.920456886291504, 8.079277992248535], [-0.26520663499832153, 1.9825105667114258, 7.546498775482178], [-0.8529204726219177, 0.37992924451828003, 7.221811771392822], [-0.9780498147010803, 0.31787556409835815, 7.7545905113220215], [-0.9249976873397827, 1.952918291091919, 7.957486629486084], [-0.7998683452606201, 2.014971971511841, 7.424707889556885]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1748, "image_id": 241, "category_id": 15, "category_name": "car", "bbox2D_proj": [395.0, 274.0, 512.0, 339.0], "bbox2D_tight": [395.0, 274.0, 512.0, 339.0], "bbox2D_trunc": [395.0, 274.0, 512.0, 339.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1749, "image_id": 242, "category_id": 45, "category_name": "person", "bbox2D_proj": [462.0, 297.0, 502.0, 387.0], "bbox2D_tight": [462.0, 297.0, 502.0, 387.0], "bbox2D_trunc": [462.0, 297.0, 502.0, 387.0], "center_cam": [4.382638463441436, 1.6190419092264836, 8.601680879771518], "dimensions": [0.6650391871167005, 1.6689452844863588, 0.7656250950859906], "R_cam": [[0.28573110699653625, 0.08331179618835449, -0.9546815752983093], [-0.020120859146118164, 0.9965158700942993, 0.08094039559364319], [0.9580986499786377, -0.003918111324310303, 0.2864118814468384]], "bbox3D_cam": [[4.521185874938965, 0.7682649493217468, 8.142940521240234], [4.739948749542236, 0.752859890460968, 8.876484870910645], [4.878991603851318, 2.4159903526306152, 8.869945526123047], [4.660228729248047, 2.4313952922821045, 8.136401176452637], [3.8862853050231934, 0.8220935463905334, 8.333415985107422], [4.105048179626465, 0.8066884875297546, 9.066960334777832], [4.244091033935547, 2.4698188304901123, 9.060420989990234], [4.025328159332275, 2.4852240085601807, 8.326876640319824]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1750, "image_id": 242, "category_id": 45, "category_name": "person", "bbox2D_proj": [375.0, 293.0, 404.0, 378.0], "bbox2D_tight": [375.0, 293.0, 404.0, 378.0], "bbox2D_trunc": [375.0, 293.0, 404.0, 378.0], "center_cam": [2.959461770251874, 1.7190658863030182, 9.776462111448158], "dimensions": [0.6132818884936561, 1.7392577671430436, 0.6289068744191589], "R_cam": [[-0.37855690717697144, -0.0020279884338378906, -0.925575852394104], [0.024014592170715332, 0.9996394515037537, -0.012012094259262085], [0.9252665042877197, -0.026774555444717407, -0.3783717155456543]], "bbox3D_cam": [[3.3640832901000977, 0.8458824157714844, 9.624817848205566], [3.1260061264038086, 0.8609853982925415, 10.206724166870117], [3.12247896194458, 2.599616050720215, 10.16015625], [3.360556125640869, 2.5845131874084473, 9.57824993133545], [2.7964444160461426, 0.8385156393051147, 9.392768859863281], [2.5583672523498535, 0.8536186218261719, 9.974675178527832], [2.554840087890625, 2.5922493934631348, 9.928107261657715], [2.792917251586914, 2.577146530151367, 9.346200942993164]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1751, "image_id": 242, "category_id": 45, "category_name": "person", "bbox2D_proj": [79.0, 275.0, 106.0, 351.0], "bbox2D_tight": [79.0, 275.0, 106.0, 351.0], "bbox2D_trunc": [79.0, 275.0, 106.0, 351.0], "center_cam": [-6.183333216998722, 2.0858644020078403, 16.71709478235762], "dimensions": [0.8359377021102834, 2.7177733800915114, 0.9843752191503476], "R_cam": [[0.6121060848236084, 0.0024559497833251953, -0.7907718420028687], [0.22970211505889893, 0.9563251733779907, 0.18077367544174194], [0.7566789984703064, -0.29229462146759033, 0.5848082900047302]], "bbox3D_cam": [[-6.157423973083496, 0.597712516784668, 16.4974308013916], [-5.554881572723389, 0.8238255977630615, 17.242286682128906], [-5.5482072830200195, 3.422900676727295, 16.447895050048828], [-6.150749206542969, 3.1967875957489014, 15.703039169311523], [-6.818459510803223, 0.7488279342651367, 16.98629379272461], [-6.215917587280273, 0.9749410152435303, 17.731149673461914], [-6.209242820739746, 3.5740160942077637, 16.936758041381836], [-6.8117852210998535, 3.34790301322937, 16.19190216064453]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1752, "image_id": 242, "category_id": 13, "category_name": "building", "bbox2D_proj": [0.0, 195.0, 38.0, 245.0], "bbox2D_tight": [0.0, 195.0, 38.0, 245.0], "bbox2D_trunc": [0.0, 195.0, 38.0, 245.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1753, "image_id": 242, "category_id": 45, "category_name": "person", "bbox2D_proj": [40.0, 269.0, 55.0, 323.0], "bbox2D_tight": [40.0, 269.0, 55.0, 323.0], "bbox2D_trunc": [40.0, 269.0, 55.0, 323.0], "center_cam": [-8.265325738710096, 1.6826817094233646, 17.496748160205], "dimensions": [0.4928549462743289, 1.8346257996346287, 4.014514127045256], "R_cam": [[0.4241941571235657, 0.03554653003811836, 0.9048733115196228], [-0.07285761833190918, 0.9973297119140625, -0.00502372533082962], [-0.9026356339454651, -0.06379588693380356, 0.42565131187438965]], "bbox3D_cam": [[-9.372385025024414, 0.9153002500534058, 19.262197494506836], [-7.669451713562012, 0.6228122711181641, 15.638554573059082], [-7.604237079620361, 2.4525389671325684, 15.521512985229492], [-9.307170867919922, 2.7450270652770996, 19.145156860351562], [-8.926413536071777, 0.912824273109436, 19.471982955932617], [-7.223480701446533, 0.6203362941741943, 15.848339080810547], [-7.158266067504883, 2.4500632286071777, 15.731297492980957], [-8.861199378967285, 2.74255108833313, 19.35494041442871]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1754, "image_id": 242, "category_id": 45, "category_name": "person", "bbox2D_proj": [280.0, 285.0, 302.0, 348.0], "bbox2D_tight": [280.0, 285.0, 302.0, 348.0], "bbox2D_trunc": [280.0, 285.0, 302.0, 348.0], "center_cam": [1.3899824868033632, 2.1759009372777918, 16.417378375071937], "dimensions": [0.7890626772695681, 2.228515575257645, 0.9140627336868141], "R_cam": [[0.8303329348564148, -0.04909670352935791, 0.555100679397583], [0.08738481998443604, 0.995259702205658, -0.04268506169319153], [-0.5503736734390259, 0.0839502215385437, 0.8306871652603149]], "bbox3D_cam": [[0.8461960554122925, 1.043828010559082, 16.24764060974121], [1.6051723957061768, 1.1237032413482666, 15.7445650100708], [1.4957596063613892, 3.3416550159454346, 15.931649208068848], [0.7367832660675049, 3.26177978515625, 16.434724807739258], [1.2842053174972534, 1.0101468563079834, 16.903104782104492], [2.0431816577911377, 1.090022087097168, 16.4000301361084], [1.93376886844635, 3.307973861694336, 16.587114334106445], [1.1747925281524658, 3.2280986309051514, 17.09018898010254]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1755, "image_id": 242, "category_id": 69, "category_name": "traffic_cone", "bbox2D_proj": [426.0, 366.0, 448.0, 402.0], "bbox2D_tight": [426.0, 366.0, 448.0, 402.0], "bbox2D_trunc": [426.0, 366.0, 448.0, 402.0], "center_cam": [2.930744096833306, 2.054983482778532, 7.228417321088256], "dimensions": [0.3266743067458248, 0.5595631803532972, 0.811266461648632], "R_cam": [[-0.3551236391067505, 0.03554653003811836, 0.9341431856155396], [-0.04706425592303276, 0.9973297119140625, -0.05584287643432617], [-0.9336338043212891, -0.06379588693380356, -0.3525024652481079]], "bbox3D_cam": [[2.91226863861084, 1.8041609525680542, 7.68255615234375], [2.624168634414673, 1.765979290008545, 6.9251298904418945], [2.644059181213379, 2.3240482807159424, 6.889432430267334], [2.932159185409546, 2.362229824066162, 7.646858215332031], [3.2174291610717773, 1.7859184741973877, 7.567402362823486], [2.9293291568756104, 1.7477368116378784, 6.809976577758789], [2.9492197036743164, 2.3058059215545654, 6.77427864074707], [3.2373197078704834, 2.343987464904785, 7.531704902648926]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1756, "image_id": 242, "category_id": 45, "category_name": "person", "bbox2D_proj": [331.0, 310.0, 343.0, 366.0], "bbox2D_tight": [331.0, 310.0, 343.0, 366.0], "bbox2D_trunc": [331.0, 310.0, 343.0, 366.0], "center_cam": [2.0094137703694, 2.0316904023890676, 11.059562450600758], "dimensions": [0.33008267153367793, 1.3260731929694884, 0.9314554042238523], "R_cam": [[-0.17999660968780518, 0.03554653003811836, 0.9830247759819031], [-0.0564030297100544, 0.9973297119140625, -0.04639147222042084], [-0.9820488095283508, -0.06379588693380356, -0.1775110363960266]], "bbox3D_cam": [[1.9074347019195557, 1.4043493270874023, 11.588525772094727], [1.7397758960723877, 1.3518123626708984, 10.67379093170166], [1.786913275718689, 2.674344539642334, 10.589193344116211], [1.954572081565857, 2.726881504058838, 11.503927230834961], [2.2319142818450928, 1.3890361785888672, 11.529932022094727], [2.064255475997925, 1.3364992141723633, 10.615198135375977], [2.1113927364349365, 2.659031391143799, 10.530599594116211], [2.2790515422821045, 2.7115683555603027, 11.445334434509277]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1757, "image_id": 243, "category_id": 45, "category_name": "person", "bbox2D_proj": [389.0, 123.0, 422.0, 209.0], "bbox2D_tight": [389.0, 123.0, 422.0, 209.0], "bbox2D_trunc": [389.0, 123.0, 422.0, 209.0], "center_cam": [1.3651251578238512, -0.8105229587227833, 4.046187038665833], "dimensions": [0.257812527490142, 0.81689452823268, 0.2890625218187366], "R_cam": [[-0.9380086660385132, 0.10017514228820801, 0.3318202793598175], [0.05079466104507446, 0.9867180585861206, -0.15429674088954926], [-0.34286975860595703, -0.12787696719169617, -0.9306384325027466]], "bbox3D_cam": [[1.4170067310333252, -1.2009968757629395, 4.267938613891602], [1.145863652229309, -1.1863139867782593, 4.168827533721924], [1.227696180343628, -0.38026949763298035, 4.064365863800049], [1.4988393783569336, -0.39495232701301575, 4.163476467132568], [1.502554178237915, -1.2407764196395874, 4.028007984161377], [1.2314109802246094, -1.2260936498641968, 3.9288973808288574], [1.3132436275482178, -0.42004910111427307, 3.8244354724884033], [1.5843867063522339, -0.43473193049430847, 3.923546314239502]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1758, "image_id": 243, "category_id": 50, "category_name": "plastic_bag", "bbox2D_proj": [427.0, 337.0, 470.0, 424.0], "bbox2D_tight": [427.0, 337.0, 470.0, 424.0], "bbox2D_trunc": [427.0, 337.0, 470.0, 424.0], "center_cam": [1.0173380489610508, 0.6331652535212139, 2.3192860083917255], "dimensions": [0.18750001689444024, 0.4024047837635347, 0.23046877030140211], "R_cam": [[-0.7076044678688049, -0.043434739112854004, 0.7052724957466125], [-0.1255091428756714, 0.9899636507034302, -0.06495638936758041], [-0.6953727602958679, -0.13448159396648407, -0.7059541940689087]], "bbox3D_cam": [[1.0414983034133911, 0.4545348286628723, 2.4926581382751465], [0.8784174919128418, 0.42560887336730957, 2.3323965072631836], [0.8609391450881958, 0.8239750266075134, 2.27828049659729], [1.0240199565887451, 0.8529009222984314, 2.438542127609253], [1.1737369298934937, 0.4423554539680481, 2.3602917194366455], [1.0106561183929443, 0.4134295582771301, 2.2000300884246826], [0.9931777715682983, 0.8117956519126892, 2.145914077758789], [1.1562585830688477, 0.840721607208252, 2.306175708770752]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1759, "image_id": 243, "category_id": 45, "category_name": "person", "bbox2D_proj": [365.0, 111.0, 392.0, 212.0], "bbox2D_tight": [365.0, 111.0, 392.0, 212.0], "bbox2D_trunc": [365.0, 111.0, 392.0, 212.0], "center_cam": [1.0947862244872757, -0.8318711703212314, 3.968922589500767], "dimensions": [0.220947263444067, 0.8891601510506997, 0.3085937585842594], "R_cam": [[0.17876946926116943, 0.06138491630554199, -0.9819742441177368], [-0.14117932319641113, 0.9893240928649902, 0.036142498254776], [0.9737093448638916, 0.1321732997894287, 0.18552720546722412]], "bbox3D_cam": [[1.1483943462371826, -1.2539142370224, 3.73942494392395], [1.203561544418335, -1.2974812984466553, 4.039905548095703], [1.2581424713134766, -0.4178136885166168, 4.157428741455078], [1.2029753923416138, -0.37424662709236145, 3.856948137283325], [0.9314298629760742, -1.2459286451339722, 3.780416488647461], [0.986596941947937, -1.2894957065582275, 4.080897331237793], [1.0411779880523682, -0.4098280966281891, 4.198420524597168], [0.9860108494758606, -0.3662610352039337, 3.897939682006836]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1760, "image_id": 243, "category_id": 45, "category_name": "person", "bbox2D_proj": [423.0, 125.0, 458.0, 226.0], "bbox2D_tight": [423.0, 125.0, 458.0, 226.0], "bbox2D_trunc": [423.0, 125.0, 458.0, 226.0], "center_cam": [1.5218525757867556, -0.6560867609323091, 3.6366307226714847], "dimensions": [0.2744140640554784, 0.7941894522166117, 0.31250001247063997], "R_cam": [[0.07946884632110596, 0.20768141746520996, -0.9749631881713867], [-0.28612351417541504, 0.9416532516479492, 0.17726409435272217], [0.9548916816711426, 0.2648729085922241, 0.1342545747756958]], "bbox3D_cam": [[1.560738205909729, -1.009627342224121, 3.363828659057617], [1.5855722427368164, -1.0990409851074219, 3.6622323989868164], [1.750510573387146, -0.35118991136550903, 3.872591495513916], [1.7256766557693481, -0.261776328086853, 3.574187994003296], [1.2931946516036987, -0.9609835743904114, 3.400670051574707], [1.3180285692214966, -1.0503971576690674, 3.699073553085327], [1.4829670190811157, -0.3025461435317993, 3.909432888031006], [1.4581329822540283, -0.2131325602531433, 3.6110291481018066]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1761, "image_id": 243, "category_id": 45, "category_name": "person", "bbox2D_proj": [345.0, 110.0, 366.0, 206.0], "bbox2D_tight": [345.0, 110.0, 366.0, 206.0], "bbox2D_trunc": [345.0, 110.0, 366.0, 206.0], "center_cam": [0.9146117590047679, -0.8581741129950518, 4.013833283826111], "dimensions": [0.21289063402718517, 0.858886718186131, 0.26367189388981693], "R_cam": [[0.4324795603752136, 0.12299734354019165, 0.8932150602340698], [0.33625131845474243, 0.8971834778785706, -0.2863510549068451], [-0.8365981578826904, 0.42418575286865234, 0.3466554880142212]], "bbox3D_cam": [[0.7096964120864868, -1.2573127746582031, 3.9050631523132324], [0.8237291574478149, -1.1686527729034424, 3.6844756603240967], [0.9293699264526367, -0.39807385206222534, 4.048803329467773], [0.8153372406959534, -0.48673391342163086, 4.26939058303833], [0.8998535871505737, -1.3182742595672607, 3.978862762451172], [1.0138863325119019, -1.2296142578125, 3.7582755088806152], [1.1195271015167236, -0.45903533697128296, 4.122602939605713], [1.0054943561553955, -0.5476953983306885, 4.3431901931762695]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1762, "image_id": 243, "category_id": 33, "category_name": "jacket", "bbox2D_proj": [312.0, 123.0, 342.0, 162.0], "bbox2D_tight": [312.0, 123.0, 342.0, 162.0], "bbox2D_trunc": [312.0, 123.0, 342.0, 162.0], "center_cam": [0.6703652546652386, -1.0521820768979127, 4.174974879359043], "dimensions": [0.24414064254901566, 0.3625488377042648, 0.2880859541914934], "R_cam": [[0.9451297521591187, 0.15120947360992432, -0.289595365524292], [-0.17391252517700195, 0.9832695722579956, -0.05417991429567337], [0.2765578031539917, 0.10157131403684616, 0.9556145071983337]], "bbox3D_cam": [[0.5421665906906128, -1.1987590789794922, 4.00007438659668], [0.8144451379776001, -1.2488608360290527, 4.079746723175049], [0.8692659735679626, -0.8923776149749756, 4.116571426391602], [0.5969873666763306, -0.842275857925415, 4.036898612976074], [0.4714645743370056, -1.2119865417480469, 4.2333784103393555], [0.7437431812286377, -1.2620882987976074, 4.313051223754883], [0.7985639572143555, -0.9056050777435303, 4.349875450134277], [0.5262854099273682, -0.8555033206939697, 4.270203113555908]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1763, "image_id": 243, "category_id": 45, "category_name": "person", "bbox2D_proj": [448.0, 115.0, 486.0, 220.0], "bbox2D_tight": [448.0, 115.0, 486.0, 220.0], "bbox2D_trunc": [448.0, 115.0, 486.0, 220.0], "center_cam": [1.6762159014774665, -0.7075798474573372, 3.679828832133933], "dimensions": [0.28222657374325466, 0.8569335942902112, 0.3046875232263143], "R_cam": [[-0.1640585958957672, 0.21309244632720947, -0.9631596207618713], [-0.3016473054885864, 0.9187817573547363, 0.25465479493141174], [0.9391984939575195, 0.33231276273727417, -0.0864553451538086]], "bbox3D_cam": [[1.7458207607269287, -1.0912284851074219, 3.4065628051757812], [1.6958341598510742, -1.1831365823745728, 3.6927249431610107], [1.8784401416778564, -0.3958016633987427, 3.977494955062866], [1.9284268617630005, -0.303893506526947, 3.6913328170776367], [1.4739916324615479, -1.0193580389022827, 3.3821628093719482], [1.4240049123764038, -1.1112661361694336, 3.6683249473571777], [1.6066110134124756, -0.3239312767982483, 3.953094959259033], [1.65659761428833, -0.23202311992645264, 3.6669328212738037]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1764, "image_id": 244, "category_id": 73, "category_name": "tree_trunk", "bbox2D_proj": [236.0, 199.0, 275.0, 327.0], "bbox2D_tight": [236.0, 199.0, 275.0, 327.0], "bbox2D_trunc": [236.0, 199.0, 275.0, 327.0], "center_cam": [-0.003608994791881835, 0.06448440189708626, 4.0499900324486715], "dimensions": [0.18234782902667312, 1.133660132821812, 0.3991737612156465], "R_cam": [[0.8539373874664307, 0.0013712617801502347, -0.5203740000724792], [0.0004250231431797147, 0.9999945163726807, 0.003332597902044654], [0.520375669002533, -0.003067001001909375, 0.8539321422576904]], "bbox3D_cam": [[-0.12737645208835602, -0.5027310848236084, 3.8700122833251953], [0.21349294483661652, -0.5025614500045776, 4.077732563018799], [0.21504749357700348, 0.6310921907424927, 4.074255466461182], [-0.12582190334796906, 0.6309225559234619, 3.866535186767578], [-0.22226549685001373, -0.5021233558654785, 4.0257248878479], [0.1186039075255394, -0.5019537210464478, 4.233445167541504], [0.12015845626592636, 0.6316999197006226, 4.229968070983887], [-0.22071094810962677, 0.6315302848815918, 4.022247791290283]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1765, "image_id": 244, "category_id": 73, "category_name": "tree_trunk", "bbox2D_proj": [292.0, 0.0, 333.0, 146.0], "bbox2D_tight": [292.0, 0.0, 333.0, 146.0], "bbox2D_trunc": [292.0, 0.0, 333.0, 146.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1766, "image_id": 245, "category_id": 2, "category_name": "backpack", "bbox2D_proj": [289.0, 254.0, 331.0, 315.0], "bbox2D_tight": [289.0, 254.0, 331.0, 315.0], "bbox2D_trunc": [289.0, 254.0, 331.0, 315.0], "center_cam": [0.3540641057720415, 0.19911989214666134, 2.937643276734098], "dimensions": [0.1897963964215689, 0.3444519993020466, 0.24746343784537428], "R_cam": [[-0.8530107736587524, 0.5208724141120911, -0.03262655436992645], [0.5150867104530334, 0.8301754593849182, -0.2132939100265503], [-0.08401316404342651, -0.19874751567840576, -0.9764431118965149]], "bbox3D_cam": [[0.3729970455169678, 0.012650743126869202, 3.0749306678771973], [0.16190803050994873, 0.1401158571243286, 3.054140329360962], [0.341323584318161, 0.4260714650154114, 2.9856812953948975], [0.5524125695228577, 0.29860633611679077, 3.006471633911133], [0.3668046295642853, -0.02783168852329254, 2.8896052837371826], [0.15571564435958862, 0.09963344782590866, 2.8688149452209473], [0.3351311683654785, 0.385589063167572, 2.800355911254883], [0.5462201833724976, 0.2581239342689514, 2.821146249771118]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1767, "image_id": 246, "category_id": 45, "category_name": "person", "bbox2D_proj": [171.0, 251.0, 197.0, 308.0], "bbox2D_tight": [171.0, 251.0, 197.0, 308.0], "bbox2D_trunc": [171.0, 251.0, 197.0, 308.0], "center_cam": [-0.7799122090674622, 0.28694762847282246, 4.898186175468881], "dimensions": [0.21484374870734566, 0.6855469008855954, 0.27593993834812525], "R_cam": [[-0.991089940071106, 0.04709434509277344, 0.12459161877632141], [0.07202869653701782, 0.9763333797454834, 0.20392437279224396], [-0.11203926801681519, 0.21108154952526093, -0.9710263013839722]], "bbox3D_cam": [[-0.6726981401443481, -0.07955721020698547, 4.945600509643555], [-0.9461793899536133, -0.05968162417411804, 4.914684295654297], [-0.9138940572738647, 0.6096405982971191, 5.059390544891357], [-0.6404128074645996, 0.5897650718688965, 5.090306758880615], [-0.6459304094314575, -0.03574535250663757, 4.7369818687438965], [-0.9194116592407227, -0.01586976647377014, 4.706065654754639], [-0.8871263265609741, 0.6534525156021118, 4.850771903991699], [-0.613645076751709, 0.6335768699645996, 4.881688117980957]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1768, "image_id": 246, "category_id": 45, "category_name": "person", "bbox2D_proj": [391.0, 248.0, 420.0, 312.0], "bbox2D_tight": [391.0, 248.0, 420.0, 312.0], "bbox2D_trunc": [391.0, 248.0, 420.0, 312.0], "center_cam": [1.7712690811076708, 0.21695720372275212, 5.260461000526099], "dimensions": [0.2070312491921097, 0.6928711213166114, 0.2631835909934602], "R_cam": [[0.864032506942749, -0.010387420654296875, 0.503328800201416], [-0.12085461616516113, 0.9662717580795288, 0.22740475833415985], [-0.4887145757675171, -0.2573147416114807, 0.8336349129676819]], "bbox3D_cam": [[1.6090656518936157, -0.1254301816225052, 5.327620506286621], [1.8364648818969727, -0.15723712742328644, 5.198998928070068], [1.8292677402496338, 0.5122646689414978, 5.020712852478027], [1.6018685102462769, 0.544071614742279, 5.14933443069458], [1.7132704257965088, -0.0783502608537674, 5.500208854675293], [1.9406696557998657, -0.11015720665454865, 5.37158727645874], [1.9334725141525269, 0.5593445897102356, 5.193301200866699], [1.70607328414917, 0.5911515355110168, 5.321922779083252]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1769, "image_id": 246, "category_id": 45, "category_name": "person", "bbox2D_proj": [152.0, 249.0, 170.0, 316.0], "bbox2D_tight": [152.0, 249.0, 170.0, 316.0], "bbox2D_trunc": [152.0, 249.0, 170.0, 316.0], "center_cam": [-1.038577146715697, 0.27658021972922453, 4.833815774846833], "dimensions": [0.17382812289052246, 0.7177925375052054, 0.26367187267331593], "R_cam": [[0.481487512588501, 0.04085659980773926, -0.8755002021789551], [0.08904063701629639, 0.9914644956588745, 0.09523668885231018], [0.8719183206558228, -0.12381038069725037, 0.4737398028373718]], "bbox3D_cam": [[-1.0406244993209839, -0.0992688238620758, 4.722126007080078], [-0.9136698246002197, -0.07579132914543152, 4.9520263671875], [-0.8843432664871216, 0.6358743906021118, 4.863155841827393], [-1.0112979412078857, 0.6123969554901123, 4.633255481719971], [-1.192811131477356, -0.08271399140357971, 4.8044753074646], [-1.0658564567565918, -0.059236496686935425, 5.0343756675720215], [-1.0365298986434937, 0.6524292230606079, 4.945505142211914], [-1.1634845733642578, 0.6289517879486084, 4.715604782104492]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1770, "image_id": 246, "category_id": 45, "category_name": "person", "bbox2D_proj": [64.0, 317.0, 121.0, 494.0], "bbox2D_tight": [64.0, 317.0, 121.0, 494.0], "bbox2D_trunc": [64.0, 317.0, 121.0, 494.0], "center_cam": [-1.0436071970359042, 0.9157692706081496, 2.8283709401770265], "dimensions": [0.346862842260888, 1.0245361684514245, 0.3476562987308311], "R_cam": [[-0.39372262358665466, 0.03611302375793457, -0.9185196161270142], [0.0742483139038086, 0.9972124099731445, 0.007380455732345581], [0.916225790977478, -0.06529262661933899, -0.3953063488006592]], "bbox3D_cam": [[-0.834366500377655, 0.3907427191734314, 2.771111011505127], [-0.9712466597557068, 0.41655558347702026, 3.0896427631378174], [-0.934247612953186, 1.4382357597351074, 3.0227479934692383], [-0.7973674535751343, 1.4124228954315186, 2.704216480255127], [-1.152966856956482, 0.3933027386665344, 2.6339941024780273], [-1.2898470163345337, 0.4191156029701233, 2.9525256156921387], [-1.2528479099273682, 1.4407958984375, 2.8856310844421387], [-1.1159677505493164, 1.4149830341339111, 2.5670993328094482]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1771, "image_id": 246, "category_id": 45, "category_name": "person", "bbox2D_proj": [285.0, 293.0, 320.0, 419.0], "bbox2D_tight": [285.0, 293.0, 320.0, 419.0], "bbox2D_trunc": [285.0, 293.0, 320.0, 419.0], "center_cam": [0.37005239704914317, 0.8168526744697946, 3.7210064436042134], "dimensions": [0.3751288201388312, 0.9935303098513706, 0.3751288209541739], "R_cam": [[-0.9367252588272095, 0.010364413261413574, 0.3499121367931366], [-0.028468012809753418, 0.9939956665039062, -0.10565183311700821], [-0.34890615940093994, -0.10892801731824875, -0.9308056831359863]], "bbox3D_cam": [[0.47496896982192993, 0.348226398229599, 4.015146255493164], [0.1235763281583786, 0.3375472128391266, 3.8842616081237793], [0.13387368619441986, 1.3251121044158936, 3.776038408279419], [0.4852663278579712, 1.3357912302017212, 3.9069230556488037], [0.6062310934066772, 0.3085933327674866, 3.6659743785858154], [0.2548384666442871, 0.29791414737701416, 3.5350897312164307], [0.26513582468032837, 1.285478949546814, 3.426866292953491], [0.6165284514427185, 1.2961581945419312, 3.557751178741455]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1772, "image_id": 246, "category_id": 45, "category_name": "person", "bbox2D_proj": [166.0, 302.0, 211.0, 469.0], "bbox2D_tight": [166.0, 302.0, 211.0, 469.0], "bbox2D_trunc": [166.0, 302.0, 211.0, 469.0], "center_cam": [-0.45158450369748615, 0.8972295441241535, 3.174062137903862], "dimensions": [0.3144531214137463, 1.1179199577661216, 0.4374999943419353], "R_cam": [[0.33892908692359924, 0.057343244552612305, -0.9390627145767212], [-0.013932228088378906, 0.9983372688293457, 0.05593433976173401], [0.9407087564468384, -0.005874544382095337, 0.3391644358634949]], "bbox3D_cam": [[-0.4101322293281555, 0.3334522843360901, 2.9182400703430176], [-0.2618507742881775, 0.3273569941520691, 3.3298003673553467], [-0.19774562120437622, 1.443418025970459, 3.323233127593994], [-0.34602707624435425, 1.4495134353637695, 2.911672830581665], [-0.7054234147071838, 0.3510410189628601, 3.0248913764953613], [-0.5571419596672058, 0.3449457287788391, 3.4364516735076904], [-0.49303680658340454, 1.4610068798065186, 3.429884433746338], [-0.6413182616233826, 1.46710205078125, 3.018324136734009]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1773, "image_id": 246, "category_id": 45, "category_name": "person", "bbox2D_proj": [472.0, 340.0, 512.0, 512.0], "bbox2D_tight": [472.0, 340.0, 512.0, 512.0], "bbox2D_trunc": [472.0, 340.0, 512.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1774, "image_id": 247, "category_id": 45, "category_name": "person", "bbox2D_proj": [183.0, 243.0, 333.0, 512.0], "bbox2D_tight": [183.0, 243.0, 333.0, 512.0], "bbox2D_trunc": [183.0, 243.0, 333.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1775, "image_id": 247, "category_id": 13, "category_name": "building", "bbox2D_proj": [141.0, 143.0, 186.0, 232.0], "bbox2D_tight": [141.0, 143.0, 186.0, 232.0], "bbox2D_trunc": [141.0, 143.0, 186.0, 232.0], "center_cam": [-2.5164010621576347, -1.49673265536777, 10.586632039594907], "dimensions": [0.9550781502100318, 2.241943471872294, 2.2343751342771534], "R_cam": [[-0.1589333713054657, -0.04259335994720459, 0.9863701462745667], [-0.008472919464111328, 0.9990910291671753, 0.041777342557907104], [-0.987252950668335, -0.0017175078392028809, -0.15914976596832275]], "bbox3D_cam": [[-2.762126922607422, -2.6271700859069824, 11.76750373840332], [-3.117243766784668, -2.646101713180542, 9.561610221862793], [-3.212735652923584, -0.40619611740112305, 9.557760238647461], [-2.857618808746338, -0.3872644901275635, 11.763653755187988], [-1.8200664520263672, -2.5872693061828613, 11.615503311157227], [-2.1751832962036133, -2.606200933456421, 9.4096097946167], [-2.2706751823425293, -0.36629533767700195, 9.405759811401367], [-1.9155583381652832, -0.3473637104034424, 11.611653327941895]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1776, "image_id": 247, "category_id": 45, "category_name": "person", "bbox2D_proj": [0.0, 232.0, 108.0, 512.0], "bbox2D_tight": [0.0, 232.0, 108.0, 512.0], "bbox2D_trunc": [0.0, 232.0, 108.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1777, "image_id": 247, "category_id": 45, "category_name": "person", "bbox2D_proj": [401.0, 231.0, 426.0, 329.0], "bbox2D_tight": [401.0, 231.0, 426.0, 329.0], "bbox2D_trunc": [401.0, 231.0, 426.0, 329.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1778, "image_id": 247, "category_id": 45, "category_name": "person", "bbox2D_proj": [195.0, 227.0, 224.0, 300.0], "bbox2D_tight": [195.0, 227.0, 224.0, 300.0], "bbox2D_trunc": [195.0, 227.0, 224.0, 300.0], "center_cam": [-0.6443969293502025, 0.06452775323993147, 6.101608755218182], "dimensions": [0.3593751151135798, 0.969718920989761, 0.36914075199103746], "R_cam": [[0.9502332210540771, -0.032416582107543945, -0.30984848737716675], [0.011038422584533691, 0.997450590133667, -0.07050161808729172], [0.3113439679145813, 0.06357273459434509, 0.9481685161590576]], "bbox3D_cam": [[-0.748388409614563, -0.4084647297859192, 5.8429460525512695], [-0.3976185917854309, -0.40438997745513916, 5.957875728607178], [-0.42905354499816895, 0.5628567337989807, 6.019523620605469], [-0.779823362827301, 0.5587819814682007, 5.904593467712402], [-0.8597402572631836, -0.43380123376846313, 6.183693885803223], [-0.5089704394340515, -0.4297264814376831, 6.298624038696289], [-0.5404053926467896, 0.5375202298164368, 6.360271453857422], [-0.8911752104759216, 0.5334454774856567, 6.245341777801514]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1779, "image_id": 247, "category_id": 45, "category_name": "person", "bbox2D_proj": [80.0, 225.0, 108.0, 298.0], "bbox2D_tight": [80.0, 225.0, 108.0, 298.0], "bbox2D_trunc": [80.0, 225.0, 108.0, 298.0], "center_cam": [-1.8490904323647288, 0.080939547143625, 5.0679053186732475], "dimensions": [0.3164062586980085, 0.8305663968778089, 0.49999999889383984], "R_cam": [[-0.08257956057786942, -0.05786406993865967, 0.9949033260345459], [0.08791232109069824, 0.9939982295036316, 0.06510836631059647], [-0.9926994442939758, 0.09284094721078873, -0.07699686288833618]], "bbox3D_cam": [[-1.9618123769760132, -0.36412960290908813, 5.289706230163574], [-2.0031023025512695, -0.320173442363739, 4.793356418609619], [-2.0511622428894043, 0.5054080486297607, 4.870467185974121], [-2.0098724365234375, 0.4614518880844116, 5.366816520690918], [-1.6470187902450562, -0.3435289263725281, 5.26534366607666], [-1.688308596611023, -0.29957276582717896, 4.768994331359863], [-1.7363685369491577, 0.5260087251663208, 4.846104621887207], [-1.695078730583191, 0.4820525646209717, 5.342454433441162]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1780, "image_id": 247, "category_id": 13, "category_name": "building", "bbox2D_proj": [94.0, 0.0, 144.0, 230.0], "bbox2D_tight": [94.0, 0.0, 144.0, 230.0], "bbox2D_trunc": [94.0, 0.0, 144.0, 230.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1781, "image_id": 247, "category_id": 45, "category_name": "person", "bbox2D_proj": [307.0, 253.0, 319.0, 262.0], "bbox2D_tight": [307.0, 253.0, 319.0, 262.0], "bbox2D_trunc": [307.0, 253.0, 319.0, 262.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1782, "image_id": 248, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [184.0, 148.0, 219.0, 191.0], "bbox2D_tight": [184.0, 148.0, 219.0, 191.0], "bbox2D_trunc": [184.0, 148.0, 219.0, 191.0], "center_cam": [-0.8630619268253349, -1.2958929136519224, 6.860322331117333], "dimensions": [0.5312500094074584, 0.6096191684214454, 0.6943359525448546], "R_cam": [[-0.9663833379745483, -0.06264714151620865, 0.24935616552829742], [-0.04183757305145264, 0.9952503442764282, 0.08790019154548645], [-0.25367850065231323, 0.07451282441616058, -0.9644143581390381]], "bbox3D_cam": [[-0.5747043490409851, -1.6080785989761353, 7.181851863861084], [-1.2456990480422974, -1.6371278762817383, 7.005713939666748], [-1.2838900089263916, -1.0304043292999268, 7.051138401031494], [-0.6128952503204346, -1.0013549327850342, 7.22727632522583], [-0.4422338604927063, -1.5613815784454346, 6.669506549835205], [-1.1132285594940186, -1.5904309749603271, 6.493368625640869], [-1.1514194011688232, -0.9837073087692261, 6.538793087005615], [-0.48042476177215576, -0.954658031463623, 6.714931011199951]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1783, "image_id": 248, "category_id": 40, "category_name": "motorcycle", "bbox2D_proj": [351.0, 261.0, 400.0, 314.0], "bbox2D_tight": [351.0, 261.0, 400.0, 314.0], "bbox2D_trunc": [351.0, 261.0, 400.0, 314.0], "center_cam": [1.2851469377295563, 0.33756938468590436, 4.700276044066177], "dimensions": [0.2050781232785611, 0.5286560219903406, 0.6015625090439687], "R_cam": [[0.9197617769241333, -0.046402931213378906, -0.38972437381744385], [0.04731810465455055, 0.9988536834716797, -0.007257305085659027], [0.3896143436431885, -0.011766024865210056, 0.9209030866622925]], "bbox3D_cam": [[1.0607274770736694, 0.060056209564208984, 4.491768836975098], [1.6140215396881104, 0.08852100372314453, 4.726146221160889], [1.5894904136657715, 0.6165708899497986, 4.719925880432129], [1.036196231842041, 0.588106095790863, 4.485548496246338], [0.9808034896850586, 0.05856788158416748, 4.680625915527344], [1.534097671508789, 0.08703267574310303, 4.915003299713135], [1.5095664262771606, 0.6150825619697571, 4.908782958984375], [0.956272304058075, 0.5866177678108215, 4.674405574798584]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1784, "image_id": 248, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [338.0, 181.0, 362.0, 231.0], "bbox2D_tight": [338.0, 181.0, 362.0, 231.0], "bbox2D_trunc": [338.0, 181.0, 362.0, 231.0], "center_cam": [1.6075377958389878, -0.8357822459229479, 7.249420017116883], "dimensions": [0.28906250211737217, 0.7868652550614932, 0.5078125038845543], "R_cam": [[0.4924319088459015, -0.001404881477355957, 0.8703498840332031], [0.11602228879928589, 0.9911797046661377, -0.06404397636651993], [-0.8625831604003906, 0.13251732289791107, 0.48825156688690186]], "bbox3D_cam": [[1.3572661876678467, -1.2459471225738525, 7.345731258392334], [1.607329249382019, -1.187029480934143, 6.907700538635254], [1.6062238216400146, -0.40710464119911194, 7.011973857879639], [1.3561607599258423, -0.46602222323417664, 7.450004577636719], [1.608851671218872, -1.2644598484039307, 7.486866474151611], [1.8589147329330444, -1.2055422067642212, 7.048835754394531], [1.85780930519104, -0.42561736702919006, 7.153109073638916], [1.6077462434768677, -0.48453494906425476, 7.591139793395996]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1785, "image_id": 248, "category_id": 65, "category_name": "suv", "bbox2D_proj": [2.0, 214.0, 89.0, 259.0], "bbox2D_tight": [2.0, 214.0, 89.0, 259.0], "bbox2D_trunc": [2.0, 214.0, 89.0, 259.0], "center_cam": [-2.311266416627954, -0.24017749985635062, 4.591252297398966], "dimensions": [0.4604909263086263, 0.40503426580102814, 0.9800435566081596], "R_cam": [[-0.9697396755218506, -0.1081075668334961, -0.21890127658843994], [-0.1150813102722168, 0.9931681156158447, 0.0193231999874115], [0.21531686186790466, 0.04392993450164795, -0.9755556583404541]], "bbox3D_cam": [[-1.7637780904769897, -0.38936781883239746, 4.701463222503662], [-2.714165449142456, -0.5021525025367737, 4.912483215332031], [-2.7579526901245117, -0.09988535940647125, 4.930275917053223], [-1.807565450668335, 0.012899354100227356, 4.719256401062012], [-1.8645801544189453, -0.3804696202278137, 4.252228736877441], [-2.814967393875122, -0.4932543635368347, 4.463248252868652], [-2.8587546348571777, -0.0909871906042099, 4.481041431427002], [-1.9083675146102905, 0.02179749310016632, 4.270021438598633]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1786, "image_id": 248, "category_id": 40, "category_name": "motorcycle", "bbox2D_proj": [0.0, 273.0, 20.0, 308.0], "bbox2D_tight": [0.0, 273.0, 20.0, 308.0], "bbox2D_trunc": [0.0, 273.0, 20.0, 308.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1787, "image_id": 248, "category_id": 65, "category_name": "suv", "bbox2D_proj": [0.0, 223.0, 80.0, 292.0], "bbox2D_tight": [0.0, 223.0, 80.0, 292.0], "bbox2D_trunc": [0.0, 223.0, 80.0, 292.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1788, "image_id": 248, "category_id": 40, "category_name": "motorcycle", "bbox2D_proj": [0.0, 274.0, 22.0, 308.0], "bbox2D_tight": [0.0, 274.0, 22.0, 308.0], "bbox2D_trunc": [0.0, 274.0, 22.0, 308.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1789, "image_id": 248, "category_id": 26, "category_name": "flag", "bbox2D_proj": [145.0, 27.0, 224.0, 230.0], "bbox2D_tight": [145.0, 27.0, 224.0, 230.0], "bbox2D_trunc": [145.0, 27.0, 224.0, 230.0], "center_cam": [-0.8564454572415009, -1.614879665956427, 5.477664033540609], "dimensions": [0.7421875010100872, 0.08203125045758705, 2.196289072590994], "R_cam": [[0.2353827953338623, 0.2757634222507477, 0.9319599866867065], [-0.6796431541442871, 0.7321620583534241, -0.044988155364990234], [-0.6947518587112427, -0.6228108406066895, 0.3597591519355774]], "bbox3D_cam": [[-1.472084879875183, -0.8818684220314026, 6.13264274597168], [-0.9551162719726562, -2.374561309814453, 4.606766700744629], [-0.9324949979782104, -2.3145010471343994, 4.555676460266113], [-1.4494637250900269, -0.8218082785606384, 6.081552505493164], [-0.7803958654403687, -0.9152581095695496, 6.399651527404785], [-0.26342713832855225, -2.4079508781433105, 4.873775482177734], [-0.240805983543396, -2.347890853881836, 4.822685241699219], [-0.7577745914459229, -0.8551979660987854, 6.3485612869262695]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1790, "image_id": 249, "category_id": 14, "category_name": "cabinet", "bbox2D_proj": [29.0, 89.0, 55.0, 138.0], "bbox2D_tight": [29.0, 89.0, 55.0, 138.0], "bbox2D_trunc": [29.0, 89.0, 55.0, 138.0], "center_cam": [-1.5336588153433155, -1.0162235583943247, 3.146721803076616], "dimensions": [0.03124999968519563, 0.3081054766540987, 0.17382812587802116], "R_cam": [[-0.4944385588169098, -0.1700904369354248, 0.852408230304718], [0.3655185103416443, 0.8490579128265381, 0.3814406394958496], [-0.7886233329772949, 0.5001699328422546, -0.3576357364654541]], "bbox3D_cam": [[-1.4778012037277222, -1.1847519874572754, 3.1437997817993164], [-1.5637484788894653, -1.121214509010315, 3.0067148208618164], [-1.6161543130874634, -0.8596151471138, 3.1608200073242188], [-1.5302069187164307, -0.9231525659561157, 3.2979049682617188], [-1.451163411140442, -1.1728318929672241, 3.1326236724853516], [-1.5371108055114746, -1.1092945337295532, 2.9955387115478516], [-1.589516520500183, -0.8476951718330383, 3.149643898010254], [-1.50356924533844, -0.9112325310707092, 3.286728858947754]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1791, "image_id": 249, "category_id": 45, "category_name": "person", "bbox2D_proj": [345.0, 215.0, 476.0, 463.0], "bbox2D_tight": [345.0, 215.0, 476.0, 463.0], "bbox2D_trunc": [345.0, 215.0, 476.0, 463.0], "center_cam": [0.7187633724708975, 0.38559308414912996, 2.1235589605909437], "dimensions": [0.39453125634714714, 1.0727539319551065, 0.6502075212258761], "R_cam": [[0.9128340482711792, -0.02476811408996582, 0.4075787663459778], [-0.0013477802276611328, 0.997970461845398, 0.06366398930549622], [-0.40832841396331787, -0.05866396427154541, 0.9109480977058411]], "bbox3D_cam": [[0.35488131642341614, -0.1618157923221588, 2.1080753803253174], [0.9484128952026367, -0.1626920998096466, 1.8425772190093994], [0.9218428134918213, 0.9078845977783203, 1.7796452045440674], [0.3283112347126007, 0.9087609052658081, 2.0451433658599854], [0.5156838893890381, -0.1366983950138092, 2.467472791671753], [1.109215497970581, -0.137574702501297, 2.201974630355835], [1.0826454162597656, 0.9330019950866699, 2.139042615890503], [0.48911377787590027, 0.9338783025741577, 2.404540777206421]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1792, "image_id": 249, "category_id": 16, "category_name": "chair", "bbox2D_proj": [129.0, 302.0, 178.0, 357.0], "bbox2D_tight": [129.0, 302.0, 178.0, 357.0], "bbox2D_trunc": [129.0, 302.0, 178.0, 357.0], "center_cam": [-0.6808795343291651, 0.5551716090020876, 3.3180005529975496], "dimensions": [0.2187500025154929, 0.33618165249679477, 0.24804688406177794], "R_cam": [[0.0018841028213500977, 0.08156251907348633, 0.996666431427002], [-0.07822668552398682, 0.9936259984970093, -0.08116582036018372], [-0.9969338178634644, -0.0778130292892456, 0.008252501487731934]], "bbox3D_cam": [[-0.8038334846496582, 0.40673166513442993, 3.4538207054138184], [-0.8033661842346191, 0.38732776045799255, 3.2065343856811523], [-0.7759463787078857, 0.7213665843009949, 3.180375099182129], [-0.7764136791229248, 0.7407704591751099, 3.427661418914795], [-0.5858126878738403, 0.3889766335487366, 3.4556260108947754], [-0.5853453874588013, 0.3695727288722992, 3.2083396911621094], [-0.5579255819320679, 0.7036115527153015, 3.182180404663086], [-0.5583928823471069, 0.7230154275894165, 3.429466724395752]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1793, "image_id": 249, "category_id": 1, "category_name": "awning", "bbox2D_proj": [244.0, 129.0, 430.0, 195.0], "bbox2D_tight": [244.0, 129.0, 430.0, 195.0], "bbox2D_trunc": [244.0, 129.0, 430.0, 195.0], "center_cam": [0.8350077209764151, -0.7275087421940298, 3.7254139818243646], "dimensions": [0.3437500124757777, 0.29577638583618565, 2.3134765153634707], "R_cam": [[0.7719268798828125, -0.14489376544952393, -0.61897873878479], [0.026291370391845703, 0.9801223278045654, -0.19664430618286133], [0.6351674199104309, 0.13552117347717285, 0.7603923082351685]], "bbox3D_cam": [[0.06990540027618408, -0.8690712451934814, 2.8399572372436523], [1.8557403087615967, -0.8082467913627625, 4.309401988983154], [1.812883973121643, -0.5183497071266174, 4.349485874176025], [0.02704918384552002, -0.5791742205619812, 2.8800411224365234], [-0.1428685188293457, -0.9366677403450012, 3.10134220123291], [1.6429662704467773, -0.8758432269096375, 4.570786952972412], [1.6001100540161133, -0.5859462022781372, 4.610870838165283], [-0.18572479486465454, -0.6467706561088562, 3.1414260864257812]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1794, "image_id": 250, "category_id": 45, "category_name": "person", "bbox2D_proj": [268.0, 245.0, 287.0, 309.0], "bbox2D_tight": [268.0, 245.0, 287.0, 309.0], "bbox2D_trunc": [268.0, 245.0, 287.0, 309.0], "center_cam": [0.2919321097882924, 0.2619420251723355, 5.947587144367924], "dimensions": [0.2539063033034249, 0.8225098236694057, 0.2841797347042204], "R_cam": [[0.9287065863609314, 0.036508917808532715, 0.36901378631591797], [-0.06588470935821533, 0.9955539107322693, 0.0673171877861023], [-0.3649154603481293, -0.08683028817176819, 0.9269828796386719]], "bbox3D_cam": [[0.0981103777885437, -0.14666900038719177, 5.917463779449463], [0.3620299696922302, -0.16539213061332703, 5.813762187957764], [0.3920589089393616, 0.6534607410430908, 5.742343425750732], [0.12813931703567505, 0.6721838712692261, 5.846045017242432], [0.19180530309677124, -0.12957671284675598, 6.152830600738525], [0.45572489500045776, -0.14829984307289124, 6.049129009246826], [0.4857538342475891, 0.6705530881881714, 5.977710247039795], [0.2218342423439026, 0.6892762184143066, 6.081411838531494]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1795, "image_id": 251, "category_id": 45, "category_name": "person", "bbox2D_proj": [353.0, 285.0, 408.0, 442.0], "bbox2D_tight": [353.0, 285.0, 408.0, 442.0], "bbox2D_trunc": [353.0, 285.0, 408.0, 442.0], "center_cam": [0.9137745567562999, 0.7883440018101477, 3.314516276427067], "dimensions": [0.3437500406594276, 1.1035155726578645, 0.39990239515414], "R_cam": [[0.9026415348052979, -0.044143736362457275, 0.4281232953071594], [0.037589073181152344, 0.9990108013153076, 0.023756220936775208], [-0.4287484884262085, -0.005350619554519653, 0.9034080505371094]], "bbox3D_cam": [[0.684063196182251, 0.2255328893661499, 3.2479240894317627], [1.0450317859649658, 0.24056482315063477, 3.0764665603637695], [0.9963184595108032, 1.3429889678955078, 3.0705621242523193], [0.6353499293327332, 1.327957034111023, 3.2420196533203125], [0.831230640411377, 0.23369908332824707, 3.5584704875946045], [1.1921992301940918, 0.24873101711273193, 3.3870129585266113], [1.1434859037399292, 1.351155161857605, 3.381108522415161], [0.7825173139572144, 1.3361232280731201, 3.5525660514831543]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1796, "image_id": 251, "category_id": 45, "category_name": "person", "bbox2D_proj": [255.0, 272.0, 303.0, 397.0], "bbox2D_tight": [255.0, 272.0, 303.0, 397.0], "bbox2D_trunc": [255.0, 272.0, 303.0, 397.0], "center_cam": [0.17493625145778197, 0.6590438381644594, 3.863094802214783], "dimensions": [0.3320312580335646, 1.0139159692643935, 0.3885498279100557], "R_cam": [[0.999065101146698, -0.01395416259765625, -0.040917444974184036], [0.018872559070587158, 0.9923015236854553, 0.12239942699670792], [0.03889446705579758, -0.12305721640586853, 0.9916372299194336]], "bbox3D_cam": [[-0.0052899569272994995, 0.13200199604034424, 3.753296136856079], [0.3828966021537781, 0.13933491706848145, 3.7684085369110107], [0.3687483072280884, 1.1454452276229858, 3.643638849258423], [-0.019438251852989197, 1.1381123065948486, 3.628526449203491], [-0.01887582242488861, 0.17264243960380554, 4.082550525665283], [0.36931073665618896, 0.17997536063194275, 4.097662925720215], [0.35516244173049927, 1.1860857009887695, 3.972893476486206], [-0.03302411735057831, 1.1787527799606323, 3.9577810764312744]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1797, "image_id": 251, "category_id": 45, "category_name": "person", "bbox2D_proj": [398.0, 276.0, 442.0, 407.0], "bbox2D_tight": [398.0, 276.0, 442.0, 407.0], "bbox2D_trunc": [398.0, 276.0, 442.0, 407.0], "center_cam": [1.3496231554433051, 0.7097962803913522, 3.780397790777796], "dimensions": [0.35351565968385956, 1.056274366634582, 0.36425786330770854], "R_cam": [[0.987650990486145, -0.09205925464630127, -0.12677040696144104], [0.08862048387527466, 0.9955346584320068, -0.03251592069864273], [0.12919771671295166, 0.020879920572042465, 0.9913990497589111]], "bbox3D_cam": [[1.240770936012268, 0.17362451553344727, 3.5706021785736084], [1.6005306243896484, 0.20590519905090332, 3.617663621902466], [1.5032907724380493, 1.257462978363037, 3.639718532562256], [1.143531084060669, 1.225182294845581, 3.5926570892333984], [1.1959556341171265, 0.16212964057922363, 3.921077251434326], [1.5557153224945068, 0.1944103240966797, 3.9681386947631836], [1.4584754705429077, 1.2459681034088135, 3.9901936054229736], [1.0987157821655273, 1.2136874198913574, 3.943132162094116]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1798, "image_id": 252, "category_id": 43, "category_name": "palm_tree", "bbox2D_proj": [264.0, 0.0, 512.0, 281.0], "bbox2D_tight": [264.0, 0.0, 512.0, 281.0], "bbox2D_trunc": [264.0, 0.0, 512.0, 281.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1799, "image_id": 252, "category_id": 45, "category_name": "person", "bbox2D_proj": [101.0, 213.0, 131.0, 301.0], "bbox2D_tight": [101.0, 213.0, 131.0, 301.0], "bbox2D_trunc": [101.0, 213.0, 131.0, 301.0], "center_cam": [-1.8891071101212682, -0.01050913947042409, 6.1389750030358945], "dimensions": [0.4531250801954184, 1.1447753667238334, 0.4707032062887837], "R_cam": [[0.6189910769462585, 0.023575425148010254, -0.7850443124771118], [-0.05340468883514404, 0.9984995126724243, -0.012122901156544685], [0.7835804224014282, 0.04942891746759415, 0.6193211078643799]], "bbox3D_cam": [[-1.870420217514038, -0.5667223930358887, 5.785950660705566], [-1.5790592432022095, -0.5918601751327515, 6.154784679412842], [-1.5520707368850708, 0.5511972904205322, 6.211369514465332], [-1.8434317111968994, 0.576335072517395, 5.842535972595215], [-2.2261435985565186, -0.5722155570983887, 6.066580772399902], [-1.9347825050354004, -0.5973533391952515, 6.4354143142700195], [-1.9077939987182617, 0.5457041263580322, 6.491999626159668], [-2.199154853820801, 0.570841908454895, 6.123165607452393]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1800, "image_id": 252, "category_id": 45, "category_name": "person", "bbox2D_proj": [291.0, 220.0, 307.0, 274.0], "bbox2D_tight": [291.0, 220.0, 307.0, 274.0], "bbox2D_trunc": [291.0, 220.0, 307.0, 274.0], "center_cam": [0.861996403881621, -0.18882950634250167, 8.657983916783852], "dimensions": [0.2968750159213129, 1.0034179526864768, 0.34863283379944987], "R_cam": [[0.9936900734901428, 0.019358396530151367, -0.11047815531492233], [-0.037512898445129395, 0.9856297373771667, -0.1647026538848877], [0.10570219159126282, 0.16780772805213928, 0.980136513710022]], "bbox3D_cam": [[0.6954667568206787, -0.6523416042327881, 8.409878730773926], [1.0418996810913086, -0.6654198169708252, 8.44672966003418], [1.0613242387771606, 0.32357868552207947, 8.615111351013184], [0.7148913145065308, 0.3366568982601166, 8.578259468078613], [0.6626685857772827, -0.701237678527832, 8.70085620880127], [1.0091015100479126, -0.7143158912658691, 8.73770809173584], [1.0285260677337646, 0.2746826112270355, 8.906088829040527], [0.68209308385849, 0.28776082396507263, 8.869237899780273]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1801, "image_id": 252, "category_id": 7, "category_name": "bench", "bbox2D_proj": [382.0, 282.0, 502.0, 322.0], "bbox2D_tight": [382.0, 282.0, 502.0, 322.0], "bbox2D_trunc": [382.0, 282.0, 502.0, 322.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1802, "image_id": 252, "category_id": 45, "category_name": "person", "bbox2D_proj": [426.0, 232.0, 457.0, 286.0], "bbox2D_tight": [426.0, 232.0, 457.0, 286.0], "bbox2D_trunc": [426.0, 232.0, 457.0, 286.0], "center_cam": [2.8855280066775637, 0.07915947868096514, 6.842715949538604], "dimensions": [0.3398437653885358, 0.9492187390603599, 0.4326172092661288], "R_cam": [[0.9533978700637817, -0.044721782207489014, 0.29838302731513977], [-0.01998770236968994, 0.977419376373291, 0.2103610783815384], [-0.30105310678482056, -0.20652177929878235, 0.9309757351875305]], "bbox3D_cam": [[2.6498234272003174, -0.4161544144153595, 6.847660064697266], [3.06227970123291, -0.42480143904685974, 6.717419624328613], [3.019829034805298, 0.5029834508895874, 6.521385192871094], [2.607372760772705, 0.5116304755210876, 6.651625633239746], [2.7512271404266357, -0.34466448426246643, 7.164046287536621], [3.1636834144592285, -0.3533115088939667, 7.033805847167969], [3.121232748031616, 0.5744733810424805, 6.837771415710449], [2.7087764739990234, 0.5831204056739807, 6.968011856079102]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1803, "image_id": 252, "category_id": 45, "category_name": "person", "bbox2D_proj": [401.0, 218.0, 423.0, 287.0], "bbox2D_tight": [401.0, 218.0, 423.0, 287.0], "bbox2D_trunc": [401.0, 218.0, 423.0, 287.0], "center_cam": [2.566178911941086, -0.06540199831077584, 7.4765278359352285], "dimensions": [0.324218770548929, 1.1231078887000634, 0.41406252321152526], "R_cam": [[-0.4028259515762329, -0.06301069259643555, -0.9131051301956177], [0.026775717735290527, 0.9963892698287964, -0.08057025074958801], [0.9148849248886108, -0.05690485239028931, -0.39968419075012207]], "bbox3D_cam": [[2.8329832553863525, -0.6174105405807495, 7.383865833282471], [2.6661880016326904, -0.6063237190246582, 7.762685298919678], [2.5954203605651855, 0.5127289295196533, 7.698774814605713], [2.7622153759002686, 0.501642107963562, 7.319955348968506], [2.5369372367858887, -0.6435329914093018, 7.2542805671691895], [2.3701422214508057, -0.6324461698532104, 7.6331000328063965], [2.2993743419647217, 0.48660650849342346, 7.569189548492432], [2.466169595718384, 0.47551968693733215, 7.190370082855225]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1804, "image_id": 252, "category_id": 43, "category_name": "palm_tree", "bbox2D_proj": [0.0, 0.0, 149.0, 273.0], "bbox2D_tight": [0.0, 0.0, 149.0, 273.0], "bbox2D_trunc": [0.0, 0.0, 149.0, 273.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1805, "image_id": 252, "category_id": 47, "category_name": "pipe", "bbox2D_proj": [449.0, 301.0, 507.0, 322.0], "bbox2D_tight": [449.0, 301.0, 507.0, 322.0], "bbox2D_trunc": [449.0, 301.0, 507.0, 322.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1806, "image_id": 252, "category_id": 43, "category_name": "palm_tree", "bbox2D_proj": [131.0, 105.0, 240.0, 226.0], "bbox2D_tight": [131.0, 105.0, 240.0, 226.0], "bbox2D_trunc": [131.0, 105.0, 240.0, 226.0], "center_cam": [-1.8160613297066615, -1.954002628379891, 10.786328105568405], "dimensions": [2.351562813381751, 2.854492281307929, 2.508545215101687], "R_cam": [[0.9676356315612793, -0.048278093338012695, -0.24769048392772675], [0.011613070964813232, 0.9890084266662598, -0.14740242063999176], [0.25208428502082825, 0.13975538313388824, 0.9575604200363159]], "bbox3D_cam": [[-2.6696057319641113, -3.2068138122558594, 9.14479923248291], [-0.24224817752838135, -3.1776819229125977, 9.7771635055542], [-0.3800574541091919, -0.35456526279449463, 10.176094055175781], [-2.807415008544922, -0.38369715213775635, 9.543729782104492], [-3.2520651817321777, -3.5534400939941406, 11.396562576293945], [-0.8247078657150269, -3.524308204650879, 12.028926849365234], [-0.9625171422958374, -0.7011913061141968, 12.427857398986816], [-3.3898744583129883, -0.7303231954574585, 11.795493125915527]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1807, "image_id": 252, "category_id": 45, "category_name": "person", "bbox2D_proj": [322.0, 220.0, 341.0, 275.0], "bbox2D_tight": [322.0, 220.0, 341.0, 275.0], "bbox2D_trunc": [322.0, 220.0, 341.0, 275.0], "center_cam": [1.446625890489814, -0.17381609577569268, 8.575517593056741], "dimensions": [0.30468751892344104, 1.015869117797446, 0.3671875200333893], "R_cam": [[0.4991636276245117, 0.024517416954040527, -0.8661607503890991], [-0.037839531898498535, 0.999262809753418, 0.006478309631347656], [0.8656811118125916, 0.02954140305519104, 0.4997234344482422]], "bbox3D_cam": [[1.474483609199524, -0.6754160523414612, 8.325448989868164], [1.6577702760696411, -0.6893102526664734, 8.643316268920898], [1.6826767921447754, 0.3258100152015686, 8.67332649230957], [1.4993901252746582, 0.3397042155265808, 8.355459213256836], [1.2105751037597656, -0.6734421849250793, 8.47770881652832], [1.3938617706298828, -0.6873363852500916, 8.795576095581055], [1.418768286705017, 0.32778388261795044, 8.825586318969727], [1.2354816198349, 0.34167808294296265, 8.507719039916992]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1808, "image_id": 252, "category_id": 45, "category_name": "person", "bbox2D_proj": [346.0, 222.0, 361.0, 273.0], "bbox2D_tight": [346.0, 222.0, 361.0, 273.0], "bbox2D_trunc": [346.0, 222.0, 361.0, 273.0], "center_cam": [1.942683539751393, -0.20259466075121124, 9.191545003891667], "dimensions": [0.2968750138979603, 1.0155334285273905, 0.5156250259317512], "R_cam": [[0.797001838684082, 0.0377812385559082, -0.6027941107749939], [-0.06818795204162598, 0.9972892999649048, -0.027649611234664917], [0.6001155376434326, 0.06314003467559814, 0.7974175214767456]], "bbox3D_cam": [[1.8074997663497925, -0.6873010396957397, 8.88640022277832], [2.218453884124756, -0.7224603891372681, 9.19583511352539], [2.256821870803833, 0.29032018780708313, 9.259955406188965], [1.8458678722381592, 0.3254795968532562, 8.950521469116211], [1.6285452842712402, -0.6955095529556274, 9.123133659362793], [2.039499282836914, -0.7306689023971558, 9.432567596435547], [2.0778675079345703, 0.2821117341518402, 9.496688842773438], [1.666913390159607, 0.31727108359336853, 9.187253952026367]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1809, "image_id": 253, "category_id": 54, "category_name": "sculpture", "bbox2D_proj": [356.0, 239.0, 430.0, 282.0], "bbox2D_tight": [356.0, 239.0, 430.0, 282.0], "bbox2D_trunc": [356.0, 239.0, 430.0, 282.0], "center_cam": [2.3453103244538163, 0.08170613891834975, 7.466900962948102], "dimensions": [0.6484252588082245, 0.46436485891228313, 0.9524790233846092], "R_cam": [[-0.5537925958633423, 0.06639114022254944, -0.8300036191940308], [0.04966503381729126, 0.9976751208305359, 0.046665698289871216], [0.8311721682548523, -0.015379011631011963, -0.5558023452758789]], "bbox3D_cam": [[2.8627309799194336, -0.1887185275554657, 7.254832744598389], [2.3352551460266113, -0.14141367375850677, 8.046506881713867], [2.3660848140716553, 0.3218715786933899, 8.039365768432617], [2.8935608863830566, 0.2745667099952698, 7.2476911544799805], [2.324535608291626, -0.15845932066440582, 6.894436359405518], [1.7970596551895142, -0.1111544519662857, 7.686110496520996], [1.8278894424438477, 0.35213080048561096, 7.678968906402588], [2.35536527633667, 0.30482596158981323, 6.887294769287109]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1810, "image_id": 253, "category_id": 13, "category_name": "building", "bbox2D_proj": [106.0, 79.0, 320.0, 277.0], "bbox2D_tight": [106.0, 79.0, 320.0, 277.0], "bbox2D_trunc": [106.0, 79.0, 320.0, 277.0], "center_cam": [-0.8621442278208857, -1.613699424070398, 8.78663447030789], "dimensions": [2.203125025222528, 3.581054800111989, 3.8909914632382914], "R_cam": [[0.9502617716789246, -0.07328033447265625, -0.3027086555957794], [0.06343422830104828, 0.9970914125442505, -0.04224549978971481], [0.30492398142814636, 0.020942190662026405, 0.9521462917327881]], "bbox3D_cam": [[-2.246211528778076, -3.475893974304199, 7.107059955596924], [1.4512488842010498, -3.229071855545044, 8.293516159057617], [1.1888279914855957, 0.3415672779083252, 8.368511199951172], [-2.5086324214935303, 0.09474515914916992, 7.1820549964904785], [-2.913116455078125, -3.5689661502838135, 9.204757690429688], [0.784343957901001, -3.322144031524658, 10.391214370727539], [0.5219230651855469, 0.24849510192871094, 10.466209411621094], [-3.175537347793579, 0.001672983169555664, 9.279752731323242]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1811, "image_id": 253, "category_id": 13, "category_name": "building", "bbox2D_proj": [55.0, 124.0, 110.0, 260.0], "bbox2D_tight": [55.0, 124.0, 110.0, 260.0], "bbox2D_trunc": [55.0, 124.0, 110.0, 260.0], "center_cam": [-2.952326978114771, -1.0730516114160424, 7.491217133553026], "dimensions": [0.9648438815281506, 2.140502939833519, 0.9824220387339415], "R_cam": [[0.9896218180656433, -0.13172197341918945, 0.05742751061916351], [0.14141088724136353, 0.963720977306366, -0.22637327015399933], [-0.025525763630867004, 0.2321448177099228, 0.972346305847168]], "bbox3D_cam": [[-3.3251688480377197, -2.064730405807495, 6.786221027374268], [-2.35294246673584, -1.9258053302764893, 6.761144161224365], [-2.6348938941955566, 0.13704216480255127, 7.258050918579102], [-3.6071200370788574, -0.0018829107284545898, 7.283127784729004], [-3.2697601318359375, -2.2831454277038574, 7.724383354187012], [-2.2975339889526367, -2.1442203521728516, 7.699306488037109], [-2.5794851779937744, -0.08137267827987671, 8.196212768554688], [-3.5517115592956543, -0.22029781341552734, 8.221290588378906]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1812, "image_id": 253, "category_id": 13, "category_name": "building", "bbox2D_proj": [313.0, 149.0, 366.0, 265.0], "bbox2D_tight": [313.0, 149.0, 366.0, 265.0], "bbox2D_trunc": [313.0, 149.0, 366.0, 265.0], "center_cam": [2.5829439336629636, -1.155275025745666, 9.320584267006847], "dimensions": [1.2304687856248522, 2.1669921972123607, 1.8046874954705174], "R_cam": [[0.020473092794418335, -0.07678627967834473, 0.9968373775482178], [0.07094180583953857, 0.9946447610855103, 0.07516029477119446], [-0.9972703456878662, 0.06917870044708252, 0.025810837745666504]], "bbox3D_cam": [[2.034379005432129, -2.343223810195923, 10.129630088806152], [2.071326732635498, -2.215195894241333, 8.329869270324707], [1.9049317836761475, -0.05980849266052246, 8.479779243469238], [1.8679839372634888, -0.18783646821975708, 10.279540061950684], [3.260956048965454, -2.250741481781006, 10.161389350891113], [3.2979040145874023, -2.122713565826416, 8.361628532409668], [3.1315088272094727, 0.03267383575439453, 8.5115385055542], [3.0945611000061035, -0.09535408020019531, 10.311299324035645]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1813, "image_id": 253, "category_id": 13, "category_name": "building", "bbox2D_proj": [0.0, 117.0, 59.0, 255.0], "bbox2D_tight": [0.0, 117.0, 59.0, 255.0], "bbox2D_trunc": [0.0, 117.0, 59.0, 255.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1814, "image_id": 254, "category_id": 57, "category_name": "shorts", "bbox2D_proj": [372.0, 342.0, 422.0, 400.0], "bbox2D_tight": [372.0, 342.0, 422.0, 400.0], "bbox2D_trunc": [372.0, 342.0, 422.0, 400.0], "center_cam": [0.6774276650182817, 0.5590129840450246, 2.232930136996986], "dimensions": [0.18164063324516916, 0.3208007788158458, 0.23779296285841445], "R_cam": [[0.9961201548576355, 0.0430983304977417, -0.07672756910324097], [-0.054093241691589355, 0.9875755906105042, -0.14754071831703186], [0.06941551715135574, 0.15111872553825378, 0.9860753417015076]], "bbox3D_cam": [[0.5590478777885437, 0.42043668031692505, 2.110881805419922], [0.7959182262420654, 0.4075736999511719, 2.1273882389068604], [0.8097442388534546, 0.7243887186050415, 2.1758673191070557], [0.5728738903999329, 0.7372516989707947, 2.159360647201538], [0.5451110601425171, 0.3936372995376587, 2.2899930477142334], [0.7819814085960388, 0.3807743191719055, 2.306499719619751], [0.795807421207428, 0.6975893378257751, 2.354978561401367], [0.5589370727539062, 0.7104523181915283, 2.3384721279144287]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1815, "image_id": 254, "category_id": 45, "category_name": "person", "bbox2D_proj": [324.0, 232.0, 371.0, 428.0], "bbox2D_tight": [324.0, 232.0, 371.0, 428.0], "bbox2D_trunc": [324.0, 232.0, 371.0, 428.0], "center_cam": [0.9556624967613483, 0.7492612561529111, 4.592893077040182], "dimensions": [0.574218776176546, 1.927490199920388, 0.8281250647750669], "R_cam": [[-0.49392595887184143, -0.013507962226867676, 0.8693990111351013], [-0.041649818420410156, 0.9990991353988647, -0.008139073848724365], [-0.8685058355331421, -0.04023045301437378, -0.49404358863830566]], "bbox3D_cam": [[0.9235843420028687, -0.1940332055091858, 5.133125305175781], [0.5145519375801086, -0.22852450609207153, 4.413893699645996], [0.4885154366493225, 1.6972293853759766, 4.336349964141846], [0.8975478410720825, 1.7317206859588623, 5.055581569671631], [1.4228096008300781, -0.19870680570602417, 4.849436283111572], [1.0137771368026733, -0.2331981062889099, 4.130204677581787], [0.9877406358718872, 1.6925556659698486, 4.052660942077637], [1.396773099899292, 1.7270469665527344, 4.771892547607422]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1816, "image_id": 255, "category_id": 45, "category_name": "person", "bbox2D_proj": [29.0, 253.0, 81.0, 288.0], "bbox2D_tight": [29.0, 253.0, 81.0, 288.0], "bbox2D_trunc": [29.0, 253.0, 81.0, 288.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1817, "image_id": 255, "category_id": 45, "category_name": "person", "bbox2D_proj": [469.0, 282.0, 512.0, 474.0], "bbox2D_tight": [469.0, 282.0, 512.0, 474.0], "bbox2D_trunc": [469.0, 282.0, 512.0, 474.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1818, "image_id": 255, "category_id": 35, "category_name": "jersey", "bbox2D_proj": [257.0, 342.0, 368.0, 426.0], "bbox2D_tight": [257.0, 342.0, 368.0, 426.0], "bbox2D_trunc": [257.0, 342.0, 368.0, 426.0], "center_cam": [0.2902986687735098, 0.7039081420066671, 2.4600755840042456], "dimensions": [0.33593750424104385, 0.45214843701107926, 0.6757812905208209], "R_cam": [[-0.9079649448394775, 0.11961615830659866, -0.40161147713661194], [0.09727265685796738, 0.9923781156539917, 0.07565593719482422], [0.407600075006485, 0.0296271201223135, -0.9126797914505005]], "bbox3D_cam": [[0.6375075578689575, 0.433981716632843, 2.4689550399780273], [0.023921877145767212, 0.49971675872802734, 2.744403600692749], [0.07800611853599548, 0.948418915271759, 2.7577996253967285], [0.6915918588638306, 0.8826838731765747, 2.482351064682007], [0.5025912523269653, 0.4593973755836487, 2.162351608276367], [-0.11099448800086975, 0.525132417678833, 2.437800168991089], [-0.05691024661064148, 0.9738345742225647, 2.4511961936950684], [0.5566754341125488, 0.9080995321273804, 2.1757476329803467]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1819, "image_id": 256, "category_id": 45, "category_name": "person", "bbox2D_proj": [73.0, 183.0, 177.0, 272.0], "bbox2D_tight": [73.0, 183.0, 177.0, 272.0], "bbox2D_trunc": [73.0, 183.0, 177.0, 272.0], "center_cam": [-0.959037538756282, -0.2003974509213085, 3.1807254905279985], "dimensions": [0.4790699272026182, 0.837768805820079, 0.6480817819828117], "R_cam": [[-0.7469242811203003, -0.42433321475982666, 0.5119037628173828], [-0.006343215703964233, 0.7743977308273315, 0.6326673030853271], [-0.6648788452148438, 0.469307541847229, -0.5811080932617188]], "bbox3D_cam": [[-0.6618757247924805, -0.6742711067199707, 3.3387837409973145], [-1.1459438800811768, -0.6783819794654846, 2.9078876972198486], [-1.5014370679855347, -0.029615744948387146, 3.3010590076446533], [-1.0173689126968384, -0.02550487220287323, 3.73195481300354], [-0.41663801670074463, -0.37117916345596313, 3.060392141342163], [-0.9007061123847961, -0.37529003620147705, 2.6294963359832764], [-1.2561993598937988, 0.27347618341445923, 3.022667407989502], [-0.7721312046051025, 0.27758705615997314, 3.4535634517669678]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1820, "image_id": 256, "category_id": 45, "category_name": "person", "bbox2D_proj": [83.0, 194.0, 483.0, 512.0], "bbox2D_tight": [83.0, 194.0, 483.0, 512.0], "bbox2D_trunc": [83.0, 194.0, 483.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1821, "image_id": 256, "category_id": 42, "category_name": "painting", "bbox2D_proj": [183.0, 81.0, 229.0, 125.0], "bbox2D_tight": [183.0, 81.0, 229.0, 125.0], "bbox2D_trunc": [183.0, 81.0, 229.0, 125.0], "center_cam": [-0.6096413947127354, -1.8466309741927351, 5.3478602422274175], "dimensions": [0.04687500109247857, 0.47363284080822377, 0.5595703506901621], "R_cam": [[-0.9264613389968872, -0.05005703866481781, 0.3730465769767761], [0.17064352333545685, 0.8275447487831116, 0.5348368287086487], [-0.3354851007461548, 0.5591636300086975, -0.7581462860107422]], "bbox3D_cam": [[-0.34732016921043396, -2.1028859615325928, 5.32707405090332], [-0.8657404780387878, -2.007398843765259, 5.139346599578857], [-0.8894491195678711, -1.6154464483261108, 5.404184818267822], [-0.3710288107395172, -1.7109335660934448, 5.591912269592285], [-0.32983359694480896, -2.077815294265747, 5.2915358543396], [-0.8482539653778076, -1.9823282957077026, 5.103808403015137], [-0.8719625473022461, -1.5903760194778442, 5.368646621704102], [-0.3535422682762146, -1.6858630180358887, 5.5563740730285645]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1822, "image_id": 256, "category_id": 11, "category_name": "box", "bbox2D_proj": [363.0, 371.0, 424.0, 405.0], "bbox2D_tight": [363.0, 371.0, 424.0, 405.0], "bbox2D_trunc": [363.0, 371.0, 424.0, 405.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1823, "image_id": 257, "category_id": 45, "category_name": "person", "bbox2D_proj": [324.0, 382.0, 377.0, 512.0], "bbox2D_tight": [324.0, 382.0, 377.0, 512.0], "bbox2D_trunc": [324.0, 382.0, 377.0, 512.0], "center_cam": [0.7887469688237991, 1.585904295020645, 3.932541432358426], "dimensions": [0.30537539548132875, 0.874057223388, 0.5864081682005198], "R_cam": [[-0.3788118362426758, 0.0030894181691110134, -0.9254686236381531], [-0.00043300120159983635, 0.9999938011169434, 0.0035154351498931646], [0.9254736304283142, 0.0017324171494692564, -0.37880802154541016]], "bbox3D_cam": [[1.03977370262146, 1.1484684944152832, 3.718271017074585], [0.8176352977752686, 1.14821457862854, 4.260976314544678], [0.8203356266021729, 2.022266387939453, 4.262490272521973], [1.0424740314483643, 2.0225203037261963, 3.719785213470459], [0.7571582794189453, 1.1495420932769775, 3.6025922298431396], [0.5350199341773987, 1.1492881774902344, 4.145297527313232], [0.537720263004303, 2.0233399868011475, 4.1468119621276855], [0.7598586082458496, 2.0235939025878906, 3.6041064262390137]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1824, "image_id": 257, "category_id": 45, "category_name": "person", "bbox2D_proj": [448.0, 373.0, 507.0, 512.0], "bbox2D_tight": [448.0, 373.0, 507.0, 512.0], "bbox2D_trunc": [448.0, 373.0, 507.0, 512.0], "center_cam": [1.7030219188955127, 1.435854578660603, 3.447432825615265], "dimensions": [0.30892831233841145, 1.0152261814159655, 0.4249236456383555], "R_cam": [[-0.7902289628982544, 0.003089418401941657, -0.6128038763999939], [0.0013797141145914793, 0.9999936819076538, 0.0032622329890727997], [0.6128100752830505, 0.0017324170330539346, -0.7902283072471619]], "bbox3D_cam": [[1.964003324508667, 0.9274476170539856, 3.4384164810180664], [1.6282163858413696, 0.9280338883399963, 3.6988141536712646], [1.6313529014587402, 1.943253755569458, 3.700572967529297], [1.9671398401260376, 1.9426674842834473, 3.4401752948760986], [1.774690866470337, 0.9284554123878479, 3.1942925453186035], [1.4389039278030396, 0.9290416836738586, 3.4546902179718018], [1.4420404434204102, 1.9442615509033203, 3.456449031829834], [1.7778273820877075, 1.9436752796173096, 3.1960513591766357]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1825, "image_id": 257, "category_id": 45, "category_name": "person", "bbox2D_proj": [70.0, 412.0, 128.0, 512.0], "bbox2D_tight": [70.0, 412.0, 128.0, 512.0], "bbox2D_trunc": [70.0, 412.0, 128.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1826, "image_id": 257, "category_id": 45, "category_name": "person", "bbox2D_proj": [234.0, 391.0, 268.0, 481.0], "bbox2D_tight": [234.0, 391.0, 268.0, 481.0], "bbox2D_trunc": [234.0, 391.0, 268.0, 481.0], "center_cam": [-0.06013274208961128, 2.0027130823725834, 4.596382563870563], "dimensions": [0.38281249551537466, 1.2246094417772289, 0.47644042834563294], "R_cam": [[-0.9989761114120483, 0.03797709941864014, -0.024589527398347855], [0.028929471969604492, 0.954064130783081, 0.29820287227630615], [0.03478485718369484, 0.2971861660480499, -0.9541858434677124]], "bbox3D_cam": [[0.15929661691188812, 1.3545656204223633, 4.588764667510986], [-0.3166559934616089, 1.3683488368988037, 4.605337619781494], [-0.2701489329338074, 2.5367045402526855, 4.969274520874023], [0.20580369234085083, 2.522921323776245, 4.952701568603516], [0.149883434176445, 1.4687213897705078, 4.2234907150268555], [-0.326069176197052, 1.4825046062469482, 4.240063667297363], [-0.2795621156692505, 2.65086030960083, 4.604000568389893], [0.19639050960540771, 2.6370770931243896, 4.587427616119385]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1827, "image_id": 257, "category_id": 19, "category_name": "christmas_tree", "bbox2D_proj": [204.0, 100.0, 348.0, 362.0], "bbox2D_tight": [204.0, 100.0, 348.0, 362.0], "bbox2D_trunc": [204.0, 100.0, 348.0, 362.0], "center_cam": [0.3556051023741368, -0.45389457639224484, 6.7451545892141835], "dimensions": [0.8429237440387718, 4.010929875383088, 1.9615941905739018], "R_cam": [[-0.8329434394836426, 0.003089418401941657, -0.5533494353294373], [0.0016146779526025057, 0.9999936819076538, 0.0031525527592748404], [0.5533557534217834, 0.0017324171494692564, -0.8329432606697083]], "bbox3D_cam": [[1.399573564529419, -2.462259292602539, 6.550004005432129], [-0.23432347178459167, -2.459092140197754, 7.635463714599609], [-0.22193202376365662, 1.5518126487731934, 7.642412185668945], [1.4119651317596436, 1.5486454963684082, 6.556952953338623], [0.9331421852111816, -2.459601879119873, 5.847896575927734], [-0.7007548809051514, -2.456434726715088, 6.933355808258057], [-0.6883633136749268, 1.5544700622558594, 6.940304756164551], [0.9455336332321167, 1.5513029098510742, 5.85484504699707]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1828, "image_id": 257, "category_id": 45, "category_name": "person", "bbox2D_proj": [261.0, 399.0, 300.0, 463.0], "bbox2D_tight": [261.0, 399.0, 300.0, 463.0], "bbox2D_trunc": [261.0, 399.0, 300.0, 463.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1829, "image_id": 257, "category_id": 45, "category_name": "person", "bbox2D_proj": [258.0, 359.0, 286.0, 417.0], "bbox2D_tight": [258.0, 359.0, 286.0, 417.0], "bbox2D_trunc": [258.0, 359.0, 286.0, 417.0], "center_cam": [0.16956218914401214, 1.7303848771734662, 5.435406607023071], "dimensions": [0.26806640764680645, 0.9140625560397045, 0.417968746718521], "R_cam": [[-0.1692848801612854, -0.010905981063842773, 0.9855067729949951], [0.18486154079437256, 0.9818399548530579, 0.04261982440948486], [-0.9680747985839844, 0.1893971860408783, -0.16419458389282227]], "bbox3D_cam": [[0.07783382385969162, 1.2373075485229492, 5.573166370391846], [0.007078006863594055, 1.314573884010315, 5.168541431427002], [-0.0028907060623168945, 2.2120370864868164, 5.3416619300842285], [0.06786511838436127, 2.1347708702087402, 5.7462873458862305], [0.3420150876045227, 1.248732566833496, 5.529151439666748], [0.27125924825668335, 1.3259989023208618, 5.124526023864746], [0.2612905502319336, 2.2234621047973633, 5.297646999359131], [0.33204638957977295, 2.146195650100708, 5.702271938323975]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1830, "image_id": 257, "category_id": 45, "category_name": "person", "bbox2D_proj": [406.0, 368.0, 455.0, 493.0], "bbox2D_tight": [406.0, 368.0, 455.0, 493.0], "bbox2D_trunc": [406.0, 368.0, 455.0, 493.0], "center_cam": [1.6472613697541871, 1.858108160039908, 4.182352397548261], "dimensions": [0.35546875285156043, 1.499755935074278, 0.5311279406487536], "R_cam": [[0.8863353729248047, -0.07370918989181519, 0.45713940262794495], [-0.002133488655090332, 0.9865883588790894, 0.1632140874862671], [-0.4630388021469116, -0.14563772082328796, 0.874290943145752]], "bbox3D_cam": [[1.3859061002731323, 1.0898451805114746, 4.259138107299805], [1.856663703918457, 1.0887119770050049, 4.013205051422119], [1.7461178302764893, 2.5683536529541016, 3.7947840690612793], [1.275360345840454, 2.5694868564605713, 4.040717124938965], [1.5484049320220947, 1.1478626728057861, 4.569921016693115], [2.01916241645813, 1.1467294692993164, 4.32398796081543], [1.9086166620254517, 2.626371145248413, 4.10556697845459], [1.437859058380127, 2.627504348754883, 4.351500034332275]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1831, "image_id": 258, "category_id": 45, "category_name": "person", "bbox2D_proj": [360.0, 111.0, 390.0, 215.0], "bbox2D_tight": [360.0, 111.0, 390.0, 215.0], "bbox2D_trunc": [360.0, 111.0, 390.0, 215.0], "center_cam": [1.058552160671233, -0.8530330933742397, 3.9595013474283056], "dimensions": [0.24194337717454817, 0.868225088989993, 0.3261718785383114], "R_cam": [[0.12485247850418091, 0.08443689346313477, -0.9885759353637695], [-0.06291592121124268, 0.9950407147407532, 0.07704299688339233], [0.9901785254478455, 0.052578091621398926, 0.1295456886291504]], "bbox3D_cam": [[1.1211251020431519, -1.2840520143508911, 3.759521007537842], [1.1618484258651733, -1.3045734167099, 4.082489490509033], [1.2351586818695068, -0.4406541585922241, 4.128139019012451], [1.1944352388381958, -0.42013275623321533, 3.8051705360412598], [0.8819456696510315, -1.2654119729995728, 3.790863513946533], [0.9226690530776978, -1.2859333753585815, 4.113831996917725], [0.9959792494773865, -0.42201411724090576, 4.159481525421143], [0.9552558660507202, -0.401492714881897, 3.8365132808685303]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1832, "image_id": 258, "category_id": 45, "category_name": "person", "bbox2D_proj": [211.0, 184.0, 235.0, 243.0], "bbox2D_tight": [211.0, 184.0, 235.0, 243.0], "bbox2D_trunc": [211.0, 184.0, 235.0, 243.0], "center_cam": [-0.31501513294591194, -0.33857284656755277, 4.543219153087756], "dimensions": [0.19531251562754018, 0.7773437434758181, 0.2636719048847851], "R_cam": [[0.8905348777770996, 0.03218120336532593, 0.4537753462791443], [-0.11881113052368164, 0.9793270826339722, 0.16371437907218933], [-0.4391259253025055, -0.19970692694187164, 0.8759483098983765]], "bbox3D_cam": [[-0.4892415702342987, -0.7195339202880859, 4.5931901931762695], [-0.2544325590133667, -0.7508610486984253, 4.477405071258545], [-0.22941669821739197, 0.010412722826004028, 4.322164058685303], [-0.464225709438324, 0.04173991084098816, 4.437949180603027], [-0.40061357617378235, -0.6875584125518799, 4.7642741203308105], [-0.16580455005168915, -0.7188856601715088, 4.648488998413086], [-0.1407887041568756, 0.04238817095756531, 4.493247985839844], [-0.3755977153778076, 0.07371535897254944, 4.609033107757568]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1833, "image_id": 258, "category_id": 8, "category_name": "boat", "bbox2D_proj": [0.0, 369.0, 388.0, 512.0], "bbox2D_tight": [0.0, 369.0, 388.0, 512.0], "bbox2D_trunc": [0.0, 369.0, 388.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1834, "image_id": 258, "category_id": 45, "category_name": "person", "bbox2D_proj": [452.0, 121.0, 496.0, 239.0], "bbox2D_tight": [452.0, 121.0, 496.0, 239.0], "bbox2D_trunc": [452.0, 121.0, 496.0, 239.0], "center_cam": [1.6610088925163158, -0.5407233499413444, 3.398874783099873], "dimensions": [0.2812501377607945, 0.968505849585783, 0.3007813932947725], "R_cam": [[0.6687247157096863, 0.025186479091644287, 0.7430833578109741], [-0.06781315803527832, 0.9973265528678894, 0.027223259210586548], [-0.7404111623764038, -0.06859564781188965, 0.668644905090332]], "bbox3D_cam": [[1.4437460899353027, -1.017311453819275, 3.4494152069091797], [1.6448860168457031, -1.0377084016799927, 3.226713180541992], [1.6692793369293213, -0.07179176807403564, 3.160277843475342], [1.468139410018921, -0.05139482021331787, 3.3829798698425293], [1.652738332748413, -1.0096548795700073, 3.6374716758728027], [1.8538782596588135, -1.030051827430725, 3.4147696495056152], [1.8782715797424316, -0.06413519382476807, 3.348334312438965], [1.6771316528320312, -0.04373824596405029, 3.5710363388061523]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1835, "image_id": 258, "category_id": 8, "category_name": "boat", "bbox2D_proj": [158.0, 266.0, 343.0, 377.0], "bbox2D_tight": [158.0, 266.0, 343.0, 377.0], "bbox2D_trunc": [158.0, 266.0, 343.0, 377.0], "center_cam": [-0.10182284271229303, 0.5757342664595086, 4.542664466967723], "dimensions": [0.6904901343946133, 0.9739398410575374, 2.0921433503162126], "R_cam": [[0.82746821641922, 0.0014459228841587901, -0.5615106821060181], [-0.001039596158079803, 0.9999990463256836, 0.0010430584661662579], [0.5615116357803345, -0.0002793533494696021, 0.8274688720703125]], "bbox3D_cam": [[-0.7742592096328735, 0.08949226140975952, 3.6697397232055664], [0.9569228887557983, 0.08731728792190552, 4.8445024490356445], [0.9583311080932617, 1.0612560510635376, 4.8442301750183105], [-0.7728509902954102, 1.0634310245513916, 3.6694676876068115], [-1.1619768142700195, 0.09021246433258057, 4.241098880767822], [0.5692052841186523, 0.08803749084472656, 5.4158616065979], [0.5706135034561157, 1.0619761943817139, 5.415589332580566], [-1.1605685949325562, 1.0641512870788574, 4.240826606750488]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1836, "image_id": 258, "category_id": 45, "category_name": "person", "bbox2D_proj": [389.0, 113.0, 419.0, 220.0], "bbox2D_tight": [389.0, 113.0, 419.0, 220.0], "bbox2D_trunc": [389.0, 113.0, 419.0, 220.0], "center_cam": [1.2636890274291908, -0.7453065241928769, 3.8642215922961887], "dimensions": [0.2675781931648549, 0.9849243055507454, 0.3046875713638079], "R_cam": [[0.6396595239639282, 0.025213956832885742, 0.768244743347168], [0.013995051383972168, 0.9989141225814819, -0.04443719983100891], [-0.7685309648513794, 0.03917628526687622, 0.6386120319366455]], "bbox3D_cam": [[1.0510412454605103, -1.2334208488464355, 3.876570224761963], [1.245937466621399, -1.229156732559204, 3.6424083709716797], [1.2707713842391968, -0.24530184268951416, 3.6809942722320557], [1.0758750438690186, -0.249565988779068, 3.9151558876037598], [1.2566066980361938, -1.2453112602233887, 4.047449111938477], [1.451503038406372, -1.2410471439361572, 3.8132872581481934], [1.4763368368148804, -0.2571922838687897, 3.8518729209899902], [1.2814406156539917, -0.2614564001560211, 4.086034774780273]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1837, "image_id": 258, "category_id": 45, "category_name": "person", "bbox2D_proj": [330.0, 120.0, 361.0, 209.0], "bbox2D_tight": [330.0, 120.0, 361.0, 209.0], "bbox2D_trunc": [330.0, 120.0, 361.0, 209.0], "center_cam": [0.7858293040484543, -0.8283989220037249, 4.021931959173816], "dimensions": [0.22656256788510337, 0.7299652027237589, 0.2500000810451768], "R_cam": [[0.8666917681694031, 0.019398748874664307, 0.49846673011779785], [0.041234612464904785, 0.9930379986763, -0.11034123599529266], [-0.4971368908882141, 0.11618591845035553, 0.8598580360412598]], "bbox3D_cam": [[0.6139456033706665, -1.183495283126831, 3.9442625045776367], [0.8306186199188232, -1.1731865406036377, 3.8199782371520996], [0.8447790741920471, -0.4483034014701843, 3.904789924621582], [0.6281060576438904, -0.4586120843887329, 4.029074192047119], [0.7268795371055603, -1.2084944248199463, 4.139074325561523], [0.943552553653717, -1.1981858015060425, 4.014790058135986], [0.9577130079269409, -0.47330260276794434, 4.099601745605469], [0.7410399913787842, -0.4836112856864929, 4.223886013031006]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1838, "image_id": 259, "category_id": 76, "category_name": "vest", "bbox2D_proj": [286.0, 183.0, 341.0, 256.0], "bbox2D_tight": [286.0, 183.0, 341.0, 256.0], "bbox2D_trunc": [286.0, 183.0, 341.0, 256.0], "center_cam": [0.4588513395172956, -0.3209375293722856, 3.774573970859225], "dimensions": [0.2851562574767791, 0.5306396624827102, 0.3876953215228731], "R_cam": [[0.8358906507492065, 0.00046002864837646484, 0.5488958358764648], [-0.01857161521911621, 0.9994508028030396, 0.027444154024124146], [-0.5485817193984985, -0.03313419222831726, 0.8354401588439941]], "bbox3D_cam": [[0.21843327581882477, -0.5864245295524597, 3.7705910205841064], [0.5425041913986206, -0.5936246514320374, 3.557908535003662], [0.5427483320236206, -0.06327641010284424, 3.5403261184692383], [0.21867741644382477, -0.0560762882232666, 3.7530086040496826], [0.37495434284210205, -0.57859867811203, 4.008821964263916], [0.6990252733230591, -0.5857987999916077, 3.7961394786834717], [0.6992694139480591, -0.05545055866241455, 3.778557062149048], [0.37519848346710205, -0.048250436782836914, 3.991239547729492]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1839, "image_id": 259, "category_id": 30, "category_name": "handbag", "bbox2D_proj": [480.0, 231.0, 512.0, 298.0], "bbox2D_tight": [480.0, 231.0, 512.0, 298.0], "bbox2D_trunc": [480.0, 231.0, 512.0, 298.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1840, "image_id": 259, "category_id": 45, "category_name": "person", "bbox2D_proj": [150.0, 177.0, 201.0, 334.0], "bbox2D_tight": [150.0, 177.0, 201.0, 334.0], "bbox2D_trunc": [150.0, 177.0, 201.0, 334.0], "center_cam": [-0.8903925245953922, -0.0013469460232438946, 4.529310465868382], "dimensions": [0.48046875293245933, 1.6396484630192385, 0.6274413952463292], "R_cam": [[-0.9661487936973572, 0.13917255401611328, 0.21722739934921265], [0.150770902633667, 0.9878503680229187, 0.037681784480810165], [-0.20934388041496277, 0.06915778666734695, -0.975393533706665]], "bbox3D_cam": [[-0.7535741329193115, -0.867563009262085, 4.77261209487915], [-1.3597759008407593, -0.7729630470275879, 4.641261100769043], [-1.1315819025039673, 0.8467642068862915, 4.754655361175537], [-0.5253801345825195, 0.7521642446517944, 4.8860063552856445], [-0.6492031812667847, -0.8494580984115601, 4.303966045379639], [-1.2554049491882324, -0.754858136177063, 4.172615051269531], [-1.0272109508514404, 0.8648691177368164, 4.286009311676025], [-0.42100921273231506, 0.7702691555023193, 4.417360305786133]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1841, "image_id": 259, "category_id": 34, "category_name": "jeans", "bbox2D_proj": [298.0, 266.0, 328.0, 337.0], "bbox2D_tight": [298.0, 266.0, 328.0, 337.0], "bbox2D_trunc": [298.0, 266.0, 328.0, 337.0], "center_cam": [0.4963921284143585, 0.30659867463189655, 3.8823932961800898], "dimensions": [0.2187500061612739, 0.7827148564770179, 0.27929688558190136], "R_cam": [[0.62166428565979, 0.10720992088317871, 0.7759121656417847], [0.10725456476211548, 0.9696070551872253, -0.2199063003063202], [-0.7759060263633728, 0.2199280858039856, 0.5912714004516602]], "bbox3D_cam": [[0.2827548682689667, -0.06378990411758423, 3.8400065898895264], [0.45638376474380493, -0.03383404016494751, 3.6232986450195312], [0.5402986407279968, 0.7250917553901672, 3.7954394817352295], [0.3666697144508362, 0.6951358914375305, 4.012147426605225], [0.4524856507778168, -0.11189442873001099, 3.9693472385406494], [0.626114547252655, -0.08193856477737427, 3.752639055252075], [0.7100293636322021, 0.6769872307777405, 3.9247801303863525], [0.5364004969596863, 0.6470313668251038, 4.141488075256348]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1842, "image_id": 259, "category_id": 45, "category_name": "person", "bbox2D_proj": [8.0, 160.0, 97.0, 397.0], "bbox2D_tight": [8.0, 160.0, 97.0, 397.0], "bbox2D_trunc": [8.0, 160.0, 97.0, 397.0], "center_cam": [-1.4484558879859073, 0.14381886824858206, 3.1994894844657544], "dimensions": [0.5643406053005897, 1.7996854664957387, 0.5982953312827078], "R_cam": [[-0.9401897192001343, 0.09113217890262604, 0.3282351791858673], [0.09603309631347656, 0.9953774213790894, -0.0012843934819102287], [-0.32683488726615906, 0.03031386435031891, -0.9445951581001282]], "bbox3D_cam": [[-1.3418232202529907, -0.7802298665046692, 3.536520481109619], [-1.904334306716919, -0.7227737307548523, 3.3409767150878906], [-1.7403250932693481, 1.0685924291610718, 3.3955321311950684], [-1.17781400680542, 1.0111362934112549, 3.591075897216797], [-1.156586766242981, -0.7809546589851379, 3.0034470558166504], [-1.7190978527069092, -0.723498523235321, 2.807903289794922], [-1.5550886392593384, 1.067867636680603, 2.8624587059020996], [-0.9925774931907654, 1.0104115009307861, 3.058002471923828]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1843, "image_id": 259, "category_id": 45, "category_name": "person", "bbox2D_proj": [91.0, 170.0, 177.0, 374.0], "bbox2D_tight": [91.0, 170.0, 177.0, 374.0], "bbox2D_trunc": [91.0, 170.0, 177.0, 374.0], "center_cam": [-1.0387694596730677, 0.1238117554518948, 3.7219459356947175], "dimensions": [0.580078217674695, 1.6171875233977737, 0.6210938401835701], "R_cam": [[0.8250670433044434, 0.05212831497192383, -0.5626251101493835], [-0.08442449569702148, 0.9959309101104736, -0.0315302312374115], [0.5586920976638794, 0.07351391017436981, 0.8261106610298157]], "bbox3D_cam": [[-1.1739588975906372, -0.6461289525032043, 3.249398708343506], [-0.6615147590637207, -0.6985644698143005, 3.5963988304138184], [-0.5772135257720947, 0.9120425581932068, 3.715284585952759], [-1.0896576642990112, 0.964478075504303, 3.368284225463867], [-1.5003254413604736, -0.6644189953804016, 3.728607416152954], [-0.9878813624382019, -0.7168545126914978, 4.075607776641846], [-0.9035801291465759, 0.8937525153160095, 4.194493293762207], [-1.4160242080688477, 0.9461880326271057, 3.8474931716918945]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1844, "image_id": 259, "category_id": 45, "category_name": "person", "bbox2D_proj": [327.0, 261.0, 352.0, 303.0], "bbox2D_tight": [327.0, 261.0, 352.0, 303.0], "bbox2D_trunc": [327.0, 261.0, 352.0, 303.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1845, "image_id": 259, "category_id": 58, "category_name": "signboard", "bbox2D_proj": [350.0, 238.0, 459.0, 365.0], "bbox2D_tight": [350.0, 238.0, 459.0, 365.0], "bbox2D_trunc": [350.0, 238.0, 459.0, 365.0], "center_cam": [1.105579032454859, 0.31341279736947836, 3.3767631471479636], "dimensions": [0.5937500141043759, 0.8560533689485907, 0.6806640655825584], "R_cam": [[0.9913445115089417, 0.05567121505737305, 0.11889833211898804], [-0.053430914878845215, 0.998330295085907, -0.021950218826532364], [-0.11992180347442627, 0.015407383441925049, 0.9926638603210449]], "bbox3D_cam": [[0.7090660333633423, -0.08919849991798401, 3.1162843704223633], [1.3838386535644531, -0.1255669891834259, 3.0346579551696777], [1.4314961433410645, 0.7290569543838501, 3.0478475093841553], [0.7567235827445984, 0.765425443649292, 3.129473924636841], [0.7796618938446045, -0.10223141312599182, 3.705678701400757], [1.4544343948364258, -0.13859990239143372, 3.6240522861480713], [1.5020920038223267, 0.7160240411758423, 3.637241840362549], [0.8273194432258606, 0.7523925304412842, 3.7188682556152344]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1846, "image_id": 259, "category_id": 13, "category_name": "building", "bbox2D_proj": [0.0, 0.0, 167.0, 194.0], "bbox2D_tight": [0.0, 0.0, 167.0, 194.0], "bbox2D_trunc": [0.0, 0.0, 167.0, 194.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1847, "image_id": 260, "category_id": 45, "category_name": "person", "bbox2D_proj": [284.0, 242.0, 319.0, 362.0], "bbox2D_tight": [284.0, 242.0, 319.0, 362.0], "bbox2D_trunc": [284.0, 242.0, 319.0, 362.0], "center_cam": [0.36550657447599866, 0.35174957387012334, 3.493890752629575], "dimensions": [0.275390683872515, 0.8998412918156665, 0.3027344376621347], "R_cam": [[-0.602982223033905, -0.03255277872085571, -0.7970902323722839], [-0.05313897132873535, 0.9985869526863098, -0.0005832910537719727], [0.7959828972816467, 0.04200482368469238, -0.6038599014282227]], "bbox3D_cam": [[0.5811800956726074, -0.08941149711608887, 3.437654972076416], [0.3986365795135498, -0.10549849271774292, 3.678626298904419], [0.3693442642688751, 0.7930712699890137, 3.716423988342285], [0.5518877506256104, 0.8091582655906677, 3.4754526615142822], [0.3616688549518585, -0.08957213163375854, 3.271357536315918], [0.17912538349628448, -0.1056591272354126, 3.512328863143921], [0.1498330533504486, 0.792910635471344, 3.550126552581787], [0.33237653970718384, 0.808997631072998, 3.309155225753784]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1848, "image_id": 260, "category_id": 64, "category_name": "suitcase", "bbox2D_proj": [4.0, 259.0, 55.0, 307.0], "bbox2D_tight": [4.0, 259.0, 55.0, 307.0], "bbox2D_trunc": [4.0, 259.0, 55.0, 307.0], "center_cam": [-1.5432260488741683, 0.1985065553684155, 3.0221955961234483], "dimensions": [0.1037399567109041, 0.23159911686117984, 0.4292660264233219], "R_cam": [[0.8609294891357422, -0.4957702159881592, 0.11407062411308289], [0.44909512996673584, 0.8460015058517456, 0.28739333152770996], [-0.23898500204086304, -0.19619685411453247, 0.950995683670044]], "bbox3D_cam": [[-1.6765167713165283, -0.010757789015769958, 3.0468809604644775], [-1.3069489002227783, 0.18202351033687592, 2.9442927837371826], [-1.4217689037322998, 0.37795668840408325, 2.8988537788391113], [-1.7913367748260498, 0.18517541885375977, 3.0014419555664062], [-1.6646831035614014, 0.019056394696235657, 3.1455373764038086], [-1.2951152324676514, 0.21183767914772034, 3.0429491996765137], [-1.4099352359771729, 0.40777087211608887, 2.9975101947784424], [-1.7795031070709229, 0.2149895876646042, 3.1000983715057373]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1849, "image_id": 260, "category_id": 45, "category_name": "person", "bbox2D_proj": [223.0, 249.0, 263.0, 351.0], "bbox2D_tight": [223.0, 249.0, 263.0, 351.0], "bbox2D_trunc": [223.0, 249.0, 263.0, 351.0], "center_cam": [-0.10886940256765872, 0.3309786993292305, 3.489443109987362], "dimensions": [0.24414064182906792, 0.7983398315277973, 0.31054690140018093], "R_cam": [[0.7870810031890869, -0.13158869743347168, 0.6026508212089539], [0.21245735883712769, 0.975034236907959, -0.06457740068435669], [-0.5791074633598328, 0.17886526882648468, 0.795387864112854]], "bbox3D_cam": [[-0.2521217167377472, -0.0833316445350647, 3.410872220993042], [-0.007696144282817841, -0.01735365390777588, 3.231032133102417], [-0.1127486452460289, 0.7610549926757812, 3.3738274574279785], [-0.35717421770095825, 0.6950770020484924, 3.5536675453186035], [-0.1049901619553566, -0.0990976095199585, 3.6050586700439453], [0.13943541049957275, -0.03311961889266968, 3.4252185821533203], [0.034382909536361694, 0.7452890276908875, 3.568013906478882], [-0.21004265546798706, 0.6793110370635986, 3.747853994369507]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1850, "image_id": 260, "category_id": 45, "category_name": "person", "bbox2D_proj": [195.0, 241.0, 220.0, 340.0], "bbox2D_tight": [195.0, 241.0, 220.0, 340.0], "bbox2D_trunc": [195.0, 241.0, 220.0, 340.0], "center_cam": [-0.394750408724218, 0.2716045124431389, 3.6532463925655794], "dimensions": [0.24218751283189616, 0.782714829508634, 0.2890625039622963], "R_cam": [[-0.20142030715942383, -0.023040771484375, 0.9792338609695435], [-0.05041980743408203, 0.998641848564148, 0.013126462697982788], [-0.9782063961029053, -0.046728819608688354, -0.20230847597122192]], "bbox3D_cam": [[-0.4752008318901062, -0.1135236918926239, 3.837413787841797], [-0.533423900604248, -0.12809816002845764, 3.5546510219573975], [-0.5514582395553589, 0.6535536050796509, 3.518075704574585], [-0.49323517084121704, 0.6681281328201294, 3.8008384704589844], [-0.23804259300231934, -0.11034461855888367, 3.788417100906372], [-0.2962656617164612, -0.12491908669471741, 3.5056543350219727], [-0.314300000667572, 0.6567326784133911, 3.46907901763916], [-0.2560769319534302, 0.6713072061538696, 3.7518417835235596]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1851, "image_id": 260, "category_id": 45, "category_name": "person", "bbox2D_proj": [36.0, 230.0, 58.0, 280.0], "bbox2D_tight": [36.0, 230.0, 58.0, 280.0], "bbox2D_trunc": [36.0, 230.0, 58.0, 280.0], "center_cam": [-1.7781890291905516, 0.043958617356796036, 3.8284667648841735], "dimensions": [0.15429688797531518, 0.5175781186381486, 0.1875000101294812], "R_cam": [[0.4204616844654083, -0.2018793821334839, -0.8845659494400024], [-0.21933424472808838, 0.9234004020690918, -0.3149987757205963], [0.8804003000259399, 0.32646042108535767, 0.3439754247665405]], "bbox3D_cam": [[-1.6971203088760376, -0.15014305710792542, 3.6349074840545654], [-1.618283748626709, -0.19126823544502258, 3.7999825477600098], [-1.7227721214294434, 0.28666362166404724, 3.968951463699341], [-1.801608681678772, 0.327788770198822, 3.8038763999938965], [-1.8336060047149658, -0.19874638319015503, 3.6879818439483643], [-1.7547694444656372, -0.239871546626091, 3.8530569076538086], [-1.8592578172683716, 0.23806029558181763, 4.0220255851745605], [-1.9380943775177002, 0.2791854739189148, 3.8569507598876953]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1852, "image_id": 260, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [80.0, 12.0, 121.0, 193.0], "bbox2D_tight": [80.0, 12.0, 121.0, 193.0], "bbox2D_trunc": [80.0, 12.0, 121.0, 193.0], "center_cam": [-1.7995231019171727, -1.7822215075174586, 5.30297308927171], "dimensions": [0.4609375379482557, 2.134521446075446, 0.5703125544016363], "R_cam": [[0.7738670706748962, -0.10058528184890747, 0.6253098845481873], [0.09134936332702637, 0.9947113394737244, 0.04695451259613037], [-0.6267257332801819, 0.020785152912139893, 0.7789626717567444]], "bbox3D_cam": [[-2.056959867477417, -2.8807082176208496, 5.279978275299072], [-1.6156136989593506, -2.82861065864563, 4.922548770904541], [-1.8303152322769165, -0.7053780555725098, 4.966915130615234], [-2.2716612815856934, -0.7574756145477295, 5.324344635009766], [-1.7687309980392456, -2.859065055847168, 5.639031410217285], [-1.3273849487304688, -2.8069674968719482, 5.281601905822754], [-1.5420863628387451, -0.6837348937988281, 5.325968265533447], [-1.9834325313568115, -0.7358324527740479, 5.6833977699279785]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1853, "image_id": 260, "category_id": 13, "category_name": "building", "bbox2D_proj": [347.0, 0.0, 470.0, 203.0], "bbox2D_tight": [347.0, 0.0, 470.0, 203.0], "bbox2D_trunc": [347.0, 0.0, 470.0, 203.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1854, "image_id": 260, "category_id": 45, "category_name": "person", "bbox2D_proj": [261.0, 242.0, 282.0, 321.0], "bbox2D_tight": [261.0, 242.0, 282.0, 321.0], "bbox2D_trunc": [261.0, 242.0, 282.0, 321.0], "center_cam": [0.14661322049379372, 0.24208829870853682, 4.2268070358012615], "dimensions": [0.19384766468966214, 0.7373046734669737, 0.2773437522094274], "R_cam": [[-0.20715251564979553, -0.046576857566833496, -0.977199375629425], [0.046352505683898926, 0.997277021408081, -0.057360030710697174], [0.9772100448608398, -0.05717796832323074, -0.2044295072555542]], "bbox3D_cam": [[0.28722405433654785, -0.12642841041088104, 4.132188320159912], [0.22977158427238464, -0.11357282102108002, 4.40321159362793], [0.1954302191734314, 0.6217240691184998, 4.361053943634033], [0.2528826594352722, 0.6088684797286987, 4.090030670166016], [0.097796231508255, -0.13754747807979584, 4.092560291290283], [0.04034378379583359, -0.12469188868999481, 4.363583564758301], [0.006002411246299744, 0.610605001449585, 4.321425914764404], [0.06345485895872116, 0.5977494120597839, 4.050402641296387]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1855, "image_id": 260, "category_id": 45, "category_name": "person", "bbox2D_proj": [104.0, 226.0, 124.0, 303.0], "bbox2D_tight": [104.0, 226.0, 124.0, 303.0], "bbox2D_trunc": [104.0, 226.0, 124.0, 303.0], "center_cam": [-1.253870364742311, 0.0650029899206932, 3.9649906442941996], "dimensions": [0.15136719460790699, 0.6935119496861688, 0.23632813131735383], "R_cam": [[-0.4643237292766571, -0.046833693981170654, -0.884426474571228], [0.09138357639312744, 0.9907375574111938, -0.10043969750404358], [0.8809384107589722, -0.1274586021900177, -0.45574307441711426]], "bbox3D_cam": [[-1.1158275604248047, -0.2817378044128418, 3.939584732055664], [-1.2255603075027466, -0.2601413130760193, 4.147775173187256], [-1.2580400705337524, 0.42694705724716187, 4.059381008148193], [-1.1483073234558105, 0.40535056591033936, 3.8511905670166016], [-1.249700665473938, -0.2969411015510559, 3.8706002235412598], [-1.3594334125518799, -0.2753446102142334, 4.078790664672852], [-1.3919131755828857, 0.41174376010894775, 3.990396499633789], [-1.2821804285049438, 0.39014726877212524, 3.7822060585021973]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1856, "image_id": 260, "category_id": 13, "category_name": "building", "bbox2D_proj": [178.0, 103.0, 274.0, 219.0], "bbox2D_tight": [178.0, 103.0, 274.0, 219.0], "bbox2D_trunc": [178.0, 103.0, 274.0, 219.0], "center_cam": [-0.3115609274479595, -1.2755509657780426, 6.051298657730265], "dimensions": [0.6328125060283525, 1.6074218892978727, 1.677734456831963], "R_cam": [[0.7865055799484253, -0.01401000376790762, 0.6174242496490479], [-0.0449138879776001, 0.9957976341247559, 0.07980922609567642], [-0.6159478425979614, -0.0905013307929039, 0.7825711965560913]], "bbox3D_cam": [[-1.1554316282272339, -2.063459873199463, 6.393123626708984], [0.16411590576171875, -2.1388134956359863, 5.359726428985596], [0.1415959596633911, -0.5381463170051575, 5.214252948760986], [-1.1779515743255615, -0.46279269456863403, 6.247649669647217], [-0.7647178173065186, -2.012955665588379, 6.8883442878723145], [0.5548297166824341, -2.0883092880249023, 5.854947566986084], [0.5323097705841064, -0.48764199018478394, 5.709473609924316], [-0.7872377634048462, -0.4122883677482605, 6.742870807647705]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1857, "image_id": 260, "category_id": 13, "category_name": "building", "bbox2D_proj": [271.0, 33.0, 353.0, 208.0], "bbox2D_tight": [271.0, 33.0, 353.0, 208.0], "bbox2D_trunc": [271.0, 33.0, 353.0, 208.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1858, "image_id": 261, "category_id": 45, "category_name": "person", "bbox2D_proj": [290.0, 240.0, 324.0, 361.0], "bbox2D_tight": [290.0, 240.0, 324.0, 361.0], "bbox2D_trunc": [290.0, 240.0, 324.0, 361.0], "center_cam": [0.4201077993090949, 0.3536476025255451, 3.559025377065441], "dimensions": [0.2695312885049272, 0.9177246029346899, 0.2968750416110854], "R_cam": [[-0.6563425660133362, -0.06833332777023315, -0.7513622045516968], [-0.03040611743927002, 0.9974766969680786, -0.06415579468011856], [0.7538502216339111, -0.019262196496129036, -0.6567642688751221]], "bbox3D_cam": [[0.6501470804214478, -0.09089741110801697, 3.544473648071289], [0.4552953839302063, -0.099924236536026, 3.768272876739502], [0.3925841450691223, 0.8154845237731934, 3.7505955696105957], [0.5874358415603638, 0.8245114088058472, 3.5267961025238037], [0.44763147830963135, -0.10818937420845032, 3.367455005645752], [0.2527797818183899, -0.11721619963645935, 3.591254472732544], [0.1900685429573059, 0.7981926202774048, 3.5735769271850586], [0.38492023944854736, 0.807219386100769, 3.3497776985168457]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1859, "image_id": 261, "category_id": 45, "category_name": "person", "bbox2D_proj": [31.0, 247.0, 92.0, 353.0], "bbox2D_tight": [31.0, 247.0, 92.0, 353.0], "bbox2D_trunc": [31.0, 247.0, 92.0, 353.0], "center_cam": [-1.3124264257034541, 0.28069920064340315, 2.9553721244829747], "dimensions": [0.3027343851491385, 0.6965332002988911, 0.3691406464785807], "R_cam": [[0.9196543097496033, -0.1127617359161377, -0.37619274854660034], [0.06494289636611938, 0.988370954990387, -0.13749681413173676], [0.387322336435318, 0.10201843082904816, 0.9162826538085938]], "bbox3D_cam": [[-1.3859529495239258, -0.054691433906555176, 2.7096590995788574], [-1.0464712381362915, -0.030718326568603516, 2.852635622024536], [-1.1250134706497192, 0.65771484375, 2.9236948490142822], [-1.4644951820373535, 0.6337417364120483, 2.7807183265686035], [-1.499839425086975, -0.09631645679473877, 2.9870493412017822], [-1.1603577136993408, -0.07234334945678711, 3.130025863647461], [-1.2388999462127686, 0.6160898208618164, 3.201085090637207], [-1.5783816576004028, 0.5921167135238647, 3.0581085681915283]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1860, "image_id": 261, "category_id": 45, "category_name": "person", "bbox2D_proj": [224.0, 250.0, 260.0, 349.0], "bbox2D_tight": [224.0, 250.0, 260.0, 349.0], "bbox2D_trunc": [224.0, 250.0, 260.0, 349.0], "center_cam": [-0.10560391488934405, 0.3438548714306947, 3.5570445550796177], "dimensions": [0.2382812516846518, 0.7767028746997772, 0.27685547865096394], "R_cam": [[0.9856919646263123, -0.01480954885482788, 0.16790476441383362], [0.017926573753356934, 0.9996936917304993, -0.017063647508621216], [-0.1676006317138672, 0.019829466938972473, 0.9856555461883545]], "bbox3D_cam": [[-0.25630396604537964, -0.0448262095451355, 3.4551126956939697], [0.016590222716331482, -0.03986310958862305, 3.4087114334106445], [0.005087599158287048, 0.7366018891334534, 3.4241130352020264], [-0.2678065896034241, 0.7316387891769409, 3.4705142974853516], [-0.21629543602466583, -0.04889214038848877, 3.6899759769439697], [0.05659876763820648, -0.04392904043197632, 3.6435747146606445], [0.04509614408016205, 0.7325359582901001, 3.6589763164520264], [-0.22779805958271027, 0.7275728583335876, 3.7053775787353516]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1861, "image_id": 261, "category_id": 45, "category_name": "person", "bbox2D_proj": [200.0, 242.0, 224.0, 342.0], "bbox2D_tight": [200.0, 242.0, 224.0, 342.0], "bbox2D_trunc": [200.0, 242.0, 224.0, 342.0], "center_cam": [-0.32701487034391674, 0.2731019530100224, 3.5986081069303513], "dimensions": [0.24902345114213215, 0.8009643487855271, 0.30859376095960134], "R_cam": [[-0.42370283603668213, -0.01776421070098877, -0.9056270718574524], [-0.05539131164550781, 0.998444676399231, 0.006330281496047974], [0.9041060209274292, 0.05284601449966431, -0.42402780055999756]], "bbox3D_cam": [[-0.14176338911056519, -0.11899882555007935, 3.4907398223876953], [-0.2725154757499695, -0.13609224557876587, 3.7697412967681885], [-0.28674396872520447, 0.6636263728141785, 3.8120691776275635], [-0.15599188208580017, 0.680719792842865, 3.5330677032470703], [-0.36728575825691223, -0.11742246150970459, 3.3851468563079834], [-0.49803784489631653, -0.1345158815383911, 3.6641483306884766], [-0.5122663378715515, 0.6652027368545532, 3.7064762115478516], [-0.3815142512321472, 0.6822961568832397, 3.4274747371673584]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1862, "image_id": 261, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [102.0, 9.0, 123.0, 192.0], "bbox2D_tight": [102.0, 9.0, 123.0, 192.0], "bbox2D_trunc": [102.0, 9.0, 123.0, 192.0], "center_cam": [-1.4390608287776279, -1.60804827798579, 4.768539066650326], "dimensions": [0.14843760201612233, 1.8040771316912698, 0.1513672930274486], "R_cam": [[0.8223572969436646, -0.030684232711791992, -0.568143367767334], [-0.03036630153656006, 0.9947546720504761, -0.09767819941043854], [0.5681604743003845, 0.09757876396179199, 0.8171119689941406]], "bbox3D_cam": [[-1.4314545392990112, -2.495807647705078, 4.576873779296875], [-1.306976556777954, -2.500404119491577, 4.662874698638916], [-1.3623332977294922, -0.7057899236679077, 4.838914394378662], [-1.4868112802505493, -0.7011934518814087, 4.752913475036621], [-1.5157883167266846, -2.5103068351745605, 4.6981635093688965], [-1.3913103342056274, -2.5149030685424805, 4.7841644287109375], [-1.4466670751571655, -0.7202889919281006, 4.960204124450684], [-1.5711450576782227, -0.7156925201416016, 4.874203205108643]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1863, "image_id": 261, "category_id": 64, "category_name": "suitcase", "bbox2D_proj": [6.0, 259.0, 60.0, 304.0], "bbox2D_tight": [6.0, 259.0, 60.0, 304.0], "bbox2D_trunc": [6.0, 259.0, 60.0, 304.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1864, "image_id": 261, "category_id": 45, "category_name": "person", "bbox2D_proj": [147.0, 236.0, 168.0, 315.0], "bbox2D_tight": [147.0, 236.0, 168.0, 315.0], "bbox2D_trunc": [147.0, 236.0, 168.0, 315.0], "center_cam": [-0.8571358208734803, 0.1625737560659372, 3.936890457463069], "dimensions": [0.17626953323785755, 0.6440429639730038, 0.19140624672933126], "R_cam": [[-0.0011162757873535156, -0.02274322509765625, -0.999740719795227], [-0.16455817222595215, 0.9861164093017578, -0.022249579429626465], [0.9863667488098145, 0.1644906997680664, -0.004843354225158691]], "bbox3D_cam": [[-0.761593222618103, -0.13726720213890076, 3.789949417114258], [-0.7618069648742676, -0.16876468062400818, 3.978746175765991], [-0.7764545679092407, 0.4663366377353668, 4.084685325622559], [-0.776240885257721, 0.49783411622047424, 3.895888328552246], [-0.9378170967102051, -0.14118912816047668, 3.789095640182495], [-0.9380307793617249, -0.1726866066455841, 3.9778923988342285], [-0.9526784420013428, 0.4624147117137909, 4.083831310272217], [-0.9524646997451782, 0.4939121901988983, 3.8950345516204834]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1865, "image_id": 261, "category_id": 45, "category_name": "person", "bbox2D_proj": [105.0, 226.0, 124.0, 303.0], "bbox2D_tight": [105.0, 226.0, 124.0, 303.0], "bbox2D_trunc": [105.0, 226.0, 124.0, 303.0], "center_cam": [-1.2480037775746566, 0.06257250138421992, 4.002338245412156], "dimensions": [0.1728515707306767, 0.6752929637330398, 0.2187500061382197], "R_cam": [[-0.39093372225761414, -0.061614394187927246, -0.9183541536331177], [0.002850055694580078, 0.9976710081100464, -0.06814911216497421], [0.9204143285751343, -0.02925911173224449, -0.38984763622283936]], "bbox3D_cam": [[-1.105072021484375, -0.2687095105648041, 3.9452402591705322], [-1.1905887126922607, -0.2680860459804535, 4.146580696105957], [-1.2321964502334595, 0.40563419461250305, 4.126822471618652], [-1.1466797590255737, 0.40501073002815247, 3.9254817962646484], [-1.2638109922409058, -0.2804891765117645, 3.877854347229004], [-1.3493276834487915, -0.27986571192741394, 4.079195022583008], [-1.3909354209899902, 0.3938545286655426, 4.059436798095703], [-1.3054187297821045, 0.393231064081192, 3.85809588432312]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1866, "image_id": 261, "category_id": 45, "category_name": "person", "bbox2D_proj": [457.0, 248.0, 512.0, 421.0], "bbox2D_tight": [457.0, 248.0, 512.0, 421.0], "bbox2D_trunc": [457.0, 248.0, 512.0, 421.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1867, "image_id": 261, "category_id": 13, "category_name": "building", "bbox2D_proj": [272.0, 33.0, 354.0, 207.0], "bbox2D_tight": [272.0, 33.0, 354.0, 207.0], "bbox2D_trunc": [272.0, 33.0, 354.0, 207.0], "center_cam": [1.0403424707604547, -1.4417322848889995, 5.902275212574403], "dimensions": [1.601563024985937, 2.1884765625638396, 1.6354986364004036], "R_cam": [[0.9582489132881165, -0.06448125839233398, 0.2785700261592865], [0.0403590202331543, 0.9949886202812195, 0.09148145467042923], [-0.283072829246521, -0.0764191746711731, 0.9560492038726807]], "bbox3D_cam": [[0.10421907901763916, -2.636746883392334, 5.451792240142822], [1.671433925628662, -2.57073974609375, 4.988826751708984], [1.5303183794021606, -0.3932307958602905, 4.821585178375244], [-0.036896467208862305, -0.4592379927635193, 5.284550666809082], [0.5503665208816528, -2.490233898162842, 6.982964992523193], [2.117581367492676, -2.4242265224456787, 6.5199995040893555], [1.9764658212661743, -0.24671757221221924, 6.352757930755615], [0.40925097465515137, -0.3127247095108032, 6.815723419189453]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1868, "image_id": 261, "category_id": 45, "category_name": "person", "bbox2D_proj": [254.0, 249.0, 280.0, 344.0], "bbox2D_tight": [254.0, 249.0, 280.0, 344.0], "bbox2D_trunc": [254.0, 249.0, 280.0, 344.0], "center_cam": [0.06030128957940332, 0.32130017973038594, 3.707588592068893], "dimensions": [0.2167969064376102, 0.755676264434358, 0.23242191319212502], "R_cam": [[0.9024755358695984, -0.10222887992858887, -0.41843414306640625], [0.07716232538223267, 0.99408358335495, -0.07644447684288025], [0.4237733781337738, 0.036701902747154236, 0.9050242900848389]], "bbox3D_cam": [[0.03940733149647713, -0.054983168840408325, 3.5463709831237793], [0.24916242063045502, -0.03704896569252014, 3.6448652744293213], [0.17191047966480255, 0.7141563892364502, 3.672600030899048], [-0.03784461319446564, 0.696222186088562, 3.574105739593506], [-0.05130790174007416, -0.07155606150627136, 3.742577314376831], [0.15844719111919403, -0.05362185835838318, 3.841071605682373], [0.08119525015354156, 0.6975835561752319, 3.8688063621520996], [-0.12855984270572662, 0.6796493530273438, 3.7703120708465576]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1869, "image_id": 261, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [91.0, 35.0, 109.0, 104.0], "bbox2D_tight": [91.0, 35.0, 109.0, 104.0], "bbox2D_trunc": [91.0, 35.0, 109.0, 104.0], "center_cam": [-1.7180703626854748, -2.001747614310955, 4.949311607430445], "dimensions": [0.15637207606783615, 0.6201171829756029, 0.21093750334270725], "R_cam": [[-0.37182384729385376, -0.06265497207641602, -0.9261864423751831], [-0.1666092872619629, 0.9860230088233948, 0.00018364191055297852], [0.9132296442985535, 0.15437957644462585, -0.3770657777786255]], "bbox3D_cam": [[-1.5870130062103271, -2.289914846420288, 4.834609031677246], [-1.6654446125030518, -2.325058937072754, 5.027243614196777], [-1.7042980194091797, -1.713609218597412, 5.122976779937744], [-1.625866413116455, -1.6784650087356567, 4.930342674255371], [-1.7318427562713623, -2.289885997772217, 4.775646686553955], [-1.810274362564087, -2.3250303268432617, 4.968280792236328], [-1.8491277694702148, -1.7135803699493408, 5.064014434814453], [-1.7706961631774902, -1.678436279296875, 4.871379852294922]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1870, "image_id": 261, "category_id": 13, "category_name": "building", "bbox2D_proj": [179.0, 102.0, 275.0, 220.0], "bbox2D_tight": [179.0, 102.0, 275.0, 220.0], "bbox2D_trunc": [179.0, 102.0, 275.0, 220.0], "center_cam": [-0.35539889792107293, -1.2442780559615334, 5.619562283016164], "dimensions": [0.6367152033578366, 1.3623946431256768, 1.43533861439627], "R_cam": [[-0.7725095748901367, -0.003071129322052002, -0.634995698928833], [0.004524588584899902, 0.9999363422393799, -0.010340511798858643], [0.6349869966506958, -0.010861217975616455, -0.7724465131759644]], "bbox3D_cam": [[0.4032552242279053, -1.9253871440887451, 5.417164325714111], [-0.7055575847625732, -1.9188928604125977, 6.328585624694824], [-0.7097415924072266, -0.5565850138664246, 6.313788414001465], [0.39907121658325195, -0.563079297542572, 5.402367115020752], [-0.0010561645030975342, -1.9319710731506348, 4.925335884094238], [-1.1098690032958984, -1.9254767894744873, 5.836757183074951], [-1.1140530109405518, -0.5631689429283142, 5.821959972381592], [-0.0052401721477508545, -0.5696632266044617, 4.910538673400879]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1871, "image_id": 261, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [115.0, 0.0, 158.0, 211.0], "bbox2D_tight": [115.0, 0.0, 158.0, 211.0], "bbox2D_trunc": [115.0, 0.0, 158.0, 211.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1872, "image_id": 262, "category_id": 45, "category_name": "person", "bbox2D_proj": [189.0, 247.0, 222.0, 352.0], "bbox2D_tight": [189.0, 247.0, 222.0, 352.0], "bbox2D_trunc": [189.0, 247.0, 222.0, 352.0], "center_cam": [-0.35590229956772207, 0.3199872655271184, 3.446926604216732], "dimensions": [0.2353515738081997, 0.7792777759899421, 0.3105468846737375], "R_cam": [[-0.47378009557724, -0.026807785034179688, -0.8802350759506226], [-0.02636265754699707, 0.9995203614234924, -0.01625126600265503], [0.8802485466003418, 0.015505760908126831, -0.474259614944458]], "bbox3D_cam": [[-0.16830909252166748, -0.06345894932746887, 3.3600146770477295], [-0.3154400587081909, -0.07164576649665833, 3.6333730220794678], [-0.3363308012485504, 0.7072582244873047, 3.645456314086914], [-0.18919986486434937, 0.7154450416564941, 3.372097969055176], [-0.37547382712364197, -0.06728371977806091, 3.248396873474121], [-0.522604763507843, -0.07547053694725037, 3.5217552185058594], [-0.5434955358505249, 0.7034335136413574, 3.5338385105133057], [-0.39636456966400146, 0.7116203308105469, 3.2604801654815674]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1873, "image_id": 262, "category_id": 13, "category_name": "building", "bbox2D_proj": [153.0, 0.0, 317.0, 212.0], "bbox2D_tight": [153.0, 0.0, 317.0, 212.0], "bbox2D_trunc": [153.0, 0.0, 317.0, 212.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1874, "image_id": 262, "category_id": 13, "category_name": "building", "bbox2D_proj": [273.0, 34.0, 355.0, 208.0], "bbox2D_tight": [273.0, 34.0, 355.0, 208.0], "bbox2D_trunc": [273.0, 34.0, 355.0, 208.0], "center_cam": [0.7795873860760638, -1.5525698283260705, 5.827190134242743], "dimensions": [1.2832049415017364, 1.9314574615075046, 1.2968768205927106], "R_cam": [[0.5635262131690979, 0.008927464485168457, -0.8260499238967896], [-0.10238754749298096, 0.9929863810539246, -0.05911654233932495], [0.8197285532951355, 0.11789098381996155, 0.5604879856109619]], "bbox3D_cam": [[0.9355494976043701, -2.4072041511535645, 4.822185516357422], [1.666373610496521, -2.5399880409240723, 5.885272026062012], [1.6836166381835938, -0.6220769882202148, 6.112973690032959], [0.9527925252914429, -0.4892929792404175, 5.049886703491211], [-0.12444186210632324, -2.483062744140625, 5.541406154632568], [0.6063822507858276, -2.615846633911133, 6.604493141174316], [0.6236252784729004, -0.6979355812072754, 6.8321943283081055], [-0.10719883441925049, -0.565151572227478, 5.769107818603516]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1875, "image_id": 262, "category_id": 13, "category_name": "building", "bbox2D_proj": [181.0, 104.0, 277.0, 212.0], "bbox2D_tight": [181.0, 104.0, 277.0, 212.0], "bbox2D_trunc": [181.0, 104.0, 277.0, 212.0], "center_cam": [-0.2564786440067709, -1.1351666061116896, 5.803795737930834], "dimensions": [0.6718749994876219, 1.3291015216845508, 1.7109375181171307], "R_cam": [[0.7952018976211548, -0.012697979807853699, 0.6062117218971252], [-0.0512126088142395, 0.9948017597198486, 0.08801601082086563], [-0.6041781306266785, -0.1010361835360527, 0.7904180288314819]], "bbox3D_cam": [[-1.1319597959518433, -1.782020092010498, 6.1222639083862305], [0.22858095169067383, -1.8696415424346924, 5.088552951812744], [0.21170401573181152, -0.5474490523338318, 4.954265594482422], [-1.1488367319107056, -0.4598274827003479, 5.987976551055908], [-0.7246612906455994, -1.722884178161621, 6.653326034545898], [0.635879397392273, -1.8105058670043945, 5.619615077972412], [0.6190024614334106, -0.4883132576942444, 5.48532772064209], [-0.7415382266044617, -0.4006916880607605, 6.519038677215576]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1876, "image_id": 262, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [93.0, 36.0, 111.0, 104.0], "bbox2D_tight": [93.0, 36.0, 111.0, 104.0], "bbox2D_trunc": [93.0, 36.0, 111.0, 104.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1877, "image_id": 262, "category_id": 45, "category_name": "person", "bbox2D_proj": [234.0, 248.0, 269.0, 352.0], "bbox2D_tight": [234.0, 248.0, 269.0, 352.0], "bbox2D_trunc": [234.0, 248.0, 269.0, 352.0], "center_cam": [-0.0400816873312595, 0.33999079065914517, 3.582387532204587], "dimensions": [0.21289064835436738, 0.8194579819388242, 0.24414065152140343], "R_cam": [[-0.7059068083763123, -0.0635223388671875, 0.7054505944252014], [-0.06988883018493652, 0.9973568320274353, 0.019873082637786865], [-0.7048483490943909, -0.03527456521987915, -0.7084804177284241]], "bbox3D_cam": [[-0.0029763728380203247, -0.062239259481430054, 3.758296012878418], [-0.1753169298171997, -0.07930198311805725, 3.5862138271331787], [-0.22737082839012146, 0.7379900217056274, 3.557307720184326], [-0.05503027141094208, 0.7550528049468994, 3.7293899059295654], [0.14720746874809265, -0.05800846219062805, 3.6074671745300293], [-0.025133103132247925, -0.07507118582725525, 3.43538498878479], [-0.07718700170516968, 0.7422208786010742, 3.4064788818359375], [0.0951535627245903, 0.7592835426330566, 3.5785610675811768]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1878, "image_id": 262, "category_id": 45, "category_name": "person", "bbox2D_proj": [293.0, 242.0, 327.0, 362.0], "bbox2D_tight": [293.0, 242.0, 327.0, 362.0], "bbox2D_trunc": [293.0, 242.0, 327.0, 362.0], "center_cam": [0.4332001551405228, 0.3448138275639919, 3.422599445888841], "dimensions": [0.24609376827638474, 0.8722533899736837, 0.2695312776496787], "R_cam": [[0.9505066871643066, -0.05136823654174805, 0.30642831325531006], [0.06058645248413086, 0.997949481010437, -0.02064092457294464], [-0.30473971366882324, 0.038184747099876404, 0.9516699314117432]], "bbox3D_cam": [[0.2898024916648865, -0.09604379534721375, 3.3299145698547363], [0.5459938049316406, -0.0797138512134552, 3.2477777004241943], [0.5011876821517944, 0.7907510995864868, 3.2810845375061035], [0.24499641358852386, 0.7744210958480835, 3.3632214069366455], [0.365212619304657, -0.10112342238426208, 3.564114570617676], [0.6214038729667664, -0.08479347825050354, 3.481977701187134], [0.5765978097915649, 0.7856714725494385, 3.515284538269043], [0.3204064965248108, 0.7693414688110352, 3.597421407699585]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1879, "image_id": 262, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [104.0, 12.0, 123.0, 193.0], "bbox2D_tight": [104.0, 12.0, 123.0, 193.0], "bbox2D_trunc": [104.0, 12.0, 123.0, 193.0], "center_cam": [-1.5114126128430825, -1.6859882162027673, 4.8473120783987245], "dimensions": [0.19042972431169147, 2.260742113961564, 0.19531253157602685], "R_cam": [[-0.1288628876209259, 0.028659582138061523, -0.9912482500076294], [0.17435818910598755, 0.9846652746200562, 0.005802512168884277], [0.9762139320373535, -0.1720844805240631, -0.13188385963439941]], "bbox3D_cam": [[-1.436842679977417, -2.8166050910949707, 4.959055423736572], [-1.4620112180709839, -2.782550811767578, 5.149722099304199], [-1.3972194194793701, -0.5564764738082886, 4.760683536529541], [-1.3720508813858032, -0.5905307531356812, 4.570016384124756], [-1.625605821609497, -2.815499782562256, 4.933940410614014], [-1.650774359703064, -2.7814455032348633, 5.124607563018799], [-1.5859825611114502, -0.5553714036941528, 4.735568523406982], [-1.5608140230178833, -0.5894256830215454, 4.5449018478393555]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1880, "image_id": 262, "category_id": 45, "category_name": "person", "bbox2D_proj": [149.0, 242.0, 174.0, 319.0], "bbox2D_tight": [149.0, 242.0, 174.0, 319.0], "bbox2D_trunc": [149.0, 242.0, 174.0, 319.0], "center_cam": [-0.7741341018983781, 0.20698268753893423, 3.775892674969601], "dimensions": [0.18554688558711124, 0.6422118927189779, 0.23632813516766946], "R_cam": [[-0.5536177754402161, -0.013426899909973145, 0.8326625823974609], [-0.010317206382751465, 0.9999038577079773, 0.009263992309570312], [-0.8327069282531738, -0.0034620463848114014, -0.5537031292915344]], "bbox3D_cam": [[-0.781653881072998, -0.11373271048069, 3.926769495010376], [-0.9124894142150879, -0.1161709576845169, 3.7299773693084717], [-0.9211122989654541, 0.525979220867157, 3.7277538776397705], [-0.7902767658233643, 0.5284174680709839, 3.924546003341675], [-0.6271559000015259, -0.11201383173465729, 3.8240315914154053], [-0.7579914331436157, -0.11445207893848419, 3.627239465713501], [-0.7666143178939819, 0.5276980996131897, 3.6250159740448], [-0.6357787847518921, 0.5301363468170166, 3.821808099746704]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1881, "image_id": 262, "category_id": 45, "category_name": "person", "bbox2D_proj": [264.0, 242.0, 282.0, 323.0], "bbox2D_tight": [264.0, 242.0, 282.0, 323.0], "bbox2D_trunc": [264.0, 242.0, 282.0, 323.0], "center_cam": [0.17524900451584607, 0.22749823161060234, 3.943232903592234], "dimensions": [0.19970703826765046, 0.6967773211545305, 0.2441406259665203], "R_cam": [[-0.16734543442726135, -0.04437214136123657, -0.9848992824554443], [0.04090219736099243, 0.9978141784667969, -0.05190369486808777], [0.9850494861602783, -0.048970431089401245, -0.16516470909118652]], "bbox3D_cam": [[0.30948132276535034, -0.11993905901908875, 3.8565406799316406], [0.26862549781799316, -0.10995319485664368, 4.097031593322754], [0.23770800232887268, 0.5853010416030884, 4.062910079956055], [0.27856385707855225, 0.5753152370452881, 3.8224191665649414], [0.11279001832008362, -0.13030460476875305, 3.8235561847686768], [0.07193417847156525, -0.12031874060630798, 4.064046859741211], [0.04101668298244476, 0.5749355554580688, 4.029925346374512], [0.08187252283096313, 0.564949631690979, 3.7894346714019775]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1882, "image_id": 262, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [116.0, 0.0, 159.0, 212.0], "bbox2D_tight": [116.0, 0.0, 159.0, 212.0], "bbox2D_trunc": [116.0, 0.0, 159.0, 212.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1883, "image_id": 262, "category_id": 45, "category_name": "person", "bbox2D_proj": [27.0, 245.0, 88.0, 354.0], "bbox2D_tight": [27.0, 245.0, 88.0, 354.0], "bbox2D_trunc": [27.0, 245.0, 88.0, 354.0], "center_cam": [-1.277410007821473, 0.28146586342643354, 2.875278621181927], "dimensions": [0.2988281384290177, 0.7037353304585358, 0.3683166742085781], "R_cam": [[0.8937113881111145, -0.05993497371673584, -0.4446210563182831], [0.0343855619430542, 0.9972720742225647, -0.06531555950641632], [0.4473228454589844, 0.04308471083641052, 0.8933342695236206]], "bbox3D_cam": [[-1.3544726371765137, -0.06601524353027344, 2.644263744354248], [-1.025303840637207, -0.05335044860839844, 2.8090200424194336], [-1.0674822330474854, 0.648465096950531, 2.8393404483795166], [-1.396651029586792, 0.635800302028656, 2.674583911895752], [-1.4873378276824951, -0.08553338050842285, 2.911216974258423], [-1.1581690311431885, -0.07286858558654785, 3.0759735107421875], [-1.2003474235534668, 0.6289469599723816, 3.1062936782836914], [-1.5295162200927734, 0.6162821650505066, 2.941537380218506]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1884, "image_id": 263, "category_id": 45, "category_name": "person", "bbox2D_proj": [443.0, 250.0, 477.0, 342.0], "bbox2D_tight": [443.0, 250.0, 477.0, 342.0], "bbox2D_trunc": [443.0, 250.0, 477.0, 342.0], "center_cam": [3.3363971762886244, 0.6688850735473245, 7.328183452783877], "dimensions": [0.4453125369568979, 1.4721679417746405, 0.5078125276475999], "R_cam": [[0.9960787892341614, -0.034311890602111816, 0.08154602348804474], [0.034142374992370605, 0.9994109272956848, 0.003471989184617996], [-0.08161711692810059, -0.0006741993129253387, 0.9966635704040527]], "bbox3D_cam": [[3.0905861854553223, -0.07620733976364136, 7.1274895668029785], [3.596407413482666, -0.05886942148208618, 7.086043357849121], [3.5458946228027344, 1.412431240081787, 7.0850510597229], [3.0400733947753906, 1.3950934410095215, 7.126497268676758], [3.1268997192382812, -0.07466119527816772, 7.571316242218018], [3.632720947265625, -0.05732327699661255, 7.52987003326416], [3.5822081565856934, 1.4139773845672607, 7.5288777351379395], [3.0763869285583496, 1.3966395854949951, 7.570323944091797]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1885, "image_id": 263, "category_id": 45, "category_name": "person", "bbox2D_proj": [270.0, 240.0, 295.0, 305.0], "bbox2D_tight": [270.0, 240.0, 295.0, 305.0], "bbox2D_trunc": [270.0, 240.0, 295.0, 305.0], "center_cam": [0.5331538112235357, 0.3061382472051245, 10.03745847860217], "dimensions": [0.45312503452117847, 1.4497070061060557, 0.6796875471378857], "R_cam": [[0.8042093515396118, -0.03840506076812744, 0.5931040048599243], [0.013564109802246094, 0.9988361597061157, 0.046285271644592285], [-0.5941912531852722, -0.02917817234992981, 0.8037943243980408]], "bbox3D_cam": [[0.15331119298934937, -0.43296781182289124, 10.078431129455566], [0.6999222636222839, -0.42374852299690247, 9.674566268920898], [0.6442461609840393, 1.0242713689804077, 9.632266998291016], [0.09763509035110474, 1.015052080154419, 10.036130905151367], [0.4220615029335022, -0.4119948446750641, 10.442649841308594], [0.9686725735664368, -0.4027755558490753, 10.038785934448242], [0.9129964709281921, 1.0452443361282349, 9.996485710144043], [0.36638540029525757, 1.036025047302246, 10.400350570678711]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1886, "image_id": 263, "category_id": 45, "category_name": "person", "bbox2D_proj": [245.0, 239.0, 267.0, 303.0], "bbox2D_tight": [245.0, 239.0, 267.0, 303.0], "bbox2D_trunc": [245.0, 239.0, 267.0, 303.0], "center_cam": [-0.09017634775562124, 0.32911041797861346, 10.438656578679657], "dimensions": [0.5820313482369806, 1.5458984519794057, 0.6445313541556207], "R_cam": [[0.7572824358940125, -0.043370842933654785, -0.6516457796096802], [0.20664948225021362, 0.96243816614151, 0.1760929673910141], [0.6195314526557922, -0.26801443099975586, 0.737800121307373]], "bbox3D_cam": [[-0.11105986684560776, -0.5326472520828247, 10.231452941894531], [0.37703239917755127, -0.3994552195072174, 10.63076114654541], [0.3099854588508606, 1.088376522064209, 10.216437339782715], [-0.17810684442520142, 0.9551844596862793, 9.817130088806152], [-0.49033814668655396, -0.4301556646823883, 10.660876274108887], [-0.002245865762233734, -0.2969636023044586, 11.06018352508545], [-0.0692928358912468, 1.1908681392669678, 10.64586067199707], [-0.5573850870132446, 1.057676076889038, 10.246552467346191]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1887, "image_id": 263, "category_id": 43, "category_name": "palm_tree", "bbox2D_proj": [120.0, 82.0, 222.0, 195.0], "bbox2D_tight": [120.0, 82.0, 222.0, 195.0], "bbox2D_trunc": [120.0, 82.0, 222.0, 195.0], "center_cam": [-2.8030810730501656, -4.022586891614609, 15.742701746930646], "dimensions": [3.359376375026353, 3.966796986040376, 3.445313873437758], "R_cam": [[-0.23546656966209412, -0.15073049068450928, 0.96012282371521], [-0.004661440849304199, 0.9880639314651489, 0.153973788022995], [-0.9718712568283081, 0.031780123710632324, -0.23335862159729004]], "bbox3D_cam": [[-3.7112011909484863, -6.232909202575684, 17.745840072631836], [-4.522458076477051, -6.248969078063965, 14.397438049316406], [-5.120375156402588, -2.3295204639434814, 14.523503303527832], [-4.309118270874023, -2.313460350036621, 17.871904373168945], [-0.48578691482543945, -5.715653419494629, 16.96190071105957], [-1.2970435619354248, -5.73171329498291, 13.613497734069824], [-1.894960880279541, -1.8122644424438477, 13.73956298828125], [-1.0837042331695557, -1.7962043285369873, 17.08796501159668]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1888, "image_id": 263, "category_id": 45, "category_name": "person", "bbox2D_proj": [322.0, 248.0, 336.0, 294.0], "bbox2D_tight": [322.0, 248.0, 336.0, 294.0], "bbox2D_trunc": [322.0, 248.0, 336.0, 294.0], "center_cam": [1.8818230659810955, 0.34248488124324106, 11.529489878016129], "dimensions": [0.38281256438420486, 1.2661132604000815, 0.4257813130383348], "R_cam": [[0.9081217646598816, -0.03370875120162964, 0.4173470437526703], [0.0034713149070739746, 0.9973259568214417, 0.07299979031085968], [-0.4186917543411255, -0.06484395265579224, 0.9058104157447815]], "bbox3D_cam": [[1.6299490928649902, -0.3035905957221985, 11.486297607421875], [2.0166103839874268, -0.30211251974105835, 11.308026313781738], [1.9739313125610352, 0.9606150984764099, 11.225926399230957], [1.5872700214385986, 0.9591370224952698, 11.404197692871094], [1.7897148132324219, -0.27564531564712524, 11.833052635192871], [2.1763761043548584, -0.2741672396659851, 11.654781341552734], [2.133697032928467, 0.9885603785514832, 11.572681427001953], [1.7470357418060303, 0.987082302570343, 11.75095272064209]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1889, "image_id": 263, "category_id": 45, "category_name": "person", "bbox2D_proj": [201.0, 246.0, 213.0, 282.0], "bbox2D_tight": [201.0, 246.0, 213.0, 282.0], "bbox2D_trunc": [201.0, 246.0, 213.0, 282.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1890, "image_id": 263, "category_id": 45, "category_name": "person", "bbox2D_proj": [340.0, 249.0, 357.0, 296.0], "bbox2D_tight": [340.0, 249.0, 357.0, 296.0], "bbox2D_trunc": [340.0, 249.0, 357.0, 296.0], "center_cam": [2.6379006237226, 0.450765513658802, 12.75279972429271], "dimensions": [0.41015628677373606, 1.2397460843074921, 0.4609375546732767], "R_cam": [[-0.33825546503067017, -0.050399065017700195, -0.9397037029266357], [0.11177676916122437, 0.98934406042099, -0.09329649806022644], [0.9343923330307007, -0.13659510016441345, -0.32901763916015625]], "bbox3D_cam": [[2.9398117065429688, -0.16913017630577087, 12.689598083496094], [2.7838969230651855, -0.11760804057121277, 13.120294570922852], [2.7214150428771973, 1.1089273691177368, 12.950950622558594], [2.8773295879364014, 1.0574052333831787, 12.520254135131836], [2.5543861389160156, -0.20739635825157166, 12.554649353027344], [2.3984715938568115, -0.15587422251701355, 12.985345840454102], [2.335989475250244, 1.070661187171936, 12.816001892089844], [2.4919042587280273, 1.019139051437378, 12.385305404663086]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1891, "image_id": 263, "category_id": 45, "category_name": "person", "bbox2D_proj": [401.0, 251.0, 443.0, 340.0], "bbox2D_tight": [401.0, 251.0, 443.0, 340.0], "bbox2D_trunc": [401.0, 251.0, 443.0, 340.0], "center_cam": [2.7986057991717717, 0.6152169460331347, 7.542885591351045], "dimensions": [0.6171875752121578, 1.477050764282986, 0.722656344460517], "R_cam": [[-0.5775262117385864, -0.11409002542495728, -0.8083605766296387], [-0.012385845184326172, 0.9912970066070557, -0.13106009364128113], [0.8162781000137329, -0.06567835807800293, -0.5739130973815918]], "bbox3D_cam": [[3.3409955501556396, -0.0719614028930664, 7.473552703857422], [2.923642635345459, -0.08091211318969727, 8.063441276550293], [2.7551259994506836, 1.3832839727401733, 7.966431140899658], [3.1724789142608643, 1.3922346830368042, 7.376542091369629], [2.842085361480713, -0.15285003185272217, 7.119340419769287], [2.4247324466705322, -0.16180074214935303, 7.709229469299316], [2.256215810775757, 1.3023953437805176, 7.612218856811523], [2.6735687255859375, 1.3113460540771484, 7.022330284118652]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1892, "image_id": 263, "category_id": 43, "category_name": "palm_tree", "bbox2D_proj": [183.0, 132.0, 269.0, 250.0], "bbox2D_tight": [183.0, 132.0, 269.0, 250.0], "bbox2D_trunc": [183.0, 132.0, 269.0, 250.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1893, "image_id": 264, "category_id": 26, "category_name": "flag", "bbox2D_proj": [254.0, 0.0, 276.0, 128.0], "bbox2D_tight": [254.0, 0.0, 276.0, 128.0], "bbox2D_trunc": [254.0, 0.0, 276.0, 128.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1894, "image_id": 264, "category_id": 45, "category_name": "person", "bbox2D_proj": [36.0, 271.0, 58.0, 340.0], "bbox2D_tight": [36.0, 271.0, 58.0, 340.0], "bbox2D_trunc": [36.0, 271.0, 58.0, 340.0], "center_cam": [-2.9248778216452758, 0.6787066325983936, 6.232910520306201], "dimensions": [0.285156270365917, 0.942871105869274, 0.3437500182762689], "R_cam": [[0.4546836316585541, 0.04533076286315918, 0.8894987106323242], [-0.09500610828399658, 0.9954743385314941, -0.002167433500289917], [-0.8855713605880737, -0.08352228999137878, 0.45693254470825195]], "bbox3D_cam": [[-3.1512203216552734, 0.22604283690452576, 6.359344959259033], [-2.9949228763580322, 0.19338449835777283, 6.054929733276367], [-2.952181577682495, 1.131988525390625, 5.976179122924805], [-3.1084792613983154, 1.164646863937378, 6.280594348907471], [-2.8975741863250732, 0.22542479634284973, 6.489642143249512], [-2.741276502609253, 0.1927664577960968, 6.185226917266846], [-2.698535442352295, 1.1313704252243042, 6.106476306915283], [-2.854832887649536, 1.1640287637710571, 6.410891532897949]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1895, "image_id": 264, "category_id": 55, "category_name": "shirt", "bbox2D_proj": [128.0, 265.0, 183.0, 337.0], "bbox2D_tight": [128.0, 265.0, 183.0, 337.0], "bbox2D_trunc": [128.0, 265.0, 183.0, 337.0], "center_cam": [-0.9649946061902149, 0.4027807992232949, 4.207988115707569], "dimensions": [0.32421874877266954, 0.6458740322009361, 0.5446777491711843], "R_cam": [[0.9677769541740417, -0.09367614984512329, -0.23373621702194214], [0.08902287483215332, 0.9955654740333557, -0.03040385991334915], [0.23554781079292297, 0.008616290986537933, 0.971824586391449]], "bbox3D_cam": [[-1.160415530204773, 0.06196022033691406, 3.9835150241851807], [-0.6332889795303345, 0.11044901609420776, 4.111812591552734], [-0.6937919855117798, 0.7534588575363159, 4.117377758026123], [-1.2209185361862183, 0.7049700617790222, 3.9890801906585693], [-1.2361972332000732, 0.052102744579315186, 4.298598766326904], [-0.7090706825256348, 0.10059154033660889, 4.426896572113037], [-0.7695736885070801, 0.743601381778717, 4.432461261749268], [-1.2967002391815186, 0.6951125860214233, 4.304163932800293]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1896, "image_id": 264, "category_id": 45, "category_name": "person", "bbox2D_proj": [180.0, 245.0, 206.0, 332.0], "bbox2D_tight": [180.0, 245.0, 206.0, 332.0], "bbox2D_trunc": [180.0, 245.0, 206.0, 332.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1897, "image_id": 264, "category_id": 45, "category_name": "person", "bbox2D_proj": [96.0, 259.0, 129.0, 359.0], "bbox2D_tight": [96.0, 259.0, 129.0, 359.0], "bbox2D_trunc": [96.0, 259.0, 129.0, 359.0], "center_cam": [-1.7147739448116055, 0.6407345711352496, 5.422505673253875], "dimensions": [0.32421875674209405, 1.0942382928994743, 0.4333496285150765], "R_cam": [[0.9260066747665405, 0.03199648857116699, -0.37614884972572327], [-0.03155374526977539, 0.9994751214981079, 0.0073394775390625], [0.3761862516403198, 0.005072504281997681, 0.9265301823616028]], "bbox3D_cam": [[-1.8719449043273926, 0.09954971075057983, 5.188021183013916], [-1.4706602096557617, 0.08587592840194702, 5.351041316986084], [-1.4356484413146973, 1.1795399188995361, 5.356592178344727], [-1.8369330167770386, 1.193213701248169, 5.193572044372559], [-1.9938993453979492, 0.10192924737930298, 5.488419532775879], [-1.592614769935608, 0.08825546503067017, 5.651439666748047], [-1.557602882385254, 1.1819193363189697, 5.6569905281066895], [-1.9588875770568848, 1.1955931186676025, 5.4939703941345215]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1898, "image_id": 265, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [205.0, 91.0, 283.0, 155.0], "bbox2D_tight": [205.0, 91.0, 283.0, 155.0], "bbox2D_trunc": [205.0, 91.0, 283.0, 155.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1899, "image_id": 265, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [261.0, 24.0, 311.0, 147.0], "bbox2D_tight": [261.0, 24.0, 311.0, 147.0], "bbox2D_trunc": [261.0, 24.0, 311.0, 147.0], "center_cam": [0.22715161316140575, -1.1012068513341264, 2.87745700752056], "dimensions": [0.27416995267700084, 0.7210693386363076, 0.27929689573634453], "R_cam": [[0.07749831676483154, 0.041976213455200195, 0.9961084127426147], [0.4234192967414856, 0.9031472206115723, -0.07100123167037964], [-0.9026129245758057, 0.4272739887237549, 0.05221891403198242]], "bbox3D_cam": [[0.0646437257528305, -1.4762194156646729, 2.8422999382019043], [0.08628876507282257, -1.3579597473144531, 2.590202808380127], [0.11655648797750473, -0.7067279815673828, 2.898297071456909], [0.09491144120693207, -0.8249876499176025, 3.1503942012786865], [0.3377467393875122, -1.4956858158111572, 2.856616735458374], [0.35939180850982666, -1.3774261474609375, 2.6045196056365967], [0.3896595239639282, -0.7261943817138672, 2.912613868713379], [0.36801445484161377, -0.8444540500640869, 3.1647109985351562]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1900, "image_id": 265, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [0.0, 72.0, 31.0, 214.0], "bbox2D_tight": [0.0, 72.0, 31.0, 214.0], "bbox2D_trunc": [0.0, 72.0, 31.0, 214.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1901, "image_id": 265, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [129.0, 17.0, 176.0, 171.0], "bbox2D_tight": [129.0, 17.0, 176.0, 171.0], "bbox2D_trunc": [129.0, 17.0, 176.0, 171.0], "center_cam": [-0.6270992998854323, -0.9451637922250471, 2.8013516736239543], "dimensions": [0.14648437766749914, 0.9492187477999501, 0.3320312602242811], "R_cam": [[0.7546088695526123, -0.1653447151184082, -0.6350013017654419], [-0.29966509342193604, 0.7740840911865234, -0.5576690435409546], [0.5837520360946655, 0.6111096143722534, 0.5345827341079712]], "bbox3D_cam": [[-0.6273931264877319, -1.2219574451446533, 2.3752474784851074], [-0.37683942914009094, -1.321455478668213, 2.5690712928771973], [-0.5337876677513123, -0.5866804122924805, 3.1491479873657227], [-0.7843413352966309, -0.48718225955963135, 2.955324172973633], [-0.7204108834266663, -1.3036471605300903, 2.4535555839538574], [-0.46985718607902527, -1.4031453132629395, 2.6473793983459473], [-0.6268054246902466, -0.6683701872825623, 3.2274560928344727], [-0.87735915184021, -0.5688720345497131, 3.033632278442383]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1902, "image_id": 265, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [23.0, 136.0, 84.0, 218.0], "bbox2D_tight": [23.0, 136.0, 84.0, 218.0], "bbox2D_trunc": [23.0, 136.0, 84.0, 218.0], "center_cam": [-1.188941254737522, -0.4375254629694691, 2.604383611961712], "dimensions": [0.2939455512310426, 0.4611816399985446, 0.30468774530166043], "R_cam": [[0.6742232441902161, 0.036424219608306885, 0.7376288175582886], [-0.013590455055236816, 0.9992257952690125, -0.03691965341567993], [-0.7384025454521179, 0.014867395162582397, 0.6741962432861328]], "bbox3D_cam": [[-1.4084655046463013, -0.6604411602020264, 2.6143579483032227], [-1.203037977218628, -0.6645820140838623, 2.389375925064087], [-1.1862397193908691, -0.2037574052810669, 2.3962323665618896], [-1.3916672468185425, -0.19961655139923096, 2.6212146282196045], [-1.1916427612304688, -0.6712934970855713, 2.812535047531128], [-0.9862151741981506, -0.6754343509674072, 2.587552785873413], [-0.9694169759750366, -0.2146097719669342, 2.594409465789795], [-1.17484450340271, -0.21046891808509827, 2.8193914890289307]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1903, "image_id": 265, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [157.0, 61.0, 195.0, 162.0], "bbox2D_tight": [157.0, 61.0, 195.0, 162.0], "bbox2D_trunc": [157.0, 61.0, 195.0, 162.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1904, "image_id": 265, "category_id": 54, "category_name": "sculpture", "bbox2D_proj": [234.0, 235.0, 328.0, 257.0], "bbox2D_tight": [234.0, 235.0, 328.0, 257.0], "bbox2D_trunc": [234.0, 235.0, 328.0, 257.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1905, "image_id": 265, "category_id": 47, "category_name": "pipe", "bbox2D_proj": [279.0, 315.0, 512.0, 342.0], "bbox2D_tight": [279.0, 315.0, 512.0, 342.0], "bbox2D_trunc": [279.0, 315.0, 512.0, 342.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1906, "image_id": 265, "category_id": 62, "category_name": "statue", "bbox2D_proj": [261.0, 118.0, 306.0, 241.0], "bbox2D_tight": [261.0, 118.0, 306.0, 241.0], "bbox2D_trunc": [261.0, 118.0, 306.0, 241.0], "center_cam": [0.18605298878268317, -0.4934397253664544, 2.9466539794996036], "dimensions": [0.25781251840232033, 0.801574711011875, 0.32519534560613983], "R_cam": [[0.882845401763916, 0.019620895385742188, -0.46925368905067444], [-0.17097723484039307, 0.9439961910247803, -0.28220218420028687], [0.43743664026260376, 0.3293725550174713, 0.8367573618888855]], "bbox3D_cam": [[0.0951303243637085, -0.8076032996177673, 2.6356563568115234], [0.3822275400161743, -0.863204300403595, 2.7779085636138916], [0.39795514941215515, -0.1065208911895752, 3.0419254302978516], [0.11085793375968933, -0.05091989040374756, 2.8996729850769043], [-0.02584916353225708, -0.8803585767745972, 2.8513827323913574], [0.26124805212020874, -0.9359595775604248, 2.9936351776123047], [0.2769756615161896, -0.17927616834640503, 3.2576518058776855], [-0.010121554136276245, -0.12367516756057739, 3.1153995990753174]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1907, "image_id": 265, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [428.0, 0.0, 481.0, 126.0], "bbox2D_tight": [428.0, 0.0, 481.0, 126.0], "bbox2D_trunc": [428.0, 0.0, 481.0, 126.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1908, "image_id": 265, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [311.0, 0.0, 357.0, 150.0], "bbox2D_tight": [311.0, 0.0, 357.0, 150.0], "bbox2D_trunc": [311.0, 0.0, 357.0, 150.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1909, "image_id": 266, "category_id": 17, "category_name": "chandelier", "bbox2D_proj": [233.0, 17.0, 311.0, 139.0], "bbox2D_tight": [233.0, 17.0, 311.0, 139.0], "bbox2D_trunc": [233.0, 17.0, 311.0, 139.0], "center_cam": [0.10516219788838033, -1.1655525110207203, 2.869928036420762], "dimensions": [0.4132415495548032, 0.7478056113533572, 0.494043820946663], "R_cam": [[-0.9949923753738403, -0.0037680715322494507, -0.09988085180521011], [-0.0034629912115633488, 0.9999889135360718, -0.003227646229788661], [0.09989189356565475, -0.0028655962087213993, -0.9949941635131836]], "bbox3D_cam": [[0.37299346923828125, -1.537928819656372, 3.051910638809204], [-0.11857638508081436, -1.5396397113800049, 3.101261615753174], [-0.12139416486024857, -0.7918424606323242, 3.099118709564209], [0.37017568945884705, -0.7901315689086914, 3.0497677326202393], [0.3317185640335083, -1.5392625331878662, 2.640737533569336], [-0.1598512828350067, -1.540973424911499, 2.6900885105133057], [-0.16266906261444092, -0.7931762337684631, 2.687945604324341], [0.3289007842540741, -0.7914653420448303, 2.638594627380371]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1910, "image_id": 266, "category_id": 45, "category_name": "person", "bbox2D_proj": [60.0, 222.0, 102.0, 281.0], "bbox2D_tight": [60.0, 222.0, 102.0, 281.0], "bbox2D_trunc": [60.0, 222.0, 102.0, 281.0], "center_cam": [-1.756668903232754, -0.046775649456349835, 4.4441029109726], "dimensions": [0.3469848768780456, 0.5802307755506692, 0.5546876045111325], "R_cam": [[0.41804978251457214, 0.08881866931915283, 0.9040716886520386], [0.05947691202163696, 0.9903973340988159, -0.12480220198631287], [-0.9064749479293823, 0.10594496130943298, 0.4087526798248291]], "bbox3D_cam": [[-2.055229663848877, -0.3289484679698944, 4.593856334686279], [-1.8233426809310913, -0.2959573566913605, 4.09104585647583], [-1.771807312965393, 0.27870163321495056, 4.152518272399902], [-2.0036942958831787, 0.24571050703525543, 4.655328750610352], [-1.7415305376052856, -0.3722529113292694, 4.735687255859375], [-1.5096434354782104, -0.3392618000507355, 4.232876777648926], [-1.4581081867218018, 0.23539717495441437, 4.294349193572998], [-1.6899951696395874, 0.20240604877471924, 4.797159671783447]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1911, "image_id": 266, "category_id": 14, "category_name": "cabinet", "bbox2D_proj": [21.0, 166.0, 44.0, 245.0], "bbox2D_tight": [21.0, 166.0, 44.0, 245.0], "bbox2D_trunc": [21.0, 166.0, 44.0, 245.0], "center_cam": [-3.507417724793905, -0.7599222583281785, 6.988328013575186], "dimensions": [0.14062500764409674, 1.1865234402256406, 0.44140625450412874], "R_cam": [[0.9412537813186646, 0.016521215438842773, 0.337295800447464], [-0.0369110107421875, 0.9978516101837158, 0.05412711203098297], [-0.335676908493042, -0.06339725852012634, 0.9398413896560669]], "bbox3D_cam": [[-3.7486729621887207, -1.3475688695907593, 7.033941268920898], [-3.333197593688965, -1.3638615608215332, 6.885771751403809], [-3.3135948181152344, -0.1798872947692871, 6.810549259185791], [-3.729069948196411, -0.16359460353851318, 6.958719253540039], [-3.7012405395507812, -1.3399572372436523, 7.166106700897217], [-3.2857654094696045, -1.3562499284744263, 7.017936706542969], [-3.266162395477295, -0.17227566242218018, 6.942714691162109], [-3.681637763977051, -0.15598297119140625, 7.090884208679199]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1912, "image_id": 266, "category_id": 14, "category_name": "cabinet", "bbox2D_proj": [134.0, 140.0, 172.0, 240.0], "bbox2D_tight": [134.0, 140.0, 172.0, 240.0], "bbox2D_trunc": [134.0, 140.0, 172.0, 240.0], "center_cam": [-1.323399692821131, -0.8366040614631867, 5.656276429559137], "dimensions": [0.12489505010873092, 1.2569138208400998, 0.5380442112572839], "R_cam": [[-0.9063408374786377, -0.003768071299418807, -0.42253077030181885], [-0.0022043471690267324, 0.9999887943267822, -0.004189374390989542], [0.4225417971611023, -0.0028655962087213993, -0.9063389301300049]], "bbox3D_cam": [[-1.0508198738098145, -1.4641993045806885, 5.6010026931762695], [-1.5384713411331177, -1.4653853178024292, 5.828348636627197], [-1.5432074069976807, -0.20848560333251953, 5.824747085571289], [-1.055556058883667, -0.2072995901107788, 5.597400665283203], [-1.1035919189453125, -1.4647225141525269, 5.487805366516113], [-1.5912432670593262, -1.4659085273742676, 5.715151786804199], [-1.5959794521331787, -0.2090088129043579, 5.711549758911133], [-1.1083279848098755, -0.2078227996826172, 5.484203815460205]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1913, "image_id": 266, "category_id": 45, "category_name": "person", "bbox2D_proj": [386.0, 195.0, 512.0, 512.0], "bbox2D_tight": [386.0, 195.0, 512.0, 512.0], "bbox2D_trunc": [386.0, 195.0, 512.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1914, "image_id": 266, "category_id": 14, "category_name": "cabinet", "bbox2D_proj": [52.0, 149.0, 121.0, 241.0], "bbox2D_tight": [52.0, 149.0, 121.0, 241.0], "bbox2D_trunc": [52.0, 149.0, 121.0, 241.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1915, "image_id": 266, "category_id": 38, "category_name": "light_fixture", "bbox2D_proj": [0.0, 104.0, 145.0, 167.0], "bbox2D_tight": [0.0, 104.0, 145.0, 167.0], "bbox2D_trunc": [0.0, 104.0, 145.0, 167.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1916, "image_id": 267, "category_id": 63, "category_name": "streetlight", "bbox2D_proj": [81.0, 35.0, 133.0, 322.0], "bbox2D_tight": [81.0, 35.0, 133.0, 322.0], "bbox2D_trunc": [81.0, 35.0, 133.0, 322.0], "center_cam": [-4.109773237664569, -1.777263132039359, 12.13050168747084], "dimensions": [1.1757812491824704, 9.298828103688425, 1.9296874983571204], "R_cam": [[0.860706627368927, 0.03589683771133423, 0.5078340768814087], [-0.10296452045440674, 0.9891709685325623, 0.10458965599536896], [-0.49858033657073975, -0.14230994880199432, 0.8550820350646973]], "bbox3D_cam": [[-5.405670642852783, -6.338471412658691, 12.770517349243164], [-3.7447757720947266, -6.537160873413086, 11.808412551879883], [-3.410977363586426, 2.660970687866211, 10.48509693145752], [-5.071872234344482, 2.8596601486206055, 11.447200775146484], [-4.808568954467773, -6.215497016906738, 13.775906562805176], [-3.1476738452911377, -6.414186477661133, 12.813802719116211], [-2.813875675201416, 2.783945083618164, 11.490486145019531], [-4.474770545959473, 2.9826345443725586, 12.452590942382812]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1917, "image_id": 267, "category_id": 61, "category_name": "sports_car", "bbox2D_proj": [450.0, 280.0, 512.0, 329.0], "bbox2D_tight": [450.0, 280.0, 512.0, 329.0], "bbox2D_trunc": [450.0, 280.0, 512.0, 329.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1918, "image_id": 267, "category_id": 61, "category_name": "sports_car", "bbox2D_proj": [41.0, 345.0, 403.0, 512.0], "bbox2D_tight": [41.0, 345.0, 403.0, 512.0], "bbox2D_trunc": [41.0, 345.0, 403.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1919, "image_id": 267, "category_id": 43, "category_name": "palm_tree", "bbox2D_proj": [113.0, 202.0, 181.0, 285.0], "bbox2D_tight": [113.0, 202.0, 181.0, 285.0], "bbox2D_trunc": [113.0, 202.0, 181.0, 285.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1920, "image_id": 267, "category_id": 15, "category_name": "car", "bbox2D_proj": [138.0, 275.0, 193.0, 321.0], "bbox2D_tight": [138.0, 275.0, 193.0, 321.0], "bbox2D_trunc": [138.0, 275.0, 193.0, 321.0], "center_cam": [-2.8827600780102625, 1.324056177480279, 15.26159580995827], "dimensions": [1.4707031239197808, 1.1582031227054945, 3.5156249936747495], "R_cam": [[0.04397463798522949, -0.015772463753819466, -0.998908281326294], [-0.04792157560586929, 0.998691201210022, -0.017878592014312744], [0.9978827238082886, 0.04865550994873047, 0.04316118732094765]], "bbox3D_cam": [[-2.216376781463623, 0.8430968523025513, 13.447589874267578], [-2.0617783069610596, 0.6746224761009216, 16.95577049255371], [-2.0800459384918213, 1.8313095569610596, 17.012123107910156], [-2.2346444129943848, 1.999783992767334, 13.503942489624023], [-3.685474157333374, 0.8168026804924011, 13.511067390441895], [-3.5308756828308105, 0.6483283638954163, 17.019248962402344], [-3.5491433143615723, 1.8050154447555542, 17.07560157775879], [-3.7037417888641357, 1.973489761352539, 13.567420959472656]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1921, "image_id": 267, "category_id": 15, "category_name": "car", "bbox2D_proj": [418.0, 273.0, 456.0, 304.0], "bbox2D_tight": [418.0, 273.0, 456.0, 304.0], "bbox2D_trunc": [418.0, 273.0, 456.0, 304.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1922, "image_id": 267, "category_id": 63, "category_name": "streetlight", "bbox2D_proj": [448.0, 164.0, 470.0, 277.0], "bbox2D_tight": [448.0, 164.0, 470.0, 277.0], "bbox2D_trunc": [448.0, 164.0, 470.0, 277.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1923, "image_id": 267, "category_id": 45, "category_name": "person", "bbox2D_proj": [12.0, 273.0, 30.0, 316.0], "bbox2D_tight": [12.0, 273.0, 30.0, 316.0], "bbox2D_trunc": [12.0, 273.0, 30.0, 316.0], "center_cam": [-5.822180850546072, 1.0439908109364033, 10.832390719286893], "dimensions": [0.3984375006201098, 1.2568359347641107, 0.4375000010958274], "R_cam": [[0.994265615940094, -0.10665428638458252, -0.007796149700880051], [0.1059807538986206, 0.9924727082252502, -0.06136701628565788], [0.014282520860433578, 0.06018887087702751, 0.9980847835540771]], "bbox3D_cam": [[-5.971099853515625, 0.40934526920318604, 10.592605590820312], [-5.536108493804932, 0.45571184158325195, 10.598854064941406], [-5.6701555252075195, 1.703087329864502, 10.674501419067383], [-6.105146884918213, 1.656720757484436, 10.668252944946289], [-5.97420597076416, 0.38489437103271484, 10.990280151367188], [-5.539214611053467, 0.43126094341278076, 10.996528625488281], [-5.673261642456055, 1.6786364316940308, 11.072175979614258], [-6.108253002166748, 1.6322698593139648, 11.065927505493164]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1924, "image_id": 267, "category_id": 15, "category_name": "car", "bbox2D_proj": [50.0, 252.0, 98.0, 274.0], "bbox2D_tight": [50.0, 252.0, 98.0, 274.0], "bbox2D_trunc": [50.0, 252.0, 98.0, 274.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1925, "image_id": 267, "category_id": 45, "category_name": "person", "bbox2D_proj": [389.0, 301.0, 418.0, 427.0], "bbox2D_tight": [389.0, 301.0, 418.0, 427.0], "bbox2D_trunc": [389.0, 301.0, 418.0, 427.0], "center_cam": [1.9491025485083262, 1.421927435980848, 6.058992528346922], "dimensions": [0.515625004954274, 1.5938720668883832, 0.5380859424065572], "R_cam": [[0.7771874666213989, -0.06608748435974121, 0.62578946352005], [0.01968318223953247, 0.9965364933013916, 0.0807952955365181], [-0.628961443901062, -0.050475455820560455, 0.7757964134216309]], "bbox3D_cam": [[1.6313368082046509, 0.6016260981559753, 6.06842565536499], [2.049530506134033, 0.612217366695404, 5.729990482330322], [1.9441956281661987, 2.200568675994873, 5.649538993835449], [1.5260019302368164, 2.1899774074554443, 5.987974166870117], [1.9540094137191772, 0.6432861685752869, 6.468445777893066], [2.3722031116485596, 0.6538774371147156, 6.130010604858398], [2.2668681144714355, 2.2422287464141846, 6.049559116363525], [1.8486746549606323, 2.231637477874756, 6.387994289398193]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1926, "image_id": 267, "category_id": 45, "category_name": "person", "bbox2D_proj": [167.0, 292.0, 209.0, 345.0], "bbox2D_tight": [167.0, 292.0, 209.0, 345.0], "bbox2D_trunc": [167.0, 292.0, 209.0, 345.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1927, "image_id": 267, "category_id": 45, "category_name": "person", "bbox2D_proj": [256.0, 293.0, 283.0, 331.0], "bbox2D_tight": [256.0, 293.0, 283.0, 331.0], "bbox2D_trunc": [256.0, 293.0, 283.0, 331.0], "center_cam": [0.3147158903931219, 0.9526055763302139, 7.373944310692755], "dimensions": [0.22265625097135255, 0.7246093733087471, 0.24218750107238168], "R_cam": [[0.49206048250198364, 0.22146105766296387, -0.841921329498291], [0.28734874725341797, 0.8715843558311462, 0.39720451831817627], [0.8217707872390747, -0.43737363815307617, 0.3652355670928955]], "bbox3D_cam": [[0.26862359046936035, 0.5578103065490723, 7.3922343254089355], [0.38779446482658386, 0.627402663230896, 7.591257095336914], [0.5482672452926636, 1.2589608430862427, 7.274332046508789], [0.42909637093544006, 1.189368486404419, 7.0753092765808105], [0.08116453886032104, 0.6462503671646118, 7.4735565185546875], [0.20033541321754456, 0.7158427238464355, 7.672579288482666], [0.36080819368362427, 1.3474009037017822, 7.355654239654541], [0.24163731932640076, 1.2778085470199585, 7.1566314697265625]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1928, "image_id": 268, "category_id": 45, "category_name": "person", "bbox2D_proj": [338.0, 358.0, 383.0, 512.0], "bbox2D_tight": [338.0, 358.0, 383.0, 512.0], "bbox2D_trunc": [338.0, 358.0, 383.0, 512.0], "center_cam": [0.7396711814571973, 1.2614818717162177, 3.1287425943007645], "dimensions": [0.30950749410247347, 1.071343885845598, 0.33856585251207383], "R_cam": [[0.19078874588012695, 0.003245119471102953, -0.9816257953643799], [-0.00030784032423980534, 0.9999948740005493, 0.003246012842282653], [0.9816311597824097, -0.00031711909105069935, 0.1907888650894165]], "bbox3D_cam": [[0.8575458526611328, 0.7253625392913818, 2.933213949203491], [0.92214035987854, 0.7252583503723145, 3.2655606269836426], [0.9256170392036438, 1.7965965270996094, 3.265220880508423], [0.8610224723815918, 1.7967007160186768, 2.9328742027282715], [0.5537253022193909, 0.7263672351837158, 2.99226450920105], [0.6183198690414429, 0.7262630462646484, 3.324611186981201], [0.6217964887619019, 1.7976012229919434, 3.3242714405059814], [0.5572019815444946, 1.7977054119110107, 2.99192476272583]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1929, "image_id": 268, "category_id": 13, "category_name": "building", "bbox2D_proj": [287.0, 0.0, 512.0, 276.0], "bbox2D_tight": [287.0, 0.0, 512.0, 276.0], "bbox2D_trunc": [287.0, 0.0, 512.0, 276.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1930, "image_id": 268, "category_id": 45, "category_name": "person", "bbox2D_proj": [104.0, 356.0, 142.0, 407.0], "bbox2D_tight": [104.0, 356.0, 142.0, 407.0], "bbox2D_trunc": [104.0, 356.0, 142.0, 407.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1931, "image_id": 268, "category_id": 55, "category_name": "shirt", "bbox2D_proj": [371.0, 364.0, 424.0, 422.0], "bbox2D_tight": [371.0, 364.0, 424.0, 422.0], "bbox2D_trunc": [371.0, 364.0, 424.0, 422.0], "center_cam": [1.0650466208924498, 1.0379897111939935, 3.361932839858037], "dimensions": [0.23046876294913837, 0.41455079368189873, 0.40191652342392226], "R_cam": [[0.9775553345680237, 0.0162431001663208, 0.2100517600774765], [-0.050938963890075684, 0.9856645464897156, 0.16084322333335876], [-0.20442798733711243, -0.16793297231197357, 0.9643690586090088]], "bbox3D_cam": [[0.8410269021987915, 0.8253876566886902, 3.3266942501068115], [1.2339224815368652, 0.8049144744873047, 3.2445311546325684], [1.2406561374664307, 1.2135224342346191, 3.1749143600463867], [0.8477604389190674, 1.2339956760406494, 3.25707745552063], [0.889437198638916, 0.8624570369720459, 3.5489511489868164], [1.2823328971862793, 0.8419837951660156, 3.4667880535125732], [1.2890664339065552, 1.25059175491333, 3.3971712589263916], [0.8961708545684814, 1.2710649967193604, 3.4793343544006348]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1932, "image_id": 268, "category_id": 45, "category_name": "person", "bbox2D_proj": [106.0, 336.0, 120.0, 366.0], "bbox2D_tight": [106.0, 336.0, 120.0, 366.0], "bbox2D_trunc": [106.0, 336.0, 120.0, 366.0], "center_cam": [-1.298703677846286, 0.8673350790508212, 4.019444459921153], "dimensions": [0.11823691195317042, 0.3713049999498119, 0.12045326345877073], "R_cam": [[-0.9241653680801392, 0.032257914543151855, 0.38062822818756104], [0.08432203531265259, 0.9890755414962769, 0.12091064453125], [-0.3725696802139282, 0.14383673667907715, -0.9167894124984741]], "bbox3D_cam": [[-1.2715352773666382, 0.6714842319488525, 4.06937837600708], [-1.3828539848327637, 0.6816411018371582, 4.024501323699951], [-1.370876431465149, 1.0488898754119873, 4.077908515930176], [-1.2595577239990234, 1.0387330055236816, 4.122786045074463], [-1.226530909538269, 0.6857803463935852, 3.960980176925659], [-1.3378496170043945, 0.6959372162818909, 3.9161031246185303], [-1.3258720636367798, 1.0631859302520752, 3.969510316848755], [-1.2145533561706543, 1.0530290603637695, 4.014387607574463]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1933, "image_id": 268, "category_id": 45, "category_name": "person", "bbox2D_proj": [224.0, 330.0, 248.0, 425.0], "bbox2D_tight": [224.0, 330.0, 248.0, 425.0], "bbox2D_trunc": [224.0, 330.0, 248.0, 425.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1934, "image_id": 268, "category_id": 62, "category_name": "statue", "bbox2D_proj": [412.0, 181.0, 444.0, 234.0], "bbox2D_tight": [412.0, 181.0, 444.0, 234.0], "bbox2D_trunc": [412.0, 181.0, 444.0, 234.0], "center_cam": [2.656051373312271, -0.7363158838185702, 6.792066397232519], "dimensions": [0.22265625963264843, 0.7747421239114023, 0.4408569479500827], "R_cam": [[0.9124873280525208, 0.11285585165023804, 0.3932308554649353], [-0.05558454990386963, 0.9864850640296936, -0.15413494408130646], [-0.4053114056587219, 0.11878867447376251, 0.906428337097168]], "bbox3D_cam": [[2.3674185276031494, -1.0890398025512695, 6.734482288360596], [2.7696948051452637, -1.1135444641113281, 6.555798053741455], [2.8571290969848633, -0.3492729663848877, 6.647828578948975], [2.45485258102417, -0.32476818561553955, 6.826513290405273], [2.4549736976623535, -1.1233588457107544, 6.936304569244385], [2.857250213623047, -1.1478636264801025, 6.757619857788086], [2.9446842670440674, -0.38359206914901733, 6.849650859832764], [2.542407989501953, -0.3590872883796692, 7.028335094451904]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1935, "image_id": 268, "category_id": 45, "category_name": "person", "bbox2D_proj": [80.0, 351.0, 107.0, 460.0], "bbox2D_tight": [80.0, 351.0, 107.0, 460.0], "bbox2D_trunc": [80.0, 351.0, 107.0, 460.0], "center_cam": [-1.2047985696342198, 1.0803096072097853, 3.446400531544771], "dimensions": [0.20312507454622344, 0.6625976500114632, 0.2119141354985155], "R_cam": [[0.8177422881126404, -0.00959920883178711, -0.5755043625831604], [0.018140137195587158, 0.9997939467430115, 0.00909909512847662], [0.5752984881401062, -0.017880408093333244, 0.817747950553894]], "bbox3D_cam": [[-1.2298142910003662, 0.746232807636261, 3.308314800262451], [-1.056523084640503, 0.750076949596405, 3.4302287101745605], [-1.0628834962844849, 1.4125381708145142, 3.4183812141418457], [-1.2361747026443481, 1.4086940288543701, 3.2964673042297363], [-1.346713662147522, 0.7480810880661011, 3.4744200706481934], [-1.1734224557876587, 0.7519252300262451, 3.5963339805603027], [-1.1797828674316406, 1.414386510848999, 3.584486484527588], [-1.353074073791504, 1.4105422496795654, 3.4625725746154785]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1936, "image_id": 268, "category_id": 13, "category_name": "building", "bbox2D_proj": [92.0, 133.0, 254.0, 283.0], "bbox2D_tight": [92.0, 133.0, 254.0, 283.0], "bbox2D_trunc": [92.0, 133.0, 254.0, 283.0], "center_cam": [-1.1794395088449932, -0.7425402551547097, 6.828992909542906], "dimensions": [0.4149740377444191, 2.2041016100700466, 2.2676159577304507], "R_cam": [[0.9405920505523682, 0.0032451197039335966, -0.3395232558250427], [-0.002944679232314229, 0.9999948740005493, 0.001400082022882998], [0.3395259976387024, -0.00031711909105069935, 0.9405968189239502]], "bbox3D_cam": [[-2.1790199279785156, -1.8415369987487793, 6.249223709106445], [-0.04611825942993164, -1.8482143878936768, 7.019137859344482], [-0.038965702056884766, 0.35587549209594727, 7.018438816070557], [-2.1718673706054688, 0.3625528812408447, 6.2485246658325195], [-2.319913387298584, -1.8409559726715088, 6.639546871185303], [-0.18701165914535522, -1.8476333618164062, 7.40946102142334], [-0.17985910177230835, 0.3564565181732178, 7.408761978149414], [-2.312760829925537, 0.36313390731811523, 6.638847827911377]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1937, "image_id": 268, "category_id": 13, "category_name": "building", "bbox2D_proj": [0.0, 0.0, 76.0, 320.0], "bbox2D_tight": [0.0, 0.0, 76.0, 320.0], "bbox2D_trunc": [0.0, 0.0, 76.0, 320.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1938, "image_id": 268, "category_id": 45, "category_name": "person", "bbox2D_proj": [264.0, 304.0, 287.0, 365.0], "bbox2D_tight": [264.0, 304.0, 287.0, 365.0], "bbox2D_trunc": [264.0, 304.0, 287.0, 365.0], "center_cam": [0.22929819308318278, 0.8530581428995883, 4.807946162726005], "dimensions": [0.19921876040843955, 0.6331787069206248, 0.23828125356452423], "R_cam": [[-0.9620635509490967, 0.09336543083190918, 0.2563525140285492], [0.06483030319213867, 0.9909417629241943, -0.1176067441701889], [-0.2650108337402344, -0.09652575850486755, -0.9594018459320068]], "bbox3D_cam": [[0.28882545232772827, 0.5433273315429688, 4.965644359588623], [0.05958370864391327, 0.5587751865386963, 4.902497291564941], [0.11870069801807404, 1.186218500137329, 4.841379165649414], [0.34794241189956665, 1.1707706451416016, 4.904526233673096], [0.33989566564559937, 0.5198978781700134, 4.774513244628906], [0.11065395176410675, 0.535345733165741, 4.711366176605225], [0.16977094113826752, 1.162788987159729, 4.650248050689697], [0.3990126848220825, 1.1473411321640015, 4.713395118713379]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1939, "image_id": 268, "category_id": 13, "category_name": "building", "bbox2D_proj": [70.0, 175.0, 123.0, 287.0], "bbox2D_tight": [70.0, 175.0, 123.0, 287.0], "bbox2D_trunc": [70.0, 175.0, 123.0, 287.0], "center_cam": [-2.2219113256233207, -0.3738489339567018, 6.20738189706565], "dimensions": [0.2221674004592904, 1.4746316824383063, 0.8581241807480291], "R_cam": [[0.5306415557861328, 0.0032451190054416656, -0.8475901484489441], [-0.0014532142085954547, 0.9999947547912598, 0.0029188236221671104], [0.8475951552391052, -0.0003171190619468689, 0.5306434631347656]], "bbox3D_cam": [[-2.3578288555145264, -1.1108615398406982, 5.784998893737793], [-1.9024724960327148, -1.112108588218689, 6.512340545654297], [-1.8976871967315674, 0.3625151813030243, 6.511873245239258], [-2.353043556213379, 0.363762229681015, 5.784531116485596], [-2.546135663986206, -1.110213041305542, 5.902890205383301], [-2.0907793045043945, -1.1114600896835327, 6.630232334136963], [-2.085994005203247, 0.36316367983818054, 6.629764556884766], [-2.5413503646850586, 0.36441072821617126, 5.902422904968262]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1940, "image_id": 268, "category_id": 45, "category_name": "person", "bbox2D_proj": [181.0, 333.0, 194.0, 367.0], "bbox2D_tight": [181.0, 333.0, 194.0, 367.0], "bbox2D_trunc": [181.0, 333.0, 194.0, 367.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1941, "image_id": 268, "category_id": 45, "category_name": "person", "bbox2D_proj": [256.0, 335.0, 290.0, 414.0], "bbox2D_tight": [256.0, 335.0, 290.0, 414.0], "bbox2D_trunc": [256.0, 335.0, 290.0, 414.0], "center_cam": [0.13730374703013193, 1.130667823321605, 4.212427840345871], "dimensions": [0.23437500892829438, 0.7626953062223175, 0.41851043888905626], "R_cam": [[-0.9993844032287598, 0.024361252784729004, 0.02524515613913536], [0.02463698387145996, 0.9996395111083984, 0.010671975091099739], [-0.02497607283294201, 0.011287368834018707, -0.9996243715286255]], "bbox3D_cam": [[0.33418160676956177, 0.7430515885353088, 4.330492973327637], [-0.08407117426395416, 0.7533624172210693, 4.320040225982666], [-0.0654909759759903, 1.5157828330993652, 4.328649044036865], [0.35276180505752563, 1.50547194480896, 4.339101791381836], [0.34009844064712524, 0.7455528378486633, 4.096206188201904], [-0.07815434038639069, 0.7558636665344238, 4.085753440856934], [-0.05957414209842682, 1.5182840824127197, 4.094362258911133], [0.3586786389350891, 1.5079731941223145, 4.1048150062561035]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1942, "image_id": 268, "category_id": 45, "category_name": "person", "bbox2D_proj": [247.0, 399.0, 302.0, 512.0], "bbox2D_tight": [247.0, 399.0, 302.0, 512.0], "bbox2D_trunc": [247.0, 399.0, 302.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1943, "image_id": 268, "category_id": 13, "category_name": "building", "bbox2D_proj": [251.0, 159.0, 295.0, 263.0], "bbox2D_tight": [251.0, 159.0, 295.0, 263.0], "bbox2D_trunc": [251.0, 159.0, 295.0, 263.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1944, "image_id": 269, "category_id": 45, "category_name": "person", "bbox2D_proj": [382.0, 237.0, 410.0, 320.0], "bbox2D_tight": [382.0, 237.0, 410.0, 320.0], "bbox2D_trunc": [382.0, 237.0, 410.0, 320.0], "center_cam": [1.819199702809261, 0.286891570378166, 5.859747358387205], "dimensions": [0.32421875972821346, 1.0588378351215368, 0.3710937697258182], "R_cam": [[0.9932388663291931, 0.00915229320526123, -0.11572772264480591], [-0.006245851516723633, 0.999656617641449, 0.02545175328850746], [0.11592091619968414, -0.024556849151849747, 0.9929548501968384]], "bbox3D_cam": [[1.6488224267959595, -0.24531257152557373, 5.690272331237793], [2.017407178878784, -0.24763035774230957, 5.73328971862793], [2.0270979404449463, 0.810843825340271, 5.707287788391113], [1.6585131883621216, 0.8131616115570068, 5.664270401000977], [1.6113014221191406, -0.23706066608428955, 6.01220703125], [1.9798861742019653, -0.2393784523010254, 6.055224418640137], [1.9895769357681274, 0.8190957307815552, 6.02922248840332], [1.6209921836853027, 0.821413516998291, 5.986205101013184]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1945, "image_id": 269, "category_id": 45, "category_name": "person", "bbox2D_proj": [0.0, 200.0, 117.0, 505.0], "bbox2D_tight": [0.0, 200.0, 117.0, 505.0], "bbox2D_trunc": [0.0, 200.0, 117.0, 505.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1946, "image_id": 269, "category_id": 70, "category_name": "trash_can", "bbox2D_proj": [326.0, 57.0, 365.0, 91.0], "bbox2D_tight": [326.0, 57.0, 365.0, 91.0], "bbox2D_trunc": [326.0, 57.0, 365.0, 91.0], "center_cam": [1.0760877764563699, -2.272666490274588, 5.506845764921662], "dimensions": [0.41796877696869894, 0.3867187340919492, 0.4335937857351895], "R_cam": [[0.9978013038635254, 0.020230116322636604, -0.06311214715242386], [-0.019407421350479126, 0.9997189044952393, 0.01362144947052002], [0.06336996704339981, -0.012366652488708496, 0.9979134798049927]], "bbox3D_cam": [[0.8690453767776489, -2.4646105766296387, 5.286950588226318], [1.3016858100891113, -2.4730255603790283, 5.314427375793457], [1.3095091581344604, -2.0864155292510986, 5.30964469909668], [0.876868724822998, -2.078000545501709, 5.282167911529541], [0.8426664471626282, -2.4589173793792725, 5.704047203063965], [1.2753069400787354, -2.467332363128662, 5.7315239906311035], [1.2831302881240845, -2.0807223320007324, 5.726741313934326], [0.8504898548126221, -2.0723073482513428, 5.6992645263671875]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1947, "image_id": 269, "category_id": 6, "category_name": "beam", "bbox2D_proj": [52.0, 145.0, 144.0, 170.0], "bbox2D_tight": [52.0, 145.0, 144.0, 170.0], "bbox2D_trunc": [52.0, 145.0, 144.0, 170.0], "center_cam": [-2.191249240297636, -1.352921176067059, 6.170587176153587], "dimensions": [0.2785665418387486, 0.2174099905057041, 1.229875535315024], "R_cam": [[-0.7590163946151733, -0.00030074111418798566, 0.6510713696479797], [-0.0007858058088459074, 0.9999995231628418, -0.00045417220098897815], [-0.6510710120201111, -0.0008563398732803762, -0.7590163350105286]], "bbox3D_cam": [[-1.8151519298553467, -1.4610795974731445, 6.676766395568848], [-2.748647689819336, -1.4620460271835327, 5.876030445098877], [-2.7487130165100098, -1.2446361780166626, 5.8758440017700195], [-1.8152172565460205, -1.2436697483062744, 6.676580429077148], [-1.6337852478027344, -1.461206078529358, 6.465330123901367], [-2.5672810077667236, -1.462172508239746, 5.664593696594238], [-2.5673463344573975, -1.244762659072876, 5.664407730102539], [-1.6338505744934082, -1.2437962293624878, 6.46514368057251]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1948, "image_id": 269, "category_id": 45, "category_name": "person", "bbox2D_proj": [443.0, 230.0, 470.0, 312.0], "bbox2D_tight": [443.0, 230.0, 470.0, 312.0], "bbox2D_trunc": [443.0, 230.0, 470.0, 312.0], "center_cam": [2.6309338086086655, 0.18808030938557618, 5.926993728617585], "dimensions": [0.38281258180517874, 1.0847167386269159, 0.409179775713308], "R_cam": [[0.8094736337661743, 0.019350171089172363, 0.5868373513221741], [-0.01412498950958252, 0.9998093843460083, -0.01348385401070118], [-0.5869863629341125, 0.0026257934514433146, 0.8095927238464355]], "bbox3D_cam": [[2.3425045013427734, -0.3487039804458618, 5.890699863433838], [2.67372465133667, -0.35448360443115234, 5.650516986846924], [2.694714307785034, 0.730026364326477, 5.653365135192871], [2.3634941577911377, 0.7358059883117676, 5.893548488616943], [2.567153215408325, -0.35386574268341064, 6.20062255859375], [2.8983733654022217, -0.35964536666870117, 5.960439205169678], [2.919363021850586, 0.7248646020889282, 5.963287830352783], [2.5881428718566895, 0.7306442260742188, 6.203470706939697]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1949, "image_id": 269, "category_id": 45, "category_name": "person", "bbox2D_proj": [113.0, 242.0, 153.0, 352.0], "bbox2D_tight": [113.0, 242.0, 153.0, 352.0], "bbox2D_trunc": [113.0, 242.0, 153.0, 352.0], "center_cam": [-1.4245842421155528, 0.4228687200553093, 5.176189172631546], "dimensions": [0.3906250344452194, 1.202270448483734, 0.4382324677804073], "R_cam": [[0.9240018725395203, -0.001677393913269043, -0.3823845088481903], [-0.022536873817443848, 0.9980133175849915, -0.05883621424436569], [0.38172346353530884, 0.062982477247715, 0.922128438949585]], "bbox3D_cam": [[-1.5513553619384766, -0.16064250469207764, 4.874582767486572], [-1.1464276313781738, -0.1705188751220703, 5.041866779327393], [-1.1484442949295044, 1.0293629169464111, 5.117588520050049], [-1.5533719062805176, 1.0392392873764038, 4.950304985046387], [-1.7007242441177368, -0.1836254596710205, 5.2347893714904785], [-1.2957966327667236, -0.19350183010101318, 5.402072906494141], [-1.2978131771087646, 1.0063799619674683, 5.477795124053955], [-1.7027409076690674, 1.016256332397461, 5.310511112213135]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1950, "image_id": 269, "category_id": 45, "category_name": "person", "bbox2D_proj": [195.0, 232.0, 251.0, 337.0], "bbox2D_tight": [195.0, 232.0, 251.0, 337.0], "bbox2D_trunc": [195.0, 232.0, 251.0, 337.0], "center_cam": [-0.2985928345269818, 0.2584794061708615, 4.372228528530363], "dimensions": [0.45507826681456964, 0.9580077674150091, 0.4746095229518382], "R_cam": [[-0.5143250823020935, -0.00882863998413086, 0.8575499057769775], [-0.054418325424194336, 0.9982678294181824, -0.02236074209213257], [-0.8558670282363892, -0.05816712975502014, -0.5139145851135254]], "bbox3D_cam": [[-0.36743825674057007, -0.20169305801391602, 4.720128059387207], [-0.6115418672561646, -0.22752052545547485, 4.313925266265869], [-0.6199997663497925, 0.7288277745246887, 4.258200645446777], [-0.3758960962295532, 0.7546552419662476, 4.664403438568115], [0.022814124822616577, -0.21186894178390503, 4.4862565994262695], [-0.22128956019878387, -0.23769640922546387, 4.080053806304932], [-0.22974742949008942, 0.7186518907546997, 4.02432918548584], [0.014356225728988647, 0.7444793581962585, 4.430531978607178]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1951, "image_id": 269, "category_id": 45, "category_name": "person", "bbox2D_proj": [78.0, 276.0, 103.0, 328.0], "bbox2D_tight": [78.0, 276.0, 103.0, 328.0], "bbox2D_trunc": [78.0, 276.0, 103.0, 328.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1952, "image_id": 270, "category_id": 16, "category_name": "chair", "bbox2D_proj": [476.0, 312.0, 512.0, 421.0], "bbox2D_tight": [476.0, 312.0, 512.0, 421.0], "bbox2D_trunc": [476.0, 312.0, 512.0, 421.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1953, "image_id": 270, "category_id": 45, "category_name": "person", "bbox2D_proj": [295.0, 233.0, 321.0, 335.0], "bbox2D_tight": [295.0, 233.0, 321.0, 335.0], "bbox2D_trunc": [295.0, 233.0, 321.0, 335.0], "center_cam": [0.5704086074410547, 0.34354895407786246, 5.433784816465658], "dimensions": [0.42187522395110777, 1.2362060596587952, 0.4296877338737646], "R_cam": [[-0.44331902265548706, -0.026035308837890625, 0.8959857225418091], [0.016136765480041504, 0.9991843104362488, 0.037018150091171265], [-0.8962186574935913, 0.030869215726852417, -0.4425373077392578]], "bbox3D_cam": [[0.49274832010269165, -0.285325288772583, 5.700599670410156], [0.302259624004364, -0.2783914804458618, 5.315505504608154], [0.27007466554641724, 0.9568061828613281, 5.353665828704834], [0.4605633616447449, 0.9498723745346069, 5.738759994506836], [0.8707424998283386, -0.2697082757949829, 5.513904094696045], [0.680253803730011, -0.2627744674682617, 5.128809928894043], [0.6480688452720642, 0.9724231958389282, 5.166970252990723], [0.8385575413703918, 0.965489387512207, 5.552064418792725]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1954, "image_id": 270, "category_id": 58, "category_name": "signboard", "bbox2D_proj": [371.0, 171.0, 434.0, 218.0], "bbox2D_tight": [371.0, 171.0, 434.0, 218.0], "bbox2D_trunc": [371.0, 171.0, 434.0, 218.0], "center_cam": [2.269013196779826, -0.9655448171586387, 6.894943330589097], "dimensions": [0.10791802302971831, 0.7320175530486659, 0.9307913771090015], "R_cam": [[0.9782300591468811, 0.0006621396169066429, 0.20752228796482086], [-0.0006845714524388313, 0.9999997615814209, 3.627987462095916e-05], [-0.2075222283601761, -0.00017755391309037805, 0.9782302379608154]], "bbox3D_cam": [[1.8023090362548828, -1.3312368392944336, 6.938803672790527], [2.7128372192382812, -1.331874132156372, 6.7456440925598145], [2.7133219242095947, -0.5998566746711731, 6.745513916015625], [1.8027937412261963, -0.5992195010185242, 6.938673973083496], [1.8247044086456299, -1.331233024597168, 7.04437255859375], [2.7352325916290283, -1.3318700790405273, 6.851212501525879], [2.735717296600342, -0.5998527407646179, 6.851082801818848], [1.8251891136169434, -0.599215567111969, 7.0442423820495605]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1955, "image_id": 270, "category_id": 22, "category_name": "door", "bbox2D_proj": [49.0, 126.0, 121.0, 368.0], "bbox2D_tight": [49.0, 126.0, 121.0, 368.0], "bbox2D_trunc": [49.0, 126.0, 121.0, 368.0], "center_cam": [-1.7839546302620044, -0.06267153303514661, 4.521128697220573], "dimensions": [0.06835937444046246, 2.348632823109203, 1.0507812317762375], "R_cam": [[0.8545836806297302, 0.03317856788635254, 0.5182527303695679], [-0.03405559062957764, 0.9993893504142761, -0.007824361324310303], [-0.5181958675384521, -0.010962814092636108, 0.855191707611084]], "bbox3D_cam": [[-2.289620876312256, -1.2181109189987183, 4.777027606964111], [-1.3916401863098145, -1.253895878791809, 4.232517242431641], [-1.313715934753418, 1.093302607536316, 4.2067694664001465], [-2.2116963863372803, 1.1290875673294067, 4.751279830932617], [-2.2541933059692383, -1.218645691871643, 4.8354878425598145], [-1.356212854385376, -1.2544306516647339, 4.290977478027344], [-1.27828848361969, 1.0927678346633911, 4.26522970199585], [-2.176269054412842, 1.128552794456482, 4.80974006652832]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1956, "image_id": 270, "category_id": 58, "category_name": "signboard", "bbox2D_proj": [453.0, 153.0, 512.0, 185.0], "bbox2D_tight": [453.0, 153.0, 512.0, 185.0], "bbox2D_trunc": [453.0, 153.0, 512.0, 185.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1957, "image_id": 270, "category_id": 58, "category_name": "signboard", "bbox2D_proj": [0.0, 43.0, 62.0, 90.0], "bbox2D_tight": [0.0, 43.0, 62.0, 90.0], "bbox2D_trunc": [0.0, 43.0, 62.0, 90.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1958, "image_id": 270, "category_id": 71, "category_name": "tray", "bbox2D_proj": [190.0, 357.0, 246.0, 389.0], "bbox2D_tight": [190.0, 357.0, 246.0, 389.0], "bbox2D_trunc": [190.0, 357.0, 246.0, 389.0], "center_cam": [-0.33671117314586674, 1.0165045577467746, 3.8997122011489935], "dimensions": [0.404522007324684, 0.219107463098433, 0.48277398156345636], "R_cam": [[0.9896880388259888, 0.0006621396751143038, -0.1432379186153412], [-0.0006298793596215546, 0.9999996423721313, 0.0002705665829125792], [0.14323806762695312, -0.00017755389853846282, 0.9896881580352783]], "bbox3D_cam": [[-0.5467100739479065, 0.9070481657981873, 3.664980411529541], [-0.06891444325447083, 0.9067440629005432, 3.7341320514678955], [-0.06876936554908752, 1.1258515119552612, 3.734093189239502], [-0.5465649962425232, 1.1261554956436157, 3.6649415493011475], [-0.604653000831604, 0.9071575999259949, 4.065330982208252], [-0.12685734033584595, 0.9068534970283508, 4.1344828605651855], [-0.12671226263046265, 1.1259609460830688, 4.134443759918213], [-0.6045079231262207, 1.126265048980713, 4.0652923583984375]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1959, "image_id": 270, "category_id": 45, "category_name": "person", "bbox2D_proj": [159.0, 224.0, 198.0, 357.0], "bbox2D_tight": [159.0, 224.0, 198.0, 357.0], "bbox2D_trunc": [159.0, 224.0, 198.0, 357.0], "center_cam": [-0.8015507296838695, 0.3732766939713956, 4.778126933080988], "dimensions": [0.3906250092107533, 1.3754882884484103, 0.5449218832160494], "R_cam": [[0.8237963318824768, -0.05877041816711426, -0.5638312697410583], [0.1162293553352356, 0.9909921288490295, 0.06652401387691498], [0.5548426508903503, -0.12033599615097046, 0.8232064247131348]], "bbox3D_cam": [[-0.8754607439041138, -0.35293325781822205, 4.54893159866333], [-0.42655616998672485, -0.28959736227989197, 4.8512773513793945], [-0.5073941349983215, 1.073500633239746, 4.685756683349609], [-0.9562987685203552, 1.010164737701416, 4.383410930633545], [-1.0957074165344238, -0.32694730162620544, 4.87049674987793], [-0.6468027234077454, -0.26361140608787537, 5.172842502593994], [-0.7276407480239868, 1.0994865894317627, 5.007321834564209], [-1.1765453815460205, 1.0361506938934326, 4.7049760818481445]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1960, "image_id": 270, "category_id": 45, "category_name": "person", "bbox2D_proj": [342.0, 217.0, 409.0, 371.0], "bbox2D_tight": [342.0, 217.0, 409.0, 371.0], "bbox2D_trunc": [342.0, 217.0, 409.0, 371.0], "center_cam": [1.1172324267607043, 0.3335432958209401, 4.134913583671965], "dimensions": [0.5039062601025935, 1.3664550848894064, 0.6219482405891106], "R_cam": [[0.984222412109375, 0.02263551950454712, 0.17548200488090515], [-0.0007828474044799805, 0.9923304319381714, -0.12361141294240952], [-0.1769341379404068, 0.12152376770973206, 0.9766916036605835]], "bbox3D_cam": [[0.7514862418174744, -0.31305646896362305, 3.8608264923095703], [1.363621711730957, -0.31354331970214844, 3.7507827281951904], [1.394552230834961, 1.0424315929412842, 3.916839361190796], [0.7824167609214783, 1.0429184436798096, 4.026883125305176], [0.8399127125740051, -0.37534499168395996, 4.352987289428711], [1.4520480632781982, -0.37583184242248535, 4.24294376373291], [1.4829785823822021, 0.9801430702209473, 4.409000396728516], [0.870843231678009, 0.9806299209594727, 4.519044399261475]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1961, "image_id": 271, "category_id": 73, "category_name": "tree_trunk", "bbox2D_proj": [400.0, 0.0, 512.0, 339.0], "bbox2D_tight": [400.0, 0.0, 512.0, 339.0], "bbox2D_trunc": [400.0, 0.0, 512.0, 339.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1962, "image_id": 271, "category_id": 45, "category_name": "person", "bbox2D_proj": [252.0, 233.0, 306.0, 396.0], "bbox2D_tight": [252.0, 233.0, 306.0, 396.0], "bbox2D_trunc": [252.0, 233.0, 306.0, 396.0], "center_cam": [0.19072278768566364, 0.3406814492543702, 2.866034727100047], "dimensions": [0.31445318743290107, 0.9841308994095213, 0.35351569513982284], "R_cam": [[0.6615695953369141, 0.09265780448913574, -0.7441372871398926], [-0.07465577125549316, 0.9955450296401978, 0.05759012699127197], [0.7461583614349365, 0.017454296350479126, 0.6655396819114685]], "bbox3D_cam": [[0.14518967270851135, -0.1450505554676056, 2.6209161281585693], [0.3790648877620697, -0.17144259810447693, 2.884694814682007], [0.47025227546691895, 0.8083040714263916, 2.901872158050537], [0.2363770306110382, 0.8346961140632629, 2.6380934715270996], [-0.08880668878555298, -0.12694117426872253, 2.830197334289551], [0.14506855607032776, -0.15333318710327148, 3.0939760208129883], [0.23625591397285461, 0.8264135122299194, 3.1111533641815186], [0.0023806989192962646, 0.852805495262146, 2.847374677658081]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1963, "image_id": 272, "category_id": 16, "category_name": "chair", "bbox2D_proj": [178.0, 334.0, 230.0, 411.0], "bbox2D_tight": [178.0, 334.0, 230.0, 411.0], "bbox2D_trunc": [178.0, 334.0, 230.0, 411.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1964, "image_id": 272, "category_id": 71, "category_name": "tray", "bbox2D_proj": [308.0, 378.0, 440.0, 423.0], "bbox2D_tight": [308.0, 378.0, 440.0, 423.0], "bbox2D_trunc": [308.0, 378.0, 440.0, 423.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1965, "image_id": 272, "category_id": 16, "category_name": "chair", "bbox2D_proj": [211.0, 397.0, 301.0, 474.0], "bbox2D_tight": [211.0, 397.0, 301.0, 474.0], "bbox2D_trunc": [211.0, 397.0, 301.0, 474.0], "center_cam": [-0.039381751702764825, 0.5889344169299489, 1.6150935812252727], "dimensions": [0.15722658263304273, 0.18078628642855893, 0.18359392072538433], "R_cam": [[0.8173366189002991, 0.3725285828113556, -0.4395263195037842], [-0.2648909389972687, 0.9204138517379761, 0.28752633929252625], [0.5116578340530396, -0.11857928335666656, 0.8509674072265625]], "bbox3D_cam": [[-0.11353219300508499, 0.507448136806488, 1.511946439743042], [0.036525845527648926, 0.4588157534599304, 1.6058835983276367], [0.10387390106916428, 0.6252139210700989, 1.5844461917877197], [-0.046184130012989044, 0.6738463044166565, 1.4905089139938354], [-0.18263739347457886, 0.5526549220085144, 1.6457409858703613], [-0.032579369843006134, 0.5040225386619568, 1.7396782636642456], [0.03476869314908981, 0.6704207062721252, 1.718240737915039], [-0.1152893453836441, 0.7190530896186829, 1.6243035793304443]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1966, "image_id": 272, "category_id": 10, "category_name": "bowl", "bbox2D_proj": [355.0, 370.0, 439.0, 407.0], "bbox2D_tight": [355.0, 370.0, 439.0, 407.0], "bbox2D_trunc": [355.0, 370.0, 439.0, 407.0], "center_cam": [0.38556163078639116, 0.3673091807423582, 1.2660050883955953], "dimensions": [0.17871096842173065, 0.06298828024906629, 0.18953708835032287], "R_cam": [[0.973613977432251, 0.0013897567987442017, 0.22819721698760986], [-0.0009433552622795105, 0.9999974370002747, -0.002065300941467285], [-0.22819949686527252, 0.0017954707145690918, 0.9736127257347107]], "bbox3D_cam": [[0.27285921573638916, 0.3360890746116638, 1.2005770206451416], [0.45739519596099854, 0.33591026067733765, 1.1573246717453003], [0.4574827253818512, 0.3988983929157257, 1.157437801361084], [0.2729467749595642, 0.3990771770477295, 1.2006900310516357], [0.3136405646800995, 0.3357199728488922, 1.3745722770690918], [0.4981765151023865, 0.3355411887168884, 1.33132004737854], [0.4982640743255615, 0.3985292911529541, 1.3314330577850342], [0.31372809410095215, 0.3987081050872803, 1.3746854066848755]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1967, "image_id": 272, "category_id": 16, "category_name": "chair", "bbox2D_proj": [289.0, 288.0, 341.0, 363.0], "bbox2D_tight": [289.0, 288.0, 341.0, 363.0], "bbox2D_trunc": [289.0, 288.0, 341.0, 363.0], "center_cam": [0.3907188942116885, 0.432885366860697, 2.9282497982240914], "dimensions": [0.3227539597592539, 0.4299316363086099, 0.3378906660916725], "R_cam": [[0.1798417717218399, 0.030019283294677734, 0.9832373261451721], [0.08210110664367676, 0.9955887794494629, -0.04541325196623802], [-0.980263352394104, 0.08889203518629074, 0.17658376693725586]], "bbox3D_cam": [[0.19521048665046692, 0.21232588589191437, 3.046255350112915], [0.2559773623943329, 0.24006707966327667, 2.715033531188965], [0.2688835859298706, 0.6681022047996521, 2.753251075744629], [0.20811671018600464, 0.6403610110282898, 3.084472894668579], [0.5125542283058167, 0.19766856729984283, 3.1032485961914062], [0.5733211040496826, 0.22540976107120514, 2.772026777267456], [0.586227297782898, 0.6534448862075806, 2.81024432182312], [0.5254604816436768, 0.6257036924362183, 3.1414661407470703]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1968, "image_id": 272, "category_id": 45, "category_name": "person", "bbox2D_proj": [212.0, 220.0, 247.0, 283.0], "bbox2D_tight": [212.0, 220.0, 247.0, 283.0], "bbox2D_trunc": [212.0, 220.0, 247.0, 283.0], "center_cam": [-0.20635616388260758, 0.06399906404093843, 3.4779237286605897], "dimensions": [0.2207031585751616, 0.6721191303107341, 0.23291020101846488], "R_cam": [[0.9840865135192871, 0.006762802600860596, 0.17756147682666779], [0.022409796714782715, 0.9865731000900269, -0.16177549958229065], [-0.1762714385986328, 0.1631801873445511, 0.9707217216491699]], "bbox3D_cam": [[-0.34282493591308594, -0.252305805683136, 3.3364923000335693], [-0.11362116038799286, -0.24708634614944458, 3.2954368591308594], [-0.10907578468322754, 0.4160082936286926, 3.405113458633423], [-0.3382795453071594, 0.4107888340950012, 3.446168899536133], [-0.3036365509033203, -0.2880101799964905, 3.550733804702759], [-0.07443277537822723, -0.2827907204627991, 3.509678363800049], [-0.06988739967346191, 0.38030391931533813, 3.6193549633026123], [-0.2990911602973938, 0.37508445978164673, 3.6604104042053223]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1969, "image_id": 272, "category_id": 56, "category_name": "shoe", "bbox2D_proj": [84.0, 457.0, 139.0, 488.0], "bbox2D_tight": [84.0, 457.0, 139.0, 488.0], "bbox2D_trunc": [84.0, 457.0, 139.0, 488.0], "center_cam": [-0.560818793101714, 0.8259046835909823, 1.7191974345494967], "dimensions": [0.06894616508939391, 0.07874092334696296, 0.16552492401077168], "R_cam": [[-0.8591481447219849, 0.03332659602165222, 0.5106406211853027], [0.008037924766540527, 0.9986328482627869, -0.05165129899978638], [-0.5116638541221619, -0.040271639823913574, -0.8582414388656616]], "bbox3D_cam": [[-0.5086290240287781, 0.7877033948898315, 1.7927156686782837], [-0.6508394479751587, 0.789033830165863, 1.7080225944519043], [-0.6482152938842773, 0.8676671385765076, 1.704851508140564], [-0.5060048699378967, 0.8663366436958313, 1.789544701576233], [-0.4734222888946533, 0.7841421961784363, 1.7335432767868042], [-0.6156327128410339, 0.7854726910591125, 1.6488500833511353], [-0.6130085587501526, 0.8641059398651123, 1.6456791162490845], [-0.470798134803772, 0.8627755045890808, 1.7303721904754639]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1970, "image_id": 272, "category_id": 45, "category_name": "person", "bbox2D_proj": [322.0, 256.0, 368.0, 306.0], "bbox2D_tight": [322.0, 256.0, 368.0, 306.0], "bbox2D_trunc": [322.0, 256.0, 368.0, 306.0], "center_cam": [0.5972513659845399, 0.18030507710096658, 3.055037527161881], "dimensions": [0.20914518270591856, 0.33682058283402966, 0.22445630766481672], "R_cam": [[0.5910321474075317, 0.42234036326408386, -0.6872478723526001], [-0.40945613384246826, 0.8911359906196594, 0.19550584256649017], [0.6950013041496277, 0.1658475399017334, 0.6996197700500488]], "bbox3D_cam": [[0.5316617488861084, 0.05573655664920807, 2.8759472370147705], [0.6643226146697998, -0.03616844117641449, 3.031944751739502], [0.8065755367279053, 0.2639845013618469, 3.0878055095672607], [0.6739146709442139, 0.3558894991874695, 2.9318082332611084], [0.3879271447658539, 0.0966256707906723, 3.0222694873809814], [0.5205880403518677, 0.004720672965049744, 3.178266763687134], [0.6628409624099731, 0.30487358570098877, 3.2341277599334717], [0.5301800966262817, 0.39677858352661133, 3.0781302452087402]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1971, "image_id": 272, "category_id": 16, "category_name": "chair", "bbox2D_proj": [175.0, 397.0, 347.0, 512.0], "bbox2D_tight": [175.0, 397.0, 347.0, 512.0], "bbox2D_trunc": [175.0, 397.0, 347.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1972, "image_id": 272, "category_id": 45, "category_name": "person", "bbox2D_proj": [165.0, 220.0, 198.0, 315.0], "bbox2D_tight": [165.0, 220.0, 198.0, 315.0], "bbox2D_trunc": [165.0, 220.0, 198.0, 315.0], "center_cam": [-0.557723359518373, 0.14508710486241433, 3.391563575580599], "dimensions": [0.23242195349961142, 0.8505859248605807, 0.24804695664733387], "R_cam": [[-0.6666641235351562, -0.05210226774215698, -0.7435351014137268], [-0.2832859754562378, 0.9404081702232361, 0.18810021877288818], [0.6894258856773376, 0.3360326886177063, -0.6416964530944824]], "bbox3D_cam": [[-0.3664756417274475, -0.2415870577096939, 3.2377185821533203], [-0.5318396687507629, -0.3118552565574646, 3.4087283611297607], [-0.5761572122573853, 0.4880426526069641, 3.6945531368255615], [-0.4107931852340698, 0.558310866355896, 3.523543119430542], [-0.5392894744873047, -0.19786842167377472, 3.088574171066284], [-0.7046535015106201, -0.2681366205215454, 3.2595841884613037], [-0.7489710450172424, 0.5317612886428833, 3.5454087257385254], [-0.583607017993927, 0.6020295023918152, 3.374398946762085]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1973, "image_id": 273, "category_id": 45, "category_name": "person", "bbox2D_proj": [286.0, 246.0, 313.0, 321.0], "bbox2D_tight": [286.0, 246.0, 313.0, 321.0], "bbox2D_trunc": [286.0, 246.0, 313.0, 321.0], "center_cam": [0.49261054361395806, 0.2915222085759096, 4.84579304173493], "dimensions": [0.24218751401809607, 0.7870483665343992, 0.2958984323287541], "R_cam": [[0.9959925413131714, -0.0014047622680664062, -0.08942633122205734], [0.0010885000228881836, 0.999993085861206, -0.003582653123885393], [0.08943074196577072, 0.003470946568995714, 0.9959871768951416]], "bbox3D_cam": [[0.3566359877586365, -0.10172641277313232, 4.710588455200195], [0.6513485908508301, -0.10140430927276611, 4.737050533294678], [0.6502430438995361, 0.6856384873390198, 4.739782333374023], [0.35553044080734253, 0.6853163838386536, 4.713320255279541], [0.33497804403305054, -0.10259407758712769, 4.951804161071777], [0.6296906471252441, -0.10227197408676147, 4.97826623916626], [0.6285851001739502, 0.6847708225250244, 4.9809980392456055], [0.3338724970817566, 0.6844487190246582, 4.954535961151123]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1974, "image_id": 273, "category_id": 45, "category_name": "person", "bbox2D_proj": [261.0, 248.0, 284.0, 320.0], "bbox2D_tight": [261.0, 248.0, 284.0, 320.0], "bbox2D_trunc": [261.0, 248.0, 284.0, 320.0], "center_cam": [0.17057991776847709, 0.3147431857337005, 5.094762895551531], "dimensions": [0.26367189828384996, 0.7971191674035643, 0.33203129562934186], "R_cam": [[-0.4230351150035858, -0.0035729408264160156, 0.9061062335968018], [-0.06261229515075684, 0.9977172613143921, -0.025297820568084717], [-0.9039474725723267, -0.06743523478507996, -0.4222930669784546]], "bbox3D_cam": [[0.12277700752019882, -0.06917679309844971, 5.327382564544678], [-0.017683908343315125, -0.0899660587310791, 5.027243614196777], [-0.02053190767765045, 0.7053334712982178, 4.973489761352539], [0.1199289932847023, 0.7261227369308472, 5.2736287117004395], [0.36169177293777466, -0.0758470892906189, 5.216035842895508], [0.2212308645248413, -0.09663635492324829, 4.915896892547607], [0.2183828353881836, 0.6986631751060486, 4.862143039703369], [0.35884374380111694, 0.719452440738678, 5.1622819900512695]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1975, "image_id": 273, "category_id": 45, "category_name": "person", "bbox2D_proj": [370.0, 252.0, 385.0, 318.0], "bbox2D_tight": [370.0, 252.0, 385.0, 318.0], "bbox2D_trunc": [370.0, 252.0, 385.0, 318.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1976, "image_id": 273, "category_id": 45, "category_name": "person", "bbox2D_proj": [349.0, 200.0, 369.0, 254.0], "bbox2D_tight": [349.0, 200.0, 369.0, 254.0], "bbox2D_trunc": [349.0, 200.0, 369.0, 254.0], "center_cam": [1.3499015649347346, -0.39038503196118324, 5.776104068662679], "dimensions": [0.2460939288562608, 0.684753441944863, 0.25537126497727747], "R_cam": [[0.9301835894584656, 0.007098793983459473, 0.36702585220336914], [0.0034446120262145996, 0.9996001124382019, -0.028063267469406128], [-0.36707833409309387, 0.027368217706680298, 0.9297871589660645]], "bbox3D_cam": [[1.183538556098938, -0.7296115756034851, 5.699196815490723], [1.4210808277130127, -0.7287319302558899, 5.60545539855957], [1.4259417057037354, -0.04425227642059326, 5.6241960525512695], [1.1883994340896606, -0.04513192176818848, 5.717937469482422], [1.2738614082336426, -0.7365177869796753, 5.928011894226074], [1.5114036798477173, -0.7356381416320801, 5.834270477294922], [1.51626455783844, -0.05115848779678345, 5.853011131286621], [1.2787222862243652, -0.05203813314437866, 5.946752548217773]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1977, "image_id": 273, "category_id": 39, "category_name": "monument", "bbox2D_proj": [232.0, 52.0, 373.0, 167.0], "bbox2D_tight": [232.0, 52.0, 373.0, 167.0], "bbox2D_trunc": [232.0, 52.0, 373.0, 167.0], "center_cam": [0.7591446307039305, -2.331795114649656, 7.392662451327821], "dimensions": [1.2617187972227892, 1.622558671428793, 2.0605468011739827], "R_cam": [[-0.9978940486907959, 0.009717371314764023, -0.06413350999355316], [0.0001295800320804119, 0.9890117645263672, 0.14783672988414764], [0.06486538052558899, 0.14751707017421722, -0.9869301319122314]], "bbox3D_cam": [[1.819823980331421, -3.22755765914917, 7.828770160675049], [-0.23638343811035156, -3.227290630340576, 7.962428092956543], [-0.22061634063720703, -1.622560977935791, 8.201783180236816], [1.8355910778045654, -1.6228280067443848, 8.068124771118164], [1.7389055490493774, -3.041029453277588, 6.5835418701171875], [-0.3173019289970398, -3.040762424468994, 6.717199802398682], [-0.30153483152389526, -1.436032772064209, 6.956554889678955], [1.754672646522522, -1.4362998008728027, 6.822896957397461]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1978, "image_id": 273, "category_id": 53, "category_name": "scaffolding", "bbox2D_proj": [84.0, 97.0, 206.0, 210.0], "bbox2D_tight": [84.0, 97.0, 206.0, 210.0], "bbox2D_trunc": [84.0, 97.0, 206.0, 210.0], "center_cam": [-1.5049839785894763, -1.4232707565416665, 6.0496481809299265], "dimensions": [0.7447061235761634, 1.5051455005104484, 1.636871019251199], "R_cam": [[-0.9260064363479614, -0.01423049159348011, 0.3772393465042114], [0.049752846360206604, 0.9859722852706909, 0.15932147204875946], [-0.374214768409729, 0.1663014441728592, -0.9123086929321289]], "bbox3D_cam": [[-0.8768642544746399, -2.2653298377990723, 6.570466041564941], [-2.3926172256469727, -2.1838908195495605, 5.9579243659973145], [-2.414036273956299, -0.6998591423034668, 6.208232402801514], [-0.8982831835746765, -0.7812981605529785, 6.820774078369141], [-0.5959318280220032, -2.1466822624206543, 5.891064167022705], [-2.111684799194336, -2.0652432441711426, 5.278522491455078], [-2.133103847503662, -0.5812114477157593, 5.528830528259277], [-0.6173507571220398, -0.662650465965271, 6.141372203826904]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1979, "image_id": 273, "category_id": 45, "category_name": "person", "bbox2D_proj": [168.0, 240.0, 194.0, 320.0], "bbox2D_tight": [168.0, 240.0, 194.0, 320.0], "bbox2D_trunc": [168.0, 240.0, 194.0, 320.0], "center_cam": [-0.7804191235245772, 0.2562551840299687, 4.6127398552583685], "dimensions": [0.2695313922211864, 0.827880886803569, 0.28369153963301424], "R_cam": [[0.9325471520423889, -0.012877464294433594, -0.36081835627555847], [0.021933794021606445, 0.9995384812355042, 0.021015195176005363], [0.36038124561309814, -0.027511756867170334, 0.9323991537094116]], "bbox3D_cam": [[-0.858740508556366, -0.16343757510185242, 4.447354316711426], [-0.5941847562789917, -0.1572151482105255, 4.549591541290283], [-0.6048458218574524, 0.6702836751937866, 4.526814937591553], [-0.8694015741348267, 0.6640613079071045, 4.424577713012695], [-0.9559924006462097, -0.15777334570884705, 4.698665142059326], [-0.6914366483688354, -0.15155091881752014, 4.800902366638184], [-0.7020977139472961, 0.675947904586792, 4.778125762939453], [-0.9666534662246704, 0.6697255373001099, 4.675888538360596]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1980, "image_id": 273, "category_id": 45, "category_name": "person", "bbox2D_proj": [134.0, 241.0, 155.0, 267.0], "bbox2D_tight": [134.0, 241.0, 155.0, 267.0], "bbox2D_trunc": [134.0, 241.0, 155.0, 267.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1981, "image_id": 273, "category_id": 45, "category_name": "person", "bbox2D_proj": [90.0, 260.0, 178.0, 500.0], "bbox2D_tight": [90.0, 260.0, 178.0, 500.0], "bbox2D_trunc": [90.0, 260.0, 178.0, 500.0], "center_cam": [-0.6458535956851619, 0.6060935244731213, 2.296063534978509], "dimensions": [0.4516602603122725, 1.1497803131808717, 0.486328268819331], "R_cam": [[-0.27298811078071594, -0.03709220886230469, -0.9613020420074463], [0.09164726734161377, 0.9937089681625366, -0.06436830759048462], [0.9576420187950134, -0.10567247867584229, -0.2678713798522949]], "bbox3D_cam": [[-0.34105777740478516, 0.027070999145507812, 2.1844427585601807], [-0.4738196134567261, 0.07164168357849121, 2.6501710414886475], [-0.5164674520492554, 1.2141886949539185, 2.5286710262298584], [-0.38370561599731445, 1.169618010520935, 2.0629425048828125], [-0.7752397060394287, -0.002001643180847168, 2.063455820083618], [-0.9080015420913696, 0.04256904125213623, 2.529184341430664], [-0.9506493806838989, 1.1851160526275635, 2.407684087753296], [-0.817887544631958, 1.14054536819458, 1.941955804824829]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1982, "image_id": 273, "category_id": 45, "category_name": "person", "bbox2D_proj": [210.0, 249.0, 234.0, 327.0], "bbox2D_tight": [210.0, 249.0, 234.0, 327.0], "bbox2D_trunc": [210.0, 249.0, 234.0, 327.0], "center_cam": [-0.36290146415908253, 0.33599929714648774, 4.713173632082537], "dimensions": [0.245117196522376, 0.7756347915065671, 0.38671877941400445], "R_cam": [[-0.5006735920906067, -0.023543596267700195, -0.8653159141540527], [-0.07545924186706543, 0.9970117211341858, 0.016534090042114258], [0.8623408675193787, 0.07357427477836609, -0.5009540319442749]], "bbox3D_cam": [[-0.15090903639793396, -0.03809484839439392, 4.5792951583862305], [-0.3445288836956024, -0.06727632880210876, 4.912778377532959], [-0.3627901077270508, 0.706040620803833, 4.969845294952393], [-0.16917026042938232, 0.7352221012115479, 4.636361598968506], [-0.3630128502845764, -0.034042030572891235, 4.456502437591553], [-0.5566326975822449, -0.06322351098060608, 4.7899861335754395], [-0.5748939514160156, 0.7100934982299805, 4.847052574157715], [-0.3812740743160248, 0.7392749786376953, 4.513569355010986]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1983, "image_id": 273, "category_id": 45, "category_name": "person", "bbox2D_proj": [375.0, 239.0, 426.0, 356.0], "bbox2D_tight": [375.0, 239.0, 426.0, 356.0], "bbox2D_trunc": [375.0, 239.0, 426.0, 356.0], "center_cam": [1.293700395895891, 0.36741035969116, 3.978278629762542], "dimensions": [0.277343772326482, 1.0354004318440235, 0.4061889752202976], "R_cam": [[0.9332605004310608, 0.06605207920074463, 0.3530748784542084], [-0.010493874549865723, 0.9875414967536926, -0.15700805187225342], [-0.3590468168258667, 0.14282429218292236, 0.9223265647888184]], "bbox3D_cam": [[1.0210034847259521, -0.11993622779846191, 3.849358081817627], [1.4000836610794067, -0.12419867515563965, 3.703517198562622], [1.46847403049469, 0.8983021974563599, 3.8513975143432617], [1.0893938541412354, 0.9025646448135376, 3.9972383975982666], [1.1189266443252563, -0.1634814739227295, 4.105159759521484], [1.498006820678711, -0.16774392127990723, 3.9593188762664795], [1.5663971900939941, 0.8547569513320923, 4.107199192047119], [1.1873170137405396, 0.85901939868927, 4.253039836883545]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1984, "image_id": 273, "category_id": 45, "category_name": "person", "bbox2D_proj": [324.0, 246.0, 357.0, 323.0], "bbox2D_tight": [324.0, 246.0, 357.0, 323.0], "bbox2D_trunc": [324.0, 246.0, 357.0, 323.0], "center_cam": [0.9107068759754517, 0.29077482927208537, 4.819309692298443], "dimensions": [0.3046875534716932, 0.8132934856511179, 0.3564453546113209], "R_cam": [[0.9354060888290405, -0.04401928186416626, 0.35082441568374634], [0.0476001501083374, 0.9988652467727661, -0.001585349440574646], [-0.3503565192222595, 0.018182262778282166, 0.9364399313926697]], "bbox3D_cam": [[0.7084506750106812, -0.1236523687839508, 4.731696605682373], [1.0418717861175537, -0.10668548941612244, 4.606813907623291], [1.0060712099075317, 0.705685019493103, 4.621601104736328], [0.6726500988006592, 0.6887181997299194, 4.746484279632568], [0.8153425455093384, -0.12413540482521057, 5.0170183181762695], [1.148763656616211, -0.1071685254573822, 4.892135143280029], [1.112963080406189, 0.7052019834518433, 4.906922817230225], [0.7795419692993164, 0.6882351636886597, 5.031805515289307]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1985, "image_id": 274, "category_id": 38, "category_name": "light_fixture", "bbox2D_proj": [313.0, 29.0, 392.0, 93.0], "bbox2D_tight": [313.0, 29.0, 392.0, 93.0], "bbox2D_trunc": [313.0, 29.0, 392.0, 93.0], "center_cam": [1.718863288789109, -3.4291443869287788, 7.852148455017142], "dimensions": [0.4689191286851569, 0.35739950156509326, 1.3387618438533253], "R_cam": [[-0.44966936111450195, 0.4635072350502014, -0.7635172605514526], [0.06808030605316162, 0.8701150417327881, 0.48812389373779297], [0.8905967473983765, 0.1675138771533966, -0.42281973361968994]], "bbox3D_cam": [[2.116048574447632, -3.7446506023406982, 7.325199604034424], [1.514048457145691, -3.6535074710845947, 8.517496109008789], [1.6797057390213013, -3.342528820037842, 8.57736587524414], [2.281705856323242, -3.4336719512939453, 7.385068893432617], [1.7580207586288452, -3.5157599449157715, 7.126931190490723], [1.1560206413269043, -3.424616813659668, 8.319228172302246], [1.3216779232025146, -3.113638162612915, 8.379097938537598], [1.9236780405044556, -3.2047812938690186, 7.186800479888916]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1986, "image_id": 274, "category_id": 45, "category_name": "person", "bbox2D_proj": [296.0, 202.0, 355.0, 341.0], "bbox2D_tight": [296.0, 202.0, 355.0, 341.0], "bbox2D_trunc": [296.0, 202.0, 355.0, 341.0], "center_cam": [0.7706762567566421, 0.14235757014365305, 4.8292276709091535], "dimensions": [0.5947265953734722, 1.4350585536385383, 0.6601562949308393], "R_cam": [[0.36487337946891785, 0.004877567291259766, -0.931044340133667], [0.020029544830322266, 0.999713659286499, 0.013086766004562378], [0.9308416843414307, -0.023423373699188232, 0.3646712303161621]], "bbox3D_cam": [[0.9235982298851013, -0.585469126701355, 4.430344104766846], [1.1644716262817383, -0.5722465515136719, 5.044845104217529], [1.171471118927002, 0.8624012470245361, 5.011231422424316], [0.9305977821350098, 0.849178671836853, 4.396729946136475], [0.3698813319206238, -0.577686071395874, 4.647223472595215], [0.6107547283172607, -0.5644634962081909, 5.261724948883057], [0.6177542805671692, 0.8701843023300171, 5.2281107902526855], [0.3768808841705322, 0.856961727142334, 4.613609790802002]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1987, "image_id": 274, "category_id": 45, "category_name": "person", "bbox2D_proj": [153.0, 205.0, 247.0, 370.0], "bbox2D_tight": [153.0, 205.0, 247.0, 370.0], "bbox2D_trunc": [153.0, 205.0, 247.0, 370.0], "center_cam": [-0.5312658196684348, 0.32004177828706826, 4.371775515016196], "dimensions": [0.8378906469573317, 1.4604491888563815, 0.9421386744899348], "R_cam": [[0.994437038898468, -0.033518314361572266, -0.09985669702291489], [0.045677363872528076, 0.9914681315422058, 0.12208383530378342], [0.09491268545389175, -0.125965878367424, 0.9874837398529053]], "bbox3D_cam": [[-0.9334042072296143, -0.47661638259887695, 4.005346775054932], [0.0034934282302856445, -0.4335819482803345, 4.0947675704956055], [-0.04545837640762329, 1.0144070386886597, 3.9108009338378906], [-0.9823560118675232, 0.9713726043701172, 3.821380138397217], [-1.017073154449463, -0.3743234872817993, 4.83275032043457], [-0.08017557859420776, -0.33128905296325684, 4.922171115875244], [-0.1291273832321167, 1.1166999340057373, 4.738204479217529], [-1.0660250186920166, 1.0736654996871948, 4.6487836837768555]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1988, "image_id": 275, "category_id": 45, "category_name": "person", "bbox2D_proj": [364.0, 284.0, 413.0, 421.0], "bbox2D_tight": [364.0, 284.0, 413.0, 421.0], "bbox2D_trunc": [364.0, 284.0, 413.0, 421.0], "center_cam": [1.0528027173185541, 0.7790325144475572, 3.592268358668946], "dimensions": [0.3203125128280453, 1.0517578137637837, 0.37353517174509304], "R_cam": [[0.8551203012466431, -0.011367499828338623, 0.5183050632476807], [0.07538461685180664, 0.9918601512908936, -0.10261894762516022], [-0.5129196047782898, 0.1268237978219986, 0.8490166664123535]], "bbox3D_cam": [[0.8160620927810669, 0.2597898840904236, 3.485395908355713], [1.1354795694351196, 0.2879486382007599, 3.293802499771118], [1.1235237121582031, 1.3311452865600586, 3.4271903038024902], [0.8041062355041504, 1.3029866218566895, 3.618783950805664], [0.9820816516876221, 0.22691971063613892, 3.7573466300964355], [1.3014991283416748, 0.2550784945487976, 3.5657529830932617], [1.2895432710647583, 1.2982752323150635, 3.699141025543213], [0.9701257944107056, 1.2701164484024048, 3.8907344341278076]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1989, "image_id": 275, "category_id": 55, "category_name": "shirt", "bbox2D_proj": [300.0, 290.0, 333.0, 324.0], "bbox2D_tight": [300.0, 290.0, 333.0, 324.0], "bbox2D_trunc": [300.0, 290.0, 333.0, 324.0], "center_cam": [0.5002023739088839, 0.4488631967023621, 3.929180386183619], "dimensions": [0.1757812484827425, 0.30541992892658754, 0.322265634008542], "R_cam": [[0.9476220011711121, -0.025755763053894043, -0.3183538615703583], [0.02498212456703186, 0.9996668100357056, -0.006513402331620455], [0.31841549277305603, -0.0017809111159294844, 0.9479497671127319]], "bbox3D_cam": [[0.3794228434562683, 0.2927511930465698, 3.7948293685913086], [0.6848088502883911, 0.3008020520210266, 3.8974437713623047], [0.6769425272941589, 0.6061201691627502, 3.896899700164795], [0.37155652046203613, 0.5980693101882935, 3.794285297393799], [0.32346218824386597, 0.29160624742507935, 3.961461067199707], [0.6288481950759888, 0.29965710639953613, 4.064075469970703], [0.6209818720817566, 0.6049752235412598, 4.063531398773193], [0.3155958652496338, 0.596924364566803, 3.9609169960021973]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1990, "image_id": 276, "category_id": 4, "category_name": "base", "bbox2D_proj": [248.0, 404.0, 342.0, 455.0], "bbox2D_tight": [248.0, 404.0, 342.0, 455.0], "bbox2D_trunc": [248.0, 404.0, 342.0, 455.0], "center_cam": [0.12799821541774703, 0.4264161545758475, 1.1641928881795973], "dimensions": [0.21386723148275788, 0.07690429903996349, 0.21582035608041927], "R_cam": [[-0.44051438570022583, -0.02897747978568077, 0.8972777128219604], [0.03783377632498741, 0.9979916214942932, 0.0508042573928833], [-0.8969478607177734, 0.0563274621963501, -0.43853330612182617]], "bbox3D_cam": [[0.08069929480552673, 0.37852588295936584, 1.305710792541504], [-0.014372661709785461, 0.3866911828517914, 1.112131118774414], [-0.016601160168647766, 0.46344104409217834, 1.1164629459381104], [0.07847079634666443, 0.4552757441997528, 1.3100426197052002], [0.27259761095046997, 0.3893912732601166, 1.2119228839874268], [0.17752563953399658, 0.3975565731525421, 1.018343210220337], [0.17529714107513428, 0.4743064343929291, 1.0226750373840332], [0.27036911249160767, 0.46614113450050354, 1.216254711151123]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1991, "image_id": 276, "category_id": 28, "category_name": "flowerpot", "bbox2D_proj": [54.0, 211.0, 88.0, 243.0], "bbox2D_tight": [54.0, 211.0, 88.0, 243.0], "bbox2D_trunc": [54.0, 211.0, 88.0, 243.0], "center_cam": [-1.509623735369797, -0.23395983911974688, 3.6856492903348066], "dimensions": [0.25293245669579323, 0.22379826902841665, 0.25317112719362983], "R_cam": [[-0.999447226524353, 0.01205501053482294, 0.03098292648792267], [0.00988629087805748, 0.9975523352622986, -0.06922119855880737], [-0.03174155578017235, -0.06887662410736084, -0.9971200823783875]], "bbox3D_cam": [[-1.3883754014968872, -0.3380824029445648, 3.823476791381836], [-1.641406536102295, -0.3355794847011566, 3.8154406547546387], [-1.6387087106704712, -0.11232899129390717, 3.8000261783599854], [-1.3856775760650635, -0.11483190953731537, 3.8080623149871826], [-1.380538821220398, -0.35559070110321045, 3.571272611618042], [-1.6335699558258057, -0.35308778285980225, 3.5632364749908447], [-1.630872130393982, -0.1298372745513916, 3.5478219985961914], [-1.3778409957885742, -0.1323401927947998, 3.5558581352233887]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1992, "image_id": 276, "category_id": 28, "category_name": "flowerpot", "bbox2D_proj": [440.0, 208.0, 473.0, 237.0], "bbox2D_tight": [440.0, 208.0, 473.0, 237.0], "bbox2D_trunc": [440.0, 208.0, 473.0, 237.0], "center_cam": [1.995622790113357, -0.32138464935417865, 4.500764594944955], "dimensions": [0.30274321313197494, 0.2479897259463507, 0.3027531221456849], "R_cam": [[0.01310569979250431, -0.016814960166811943, -0.9997727274894714], [0.18719249963760376, 0.9822225570678711, -0.0140659399330616], [0.9822357892990112, -0.18696558475494385, 0.01602034829556942]], "bbox3D_cam": [[2.1470611095428467, -0.4693825840950012, 4.3728346824646], [2.151028871536255, -0.41270944476127625, 4.6702094078063965], [2.1468589305877686, -0.16912834346294403, 4.623844146728516], [2.1428911685943604, -0.2258014678955078, 4.3264689445495605], [1.8443865776062012, -0.47364091873168945, 4.377684593200684], [1.8483543395996094, -0.41696780920028687, 4.675059795379639], [1.8441845178604126, -0.17338670790195465, 4.6286940574646], [1.8402166366577148, -0.23005983233451843, 4.331319332122803]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1993, "image_id": 276, "category_id": 45, "category_name": "person", "bbox2D_proj": [111.0, 146.0, 273.0, 330.0], "bbox2D_tight": [111.0, 146.0, 273.0, 330.0], "bbox2D_trunc": [111.0, 146.0, 273.0, 330.0], "center_cam": [-0.11476866070935234, 0.28618966931241885, 1.608031013170849], "dimensions": [0.41015625678344086, 1.2707519891601842, 0.4709472755859581], "R_cam": [[0.9926553964614868, -0.02229619026184082, -0.11890401691198349], [0.029899895191192627, 0.9975936412811279, 0.06255269050598145], [0.11722321808338165, -0.06564847379922867, 0.9909334182739258]], "bbox3D_cam": [[-0.3099617660045624, -0.36752617359161377, 1.4189207553863525], [0.15752658247947693, -0.3534449338912964, 1.4741266965866089], [0.12919366359710693, 0.9142491817474365, 1.390703797340393], [-0.3382946848869324, 0.9001679420471191, 1.3354978561401367], [-0.3587310016155243, -0.3418698310852051, 1.825358271598816], [0.10875735431909561, -0.3277885913848877, 1.8805642127990723], [0.08042443543672562, 0.9399055242538452, 1.7971413135528564], [-0.3870638906955719, 0.9258242845535278, 1.7419353723526]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1994, "image_id": 276, "category_id": 29, "category_name": "fume_hood", "bbox2D_proj": [270.0, 158.0, 365.0, 201.0], "bbox2D_tight": [270.0, 158.0, 365.0, 201.0], "bbox2D_trunc": [270.0, 158.0, 365.0, 201.0], "center_cam": [0.5786959234202458, -0.7160232599705394, 4.26741305394743], "dimensions": [0.6725572052326738, 0.3821228319258707, 0.8444204860212807], "R_cam": [[-0.9946110248565674, 0.0016281496500596404, -0.10366380214691162], [0.0015994339482858777, 0.9999986886978149, 0.00036013219505548477], [0.10366424918174744, 0.00019238806271459907, -0.9946123361587524]], "bbox3D_cam": [[1.033179759979248, -0.9078807830810547, 4.558074951171875], [0.19330984354019165, -0.9065302610397339, 4.64561128616333], [0.19393199682235718, -0.5244079232215881, 4.645684719085693], [1.0338019132614136, -0.5257585048675537, 4.5581488609313965], [0.9634599089622498, -0.9076386094093323, 3.889141321182251], [0.12358999252319336, -0.9062880277633667, 3.976677656173706], [0.12421214580535889, -0.5241657495498657, 3.9767510890960693], [0.9640820622444153, -0.5255162715911865, 3.8892149925231934]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1995, "image_id": 276, "category_id": 28, "category_name": "flowerpot", "bbox2D_proj": [449.0, 92.0, 483.0, 121.0], "bbox2D_tight": [449.0, 92.0, 483.0, 121.0], "bbox2D_trunc": [449.0, 92.0, 483.0, 121.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1996, "image_id": 277, "category_id": 75, "category_name": "vent", "bbox2D_proj": [369.0, 177.0, 472.0, 204.0], "bbox2D_tight": [369.0, 177.0, 472.0, 204.0], "bbox2D_trunc": [369.0, 177.0, 472.0, 204.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1997, "image_id": 277, "category_id": 28, "category_name": "flowerpot", "bbox2D_proj": [54.0, 211.0, 88.0, 244.0], "bbox2D_tight": [54.0, 211.0, 88.0, 244.0], "bbox2D_trunc": [54.0, 211.0, 88.0, 244.0], "center_cam": [-1.5653300981719949, -0.23275162700126806, 3.750650205904865], "dimensions": [0.2695313368047174, 0.24328613303069468, 0.2734375964133945], "R_cam": [[-0.9818935394287109, 0.031112685799598694, -0.186861053109169], [0.0312625914812088, 0.9995088577270508, 0.0021451711654663086], [0.18683603405952454, -0.003735363483428955, -0.9823839664459229]], "bbox3D_cam": [[-1.4096890687942505, -0.35889822244644165, 3.857952117919922], [-1.678175687789917, -0.35034987330436707, 3.9090402126312256], [-1.6706063747406006, -0.10718320310115814, 3.9081313610076904], [-1.402119755744934, -0.11573157459497452, 3.857043504714966], [-1.4600539207458496, -0.35832005739212036, 3.5931689739227295], [-1.7285405397415161, -0.3497716784477234, 3.644256830215454], [-1.7209712266921997, -0.10660500824451447, 3.643348217010498], [-1.4524846076965332, -0.11515337973833084, 3.5922601222991943]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1998, "image_id": 277, "category_id": 45, "category_name": "person", "bbox2D_proj": [125.0, 144.0, 277.0, 354.0], "bbox2D_tight": [125.0, 144.0, 277.0, 354.0], "bbox2D_trunc": [125.0, 144.0, 277.0, 354.0], "center_cam": [-0.08827730623523486, -0.02714793973278802, 1.6118397028766749], "dimensions": [0.4257812572719505, 0.731170664488553, 0.7707519938048744], "R_cam": [[-0.9885694980621338, 0.01963227614760399, 0.14948256313800812], [0.0524839349091053, 0.9742822647094727, 0.21913349628448486], [-0.141336128115654, 0.22447410225868225, -0.9641761779785156]], "bbox3D_cam": [[0.25369295477867126, -0.45020878314971924, 1.7895067930221558], [-0.5082489252090454, -0.4097566604614258, 1.6805717945098877], [-0.49389442801475525, 0.302609920501709, 1.844700574874878], [0.2680474817752838, 0.2621577978134155, 1.9536356925964355], [0.31733980774879456, -0.35690581798553467, 1.3789787292480469], [-0.4446021020412445, -0.3164536952972412, 1.2700436115264893], [-0.43024757504463196, 0.39591288566589355, 1.434172511100769], [0.3316943347454071, 0.3554607629776001, 1.543107509613037]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 1999, "image_id": 277, "category_id": 28, "category_name": "flowerpot", "bbox2D_proj": [449.0, 91.0, 483.0, 121.0], "bbox2D_tight": [449.0, 91.0, 483.0, 121.0], "bbox2D_trunc": [449.0, 91.0, 483.0, 121.0], "center_cam": [2.2124448662135148, -1.555319956274966, 4.726701935654377], "dimensions": [0.3028398251219761, 0.2504301443425379, 0.305478545471196], "R_cam": [[-0.9960841536521912, 0.038310736417770386, -0.07967901229858398], [0.03418797254562378, 0.9980366826057434, 0.052478015422821045], [0.08153301477432251, 0.04954838752746582, -0.9954382181167603]], "bbox3D_cam": [[2.371853828430176, -1.6934571266174316, 4.858773231506348], [2.0675716400146484, -1.6830134391784668, 4.8836798667907715], [2.0771656036376953, -1.4330750703811646, 4.896088600158691], [2.3814480304718018, -1.4435187578201294, 4.871181964874268], [2.347723960876465, -1.6775647401809692, 4.557314872741699], [2.0434415340423584, -1.6671210527420044, 4.582221508026123], [2.0530357360839844, -1.4171826839447021, 4.594630241394043], [2.3573179244995117, -1.427626371383667, 4.569723606109619]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2000, "image_id": 278, "category_id": 45, "category_name": "person", "bbox2D_proj": [367.0, 254.0, 418.0, 350.0], "bbox2D_tight": [367.0, 254.0, 418.0, 350.0], "bbox2D_trunc": [367.0, 254.0, 418.0, 350.0], "center_cam": [1.3579335912592336, 0.6732857309877289, 4.3585857503125345], "dimensions": [0.4042969671988699, 1.4121093738427999, 0.48046884419055164], "R_cam": [[-0.8467726111412048, 0.10889661312103271, -0.5206895470619202], [-0.13007831573486328, 0.9067201018333435, 0.40117108821868896], [0.5158058404922485, 0.40743115544319153, -0.7536206245422363]], "bbox3D_cam": [[1.5897271633148193, -0.016755104064941406, 4.099346160888672], [1.1828792095184326, -0.0792536735534668, 4.347174644470215], [1.336653232574463, 1.2011343240737915, 4.922512054443359], [1.7435011863708496, 1.263632893562317, 4.674683570861816], [1.3792140483856201, 0.1454371213912964, 3.7946596145629883], [0.9723660349845886, 0.082938551902771, 4.042488098144531], [1.1261401176452637, 1.3633265495300293, 4.617825508117676], [1.5329880714416504, 1.4258251190185547, 4.369997024536133]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2001, "image_id": 278, "category_id": 14, "category_name": "cabinet", "bbox2D_proj": [450.0, 309.0, 500.0, 371.0], "bbox2D_tight": [450.0, 309.0, 500.0, 371.0], "bbox2D_trunc": [450.0, 309.0, 500.0, 371.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2002, "image_id": 278, "category_id": 16, "category_name": "chair", "bbox2D_proj": [111.0, 289.0, 158.0, 346.0], "bbox2D_tight": [111.0, 289.0, 158.0, 346.0], "bbox2D_trunc": [111.0, 289.0, 158.0, 346.0], "center_cam": [-1.4252227085952527, 0.6723935190829613, 4.9844392538853075], "dimensions": [0.6109442347890598, 0.8879916261857632, 0.6127426060259669], "R_cam": [[0.21041136980056763, 4.278123378753662e-05, 0.9776129722595215], [-0.05751514434814453, 0.9982684850692749, 0.01233527809381485], [-0.9759196043014526, -0.05882298946380615, 0.21004949510097504]], "bbox3D_cam": [[-1.7883392572402954, 0.24301940202713013, 5.245386123657227], [-1.6594111919403076, 0.20777744054794312, 4.647398471832275], [-1.6593732833862305, 1.094231367111206, 4.5951642990112305], [-1.7883012294769287, 1.1294734477996826, 5.193151473999023], [-1.1910722255706787, 0.2505555748939514, 5.373714447021484], [-1.0621442794799805, 0.2153136134147644, 4.775727272033691], [-1.0621062517166138, 1.1017675399780273, 4.723492622375488], [-1.1910343170166016, 1.137009620666504, 5.3214802742004395]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2003, "image_id": 278, "category_id": 16, "category_name": "chair", "bbox2D_proj": [10.0, 419.0, 271.0, 512.0], "bbox2D_tight": [10.0, 419.0, 271.0, 512.0], "bbox2D_trunc": [10.0, 419.0, 271.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2004, "image_id": 279, "category_id": 55, "category_name": "shirt", "bbox2D_proj": [379.0, 234.0, 462.0, 388.0], "bbox2D_tight": [379.0, 234.0, 462.0, 388.0], "bbox2D_trunc": [379.0, 234.0, 462.0, 388.0], "center_cam": [0.8538767593179248, 0.2831335388747014, 2.326321144545078], "dimensions": [0.15966495191606045, 0.7903668823860537, 0.40275386332138774], "R_cam": [[-0.9687581062316895, -0.0007157967775128782, -0.2480064183473587], [-0.000692191009875387, 0.9999997615814209, -0.00018237813492305577], [0.24800647795200348, -5.0125017878599465e-06, -0.9687583446502686]], "bbox3D_cam": [[1.0690441131591797, -0.1118958592414856, 2.3537187576293945], [0.6788730621337891, -0.1121746301651001, 2.453604221343994], [0.678307294845581, 0.6781920790672302, 2.4536004066467285], [1.0684783458709717, 0.6784708499908447, 2.35371470451355], [1.0294462442398071, -0.11192500591278076, 2.1990418434143066], [0.6392751336097717, -0.11220377683639526, 2.2989275455474854], [0.6387094259262085, 0.6781629323959351, 2.2989234924316406], [1.0288804769515991, 0.6784417033195496, 2.199038028717041]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2005, "image_id": 279, "category_id": 57, "category_name": "shorts", "bbox2D_proj": [379.0, 376.0, 449.0, 469.0], "bbox2D_tight": [379.0, 376.0, 449.0, 469.0], "bbox2D_trunc": [379.0, 376.0, 449.0, 469.0], "center_cam": [0.8466786214420099, 0.8610812973838755, 2.4137115453339897], "dimensions": [0.2519531316352018, 0.4524536438182136, 0.4843750250044134], "R_cam": [[-0.4094892740249634, -0.08117776364088058, -0.908696174621582], [0.1387508660554886, 0.9789052605628967, -0.14997565746307373], [0.9017021656036377, -0.18749579787254333, -0.38958775997161865]], "bbox3D_cam": [[1.078690767288208, 0.6249163746833801, 2.2868261337280273], [0.8803444504737854, 0.6921238303184509, 2.723587989807129], [0.8436152935028076, 1.135033130645752, 2.6387548446655273], [1.041961669921875, 1.0678255558013916, 2.201992988586426], [0.8497419357299805, 0.587129533290863, 2.1886682510375977], [0.6513955593109131, 0.6543369889259338, 2.625430107116699], [0.6146664023399353, 1.0972461700439453, 2.5405969619750977], [0.8130127787590027, 1.030038833618164, 2.103835105895996]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2006, "image_id": 279, "category_id": 23, "category_name": "dress", "bbox2D_proj": [173.0, 289.0, 254.0, 450.0], "bbox2D_tight": [173.0, 289.0, 254.0, 450.0], "bbox2D_trunc": [173.0, 289.0, 254.0, 450.0], "center_cam": [-0.2116530778951439, 0.6559710499510004, 2.6485707244217798], "dimensions": [0.4506836051493385, 0.8847656670578005, 0.7011719047026135], "R_cam": [[0.30682122707366943, -0.0003528594970703125, -0.951767086982727], [0.05802738666534424, 0.998146653175354, 0.018336236476898193], [0.9499966502189636, -0.06085452437400818, 0.3062729835510254]], "bbox3D_cam": [[-0.1045912504196167, 0.18993261456489563, 2.2734203338623047], [0.11054310202598572, 0.23061981797218323, 2.939531087875366], [0.11023092269897461, 1.1137456893920898, 2.8856892585754395], [-0.104903444647789, 1.0730584859848022, 2.219578266143799], [-0.5335370898246765, 0.1981964409351349, 2.411452293395996], [-0.3184027075767517, 0.23888364434242249, 3.0775632858276367], [-0.3187149167060852, 1.122009515762329, 3.023721218109131], [-0.5338492393493652, 1.0813223123550415, 2.3576104640960693]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2007, "image_id": 279, "category_id": 45, "category_name": "person", "bbox2D_proj": [370.0, 185.0, 408.0, 241.0], "bbox2D_tight": [370.0, 185.0, 408.0, 241.0], "bbox2D_trunc": [370.0, 185.0, 408.0, 241.0], "center_cam": [0.7718380645976661, -0.24961971806134334, 2.5375348874874937], "dimensions": [0.21484421880660937, 0.3403320476738411, 0.21533249813482538], "R_cam": [[-0.9770553708076477, 0.08003675937652588, -0.19737476110458374], [0.06918352842330933, 0.9957191348075867, 0.061294399201869965], [0.2014356255531311, 0.04623294621706009, -0.978410005569458]], "bbox3D_cam": [[0.8846168518066406, -0.4330903887748718, 2.6130826473236084], [0.6742250919342041, -0.41819292306900024, 2.6564583778381348], [0.7014641165733337, -0.07931779325008392, 2.6721928119659424], [0.911855936050415, -0.0942152589559555, 2.628817319869995], [0.8422120213508606, -0.4199216365814209, 2.40287709236145], [0.6318202018737793, -0.4050241708755493, 2.4462525844573975], [0.6590592861175537, -0.066149041056633, 2.461987257003784], [0.8694510459899902, -0.08104650676250458, 2.418611526489258]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2008, "image_id": 279, "category_id": 45, "category_name": "person", "bbox2D_proj": [264.0, 224.0, 345.0, 512.0], "bbox2D_tight": [264.0, 224.0, 345.0, 512.0], "bbox2D_trunc": [264.0, 224.0, 345.0, 512.0], "center_cam": [0.31291373073434897, 0.7001266712079155, 2.7647605350278655], "dimensions": [0.4917473491979958, 1.7705305316389994, 0.6696887443364408], "R_cam": [[-0.3507305383682251, -0.0007157967193052173, -0.9364761114120483], [-0.00024635778390802443, 0.9999997615814209, -0.0006720847450196743], [0.9364763498306274, -5.0124654080718756e-06, -0.35073065757751465]], "bbox3D_cam": [[0.6612423658370972, -0.18489068746566772, 2.537426471710205], [0.4263620674610138, -0.185055673122406, 3.164574146270752], [0.42509472370147705, 1.5854744911193848, 3.164565324783325], [0.6599750518798828, 1.585639476776123, 2.5374176502227783], [0.20073270797729492, -0.1852211356163025, 2.3649556636810303], [-0.03414759039878845, -0.18538612127304077, 2.992103338241577], [-0.035414934158325195, 1.58514404296875, 2.9920945167541504], [0.19946536421775818, 1.5853090286254883, 2.3649468421936035]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2009, "image_id": 279, "category_id": 45, "category_name": "person", "bbox2D_proj": [221.0, 226.0, 261.0, 334.0], "bbox2D_tight": [221.0, 226.0, 261.0, 334.0], "bbox2D_trunc": [221.0, 226.0, 261.0, 334.0], "center_cam": [-0.13533071735399893, 0.2783257741541093, 3.5515336648550306], "dimensions": [0.17382813040630335, 0.7790527689154476, 0.37402344604260634], "R_cam": [[0.8315654397010803, 0.08013451099395752, -0.5496156811714172], [-0.0647439956665039, 0.9967767596244812, 0.047373950481414795], [0.5516404509544373, -0.0038102269172668457, 0.8340733051300049]], "bbox3D_cam": [[-0.2742883563041687, -0.10195466876029968, 3.377362012863159], [0.03673654794692993, -0.12617042660713196, 3.583688497543335], [0.09916560351848602, 0.6503713130950928, 3.5807199478149414], [-0.211859330534935, 0.6745870113372803, 3.3743934631347656], [-0.3698270320892334, -0.09371975064277649, 3.5223474502563477], [-0.05880211293697357, -0.11793550848960876, 3.7286739349365234], [0.0036269277334213257, 0.6586061716079712, 3.72570538520813], [-0.3073979914188385, 0.6828219890594482, 3.519378900527954]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2010, "image_id": 280, "category_id": 45, "category_name": "person", "bbox2D_proj": [248.0, 338.0, 278.0, 404.0], "bbox2D_tight": [248.0, 338.0, 278.0, 404.0], "bbox2D_trunc": [248.0, 338.0, 278.0, 404.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2011, "image_id": 280, "category_id": 45, "category_name": "person", "bbox2D_proj": [192.0, 361.0, 213.0, 451.0], "bbox2D_tight": [192.0, 361.0, 213.0, 451.0], "bbox2D_trunc": [192.0, 361.0, 213.0, 451.0], "center_cam": [-1.5490990367251851, 4.459068093732004, 13.32297309345663], "dimensions": [0.6054687731358384, 2.604980432358783, 0.7578125315600671], "R_cam": [[0.3448921740055084, 0.02659475803375244, -0.9382655620574951], [0.14380866289138794, 0.986299991607666, 0.08081811666488647], [0.9275605082511902, -0.1628042459487915, 0.3363425135612488]], "bbox3D_cam": [[-1.4303749799728394, 3.095466136932373, 13.081743240356445], [-1.1690114736557007, 3.2044458389282227, 13.784660339355469], [-1.0997326374053955, 5.773737907409668, 13.36055850982666], [-1.3610962629318237, 5.66475772857666, 12.657641410827637], [-1.9984655380249023, 3.1443986892700195, 13.285387992858887], [-1.7371019124984741, 3.2533788681030273, 13.98830509185791], [-1.6678231954574585, 5.8226704597473145, 13.564203262329102], [-1.9291867017745972, 5.713690757751465, 12.861286163330078]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2012, "image_id": 280, "category_id": 45, "category_name": "person", "bbox2D_proj": [232.0, 380.0, 260.0, 464.0], "bbox2D_tight": [232.0, 380.0, 260.0, 464.0], "bbox2D_trunc": [232.0, 380.0, 260.0, 464.0], "center_cam": [-0.21275599340552082, 3.6488197859689246, 9.449429245622508], "dimensions": [0.40625001681882406, 1.845703095764833, 0.7363281537172254], "R_cam": [[0.9396139979362488, -0.08184969425201416, -0.33230412006378174], [0.034544289112091064, 0.9887033104896545, -0.14585064351558685], [0.3404880166053772, 0.1255641132593155, 0.9318269491195679]], "bbox3D_cam": [[-0.41565370559692383, 2.7533011436462402, 9.018919944763184], [0.2762105464935303, 2.7787370681762695, 9.269630432128906], [0.12514029443264008, 4.60359001159668, 9.501384735107422], [-0.5667239427566528, 4.57815408706665, 9.250673294067383], [-0.550652265548706, 2.69404935836792, 9.39747428894043], [0.14121197164058685, 2.719485282897949, 9.648185729980469], [-0.009858265519142151, 4.544338226318359, 9.879939079284668], [-0.7017225027084351, 4.51890230178833, 9.629228591918945]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2013, "image_id": 280, "category_id": 45, "category_name": "person", "bbox2D_proj": [479.0, 368.0, 512.0, 496.0], "bbox2D_tight": [479.0, 368.0, 512.0, 496.0], "bbox2D_trunc": [479.0, 368.0, 512.0, 496.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2014, "image_id": 280, "category_id": 62, "category_name": "statue", "bbox2D_proj": [328.0, 347.0, 353.0, 405.0], "bbox2D_tight": [328.0, 347.0, 353.0, 405.0], "bbox2D_trunc": [328.0, 347.0, 353.0, 405.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2015, "image_id": 280, "category_id": 45, "category_name": "person", "bbox2D_proj": [242.0, 366.0, 350.0, 512.0], "bbox2D_tight": [242.0, 366.0, 350.0, 512.0], "bbox2D_trunc": [242.0, 366.0, 350.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2016, "image_id": 280, "category_id": 45, "category_name": "person", "bbox2D_proj": [149.0, 369.0, 174.0, 426.0], "bbox2D_tight": [149.0, 369.0, 174.0, 426.0], "bbox2D_trunc": [149.0, 369.0, 174.0, 426.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2017, "image_id": 280, "category_id": 45, "category_name": "person", "bbox2D_proj": [177.0, 359.0, 197.0, 437.0], "bbox2D_tight": [177.0, 359.0, 197.0, 437.0], "bbox2D_trunc": [177.0, 359.0, 197.0, 437.0], "center_cam": [-2.12087061494148, 4.465290976512169, 14.14686856725919], "dimensions": [0.6875000280668998, 2.2656249568150604, 0.7685547153828104], "R_cam": [[-0.9966071248054504, 0.01876211166381836, 0.08013910055160522], [0.011671245098114014, 0.9960477948188782, -0.08804931491613388], [-0.08147435635328293, -0.0868152529001236, -0.9928872585296631]], "bbox3D_cam": [[-1.786698818206787, 3.3627376556396484, 14.617827415466309], [-2.552645683288574, 3.3717076778411865, 14.55521011352539], [-2.5101380348205566, 5.628378391265869, 14.358519554138184], [-1.7441909313201904, 5.61940860748291, 14.421136856079102], [-1.7316031455993652, 3.30220365524292, 13.93521785736084], [-2.4975502490997314, 3.311173677444458, 13.872600555419922], [-2.4550423622131348, 5.567844390869141, 13.675909996032715], [-1.689095377922058, 5.558874130249023, 13.738527297973633]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2018, "image_id": 280, "category_id": 45, "category_name": "person", "bbox2D_proj": [79.0, 426.0, 145.0, 512.0], "bbox2D_tight": [79.0, 426.0, 145.0, 512.0], "bbox2D_trunc": [79.0, 426.0, 145.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2019, "image_id": 281, "category_id": 45, "category_name": "person", "bbox2D_proj": [343.0, 257.0, 382.0, 406.0], "bbox2D_tight": [343.0, 257.0, 382.0, 406.0], "bbox2D_trunc": [343.0, 257.0, 382.0, 406.0], "center_cam": [1.0691380599512572, 0.7453731395911443, 4.671876831449105], "dimensions": [0.47265659736762256, 1.3731689487431757, 0.4843753908573817], "R_cam": [[-0.24721071124076843, -0.03177034854888916, -0.9684407711029053], [-0.0505223274230957, 0.9985253810882568, -0.019860565662384033], [0.967643678188324, 0.044018179178237915, -0.24845123291015625]], "bbox3D_cam": [[1.3796924352645874, 0.07673054933547974, 4.466019630432129], [1.2599496841430664, 0.05225878953933716, 4.934722423553467], [1.2163236141204834, 1.423403024673462, 4.995166778564453], [1.3360663652420044, 1.4478747844696045, 4.526463985443115], [0.921952486038208, 0.06734329462051392, 4.3485870361328125], [0.802209734916687, 0.04287153482437134, 4.81728982925415], [0.758583664894104, 1.414015769958496, 4.877734184265137], [0.8783264756202698, 1.4384875297546387, 4.409031391143799]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2020, "image_id": 281, "category_id": 19, "category_name": "christmas_tree", "bbox2D_proj": [334.0, 209.0, 361.0, 260.0], "bbox2D_tight": [334.0, 209.0, 361.0, 260.0], "bbox2D_trunc": [334.0, 209.0, 361.0, 260.0], "center_cam": [2.511747426997085, -0.5391206536172914, 12.20357724753905], "dimensions": [0.43501637994582715, 1.2779511311067344, 0.7454994238559818], "R_cam": [[0.9023995399475098, 0.005264699459075928, -0.43086811900138855], [0.12114913761615753, 0.9564913511276245, 0.26541897654533386], [0.4135189950466156, -0.29171326756477356, 0.8624995350837708]], "bbox3D_cam": [[2.2657315731048584, -1.2531843185424805, 12.048234939575195], [2.938469886779785, -1.162867784500122, 12.356513023376465], [2.945197820663452, 0.05948144197463989, 11.983717918395996], [2.2724595069885254, -0.030835211277008057, 11.675439834594727], [2.0782968997955322, -1.1377227306365967, 12.423436164855957], [2.751035213470459, -1.0474061965942383, 12.731714248657227], [2.757763147354126, 0.17494302988052368, 12.358919143676758], [2.085024833679199, 0.08462637662887573, 12.050641059875488]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2021, "image_id": 281, "category_id": 45, "category_name": "person", "bbox2D_proj": [244.0, 269.0, 266.0, 347.0], "bbox2D_tight": [244.0, 269.0, 266.0, 347.0], "bbox2D_trunc": [244.0, 269.0, 266.0, 347.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2022, "image_id": 281, "category_id": 45, "category_name": "person", "bbox2D_proj": [448.0, 258.0, 478.0, 325.0], "bbox2D_tight": [448.0, 258.0, 478.0, 325.0], "bbox2D_trunc": [448.0, 258.0, 478.0, 325.0], "center_cam": [3.352103952582374, 0.5319272387327618, 7.117600344461816], "dimensions": [0.3906250399874487, 0.9925231953194049, 0.5195312674112281], "R_cam": [[0.961647629737854, 0.023818373680114746, -0.273252010345459], [-0.01792299747467041, 0.9995501041412354, 0.02405129373073578], [0.27370190620422363, -0.01823139190673828, 0.961641788482666]], "bbox3D_cam": [[3.143850326538086, 0.03584718704223633, 6.867729187011719], [3.643456220626831, 0.02653568983078003, 7.009925842285156], [3.6670966148376465, 1.0186121463775635, 6.991830825805664], [3.1674907207489014, 1.0279237031936646, 6.849633693695068], [3.037111282348633, 0.045242249965667725, 7.243370056152344], [3.536717176437378, 0.03593072295188904, 7.3855671882629395], [3.5603575706481934, 1.0280072689056396, 7.367471694946289], [3.0607516765594482, 1.0373187065124512, 7.225275039672852]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2023, "image_id": 281, "category_id": 45, "category_name": "person", "bbox2D_proj": [99.0, 292.0, 177.0, 485.0], "bbox2D_tight": [99.0, 292.0, 177.0, 485.0], "bbox2D_trunc": [99.0, 292.0, 177.0, 485.0], "center_cam": [-0.9478957689120353, 1.0629122662611112, 3.6365732280884933], "dimensions": [0.5078125704499503, 1.384399425831944, 0.6523438582546783], "R_cam": [[0.5991230010986328, 0.04819953441619873, -0.7992050051689148], [0.0914272665977478, 0.9875386357307434, 0.12809617817401886], [0.7954199314117432, -0.14981450140476227, 0.5872502326965332]], "bbox3D_cam": [[-0.9737533926963806, 0.3169928789138794, 3.3317246437072754], [-0.5829192399978638, 0.37663495540618896, 3.850612163543701], [-0.516191840171814, 1.7437827587127686, 3.6432089805603027], [-0.907025933265686, 1.684140682220459, 3.124321460723877], [-1.379599690437317, 0.38204169273376465, 3.6299376487731934], [-0.9887655973434448, 0.4416837692260742, 4.148825168609619], [-0.9220381379127502, 1.8088315725326538, 3.9414219856262207], [-1.312872290611267, 1.7491894960403442, 3.422534465789795]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2024, "image_id": 281, "category_id": 45, "category_name": "person", "bbox2D_proj": [129.0, 277.0, 147.0, 339.0], "bbox2D_tight": [129.0, 277.0, 147.0, 339.0], "bbox2D_trunc": [129.0, 277.0, 147.0, 339.0], "center_cam": [-1.0033155652498182, 0.4759434303697539, 4.108890167315453], "dimensions": [0.13378906528518886, 0.5878906374900668, 0.17578126613748501], "R_cam": [[0.2625499367713928, 0.2382338047027588, -0.9350466132164001], [0.4226222038269043, 0.8427591919898987, 0.3333878219127655], [0.867443323135376, -0.48270243406295776, 0.1205834150314331]], "bbox3D_cam": [[-1.0338695049285889, 0.16877195239067078, 4.166471481323242], [-0.9877181053161621, 0.24306103587150574, 4.3189520835876465], [-0.8476626873016357, 0.7385112047195435, 4.035175800323486], [-0.8938140273094177, 0.6642221212387085, 3.882695436477661], [-1.158968448638916, 0.21337559819221497, 4.1826043128967285], [-1.1128171682357788, 0.2876646816730499, 4.335084915161133], [-0.9727616906166077, 0.7831149101257324, 4.051308631896973], [-1.0189130306243896, 0.7088258266448975, 3.8988282680511475]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2025, "image_id": 281, "category_id": 45, "category_name": "person", "bbox2D_proj": [189.0, 292.0, 264.0, 474.0], "bbox2D_tight": [189.0, 292.0, 264.0, 474.0], "bbox2D_trunc": [189.0, 292.0, 264.0, 474.0], "center_cam": [-0.25264718807462816, 1.0273419144328162, 3.59606638904509], "dimensions": [0.5605468990438309, 1.3508300813164487, 0.6074828869826414], "R_cam": [[-0.9994302988052368, 0.029852628707885742, 0.015744153410196304], [0.030154526233673096, 0.9993588924407959, 0.019299177452921867], [-0.015157928690314293, 0.01976294070482254, -0.9996898174285889]], "bbox3D_cam": [[0.026345670223236084, 0.33779168128967285, 3.867508888244629], [-0.5807912349700928, 0.3561100959777832, 3.8583006858825684], [-0.5404654145240784, 1.7060741186141968, 3.8849971294403076], [0.06667149066925049, 1.6877557039260864, 3.894205331802368], [0.0351710319519043, 0.3486098051071167, 3.307135820388794], [-0.5719658732414246, 0.36692821979522705, 3.2979276180267334], [-0.5316400527954102, 1.7168922424316406, 3.3246240615844727], [0.0754968523979187, 1.6985738277435303, 3.333832263946533]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2026, "image_id": 281, "category_id": 45, "category_name": "person", "bbox2D_proj": [403.0, 258.0, 424.0, 320.0], "bbox2D_tight": [403.0, 258.0, 424.0, 320.0], "bbox2D_trunc": [403.0, 258.0, 424.0, 320.0], "center_cam": [2.724042671120954, 0.5855885888148996, 7.768686982644506], "dimensions": [0.35156268175595096, 1.0126953154482563, 0.37890645335694195], "R_cam": [[0.6282677054405212, 0.05132341384887695, 0.7763026356697083], [-0.009894251823425293, 0.9982681274414062, -0.05799085646867752], [-0.7779344320297241, 0.028752867132425308, 0.6276874542236328]], "bbox3D_cam": [[2.442568302154541, 0.0921860933303833, 7.791174411773682], [2.6806230545043945, 0.08843708038330078, 7.496409893035889], [2.732598066329956, 1.0993784666061401, 7.5255279541015625], [2.4945433139801025, 1.1031274795532227, 7.820291996002197], [2.715487241744995, 0.07179868221282959, 8.011845588684082], [2.9535419940948486, 0.06804966926574707, 7.717081546783447], [3.00551700592041, 1.0789910554885864, 7.746199131011963], [2.7674622535705566, 1.082740068435669, 8.040963172912598]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2027, "image_id": 281, "category_id": 45, "category_name": "person", "bbox2D_proj": [503.0, 293.0, 512.0, 321.0], "bbox2D_tight": [503.0, 293.0, 512.0, 321.0], "bbox2D_trunc": [503.0, 293.0, 512.0, 321.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2028, "image_id": 282, "category_id": 45, "category_name": "person", "bbox2D_proj": [11.0, 224.0, 47.0, 387.0], "bbox2D_tight": [11.0, 224.0, 47.0, 387.0], "bbox2D_trunc": [11.0, 224.0, 47.0, 387.0], "center_cam": [-2.0296985681830675, 0.40721224003857126, 3.8928955218324948], "dimensions": [0.33376312588444335, 1.3950195302996327, 0.44140625400418537], "R_cam": [[0.49271756410598755, 0.02179849147796631, 0.8699162006378174], [-0.0622711181640625, 0.9980065226554871, 0.01026192307472229], [-0.8679584264755249, -0.05922690033912659, 0.49309277534484863]], "bbox3D_cam": [[-2.2988204956054688, -0.27687618136405945, 4.043479919433594], [-2.081331968307495, -0.3043629825115204, 3.6603574752807617], [-2.0509226322174072, 1.0878756046295166, 3.57773494720459], [-2.268411159515381, 1.1153624057769775, 3.9608571529388428], [-2.008474588394165, -0.27345117926597595, 4.2080559730529785], [-1.7909860610961914, -0.3009379804134369, 3.8249337673187256], [-1.7605767250061035, 1.0913006067276, 3.7423110008239746], [-1.9780652523040771, 1.118787407875061, 4.125433444976807]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2029, "image_id": 282, "category_id": 58, "category_name": "signboard", "bbox2D_proj": [312.0, 244.0, 340.0, 299.0], "bbox2D_tight": [312.0, 244.0, 340.0, 299.0], "bbox2D_trunc": [312.0, 244.0, 340.0, 299.0], "center_cam": [1.8306110615393743, 0.36476558856142544, 11.614617247342215], "dimensions": [0.6951991791916361, 1.3324828481634237, 1.9154995442813192], "R_cam": [[-0.14445078372955322, 0.019114386290311813, 0.9893273711204529], [0.025935795158147812, 0.9995431900024414, -0.01552489772439003], [-0.9891720414161682, 0.02341640740633011, -0.144880473613739]], "bbox3D_cam": [[1.6123342514038086, -0.3206149935722351, 12.596755981445312], [1.3356387615203857, -0.2709349989891052, 10.701997756958008], [1.361108422279358, 1.060939073562622, 10.733199119567871], [1.6378037929534912, 1.0112590789794922, 12.627958297729492], [2.3001136779785156, -0.3314078450202942, 12.4960355758667], [2.023418426513672, -0.2817278504371643, 10.601276397705078], [2.0488879680633545, 1.0501461029052734, 10.632478713989258], [2.3255834579467773, 1.0004661083221436, 12.527236938476562]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2030, "image_id": 282, "category_id": 58, "category_name": "signboard", "bbox2D_proj": [42.0, 164.0, 76.0, 196.0], "bbox2D_tight": [42.0, 164.0, 76.0, 196.0], "bbox2D_trunc": [42.0, 164.0, 76.0, 196.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2031, "image_id": 282, "category_id": 35, "category_name": "jersey", "bbox2D_proj": [179.0, 236.0, 209.0, 276.0], "bbox2D_tight": [179.0, 236.0, 209.0, 276.0], "bbox2D_trunc": [179.0, 236.0, 209.0, 276.0], "center_cam": [-1.1639324508318043, 0.025766409999431736, 8.16005172475398], "dimensions": [0.31640625271070566, 0.7714843767618935, 0.6250000054944997], "R_cam": [[0.998489499092102, -0.007697045803070068, -0.05440060794353485], [0.02485966682434082, 0.9462782144546509, 0.3223963975906372], [0.04899664223194122, -0.3232617974281311, 0.9450402855873108]], "bbox3D_cam": [[-1.4643850326538086, -0.398025780916214, 8.119927406311035], [-0.8403290510177612, -0.38248851895332336, 8.15054988861084], [-0.8462672233581543, 0.3475503623485565, 7.901158809661865], [-1.470323085784912, 0.3320131003856659, 7.870535850524902], [-1.481597661972046, -0.2960175573825836, 8.418944358825684], [-0.8575417399406433, -0.280480295419693, 8.449566841125488], [-0.8634799122810364, 0.4495585858821869, 8.200175285339355], [-1.487535834312439, 0.43402132391929626, 8.16955280303955]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2032, "image_id": 282, "category_id": 45, "category_name": "person", "bbox2D_proj": [134.0, 206.0, 179.0, 375.0], "bbox2D_tight": [134.0, 206.0, 179.0, 375.0], "bbox2D_trunc": [134.0, 206.0, 179.0, 375.0], "center_cam": [-1.025246912839307, 0.31143687263942144, 4.563629355729278], "dimensions": [0.459960942101615, 1.6217651362710148, 0.5976562556050993], "R_cam": [[-0.45704540610313416, -0.06776535511016846, -0.8868582248687744], [-0.13024139404296875, 0.9914447069168091, -0.00863659381866455], [0.8798561096191406, 0.11155834794044495, -0.461961030960083]], "bbox3D_cam": [[-0.6297590732574463, -0.4516023099422455, 4.316484451293945], [-0.9029150009155273, -0.5294419527053833, 4.842336177825928], [-1.0128145217895508, 1.0784485340118408, 5.023257732391357], [-0.7396585941314697, 1.1562881469726562, 4.497406005859375], [-1.0376791954040527, -0.4555748403072357, 4.104000568389893], [-1.3108351230621338, -0.5334144830703735, 4.629852294921875], [-1.4207346439361572, 1.0744760036468506, 4.810773849487305], [-1.1475787162780762, 1.152315616607666, 4.284922122955322]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2033, "image_id": 282, "category_id": 63, "category_name": "streetlight", "bbox2D_proj": [346.0, 193.0, 368.0, 278.0], "bbox2D_tight": [346.0, 193.0, 368.0, 278.0], "bbox2D_trunc": [346.0, 193.0, 368.0, 278.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2034, "image_id": 283, "category_id": 74, "category_name": "trousers", "bbox2D_proj": [230.0, 304.0, 298.0, 383.0], "bbox2D_tight": [230.0, 304.0, 298.0, 383.0], "bbox2D_trunc": [230.0, 304.0, 298.0, 383.0], "center_cam": [0.09127833772997142, 0.9448758867279108, 4.765435643868187], "dimensions": [0.37103175257024557, 0.8418723324482512, 0.6628699046214489], "R_cam": [[0.9950377345085144, 0.054890427738428116, 0.08298733830451965], [-0.06255945563316345, 0.9937148094177246, 0.09282849729061127], [-0.07737036049365997, -0.09755949676036835, 0.9922176599502563]], "bbox3D_cam": [[-0.27701276540756226, 0.5300986170768738, 4.648073196411133], [0.382567822933197, 0.4886298179626465, 4.5967864990234375], [0.4287785291671753, 1.3252108097076416, 4.514654159545898], [-0.23080205917358398, 1.3666796684265137, 4.5659403800964355], [-0.24622184038162231, 0.5645409226417542, 5.016217231750488], [0.41335874795913696, 0.5230721235275269, 4.964931011199951], [0.45956945419311523, 1.3596532344818115, 4.882798194885254], [-0.20001113414764404, 1.401121973991394, 4.934084892272949]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2035, "image_id": 283, "category_id": 33, "category_name": "jacket", "bbox2D_proj": [220.0, 251.0, 288.0, 315.0], "bbox2D_tight": [220.0, 251.0, 288.0, 315.0], "bbox2D_trunc": [220.0, 251.0, 288.0, 315.0], "center_cam": [-0.11461981886826238, 0.3050915986215882, 4.851176106437657], "dimensions": [0.3984375080429101, 0.7753907781525817, 0.8520508763584017], "R_cam": [[-0.9627504348754883, 0.1259125918149948, -0.2392861247062683], [0.183526411652565, 0.9541884660720825, -0.23631040751934052], [0.19856959581375122, -0.27142325043678284, -0.9417534470558167]], "bbox3D_cam": [[0.2943909168243408, -0.09595230221748352, 5.059424877166748], [-0.5259214639663696, 0.06042154133319855, 5.228616714477539], [-0.4282900094985962, 0.8002904653549194, 5.018157482147217], [0.39202240109443665, 0.6439166069030762, 4.848966121673584], [0.19905036687850952, -0.19010725617408752, 4.684195041656494], [-0.6212620735168457, -0.03373339772224426, 4.853386402130127], [-0.5236305594444275, 0.7061355113983154, 4.642927646636963], [0.29668182134628296, 0.5497616529464722, 4.473735809326172]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2036, "image_id": 283, "category_id": 45, "category_name": "person", "bbox2D_proj": [304.0, 226.0, 382.0, 368.0], "bbox2D_tight": [304.0, 226.0, 382.0, 368.0], "bbox2D_trunc": [304.0, 226.0, 382.0, 368.0], "center_cam": [1.3003067180909174, 0.6484338111933854, 6.8220886741002795], "dimensions": [0.7421874965489641, 2.169922005633986, 1.2084960754954788], "R_cam": [[0.9703469276428223, 0.004465281963348389, 0.24167507886886597], [-0.011411070823669434, 0.9995608329772949, 0.027348265051841736], [-0.24144680798053741, -0.029295094311237335, 0.969971776008606]], "bbox3D_cam": [[0.6194475889205933, -0.4393044710159302, 6.6398162841796875], [1.792108178138733, -0.45309460163116455, 6.348028659820557], [1.8017975091934204, 1.7158745527267456, 6.284460544586182], [0.6291369199752808, 1.72966468334198, 6.5762481689453125], [0.7988158464431763, -0.41900694370269775, 7.359716892242432], [1.971476435661316, -0.43279707431793213, 7.067929267883301], [1.9811657667160034, 1.736172080039978, 7.004361152648926], [0.8085051774978638, 1.7499622106552124, 7.296148777008057]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2037, "image_id": 283, "category_id": 45, "category_name": "person", "bbox2D_proj": [96.0, 235.0, 155.0, 373.0], "bbox2D_tight": [96.0, 235.0, 155.0, 373.0], "bbox2D_trunc": [96.0, 235.0, 155.0, 373.0], "center_cam": [-2.2786658704294744, 0.822441577570932, 7.63041528610059], "dimensions": [0.8242187548954405, 2.327148603316838, 1.266601568735493], "R_cam": [[0.8601065278053284, -0.0008672475814819336, -0.5101137161254883], [0.0723804235458374, 0.9900884032249451, 0.12035785615444183], [0.5049533247947693, -0.14044281840324402, 0.8516442775726318]], "bbox3D_cam": [[-2.61214017868042, -0.42503905296325684, 7.123073101043701], [-1.5227278470993042, -0.3333618640899658, 7.76264762878418], [-1.524746060371399, 1.9707210063934326, 7.435816287994385], [-2.6141583919525146, 1.8790438175201416, 6.796241760253906], [-3.032585620880127, -0.3258378505706787, 7.825014591217041], [-1.9431731700897217, -0.2341606616973877, 8.46458911895752], [-1.9451913833618164, 2.0699222087860107, 8.137757301330566], [-3.0346035957336426, 1.9782450199127197, 7.498183250427246]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2038, "image_id": 283, "category_id": 74, "category_name": "trousers", "bbox2D_proj": [148.0, 309.0, 210.0, 390.0], "bbox2D_tight": [148.0, 309.0, 210.0, 390.0], "bbox2D_trunc": [148.0, 309.0, 210.0, 390.0], "center_cam": [-0.8323384477432014, 1.007205471790853, 4.809148650218219], "dimensions": [0.2680544012863244, 0.829512543618316, 0.6525796037380592], "R_cam": [[0.9762037396430969, 0.05489042401313782, -0.2097933292388916], [-0.03287918493151665, 0.9937146902084351, 0.1070036068558693], [0.2143482267856598, -0.09755948930978775, 0.9718728065490723]], "bbox3D_cam": [[-1.1455118656158447, 0.5914428234100342, 4.649415016174316], [-0.5084612369537354, 0.5699864625930786, 4.789294242858887], [-0.46292898058891296, 1.3942854404449463, 4.708367824554443], [-1.0999796390533447, 1.4157416820526123, 4.568488121032715], [-1.2017478942871094, 0.6201255321502686, 4.9099297523498535], [-0.564697265625, 0.5986692905426025, 5.049809455871582], [-0.5191650390625, 1.4229681491851807, 4.9688825607299805], [-1.1562156677246094, 1.4444245100021362, 4.82900333404541]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2039, "image_id": 283, "category_id": 45, "category_name": "person", "bbox2D_proj": [349.0, 209.0, 390.0, 363.0], "bbox2D_tight": [349.0, 209.0, 390.0, 363.0], "bbox2D_trunc": [349.0, 209.0, 390.0, 363.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2040, "image_id": 283, "category_id": 33, "category_name": "jacket", "bbox2D_proj": [150.0, 254.0, 211.0, 313.0], "bbox2D_tight": [150.0, 254.0, 211.0, 313.0], "bbox2D_trunc": [150.0, 254.0, 211.0, 313.0], "center_cam": [-0.8140473733471603, 0.29826389469719317, 4.929791220309202], "dimensions": [0.42187500022459967, 0.672729541199034, 0.7133789057523379], "R_cam": [[0.9212460517883301, 0.024875804781913757, -0.3881841003894806], [-0.008167874999344349, 0.9989701509475708, 0.044632330536842346], [0.38889458775520325, -0.03794671595096588, 0.9205003976821899]], "bbox3D_cam": [[-1.0691308975219727, -0.04425570368766785, 4.609672546386719], [-0.41193342208862305, -0.05008247494697571, 4.887102127075195], [-0.3951987028121948, 0.6219542026519775, 4.861574172973633], [-1.0523961782455444, 0.6277810335159302, 4.5841450691223145], [-1.232896089553833, -0.025426417589187622, 4.998008728027344], [-0.5756986141204834, -0.03125318884849548, 5.275437831878662], [-0.5589638948440552, 0.6407835483551025, 5.249910354614258], [-1.2161613702774048, 0.6466102600097656, 4.972480773925781]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2041, "image_id": 283, "category_id": 24, "category_name": "figure", "bbox2D_proj": [11.0, 203.0, 59.0, 384.0], "bbox2D_tight": [11.0, 203.0, 59.0, 384.0], "bbox2D_trunc": [11.0, 203.0, 59.0, 384.0], "center_cam": [-2.8272739086875656, 0.49744056260134206, 5.5149943801207995], "dimensions": [0.6718750757162746, 2.218811178303681, 0.6960449936227697], "R_cam": [[0.8950192928314209, -0.07150518894195557, -0.44025853276252747], [0.027378082275390625, 0.9940119981765747, -0.10578575730323792], [0.44518646597862244, 0.08262684941291809, 0.8916175365447998]], "bbox3D_cam": [[-2.9115331172943115, -0.5793126821517944, 4.968864917755127], [-2.2885594367980957, -0.5602563619613647, 5.2787346839904785], [-2.447216033935547, 1.6452685594558716, 5.4620680809021], [-3.0701894760131836, 1.626212239265442, 5.152198314666748], [-3.207331657409668, -0.6503874063491821, 5.567920207977295], [-2.5843582153320312, -0.6313310861587524, 5.8777899742126465], [-2.7430145740509033, 1.5741938352584839, 6.061123371124268], [-3.365988254547119, 1.5551375150680542, 5.751253604888916]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2042, "image_id": 284, "category_id": 45, "category_name": "person", "bbox2D_proj": [383.0, 312.0, 418.0, 426.0], "bbox2D_tight": [383.0, 312.0, 418.0, 426.0], "bbox2D_trunc": [383.0, 312.0, 418.0, 426.0], "center_cam": [1.1954177422526244, 0.9069736874932606, 3.605256859392954], "dimensions": [0.24316407591563474, 0.8852538881795557, 0.2949218947392538], "R_cam": [[0.5638090968132019, 0.07737445831298828, -0.8222728371620178], [-0.05701470375061035, 0.9968731999397278, 0.054710716009140015], [0.8239349126815796, 0.01603519916534424, 0.5664575099945068]], "bbox3D_cam": [[1.1780035495758057, 0.46748632192611694, 3.407789945602417], [1.344283103942871, 0.4506714344024658, 3.6507863998413086], [1.4127792119979858, 1.3331573009490967, 3.6649816036224365], [1.2464995384216309, 1.3499722480773926, 3.421985149383545], [0.9780563116073608, 0.48079001903533936, 3.545531988143921], [1.1443359851837158, 0.46397513151168823, 3.7885284423828125], [1.212831974029541, 1.3464610576629639, 3.8027236461639404], [1.0465524196624756, 1.3632758855819702, 3.559727191925049]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2043, "image_id": 284, "category_id": 45, "category_name": "person", "bbox2D_proj": [448.0, 263.0, 466.0, 339.0], "bbox2D_tight": [448.0, 263.0, 466.0, 339.0], "bbox2D_trunc": [448.0, 263.0, 466.0, 339.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2044, "image_id": 284, "category_id": 45, "category_name": "person", "bbox2D_proj": [251.0, 335.0, 287.0, 469.0], "bbox2D_tight": [251.0, 335.0, 287.0, 469.0], "bbox2D_trunc": [251.0, 335.0, 287.0, 469.0], "center_cam": [0.07045848696174357, 1.0189871624861686, 3.1154410031243276], "dimensions": [0.27734377485995343, 0.8505859239825785, 0.3105469086235033], "R_cam": [[-0.5294262170791626, -0.003147721290588379, 0.8483501672744751], [-0.12062466144561768, 0.9901124238967896, -0.07160407304763794], [-0.8397365808486938, -0.14024105668067932, -0.5245711803436279]], "bbox3D_cam": [[0.03636069595813751, 0.6265586614608765, 3.3782167434692383], [-0.12805098295211792, 0.5890990495681763, 3.117439031600952], [-0.1307283639907837, 1.431274652481079, 2.998152017593384], [0.03368331491947174, 1.4687342643737793, 3.25892972946167], [0.27164533734321594, 0.6066997051239014, 3.2327301502227783], [0.10723365843296051, 0.5692400932312012, 2.971952438354492], [0.10455627739429474, 1.411415696144104, 2.852665424346924], [0.26896795630455017, 1.4488753080368042, 3.11344313621521]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2045, "image_id": 284, "category_id": 45, "category_name": "person", "bbox2D_proj": [455.0, 274.0, 487.0, 353.0], "bbox2D_tight": [455.0, 274.0, 487.0, 353.0], "bbox2D_trunc": [455.0, 274.0, 487.0, 353.0], "center_cam": [2.2153243185448, 0.6073018224954398, 4.533871604299019], "dimensions": [0.2539062625019125, 0.7666015511590772, 0.3330078301214302], "R_cam": [[0.652637243270874, 0.10030794143676758, 0.7510013580322266], [0.032711565494537354, 0.9865431785583496, -0.1601952612400055], [-0.7569640874862671, 0.12911579012870789, 0.6405735015869141]], "bbox3D_cam": [[1.972867727279663, 0.24404972791671753, 4.5290961265563965], [2.1902010440826416, 0.25494295358657837, 4.2770209312438965], [2.267097234725952, 1.0112285614013672, 4.376001358032227], [2.0497639179229736, 1.0003352165222168, 4.628076553344727], [2.1635515689849854, 0.20337516069412231, 4.691741943359375], [2.380884885787964, 0.21426838636398315, 4.439666748046875], [2.4577810764312744, 0.9705539345741272, 4.538647174835205], [2.240447759628296, 0.9596607089042664, 4.790722370147705]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2046, "image_id": 284, "category_id": 45, "category_name": "person", "bbox2D_proj": [398.0, 249.0, 425.0, 320.0], "bbox2D_tight": [398.0, 249.0, 425.0, 320.0], "bbox2D_trunc": [398.0, 249.0, 425.0, 320.0], "center_cam": [1.8595152644641166, 0.3143106626552329, 5.250237273820191], "dimensions": [0.27148485275846584, 0.8234863140244165, 0.2734379821902049], "R_cam": [[-0.6774746179580688, -0.015340805053710938, 0.7353861331939697], [0.06511056423187256, 0.9946069717407227, 0.08073151111602783], [-0.7326586246490479, 0.1025749146938324, -0.6728221774101257]], "bbox3D_cam": [[1.8586323261260986, -0.11507248878479004, 5.399501800537109], [1.6733850240707397, -0.09726881980895996, 5.199164867401123], [1.6607520580291748, 0.7217764258384705, 5.283634185791016], [1.8459993600845337, 0.7039727568626404, 5.483970642089844], [2.0582785606384277, -0.09315508604049683, 5.216840744018555], [1.8730312585830688, -0.07535141706466675, 5.016504287719727], [1.860398292541504, 0.7436938285827637, 5.100973129272461], [2.0456457138061523, 0.7258901596069336, 5.301310062408447]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2047, "image_id": 284, "category_id": 45, "category_name": "person", "bbox2D_proj": [281.0, 289.0, 313.0, 416.0], "bbox2D_tight": [281.0, 289.0, 313.0, 416.0], "bbox2D_trunc": [281.0, 289.0, 313.0, 416.0], "center_cam": [0.3442528363393793, 0.8220531202402344, 3.7305854134870344], "dimensions": [0.23672485138382945, 1.0495452702470183, 0.4375000082182714], "R_cam": [[0.04989930987358093, 0.028064727783203125, -0.9983599185943604], [0.08762586116790771, 0.9956274032592773, 0.032367557287216187], [0.9949028491973877, -0.0890972912311554, 0.04722189903259277]], "bbox3D_cam": [[0.43677806854248047, 0.27657586336135864, 3.55411696434021], [0.4586089849472046, 0.3149121403694153, 3.989386796951294], [0.488064169883728, 1.3598682880401611, 3.8958752155303955], [0.4662332534790039, 1.3215320110321045, 3.4606051445007324], [0.20044146478176117, 0.2842380404472351, 3.565295457839966], [0.22227239608764648, 0.32257431745529175, 4.000565528869629], [0.2517275810241699, 1.367530345916748, 3.9070537090301514], [0.2298966646194458, 1.3291940689086914, 3.4717838764190674]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2048, "image_id": 284, "category_id": 45, "category_name": "person", "bbox2D_proj": [132.0, 246.0, 163.0, 325.0], "bbox2D_tight": [132.0, 246.0, 163.0, 325.0], "bbox2D_trunc": [132.0, 246.0, 163.0, 325.0], "center_cam": [-1.101305108075901, 0.29021503790267017, 4.494158148034471], "dimensions": [0.2031250065700239, 0.8040923935521794, 0.28778076476949044], "R_cam": [[-0.9801283478736877, 0.08932864665985107, 0.177112877368927], [0.06446456909179688, 0.98783940076828, -0.14148451387882233], [-0.18759769201278687, -0.12725543975830078, -0.9739677906036377]], "bbox3D_cam": [[-1.014176368713379, -0.101848304271698, 4.671233177185059], [-1.2962384223937988, -0.08329665660858154, 4.617246150970459], [-1.2244099378585815, 0.7110174298286438, 4.514920711517334], [-0.9423478841781616, 0.6924657821655273, 4.568907737731934], [-0.9782002568244934, -0.13058733940124512, 4.473395824432373], [-1.260262370109558, -0.11203569173812866, 4.419408798217773], [-1.1884338855743408, 0.6822783946990967, 4.317083358764648], [-0.9063718318939209, 0.6637267470359802, 4.371070384979248]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2049, "image_id": 284, "category_id": 73, "category_name": "tree_trunk", "bbox2D_proj": [136.0, 0.0, 264.0, 301.0], "bbox2D_tight": [136.0, 0.0, 264.0, 301.0], "bbox2D_trunc": [136.0, 0.0, 264.0, 301.0], "center_cam": [-0.660747288372596, -1.1258562802114804, 4.94796832587507], "dimensions": [0.3616974087047726, 3.2480082929521075, 1.2905381524493136], "R_cam": [[0.9632378220558167, 0.001967543503269553, -0.2686428725719452], [-0.0012017881963402033, 0.9999947547912598, 0.0030148765072226524], [0.2686474025249481, -0.002581191249191761, 0.9632351398468018]], "bbox3D_cam": [[-1.2369064092636108, -2.749621868133545, 4.604610443115234], [0.006188750267028809, -2.7511725425720215, 4.951310157775879], [0.01257932186126709, 0.4968186616897583, 4.94292688369751], [-1.2305158376693726, 0.49836957454681396, 4.596226692199707], [-1.3340739011764526, -2.7485313415527344, 4.953010082244873], [-0.09097874164581299, -2.750082015991211, 5.299710273742676], [-0.08458817005157471, 0.49790918827056885, 5.291326522827148], [-1.3276833295822144, 0.4994601011276245, 4.944626808166504]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2050, "image_id": 284, "category_id": 45, "category_name": "person", "bbox2D_proj": [477.0, 254.0, 503.0, 329.0], "bbox2D_tight": [477.0, 254.0, 503.0, 329.0], "bbox2D_trunc": [477.0, 254.0, 503.0, 329.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2051, "image_id": 284, "category_id": 45, "category_name": "person", "bbox2D_proj": [296.0, 305.0, 356.0, 449.0], "bbox2D_tight": [296.0, 305.0, 356.0, 449.0], "bbox2D_trunc": [296.0, 305.0, 356.0, 449.0], "center_cam": [0.5562417136625193, 0.9143911433896394, 3.4881355715738795], "dimensions": [0.33007813621322507, 1.025390605917978, 0.42626953643919885], "R_cam": [[0.9920514822006226, 0.013590574264526367, -0.12509721517562866], [-0.013904571533203125, 0.9999020099639893, -0.0016371721867471933], [0.1250627040863037, 0.003363576252013445, 0.9921431541442871]], "bbox3D_cam": [[0.3584791421890259, 0.4049798250198364, 3.296013593673706], [0.7813604474067688, 0.3990527391433716, 3.3493239879608154], [0.7952960729598999, 1.4243428707122803, 3.3527729511260986], [0.37241479754447937, 1.4302699565887451, 3.2994625568389893], [0.31718727946281433, 0.40443944931030273, 3.6234982013702393], [0.7400685548782349, 0.3985123634338379, 3.6768085956573486], [0.7540042400360107, 1.4238024950027466, 3.680257558822632], [0.3311229348182678, 1.4297295808792114, 3.6269471645355225]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2052, "image_id": 284, "category_id": 45, "category_name": "person", "bbox2D_proj": [0.0, 317.0, 65.0, 487.0], "bbox2D_tight": [0.0, 317.0, 65.0, 487.0], "bbox2D_trunc": [0.0, 317.0, 65.0, 487.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2053, "image_id": 285, "category_id": 45, "category_name": "person", "bbox2D_proj": [146.0, 246.0, 164.0, 315.0], "bbox2D_tight": [146.0, 246.0, 164.0, 315.0], "bbox2D_trunc": [146.0, 246.0, 164.0, 315.0], "center_cam": [-1.0572000239336607, 0.26383635392568516, 4.820446539793597], "dimensions": [0.22460936571810272, 0.7192382739599539, 0.28124998875271845], "R_cam": [[0.5431051850318909, 0.036326050758361816, -0.8388785123825073], [-0.020437121391296387, 0.9993396401405334, 0.030043184757232666], [0.8394159078598022, 0.0008276700973510742, 0.5434889197349548]], "bbox3D_cam": [[-1.0524277687072754, -0.0960453450679779, 4.641069412231445], [-0.8996794819831848, -0.10179325938224792, 4.877155303955078], [-0.8735523819923401, 0.6169700622558594, 4.877750873565674], [-1.0263006687164307, 0.6227179765701294, 4.641664981842041], [-1.2408478260040283, -0.08929738402366638, 4.763142108917236], [-1.088099479675293, -0.0950452983379364, 4.999228000640869], [-1.0619723796844482, 0.6237180233001709, 4.999823570251465], [-1.2147207260131836, 0.6294659376144409, 4.763737678527832]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2054, "image_id": 285, "category_id": 45, "category_name": "person", "bbox2D_proj": [486.0, 306.0, 512.0, 376.0], "bbox2D_tight": [486.0, 306.0, 512.0, 376.0], "bbox2D_trunc": [486.0, 306.0, 512.0, 376.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2055, "image_id": 285, "category_id": 73, "category_name": "tree_trunk", "bbox2D_proj": [197.0, 118.0, 255.0, 306.0], "bbox2D_tight": [197.0, 118.0, 255.0, 306.0], "bbox2D_trunc": [197.0, 118.0, 255.0, 306.0], "center_cam": [-0.3517837534936943, -0.5925528273627, 4.93124182174456], "dimensions": [0.5254331323827715, 1.8363670735495798, 0.6397545186023983], "R_cam": [[-0.2564626932144165, -0.04166668280959129, 0.9656556844711304], [0.22558903694152832, 0.968897819519043, 0.101719431579113], [-0.9398598670959473, 0.24392858147621155, -0.23908650875091553]], "bbox3D_cam": [[-0.4851832389831543, -1.5810630321502686, 5.070722579956055], [-0.6492564082145691, -1.4367413520812988, 4.469442844390869], [-0.7257717847824097, 0.3425105810165405, 4.917385578155518], [-0.5616986155509949, 0.1981889009475708, 5.518665313720703], [0.022204279899597168, -1.527616262435913, 4.945098400115967], [-0.14186890423297882, -1.3832945823669434, 4.343818664550781], [-0.218384250998497, 0.395957350730896, 4.79176139831543], [-0.05431109666824341, 0.25163567066192627, 5.393041133880615]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2056, "image_id": 285, "category_id": 45, "category_name": "person", "bbox2D_proj": [290.0, 294.0, 319.0, 419.0], "bbox2D_tight": [290.0, 294.0, 319.0, 419.0], "bbox2D_trunc": [290.0, 294.0, 319.0, 419.0], "center_cam": [0.40540401302845885, 0.806324296665093, 3.737176724714572], "dimensions": [0.256347642696962, 1.0014648361205645, 0.45312497993244033], "R_cam": [[0.2804761528968811, 0.042119741439819336, -0.9589364528656006], [-0.09766006469726562, 0.9951046109199524, 0.01514407992362976], [0.954879879951477, 0.0894022285938263, 0.28321653604507446]], "bbox3D_cam": [[0.44367843866348267, 0.3282281756401062, 3.4397690296173096], [0.570769190788269, 0.2839759588241577, 3.8724491596221924], [0.6129506826400757, 1.2805383205413818, 3.961982250213623], [0.48585987091064453, 1.3247904777526855, 3.5293023586273193], [0.1978573501110077, 0.33211034536361694, 3.512371063232422], [0.32494813203811646, 0.28785812854766846, 3.9450509548187256], [0.3671295642852783, 1.2844204902648926, 4.034584045410156], [0.24003878235816956, 1.3286726474761963, 3.6019041538238525]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2057, "image_id": 285, "category_id": 45, "category_name": "person", "bbox2D_proj": [421.0, 254.0, 455.0, 326.0], "bbox2D_tight": [421.0, 254.0, 455.0, 326.0], "bbox2D_trunc": [421.0, 254.0, 455.0, 326.0], "center_cam": [2.0239566552709225, 0.37511111497727445, 4.954236708935563], "dimensions": [0.3066406126789598, 0.78906249347346, 0.3613281099897533], "R_cam": [[0.9226095080375671, 0.04329967498779297, -0.3832973539829254], [-0.06097590923309326, 0.9975572228431702, -0.03408074378967285], [0.38088536262512207, 0.05481511354446411, 0.9229960441589355]], "bbox3D_cam": [[1.8989583253860474, -0.002214968204498291, 4.722283840179443], [2.232323169708252, -0.024247288703918457, 4.859908580780029], [2.266489267349243, 0.762887716293335, 4.90316104888916], [1.9331245422363281, 0.7849200367927551, 4.765536308288574], [1.781423807144165, -0.012665510177612305, 5.005311965942383], [2.11478853225708, -0.03469783067703247, 5.142936706542969], [2.1489546298980713, 0.752437174320221, 5.1861891746521], [1.8155900239944458, 0.7744694948196411, 5.048564434051514]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2058, "image_id": 285, "category_id": 45, "category_name": "person", "bbox2D_proj": [172.0, 305.0, 225.0, 470.0], "bbox2D_tight": [172.0, 305.0, 225.0, 470.0], "bbox2D_trunc": [172.0, 305.0, 225.0, 470.0], "center_cam": [-0.3773621646095787, 0.888540552716467, 3.0883682718336414], "dimensions": [0.2441406128718257, 1.1025390527379386, 0.43749998014577907], "R_cam": [[0.6287760734558105, 0.05219006538391113, -0.775833010673523], [-0.08821344375610352, 0.9960914850234985, -0.004486113786697388], [0.772566556930542, 0.07125961780548096, 0.6309223771095276]], "bbox3D_cam": [[-0.4489715099334717, 0.35926997661590576, 2.8030691146850586], [-0.17388202250003815, 0.3206765651702881, 3.1410670280456543], [-0.11634045839309692, 1.418906331062317, 3.2196335792541504], [-0.39142996072769165, 1.4574997425079346, 2.8816356658935547], [-0.6383838653564453, 0.35817480087280273, 2.9571027755737305], [-0.3632943630218506, 0.31958138942718506, 3.295100688934326], [-0.30575281381607056, 1.4178111553192139, 3.3736672401428223], [-0.5808423161506653, 1.4564045667648315, 3.0356693267822266]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2059, "image_id": 285, "category_id": 45, "category_name": "person", "bbox2D_proj": [39.0, 326.0, 114.0, 512.0], "bbox2D_tight": [39.0, 326.0, 114.0, 512.0], "bbox2D_trunc": [39.0, 326.0, 114.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2060, "image_id": 285, "category_id": 45, "category_name": "person", "bbox2D_proj": [473.0, 360.0, 512.0, 512.0], "bbox2D_tight": [473.0, 360.0, 512.0, 512.0], "bbox2D_trunc": [473.0, 360.0, 512.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2061, "image_id": 286, "category_id": 45, "category_name": "person", "bbox2D_proj": [286.0, 241.0, 321.0, 362.0], "bbox2D_tight": [286.0, 241.0, 321.0, 362.0], "bbox2D_trunc": [286.0, 241.0, 321.0, 362.0], "center_cam": [0.3955168867840336, 0.3522926334748203, 3.546679396110786], "dimensions": [0.27148453012064433, 0.9338379096896443, 0.2773439090861051], "R_cam": [[-0.6536144018173218, -0.020130574703216553, -0.7565600872039795], [-0.1281592845916748, 0.9881534576416016, 0.08442765474319458], [0.7458978295326233, 0.15214332938194275, -0.6484512090682983]], "bbox3D_cam": [[0.5982513427734375, -0.102783203125, 3.4602279663085938], [0.4169754385948181, -0.13832741975784302, 3.6670982837677], [0.3981766998767853, 0.7844476699829102, 3.809175491333008], [0.579452633857727, 0.8199918866157532, 3.6023051738739014], [0.39285704493522644, -0.07986241579055786, 3.2841835021972656], [0.21158111095428467, -0.11540663242340088, 3.491053819656372], [0.19278237223625183, 0.8073684573173523, 3.6331310272216797], [0.3740583062171936, 0.8429126739501953, 3.4262607097625732]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2062, "image_id": 286, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [92.0, 8.0, 121.0, 192.0], "bbox2D_tight": [92.0, 8.0, 121.0, 192.0], "bbox2D_trunc": [92.0, 8.0, 121.0, 192.0], "center_cam": [-1.590541809633716, -1.9058006091060296, 5.097406998386155], "dimensions": [0.15917969052991401, 1.8151855806713433, 0.3906250001472197], "R_cam": [[-0.2613099217414856, -0.06728124618530273, -0.9629073143005371], [-0.11160933971405029, 0.9929829835891724, -0.039094749838113785], [0.958780825138092, 0.09725354611873627, -0.26698553562164307]], "bbox3D_cam": [[-1.4018030166625977, -2.7821145057678223, 4.843127727508545], [-1.5038772821426392, -2.825711727142334, 5.2176513671875], [-1.6260052919387817, -1.023263692855835, 5.394184589385986], [-1.5239311456680298, -0.9796662926673889, 5.019660949707031], [-1.555078387260437, -2.788337469100952, 4.800629138946533], [-1.657152533531189, -2.831934928894043, 5.175152778625488], [-1.779280662536621, -1.0294866561889648, 5.351686000823975], [-1.6772063970565796, -0.9858893752098083, 4.9771623611450195]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2063, "image_id": 286, "category_id": 13, "category_name": "building", "bbox2D_proj": [152.0, 0.0, 315.0, 213.0], "bbox2D_tight": [152.0, 0.0, 315.0, 213.0], "bbox2D_trunc": [152.0, 0.0, 315.0, 213.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2064, "image_id": 286, "category_id": 45, "category_name": "person", "bbox2D_proj": [263.0, 242.0, 283.0, 321.0], "bbox2D_tight": [263.0, 242.0, 283.0, 321.0], "bbox2D_trunc": [263.0, 242.0, 283.0, 321.0], "center_cam": [0.1782552912967193, 0.23658123029360373, 4.276744244587163], "dimensions": [0.2285156520206627, 0.7397461091430357, 0.25390627749831063], "R_cam": [[-0.5624350309371948, -0.04295313358306885, -0.8257250785827637], [0.08405083417892456, 0.990506649017334, -0.10877540707588196], [0.8225584030151367, -0.13058200478553772, -0.5534853935241699]], "bbox3D_cam": [[0.3598909378051758, -0.12802255153656006, 4.2838568687438965], [0.21708516776561737, -0.10668152570724487, 4.492709636688232], [0.1853107213973999, 0.6260418891906738, 4.396111965179443], [0.3281165063381195, 0.6047008633613586, 4.187259197235107], [0.17119985818862915, -0.15287941694259644, 4.157376766204834], [0.028394073247909546, -0.13153839111328125, 4.36622953414917], [-0.0033803731203079224, 0.6011850237846375, 4.269631862640381], [0.13942541182041168, 0.5798439979553223, 4.060779094696045]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2065, "image_id": 286, "category_id": 58, "category_name": "signboard", "bbox2D_proj": [405.0, 205.0, 450.0, 220.0], "bbox2D_tight": [405.0, 205.0, 450.0, 220.0], "bbox2D_trunc": [405.0, 205.0, 450.0, 220.0], "center_cam": [2.0642658340229096, -0.5241677533085931, 5.283744967866827], "dimensions": [0.2468857904005325, 0.06723350869817625, 0.2648851629876176], "R_cam": [[-0.9654130935668945, 0.0019779650028795004, -0.26071757078170776], [-0.009455560706555843, 0.9990476965904236, 0.042592525482177734], [0.2605535686016083, 0.043584585189819336, -0.9644749760627747]], "bbox3D_cam": [[2.2242448329925537, -0.5617579221725464, 5.366828918457031], [1.9685211181640625, -0.5642625689506531, 5.435845851898193], [1.9686541557312012, -0.4970930814743042, 5.438776016235352], [2.2243776321411133, -0.4945884644985199, 5.3697590827941895], [2.159877300262451, -0.551242470741272, 5.128713607788086], [1.9041537046432495, -0.5537471175193787, 5.197730541229248], [1.9042866230010986, -0.4865776002407074, 5.200660705566406], [2.16001033782959, -0.4840729832649231, 5.131643772125244]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2066, "image_id": 286, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [115.0, 0.0, 157.0, 211.0], "bbox2D_tight": [115.0, 0.0, 157.0, 211.0], "bbox2D_trunc": [115.0, 0.0, 157.0, 211.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2067, "image_id": 286, "category_id": 45, "category_name": "person", "bbox2D_proj": [106.0, 227.0, 125.0, 304.0], "bbox2D_tight": [106.0, 227.0, 125.0, 304.0], "bbox2D_trunc": [106.0, 227.0, 125.0, 304.0], "center_cam": [-1.261247049222409, 0.059174214914120754, 4.010669035150464], "dimensions": [0.14599609890021853, 0.6679687632547177, 0.21679688099857822], "R_cam": [[-0.5082016587257385, -0.07241696119308472, -0.8581880927085876], [-0.10436737537384033, 0.9942932724952698, -0.022097647190093994], [0.8548908829689026, 0.07833683490753174, -0.5128593444824219]], "bbox3D_cam": [[-1.1193265914916992, -0.25997787714004517, 3.929274797439575], [-1.2295031547546387, -0.2826043963432312, 4.114612579345703], [-1.2778754234313965, 0.38155245780944824, 4.1669392585754395], [-1.167698860168457, 0.4041789770126343, 3.9816014766693115], [-1.2446186542510986, -0.26320403814315796, 3.8543994426727295], [-1.354795217514038, -0.285830557346344, 4.039737224578857], [-1.403167486190796, 0.37832629680633545, 4.0920634269714355], [-1.2929909229278564, 0.4009528160095215, 3.9067258834838867]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2068, "image_id": 286, "category_id": 45, "category_name": "person", "bbox2D_proj": [210.0, 247.0, 247.0, 351.0], "bbox2D_tight": [210.0, 247.0, 247.0, 351.0], "bbox2D_trunc": [210.0, 247.0, 247.0, 351.0], "center_cam": [-0.23138482343548084, 0.3439649709256299, 3.5554299131382434], "dimensions": [0.3105469269015203, 0.8244629081722319, 0.3310547459446712], "R_cam": [[0.8876106142997742, -0.011386871337890625, -0.46045392751693726], [-0.03646409511566162, 0.9948194622993469, -0.09489269554615021], [0.4591490626335144, 0.1010177880525589, 0.8825972080230713]], "bbox3D_cam": [[-0.3021183907985687, -0.04536077380180359, 3.300741672515869], [-0.008270695805549622, -0.0574323832988739, 3.452744960784912], [-0.017658725380897522, 0.7627593278884888, 3.5360305309295654], [-0.3115064203739166, 0.7748309373855591, 3.3840270042419434], [-0.44511091709136963, -0.07482942938804626, 3.574829339981079], [-0.15126323699951172, -0.08690103888511658, 3.726832866668701], [-0.16065126657485962, 0.7332906723022461, 3.8101181983947754], [-0.45449894666671753, 0.7453622817993164, 3.6581149101257324]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2069, "image_id": 286, "category_id": 64, "category_name": "suitcase", "bbox2D_proj": [6.0, 261.0, 58.0, 307.0], "bbox2D_tight": [6.0, 261.0, 58.0, 307.0], "bbox2D_trunc": [6.0, 261.0, 58.0, 307.0], "center_cam": [-1.481301205722561, 0.19678547670179156, 2.9308344953131806], "dimensions": [0.18387790911566793, 0.07566412531881507, 0.3203376893747562], "R_cam": [[-0.6927958726882935, -0.015495866537094116, 0.720967173576355], [-0.47972363233566284, 0.7563647031784058, -0.4447220265865326], [-0.5384228229522705, -0.6539665460586548, -0.5314401388168335]], "bbox3D_cam": [[-1.4360356330871582, 0.2858946919441223, 3.0906739234924316], [-1.6579642295837402, 0.13222114741802216, 2.9181969165802], [-1.6591367721557617, 0.18945083022117615, 2.8687150478363037], [-1.4372080564498901, 0.3431243896484375, 3.0411922931671143], [-1.3034656047821045, 0.20412012934684753, 2.9929540157318115], [-1.525394320487976, 0.050446584820747375, 2.820476770401001], [-1.526566743850708, 0.10767626762390137, 2.7709951400756836], [-1.304638147354126, 0.26134979724884033, 2.943472146987915]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2070, "image_id": 286, "category_id": 13, "category_name": "building", "bbox2D_proj": [348.0, 0.0, 469.0, 204.0], "bbox2D_tight": [348.0, 0.0, 469.0, 204.0], "bbox2D_trunc": [348.0, 0.0, 469.0, 204.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2071, "image_id": 286, "category_id": 13, "category_name": "building", "bbox2D_proj": [179.0, 103.0, 275.0, 220.0], "bbox2D_tight": [179.0, 103.0, 275.0, 220.0], "bbox2D_trunc": [179.0, 103.0, 275.0, 220.0], "center_cam": [-0.2725066905808081, -1.2226716600423222, 6.176879515497238], "dimensions": [0.7246093876766802, 1.7578125841583216, 1.8281250716067654], "R_cam": [[-0.6276059150695801, -0.05914284661412239, -0.7762812376022339], [-0.01038380991667509, 0.9976575374603271, -0.06761384755373001], [0.7784616947174072, -0.03437410667538643, -0.6267499923706055]], "bbox3D_cam": [[0.6343960762023926, -2.065530776977539, 5.722602844238281], [-0.5129464864730835, -2.0845136642456055, 7.145728588104248], [-0.6169085502624512, -0.330818772315979, 7.085305213928223], [0.5304340124130249, -0.3118358850479126, 5.662179470062256], [0.07189521193504333, -2.1145243644714355, 5.268453598022461], [-1.0754473209381104, -2.133507251739502, 6.691579341888428], [-1.179409384727478, -0.3798123598098755, 6.631155967712402], [-0.03206685185432434, -0.3608294725418091, 5.2080302238464355]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2072, "image_id": 287, "category_id": 45, "category_name": "person", "bbox2D_proj": [28.0, 247.0, 90.0, 355.0], "bbox2D_tight": [28.0, 247.0, 90.0, 355.0], "bbox2D_trunc": [28.0, 247.0, 90.0, 355.0], "center_cam": [-1.3002851337026022, 0.2911669130274419, 2.929018106927086], "dimensions": [0.28125001659759813, 0.702880877047106, 0.38769533219628916], "R_cam": [[0.8227499723434448, -0.09562194347381592, -0.5603026747703552], [0.005887806415557861, 0.9871288537979126, -0.1598188281059265], [0.5683730840682983, 0.12819191813468933, 0.8127232789993286]], "bbox3D_cam": [[-1.3473752737045288, -0.03441688418388367, 2.659499168395996], [-1.0283989906311035, -0.03213420510292053, 2.879854679107666], [-1.0956097841262817, 0.6616997718811035, 2.9699583053588867], [-1.414586067199707, 0.6594170331954956, 2.749602794647217], [-1.5049604177474976, -0.07936593890190125, 2.888077735900879], [-1.1859841346740723, -0.07708325982093811, 3.108433246612549], [-1.2531949281692505, 0.6167507171630859, 3.1985368728637695], [-1.5721712112426758, 0.614467978477478, 2.9781813621520996]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2073, "image_id": 287, "category_id": 45, "category_name": "person", "bbox2D_proj": [200.0, 242.0, 227.0, 342.0], "bbox2D_tight": [200.0, 242.0, 227.0, 342.0], "bbox2D_trunc": [200.0, 242.0, 227.0, 342.0], "center_cam": [-0.31084848402570464, 0.28489071179904274, 3.6055500962632694], "dimensions": [0.28225712542809756, 0.7846679852964278, 0.28515630434700867], "R_cam": [[-0.059716708958148956, -0.0027369260787963867, -0.9982117414474487], [0.0459442138671875, 0.9989290237426758, -0.005487561691552401], [0.9971575736999512, -0.046189818531274796, -0.059527039527893066]], "bbox3D_cam": [[-0.1603841930627823, -0.1127992570400238, 3.4898998737335205], [-0.17741279304027557, -0.09969797730445862, 3.7742457389831543], [-0.17956040799617767, 0.6841295957565308, 3.738002061843872], [-0.1625318080186844, 0.6710282564163208, 3.4536564350128174], [-0.4421365261077881, -0.1143481433391571, 3.473098039627075], [-0.45916515588760376, -0.10124686360359192, 3.75744366645813], [-0.46131277084350586, 0.6825807094573975, 3.7212002277374268], [-0.4442841410636902, 0.6694793701171875, 3.436854362487793]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2074, "image_id": 287, "category_id": 13, "category_name": "building", "bbox2D_proj": [151.0, 0.0, 315.0, 213.0], "bbox2D_tight": [151.0, 0.0, 315.0, 213.0], "bbox2D_trunc": [151.0, 0.0, 315.0, 213.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2075, "image_id": 287, "category_id": 45, "category_name": "person", "bbox2D_proj": [80.0, 234.0, 110.0, 323.0], "bbox2D_tight": [80.0, 234.0, 110.0, 323.0], "bbox2D_trunc": [80.0, 234.0, 110.0, 323.0], "center_cam": [-1.2010002953149186, 0.16891284665241985, 3.3385938777899153], "dimensions": [0.21777367926567331, 0.6668701316045123, 0.2207033687082116], "R_cam": [[0.7775098085403442, -0.03305351734161377, 0.6280015707015991], [0.028479397296905518, 0.9994438886642456, 0.01734408736228943], [-0.6282256841659546, 0.004399895668029785, 0.7780187726020813]], "bbox3D_cam": [[-1.344159722328186, -0.16936807334423065, 3.3217365741729736], [-1.172560691833496, -0.16308258473873138, 3.1830852031707764], [-1.1946030855178833, 0.5034166574478149, 3.1860191822052], [-1.3662021160125732, 0.4971311688423157, 3.3246707916259766], [-1.2073975801467896, -0.16559098660945892, 3.491168737411499], [-1.0357985496520996, -0.15930549800395966, 3.3525171279907227], [-1.0578409433364868, 0.5071937441825867, 3.3554513454437256], [-1.2294399738311768, 0.5009082555770874, 3.494102716445923]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2076, "image_id": 287, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [101.0, 8.0, 122.0, 193.0], "bbox2D_tight": [101.0, 8.0, 122.0, 193.0], "bbox2D_trunc": [101.0, 8.0, 122.0, 193.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2077, "image_id": 287, "category_id": 13, "category_name": "building", "bbox2D_proj": [178.0, 102.0, 274.0, 220.0], "bbox2D_tight": [178.0, 102.0, 274.0, 220.0], "bbox2D_trunc": [178.0, 102.0, 274.0, 220.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2078, "image_id": 287, "category_id": 13, "category_name": "building", "bbox2D_proj": [271.0, 33.0, 353.0, 207.0], "bbox2D_tight": [271.0, 33.0, 353.0, 207.0], "bbox2D_trunc": [271.0, 33.0, 353.0, 207.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2079, "image_id": 287, "category_id": 45, "category_name": "person", "bbox2D_proj": [36.0, 230.0, 59.0, 280.0], "bbox2D_tight": [36.0, 230.0, 59.0, 280.0], "bbox2D_trunc": [36.0, 230.0, 59.0, 280.0], "center_cam": [-1.744781619439981, 0.028285559523159517, 3.7485373606612917], "dimensions": [0.17382815568482046, 0.4990234498610787, 0.1791992460959168], "R_cam": [[0.9724024534225464, -0.17328429222106934, -0.15622447431087494], [0.10639601945877075, 0.9252759218215942, -0.36406636238098145], [0.2076377272605896, 0.33739733695983887, 0.9181773662567139]], "bbox3D_cam": [[-1.775093913078308, -0.18047218024730682, 3.565945863723755], [-1.6008400917053223, -0.16140608489513397, 3.603154420852661], [-1.6873130798339844, 0.3003282845020294, 3.7715237140655518], [-1.8615669012069702, 0.28126218914985657, 3.7343151569366455], [-1.8022501468658447, -0.24375715851783752, 3.725550889968872], [-1.6279963254928589, -0.22469106316566467, 3.7627594470977783], [-1.714469313621521, 0.23704330623149872, 3.931128740310669], [-1.8887231349945068, 0.21797721087932587, 3.8939201831817627]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2080, "image_id": 287, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [91.0, 34.0, 109.0, 103.0], "bbox2D_tight": [91.0, 34.0, 109.0, 103.0], "bbox2D_trunc": [91.0, 34.0, 109.0, 103.0], "center_cam": [-1.7610647129566148, -2.051682289639948, 4.878835546622437], "dimensions": [0.1757812583301437, 0.6845703304607654, 0.24414063912796677], "R_cam": [[-0.5887647867202759, -0.19655418395996094, 0.7840424180030823], [0.3105155825614929, 0.8405557870864868, 0.44389867782592773], [-0.7462815046310425, 0.5048093199729919, -0.4338564872741699]], "bbox3D_cam": [[-1.690826416015625, -2.416311264038086, 4.835277557373047], [-1.834567904472351, -2.3405017852783203, 4.653079986572266], [-1.9691230058670044, -1.7650822401046753, 4.998657703399658], [-1.8253816366195679, -1.840891718864441, 5.1808552742004395], [-1.5530065298080444, -2.3382821083068848, 4.759013652801514], [-1.696747899055481, -2.262472629547119, 4.576816082000732], [-1.8313031196594238, -1.6870532035827637, 4.922393798828125], [-1.6875616312026978, -1.7628626823425293, 5.104591369628906]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2081, "image_id": 287, "category_id": 45, "category_name": "person", "bbox2D_proj": [74.0, 229.0, 110.0, 323.0], "bbox2D_tight": [74.0, 229.0, 110.0, 323.0], "bbox2D_trunc": [74.0, 229.0, 110.0, 323.0], "center_cam": [-1.2224946184199452, 0.1513452647216478, 3.350888178696679], "dimensions": [0.22851570478041547, 0.6639099265661441, 0.23828133513456823], "R_cam": [[0.6042729616165161, 0.008857011795043945, 0.7967281341552734], [-0.1298809051513672, 0.9876587390899658, 0.08752775192260742], [-0.7861202955245972, -0.15637049078941345, 0.5979658365249634]], "bbox3D_cam": [[-1.388460636138916, -0.17103956639766693, 3.4281327724456787], [-1.2444736957550049, -0.20198778808116913, 3.2408149242401123], [-1.2385934591293335, 0.4537286162376404, 3.1369991302490234], [-1.3825803995132446, 0.4846768379211426, 3.32431697845459], [-1.2063957452774048, -0.15103809535503387, 3.564777374267578], [-1.0624088048934937, -0.18198631703853607, 3.3774595260620117], [-1.0565285682678223, 0.47373008728027344, 3.273643732070923], [-1.2005155086517334, 0.5046783089637756, 3.4609615802764893]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2082, "image_id": 288, "category_id": 45, "category_name": "person", "bbox2D_proj": [357.0, 231.0, 512.0, 512.0], "bbox2D_tight": [357.0, 231.0, 512.0, 512.0], "bbox2D_trunc": [357.0, 231.0, 512.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2083, "image_id": 288, "category_id": 66, "category_name": "sweater", "bbox2D_proj": [262.0, 271.0, 354.0, 386.0], "bbox2D_tight": [262.0, 271.0, 354.0, 386.0], "bbox2D_trunc": [262.0, 271.0, 354.0, 386.0], "center_cam": [0.2925471396357827, 0.38373834331477846, 2.4505803272711364], "dimensions": [0.300781261263429, 0.5969238534359353, 0.533691401491529], "R_cam": [[0.9777436852455139, -0.022455990314483643, -0.2085976004600525], [0.03513789176940918, 0.9977390170097351, 0.057290367782115936], [0.2068394422531128, -0.06334497779607773, 0.9763221144676208]], "bbox3D_cam": [[0.0697137713432312, 0.06795889139175415, 2.2674624919891357], [0.5915272235870361, 0.08671170473098755, 2.3778510093688965], [0.5781227350234985, 0.6822859048843384, 2.340038776397705], [0.056309282779693604, 0.663533091545105, 2.2296504974365234], [0.006971538066864014, 0.0851907730102539, 2.561121940612793], [0.528784990310669, 0.1039435863494873, 2.6715102195739746], [0.5153805017471313, 0.6995177865028381, 2.6336982250213623], [-0.006432950496673584, 0.6807649731636047, 2.5233097076416016]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2084, "image_id": 288, "category_id": 45, "category_name": "person", "bbox2D_proj": [188.0, 244.0, 228.0, 364.0], "bbox2D_tight": [188.0, 244.0, 228.0, 364.0], "bbox2D_trunc": [188.0, 244.0, 228.0, 364.0], "center_cam": [-0.5438238251263398, 0.5815177800630706, 5.546789150167648], "dimensions": [0.480468816371335, 1.4438476859969147, 0.6074219353816249], "R_cam": [[0.8745758533477783, -0.01285409927368164, -0.4847182333469391], [-0.038950443267822266, 0.9945557117462158, -0.096652552485466], [0.4833216667175293, 0.10340997576713562, 0.8693137168884277]], "bbox3D_cam": [[-0.6837164163589478, -0.10142678022384644, 5.1165056228637695], [-0.1524798572063446, -0.12508612871170044, 5.410086154937744], [-0.17103925347328186, 1.3109009265899658, 5.559394359588623], [-0.7022758722305298, 1.3345601558685303, 5.265814304351807], [-0.916608452796936, -0.14786535501480103, 5.534183979034424], [-0.3853718340396881, -0.17152470350265503, 5.82776403427124], [-0.40393123030662537, 1.2644622325897217, 5.977072715759277], [-0.9351677894592285, 1.2881217002868652, 5.683492183685303]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2085, "image_id": 288, "category_id": 45, "category_name": "person", "bbox2D_proj": [226.0, 248.0, 271.0, 365.0], "bbox2D_tight": [226.0, 248.0, 271.0, 365.0], "bbox2D_trunc": [226.0, 248.0, 271.0, 365.0], "center_cam": [-0.07164094487610309, 0.581228141394588, 5.826327734323994], "dimensions": [0.5039064109411219, 1.4622192707122703, 0.5400392008646302], "R_cam": [[0.951206624507904, -0.03958261013031006, 0.30600517988204956], [0.04131364822387695, 0.9991459250450134, 0.0008202046155929565], [-0.3057762384414673, 0.011862024664878845, 0.9520295262336731]], "bbox3D_cam": [[-0.37664511799812317, -0.16061913967132568, 5.660354137420654], [0.13704371452331543, -0.13830816745758057, 5.495223045349121], [0.0791652724146843, 1.322662115097046, 5.512567520141602], [-0.4345235526561737, 1.3003511428833008, 5.677699089050293], [-0.22244715690612793, -0.16020584106445312, 6.140088081359863], [0.29124167561531067, -0.137894868850708, 5.974956512451172], [0.23336324095726013, 1.3230754137039185, 5.9923014640808105], [-0.28032562136650085, 1.3007644414901733, 6.157432556152344]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2086, "image_id": 288, "category_id": 45, "category_name": "person", "bbox2D_proj": [172.0, 241.0, 184.0, 277.0], "bbox2D_tight": [172.0, 241.0, 184.0, 277.0], "bbox2D_trunc": [172.0, 241.0, 184.0, 277.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2087, "image_id": 288, "category_id": 45, "category_name": "person", "bbox2D_proj": [4.0, 254.0, 54.0, 385.0], "bbox2D_tight": [4.0, 254.0, 54.0, 385.0], "bbox2D_trunc": [4.0, 254.0, 54.0, 385.0], "center_cam": [-2.1469959532132448, 0.5730724848612518, 4.190634285574668], "dimensions": [0.42388491343264867, 1.146402937847649, 0.5989522412789547], "R_cam": [[-0.39274537563323975, -0.0851806029677391, -0.9156938791275024], [-0.08066549152135849, 0.9950542449951172, -0.05796514078974724], [0.9161026477813721, 0.05109935626387596, -0.3976741433143616]], "bbox3D_cam": [[-1.786478042602539, 0.039148569107055664, 3.9712772369384766], [-2.0217137336730957, -0.009166240692138672, 4.519979000091553], [-2.1193652153015137, 1.1315670013427734, 4.578559398651123], [-1.884129285812378, 1.1798818111419678, 4.029857635498047], [-2.1746268272399902, 0.014577984809875488, 3.8027091026306152], [-2.409862756729126, -0.03373682498931885, 4.351410865783691], [-2.507513999938965, 1.1069964170455933, 4.409991264343262], [-2.272278308868408, 1.1553112268447876, 3.8612895011901855]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2088, "image_id": 288, "category_id": 58, "category_name": "signboard", "bbox2D_proj": [396.0, 72.0, 424.0, 148.0], "bbox2D_tight": [396.0, 72.0, 424.0, 148.0], "bbox2D_trunc": [396.0, 72.0, 424.0, 148.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2089, "image_id": 288, "category_id": 45, "category_name": "person", "bbox2D_proj": [274.0, 249.0, 296.0, 276.0], "bbox2D_tight": [274.0, 249.0, 296.0, 276.0], "bbox2D_trunc": [274.0, 249.0, 296.0, 276.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2090, "image_id": 288, "category_id": 45, "category_name": "person", "bbox2D_proj": [185.0, 245.0, 204.0, 310.0], "bbox2D_tight": [185.0, 245.0, 204.0, 310.0], "bbox2D_trunc": [185.0, 245.0, 204.0, 310.0], "center_cam": [-0.9105059745385815, 0.3123872323207569, 6.637403880324277], "dimensions": [0.28906259278372903, 0.886230489441056, 0.30859386734205585], "R_cam": [[-0.31334900856018066, -0.057692110538482666, -0.9478840827941895], [-0.12533867359161377, 0.9919333457946777, -0.01893913932144642], [0.9413303732872009, 0.11287181079387665, -0.31805241107940674]], "bbox3D_cam": [[-0.6995939612388611, -0.1050768494606018, 6.488112926483154], [-0.7962915301322937, -0.14375555515289307, 6.77860164642334], [-0.8474200963973999, 0.7353258728981018, 6.878632068634033], [-0.7507225275039673, 0.7740045785903931, 6.588143348693848], [-0.9735918045043945, -0.11055141687393188, 6.396175861358643], [-1.0702893733978271, -0.14923012256622314, 6.686664581298828], [-1.1214179992675781, 0.7298513054847717, 6.7866950035095215], [-1.024720311164856, 0.768530011177063, 6.496206283569336]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2091, "image_id": 289, "category_id": 47, "category_name": "pipe", "bbox2D_proj": [365.0, 150.0, 394.0, 294.0], "bbox2D_tight": [365.0, 150.0, 394.0, 294.0], "bbox2D_trunc": [365.0, 150.0, 394.0, 294.0], "center_cam": [0.8899681347600665, -0.25276242862886267, 3.277609080272481], "dimensions": [0.16428996077130417, 1.174693442467372, 0.16653533899553855], "R_cam": [[0.9967136383056641, 0.0801863744854927, 0.011491719633340836], [-0.07794620841741562, 0.9879894256591797, -0.1334211677312851], [-0.022052258253097534, 0.13208694756031036, 0.9909927845001221]], "bbox3D_cam": [[0.7589329481124878, -0.815604567527771, 3.1204593181610107], [0.9249209761619568, -0.8285853862762451, 3.1167869567871094], [1.0191154479980469, 0.33199942111968994, 3.2719485759735107], [0.8531273603439331, 0.34498023986816406, 3.275621175765991], [0.7608209252357483, -0.8375242948532104, 3.2832696437835693], [0.9268089532852173, -0.8505051136016846, 3.279597043991089], [1.0210033655166626, 0.3100796937942505, 3.4347589015960693], [0.8550153374671936, 0.3230605125427246, 3.4384312629699707]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2092, "image_id": 289, "category_id": 47, "category_name": "pipe", "bbox2D_proj": [283.0, 78.0, 330.0, 183.0], "bbox2D_tight": [283.0, 78.0, 330.0, 183.0], "bbox2D_trunc": [283.0, 78.0, 330.0, 183.0], "center_cam": [0.4716927760158647, -0.855200524720898, 3.3418794551475974], "dimensions": [0.28930677515999426, 0.8564453576267064, 0.3066407537383519], "R_cam": [[0.30398857593536377, 0.09948277473449707, -0.9474672079086304], [-0.29528582096099854, 0.9553927183151245, 0.0055744946002960205], [0.9057577848434448, 0.2780790328979492, 0.319804310798645]], "bbox3D_cam": [[0.5195387005805969, -1.2198543548583984, 3.037667751312256], [0.6127539873123169, -1.3104010820388794, 3.3154098987579346], [0.6979556083679199, -0.4921593964099884, 3.5535695552825928], [0.6047402620315552, -0.4016127288341522, 3.275827169418335], [0.24542996287345886, -1.2182416915893555, 3.1301891803741455], [0.3386452794075012, -1.3087882995605469, 3.4079315662384033], [0.42384687066078186, -0.49054667353630066, 3.6460909843444824], [0.3306315541267395, -0.4000000059604645, 3.3683488368988037]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2093, "image_id": 289, "category_id": 36, "category_name": "lamp", "bbox2D_proj": [277.0, 9.0, 325.0, 51.0], "bbox2D_tight": [277.0, 9.0, 325.0, 51.0], "bbox2D_trunc": [277.0, 9.0, 325.0, 51.0], "center_cam": [0.27944133452564796, -1.4185857759604656, 2.746110638420069], "dimensions": [0.19606704467548983, 0.08809593871227647, 0.21015377749235883], "R_cam": [[-0.9992406964302063, 0.023325055837631226, 0.03120913915336132], [0.009797533974051476, 0.9256924986839294, -0.37814992666244507], [-0.037710435688495636, -0.37755703926086426, -0.9252181649208069]], "bbox3D_cam": [[0.3803514540195465, -1.4233187437057495, 2.8574061393737793], [0.17035725712776184, -1.4212597608566284, 2.8494811058044434], [0.17241209745407104, -1.339709997177124, 2.8162200450897217], [0.3824062943458557, -1.3417689800262451, 2.8241448402404785], [0.3864705562591553, -1.4974615573883057, 2.6760013103485107], [0.1764763593673706, -1.4954025745391846, 2.668076515197754], [0.1785311996936798, -1.4138528108596802, 2.634815216064453], [0.3885253965854645, -1.4159117937088013, 2.642740249633789]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2094, "image_id": 289, "category_id": 23, "category_name": "dress", "bbox2D_proj": [235.0, 258.0, 415.0, 512.0], "bbox2D_tight": [235.0, 258.0, 415.0, 512.0], "bbox2D_trunc": [235.0, 258.0, 415.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2095, "image_id": 290, "category_id": 47, "category_name": "pipe", "bbox2D_proj": [240.0, 161.0, 264.0, 240.0], "bbox2D_tight": [240.0, 161.0, 264.0, 240.0], "bbox2D_trunc": [240.0, 161.0, 264.0, 240.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2096, "image_id": 290, "category_id": 36, "category_name": "lamp", "bbox2D_proj": [274.0, 8.0, 321.0, 51.0], "bbox2D_tight": [274.0, 8.0, 321.0, 51.0], "bbox2D_trunc": [274.0, 8.0, 321.0, 51.0], "center_cam": [0.2525476802212895, -1.396700249879368, 2.7428653642758762], "dimensions": [0.18676865571976942, 0.1910516962738399, 0.2846575611858412], "R_cam": [[0.9566411972045898, -0.13884186744689941, 0.2560480535030365], [0.16315460205078125, 0.9836541414260864, -0.07618880271911621], [-0.2412845641374588, 0.11466076225042343, 0.9636567831039429]], "bbox3D_cam": [[0.10574221611022949, -1.506771445274353, 2.6762635707855225], [0.3780573606491089, -1.460328221321106, 2.6075801849365234], [0.35153138637542725, -1.2723994255065918, 2.629486083984375], [0.07921624183654785, -1.3188426494598389, 2.698169708251953], [0.1535639762878418, -1.5210011005401611, 2.8562445640563965], [0.4258791208267212, -1.474557876586914, 2.7875609397888184], [0.39935314655303955, -1.2866290807724, 2.809467077255249], [0.12703800201416016, -1.333072304725647, 2.878150463104248]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2097, "image_id": 290, "category_id": 23, "category_name": "dress", "bbox2D_proj": [234.0, 241.0, 416.0, 512.0], "bbox2D_tight": [234.0, 241.0, 416.0, 512.0], "bbox2D_trunc": [234.0, 241.0, 416.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2098, "image_id": 290, "category_id": 47, "category_name": "pipe", "bbox2D_proj": [395.0, 121.0, 474.0, 284.0], "bbox2D_tight": [395.0, 121.0, 474.0, 284.0], "bbox2D_trunc": [395.0, 121.0, 474.0, 284.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2099, "image_id": 290, "category_id": 45, "category_name": "person", "bbox2D_proj": [263.0, 195.0, 369.0, 314.0], "bbox2D_tight": [263.0, 195.0, 369.0, 314.0], "bbox2D_trunc": [263.0, 195.0, 369.0, 314.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2100, "image_id": 291, "category_id": 45, "category_name": "person", "bbox2D_proj": [500.0, 298.0, 512.0, 495.0], "bbox2D_tight": [500.0, 298.0, 512.0, 495.0], "bbox2D_trunc": [500.0, 298.0, 512.0, 495.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2101, "image_id": 291, "category_id": 16, "category_name": "chair", "bbox2D_proj": [366.0, 286.0, 397.0, 352.0], "bbox2D_tight": [366.0, 286.0, 397.0, 352.0], "bbox2D_trunc": [366.0, 286.0, 397.0, 352.0], "center_cam": [1.3376806486084527, 0.6295994333065263, 4.699425962578371], "dimensions": [0.2630394640387391, 0.6757769890641013, 0.7879404412493782], "R_cam": [[-0.21943426132202148, 0.00016099587082862854, 0.9756272435188293], [0.09312054514884949, 0.9954380989074707, 0.0207800455391407], [-0.971173107624054, 0.0954107940196991, -0.21844816207885742]], "bbox3D_cam": [[1.2957626581192017, 0.25383269786834717, 5.078531265258789], [1.1228615045547485, 0.3272061347961426, 4.313304901123047], [1.1229703426361084, 0.999900221824646, 4.377781391143799], [1.295871376991272, 0.9265267848968506, 5.143007755279541], [1.5523910522460938, 0.2592986822128296, 5.021070957183838], [1.3794900178909302, 0.332672119140625, 4.255844593048096], [1.3795987367630005, 1.0053662061691284, 4.320321083068848], [1.5524998903274536, 0.931992769241333, 5.08554744720459]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2102, "image_id": 291, "category_id": 58, "category_name": "signboard", "bbox2D_proj": [462.0, 183.0, 512.0, 211.0], "bbox2D_tight": [462.0, 183.0, 512.0, 211.0], "bbox2D_trunc": [462.0, 183.0, 512.0, 211.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2103, "image_id": 291, "category_id": 45, "category_name": "person", "bbox2D_proj": [296.0, 238.0, 331.0, 338.0], "bbox2D_tight": [296.0, 238.0, 331.0, 338.0], "bbox2D_trunc": [296.0, 238.0, 331.0, 338.0], "center_cam": [0.6880312439424225, 0.3572261774647497, 5.311178016974973], "dimensions": [0.35742191883793256, 1.090576188262607, 0.3750000487462139], "R_cam": [[-0.5833873748779297, -0.07547235488891602, 0.80867999792099], [-0.08024072647094727, 0.9961580634117126, 0.03508302941918373], [-0.8082207441329956, -0.04442203417420387, -0.5872018337249756]], "bbox3D_cam": [[0.6940506100654602, -0.17719152569770813, 5.59188175201416], [0.4752803146839142, -0.20728173851966858, 5.288798809051514], [0.3929719924926758, 0.8791043758392334, 5.240353584289551], [0.6117422580718994, 0.9091945886611938, 5.543436050415039], [0.9830905199050903, -0.164652019739151, 5.382002830505371], [0.7643202543258667, -0.19474223256111145, 5.078920364379883], [0.6820119023323059, 0.8916438817977905, 5.030474662780762], [0.9007822275161743, 0.921734094619751, 5.333557605743408]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2104, "image_id": 291, "category_id": 45, "category_name": "person", "bbox2D_proj": [196.0, 257.0, 243.0, 342.0], "bbox2D_tight": [196.0, 257.0, 243.0, 342.0], "bbox2D_trunc": [196.0, 257.0, 243.0, 342.0], "center_cam": [-0.4156444791611678, 0.4691034004717809, 5.0048992849468235], "dimensions": [0.5220337020996464, 0.8837890772207697, 0.5664062702275215], "R_cam": [[-0.035930752754211426, -0.02260369062423706, -0.9990986585617065], [-0.10520923137664795, 0.9942740201950073, -0.018710851669311523], [0.9938007593154907, 0.10444214940071106, -0.03810310363769531]], "bbox3D_cam": [[-0.1346987783908844, 0.06441855430603027, 4.6872453689575195], [-0.1550501585006714, 0.004827380180358887, 5.250140190124512], [-0.1750270575284958, 0.8835559487342834, 5.342444896697998], [-0.1546756625175476, 0.9431471228599548, 4.779550075531006], [-0.6562618613243103, 0.054650843143463135, 4.667354106903076], [-0.6766132712364197, -0.004940330982208252, 5.230248928070068], [-0.6965901851654053, 0.8737882375717163, 5.322553634643555], [-0.6762387752532959, 0.9333794116973877, 4.7596588134765625]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2105, "image_id": 291, "category_id": 45, "category_name": "person", "bbox2D_proj": [134.0, 213.0, 190.0, 395.0], "bbox2D_tight": [134.0, 213.0, 190.0, 395.0], "bbox2D_trunc": [134.0, 213.0, 190.0, 395.0], "center_cam": [-0.7903047170103374, 0.37991899743108826, 3.6771879254351063], "dimensions": [0.45898439503686883, 1.4174804890034047, 0.5332031504785297], "R_cam": [[0.6903305053710938, 0.016292810440063477, -0.7233107089996338], [0.009294450283050537, 0.9994642734527588, 0.03138387203216553], [0.7234345078468323, -0.028387993574142456, 0.6898091435432434]], "bbox3D_cam": [[-0.8199011087417603, -0.3381217122077942, 3.34613299369812], [-0.4518147110939026, -0.3331659436225891, 3.731870651245117], [-0.42871999740600586, 1.083554983139038, 3.6916310787200928], [-0.7968063950538635, 1.078599214553833, 3.305893659591675], [-1.151889443397522, -0.32371705770492554, 3.6627447605133057], [-0.7838030457496643, -0.31876128911972046, 4.048482418060303], [-0.7607083320617676, 1.0979597568511963, 4.008242607116699], [-1.1287946701049805, 1.0930039882659912, 3.6225051879882812]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2106, "image_id": 291, "category_id": 45, "category_name": "person", "bbox2D_proj": [172.0, 226.0, 195.0, 273.0], "bbox2D_tight": [172.0, 226.0, 195.0, 273.0], "bbox2D_trunc": [172.0, 226.0, 195.0, 273.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2107, "image_id": 292, "category_id": 45, "category_name": "person", "bbox2D_proj": [235.0, 257.0, 301.0, 478.0], "bbox2D_tight": [235.0, 257.0, 301.0, 478.0], "bbox2D_trunc": [235.0, 257.0, 301.0, 478.0], "center_cam": [0.20552275781877874, 1.1059998442144727, 4.6800667465506], "dimensions": [0.5957031851311412, 2.075439528735997, 0.9863281993417738], "R_cam": [[-0.5429521799087524, -0.010619759559631348, -0.83969646692276], [-0.0028113126754760742, 0.9999374151229858, -0.010828524827957153], [0.8397588729858398, -0.00351870059967041, -0.5429480075836182]], "bbox3D_cam": [[0.7344125509262085, 0.07295680046081543, 4.4312968254089355], [0.19888348877429962, 0.07018399238586426, 5.259574890136719], [0.1768428236246109, 2.145493507385254, 5.252272129058838], [0.712371826171875, 2.148266315460205, 4.423994064331055], [0.23420269787311554, 0.06650614738464355, 4.107861042022705], [-0.30132627487182617, 0.06373333930969238, 4.936139106750488], [-0.32336699962615967, 2.139042854309082, 4.928836345672607], [0.21216203272342682, 2.141815662384033, 4.100558280944824]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2108, "image_id": 292, "category_id": 45, "category_name": "person", "bbox2D_proj": [62.0, 239.0, 117.0, 407.0], "bbox2D_tight": [62.0, 239.0, 117.0, 407.0], "bbox2D_trunc": [62.0, 239.0, 117.0, 407.0], "center_cam": [-3.3237928457764196, 1.2806787368266972, 8.835116580955006], "dimensions": [0.8203125981580044, 3.221679815239476, 1.0051271291861879], "R_cam": [[0.9464186429977417, -0.003046751022338867, -0.3229280114173889], [0.03333312273025513, 0.995536208152771, 0.08829828351736069], [0.32121750712394714, -0.09433134645223618, 0.9422955513000488]], "bbox3D_cam": [[-3.662069797515869, -0.37593889236450195, 8.43914794921875], [-2.710798740386963, -0.3424348831176758, 8.762012481689453], [-2.720614194869995, 2.8648641109466553, 8.458106994628906], [-3.6718852519989014, 2.831360101699829, 8.13524341583252], [-3.926971673965454, -0.30350661277770996, 9.212125778198242], [-2.975700616836548, -0.2700026035308838, 9.534989356994629], [-2.98551607131958, 2.9372963905334473, 9.231084823608398], [-3.9367871284484863, 2.903792381286621, 8.908220291137695]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2109, "image_id": 292, "category_id": 28, "category_name": "flowerpot", "bbox2D_proj": [348.0, 241.0, 493.0, 345.0], "bbox2D_tight": [348.0, 241.0, 493.0, 345.0], "bbox2D_trunc": [348.0, 241.0, 493.0, 345.0], "center_cam": [0.7576407606815004, 0.20063934877702294, 2.065073353356296], "dimensions": [0.7626978642641338, 0.5270996366404783, 0.767580736148918], "R_cam": [[-0.9444381594657898, -0.01944570243358612, -0.32811349630355835], [0.009438127279281616, 0.9962324500083923, -0.08620840311050415], [0.3285536766052246, -0.0845152735710144, -0.9406964182853699]], "bbox3D_cam": [[1.250357747077942, -0.032664284110069275, 2.3199851512908936], [0.5254250764846802, -0.025419756770133972, 2.572176456451416], [0.5151753425598145, 0.49969393014907837, 2.5276286602020264], [1.2401078939437866, 0.49244940280914307, 2.275437116622925], [1.0001062154769897, -0.09841524064540863, 1.6025179624557495], [0.2751736342906952, -0.09117071330547333, 1.8547093868255615], [0.2649238407611847, 0.433942973613739, 1.8101614713668823], [0.989856481552124, 0.4266984462738037, 1.5579699277877808]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2110, "image_id": 292, "category_id": 23, "category_name": "dress", "bbox2D_proj": [184.0, 306.0, 231.0, 400.0], "bbox2D_tight": [184.0, 306.0, 231.0, 400.0], "bbox2D_trunc": [184.0, 306.0, 231.0, 400.0], "center_cam": [-0.5485075702077596, 1.223329249555674, 5.019726532285398], "dimensions": [0.2773437519356532, 1.262329151521103, 0.6103516082661717], "R_cam": [[0.9618149399757385, -0.02238219976425171, 0.2727842628955841], [-0.0019426345825195312, 0.996067464351654, 0.08857806026935577], [-0.27369409799575806, -0.08572559803724289, 0.9579888582229614]], "bbox3D_cam": [[-0.865730881690979, 0.5829564929008484, 5.02451229095459], [-0.278685599565506, 0.5817708373069763, 4.8574628829956055], [-0.3069393038749695, 1.8391356468200684, 4.74924898147583], [-0.8939845561981201, 1.8403213024139404, 4.9162983894348145], [-0.7900758385658264, 0.6075230240821838, 5.2902045249938965], [-0.2030305564403534, 0.6063373684883118, 5.123155117034912], [-0.23128429055213928, 1.8637020587921143, 5.014941215515137], [-0.8183295726776123, 1.8648877143859863, 5.181990623474121]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2111, "image_id": 292, "category_id": 34, "category_name": "jeans", "bbox2D_proj": [0.0, 388.0, 63.0, 476.0], "bbox2D_tight": [0.0, 388.0, 63.0, 476.0], "bbox2D_trunc": [0.0, 388.0, 63.0, 476.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2112, "image_id": 292, "category_id": 63, "category_name": "streetlight", "bbox2D_proj": [256.0, 127.0, 267.0, 269.0], "bbox2D_tight": [256.0, 127.0, 267.0, 269.0], "bbox2D_trunc": [256.0, 127.0, 267.0, 269.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2113, "image_id": 292, "category_id": 45, "category_name": "person", "bbox2D_proj": [114.0, 262.0, 178.0, 424.0], "bbox2D_tight": [114.0, 262.0, 178.0, 424.0], "bbox2D_trunc": [114.0, 262.0, 178.0, 424.0], "center_cam": [-1.6464674452251558, 1.3133116073721638, 6.894811809234295], "dimensions": [0.7734375429062601, 2.3694458917921115, 0.9921876225391842], "R_cam": [[0.9620683789253235, -0.021332085132598877, 0.2719731628894806], [0.009621202945709229, 0.9989710450172424, 0.04432017356157303], [-0.2726387679576874, -0.040022335946559906, 0.9612836837768555]], "bbox3D_cam": [[-2.203648090362549, 0.10789525508880615, 6.705734729766846], [-1.2490957975387573, 0.11744129657745361, 6.435225963592529], [-1.2996410131454468, 2.4844489097595215, 6.340395450592041], [-2.2541933059692383, 2.474903106689453, 6.610904216766357], [-1.9932938814163208, 0.1421741247177124, 7.449227809906006], [-1.0387415885925293, 0.15172016620635986, 7.1787190437316895], [-1.0892868041992188, 2.5187277793884277, 7.083888530731201], [-2.0438392162323, 2.5091819763183594, 7.354397296905518]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2114, "image_id": 292, "category_id": 13, "category_name": "building", "bbox2D_proj": [289.0, 225.0, 377.0, 278.0], "bbox2D_tight": [289.0, 225.0, 377.0, 278.0], "bbox2D_trunc": [289.0, 225.0, 377.0, 278.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2115, "image_id": 292, "category_id": 45, "category_name": "person", "bbox2D_proj": [186.0, 276.0, 232.0, 465.0], "bbox2D_tight": [186.0, 276.0, 232.0, 465.0], "bbox2D_trunc": [186.0, 276.0, 232.0, 465.0], "center_cam": [-0.6154067340816356, 1.230728254862105, 5.083627208026165], "dimensions": [0.6113281776211963, 1.9838868050849434, 1.078125029419288], "R_cam": [[0.31330621242523193, 0.007639646530151367, -0.9496214389801025], [0.07835978269577026, 0.9963496923446655, 0.033868610858917236], [0.9464137554168701, -0.08502340316772461, 0.3115638494491577]], "bbox3D_cam": [[-0.5016112327575684, 0.1898125410079956, 4.562555313110352], [-0.16382813453674316, 0.2742941975593567, 5.582907676696777], [-0.1486719250679016, 2.25093936920166, 5.414231300354004], [-0.4864550232887268, 2.166457414627075, 4.393878936767578], [-1.082141637802124, 0.2105172872543335, 4.753023147583008], [-0.744358479976654, 0.29499906301498413, 5.773375511169434], [-0.7292022705078125, 2.271644115447998, 5.60469913482666], [-1.0669853687286377, 2.187162399291992, 4.584346771240234]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2116, "image_id": 292, "category_id": 45, "category_name": "person", "bbox2D_proj": [48.0, 266.0, 73.0, 395.0], "bbox2D_tight": [48.0, 266.0, 73.0, 395.0], "bbox2D_trunc": [48.0, 266.0, 73.0, 395.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2117, "image_id": 292, "category_id": 45, "category_name": "person", "bbox2D_proj": [151.0, 268.0, 169.0, 298.0], "bbox2D_tight": [151.0, 268.0, 169.0, 298.0], "bbox2D_trunc": [151.0, 268.0, 169.0, 298.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2118, "image_id": 292, "category_id": 15, "category_name": "car", "bbox2D_proj": [317.0, 279.0, 356.0, 322.0], "bbox2D_tight": [317.0, 279.0, 356.0, 322.0], "bbox2D_trunc": [317.0, 279.0, 356.0, 322.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2119, "image_id": 292, "category_id": 28, "category_name": "flowerpot", "bbox2D_proj": [275.0, 69.0, 512.0, 248.0], "bbox2D_tight": [275.0, 69.0, 512.0, 248.0], "bbox2D_trunc": [275.0, 69.0, 512.0, 248.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2120, "image_id": 293, "category_id": 57, "category_name": "shorts", "bbox2D_proj": [69.0, 360.0, 101.0, 391.0], "bbox2D_tight": [69.0, 360.0, 101.0, 391.0], "bbox2D_trunc": [69.0, 360.0, 101.0, 391.0], "center_cam": [-0.8483005325665316, 0.5925409709014342, 2.198120108498892], "dimensions": [0.05335752879534583, 0.1590385440114992, 0.152957720765173], "R_cam": [[-0.8960714340209961, 0.057308878749608994, 0.44019514322280884], [0.1608486920595169, 0.9661614894866943, 0.20164304971694946], [-0.41374361515045166, 0.25149136781692505, -0.874967634677887]], "bbox3D_cam": [[-0.7960709929466248, 0.4980314373970032, 2.233107328414917], [-0.9331320524215698, 0.5226344466209412, 2.1698222160339355], [-0.9240177273750305, 0.6762913465499878, 2.2098188400268555], [-0.7869566679000854, 0.6516883373260498, 2.273104190826416], [-0.7725833058357239, 0.5087906122207642, 2.1864213943481445], [-0.909644365310669, 0.5333936214447021, 2.123136043548584], [-0.9005300402641296, 0.6870505213737488, 2.163132905960083], [-0.7634689807891846, 0.6624475121498108, 2.2264180183410645]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2121, "image_id": 293, "category_id": 45, "category_name": "person", "bbox2D_proj": [260.0, 256.0, 280.0, 323.0], "bbox2D_tight": [260.0, 256.0, 280.0, 323.0], "bbox2D_trunc": [260.0, 256.0, 280.0, 323.0], "center_cam": [0.09430492394663612, 0.26430672555370494, 3.6246125166582566], "dimensions": [0.15234374922220065, 0.5317382640763081, 0.2343749934938376], "R_cam": [[0.8976971507072449, 0.012159228324890137, -0.4404451251029968], [-0.06925249099731445, 0.9910885691642761, -0.11378701031208038], [0.4351365566253662, 0.13264824450016022, 0.8905395269393921]], "bbox3D_cam": [[0.019422806799411774, 0.017589762806892395, 3.4705188274383545], [0.22982057929039001, 0.001358717679977417, 3.5725040435791016], [0.23628610372543335, 0.5283584594726562, 3.643038034439087], [0.02588833123445511, 0.5445895195007324, 3.541053056716919], [-0.04767625778913498, 0.0002550184726715088, 3.606187105178833], [0.16272151470184326, -0.015976041555404663, 3.708172082901001], [0.1691870391368866, 0.5110237002372742, 3.7787063121795654], [-0.041210733354091644, 0.5272547006607056, 3.6767210960388184]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2122, "image_id": 293, "category_id": 45, "category_name": "person", "bbox2D_proj": [390.0, 249.0, 407.0, 334.0], "bbox2D_tight": [390.0, 249.0, 407.0, 334.0], "bbox2D_trunc": [390.0, 249.0, 407.0, 334.0], "center_cam": [1.055159203193758, 0.25999632785439, 3.295218621638368], "dimensions": [0.1318359365387923, 0.6226806434852736, 0.19335937525026475], "R_cam": [[-0.5477049350738525, -0.006846427917480469, 0.836643636226654], [-0.008124232292175293, 0.9999629259109497, 0.002864331007003784], [-0.836632251739502, -0.005228221416473389, -0.5477401614189148]], "bbox3D_cam": [[1.0550928115844727, -0.05073583126068115, 3.4138376712799072], [0.9491889476776123, -0.05230671167373657, 3.2520670890808105], [0.944925844669342, 0.5703508257865906, 3.2488114833831787], [1.0508297681808472, 0.571921706199646, 3.4105823040008545], [1.165392518043518, -0.05035817623138428, 3.341625928878784], [1.0594886541366577, -0.0519290566444397, 3.1798551082611084], [1.0552256107330322, 0.5707284808158875, 3.1765997409820557], [1.1611294746398926, 0.5722993612289429, 3.3383703231811523]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2123, "image_id": 293, "category_id": 45, "category_name": "person", "bbox2D_proj": [283.0, 258.0, 310.0, 337.0], "bbox2D_tight": [283.0, 258.0, 310.0, 337.0], "bbox2D_trunc": [283.0, 258.0, 310.0, 337.0], "center_cam": [0.33144828418535055, 0.31429890956947026, 3.4479014282986813], "dimensions": [0.21093754794436187, 0.5774841121424183, 0.2187500443461171], "R_cam": [[0.9265570044517517, 0.031937599182128906, -0.3747962713241577], [-0.0223618745803833, 0.9993036389350891, 0.029871586710214615], [0.3754892945289612, -0.019296588376164436, 0.9266258478164673]], "bbox3D_cam": [[0.26041367650032043, 0.0250532329082489, 3.314673900604248], [0.46309804916381836, 0.020161539316177368, 3.3968122005462646], [0.4815414845943451, 0.5972435474395752, 3.3856687545776367], [0.27885711193084717, 0.602135181427002, 3.30353045463562], [0.1813550889492035, 0.031354278326034546, 3.510134220123291], [0.3840394616127014, 0.026462584733963013, 3.5922725200653076], [0.40248289704322815, 0.6035445928573608, 3.5811290740966797], [0.19979852437973022, 0.6084362268447876, 3.498990774154663]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2124, "image_id": 293, "category_id": 45, "category_name": "person", "bbox2D_proj": [481.0, 245.0, 512.0, 357.0], "bbox2D_tight": [481.0, 245.0, 512.0, 357.0], "bbox2D_trunc": [481.0, 245.0, 512.0, 357.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2125, "image_id": 293, "category_id": 45, "category_name": "person", "bbox2D_proj": [407.0, 253.0, 430.0, 306.0], "bbox2D_tight": [407.0, 253.0, 430.0, 306.0], "bbox2D_trunc": [407.0, 253.0, 430.0, 306.0], "center_cam": [1.419973274860968, 0.18270626311924065, 3.8419284051296865], "dimensions": [0.1347656282755892, 0.467529282210932, 0.16015624978505022], "R_cam": [[0.9276845455169678, -0.046991586685180664, -0.3703960180282593], [0.10089278221130371, 0.986691951751709, 0.12751370668411255], [0.35947465896606445, -0.15566278994083405, 0.9200799465179443]], "bbox3D_cam": [[1.3816293478012085, -0.06461896002292633, 3.7875332832336426], [1.5302038192749023, -0.048460349440574646, 3.8451054096221924], [1.508233904838562, 0.41284704208374023, 3.7723286151885986], [1.3596594333648682, 0.39668840169906616, 3.714756488800049], [1.3317126035690308, -0.0474344938993454, 3.9115283489227295], [1.4802870750427246, -0.03127588331699371, 3.9691004753112793], [1.4583171606063843, 0.4300314784049988, 3.8963236808776855], [1.3097426891326904, 0.4138728976249695, 3.8387515544891357]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2126, "image_id": 293, "category_id": 45, "category_name": "person", "bbox2D_proj": [218.0, 265.0, 232.0, 332.0], "bbox2D_tight": [218.0, 265.0, 232.0, 332.0], "bbox2D_trunc": [218.0, 265.0, 232.0, 332.0], "center_cam": [-0.25800085034389875, 0.2861786396884471, 3.472482414644351], "dimensions": [0.12854003178552284, 0.557373028611412, 0.16406249578668278], "R_cam": [[0.06531885266304016, 0.036719679832458496, 0.9971886277198792], [0.022472023963928223, 0.999015212059021, -0.038258910179138184], [-0.997611403465271, 0.02490788698196411, 0.0644294023513794]], "bbox3D_cam": [[-0.3376816511154175, 0.008382052183151245, 3.5432353019714355], [-0.3269652724266052, 0.012068897485733032, 3.3795647621154785], [-0.3064987063407898, 0.5688930749893188, 3.3934476375579834], [-0.31721508502960205, 0.5652061700820923, 3.5571184158325195], [-0.20950298011302948, 0.003464251756668091, 3.5515172481536865], [-0.19878660142421722, 0.007151097059249878, 3.3878464698791504], [-0.178320050239563, 0.5639752149581909, 3.4017295837402344], [-0.18903642892837524, 0.5602884292602539, 3.5654001235961914]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2127, "image_id": 293, "category_id": 45, "category_name": "person", "bbox2D_proj": [18.0, 249.0, 105.0, 391.0], "bbox2D_tight": [18.0, 249.0, 105.0, 391.0], "bbox2D_trunc": [18.0, 249.0, 105.0, 391.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2128, "image_id": 293, "category_id": 45, "category_name": "person", "bbox2D_proj": [435.0, 241.0, 507.0, 402.0], "bbox2D_tight": [435.0, 241.0, 507.0, 402.0], "bbox2D_trunc": [435.0, 241.0, 507.0, 402.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2129, "image_id": 293, "category_id": 67, "category_name": "sweatshirt", "bbox2D_proj": [60.0, 294.0, 108.0, 363.0], "bbox2D_tight": [60.0, 294.0, 108.0, 363.0], "bbox2D_trunc": [60.0, 294.0, 108.0, 363.0], "center_cam": [-0.8571691800328596, 0.3626429645253064, 2.250916678312559], "dimensions": [0.18847656318769654, 0.3271484269245055, 0.25195312864212316], "R_cam": [[0.5180040597915649, 0.0065631866455078125, -0.8553529977798462], [-0.026801347732543945, 0.9996041059494019, -0.008560985326766968], [0.854958176612854, 0.027359217405319214, 0.5179749131202698]], "bbox3D_cam": [[-0.8428921103477478, 0.2033166140317917, 2.089923620223999], [-0.7123793363571167, 0.1965639442205429, 2.305333137512207], [-0.7102322578430176, 0.5235828757286072, 2.314283609390259], [-0.8407449722290039, 0.530335545539856, 2.09887433052063], [-1.004106044769287, 0.20170308649539948, 2.1875498294830322], [-0.8735933303833008, 0.1949504166841507, 2.402959108352661], [-0.8714461922645569, 0.5219693183898926, 2.411909818649292], [-1.001958966255188, 0.5287219882011414, 2.196500301361084]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2130, "image_id": 293, "category_id": 3, "category_name": "banner", "bbox2D_proj": [0.0, 231.0, 157.0, 264.0], "bbox2D_tight": [0.0, 231.0, 157.0, 264.0], "bbox2D_trunc": [0.0, 231.0, 157.0, 264.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2131, "image_id": 294, "category_id": 12, "category_name": "brick", "bbox2D_proj": [149.0, 229.0, 208.0, 291.0], "bbox2D_tight": [149.0, 229.0, 208.0, 291.0], "bbox2D_trunc": [149.0, 229.0, 208.0, 291.0], "center_cam": [-0.8352905013184406, 0.013554870713822982, 4.4201711393324405], "dimensions": [0.1481150844529518, 0.7101149484375752, 0.5124445859871467], "R_cam": [[-0.3602231740951538, 0.6928276419639587, 0.6246832609176636], [0.6666103005409241, 0.6596207618713379, -0.3471760153770447], [-0.6525871157646179, 0.29135945439338684, -0.6994567513465881]], "bbox3D_cam": [[-1.0352494716644287, -0.3657378554344177, 4.53572940826416], [-1.219843864440918, -0.024136975407600403, 4.201314449310303], [-0.7278565764427185, 0.444269597530365, 4.408213138580322], [-0.5432621240615845, 0.10266871750354767, 4.74262809753418], [-0.9427244067192078, -0.4171598553657532, 4.432129383087158], [-1.1273188591003418, -0.07555897533893585, 4.097714424133301], [-0.6353315711021423, 0.39284759759902954, 4.30461311340332], [-0.4507371485233307, 0.05124671757221222, 4.639028072357178]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2132, "image_id": 295, "category_id": 42, "category_name": "painting", "bbox2D_proj": [191.0, 159.0, 243.0, 269.0], "bbox2D_tight": [191.0, 159.0, 243.0, 269.0], "bbox2D_trunc": [191.0, 159.0, 243.0, 269.0], "center_cam": [-0.29192206578046825, -0.28669134074884106, 3.146478490361241], "dimensions": [0.3730473427381359, 0.8430175570837319, 0.3779301733819739], "R_cam": [[0.9414194822311401, 0.0003832578659057617, 0.3372376561164856], [0.03052574396133423, 0.9957973957061768, -0.0863461121916771], [-0.3358534872531891, 0.09158234298229218, 0.9374513626098633]], "bbox3D_cam": [[-0.5328818559646606, -0.6960914134979248, 2.996483325958252], [-0.17709100246429443, -0.6845548152923584, 2.869554281234741], [-0.17676791548728943, 0.15491992235183716, 2.9467597007751465], [-0.5325587391853333, 0.14338332414627075, 3.0736889839172363], [-0.4070762097835541, -0.7283025979995728, 3.3461971282958984], [-0.051285386085510254, -0.7167659997940063, 3.2192678451538086], [-0.05096229910850525, 0.12270873785018921, 3.296473503112793], [-0.4067531228065491, 0.1111721396446228, 3.4234025478363037]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2133, "image_id": 295, "category_id": 16, "category_name": "chair", "bbox2D_proj": [129.0, 301.0, 178.0, 357.0], "bbox2D_tight": [129.0, 301.0, 178.0, 357.0], "bbox2D_trunc": [129.0, 301.0, 178.0, 357.0], "center_cam": [-0.7375993899223091, 0.5355953752593303, 3.2563910085386523], "dimensions": [0.269287131005751, 0.40991210328784733, 0.31054688879689035], "R_cam": [[-0.2398553192615509, -0.026097595691680908, -0.9704577922821045], [0.349489688873291, 0.9302945137023926, -0.11139628291130066], [0.9057186841964722, -0.3658839464187622, -0.21401524543762207]], "bbox3D_cam": [[-0.5643414258956909, 0.3056581914424896, 3.2195630073547363], [-0.6388278007507324, 0.4141911268234253, 3.500831127166748], [-0.6495254635810852, 0.7955300807952881, 3.350850820541382], [-0.5750391483306885, 0.6869971752166748, 3.06958270072937], [-0.8256732821464539, 0.27566060423851013, 3.161931276321411], [-0.9001595973968506, 0.3841935396194458, 3.443199396133423], [-0.9108573198318481, 0.7655324935913086, 3.2932190895080566], [-0.8363709449768066, 0.6569995880126953, 3.011950969696045]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2134, "image_id": 295, "category_id": 16, "category_name": "chair", "bbox2D_proj": [245.0, 293.0, 281.0, 362.0], "bbox2D_tight": [245.0, 293.0, 281.0, 362.0], "bbox2D_trunc": [245.0, 293.0, 281.0, 362.0], "center_cam": [0.01287740554251833, 0.5415809986122007, 3.3731663271017673], "dimensions": [0.31054693437132136, 0.42779540657341153, 0.33593755010217075], "R_cam": [[0.3511776328086853, 0.04483211040496826, 0.9352349042892456], [-0.08807933330535889, 0.9960053563117981, -0.014671683311462402], [-0.9321567416191101, -0.07722249627113342, 0.35372352600097656]], "bbox3D_cam": [[-0.20091612637043, 0.34561043977737427, 3.491333484649658], [-0.08294238895177841, 0.31602126359939575, 3.1781868934631348], [-0.06376342475414276, 0.7421078085899353, 3.145151376724243], [-0.18173715472221375, 0.7716969847679138, 3.4582979679107666], [0.0895182341337204, 0.34105414152145386, 3.6011812686920166], [0.20749196410179138, 0.31146496534347534, 3.288034677505493], [0.22667093575000763, 0.7375515103340149, 3.2549991607666016], [0.10869719833135605, 0.7671406865119934, 3.568145751953125]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2135, "image_id": 295, "category_id": 1, "category_name": "awning", "bbox2D_proj": [248.0, 131.0, 431.0, 197.0], "bbox2D_tight": [248.0, 131.0, 431.0, 197.0], "bbox2D_trunc": [248.0, 131.0, 431.0, 197.0], "center_cam": [0.7385987513097579, -0.6754195390440905, 3.5378230001826645], "dimensions": [0.2617187502763181, 0.1595153781389998, 1.776367228829475], "R_cam": [[0.8725290298461914, -0.2036098837852478, -0.4441130757331848], [0.08912909030914307, 0.9601025581359863, -0.2650645971298218], [0.4803638458251953, 0.1916930079460144, 0.8558647632598877]], "bbox3D_cam": [[0.03798866271972656, -0.796471893787384, 2.983884811401367], [1.5879204273223877, -0.6381458640098572, 3.8371872901916504], [1.5554414987564087, -0.4849947690963745, 3.867765188217163], [0.005509734153747559, -0.6433207988739014, 3.014462947845459], [-0.07824397087097168, -0.8658442497253418, 3.207880735397339], [1.4716877937316895, -0.7075182199478149, 4.061182975769043], [1.4392088651657104, -0.5543671250343323, 4.091761112213135], [-0.11072289943695068, -0.7126931548118591, 3.2384586334228516]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2136, "image_id": 296, "category_id": 45, "category_name": "person", "bbox2D_proj": [284.0, 241.0, 316.0, 339.0], "bbox2D_tight": [284.0, 241.0, 316.0, 339.0], "bbox2D_trunc": [284.0, 241.0, 316.0, 339.0], "center_cam": [0.46130441541581, 0.3780512452600139, 4.747646181274911], "dimensions": [0.41015686386245076, 1.0063476174834305, 0.4130865549427393], "R_cam": [[0.9422683119773865, 0.0046623945236206055, 0.33482640981674194], [-0.012241363525390625, 0.9997143149375916, 0.020528629422187805], [-0.33463507890701294, -0.023442193865776062, 0.9420561790466309]], "bbox3D_cam": [[0.19567352533340454, -0.12666043639183044, 4.6353631019592285], [0.5849119424819946, -0.13171717524528503, 4.497129917144775], [0.5896039605140686, 0.8743429780006409, 4.473538875579834], [0.20036554336547852, 0.8793996572494507, 4.611772060394287], [0.333004891872406, -0.11824047565460205, 5.021753787994385], [0.7222433090209961, -0.12329718470573425, 4.883520603179932], [0.7269353270530701, 0.8827629089355469, 4.85992956161499], [0.33769690990448, 0.8878196477890015, 4.998162746429443]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2137, "image_id": 296, "category_id": 45, "category_name": "person", "bbox2D_proj": [212.0, 244.0, 230.0, 316.0], "bbox2D_tight": [212.0, 244.0, 230.0, 316.0], "bbox2D_trunc": [212.0, 244.0, 230.0, 316.0], "center_cam": [-0.44147352570727494, 0.27666377658795427, 5.668116224275128], "dimensions": [0.24218753778048596, 0.9055175432544031, 0.2558594141935746], "R_cam": [[-0.9348722100257874, 0.04632878303527832, -0.35194844007492065], [0.05288726091384888, 0.9985596537590027, -0.00903785228729248], [0.35102275013923645, -0.027062848210334778, -0.9359759092330933]], "bbox3D_cam": [[-0.30023258924484253, -0.18111422657966614, 5.748803615570068], [-0.5394284129142761, -0.16758254170417786, 5.838615894317627], [-0.4974769353866577, 0.7366306781768799, 5.814110279083252], [-0.2582811117172241, 0.7230989933013916, 5.724297523498535], [-0.38547009229660034, -0.1833030879497528, 5.522121906280518], [-0.6246659159660339, -0.16977140307426453, 5.611934661865234], [-0.5827144384384155, 0.7344417572021484, 5.587428569793701], [-0.34351861476898193, 0.7209100723266602, 5.497616291046143]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2138, "image_id": 296, "category_id": 45, "category_name": "person", "bbox2D_proj": [160.0, 241.0, 183.0, 312.0], "bbox2D_tight": [160.0, 241.0, 183.0, 312.0], "bbox2D_trunc": [160.0, 241.0, 183.0, 312.0], "center_cam": [-1.1101734070505223, 0.24961749229232683, 5.927389077061904], "dimensions": [0.3286743456105236, 0.8759765288705743, 0.34375002419051054], "R_cam": [[-0.2211361825466156, -0.0008386373519897461, -0.975242555141449], [0.043447017669677734, 0.9989982843399048, -0.010710716247558594], [0.9742746353149414, -0.04473990201950073, -0.2208782434463501]], "bbox3D_cam": [[-0.9115297794342041, -0.19363933801651, 5.815829753875732], [-0.9875453114509583, -0.17870444059371948, 6.1507368087768555], [-0.9882799386978149, 0.6963946223258972, 6.111545562744141], [-0.9122644066810608, 0.6814597249031067, 5.776638507843018], [-1.2320669889450073, -0.19715964794158936, 5.743232727050781], [-1.3080824613571167, -0.18222475051879883, 6.078139781951904], [-1.3088171482086182, 0.6928743124008179, 6.0389485359191895], [-1.2328015565872192, 0.6779394149780273, 5.704041481018066]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2139, "image_id": 296, "category_id": 45, "category_name": "person", "bbox2D_proj": [189.0, 249.0, 205.0, 306.0], "bbox2D_tight": [189.0, 249.0, 205.0, 306.0], "bbox2D_trunc": [189.0, 249.0, 205.0, 306.0], "center_cam": [-0.7952989469559189, 0.2594887059076357, 5.9420455955427895], "dimensions": [0.20312499063977335, 0.7497634595182348, 0.2431640566217113], "R_cam": [[0.9159444570541382, 0.007755756378173828, -0.40123024582862854], [-0.014341950416564941, 0.9998072385787964, -0.013413937762379646], [0.40104883909225464, 0.01804080791771412, 0.9158790111541748]], "bbox3D_cam": [[-0.8688188791275024, -0.11221471428871155, 5.793503284454346], [-0.6460940837860107, -0.11570212244987488, 5.891024112701416], [-0.6402791142463684, 0.6339168548583984, 5.904550075531006], [-0.8630038499832153, 0.637404203414917, 5.807029724121094], [-0.9503187537193298, -0.11493942141532898, 5.979541301727295], [-0.7275940179824829, -0.11842682957649231, 6.077061653137207], [-0.7217789888381958, 0.6311920881271362, 6.090588092803955], [-0.9445037841796875, 0.6346795558929443, 5.993067264556885]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2140, "image_id": 297, "category_id": 45, "category_name": "person", "bbox2D_proj": [262.0, 272.0, 292.0, 345.0], "bbox2D_tight": [262.0, 272.0, 292.0, 345.0], "bbox2D_trunc": [262.0, 272.0, 292.0, 345.0], "center_cam": [0.224986523450092, 0.56643023667831, 4.777532655300826], "dimensions": [0.22265625735203182, 0.755371080099501, 0.2744140698316339], "R_cam": [[0.9557017683982849, -0.14472079277038574, -0.2563008964061737], [0.20472633838653564, 0.9524723887443542, 0.22557371854782104], [0.21147429943084717, -0.26805272698402405, 0.9399076700210571]], "bbox3D_cam": [[0.17704997956752777, 0.15349256992340088, 4.745118141174316], [0.4393079876899719, 0.20967239141464233, 4.803149700164795], [0.32999005913734436, 0.9291424751281738, 4.600670337677002], [0.0677320808172226, 0.8729626536369324, 4.542638778686523], [0.11998298764228821, 0.20371794700622559, 4.954394817352295], [0.3822409510612488, 0.25989776849746704, 5.012426376342773], [0.2729230523109436, 0.9793678522109985, 4.8099470138549805], [0.010665073990821838, 0.9231880307197571, 4.751915454864502]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2141, "image_id": 297, "category_id": 45, "category_name": "person", "bbox2D_proj": [294.0, 275.0, 344.0, 399.0], "bbox2D_tight": [294.0, 275.0, 344.0, 399.0], "bbox2D_trunc": [294.0, 275.0, 344.0, 399.0], "center_cam": [0.5227490605887734, 0.6259047801266031, 3.470641033689634], "dimensions": [0.3789062598886666, 0.9204101266185533, 0.4580078193456901], "R_cam": [[0.8781437873840332, -0.02487170696258545, -0.47774988412857056], [-0.02306222915649414, 0.9952856302261353, -0.0942051112651825], [0.4778406322002411, 0.09374363720417023, 0.8734302520751953]], "bbox3D_cam": [[0.42360803484916687, 0.1909981071949005, 3.1525983810424805], [0.8258047103881836, 0.1804353892803192, 3.371453046798706], [0.8029124736785889, 1.0965063571929932, 3.457735776901245], [0.40071582794189453, 1.1070691347122192, 3.2388808727264404], [0.24258562922477722, 0.1553032100200653, 3.483546495437622], [0.644782304763794, 0.144740492105484, 3.7024013996124268], [0.6218900680541992, 1.0608115196228027, 3.7886838912963867], [0.21969342231750488, 1.0713741779327393, 3.569829225540161]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2142, "image_id": 298, "category_id": 69, "category_name": "traffic_cone", "bbox2D_proj": [97.0, 339.0, 129.0, 425.0], "bbox2D_tight": [97.0, 339.0, 129.0, 425.0], "bbox2D_trunc": [97.0, 339.0, 129.0, 425.0], "center_cam": [-1.6901533679107985, 1.4788126201370608, 5.308411764645498], "dimensions": [0.43750022018490675, 0.9291992141172969, 0.4492189747427147], "R_cam": [[0.7471879124641418, 0.034340620040893555, -0.6637250781059265], [0.03702932596206665, 0.9949619174003601, 0.09316426515579224], [0.6635804772377014, -0.09418851137161255, 0.7421519160270691]], "bbox3D_cam": [[-1.728743553161621, 0.9878568649291992, 5.040779113769531], [-1.3930926322937012, 1.0044910907745361, 5.338871955871582], [-1.3611832857131958, 1.929008960723877, 5.251352310180664], [-1.6968343257904053, 1.9123746156692505, 4.953259468078613], [-2.0191233158111572, 1.028616189956665, 5.365470886230469], [-1.6834723949432373, 1.0452505350112915, 5.6635637283325195], [-1.6515631675720215, 1.9697682857513428, 5.576044082641602], [-1.9872140884399414, 1.9531340599060059, 5.277951240539551]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2143, "image_id": 299, "category_id": 45, "category_name": "person", "bbox2D_proj": [259.0, 317.0, 285.0, 384.0], "bbox2D_tight": [259.0, 317.0, 285.0, 384.0], "bbox2D_trunc": [259.0, 317.0, 285.0, 384.0], "center_cam": [0.11700328646240205, 0.7242971038984358, 3.382540058064209], "dimensions": [0.14648439153683174, 0.5192870876124513, 0.2006836090032018], "R_cam": [[0.9739575982093811, -0.024865269660949707, 0.22536256909370422], [0.01903325319290161, 0.9994263052940369, 0.02801463007926941], [-0.225929856300354, -0.022995688021183014, 0.9738721251487732]], "bbox3D_cam": [[0.009224675595760345, 0.4608408212661743, 3.3398523330688477], [0.20468199253082275, 0.4646604657173157, 3.2945120334625244], [0.1917697787284851, 0.9836496710777283, 3.2825706005096436], [-0.003687538206577301, 0.9798300266265869, 3.327910900115967], [0.04223678261041641, 0.4649445414543152, 3.4825093746185303], [0.23769411444664001, 0.46876418590545654, 3.437169075012207], [0.22478190064430237, 0.9877533912658691, 3.425227642059326], [0.029324568808078766, 0.9839337468147278, 3.4705679416656494]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2144, "image_id": 299, "category_id": 45, "category_name": "person", "bbox2D_proj": [386.0, 313.0, 407.0, 395.0], "bbox2D_tight": [386.0, 313.0, 407.0, 395.0], "bbox2D_trunc": [386.0, 313.0, 407.0, 395.0], "center_cam": [1.0130732923408148, 0.6846728226908741, 3.170663120930421], "dimensions": [0.14501953785801347, 0.5710449025407391, 0.24609377331514992], "R_cam": [[-0.08678558468818665, -0.04875290393829346, 0.9950333833694458], [-0.07512545585632324, 0.9962781667709351, 0.04226157069206238], [-0.9933903217315674, -0.07108473777770996, -0.09012514352798462]], "bbox3D_cam": [[0.9655224084854126, 0.4063926637172699, 3.319727897644043], [0.944165050983429, 0.38790473341941833, 3.075260639190674], [0.9163249135017395, 0.9568243026733398, 3.034668207168579], [0.9376823306083679, 0.9753122329711914, 3.2791354656219482], [1.1098216772079468, 0.4125213921070099, 3.3066580295562744], [1.088464379310608, 0.3940334618091583, 3.0621907711029053], [1.0606242418289185, 0.9629529714584351, 3.0215983390808105], [1.0819816589355469, 0.9814409017562866, 3.2660655975341797]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2145, "image_id": 299, "category_id": 43, "category_name": "palm_tree", "bbox2D_proj": [468.0, 167.0, 504.0, 239.0], "bbox2D_tight": [468.0, 167.0, 504.0, 239.0], "bbox2D_trunc": [468.0, 167.0, 504.0, 239.0], "center_cam": [1.9986251957360048, -0.46166007630273165, 3.848094872194203], "dimensions": [0.170730211823086, 0.6123121943360617, 0.30018614935690247], "R_cam": [[0.7319750189781189, -0.00017175903485622257, 0.68133145570755], [-0.00042592285899445415, 0.9999997615814209, 0.000709674961399287], [-0.6813313364982605, -0.0008096589590422809, 0.731974720954895]], "bbox3D_cam": [[1.8306514024734497, -0.7678127288818359, 3.8881208896636963], [2.050380229949951, -0.7679405808448792, 3.6835947036743164], [2.0502750873565674, -0.15562862157821655, 3.683098793029785], [1.830546259880066, -0.15550076961517334, 3.887624979019165], [1.9469753503799438, -0.7676915526390076, 4.013091087341309], [2.1667041778564453, -0.7678194046020508, 3.8085649013519287], [2.1665987968444824, -0.15550744533538818, 3.8080689907073975], [1.9468700885772705, -0.15537959337234497, 4.012595176696777]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2146, "image_id": 299, "category_id": 45, "category_name": "person", "bbox2D_proj": [70.0, 304.0, 84.0, 351.0], "bbox2D_tight": [70.0, 304.0, 84.0, 351.0], "bbox2D_trunc": [70.0, 304.0, 84.0, 351.0], "center_cam": [-1.2455610449744305, 0.5062342408333305, 3.122225915872174], "dimensions": [0.10156255956159976, 0.34082030657641527, 0.10351568131804813], "R_cam": [[0.9772676229476929, -0.09337770938873291, 0.19033822417259216], [0.12815439701080322, 0.9753779172897339, -0.1794838309288025], [-0.16889190673828125, 0.19979643821716309, 0.9651720523834229]], "bbox3D_cam": [[-1.2898954153060913, 0.34250134229660034, 3.0479073524475098], [-1.1887328624725342, 0.3557673692703247, 3.0304245948791504], [-1.2205578088760376, 0.6881959438323975, 3.0985190868377686], [-1.3217203617095947, 0.6749299168586731, 3.116002082824707], [-1.2705641984939575, 0.3242725133895874, 3.145932912826538], [-1.1694016456604004, 0.33753854036331177, 3.1284499168395996], [-1.2012265920639038, 0.6699671149253845, 3.196544647216797], [-1.302389144897461, 0.6567010879516602, 3.2140274047851562]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2147, "image_id": 299, "category_id": 8, "category_name": "boat", "bbox2D_proj": [36.0, 230.0, 107.0, 276.0], "bbox2D_tight": [36.0, 230.0, 107.0, 276.0], "bbox2D_trunc": [36.0, 230.0, 107.0, 276.0], "center_cam": [-1.5206383056556574, -0.003916607028791812, 3.9777789493719733], "dimensions": [0.232421893404253, 0.29370116689320835, 0.6816406798529593], "R_cam": [[-0.5737873315811157, 0.04555514454841614, 0.8177363872528076], [0.10195682942867279, 0.9946580529212952, 0.01612957939505577], [-0.8126332759857178, 0.09262876212596893, -0.5753668546676636]], "bbox3D_cam": [[-1.4267996549606323, -0.18660610914230347, 4.30800199508667], [-1.8179163932800293, -0.11710819602012634, 3.7540783882141113], [-1.8045368194580078, 0.17502403259277344, 3.781283378601074], [-1.4134200811386108, 0.10552611947059631, 4.335207462310791], [-1.2367398738861084, -0.18285724520683289, 4.174274444580078], [-1.6278566122055054, -0.11335933208465576, 3.6203503608703613], [-1.6144770383834839, 0.17877289652824402, 3.6475555896759033], [-1.223360300064087, 0.1092749834060669, 4.201479434967041]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2148, "image_id": 299, "category_id": 45, "category_name": "person", "bbox2D_proj": [287.0, 318.0, 307.0, 388.0], "bbox2D_tight": [287.0, 318.0, 307.0, 388.0], "bbox2D_trunc": [287.0, 318.0, 307.0, 388.0], "center_cam": [0.28647340236577984, 0.7516666222127629, 3.4177177888691137], "dimensions": [0.15625001792341864, 0.5205077973157111, 0.19726565387948927], "R_cam": [[-0.5325571298599243, -0.012445390224456787, -0.8463025093078613], [0.08648478984832764, 0.9938582181930542, -0.06903806328773499], [0.8419638872146606, -0.10995903611183167, -0.528209924697876]], "bbox3D_cam": [[0.4083573818206787, 0.4898744821548462, 3.4045560359954834], [0.303302139043808, 0.5069349408149719, 3.5706467628479004], [0.29682421684265137, 1.0242459774017334, 3.5134119987487793], [0.4018794298171997, 1.007185459136963, 3.3473215103149414], [0.2761225700378418, 0.47908729314804077, 3.322023391723633], [0.17106735706329346, 0.4961477518081665, 3.4881138801574707], [0.16458941996097565, 1.0134587287902832, 3.4308793544769287], [0.2696446478366852, 0.9963982701301575, 3.2647886276245117]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2149, "image_id": 299, "category_id": 1, "category_name": "awning", "bbox2D_proj": [387.0, 243.0, 440.0, 261.0], "bbox2D_tight": [387.0, 243.0, 440.0, 261.0], "bbox2D_trunc": [387.0, 243.0, 440.0, 261.0], "center_cam": [1.5052708221870836, -0.04195806333731118, 4.258690138879215], "dimensions": [0.10019125460491818, 0.17060218147311412, 0.47493517872816315], "R_cam": [[-0.9623961448669434, -0.0001717590494081378, -0.27164971828460693], [5.464346395456232e-05, 0.9999996423721313, -0.0008258709567598999], [0.2716497778892517, -0.0008096589590422809, -0.9623958468437195]], "bbox3D_cam": [[1.7474318742752075, -0.12723073363304138, 4.242463111877441], [1.2903560400009155, -0.1272047758102417, 4.371479034423828], [1.2903268337249756, 0.04339735209941864, 4.371341228485107], [1.747402548789978, 0.04337139427661896, 4.242325305938721], [1.72021484375, -0.12731347978115082, 4.1460394859313965], [1.2631391286849976, -0.12728752195835114, 4.275055408477783], [1.263109803199768, 0.043314605951309204, 4.2749176025390625], [1.72018563747406, 0.04328864812850952, 4.145901679992676]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2150, "image_id": 300, "category_id": 45, "category_name": "person", "bbox2D_proj": [407.0, 212.0, 430.0, 309.0], "bbox2D_tight": [407.0, 212.0, 430.0, 309.0], "bbox2D_trunc": [407.0, 212.0, 430.0, 309.0], "center_cam": [1.2317486147855383, 0.04288135220698591, 3.4921936880165774], "dimensions": [0.2646484882670921, 0.7440185329863328, 0.2714844294259286], "R_cam": [[0.5093863606452942, 0.03154182434082031, -0.8599596619606018], [-0.055280089378356934, 0.9984633326530457, 0.003877401351928711], [0.8587605357170105, 0.04556351900100708, 0.5103472471237183]], "bbox3D_cam": [[1.2646629810333252, -0.32156550884246826, 3.291142225265503], [1.4029535055160522, -0.33657318353652954, 3.524282455444336], [1.4264211654663086, 0.4063020348548889, 3.55818247795105], [1.288130760192871, 0.4213097095489502, 3.325042247772217], [1.0370759963989258, -0.32053935527801514, 3.4262049198150635], [1.1753664016723633, -0.3355470299720764, 3.6593451499938965], [1.1988341808319092, 0.40732818841934204, 3.6932451725006104], [1.0605436563491821, 0.4223358631134033, 3.4601049423217773]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2151, "image_id": 300, "category_id": 62, "category_name": "statue", "bbox2D_proj": [348.0, 221.0, 412.0, 319.0], "bbox2D_tight": [348.0, 221.0, 412.0, 319.0], "bbox2D_trunc": [348.0, 221.0, 412.0, 319.0], "center_cam": [0.9680847380089799, 0.10846785785347435, 3.4791997427249255], "dimensions": [0.4082031247321476, 0.7036132621932137, 0.5059814396167984], "R_cam": [[0.9493306279182434, -0.02819192409515381, 0.31301209330558777], [0.013959407806396484, 0.9987680315971375, 0.04761843383312225], [-0.3139689564704895, -0.0408361554145813, 0.9485546350479126]], "bbox3D_cam": [[0.6739447712898254, -0.25615596771240234, 3.3793957233428955], [1.154288411140442, -0.24909275770187378, 3.2205333709716797], [1.134452223777771, 0.4536536931991577, 3.191800594329834], [0.6541085243225098, 0.44659048318862915, 3.35066294670105], [0.8017172813415527, -0.23671799898147583, 3.766598701477051], [1.282060980796814, -0.22965478897094727, 3.607736349105835], [1.2622246742248535, 0.47309166193008423, 3.5790035724639893], [0.7818810939788818, 0.46602845191955566, 3.737865924835205]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2152, "image_id": 300, "category_id": 3, "category_name": "banner", "bbox2D_proj": [113.0, 127.0, 149.0, 221.0], "bbox2D_tight": [113.0, 127.0, 149.0, 221.0], "bbox2D_trunc": [113.0, 127.0, 149.0, 221.0], "center_cam": [-1.106774966133986, -0.64570517012596, 3.8289588985653706], "dimensions": [0.017578124609660482, 0.8105468567875278, 0.2685546812612186], "R_cam": [[0.9081964492797852, -0.1360253095626831, -0.39582377672195435], [-0.13166725635528564, 0.8048485517501831, -0.5786904692649841], [0.3972947597503662, 0.5776816010475159, 0.7130506038665771]], "bbox3D_cam": [[-1.170118808746338, -0.9491227865219116, 3.5352251529693604], [-0.9262183904647827, -0.9844826459884644, 3.641920566558838], [-1.036473274230957, -0.3321152329444885, 4.110158443450928], [-1.2803736925125122, -0.2967553734779358, 4.003463268280029], [-1.1770765781402588, -0.9592950940132141, 3.5477592945098877], [-0.9331762194633484, -0.9946549534797668, 3.6544547080993652], [-1.043431043624878, -0.342287540435791, 4.122692584991455], [-1.287331461906433, -0.3069276809692383, 4.015997409820557]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2153, "image_id": 300, "category_id": 62, "category_name": "statue", "bbox2D_proj": [276.0, 123.0, 312.0, 225.0], "bbox2D_tight": [276.0, 123.0, 312.0, 225.0], "bbox2D_trunc": [276.0, 123.0, 312.0, 225.0], "center_cam": [0.372488083898422, -0.7158142730699079, 4.07184656891779], "dimensions": [0.2031249981089608, 0.9174804451271557, 0.32421874345002755], "R_cam": [[0.9682416319847107, 0.06016743183135986, -0.2426685094833374], [-0.12720561027526855, 0.9541439414024353, -0.2709762454032898], [0.21523672342300415, 0.2932392954826355, 0.9314954876899719]], "bbox3D_cam": [[0.21257184445858002, -1.1053762435913086, 3.807828903198242], [0.5264939069747925, -1.1466187238693237, 3.877612590789795], [0.5816963315010071, -0.27121028304100037, 4.14665412902832], [0.2677742838859558, -0.22996786236763, 4.076870441436768], [0.16327981650829315, -1.1604182720184326, 3.9970388412475586], [0.4772018790245056, -1.2016607522964478, 4.066822528839111], [0.5324043035507202, -0.3262523114681244, 4.335864067077637], [0.21848224103450775, -0.28500989079475403, 4.266080379486084]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2154, "image_id": 300, "category_id": 6, "category_name": "beam", "bbox2D_proj": [111.0, 77.0, 263.0, 101.0], "bbox2D_tight": [111.0, 77.0, 263.0, 101.0], "bbox2D_trunc": [111.0, 77.0, 263.0, 101.0], "center_cam": [-0.5608486652720617, -1.3911068161491529, 3.693155082591375], "dimensions": [0.09201706102137752, 0.24095332470111253, 1.2428827245818332], "R_cam": [[-0.9813015460968018, 0.07593542337417603, 0.17686492204666138], [0.10725322365760803, 0.9787336587905884, 0.17486339807510376], [-0.15982532501220703, 0.19056305289268494, -0.9685770869255066]], "bbox3D_cam": [[0.031687021255493164, -1.583718180656433, 3.8140814304351807], [-1.1879557371139526, -1.450415015220642, 3.6154375076293945], [-1.169658899307251, -1.2145859003067017, 3.6613543033599854], [0.049983859062194824, -1.3478890657424927, 3.8599982261657715], [0.04796159267425537, -1.5676277875900269, 3.7249557971954346], [-1.1716811656951904, -1.4343246221542358, 3.5263118743896484], [-1.1533843278884888, -1.1984955072402954, 3.5722286701202393], [0.06625843048095703, -1.3317986726760864, 3.7708725929260254]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2155, "image_id": 300, "category_id": 48, "category_name": "plant", "bbox2D_proj": [270.0, 233.0, 321.0, 284.0], "bbox2D_tight": [270.0, 233.0, 321.0, 284.0], "bbox2D_trunc": [270.0, 233.0, 321.0, 284.0], "center_cam": [0.38449383816293436, 0.028200780335375132, 3.926913226619689], "dimensions": [0.4687501875301258, 0.40332030329458624, 0.47656268749278863], "R_cam": [[0.6694233417510986, 0.003572016954421997, 0.7428724765777588], [0.04075315594673157, 0.9983060359954834, -0.04152405261993408], [-0.7417623996734619, 0.05807161331176758, 0.6681438684463501]], "bbox3D_cam": [[0.05015158653259277, -0.17309628427028656, 3.935354471206665], [0.3691737651824951, -0.15367485582828522, 3.5818581581115723], [0.3706144690513611, 0.24896223843097687, 3.6052794456481934], [0.051592230796813965, 0.22954080998897552, 3.9587759971618652], [0.39837318658828735, -0.19256068766117096, 4.248547077178955], [0.7173954248428345, -0.17313925921916962, 3.895050525665283], [0.7188360691070557, 0.22949783504009247, 3.9184720516204834], [0.3998138904571533, 0.21007640659809113, 4.271968364715576]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2156, "image_id": 300, "category_id": 45, "category_name": "person", "bbox2D_proj": [437.0, 207.0, 468.0, 308.0], "bbox2D_tight": [437.0, 207.0, 468.0, 308.0], "bbox2D_trunc": [437.0, 207.0, 468.0, 308.0], "center_cam": [1.5348529856156374, 0.011538921019432463, 3.4786879013516696], "dimensions": [0.2207031314028418, 0.7674865503593806, 0.240234379245916], "R_cam": [[-0.9697992205619812, 0.05779755115509033, 0.23695796728134155], [0.07923132181167603, 0.9934824109077454, 0.08194602280855179], [-0.2306773066520691, 0.09824568778276443, -0.9680578708648682]], "bbox3D_cam": [[1.6030144691467285, -0.38826316595077515, 3.575521945953369], [1.3700354099273682, -0.3692290782928467, 3.5201053619384766], [1.4143941402435303, 0.3932552933692932, 3.5955076217651367], [1.6473731994628906, 0.37422120571136475, 3.6509242057800293], [1.6553118228912354, -0.3701774477958679, 3.361868381500244], [1.422332763671875, -0.35114336013793945, 3.3064517974853516], [1.466691493988037, 0.41134101152420044, 3.3818540573120117], [1.6996705532073975, 0.392306923866272, 3.4372706413269043]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2157, "image_id": 300, "category_id": 68, "category_name": "table", "bbox2D_proj": [112.0, 220.0, 151.0, 260.0], "bbox2D_tight": [112.0, 220.0, 151.0, 260.0], "bbox2D_trunc": [112.0, 220.0, 151.0, 260.0], "center_cam": [-1.1164498848704227, -0.14076527255147808, 3.991854780501912], "dimensions": [0.4042969790262328, 0.3010864176795841, 0.4140626084845087], "R_cam": [[-0.660842776298523, 0.055005647242069244, 0.7485060095787048], [0.055388666689395905, 0.9981655478477478, -0.02445089817047119], [-0.7484777569770813, 0.025300562381744385, -0.6626771688461304]], "bbox3D_cam": [[-1.1392247676849365, -0.2975568175315857, 4.276963233947754], [-1.4128550291061401, -0.27462244033813477, 3.9670467376708984], [-1.3962936401367188, 0.025911644101142883, 3.9746642112731934], [-1.1226632595062256, 0.0029772669076919556, 4.284581184387207], [-0.8366060853004456, -0.30744218826293945, 4.009045124053955], [-1.110236406326294, -0.2845078110694885, 3.6991283893585205], [-1.093674898147583, 0.016026243567466736, 3.7067461013793945], [-0.8200446367263794, -0.006908133625984192, 4.01666259765625]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2158, "image_id": 301, "category_id": 48, "category_name": "plant", "bbox2D_proj": [84.0, 290.0, 126.0, 374.0], "bbox2D_tight": [84.0, 290.0, 126.0, 374.0], "bbox2D_trunc": [84.0, 290.0, 126.0, 374.0], "center_cam": [-1.5199681505231368, 0.7557549602052218, 4.440773076810671], "dimensions": [0.3757036830009803, 0.7065890200949433, 0.5914322377847521], "R_cam": [[0.28322839736938477, 0.007077431306242943, 0.9590263366699219], [0.024974731728434563, 0.9995791912078857, -0.014752465300261974], [-0.958727240562439, 0.028129741549491882, 0.2829324007034302]], "bbox3D_cam": [[-1.7863786220550537, 0.3979949355125427, 4.661196708679199], [-1.6188682317733765, 0.4127658009529114, 4.094174385070801], [-1.6138674020767212, 1.119057536125183, 4.11405086517334], [-1.7813777923583984, 1.1042866706848145, 4.68107271194458], [-1.426068902015686, 0.3924523591995239, 4.767495155334473], [-1.2585585117340088, 0.4072232246398926, 4.200473308563232], [-1.2535576820373535, 1.1135149002075195, 4.220349311828613], [-1.4210680723190308, 1.0987441539764404, 4.787371635437012]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2159, "image_id": 302, "category_id": 45, "category_name": "person", "bbox2D_proj": [401.0, 246.0, 433.0, 343.0], "bbox2D_tight": [401.0, 246.0, 433.0, 343.0], "bbox2D_trunc": [401.0, 246.0, 433.0, 343.0], "center_cam": [2.6576620005809892, 0.6222120630633393, 7.29223975341773], "dimensions": [0.43750004616131033, 1.5158690823837588, 0.47656257550529524], "R_cam": [[0.9861946702003479, -0.00842517614364624, 0.16537539660930634], [-0.011782407760620117, 0.9926030039787292, 0.12083221971988678], [-0.16517014801502228, -0.1211126297712326, 0.9788005948066711]], "bbox3D_cam": [[2.3928799629211426, -0.15374058485031128, 7.209279537200928], [2.862863540649414, -0.15935570001602173, 7.130565643310547], [2.8500919342041016, 1.3453006744384766, 6.946974754333496], [2.380108594894409, 1.3509156703948975, 7.025688648223877], [2.4652318954467773, -0.10087651014328003, 7.637504577636719], [2.9352152347564697, -0.10649162530899048, 7.558790683746338], [2.9224438667297363, 1.3981647491455078, 7.375199794769287], [2.452460289001465, 1.4037797451019287, 7.453913688659668]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2160, "image_id": 302, "category_id": 45, "category_name": "person", "bbox2D_proj": [273.0, 251.0, 295.0, 314.0], "bbox2D_tight": [273.0, 251.0, 295.0, 314.0], "bbox2D_trunc": [273.0, 251.0, 295.0, 314.0], "center_cam": [0.6377305800559374, 0.7689607966059073, 10.40777892235792], "dimensions": [0.5703127364376743, 1.6743163519583926, 0.6015627722517645], "R_cam": [[0.9142014384269714, 0.03138101100921631, 0.4040433168411255], [-0.11794185638427734, 0.9744440913200378, 0.19117656350135803], [-0.3877182900905609, -0.22242750227451324, 0.8945392370223999]], "bbox3D_cam": [[0.221269428730011, -0.06584358215332031, 10.455520629882812], [0.7712189555168152, -0.13679301738739014, 10.222283363342285], [0.8237606883049011, 1.4947346448898315, 9.849869728088379], [0.2738111615180969, 1.5656840801239014, 10.083106994628906], [0.45170050859451294, 0.04318690299987793, 10.96568775177002], [1.001650094985962, -0.027762532234191895, 10.732450485229492], [1.0541918277740479, 1.6037651300430298, 10.360036849975586], [0.5042422413825989, 1.6747145652770996, 10.593274116516113]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2161, "image_id": 302, "category_id": 45, "category_name": "person", "bbox2D_proj": [300.0, 252.0, 322.0, 326.0], "bbox2D_tight": [300.0, 252.0, 322.0, 326.0], "bbox2D_trunc": [300.0, 252.0, 322.0, 326.0], "center_cam": [1.0568859874247294, 0.7169029923515395, 8.85713330322371], "dimensions": [0.37109379290806777, 1.5122069701966074, 0.5117188068693762], "R_cam": [[-0.6653347015380859, -0.010753273963928223, -0.7464677095413208], [-0.03817713260650635, 0.9990780353546143, 0.019635409116744995], [0.7455683946609497, 0.04156208038330078, -0.6651318073272705]], "bbox3D_cam": [[1.3737534284591675, -0.03237873315811157, 8.758359909057617], [1.0332891941070557, -0.05191463232040405, 9.139881134033203], [1.0170279741287231, 1.4588980674743652, 9.20273208618164], [1.357492208480835, 1.4784340858459473, 8.821210861206055], [1.0967439413070679, -0.02509218454360962, 8.511533737182617], [0.7562796473503113, -0.0446280837059021, 8.893054962158203], [0.7400184869766235, 1.4661846160888672, 8.95590591430664], [1.0804827213287354, 1.4857206344604492, 8.574384689331055]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2162, "image_id": 302, "category_id": 45, "category_name": "person", "bbox2D_proj": [321.0, 259.0, 346.0, 344.0], "bbox2D_tight": [321.0, 259.0, 346.0, 344.0], "bbox2D_trunc": [321.0, 259.0, 346.0, 344.0], "center_cam": [1.3384640267575247, 0.7995703937833483, 7.962969230737926], "dimensions": [0.35156255281965293, 1.4775390063191838, 0.44531256438340666], "R_cam": [[0.692474901676178, 0.08786529302597046, 0.716071367263794], [0.048924386501312256, 0.9845514893531799, -0.168121337890625], [-0.719781219959259, 0.1514531672000885, 0.6774784326553345]], "bbox3D_cam": [[0.9934959411621094, 0.09087300300598145, 7.892256259918213], [1.301863670349121, 0.11265969276428223, 7.571728706359863], [1.4316881895065308, 1.5673729181289673, 7.795506477355957], [1.123320460319519, 1.5455862283706665, 8.116034507751465], [1.2452398538589478, 0.031767845153808594, 8.13043212890625], [1.5536075830459595, 0.053554534912109375, 7.8099045753479], [1.6834321022033691, 1.5082677602767944, 8.033682823181152], [1.3750643730163574, 1.4864810705184937, 8.354209899902344]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2163, "image_id": 302, "category_id": 45, "category_name": "person", "bbox2D_proj": [367.0, 251.0, 389.0, 345.0], "bbox2D_tight": [367.0, 251.0, 389.0, 345.0], "bbox2D_trunc": [367.0, 251.0, 389.0, 345.0], "center_cam": [2.123157520948353, 0.7287143145779121, 7.916740182937667], "dimensions": [0.509765760690342, 1.5998534501184538, 0.5585938760483894], "R_cam": [[0.38273459672927856, 0.032040953636169434, -0.9233025312423706], [0.0442126989364624, 0.9976180195808411, 0.05294734239578247], [0.9227997660636902, -0.061086416244506836, 0.38040637969970703]], "bbox3D_cam": [[2.2259645462036133, -0.095150887966156, 7.610910892486572], [2.4397575855255127, -0.070453941822052, 8.126380920410156], [2.491018533706665, 1.5255887508392334, 8.02865219116211], [2.2772252559661865, 1.5008916854858398, 7.513181686401367], [1.7552964687347412, -0.06816011667251587, 7.804829120635986], [1.9690897464752197, -0.043463170528411865, 8.32029914855957], [2.020350456237793, 1.552579402923584, 8.222570419311523], [1.8065574169158936, 1.5278825759887695, 7.707099914550781]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2164, "image_id": 302, "category_id": 45, "category_name": "person", "bbox2D_proj": [343.0, 258.0, 369.0, 341.0], "bbox2D_tight": [343.0, 258.0, 369.0, 341.0], "bbox2D_trunc": [343.0, 258.0, 369.0, 341.0], "center_cam": [1.7463716554784217, 0.7708489938331486, 7.760002096281376], "dimensions": [0.3867188207603463, 1.4324950580591915, 0.4511719685785872], "R_cam": [[0.8341107368469238, 0.05131351947784424, 0.5492050647735596], [-0.057618141174316406, 0.9983220100402832, -0.00576743483543396], [-0.5485794544219971, -0.02683350443840027, 0.8356677293777466]], "bbox3D_cam": [[1.4152607917785645, 0.06991636753082275, 7.741389274597168], [1.7915881872177124, 0.04392063617706299, 7.493885517120361], [1.865094542503357, 1.474012017250061, 7.455446720123291], [1.488767147064209, 1.5000077486038208, 7.702950477600098], [1.6276487112045288, 0.06768596172332764, 8.064558029174805], [2.0039761066436768, 0.04169023036956787, 7.81705379486084], [2.0774824619293213, 1.471781611442566, 7.7786149978637695], [1.7011550664901733, 1.4977773427963257, 8.026119232177734]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2165, "image_id": 302, "category_id": 15, "category_name": "car", "bbox2D_proj": [65.0, 291.0, 339.0, 409.0], "bbox2D_tight": [65.0, 291.0, 339.0, 409.0], "bbox2D_trunc": [65.0, 291.0, 339.0, 409.0], "center_cam": [-0.9350943078618356, 1.161381550313095, 6.280493067060647], "dimensions": [1.9257813370254135, 1.1733397944863082, 4.166015908588834], "R_cam": [[0.8376098871231079, 0.03512600064277649, 0.5451385974884033], [-0.031699538230895996, 0.9993743300437927, -0.015688180923461914], [-0.5453485250473022, -0.004140257835388184, 0.8381991982460022]], "bbox3D_cam": [[-3.225358486175537, 0.6562150716781616, 6.611793518066406], [0.264137327671051, 0.5241541862487793, 4.339862823486328], [0.30535203218460083, 1.6967599391937256, 4.335004806518555], [-3.1841437816619873, 1.828820824623108, 6.606935501098633], [-2.1755406856536865, 0.6260032653808594, 8.225981712341309], [1.3139550685882568, 0.49394237995147705, 5.9540510177612305], [1.3551697731018066, 1.6665481328964233, 5.949193000793457], [-2.1343259811401367, 1.7986090183258057, 8.221123695373535]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2166, "image_id": 302, "category_id": 45, "category_name": "person", "bbox2D_proj": [160.0, 261.0, 187.0, 294.0], "bbox2D_tight": [160.0, 261.0, 187.0, 294.0], "bbox2D_trunc": [160.0, 261.0, 187.0, 294.0], "center_cam": [-2.3062264185283334, 0.6071653763610787, 12.390127882650678], "dimensions": [0.4921875225854674, 0.8847656283636368, 0.7519532150485115], "R_cam": [[0.9570876955986023, -0.055184125900268555, -0.28449591994285583], [0.020906448364257812, 0.9922922253608704, -0.12214373052120209], [0.28904348611831665, 0.11095446348190308, 0.950864315032959]], "bbox3D_cam": [[-2.571643829345703, 0.19039079546928406, 11.998368263244629], [-1.8519587516784668, 0.20611152052879333, 12.215715408325195], [-1.9007837772369385, 1.0840575695037842, 12.313884735107422], [-2.620468854904175, 1.068336844444275, 12.096536636352539], [-2.7116692066192627, 0.13027319312095642, 12.466371536254883], [-1.9919841289520264, 0.1459939181804657, 12.683719635009766], [-2.040809154510498, 1.0239399671554565, 12.781888008117676], [-2.7604942321777344, 1.0082192420959473, 12.56454086303711]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2167, "image_id": 302, "category_id": 45, "category_name": "person", "bbox2D_proj": [198.0, 260.0, 217.0, 291.0], "bbox2D_tight": [198.0, 260.0, 217.0, 291.0], "bbox2D_trunc": [198.0, 260.0, 217.0, 291.0], "center_cam": [-1.1905905179306875, 0.6405999799773839, 11.140108137716823], "dimensions": [0.38021170794487447, 1.0675557109770144, 0.42456341593162444], "R_cam": [[0.35761499404907227, -0.027149081230163574, -0.9334743618965149], [-0.510502278804779, 0.8313221335411072, -0.2197520136833191], [0.7819839715957642, 0.5551273822784424, 0.28343361616134644]], "bbox3D_cam": [[-1.0745550394058228, 0.34700509905815125, 10.623909950256348], [-0.9227248430252075, 0.13026446104049683, 10.955911636352539], [-0.9517080187797546, 1.017747163772583, 11.548541069030762], [-1.1035382747650146, 1.234487771987915, 11.21653938293457], [-1.4294730424880981, 0.26345279812812805, 10.731675148010254], [-1.2776427268981934, 0.04671221971511841, 11.063676834106445], [-1.3066259622573853, 0.934194803237915, 11.656306266784668], [-1.4584561586380005, 1.150935411453247, 11.324304580688477]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2168, "image_id": 302, "category_id": 45, "category_name": "person", "bbox2D_proj": [215.0, 263.0, 234.0, 298.0], "bbox2D_tight": [215.0, 263.0, 234.0, 298.0], "bbox2D_trunc": [215.0, 263.0, 234.0, 298.0], "center_cam": [-0.9275487709702424, 0.717860197251363, 11.055410792573607], "dimensions": [0.36035160538692723, 1.1914062477056073, 0.5000000331314243], "R_cam": [[-0.26625579595565796, -0.19576656818389893, 0.943813145160675], [0.4538940191268921, 0.8383405804634094, 0.3019358217716217], [-0.8503458499908447, 0.5087832808494568, -0.13435578346252441]], "bbox3D_cam": [[-0.9144183397293091, 0.050583064556121826, 10.989120483398438], [-1.0475462675094604, 0.27753007411956787, 10.563947677612305], [-1.280783772468567, 1.276334285736084, 11.17011547088623], [-1.1476558446884155, 1.0493873357772827, 11.595288276672363], [-0.574313759803772, 0.15938609838485718, 10.940705299377441], [-0.7074416875839233, 0.3863331079483032, 10.515532493591309], [-0.9406791925430298, 1.3851373195648193, 11.121700286865234], [-0.8075513243675232, 1.158190369606018, 11.546873092651367]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2169, "image_id": 302, "category_id": 15, "category_name": "car", "bbox2D_proj": [143.0, 276.0, 198.0, 297.0], "bbox2D_tight": [143.0, 276.0, 198.0, 297.0], "bbox2D_trunc": [143.0, 276.0, 198.0, 297.0], "center_cam": [-2.35359928273049, 0.8664454260674319, 12.129807720433664], "dimensions": [1.1285966023790504, 0.6019165533677354, 1.8202524542520608], "R_cam": [[0.174516499042511, 0.05842500180006027, -0.9829193949699402], [0.05170857906341553, 0.9963169097900391, 0.06840216368436813], [0.9832955598831177, -0.06276267766952515, 0.1708526611328125]], "bbox3D_cam": [[-1.9753550291061401, 0.4809350371360779, 11.15736198425293], [-1.6576911211013794, 0.5750577449798584, 12.9472074508667], [-1.6225241422653198, 1.1747573614120483, 12.909429550170898], [-1.9401880502700806, 1.080634593963623, 11.119583129882812], [-3.08467435836792, 0.5581334829330444, 11.35018539428711], [-2.7670106887817383, 0.652256190776825, 13.140031814575195], [-2.7318437099456787, 1.2519557476043701, 13.102252960205078], [-3.0495076179504395, 1.1578330993652344, 11.312407493591309]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2170, "image_id": 303, "category_id": 9, "category_name": "bottle", "bbox2D_proj": [246.0, 265.0, 281.0, 384.0], "bbox2D_tight": [246.0, 265.0, 281.0, 384.0], "bbox2D_trunc": [246.0, 265.0, 281.0, 384.0], "center_cam": [0.008014629761215477, 0.07652100295746625, 0.4852134268948708], "dimensions": [0.03833013016957061, 0.12518311316368164, 0.03845220041557818], "R_cam": [[-0.9099802374839783, 0.024998903274536133, 0.41389721632003784], [0.11425513029098511, 0.9746564030647278, 0.19232913851737976], [-0.3985995948314667, 0.22230559587478638, -0.8897743225097656]], "bbox3D_cam": [[0.01601291447877884, 0.009633049368858337, 0.4960150718688965], [-0.018977835774421692, 0.014026414602994919, 0.48068803548812866], [-0.015848390758037567, 0.1360369473695755, 0.5085169672966003], [0.019142359495162964, 0.13164359331130981, 0.5238440036773682], [0.03187765181064606, 0.01700505241751671, 0.4619098901748657], [-0.0031130993738770485, 0.02139841392636299, 0.4465828537940979], [1.6345642507076263e-05, 0.14340895414352417, 0.4744117856025696], [0.03500709682703018, 0.1390155851840973, 0.4897388219833374]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2171, "image_id": 303, "category_id": 10, "category_name": "bowl", "bbox2D_proj": [88.0, 0.0, 238.0, 64.0], "bbox2D_tight": [88.0, 0.0, 238.0, 64.0], "bbox2D_trunc": [88.0, 0.0, 238.0, 64.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2172, "image_id": 303, "category_id": 71, "category_name": "tray", "bbox2D_proj": [87.0, 67.0, 366.0, 109.0], "bbox2D_tight": [87.0, 67.0, 366.0, 109.0], "bbox2D_trunc": [87.0, 67.0, 366.0, 109.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2173, "image_id": 303, "category_id": 51, "category_name": "poster", "bbox2D_proj": [306.0, 159.0, 512.0, 352.0], "bbox2D_tight": [306.0, 159.0, 512.0, 352.0], "bbox2D_trunc": [306.0, 159.0, 512.0, 352.0], "center_cam": [0.14116408705988454, 0.007999861019373309, 0.40972584498612336], "dimensions": [0.17987171737321456, 0.19377196003114952, 0.21417708857641915], "R_cam": [[-0.07153701782226562, -0.0312943160533905, 0.9969468712806702], [-0.04573613405227661, 0.9985592365264893, 0.028063083067536354], [-0.9963887333869934, -0.043588947504758835, -0.07286524772644043]], "bbox3D_cam": [[0.06219559162855148, -0.08637259155511856, 0.5272040367126465], [0.04687400162220001, -0.09616822749376297, 0.3138003945350647], [0.04081004112958908, 0.09732455760240555, 0.3053540587425232], [0.05613163113594055, 0.10712019354104996, 0.518757700920105], [0.24151813983917236, -0.08132483810186386, 0.5140976309776306], [0.2261965572834015, -0.09112047404050827, 0.30069398880004883], [0.22013258934020996, 0.10237231105566025, 0.2922476530075073], [0.23545418679714203, 0.11216794699430466, 0.5056512951850891]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2174, "image_id": 303, "category_id": 11, "category_name": "box", "bbox2D_proj": [122.0, 262.0, 222.0, 408.0], "bbox2D_tight": [122.0, 262.0, 222.0, 408.0], "bbox2D_trunc": [122.0, 262.0, 222.0, 408.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2175, "image_id": 304, "category_id": 45, "category_name": "person", "bbox2D_proj": [244.0, 227.0, 276.0, 332.0], "bbox2D_tight": [244.0, 227.0, 276.0, 332.0], "bbox2D_trunc": [244.0, 227.0, 276.0, 332.0], "center_cam": [0.028898741501427544, 0.24564464632502864, 4.830748526820309], "dimensions": [0.3066406563889398, 1.1079101221733776, 0.33203128374973234], "R_cam": [[0.6152089834213257, 0.01278454065322876, 0.7882604598999023], [-0.06886672973632812, 0.9969178438186646, 0.03757920861244202], [-0.7853504419326782, -0.0774039626121521, 0.6141932010650635]], "bbox3D_cam": [[-0.20117399096488953, -0.30093181133270264, 4.909839153289795], [0.0030946023762226105, -0.32379770278930664, 4.649078369140625], [0.01725878193974495, 0.7806977033615112, 4.563321590423584], [-0.1870098114013672, 0.8035635948181152, 4.824082374572754], [0.04053870216012001, -0.28940844535827637, 5.098175525665283], [0.24480730295181274, -0.31227433681488037, 4.837414741516113], [0.2589714825153351, 0.7922210693359375, 4.751657962799072], [0.05470288172364235, 0.8150869607925415, 5.012418746948242]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2176, "image_id": 304, "category_id": 45, "category_name": "person", "bbox2D_proj": [31.0, 229.0, 65.0, 340.0], "bbox2D_tight": [31.0, 229.0, 65.0, 340.0], "bbox2D_trunc": [31.0, 229.0, 65.0, 340.0], "center_cam": [-1.7524875090525027, 0.218891946220019, 3.7415649848701813], "dimensions": [0.25273330531782773, 0.8992374929737399, 0.3780357984730083], "R_cam": [[0.4024321436882019, 0.0006609042175114155, 0.9154495596885681], [0.0006234686588868499, 0.9999992847442627, -0.0009960215538740158], [-0.9154495596885681, 0.0009715852211229503, 0.4024314880371094]], "bbox3D_cam": [[-1.9445338249206543, -0.2307184636592865, 3.8633105754852295], [-1.7924001216888428, -0.2304827868938446, 3.517237901687622], [-1.7918058633804321, 0.6687541007995605, 3.51811146736145], [-1.9439395666122437, 0.6685184240341187, 3.8641843795776367], [-1.7131692171096802, -0.23097017407417297, 3.9650185108184814], [-1.5610355138778687, -0.23073449730873108, 3.618945598602295], [-1.560441255569458, 0.6685023307800293, 3.619819402694702], [-1.7125749588012695, 0.6682666540145874, 3.9658920764923096]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2177, "image_id": 304, "category_id": 45, "category_name": "person", "bbox2D_proj": [59.0, 251.0, 86.0, 335.0], "bbox2D_tight": [59.0, 251.0, 86.0, 335.0], "bbox2D_trunc": [59.0, 251.0, 86.0, 335.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2178, "image_id": 304, "category_id": 57, "category_name": "shorts", "bbox2D_proj": [180.0, 297.0, 206.0, 321.0], "bbox2D_tight": [180.0, 297.0, 206.0, 321.0], "bbox2D_trunc": [180.0, 297.0, 206.0, 321.0], "center_cam": [-0.5600832383707484, 0.47200812062106157, 3.958199204351506], "dimensions": [0.19209373596574997, 0.2274446035470154, 0.22069843279678814], "R_cam": [[-0.9911906719207764, 0.0006609042757190764, 0.13244205713272095], [0.0007837607408873737, 0.9999994039535522, 0.0008754950831644237], [-0.13244140148162842, 0.0009715853375382721, -0.9911903738975525]], "bbox3D_cam": [[-0.463501900434494, 0.3581153154373169, 4.067904472351074], [-0.6822561025619507, 0.3582882881164551, 4.038674831390381], [-0.6821057796478271, 0.5857326984405518, 4.038895606994629], [-0.4633515775203705, 0.5855597257614136, 4.068125247955322], [-0.43806061148643494, 0.35828348994255066, 3.877502918243408], [-0.6568148136138916, 0.35845646262168884, 3.848273277282715], [-0.6566644906997681, 0.5859009027481079, 3.848494291305542], [-0.4379102885723114, 0.5857279300689697, 3.8777239322662354]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2179, "image_id": 304, "category_id": 57, "category_name": "shorts", "bbox2D_proj": [356.0, 299.0, 393.0, 334.0], "bbox2D_tight": [356.0, 299.0, 393.0, 334.0], "bbox2D_trunc": [356.0, 299.0, 393.0, 334.0], "center_cam": [1.0603779236202946, 0.5412770621638405, 4.022850835402602], "dimensions": [0.18872230359282507, 0.3259367753378771, 0.3379045780321276], "R_cam": [[0.9737651348114014, -0.035110410302877426, 0.22483117878437042], [0.03602047637104988, 0.9993511438369751, 5.412101745605469e-05], [-0.22468715906143188, 0.00804591178894043, 0.9743977785110474]], "bbox3D_cam": [[0.880364716053009, 0.372323602437973, 3.9675559997558594], [1.2094043493270874, 0.3844950795173645, 3.8916330337524414], [1.197960615158081, 0.7102203369140625, 3.8942556381225586], [0.8689209222793579, 0.6980488300323486, 3.9701783657073975], [0.9227953553199768, 0.3723337948322296, 4.151446342468262], [1.2518349885940552, 0.3845052719116211, 4.075523853302002], [1.2403912544250488, 0.7102304697036743, 4.078145980834961], [0.9113515615463257, 0.6980590224266052, 4.154068946838379]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2180, "image_id": 304, "category_id": 45, "category_name": "person", "bbox2D_proj": [332.0, 241.0, 357.0, 358.0], "bbox2D_tight": [332.0, 241.0, 357.0, 358.0], "bbox2D_trunc": [332.0, 241.0, 357.0, 358.0], "center_cam": [0.9096317746477429, 0.41554159112176553, 4.3087381859677985], "dimensions": [0.3398437527328347, 1.0852050421545958, 0.35986328933339967], "R_cam": [[0.9993031024932861, -0.029486894607543945, 0.022891230881214142], [0.028880774974822998, 0.9992350339889526, 0.02636951580643654], [-0.023651275783777237, -0.025690017268061638, 0.9993901252746582]], "bbox3D_cam": [[0.7419354915618896, -0.1363232135772705, 4.1571149826049805], [1.1015479564666748, -0.1259300708770752, 4.148603916168213], [1.0695486068725586, 0.9584448337554932, 4.120724678039551], [0.7099362015724182, 0.9480516910552979, 4.129236221313477], [0.7497149109840393, -0.12736165523529053, 4.49675178527832], [1.1093274354934692, -0.11696851253509521, 4.4882402420043945], [1.077328085899353, 0.9674063920974731, 4.460361480712891], [0.7177156209945679, 0.9570132493972778, 4.468872547149658]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2181, "image_id": 304, "category_id": 45, "category_name": "person", "bbox2D_proj": [352.0, 241.0, 394.0, 365.0], "bbox2D_tight": [352.0, 241.0, 394.0, 365.0], "bbox2D_trunc": [352.0, 241.0, 394.0, 365.0], "center_cam": [1.0903593574372772, 0.43399975454812434, 4.135556324434123], "dimensions": [0.32031251409359374, 1.1035155904927585, 0.38134767693549576], "R_cam": [[0.8678104877471924, 0.012712359428405762, 0.4967326521873474], [-0.029650330543518066, 0.9992161989212036, 0.02622838318347931], [-0.496009886264801, -0.03748953342437744, 0.8675072193145752]], "bbox3D_cam": [[0.8383215665817261, -0.11587265133857727, 4.111880779266357], [1.1692590713500977, -0.12717977166175842, 3.9227285385131836], [1.1832873821258545, 0.9754709005355835, 3.8813581466674805], [0.8523498773574829, 0.9867780208587646, 4.070510387420654], [0.9974312782287598, -0.10747137665748596, 4.389754295349121], [1.3283687829971313, -0.11877849698066711, 4.200602054595947], [1.3423970937728882, 0.9838721752166748, 4.159231662750244], [1.0114595890045166, 0.995179295539856, 4.348383903503418]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2182, "image_id": 304, "category_id": 45, "category_name": "person", "bbox2D_proj": [0.0, 214.0, 36.0, 351.0], "bbox2D_tight": [0.0, 214.0, 36.0, 351.0], "bbox2D_trunc": [0.0, 214.0, 36.0, 351.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2183, "image_id": 304, "category_id": 45, "category_name": "person", "bbox2D_proj": [420.0, 223.0, 497.0, 483.0], "bbox2D_tight": [420.0, 223.0, 497.0, 483.0], "bbox2D_trunc": [420.0, 223.0, 497.0, 483.0], "center_cam": [1.178548619854016, 0.5334670123590499, 2.599544990428213], "dimensions": [0.43322755692155224, 1.408935499817947, 0.5664062690426224], "R_cam": [[-0.5291076302528381, -0.02912759780883789, 0.8480547070503235], [-0.03838968276977539, 0.9992091059684753, 0.010367661714553833], [-0.8476859331130981, -0.02707087993621826, -0.5298073291778564]], "bbox3D_cam": [[1.165212631225586, -0.16181731224060059, 2.9734463691711426], [0.8655227422714233, -0.18356144428253174, 2.493311882019043], [0.8244838118553162, 1.2242597341537476, 2.4551706314086914], [1.124173641204834, 1.2460038661956787, 2.93530535697937], [1.5326132774353027, -0.15732574462890625, 2.7439193725585938], [1.2329235076904297, -0.1790698766708374, 2.263784646987915], [1.1918845176696777, 1.228751301765442, 2.2256436347961426], [1.4915744066238403, 1.250495433807373, 2.705778121948242]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2184, "image_id": 305, "category_id": 45, "category_name": "person", "bbox2D_proj": [328.0, 306.0, 356.0, 396.0], "bbox2D_tight": [328.0, 306.0, 356.0, 396.0], "bbox2D_trunc": [328.0, 306.0, 356.0, 396.0], "center_cam": [1.7432439155324735, 1.9224679667304483, 8.926468968923288], "dimensions": [0.5312500614105538, 1.7414551212541303, 0.5976563212984506], "R_cam": [[0.7110355496406555, -0.11784791946411133, 0.6932103037834167], [-0.019499897956848145, 0.9821715354919434, 0.18697328865528107], [-0.7028856873512268, -0.14646212756633759, 0.6960608959197998]], "bbox3D_cam": [[1.449245810508728, 1.0234265327453613, 9.079148292541504], [1.874200701713562, 1.0117723941802979, 8.659064292907715], [1.6689740419387817, 2.722179889678955, 8.404006958007812], [1.2440192699432373, 2.7338337898254395, 8.824090957641602], [1.8175138235092163, 1.1227561235427856, 9.448930740356445], [2.2424685955047607, 1.1111019849777222, 9.028846740722656], [2.0372419357299805, 2.82150936126709, 8.773789405822754], [1.612287163734436, 2.8331634998321533, 9.193873405456543]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2185, "image_id": 305, "category_id": 13, "category_name": "building", "bbox2D_proj": [0.0, 68.0, 481.0, 304.0], "bbox2D_tight": [0.0, 68.0, 481.0, 304.0], "bbox2D_trunc": [0.0, 68.0, 481.0, 304.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2186, "image_id": 305, "category_id": 45, "category_name": "person", "bbox2D_proj": [362.0, 309.0, 398.0, 389.0], "bbox2D_tight": [362.0, 309.0, 398.0, 389.0], "bbox2D_trunc": [362.0, 309.0, 398.0, 389.0], "center_cam": [2.3419881285926865, 1.8502585053578908, 8.620753780207846], "dimensions": [0.6250000250627253, 1.548156775744637, 0.6992187569844776], "R_cam": [[0.97356778383255, -0.09838974475860596, -0.20611950755119324], [0.11397188901901245, 0.9913479685783386, 0.06511194258928299], [0.19792982935905457, -0.08688271045684814, 0.97635817527771]], "bbox3D_cam": [[2.14219331741333, 1.0226843357086182, 8.313697814941406], [2.822930335998535, 1.1023756265640259, 8.452094078063965], [2.670607566833496, 2.6371376514434814, 8.317586898803711], [1.9898706674575806, 2.5574464797973633, 8.179190635681152], [2.013368606567383, 1.0633792877197266, 8.923921585083008], [2.694105625152588, 1.1430705785751343, 9.062317848205566], [2.541782855987549, 2.67783260345459, 8.927810668945312], [1.8610459566116333, 2.5981411933898926, 8.789414405822754]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2187, "image_id": 305, "category_id": 45, "category_name": "person", "bbox2D_proj": [183.0, 306.0, 212.0, 379.0], "bbox2D_tight": [183.0, 306.0, 212.0, 379.0], "bbox2D_trunc": [183.0, 306.0, 212.0, 379.0], "center_cam": [-1.389782144036727, 1.9772585545047692, 10.365331946597557], "dimensions": [0.4687500059731762, 1.6162109801694264, 0.6450195222180249], "R_cam": [[0.9993880987167358, -0.023091554641723633, -0.026269210502505302], [0.025303959846496582, 0.9958639144897461, 0.08726242929697037], [0.02414552867412567, -0.08787374943494797, 0.9958388805389404]], "bbox3D_cam": [[-1.6872773170471191, 1.1438825130462646, 10.19515609741211], [-1.0426523685455322, 1.1602041721343994, 10.21073055267334], [-1.0799733400344849, 2.76973032951355, 10.068707466125488], [-1.7245981693267822, 2.753408670425415, 10.053133010864258], [-1.699591040611267, 1.1847867965698242, 10.661955833435059], [-1.0549662113189697, 1.201108455657959, 10.677530288696289], [-1.0922870635986328, 2.8106346130371094, 10.535507202148438], [-1.7369120121002197, 2.7943129539489746, 10.519932746887207]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2188, "image_id": 305, "category_id": 45, "category_name": "person", "bbox2D_proj": [254.0, 297.0, 279.0, 364.0], "bbox2D_tight": [254.0, 297.0, 279.0, 364.0], "bbox2D_trunc": [254.0, 297.0, 279.0, 364.0], "center_cam": [0.29100602271638676, 2.075809388864853, 12.622447175915433], "dimensions": [0.6484375107823204, 1.7832031734133782, 0.8010253836995826], "R_cam": [[0.980858564376831, -0.19462299346923828, 0.006196990609169006], [0.19426822662353516, 0.9759087562561035, -0.09930729866027832], [0.013279784470796585, 0.0986102893948555, 0.9950375556945801]], "bbox3D_cam": [[0.06967668235301971, 1.1600780487060547, 12.206597328186035], [0.8553693294525146, 1.3156919479370117, 12.21723461151123], [0.5083169937133789, 3.0559353828430176, 12.39307689666748], [-0.27737557888031006, 2.9003217220306396, 12.382439613342285], [0.07369504868984222, 1.0956835746765137, 12.85181713104248], [0.8593876361846924, 1.2512972354888916, 12.862454414367676], [0.5123353600502014, 2.9915409088134766, 13.038296699523926], [-0.2733572721481323, 2.8359270095825195, 13.02765941619873]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2189, "image_id": 305, "category_id": 45, "category_name": "person", "bbox2D_proj": [269.0, 307.0, 289.0, 368.0], "bbox2D_tight": [269.0, 307.0, 289.0, 368.0], "bbox2D_trunc": [269.0, 307.0, 289.0, 368.0], "center_cam": [0.6162510334509411, 2.274305055093452, 12.467305920361687], "dimensions": [0.5703125933184434, 1.6894531675633115, 0.5937501141285733], "R_cam": [[0.16810543835163116, -0.12774419784545898, -0.9774570465087891], [0.2162390947341919, 0.9721958041191101, -0.08986715227365494], [0.9617595672607422, -0.19625738263130188, 0.19105470180511475]], "bbox3D_cam": [[0.9529815912246704, 1.4144957065582275, 12.293087005615234], [1.0527942180633545, 1.5428876876831055, 12.864131927490234], [0.8369765281677246, 3.1853668689727783, 12.532564163208008], [0.7371638417243958, 3.0569748878479004, 11.961519241333008], [0.39552557468414307, 1.3632433414459229, 12.402048110961914], [0.4953382611274719, 1.4916353225708008, 12.973093032836914], [0.27952054142951965, 3.1341145038604736, 12.641525268554688], [0.17970788478851318, 3.0057225227355957, 12.070480346679688]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2190, "image_id": 305, "category_id": 45, "category_name": "person", "bbox2D_proj": [296.0, 299.0, 312.0, 369.0], "bbox2D_tight": [296.0, 299.0, 312.0, 369.0], "bbox2D_trunc": [296.0, 299.0, 312.0, 369.0], "center_cam": [1.2610906165092053, 2.0027795183406614, 11.381095606986255], "dimensions": [0.38476561926120556, 1.7824707456615068, 0.5312500076028749], "R_cam": [[-0.1641460359096527, -0.06812477111816406, -0.9840808510780334], [0.04206204414367676, 0.996221661567688, -0.07598122954368591], [0.9855388402938843, -0.05386441946029663, -0.16066038608551025]], "bbox3D_cam": [[1.55472731590271, 1.1183562278747559, 11.198225975036621], [1.467524766921997, 1.1407017707824707, 11.721794128417969], [1.3460943698883057, 2.9164376258850098, 11.625782012939453], [1.4332969188690186, 2.894092321395874, 11.102214813232422], [1.1760869026184082, 1.0891213417053223, 11.136409759521484], [1.0888843536376953, 1.111466646194458, 11.659976959228516], [0.9674538969993591, 2.887202739715576, 11.563965797424316], [1.0546565055847168, 2.8648571968078613, 11.040397644042969]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2191, "image_id": 305, "category_id": 45, "category_name": "person", "bbox2D_proj": [443.0, 309.0, 466.0, 352.0], "bbox2D_tight": [443.0, 309.0, 466.0, 352.0], "bbox2D_trunc": [443.0, 309.0, 466.0, 352.0], "center_cam": [6.365162313041332, 2.649885891924998, 14.43683093924846], "dimensions": [0.5546875099515485, 1.9062500528476114, 0.671874994840146], "R_cam": [[0.995093047618866, 0.015353918075561523, -0.09774553775787354], [-0.03724658489227295, 0.973347008228302, -0.22629286348819733], [0.0916658490896225, 0.22882312536239624, 0.9691426157951355]], "bbox3D_cam": [[6.04334831237793, 1.7974379062652588, 13.919154167175293], [6.711926460266113, 1.7724130153656006, 13.980741500854492], [6.741194725036621, 3.6278555393218994, 14.416935920715332], [6.0726165771484375, 3.6528806686401367, 14.355347633361816], [5.989130020141602, 1.6719162464141846, 14.456725120544434], [6.657708168029785, 1.6468911170959473, 14.51831340789795], [6.686976432800293, 3.502333879470825, 14.954506874084473], [6.018398284912109, 3.5273587703704834, 14.892919540405273]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2192, "image_id": 305, "category_id": 45, "category_name": "person", "bbox2D_proj": [406.0, 307.0, 424.0, 356.0], "bbox2D_tight": [406.0, 307.0, 424.0, 356.0], "bbox2D_trunc": [406.0, 307.0, 424.0, 356.0], "center_cam": [5.172164518945769, 2.4933656084796842, 14.473582491834371], "dimensions": [0.46093752810504396, 1.4731445665340623, 0.5410156458645926], "R_cam": [[0.9623728394508362, -0.08511722087860107, 0.2580568492412567], [0.06902182102203369, 0.9950981736183167, 0.07081949710845947], [-0.26281988620758057, -0.05034325271844864, 0.9635305404663086]], "bbox3D_cam": [[4.915056228637695, 1.7254111766815186, 14.359694480895996], [5.4357147216796875, 1.7627530097961426, 14.21750545501709], [5.310324668884277, 3.2286765575408936, 14.143342018127441], [4.789666175842285, 3.1913347244262695, 14.285531997680664], [5.034004211425781, 1.758054494857788, 14.80382251739502], [5.554662704467773, 1.795396327972412, 14.661632537841797], [5.429272651672363, 3.261319875717163, 14.587470054626465], [4.908614158630371, 3.223978042602539, 14.729659080505371]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2193, "image_id": 305, "category_id": 7, "category_name": "bench", "bbox2D_proj": [418.0, 338.0, 474.0, 392.0], "bbox2D_tight": [418.0, 338.0, 474.0, 392.0], "bbox2D_trunc": [418.0, 338.0, 474.0, 392.0], "center_cam": [4.06753944100841, 2.4317845577663606, 9.36116607361146], "dimensions": [0.7628281282452318, 0.40041581677341065, 4.412602872826284], "R_cam": [[0.5331524610519409, 0.05246058851480484, -0.8443911075592041], [0.022945687174797058, 0.9968117475509644, 0.07641824334859848], [0.8457080125808716, -0.06011771038174629, 0.5302488803863525]], "bbox3D_cam": [[3.202803611755371, 2.1524429321289062, 7.305070877075195], [5.555393695831299, 2.253693103790283, 11.036844253540039], [5.576399803161621, 2.652832269668579, 11.012772560119629], [3.2238097190856934, 2.551582098007202, 7.280998706817627], [2.55867862701416, 2.2107369899749756, 7.709559440612793], [4.911268711090088, 2.3119871616363525, 11.441333770751953], [4.93227481842041, 2.7111263275146484, 11.417261123657227], [2.5796847343444824, 2.6098761558532715, 7.685487747192383]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2194, "image_id": 306, "category_id": 33, "category_name": "jacket", "bbox2D_proj": [257.0, 350.0, 311.0, 418.0], "bbox2D_tight": [257.0, 350.0, 311.0, 418.0], "bbox2D_trunc": [257.0, 350.0, 311.0, 418.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2195, "image_id": 306, "category_id": 45, "category_name": "person", "bbox2D_proj": [220.0, 245.0, 257.0, 350.0], "bbox2D_tight": [220.0, 245.0, 257.0, 350.0], "bbox2D_trunc": [220.0, 245.0, 257.0, 350.0], "center_cam": [-0.35197227578137513, 0.7532258031877095, 8.881027584937609], "dimensions": [0.6914064004199569, 1.973144419051632, 0.7773439007792637], "R_cam": [[0.497435063123703, 0.028783023357391357, 0.8670237064361572], [-0.020319581031799316, 0.9995619058609009, -0.02152523584663868], [-0.8672633171081543, -0.0069100866094231606, 0.4978020191192627]], "bbox3D_cam": [[-0.8734408020973206, -0.21757513284683228, 9.052833557128906], [-0.4867627024650574, -0.2333703637123108, 8.378671646118164], [-0.4299694895744324, 1.7389094829559326, 8.365036964416504], [-0.8166475892066956, 1.7547045946121216, 9.039198875427246], [-0.27397507429122925, -0.23245781660079956, 9.397017478942871], [0.11270302534103394, -0.2482529878616333, 8.722855567932129], [0.16949623823165894, 1.7240266799926758, 8.709220886230469], [-0.21718186140060425, 1.7398219108581543, 9.383382797241211]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2196, "image_id": 306, "category_id": 63, "category_name": "streetlight", "bbox2D_proj": [93.0, 140.0, 152.0, 252.0], "bbox2D_tight": [93.0, 140.0, 152.0, 252.0], "bbox2D_trunc": [93.0, 140.0, 152.0, 252.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2197, "image_id": 306, "category_id": 45, "category_name": "person", "bbox2D_proj": [273.0, 244.0, 295.0, 320.0], "bbox2D_tight": [273.0, 244.0, 295.0, 320.0], "bbox2D_trunc": [273.0, 244.0, 295.0, 320.0], "center_cam": [0.7088208118533034, 0.6330287618770647, 11.406451790808322], "dimensions": [0.5546875611306394, 1.9111327187842013, 0.6562500963295782], "R_cam": [[0.9041552543640137, -0.01193922758102417, 0.42703697085380554], [0.09471112489700317, 0.98033607006073, -0.17312105000019073], [-0.41657283902168274, 0.19697344303131104, 0.887506902217865]], "bbox3D_cam": [[0.30511748790740967, -0.2868105173110962, 11.108774185180664], [0.8984695076942444, -0.224656343460083, 10.83539867401123], [0.875652015209198, 1.6488960981369019, 11.211840629577637], [0.2822999954223633, 1.5867419242858887, 11.485217094421387], [0.5419896245002747, -0.3828386068344116, 11.60106372833252], [1.1353416442871094, -0.32068443298339844, 11.32768726348877], [1.112524151802063, 1.5528680086135864, 11.704130172729492], [0.5191721320152283, 1.4907138347625732, 11.977505683898926]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2198, "image_id": 306, "category_id": 45, "category_name": "person", "bbox2D_proj": [285.0, 228.0, 384.0, 498.0], "bbox2D_tight": [285.0, 228.0, 384.0, 498.0], "bbox2D_trunc": [285.0, 228.0, 384.0, 498.0], "center_cam": [0.5459250800430148, 0.7024233762859367, 3.482086769491632], "dimensions": [0.8125001014198326, 1.8962401308710324, 1.0078125976829129], "R_cam": [[-0.5101592540740967, -0.010178446769714355, 0.8600198030471802], [-0.0028836727142333984, 0.9999445676803589, 0.010123848915100098], [-0.8600751757621765, 0.002684861421585083, -0.5101603269577026]], "bbox3D_cam": [[0.4632648527622223, -0.2483038306236267, 4.1201910972595215], [-0.05088013410568237, -0.2512100338935852, 3.253396511077881], [-0.07018083333969116, 1.6449248790740967, 3.2584874629974365], [0.4439641237258911, 1.6478312015533447, 4.125282287597656], [1.1620309352874756, -0.2400781512260437, 3.70568585395813], [0.6478860378265381, -0.2429843544960022, 2.83889102935791], [0.6285853385925293, 1.6531505584716797, 2.843982219696045], [1.1427302360534668, 1.6560568809509277, 3.7107768058776855]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2199, "image_id": 306, "category_id": 72, "category_name": "tree", "bbox2D_proj": [322.0, 93.0, 477.0, 244.0], "bbox2D_tight": [322.0, 93.0, 477.0, 244.0], "bbox2D_trunc": [322.0, 93.0, 477.0, 244.0], "center_cam": [3.0360046131757388, -1.8754159234993844, 9.174174209768465], "dimensions": [2.325983731071114, 2.716971464011555, 3.0181549908515026], "R_cam": [[-0.8278372287750244, 0.134914368391037, -0.5445032715797424], [0.0763004869222641, 0.9887083768844604, 0.12897366285324097], [0.5557553172111511, 0.0652233138680458, -0.828783392906189]], "bbox3D_cam": [[4.735248565673828, -3.483700752258301, 9.210760116577148], [2.2367076873779297, -3.2534141540527344, 10.888115882873535], [2.6032662391662598, -0.5671218633651733, 11.065325736999512], [5.101807117462158, -0.7974084615707397, 9.387969970703125], [3.468742847442627, -3.1837100982666016, 7.283022880554199], [0.9702019691467285, -2.953423500061035, 8.960378646850586], [1.336760401725769, -0.2671312093734741, 9.137588500976562], [3.835301399230957, -0.4974178075790405, 7.460232734680176]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2200, "image_id": 306, "category_id": 8, "category_name": "boat", "bbox2D_proj": [19.0, 249.0, 105.0, 280.0], "bbox2D_tight": [19.0, 249.0, 105.0, 280.0], "bbox2D_trunc": [19.0, 249.0, 105.0, 280.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2201, "image_id": 306, "category_id": 45, "category_name": "person", "bbox2D_proj": [394.0, 234.0, 455.0, 475.0], "bbox2D_tight": [394.0, 234.0, 455.0, 475.0], "bbox2D_trunc": [394.0, 234.0, 455.0, 475.0], "center_cam": [1.249598736810849, 0.6856337306358458, 3.2528491459397766], "dimensions": [0.37939454402562, 1.6525267623596962, 0.7128906126073178], "R_cam": [[0.02187293767929077, 0.007522940635681152, -0.999732494354248], [-0.04516434669494629, 0.9989582896232605, 0.006528913974761963], [0.9987401366233826, 0.04500937461853027, 0.022189855575561523]], "bbox3D_cam": [[1.4252328872680664, -0.12490880489349365, 2.8554539680480957], [1.4408258199691772, -0.15710604190826416, 3.56744647026062], [1.45325767993927, 1.4936991930007935, 3.6418256759643555], [1.4376647472381592, 1.525896430015564, 2.929833173751831], [1.0459398031234741, -0.12243175506591797, 2.863872528076172], [1.061532735824585, -0.15462899208068848, 3.5758650302886963], [1.0739645957946777, 1.4961762428283691, 3.6502442359924316], [1.058371663093567, 1.5283734798431396, 2.9382517337799072]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2202, "image_id": 306, "category_id": 45, "category_name": "person", "bbox2D_proj": [460.0, 235.0, 512.0, 424.0], "bbox2D_tight": [460.0, 235.0, 512.0, 424.0], "bbox2D_trunc": [460.0, 235.0, 512.0, 424.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2203, "image_id": 306, "category_id": 45, "category_name": "person", "bbox2D_proj": [164.0, 238.0, 217.0, 387.0], "bbox2D_tight": [164.0, 238.0, 217.0, 387.0], "bbox2D_trunc": [164.0, 238.0, 217.0, 387.0], "center_cam": [-1.067406545001767, 0.8431477940020069, 7.09343756098497], "dimensions": [0.5781250161108856, 2.31494127830178, 0.7886963470728763], "R_cam": [[0.9697778224945068, 0.04736983776092529, -0.23934710025787354], [-0.0383228063583374, 0.9983690977096558, 0.04231514781713486], [0.2409611940383911, -0.03186386823654175, 0.9700115323066711]], "bbox3D_cam": [[-1.4354796409606934, -0.30955415964126587, 6.754902362823486], [-0.6706193685531616, -0.33977919816970825, 6.944947719573975], [-0.5609609484672546, 1.971386432647705, 6.871184825897217], [-1.3258211612701416, 2.0016114711761475, 6.6811394691467285], [-1.5738520622253418, -0.28509074449539185, 7.315690517425537], [-0.8089919090270996, -0.31531578302383423, 7.505735874176025], [-0.6993334889411926, 1.995849847793579, 7.431972980499268], [-1.4641937017440796, 2.0260748863220215, 7.241927623748779]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2204, "image_id": 306, "category_id": 45, "category_name": "person", "bbox2D_proj": [0.0, 404.0, 6.0, 416.0], "bbox2D_tight": [0.0, 404.0, 6.0, 416.0], "bbox2D_trunc": [0.0, 404.0, 6.0, 416.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2205, "image_id": 306, "category_id": 45, "category_name": "person", "bbox2D_proj": [89.0, 246.0, 137.0, 395.0], "bbox2D_tight": [89.0, 246.0, 137.0, 395.0], "bbox2D_trunc": [89.0, 246.0, 137.0, 395.0], "center_cam": [-2.356754481946237, 1.0115531449423918, 7.4128155009433465], "dimensions": [0.6953125422999786, 2.290038961019139, 1.1796875285544712], "R_cam": [[-0.3494727313518524, -0.012079000473022461, 0.9368686676025391], [0.19005292654037476, 0.9782160520553589, 0.08350598812103271], [-0.9174686670303345, 0.20723769068717957, -0.3395642042160034]], "bbox3D_cam": [[-2.4624979496002197, -0.2496563196182251, 7.8347392082214355], [-2.8747663497924805, -0.02545320987701416, 6.752412796020508], [-2.9024276733398438, 2.2146997451782227, 7.22699499130249], [-2.490159273147583, 1.9904967546463013, 8.309321403503418], [-1.8110812902450562, -0.19159352779388428, 7.598636150360107], [-2.2233498096466064, 0.03260958194732666, 6.51630973815918], [-2.2510111331939697, 2.2727627754211426, 6.990891933441162], [-1.8387426137924194, 2.0485596656799316, 8.07321834564209]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2206, "image_id": 307, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [100.0, 6.0, 127.0, 196.0], "bbox2D_tight": [100.0, 6.0, 127.0, 196.0], "bbox2D_trunc": [100.0, 6.0, 127.0, 196.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2207, "image_id": 307, "category_id": 45, "category_name": "person", "bbox2D_proj": [45.0, 248.0, 95.0, 356.0], "bbox2D_tight": [45.0, 248.0, 95.0, 356.0], "bbox2D_trunc": [45.0, 248.0, 95.0, 356.0], "center_cam": [-1.2093381785679385, 0.290844984907751, 2.872232696136579], "dimensions": [0.2792968938260701, 0.6702880616249325, 0.34667972603048547], "R_cam": [[0.9570056796073914, -0.05073201656341553, -0.28559812903404236], [0.04030120372772217, 0.9982923865318298, -0.04228633642196655], [0.2872557044029236, 0.02895832061767578, 0.9574160575866699]], "bbox3D_cam": [[-1.3183395862579346, -0.044807374477386475, 2.679033041000366], [-0.986565113067627, -0.030835747718811035, 2.778618574142456], [-1.020570158958435, 0.6383077502250671, 2.7980291843414307], [-1.3523446321487427, 0.6243361234664917, 2.6984434127807617], [-1.3981062173843384, -0.056617796421051025, 2.9464361667633057], [-1.0663317441940308, -0.042646169662475586, 3.0460219383239746], [-1.1003367900848389, 0.6264973282814026, 3.06543231010437], [-1.4321112632751465, 0.6125257015228271, 2.9658467769622803]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2208, "image_id": 307, "category_id": 45, "category_name": "person", "bbox2D_proj": [299.0, 241.0, 330.0, 363.0], "bbox2D_tight": [299.0, 241.0, 330.0, 363.0], "bbox2D_trunc": [299.0, 241.0, 330.0, 363.0], "center_cam": [0.46111800536053793, 0.33133786213539407, 3.351134082183385], "dimensions": [0.2285156938547352, 0.8515319465392459, 0.25000007206953984], "R_cam": [[-0.6607767939567566, -0.023365497589111328, 0.7502186894416809], [0.019950449466705322, 0.9986154437065125, 0.04867368936538696], [-0.7503172755241394, 0.04712963104248047, -0.6593958139419556]], "bbox3D_cam": [[0.46794500946998596, -0.10189375281333923, 3.5001986026763916], [0.30275073647499084, -0.0969061553478241, 3.31261944770813], [0.282854288816452, 0.7534468173980713, 3.3527517318725586], [0.44804853200912476, 0.7484592199325562, 3.5403311252593994], [0.6393817663192749, -0.09077104926109314, 3.3495163917541504], [0.4741874933242798, -0.085783451795578, 3.1619369983673096], [0.4542910158634186, 0.7645695209503174, 3.2020695209503174], [0.6194852590560913, 0.7595819234848022, 3.389648675918579]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2209, "image_id": 307, "category_id": 13, "category_name": "building", "bbox2D_proj": [354.0, 0.0, 477.0, 203.0], "bbox2D_tight": [354.0, 0.0, 477.0, 203.0], "bbox2D_trunc": [354.0, 0.0, 477.0, 203.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2210, "image_id": 307, "category_id": 45, "category_name": "person", "bbox2D_proj": [151.0, 238.0, 170.0, 310.0], "bbox2D_tight": [151.0, 238.0, 170.0, 310.0], "bbox2D_trunc": [151.0, 238.0, 170.0, 310.0], "center_cam": [-0.8434899843609202, 0.15336755821131745, 4.030424751185199], "dimensions": [0.18945318308220221, 0.6368407942037082, 0.20507819242586695], "R_cam": [[0.8001893758773804, -0.03356730937957764, 0.5988073348999023], [0.06920421123504639, 0.9969311952590942, -0.03659301996231079], [-0.5957413911819458, 0.0707213282585144, 0.8000566959381104]], "bbox3D_cam": [[-0.971575140953064, -0.1677054613828659, 3.9932055473327637], [-0.8074737787246704, -0.15351317822933197, 3.8710319995880127], [-0.8288508057594299, 0.48137325048446655, 3.9160702228546143], [-0.9929522275924683, 0.4671809673309326, 4.038243770599365], [-0.8581292033195496, -0.17463813722133636, 4.144778728485107], [-0.6940277814865112, -0.16044585406780243, 4.0226054191589355], [-0.7154048681259155, 0.4744405746459961, 4.067643642425537], [-0.8795062303543091, 0.46024829149246216, 4.189816951751709]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2211, "image_id": 307, "category_id": 45, "category_name": "person", "bbox2D_proj": [171.0, 243.0, 191.0, 321.0], "bbox2D_tight": [171.0, 243.0, 191.0, 321.0], "bbox2D_trunc": [171.0, 243.0, 191.0, 321.0], "center_cam": [-0.6015798244215239, 0.23337788034119183, 3.8616704113509512], "dimensions": [0.21484385406790876, 0.6810302467207727, 0.22460947569473722], "R_cam": [[-0.3744351267814636, -0.05214953422546387, -0.925785481929779], [0.07786691188812256, 0.9931221604347229, -0.08743596076965332], [0.9239778518676758, -0.10482710599899292, -0.3677990436553955]], "bbox3D_cam": [[-0.44232165813446045, -0.10414755344390869, 3.833108425140381], [-0.5264233350753784, -0.08665794134140015, 4.040642261505127], [-0.5619387030601501, 0.5896883606910706, 3.969252109527588], [-0.47783705592155457, 0.572198748588562, 3.7617177963256836], [-0.6412209868431091, -0.12293261289596558, 3.754088878631592], [-0.7253226041793823, -0.10544300079345703, 3.961623191833496], [-0.7608380317687988, 0.5709033012390137, 3.890232563018799], [-0.6767363548278809, 0.5534136891365051, 3.6826984882354736]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2212, "image_id": 307, "category_id": 45, "category_name": "person", "bbox2D_proj": [268.0, 243.0, 293.0, 324.0], "bbox2D_tight": [268.0, 243.0, 293.0, 324.0], "bbox2D_trunc": [268.0, 243.0, 293.0, 324.0], "center_cam": [0.23377796017090852, 0.24508627722383985, 4.2431983257367705], "dimensions": [0.22363283718333382, 0.7476806338050729, 0.27929689498528065], "R_cam": [[-0.3133141100406647, -0.024036049842834473, -0.9493453502655029], [0.07695579528808594, 0.9957493543624878, -0.05060884356498718], [0.9465264081954956, -0.08891412615776062, -0.31013262271881104]], "bbox3D_cam": [[0.3926698565483093, -0.1322527527809143, 4.1789350509643555], [0.3051621615886688, -0.11075925827026367, 4.443296909332275], [0.28719085454940796, 0.6337431073188782, 4.37681770324707], [0.3746985197067261, 0.6122496128082275, 4.11245584487915], [0.18036505579948425, -0.14357054233551025, 4.109579086303711], [0.09285737574100494, -0.12207704782485962, 4.373940944671631], [0.07488606870174408, 0.6224253177642822, 4.307461738586426], [0.1623937487602234, 0.6009318232536316, 4.043099880218506]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2213, "image_id": 307, "category_id": 45, "category_name": "person", "bbox2D_proj": [246.0, 249.0, 271.0, 349.0], "bbox2D_tight": [246.0, 249.0, 271.0, 349.0], "bbox2D_trunc": [246.0, 249.0, 271.0, 349.0], "center_cam": [0.02659853853099554, 0.3300967017931371, 3.6293057957194703], "dimensions": [0.19921881210545941, 0.7834472329673952, 0.21679693828467933], "R_cam": [[-0.5268402099609375, -0.03433382511138916, -0.8492707014083862], [0.04329264163970947, 0.9968029856681824, -0.06715474277734756], [0.8488612174987793, -0.07214710861444473, -0.5236696004867554]], "bbox3D_cam": [[0.18175195157527924, -0.058378130197525024, 3.6177146434783936], [0.06753461062908173, -0.048992425203323364, 3.8017451763153076], [0.04063580557703972, 0.731950044631958, 3.7452218532562256], [0.15485315024852753, 0.7225643396377563, 3.5611913204193115], [0.012561272829771042, -0.07175663113594055, 3.513389825820923], [-0.10165606439113617, -0.06237092614173889, 3.697420358657837], [-0.12855486571788788, 0.7185715436935425, 3.640897035598755], [-0.014337532222270966, 0.7091858386993408, 3.456866502761841]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2214, "image_id": 307, "category_id": 64, "category_name": "suitcase", "bbox2D_proj": [15.0, 262.0, 64.0, 309.0], "bbox2D_tight": [15.0, 262.0, 64.0, 309.0], "bbox2D_trunc": [15.0, 262.0, 64.0, 309.0], "center_cam": [-1.443602330445499, 0.1848876301568468, 2.9752931023662414], "dimensions": [0.2348297174231018, 0.10892659488276964, 0.4016222070250076], "R_cam": [[0.8094187378883362, -0.5176500678062439, 0.27727174758911133], [0.5868825912475586, 0.6968037486076355, -0.41235095262527466], [0.020249485969543457, 0.49649059772491455, 0.8678058981895447]], "bbox3D_cam": [[-1.61050546169281, 0.07750098407268524, 2.8422930240631104], [-1.2854249477386475, 0.3132060766220093, 2.8504257202148438], [-1.3418108224868774, 0.38910651206970215, 2.9045066833496094], [-1.66689133644104, 0.1534014493227005, 2.896373987197876], [-1.5453938245773315, -0.01933126151561737, 3.046079635620117], [-1.220313310623169, 0.21637381613254547, 3.0542123317718506], [-1.276699185371399, 0.2922742962837219, 3.108293294906616], [-1.6017796993255615, 0.05656920373439789, 3.100160598754883]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2215, "image_id": 307, "category_id": 45, "category_name": "person", "bbox2D_proj": [82.0, 224.0, 110.0, 311.0], "bbox2D_tight": [82.0, 224.0, 110.0, 311.0], "bbox2D_trunc": [82.0, 224.0, 110.0, 311.0], "center_cam": [-1.3000661863633405, 0.09320495727880312, 3.641192064162735], "dimensions": [0.19921877647245778, 0.704345677322811, 0.22070316467027806], "R_cam": [[0.9402452707290649, -0.06411099433898926, 0.33440837264060974], [0.11268508434295654, 0.9853615760803223, -0.127925306558609], [-0.32131168246269226, 0.15796402096748352, 0.9337058067321777]], "bbox3D_cam": [[-1.4145559072494507, -0.25350505113601685, 3.528012752532959], [-1.207040786743164, -0.2286350578069687, 3.4570982456207275], [-1.252197027206421, 0.4654000401496887, 3.568359375], [-1.459712028503418, 0.44053006172180176, 3.6392738819122314], [-1.347935438156128, -0.27899014949798584, 3.714024543762207], [-1.1404204368591309, -0.2541201710700989, 3.6431100368499756], [-1.1855765581130981, 0.4399149417877197, 3.754371166229248], [-1.3930916786193848, 0.41504496335983276, 3.8252856731414795]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2216, "image_id": 307, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [122.0, 0.0, 164.0, 214.0], "bbox2D_tight": [122.0, 0.0, 164.0, 214.0], "bbox2D_trunc": [122.0, 0.0, 164.0, 214.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2217, "image_id": 308, "category_id": 21, "category_name": "coral_formation", "bbox2D_proj": [127.0, 186.0, 235.0, 270.0], "bbox2D_tight": [127.0, 186.0, 235.0, 270.0], "bbox2D_trunc": [127.0, 186.0, 235.0, 270.0], "center_cam": [-0.5763389051787958, -0.18887871295883757, 3.3913896701100468], "dimensions": [0.32224752245674176, 0.6624399353239451, 0.74403372305531], "R_cam": [[0.9273725748062134, -0.22219449281692505, -0.30101442337036133], [0.25901108980178833, 0.9618600606918335, 0.08796849101781845], [0.2699876129627228, -0.1595456451177597, 0.9495534896850586]], "bbox3D_cam": [[-0.799241304397583, -0.6179962754249573, 3.190798759460449], [-0.10924485325813293, -0.4252833127975464, 3.39167857170105], [-0.256435364484787, 0.21189123392105103, 3.285989284515381], [-0.9464317560195923, 0.019178256392478943, 3.085109233856201], [-0.8962423801422119, -0.5896486639976501, 3.4967899322509766], [-0.20624598860740662, -0.39693570137023926, 3.6976699829101562], [-0.35343649983406067, 0.24023884534835815, 3.591980457305908], [-1.0434329509735107, 0.04752589762210846, 3.3911006450653076]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2218, "image_id": 308, "category_id": 25, "category_name": "fish", "bbox2D_proj": [203.0, 72.0, 283.0, 136.0], "bbox2D_tight": [203.0, 72.0, 283.0, 136.0], "bbox2D_trunc": [203.0, 72.0, 283.0, 136.0], "center_cam": [-0.04387711621667971, -0.5563677530093252, 1.6566255920354709], "dimensions": [0.07114969490807654, 0.15410046480656003, 0.3406440131220365], "R_cam": [[-0.7964706420898438, 0.0002653402043506503, -0.6046772003173828], [0.00013264130393508822, 1.0, 0.0002641000901348889], [0.6046772003173828, 0.00013014279829803854, -0.7964706420898438]], "bbox3D_cam": [[0.11327021569013596, -0.6334499716758728, 1.5819600820541382], [-0.15804272890090942, -0.6334047913551331, 1.7879397869110107], [-0.1580018401145935, -0.47930434346199036, 1.7879598140716553], [0.11331110447645187, -0.4793495237827301, 1.5819801092147827], [0.07024761289358139, -0.6334311962127686, 1.5252914428710938], [-0.201065331697464, -0.6333860158920288, 1.7312711477279663], [-0.20102444291114807, -0.4792855381965637, 1.7312911748886108], [0.07028850167989731, -0.47933071851730347, 1.5253114700317383]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2219, "image_id": 309, "category_id": 45, "category_name": "person", "bbox2D_proj": [346.0, 237.0, 366.0, 309.0], "bbox2D_tight": [346.0, 237.0, 366.0, 309.0], "bbox2D_trunc": [346.0, 237.0, 366.0, 309.0], "center_cam": [1.9518087209735544, 0.31569679030192566, 8.54073648733683], "dimensions": [0.40625016996863383, 1.3662109515599035, 0.4191896504811583], "R_cam": [[0.9711368680000305, 0.0004474520683288574, 0.23852239549160004], [0.005277276039123535, 0.999713122844696, -0.02336154878139496], [-0.23846442997455597, 0.02394600212574005, 0.9708559513092041]], "bbox3D_cam": [[1.6995079517364502, -0.3635735511779785, 8.377154350280762], [2.106598377227783, -0.36136138439178467, 8.277192115783691], [2.1072096824645996, 1.004457712173462, 8.309907913208008], [1.7001192569732666, 1.002245545387268, 8.409869194030762], [1.796407699584961, -0.37306416034698486, 8.771564483642578], [2.203498125076294, -0.370851993560791, 8.671603202819824], [2.2041094303131104, 0.9949671030044556, 8.704318046569824], [1.7970190048217773, 0.9927549362182617, 8.804280281066895]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2220, "image_id": 309, "category_id": 13, "category_name": "building", "bbox2D_proj": [37.0, 0.0, 121.0, 259.0], "bbox2D_tight": [37.0, 0.0, 121.0, 259.0], "bbox2D_trunc": [37.0, 0.0, 121.0, 259.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2221, "image_id": 309, "category_id": 45, "category_name": "person", "bbox2D_proj": [212.0, 238.0, 232.0, 298.0], "bbox2D_tight": [212.0, 238.0, 232.0, 298.0], "bbox2D_trunc": [212.0, 238.0, 232.0, 298.0], "center_cam": [-0.8378559798226849, 0.2617559525217809, 10.048592012993268], "dimensions": [0.3984375272234234, 1.3188476759418315, 0.6601562915036735], "R_cam": [[0.663052499294281, 0.013706445693969727, -0.7484474182128906], [-0.10699164867401123, 0.9913024306297302, -0.07663050293922424], [0.7408874034881592, 0.1308876872062683, 0.6587520241737366]], "bbox3D_cam": [[-0.9166486263275146, -0.34135061502456665, 9.586494445800781], [-0.47893041372299194, -0.41198188066482544, 10.07559585571289], [-0.4608537554740906, 0.8953949809074402, 10.24821662902832], [-0.8985719680786133, 0.966026246547699, 9.759115219116211], [-1.2148582935333252, -0.3718830943107605, 9.848966598510742], [-0.7771400213241577, -0.4425143599510193, 10.338068008422852], [-0.7590633630752563, 0.8648625016212463, 10.510688781738281], [-1.1967816352844238, 0.9354937672615051, 10.021587371826172]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2222, "image_id": 309, "category_id": 45, "category_name": "person", "bbox2D_proj": [184.0, 242.0, 200.0, 296.0], "bbox2D_tight": [184.0, 242.0, 200.0, 296.0], "bbox2D_trunc": [184.0, 242.0, 200.0, 296.0], "center_cam": [-1.493500368089062, 0.2889475803595112, 10.160891847673282], "dimensions": [0.39062507697495885, 1.2407226689864737, 0.44921884733985407], "R_cam": [[0.8169695138931274, 0.016169190406799316, -0.576454222202301], [-0.018871665000915527, 0.9998210668563843, 0.0012988448143005371], [0.5763720870018005, 0.009817540645599365, 0.8171284198760986]], "bbox3D_cam": [[-1.5744414329528809, -0.3273177146911621, 9.865747451782227], [-1.207443356513977, -0.33579516410827637, 10.124664306640625], [-1.1873818635940552, 0.9047055244445801, 10.136845588684082], [-1.554379940032959, 0.9131829738616943, 9.877927780151367], [-1.7996188402175903, -0.326810359954834, 10.184937477111816], [-1.4326207637786865, -0.33528780937194824, 10.443855285644531], [-1.4125592708587646, 0.9052128791809082, 10.456035614013672], [-1.7795573472976685, 0.9136903285980225, 10.197118759155273]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2223, "image_id": 309, "category_id": 45, "category_name": "person", "bbox2D_proj": [146.0, 243.0, 162.0, 289.0], "bbox2D_tight": [146.0, 243.0, 162.0, 289.0], "bbox2D_trunc": [146.0, 243.0, 162.0, 289.0], "center_cam": [-2.5952678260902196, 0.21824155763835232, 11.215742741779216], "dimensions": [0.33593749954766455, 1.1293945464668753, 0.45507815072113467], "R_cam": [[-0.9935617446899414, 0.06241440773010254, -0.09454944729804993], [0.05218607187271118, 0.9928845167160034, 0.10703721642494202], [0.1005573570728302, 0.10141392052173615, -0.9897491931915283]], "bbox3D_cam": [[-2.3885574340820312, -0.3722909092903137, 11.301840782165527], [-2.8407058715820312, -0.34854215383529663, 11.347602844238281], [-2.7702152729034424, 0.7728162407875061, 11.462139129638672], [-2.3180670738220215, 0.749067485332489, 11.416377067565918], [-2.4203202724456787, -0.33633309602737427, 10.96934700012207], [-2.8724684715270996, -0.3125843405723572, 11.015109062194824], [-2.80197811126709, 0.8087740540504456, 11.129645347595215], [-2.34982967376709, 0.7850252985954285, 11.083883285522461]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2224, "image_id": 309, "category_id": 45, "category_name": "person", "bbox2D_proj": [160.0, 242.0, 171.0, 274.0], "bbox2D_tight": [160.0, 242.0, 171.0, 274.0], "bbox2D_trunc": [160.0, 242.0, 171.0, 274.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2225, "image_id": 309, "category_id": 45, "category_name": "person", "bbox2D_proj": [269.0, 237.0, 289.0, 308.0], "bbox2D_tight": [269.0, 237.0, 289.0, 308.0], "bbox2D_trunc": [269.0, 237.0, 289.0, 308.0], "center_cam": [0.5335182094781175, 0.2980139828921633, 9.444493129794617], "dimensions": [0.4785158375858515, 1.517089859805645, 0.5000001986784928], "R_cam": [[0.3240111768245697, 0.02565741539001465, -0.9457053542137146], [0.005608916282653809, 0.9995625615119934, 0.029040250927209854], [0.946036696434021, -0.014713825657963753, 0.32372552156448364]], "bbox3D_cam": [[0.659320592880249, -0.4685494303703308, 9.141691207885742], [0.8213261365890503, -0.46574491262435913, 9.614709854125977], [0.8602507710456848, 1.0506811141967773, 9.592387199401855], [0.6982451677322388, 1.0478765964508057, 9.119369506835938], [0.20678561925888062, -0.45465320348739624, 9.296599388122559], [0.36879122257232666, -0.45184868574142456, 9.769617080688477], [0.4077158272266388, 1.064577341079712, 9.747295379638672], [0.24571022391319275, 1.0617728233337402, 9.274276733398438]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2226, "image_id": 309, "category_id": 45, "category_name": "person", "bbox2D_proj": [285.0, 239.0, 306.0, 304.0], "bbox2D_tight": [285.0, 239.0, 306.0, 304.0], "bbox2D_trunc": [285.0, 239.0, 306.0, 304.0], "center_cam": [0.821159089260306, 0.30580995068158173, 9.40013233538608], "dimensions": [0.4648442869154933, 1.326171892120397, 0.47656304276166533], "R_cam": [[-0.5998544692993164, -0.005003213882446289, 0.8000935316085815], [0.07552838325500488, 0.9951610565185547, 0.06284889578819275], [-0.7965363264083862, 0.09812992811203003, -0.5965738892555237]], "bbox3D_cam": [[0.781451404094696, -0.38667187094688416, 9.663520812988281], [0.4955829381942749, -0.35067781805992126, 9.283920288085938], [0.4889478087425232, 0.9690767526626587, 9.414057731628418], [0.7748162746429443, 0.9330826997756958, 9.793657302856445], [1.1533703804016113, -0.35745689272880554, 9.38620662689209], [0.8675018548965454, -0.32146283984184265, 9.006607055664062], [0.8608667254447937, 0.9982917308807373, 9.136743545532227], [1.1467351913452148, 0.9622976779937744, 9.51634407043457]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2227, "image_id": 309, "category_id": 45, "category_name": "person", "bbox2D_proj": [415.0, 242.0, 500.0, 460.0], "bbox2D_tight": [415.0, 242.0, 500.0, 460.0], "bbox2D_trunc": [415.0, 242.0, 500.0, 460.0], "center_cam": [1.5726645684590719, 0.6427736032225266, 3.337151013809385], "dimensions": [0.5673828880797934, 1.459716814264299, 0.6914063588997656], "R_cam": [[0.8323066234588623, -0.06056714057922363, -0.5509968400001526], [0.04512733221054077, 0.9981169700622559, -0.04154849424958229], [0.5524756908416748, 0.009715975262224674, 0.833472728729248]], "bbox3D_cam": [[1.4854519367218018, -0.08952409029006958, 2.902618169784546], [2.0609140396118164, -0.0583227276802063, 3.2846033573150635], [1.972503423690796, 1.3986451625823975, 3.298785924911499], [1.3970413208007812, 1.3674437999725342, 2.9168007373809814], [1.172825813293457, -0.11309796571731567, 3.375516176223755], [1.7482879161834717, -0.08189660310745239, 3.7575013637542725], [1.6598773002624512, 1.3750712871551514, 3.771683931350708], [1.0844151973724365, 1.343869924545288, 3.3896987438201904]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2228, "image_id": 309, "category_id": 13, "category_name": "building", "bbox2D_proj": [115.0, 0.0, 164.0, 244.0], "bbox2D_tight": [115.0, 0.0, 164.0, 244.0], "bbox2D_trunc": [115.0, 0.0, 164.0, 244.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2229, "image_id": 310, "category_id": 13, "category_name": "building", "bbox2D_proj": [103.0, 123.0, 148.0, 239.0], "bbox2D_tight": [103.0, 123.0, 148.0, 239.0], "bbox2D_trunc": [103.0, 123.0, 148.0, 239.0], "center_cam": [-4.278062175090016, -2.896621157421969, 18.747443855248225], "dimensions": [2.4375000379864087, 4.19726568265989, 4.000000034434406], "R_cam": [[-0.15089237689971924, -0.052069664001464844, 0.9871779084205627], [0.09635865688323975, 0.9930816888809204, 0.06710973381996155], [-0.9838427305221558, 0.10524946451187134, -0.14483118057250977]], "bbox3D_cam": [[-5.070125579833984, -5.255242347717285, 20.67076301574707], [-5.673695087432861, -4.869807720184326, 16.73539161682129], [-5.892245292663574, -0.7015800476074219, 17.177152633666992], [-5.288675785064697, -1.0870146751403809, 21.11252212524414], [-2.66387939453125, -5.091662406921387, 20.31773567199707], [-3.267448902130127, -4.706227779388428, 16.382366180419922], [-3.48599910736084, -0.5380001068115234, 16.824125289916992], [-2.882429599761963, -0.9234347343444824, 20.759496688842773]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2230, "image_id": 310, "category_id": 45, "category_name": "person", "bbox2D_proj": [289.0, 256.0, 331.0, 383.0], "bbox2D_tight": [289.0, 256.0, 331.0, 383.0], "bbox2D_trunc": [289.0, 256.0, 331.0, 383.0], "center_cam": [0.5892571394812436, 0.6920051206208774, 5.146386065678233], "dimensions": [0.43359376745396816, 1.338378862384955, 0.66406251392563], "R_cam": [[0.5556368827819824, 0.001913905143737793, 0.8314228057861328], [0.0842515230178833, 0.9947201609611511, -0.05859466642141342], [-0.8271452188491821, 0.10260595381259918, 0.552541971206665]], "bbox3D_cam": [[0.22323769330978394, 0.011077821254730225, 5.232572078704834], [0.5922152996063232, 0.06702607870101929, 4.683295726776123], [0.5947767496109009, 1.3983385562896729, 4.820621490478516], [0.22579914331436157, 1.3423902988433838, 5.369897842407227], [0.5837374925613403, -0.014328420162200928, 5.472150802612305], [0.9527150988578796, 0.041619837284088135, 4.922874450683594], [0.9552765488624573, 1.3729324340820312, 5.060200214385986], [0.586298942565918, 1.3169841766357422, 5.609476566314697]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2231, "image_id": 310, "category_id": 45, "category_name": "person", "bbox2D_proj": [331.0, 256.0, 370.0, 372.0], "bbox2D_tight": [331.0, 256.0, 370.0, 372.0], "bbox2D_trunc": [331.0, 256.0, 370.0, 372.0], "center_cam": [1.159743317344647, 0.7123812465569407, 5.575584251129996], "dimensions": [0.4531251115866023, 1.385253858785918, 0.5000001258913425], "R_cam": [[0.7414425611495972, -0.003957033157348633, -0.6710047125816345], [-0.04334557056427002, 0.9976116418838501, -0.05377858877182007], [0.6696149110794067, 0.06895875930786133, 0.7395002841949463]], "bbox3D_cam": [[1.1291478872299194, 0.044429123401641846, 5.192874908447266], [1.4998692274093628, 0.02275639772415161, 5.527682304382324], [1.4943878650665283, 1.4047017097473145, 5.623208045959473], [1.123666524887085, 1.4263744354248047, 5.288400173187256], [0.8250987529754639, 0.020060718059539795, 5.527960777282715], [1.1958200931549072, -0.0016120076179504395, 5.862768650054932], [1.1903387308120728, 1.380333423614502, 5.958293914794922], [0.8196173906326294, 1.4020061492919922, 5.623486518859863]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2232, "image_id": 310, "category_id": 45, "category_name": "person", "bbox2D_proj": [379.0, 248.0, 417.0, 371.0], "bbox2D_tight": [379.0, 248.0, 417.0, 371.0], "bbox2D_trunc": [379.0, 248.0, 417.0, 371.0], "center_cam": [1.7242991359177937, 0.6043919956939559, 5.43515711635355], "dimensions": [0.4433594116328935, 1.4157714360278522, 0.5585938019800565], "R_cam": [[0.7688287496566772, -0.04323780536651611, -0.6379913091659546], [0.039108991622924805, 0.9990230798721313, -0.020576149225234985], [0.6382577419281006, -0.009131699800491333, 0.7697685956954956]], "bbox3D_cam": [[1.6816048622131348, -0.10916393995285034, 5.092716217041016], [2.111067771911621, -0.08731788396835327, 5.44924259185791], [2.0498528480529785, 1.3270704746246338, 5.436314582824707], [1.6203900575637817, 1.3052244186401367, 5.079787731170654], [1.3987454175949097, -0.11828655004501343, 5.434000015258789], [1.828208327293396, -0.09644049406051636, 5.790526866912842], [1.766993522644043, 1.3179478645324707, 5.7775983810424805], [1.3375306129455566, 1.2961018085479736, 5.421072006225586]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2233, "image_id": 310, "category_id": 45, "category_name": "person", "bbox2D_proj": [116.0, 253.0, 140.0, 324.0], "bbox2D_tight": [116.0, 253.0, 140.0, 324.0], "bbox2D_trunc": [116.0, 253.0, 140.0, 324.0], "center_cam": [-2.012827682266093, 0.4861032909000459, 7.021722956955304], "dimensions": [0.3828125214957145, 1.0739745738124467, 0.46093750248219323], "R_cam": [[-0.20057854056358337, -0.062078118324279785, 0.9777088165283203], [0.018874406814575195, 0.9975602626800537, 0.06721064448356628], [-0.9794957637786865, 0.0319347083568573, -0.19891750812530518]], "bbox3D_cam": [[-2.1204049587249756, -0.06678837537765503, 7.2683916091918945], [-2.2128591537475586, -0.058088481426239014, 6.8169050216674805], [-2.279529571533203, 1.01326584815979, 6.851202011108398], [-2.18707537651062, 1.004565954208374, 7.3026885986328125], [-1.7461258172988892, -0.04105931520462036, 7.192243576049805], [-1.8385800123214722, -0.032359421253204346, 6.740756988525391], [-1.9052503108978271, 1.0389950275421143, 6.775053977966309], [-1.8127961158752441, 1.0302951335906982, 7.226540565490723]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2234, "image_id": 310, "category_id": 45, "category_name": "person", "bbox2D_proj": [183.0, 258.0, 212.0, 342.0], "bbox2D_tight": [183.0, 258.0, 212.0, 342.0], "bbox2D_trunc": [183.0, 258.0, 212.0, 342.0], "center_cam": [-0.8839486210886729, 0.6204304566640446, 6.317107661582973], "dimensions": [0.46484376277049194, 1.1455077760369914, 0.5209351005412012], "R_cam": [[-0.9837721586227417, 0.05337190628051758, 0.17130035161972046], [0.04000192880630493, 0.9959455728530884, -0.08057529479265213], [-0.17490626871585846, -0.07241538912057877, -0.9819185733795166]], "bbox3D_cam": [[-0.6980907917022705, 0.058306992053985596, 6.632360458374023], [-1.2105722427368164, 0.07914549112319946, 6.541245937347412], [-1.1494343280792236, 1.2200088500976562, 6.458293437957764], [-0.6369529366493225, 1.1991703510284424, 6.549408435821533], [-0.618462860584259, 0.02085202932357788, 6.17592191696167], [-1.1309443712234497, 0.04169052839279175, 6.0848069190979], [-1.069806456565857, 1.182554006576538, 6.00185489654541], [-0.557325005531311, 1.1617155075073242, 6.0929694175720215]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2235, "image_id": 310, "category_id": 50, "category_name": "plastic_bag", "bbox2D_proj": [480.0, 322.0, 512.0, 391.0], "bbox2D_tight": [480.0, 322.0, 512.0, 391.0], "bbox2D_trunc": [480.0, 322.0, 512.0, 391.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2236, "image_id": 310, "category_id": 45, "category_name": "person", "bbox2D_proj": [496.0, 391.0, 512.0, 466.0], "bbox2D_tight": [496.0, 391.0, 512.0, 466.0], "bbox2D_trunc": [496.0, 391.0, 512.0, 466.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2237, "image_id": 310, "category_id": 27, "category_name": "flagpole", "bbox2D_proj": [100.0, 169.0, 123.0, 253.0], "bbox2D_tight": [100.0, 169.0, 123.0, 253.0], "bbox2D_trunc": [100.0, 169.0, 123.0, 253.0], "center_cam": [-5.2071036262336685, -1.7026345999422854, 15.923811448520246], "dimensions": [0.2297429820231443, 3.325300666509918, 3.0050104676169602], "R_cam": [[0.0921328067779541, 0.017076879739761353, 0.9956002235412598], [0.012015819549560547, 0.9997611045837402, -0.018260180950164795], [-0.9956742525100708, 0.013645291328430176, 0.09190574288368225]], "bbox3D_cam": [[-5.488292694091797, -3.3808436393737793, 17.386573791503906], [-5.211432456970215, -3.344736099243164, 14.394561767578125], [-5.154646873474121, -0.02023017406463623, 14.439935684204102], [-5.431507110595703, -0.056337714195251465, 17.431947708129883], [-5.259560585021973, -3.3850388526916504, 17.40768814086914], [-4.982700347900391, -3.348931312561035, 14.41567611694336], [-4.925914764404297, -0.024425387382507324, 14.461050987243652], [-5.202775001525879, -0.06053292751312256, 17.453062057495117]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2238, "image_id": 310, "category_id": 45, "category_name": "person", "bbox2D_proj": [159.0, 257.0, 184.0, 343.0], "bbox2D_tight": [159.0, 257.0, 184.0, 343.0], "bbox2D_trunc": [159.0, 257.0, 184.0, 343.0], "center_cam": [-1.1546708273802169, 0.5802181617264861, 6.081779488464472], "dimensions": [0.32421876230034324, 1.0859374626482037, 0.367187531809655], "R_cam": [[0.978157103061676, 0.008542656898498535, 0.20769132673740387], [-0.027744412422180176, 0.9955807328224182, 0.08971717953681946], [-0.20600706338882446, -0.09351976215839386, 0.9740715026855469]], "bbox3D_cam": [[-1.3725614547729492, 0.03019857406616211, 6.012473106384277], [-1.0133943557739258, 0.020011186599731445, 5.936830043792725], [-1.0041176080703735, 1.1011496782302856, 5.835273265838623], [-1.363284707069397, 1.1113370656967163, 5.910916805267334], [-1.305224061012268, 0.05928659439086914, 6.3282856941223145], [-0.9460569620132446, 0.04909920692443848, 6.2526421546936035], [-0.9367801547050476, 1.1302376985549927, 6.15108585357666], [-1.2959473133087158, 1.1404250860214233, 6.226728916168213]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2239, "image_id": 310, "category_id": 13, "category_name": "building", "bbox2D_proj": [191.0, 0.0, 251.0, 259.0], "bbox2D_tight": [191.0, 0.0, 251.0, 259.0], "bbox2D_trunc": [191.0, 0.0, 251.0, 259.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2240, "image_id": 311, "category_id": 26, "category_name": "flag", "bbox2D_proj": [194.0, 6.0, 242.0, 85.0], "bbox2D_tight": [194.0, 6.0, 242.0, 85.0], "bbox2D_trunc": [194.0, 6.0, 242.0, 85.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2241, "image_id": 311, "category_id": 13, "category_name": "building", "bbox2D_proj": [226.0, 142.0, 255.0, 240.0], "bbox2D_tight": [226.0, 142.0, 255.0, 240.0], "bbox2D_trunc": [226.0, 142.0, 255.0, 240.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2242, "image_id": 311, "category_id": 33, "category_name": "jacket", "bbox2D_proj": [192.0, 249.0, 245.0, 315.0], "bbox2D_tight": [192.0, 249.0, 245.0, 315.0], "bbox2D_trunc": [192.0, 249.0, 245.0, 315.0], "center_cam": [-0.38428503789191737, 0.3024035567069721, 4.92575214942994], "dimensions": [0.2734375145363189, 0.7685547167992449, 0.5883789372849152], "R_cam": [[0.9464794993400574, -0.07750141620635986, -0.31332120299339294], [0.009185194969177246, 0.9768181443214417, -0.2138737291097641], [0.3226333558559418, 0.19954916834831238, 0.9252502918243408]], "bbox3D_cam": [[-0.5901104211807251, -0.0464271605014801, 4.627655506134033], [-0.03322184085845947, -0.04102274775505066, 4.81748628616333], [-0.09278589487075806, 0.7097153663635254, 4.970850467681885], [-0.6496744751930237, 0.7043110132217407, 4.781020164489746], [-0.675784170627594, -0.10490825772285461, 4.8806538581848145], [-0.11889559030532837, -0.09950384497642517, 5.070484161376953], [-0.17845964431762695, 0.6512342691421509, 5.223848819732666], [-0.7353482246398926, 0.6458299160003662, 5.034018039703369]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2243, "image_id": 311, "category_id": 45, "category_name": "person", "bbox2D_proj": [0.0, 230.0, 24.0, 427.0], "bbox2D_tight": [0.0, 230.0, 24.0, 427.0], "bbox2D_trunc": [0.0, 230.0, 24.0, 427.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2244, "image_id": 311, "category_id": 45, "category_name": "person", "bbox2D_proj": [384.0, 249.0, 414.0, 357.0], "bbox2D_tight": [384.0, 249.0, 414.0, 357.0], "bbox2D_trunc": [384.0, 249.0, 414.0, 357.0], "center_cam": [2.1834062118659388, 0.6733342525152576, 6.695603999016706], "dimensions": [0.4091797082414821, 1.5571289593478121, 0.7148437876467272], "R_cam": [[-0.07212021946907043, -0.04601442813873291, 0.9963339567184448], [-0.09255802631378174, 0.9949333667755127, 0.03924989700317383], [-0.9930919408798218, -0.08938804268836975, -0.07601392269134521]], "bbox3D_cam": [[2.0411689281463623, -0.07623332738876343, 7.135702610015869], [1.9896141290664673, -0.142397940158844, 6.425796985626221], [1.9179637432098389, 1.406841516494751, 6.2866082191467285], [1.9695184230804443, 1.473006248474121, 6.996513843536377], [2.4488484859466553, -0.060173094272613525, 7.104599475860596], [2.39729380607605, -0.1263377070426941, 6.394693851470947], [2.325643301010132, 1.4229018688201904, 6.255505084991455], [2.3771982192993164, 1.4890663623809814, 6.9654107093811035]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2245, "image_id": 311, "category_id": 74, "category_name": "trousers", "bbox2D_proj": [202.0, 306.0, 240.0, 392.0], "bbox2D_tight": [202.0, 306.0, 240.0, 392.0], "bbox2D_trunc": [202.0, 306.0, 240.0, 392.0], "center_cam": [-0.3640445817685917, 0.9253940876687692, 4.5453569458136], "dimensions": [0.2734375139742917, 0.8718262003975462, 0.40527345816554056], "R_cam": [[0.9634417295455933, -0.02352166175842285, 0.2668832838535309], [0.01622384786605835, 0.9994325637817383, 0.029516950249671936], [-0.26742613315582275, -0.02410799264907837, 0.963276743888855]], "bbox3D_cam": [[-0.5855078101158142, 0.4824052155017853, 4.478358268737793], [-0.1950504183769226, 0.48898032307624817, 4.3699774742126465], [-0.21555721759796143, 1.3603118658065796, 4.348959445953369], [-0.606014609336853, 1.3537367582321167, 4.457340240478516], [-0.5125319361686707, 0.4904762804508209, 4.741754055023193], [-0.12207454442977905, 0.4970513880252838, 4.633373260498047], [-0.14258134365081787, 1.3683829307556152, 4.6123552322387695], [-0.5330387353897095, 1.3618078231811523, 4.720736026763916]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2246, "image_id": 311, "category_id": 45, "category_name": "person", "bbox2D_proj": [409.0, 223.0, 437.0, 325.0], "bbox2D_tight": [409.0, 223.0, 437.0, 325.0], "bbox2D_trunc": [409.0, 223.0, 437.0, 325.0], "center_cam": [2.753912686827811, 0.2838532693097199, 7.497150807102716], "dimensions": [0.4570312734777098, 1.676025446264132, 0.5742187796911544], "R_cam": [[0.09361863136291504, 0.001988649368286133, 0.9956060647964478], [0.0322037935256958, 0.9994686841964722, -0.005024552345275879], [-0.9950871467590332, 0.03253266215324402, 0.0935049057006836]], "bbox3D_cam": [[2.4978556632995605, -0.5618120431900024, 7.734219551086426], [2.5516133308410645, -0.5433200597763062, 7.1628217697143555], [2.5549464225769043, 1.1318148374557495, 7.217347621917725], [2.5011887550354004, 1.1133228540420532, 7.788744926452637], [2.952878952026367, -0.5641083717346191, 7.776954174041748], [3.006636619567871, -0.5456163883209229, 7.205556869506836], [3.009969711303711, 1.1295185089111328, 7.260082244873047], [2.956212043762207, 1.1110265254974365, 7.831480026245117]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2247, "image_id": 311, "category_id": 3, "category_name": "banner", "bbox2D_proj": [346.0, 219.0, 361.0, 279.0], "bbox2D_tight": [346.0, 219.0, 361.0, 279.0], "bbox2D_trunc": [346.0, 219.0, 361.0, 279.0], "center_cam": [2.7127407972497797, -0.09552177619012409, 12.392215004008015], "dimensions": [0.4296875229708529, 1.8125000629603238, 0.4550781490092619], "R_cam": [[-0.9974468946456909, 0.017479419708251953, 0.0692395567893982], [0.027643263339996338, 0.9884992837905884, 0.14867761731147766], [-0.06584446132183075, 0.15021203458309174, -0.9864587783813477]], "bbox3D_cam": [[2.908982753753662, -1.0295817852020264, 12.483001708984375], [2.455066442489624, -1.0170018672943115, 12.45303726196289], [2.4867477416992188, 0.7746531963348389, 12.725296974182129], [2.940664052963257, 0.762073278427124, 12.755261421203613], [2.9387340545654297, -0.9656968116760254, 12.05913257598877], [2.4848177433013916, -0.9531168937683105, 12.029168128967285], [2.5164990425109863, 0.8385381698608398, 12.301427841186523], [2.9704153537750244, 0.825958251953125, 12.331392288208008]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2248, "image_id": 311, "category_id": 45, "category_name": "person", "bbox2D_proj": [7.0, 247.0, 105.0, 512.0], "bbox2D_tight": [7.0, 247.0, 105.0, 512.0], "bbox2D_trunc": [7.0, 247.0, 105.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2249, "image_id": 311, "category_id": 58, "category_name": "signboard", "bbox2D_proj": [445.0, 43.0, 512.0, 147.0], "bbox2D_tight": [445.0, 43.0, 512.0, 147.0], "bbox2D_trunc": [445.0, 43.0, 512.0, 147.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2250, "image_id": 311, "category_id": 45, "category_name": "person", "bbox2D_proj": [138.0, 250.0, 156.0, 295.0], "bbox2D_tight": [138.0, 250.0, 156.0, 295.0], "bbox2D_trunc": [138.0, 250.0, 156.0, 295.0], "center_cam": [-2.780626051694283, 0.36498775368636105, 11.210169135266774], "dimensions": [0.3593750188097449, 1.1118164435085656, 0.406860372686528], "R_cam": [[0.9758864641189575, -0.058266520500183105, -0.21035870909690857], [0.0714007019996643, 0.9959088563919067, 0.05538623034954071], [0.20627093315124512, -0.06907043606042862, 0.9760541915893555]], "bbox3D_cam": [[-2.908961296081543, -0.2131233513355255, 11.031219482421875], [-2.511911630630493, -0.18407323956489563, 11.115142822265625], [-2.576693296432495, 0.9231945276260376, 11.038349151611328], [-2.973742723464966, 0.8941444158554077, 10.954425811767578], [-2.9845588207244873, -0.19321897625923157, 11.381988525390625], [-2.5875093936920166, -0.16416886448860168, 11.465911865234375], [-2.6522908210754395, 0.9430989027023315, 11.389118194580078], [-3.0493404865264893, 0.9140487909317017, 11.305194854736328]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2251, "image_id": 311, "category_id": 26, "category_name": "flag", "bbox2D_proj": [279.0, 108.0, 301.0, 145.0], "bbox2D_tight": [279.0, 108.0, 301.0, 145.0], "bbox2D_trunc": [279.0, 108.0, 301.0, 145.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2252, "image_id": 311, "category_id": 45, "category_name": "person", "bbox2D_proj": [274.0, 254.0, 288.0, 321.0], "bbox2D_tight": [274.0, 254.0, 288.0, 321.0], "bbox2D_trunc": [274.0, 254.0, 288.0, 321.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2253, "image_id": 311, "category_id": 13, "category_name": "building", "bbox2D_proj": [195.0, 114.0, 226.0, 191.0], "bbox2D_tight": [195.0, 114.0, 226.0, 191.0], "bbox2D_trunc": [195.0, 114.0, 226.0, 191.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2254, "image_id": 311, "category_id": 45, "category_name": "person", "bbox2D_proj": [238.0, 243.0, 285.0, 404.0], "bbox2D_tight": [238.0, 243.0, 285.0, 404.0], "bbox2D_trunc": [238.0, 243.0, 285.0, 404.0], "center_cam": [0.06840440376260667, 0.6313132886771768, 4.5413006660667765], "dimensions": [0.44140627266901344, 1.509277393303042, 0.7207031619803901], "R_cam": [[-0.2698238790035248, -0.0027585625648498535, -0.9629057049751282], [-0.011723518371582031, 0.9999310970306396, 0.00042057037353515625], [0.9628382921218872, 0.01140207052230835, -0.2698376178741455]], "bbox3D_cam": [[0.38023385405540466, -0.11914169788360596, 4.2452898025512695], [0.18577098846435547, -0.12759089469909668, 4.939210414886475], [0.18160760402679443, 1.3815826177597046, 4.956419467926025], [0.37607046961784363, 1.3900318145751953, 4.26249885559082], [-0.04479878395795822, -0.11895608901977539, 4.1261820793151855], [-0.239261656999588, -0.1274052858352661, 4.820102691650391], [-0.24342504143714905, 1.3817682266235352, 4.837311744689941], [-0.04896218329668045, 1.3902174234390259, 4.143391132354736]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2255, "image_id": 311, "category_id": 13, "category_name": "building", "bbox2D_proj": [254.0, 0.0, 281.0, 242.0], "bbox2D_tight": [254.0, 0.0, 281.0, 242.0], "bbox2D_trunc": [254.0, 0.0, 281.0, 242.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2256, "image_id": 312, "category_id": 45, "category_name": "person", "bbox2D_proj": [251.0, 203.0, 449.0, 512.0], "bbox2D_tight": [251.0, 203.0, 449.0, 512.0], "bbox2D_trunc": [251.0, 203.0, 449.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2257, "image_id": 312, "category_id": 13, "category_name": "building", "bbox2D_proj": [203.0, 95.0, 237.0, 251.0], "bbox2D_tight": [203.0, 95.0, 237.0, 251.0], "bbox2D_trunc": [203.0, 95.0, 237.0, 251.0], "center_cam": [-1.093550639637809, -2.520109100056141, 13.335514030687767], "dimensions": [0.8068410384806164, 4.428341157752083, 1.4360961782982624], "R_cam": [[0.6819407939910889, -0.09526300430297852, 0.7251770496368408], [0.1323600858449936, 0.9911853075027466, 0.005738616455346346], [-0.7193313837051392, 0.09207109361886978, 0.6885387897491455]], "bbox3D_cam": [[-1.664839744567871, -4.812118053436279, 13.370396614074707], [-0.6855071187019348, -4.622036457061768, 12.33736801147461], [-1.1073641777038574, -0.23273038864135742, 12.74509048461914], [-2.0866968631744385, -0.42281198501586914, 13.778119087219238], [-1.0797371864318848, -4.807487964630127, 13.92593765258789], [-0.10040456056594849, -4.617406368255615, 12.892909049987793], [-0.5222616791725159, -0.22810029983520508, 13.300631523132324], [-1.5015943050384521, -0.4181818962097168, 14.333660125732422]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2258, "image_id": 312, "category_id": 13, "category_name": "building", "bbox2D_proj": [175.0, 113.0, 207.0, 249.0], "bbox2D_tight": [175.0, 113.0, 207.0, 249.0], "bbox2D_trunc": [175.0, 113.0, 207.0, 249.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2259, "image_id": 312, "category_id": 45, "category_name": "person", "bbox2D_proj": [179.0, 244.0, 208.0, 323.0], "bbox2D_tight": [179.0, 244.0, 208.0, 323.0], "bbox2D_trunc": [179.0, 244.0, 208.0, 323.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2260, "image_id": 312, "category_id": 45, "category_name": "person", "bbox2D_proj": [257.0, 243.0, 280.0, 302.0], "bbox2D_tight": [257.0, 243.0, 280.0, 302.0], "bbox2D_trunc": [257.0, 243.0, 280.0, 302.0], "center_cam": [0.22284134871255873, 0.2804498774841108, 7.729770861501931], "dimensions": [0.343750026246037, 1.0461426147498072, 0.36547853196850033], "R_cam": [[-0.9996806979179382, 0.021007299423217773, 0.014050817117094994], [0.021666884422302246, 0.9985844492912292, 0.04857947677373886], [-0.013010403141379356, 0.04886839911341667, -0.998720645904541]], "bbox3D_cam": [[0.39211902022361755, -0.2541899085044861, 7.878241539001465], [0.02675718069076538, -0.2462710738182068, 7.873486518859863], [0.04873371124267578, 0.7983904480934143, 7.924610137939453], [0.41409555077552795, 0.790471613407135, 7.929365158081055], [0.39694899320602417, -0.237490713596344, 7.534931182861328], [0.031587153673172, -0.2295718789100647, 7.530176162719727], [0.0535636842250824, 0.8150896430015564, 7.581299781799316], [0.41892552375793457, 0.8071708083152771, 7.586054801940918]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2261, "image_id": 312, "category_id": 45, "category_name": "person", "bbox2D_proj": [234.0, 241.0, 256.0, 306.0], "bbox2D_tight": [234.0, 241.0, 256.0, 306.0], "bbox2D_trunc": [234.0, 241.0, 256.0, 306.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2262, "image_id": 312, "category_id": 45, "category_name": "person", "bbox2D_proj": [136.0, 250.0, 155.0, 288.0], "bbox2D_tight": [136.0, 250.0, 155.0, 288.0], "bbox2D_trunc": [136.0, 250.0, 155.0, 288.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2263, "image_id": 312, "category_id": 45, "category_name": "person", "bbox2D_proj": [318.0, 246.0, 328.0, 254.0], "bbox2D_tight": [318.0, 246.0, 328.0, 254.0], "bbox2D_trunc": [318.0, 246.0, 328.0, 254.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2264, "image_id": 313, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [0.0, 76.0, 30.0, 217.0], "bbox2D_tight": [0.0, 76.0, 30.0, 217.0], "bbox2D_trunc": [0.0, 76.0, 30.0, 217.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2265, "image_id": 313, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [203.0, 91.0, 281.0, 156.0], "bbox2D_tight": [203.0, 91.0, 281.0, 156.0], "bbox2D_trunc": [203.0, 91.0, 281.0, 156.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2266, "image_id": 313, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [22.0, 138.0, 83.0, 211.0], "bbox2D_tight": [22.0, 138.0, 83.0, 211.0], "bbox2D_trunc": [22.0, 138.0, 83.0, 211.0], "center_cam": [-1.1508343039685682, -0.4598479238021289, 2.5063837783437677], "dimensions": [0.10612781544128502, 0.40344955141775124, 0.3043793424905312], "R_cam": [[0.8852035403251648, 0.00167793408036232, -0.46520093083381653], [-0.0011126358294859529, 0.9999980926513672, 0.001489726360887289], [0.46520259976387024, -0.0008011117461137474, 0.8852037191390991]], "bbox3D_cam": [[-1.2612062692642212, -0.6614820957183838, 2.3887741565704346], [-0.9917685985565186, -0.6618207693099976, 2.530372142791748], [-0.9910916090011597, -0.25837188959121704, 2.5300488471984863], [-1.2605292797088623, -0.25803321599960327, 2.388450860977173], [-1.3105770349502563, -0.6613239645957947, 2.4827189445495605], [-1.0411393642425537, -0.6616626381874084, 2.624316930770874], [-1.0404623746871948, -0.25821375846862793, 2.6239936351776123], [-1.3099000453948975, -0.25787508487701416, 2.482395648956299]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2267, "image_id": 313, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [342.0, 19.0, 358.0, 138.0], "bbox2D_tight": [342.0, 19.0, 358.0, 138.0], "bbox2D_trunc": [342.0, 19.0, 358.0, 138.0], "center_cam": [0.5884624714536849, -1.0760233383498388, 2.7185267822469354], "dimensions": [0.1093750023772461, 0.676147462761387, 0.12695312886660085], "R_cam": [[-0.43929335474967957, 0.1320359706878662, -0.8885875940322876], [-0.3747737407684326, 0.8720166683197021, 0.3148515820503235], [0.816434919834137, 0.47133150696754456, -0.33358752727508545]], "bbox3D_cam": [[0.6203040480613708, -1.3642584085464478, 2.5256006717681885], [0.5645343661308289, -1.411837100982666, 2.6292495727539062], [0.6538101434707642, -0.8222252130508423, 2.947939157485962], [0.7095798254013062, -0.774646520614624, 2.844290256500244], [0.523114800453186, -1.3298214673995972, 2.48911452293396], [0.46734511852264404, -1.3774001598358154, 2.5927634239196777], [0.5566208958625793, -0.7877882719039917, 2.9114530086517334], [0.6123905777931213, -0.7402095794677734, 2.8078041076660156]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2268, "image_id": 313, "category_id": 47, "category_name": "pipe", "bbox2D_proj": [283.0, 315.0, 512.0, 338.0], "bbox2D_tight": [283.0, 315.0, 512.0, 338.0], "bbox2D_trunc": [283.0, 315.0, 512.0, 338.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2269, "image_id": 313, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [354.0, 0.0, 422.0, 137.0], "bbox2D_tight": [354.0, 0.0, 422.0, 137.0], "bbox2D_trunc": [354.0, 0.0, 422.0, 137.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2270, "image_id": 313, "category_id": 54, "category_name": "sculpture", "bbox2D_proj": [232.0, 235.0, 328.0, 258.0], "bbox2D_tight": [232.0, 235.0, 328.0, 258.0], "bbox2D_trunc": [232.0, 235.0, 328.0, 258.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2271, "image_id": 313, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [177.0, 113.0, 206.0, 159.0], "bbox2D_tight": [177.0, 113.0, 206.0, 159.0], "bbox2D_trunc": [177.0, 113.0, 206.0, 159.0], "center_cam": [-0.42253096140537794, -0.7838774443518761, 2.852438675940853], "dimensions": [0.18332479136399785, 0.33097283535437666, 0.24042749241282887], "R_cam": [[0.7273889780044556, -0.02333483099937439, 0.685828447341919], [0.0936974585056305, 0.9934388995170593, -0.06557440757751465], [-0.6797984838485718, 0.11195850372314453, 0.7248029112815857]], "bbox3D_cam": [[-0.5689761638641357, -0.9535310864448547, 2.8491950035095215], [-0.3940918743610382, -0.9310036301612854, 2.6857528686523438], [-0.4018150866031647, -0.6022023558616638, 2.7228078842163086], [-0.5766993761062622, -0.6247298121452332, 2.8862502574920654], [-0.4432468116283417, -0.9655525088310242, 2.982069492340088], [-0.26836252212524414, -0.9430250525474548, 2.818627119064331], [-0.2760857045650482, -0.6142237782478333, 2.855682373046875], [-0.45097002387046814, -0.6367512345314026, 3.0191245079040527]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2272, "image_id": 313, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [426.0, 0.0, 475.0, 125.0], "bbox2D_tight": [426.0, 0.0, 475.0, 125.0], "bbox2D_trunc": [426.0, 0.0, 475.0, 125.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2273, "image_id": 313, "category_id": 62, "category_name": "statue", "bbox2D_proj": [259.0, 118.0, 305.0, 240.0], "bbox2D_tight": [259.0, 118.0, 305.0, 240.0], "bbox2D_trunc": [259.0, 118.0, 305.0, 240.0], "center_cam": [0.17936627351056708, -0.5056653444908781, 2.910438411378424], "dimensions": [0.2353515714401724, 0.7634277371122717, 0.2753906350430278], "R_cam": [[0.7316822409629822, 0.03471779823303223, -0.6807611584663391], [-0.2900364398956299, 0.919643223285675, -0.26483073830604553], [0.6168630123138428, 0.3912174105644226, 0.6829559803009033]], "bbox3D_cam": [[0.1454738825559616, -0.7856050729751587, 2.5957987308502197], [0.34697234630584717, -0.8654783964157104, 2.765676975250244], [0.37347686290740967, -0.16339731216430664, 3.064343214035034], [0.1719784289598465, -0.08352398872375488, 2.8944649696350098], [-0.01474432647228241, -0.8479334115982056, 2.75653338432312], [0.18675412237644196, -0.9278067350387573, 2.9264116287231445], [0.21325866878032684, -0.22572565078735352, 3.2250778675079346], [0.011760219931602478, -0.14585232734680176, 3.05519962310791]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2274, "image_id": 313, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [126.0, 19.0, 173.0, 172.0], "bbox2D_tight": [126.0, 19.0, 173.0, 172.0], "bbox2D_trunc": [126.0, 19.0, 173.0, 172.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2275, "image_id": 313, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [259.0, 24.0, 309.0, 148.0], "bbox2D_tight": [259.0, 24.0, 309.0, 148.0], "bbox2D_trunc": [259.0, 24.0, 309.0, 148.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2276, "image_id": 314, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [203.0, 91.0, 280.0, 155.0], "bbox2D_tight": [203.0, 91.0, 280.0, 155.0], "bbox2D_trunc": [203.0, 91.0, 280.0, 155.0], "center_cam": [-0.137546549967975, -0.7088614577997943, 2.9276680644356152], "dimensions": [0.3226812499139781, 0.5552004889843972, 0.6009359862267628], "R_cam": [[-0.9508167505264282, 0.0015926060732454062, 0.30974987149238586], [0.008120103739202023, 0.9997711777687073, 0.019785165786743164], [-0.3096475303173065, 0.02132725715637207, -0.9506121277809143]], "bbox3D_cam": [[0.09772612154483795, -0.9920302629470825, 3.168159246444702], [-0.47365397214889526, -0.9871505498886108, 2.9820809364318848], [-0.47276973724365234, -0.432077020406723, 2.9939217567443848], [0.09861035645008087, -0.4369566738605499, 3.180000066757202], [0.1976766139268875, -0.9856458902359009, 2.8614144325256348], [-0.3737034797668457, -0.9807662963867188, 2.6753361225128174], [-0.3728192448616028, -0.42569270730018616, 2.6871769428253174], [0.19856084883213043, -0.43057236075401306, 2.8732552528381348]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2277, "image_id": 314, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [125.0, 18.0, 172.0, 172.0], "bbox2D_tight": [125.0, 18.0, 172.0, 172.0], "bbox2D_trunc": [125.0, 18.0, 172.0, 172.0], "center_cam": [-0.6192118010572563, -0.8906669352424141, 2.5793895891065493], "dimensions": [0.24555637380403783, 0.7323675209819102, 0.5077968434586033], "R_cam": [[-0.2356492280960083, 0.0013281216379255056, -0.9718373417854309], [0.0005632906686514616, 0.9999991655349731, 0.0012300221715122461], [0.9718380570411682, -0.00025757314870133996, -0.23564964532852173]], "bbox3D_cam": [[-0.44054675102233887, -1.2571444511413574, 2.361668348312378], [-0.5602086782455444, -1.2568583488464355, 2.8551647663116455], [-0.5592359900474548, -0.524491548538208, 2.854975938796997], [-0.43957406282424927, -0.5247775316238403, 2.3614797592163086], [-0.6791875958442688, -1.2568423748016357, 2.3038032054901123], [-0.7988495230674744, -1.2565563917160034, 2.797299385070801], [-0.7978768348693848, -0.5241894721984863, 2.7971107959747314], [-0.6782149076461792, -0.5244755744934082, 2.303614377975464]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2278, "image_id": 314, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [21.0, 138.0, 82.0, 210.0], "bbox2D_tight": [21.0, 138.0, 82.0, 210.0], "bbox2D_trunc": [21.0, 138.0, 82.0, 210.0], "center_cam": [-1.2204310842341244, -0.4464296990633066, 2.6344840729750763], "dimensions": [0.23046875591539084, 0.42919921182311804, 0.31835938860288227], "R_cam": [[0.820952296257019, 0.07444608211517334, 0.5661228895187378], [-0.05365884304046631, 0.9971351623535156, -0.053312599658966064], [-0.5684699416160583, 0.013389617204666138, 0.8225951194763184]], "bbox3D_cam": [[-1.4323229789733887, -0.645729660987854, 2.6273083686828613], [-1.1709650754928589, -0.6628124713897705, 2.4463305473327637], [-1.1390128135681152, -0.23484282195568085, 2.4520773887634277], [-1.400370717048645, -0.21776004135608673, 2.6330552101135254], [-1.301849365234375, -0.658016562461853, 2.8168907165527344], [-1.0404914617538452, -0.6750993728637695, 2.6359128952026367], [-1.0085391998291016, -0.24712972342967987, 2.641659736633301], [-1.2698971033096313, -0.23004694283008575, 2.8226375579833984]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2279, "image_id": 314, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [0.0, 75.0, 29.0, 216.0], "bbox2D_tight": [0.0, 75.0, 29.0, 216.0], "bbox2D_trunc": [0.0, 75.0, 29.0, 216.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2280, "image_id": 314, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [309.0, 39.0, 334.0, 150.0], "bbox2D_tight": [309.0, 39.0, 334.0, 150.0], "bbox2D_trunc": [309.0, 39.0, 334.0, 150.0], "center_cam": [0.4301839077988875, -1.0388381533512694, 2.841464982270552], "dimensions": [0.15307617163073184, 0.643615712099065, 0.2109374913416559], "R_cam": [[0.03195634484291077, 0.057172536849975586, -0.9978528022766113], [-0.20391058921813965, 0.9777379035949707, 0.04948979616165161], [0.9784678816795349, 0.2018912136554718, 0.04290294647216797]], "bbox3D_cam": [[0.4847886860370636, -1.3357634544372559, 2.670013427734375], [0.4915294647216797, -1.3787758350372314, 2.876408815383911], [0.5283266305923462, -0.7494884729385376, 3.0063493251800537], [0.5215858221054077, -0.706476092338562, 2.7999536991119385], [0.3320412337779999, -1.3281878232955933, 2.6765806674957275], [0.33878201246261597, -1.3712002038955688, 2.8829762935638428], [0.3755791485309601, -0.7419127821922302, 3.0129165649414062], [0.368838369846344, -0.6989004015922546, 2.80652117729187]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2281, "image_id": 314, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [341.0, 20.0, 357.0, 138.0], "bbox2D_tight": [341.0, 20.0, 357.0, 138.0], "bbox2D_trunc": [341.0, 20.0, 357.0, 138.0], "center_cam": [0.5606760971145581, -1.0927563736901178, 2.710505524525039], "dimensions": [0.05273437524374133, 0.5727538951957729, 0.09765624948163679], "R_cam": [[-0.637829601764679, 0.1524507999420166, -0.7549384236335754], [-0.004071712493896484, 0.9795324206352234, 0.20124506950378418], [0.7701666951179504, 0.13143402338027954, -0.6241540908813477]], "bbox3D_cam": [[0.5680673122406006, -1.3783793449401855, 2.651717185974121], [0.5057792663574219, -1.378777027130127, 2.7269287109375], [0.5930960774421692, -0.8177459239959717, 2.802208185195923], [0.6553841829299927, -0.8173483610153198, 2.726996660232544], [0.5282561182975769, -1.3677668571472168, 2.618802785873413], [0.4659680426120758, -1.3681644201278687, 2.694014310836792], [0.5532848834991455, -0.8071334362030029, 2.769293785095215], [0.6155729293823242, -0.8067357540130615, 2.694082260131836]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2282, "image_id": 314, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [354.0, 0.0, 422.0, 137.0], "bbox2D_tight": [354.0, 0.0, 422.0, 137.0], "bbox2D_trunc": [354.0, 0.0, 422.0, 137.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2283, "image_id": 314, "category_id": 62, "category_name": "statue", "bbox2D_proj": [236.0, 118.0, 325.0, 257.0], "bbox2D_tight": [236.0, 118.0, 325.0, 257.0], "bbox2D_trunc": [236.0, 118.0, 325.0, 257.0], "center_cam": [0.1800224134727217, -0.42713020031624305, 2.940151505229456], "dimensions": [0.6152344823570476, 0.9194335815604378, 0.6433106836275975], "R_cam": [[0.9802661538124084, -0.019189834594726562, 0.19674907624721527], [0.031694769859313965, 0.9976584315299988, -0.06060716509819031], [-0.19512531161308289, 0.06564708054065704, 0.9785788655281067]], "bbox3D_cam": [[-0.18698695302009583, -0.8773214817047119, 2.6717076301574707], [0.4436286985874176, -0.8569319248199463, 2.5461816787719727], [0.4259849786758423, 0.060348719358444214, 2.606539726257324], [-0.20463070273399353, 0.03995916247367859, 2.7320659160614014], [-0.06594012677669525, -0.9146090745925903, 3.2737631797790527], [0.5646755695343018, -0.8942195177078247, 3.1482369899749756], [0.5470317602157593, 0.02306106686592102, 3.2085952758789062], [-0.08358386158943176, 0.0026715099811553955, 3.3341212272644043]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2284, "image_id": 314, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [425.0, 0.0, 475.0, 125.0], "bbox2D_tight": [425.0, 0.0, 475.0, 125.0], "bbox2D_trunc": [425.0, 0.0, 475.0, 125.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2285, "image_id": 314, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [258.0, 29.0, 309.0, 149.0], "bbox2D_tight": [258.0, 29.0, 309.0, 149.0], "bbox2D_trunc": [258.0, 29.0, 309.0, 149.0], "center_cam": [0.16063637241937143, -1.0506972359738178, 2.833794216145182], "dimensions": [0.33789064162399224, 0.7832031177409001, 0.40136721654221963], "R_cam": [[0.9081730246543884, 0.044695138931274414, -0.4162020981311798], [-0.1690065860748291, 0.9487916827201843, -0.2668916583061218], [0.38296031951904297, 0.31272467970848083, 0.8692207336425781]], "bbox3D_cam": [[0.031193643808364868, -1.3432385921478271, 2.487626075744629], [0.3957045078277588, -1.4110722541809082, 2.641333818435669], [0.4307098686695099, -0.667975664138794, 2.886260747909546], [0.06619901210069656, -0.6001419425010681, 2.732553005218506], [-0.10943713784217834, -1.4334187507629395, 2.781327486038208], [0.2550737261772156, -1.5012524127960205, 2.935035228729248], [0.2900790870189667, -0.758155882358551, 3.179962158203125], [-0.07443177700042725, -0.6903221607208252, 3.026254415512085]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2286, "image_id": 315, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [101.0, 101.0, 132.0, 221.0], "bbox2D_tight": [101.0, 101.0, 132.0, 221.0], "bbox2D_trunc": [101.0, 101.0, 132.0, 221.0], "center_cam": [-1.2828069817003804, -0.8462584872170764, 4.042686694957835], "dimensions": [0.23828129056340125, 1.0390625024938007, 0.25146487689764624], "R_cam": [[0.9885806441307068, -0.00414121150970459, -0.15063558518886566], [-0.010393619537353516, 0.9953679442405701, -0.09557469189167023], [0.15033362805843353, 0.09604895114898682, 0.9839584827423096]], "bbox3D_cam": [[-1.38700532913208, -1.3506896495819092, 3.856654644012451], [-1.1384119987487793, -1.3533031940460205, 3.894458293914795], [-1.1427149772644043, -0.3190537095069885, 3.9942593574523926], [-1.391308307647705, -0.31644004583358765, 3.956455707550049], [-1.4228990077972412, -1.3734631538391113, 4.091113567352295], [-1.1743056774139404, -1.3760769367218018, 4.128917217254639], [-1.1786086559295654, -0.3418273329734802, 4.228718280792236], [-1.4272019863128662, -0.33921366930007935, 4.190914630889893]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2287, "image_id": 315, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [477.0, 150.0, 512.0, 214.0], "bbox2D_tight": [477.0, 150.0, 512.0, 214.0], "bbox2D_trunc": [477.0, 150.0, 512.0, 214.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2288, "image_id": 315, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [264.0, 135.0, 302.0, 186.0], "bbox2D_tight": [264.0, 135.0, 302.0, 186.0], "bbox2D_trunc": [264.0, 135.0, 302.0, 186.0], "center_cam": [0.2900882295510292, -0.9043236118832849, 4.693367797429396], "dimensions": [0.3452148987551227, 0.5712890713354299, 0.3593750739082767], "R_cam": [[0.13332046568393707, 0.005022168159484863, 0.9910603761672974], [-0.160500168800354, 0.9868965148925781, 0.016589852049946785], [-0.9779906272888184, -0.16127698123455048, 0.1323796510696411]], "bbox3D_cam": [[0.0936332643032074, -1.160248875617981, 4.8923187255859375], [0.14154531061649323, -1.2179286479949951, 4.540853500366211], [0.14441442489624023, -0.654125452041626, 4.4487175941467285], [0.0965023785829544, -0.5964457392692566, 4.800183296203613], [0.43576204776763916, -1.1545218229293823, 4.938018321990967], [0.4836741089820862, -1.2122015953063965, 4.586552619934082], [0.486543208360672, -0.6483983993530273, 4.494417190551758], [0.43863117694854736, -0.590718686580658, 4.845882415771484]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2289, "image_id": 315, "category_id": 54, "category_name": "sculpture", "bbox2D_proj": [44.0, 161.0, 121.0, 250.0], "bbox2D_tight": [44.0, 161.0, 121.0, 250.0], "bbox2D_trunc": [44.0, 161.0, 121.0, 250.0], "center_cam": [-1.4344828482847203, -0.4042692593492018, 3.617800894694592], "dimensions": [0.437500020378247, 0.7193987048821031, 0.7070314908694095], "R_cam": [[-0.5514759421348572, -0.12180173397064209, 0.8252507448196411], [0.0665702223777771, 0.9797019958496094, 0.1890835165977478], [-0.8315304517745972, 0.1592121571302414, -0.5321736335754395]], "bbox3D_cam": [[-1.3762389421463013, -0.8215630054473877, 3.970904588699341], [-1.766149878501892, -0.7744957208633423, 3.382986307144165], [-1.853773832321167, -0.0696994960308075, 3.497523307800293], [-1.4638630151748657, -0.1167667806148529, 4.085441589355469], [-1.0151917934417725, -0.7388390302658081, 3.7380785942077637], [-1.4051026105880737, -0.6917717456817627, 3.150160312652588], [-1.4927266836166382, 0.01302453875541687, 3.264697313308716], [-1.1028157472610474, -0.03404274582862854, 3.8526155948638916]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2290, "image_id": 316, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [100.0, 101.0, 132.0, 222.0], "bbox2D_tight": [100.0, 101.0, 132.0, 222.0], "bbox2D_trunc": [100.0, 101.0, 132.0, 222.0], "center_cam": [-1.2817958244047065, -0.9359256114398908, 4.040020742055204], "dimensions": [0.19531250743043416, 0.8327637107038943, 0.2363281414462884], "R_cam": [[0.9649874567985535, -0.03940141201019287, 0.2593197524547577], [0.1121596097946167, 0.9556924700737, -0.27216199040412903], [-0.2371063530445099, 0.29171809554100037, 0.9266505241394043]], "bbox3D_cam": [[-1.404740810394287, -1.3205335140228271, 3.8560791015625], [-1.176687240600586, -1.2940270900726318, 3.800044059753418], [-1.2094992399215698, -0.49816104769706726, 4.042976379394531], [-1.4375529289245605, -0.524667501449585, 4.099011421203613], [-1.3540924787521362, -1.373690128326416, 4.037065505981445], [-1.1260387897491455, -1.3471837043762207, 3.9810304641723633], [-1.158850908279419, -0.5513176918029785, 4.223962783813477], [-1.3869044780731201, -0.5778241157531738, 4.279997825622559]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2291, "image_id": 316, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [382.0, 176.0, 438.0, 218.0], "bbox2D_tight": [382.0, 176.0, 438.0, 218.0], "bbox2D_trunc": [382.0, 176.0, 438.0, 218.0], "center_cam": [1.5378554349201017, -0.5599162476098143, 4.466072236654101], "dimensions": [0.3437500242701341, 0.4599609949052021, 0.5219727087818742], "R_cam": [[-0.8522539138793945, -0.038837581872940063, -0.5216848254203796], [0.06390082836151123, 0.9820437431335449, -0.17750167846679688], [0.5192109942436218, -0.18461257219314575, -0.8344687819480896]], "bbox3D_cam": [[1.858878493309021, -0.771936297416687, 4.516446590423584], [1.4140251874923706, -0.7385817766189575, 4.787460803985596], [1.396161437034607, -0.2868800163269043, 4.702546119689941], [1.8410147428512573, -0.3202345073223114, 4.431532382965088], [1.6795493364334106, -0.8329524993896484, 4.229598045349121], [1.2346960306167603, -0.799597978591919, 4.500611782073975], [1.2168322801589966, -0.3478962182998657, 4.4156975746154785], [1.661685585975647, -0.3812507092952728, 4.144683361053467]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2292, "image_id": 316, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [264.0, 135.0, 301.0, 185.0], "bbox2D_tight": [264.0, 135.0, 301.0, 185.0], "bbox2D_trunc": [264.0, 135.0, 301.0, 185.0], "center_cam": [0.27484287040535255, -0.9597983777647123, 4.692124603729291], "dimensions": [0.2753906387290014, 0.46777346900503247, 0.3945312826450569], "R_cam": [[0.8380825519561768, 0.026094675064086914, 0.544918954372406], [-0.06291413307189941, 0.9968140125274658, 0.04902704060077667], [-0.5419034957885742, -0.07537181675434113, 0.8370541334152222]], "bbox3D_cam": [[0.02838197350502014, -1.1872799396514893, 4.701393127441406], [0.3590317666530609, -1.2121015787124634, 4.487595558166504], [0.3712381422519684, -0.7458184361457825, 4.452338695526123], [0.04058834910392761, -0.7209967970848083, 4.666136264801025], [0.17844757437705994, -1.1737784147262573, 4.931910037994385], [0.5090973377227783, -1.198599934577942, 4.718112468719482], [0.5213037729263306, -0.7323168516159058, 4.682855606079102], [0.1906539499759674, -0.7074952125549316, 4.896653175354004]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2293, "image_id": 316, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [148.0, 193.0, 174.0, 228.0], "bbox2D_tight": [148.0, 193.0, 174.0, 228.0], "bbox2D_trunc": [148.0, 193.0, 174.0, 228.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2294, "image_id": 316, "category_id": 54, "category_name": "sculpture", "bbox2D_proj": [38.0, 95.0, 116.0, 190.0], "bbox2D_tight": [38.0, 95.0, 116.0, 190.0], "bbox2D_trunc": [38.0, 95.0, 116.0, 190.0], "center_cam": [-1.3659226409079257, -0.8859867386873304, 3.460088434857752], "dimensions": [0.5600586523131065, 0.717468337039004, 0.6035156899990299], "R_cam": [[0.13501709699630737, 0.0374985933303833, 0.9901334047317505], [0.13917875289916992, 0.988658607006073, -0.0564214289188385], [-0.9810197353363037, 0.14542338252067566, 0.1282668113708496]], "bbox3D_cam": [[-1.6973836421966553, -1.2668509483337402, 3.668032169342041], [-1.615898609161377, -1.182854413986206, 3.0759713649749756], [-1.5889946222305298, -0.47352319955825806, 3.1803078651428223], [-1.6704795360565186, -0.5575197339057922, 3.7723686695098877], [-1.1428507566452026, -1.298450231552124, 3.7398691177368164], [-1.0613658428192139, -1.2144536972045898, 3.147808313369751], [-1.0344617366790771, -0.5051225423812866, 3.2521448135375977], [-1.1159467697143555, -0.5891190767288208, 3.844205617904663]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2295, "image_id": 316, "category_id": 54, "category_name": "sculpture", "bbox2D_proj": [44.0, 162.0, 120.0, 250.0], "bbox2D_tight": [44.0, 162.0, 120.0, 250.0], "bbox2D_trunc": [44.0, 162.0, 120.0, 250.0], "center_cam": [-1.3743042073061518, -0.4627255599645164, 3.6499166605986404], "dimensions": [0.4277343994891256, 0.7104495223693097, 0.6816408858899423], "R_cam": [[-0.37669193744659424, -0.1226046085357666, 0.9181891679763794], [0.19472163915634155, 0.9585760831832886, 0.2078830599784851], [-0.9056416153907776, 0.2570991516113281, -0.3372141122817993]], "bbox3D_cam": [[-1.3987382650375366, -0.9140599966049194, 3.939368724822998], [-1.6555068492889404, -0.7813297510147095, 3.3220465183258057], [-1.7426111698150635, -0.10030984878540039, 3.504702568054199], [-1.4858425855636597, -0.23304009437561035, 4.122025012969971], [-1.0059971809387207, -0.8251412510871887, 3.795130729675293], [-1.2627657651901245, -0.6924110054969788, 3.1778085231781006], [-1.3498700857162476, -0.011391103267669678, 3.360464572906494], [-1.0931015014648438, -0.14412134885787964, 3.9777867794036865]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2296, "image_id": 317, "category_id": 13, "category_name": "building", "bbox2D_proj": [288.0, 0.0, 512.0, 268.0], "bbox2D_tight": [288.0, 0.0, 512.0, 268.0], "bbox2D_trunc": [288.0, 0.0, 512.0, 268.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2297, "image_id": 317, "category_id": 45, "category_name": "person", "bbox2D_proj": [438.0, 329.0, 472.0, 412.0], "bbox2D_tight": [438.0, 329.0, 472.0, 412.0], "bbox2D_trunc": [438.0, 329.0, 472.0, 412.0], "center_cam": [1.5924177016443046, 1.004052555464166, 3.5636566354084245], "dimensions": [0.23583987633986497, 0.8046875433305012, 0.25000002738228744], "R_cam": [[0.1317293345928192, 0.1141502857208252, -0.9846913814544678], [-0.12149453163146973, 0.9877177476882935, 0.09824788570404053], [0.9838122129440308, 0.10669255256652832, 0.14398008584976196]], "bbox3D_cam": [[1.6461386680603027, 0.6102518439292908, 3.380774736404419], [1.6790709495544434, 0.5798782110214233, 3.626727819442749], [1.7709262371063232, 1.3746824264526367, 3.7125821113586426], [1.7379939556121826, 1.4050559997558594, 3.4666290283203125], [1.4139091968536377, 0.6334226131439209, 3.414731025695801], [1.4468414783477783, 0.6030489802360535, 3.660684108734131], [1.5386967658996582, 1.397853136062622, 3.7465384006500244], [1.5057644844055176, 1.4282268285751343, 3.5005853176116943]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2298, "image_id": 317, "category_id": 45, "category_name": "person", "bbox2D_proj": [105.0, 356.0, 148.0, 413.0], "bbox2D_tight": [105.0, 356.0, 148.0, 413.0], "bbox2D_trunc": [105.0, 356.0, 148.0, 413.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2299, "image_id": 317, "category_id": 45, "category_name": "person", "bbox2D_proj": [250.0, 340.0, 295.0, 455.0], "bbox2D_tight": [250.0, 340.0, 295.0, 455.0], "bbox2D_trunc": [250.0, 340.0, 295.0, 455.0], "center_cam": [0.10827624430703152, 1.184432549353526, 3.7458344385082096], "dimensions": [0.29492189536179253, 0.8939209529315504, 0.41015627747150596], "R_cam": [[-0.7006103992462158, -0.007358551025390625, -0.7135062217712402], [0.11674612760543823, 0.9852898120880127, -0.12479770183563232], [0.7039286494255066, -0.17073366045951843, -0.6894452571868896]], "bbox3D_cam": [[0.36045941710472107, 0.7385076284408569, 3.779451370239258], [0.07309966534376144, 0.7863917946815491, 4.068171977996826], [0.06652166694402695, 1.6671628952026367, 3.9155497550964355], [0.3538814187049866, 1.6192787885665894, 3.626829147338867], [0.15003082156181335, 0.7017020583152771, 3.5761189460754395], [-0.13732892274856567, 0.7495862245559692, 3.864839553833008], [-0.14390692114830017, 1.6303573846817017, 3.712217330932617], [0.14345282316207886, 1.5824732780456543, 3.4234964847564697]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2300, "image_id": 317, "category_id": 62, "category_name": "statue", "bbox2D_proj": [414.0, 181.0, 446.0, 234.0], "bbox2D_tight": [414.0, 181.0, 446.0, 234.0], "bbox2D_trunc": [414.0, 181.0, 446.0, 234.0], "center_cam": [2.6545699955596924, -0.7521440516691318, 6.772581937761014], "dimensions": [0.19531250408448522, 0.7526855864992773, 0.42041017286108334], "R_cam": [[0.8788606524467468, 0.06499350070953369, 0.47263067960739136], [-0.0711822509765625, 0.9974517226219177, -0.00479985773563385], [-0.47173821926116943, -0.029424503445625305, 0.8812475204467773]], "bbox3D_cam": [[2.399214029312134, -1.1120961904525757, 6.79675817489624], [2.768695831298828, -1.1420220136642456, 6.5984344482421875], [2.817615509033203, -0.39125439524650574, 6.576287269592285], [2.4481334686279297, -0.3613286316394806, 6.774610996246338], [2.4915246963500977, -1.113033652305603, 6.968876838684082], [2.861006736755371, -1.142959475517273, 6.770553112030029], [2.909926176071167, -0.3921918570995331, 6.748405933380127], [2.5404443740844727, -0.36226609349250793, 6.94672966003418]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2301, "image_id": 317, "category_id": 13, "category_name": "building", "bbox2D_proj": [0.0, 0.0, 77.0, 316.0], "bbox2D_tight": [0.0, 0.0, 77.0, 316.0], "bbox2D_trunc": [0.0, 0.0, 77.0, 316.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2302, "image_id": 317, "category_id": 45, "category_name": "person", "bbox2D_proj": [392.0, 316.0, 417.0, 380.0], "bbox2D_tight": [392.0, 316.0, 417.0, 380.0], "bbox2D_trunc": [392.0, 316.0, 417.0, 380.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2303, "image_id": 317, "category_id": 13, "category_name": "building", "bbox2D_proj": [93.0, 132.0, 254.0, 280.0], "bbox2D_tight": [93.0, 132.0, 254.0, 280.0], "bbox2D_trunc": [93.0, 132.0, 254.0, 280.0], "center_cam": [-1.3366061073419004, -0.8163936386038344, 6.712694155589102], "dimensions": [1.2463890370115724, 2.071029423432704, 2.126496037453765], "R_cam": [[-0.851641058921814, 0.033069908618927, 0.5230811834335327], [0.06304816901683807, 0.9972243905067444, 0.0396043062210083], [-0.5203195810317993, 0.06670796871185303, -0.8513621687889099]], "bbox3D_cam": [[-0.7913262248039246, -1.9407511949539185, 7.727410316467285], [-2.60233736038208, -1.8066794872283936, 6.620952606201172], [-2.533848762512207, 0.2586015462875366, 6.759106636047363], [-0.7228373885154724, 0.1245298981666565, 7.865564346313477], [-0.13936364650726318, -1.8913887739181519, 6.666281700134277], [-1.9503748416900635, -1.757317066192627, 5.559823989868164], [-1.8818860054016113, 0.3079639673233032, 5.6979780197143555], [-0.07087481021881104, 0.1738923192024231, 6.804435729980469]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2304, "image_id": 317, "category_id": 13, "category_name": "building", "bbox2D_proj": [71.0, 174.0, 124.0, 286.0], "bbox2D_tight": [71.0, 174.0, 124.0, 286.0], "bbox2D_trunc": [71.0, 174.0, 124.0, 286.0], "center_cam": [-2.3734114028464703, -0.3083201961764974, 6.566002723001844], "dimensions": [0.662109432250582, 1.6083985238350853, 0.8398438116365041], "R_cam": [[0.5772837400436401, 0.046178579330444336, 0.8152368664741516], [0.0029070377349853516, 0.9982770085334778, -0.058605439960956573], [-0.8165385127067566, 0.03620195761322975, 0.5761549472808838]], "bbox3D_cam": [[-2.9228503704071045, -1.0929529666900635, 6.689033031463623], [-2.4380221366882324, -1.090511441230774, 6.003268241882324], [-2.363748550415039, 0.5151158571243286, 6.061495304107666], [-2.848576545715332, 0.5126743316650391, 6.747260093688965], [-2.3830742835998535, -1.1317561864852905, 7.070510387420654], [-1.898246169090271, -1.129314661026001, 6.3847455978393555], [-1.823972463607788, 0.4763126075267792, 6.442972660064697], [-2.30880069732666, 0.4738710820674896, 7.128737449645996]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2305, "image_id": 317, "category_id": 13, "category_name": "building", "bbox2D_proj": [252.0, 159.0, 295.0, 262.0], "bbox2D_tight": [252.0, 159.0, 295.0, 262.0], "bbox2D_trunc": [252.0, 159.0, 295.0, 262.0], "center_cam": [0.08256603967767925, -0.782274029087255, 7.707741010232396], "dimensions": [0.921875106644592, 1.6103516557964999, 1.0000001439438533], "R_cam": [[0.9454899430274963, 0.07618200778961182, -0.31661516427993774], [-0.09013843536376953, 0.9954878687858582, -0.029647067189216614], [0.3129279613494873, 0.05657018721103668, 0.948090672492981]], "bbox3D_cam": [[-0.3055790662765503, -1.5250821113586426, 7.068717002868652], [0.6399109363555908, -1.615220546722412, 7.381645202636719], [0.762590765953064, -0.012135028839111328, 7.472743034362793], [-0.18289922177791595, 0.0780034065246582, 7.159815311431885], [-0.5974587202072144, -1.552412986755371, 7.9427385330200195], [0.34803128242492676, -1.6425514221191406, 8.255666732788086], [0.4707111120223999, -0.039465904235839844, 8.34676456451416], [-0.4747788906097412, 0.05067253112792969, 8.033836364746094]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2306, "image_id": 317, "category_id": 45, "category_name": "person", "bbox2D_proj": [343.0, 430.0, 424.0, 512.0], "bbox2D_tight": [343.0, 430.0, 424.0, 512.0], "bbox2D_trunc": [343.0, 430.0, 424.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2307, "image_id": 317, "category_id": 45, "category_name": "person", "bbox2D_proj": [437.0, 462.0, 503.0, 512.0], "bbox2D_tight": [437.0, 462.0, 503.0, 512.0], "bbox2D_trunc": [437.0, 462.0, 503.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2308, "image_id": 317, "category_id": 45, "category_name": "person", "bbox2D_proj": [366.0, 353.0, 412.0, 460.0], "bbox2D_tight": [366.0, 353.0, 412.0, 460.0], "bbox2D_trunc": [366.0, 353.0, 412.0, 460.0], "center_cam": [0.9972207303397647, 1.19336783179655, 3.3055562136651777], "dimensions": [0.2617187527452395, 0.9062500461124119, 0.3466797030086441], "R_cam": [[-0.9932634830474854, 0.06298518180847168, -0.09726463258266449], [0.06391507387161255, 0.9979343414306641, -0.006471913307905197], [0.09665608406066895, -0.012644987553358078, -0.9952375888824463]], "bbox3D_cam": [[1.1535807847976685, 0.7309466600418091, 3.4247679710388184], [0.8092364072799683, 0.7531048059463501, 3.4582765102386475], [0.8663167357444763, 1.6574828624725342, 3.446816921234131], [1.2106610536575317, 1.6353247165679932, 3.4133083820343018], [1.1281248331069946, 0.729252815246582, 3.1642956733703613], [0.7837804555892944, 0.751410961151123, 3.1978042125701904], [0.8408607244491577, 1.6557890176773071, 3.186344623565674], [1.185205101966858, 1.6336308717727661, 3.1528360843658447]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2309, "image_id": 318, "category_id": 47, "category_name": "pipe", "bbox2D_proj": [241.0, 163.0, 266.0, 240.0], "bbox2D_tight": [241.0, 163.0, 266.0, 240.0], "bbox2D_trunc": [241.0, 163.0, 266.0, 240.0], "center_cam": [-0.026061868288045527, -0.4137813628142579, 3.37608409409275], "dimensions": [0.029296875484085112, 0.5957031228740512, 0.13671875301929165], "R_cam": [[-0.7222224473953247, 0.14915460348129272, -0.6753870248794556], [-0.11414706707000732, 0.9373788833618164, 0.3290764391422272], [0.6821768283843994, 0.3147597908973694, -0.6599705219268799]], "bbox3D_cam": [[-0.011223754845559597, -0.6899986267089844, 3.2453668117523193], [-0.10996512323617935, -0.7056046724319458, 3.3386330604553223], [-0.021113254129886627, -0.14720508456230164, 3.5261363983154297], [0.07762811332941055, -0.1315990388393402, 3.4328701496124268], [-0.03101048246026039, -0.6803576946258545, 3.22603178024292], [-0.12975184619426727, -0.6959637403488159, 3.319298028945923], [-0.04089998081326485, -0.13756415247917175, 3.5068013668060303], [0.057841382920742035, -0.12195810675621033, 3.4135351181030273]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2310, "image_id": 318, "category_id": 38, "category_name": "light_fixture", "bbox2D_proj": [273.0, 8.0, 321.0, 51.0], "bbox2D_tight": [273.0, 8.0, 321.0, 51.0], "bbox2D_trunc": [273.0, 8.0, 321.0, 51.0], "center_cam": [0.25716031722258825, -1.4351108729662891, 2.7591996091150213], "dimensions": [0.2029990907516938, 0.08516614108669782, 0.20343868120628777], "R_cam": [[-0.9981012940406799, 0.02227056585252285, 0.05742671713232994], [7.056072354316711e-05, 0.9327573776245117, -0.36050474643707275], [-0.06159383803606033, -0.3598162531852722, -0.9309879541397095]], "bbox3D_cam": [[0.3519093990325928, -1.438246726989746, 2.875281810760498], [0.14885695278644562, -1.4382323026657104, 2.8627512454986572], [0.15075364708900452, -1.358793020248413, 2.8321070671081543], [0.3538060784339905, -1.3588073253631592, 2.844637632369995], [0.36356696486473083, -1.5114288330078125, 2.6862921714782715], [0.16051451861858368, -1.5114145278930664, 2.6737616062164307], [0.16241121292114258, -1.4319751262664795, 2.6431174278259277], [0.3654636740684509, -1.4319895505905151, 2.6556479930877686]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2311, "image_id": 318, "category_id": 46, "category_name": "piano_leg", "bbox2D_proj": [39.0, 387.0, 77.0, 448.0], "bbox2D_tight": [39.0, 387.0, 77.0, 448.0], "bbox2D_trunc": [39.0, 387.0, 77.0, 448.0], "center_cam": [-0.9830131607937966, 0.7572029617440325, 2.1548877858936715], "dimensions": [0.04882812605005084, 0.25341797437201297, 0.23437501172515013], "R_cam": [[0.6270387172698975, 0.14547646045684814, -0.7652835845947266], [-0.11836671829223633, 0.988793134689331, 0.09098005294799805], [0.7699426412582397, 0.03353613615036011, 0.6372312307357788]], "bbox3D_cam": [[-1.0562437772750854, 0.6435639262199402, 2.0448532104492188], [-0.9092814922332764, 0.6158217191696167, 2.225308656692505], [-0.8724151849746704, 0.8663996458053589, 2.233807325363159], [-1.0193774700164795, 0.8941418528556824, 2.053351879119873], [-1.0936111211776733, 0.6480063199996948, 2.075968027114868], [-0.946648895740509, 0.6202641129493713, 2.2564234733581543], [-0.9097825288772583, 0.8708420395851135, 2.2649221420288086], [-1.0567448139190674, 0.898584246635437, 2.0844666957855225]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2312, "image_id": 318, "category_id": 23, "category_name": "dress", "bbox2D_proj": [239.0, 245.0, 424.0, 512.0], "bbox2D_tight": [239.0, 245.0, 424.0, 512.0], "bbox2D_trunc": [239.0, 245.0, 424.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2313, "image_id": 318, "category_id": 47, "category_name": "pipe", "bbox2D_proj": [395.0, 119.0, 476.0, 282.0], "bbox2D_tight": [395.0, 119.0, 476.0, 282.0], "bbox2D_trunc": [395.0, 119.0, 476.0, 282.0], "center_cam": [1.1508709696571668, -0.4168332547841729, 2.9209077368226666], "dimensions": [0.09765625203119198, 1.07470702423278, 0.4815673922547423], "R_cam": [[0.9667151570320129, -0.00934302806854248, 0.2556845247745514], [-0.042676687240600586, 0.9794448018074036, 0.1971459984779358], [-0.25227081775665283, -0.20149578154087067, 0.9464454054832458]], "bbox3D_cam": [[0.910637617111206, -0.9424917697906494, 3.0437116622924805], [1.376176118850708, -0.9630434513092041, 2.9222264289855957], [1.3661351203918457, 0.08957275748252869, 2.7056775093078613], [0.900596559047699, 0.11012443900108337, 2.827162742614746], [0.9356067776679993, -0.9232392311096191, 3.1361379623413086], [1.4011452198028564, -0.9437909126281738, 3.014652729034424], [1.3911042213439941, 0.10882529616355896, 2.7981038093566895], [0.9255657196044922, 0.12937697768211365, 2.919589042663574]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2314, "image_id": 318, "category_id": 45, "category_name": "person", "bbox2D_proj": [264.0, 191.0, 381.0, 315.0], "bbox2D_tight": [264.0, 191.0, 381.0, 315.0], "bbox2D_trunc": [264.0, 191.0, 381.0, 315.0], "center_cam": [0.22161784465953305, 0.003867475681827645, 1.4856907659620109], "dimensions": [0.2744140707172274, 0.5223388703957692, 0.4094238379280991], "R_cam": [[0.9711668491363525, 0.028450846672058105, -0.23669706284999847], [0.020076453685760498, 0.9795663356781006, 0.20011676847934723], [0.23755396902561188, -0.19909881055355072, 0.9507511854171753]], "bbox3D_cam": [[0.04785442352294922, -0.28353261947631836, 1.3586093187332153], [0.4454732835292816, -0.2753128409385681, 1.4558696746826172], [0.46033427119255066, 0.23635272681713104, 1.3518725633621216], [0.06271541118621826, 0.2281329482793808, 1.2546123266220093], [-0.017098575830459595, -0.22861777245998383, 1.6195088624954224], [0.3805202841758728, -0.22039799392223358, 1.7167690992355347], [0.39538127183914185, 0.2912675738334656, 1.6127721071243286], [-0.0022375881671905518, 0.28304779529571533, 1.5155117511749268]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2315, "image_id": 319, "category_id": 47, "category_name": "pipe", "bbox2D_proj": [279.0, 77.0, 328.0, 190.0], "bbox2D_tight": [279.0, 77.0, 328.0, 190.0], "bbox2D_trunc": [279.0, 77.0, 328.0, 190.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2316, "image_id": 319, "category_id": 47, "category_name": "pipe", "bbox2D_proj": [363.0, 147.0, 395.0, 291.0], "bbox2D_tight": [363.0, 147.0, 395.0, 291.0], "bbox2D_trunc": [363.0, 147.0, 395.0, 291.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2317, "image_id": 319, "category_id": 38, "category_name": "light_fixture", "bbox2D_proj": [272.0, 8.0, 320.0, 51.0], "bbox2D_tight": [272.0, 8.0, 320.0, 51.0], "bbox2D_trunc": [272.0, 8.0, 320.0, 51.0], "center_cam": [0.2680563684874109, -1.384464597336246, 2.7516625778724184], "dimensions": [0.18050252619996177, 0.1010977676539881, 0.18662225735278357], "R_cam": [[-0.7546472549438477, 0.08144042640924454, 0.6510568261146545], [-0.001979202264919877, 0.9919799566268921, -0.1263803243637085], [-0.6561277508735657, -0.09666109085083008, -0.7484337687492371]], "bbox3D_cam": [[0.2755979299545288, -1.4230173826217651, 2.885319709777832], [0.1347639411687851, -1.423386812210083, 2.762871742248535], [0.1429973840713501, -1.3230998516082764, 2.7530994415283203], [0.283831387758255, -1.322730541229248, 2.875547409057617], [0.3931153416633606, -1.4458293914794922, 2.75022554397583], [0.2522813379764557, -1.4461987018585205, 2.627777576446533], [0.2605147957801819, -1.3459118604660034, 2.6180052757263184], [0.4013487696647644, -1.3455424308776855, 2.7404532432556152]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2318, "image_id": 319, "category_id": 47, "category_name": "pipe", "bbox2D_proj": [240.0, 162.0, 265.0, 240.0], "bbox2D_tight": [240.0, 162.0, 265.0, 240.0], "bbox2D_trunc": [240.0, 162.0, 265.0, 240.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2319, "image_id": 319, "category_id": 23, "category_name": "dress", "bbox2D_proj": [253.0, 251.0, 422.0, 512.0], "bbox2D_tight": [253.0, 251.0, 422.0, 512.0], "bbox2D_trunc": [253.0, 251.0, 422.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2320, "image_id": 319, "category_id": 45, "category_name": "person", "bbox2D_proj": [268.0, 193.0, 371.0, 311.0], "bbox2D_tight": [268.0, 193.0, 371.0, 311.0], "bbox2D_trunc": [268.0, 193.0, 371.0, 311.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2321, "image_id": 320, "category_id": 45, "category_name": "person", "bbox2D_proj": [495.0, 228.0, 512.0, 273.0], "bbox2D_tight": [495.0, 228.0, 512.0, 273.0], "bbox2D_trunc": [495.0, 228.0, 512.0, 273.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2322, "image_id": 320, "category_id": 6, "category_name": "beam", "bbox2D_proj": [48.0, 143.0, 142.0, 170.0], "bbox2D_tight": [48.0, 143.0, 142.0, 170.0], "bbox2D_trunc": [48.0, 143.0, 142.0, 170.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2323, "image_id": 320, "category_id": 45, "category_name": "person", "bbox2D_proj": [353.0, 234.0, 379.0, 324.0], "bbox2D_tight": [353.0, 234.0, 379.0, 324.0], "bbox2D_trunc": [353.0, 234.0, 379.0, 324.0], "center_cam": [1.1154500142214916, 0.26322032444627086, 4.8136180773434765], "dimensions": [0.29492190011883257, 1.0087890907458374, 0.3183594040591614], "R_cam": [[0.36403152346611023, 0.03351867198944092, 0.9307832717895508], [0.11500978469848633, 0.9900861978530884, -0.0806347131729126], [-0.9242584705352783, 0.13640272617340088, 0.3565676212310791]], "bbox3D_cam": [[0.9033427834510803, -0.2425905466079712, 4.83936071395874], [1.019235610961914, -0.20597609877586365, 4.545114517211914], [1.053048849105835, 0.7928121089935303, 4.682715892791748], [0.9371560215950012, 0.7561976909637451, 4.976962566375732], [1.1778512001037598, -0.266371488571167, 4.944520473480225], [1.2937440872192383, -0.22975704073905945, 4.65027379989624], [1.3275572061538696, 0.7690311670303345, 4.787875652313232], [1.2116644382476807, 0.7324167490005493, 5.082121849060059]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2324, "image_id": 320, "category_id": 70, "category_name": "trash_can", "bbox2D_proj": [324.0, 58.0, 363.0, 93.0], "bbox2D_tight": [324.0, 58.0, 363.0, 93.0], "bbox2D_trunc": [324.0, 58.0, 363.0, 93.0], "center_cam": [1.0688311648028095, -2.216597088010117, 5.448258196318414], "dimensions": [0.1913668546910552, 0.4471137235758127, 0.48023649712020544], "R_cam": [[-0.9182332754135132, 0.031768009066581726, -0.3947635591030121], [-0.002477630041539669, 0.9962973594665527, 0.08593859523534775], [0.3960320055484772, 0.07988976687192917, -0.9147547483444214]], "bbox3D_cam": [[1.3199862241744995, -2.4469542503356934, 5.422831058502197], [0.8790169954299927, -2.44814395904541, 5.613019943237305], [0.8932209014892578, -2.002685785293579, 5.648739814758301], [1.3341901302337646, -2.001495838165283, 5.458550453186035], [1.2444415092468262, -2.4305083751678467, 5.247776985168457], [0.8034722805023193, -2.4316983222961426, 5.437966346740723], [0.8176761865615845, -1.986240029335022, 5.4736857414245605], [1.2586454153060913, -1.9850502014160156, 5.283496856689453]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2325, "image_id": 320, "category_id": 45, "category_name": "person", "bbox2D_proj": [229.0, 226.0, 276.0, 367.0], "bbox2D_tight": [229.0, 226.0, 276.0, 367.0], "bbox2D_trunc": [229.0, 226.0, 276.0, 367.0], "center_cam": [-0.07290499752420324, 0.3831341489059258, 4.364422774835467], "dimensions": [0.35156250671419675, 1.300537146516012, 0.48083496409190474], "R_cam": [[-0.9918659925460815, 0.04375052452087402, 0.11953135579824448], [0.024700820446014404, 0.9873799085617065, -0.15643152594566345], [-0.12486682087182999, -0.15220656991004944, -0.9804291725158691]], "bbox3D_cam": [[0.11609601229429245, -0.23736879229545593, 4.665759086608887], [-0.3608279228210449, -0.2254917323589325, 4.605719089508057], [-0.3039287328720093, 1.058632493019104, 4.407768726348877], [0.1729951798915863, 1.0467554330825806, 4.467808723449707], [0.15811875462532043, -0.2923642098903656, 4.3210768699646], [-0.31880515813827515, -0.28048714995384216, 4.2610368728637695], [-0.2619059979915619, 1.0036370754241943, 4.06308650970459], [0.2150179147720337, 0.9917600154876709, 4.12312650680542]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2326, "image_id": 320, "category_id": 20, "category_name": "coat", "bbox2D_proj": [10.0, 275.0, 35.0, 360.0], "bbox2D_tight": [10.0, 275.0, 35.0, 360.0], "bbox2D_trunc": [10.0, 275.0, 35.0, 360.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2327, "image_id": 321, "category_id": 73, "category_name": "tree_trunk", "bbox2D_proj": [242.0, 125.0, 258.0, 247.0], "bbox2D_tight": [242.0, 125.0, 258.0, 247.0], "bbox2D_trunc": [242.0, 125.0, 258.0, 247.0], "center_cam": [-0.15011106935139515, -1.7153642151406574, 9.876713370081326], "dimensions": [0.3227012909005207, 2.553528471904061, 2.1879910363644175], "R_cam": [[-0.017341136932373047, -0.0018240029457956553, -0.9998480081558228], [0.0004117508069612086, 0.9999982118606567, -0.0018314183689653873], [0.9998495578765869, -0.0004434471484273672, -0.017340362071990967]], "bbox3D_cam": [[0.03251500427722931, -2.992281198501587, 8.786247253417969], [-0.005427241325378418, -2.991380214691162, 10.973908424377441], [-0.010084882378578186, -0.43785619735717773, 10.972776412963867], [0.02785736322402954, -0.43875718116760254, 8.785114288330078], [-0.29013723134994507, -2.9928722381591797, 8.780651092529297], [-0.328079491853714, -2.991971254348755, 10.968313217163086], [-0.33273714780807495, -0.4384472370147705, 10.967180252075195], [-0.29479488730430603, -0.4393482208251953, 8.779519081115723]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2328, "image_id": 322, "category_id": 45, "category_name": "person", "bbox2D_proj": [115.0, 415.0, 141.0, 500.0], "bbox2D_tight": [115.0, 415.0, 141.0, 500.0], "bbox2D_trunc": [115.0, 415.0, 141.0, 500.0], "center_cam": [-1.2103847409923565, 1.8859297328017215, 4.20791718382367], "dimensions": [0.244140670485154, 0.7031250034969553, 0.300781299619695], "R_cam": [[-0.6375037431716919, -0.04557240009307861, -0.7690982818603516], [0.18961191177368164, 0.9582654237747192, -0.21395021677017212], [0.7467504739761353, -0.28222429752349854, -0.6022567749023438]], "bbox3D_cam": [[-1.004604458808899, 1.5466406345367432, 4.268350124359131], [-1.1963536739349365, 1.6036722660064697, 4.4929585456848145], [-1.2283967733383179, 2.2774527072906494, 4.294519901275635], [-1.0366475582122803, 2.220421075820923, 4.069911003112793], [-1.1923726797103882, 1.4944067001342773, 4.121314525604248], [-1.3841218948364258, 1.551438331604004, 4.34592342376709], [-1.4161649942398071, 2.2252187728881836, 4.147484302520752], [-1.2244157791137695, 2.168187141418457, 3.9228758811950684]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2329, "image_id": 322, "category_id": 45, "category_name": "person", "bbox2D_proj": [156.0, 421.0, 186.0, 494.0], "bbox2D_tight": [156.0, 421.0, 186.0, 494.0], "bbox2D_trunc": [156.0, 421.0, 186.0, 494.0], "center_cam": [-0.8890565803494057, 2.1167763054582176, 4.647566499429043], "dimensions": [0.2421875339911872, 0.7324218771419048, 0.2646484949397794], "R_cam": [[0.9924543499946594, -0.08587861061096191, 0.0875166803598404], [0.07450205087661743, 0.9892459511756897, 0.12586437165737152], [-0.09738457947969437, -0.11839447915554047, 0.9881796836853027]], "bbox3D_cam": [[-0.9995303750038147, 1.7294037342071533, 4.5841474533081055], [-0.7368788123130798, 1.7491205930709839, 4.558374881744385], [-0.7997782230377197, 2.473665952682495, 4.471660137176514], [-1.0624297857284546, 2.453948974609375, 4.497432708740234], [-0.978334903717041, 1.7598865032196045, 4.823472499847412], [-0.7156833410263062, 1.779603362083435, 4.797699928283691], [-0.778582751750946, 2.5041487216949463, 4.71098518371582], [-1.0412343740463257, 2.484431743621826, 4.736757755279541]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2330, "image_id": 322, "category_id": 45, "category_name": "person", "bbox2D_proj": [74.0, 401.0, 96.0, 466.0], "bbox2D_tight": [74.0, 401.0, 96.0, 466.0], "bbox2D_trunc": [74.0, 401.0, 96.0, 466.0], "center_cam": [-1.6175067014427238, 1.7076886677499745, 4.166369252897686], "dimensions": [0.17136167208609837, 0.5556929060570854, 0.49707590081103703], "R_cam": [[-0.35274219512939453, 0.0019337013363838196, -0.9357185363769531], [0.0009513639961369336, 0.9999980926513672, 0.0017078975215554237], [0.9357200860977173, -0.0002877615042962134, -0.35274338722229004]], "bbox3D_cam": [[-1.4502010345458984, 1.429460048675537, 3.964110851287842], [-1.6255407333374023, 1.4299328327178955, 4.429234504699707], [-1.6244661808013916, 1.9856247901916504, 4.429074764251709], [-1.4491264820098877, 1.985151767730713, 3.9639508724212646], [-1.6105473041534424, 1.4297525882720947, 3.9036641120910645], [-1.7858870029449463, 1.4302256107330322, 4.36878776550293], [-1.7848124504089355, 1.985917329788208, 4.368628025054932], [-1.6094727516174316, 1.9854445457458496, 3.9035041332244873]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2331, "image_id": 322, "category_id": 45, "category_name": "person", "bbox2D_proj": [142.0, 396.0, 165.0, 469.0], "bbox2D_tight": [142.0, 396.0, 165.0, 469.0], "bbox2D_trunc": [142.0, 396.0, 165.0, 469.0], "center_cam": [-1.0778990473124583, 1.8127159509846629, 4.604061865599391], "dimensions": [0.24218768953106568, 0.677993776170478, 0.24395772630054663], "R_cam": [[-0.9839747548103333, 0.033402085304260254, 0.17515131831169128], [-0.04349088668823242, 0.9076713919639587, -0.41742217540740967], [-0.17292259633541107, -0.41835036873817444, -0.8916730880737305]], "bbox3D_cam": [[-0.9904079437255859, 1.5608704090118408, 4.874950408935547], [-1.2304561138153076, 1.5502605438232422, 4.832764625549316], [-1.2078098058700562, 2.165656089782715, 4.549125671386719], [-0.9677615165710449, 2.1762659549713135, 4.591311454772949], [-0.9479883909225464, 1.4597759246826172, 4.658998489379883], [-1.1880366802215576, 1.4491660594940186, 4.616812705993652], [-1.1653902530670166, 2.064561605453491, 4.333173751831055], [-0.9253420233726501, 2.07517147064209, 4.375359535217285]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2332, "image_id": 322, "category_id": 45, "category_name": "person", "bbox2D_proj": [184.0, 400.0, 208.0, 477.0], "bbox2D_tight": [184.0, 400.0, 208.0, 477.0], "bbox2D_trunc": [184.0, 400.0, 208.0, 477.0], "center_cam": [-0.6700891009259906, 1.9808802705190396, 4.863028008747783], "dimensions": [0.22656251374104514, 0.7427368184108459, 0.25341800228695627], "R_cam": [[-0.9996122717857361, 0.009571552276611328, -0.02614569664001465], [0.017239093780517578, 0.9501731991767883, -0.3112454116344452], [0.021863818168640137, -0.3115754723548889, -0.9499697685241699]], "bbox3D_cam": [[-0.5440220236778259, 1.6610898971557617, 5.08358097076416], [-0.7973417639732361, 1.6654585599899292, 5.089121341705322], [-0.7902325987815857, 2.371187210083008, 4.857702732086182], [-0.5369128584861755, 2.366818428039551, 4.8521623611450195], [-0.5499456524848938, 1.5905733108520508, 4.868353366851807], [-0.803265392780304, 1.5949420928955078, 4.873893737792969], [-0.7961562275886536, 2.300670623779297, 4.642475128173828], [-0.5428364872932434, 2.29630184173584, 4.636934757232666]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2333, "image_id": 323, "category_id": 45, "category_name": "person", "bbox2D_proj": [167.0, 255.0, 206.0, 335.0], "bbox2D_tight": [167.0, 255.0, 206.0, 335.0], "bbox2D_trunc": [167.0, 255.0, 206.0, 335.0], "center_cam": [-1.0850147355442248, 0.5030529574819773, 6.969848794250727], "dimensions": [0.5312668954033373, 1.4931640498964043, 0.5315110078039574], "R_cam": [[-0.9762240648269653, 0.0452272891998291, 0.2119935303926468], [0.0006330013275146484, 0.9785817861557007, -0.20585794746875763], [-0.21676336228847504, -0.20082925260066986, -0.9553437232971191]], "bbox3D_cam": [[-0.9156562089920044, -0.17302405834197998, 7.431161403656006], [-1.4345300197601318, -0.17268753051757812, 7.315949440002441], [-1.366998314857483, 1.288495421409607, 7.016078472137451], [-0.8481245636940002, 1.288158893585205, 7.131290435791016], [-0.8030310869216919, -0.2823895215988159, 6.923618793487549], [-1.3219048976898193, -0.28205299377441406, 6.808406829833984], [-1.2543731927871704, 1.179129958152771, 6.508535861968994], [-0.7354994416236877, 1.1787934303283691, 6.623747825622559]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2334, "image_id": 323, "category_id": 45, "category_name": "person", "bbox2D_proj": [245.0, 251.0, 276.0, 331.0], "bbox2D_tight": [245.0, 251.0, 276.0, 331.0], "bbox2D_trunc": [245.0, 251.0, 276.0, 331.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2335, "image_id": 324, "category_id": 45, "category_name": "person", "bbox2D_proj": [193.0, 236.0, 219.0, 318.0], "bbox2D_tight": [193.0, 236.0, 219.0, 318.0], "bbox2D_trunc": [193.0, 236.0, 219.0, 318.0], "center_cam": [-0.6108246474104246, 0.25558941451538264, 5.4161716190330225], "dimensions": [0.24609381231904442, 0.9543456925255109, 0.27539069114633347], "R_cam": [[-0.7550402879714966, 0.12930989265441895, 0.6428011655807495], [0.15474724769592285, 0.9878088235855103, -0.01694604940712452], [-0.6371559500694275, 0.08667684346437454, -0.765845775604248]], "bbox3D_cam": [[-0.6476569771766663, -0.23498892784118652, 5.556779861450195], [-0.8555880188941956, -0.19237297773361206, 5.381313323974609], [-0.7321817278862, 0.750338077545166, 5.464033126831055], [-0.5242506861686707, 0.7077221274375916, 5.639499664306641], [-0.4894675612449646, -0.2391592264175415, 5.36830997467041], [-0.6973986029624939, -0.19654327630996704, 5.192843437194824], [-0.5739923119544983, 0.746167778968811, 5.2755632400512695], [-0.366061270236969, 0.7035518288612366, 5.4510297775268555]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2336, "image_id": 324, "category_id": 7, "category_name": "bench", "bbox2D_proj": [335.0, 244.0, 426.0, 284.0], "bbox2D_tight": [335.0, 244.0, 426.0, 284.0], "bbox2D_trunc": [335.0, 244.0, 426.0, 284.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2337, "image_id": 324, "category_id": 45, "category_name": "person", "bbox2D_proj": [156.0, 235.0, 196.0, 337.0], "bbox2D_tight": [156.0, 235.0, 196.0, 337.0], "bbox2D_trunc": [156.0, 235.0, 196.0, 337.0], "center_cam": [-0.9501343468595023, 0.33852790927393706, 5.200082251372441], "dimensions": [0.4482464462230982, 1.1612548824314914, 0.4492230349631597], "R_cam": [[-0.47999274730682373, 0.12765765190124512, -0.8679345846176147], [0.17917770147323608, 0.9827660322189331, 0.045456916093826294], [0.8587795495986938, -0.13369548320770264, -0.49459385871887207]], "bbox3D_cam": [[-0.7219196557998657, -0.28252631425857544, 5.195667743682861], [-0.937543511390686, -0.20203560590744019, 5.581451416015625], [-0.7893004417419434, 0.9392063021659851, 5.426197052001953], [-0.573676586151123, 0.8587155938148499, 5.0404133796691895], [-1.1109682321548462, -0.26215046644210815, 4.973967552185059], [-1.3265920877456665, -0.1816597580909729, 5.359751224517822], [-1.1783490180969238, 0.9595821499824524, 5.20449686050415], [-0.9627251625061035, 0.8790914416313171, 4.818713188171387]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2338, "image_id": 324, "category_id": 45, "category_name": "person", "bbox2D_proj": [304.0, 217.0, 338.0, 313.0], "bbox2D_tight": [304.0, 217.0, 338.0, 313.0], "bbox2D_trunc": [304.0, 217.0, 338.0, 313.0], "center_cam": [0.7690130075348398, 0.10680107090931551, 5.263201187286669], "dimensions": [0.3886719561055687, 1.0830078031182755, 0.44531259889933816], "R_cam": [[0.6841323971748352, 0.06350582838058472, 0.72658771276474], [-0.05140221118927002, 0.9979230165481567, -0.03882228955626488], [-0.7275441884994507, -0.010788707993924618, 0.6859757900238037]], "bbox3D_cam": [[0.44109582901000977, -0.41458860039711, 5.297725677490234], [0.7457486391067505, -0.4374786913394928, 4.973741054534912], [0.814525842666626, 0.6432799100875854, 4.962057113647461], [0.5098730325698853, 0.6661700010299683, 5.286041736602783], [0.72350013256073, -0.4296777546405792, 5.564345359802246], [1.0281529426574707, -0.45256784558296204, 5.240360736846924], [1.0969301462173462, 0.6281907558441162, 5.228676795959473], [0.7922773361206055, 0.651080846786499, 5.552661418914795]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2339, "image_id": 324, "category_id": 45, "category_name": "person", "bbox2D_proj": [253.0, 225.0, 305.0, 336.0], "bbox2D_tight": [253.0, 225.0, 305.0, 336.0], "bbox2D_trunc": [253.0, 225.0, 305.0, 336.0], "center_cam": [0.2578506654864294, 0.24065124739440932, 4.916592479146249], "dimensions": [0.30078127043357084, 1.1477050731075777, 0.5908203331519782], "R_cam": [[0.9458403587341309, 0.09631264209747314, -0.3100159764289856], [-0.0902261734008789, 0.995342493057251, 0.033948466181755066], [0.3118417263031006, -0.004138261079788208, 0.9501250386238098]], "bbox3D_cam": [[-0.03020593523979187, -0.30898046493530273, 4.683956146240234], [0.5286157131195068, -0.36228787899017334, 4.868198871612549], [0.639154314994812, 0.7800718545913696, 4.8634490966796875], [0.08033260703086853, 0.8333792686462402, 4.679206848144531], [-0.12345293164253235, -0.29876935482025146, 4.969736099243164], [0.43536874651908875, -0.35207676887512207, 5.15397834777832], [0.5459072589874268, 0.7902829647064209, 5.149229049682617], [-0.012914389371871948, 0.8435903787612915, 4.964986324310303]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2340, "image_id": 324, "category_id": 72, "category_name": "tree", "bbox2D_proj": [479.0, 97.0, 512.0, 202.0], "bbox2D_tight": [479.0, 97.0, 512.0, 202.0], "bbox2D_trunc": [479.0, 97.0, 512.0, 202.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2341, "image_id": 325, "category_id": 45, "category_name": "person", "bbox2D_proj": [207.0, 276.0, 256.0, 341.0], "bbox2D_tight": [207.0, 276.0, 256.0, 341.0], "bbox2D_trunc": [207.0, 276.0, 256.0, 341.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2342, "image_id": 325, "category_id": 35, "category_name": "jersey", "bbox2D_proj": [216.0, 317.0, 273.0, 378.0], "bbox2D_tight": [216.0, 317.0, 273.0, 378.0], "bbox2D_trunc": [216.0, 317.0, 273.0, 378.0], "center_cam": [-0.07072121813838539, 0.532195857979591, 2.684010374443835], "dimensions": [0.23500214500635286, 0.32445591481862135, 0.34028611362873584], "R_cam": [[0.9934048652648926, -0.10212069749832153, 0.0521358884871006], [0.10562755167484283, 0.9919641017913818, -0.0696423202753067], [-0.04460500553250313, 0.07468999922275543, 0.996208667755127]], "bbox3D_cam": [[-0.2293013334274292, 0.36148279905319214, 2.562427043914795], [0.10874053090810776, 0.39742639660835266, 2.547248601913452], [0.07560687512159348, 0.7192749977111816, 2.5714821815490723], [-0.2624349892139435, 0.6833314299583435, 2.586660623550415], [-0.21704930067062378, 0.3451167047023773, 2.7965383529663086], [0.12099256366491318, 0.38106030225753784, 2.781359910964966], [0.0878589078783989, 0.7029089331626892, 2.805593490600586], [-0.25018295645713806, 0.6669653654098511, 2.8207719326019287]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2343, "image_id": 326, "category_id": 45, "category_name": "person", "bbox2D_proj": [211.0, 288.0, 231.0, 346.0], "bbox2D_tight": [211.0, 288.0, 231.0, 346.0], "bbox2D_trunc": [211.0, 288.0, 231.0, 346.0], "center_cam": [-0.580110564475709, 0.9459232902269756, 6.991457738877854], "dimensions": [0.2890625810874826, 0.8487548880235334, 0.29443366833896234], "R_cam": [[0.9701378345489502, -0.06981587409973145, -0.23228967189788818], [0.10561585426330566, 0.9837143421173096, 0.14543591439723969], [0.21835294365882874, -0.16562636196613312, 0.961712121963501]], "bbox3D_cam": [[-0.6597298383712769, 0.4918886721134186, 6.890603542327881], [-0.3740885555744171, 0.522985577583313, 6.954893589019775], [-0.4333450198173523, 1.3579177856445312, 6.81431770324707], [-0.7189862728118896, 1.326820969581604, 6.750027179718018], [-0.7268760800361633, 0.5339287519454956, 7.168598175048828], [-0.4412347972393036, 0.5650255680084229, 7.232888698577881], [-0.5004912614822388, 1.3999578952789307, 7.092312335968018], [-0.7861325740814209, 1.3688609600067139, 7.028022289276123]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2344, "image_id": 326, "category_id": 57, "category_name": "shorts", "bbox2D_proj": [51.0, 351.0, 97.0, 394.0], "bbox2D_tight": [51.0, 351.0, 97.0, 394.0], "bbox2D_trunc": [51.0, 351.0, 97.0, 394.0], "center_cam": [-1.3752585666134909, 0.8326270005257395, 3.3515462765294517], "dimensions": [0.21191406570493923, 0.3583984421095271, 0.38085938218532156], "R_cam": [[0.7509477138519287, -0.02573876641690731, 0.6598598957061768], [0.07035418599843979, 0.9966713190078735, -0.04118938371539116], [-0.656603217124939, 0.07735498249530792, 0.7502588629722595]], "bbox3D_cam": [[-1.5835657119750977, 0.6449910402297974, 3.383225917816162], [-1.297560214996338, 0.6717861294746399, 3.133152484893799], [-1.306784987449646, 1.0289915800094604, 3.1608762741088867], [-1.5927904844284058, 1.0021965503692627, 3.41094970703125], [-1.4437321424484253, 0.6362624168395996, 3.5422163009643555], [-1.1577266454696655, 0.6630575060844421, 3.292142868041992], [-1.1669514179229736, 1.0202629566192627, 3.31986665725708], [-1.4529569149017334, 0.9934678673744202, 3.5699400901794434]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2345, "image_id": 327, "category_id": 17, "category_name": "chandelier", "bbox2D_proj": [281.0, 351.0, 322.0, 415.0], "bbox2D_tight": [281.0, 351.0, 322.0, 415.0], "bbox2D_trunc": [281.0, 351.0, 322.0, 415.0], "center_cam": [0.33891270197709866, 0.8917587481756217, 2.98396611098764], "dimensions": [0.16503959805691346, 0.22021484464864388, 0.16601616793385462], "R_cam": [[0.5465572476387024, 0.023337602615356445, 0.837096631526947], [-0.09794437885284424, 0.994532585144043, 0.0362229086458683], [-0.8316744565963745, -0.10178668797016144, 0.5458548069000244]], "bbox3D_cam": [[0.22189734876155853, 0.7873944044113159, 3.019165515899658], [0.3126346468925476, 0.771134078502655, 2.881093978881836], [0.3177739381790161, 0.9901448488235474, 2.8586790561676025], [0.22703665494918823, 1.006405234336853, 2.996750593185425], [0.3600514531135559, 0.793372631072998, 3.109253168106079], [0.4507887363433838, 0.7771122455596924, 2.971181631088257], [0.4559280276298523, 0.9961230754852295, 2.9487667083740234], [0.3651907444000244, 1.0123834609985352, 3.0868382453918457]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2346, "image_id": 328, "category_id": 77, "category_name": "window", "bbox2D_proj": [406.0, 175.0, 499.0, 273.0], "bbox2D_tight": [406.0, 175.0, 499.0, 273.0], "bbox2D_trunc": [406.0, 175.0, 499.0, 273.0], "center_cam": [7.264022408405575, -1.0427136618182677, 15.20254528284357], "dimensions": [0.16595496454398073, 4.462729798624328, 4.124833104234248], "R_cam": [[0.9090865850448608, -0.0010049045085906982, 0.4166063368320465], [-0.001534491777420044, 0.9999822974205017, 0.005760550498962402], [-0.4166047275066376, -0.005876004695892334, 0.909068763256073]], "bbox3D_cam": [[5.356781005859375, -3.2713522911071777, 15.99943733215332], [9.106611251831055, -3.277681827545166, 14.281012535095215], [9.102126121520996, 1.1849689483642578, 14.254789352416992], [5.352295875549316, 1.191298484802246, 15.973213195800781], [5.4259185791015625, -3.2703962326049805, 16.150300979614258], [9.175748825073242, -3.2767257690429688, 14.431877136230469], [9.171263694763184, 1.185925006866455, 14.40565299987793], [5.421433925628662, 1.1922545433044434, 16.12407875061035]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2347, "image_id": 328, "category_id": 45, "category_name": "person", "bbox2D_proj": [220.0, 246.0, 249.0, 355.0], "bbox2D_tight": [220.0, 246.0, 249.0, 355.0], "bbox2D_trunc": [220.0, 246.0, 249.0, 355.0], "center_cam": [-0.5021817296659268, 1.07504524935007, 11.153348536490274], "dimensions": [0.7499999989454693, 2.637695466745853, 0.7734375040719678], "R_cam": [[-0.1292192041873932, -0.008437156677246094, 0.9915801882743835], [0.1525757908821106, 0.987886905670166, 0.028288811445236206], [-0.9798076152801514, 0.15494662523269653, -0.12636661529541016]], "bbox3D_cam": [[-0.8129254579544067, -0.2974393367767334, 11.375295639038086], [-0.9128684997558594, -0.17943143844604492, 10.617475509643555], [-0.935123085975647, 2.4263131618499756, 11.026177406311035], [-0.8351800441741943, 2.308305263519287, 11.783997535705566], [-0.06924030184745789, -0.27622270584106445, 11.28052043914795], [-0.16918334364891052, -0.15821480751037598, 10.522700309753418], [-0.19143792986869812, 2.4475297927856445, 10.931402206420898], [-0.09149488806724548, 2.329521894454956, 11.68922233581543]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2348, "image_id": 328, "category_id": 45, "category_name": "person", "bbox2D_proj": [178.0, 247.0, 215.0, 356.0], "bbox2D_tight": [178.0, 247.0, 215.0, 356.0], "bbox2D_trunc": [178.0, 247.0, 215.0, 356.0], "center_cam": [-1.5923225323437706, 1.237112171127461, 12.018270193270364], "dimensions": [0.9101562455857046, 2.823730624135105, 0.9765624955197449], "R_cam": [[0.5750510692596436, 0.0011234283447265625, -0.8181167840957642], [0.02316528558731079, 0.9995757341384888, 0.01765546202659607], [0.8177894353866577, -0.02910473942756653, 0.574781060218811]], "bbox3D_cam": [[-1.50238835811615, -0.19349992275238037, 11.398481369018555], [-0.9408150911331177, -0.1708775758743286, 12.197103500366211], [-0.9376426935195923, 2.6516551971435547, 12.114919662475586], [-1.499216079711914, 2.629032611846924, 11.316296577453613], [-2.247002601623535, -0.17743074893951416, 11.921621322631836], [-1.6854290962219238, -0.1548084020614624, 12.720244407653809], [-1.682256817817688, 2.667724132537842, 12.638059616088867], [-2.2438302040100098, 2.645102024078369, 11.839437484741211]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2349, "image_id": 328, "category_id": 45, "category_name": "person", "bbox2D_proj": [237.0, 246.0, 272.0, 365.0], "bbox2D_tight": [237.0, 246.0, 272.0, 365.0], "bbox2D_trunc": [237.0, 246.0, 272.0, 365.0], "center_cam": [-0.028466435398094153, 1.0465784079596185, 9.73800484471694], "dimensions": [0.745849604389451, 2.5253297259663707, 0.9374999943124537], "R_cam": [[-0.059173643589019775, -0.0015854239463806152, -0.998246431350708], [-0.010640144348144531, 0.99994295835495, -0.0009573996067047119], [0.9981909990310669, 0.0105648934841156, -0.05918717384338379]], "bbox3D_cam": [[0.37354397773742676, -0.2106698751449585, 9.27883529663086], [0.31806862354278564, -0.22064507007598877, 10.214639663696289], [0.3140649199485779, 2.3045406341552734, 10.241318702697754], [0.369540274143219, 2.314516067504883, 9.30551528930664], [-0.3709977865219116, -0.21138393878936768, 9.23469066619873], [-0.42647314071655273, -0.22135913372039795, 10.170494079589844], [-0.4304768443107605, 2.3038268089294434, 10.197174072265625], [-0.3750014901161194, 2.3138017654418945, 9.261369705200195]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2350, "image_id": 328, "category_id": 45, "category_name": "person", "bbox2D_proj": [0.0, 255.0, 29.0, 343.0], "bbox2D_tight": [0.0, 255.0, 29.0, 343.0], "bbox2D_trunc": [0.0, 255.0, 29.0, 343.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2351, "image_id": 328, "category_id": 45, "category_name": "person", "bbox2D_proj": [434.0, 254.0, 464.0, 334.0], "bbox2D_tight": [434.0, 254.0, 464.0, 334.0], "bbox2D_trunc": [434.0, 254.0, 464.0, 334.0], "center_cam": [4.835972186389461, 0.9219371401762981, 11.087311975313137], "dimensions": [0.6250000033443257, 1.9396973822530332, 0.6962890600469208], "R_cam": [[0.9582509994506836, -0.08000075817108154, 0.27450886368751526], [0.029168426990509033, 0.9824029207229614, 0.18448293209075928], [-0.28443706035614014, -0.16877390444278717, 0.9437220096588135]], "bbox3D_cam": [[4.494167327880859, -0.09865063428878784, 11.055109024047852], [5.161386489868164, -0.07834094762802124, 10.85705852508545], [5.006209373474121, 1.8272231817245483, 10.529687881469727], [4.338989734649658, 1.8069134950637817, 10.727738380432129], [4.665735244750977, 0.016651153564453125, 11.644935607910156], [5.3329548835754395, 0.03696084022521973, 11.446885108947754], [5.177777290344238, 1.9425249099731445, 11.119514465332031], [4.510558128356934, 1.922215223312378, 11.317564964294434]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2352, "image_id": 328, "category_id": 45, "category_name": "person", "bbox2D_proj": [43.0, 260.0, 81.0, 332.0], "bbox2D_tight": [43.0, 260.0, 81.0, 332.0], "bbox2D_trunc": [43.0, 260.0, 81.0, 332.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2353, "image_id": 328, "category_id": 37, "category_name": "lantern", "bbox2D_proj": [355.0, 171.0, 405.0, 270.0], "bbox2D_tight": [355.0, 171.0, 405.0, 270.0], "bbox2D_trunc": [355.0, 171.0, 405.0, 270.0], "center_cam": [5.187741604224464, -1.4375773966312613, 19.136774978932547], "dimensions": [0.4218749994705511, 4.003906466704045, 1.9999999877728518], "R_cam": [[0.9956180453300476, -0.03920316696166992, 0.08489850908517838], [0.01947563886642456, 0.9749017357826233, 0.2217821329832077], [-0.09146226942539215, -0.21915686130523682, 0.9713932871818542]], "bbox3D_cam": [[4.2526984214782715, -3.45554256439209, 19.462074279785156], [6.243934631347656, -3.4165916442871094, 19.279150009155273], [6.086968421936035, 0.4868236780166626, 18.40166664123535], [4.09573221206665, 0.447872519493103, 18.584590911865234], [4.288515090942383, -3.361978530883789, 19.87188148498535], [6.279751300811768, -3.3230271339416504, 19.68895721435547], [6.1227850914001465, 0.5803879499435425, 18.811473846435547], [4.131548881530762, 0.5414367914199829, 18.99439811706543]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2354, "image_id": 329, "category_id": 45, "category_name": "person", "bbox2D_proj": [416.0, 241.0, 440.0, 318.0], "bbox2D_tight": [416.0, 241.0, 440.0, 318.0], "bbox2D_trunc": [416.0, 241.0, 440.0, 318.0], "center_cam": [1.5948749879901303, 0.20392527699092042, 4.1053891268979], "dimensions": [0.19140636127305793, 0.6669921482136818, 0.19384777306697248], "R_cam": [[0.9596238732337952, -0.00481104850769043, 0.28124505281448364], [0.04845482110977173, 0.9877344965934753, -0.14843395352363586], [-0.27708134055137634, 0.15606844425201416, 0.9480867981910706]], "bbox3D_cam": [[1.476552963256836, -0.11597111821174622, 3.989461898803711], [1.6625739336013794, -0.10657826066017151, 3.9357502460479736], [1.659364938735962, 0.5522328615188599, 4.039846420288086], [1.4733439683914185, 0.5428400039672852, 4.093558311462402], [1.5303850173950195, -0.1443823277950287, 4.170931816101074], [1.716405987739563, -0.13498947024345398, 4.117219924926758], [1.7131969928741455, 0.5238217115402222, 4.221316337585449], [1.527176022529602, 0.5144288539886475, 4.275028228759766]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2355, "image_id": 329, "category_id": 47, "category_name": "pipe", "bbox2D_proj": [0.0, 111.0, 56.0, 143.0], "bbox2D_tight": [0.0, 111.0, 56.0, 143.0], "bbox2D_trunc": [0.0, 111.0, 56.0, 143.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2356, "image_id": 329, "category_id": 45, "category_name": "person", "bbox2D_proj": [38.0, 225.0, 75.0, 339.0], "bbox2D_tight": [38.0, 225.0, 75.0, 339.0], "bbox2D_trunc": [38.0, 225.0, 75.0, 339.0], "center_cam": [-1.5108644781849327, 0.19083754461960356, 3.449911409063405], "dimensions": [0.2626953306320554, 0.8503417471562689, 0.30664064891929244], "R_cam": [[0.7822468280792236, -0.0564265251159668, 0.6204079389572144], [0.11465632915496826, 0.9919173717498779, -0.0543498694896698], [-0.6123266220092773, 0.11364874243736267, 0.7823938131332397]], "bbox3D_cam": [[-1.6882970333099365, -0.24133722484111786, 3.3927078247070312], [-1.4484283924102783, -0.2061789482831955, 3.2049434185028076], [-1.4964102506637573, 0.6372897624969482, 3.301583766937256], [-1.7362788915634155, 0.6021314859390259, 3.4893479347229004], [-1.5253187417984009, -0.255614697933197, 3.598238945007324], [-1.2854501008987427, -0.22045640647411346, 3.4104747772216797], [-1.3334319591522217, 0.6230123043060303, 3.507114887237549], [-1.5733006000518799, 0.5878540277481079, 3.6948792934417725]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2357, "image_id": 329, "category_id": 45, "category_name": "person", "bbox2D_proj": [458.0, 234.0, 500.0, 327.0], "bbox2D_tight": [458.0, 234.0, 500.0, 327.0], "bbox2D_trunc": [458.0, 234.0, 500.0, 327.0], "center_cam": [1.9313013336744986, 0.19260296419083434, 3.8533722664193046], "dimensions": [0.3046875337560585, 0.7459106022968846, 0.3242187789486729], "R_cam": [[-0.2743588984012604, -0.06091433763504028, -0.9596961140632629], [-0.10884904861450195, 0.9935449361801147, -0.03194493055343628], [0.9554470777511597, 0.09569758176803589, -0.27921831607818604]], "bbox3D_cam": [[2.1446995735168457, -0.1554328203201294, 3.705331563949585], [2.0557472705841064, -0.190723717212677, 4.015105724334717], [2.010310649871826, 0.5503719449043274, 4.086487293243408], [2.0992629528045654, 0.585662841796875, 3.7767136096954346], [1.8522920608520508, -0.16516602039337158, 3.6202573776245117], [1.7633397579193115, -0.2004569172859192, 3.9300310611724854], [1.7179031372070312, 0.5406387448310852, 4.001412868499756], [1.8068554401397705, 0.5759296417236328, 3.6916391849517822]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2358, "image_id": 329, "category_id": 45, "category_name": "person", "bbox2D_proj": [376.0, 228.0, 400.0, 333.0], "bbox2D_tight": [376.0, 228.0, 400.0, 333.0], "bbox2D_trunc": [376.0, 228.0, 400.0, 333.0], "center_cam": [1.1575005751014436, 0.20815963663639742, 3.9670168653105105], "dimensions": [0.27099610121038026, 0.9005126389128331, 0.29882812516140467], "R_cam": [[-0.09924176335334778, -0.02288496494293213, 0.9948001503944397], [0.019048333168029785, 0.9995086193084717, 0.02489355206489563], [-0.9948810338973999, 0.0214197039604187, -0.09875714778900146]], "bbox3D_cam": [[1.0478394031524658, -0.24809454381465912, 4.11940336227417], [1.0181831121444702, -0.2424023598432541, 3.8221046924591064], [0.9975749254226685, 0.6576677560806274, 3.84139347076416], [1.027231216430664, 0.6519755721092224, 4.1386919021606445], [1.317426323890686, -0.2413484901189804, 4.092640399932861], [1.2877700328826904, -0.23565630614757538, 3.795341968536377], [1.2671618461608887, 0.6644138097763062, 3.8146307468414307], [1.2968181371688843, 0.6587216258049011, 4.111928939819336]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2359, "image_id": 329, "category_id": 45, "category_name": "person", "bbox2D_proj": [437.0, 245.0, 464.0, 319.0], "bbox2D_tight": [437.0, 245.0, 464.0, 319.0], "bbox2D_trunc": [437.0, 245.0, 464.0, 319.0], "center_cam": [1.7537946490328622, 0.21910667352925844, 4.029861267075246], "dimensions": [0.20410161032783664, 0.6531371665450894, 0.20703129304411594], "R_cam": [[-0.1184820830821991, -0.023079752922058105, 0.9926879405975342], [0.039975881576538086, 0.9988083839416504, 0.027993321418762207], [-0.992151141166687, 0.04300034046173096, -0.11741828918457031]], "bbox3D_cam": [[1.6722919940948486, -0.11406764388084412, 4.130504608154297], [1.647762417793274, -0.1057913601398468, 3.925098419189453], [1.6326881647109985, 0.5465675592422485, 3.95318341255188], [1.6572177410125732, 0.5382912158966064, 4.158589839935303], [1.8749011754989624, -0.10835418105125427, 4.106539249420166], [1.8503715991973877, -0.10007789731025696, 3.9011330604553223], [1.8352973461151123, 0.5522810220718384, 3.929218292236328], [1.859826922416687, 0.5440046787261963, 4.134624481201172]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2360, "image_id": 329, "category_id": 45, "category_name": "person", "bbox2D_proj": [355.0, 230.0, 379.0, 277.0], "bbox2D_tight": [355.0, 230.0, 379.0, 277.0], "bbox2D_trunc": [355.0, 230.0, 379.0, 277.0], "center_cam": [1.0736740249105128, 0.06868265590313762, 4.275600306958561], "dimensions": [0.18359374831948277, 0.6044921553963616, 0.19775390932705944], "R_cam": [[-0.998336911201477, 0.03054821491241455, -0.04889187961816788], [0.014914214611053467, 0.9560534954071045, 0.29281309247016907], [0.05568813532590866, 0.291596919298172, -0.9549190998077393]], "bbox3D_cam": [[1.1676416397094727, -0.2486347109079361, 4.269618511199951], [0.9702166318893433, -0.24568535387516022, 4.280631065368652], [0.988682746887207, 0.332241415977478, 4.456899166107178], [1.1861077547073364, 0.32929205894470215, 4.445886611938477], [1.158665418624878, -0.19487608969211578, 4.094301700592041], [0.9612404108047485, -0.1919267326593399, 4.105314254760742], [0.9797065258026123, 0.38600003719329834, 4.281582355499268], [1.1771315336227417, 0.38305068016052246, 4.270569801330566]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2361, "image_id": 329, "category_id": 45, "category_name": "person", "bbox2D_proj": [76.0, 230.0, 117.0, 341.0], "bbox2D_tight": [76.0, 230.0, 117.0, 341.0], "bbox2D_trunc": [76.0, 230.0, 117.0, 341.0], "center_cam": [-1.1888776274473871, 0.20964341768735295, 3.3639848900038114], "dimensions": [0.27758790008721934, 0.7855224118702615, 0.3632812567982997], "R_cam": [[-0.4682730436325073, -0.02137857675552368, -0.8833252191543579], [-0.015442848205566406, 0.9997526407241821, -0.016009867191314697], [0.8834488987922668, 0.0061439573764801025, -0.46848738193511963]], "bbox3D_cam": [[-0.9728232622146606, -0.177993506193161, 3.266124725341797], [-1.1429381370544434, -0.18360355496406555, 3.5870652198791504], [-1.1597315073013306, 0.6017245054244995, 3.591891288757324], [-0.9896166920661926, 0.6073344945907593, 3.27095103263855], [-1.218023657798767, -0.18243762850761414, 3.136078357696533], [-1.3881385326385498, -0.18804767727851868, 3.4570186138153076], [-1.404931902885437, 0.5972803831100464, 3.4618449211120605], [-1.2348170280456543, 0.6028903722763062, 3.140904426574707]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2362, "image_id": 330, "category_id": 15, "category_name": "car", "bbox2D_proj": [199.0, 283.0, 300.0, 324.0], "bbox2D_tight": [199.0, 283.0, 300.0, 324.0], "bbox2D_trunc": [199.0, 283.0, 300.0, 324.0], "center_cam": [0.0287439655263177, 1.2531966473253695, 9.869115192038032], "dimensions": [1.0998321181706927, 0.7965268694796673, 2.42601068761211], "R_cam": [[-0.9536464810371399, 0.04593190550804138, 0.29740309715270996], [0.04810523986816406, 0.9988422989845276, -1.1265277862548828e-05], [-0.2970593571662903, 0.01429593563079834, -0.9547519683837891]], "bbox3D_cam": [[1.0036824941635132, 0.7970485687255859, 10.74878978729248], [-1.309874176979065, 0.9137523174285889, 10.028120040893555], [-1.2732881307601929, 1.7093570232391357, 10.039507865905762], [1.0402685403823853, 1.5926532745361328, 10.760176658630371], [1.3307760953903198, 0.7970361709594727, 9.698721885681152], [-0.9827805757522583, 0.9137399196624756, 8.978053092956543], [-0.9461945295333862, 1.7093446254730225, 8.989439964294434], [1.367362141609192, 1.5926408767700195, 9.71010971069336]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2363, "image_id": 330, "category_id": 63, "category_name": "streetlight", "bbox2D_proj": [102.0, 106.0, 125.0, 329.0], "bbox2D_tight": [102.0, 106.0, 125.0, 329.0], "bbox2D_trunc": [102.0, 106.0, 125.0, 329.0], "center_cam": [-3.388590496998445, -1.0805296861664542, 10.597867006900614], "dimensions": [0.4514413652507502, 5.547220611247587, 4.319932010932632], "R_cam": [[0.30509936809539795, 0.005894713569432497, 0.9523022770881653], [0.015118367969989777, 0.9998247623443604, -0.011032510548830032], [-0.9522004723548889, 0.01776326820254326, 0.3049567937850952]], "bbox3D_cam": [[-4.2788987159729, -3.883819103240967, 12.536483764648438], [-2.960890293121338, -3.8185086250305176, 8.423042297363281], [-2.9281909465789795, 1.7277402877807617, 8.52157974243164], [-4.246199607849121, 1.6624298095703125, 12.635021209716797], [-3.8489902019500732, -3.8887996673583984, 12.674154281616211], [-2.5309815406799316, -3.823489189147949, 8.560712814331055], [-2.4982824325561523, 1.72275972366333, 8.659250259399414], [-3.816290855407715, 1.6574492454528809, 12.77269172668457]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2364, "image_id": 330, "category_id": 32, "category_name": "house", "bbox2D_proj": [0.0, 98.0, 274.0, 320.0], "bbox2D_tight": [0.0, 98.0, 274.0, 320.0], "bbox2D_trunc": [0.0, 98.0, 274.0, 320.0], "center_cam": [-6.391327014956982, -0.6320530007650087, 18.44863583706974], "dimensions": [9.26583444323687, 7.113871638916531, 9.490021258895926], "R_cam": [[-0.9222628474235535, 0.002768903970718384, 0.38655340671539307], [-0.011918678879737854, 0.9992952346801758, -0.03559434413909912], [-0.38637953996658325, -0.037434518337249756, -0.9215798377990723]], "bbox3D_cam": [[-3.8158974647521973, -3.965022087097168, 24.68476676940918], [-12.568193435668945, -4.078130722045898, 21.018016815185547], [-12.54849624633789, 3.0307273864746094, 20.751710891723633], [-3.7962002754211426, 3.14383602142334, 24.418460845947266], [-0.23415708541870117, -4.294833183288574, 16.145559310913086], [-8.986454010009766, -4.407941818237305, 12.478808403015137], [-8.966756820678711, 2.700916290283203, 12.212503433227539], [-0.21445989608764648, 2.8140249252319336, 15.879254341125488]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2365, "image_id": 330, "category_id": 72, "category_name": "tree", "bbox2D_proj": [222.0, 0.0, 422.0, 273.0], "bbox2D_tight": [222.0, 0.0, 422.0, 273.0], "bbox2D_trunc": [222.0, 0.0, 422.0, 273.0], "center_cam": [0.8140068086205532, -1.7356488652058597, 6.557936314348295], "dimensions": [1.7025124049410714, 3.9707162038715422, 2.558074846903717], "R_cam": [[-0.9454360008239746, 0.005894714966416359, -0.32575520873069763], [-0.0002143869933206588, 0.9998250007629395, 0.018714576959609985], [0.32580849528312683, 0.01776326820254326, -0.9452689290046692]], "bbox3D_cam": [[2.2888526916503906, -3.736315965652466, 6.910614490509033], [-0.12964308261871338, -3.7368643283843994, 7.744056701660156], [-0.10623681545257568, 0.23315644264221191, 7.814589500427246], [2.312258720397949, 0.2337048053741455, 6.981147289276123], [1.7342504262924194, -3.704454183578491, 5.30128288269043], [-0.684245228767395, -3.705002546310425, 6.134725093841553], [-0.6608389616012573, 0.2650182247161865, 6.205257892608643], [1.7576566934585571, 0.2655665874481201, 5.3718156814575195]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2366, "image_id": 330, "category_id": 18, "category_name": "chimney", "bbox2D_proj": [349.0, 106.0, 370.0, 159.0], "bbox2D_tight": [349.0, 106.0, 370.0, 159.0], "bbox2D_trunc": [349.0, 106.0, 370.0, 159.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2367, "image_id": 330, "category_id": 45, "category_name": "person", "bbox2D_proj": [0.0, 269.0, 32.0, 405.0], "bbox2D_tight": [0.0, 269.0, 32.0, 405.0], "bbox2D_trunc": [0.0, 269.0, 32.0, 405.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2368, "image_id": 330, "category_id": 40, "category_name": "motorcycle", "bbox2D_proj": [318.0, 272.0, 512.0, 450.0], "bbox2D_tight": [318.0, 272.0, 512.0, 450.0], "bbox2D_trunc": [318.0, 272.0, 512.0, 450.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2369, "image_id": 330, "category_id": 45, "category_name": "person", "bbox2D_proj": [63.0, 262.0, 108.0, 399.0], "bbox2D_tight": [63.0, 262.0, 108.0, 399.0], "bbox2D_trunc": [63.0, 262.0, 108.0, 399.0], "center_cam": [-2.2182118948405494, 0.9416127677019275, 5.815940938848437], "dimensions": [0.5898437915110017, 1.6884766009738512, 0.6425781707954332], "R_cam": [[0.6028203964233398, 0.013704776763916016, -0.7977592945098877], [0.0528109073638916, 0.9969745874404907, 0.057033270597457886], [0.7961273193359375, -0.07651123404502869, 0.6002727746963501]], "bbox3D_cam": [[-2.188184976577759, 0.06614077091217041, 5.447713851928711], [-1.8008257150650024, 0.10007596015930176, 5.959288120269775], [-1.777685523033142, 1.7834440469741821, 5.8301005363464355], [-2.1650447845458984, 1.7495088577270508, 5.318526744842529], [-2.658738374710083, 0.09978151321411133, 5.801781177520752], [-2.271378993988037, 0.13371670246124268, 6.313354969024658], [-2.2482388019561768, 1.817084789276123, 6.184167861938477], [-2.6355981826782227, 1.7831496000289917, 5.672593593597412]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2370, "image_id": 330, "category_id": 45, "category_name": "person", "bbox2D_proj": [296.0, 252.0, 340.0, 385.0], "bbox2D_tight": [296.0, 252.0, 340.0, 385.0], "bbox2D_trunc": [296.0, 252.0, 340.0, 385.0], "center_cam": [0.8441669672369241, 0.7765921056520232, 5.611130620723385], "dimensions": [0.5468750390311929, 1.5983887080936499, 0.5957031674026816], "R_cam": [[0.821600079536438, 0.01964426040649414, 0.5697255730628967], [-0.04551959037780762, 0.9984755516052246, 0.03121626004576683], [-0.5682438611984253, -0.05158098787069321, 0.8212418556213379]], "bbox3D_cam": [[0.4279681444168091, -0.016361534595489502, 5.597047805786133], [0.9173979759216309, -0.04347771406173706, 5.258543014526367], [0.9487970471382141, 1.5524744987487793, 5.1760969161987305], [0.45936721563339233, 1.5795905590057373, 5.514601707458496], [0.7395369410514832, 0.000709831714630127, 6.046164512634277], [1.2289667129516602, -0.02640634775161743, 5.707659721374512], [1.2603658437728882, 1.5695457458496094, 5.625213623046875], [0.7709360122680664, 1.5966620445251465, 5.963718414306641]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2371, "image_id": 330, "category_id": 45, "category_name": "person", "bbox2D_proj": [427.0, 245.0, 463.0, 294.0], "bbox2D_tight": [427.0, 245.0, 463.0, 294.0], "bbox2D_trunc": [427.0, 245.0, 463.0, 294.0], "center_cam": [2.411884954733173, 0.3115561086699665, 5.474700007064566], "dimensions": [0.2812500054231849, 0.795166033930444, 0.4902343884879612], "R_cam": [[0.9985783696174622, -0.014320015907287598, -0.05134345218539238], [0.018158376216888428, 0.9970114827156067, 0.07508962601423264], [0.05011472851037979, -0.07591518759727478, 0.9958541393280029]], "bbox3D_cam": [[2.18002986907959, -0.09984910488128662, 5.3525567054748535], [2.669567346572876, -0.0909472107887268, 5.377124786376953], [2.6581804752349854, 0.7018423676490784, 5.3167595863342285], [2.168642997741699, 0.6929404735565186, 5.292191505432129], [2.1655895709991455, -0.07873016595840454, 5.632640361785889], [2.6551270484924316, -0.06982827186584473, 5.657208442687988], [2.643740177154541, 0.7229613065719604, 5.596843242645264], [2.154202699661255, 0.7140594124794006, 5.572275161743164]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2372, "image_id": 331, "category_id": 45, "category_name": "person", "bbox2D_proj": [393.0, 245.0, 448.0, 312.0], "bbox2D_tight": [393.0, 245.0, 448.0, 312.0], "bbox2D_trunc": [393.0, 245.0, 448.0, 312.0], "center_cam": [2.141074276523017, 0.26376966915697353, 5.790144726446416], "dimensions": [0.5703125401499084, 0.8391113310761088, 0.6562500390261808], "R_cam": [[-0.05049160122871399, -0.10870075225830078, 0.9927913546562195], [0.07397466897964478, 0.9909217357635498, 0.11225822567939758], [-0.9959810972213745, 0.07910948991775513, -0.041992127895355225]], "bbox3D_cam": [[1.9201470613479614, -0.20826128125190735, 6.095734596252441], [1.8870118856430054, -0.15971538424491882, 5.442121982574463], [1.7957998514175415, 0.6717783212661743, 5.5085039138793945], [1.8289350271224976, 0.623232364654541, 6.162116527557373], [2.4863486289978027, -0.14423897862434387, 6.071785926818848], [2.4532132148742676, -0.09569308161735535, 5.418173313140869], [2.362001419067383, 0.7358006238937378, 5.484555244445801], [2.3951363563537598, 0.6872546672821045, 6.138167858123779]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2373, "image_id": 331, "category_id": 32, "category_name": "house", "bbox2D_proj": [0.0, 39.0, 244.0, 249.0], "bbox2D_tight": [0.0, 39.0, 244.0, 249.0], "bbox2D_trunc": [0.0, 39.0, 244.0, 249.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2374, "image_id": 331, "category_id": 45, "category_name": "person", "bbox2D_proj": [416.0, 203.0, 438.0, 262.0], "bbox2D_tight": [416.0, 203.0, 438.0, 262.0], "bbox2D_trunc": [416.0, 203.0, 438.0, 262.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2375, "image_id": 331, "category_id": 57, "category_name": "shorts", "bbox2D_proj": [271.0, 257.0, 301.0, 290.0], "bbox2D_tight": [271.0, 257.0, 301.0, 290.0], "bbox2D_trunc": [271.0, 257.0, 301.0, 290.0], "center_cam": [0.3986452530584044, 0.17748395061025551, 5.8830359191376465], "dimensions": [0.17968750847500653, 0.47558593775391134, 0.37695314273505376], "R_cam": [[0.8662320375442505, -0.09848344326019287, -0.4898398518562317], [-0.08271431922912598, 0.9385887384414673, -0.3349771499633789], [0.49274784326553345, 0.3306846618652344, 0.8048896789550781]], "bbox3D_cam": [[0.3028085231781006, -2.053380012512207e-05, 5.63921594619751], [0.6293374300003052, -0.031199932098388672, 5.824958801269531], [0.5825001001358032, 0.41517964005470276, 5.982227802276611], [0.25597119331359863, 0.4463590383529663, 5.79648494720459], [0.21479040384292603, -0.060211747884750366, 5.783844470977783], [0.5413193106651306, -0.09139114618301392, 5.969587326049805], [0.49448198080062866, 0.3549884259700775, 6.126856327056885], [0.16795307397842407, 0.38616782426834106, 5.941113471984863]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2376, "image_id": 331, "category_id": 45, "category_name": "person", "bbox2D_proj": [435.0, 193.0, 468.0, 305.0], "bbox2D_tight": [435.0, 193.0, 468.0, 305.0], "bbox2D_trunc": [435.0, 193.0, 468.0, 305.0], "center_cam": [2.5971191153732804, -0.09016388182309268, 5.8671325774798415], "dimensions": [0.4062500221960462, 1.5170897924212234, 0.5000000291438743], "R_cam": [[0.9585700631141663, 0.0012488365173339844, -0.2848542034626007], [-0.01348412036895752, 0.9990683197975159, -0.040995486080646515], [0.2845376133918762, 0.043138034641742706, 0.9576938152313232]], "bbox3D_cam": [[2.4143903255462646, -0.8363038897514343, 5.568744659423828], [2.8936753273010254, -0.8430458903312683, 5.711013317108154], [2.8955700397491455, 0.6726304888725281, 5.776457786560059], [2.4162850379943848, 0.6793724894523621, 5.634188652038574], [2.298668146133423, -0.8529582619667053, 5.957807540893555], [2.7779531478881836, -0.8597002625465393, 6.100076675415039], [2.7798478603363037, 0.6559761166572571, 6.165520668029785], [2.300562858581543, 0.6627181172370911, 6.023252010345459]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2377, "image_id": 331, "category_id": 32, "category_name": "house", "bbox2D_proj": [336.0, 61.0, 488.0, 257.0], "bbox2D_tight": [336.0, 61.0, 488.0, 257.0], "bbox2D_trunc": [336.0, 61.0, 488.0, 257.0], "center_cam": [4.701129058945424, -3.5146344345506866, 15.541248886176309], "dimensions": [4.531250289884487, 6.863281189611676, 5.40625045052106], "R_cam": [[0.9676148891448975, 0.06301283836364746, -0.2444400191307068], [-0.07763946056365967, 0.995693564414978, -0.0506611168384552], [0.24019503593444824, 0.06799861788749695, 0.9683400988578796]], "bbox3D_cam": [[2.42311692237854, -6.60684871673584, 12.464729309082031], [7.654285430908203, -7.026586532592773, 13.763283729553223], [8.086759567260742, -0.19286227226257324, 14.22997760772705], [2.8555915355682373, 0.22687602043151855, 12.93142318725586], [1.3154981136322021, -6.836406707763672, 16.852519989013672], [6.546666145324707, -7.2561445236206055, 18.15107536315918], [6.9791412353515625, -0.4224202632904053, 18.617769241333008], [1.7479727268218994, -0.0026819705963134766, 17.3192138671875]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2378, "image_id": 331, "category_id": 45, "category_name": "person", "bbox2D_proj": [478.0, 198.0, 512.0, 311.0], "bbox2D_tight": [478.0, 198.0, 512.0, 311.0], "bbox2D_trunc": [478.0, 198.0, 512.0, 311.0], "center_cam": [3.1265083443732533, 0.08555182276201068, 5.796730845251047], "dimensions": [0.33414678471226766, 1.2637207406056554, 0.546860641297787], "R_cam": [[-0.5022673606872559, -0.002476963447406888, 0.8647087216377258], [0.008188224397599697, 0.9999374151229858, 0.007620468735694885], [-0.8646735548973083, 0.010907942429184914, -0.5022157430648804]], "bbox3D_cam": [[3.120938777923584, -0.5497811436653137, 6.11017370223999], [2.8462681770324707, -0.5453032851219177, 5.637317657470703], [2.8431382179260254, 0.7183384299278259, 5.651102066040039], [3.1178085803985596, 0.7138605713844299, 6.123958110809326], [3.4098782539367676, -0.547234833240509, 5.942359924316406], [3.1352078914642334, -0.542756974697113, 5.469503879547119], [3.132077693939209, 0.7208847403526306, 5.483288288116455], [3.4067482948303223, 0.7164068818092346, 5.956144332885742]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2379, "image_id": 331, "category_id": 63, "category_name": "streetlight", "bbox2D_proj": [63.0, 32.0, 88.0, 267.0], "bbox2D_tight": [63.0, 32.0, 88.0, 267.0], "bbox2D_trunc": [63.0, 32.0, 88.0, 267.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2380, "image_id": 331, "category_id": 45, "category_name": "person", "bbox2D_proj": [20.0, 196.0, 68.0, 332.0], "bbox2D_tight": [20.0, 196.0, 68.0, 332.0], "bbox2D_trunc": [20.0, 196.0, 68.0, 332.0], "center_cam": [-2.753416009738642, 0.0816402724854472, 5.851504929656724], "dimensions": [0.5195312609457627, 1.6977538468457036, 0.5898437701347561], "R_cam": [[0.9465141296386719, 0.011343598365783691, 0.3224629759788513], [-0.009761214256286621, 0.9999310970306396, -0.006523877382278442], [-0.32251477241516113, 0.003027305006980896, 0.9465596675872803]], "bbox3D_cam": [[-3.12595796585083, -0.7626047134399414, 5.69816780090332], [-2.567662477493286, -0.768362283706665, 5.5079345703125], [-2.548403739929199, 0.9292746782302856, 5.5130743980407715], [-3.106699228286743, 0.9350322484970093, 5.703307628631592], [-2.958428382873535, -0.7659940719604492, 6.189935207366943], [-2.400132894515991, -0.7717516422271729, 5.999701976776123], [-2.3808741569519043, 0.9258853197097778, 6.0048418045043945], [-2.9391696453094482, 0.9316428899765015, 6.195075035095215]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2381, "image_id": 331, "category_id": 15, "category_name": "car", "bbox2D_proj": [159.0, 228.0, 272.0, 266.0], "bbox2D_tight": [159.0, 228.0, 272.0, 266.0], "bbox2D_trunc": [159.0, 228.0, 272.0, 266.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2382, "image_id": 332, "category_id": 12, "category_name": "brick", "bbox2D_proj": [86.0, 290.0, 189.0, 350.0], "bbox2D_tight": [86.0, 290.0, 189.0, 350.0], "bbox2D_trunc": [86.0, 290.0, 189.0, 350.0], "center_cam": [-0.45082726138431806, 0.2374972434261012, 1.667047528319677], "dimensions": [0.032678100586798875, 0.21040018260170673, 0.44643537004674716], "R_cam": [[0.9248432517051697, 0.005151520483195782, 0.38031357526779175], [-0.02522820234298706, 0.9985371828079224, 0.04782407730817795], [-0.37951087951660156, -0.05382440239191055, 0.923620343208313]], "bbox3D_cam": [[-0.6640245318412781, 0.1373010277748108, 1.7423323392868042], [-0.2511417865753174, 0.12603825330734253, 1.57290518283844], [-0.2500579357147217, 0.33613064885139465, 1.5615805387496948], [-0.6629406809806824, 0.3473934233188629, 1.7310075759887695], [-0.6515966057777405, 0.13886383175849915, 1.7725144624710083], [-0.23871387541294098, 0.12760105729103088, 1.6030874252319336], [-0.2376299947500229, 0.337693452835083, 1.591762661933899], [-0.6505127549171448, 0.34895622730255127, 1.7611898183822632]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2383, "image_id": 332, "category_id": 12, "category_name": "brick", "bbox2D_proj": [87.0, 235.0, 195.0, 292.0], "bbox2D_tight": [87.0, 235.0, 195.0, 292.0], "bbox2D_trunc": [87.0, 235.0, 195.0, 292.0], "center_cam": [-0.44270655863808545, 0.025173051158910064, 1.670103423379792], "dimensions": [0.05947580042239786, 0.2146302411201527, 0.4719432552538222], "R_cam": [[0.8884540796279907, 0.005151520017534494, 0.45893657207489014], [-0.029272954910993576, 0.9985369443893433, 0.04546095058321953], [-0.4580309987068176, -0.053824394941329956, 0.8873050212860107]], "bbox3D_cam": [[-0.6665571331977844, -0.07642940431833267, 1.7575753927230835], [-0.24725724756717682, -0.0902445837855339, 1.5414106845855713], [-0.24615158140659332, 0.12407168000936508, 1.5298583507537842], [-0.6654514670372009, 0.13788685202598572, 1.7460229396820068], [-0.6392615437507629, -0.07372557371854782, 1.8103485107421875], [-0.21996162831783295, -0.08754075318574905, 1.5941839218139648], [-0.21885596215724945, 0.12677550315856934, 1.5826314687728882], [-0.6381558775901794, 0.14059068262577057, 1.7987961769104004]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2384, "image_id": 332, "category_id": 54, "category_name": "sculpture", "bbox2D_proj": [282.0, 395.0, 373.0, 512.0], "bbox2D_tight": [282.0, 395.0, 373.0, 512.0], "bbox2D_trunc": [282.0, 395.0, 373.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2385, "image_id": 332, "category_id": 51, "category_name": "poster", "bbox2D_proj": [312.0, 364.0, 343.0, 407.0], "bbox2D_tight": [312.0, 364.0, 343.0, 407.0], "bbox2D_trunc": [312.0, 364.0, 343.0, 407.0], "center_cam": [0.2416295048099948, 0.44435812185574, 1.5243019710845787], "dimensions": [0.00976562532050236, 0.12792969092079803, 0.10473633612740325], "R_cam": [[0.8976396918296814, 0.08777427673339844, 0.43190115690231323], [-0.017824649810791016, 0.9863960146903992, -0.1634172648191452], [-0.4403694272041321, 0.1389913409948349, 0.8869926929473877]], "bbox3D_cam": [[0.18689841032028198, 0.3829948306083679, 1.5341417789459229], [0.2809138894081116, 0.3811279237270355, 1.4880191087722778], [0.2921428382396698, 0.507317304611206, 1.5058002471923828], [0.19812732934951782, 0.5091841816902161, 1.5519229173660278], [0.19111618399620056, 0.3813989460468292, 1.5428037643432617], [0.28513169288635254, 0.3795320689678192, 1.4966810941696167], [0.2963606119155884, 0.505721390247345, 1.5144622325897217], [0.2023451328277588, 0.507588267326355, 1.5605849027633667]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2386, "image_id": 332, "category_id": 47, "category_name": "pipe", "bbox2D_proj": [59.0, 0.0, 96.0, 512.0], "bbox2D_tight": [59.0, 0.0, 96.0, 512.0], "bbox2D_trunc": [59.0, 0.0, 96.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2387, "image_id": 333, "category_id": 19, "category_name": "christmas_tree", "bbox2D_proj": [0.0, 83.0, 251.0, 338.0], "bbox2D_tight": [0.0, 83.0, 251.0, 338.0], "bbox2D_trunc": [0.0, 83.0, 251.0, 338.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2388, "image_id": 333, "category_id": 45, "category_name": "person", "bbox2D_proj": [222.0, 318.0, 279.0, 430.0], "bbox2D_tight": [222.0, 318.0, 279.0, 430.0], "bbox2D_trunc": [222.0, 318.0, 279.0, 430.0], "center_cam": [-0.10054033904606913, 1.6413942043147487, 5.9792089415773955], "dimensions": [0.49218752099417695, 1.2958984160899103, 0.7285156541768901], "R_cam": [[0.8168261647224426, 0.03090977668762207, 0.576055109500885], [-0.09403657913208008, 0.9923416972160339, 0.08009393513202667], [-0.5691678524017334, -0.1195930689573288, 0.8134772777557373]], "bbox3D_cam": [[-0.559867262840271, 1.0129501819610596, 6.063831329345703], [0.03520342707633972, 0.9444430470466614, 5.649183750152588], [0.07525935769081116, 2.230417013168335, 5.494203090667725], [-0.5198112726211548, 2.298924207687378, 5.90885066986084], [-0.2763400375843048, 1.0523715019226074, 6.46421480178833], [0.3187306225299835, 0.9838642477989197, 6.049567222595215], [0.35878655314445496, 2.269838333129883, 5.894586563110352], [-0.23628410696983337, 2.338345527648926, 6.309234142303467]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2389, "image_id": 333, "category_id": 27, "category_name": "flagpole", "bbox2D_proj": [313.0, 206.0, 334.0, 277.0], "bbox2D_tight": [313.0, 206.0, 334.0, 277.0], "bbox2D_trunc": [313.0, 206.0, 334.0, 277.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2390, "image_id": 333, "category_id": 27, "category_name": "flagpole", "bbox2D_proj": [347.0, 204.0, 363.0, 281.0], "bbox2D_tight": [347.0, 204.0, 363.0, 281.0], "bbox2D_trunc": [347.0, 204.0, 363.0, 281.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2391, "image_id": 333, "category_id": 45, "category_name": "person", "bbox2D_proj": [0.0, 335.0, 68.0, 495.0], "bbox2D_tight": [0.0, 335.0, 68.0, 495.0], "bbox2D_trunc": [0.0, 335.0, 68.0, 495.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2392, "image_id": 333, "category_id": 45, "category_name": "person", "bbox2D_proj": [146.0, 323.0, 194.0, 451.0], "bbox2D_tight": [146.0, 323.0, 194.0, 451.0], "bbox2D_trunc": [146.0, 323.0, 194.0, 451.0], "center_cam": [-1.1092026501657644, 1.6243698231714947, 5.600115230216579], "dimensions": [0.5839844016183714, 1.559356661941501, 0.6640625334783117], "R_cam": [[0.4061006009578705, 0.06226611137390137, 0.9117045402526855], [-0.1444340944290161, 0.989509105682373, -0.0032446980476379395], [-0.9023420214653015, -0.1303635537624359, 0.41083359718322754]], "bbox3D_cam": [[-1.558798909187317, 0.9017751216888428, 5.881402492523193], [-1.2891227006912231, 0.8058618307113647, 5.282190799713135], [-1.1920275688171387, 2.3488593101501465, 5.0789079666137695], [-1.4617037773132324, 2.444772720336914, 5.67811918258667], [-1.0263776779174805, 0.8998802900314331, 6.1213226318359375], [-0.7567014694213867, 0.8039669990539551, 5.522111415863037], [-0.6596063375473022, 2.3469645977020264, 5.318828105926514], [-0.929282546043396, 2.442877769470215, 5.918039798736572]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2393, "image_id": 333, "category_id": 13, "category_name": "building", "bbox2D_proj": [245.0, 109.0, 465.0, 279.0], "bbox2D_tight": [245.0, 109.0, 465.0, 279.0], "bbox2D_trunc": [245.0, 109.0, 465.0, 279.0], "center_cam": [4.176803604991595, -1.9723901230531664, 16.710229543883134], "dimensions": [3.2646475843900102, 4.294435580966859, 6.832222795073866], "R_cam": [[-0.691250205039978, 0.04064437747001648, -0.7214715480804443], [0.10070919990539551, 0.9940917491912842, -0.04048812389373779], [0.7155632972717285, -0.1006462574005127, -0.6912593841552734]], "bbox3D_cam": [[7.628593921661377, -4.384865760803223, 15.610254287719727], [2.905818462371826, -3.696798086166382, 20.499141693115234], [3.0803632736206055, 0.5722649097442627, 20.066923141479492], [7.803138732910156, -0.11580276489257812, 15.178035736083984], [5.2732439041137695, -4.517045021057129, 13.353536605834961], [0.5504684448242188, -3.828977584838867, 18.24242401123047], [0.725013256072998, 0.44008564949035645, 17.810205459594727], [5.447788715362549, -0.24798226356506348, 12.921317100524902]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2394, "image_id": 333, "category_id": 45, "category_name": "person", "bbox2D_proj": [93.0, 329.0, 145.0, 467.0], "bbox2D_tight": [93.0, 329.0, 145.0, 467.0], "bbox2D_trunc": [93.0, 329.0, 145.0, 467.0], "center_cam": [-1.6142539179444304, 1.6417038794890078, 5.192300049231738], "dimensions": [0.6044922166226849, 1.5375976443403938, 0.6171875321784046], "R_cam": [[-0.6033355593681335, 0.12354373931884766, -0.7878598570823669], [0.2503621578216553, 0.9673239588737488, -0.0400395393371582], [0.7571690678596497, -0.22140759229660034, -0.6145515441894531]], "bbox3D_cam": [[-1.2849209308624268, 0.8328679800033569, 5.314605712890625], [-1.6572922468185425, 0.9873883724212646, 5.78192138671875], [-1.4673316478729248, 2.474743366241455, 5.441485404968262], [-1.0949604511260986, 2.320222854614258, 4.974170207977295], [-1.7611761093139648, 0.8086643218994141, 4.943114280700684], [-2.133547306060791, 0.9631847143173218, 5.41042947769165], [-1.943586826324463, 2.4505395889282227, 5.06999397277832], [-1.5712155103683472, 2.2960193157196045, 4.602678298950195]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2395, "image_id": 334, "category_id": 45, "category_name": "person", "bbox2D_proj": [308.0, 341.0, 351.0, 481.0], "bbox2D_tight": [308.0, 341.0, 351.0, 481.0], "bbox2D_trunc": [308.0, 341.0, 351.0, 481.0], "center_cam": [0.7229706279919218, 1.5525745377151363, 4.478620588840591], "dimensions": [0.38085937552778504, 1.2622680263987038, 0.5175781252508274], "R_cam": [[0.6939159631729126, -0.001477360725402832, -0.7200545072555542], [0.1585572361946106, 0.9757659435272217, 0.15079951286315918], [0.7023818492889404, -0.21881210803985596, 0.6773337721824646]], "bbox3D_cam": [[0.6814448833465576, 0.8669858574867249, 4.305966854095459], [1.0406006574630737, 0.9490516781806946, 4.669504642486572], [1.0387358665466309, 2.180729866027832, 4.39330530166626], [0.6795800924301147, 2.0986640453338623, 4.0297675132751465], [0.40720540285110474, 0.9244192242622375, 4.56393575668335], [0.7663611173629761, 1.0064849853515625, 4.927473545074463], [0.7644963264465332, 2.2381632328033447, 4.65127420425415], [0.4053405821323395, 2.156097412109375, 4.287736415863037]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2396, "image_id": 334, "category_id": 45, "category_name": "person", "bbox2D_proj": [431.0, 309.0, 470.0, 443.0], "bbox2D_tight": [431.0, 309.0, 470.0, 443.0], "bbox2D_trunc": [431.0, 309.0, 470.0, 443.0], "center_cam": [2.054874396223038, 1.3027044701713961, 4.843317333296869], "dimensions": [0.42608642634447486, 1.3896483936895137, 0.5429687441968973], "R_cam": [[0.332461953163147, 0.10764110088348389, -0.9369539022445679], [0.026075243949890137, 0.9920365810394287, 0.12322154641151428], [0.942756175994873, -0.06539776921272278, 0.3270076513290405]], "bbox3D_cam": [[2.0894362926483154, 0.580082893371582, 4.563147068023682], [2.2699527740478516, 0.5942409038543701, 5.075034141540527], [2.4195358753204346, 1.9728230237960815, 4.984154224395752], [2.2390193939208984, 1.9586650133132935, 4.472267150878906], [1.6902129650115967, 0.632585883140564, 4.702480792999268], [1.8707293272018433, 0.646743893623352, 5.214367866516113], [2.020312547683716, 2.0253260135650635, 5.123487949371338], [1.8397961854934692, 2.0111680030822754, 4.611600875854492]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2397, "image_id": 334, "category_id": 45, "category_name": "person", "bbox2D_proj": [232.0, 324.0, 261.0, 394.0], "bbox2D_tight": [232.0, 324.0, 261.0, 394.0], "bbox2D_trunc": [232.0, 324.0, 261.0, 394.0], "center_cam": [-0.18738076856740501, 1.7433538668224862, 7.566427482659849], "dimensions": [0.43359375020124097, 1.0935058242490145, 0.578125001981282], "R_cam": [[0.7895126342773438, 0.06058001518249512, -0.6107372045516968], [0.0331684947013855, 0.9894505739212036, 0.14102284610271454], [0.6128374338150024, -0.13159655034542084, 0.7791743278503418]], "bbox3D_cam": [[-0.3163156509399414, 1.162207841873169, 7.2923078536987305], [0.14012129604816437, 1.1813833713531494, 7.646604061126709], [0.20636595785617828, 2.2633533477783203, 7.502702713012695], [-0.2500710189342499, 2.24417781829834, 7.148406028747559], [-0.5811275243759155, 1.2233543395996094, 7.630152702331543], [-0.12469053268432617, 1.2425298690795898, 7.98444938659668], [-0.058445900678634644, 2.3244998455047607, 7.840547561645508], [-0.5148828625679016, 2.3053243160247803, 7.486251354217529]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2398, "image_id": 334, "category_id": 45, "category_name": "person", "bbox2D_proj": [208.0, 326.0, 235.0, 408.0], "bbox2D_tight": [208.0, 326.0, 235.0, 408.0], "bbox2D_trunc": [208.0, 326.0, 235.0, 408.0], "center_cam": [-0.6632591436415879, 1.7589394582500333, 7.135271126834336], "dimensions": [0.445312527996383, 1.2158202738328736, 0.4609375353391252], "R_cam": [[-0.9647352695465088, 0.08579719066619873, -0.2488468438386917], [0.13071507215499878, 0.9767359495162964, -0.17000119388103485], [0.228472039103508, -0.1965341717004776, -0.9535067081451416]], "bbox3D_cam": [[-0.4376674294471741, 1.1728978157043457, 7.414394855499268], [-0.8823502063751221, 1.2331492900848389, 7.5197062492370605], [-0.7780362367630005, 2.420684814453125, 7.280755996704102], [-0.3333534896373749, 2.360433340072632, 7.175444602966309], [-0.5484820604324341, 1.0971941947937012, 6.989786148071289], [-0.9931647777557373, 1.1574456691741943, 7.095097541809082], [-0.8888508677482605, 2.3449811935424805, 6.856147289276123], [-0.4441680908203125, 2.2847297191619873, 6.75083589553833]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2399, "image_id": 334, "category_id": 45, "category_name": "person", "bbox2D_proj": [281.0, 328.0, 323.0, 456.0], "bbox2D_tight": [281.0, 328.0, 323.0, 456.0], "bbox2D_trunc": [281.0, 328.0, 323.0, 456.0], "center_cam": [0.6086802459271538, 1.6075459536074441, 5.0386985731907625], "dimensions": [0.46679690529884843, 1.4082030835018968, 0.5058594101355705], "R_cam": [[0.7881714105606079, -0.08670729398727417, 0.609317421913147], [-0.3710745573043823, 0.7228908538818359, 0.582865834236145], [-0.4910086691379547, -0.6855003833770752, 0.5375869274139404]], "bbox3D_cam": [[0.32816529273986816, 1.0563733577728271, 5.520079135894775], [0.7268692255020142, 0.8686617016792297, 5.271697998046875], [0.6047676801681519, 1.8866386413574219, 4.3063740730285645], [0.20606374740600586, 2.074350357055664, 4.554755687713623], [0.6125928163528442, 1.3284533023834229, 5.771023273468018], [1.0112967491149902, 1.1407415866851807, 5.522641658782959], [0.8891952037811279, 2.1587185859680176, 4.557318210601807], [0.49049127101898193, 2.3464303016662598, 4.805699348449707]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2400, "image_id": 334, "category_id": 19, "category_name": "christmas_tree", "bbox2D_proj": [0.0, 30.0, 234.0, 369.0], "bbox2D_tight": [0.0, 30.0, 234.0, 369.0], "bbox2D_trunc": [0.0, 30.0, 234.0, 369.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2401, "image_id": 334, "category_id": 45, "category_name": "person", "bbox2D_proj": [186.0, 330.0, 210.0, 405.0], "bbox2D_tight": [186.0, 330.0, 210.0, 405.0], "bbox2D_trunc": [186.0, 330.0, 210.0, 405.0], "center_cam": [-0.9020755099493096, 1.8005774735713809, 7.187934505522033], "dimensions": [0.3867187775204074, 1.1469726192613696, 0.4179687798082527], "R_cam": [[0.6924642324447632, 0.022725343704223633, 0.7210942506790161], [-0.059928178787231445, 0.997861385345459, 0.026101112365722656], [-0.7189589738845825, -0.061287909746170044, 0.692345142364502]], "bbox3D_cam": [[-1.1992528438568115, 1.2357947826385498, 7.239461898803711], [-0.9098243713378906, 1.2107467651367188, 6.93895959854126], [-0.8837590217590332, 2.3552663326263428, 6.868663787841797], [-1.173187494277954, 2.380314588546753, 7.169166564941406], [-0.9203920364379883, 1.2458887100219727, 7.507205009460449], [-0.6309636235237122, 1.2208404541015625, 7.20670223236084], [-0.6048982739448547, 2.3653602600097656, 7.136406898498535], [-0.8943266868591309, 2.3904082775115967, 7.436909198760986]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2402, "image_id": 334, "category_id": 45, "category_name": "person", "bbox2D_proj": [391.0, 312.0, 434.0, 431.0], "bbox2D_tight": [391.0, 312.0, 434.0, 431.0], "bbox2D_trunc": [391.0, 312.0, 434.0, 431.0], "center_cam": [1.7472656219486842, 1.3229153437928416, 5.109116433550527], "dimensions": [0.44763187444146224, 1.2312011322944723, 0.4609375333041269], "R_cam": [[0.2321668267250061, 0.0744396448135376, -0.9698233604431152], [0.10413932800292969, 0.9894338250160217, 0.1008749008178711], [0.9670851230621338, -0.12441650032997131, 0.2219616174697876]], "bbox3D_cam": [[1.8649951219558716, 0.6672409772872925, 4.913146018981934], [1.9720096588134766, 0.7152427434921265, 5.358911514282227], [2.06365966796875, 1.9334348440170288, 5.205729961395264], [1.9566453695297241, 1.8854330778121948, 4.7599639892578125], [1.4308713674545288, 0.7123957872390747, 5.012503147125244], [1.5378857851028442, 0.7603975534439087, 5.458269119262695], [1.6295360326766968, 1.978589653968811, 5.305087089538574], [1.5225214958190918, 1.930587887763977, 4.859321594238281]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2403, "image_id": 334, "category_id": 13, "category_name": "building", "bbox2D_proj": [335.0, 123.0, 456.0, 275.0], "bbox2D_tight": [335.0, 123.0, 456.0, 275.0], "bbox2D_trunc": [335.0, 123.0, 456.0, 275.0], "center_cam": [4.384955354046905, -1.1397700958123311, 12.93298830354328], "dimensions": [2.6015624929197543, 4.005859260048567, 3.3576660441702386], "R_cam": [[0.8627273440361023, 0.06649887561798096, 0.5012778639793396], [-0.18747937679290771, 0.9627287983894348, 0.19494812190532684], [-0.46963077783584595, -0.262166291475296, 0.8430395722389221]], "bbox3D_cam": [[2.1513350009918213, -3.0068864822387695, 13.149910926818848], [5.048084735870361, -3.6363797187805176, 11.573047637939453], [5.314469814300537, 0.2201765775680542, 10.522845268249512], [2.417720079421997, 0.8496695756912231, 12.099709510803223], [3.4554407596588135, -2.4997167587280273, 15.343131065368652], [6.352190971374512, -3.1292099952697754, 13.766266822814941], [6.6185760498046875, 0.7273463010787964, 12.716065406799316], [3.7218258380889893, 1.3568392992019653, 14.292928695678711]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2404, "image_id": 334, "category_id": 45, "category_name": "person", "bbox2D_proj": [359.0, 327.0, 415.0, 458.0], "bbox2D_tight": [359.0, 327.0, 415.0, 458.0], "bbox2D_trunc": [359.0, 327.0, 415.0, 458.0], "center_cam": [1.3742716772135617, 1.4422452155118615, 4.720542035120965], "dimensions": [0.4882812417710129, 1.2471313073710217, 0.5488281235422583], "R_cam": [[-0.990344226360321, 0.04445147514343262, -0.13131079077720642], [0.06857502460479736, 0.9802773594856262, -0.18534792959690094], [0.12048201262950897, -0.19256287813186646, -0.9738602638244629]], "bbox3D_cam": [[1.6503759622573853, 0.8574109673500061, 5.045314311981201], [1.1068471670150757, 0.8950468897819519, 5.111438274383545], [1.1622838973999023, 2.117581367492676, 4.8712873458862305], [1.705812692642212, 2.0799455642700195, 4.805163383483887], [1.586259365081787, 0.7669090628623962, 4.569796562194824], [1.0427305698394775, 0.804544985294342, 4.635920524597168], [1.0981673002243042, 2.0270795822143555, 4.3957695960998535], [1.6416960954666138, 1.9894435405731201, 4.32964563369751]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2405, "image_id": 335, "category_id": 19, "category_name": "christmas_tree", "bbox2D_proj": [0.0, 0.0, 141.0, 339.0], "bbox2D_tight": [0.0, 0.0, 141.0, 339.0], "bbox2D_trunc": [0.0, 0.0, 141.0, 339.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2406, "image_id": 335, "category_id": 45, "category_name": "person", "bbox2D_proj": [213.0, 309.0, 235.0, 379.0], "bbox2D_tight": [213.0, 309.0, 235.0, 379.0], "bbox2D_trunc": [213.0, 309.0, 235.0, 379.0], "center_cam": [-0.5662493561495228, 1.5103287181133798, 7.492056660846396], "dimensions": [0.4121094193881215, 1.1728515710200536, 0.4414062995808139], "R_cam": [[-0.4689389765262604, -0.029735684394836426, -0.8827298283576965], [-0.1355583667755127, 0.9900146722793579, 0.03866395354270935], [0.8727657794952393, 0.1377924084663391, -0.46828746795654297]], "bbox3D_cam": [[-0.2634246349334717, 0.9517099261283875, 7.315122604370117], [-0.4704172909259796, 0.8918736577033997, 7.700366973876953], [-0.5052928328514099, 2.053013801574707, 7.861976623535156], [-0.298300176858902, 2.1128501892089844, 7.4767327308654785], [-0.6272059082984924, 0.967643678188324, 7.122137069702148], [-0.8341985940933228, 0.9078074097633362, 7.507380962371826], [-0.8690741062164307, 2.0689475536346436, 7.6689910888671875], [-0.6620814800262451, 2.128783941268921, 7.283746719360352]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2407, "image_id": 335, "category_id": 45, "category_name": "person", "bbox2D_proj": [276.0, 310.0, 308.0, 395.0], "bbox2D_tight": [276.0, 310.0, 308.0, 395.0], "bbox2D_trunc": [276.0, 310.0, 308.0, 395.0], "center_cam": [0.5311003399695781, 1.4396808347847343, 6.658711077301288], "dimensions": [0.4296875193237125, 1.1953125044458364, 0.7304687917170865], "R_cam": [[0.42483651638031006, 0.015035510063171387, -0.9051453471183777], [0.034479379653930664, 0.998867928981781, 0.03277543559670448], [0.9046133756637573, -0.04513311758637428, 0.42383700609207153]], "bbox3D_cam": [[0.5614142417907715, 0.8230664730072021, 6.264230251312256], [0.8717439770698547, 0.8482526540756226, 6.925022125244141], [0.8897160887718201, 2.0422120094299316, 6.871074199676514], [0.5793863534927368, 2.0170257091522217, 6.210282325744629], [0.17248457670211792, 0.8371497392654419, 6.446347713470459], [0.4828142821788788, 0.8623359203338623, 7.107139587402344], [0.5007864236831665, 2.056295156478882, 7.053191661834717], [0.19045668840408325, 2.031108856201172, 6.392399787902832]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2408, "image_id": 335, "category_id": 45, "category_name": "person", "bbox2D_proj": [81.0, 321.0, 127.0, 434.0], "bbox2D_tight": [81.0, 321.0, 127.0, 434.0], "bbox2D_trunc": [81.0, 321.0, 127.0, 434.0], "center_cam": [-1.9173557415134135, 1.5239538816881715, 5.648055409839985], "dimensions": [0.5341797281582794, 1.3339843745180304, 0.5898437983821969], "R_cam": [[0.1554335653781891, 0.015265822410583496, 0.9877283573150635], [0.002862215042114258, 0.9998694658279419, -0.015903830528259277], [-0.9878422021865845, 0.00529906153678894, 0.15536952018737793]], "bbox3D_cam": [[-2.2371909618377686, 0.8604524731636047, 5.894359588623047], [-2.1455094814300537, 0.8621407151222229, 5.311686992645264], [-2.125145196914673, 2.195950984954834, 5.318756103515625], [-2.2168266773223877, 2.194262742996216, 5.901428699493408], [-1.7095664739608765, 0.8519569039344788, 5.977355003356934], [-1.6178849935531616, 0.8536451458930969, 5.39468240737915], [-1.5975205898284912, 2.187455415725708, 5.401751518249512], [-1.689202070236206, 2.18576717376709, 5.984424114227295]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2409, "image_id": 335, "category_id": 45, "category_name": "person", "bbox2D_proj": [228.0, 313.0, 254.0, 389.0], "bbox2D_tight": [228.0, 313.0, 254.0, 389.0], "bbox2D_trunc": [228.0, 313.0, 254.0, 389.0], "center_cam": [-0.2663076784893388, 1.5187122285298615, 7.234473336947675], "dimensions": [0.47656255912387424, 1.1298828256561155, 0.501953184982755], "R_cam": [[0.9267294406890869, 0.012378692626953125, -0.37552544474601746], [0.04873567819595337, 0.9870535135269165, 0.15280786156654358], [0.37255528569221497, -0.15991303324699402, 0.9141281843185425]], "bbox3D_cam": [[-0.41640764474868774, 0.912442147731781, 7.013492584228516], [0.04876711964607239, 0.9369052052497864, 7.200497627258301], [0.06275364756584167, 2.0521600246429443, 7.019814968109131], [-0.40242111682891846, 2.0276968479156494, 6.8328094482421875], [-0.5953689813613892, 0.9852645993232727, 7.449131488800049], [-0.13019423186779022, 1.0097277164459229, 7.636137008666992], [-0.11620773375034332, 2.1249823570251465, 7.455453872680664], [-0.5813825130462646, 2.1005194187164307, 7.268448829650879]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2410, "image_id": 335, "category_id": 45, "category_name": "person", "bbox2D_proj": [180.0, 302.0, 208.0, 375.0], "bbox2D_tight": [180.0, 302.0, 208.0, 375.0], "bbox2D_trunc": [180.0, 302.0, 208.0, 375.0], "center_cam": [-1.0975862267260377, 1.4697134455951715, 7.893946375334844], "dimensions": [0.4882813088692748, 1.1933593749731919, 0.5156250603514295], "R_cam": [[0.9555516839027405, 0.008038043975830078, -0.29471397399902344], [-0.008742213249206543, 0.9999611973762512, -0.001071929931640625], [0.2946939170360565, 0.0036007165908813477, 0.9555848836898804]], "bbox3D_cam": [[-1.2767839431762695, 0.8755724430084229, 7.58252477645874], [-0.784077525138855, 0.8710647821426392, 7.734476566314697], [-0.7744852900505066, 2.064377784729004, 7.738773345947266], [-1.2671916484832764, 2.068885564804077, 7.586821556091309], [-1.420687198638916, 0.8750489950180054, 8.049118995666504], [-0.927980899810791, 0.8705413341522217, 8.201070785522461], [-0.9183886051177979, 2.063854455947876, 8.205368041992188], [-1.4110950231552124, 2.068362236022949, 8.05341625213623]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2411, "image_id": 336, "category_id": 13, "category_name": "building", "bbox2D_proj": [157.0, 0.0, 512.0, 301.0], "bbox2D_tight": [157.0, 0.0, 512.0, 301.0], "bbox2D_trunc": [157.0, 0.0, 512.0, 301.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2412, "image_id": 336, "category_id": 45, "category_name": "person", "bbox2D_proj": [227.0, 267.0, 265.0, 366.0], "bbox2D_tight": [227.0, 267.0, 265.0, 366.0], "bbox2D_trunc": [227.0, 267.0, 265.0, 366.0], "center_cam": [-0.20740328548813275, 1.2709776339830907, 9.649503343448], "dimensions": [0.6093749774191336, 2.092285097958476, 0.839843742011676], "R_cam": [[0.9553608894348145, 0.043506622314453125, -0.29222047328948975], [-0.001790165901184082, 0.9899321794509888, 0.1415313333272934], [0.29543596506118774, -0.13469037413597107, 0.9458203315734863]], "bbox3D_cam": [[-0.5650584101676941, 0.19299638271331787, 9.378169059753418], [0.23729543387889862, 0.19149291515350342, 9.626289367675781], [0.32832372188568115, 2.2627131938934326, 9.344478607177734], [-0.47403013706207275, 2.264216661453247, 9.096358299255371], [-0.7431303262710571, 0.27924197912216187, 9.95452880859375], [0.05922357738018036, 0.2777385115623474, 10.202649116516113], [0.1502518504858017, 2.348958969116211, 9.920838356018066], [-0.652101993560791, 2.3504624366760254, 9.672718048095703]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2413, "image_id": 336, "category_id": 45, "category_name": "person", "bbox2D_proj": [55.0, 264.0, 88.0, 360.0], "bbox2D_tight": [55.0, 264.0, 88.0, 360.0], "bbox2D_trunc": [55.0, 264.0, 88.0, 360.0], "center_cam": [-5.748320087145729, 1.7918871625203654, 13.984964497603077], "dimensions": [0.8671875255662036, 3.0195311622234593, 1.0156250483379325], "R_cam": [[0.930298924446106, -0.009844541549682617, 0.3666703701019287], [0.03520059585571289, 0.9974222183227539, -0.062530018389225], [-0.36510956287384033, 0.07107866555452347, 0.9282472133636475]], "bbox3D_cam": [[-6.364860534667969, 0.2952507734298706, 13.660577774047852], [-5.420025825500488, 0.3310014009475708, 13.289762496948242], [-5.449751853942871, 3.3427486419677734, 13.504386901855469], [-6.394586563110352, 3.3069982528686523, 13.875201225280762], [-6.04688835144043, 0.24102556705474854, 14.46554183959961], [-5.102053642272949, 0.27677619457244873, 14.094727516174316], [-5.131779670715332, 3.2885236740112305, 14.309350967407227], [-6.0766143798828125, 3.252772808074951, 14.680166244506836]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2414, "image_id": 336, "category_id": 45, "category_name": "person", "bbox2D_proj": [181.0, 262.0, 216.0, 363.0], "bbox2D_tight": [181.0, 262.0, 216.0, 363.0], "bbox2D_trunc": [181.0, 262.0, 216.0, 363.0], "center_cam": [-1.4298630938358659, 1.4216291290690917, 11.218517828200758], "dimensions": [0.8715821195367689, 2.525390552444176, 0.8906250648774624], "R_cam": [[-0.016430916264653206, -7.3909759521484375e-06, -0.9998650550842285], [0.10665994882583618, 0.9942941069602966, -0.0017601849976927042], [0.9941598773002625, -0.10667453706264496, -0.016336441040039062]], "bbox3D_cam": [[-0.9868045449256897, 0.11940884590148926, 10.917623519897461], [-1.0014383792877197, 0.2144029140472412, 11.803047180175781], [-1.0014572143554688, 2.7253835201263428, 11.533652305603027], [-0.986823320388794, 2.630389451980591, 10.648228645324707], [-1.8582689762115479, 0.1178746223449707, 10.9033842086792], [-1.8729028701782227, 0.21286869049072266, 11.78880786895752], [-1.8729217052459717, 2.723849296569824, 11.519412994384766], [-1.8582878112792969, 2.6288552284240723, 10.633989334106445]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2415, "image_id": 336, "category_id": 45, "category_name": "person", "bbox2D_proj": [142.0, 265.0, 160.0, 347.0], "bbox2D_tight": [142.0, 265.0, 160.0, 347.0], "bbox2D_trunc": [142.0, 265.0, 160.0, 347.0], "center_cam": [-3.0868778528851006, 1.3003095104494213, 12.770677879827456], "dimensions": [0.6093753168338261, 2.1191405683368902, 0.6250003187888813], "R_cam": [[-0.4870673418045044, -0.033007264137268066, 0.8727405667304993], [0.18500947952270508, 0.9727078080177307, 0.14003978669643402], [-0.853543758392334, 0.22967419028282166, -0.46766746044158936]], "bbox3D_cam": [[-3.1656088829040527, 0.1691732406616211, 12.936546325683594], [-3.4700262546539307, 0.2848043441772461, 12.403081893920898], [-3.539973258972168, 2.346108913421631, 12.889793395996094], [-3.23555588722229, 2.230477809906006, 13.423258781433105], [-2.633782386779785, 0.25451016426086426, 12.651561737060547], [-2.938199758529663, 0.3701411485671997, 12.118096351623535], [-3.0081467628479004, 2.431445837020874, 12.604808807373047], [-2.7037293910980225, 2.315814733505249, 13.138273239135742]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2416, "image_id": 336, "category_id": 45, "category_name": "person", "bbox2D_proj": [96.0, 264.0, 120.0, 355.0], "bbox2D_tight": [96.0, 264.0, 120.0, 355.0], "bbox2D_trunc": [96.0, 264.0, 120.0, 355.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2417, "image_id": 336, "category_id": 45, "category_name": "person", "bbox2D_proj": [226.0, 267.0, 266.0, 366.0], "bbox2D_tight": [226.0, 267.0, 266.0, 366.0], "bbox2D_trunc": [226.0, 267.0, 266.0, 366.0], "center_cam": [-0.1929642571105572, 1.2672802711903746, 9.6398630398498], "dimensions": [0.7187500174206859, 2.0791015060359395, 0.8144531637172396], "R_cam": [[0.9050865173339844, 0.0450289249420166, -0.4228367805480957], [0.014447152614593506, 0.9905471801757812, 0.13641001284122467], [0.42498213052749634, -0.12957167625427246, 0.8958802223205566]], "bbox3D_cam": [[-0.45639240741729736, 0.18265068531036377, 9.27953815460205], [0.2807581424713135, 0.19441711902618408, 9.625666618347168], [0.3743777871131897, 2.2538650035858154, 9.356273651123047], [-0.36277276277542114, 2.242098569869995, 9.010146141052246], [-0.7603062987327576, 0.280695378780365, 9.923452377319336], [-0.023155763745307922, 0.2924618124961853, 10.269579887390137], [0.07046389579772949, 2.351909637451172, 10.000187873840332], [-0.6666866540908813, 2.3401432037353516, 9.654059410095215]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2418, "image_id": 336, "category_id": 45, "category_name": "person", "bbox2D_proj": [108.0, 254.0, 150.0, 371.0], "bbox2D_tight": [108.0, 254.0, 150.0, 371.0], "bbox2D_trunc": [108.0, 254.0, 150.0, 371.0], "center_cam": [-2.915019070725436, 1.3123817872059744, 10.260720723636453], "dimensions": [0.9296876691652418, 2.6425780480445527, 0.9604494195689135], "R_cam": [[-0.9341939091682434, 0.056786537170410156, 0.3522176444530487], [0.036505937576293945, 0.997284471988678, -0.06396201997995377], [-0.3548933267593384, -0.0468948557972908, -0.9337301254272461]], "bbox3D_cam": [[-2.705153465270996, 0.006882071495056152, 10.927148818969727], [-3.6023995876312256, 0.041944146156311035, 10.586292266845703], [-3.4523367881774902, 2.6773462295532227, 10.462368965148926], [-2.55509090423584, 2.6422839164733887, 10.80322551727295], [-2.3777012825012207, -0.052582621574401855, 10.05907154083252], [-3.274947166442871, -0.017520546913146973, 9.718214988708496], [-3.124884605407715, 2.6178812980651855, 9.594291687011719], [-2.2276384830474854, 2.5828194618225098, 9.935148239135742]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2419, "image_id": 336, "category_id": 45, "category_name": "person", "bbox2D_proj": [348.0, 262.0, 438.0, 440.0], "bbox2D_tight": [348.0, 262.0, 438.0, 440.0], "bbox2D_trunc": [348.0, 262.0, 438.0, 440.0], "center_cam": [1.3612745102066497, 0.3693009925055777, 4.707745429816542], "dimensions": [0.45912219111966, 0.8322802171516304, 4.977146821545636], "R_cam": [[0.30516237020492554, 0.06775259971618652, -0.9498870968818665], [0.0348203107714653, 0.9960050582885742, 0.08222848922014236], [0.9516635537147522, -0.058168403804302216, 0.3015841245651245]], "bbox3D_cam": [[0.7917181253433228, -0.1507059633731842, 2.2944352626800537], [2.310555934906006, 0.022599786520004272, 7.031003952026367], [2.3669450283050537, 0.8515550494194031, 6.98259162902832], [0.8481072187423706, 0.6782492399215698, 2.246022939682007], [0.3556039333343506, -0.1129530668258667, 2.432899236679077], [1.8744417428970337, 0.060352712869644165, 7.169467926025391], [1.9308308362960815, 0.889307975769043, 7.121055603027344], [0.41199302673339844, 0.7160022258758545, 2.3844869136810303]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2420, "image_id": 336, "category_id": 45, "category_name": "person", "bbox2D_proj": [403.0, 270.0, 426.0, 339.0], "bbox2D_tight": [403.0, 270.0, 426.0, 339.0], "bbox2D_trunc": [403.0, 270.0, 426.0, 339.0], "center_cam": [4.199649941785845, 1.236124016490436, 11.91926008361767], "dimensions": [0.585937588519365, 1.7426757293152642, 0.6259766676579805], "R_cam": [[0.9195224046707153, 0.013063609600067139, 0.3928205966949463], [0.0010166168212890625, 0.9993650913238525, -0.03561489284038544], [-0.393036425113678, 0.03314806520938873, 0.9189252853393555]], "bbox3D_cam": [[3.7853829860687256, 0.3754551410675049, 11.744175910949707], [4.360982418060303, 0.3760915994644165, 11.49814510345459], [4.3837480545043945, 2.1176609992980957, 11.55591106414795], [3.8081488609313965, 2.1170244216918945, 11.801942825317383], [4.015551567077637, 0.3545870780944824, 12.282608985900879], [4.591150760650635, 0.35522353649139404, 12.036577224731445], [4.613916397094727, 2.0967929363250732, 12.094344139099121], [4.0383172035217285, 2.096156597137451, 12.340374946594238]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2421, "image_id": 337, "category_id": 45, "category_name": "person", "bbox2D_proj": [310.0, 259.0, 352.0, 313.0], "bbox2D_tight": [310.0, 259.0, 352.0, 313.0], "bbox2D_trunc": [310.0, 259.0, 352.0, 313.0], "center_cam": [1.6025237943232677, 0.6598276626338591, 9.706958783476598], "dimensions": [0.7500000243278881, 1.0449253514957537, 1.0468784076492277], "R_cam": [[0.7711634635925293, -0.08726111054420471, -0.6306286454200745], [-0.07864288985729218, 0.9699183702468872, -0.23037755489349365], [0.6317612528800964, 0.22725319862365723, 0.7411030530929565]], "bbox3D_cam": [[1.480942964553833, 0.2806379199028015, 8.979625701904297], [2.288257360458374, 0.19830834865570068, 9.641002655029297], [2.1970760822296143, 1.2118005752563477, 9.878464698791504], [1.3897616863250732, 1.2941300868988037, 9.217087745666504], [1.0079715251922607, 0.10785472393035889, 9.535452842712402], [1.8152859210968018, 0.025525212287902832, 10.196829795837402], [1.724104642868042, 1.0390174388885498, 10.43429183959961], [0.9167901873588562, 1.1213469505310059, 9.77291488647461]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2422, "image_id": 337, "category_id": 45, "category_name": "person", "bbox2D_proj": [470.0, 231.0, 493.0, 291.0], "bbox2D_tight": [470.0, 231.0, 493.0, 291.0], "bbox2D_trunc": [470.0, 231.0, 493.0, 291.0], "center_cam": [6.187362196590521, 0.11614907967891935, 12.247402177954141], "dimensions": [0.5937499912863367, 1.3750000653319558, 0.7499999953126435], "R_cam": [[-0.993435263633728, 0.05009627342224121, 0.10284320265054703], [0.06443965435028076, 0.9878727197647095, 0.14126238226890564], [-0.09451927989721298, 0.1469622105360031, -0.9846158027648926]], "bbox3D_cam": [[6.494927406311035, -0.629115641117096, 12.47411823272705], [5.749851226806641, -0.5807859301567078, 12.403228759765625], [5.8187336921691895, 0.7775391936302185, 12.605301856994629], [6.563809871673584, 0.7292094826698303, 12.676191329956055], [6.555990695953369, -0.5452410578727722, 11.88950252532959], [5.810914516448975, -0.49691134691238403, 11.818613052368164], [5.879796981811523, 0.8614137768745422, 12.020686149597168], [6.624873161315918, 0.813084065914154, 12.091575622558594]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2423, "image_id": 337, "category_id": 51, "category_name": "poster", "bbox2D_proj": [216.0, 248.0, 316.0, 331.0], "bbox2D_tight": [216.0, 248.0, 316.0, 331.0], "bbox2D_trunc": [216.0, 248.0, 316.0, 331.0], "center_cam": [0.16194514606547894, 0.5594838113913257, 7.519948388301188], "dimensions": [0.039062499647935824, 1.4863299271177282, 1.4805925682930472], "R_cam": [[0.990412712097168, -0.1340259313583374, 0.033465731889009476], [0.132104754447937, 0.8480947017669678, -0.5131120085716248], [0.040388140827417374, 0.5126135349273682, 0.8576691150665283]], "bbox3D_cam": [[-0.47230392694473267, -0.15856528282165527, 7.092341423034668], [0.9940935969352722, 0.03702807426452637, 7.152140140533447], [0.7948870062828064, 1.2975764274597168, 7.914052963256836], [-0.6715105175971985, 1.1019830703735352, 7.854254245758057], [-0.4709966778755188, -0.17860877513885498, 7.1258440017700195], [0.9954008460044861, 0.01698458194732666, 7.185642719268799], [0.7961942553520203, 1.277532935142517, 7.9475555419921875], [-0.6702032685279846, 1.0819395780563354, 7.887756824493408]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2424, "image_id": 337, "category_id": 45, "category_name": "person", "bbox2D_proj": [361.0, 274.0, 480.0, 387.0], "bbox2D_tight": [361.0, 274.0, 480.0, 387.0], "bbox2D_trunc": [361.0, 274.0, 480.0, 387.0], "center_cam": [1.6696902131092768, 0.7023042588766504, 4.441923073572031], "dimensions": [0.7421875045183538, 0.9724121562931317, 1.2597656111424687], "R_cam": [[0.5765827894210815, 0.051185242831707, 0.815433919429779], [-0.006409497000277042, 0.9982885122299194, -0.058131054043769836], [-0.817013680934906, 0.028290843591094017, 0.5759241580963135]], "bbox3D_cam": [[0.9790216684341431, 0.2425396740436554, 4.729069232940674], [1.7053807973861694, 0.23446521162986755, 3.6998233795166016], [1.755154013633728, 1.205212950706482, 3.7273337841033936], [1.028794765472412, 1.213287353515625, 4.756579399108887], [1.5842264890670776, 0.1993955373764038, 5.15651273727417], [2.3105857372283936, 0.19132107496261597, 4.127266883850098], [2.360358715057373, 1.1620688438415527, 4.1547770500183105], [1.6339997053146362, 1.1701432466506958, 5.184022903442383]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2425, "image_id": 337, "category_id": 45, "category_name": "person", "bbox2D_proj": [160.0, 197.0, 199.0, 316.0], "bbox2D_tight": [160.0, 197.0, 199.0, 316.0], "bbox2D_trunc": [160.0, 197.0, 199.0, 316.0], "center_cam": [-1.5194079240013276, -0.02219501108048616, 8.43951572378927], "dimensions": [0.7226562906995673, 2.186035234109018, 0.7597656742192009], "R_cam": [[0.9457437992095947, -0.01882636547088623, 0.3243672251701355], [0.006257474422454834, 0.999190092086792, 0.03974868357181549], [-0.3248528242111206, -0.035562366247177124, 0.9450957179069519]], "bbox3D_cam": [[-1.975305199623108, -1.1310667991638184, 8.260302543640137], [-1.2567615509033203, -1.126312494277954, 8.013490676879883], [-1.2979166507720947, 1.0579521656036377, 7.9357500076293945], [-2.016460418701172, 1.0531978607177734, 8.182561874389648], [-1.7408990859985352, -1.102342128753662, 8.943282127380371], [-1.0223554372787476, -1.0975878238677979, 8.696470260620117], [-1.063510537147522, 1.086676836013794, 8.618729591369629], [-1.7820541858673096, 1.0819225311279297, 8.865541458129883]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2426, "image_id": 338, "category_id": 45, "category_name": "person", "bbox2D_proj": [438.0, 276.0, 477.0, 360.0], "bbox2D_tight": [438.0, 276.0, 477.0, 360.0], "bbox2D_trunc": [438.0, 276.0, 477.0, 360.0], "center_cam": [3.2614028314360928, 0.9932453829157426, 7.133063478405443], "dimensions": [0.3242187482102076, 1.2733154065444008, 0.675781227113678], "R_cam": [[-0.3175942897796631, -0.03749871253967285, -0.9474849700927734], [0.037291646003723145, 0.9979507923126221, -0.05199602246284485], [0.9474930763244629, -0.051846832036972046, -0.31554508209228516]], "bbox3D_cam": [[3.54618501663208, 0.35372084379196167, 6.897075653076172], [3.3315606117248535, 0.3789218068122864, 7.537374019622803], [3.283812999725342, 1.649627923965454, 7.471356391906738], [3.4984374046325684, 1.624427080154419, 6.831058502197266], [3.238992691040039, 0.3368627429008484, 6.794770240783691], [3.0243682861328125, 0.3620637059211731, 7.435068130493164], [2.976620674133301, 1.6327698230743408, 7.369050979614258], [3.1912450790405273, 1.6075689792633057, 6.728752613067627]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2427, "image_id": 338, "category_id": 45, "category_name": "person", "bbox2D_proj": [314.0, 238.0, 341.0, 304.0], "bbox2D_tight": [314.0, 238.0, 341.0, 304.0], "bbox2D_trunc": [314.0, 238.0, 341.0, 304.0], "center_cam": [1.3682625940668678, 0.25612421833416016, 8.70167672818624], "dimensions": [0.47656252232288066, 1.2692870842035349, 0.5742187638948275], "R_cam": [[-0.4787282943725586, -0.06523764133453369, -0.8755360245704651], [-0.03961789608001709, 0.9978249073028564, -0.052687257528305054], [0.8770687580108643, 0.009463965892791748, -0.480271577835083]], "bbox3D_cam": [[1.7557365894317627, -0.35320982336997986, 8.558295249938965], [1.4808417558670044, -0.3759591281414032, 9.061924934387207], [1.3980363607406616, 0.8905670642852783, 9.07393741607666], [1.67293119430542, 0.9133163690567017, 8.570307731628418], [1.3384889364242554, -0.3783186376094818, 8.329415321350098], [1.063594102859497, -0.40106794238090515, 8.83304500579834], [0.9807887673377991, 0.8654582500457764, 8.845057487487793], [1.2556835412979126, 0.8882075548171997, 8.34142780303955]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2428, "image_id": 338, "category_id": 45, "category_name": "person", "bbox2D_proj": [215.0, 229.0, 249.0, 333.0], "bbox2D_tight": [215.0, 229.0, 249.0, 333.0], "bbox2D_trunc": [215.0, 229.0, 249.0, 333.0], "center_cam": [-0.33817991068185893, 0.3353848815760112, 6.264621648941558], "dimensions": [0.3789062533686507, 1.4335937228170308, 0.5156250125176651], "R_cam": [[0.9076923727989197, -0.020447075366973877, 0.4191381335258484], [-0.018120288848876953, 0.9959709048271179, 0.08782864362001419], [-0.419245183467865, -0.08731622248888016, 0.9036644101142883]], "bbox3D_cam": [[-0.6369448900222778, -0.39049163460731506, 6.264094352722168], [-0.16891615092754364, -0.39983490109443665, 6.047921180725098], [-0.19822894036769867, 1.0279825925827026, 5.922745227813721], [-0.6662577390670776, 1.0373258590698242, 6.138918399810791], [-0.47813087701797485, -0.3572128117084503, 6.6064982414245605], [-0.010102123022079468, -0.3665560781955719, 6.39032506942749], [-0.0394149124622345, 1.0612614154815674, 6.265149116516113], [-0.5074436664581299, 1.070604681968689, 6.481322288513184]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2429, "image_id": 338, "category_id": 45, "category_name": "person", "bbox2D_proj": [271.0, 236.0, 293.0, 300.0], "bbox2D_tight": [271.0, 236.0, 293.0, 300.0], "bbox2D_trunc": [271.0, 236.0, 293.0, 300.0], "center_cam": [0.5453044927487631, 0.23634950598584406, 9.345322465917429], "dimensions": [0.43994142046067214, 1.308227513288661, 0.5234375017687685], "R_cam": [[-0.17400985956192017, -0.07884037494659424, 0.981582760810852], [0.01514899730682373, 0.9964576363563538, 0.08272069692611694], [-0.9846274256706238, 0.029264181852340698, -0.1721990704536438]], "bbox3D_cam": [[0.42649728059768677, -0.437608003616333, 9.62175464630127], [0.33541396260261536, -0.42967844009399414, 9.106364250183105], [0.23227277398109436, 0.8739148378372192, 9.144647598266602], [0.32335609197616577, 0.8659852743148804, 9.660038948059082], [0.8583362102508545, -0.4012157917022705, 9.545997619628906], [0.7672528624534607, -0.39328622817993164, 9.030606269836426], [0.6641116738319397, 0.9103070497512817, 9.068890571594238], [0.7551950216293335, 0.9023774862289429, 9.584280967712402]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2430, "image_id": 338, "category_id": 45, "category_name": "person", "bbox2D_proj": [165.0, 233.0, 190.0, 315.0], "bbox2D_tight": [165.0, 233.0, 190.0, 315.0], "bbox2D_trunc": [165.0, 233.0, 190.0, 315.0], "center_cam": [-1.3033354471547431, 0.25294334187496303, 7.2468033055299585], "dimensions": [0.3945312366642064, 1.280761692748551, 0.4389648436041542], "R_cam": [[0.9944061636924744, -0.09529483318328857, -0.045554257929325104], [0.0948185920715332, 0.995415985584259, -0.012507351115345955], [0.04653731733560562, 0.008117998018860817, 0.9988836050033569]], "bbox3D_cam": [[-1.4515788555145264, -0.40284574031829834, 7.0343451499938965], [-1.0150694847106934, -0.3612236976623535, 7.054773330688477], [-1.1371194124221802, 0.9136669635772705, 7.065170764923096], [-1.5736287832260132, 0.8720449209213257, 7.044742584228516], [-1.46955144405365, -0.4077802896499634, 7.428435802459717], [-1.033042073249817, -0.36615824699401855, 7.448863983154297], [-1.1550920009613037, 0.9087324142456055, 7.459261417388916], [-1.5916013717651367, 0.8671103715896606, 7.438833236694336]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2431, "image_id": 338, "category_id": 44, "category_name": "parking_meter", "bbox2D_proj": [410.0, 224.0, 428.0, 336.0], "bbox2D_tight": [410.0, 224.0, 428.0, 336.0], "bbox2D_trunc": [410.0, 224.0, 428.0, 336.0], "center_cam": [2.8205167165713942, 0.33577039405695835, 7.8753253520277005], "dimensions": [0.3144531252743957, 1.8022460585556457, 0.34374998988400396], "R_cam": [[-0.1473642885684967, -0.0792466402053833, -0.9859025478363037], [0.1895514726638794, 0.9760465621948242, -0.10678690671920776], [0.9707491993904114, -0.20261594653129578, -0.1288130283355713]], "bbox3D_cam": [[3.072266101837158, -0.5595570802688599, 7.911312103271484], [3.0216095447540283, -0.49439868330955505, 8.245007514953613], [2.8787877559661865, 1.2646772861480713, 7.879843711853027], [2.9294440746307373, 1.1995189189910889, 7.546148777008057], [2.7622458934783936, -0.5931365489959717, 7.870806694030762], [2.7115895748138428, -0.5279781818389893, 8.20450210571289], [2.568767547607422, 1.2310978174209595, 7.839338302612305], [2.6194241046905518, 1.165939450263977, 7.505642890930176]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2432, "image_id": 338, "category_id": 70, "category_name": "trash_can", "bbox2D_proj": [378.0, 294.0, 413.0, 333.0], "bbox2D_tight": [378.0, 294.0, 413.0, 333.0], "bbox2D_trunc": [378.0, 294.0, 413.0, 333.0], "center_cam": [2.4713052477165416, 0.9810279697299701, 7.5182491843256765], "dimensions": [0.5546875699264568, 0.6640625112541761, 0.5859375681247467], "R_cam": [[0.3279191255569458, 0.20604509115219116, 0.9219622611999512], [0.06798791885375977, 0.9682475328445435, -0.2405708134174347], [-0.9422562122344971, 0.1415700614452362, 0.3034982681274414]], "bbox3D_cam": [[2.051121234893799, 0.7063419818878174, 7.663121700286865], [2.2432610988616943, 0.7461786866188049, 7.111018180847168], [2.3800880908966064, 1.389155626296997, 7.205029487609863], [2.187947988510132, 1.3493188619613647, 7.7571330070495605], [2.5625221729278564, 0.5729003548622131, 7.83146858215332], [2.754662275314331, 0.6127370595932007, 7.279365062713623], [2.891489028930664, 1.255713939666748, 7.373376369476318], [2.6993491649627686, 1.2158772945404053, 7.925479888916016]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2433, "image_id": 338, "category_id": 45, "category_name": "person", "bbox2D_proj": [134.0, 231.0, 166.0, 317.0], "bbox2D_tight": [134.0, 231.0, 166.0, 317.0], "bbox2D_trunc": [134.0, 231.0, 166.0, 317.0], "center_cam": [-1.6498528622168562, 0.24441956241948004, 6.963230015548755], "dimensions": [0.5302735233220599, 1.2844238033823596, 0.5625000762504029], "R_cam": [[-0.4180248975753784, -0.041379332542419434, -0.9074927568435669], [0.0012475252151489258, 0.9989350438117981, -0.046123746782541275], [0.9084348082542419, -0.020413102582097054, -0.4175281524658203]], "bbox3D_cam": [[-1.265099287033081, -0.3852301836013794, 6.831544399261475], [-1.5002384185791016, -0.38452839851379395, 7.342538833618164], [-1.55338716506958, 0.8985275030136108, 7.316319942474365], [-1.3182480335235596, 0.8978257179260254, 6.805325508117676], [-1.7463185787200928, -0.4096883535385132, 6.610140323638916], [-1.9814577102661133, -0.40898656845092773, 7.1211347579956055], [-2.034606456756592, 0.874069333076477, 7.094915866851807], [-1.7994673252105713, 0.8733675479888916, 6.583921432495117]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2434, "image_id": 339, "category_id": 45, "category_name": "person", "bbox2D_proj": [380.0, 242.0, 411.0, 340.0], "bbox2D_tight": [380.0, 242.0, 411.0, 340.0], "bbox2D_trunc": [380.0, 242.0, 411.0, 340.0], "center_cam": [2.1117364388257642, 0.4980321870372208, 6.778112369967353], "dimensions": [0.46875000407285156, 1.425781252829999, 0.5820312535716635], "R_cam": [[-0.6075835227966309, -0.05349874496459961, 0.7924519777297974], [-0.030097126960754395, 0.9985631704330444, 0.04433748126029968], [-0.7936853170394897, 0.0030881762504577637, -0.6083207130432129]], "bbox3D_cam": [[2.140960693359375, -0.21546700596809387, 7.149460792541504], [1.7873280048370361, -0.23298445343971252, 6.687511444091797], [1.7110505104064941, 1.1907482147216797, 6.691914081573486], [2.064683198928833, 1.2082656621932983, 7.153863906860352], [2.512422561645508, -0.19468382000923157, 6.8643107414245605], [2.158789873123169, -0.21220126748085022, 6.402360916137695], [2.082512378692627, 1.211531400680542, 6.406764030456543], [2.436145067214966, 1.2290488481521606, 6.86871337890625]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2435, "image_id": 339, "category_id": 45, "category_name": "person", "bbox2D_proj": [30.0, 250.0, 55.0, 308.0], "bbox2D_tight": [30.0, 250.0, 55.0, 308.0], "bbox2D_trunc": [30.0, 250.0, 55.0, 308.0], "center_cam": [-4.273348133939025, 0.45635581046133844, 8.861608713852274], "dimensions": [0.41406256576032474, 1.1279296931974239, 0.4287110065503478], "R_cam": [[0.8178166151046753, 0.06086397171020508, -0.5722512006759644], [0.014544785022735596, 0.9918876886367798, 0.12628231942653656], [0.5752949714660645, -0.11159905791282654, 0.8102970719337463]], "bbox3D_cam": [[-4.364502906799316, -0.13229608535766602, 8.633472442626953], [-4.0138959884643555, -0.1260606050491333, 8.880106925964355], [-3.9452457427978516, 0.9927189350128174, 8.754231452941895], [-4.2958526611328125, 0.9864834547042847, 8.507596015930176], [-4.6014509201049805, -0.08000731468200684, 8.968985557556152], [-4.2508440017700195, -0.07377183437347412, 9.215620994567871], [-4.182193756103516, 1.0450077056884766, 9.089744567871094], [-4.532800674438477, 1.0387722253799438, 8.843110084533691]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2436, "image_id": 339, "category_id": 43, "category_name": "palm_tree", "bbox2D_proj": [251.0, 144.0, 283.0, 248.0], "bbox2D_tight": [251.0, 144.0, 283.0, 248.0], "bbox2D_trunc": [251.0, 144.0, 283.0, 248.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2437, "image_id": 339, "category_id": 43, "category_name": "palm_tree", "bbox2D_proj": [277.0, 164.0, 311.0, 244.0], "bbox2D_tight": [277.0, 164.0, 311.0, 244.0], "bbox2D_trunc": [277.0, 164.0, 311.0, 244.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2438, "image_id": 339, "category_id": 45, "category_name": "person", "bbox2D_proj": [250.0, 242.0, 268.0, 294.0], "bbox2D_tight": [250.0, 242.0, 268.0, 294.0], "bbox2D_trunc": [250.0, 242.0, 268.0, 294.0], "center_cam": [0.08036143741275238, 0.3023869304324886, 12.177919557987344], "dimensions": [0.48437500181567, 1.4433593798311537, 0.5048828207579089], "R_cam": [[0.9908121228218079, 0.012003302574157715, -0.1347118616104126], [-0.004831194877624512, 0.998559296131134, 0.05344141274690628], [0.13515925407409668, -0.05229959264397621, 0.9894426465034485]], "bbox3D_cam": [[-0.14579756557941437, -0.42997628450393677, 11.941912651062012], [0.3544464707374573, -0.4324154257774353, 12.010151863098145], [0.37177151441574097, 1.008864402770996, 11.934664726257324], [-0.12847250699996948, 1.0113036632537842, 11.866425514221191], [-0.21104861795902252, -0.4040905833244324, 12.421174049377441], [0.28919538855552673, -0.4065297245979309, 12.489413261413574], [0.3065204620361328, 1.03475022315979, 12.413926124572754], [-0.19372357428073883, 1.037189245223999, 12.345686912536621]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2439, "image_id": 339, "category_id": 45, "category_name": "person", "bbox2D_proj": [273.0, 242.0, 294.0, 293.0], "bbox2D_tight": [273.0, 242.0, 294.0, 293.0], "bbox2D_trunc": [273.0, 242.0, 294.0, 293.0], "center_cam": [0.68414425788377, 0.22632946226865608, 11.15697578977625], "dimensions": [0.40625003215009065, 1.3015136764671276, 0.4335937852555908], "R_cam": [[0.8077716827392578, 0.0025652647018432617, 0.5894899368286133], [0.04208695888519287, 0.9971877336502075, -0.06201079487800598], [-0.5879912376403809, 0.07490041851997375, 0.8053920269012451]], "bbox3D_cam": [[0.38761234283447266, -0.41912567615509033, 11.072113037109375], [0.7378571033477783, -0.4008769989013672, 10.817163467407227], [0.7411959171295166, 0.8969764709472656, 10.914648056030273], [0.39095109701156616, 0.8787277936935425, 11.169596672058105], [0.6270925998687744, -0.4443175792694092, 11.399303436279297], [0.9773374199867249, -0.42606890201568604, 11.144354820251465], [0.9806761741638184, 0.8717845678329468, 11.241838455200195], [0.6304314136505127, 0.8535358905792236, 11.496788024902344]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2440, "image_id": 339, "category_id": 45, "category_name": "person", "bbox2D_proj": [307.0, 242.0, 318.0, 273.0], "bbox2D_tight": [307.0, 242.0, 318.0, 273.0], "bbox2D_trunc": [307.0, 242.0, 318.0, 273.0], "center_cam": [2.2347460625008306, 0.033494476747338894, 17.354268444836393], "dimensions": [0.36572923376064137, 0.8234488563200244, 5.224113143294948], "R_cam": [[-0.130987286567688, -0.003935724496841431, 0.9913762211799622], [0.0661710873246193, 0.9977273941040039, 0.012703901156783104], [-0.9891732335090637, 0.06726448982954025, -0.13042908906936646]], "bbox3D_cam": [[2.3972249031066895, -0.5524600148200989, 19.934202194213867], [1.7129325866699219, -0.2067747414112091, 14.76664924621582], [1.7096917629241943, 0.6148027777671814, 14.822037696838379], [2.393984079360962, 0.2691175043582916, 19.989591598510742], [2.7598001956939697, -0.5478138327598572, 19.886499404907227], [2.075507879257202, -0.2021285593509674, 14.718947410583496], [2.0722670555114746, 0.6194489598274231, 14.774335861206055], [2.756559371948242, 0.2737636864185333, 19.9418888092041]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2441, "image_id": 339, "category_id": 43, "category_name": "palm_tree", "bbox2D_proj": [180.0, 123.0, 250.0, 246.0], "bbox2D_tight": [180.0, 123.0, 250.0, 246.0], "bbox2D_trunc": [180.0, 123.0, 250.0, 246.0], "center_cam": [-1.376281153729445, -3.2478049609073656, 19.058067852613522], "dimensions": [2.7890628112588036, 5.470703190484199, 2.9296878332372027], "R_cam": [[0.6634578704833984, 0.04064851999282837, 0.7471086978912354], [-0.15560412406921387, 0.9841872453689575, 0.08463415503501892], [-0.7318545579910278, -0.17240431904792786, 0.6592918634414673]], "bbox3D_cam": [[-3.5011982917785645, -5.829992294311523, 19.68230438232422], [-1.5574736595153809, -6.285863399505615, 17.538198471069336], [-1.335097312927246, -0.901667594909668, 16.59502410888672], [-3.2788217067718506, -0.44579648971557617, 18.7391300201416], [-1.4174649715423584, -5.593942165374756, 21.52111053466797], [0.5262594223022461, -6.049813270568848, 19.377004623413086], [0.7486358880996704, -0.6656174659729004, 18.43383026123047], [-1.1950886249542236, -0.2097463607788086, 20.57793617248535]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2442, "image_id": 339, "category_id": 45, "category_name": "person", "bbox2D_proj": [318.0, 241.0, 332.0, 271.0], "bbox2D_tight": [318.0, 241.0, 332.0, 271.0], "bbox2D_trunc": [318.0, 241.0, 332.0, 271.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2443, "image_id": 340, "category_id": 45, "category_name": "person", "bbox2D_proj": [149.0, 251.0, 192.0, 381.0], "bbox2D_tight": [149.0, 251.0, 192.0, 381.0], "bbox2D_trunc": [149.0, 251.0, 192.0, 381.0], "center_cam": [-1.0135626491356575, 0.6697243737291267, 5.27944454776242], "dimensions": [0.4238281316940247, 1.4696045027052311, 0.6601562601911685], "R_cam": [[0.6659026741981506, 0.011627018451690674, 0.7459480166435242], [-0.015344500541687012, 0.9998805522918701, -0.0018872322980314493], [-0.7458807826042175, -0.01018944475799799, 0.666001558303833]], "bbox3D_cam": [[-1.3999830484390259, -0.05952531099319458, 5.391995906829834], [-0.9603832364082336, -0.06965500116348267, 4.899598121643066], [-0.9432960152626038, 1.3997738361358643, 4.8846235275268555], [-1.3828959465026855, 1.4099035263061523, 5.377021312713623], [-1.0838292837142944, -0.06032520532608032, 5.6742658615112305], [-0.6442294716835022, -0.07045489549636841, 5.181868076324463], [-0.6271423101425171, 1.3989739418029785, 5.166893482208252], [-1.066742181777954, 1.4091036319732666, 5.6592912673950195]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2444, "image_id": 340, "category_id": 45, "category_name": "person", "bbox2D_proj": [62.0, 256.0, 97.0, 370.0], "bbox2D_tight": [62.0, 256.0, 97.0, 370.0], "bbox2D_trunc": [62.0, 256.0, 97.0, 370.0], "center_cam": [-2.280701959609785, 0.6860726786309159, 5.542595369895253], "dimensions": [0.546875101082989, 1.353271494046984, 0.5527344776280247], "R_cam": [[0.7044535279273987, 0.0026514530181884766, -0.7097451686859131], [0.00890415906906128, 0.9998813271522522, 0.012573063373565674], [0.7096943259239197, -0.015176862478256226, 0.7043462991714478]], "bbox3D_cam": [[-2.2831127643585205, 0.003618478775024414, 5.164133548736572], [-1.8937370777130127, 0.008540153503417969, 5.556406021118164], [-1.8901488780975342, 1.361651062965393, 5.535867691040039], [-2.279524803161621, 1.3567293882369995, 5.143595218658447], [-2.671254873275757, 0.010494351387023926, 5.549323081970215], [-2.28187894821167, 0.01541602611541748, 5.941595554351807], [-2.2782909870147705, 1.3685269355773926, 5.921057224273682], [-2.6676666736602783, 1.363605260848999, 5.52878475189209]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2445, "image_id": 340, "category_id": 45, "category_name": "person", "bbox2D_proj": [252.0, 245.0, 287.0, 372.0], "bbox2D_tight": [252.0, 245.0, 287.0, 372.0], "bbox2D_trunc": [252.0, 245.0, 287.0, 372.0], "center_cam": [0.17685930534885252, 0.6302512280752339, 5.60260603063188], "dimensions": [0.4062500065753194, 1.526611338938347, 0.5625000073116313], "R_cam": [[0.9204567074775696, 0.021543264389038086, 0.39025041460990906], [-0.028377056121826172, 0.9995282292366028, 0.01175333559513092], [-0.38981306552886963, -0.021892577409744263, 0.9206337928771973]], "bbox3D_cam": [[-0.17773284018039703, -0.1271006464958191, 5.541947841644287], [0.34002402424812317, -0.1430627703666687, 5.322678089141846], [0.3729122281074524, 1.3828282356262207, 5.289256572723389], [-0.1448446661233902, 1.3987903594970703, 5.50852632522583], [-0.019193604588508606, -0.1223258376121521, 5.915955066680908], [0.498563289642334, -0.1382879614830017, 5.696685314178467], [0.5314514636993408, 1.3876030445098877, 5.66326379776001], [0.013694584369659424, 1.4035651683807373, 5.882533550262451]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2446, "image_id": 340, "category_id": 45, "category_name": "person", "bbox2D_proj": [98.0, 255.0, 140.0, 369.0], "bbox2D_tight": [98.0, 255.0, 140.0, 369.0], "bbox2D_trunc": [98.0, 255.0, 140.0, 369.0], "center_cam": [-1.7493865996812898, 0.6571177203626405, 5.462434355317177], "dimensions": [0.5000000090698056, 1.3579101667620237, 0.638977060433651], "R_cam": [[0.9719420671463013, 0.003913998603820801, -0.23518779873847961], [0.019313454627990723, 0.9951574802398682, 0.09637679904699326], [0.2344261109828949, -0.09821496158838272, 0.9671598672866821]], "bbox3D_cam": [[-2.0037713050842285, -0.048814237117767334, 5.21243143081665], [-1.3827227354049683, -0.03647333383560181, 5.362224102020264], [-1.3774077892303467, 1.3148612976074219, 5.228857040405273], [-1.9984564781188965, 1.3025202751159668, 5.07906436920166], [-2.1213653087615967, -0.0006257891654968262, 5.696011543273926], [-1.5003166198730469, 0.011715114116668701, 5.845804214477539], [-1.4950016736984253, 1.3630497455596924, 5.712437152862549], [-2.1160504817962646, 1.3507087230682373, 5.5626444816589355]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2447, "image_id": 340, "category_id": 45, "category_name": "person", "bbox2D_proj": [228.0, 250.0, 253.0, 341.0], "bbox2D_tight": [228.0, 250.0, 253.0, 341.0], "bbox2D_trunc": [228.0, 250.0, 253.0, 341.0], "center_cam": [-0.2567712072804557, 0.6051629301365473, 6.891975284106138], "dimensions": [0.4726562616328492, 1.3472900487612636, 0.5341796993034653], "R_cam": [[0.9478430151939392, 0.018149256706237793, -0.31822046637535095], [-0.01699686050415039, 0.9998350739479065, 0.00639776885509491], [0.3182840943336487, -0.0006553530693054199, 0.947995126247406]], "bbox3D_cam": [[-0.4469521939754486, -0.06534332036972046, 6.583368301391602], [0.05936634540557861, -0.07442265748977661, 6.753389358520508], [0.08381864428520203, 1.2726452350616455, 6.752506256103516], [-0.4224998652935028, 1.281724452972412, 6.582485675811768], [-0.5973610877990723, -0.06231933832168579, 7.031444549560547], [-0.09104254841804504, -0.07139867544174194, 7.201465129852295], [-0.06659021973609924, 1.2756690979003906, 7.200582504272461], [-0.5729087591171265, 1.2847485542297363, 7.030561447143555]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2448, "image_id": 340, "category_id": 45, "category_name": "person", "bbox2D_proj": [317.0, 244.0, 338.0, 307.0], "bbox2D_tight": [317.0, 244.0, 338.0, 307.0], "bbox2D_trunc": [317.0, 244.0, 338.0, 307.0], "center_cam": [1.656738273275936, 0.44480573309603055, 10.406269189093873], "dimensions": [0.5546875765051623, 1.4309082135917015, 0.5625000782562284], "R_cam": [[-0.6521359086036682, -0.053427815437316895, 0.7562171816825867], [-0.02911221981048584, 0.9985426664352417, 0.04544300213456154], [-0.7575430274009705, 0.007619858719408512, -0.6527408361434937]], "bbox3D_cam": [[1.6686445474624634, -0.2740212082862854, 10.794910430908203], [1.3018181324005127, -0.29039686918258667, 10.368791580200195], [1.225367784500122, 1.1384260654449463, 10.379694938659668], [1.5921943187713623, 1.154801607131958, 10.80581283569336], [2.088108777999878, -0.24881452322006226, 10.432843208312988], [1.7212822437286377, -0.2651901841163635, 10.006725311279297], [1.6448320150375366, 1.1636326313018799, 10.017627716064453], [2.0116584300994873, 1.1800084114074707, 10.443746566772461]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2449, "image_id": 340, "category_id": 13, "category_name": "building", "bbox2D_proj": [49.0, 0.0, 97.0, 250.0], "bbox2D_tight": [49.0, 0.0, 97.0, 250.0], "bbox2D_trunc": [49.0, 0.0, 97.0, 250.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2450, "image_id": 340, "category_id": 45, "category_name": "person", "bbox2D_proj": [46.0, 244.0, 64.0, 286.0], "bbox2D_tight": [46.0, 244.0, 64.0, 286.0], "bbox2D_trunc": [46.0, 244.0, 64.0, 286.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2451, "image_id": 340, "category_id": 13, "category_name": "building", "bbox2D_proj": [245.0, 12.0, 303.0, 199.0], "bbox2D_tight": [245.0, 12.0, 303.0, 199.0], "bbox2D_trunc": [245.0, 12.0, 303.0, 199.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2452, "image_id": 341, "category_id": 45, "category_name": "person", "bbox2D_proj": [255.0, 241.0, 296.0, 360.0], "bbox2D_tight": [255.0, 241.0, 296.0, 360.0], "bbox2D_trunc": [255.0, 241.0, 296.0, 360.0], "center_cam": [0.15907093176206344, 0.33188356961078014, 3.54952041743884], "dimensions": [0.2871093935163884, 0.8983154302495113, 0.3642578354377825], "R_cam": [[0.8751487731933594, 0.022925496101379395, 0.4833102822303772], [-0.007664918899536133, 0.9994083642959595, -0.0335267148911953], [-0.4837929606437683, 0.02563631162047386, 0.8748067617416382]], "bbox3D_cam": [[-0.07999758422374725, -0.11079946160316467, 3.500535726547241], [0.23878227174282074, -0.1135915219783783, 3.324310302734375], [0.25937652587890625, 0.7841924428939819, 3.3473398685455322], [-0.05940334498882294, 0.7869845628738403, 3.5235652923583984], [0.05876536667346954, -0.12042531371116638, 3.7517011165618896], [0.37754523754119873, -0.12321737408638, 3.5754756927490234], [0.39813947677612305, 0.774566650390625, 3.5985052585601807], [0.07935960590839386, 0.7773586511611938, 3.774730682373047]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2453, "image_id": 341, "category_id": 45, "category_name": "person", "bbox2D_proj": [6.0, 268.0, 65.0, 404.0], "bbox2D_tight": [6.0, 268.0, 65.0, 404.0], "bbox2D_trunc": [6.0, 268.0, 65.0, 404.0], "center_cam": [-1.4023541533502355, 0.48400652408439626, 2.808424293071133], "dimensions": [0.2980853306887804, 0.7815758977073486, 0.46990953079436437], "R_cam": [[0.5067692399024963, 0.010749817825853825, 0.8620147705078125], [0.12430956959724426, 0.9885610342025757, -0.08540820330381393], [-0.8530721664428711, 0.15043891966342926, 0.49963605403900146]], "bbox3D_cam": [[-1.6540998220443726, 0.08121120929718018, 2.875600814819336], [-1.415964126586914, 0.1396254301071167, 2.47473406791687], [-1.4075623750686646, 0.9122607707977295, 2.592313528060913], [-1.645698070526123, 0.853846549987793, 2.993180274963379], [-1.3971458673477173, 0.05575227737426758, 3.0245349407196045], [-1.1590101718902588, 0.1141664981842041, 2.6236681938171387], [-1.1506084203720093, 0.8868018388748169, 2.7412476539611816], [-1.3887441158294678, 0.8283876180648804, 3.1421144008636475]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2454, "image_id": 341, "category_id": 52, "category_name": "potted_plant", "bbox2D_proj": [340.0, 231.0, 376.0, 269.0], "bbox2D_tight": [340.0, 231.0, 376.0, 269.0], "bbox2D_trunc": [340.0, 231.0, 376.0, 269.0], "center_cam": [1.1450508387839409, -0.06026959532074307, 4.969456406313139], "dimensions": [0.39254657092353346, 0.46392613917691194, 0.41388928131884795], "R_cam": [[-0.9995704293251038, 0.00603302288800478, 0.02867979370057583], [0.003918209578841925, 0.9973071813583374, -0.07323110103607178], [-0.029044372960925102, -0.07308727502822876, -0.9969024658203125]], "bbox3D_cam": [[1.3448781967163086, -0.2780455946922302, 5.188085556030273], [0.9311665892601013, -0.2764238715171814, 5.176064491271973], [0.9339654445648193, 0.18625302612781525, 5.142157554626465], [1.3476769924163818, 0.1846313327550888, 5.154178619384766], [1.3561363220214844, -0.3067921996116638, 4.796754837036133], [0.9424247145652771, -0.30517053604125977, 4.784733772277832], [0.9452236294746399, 0.15750639140605927, 4.750826835632324], [1.3589352369308472, 0.15588469803333282, 4.762847900390625]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2455, "image_id": 341, "category_id": 34, "category_name": "jeans", "bbox2D_proj": [326.0, 303.0, 365.0, 359.0], "bbox2D_tight": [326.0, 303.0, 365.0, 359.0], "bbox2D_trunc": [326.0, 303.0, 365.0, 359.0], "center_cam": [0.6613263253160893, 0.4825892782638491, 3.2415452569648613], "dimensions": [0.19726563446040485, 0.5024414103052541, 0.2556152498242973], "R_cam": [[-0.9936003684997559, 0.10969436168670654, -0.02693183720111847], [0.11276602745056152, 0.9770349264144897, -0.18079403042793274], [0.006481274962425232, -0.18267402052879333, -0.9831521511077881]], "bbox3D_cam": [[0.7634149193763733, 0.2405577003955841, 3.3835794925689697], [0.5094354748725891, 0.26938244700431824, 3.3852362632751465], [0.5645504593849182, 0.7602852582931519, 3.2934532165527344], [0.8185299634933472, 0.7314605712890625, 3.2917964458465576], [0.7581022381782532, 0.20489326119422913, 3.1896371841430664], [0.5041227340698242, 0.23371797800064087, 3.191293954849243], [0.5592377781867981, 0.7246208190917969, 3.099510908126831], [0.8132172226905823, 0.6957961320877075, 3.0978541374206543]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2456, "image_id": 341, "category_id": 45, "category_name": "person", "bbox2D_proj": [80.0, 257.0, 110.0, 347.0], "bbox2D_tight": [80.0, 257.0, 110.0, 347.0], "bbox2D_trunc": [80.0, 257.0, 110.0, 347.0], "center_cam": [-1.3831690446859235, 0.37350896752674645, 3.7224156247060787], "dimensions": [0.20703125930636695, 0.7080688496159336, 0.3652343917676701], "R_cam": [[0.4224214553833008, 0.04921889305114746, -0.9050622582435608], [-0.05864381790161133, 0.997916579246521, 0.026897519826889038], [0.9045004844665527, 0.04171419143676758, 0.42442774772644043]], "bbox3D_cam": [[-1.3840476274490356, 0.028137236833572388, 3.49853515625], [-1.229764699935913, 0.006718486547470093, 3.828889846801758], [-1.1949143409729004, 0.713312029838562, 3.858426332473755], [-1.349197268486023, 0.7347308397293091, 3.528071641921997], [-1.5714237689971924, 0.03370586037635803, 3.586405038833618], [-1.4171408414840698, 0.012287110090255737, 3.916759729385376], [-1.3822904825210571, 0.7188806533813477, 3.946296215057373], [-1.5365734100341797, 0.7402994632720947, 3.6159415245056152]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2457, "image_id": 341, "category_id": 45, "category_name": "person", "bbox2D_proj": [280.0, 241.0, 308.0, 315.0], "bbox2D_tight": [280.0, 241.0, 308.0, 315.0], "bbox2D_trunc": [280.0, 241.0, 308.0, 315.0], "center_cam": [0.3557508358001364, 0.20935536622091336, 4.332185738048279], "dimensions": [0.23437500784343734, 0.6733398494464395, 0.3217773597398278], "R_cam": [[-0.9858378767967224, 0.08224868774414062, 0.14614664018154144], [0.10432153940200806, 0.9831005930900574, 0.15043357014656067], [-0.13130387663841248, 0.16354934871196747, -0.9777581691741943]], "bbox3D_cam": [[0.4695437550544739, -0.15603812038898468, 4.412829875946045], [0.15232346951961517, -0.12246979773044586, 4.370579242706299], [0.2077047973871231, 0.5394909977912903, 4.480703353881836], [0.5249250531196594, 0.5059226751327515, 4.522953987121582], [0.5037968754768372, -0.12078024446964264, 4.18366813659668], [0.18657658994197845, -0.08721192181110382, 4.141417503356934], [0.2419579178094864, 0.5747488737106323, 4.251541614532471], [0.5591781735420227, 0.5411805510520935, 4.293792247772217]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2458, "image_id": 341, "category_id": 30, "category_name": "handbag", "bbox2D_proj": [348.0, 287.0, 370.0, 311.0], "bbox2D_tight": [348.0, 287.0, 370.0, 311.0], "bbox2D_trunc": [348.0, 287.0, 370.0, 311.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2459, "image_id": 341, "category_id": 13, "category_name": "building", "bbox2D_proj": [281.0, 150.0, 342.0, 234.0], "bbox2D_tight": [281.0, 150.0, 342.0, 234.0], "bbox2D_trunc": [281.0, 150.0, 342.0, 234.0], "center_cam": [0.9135909577546546, -0.9865576203347608, 7.057934409861013], "dimensions": [0.7592977095530448, 1.3262060335939743, 1.4013434467771164], "R_cam": [[-0.6867981553077698, 0.046853601932525635, -0.7253365516662598], [0.08373382687568665, 0.9963764548301697, -0.014923274517059326], [0.722009003162384, -0.07098448276519775, -0.6882327198982239]], "bbox3D_cam": [[1.639115333557129, -1.7002620697021484, 6.8603997230529785], [0.6766753792762756, -1.5829222202301025, 7.872182369232178], [0.7388129234313965, -0.2615218758583069, 7.778042316436768], [1.7012529373168945, -0.3788617253303528, 6.766259670257568], [1.0883690118789673, -1.7115933895111084, 6.337826251983643], [0.125929057598114, -1.5942535400390625, 7.349608898162842], [0.1880665421485901, -0.2728530764579773, 7.255468845367432], [1.1505064964294434, -0.3901929259300232, 6.243686199188232]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2460, "image_id": 341, "category_id": 13, "category_name": "building", "bbox2D_proj": [339.0, 106.0, 399.0, 233.0], "bbox2D_tight": [339.0, 106.0, 399.0, 233.0], "bbox2D_trunc": [339.0, 106.0, 399.0, 233.0], "center_cam": [1.6822449759853382, -1.279184480544886, 6.588800668145938], "dimensions": [0.4328583421384016, 1.8248396550875638, 0.9144026128151543], "R_cam": [[0.9271321892738342, 0.010749822482466698, 0.37458014488220215], [0.04650431126356125, 0.9885609149932861, -0.14347395300865173], [-0.3718376159667969, 0.15043890476226807, 0.9160267114639282]], "bbox3D_cam": [[1.16748046875, -2.171376943588257, 6.4232869148254395], [2.0152525901794434, -2.1288533210754395, 6.083277702331543], [2.034869432449341, -0.3248881697654724, 6.357804298400879], [1.1870973110198975, -0.3674117922782898, 6.697813510894775], [1.3296207189559937, -2.23348069190979, 6.819796562194824], [2.1773927211761475, -2.1909570693969727, 6.479787349700928], [2.197009563446045, -0.38699203729629517, 6.754313945770264], [1.3492374420166016, -0.42951565980911255, 7.09432315826416]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2461, "image_id": 341, "category_id": 0, "category_name": "air_conditioner_unit", "bbox2D_proj": [3.0, 104.0, 54.0, 159.0], "bbox2D_tight": [3.0, 104.0, 54.0, 159.0], "bbox2D_trunc": [3.0, 104.0, 54.0, 159.0], "center_cam": [-1.7389349139581174, -0.936364750827395, 3.358269517664674], "dimensions": [0.2594060772472084, 0.36648657111338506, 0.476219056199551], "R_cam": [[-0.18602204322814941, 0.03626972436904907, 0.9818758964538574], [-0.05231130123138428, 0.9975355267524719, -0.04675889015197754], [-0.9811519980430603, -0.06006139516830444, -0.18366628885269165]], "bbox3D_cam": [[-1.8286397457122803, -1.1006358861923218, 3.6267189979553223], [-1.917227029800415, -1.1255475282669067, 3.159475803375244], [-1.9039345979690552, -0.759964108467102, 3.1374640464782715], [-1.8153473138809204, -0.7350524663925171, 3.6047072410583496], [-1.5739351511001587, -1.1127654314041138, 3.5790748596191406], [-1.6625224351882935, -1.1376770734786987, 3.1118316650390625], [-1.6492300033569336, -0.772093653678894, 3.08981990814209], [-1.5606427192687988, -0.7471820116043091, 3.557063102722168]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2462, "image_id": 342, "category_id": 13, "category_name": "building", "bbox2D_proj": [284.0, 0.0, 512.0, 268.0], "bbox2D_tight": [284.0, 0.0, 512.0, 268.0], "bbox2D_trunc": [284.0, 0.0, 512.0, 268.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2463, "image_id": 342, "category_id": 45, "category_name": "person", "bbox2D_proj": [293.0, 343.0, 320.0, 435.0], "bbox2D_tight": [293.0, 343.0, 320.0, 435.0], "bbox2D_trunc": [293.0, 343.0, 320.0, 435.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2464, "image_id": 342, "category_id": 45, "category_name": "person", "bbox2D_proj": [116.0, 356.0, 147.0, 399.0], "bbox2D_tight": [116.0, 356.0, 147.0, 399.0], "bbox2D_trunc": [116.0, 356.0, 147.0, 399.0], "center_cam": [-0.8832531202211, 0.8754395224016851, 3.1490237565222317], "dimensions": [0.17578126686148657, 0.35546876933969407, 0.23193358751139942], "R_cam": [[-0.9999997615814209, -0.0007762312889099121, -0.00013601781392935663], [-0.0007721185684204102, 0.9304988384246826, 0.3662942349910736], [-0.00015775860811118037, 0.3662942349910736, -0.9304990768432617]], "bbox3D_cam": [[-0.7671364545822144, 0.6779536008834839, 3.1657211780548096], [-0.9990699291229248, 0.6777745485305786, 3.165684461593628], [-0.9993458390235901, 1.008537769317627, 3.2958908081054688], [-0.7674123644828796, 1.0087168216705322, 3.2959272861480713], [-0.7671603560447693, 0.7423412799835205, 3.0021567344665527], [-0.9990938305854797, 0.7421621680259705, 3.00212025642395], [-0.999369740486145, 1.0729254484176636, 3.132326364517212], [-0.7674362659454346, 1.0731045007705688, 3.1323630809783936]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2465, "image_id": 342, "category_id": 13, "category_name": "building", "bbox2D_proj": [88.0, 133.0, 251.0, 283.0], "bbox2D_tight": [88.0, 133.0, 251.0, 283.0], "bbox2D_trunc": [88.0, 133.0, 251.0, 283.0], "center_cam": [-1.9101883891586038, -0.9153798829179962, 7.684886982297353], "dimensions": [1.3525391129444138, 2.162109585357946, 2.3710941554645846], "R_cam": [[0.42663687467575073, 0.056635379791259766, 0.9026480913162231], [0.10936398059129715, 0.9874835014343262, -0.11364919692277908], [-0.8977864980697632, 0.14720411598682404, 0.41510307788848877]], "bbox3D_cam": [[-3.087646007537842, -2.0357022285461426, 8.30939769744873], [-2.0760498046875, -1.7763898372650146, 6.180661201477051], [-1.9535977840423584, 0.3586573600769043, 6.498932838439941], [-2.9651939868927, 0.09934508800506592, 8.627669334411621], [-1.866779088973999, -2.1894171237945557, 8.870841026306152], [-0.8551828861236572, -1.9301048517227173, 6.742104530334473], [-0.7327309846878052, 0.2049424648284912, 7.060375690460205], [-1.744327187538147, -0.05436992645263672, 9.189112663269043]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2466, "image_id": 342, "category_id": 45, "category_name": "person", "bbox2D_proj": [309.0, 398.0, 362.0, 512.0], "bbox2D_tight": [309.0, 398.0, 362.0, 512.0], "bbox2D_trunc": [309.0, 398.0, 362.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2467, "image_id": 342, "category_id": 45, "category_name": "person", "bbox2D_proj": [33.0, 320.0, 56.0, 362.0], "bbox2D_tight": [33.0, 320.0, 56.0, 362.0], "bbox2D_trunc": [33.0, 320.0, 56.0, 362.0], "center_cam": [-2.085272734893345, 0.8752687108124843, 4.420058233666246], "dimensions": [0.1679687854671112, 0.5410156547362787, 0.19287111554088898], "R_cam": [[0.9663968086242676, -0.10201120376586914, -0.23594653606414795], [0.009680986404418945, 0.931676983833313, -0.36315858364105225], [0.2568722367286682, 0.3486711382865906, 0.9013571739196777]], "bbox3D_cam": [[-2.131057024002075, 0.6528088450431824, 4.225268363952637], [-1.944667100906372, 0.6546760201454163, 4.274811744689941], [-1.9998568296432495, 1.1587278842926025, 4.4634480476379395], [-2.186246871948242, 1.1568607091903687, 4.413905143737793], [-2.1706888675689697, 0.5918095111846924, 4.376668453216553], [-1.9842987060546875, 0.5936766862869263, 4.426211357116699], [-2.0394885540008545, 1.0977286100387573, 4.6148481369018555], [-2.2258784770965576, 1.0958614349365234, 4.565304756164551]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2468, "image_id": 342, "category_id": 45, "category_name": "person", "bbox2D_proj": [490.0, 405.0, 512.0, 470.0], "bbox2D_tight": [490.0, 405.0, 512.0, 470.0], "bbox2D_trunc": [490.0, 405.0, 512.0, 470.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2469, "image_id": 342, "category_id": 13, "category_name": "building", "bbox2D_proj": [67.0, 153.0, 120.0, 287.0], "bbox2D_tight": [67.0, 153.0, 120.0, 287.0], "bbox2D_trunc": [67.0, 153.0, 120.0, 287.0], "center_cam": [-2.2519479972058494, -0.48483084418765593, 6.1567143706312155], "dimensions": [0.22010801135188895, 1.3499197220155996, 0.7425108027094978], "R_cam": [[0.5610353946685791, 0.001489683287218213, -0.8277904987335205], [-0.0004584193229675293, 0.999998927116394, 0.0014888937585055828], [0.827791690826416, -0.00045584695180878043, 0.5610355138778687]], "bbox3D_cam": [[-2.3701391220092773, -1.1597836017608643, 5.7879557609558105], [-1.953564167022705, -1.1601239442825317, 6.402599811553955], [-1.9515533447265625, 0.18979418277740479, 6.401984691619873], [-2.3681282997131348, 0.19013452529907227, 5.7873406410217285], [-2.552342414855957, -1.1594558954238892, 5.911444187164307], [-2.1357674598693848, -1.1597962379455566, 6.526088237762451], [-2.133756637573242, 0.19012188911437988, 6.525473117828369], [-2.5503315925598145, 0.19046223163604736, 5.910829067230225]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2470, "image_id": 342, "category_id": 45, "category_name": "person", "bbox2D_proj": [198.0, 348.0, 233.0, 441.0], "bbox2D_tight": [198.0, 348.0, 233.0, 441.0], "bbox2D_trunc": [198.0, 348.0, 233.0, 441.0], "center_cam": [-0.35443690547311874, 1.2253284832653821, 3.897582427570843], "dimensions": [0.2480469112142773, 0.7670898773040188, 0.38671879147941773], "R_cam": [[0.8560880422592163, -0.011326849460601807, 0.5167058706283569], [-0.020917773246765137, 0.9981813430786133, 0.05653843283653259], [-0.5164065361022949, -0.05921021103858948, 0.8542941212654114]], "bbox3D_cam": [[-0.5797088146209717, 0.8395135998725891, 3.914191722869873], [-0.24864351749420166, 0.8314242959022522, 3.7144877910614014], [-0.2573322355747223, 1.5971190929412842, 3.6690680980682373], [-0.5883975625038147, 1.605208396911621, 3.868772268295288], [-0.45154157280921936, 0.8535377979278564, 4.126096725463867], [-0.12047624588012695, 0.8454484939575195, 3.9263927936553955], [-0.12916496396064758, 1.6111433506011963, 3.8809733390808105], [-0.46023029088974, 1.6192326545715332, 4.080677509307861]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2471, "image_id": 342, "category_id": 45, "category_name": "person", "bbox2D_proj": [456.0, 430.0, 512.0, 512.0], "bbox2D_tight": [456.0, 430.0, 512.0, 512.0], "bbox2D_trunc": [456.0, 430.0, 512.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2472, "image_id": 342, "category_id": 45, "category_name": "person", "bbox2D_proj": [441.0, 374.0, 495.0, 505.0], "bbox2D_tight": [441.0, 374.0, 495.0, 505.0], "bbox2D_trunc": [441.0, 374.0, 495.0, 505.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2473, "image_id": 342, "category_id": 45, "category_name": "person", "bbox2D_proj": [149.0, 310.0, 167.0, 368.0], "bbox2D_tight": [149.0, 310.0, 167.0, 368.0], "bbox2D_trunc": [149.0, 310.0, 167.0, 368.0], "center_cam": [-1.0332341736276542, 0.8869105897343326, 4.769169835781083], "dimensions": [0.19531286278502374, 0.6230469011358988, 0.20117225499605032], "R_cam": [[0.5574614405632019, 0.027385234832763672, -0.8297510743141174], [-0.10867476463317871, 0.9932629466056824, -0.04023054242134094], [0.8230593204498291, 0.11259996891021729, 0.5566818714141846]], "bbox3D_cam": [[-1.0168075561523438, 0.5923458933830261, 4.596940517425537], [-0.9046618342399597, 0.5704835057258606, 4.762516975402832], [-0.8875995874404907, 1.1893329620361328, 4.832672119140625], [-0.9997453093528748, 1.2111952304840088, 4.66709566116333], [-1.1788686513900757, 0.5844883322715759, 4.705667495727539], [-1.0667228698730469, 0.5626259446144104, 4.871243953704834], [-1.0496606826782227, 1.1814754009246826, 4.941399097442627], [-1.161806344985962, 1.2033376693725586, 4.775822639465332]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2474, "image_id": 342, "category_id": 13, "category_name": "building", "bbox2D_proj": [248.0, 160.0, 291.0, 262.0], "bbox2D_tight": [248.0, 160.0, 291.0, 262.0], "bbox2D_trunc": [248.0, 160.0, 291.0, 262.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2475, "image_id": 343, "category_id": 13, "category_name": "building", "bbox2D_proj": [287.0, 0.0, 512.0, 266.0], "bbox2D_tight": [287.0, 0.0, 512.0, 266.0], "bbox2D_trunc": [287.0, 0.0, 512.0, 266.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2476, "image_id": 343, "category_id": 45, "category_name": "person", "bbox2D_proj": [108.0, 354.0, 153.0, 417.0], "bbox2D_tight": [108.0, 354.0, 153.0, 417.0], "bbox2D_trunc": [108.0, 354.0, 153.0, 417.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2477, "image_id": 343, "category_id": 13, "category_name": "building", "bbox2D_proj": [0.0, 0.0, 76.0, 316.0], "bbox2D_tight": [0.0, 0.0, 76.0, 316.0], "bbox2D_trunc": [0.0, 0.0, 76.0, 316.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2478, "image_id": 343, "category_id": 13, "category_name": "building", "bbox2D_proj": [92.0, 133.0, 255.0, 281.0], "bbox2D_tight": [92.0, 133.0, 255.0, 281.0], "bbox2D_trunc": [92.0, 133.0, 255.0, 281.0], "center_cam": [-1.5178631489886358, -0.7593624237605154, 7.264043203795863], "dimensions": [1.3203125039015093, 2.2713624804557986, 2.3935547427475603], "R_cam": [[0.8150701522827148, 0.06484243273735046, -0.575722336769104], [-0.025920068845152855, 0.9968035221099854, 0.07557199895381927], [0.5787822008132935, -0.046673718839883804, 0.814145565032959]], "bbox3D_cam": [[-2.186894178390503, -1.9102821350097656, 6.086913108825684], [-0.23597931861877441, -1.9723231792449951, 7.472259998321533], [-0.08869874477386475, 0.2917787432670593, 7.366247177124023], [-2.039613723754883, 0.3538197875022888, 5.980900287628174], [-2.9470276832580566, -1.8105034828186035, 7.161839485168457], [-0.9961127042770386, -1.872544527053833, 8.547185897827148], [-0.8488320708274841, 0.39155739545822144, 8.441173553466797], [-2.7997469902038574, 0.4535984396934509, 7.055826663970947]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2479, "image_id": 343, "category_id": 45, "category_name": "person", "bbox2D_proj": [404.0, 302.0, 430.0, 352.0], "bbox2D_tight": [404.0, 302.0, 430.0, 352.0], "bbox2D_trunc": [404.0, 302.0, 430.0, 352.0], "center_cam": [1.6736777575897528, 0.78033190707121, 4.601350462369811], "dimensions": [0.14843749835865616, 0.5781250283185535, 0.25671386815131325], "R_cam": [[0.9631555676460266, 0.025467753410339355, 0.26773643493652344], [-0.025529026985168457, 0.9996687769889832, -0.0032528936862945557], [-0.26773059368133545, -0.00370199978351593, 0.9634866714477539]], "bbox3D_cam": [[1.5228172540664673, 0.4948834180831909, 4.565276622772217], [1.7700726985931396, 0.48832976818084717, 4.496546745300293], [1.7847962379455566, 1.066263198852539, 4.494406223297119], [1.5375407934188843, 1.0728168487548828, 4.563136577606201], [1.5625593662261963, 0.4944005608558655, 4.70829439163208], [1.8098148107528687, 0.48784691095352173, 4.639564037322998], [1.8245383501052856, 1.0657804012298584, 4.637423992156982], [1.5772829055786133, 1.0723340511322021, 4.706153869628906]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2480, "image_id": 343, "category_id": 13, "category_name": "building", "bbox2D_proj": [70.0, 175.0, 123.0, 287.0], "bbox2D_tight": [70.0, 175.0, 123.0, 287.0], "bbox2D_trunc": [70.0, 175.0, 123.0, 287.0], "center_cam": [-2.4800774901285263, -0.3362273921694731, 6.49058730531217], "dimensions": [0.8066406575741188, 1.57324228574068, 0.9531250373027883], "R_cam": [[-0.6629650592803955, -0.009219229221343994, -0.7485935091972351], [-0.08632135391235352, 0.9941964149475098, 0.06420350074768066], [0.7436570525169373, 0.10718429088592529, -0.6599133014678955]], "bbox3D_cam": [[-1.854958176612854, -1.103040337562561, 6.318031311035156], [-2.486846685409546, -1.1853153705596924, 7.026829242706299], [-2.5013508796691895, 0.37879642844200134, 7.195456504821777], [-1.869462251663208, 0.4610714614391327, 6.486658096313477], [-2.458804130554199, -1.0512511730194092, 5.785717964172363], [-3.0906927585601807, -1.1335262060165405, 6.494516372680664], [-3.105196952819824, 0.4305855929851532, 6.663143157958984], [-2.4733083248138428, 0.5128606557846069, 5.954345226287842]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2481, "image_id": 343, "category_id": 45, "category_name": "person", "bbox2D_proj": [0.0, 348.0, 24.0, 460.0], "bbox2D_tight": [0.0, 348.0, 24.0, 460.0], "bbox2D_trunc": [0.0, 348.0, 24.0, 460.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2482, "image_id": 343, "category_id": 70, "category_name": "trash_can", "bbox2D_proj": [433.0, 413.0, 489.0, 512.0], "bbox2D_tight": [433.0, 413.0, 489.0, 512.0], "bbox2D_trunc": [433.0, 413.0, 489.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2483, "image_id": 343, "category_id": 45, "category_name": "person", "bbox2D_proj": [171.0, 347.0, 184.0, 366.0], "bbox2D_tight": [171.0, 347.0, 184.0, 366.0], "bbox2D_trunc": [171.0, 347.0, 184.0, 366.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2484, "image_id": 343, "category_id": 45, "category_name": "person", "bbox2D_proj": [333.0, 367.0, 387.0, 512.0], "bbox2D_tight": [333.0, 367.0, 387.0, 512.0], "bbox2D_trunc": [333.0, 367.0, 387.0, 512.0], "center_cam": [0.7280656249997719, 1.2665294865300198, 3.1128387659748755], "dimensions": [0.3474389006806153, 0.9481875785583114, 0.40898133073637055], "R_cam": [[0.17277395725250244, 0.002803744049742818, -0.9849575161933899], [-0.00030627637170255184, 0.9999959468841553, 0.002792827319353819], [0.9849614500999451, -0.00018085853662341833, 0.172774076461792]], "bbox3D_cam": [[0.8625119924545288, 0.7920149564743042, 2.8814947605133057], [0.9331732988357544, 0.7918896675109863, 3.2843258380889893], [0.9358317852020264, 1.740073561668396, 3.284154176712036], [0.8651704788208008, 1.7401988506317139, 2.8813233375549316], [0.5202994346618652, 0.7929853200912476, 2.941523313522339], [0.5909607410430908, 0.7928600311279297, 3.3443541526794434], [0.5936192274093628, 1.7410439252853394, 3.3441827297210693], [0.5229579210281372, 1.7411692142486572, 2.9413516521453857]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2485, "image_id": 344, "category_id": 47, "category_name": "pipe", "bbox2D_proj": [0.0, 158.0, 52.0, 404.0], "bbox2D_tight": [0.0, 158.0, 52.0, 404.0], "bbox2D_trunc": [0.0, 158.0, 52.0, 404.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2486, "image_id": 344, "category_id": 47, "category_name": "pipe", "bbox2D_proj": [92.0, 392.0, 148.0, 448.0], "bbox2D_tight": [92.0, 392.0, 148.0, 448.0], "bbox2D_trunc": [92.0, 392.0, 148.0, 448.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2487, "image_id": 344, "category_id": 47, "category_name": "pipe", "bbox2D_proj": [305.0, 347.0, 327.0, 401.0], "bbox2D_tight": [305.0, 347.0, 327.0, 401.0], "bbox2D_trunc": [305.0, 347.0, 327.0, 401.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2488, "image_id": 344, "category_id": 47, "category_name": "pipe", "bbox2D_proj": [307.0, 428.0, 329.0, 482.0], "bbox2D_tight": [307.0, 428.0, 329.0, 482.0], "bbox2D_trunc": [307.0, 428.0, 329.0, 482.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2489, "image_id": 344, "category_id": 47, "category_name": "pipe", "bbox2D_proj": [151.0, 329.0, 315.0, 512.0], "bbox2D_tight": [151.0, 329.0, 315.0, 512.0], "bbox2D_trunc": [151.0, 329.0, 315.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2490, "image_id": 344, "category_id": 47, "category_name": "pipe", "bbox2D_proj": [138.0, 478.0, 181.0, 512.0], "bbox2D_tight": [138.0, 478.0, 181.0, 512.0], "bbox2D_trunc": [138.0, 478.0, 181.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2491, "image_id": 344, "category_id": 47, "category_name": "pipe", "bbox2D_proj": [298.0, 262.0, 328.0, 315.0], "bbox2D_tight": [298.0, 262.0, 328.0, 315.0], "bbox2D_trunc": [298.0, 262.0, 328.0, 315.0], "center_cam": [0.08015852023276822, 0.06322351587483391, 0.6882180715696173], "dimensions": [0.01684570258116996, 0.03979492183271159, 0.22509766184349334], "R_cam": [[-0.21311485767364502, -0.1453595757484436, 0.9661535620689392], [-0.5115135312080383, 0.8591182231903076, 0.01642589271068573], [-0.8324277997016907, -0.49070000648498535, -0.25744420289993286]], "bbox3D_cam": [[0.09889886528253555, 0.1035611480474472, 0.7938389182090759], [0.05092720687389374, -0.011579349637031555, 0.6064614057540894], [0.04514263570308685, 0.022609185427427292, 0.5869340300559998], [0.09311428666114807, 0.13774968683719635, 0.7743115425109863], [0.11517439782619476, 0.10383784770965576, 0.7895020842552185], [0.06720274686813354, -0.011302649974822998, 0.6021245718002319], [0.06141816824674606, 0.022885892540216446, 0.5825971961021423], [0.10938982665538788, 0.1380263864994049, 0.7699747085571289]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2492, "image_id": 344, "category_id": 47, "category_name": "pipe", "bbox2D_proj": [265.0, 164.0, 281.0, 231.0], "bbox2D_tight": [265.0, 164.0, 281.0, 231.0], "bbox2D_trunc": [265.0, 164.0, 281.0, 231.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2493, "image_id": 345, "category_id": 45, "category_name": "person", "bbox2D_proj": [461.0, 230.0, 488.0, 315.0], "bbox2D_tight": [461.0, 230.0, 488.0, 315.0], "bbox2D_trunc": [461.0, 230.0, 488.0, 315.0], "center_cam": [2.8830240520965464, 0.20125712967256165, 5.921937115828963], "dimensions": [0.3476563475973882, 1.106201136677803, 0.36914073221876303], "R_cam": [[-0.5842584371566772, -0.0179293155670166, -0.8113697171211243], [-0.006663203239440918, 0.9998282790184021, -0.017295898869633675], [0.811540424823761, -0.004699051845818758, -0.5842776298522949]], "bbox3D_cam": [[3.1418163776397705, -0.3475121259689331, 5.87631368637085], [2.926142930984497, -0.3499717712402344, 6.175886154174805], [2.9063093662261963, 0.7560393810272217, 6.170688152313232], [3.121983051300049, 0.758499026298523, 5.871115684509277], [2.85973858833313, -0.35352516174316406, 5.6731858253479], [2.6440649032592773, -0.35598480701446533, 5.9727582931518555], [2.6242315769195557, 0.7500263452529907, 5.967560291290283], [2.839905023574829, 0.752485990524292, 5.667987823486328]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2494, "image_id": 345, "category_id": 45, "category_name": "person", "bbox2D_proj": [76.0, 276.0, 107.0, 362.0], "bbox2D_tight": [76.0, 276.0, 107.0, 362.0], "bbox2D_trunc": [76.0, 276.0, 107.0, 362.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2495, "image_id": 345, "category_id": 58, "category_name": "signboard", "bbox2D_proj": [357.0, 195.0, 401.0, 232.0], "bbox2D_tight": [357.0, 195.0, 401.0, 232.0], "bbox2D_trunc": [357.0, 195.0, 401.0, 232.0], "center_cam": [2.1591892806503763, -0.7451065385100386, 7.787018990089809], "dimensions": [0.15876930256675426, 0.6287359048036885, 0.7065396373279832], "R_cam": [[-0.9887946844100952, 0.028758294880390167, -0.14648523926734924], [0.019514158368110657, 0.9977489709854126, 0.06415707617998123], [0.1480005383491516, 0.06057964265346527, -0.9871301651000977]], "bbox3D_cam": [[2.5110886096954346, -1.0707536935806274, 7.794053554534912], [1.8124659061431885, -1.0569661855697632, 7.898621559143066], [1.8305473327636719, -0.4296455681324005, 7.936710357666016], [2.529170036315918, -0.44343307614326477, 7.832141876220703], [2.4878311157226562, -1.0605674982070923, 7.637327194213867], [1.7892085313796997, -1.046779990196228, 7.74189567565918], [1.8072898387908936, -0.41945937275886536, 7.779983997344971], [2.5059125423431396, -0.4332468807697296, 7.675415992736816]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2496, "image_id": 345, "category_id": 45, "category_name": "person", "bbox2D_proj": [274.0, 262.0, 305.0, 323.0], "bbox2D_tight": [274.0, 262.0, 305.0, 323.0], "bbox2D_trunc": [274.0, 262.0, 305.0, 323.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2497, "image_id": 345, "category_id": 45, "category_name": "person", "bbox2D_proj": [75.0, 196.0, 178.0, 466.0], "bbox2D_tight": [75.0, 196.0, 178.0, 466.0], "bbox2D_trunc": [75.0, 196.0, 178.0, 466.0], "center_cam": [-0.772133292698147, 0.420276513736571, 2.743754441562508], "dimensions": [0.5625006705958356, 1.5571288616760444, 0.5703131737140275], "R_cam": [[-0.79657381772995, 0.052275896072387695, -0.6022769808769226], [0.08354544639587402, 0.9962143301963806, -0.024029288440942764], [0.5987407565116882, -0.06945864111185074, -0.7979257106781006]], "bbox3D_cam": [[-0.41629457473754883, -0.3724057674407959, 2.8515143394470215], [-0.8705910444259644, -0.3247586488723755, 3.192984104156494], [-0.7891908884048462, 1.2264752388000488, 3.0848278999328613], [-0.33489441871643066, 1.1788281202316284, 2.7433583736419678], [-0.7550756931304932, -0.3859221935272217, 2.4026808738708496], [-1.2093721628189087, -0.33827507495880127, 2.744150400161743], [-1.1279720067977905, 1.212958812713623, 2.6359944343566895], [-0.673675537109375, 1.1653116941452026, 2.294524669647217]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2498, "image_id": 345, "category_id": 20, "category_name": "coat", "bbox2D_proj": [22.0, 271.0, 77.0, 368.0], "bbox2D_tight": [22.0, 271.0, 77.0, 368.0], "bbox2D_trunc": [22.0, 271.0, 77.0, 368.0], "center_cam": [-2.0151251556269587, 0.5982829751176716, 4.335081535468619], "dimensions": [0.4785157338028426, 0.8527831833389404, 0.4960938818401448], "R_cam": [[-0.2577363848686218, -0.008355021476745605, 0.9661792516708374], [-0.08168280124664307, 0.99657142162323, -0.013171793892979622], [-0.9627564549446106, -0.08231509476900101, -0.25753509998321533]], "bbox3D_cam": [[-2.178797960281372, 0.1967659592628479, 4.6706061363220215], [-2.306659460067749, 0.15624362230300903, 4.192988395690918], [-2.31378436088562, 1.0061029195785522, 4.122791767120361], [-2.1859230995178223, 1.0466252565383911, 4.600409030914307], [-1.7164660692214966, 0.19046306610107422, 4.5473713874816895], [-1.844327449798584, 0.14994072914123535, 4.069754123687744], [-1.8514524698257446, 0.9998000264167786, 3.9995570182800293], [-1.7235910892486572, 1.0403223037719727, 4.477174758911133]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2499, "image_id": 346, "category_id": 42, "category_name": "painting", "bbox2D_proj": [305.0, 149.0, 349.0, 203.0], "bbox2D_tight": [305.0, 149.0, 349.0, 203.0], "bbox2D_trunc": [305.0, 149.0, 349.0, 203.0], "center_cam": [1.1518555811744746, -1.2861150811012196, 7.143048501818072], "dimensions": [0.10156249656139674, 0.8354492121149171, 0.7431640625135615], "R_cam": [[0.902593731880188, -0.007727861404418945, 0.430424302816391], [0.020340561866760254, 0.9994878768920898, -0.02470957115292549], [-0.4300128221511841, 0.03105783835053444, 0.9022886753082275]], "bbox3D_cam": [[0.7978386282920837, -1.70992910861969, 7.244040489196777], [1.4686137437820435, -1.6948126554489136, 6.9244704246521], [1.4621576070785522, -0.8597914576530457, 6.950417518615723], [0.7913824915885925, -0.874907910823822, 7.2699875831604], [0.8415535688400269, -1.7124385833740234, 7.335679054260254], [1.5123286247253418, -1.697322130203247, 7.016108989715576], [1.5058724880218506, -0.8623009920120239, 7.042056083679199], [0.8350974321365356, -0.8774174451828003, 7.361626148223877]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2500, "image_id": 346, "category_id": 38, "category_name": "light_fixture", "bbox2D_proj": [0.0, 366.0, 49.0, 413.0], "bbox2D_tight": [0.0, 366.0, 49.0, 413.0], "bbox2D_trunc": [0.0, 366.0, 49.0, 413.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2501, "image_id": 346, "category_id": 45, "category_name": "person", "bbox2D_proj": [221.0, 247.0, 245.0, 281.0], "bbox2D_tight": [221.0, 247.0, 245.0, 281.0], "bbox2D_trunc": [221.0, 247.0, 245.0, 281.0], "center_cam": [-0.08284740135808866, 0.037604125314657955, 3.457152375106186], "dimensions": [0.09082031354582532, 0.2825927712508658, 0.22265624733038408], "R_cam": [[0.4525350332260132, -0.0008865594863891602, -0.8917461633682251], [0.028330206871032715, 0.9995089769363403, 0.013383030891418457], [0.8912964463233948, -0.031319648027420044, 0.4523380398750305]], "bbox3D_cam": [[-0.09260767698287964, -0.1073845773935318, 3.341810703277588], [0.008152082562446594, -0.10107667744159698, 3.5402634143829346], [0.00790153443813324, 0.1813773661851883, 3.5314126014709473], [-0.0928582102060318, 0.17506946623325348, 3.3329598903656006], [-0.1735963374376297, -0.10616911947727203, 3.38289213180542], [-0.07283659279346466, -0.09986121952533722, 3.5813448429107666], [-0.07308712601661682, 0.18259282410144806, 3.5724940299987793], [-0.17384688556194305, 0.17628492414951324, 3.3740413188934326]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2502, "image_id": 346, "category_id": 77, "category_name": "window", "bbox2D_proj": [54.0, 20.0, 94.0, 71.0], "bbox2D_tight": [54.0, 20.0, 94.0, 71.0], "bbox2D_trunc": [54.0, 20.0, 94.0, 71.0], "center_cam": [-2.1858415044357145, -2.5074049677112624, 5.3272110258224235], "dimensions": [0.3078435983010044, 0.4885098141855333, 0.43580290258952914], "R_cam": [[-0.7935479879379272, 0.007532324641942978, 0.6084610223770142], [0.10720299184322357, 0.9860141277313232, 0.12760676443576813], [-0.5989900827407837, 0.16649092733860016, -0.7832571268081665]], "bbox3D_cam": [[-2.108421564102173, -2.7912449836730957, 5.537625789642334], [-2.454252004623413, -2.744525671005249, 5.276584148406982], [-2.4505724906921387, -2.262847900390625, 5.357916831970215], [-2.1047418117523193, -2.309567451477051, 5.618958473205566], [-1.9211106300354004, -2.751962184906006, 5.296504974365234], [-2.2669413089752197, -2.70524263381958, 5.035463333129883], [-2.263261556625366, -2.223565101623535, 5.116796016693115], [-1.917431116104126, -2.270284414291382, 5.377837657928467]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2503, "image_id": 346, "category_id": 45, "category_name": "person", "bbox2D_proj": [53.0, 233.0, 95.0, 408.0], "bbox2D_tight": [53.0, 233.0, 95.0, 408.0], "bbox2D_trunc": [53.0, 233.0, 95.0, 408.0], "center_cam": [-1.2219132446183536, 0.43475650901228546, 2.96302859817878], "dimensions": [0.2656250341072266, 1.1052245986230824, 0.3125000444362532], "R_cam": [[0.8229139447212219, 0.028659820556640625, 0.5674427151679993], [-0.08492422103881836, 0.9937118887901306, 0.07296904921531677], [-0.5617833137512207, -0.1082368940114975, 0.8201732635498047]], "bbox3D_cam": [[-1.441694736480713, -0.11080271005630493, 3.0016911029815674], [-1.1845341920852661, -0.13734155893325806, 2.8261337280273438], [-1.1528586149215698, 0.9609333872795105, 2.706507682800293], [-1.4100192785263062, 0.9874722361564636, 2.8820650577545166], [-1.2909678220748901, -0.09142035245895386, 3.2195496559143066], [-1.0338071584701538, -0.11795920133590698, 3.043992280960083], [-1.002131700515747, 0.9803157448768616, 2.9243662357330322], [-1.2592922449111938, 1.00685453414917, 3.099923610687256]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2504, "image_id": 346, "category_id": 45, "category_name": "person", "bbox2D_proj": [370.0, 229.0, 424.0, 398.0], "bbox2D_tight": [370.0, 229.0, 424.0, 398.0], "bbox2D_trunc": [370.0, 229.0, 424.0, 398.0], "center_cam": [0.9646547247620787, 0.3813382274238497, 3.0170379326226993], "dimensions": [0.2929687605820223, 1.0808105347702672, 0.3539276406027829], "R_cam": [[0.9664492607116699, -0.01888340711593628, 0.25616294145584106], [0.007305443286895752, 0.9989113807678223, 0.04607437178492546], [-0.2567541003227234, -0.04265714809298515, 0.9655349254608154]], "bbox3D_cam": [[0.7663090229034424, -0.16652065515518188, 2.9440903663635254], [1.108362078666687, -0.16393500566482544, 2.8532180786132812], [1.087952733039856, 0.9156988263130188, 2.8071136474609375], [0.7458996772766113, 0.9131131768226624, 2.8979861736297607], [0.8413567543029785, -0.15302234888076782, 3.226962089538574], [1.1834098100662231, -0.15043669939041138, 3.136089563369751], [1.163000464439392, 0.9291971325874329, 3.0899853706359863], [0.8209474086761475, 0.9266114830970764, 3.1808576583862305]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2505, "image_id": 346, "category_id": 42, "category_name": "painting", "bbox2D_proj": [458.0, 97.0, 512.0, 174.0], "bbox2D_tight": [458.0, 97.0, 512.0, 174.0], "bbox2D_trunc": [458.0, 97.0, 512.0, 174.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2506, "image_id": 346, "category_id": 45, "category_name": "person", "bbox2D_proj": [106.0, 232.0, 149.0, 364.0], "bbox2D_tight": [106.0, 232.0, 149.0, 364.0], "bbox2D_trunc": [106.0, 232.0, 149.0, 364.0], "center_cam": [-1.0344150069872817, 0.3294210486487776, 3.6417352132407963], "dimensions": [0.27929688102870665, 1.0537109245862166, 0.3486328354905551], "R_cam": [[0.9681874513626099, 0.008193552494049072, 0.25009143352508545], [-0.011125564575195312, 0.999884843826294, 0.010312548838555813], [-0.24997815489768982, -0.012766888365149498, 0.9681671857833862]], "bbox3D_cam": [[-1.2424277067184448, -0.19687455892562866, 3.5568339824676514], [-0.9048857092857361, -0.20075327157974243, 3.4696831703186035], [-0.8962520956993103, 0.8528364300727844, 3.456230640411377], [-1.233794093132019, 0.8567151427268982, 3.5433812141418457], [-1.172577977180481, -0.19399434328079224, 3.827239990234375], [-0.8350359201431274, -0.197873055934906, 3.7400894165039062], [-0.8264023065567017, 0.8557166457176208, 3.7266366481781006], [-1.1639443635940552, 0.8595953583717346, 3.8137874603271484]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2507, "image_id": 347, "category_id": 45, "category_name": "person", "bbox2D_proj": [223.0, 243.0, 248.0, 307.0], "bbox2D_tight": [223.0, 243.0, 248.0, 307.0], "bbox2D_trunc": [223.0, 243.0, 248.0, 307.0], "center_cam": [-0.24693229471244227, 0.22221507496991863, 5.351888611994063], "dimensions": [0.21093750788940255, 0.7553710753440986, 0.29199221682240895], "R_cam": [[0.9794726967811584, 0.002626657485961914, -0.2015599012374878], [-0.04072082042694092, 0.9818784594535828, -0.1850854605436325], [0.1974211484193802, 0.1894938349723816, 0.9618300199508667]], "bbox3D_cam": [[-0.369665265083313, -0.12316040694713593, 5.150053977966309], [-0.08366689085960388, -0.13505057990550995, 5.207699298858643], [-0.08168277144432068, 0.6066319942474365, 5.350837230682373], [-0.3676811456680298, 0.6185221672058105, 5.293191909790039], [-0.4121818244457245, -0.1622018665075302, 5.352940082550049], [-0.12618345022201538, -0.17409203946590424, 5.410585403442383], [-0.12419932335615158, 0.5675905346870422, 5.553723335266113], [-0.4101977050304413, 0.5794807076454163, 5.496078014373779]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2508, "image_id": 347, "category_id": 45, "category_name": "person", "bbox2D_proj": [210.0, 248.0, 226.0, 303.0], "bbox2D_tight": [210.0, 248.0, 226.0, 303.0], "bbox2D_trunc": [210.0, 248.0, 226.0, 303.0], "center_cam": [-0.4318478181410043, 0.2240255216995627, 5.414984315459668], "dimensions": [0.20507816790320021, 0.630859359250542, 0.23437503546930855], "R_cam": [[-0.3374675512313843, -0.04636502265930176, 0.9401946067810059], [0.056603312492370605, 0.9959794282913208, 0.0694328248500824], [-0.9396337270736694, 0.07664945721626282, -0.3334863781929016]], "bbox3D_cam": [[-0.4740826189517975, -0.10388875007629395, 5.5351152420043945], [-0.5531765818595886, -0.09062236547470093, 5.314888954162598], [-0.5824264287948608, 0.5377006530761719, 5.363243579864502], [-0.5033324360847473, 0.5244342684745789, 5.583470344543457], [-0.28126922249794006, -0.08964961767196655, 5.466724872589111], [-0.3603632152080536, -0.07638323307037354, 5.246498107910156], [-0.38961300253868103, 0.5519397854804993, 5.294853210449219], [-0.3105190098285675, 0.5386734008789062, 5.515079498291016]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2509, "image_id": 347, "category_id": 45, "category_name": "person", "bbox2D_proj": [258.0, 244.0, 281.0, 309.0], "bbox2D_tight": [258.0, 244.0, 281.0, 309.0], "bbox2D_trunc": [258.0, 244.0, 281.0, 309.0], "center_cam": [0.15162460407055736, 0.25677264130885014, 5.443212357279191], "dimensions": [0.23046878386463432, 0.7636718571659287, 0.2597656792374333], "R_cam": [[0.9532251358032227, -0.0646677017211914, 0.2952621579170227], [0.07281166315078735, 0.997206449508667, -0.016658781096339226], [-0.2933600842952728, 0.03737806901335716, 0.9552708864212036]], "bbox3D_cam": [[0.018485143780708313, -0.13153398036956787, 5.35696268081665], [0.26610031723976135, -0.11262005567550659, 5.280757904052734], [0.21671536564826965, 0.6489185690879822, 5.30930233001709], [-0.03089982271194458, 0.6300046443939209, 5.385507106781006], [0.08653385192155838, -0.1353732943534851, 5.577122688293457], [0.334149032831192, -0.11645936965942383, 5.500917911529541], [0.28476405143737793, 0.6450792551040649, 5.5294623374938965], [0.037148892879486084, 0.6261653304100037, 5.6056671142578125]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2510, "image_id": 347, "category_id": 45, "category_name": "person", "bbox2D_proj": [107.0, 247.0, 143.0, 335.0], "bbox2D_tight": [107.0, 247.0, 143.0, 335.0], "bbox2D_trunc": [107.0, 247.0, 143.0, 335.0], "center_cam": [-1.2748110472945258, 0.32987795686498855, 4.300324914467206], "dimensions": [0.30273451389460626, 0.8062743945875045, 0.3203126626043975], "R_cam": [[0.9060532450675964, 0.014898598194122314, 0.42290109395980835], [-0.06507503986358643, 0.9923976063728333, 0.10446017980575562], [-0.4181298017501831, -0.12216685712337494, 0.9001345634460449]], "bbox3D_cam": [[-1.4899407625198364, -0.07558417320251465, 4.280290126800537], [-1.1997203826904297, -0.09642857313156128, 4.146358013153076], [-1.1877081394195557, 0.7037163376808167, 4.047857761383057], [-1.4779284000396729, 0.7245607376098633, 4.181790351867676], [-1.3619139194488525, -0.04396045207977295, 4.552792072296143], [-1.0716936588287354, -0.06480485200881958, 4.418859481811523], [-1.0596812963485718, 0.7353400588035583, 4.320359706878662], [-1.3499016761779785, 0.756184458732605, 4.454291820526123]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2511, "image_id": 347, "category_id": 74, "category_name": "trousers", "bbox2D_proj": [166.0, 273.0, 186.0, 316.0], "bbox2D_tight": [166.0, 273.0, 186.0, 316.0], "bbox2D_trunc": [166.0, 273.0, 186.0, 316.0], "center_cam": [-0.8839767969052832, 0.41908564098676226, 4.917569855628118], "dimensions": [0.16015625199199945, 0.4678954957750785, 0.21972658046413565], "R_cam": [[0.9910901188850403, 0.006222426891326904, 0.1330474466085434], [-0.004979133605957031, 0.999940812587738, -0.009675465524196625], [-0.133099764585495, 0.008926797658205032, 0.9910624027252197]], "bbox3D_cam": [[-1.0049711465835571, 0.186473548412323, 4.850741386413574], [-0.7872022986412048, 0.1853795051574707, 4.82149600982666], [-0.7842908501625061, 0.6532473564147949, 4.825672626495361], [-1.0020596981048584, 0.6543413400650024, 4.854918479919434], [-0.9836627840995789, 0.18492397665977478, 5.009466648101807], [-0.7658939361572266, 0.18382993340492249, 4.980220794677734], [-0.7629824876785278, 0.6516977548599243, 4.984397888183594], [-0.9807513356208801, 0.6527917981147766, 5.013643264770508]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2512, "image_id": 347, "category_id": 35, "category_name": "jersey", "bbox2D_proj": [164.0, 248.0, 187.0, 274.0], "bbox2D_tight": [164.0, 248.0, 187.0, 274.0], "bbox2D_trunc": [164.0, 248.0, 187.0, 274.0], "center_cam": [-0.9038126506503801, 0.055486121271929464, 4.939465723400234], "dimensions": [0.1987448673705592, 0.25943725437164367, 0.26971602487332547], "R_cam": [[0.5169304609298706, -0.021966084837913513, 0.8557454943656921], [0.150859534740448, 0.9863622188568115, -0.0658109039068222], [-0.8426293730735779, 0.16311703622341156, 0.5131945610046387]], "bbox3D_cam": [[-1.0557129383087158, -0.08626825362443924, 4.9809441566467285], [-0.9162884950637817, -0.04557902365922928, 4.753673553466797], [-0.9219872951507568, 0.21032008528709412, 4.795991897583008], [-1.061411738395691, 0.16963085532188416, 5.023262977600098], [-0.8856379985809326, -0.09934783726930618, 5.082939147949219], [-0.7462134957313538, -0.05865860730409622, 4.855668067932129], [-0.7519123554229736, 0.19724050164222717, 4.897986888885498], [-0.8913367986679077, 0.1565512716770172, 5.12525749206543]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2513, "image_id": 347, "category_id": 39, "category_name": "monument", "bbox2D_proj": [235.0, 51.0, 375.0, 168.0], "bbox2D_tight": [235.0, 51.0, 375.0, 168.0], "bbox2D_trunc": [235.0, 51.0, 375.0, 168.0], "center_cam": [0.8081882371674105, -2.379633175244747, 7.533387117520315], "dimensions": [1.2968750075321163, 1.8427734042781445, 2.198730634185784], "R_cam": [[-0.9910851716995239, 0.004589507356286049, -0.13315081596374512], [-0.007525261491537094, 0.9958825707435608, 0.0903395488858223], [0.1330171823501587, 0.09053618460893631, -0.9869699478149414]], "bbox3D_cam": [[1.9798641204833984, -3.3475327491760254, 7.943722248077393], [-0.19926518201828003, -3.3640787601470947, 8.236190795898438], [-0.1908077597618103, -1.5288927555084229, 8.40302848815918], [1.9883215427398682, -1.5123467445373535, 8.110559463500977], [1.8071842193603516, -3.2303736209869385, 6.663745403289795], [-0.3719450831413269, -3.246919631958008, 6.956214427947998], [-0.3634876608848572, -1.411733627319336, 7.12305212020874], [1.8156416416168213, -1.3951876163482666, 6.830583095550537]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2514, "image_id": 347, "category_id": 45, "category_name": "person", "bbox2D_proj": [362.0, 232.0, 384.0, 298.0], "bbox2D_tight": [362.0, 232.0, 384.0, 298.0], "bbox2D_trunc": [362.0, 232.0, 384.0, 298.0], "center_cam": [1.3423974672707364, 0.10228477612264845, 5.15743583274814], "dimensions": [0.25390631352635445, 0.7497558400002742, 0.28906258075445246], "R_cam": [[0.8344742059707642, 0.006230711936950684, 0.5510119199752808], [0.038446009159088135, 0.9968411922454834, -0.06949632614850998], [-0.5497043132781982, 0.07917710393667221, 0.8315987586975098]], "bbox3D_cam": [[1.1495013236999512, -0.26814281940460205, 5.101629734039307], [1.390716552734375, -0.25702953338623047, 4.94273042678833], [1.395388126373291, 0.4903578758239746, 5.002094268798828], [1.1541728973388672, 0.479244589805603, 5.1609930992126465], [1.2894067764282227, -0.285788357257843, 5.312777519226074], [1.5306220054626465, -0.27467507123947144, 5.153878688812256], [1.5352935791015625, 0.47271233797073364, 5.213242053985596], [1.2940783500671387, 0.46159905195236206, 5.372141361236572]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2515, "image_id": 347, "category_id": 53, "category_name": "scaffolding", "bbox2D_proj": [87.0, 98.0, 208.0, 211.0], "bbox2D_tight": [87.0, 98.0, 208.0, 211.0], "bbox2D_trunc": [87.0, 98.0, 208.0, 211.0], "center_cam": [-1.5978752998094623, -1.4254091305093435, 6.218173869020366], "dimensions": [0.9275168518403571, 1.670814137368896, 1.7255252130918777], "R_cam": [[-0.942986011505127, 0.008980721235275269, 0.33271121978759766], [0.015062913298606873, 0.9997631907463074, 0.01570582389831543], [-0.332491397857666, 0.019822001457214355, -0.9428979754447937]], "bbox3D_cam": [[-0.946102499961853, -2.280897617340088, 6.925752639770508], [-2.5732486248016357, -2.254906177520752, 6.352030277252197], [-2.5582435131073, -0.584487795829773, 6.385149002075195], [-0.9310973882675171, -0.6104792356491089, 6.958871364593506], [-0.6375072002410889, -2.2663302421569824, 6.051198959350586], [-2.264653205871582, -2.2403388023376465, 5.477476596832275], [-2.249648094177246, -0.5699204206466675, 5.510595321655273], [-0.6225020885467529, -0.5959118604660034, 6.084317684173584]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2516, "image_id": 347, "category_id": 45, "category_name": "person", "bbox2D_proj": [296.0, 226.0, 312.0, 279.0], "bbox2D_tight": [296.0, 226.0, 312.0, 279.0], "bbox2D_trunc": [296.0, 226.0, 312.0, 279.0], "center_cam": [0.5926021708909763, -0.04533499468898615, 5.663543423239879], "dimensions": [0.19726568219660756, 0.6391601411240386, 0.2226563072532622], "R_cam": [[-0.4827202260494232, -0.037407636642456055, -0.8749754428863525], [-0.17656958103179932, 0.982728123664856, 0.05539820343255997], [0.8577905893325806, 0.18123577535152435, -0.48098766803741455]], "bbox3D_cam": [[0.7445986270904541, -0.34520217776298523, 5.5575690269470215], [0.6371179223060608, -0.38451650738716125, 5.748561382293701], [0.6132084131240845, 0.24360403418540955, 5.8643999099731445], [0.7206891179084778, 0.28291836380958557, 5.673407554626465], [0.5719959735870361, -0.334274023771286, 5.462686538696289], [0.4645152688026428, -0.37358835339546204, 5.653678894042969], [0.4406057596206665, 0.25453218817710876, 5.769517421722412], [0.5480864644050598, 0.2938465178012848, 5.578525066375732]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2517, "image_id": 347, "category_id": 35, "category_name": "jersey", "bbox2D_proj": [307.0, 250.0, 341.0, 297.0], "bbox2D_tight": [307.0, 250.0, 341.0, 297.0], "bbox2D_trunc": [307.0, 250.0, 341.0, 297.0], "center_cam": [0.6469131270095694, 0.1628078734346417, 4.313857444048763], "dimensions": [0.1621093776942144, 0.41996764558433436, 0.34570315508330446], "R_cam": [[0.9623007774353027, 0.021214723587036133, -0.27115899324417114], [-0.02071094512939453, 0.9997743368148804, 0.004719629883766174], [0.27119797468185425, 0.001074269413948059, 0.9625229835510254]], "bbox3D_cam": [[0.4981018602848053, -0.043931201100349426, 4.188737869262695], [0.8307722806930542, -0.0510910302400589, 4.282492160797119], [0.8396817445755005, 0.3687818646430969, 4.282943248748779], [0.507011353969574, 0.3759416937828064, 4.1891889572143555], [0.4541444480419159, -0.04316611588001251, 4.344771862030029], [0.7868148684501648, -0.050325945019721985, 4.438526153564453], [0.7957243919372559, 0.36954694986343384, 4.438977241516113], [0.46305394172668457, 0.3767067790031433, 4.3452229499816895]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2518, "image_id": 347, "category_id": 45, "category_name": "person", "bbox2D_proj": [397.0, 250.0, 436.0, 339.0], "bbox2D_tight": [397.0, 250.0, 436.0, 339.0], "bbox2D_trunc": [397.0, 250.0, 436.0, 339.0], "center_cam": [1.598479599586972, 0.38071394840169503, 4.418880006221187], "dimensions": [0.2519531473360076, 0.8959960760607022, 0.3398437567953987], "R_cam": [[0.15351489186286926, 0.08073949813842773, -0.9848423004150391], [-0.14841055870056152, 0.9872351884841919, 0.057801783084869385], [0.9769378304481506, 0.13728761672973633, 0.163537859916687]], "bbox3D_cam": [[1.660290002822876, -0.04362893104553223, 4.170770168304443], [1.7124611139297485, -0.09406530857086182, 4.502776622772217], [1.7848033905029297, 0.7904934883117676, 4.625785827636719], [1.7326322793960571, 0.8409298658370972, 4.293779373168945], [1.4121558666229248, -0.029065608978271484, 4.211974143981934], [1.4643269777297974, -0.07950198650360107, 4.543980598449707], [1.5366692543029785, 0.8050568103790283, 4.666989803314209], [1.484498143196106, 0.8554931879043579, 4.3349833488464355]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2519, "image_id": 347, "category_id": 45, "category_name": "person", "bbox2D_proj": [0.0, 237.0, 37.0, 438.0], "bbox2D_tight": [0.0, 237.0, 37.0, 438.0], "bbox2D_trunc": [0.0, 237.0, 37.0, 438.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2520, "image_id": 348, "category_id": 45, "category_name": "person", "bbox2D_proj": [144.0, 227.0, 189.0, 331.0], "bbox2D_tight": [144.0, 227.0, 189.0, 331.0], "bbox2D_trunc": [144.0, 227.0, 189.0, 331.0], "center_cam": [-1.4020318249195194, 0.33358438553560904, 6.795700700364286], "dimensions": [0.4257812882044736, 1.4980468712729171, 0.658691434274552], "R_cam": [[0.9290709495544434, -0.037506818771362305, -0.36799514293670654], [0.0016222000122070312, 0.9952496290206909, -0.09734223783016205], [0.3698980212211609, 0.08984087407588959, 0.9247183799743652]], "bbox3D_cam": [[-1.60158109664917, -0.3916919529438019, 6.409719467163086], [-0.9896100759506226, -0.3906233608722687, 6.65336799621582], [-1.0457969903945923, 1.1003072261810303, 6.787953853607178], [-1.6577680110931396, 1.099238634109497, 6.544305324554443], [-1.758266568183899, -0.4331384003162384, 6.803447246551514], [-1.1462955474853516, -0.4320698082447052, 7.047095775604248], [-1.2024824619293213, 1.0588607788085938, 7.1816816329956055], [-1.8144534826278687, 1.0577921867370605, 6.938033103942871]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2521, "image_id": 348, "category_id": 45, "category_name": "person", "bbox2D_proj": [219.0, 228.0, 258.0, 326.0], "bbox2D_tight": [219.0, 228.0, 258.0, 326.0], "bbox2D_trunc": [219.0, 228.0, 258.0, 326.0], "center_cam": [-0.3206635858986563, 0.28817684022878953, 6.696788893251904], "dimensions": [0.468750517068819, 1.4189453131712177, 0.4804692999396268], "R_cam": [[0.46598225831985474, 0.05492246150970459, -0.8830878734588623], [-0.15025782585144043, 0.9884864687919617, -0.017809569835662842], [0.8719422221183777, 0.1409897804260254, 0.46886956691741943]], "bbox3D_cam": [[-0.2646006941795349, -0.3728560209274292, 6.277398109436035], [-0.04071053862571716, -0.4450502395629883, 6.6963396072387695], [0.03722137212753296, 0.9575579166412354, 6.896396636962891], [-0.1866687536239624, 1.0297521352767944, 6.477455139160156], [-0.6785485148429871, -0.3812042474746704, 6.497180938720703], [-0.4546583890914917, -0.4533984661102295, 6.9161224365234375], [-0.3767264485359192, 0.9492096900939941, 7.116179466247559], [-0.6006165742874146, 1.0214039087295532, 6.697237968444824]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2522, "image_id": 348, "category_id": 45, "category_name": "person", "bbox2D_proj": [323.0, 208.0, 398.0, 349.0], "bbox2D_tight": [323.0, 208.0, 398.0, 349.0], "bbox2D_trunc": [323.0, 208.0, 398.0, 349.0], "center_cam": [1.1246709708981117, 0.20966859239833038, 4.807026564989801], "dimensions": [0.44140627358186435, 1.5177001944336301, 0.7692870947304817], "R_cam": [[-0.9962997436523438, 0.04224848747253418, -0.07484667003154755], [0.054645657539367676, 0.9835406541824341, -0.17222601175308228], [0.06633847206830978, -0.1756787747144699, -0.9822100400924683]], "bbox3D_cam": [[1.4923499822616577, -0.5196996331214905, 5.131600379943848], [0.725909411907196, -0.4776613116264343, 5.182633876800537], [0.790029764175415, 1.0150585174560547, 4.916006088256836], [1.5564703941345215, 0.9730201363563538, 4.8649725914001465], [1.4593122005462646, -0.5957213044166565, 4.698046684265137], [0.692871630191803, -0.5536829829216003, 4.749080181121826], [0.756991982460022, 0.9390367865562439, 4.482452392578125], [1.5234324932098389, 0.8969984650611877, 4.4314188957214355]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2523, "image_id": 348, "category_id": 47, "category_name": "pipe", "bbox2D_proj": [453.0, 99.0, 470.0, 198.0], "bbox2D_tight": [453.0, 99.0, 470.0, 198.0], "bbox2D_trunc": [453.0, 99.0, 470.0, 198.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2524, "image_id": 348, "category_id": 47, "category_name": "pipe", "bbox2D_proj": [296.0, 112.0, 347.0, 198.0], "bbox2D_tight": [296.0, 112.0, 347.0, 198.0], "bbox2D_trunc": [296.0, 112.0, 347.0, 198.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2525, "image_id": 349, "category_id": 15, "category_name": "car", "bbox2D_proj": [66.0, 248.0, 142.0, 287.0], "bbox2D_tight": [66.0, 248.0, 142.0, 287.0], "bbox2D_trunc": [66.0, 248.0, 142.0, 287.0], "center_cam": [-3.8703061447294287, 0.24812944802258002, 11.536969250017242], "dimensions": [1.2148436870796662, 0.8664245642282613, 2.695312505693546], "R_cam": [[0.03918731212615967, 0.0016114115715026855, 0.9992305636405945], [0.012472927570343018, 0.9999200105667114, -0.0021016597747802734], [-0.9991540312767029, 0.01254570484161377, 0.039164066314697266]], "bbox3D_cam": [[-4.5307698249816895, -0.20058079063892365, 12.85426139831543], [-4.425147533416748, -0.16696234047412872, 10.161229133605957], [-4.423751354217529, 0.6993929147720337, 10.172099113464355], [-4.529373645782471, 0.6657744646072388, 12.865131378173828], [-3.316861152648926, -0.20313401520252228, 12.901839256286621], [-3.2112388610839844, -0.16951556503772736, 10.208806991577148], [-3.2098426818847656, 0.6968396902084351, 10.219676971435547], [-3.315464973449707, 0.6632212400436401, 12.91270923614502]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2526, "image_id": 349, "category_id": 58, "category_name": "signboard", "bbox2D_proj": [315.0, 62.0, 341.0, 145.0], "bbox2D_tight": [315.0, 62.0, 341.0, 145.0], "bbox2D_trunc": [315.0, 62.0, 341.0, 145.0], "center_cam": [1.4960194963252003, -3.277014458800421, 9.509935124719956], "dimensions": [0.17187500086055582, 1.665283209608765, 0.5722656018451207], "R_cam": [[0.9632234573364258, 0.03441965579986572, -0.2664879858493805], [-0.09090614318847656, 0.9750232696533203, -0.20264683663845062], [0.25285694003105164, 0.21941958367824554, 0.9422942399978638]], "bbox3D_cam": [[1.2146517038345337, -4.045433044433594, 9.173908233642578], [1.7658714056015015, -4.0974555015563965, 9.318610191345215], [1.8231899738311768, -2.4737658500671387, 9.684005737304688], [1.2719701528549194, -2.421743392944336, 9.53930377960205], [1.168848991394043, -4.080263137817383, 9.335865020751953], [1.7200688123703003, -4.1322855949401855, 9.48056697845459], [1.777387261390686, -2.5085957050323486, 9.845962524414062], [1.2261675596237183, -2.456573247909546, 9.701260566711426]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2527, "image_id": 349, "category_id": 58, "category_name": "signboard", "bbox2D_proj": [314.0, 146.0, 339.0, 189.0], "bbox2D_tight": [314.0, 146.0, 339.0, 189.0], "bbox2D_trunc": [314.0, 146.0, 339.0, 189.0], "center_cam": [1.5694913599656821, -2.0127724602772696, 10.003907643186736], "dimensions": [0.08593749996718864, 0.97949219005522, 0.5678710621434038], "R_cam": [[0.9993945956230164, -0.005343079566955566, 0.03438260406255722], [0.0048119425773620605, 0.9998682141304016, 0.015511183068156242], [-0.034460946917533875, -0.015336341224610806, 0.9992883801460266]], "bbox3D_cam": [[1.2868671417236328, -2.5044867992401123, 9.978264808654785], [1.8543943166732788, -2.5017542839050293, 9.958695411682129], [1.84916090965271, -1.5223913192749023, 9.943673133850098], [1.2816336154937744, -1.5251238346099854, 9.963242530822754], [1.2898218631744385, -2.5031538009643555, 10.064141273498535], [1.857349157333374, -2.5004212856292725, 10.044571876525879], [1.8521156311035156, -1.5210583209991455, 10.029549598693848], [1.2845884561538696, -1.5237908363342285, 10.049118995666504]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2528, "image_id": 349, "category_id": 11, "category_name": "box", "bbox2D_proj": [391.0, 288.0, 416.0, 318.0], "bbox2D_tight": [391.0, 288.0, 416.0, 318.0], "bbox2D_trunc": [391.0, 288.0, 416.0, 318.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2529, "image_id": 349, "category_id": 58, "category_name": "signboard", "bbox2D_proj": [95.0, 161.0, 114.0, 233.0], "bbox2D_tight": [95.0, 161.0, 114.0, 233.0], "bbox2D_trunc": [95.0, 161.0, 114.0, 233.0], "center_cam": [-4.749707522587409, -1.852783573246283, 13.92393017438619], "dimensions": [0.2597656112902771, 2.1821289125416916, 1.281250001741074], "R_cam": [[0.10583576560020447, 0.019838333129882812, 0.9941856861114502], [0.0017086267471313477, 0.9997957944869995, -0.02013218402862549], [-0.9943821430206299, 0.0038294196128845215, 0.10578024387359619]], "bbox3D_cam": [[-4.968281269073486, -2.9421050548553467, 14.543039321899414], [-4.832679271697998, -2.939915895462036, 13.268986701965332], [-4.789389610290527, -0.7582323551177979, 13.277342796325684], [-4.924991607666016, -0.7604215145111084, 14.551395416259766], [-4.710025787353516, -2.9473347663879395, 14.570517539978027], [-4.574423789978027, -2.945145606994629, 13.296464920043945], [-4.531134128570557, -0.7634620666503906, 13.304821014404297], [-4.666736125946045, -0.7656512260437012, 14.578873634338379]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2530, "image_id": 349, "category_id": 13, "category_name": "building", "bbox2D_proj": [30.0, 57.0, 110.0, 167.0], "bbox2D_tight": [30.0, 57.0, 110.0, 167.0], "bbox2D_trunc": [30.0, 57.0, 110.0, 167.0], "center_cam": [-5.627198153310199, -4.168052881337554, 13.827162662563603], "dimensions": [1.007812446861658, 3.0471192185692813, 3.179687564876576], "R_cam": [[-0.0028949975967407227, -0.08048314601182938, -0.9967517256736755], [-0.1683064103126526, 0.9825760126113892, -0.07884970307350159], [0.9857304692268372, 0.16753146052360535, -0.016390323638916016]], "bbox3D_cam": [[-4.997705459594727, -5.357751846313477, 12.013020515441895], [-5.00691032409668, -5.892913818359375, 15.147335052490234], [-5.252152442932129, -2.8988876342773438, 15.65782356262207], [-5.242947101593018, -2.3637259006500244, 12.52350902557373], [-6.002243995666504, -5.437217712402344, 11.996501922607422], [-6.011449337005615, -5.972379684448242, 15.130816459655762], [-6.256690979003906, -2.978353261947632, 15.641304969787598], [-6.247486114501953, -2.4431915283203125, 12.506990432739258]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2531, "image_id": 349, "category_id": 45, "category_name": "person", "bbox2D_proj": [375.0, 239.0, 512.0, 512.0], "bbox2D_tight": [375.0, 239.0, 512.0, 512.0], "bbox2D_trunc": [375.0, 239.0, 512.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2532, "image_id": 349, "category_id": 13, "category_name": "building", "bbox2D_proj": [102.0, 36.0, 153.0, 189.0], "bbox2D_tight": [102.0, 36.0, 153.0, 189.0], "bbox2D_trunc": [102.0, 36.0, 153.0, 189.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2533, "image_id": 350, "category_id": 18, "category_name": "chimney", "bbox2D_proj": [103.0, 91.0, 141.0, 268.0], "bbox2D_tight": [103.0, 91.0, 141.0, 268.0], "bbox2D_trunc": [103.0, 91.0, 141.0, 268.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2534, "image_id": 350, "category_id": 77, "category_name": "window", "bbox2D_proj": [282.0, 180.0, 362.0, 221.0], "bbox2D_tight": [282.0, 180.0, 362.0, 221.0], "bbox2D_trunc": [282.0, 180.0, 362.0, 221.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2535, "image_id": 350, "category_id": 45, "category_name": "person", "bbox2D_proj": [457.0, 292.0, 508.0, 360.0], "bbox2D_tight": [457.0, 292.0, 508.0, 360.0], "bbox2D_trunc": [457.0, 292.0, 508.0, 360.0], "center_cam": [4.151708261677102, 1.2497293839537924, 8.049724331707559], "dimensions": [0.5206090604494404, 0.8998169611143072, 0.8211212300373552], "R_cam": [[0.41805094480514526, 0.09970436990261078, 0.9029355049133301], [-0.11914670467376709, 0.9913904666900635, -0.05430792272090912], [-0.9005762338638306, -0.08487831056118011, 0.42633116245269775]], "bbox3D_cam": [[3.70017671585083, 0.8667479753494263, 8.34667682647705], [4.043447494506836, 0.7689141035079956, 7.607194900512695], [4.133162975311279, 1.660983920097351, 7.530819892883301], [3.7898924350738525, 1.7588179111480713, 8.270301818847656], [4.170253276824951, 0.8384748697280884, 8.568629264831543], [4.513523578643799, 0.7406409382820129, 7.829146862030029], [4.6032395362854, 1.6327108144760132, 7.752771854400635], [4.2599687576293945, 1.7305446863174438, 8.492254257202148]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2536, "image_id": 350, "category_id": 14, "category_name": "cabinet", "bbox2D_proj": [168.0, 299.0, 287.0, 366.0], "bbox2D_tight": [168.0, 299.0, 287.0, 366.0], "bbox2D_trunc": [168.0, 299.0, 287.0, 366.0], "center_cam": [-0.7510131773940596, 1.6424615531883595, 9.56039848567325], "dimensions": [0.8359374931372161, 1.1572265850588033, 2.201171889238391], "R_cam": [[-0.9687258005142212, 0.020137498155236244, -0.24731555581092834], [0.026727190241217613, 0.9993709325790405, -0.02331632189452648], [0.24669042229652405, -0.029197169467806816, -0.9686543941497803]], "bbox3D_cam": [[0.40687084197998047, 1.0445423126220703, 9.710655212402344], [-1.7254605293273926, 1.1033732891082764, 10.253663063049316], [-1.7021567821502686, 2.2598717212677, 10.21987533569336], [0.4301745891571045, 2.201040744781494, 9.676867485046387], [0.20013046264648438, 1.0250513553619385, 8.900920867919922], [-1.9322009086608887, 1.0838823318481445, 9.443928718566895], [-1.9088971614837646, 2.2403807640075684, 9.410140991210938], [0.2234342098236084, 2.1815497875213623, 8.867133140563965]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2537, "image_id": 350, "category_id": 77, "category_name": "window", "bbox2D_proj": [144.0, 147.0, 210.0, 273.0], "bbox2D_tight": [144.0, 147.0, 210.0, 273.0], "bbox2D_trunc": [144.0, 147.0, 210.0, 273.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2538, "image_id": 351, "category_id": 45, "category_name": "person", "bbox2D_proj": [241.0, 244.0, 258.0, 297.0], "bbox2D_tight": [241.0, 244.0, 258.0, 297.0], "bbox2D_trunc": [241.0, 244.0, 258.0, 297.0], "center_cam": [-0.09822040925061738, 0.19620221966346313, 5.923479407101204], "dimensions": [0.22753907952425173, 0.6911621263319242, 0.24609377729049137], "R_cam": [[0.2777389883995056, 0.023103833198547363, 0.9603787660598755], [-0.025406479835510254, 0.9995377659797668, -0.016698390245437622], [-0.9603205919265747, -0.019762009382247925, 0.2781975269317627]], "bbox3D_cam": [[-0.24964141845703125, -0.1441931128501892, 6.016822814941406], [-0.1812915951013565, -0.15044546127319336, 5.780494213104248], [-0.16532309353351593, 0.5403971076011658, 5.7668352127075195], [-0.23367291688919067, 0.5466494560241699, 6.003164291381836], [-0.031117722392082214, -0.14799267053604126, 6.0801239013671875], [0.03723210096359253, -0.1542450189590454, 5.843794822692871], [0.053200602531433105, 0.5365975499153137, 5.830136299133301], [-0.015149220824241638, 0.5428498983383179, 6.066464900970459]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2539, "image_id": 351, "category_id": 45, "category_name": "person", "bbox2D_proj": [217.0, 239.0, 238.0, 296.0], "bbox2D_tight": [217.0, 239.0, 238.0, 296.0], "bbox2D_trunc": [217.0, 239.0, 238.0, 296.0], "center_cam": [-0.3927031247094495, 0.152483350967485, 5.714914779312115], "dimensions": [0.29882830027052254, 0.8608398677595483, 0.3046876883149434], "R_cam": [[0.19879233837127686, 0.04647254943847656, -0.9789391756057739], [0.18614208698272705, 0.9789022207260132, 0.08427050709724426], [0.9622020721435547, -0.1989741027355194, 0.18594777584075928]], "bbox3D_cam": [[-0.29672324657440186, -0.3098044693470001, 5.626188278198242], [-0.23615367710590363, -0.2530892789363861, 5.9193596839904785], [-0.19614824652671814, 0.5895887613296509, 5.748074531555176], [-0.2567178010940552, 0.5328735113143921, 5.454903602600098], [-0.5892579555511475, -0.28462204337120056, 5.681755065917969], [-0.5286884307861328, -0.22790685296058655, 5.974925994873047], [-0.48868298530578613, 0.6147711277008057, 5.803641319274902], [-0.5492525696754456, 0.5580559968948364, 5.510469913482666]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2540, "image_id": 351, "category_id": 45, "category_name": "person", "bbox2D_proj": [130.0, 246.0, 165.0, 357.0], "bbox2D_tight": [130.0, 246.0, 165.0, 357.0], "bbox2D_trunc": [130.0, 246.0, 165.0, 357.0], "center_cam": [-0.9663746491497743, 0.4111202271940958, 3.829985040967067], "dimensions": [0.3437500470345508, 0.9765014888505589, 0.3726807026654536], "R_cam": [[0.938518226146698, 0.047365427017211914, -0.3419649004936218], [-0.04663443565368652, 0.9988582730293274, 0.010364025831222534], [0.34206536412239075, 0.006220489740371704, 0.9396555423736572]], "bbox3D_cam": [[-1.10560941696167, -0.06966447830200195, 3.6017041206359863], [-0.7558417916297913, -0.08704423904418945, 3.729185104370117], [-0.7095893621444702, 0.8883423209190369, 3.735259532928467], [-1.0593570470809937, 0.9057220816612244, 3.607778310775757], [-1.223159909248352, -0.06610184907913208, 3.924710750579834], [-0.8733922243118286, -0.08348160982131958, 4.052191734313965], [-0.8271398544311523, 0.8919049501419067, 4.0582661628723145], [-1.1769075393676758, 0.9092847108840942, 3.9307851791381836]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2541, "image_id": 351, "category_id": 45, "category_name": "person", "bbox2D_proj": [155.0, 247.0, 172.0, 343.0], "bbox2D_tight": [155.0, 247.0, 172.0, 343.0], "bbox2D_trunc": [155.0, 247.0, 172.0, 343.0], "center_cam": [-0.8487923974742042, 0.3617026529444073, 4.065652165790113], "dimensions": [0.2331543248102243, 0.8546142783035986, 0.24218753795600045], "R_cam": [[-0.2479066550731659, -0.006690621376037598, -0.9687607288360596], [-0.04450023174285889, 0.9989992380142212, 0.004488229285925627], [0.9677612781524658, 0.04422270879149437, -0.2479562759399414]], "bbox3D_cam": [[-0.7029781341552734, -0.06031137704849243, 3.9584717750549316], [-0.763018012046814, -0.07108879089355469, 4.192851543426514], [-0.7687358856201172, 0.782670259475708, 4.230645179748535], [-0.7086960077285767, 0.7934476733207703, 3.996265172958374], [-0.9288488626480103, -0.059264957904815674, 3.9006597995758057], [-0.9888887405395508, -0.07004237174987793, 4.135039329528809], [-0.994606614112854, 0.7837166786193848, 4.17283296585083], [-0.9345667362213135, 0.794494092464447, 3.938453197479248]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2542, "image_id": 351, "category_id": 45, "category_name": "person", "bbox2D_proj": [168.0, 246.0, 189.0, 364.0], "bbox2D_tight": [168.0, 246.0, 189.0, 364.0], "bbox2D_trunc": [168.0, 246.0, 189.0, 364.0], "center_cam": [-0.654122897357174, 0.39441663894664836, 3.7688607862820698], "dimensions": [0.23046878165293622, 0.9562988528594839, 0.2714844100292575], "R_cam": [[0.6895953416824341, -0.001361548900604248, -0.7241936922073364], [0.09684008359909058, 0.9911906719207764, 0.09035000205039978], [0.7176909446716309, -0.13243591785430908, 0.6836522817611694]], "bbox3D_cam": [[-0.663627028465271, -0.10307729244232178, 3.6559836864471436], [-0.47641265392303467, -0.07678675651550293, 3.850825548171997], [-0.4777147173881531, 0.8710876703262329, 3.724177360534668], [-0.6649290919303894, 0.8447971343994141, 3.5293354988098145], [-0.8305310606956482, -0.08225440979003906, 3.813544273376465], [-0.6433166861534119, -0.055963873863220215, 4.008386135101318], [-0.6446187496185303, 0.8919105529785156, 3.8817379474639893], [-0.8318331241607666, 0.8656200170516968, 3.6868960857391357]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2543, "image_id": 351, "category_id": 45, "category_name": "person", "bbox2D_proj": [59.0, 234.0, 104.0, 389.0], "bbox2D_tight": [59.0, 234.0, 104.0, 389.0], "bbox2D_trunc": [59.0, 234.0, 104.0, 389.0], "center_cam": [-1.1800707109862385, 0.36866579467024896, 3.0875480765828165], "dimensions": [0.3157959519405063, 1.0305176035338945, 0.33203131761771354], "R_cam": [[0.3509068489074707, 0.014227807521820068, 0.9363021850585938], [-0.044110774993896484, 0.9990257024765015, 0.0013509689597412944], [-0.9353708028793335, -0.04177513346076012, 0.3511925935745239]], "bbox3D_cam": [[-1.3934979438781738, -0.13898125290870667, 3.208906650543213], [-1.2769858837127686, -0.1536274254322052, 2.898334264755249], [-1.2623239755630493, 0.8758862018585205, 2.8552842140197754], [-1.3788360357284546, 0.890532374382019, 3.1658565998077393], [-1.0978175401687622, -0.13855460286140442, 3.3198118209838867], [-0.9813054800033569, -0.15320077538490295, 3.009239435195923], [-0.9666435122489929, 0.8763128519058228, 2.966189384460449], [-1.083155632019043, 0.8909590244293213, 3.276761770248413]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2544, "image_id": 352, "category_id": 45, "category_name": "person", "bbox2D_proj": [437.0, 285.0, 477.0, 400.0], "bbox2D_tight": [437.0, 285.0, 477.0, 400.0], "bbox2D_trunc": [437.0, 285.0, 477.0, 400.0], "center_cam": [1.8311792546554069, 0.7919127076022958, 4.104709009090408], "dimensions": [0.28906253345039656, 0.9907226970622294, 0.3632812884739908], "R_cam": [[0.8053895831108093, -0.044080257415771484, 0.5911043286323547], [0.041920483112335205, 0.9989697337150574, 0.01737847737967968], [-0.5912614464759827, 0.01078286673873663, 0.8064078688621521]], "bbox3D_cam": [[1.6212903261184692, 0.2869355082511902, 4.090213775634766], [1.913873314857483, 0.3021644353866577, 3.8754193782806396], [1.8702020645141602, 1.2918665409088135, 3.8861021995544434], [1.5776190757751465, 1.2766375541687012, 4.10089635848999], [1.792156457901001, 0.2919589877128601, 4.3233160972595215], [2.0847394466400146, 0.30718791484832764, 4.108521938323975], [2.0410680770874023, 1.2968900203704834, 4.119204521179199], [1.7484852075576782, 1.281661033630371, 4.333998680114746]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2545, "image_id": 352, "category_id": 45, "category_name": "person", "bbox2D_proj": [354.0, 283.0, 381.0, 362.0], "bbox2D_tight": [354.0, 283.0, 381.0, 362.0], "bbox2D_trunc": [354.0, 283.0, 381.0, 362.0], "center_cam": [1.2597209325107608, 0.747096198153564, 4.997356110401832], "dimensions": [0.2636718986515232, 0.8398437859557928, 0.30664066568624115], "R_cam": [[-0.39966580271720886, -0.008783996105194092, -0.9166189432144165], [-0.08742988109588623, 0.9957607984542847, 0.028578702360391617], [0.9124820828437805, 0.09156165271997452, -0.3987395763397217]], "bbox3D_cam": [[1.4455296993255615, 0.3385915160179138, 4.871573448181152], [1.322975993156433, 0.31178200244903564, 5.151377201080322], [1.315598726272583, 1.148065447807312, 5.228274822235107], [1.438152551651001, 1.174875020980835, 4.9484710693359375], [1.203843116760254, 0.346126914024353, 4.76643705368042], [1.081289291381836, 0.31931740045547485, 5.04624080657959], [1.0739121437072754, 1.1556007862091064, 5.123138427734375], [1.1964658498764038, 1.1824103593826294, 4.843334674835205]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2546, "image_id": 352, "category_id": 45, "category_name": "person", "bbox2D_proj": [415.0, 289.0, 432.0, 356.0], "bbox2D_tight": [415.0, 289.0, 432.0, 356.0], "bbox2D_trunc": [415.0, 289.0, 432.0, 356.0], "center_cam": [1.9125278200235771, 0.736249475725322, 4.983231559583249], "dimensions": [0.1953125188958881, 0.7208252300032494, 0.24316407595572698], "R_cam": [[0.9496446251869202, -0.13766145706176758, 0.28146839141845703], [0.09549099206924438, 0.9827364087104797, 0.15846337378025055], [-0.29842352867126465, -0.12360619008541107, 0.946395754814148]], "bbox3D_cam": [[1.8191958665847778, 0.3549738824367523, 4.971642017364502], [2.0501153469085693, 0.3781938850879669, 4.899076461791992], [1.9508854150772095, 1.0865751504898071, 4.809978008270264], [1.7199660539627075, 1.0633550882339478, 4.882543563842773], [1.874170184135437, 0.3859237730503082, 5.156485080718994], [2.1050896644592285, 0.4091437757015228, 5.083919525146484], [2.005859851837158, 1.1175249814987183, 4.994821071624756], [1.7749402523040771, 1.0943050384521484, 5.067386627197266]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2547, "image_id": 353, "category_id": 45, "category_name": "person", "bbox2D_proj": [323.0, 276.0, 358.0, 397.0], "bbox2D_tight": [323.0, 276.0, 358.0, 397.0], "bbox2D_trunc": [323.0, 276.0, 358.0, 397.0], "center_cam": [0.8450881186426387, 0.8738924462514213, 4.729402268293241], "dimensions": [0.4082032168661262, 1.2192383022913225, 0.43750009798041645], "R_cam": [[-0.6554544568061829, -0.09832596778869629, 0.7488067150115967], [-0.047486066818237305, 0.994892418384552, 0.08907356858253479], [-0.7537404298782349, 0.022825807332992554, -0.6567757725715637]], "bbox3D_cam": [[0.8955775499343872, 0.25959450006484985, 5.014416694641113], [0.6088161468505859, 0.23881930112838745, 4.68465518951416], [0.48893335461616516, 1.4518301486968994, 4.712485313415527], [0.775694727897644, 1.4726054668426514, 5.0422468185424805], [1.2012429237365723, 0.2959546446800232, 4.746318817138672], [0.914481520652771, 0.2751794457435608, 4.416557312011719], [0.7945986986160278, 1.4881904125213623, 4.444387435913086], [1.081360101699829, 1.5089654922485352, 4.774148941040039]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2548, "image_id": 353, "category_id": 45, "category_name": "person", "bbox2D_proj": [95.0, 255.0, 114.0, 285.0], "bbox2D_tight": [95.0, 255.0, 114.0, 285.0], "bbox2D_trunc": [95.0, 255.0, 114.0, 285.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2549, "image_id": 353, "category_id": 58, "category_name": "signboard", "bbox2D_proj": [341.0, 111.0, 403.0, 153.0], "bbox2D_tight": [341.0, 111.0, 403.0, 153.0], "bbox2D_trunc": [341.0, 111.0, 403.0, 153.0], "center_cam": [3.153212941172465, -3.270500970915152, 11.772782146202179], "dimensions": [0.023437500336219705, 0.8779297045592338, 1.8046875751651479], "R_cam": [[-0.9364721775054932, -0.0599818155169487, 0.34557533264160156], [-2.3333359422395006e-05, 0.9852792620658875, 0.17095255851745605], [-0.35074228048324585, 0.16008421778678894, -0.9226880073547363]], "bbox3D_cam": [[4.02051305770874, -3.704986095428467, 12.029813766479492], [2.3304734230041504, -3.7050282955169678, 11.396833419799805], [2.27781343460083, -2.840022325515747, 11.537376403808594], [3.967853307723999, -2.839980125427246, 12.170356750488281], [4.0286126136779785, -3.700979471206665, 12.008188247680664], [2.3385727405548096, -3.701021671295166, 11.375207901000977], [2.2859129905700684, -2.8360157012939453, 11.515750885009766], [3.975952625274658, -2.8359735012054443, 12.148731231689453]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2550, "image_id": 353, "category_id": 45, "category_name": "person", "bbox2D_proj": [233.0, 336.0, 325.0, 512.0], "bbox2D_tight": [233.0, 336.0, 325.0, 512.0], "bbox2D_trunc": [233.0, 336.0, 325.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2551, "image_id": 353, "category_id": 45, "category_name": "person", "bbox2D_proj": [0.0, 341.0, 91.0, 512.0], "bbox2D_tight": [0.0, 341.0, 91.0, 512.0], "bbox2D_trunc": [0.0, 341.0, 91.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2552, "image_id": 353, "category_id": 45, "category_name": "person", "bbox2D_proj": [79.0, 217.0, 103.0, 285.0], "bbox2D_tight": [79.0, 217.0, 103.0, 285.0], "bbox2D_trunc": [79.0, 217.0, 103.0, 285.0], "center_cam": [-1.8792180166109973, -0.08973388591850541, 5.07657038515187], "dimensions": [0.24092736325288674, 0.7970013331887082, 1.795341669891032], "R_cam": [[-0.3367193937301636, -0.042212821543216705, -0.940658450126648], [-0.01363830640912056, 0.9991085529327393, -0.03995383158326149], [0.9415063858032227, -0.000624239444732666, -0.3369947671890259]], "bbox3D_cam": [[-1.4468178749084473, -0.47082358598709106, 4.272252082824707], [-2.051344156265259, -0.4953089952468872, 5.962577819824219], [-2.0849878787994385, 0.3009817600250244, 5.962080001831055], [-1.4804614782333374, 0.32546716928482056, 4.271754741668701], [-1.6734482049942017, -0.4804495573043823, 4.191061019897461], [-2.2779746055603027, -0.5049349665641785, 5.8813862800598145], [-2.3116180896759033, 0.29135578870773315, 5.880888938903809], [-1.7070918083190918, 0.3158411979675293, 4.190563201904297]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2553, "image_id": 353, "category_id": 37, "category_name": "lantern", "bbox2D_proj": [247.0, 159.0, 284.0, 210.0], "bbox2D_tight": [247.0, 159.0, 284.0, 210.0], "bbox2D_trunc": [247.0, 159.0, 284.0, 210.0], "center_cam": [0.09983533411251265, -0.6960120285684952, 4.230086388576991], "dimensions": [0.28613284710122355, 0.47656252040312275, 0.322265656426018], "R_cam": [[0.362387478351593, 0.1361190676689148, 0.9220341444015503], [0.2305067777633667, 0.9454559683799744, -0.2301730215549469], [-0.9030736684799194, 0.29594695568084717, 0.3112449645996094]], "bbox3D_cam": [[-0.12290391325950623, -0.9255086183547974, 4.26055383682251], [-0.0061189234256744385, -0.8512241840362549, 3.9695241451263428], [0.05875033885240555, -0.4006553590297699, 4.110561370849609], [-0.058034658432006836, -0.47493976354599, 4.401590824127197], [0.14092034101486206, -0.9913686513900757, 4.349611282348633], [0.25770533084869385, -0.917084276676178, 4.058581829071045], [0.32257458567619324, -0.4665154218673706, 4.199618816375732], [0.20578959584236145, -0.5407998561859131, 4.49064826965332]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2554, "image_id": 353, "category_id": 45, "category_name": "person", "bbox2D_proj": [109.0, 277.0, 154.0, 415.0], "bbox2D_tight": [109.0, 277.0, 154.0, 415.0], "bbox2D_trunc": [109.0, 277.0, 154.0, 415.0], "center_cam": [-1.0361814933880604, 0.760005072096209, 3.7188675584602677], "dimensions": [0.3876953886820833, 1.140136739744367, 0.41601570000891086], "R_cam": [[-0.5043762922286987, -0.06474250555038452, -0.861053466796875], [-0.0920875072479248, 0.9955313205718994, -0.020912230014801025], [0.8585595488548279, 0.06874457001686096, -0.5080844163894653]], "bbox3D_cam": [[-0.7274463176727295, 0.21569281816482544, 3.5995821952819824], [-0.9372747540473938, 0.17738300561904907, 3.956756591796875], [-1.0110901594161987, 1.312424898147583, 4.035134792327881], [-0.8012616634368896, 1.3507347106933594, 3.6779606342315674], [-1.0612727403640747, 0.20758527517318726, 3.4026002883911133], [-1.2711012363433838, 0.1692754626274109, 3.7597744464874268], [-1.344916582107544, 1.3043172359466553, 3.8381528854370117], [-1.1350880861282349, 1.3426270484924316, 3.480978488922119]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2555, "image_id": 353, "category_id": 45, "category_name": "person", "bbox2D_proj": [147.0, 404.0, 214.0, 512.0], "bbox2D_tight": [147.0, 404.0, 214.0, 512.0], "bbox2D_trunc": [147.0, 404.0, 214.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2556, "image_id": 353, "category_id": 45, "category_name": "person", "bbox2D_proj": [0.0, 368.0, 57.0, 512.0], "bbox2D_tight": [0.0, 368.0, 57.0, 512.0], "bbox2D_trunc": [0.0, 368.0, 57.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2557, "image_id": 353, "category_id": 37, "category_name": "lantern", "bbox2D_proj": [445.0, 148.0, 486.0, 205.0], "bbox2D_tight": [445.0, 148.0, 486.0, 205.0], "bbox2D_trunc": [445.0, 148.0, 486.0, 205.0], "center_cam": [1.8209497172623796, -0.6751594388010673, 3.8493765104900106], "dimensions": [0.2890625509677116, 0.4476928859976428, 0.30896002340969403], "R_cam": [[0.9080747365951538, -0.03702014684677124, 0.4171687960624695], [0.09579741954803467, 0.9880378246307373, -0.12084776163101196], [-0.4077047109603882, 0.1497025042772293, 0.9007585644721985]], "bbox3D_cam": [[1.628663182258606, -0.8936606645584106, 3.7486605644226074], [1.9092220067977905, -0.8640631437301636, 3.6226959228515625], [1.8926483392715454, -0.42172563076019287, 3.6897168159484863], [1.6120895147323608, -0.4513232111930847, 3.815681219100952], [1.7492510080337524, -0.9285932779312134, 4.009036064147949], [2.0298099517822266, -0.8989956974983215, 3.8830716609954834], [2.0132362842559814, -0.4566582143306732, 3.950092315673828], [1.7326773405075073, -0.48625579476356506, 4.076056957244873]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2558, "image_id": 353, "category_id": 45, "category_name": "person", "bbox2D_proj": [158.0, 314.0, 220.0, 371.0], "bbox2D_tight": [158.0, 314.0, 220.0, 371.0], "bbox2D_trunc": [158.0, 314.0, 220.0, 371.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2559, "image_id": 353, "category_id": 45, "category_name": "person", "bbox2D_proj": [208.0, 279.0, 234.0, 358.0], "bbox2D_tight": [208.0, 279.0, 234.0, 358.0], "bbox2D_trunc": [208.0, 279.0, 234.0, 358.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2560, "image_id": 354, "category_id": 23, "category_name": "dress", "bbox2D_proj": [0.0, 313.0, 58.0, 493.0], "bbox2D_tight": [0.0, 313.0, 58.0, 493.0], "bbox2D_trunc": [0.0, 313.0, 58.0, 493.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2561, "image_id": 354, "category_id": 45, "category_name": "person", "bbox2D_proj": [105.0, 266.0, 136.0, 310.0], "bbox2D_tight": [105.0, 266.0, 136.0, 310.0], "bbox2D_trunc": [105.0, 266.0, 136.0, 310.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2562, "image_id": 354, "category_id": 45, "category_name": "person", "bbox2D_proj": [443.0, 226.0, 464.0, 290.0], "bbox2D_tight": [443.0, 226.0, 464.0, 290.0], "bbox2D_trunc": [443.0, 226.0, 464.0, 290.0], "center_cam": [1.4474235646454385, 0.1214136123298907, 3.2106193829001834], "dimensions": [0.14843752349087483, 0.6629028093366269, 0.2089843991895005], "R_cam": [[0.47333720326423645, 0.045691847801208496, -0.8796954154968262], [-0.04234623908996582, 0.998679518699646, 0.029086709022521973], [0.8798628449440002, 0.023483961820602417, 0.47464704513549805]], "bbox3D_cam": [[1.4481087923049927, -0.20733407139778137, 3.075669050216675], [1.54702889919281, -0.21618375182151794, 3.2595467567443848], [1.5773181915283203, 0.44584372639656067, 3.2751142978668213], [1.478398084640503, 0.45469340682029724, 3.0912365913391113], [1.3175289630889893, -0.2030164897441864, 3.1461246013641357], [1.4164490699768066, -0.21186617016792297, 3.3300023078918457], [1.446738362312317, 0.45016130805015564, 3.3455698490142822], [1.3478182554244995, 0.4590109884738922, 3.1616921424865723]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2563, "image_id": 354, "category_id": 45, "category_name": "person", "bbox2D_proj": [466.0, 237.0, 489.0, 288.0], "bbox2D_tight": [466.0, 237.0, 489.0, 288.0], "bbox2D_trunc": [466.0, 237.0, 489.0, 288.0], "center_cam": [1.5929768055943865, 0.08792875046963679, 3.1907998646145463], "dimensions": [0.13476566951664146, 0.43383788089286013, 0.14831548707772457], "R_cam": [[0.9169520139694214, -0.05964440107345581, 0.3945142924785614], [-0.018718481063842773, 0.981244683265686, 0.19185535609722137], [-0.3985581398010254, -0.18330684304237366, 0.8986378312110901]], "bbox3D_cam": [[1.5113322734832764, -0.13646143674850464, 3.199566125869751], [1.647330403327942, -0.1392376720905304, 3.140453815460205], [1.6214544773101807, 0.2864634394645691, 3.0609283447265625], [1.4854562282562256, 0.28923967480659485, 3.1200406551361084], [1.5644991397857666, -0.11060593277215958, 3.320671558380127], [1.7004973888397217, -0.11338216811418533, 3.261559247970581], [1.674621343612671, 0.31231895089149475, 3.1820337772369385], [1.5386232137680054, 0.3150951862335205, 3.2411460876464844]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2564, "image_id": 354, "category_id": 45, "category_name": "person", "bbox2D_proj": [20.0, 254.0, 137.0, 429.0], "bbox2D_tight": [20.0, 254.0, 137.0, 429.0], "bbox2D_trunc": [20.0, 254.0, 137.0, 429.0], "center_cam": [-0.6805445912142036, 0.30592602350110787, 1.7065855815685156], "dimensions": [0.2655377360594553, 0.591786810693798, 0.39844865332703583], "R_cam": [[-0.8509019613265991, 0.0959211140871048, 0.5164927244186401], [0.17541949450969696, 0.9786345958709717, 0.10724852979183197], [-0.4951702654361725, 0.18186090886592865, -0.8495486974716187]], "bbox3D_cam": [[-0.6079807877540588, -0.03283262252807617, 1.864217758178711], [-0.9470216035842896, 0.03706306219100952, 1.6669176816940308], [-0.8902567625045776, 0.6162061095237732, 1.774540662765503], [-0.5512159466743469, 0.5463104248046875, 1.9718406200408936], [-0.4708324670791626, -0.00435405969619751, 1.6386303901672363], [-0.8098732829093933, 0.06554161012172699, 1.4413304328918457], [-0.7531084418296814, 0.6446846723556519, 1.5489532947540283], [-0.4140675961971283, 0.5747889876365662, 1.7462533712387085]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2565, "image_id": 354, "category_id": 74, "category_name": "trousers", "bbox2D_proj": [57.0, 398.0, 121.0, 509.0], "bbox2D_tight": [57.0, 398.0, 121.0, 509.0], "bbox2D_trunc": [57.0, 398.0, 121.0, 509.0], "center_cam": [-0.6065370166894678, 0.7378960275244737, 1.652124348598774], "dimensions": [0.13765372390531327, 0.41578480623662617, 0.277333452642762], "R_cam": [[-0.8503456115722656, 0.09592114388942719, 0.517408549785614], [0.17553488910198212, 0.9786347150802612, 0.10705962777137756], [-0.49608463048934937, 0.18186092376708984, -0.8490151166915894]], "bbox3D_cam": [[-0.5441753268241882, 0.5027359127998352, 1.7415423393249512], [-0.7800045013427734, 0.5514175891876221, 1.60396146774292], [-0.7401219606399536, 0.9583190083503723, 1.6795765161514282], [-0.5042927861213684, 0.9096373319625854, 1.8171573877334595], [-0.47295212745666504, 0.517473042011261, 1.624672293663025], [-0.7087813019752502, 0.5661547183990479, 1.4870914220809937], [-0.6688987612724304, 0.9730561375617981, 1.562706470489502], [-0.4330695867538452, 0.9243744611740112, 1.7002873420715332]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2566, "image_id": 354, "category_id": 2, "category_name": "backpack", "bbox2D_proj": [124.0, 289.0, 178.0, 373.0], "bbox2D_tight": [124.0, 289.0, 178.0, 373.0], "bbox2D_trunc": [124.0, 289.0, 178.0, 373.0], "center_cam": [-0.5376261351998157, 0.3765217958238961, 2.2283958584042503], "dimensions": [0.22070315146601355, 0.3304444044164545, 0.32617193661946275], "R_cam": [[0.003580540418624878, 0.2013702392578125, 0.979508638381958], [0.06676638126373291, 0.9772810935974121, -0.2011563777923584], [-0.9977622032165527, 0.06611847877502441, -0.00994563102722168]], "bbox3D_cam": [[-0.6795712113380432, 0.22636252641677856, 2.3812901973724365], [-0.678403377532959, 0.2481398582458496, 2.0558481216430664], [-0.6118617057800293, 0.5710769295692444, 2.0776968002319336], [-0.6130295395851135, 0.5492995977401733, 2.4031386375427246], [-0.463390588760376, 0.1819666624069214, 2.3790950775146484], [-0.46222275495529175, 0.20374399423599243, 2.0536532402038574], [-0.39568108320236206, 0.5266810655593872, 2.0755016803741455], [-0.3968488872051239, 0.5049037337303162, 2.4009437561035156]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2567, "image_id": 355, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [395.0, 0.0, 481.0, 200.0], "bbox2D_tight": [395.0, 0.0, 481.0, 200.0], "bbox2D_trunc": [395.0, 0.0, 481.0, 200.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2568, "image_id": 355, "category_id": 45, "category_name": "person", "bbox2D_proj": [0.0, 279.0, 25.0, 397.0], "bbox2D_tight": [0.0, 279.0, 25.0, 397.0], "bbox2D_trunc": [0.0, 279.0, 25.0, 397.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2569, "image_id": 355, "category_id": 45, "category_name": "person", "bbox2D_proj": [233.0, 263.0, 257.0, 329.0], "bbox2D_tight": [233.0, 263.0, 257.0, 329.0], "bbox2D_trunc": [233.0, 263.0, 257.0, 329.0], "center_cam": [-0.1895128556779218, 0.6383856207463361, 7.484585128963541], "dimensions": [0.31152345462787895, 1.0781250033657408, 0.3476562778804244], "R_cam": [[0.2958832085132599, 0.07393717765808105, 0.9523584246635437], [-0.10854160785675049, 0.9931449890136719, -0.04338148608803749], [-0.9490374326705933, -0.09053463488817215, 0.3018801212310791]], "bbox3D_cam": [[-0.42914342880249023, 0.12864327430725098, 7.651337146759033], [-0.32627779245376587, 0.09090805053710938, 7.3213982582092285], [-0.24656426906585693, 1.16164231300354, 7.223790645599365], [-0.3494299054145813, 1.1993775367736816, 7.55372953414917], [-0.13246142864227295, 0.11512887477874756, 7.74537992477417], [-0.029595807194709778, 0.07739365100860596, 7.415441036224365], [0.05011773109436035, 1.1481279134750366, 7.317833423614502], [-0.05274789035320282, 1.1858631372451782, 7.647772312164307]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2570, "image_id": 355, "category_id": 45, "category_name": "person", "bbox2D_proj": [215.0, 263.0, 232.0, 327.0], "bbox2D_tight": [215.0, 263.0, 232.0, 327.0], "bbox2D_trunc": [215.0, 263.0, 232.0, 327.0], "center_cam": [-0.49540691781678126, 0.6153976523361548, 7.184262856156096], "dimensions": [0.29687503791451286, 1.0531005899286705, 0.32812503643743607], "R_cam": [[0.8674466609954834, -0.012572050094604492, -0.49737119674682617], [0.0780213475227356, 0.9907495975494385, 0.11103098094463348], [0.4913744330406189, -0.1351190209388733, 0.860403299331665]], "bbox3D_cam": [[-0.5572740435600281, 0.06443655490875244, 7.047077655792236], [-0.2726430892944336, 0.09003734588623047, 7.208309650421143], [-0.28588271141052246, 1.1333963871002197, 7.066015720367432], [-0.5705136656761169, 1.1077955961227417, 6.904783725738525], [-0.7049311399459839, 0.09739887714385986, 7.302509784698486], [-0.420300155878067, 0.12299966812133789, 7.463741779327393], [-0.4335397779941559, 1.1663587093353271, 7.321447849273682], [-0.7181707620620728, 1.1407579183578491, 7.160215854644775]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2571, "image_id": 355, "category_id": 45, "category_name": "person", "bbox2D_proj": [288.0, 265.0, 303.0, 325.0], "bbox2D_tight": [288.0, 265.0, 303.0, 325.0], "bbox2D_trunc": [288.0, 265.0, 303.0, 325.0], "center_cam": [0.677928786579458, 0.6428222339217378, 7.438232782348809], "dimensions": [0.289062652273262, 1.0117187536031667, 0.2968751580486232], "R_cam": [[-0.5983221530914307, -0.029955506324768066, 0.8006954789161682], [-0.11229813098907471, 0.9925727844238281, -0.0467810332775116], [-0.7933471202850342, -0.11790668964385986, -0.5972422361373901]], "bbox3D_cam": [[0.6661700010299683, 0.16415059566497803, 7.70196008682251], [0.4885430335998535, 0.13081204891204834, 7.466434955596924], [0.458236426115036, 1.1350164413452148, 7.347146511077881], [0.6358634233474731, 1.1683549880981445, 7.582671642303467], [0.8976211547851562, 0.15062791109085083, 7.5293192863464355], [0.7199941873550415, 0.11728942394256592, 7.29379415512085], [0.6896876096725464, 1.1214938163757324, 7.174505710601807], [0.8673145771026611, 1.154832363128662, 7.410030841827393]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2572, "image_id": 355, "category_id": 45, "category_name": "person", "bbox2D_proj": [85.0, 265.0, 104.0, 315.0], "bbox2D_tight": [85.0, 265.0, 104.0, 315.0], "bbox2D_trunc": [85.0, 265.0, 104.0, 315.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2573, "image_id": 355, "category_id": 45, "category_name": "person", "bbox2D_proj": [98.0, 260.0, 113.0, 321.0], "bbox2D_tight": [98.0, 260.0, 113.0, 321.0], "bbox2D_trunc": [98.0, 260.0, 113.0, 321.0], "center_cam": [-2.3032517050700934, 0.530936246583658, 6.809673279551847], "dimensions": [0.30029307995031806, 0.9348144561110152, 0.30468762101160096], "R_cam": [[-0.21826505661010742, 0.09932255744934082, -0.9708220958709717], [0.08661770820617676, 0.9928528070449829, 0.08210256695747375], [0.9720380306243896, -0.066170334815979, -0.22530817985534668]], "bbox3D_cam": [[-2.170658826828003, 0.041346579790115356, 6.726346969604492], [-2.237161636352539, 0.06773796677589417, 7.022514820098877], [-2.144313335418701, 0.9958710670471191, 6.960658073425293], [-2.077810764312744, 0.9694796800613403, 6.664490222930908], [-2.4621901512145996, 0.06600144505500793, 6.658688545227051], [-2.5286927223205566, 0.09239283204078674, 6.9548563957214355], [-2.435844659805298, 1.0205259323120117, 6.892999649047852], [-2.3693418502807617, 0.9941345453262329, 6.596831798553467]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2574, "image_id": 355, "category_id": 45, "category_name": "person", "bbox2D_proj": [298.0, 264.0, 319.0, 327.0], "bbox2D_tight": [298.0, 264.0, 319.0, 327.0], "bbox2D_trunc": [298.0, 264.0, 319.0, 327.0], "center_cam": [0.842682515328812, 0.6299614433572611, 7.262878962867893], "dimensions": [0.2851562563161604, 1.0051269561103222, 0.33325195099271687], "R_cam": [[0.9996735453605652, 0.0028307437896728516, 0.025396041572093964], [-0.0024439096450805664, 0.9998807311058044, -0.015251378528773785], [-0.02543618530035019, 0.015184331685304642, 0.9995611906051636]], "bbox3D_cam": [[0.6710674166679382, 0.13003966212272644, 7.116970539093018], [1.0042105913162231, 0.12922519445419312, 7.108493804931641], [1.0070557594299316, 1.1342322826385498, 7.123755931854248], [0.6739126443862915, 1.1350467205047607, 7.132232666015625], [0.6783092617988586, 0.12569063901901245, 7.402001857757568], [1.0114524364471436, 0.12487620115280151, 7.393525123596191], [1.0142977237701416, 1.1298831701278687, 7.408787250518799], [0.6811544895172119, 1.1306977272033691, 7.417263984680176]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2575, "image_id": 355, "category_id": 63, "category_name": "streetlight", "bbox2D_proj": [123.0, 169.0, 151.0, 268.0], "bbox2D_tight": [123.0, 169.0, 151.0, 268.0], "bbox2D_trunc": [123.0, 169.0, 151.0, 268.0], "center_cam": [-2.6473147534254204, -0.7809586020046708, 9.587993039187829], "dimensions": [0.5859375152257668, 2.1855468852818536, 0.7216796851831683], "R_cam": [[-0.9906541109085083, 0.07461130619049072, 0.11418277770280838], [0.03966742753982544, 0.9585385322570801, -0.28218868374824524], [-0.13050305843353271, -0.275022029876709, -0.9525396823883057]], "bbox3D_cam": [[-2.404832601547241, -1.7600650787353516, 10.21468448638916], [-3.119767665863037, -1.7314379215240479, 10.120503425598145], [-2.9567010402679443, 0.36349278688430786, 9.519429206848145], [-2.2417659759521484, 0.33486562967300415, 9.613611221313477], [-2.337928533554077, -1.9254100322723389, 9.656556129455566], [-3.052863597869873, -1.8967828750610352, 9.562374114990234], [-2.8897969722747803, 0.19814783334732056, 8.96130084991455], [-2.1748619079589844, 0.16952067613601685, 9.055481910705566]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2576, "image_id": 355, "category_id": 45, "category_name": "person", "bbox2D_proj": [37.0, 268.0, 53.0, 301.0], "bbox2D_tight": [37.0, 268.0, 53.0, 301.0], "bbox2D_trunc": [37.0, 268.0, 53.0, 301.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2577, "image_id": 356, "category_id": 13, "category_name": "building", "bbox2D_proj": [96.0, 72.0, 316.0, 277.0], "bbox2D_tight": [96.0, 72.0, 316.0, 277.0], "bbox2D_trunc": [96.0, 72.0, 316.0, 277.0], "center_cam": [-0.7879472403775938, -1.5975908826078216, 8.184448527828643], "dimensions": [2.0078125740956887, 3.319336102423015, 3.484375297201676], "R_cam": [[0.9794572591781616, -0.1612555980682373, 0.12107893824577332], [0.17231613397598267, 0.9811758399009705, -0.08718428015708923], [-0.10474078357219696, 0.1062571257352829, 0.9888067245483398]], "bbox3D_cam": [[-2.3482666015625, -3.438699245452881, 7.197905540466309], [1.0645301342010498, -2.838285207748413, 6.832949638366699], [0.5292684435844421, 0.4185671806335449, 7.185652732849121], [-2.883528232574463, -0.18184685707092285, 7.5506086349487305], [-2.1051628589630127, -3.6137490272521973, 9.183243751525879], [1.307633876800537, -3.0133349895477295, 8.81828784942627], [0.7723721861839294, 0.24351739883422852, 9.170990943908691], [-2.6404244899749756, -0.35689663887023926, 9.5359468460083]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2578, "image_id": 356, "category_id": 13, "category_name": "building", "bbox2D_proj": [44.0, 111.0, 104.0, 248.0], "bbox2D_tight": [44.0, 111.0, 104.0, 248.0], "bbox2D_trunc": [44.0, 111.0, 104.0, 248.0], "center_cam": [-2.747920015648425, -1.1687697661013388, 6.971229601848167], "dimensions": [1.0783119720565035, 1.9831542678118648, 1.0783119949801936], "R_cam": [[0.24700626730918884, -0.161848783493042, -0.9554018974304199], [-0.2386336326599121, 0.9454281330108643, -0.22185465693473816], [0.9391707181930542, 0.28279054164886475, 0.19490408897399902]], "bbox3D_cam": [[-2.205498695373535, -1.8579597473144531, 6.0793776512146], [-1.9391489028930664, -2.115281105041504, 7.09209680557251], [-2.260119915008545, -0.240351140499115, 7.652914047241211], [-2.5264697074890137, 0.016970276832580566, 6.640194892883301], [-3.235720157623291, -2.0971882343292236, 6.289545059204102], [-2.9693703651428223, -2.3545098304748535, 7.302264213562012], [-3.290341377258301, -0.47957974672317505, 7.863081455230713], [-3.5566911697387695, -0.22225826978683472, 6.850362300872803]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2579, "image_id": 356, "category_id": 13, "category_name": "building", "bbox2D_proj": [0.0, 102.0, 51.0, 238.0], "bbox2D_tight": [0.0, 102.0, 51.0, 238.0], "bbox2D_trunc": [0.0, 102.0, 51.0, 238.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2580, "image_id": 357, "category_id": 2, "category_name": "backpack", "bbox2D_proj": [234.0, 277.0, 295.0, 354.0], "bbox2D_tight": [234.0, 277.0, 295.0, 354.0], "bbox2D_trunc": [234.0, 277.0, 295.0, 354.0], "center_cam": [0.09529755347341595, 0.4891652057631327, 3.7071543567284557], "dimensions": [0.4433594131428028, 0.6059570694033982, 0.6367188444864563], "R_cam": [[0.8917436599731445, 0.0002897959202528, -0.45254072546958923], [0.029319901019334793, 0.9978618621826172, 0.05841466411948204], [0.45159003138542175, -0.06535935401916504, 0.8898284435272217]], "bbox3D_cam": [[-0.08836617320775986, 0.16455090045928955, 3.385931968688965], [0.479423850774765, 0.18321943283081055, 3.6734678745269775], [0.4795994460582733, 0.7878808379173279, 3.6338627338409424], [-0.08819057792425156, 0.7692123055458069, 3.3463268280029297], [-0.2890043556690216, 0.19044959545135498, 3.7804458141326904], [0.27878567576408386, 0.20911812782287598, 4.067981719970703], [0.27896127104759216, 0.8137795329093933, 4.028376579284668], [-0.2888287603855133, 0.7951110005378723, 3.7408406734466553]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2581, "image_id": 357, "category_id": 31, "category_name": "hat", "bbox2D_proj": [393.0, 205.0, 450.0, 248.0], "bbox2D_tight": [393.0, 205.0, 450.0, 248.0], "bbox2D_trunc": [393.0, 205.0, 450.0, 248.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2582, "image_id": 357, "category_id": 45, "category_name": "person", "bbox2D_proj": [382.0, 315.0, 512.0, 512.0], "bbox2D_tight": [382.0, 315.0, 512.0, 512.0], "bbox2D_trunc": [382.0, 315.0, 512.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2583, "image_id": 358, "category_id": 45, "category_name": "person", "bbox2D_proj": [445.0, 240.0, 488.0, 337.0], "bbox2D_tight": [445.0, 240.0, 488.0, 337.0], "bbox2D_trunc": [445.0, 240.0, 488.0, 337.0], "center_cam": [3.1478047111959127, 0.48216434544772974, 6.651282533658106], "dimensions": [0.46093751255951165, 1.4077148018669678, 0.6484375124916366], "R_cam": [[0.7296359539031982, 0.030335426330566406, 0.6831626296043396], [-0.13111042976379395, 0.9866877198219299, 0.09621597826480865], [-0.6711493730545044, -0.1597723513841629, 0.7239001989364624]], "bbox3D_cam": [[2.7324435710906982, -0.1919894516468048, 6.814502239227295], [3.205566883087158, -0.2770062983036041, 6.379303932189941], [3.2482707500457764, 1.1119686365127563, 6.15438985824585], [2.7751474380493164, 1.1969854831695557, 6.589588165283203], [3.0473387241363525, -0.1476399004459381, 7.14817476272583], [3.5204620361328125, -0.23265674710273743, 6.712976455688477], [3.5631659030914307, 1.156318187713623, 6.488062381744385], [3.0900425910949707, 1.2413350343704224, 6.923260688781738]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2584, "image_id": 358, "category_id": 45, "category_name": "person", "bbox2D_proj": [301.0, 245.0, 324.0, 317.0], "bbox2D_tight": [301.0, 245.0, 324.0, 317.0], "bbox2D_trunc": [301.0, 245.0, 324.0, 317.0], "center_cam": [1.023068425863143, 0.5534065772928518, 8.034630595880856], "dimensions": [0.43749999325648176, 1.5327147949479807, 0.5898437619926057], "R_cam": [[-0.2258453667163849, -0.026911020278930664, -0.9737914800643921], [0.025517404079437256, 0.9991120100021362, -0.033528923988342285], [0.973828911781311, -0.03242102265357971, -0.22495818138122559]], "bbox3D_cam": [[1.3233155012130737, -0.2124614119529724, 7.821483135223389], [1.1901021003723145, -0.19741016626358032, 8.395890235900879], [1.1488550901412964, 1.3339436054229736, 8.346198081970215], [1.2820684909820557, 1.318892240524292, 7.771790981292725], [0.8972817659378052, -0.22713035345077515, 7.723063945770264], [0.7640683054924011, -0.21207910776138306, 8.297471046447754], [0.7228213548660278, 1.319274663925171, 8.24777889251709], [0.8560348153114319, 1.3042232990264893, 7.6733717918396]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2585, "image_id": 358, "category_id": 45, "category_name": "person", "bbox2D_proj": [411.0, 234.0, 443.0, 329.0], "bbox2D_tight": [411.0, 234.0, 443.0, 329.0], "bbox2D_trunc": [411.0, 234.0, 443.0, 329.0], "center_cam": [2.7050709901530015, 0.43047297538427726, 7.034510584723328], "dimensions": [0.4296875537922464, 1.428710889834106, 0.4654541430881365], "R_cam": [[0.9379951357841492, 0.0313260555267334, 0.34523022174835205], [-0.03628969192504883, 0.9993099570274353, 0.007922187447547913], [-0.34474384784698486, -0.0199592262506485, 0.9384846687316895]], "bbox3D_cam": [[2.390225648880005, -0.2766459584236145, 6.927372455596924], [2.8268191814422607, -0.29353708028793335, 6.766909599304199], [2.871575355529785, 1.134187936782837, 6.738393783569336], [2.43498158454895, 1.1510789394378662, 6.898856163024902], [2.5385665893554688, -0.27324193716049194, 7.33062744140625], [2.9751603603363037, -0.2901330590248108, 7.170165061950684], [3.019916296005249, 1.13759183883667, 7.141648769378662], [2.583322763442993, 1.1544830799102783, 7.302111625671387]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2586, "image_id": 358, "category_id": 45, "category_name": "person", "bbox2D_proj": [355.0, 246.0, 378.0, 334.0], "bbox2D_tight": [355.0, 246.0, 378.0, 334.0], "bbox2D_trunc": [355.0, 246.0, 378.0, 334.0], "center_cam": [1.8702422524337212, 0.5782686803720973, 7.53579207328062], "dimensions": [0.3515625815443511, 1.474609325356517, 0.3750000956184275], "R_cam": [[0.5378994941711426, 0.03375661373138428, -0.8423328995704651], [0.001103520393371582, 0.9991689920425415, 0.040746480226516724], [0.843008279800415, -0.022847115993499756, 0.5374151468276978]], "bbox3D_cam": [[1.8925635814666748, -0.1657925844192505, 7.300105571746826], [2.094275951385498, -0.16537880897521973, 7.616233825683594], [2.1440536975860596, 1.3080050945281982, 7.58254337310791], [1.9423413276672363, 1.3075913190841675, 7.266415119171143], [1.596430778503418, -0.1514676809310913, 7.489040374755859], [1.7981431484222412, -0.15105390548706055, 7.805168628692627], [1.8479208946228027, 1.3223299980163574, 7.771478176116943], [1.646208643913269, 1.3219162225723267, 7.455349922180176]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2587, "image_id": 358, "category_id": 45, "category_name": "person", "bbox2D_proj": [195.0, 254.0, 220.0, 333.0], "bbox2D_tight": [195.0, 254.0, 220.0, 333.0], "bbox2D_trunc": [195.0, 254.0, 220.0, 333.0], "center_cam": [-1.148498790489715, 0.8725846471071825, 10.329324986725288], "dimensions": [0.5488282363824676, 1.7709960358466854, 0.5781251373002849], "R_cam": [[0.26133838295936584, 0.022755682468414307, 0.9649789333343506], [-0.06559479236602783, 0.9978296756744385, -0.005765736103057861], [-0.9630158543586731, -0.061790794134140015, 0.26226377487182617]], "bbox3D_cam": [[-1.5089958906173706, 0.009551644325256348, 10.59044361114502], [-1.3579095602035522, -0.028370380401611328, 10.033699989318848], [-1.317609429359436, 1.7387820482254028, 9.92426872253418], [-1.4686956405639648, 1.7767040729522705, 10.481012344360352], [-0.9793881177902222, 0.006387233734130859, 10.734380722045898], [-0.8283019065856934, -0.031534790992736816, 10.177637100219727], [-0.7880016565322876, 1.7356176376342773, 10.068205833435059], [-0.939087986946106, 1.773539662361145, 10.62494945526123]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2588, "image_id": 358, "category_id": 45, "category_name": "person", "bbox2D_proj": [327.0, 248.0, 355.0, 324.0], "bbox2D_tight": [327.0, 248.0, 355.0, 324.0], "bbox2D_trunc": [327.0, 248.0, 355.0, 324.0], "center_cam": [1.4563756024001833, 0.5731022725465563, 7.705919357177212], "dimensions": [0.3945312730530497, 1.358886674348194, 0.4536132907091063], "R_cam": [[-0.9441162943840027, 0.0858832597732544, -0.31822699308395386], [0.053633153438568115, 0.9926190972328186, 0.10876966267824173], [0.32521969079971313, 0.08562368899583817, -0.9417541027069092]], "bbox3D_cam": [[1.6749298572540283, -0.1349470615386963, 7.759756565093994], [1.2466661930084229, -0.11061835289001465, 7.907280445098877], [1.3633718490600586, 1.2382385730743408, 8.023633003234863], [1.791635513305664, 1.2139098644256592, 7.876109600067139], [1.5493793487548828, -0.0920339822769165, 7.388205051422119], [1.1211156845092773, -0.06770527362823486, 7.535728931427002], [1.237821340560913, 1.2811516523361206, 7.6520819664001465], [1.6660850048065186, 1.256822943687439, 7.504558086395264]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2589, "image_id": 358, "category_id": 45, "category_name": "person", "bbox2D_proj": [486.0, 230.0, 512.0, 334.0], "bbox2D_tight": [486.0, 230.0, 512.0, 334.0], "bbox2D_trunc": [486.0, 230.0, 512.0, 334.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2590, "image_id": 358, "category_id": 61, "category_name": "sports_car", "bbox2D_proj": [219.0, 309.0, 512.0, 486.0], "bbox2D_tight": [219.0, 309.0, 512.0, 486.0], "bbox2D_trunc": [219.0, 309.0, 512.0, 486.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2591, "image_id": 358, "category_id": 45, "category_name": "person", "bbox2D_proj": [375.0, 241.0, 398.0, 338.0], "bbox2D_tight": [375.0, 241.0, 398.0, 338.0], "bbox2D_trunc": [375.0, 241.0, 398.0, 338.0], "center_cam": [2.119934776182115, 0.5379657229087658, 7.453160008112006], "dimensions": [0.48175050347105225, 1.5961913548124294, 0.5390625379354856], "R_cam": [[0.30851835012435913, 0.039270877838134766, -0.9504073858261108], [0.0778512954711914, 0.9947529435157776, 0.06637507677078247], [0.9480271935462952, -0.0944683849811554, 0.30384230613708496]], "bbox3D_cam": [[2.2343671321868896, -0.29291385412216187, 7.199843406677246], [2.4006779193878174, -0.25094717741012573, 7.71088981628418], [2.4633617401123047, 1.3368690013885498, 7.560100078582764], [2.297050952911377, 1.2949023246765137, 7.049054145812988], [1.77650785446167, -0.2609376311302185, 7.346219539642334], [1.9428186416625977, -0.21897095441818237, 7.857265472412109], [2.005502462387085, 1.3688452243804932, 7.706476211547852], [1.8391916751861572, 1.326878547668457, 7.195429801940918]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2592, "image_id": 358, "category_id": 27, "category_name": "flagpole", "bbox2D_proj": [246.0, 164.0, 262.0, 268.0], "bbox2D_tight": [246.0, 164.0, 262.0, 268.0], "bbox2D_trunc": [246.0, 164.0, 262.0, 268.0], "center_cam": [-0.042300123325596004, -1.177732737049694, 12.34957812442998], "dimensions": [0.3987819627782761, 2.207065710345195, 7.583900136399388], "R_cam": [[-0.019576191902160645, -0.004042434506118298, -0.9998002052307129], [0.001663846429437399, 0.9999904632568359, -0.004075781442224979], [0.9998070001602173, -0.0017433015163987875, -0.01956915855407715]], "bbox3D_cam": [[0.2357439249753952, -2.2867515087127686, 8.564186096191406], [0.0872800350189209, -2.2741329669952393, 16.146621704101562], [0.07835811376571655, -0.06708860397338867, 16.14277458190918], [0.22682200372219086, -0.07970714569091797, 8.560338020324707], [-0.16295835375785828, -2.288376808166504, 8.556382179260254], [-0.3114222586154938, -2.2757582664489746, 16.138816833496094], [-0.3203441798686981, -0.06871390342712402, 16.13496971130371], [-0.17188027501106262, -0.08133244514465332, 8.552534103393555]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2593, "image_id": 358, "category_id": 45, "category_name": "person", "bbox2D_proj": [110.0, 222.0, 215.0, 512.0], "bbox2D_tight": [110.0, 222.0, 215.0, 512.0], "bbox2D_trunc": [110.0, 222.0, 215.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2594, "image_id": 358, "category_id": 45, "category_name": "person", "bbox2D_proj": [114.0, 252.0, 133.0, 279.0], "bbox2D_tight": [114.0, 252.0, 133.0, 279.0], "bbox2D_trunc": [114.0, 252.0, 133.0, 279.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2595, "image_id": 359, "category_id": 45, "category_name": "person", "bbox2D_proj": [420.0, 235.0, 453.0, 350.0], "bbox2D_tight": [420.0, 235.0, 453.0, 350.0], "bbox2D_trunc": [420.0, 235.0, 453.0, 350.0], "center_cam": [2.2583044932399083, 0.43569344079347627, 5.615623564162854], "dimensions": [0.35449218820255096, 1.3859863046971865, 0.7539062520489762], "R_cam": [[-0.6811398863792419, -0.014289259910583496, 0.7320138812065125], [-0.024958491325378418, 0.9996817111968994, -0.0037096445448696613], [-0.7317277789115906, -0.020796658471226692, -0.6812796592712402]], "bbox3D_cam": [[2.3952181339263916, -0.2470133900642395, 6.02661657333374], [1.8817025423049927, -0.26582974195480347, 5.4749627113342285], [1.8618978261947632, 1.1197152137756348, 5.446138381958008], [2.375413417816162, 1.1385316848754883, 5.997792720794678], [2.6547114849090576, -0.24832838773727417, 5.78510856628418], [2.141195774078369, -0.26714473962783813, 5.23345422744751], [2.1213910579681396, 1.1184003353118896, 5.204630374908447], [2.634906768798828, 1.137216567993164, 5.756284236907959]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2596, "image_id": 359, "category_id": 58, "category_name": "signboard", "bbox2D_proj": [169.0, 257.0, 213.0, 316.0], "bbox2D_tight": [169.0, 257.0, 213.0, 316.0], "bbox2D_trunc": [169.0, 257.0, 213.0, 316.0], "center_cam": [-1.1529950638745479, 0.5183128404551836, 7.772524603426789], "dimensions": [0.5436978709792379, 1.0204487561632927, 0.7218788739018895], "R_cam": [[0.9879183769226074, -0.010083433240652084, -0.1546468883752823], [0.004557446576654911, 0.9993398189544678, -0.03604592755436897], [0.15490825474262238, 0.03490563854575157, 0.9873120784759521]], "bbox3D_cam": [[-1.4623883962631226, 0.016579389572143555, 7.430402755737305], [-0.7492309808731079, 0.019869297742843628, 7.542227745056152], [-0.7595206499099731, 1.0396443605422974, 7.577847480773926], [-1.4726780652999878, 1.036354422569275, 7.466022491455078], [-1.5464695692062378, -0.0030187368392944336, 7.967202186584473], [-0.8333121538162231, 0.00027120113372802734, 8.07902717590332], [-0.8436018228530884, 1.0200462341308594, 8.114646911621094], [-1.556759238243103, 1.016756296157837, 8.002821922302246]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2597, "image_id": 359, "category_id": 38, "category_name": "light_fixture", "bbox2D_proj": [115.0, 67.0, 151.0, 93.0], "bbox2D_tight": [115.0, 67.0, 151.0, 93.0], "bbox2D_trunc": [115.0, 67.0, 151.0, 93.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2598, "image_id": 359, "category_id": 22, "category_name": "door", "bbox2D_proj": [0.0, 172.0, 21.0, 346.0], "bbox2D_tight": [0.0, 172.0, 21.0, 346.0], "bbox2D_trunc": [0.0, 172.0, 21.0, 346.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2599, "image_id": 359, "category_id": 45, "category_name": "person", "bbox2D_proj": [464.0, 231.0, 507.0, 355.0], "bbox2D_tight": [464.0, 231.0, 507.0, 355.0], "bbox2D_trunc": [464.0, 231.0, 507.0, 355.0], "center_cam": [2.7967870811708204, 0.4607231181093747, 5.446828757685869], "dimensions": [0.45508008652713844, 1.5031630291637246, 1.0774004716132515], "R_cam": [[-0.474401593208313, -0.010083435103297234, 0.8802508115768433], [0.025947919115424156, 0.9993398189544678, 0.02543196640908718], [-0.8799260854721069, 0.03490564227104187, -0.47382664680480957]], "bbox3D_cam": [[2.859633445739746, -0.31012704968452454, 6.002425193786621], [2.348513126373291, -0.2821708023548126, 5.0543928146362305], [2.3333559036254883, 1.2199997901916504, 5.106861591339111], [2.8444764614105225, 1.1920435428619385, 6.05489444732666], [3.2602181434631348, -0.2985534965991974, 5.7867960929870605], [2.7490975856781006, -0.2705972492694855, 4.838763236999512], [2.733940601348877, 1.2315733432769775, 4.891232490539551], [3.245060920715332, 1.2036170959472656, 5.839264869689941]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2600, "image_id": 360, "category_id": 45, "category_name": "person", "bbox2D_proj": [0.0, 358.0, 66.0, 512.0], "bbox2D_tight": [0.0, 358.0, 66.0, 512.0], "bbox2D_trunc": [0.0, 358.0, 66.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2601, "image_id": 360, "category_id": 74, "category_name": "trousers", "bbox2D_proj": [307.0, 274.0, 341.0, 376.0], "bbox2D_tight": [307.0, 274.0, 341.0, 376.0], "bbox2D_trunc": [307.0, 274.0, 341.0, 376.0], "center_cam": [0.657320894941174, 0.6295869414818228, 4.261561529957787], "dimensions": [0.2812500808325288, 0.9736328490561672, 0.3125000804299888], "R_cam": [[0.8649312257766724, 0.043616294860839844, -0.49999162554740906], [-0.12988603115081787, 0.9817306995391846, -0.13904836773872375], [0.4847923815250397, 0.18520918488502502, 0.8547946810722351]], "bbox3D_cam": [[0.5712535977363586, 0.19151267409324646, 3.9754440784454346], [0.8415446877479553, 0.15092328190803528, 4.126941680908203], [0.884010910987854, 1.1067686080932617, 4.307267665863037], [0.6137198209762573, 1.1473579406738281, 4.1557698249816895], [0.4306308925151825, 0.1524052917957306, 4.215855121612549], [0.7009220123291016, 0.1118159294128418, 4.3673529624938965], [0.7433882355690002, 1.067661166191101, 4.547678470611572], [0.47309714555740356, 1.108250617980957, 4.396181106567383]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2602, "image_id": 360, "category_id": 15, "category_name": "car", "bbox2D_proj": [241.0, 240.0, 294.0, 281.0], "bbox2D_tight": [241.0, 240.0, 294.0, 281.0], "bbox2D_trunc": [241.0, 240.0, 294.0, 281.0], "center_cam": [0.0688117617544568, 0.005259805756348379, 18.581218256591054], "dimensions": [1.7080078092090103, 1.314453174717361, 4.515625250852854], "R_cam": [[0.10459232330322266, 0.003157883882522583, 0.9945101737976074], [0.06706556677818298, 0.9976962804794312, -0.010221242904663086], [-0.9922513961791992, 0.06776654720306396, 0.10413947701454163]], "bbox3D_cam": [[-1.0187289714813232, -0.7931452989578247, 20.68806266784668], [-0.5464296936988831, -0.49030208587646484, 16.207427978515625], [-0.5422788262367249, 0.8211228847503662, 16.2965030670166], [-1.0145779848098755, 0.5182796716690063, 20.77713966369629], [0.6799023747444153, -0.8106032609939575, 20.865934371948242], [1.152201533317566, -0.5077600479125977, 16.385297775268555], [1.1563525199890137, 0.8036649227142334, 16.474374771118164], [0.6840532422065735, 0.5008217096328735, 20.95500946044922]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2603, "image_id": 360, "category_id": 58, "category_name": "signboard", "bbox2D_proj": [118.0, 90.0, 150.0, 154.0], "bbox2D_tight": [118.0, 90.0, 150.0, 154.0], "bbox2D_trunc": [118.0, 90.0, 150.0, 154.0], "center_cam": [-2.458979781185059, -2.8152069890827116, 9.288483589617899], "dimensions": [0.6171883438854973, 1.1381836473539728, 0.6191414353476359], "R_cam": [[0.992989718914032, -0.07405745983123779, 0.09212569892406464], [0.09335964918136597, 0.9694073796272278, -0.22701001167297363], [-0.07249554991722107, 0.2340194284915924, 0.9695254564285278]], "bbox3D_cam": [[-2.75266432762146, -3.3257362842559814, 8.878558158874512], [-2.1378633975982666, -3.2679333686828613, 8.833672523498535], [-2.222154140472412, -2.164569854736328, 9.100029945373535], [-2.8369553089141846, -2.2223727703094482, 9.144914627075195], [-2.695805549621582, -3.46584415435791, 9.476937294006348], [-2.0810043811798096, -3.40804123878479, 9.432052612304688], [-2.165295362472534, -2.304677724838257, 9.698409080505371], [-2.7800962924957275, -2.362480640411377, 9.743294715881348]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2604, "image_id": 360, "category_id": 58, "category_name": "signboard", "bbox2D_proj": [130.0, 211.0, 169.0, 256.0], "bbox2D_tight": [130.0, 211.0, 169.0, 256.0], "bbox2D_trunc": [130.0, 211.0, 169.0, 256.0], "center_cam": [-2.4275783379630242, -0.4887698489002573, 9.720013821107301], "dimensions": [0.6894531314847949, 1.08032231495861, 1.1562500889348648], "R_cam": [[-0.19181346893310547, 0.01109668891876936, 0.9813687801361084], [0.04936986416578293, 0.998779296875, -0.001643968978896737], [-0.9801889657974243, 0.048134706914424896, -0.19212698936462402]], "bbox3D_cam": [[-2.6609840393066406, -1.0562468767166138, 10.326915740966797], [-2.8827686309814453, -0.9991629123687744, 9.193572998046875], [-2.8707804679870605, 0.07984057068824768, 9.245573997497559], [-2.648996114730835, 0.022756606340408325, 10.378917694091797], [-1.9843764305114746, -1.0573803186416626, 10.194453239440918], [-2.2061607837677, -1.0002963542938232, 9.06110954284668], [-2.1941728591918945, 0.07870712876319885, 9.11311149597168], [-1.9723883867263794, 0.021623164415359497, 10.246454238891602]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2605, "image_id": 360, "category_id": 47, "category_name": "pipe", "bbox2D_proj": [403.0, 220.0, 468.0, 269.0], "bbox2D_tight": [403.0, 220.0, 468.0, 269.0], "bbox2D_trunc": [403.0, 220.0, 468.0, 269.0], "center_cam": [5.2645773595104135, -0.2527112015352296, 12.997825541800948], "dimensions": [0.9531250725038249, 1.4789429436572001, 1.7214356277220377], "R_cam": [[0.9074681401252747, -0.03251408785581589, 0.41886088252067566], [0.01630684733390808, 0.9989755153656006, 0.0422164723277092], [-0.4198043644428253, -0.03147980570793152, 0.9070686101913452]], "bbox3D_cam": [[4.307933330535889, -1.0255793333053589, 12.950161933898926], [5.870081424713135, -0.99750816822052, 12.227496147155762], [5.821994781494141, 0.4799194037914276, 12.180939674377441], [4.2598466873168945, 0.45184823870658875, 12.903605461120605], [4.707159996032715, -0.9853417873382568, 13.814711570739746], [6.269308090209961, -0.957270622253418, 13.092045783996582], [6.221221446990967, 0.520156979560852, 13.045489311218262], [4.659073352813721, 0.4920857846736908, 13.768155097961426]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2606, "image_id": 360, "category_id": 45, "category_name": "person", "bbox2D_proj": [217.0, 227.0, 243.0, 308.0], "bbox2D_tight": [217.0, 227.0, 243.0, 308.0], "bbox2D_trunc": [217.0, 227.0, 243.0, 308.0], "center_cam": [-0.6867505546380426, 0.29569306379810456, 11.682808997099764], "dimensions": [0.7187503563989008, 2.1015625840651855, 0.7656253775248365], "R_cam": [[0.7381468415260315, 0.008444666862487793, -0.6745872497558594], [-0.1757124662399292, 0.9678172469139099, -0.18015271425247192], [0.6513558030128479, 0.2515125274658203, 0.7158750295639038]], "bbox3D_cam": [[-0.7357660531997681, -0.5892637968063354, 10.911909103393555], [-0.17062216997146606, -0.723793625831604, 11.410603523254395], [-0.15287518501281738, 1.3101346492767334, 11.939172744750977], [-0.7180190682411194, 1.4446645975112915, 11.440478324890137], [-1.220625877380371, -0.7187485694885254, 11.426445007324219], [-0.6554819941520691, -0.8532785177230835, 11.925139427185059], [-0.6377350091934204, 1.1806498765945435, 12.45370864868164], [-1.2028789520263672, 1.315179705619812, 11.9550142288208]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2607, "image_id": 360, "category_id": 58, "category_name": "signboard", "bbox2D_proj": [121.0, 55.0, 148.0, 90.0], "bbox2D_tight": [121.0, 55.0, 148.0, 90.0], "bbox2D_trunc": [121.0, 55.0, 148.0, 90.0], "center_cam": [-2.3536663056705236, -3.573082090387888, 8.600014878721868], "dimensions": [0.06250000311436799, 0.6464844166826047, 0.56054688517383], "R_cam": [[0.9951383471488953, -0.07538175582885742, 0.06338324397802353], [0.08573293685913086, 0.9797791838645935, -0.18078358471393585], [-0.0484737902879715, 0.18533867597579956, 0.9814783930778503]], "bbox3D_cam": [[-2.6101913452148438, -3.9081673622131348, 8.523019790649414], [-2.0523695945739746, -3.86011004447937, 8.495848655700684], [-2.101102828979492, -3.226698160171509, 8.615666389465332], [-2.6589243412017822, -3.2747554779052734, 8.642838478088379], [-2.606229782104492, -3.919466257095337, 8.584362983703613], [-2.048408269882202, -3.8714089393615723, 8.557190895080566], [-2.0971412658691406, -3.237997055053711, 8.677009582519531], [-2.6549630165100098, -3.2860543727874756, 8.704180717468262]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2608, "image_id": 360, "category_id": 45, "category_name": "person", "bbox2D_proj": [343.0, 223.0, 368.0, 307.0], "bbox2D_tight": [343.0, 223.0, 368.0, 307.0], "bbox2D_trunc": [343.0, 223.0, 368.0, 307.0], "center_cam": [2.161258357536461, 0.18752208106106633, 9.581813882038364], "dimensions": [0.5156251095062454, 1.8320313151692376, 0.584961037054818], "R_cam": [[0.9132680296897888, -0.0014573931694030762, 0.4073565602302551], [-0.007626771926879883, 0.9997571110725403, 0.020675376057624817], [-0.4072877764701843, -0.021988943219184875, 0.9130351543426514]], "bbox3D_cam": [[1.7904586791992188, -0.7313709259033203, 9.485688209533691], [2.3246848583221436, -0.7358322143554688, 9.247440338134766], [2.3220150470733643, 1.0957542657852173, 9.20715618133545], [1.78778874874115, 1.1002155542373657, 9.445403099060059], [2.000501871109009, -0.7207101583480835, 9.95647144317627], [2.5347280502319336, -0.7251714468002319, 9.71822452545166], [2.5320582389831543, 1.106415033340454, 9.677939414978027], [1.9978320598602295, 1.1108763217926025, 9.916187286376953]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2609, "image_id": 361, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [100.0, 9.0, 121.0, 192.0], "bbox2D_tight": [100.0, 9.0, 121.0, 192.0], "bbox2D_trunc": [100.0, 9.0, 121.0, 192.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2610, "image_id": 361, "category_id": 45, "category_name": "person", "bbox2D_proj": [269.0, 244.0, 286.0, 321.0], "bbox2D_tight": [269.0, 244.0, 286.0, 321.0], "bbox2D_trunc": [269.0, 244.0, 286.0, 321.0], "center_cam": [0.22641543902260183, 0.2376966800175298, 4.279161193774741], "dimensions": [0.21582034956540644, 0.7129517096786597, 0.22460941622117164], "R_cam": [[-0.4283379316329956, -0.06166219711303711, -0.9015121459960938], [-0.02931821346282959, 0.998091995716095, -0.05433797091245651], [0.9031427502632141, 0.0031557674519717693, -0.4293285608291626]], "bbox3D_cam": [[0.39378321170806885, -0.10894283652305603, 4.22293758392334], [0.297574520111084, -0.11552801728248596, 4.425792217254639], [0.25361236929893494, 0.596063494682312, 4.428041934967041], [0.3498210906982422, 0.6026486158370972, 4.2251877784729], [0.1992185115814209, -0.12067010998725891, 4.130280017852783], [0.10300979018211365, -0.12725529074668884, 4.333134174346924], [0.05904765427112579, 0.5843361616134644, 4.335384368896484], [0.15525637567043304, 0.5909214019775391, 4.1325297355651855]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2611, "image_id": 361, "category_id": 13, "category_name": "building", "bbox2D_proj": [270.0, 33.0, 353.0, 207.0], "bbox2D_tight": [270.0, 33.0, 353.0, 207.0], "bbox2D_trunc": [270.0, 33.0, 353.0, 207.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2612, "image_id": 361, "category_id": 45, "category_name": "person", "bbox2D_proj": [195.0, 241.0, 221.0, 342.0], "bbox2D_tight": [195.0, 241.0, 221.0, 342.0], "bbox2D_trunc": [195.0, 241.0, 221.0, 342.0], "center_cam": [-0.3733113074624105, 0.27519833573525854, 3.6449977661927058], "dimensions": [0.23730469807830779, 0.7903290342925136, 0.2871093900077879], "R_cam": [[-0.588157594203949, -0.039922356605529785, -0.8077604174613953], [-0.05116081237792969, 0.9986171126365662, -0.012103259563446045], [0.8071265816688538, 0.034207046031951904, -0.5893867015838623]], "bbox3D_cam": [[-0.1772599220275879, -0.11063927412033081, 3.585545778274536], [-0.3461255133152008, -0.12532800436019897, 3.81727933883667], [-0.377677321434021, 0.6639081239700317, 3.8443140983581543], [-0.20881173014640808, 0.6785968542098999, 3.6125805377960205], [-0.36894530057907104, -0.11351144313812256, 3.445681571960449], [-0.5378109216690063, -0.12820017337799072, 3.677415132522583], [-0.5693626999855042, 0.66103595495224, 3.7044498920440674], [-0.40049710869789124, 0.6757246851921082, 3.4727163314819336]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2613, "image_id": 361, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [113.0, 0.0, 157.0, 210.0], "bbox2D_tight": [113.0, 0.0, 157.0, 210.0], "bbox2D_trunc": [113.0, 0.0, 157.0, 210.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2614, "image_id": 361, "category_id": 45, "category_name": "person", "bbox2D_proj": [147.0, 238.0, 168.0, 315.0], "bbox2D_tight": [147.0, 238.0, 168.0, 315.0], "bbox2D_trunc": [147.0, 238.0, 168.0, 315.0], "center_cam": [-0.8228871965355631, 0.1815158843965692, 3.929378174612598], "dimensions": [0.21777384550827383, 0.6902161116921763, 0.21875041189546024], "R_cam": [[-0.5431101322174072, -0.04198765754699707, -0.8386110067367554], [-0.04235422611236572, 0.998847484588623, -0.022580504417419434], [0.8385925889015198, 0.02325502038002014, -0.5442625284194946]], "bbox3D_cam": [[-0.657680332660675, -0.1561032086610794, 3.888894557952881], [-0.7764859199523926, -0.1653682142496109, 4.0723371505737305], [-0.8054664731025696, 0.5240524411201477, 4.088387966156006], [-0.686660885810852, 0.5333174467086792, 3.9049456119537354], [-0.840307891368866, -0.1610206514596939, 3.7703685760498047], [-0.9591134786605835, -0.1702856570482254, 3.953810930252075], [-0.9880940318107605, 0.5191349983215332, 3.9698619842529297], [-0.869288444519043, 0.5284000039100647, 3.78641939163208]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2615, "image_id": 361, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [91.0, 33.0, 108.0, 102.0], "bbox2D_tight": [91.0, 33.0, 108.0, 102.0], "bbox2D_trunc": [91.0, 33.0, 108.0, 102.0], "center_cam": [-1.6956215895451199, -2.1157069188883777, 4.913093675507099], "dimensions": [0.15234375208977943, 0.6362305165064299, 0.21093750655016003], "R_cam": [[-0.20423108339309692, -0.13358521461486816, 0.969765305519104], [0.12707984447479248, 0.9786447882652283, 0.16157114505767822], [-0.9706392288208008, 0.1562354564666748, -0.18289363384246826]], "bbox3D_cam": [[-1.70545494556427, -2.4527387619018555, 4.979696273803711], [-1.748534917831421, -2.4259328842163086, 4.774951934814453], [-1.8335258960723877, -1.8032892942428589, 4.874353885650635], [-1.7904459238052368, -1.8300951719284058, 5.079097747802734], [-1.5577173233032227, -2.42812442779541, 4.951833248138428], [-1.6007972955703735, -2.4013185501098633, 4.747089385986328], [-1.6857882738113403, -1.7786749601364136, 4.846490859985352], [-1.6427083015441895, -1.8054808378219604, 5.051235198974609]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2616, "image_id": 361, "category_id": 45, "category_name": "person", "bbox2D_proj": [227.0, 248.0, 267.0, 351.0], "bbox2D_tight": [227.0, 248.0, 267.0, 351.0], "bbox2D_trunc": [227.0, 248.0, 267.0, 351.0], "center_cam": [-0.05879465715278447, 0.3442730570403749, 3.6949603826806006], "dimensions": [0.27807620310851255, 0.8353272103239968, 0.28710941171197213], "R_cam": [[0.16445046663284302, -0.10399508476257324, -0.9808878898620605], [-0.06532931327819824, 0.9910948872566223, -0.11603012681007385], [0.9842195510864258, 0.08316206932067871, 0.15619206428527832]], "bbox3D_cam": [[0.09741349518299103, -0.044160276651382446, 3.497220516204834], [0.14462874829769135, -0.06291696429252625, 3.779799222946167], [0.05775877460837364, 0.7649716138839722, 3.849266767501831], [0.010543514043092728, 0.7837282419204712, 3.566688060760498], [-0.17534808814525604, -0.0764254629611969, 3.540653944015503], [-0.12813283503055573, -0.0951821506023407, 3.823232650756836], [-0.21500281989574432, 0.7327064275741577, 3.8927001953125], [-0.26221805810928345, 0.7514630556106567, 3.610121488571167]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2617, "image_id": 361, "category_id": 45, "category_name": "person", "bbox2D_proj": [288.0, 240.0, 320.0, 361.0], "bbox2D_tight": [288.0, 240.0, 320.0, 361.0], "bbox2D_trunc": [288.0, 240.0, 320.0, 361.0], "center_cam": [0.4186732786746227, 0.35338549193076424, 3.4929423681681566], "dimensions": [0.2832031652684971, 0.8930664714676421, 0.30175785119703574], "R_cam": [[0.8650887608528137, -0.05394017696380615, -0.49871042370796204], [-0.01777470111846924, 0.9902810454368591, -0.1379406601190567], [0.5013039708137512, 0.12819531559944153, 0.855722188949585]], "bbox3D_cam": [[0.3828538656234741, -0.06659343838691711, 3.238891124725342], [0.6439011096954346, -0.07195708155632019, 3.3901634216308594], [0.5957290530204773, 0.812429666519165, 3.504650354385376], [0.33468177914619446, 0.8177932500839233, 3.3533780574798584], [0.24161750078201294, -0.10565868020057678, 3.481234312057495], [0.5026648044586182, -0.11102232336997986, 3.6325066089630127], [0.4544926881790161, 0.7733644247055054, 3.7469935417175293], [0.19344541430473328, 0.7787280082702637, 3.5957212448120117]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2618, "image_id": 361, "category_id": 13, "category_name": "building", "bbox2D_proj": [150.0, 0.0, 315.0, 212.0], "bbox2D_tight": [150.0, 0.0, 315.0, 212.0], "bbox2D_trunc": [150.0, 0.0, 315.0, 212.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2619, "image_id": 361, "category_id": 45, "category_name": "person", "bbox2D_proj": [103.0, 226.0, 122.0, 303.0], "bbox2D_tight": [103.0, 226.0, 122.0, 303.0], "bbox2D_trunc": [103.0, 226.0, 122.0, 303.0], "center_cam": [-1.2602590378884135, 0.045707572113768566, 3.98639211753716], "dimensions": [0.19140626466893643, 0.6585083480006242, 0.21679689268180366], "R_cam": [[-0.6472183465957642, -0.03720259666442871, -0.7613964080810547], [-0.09007561206817627, 0.9955434203147888, 0.02792460098862648], [0.7569642663002014, 0.08665651828050613, -0.647685170173645]], "bbox3D_cam": [[-1.1049844026565552, -0.2749876379966736, 3.9377918243408203], [-1.2452993392944336, -0.2945157289505005, 4.101899147033691], [-1.2697975635528564, 0.3610578775405884, 4.158963203430176], [-1.1294827461242676, 0.3805859684944153, 3.9948558807373047], [-1.250720500946045, -0.26964271068573, 3.8138208389282227], [-1.3910353183746338, -0.2891708016395569, 3.9779281616210938], [-1.4155336618423462, 0.366402804851532, 4.034992218017578], [-1.2752187252044678, 0.3859308958053589, 3.870884895324707]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2620, "image_id": 361, "category_id": 13, "category_name": "building", "bbox2D_proj": [177.0, 103.0, 274.0, 219.0], "bbox2D_tight": [177.0, 103.0, 274.0, 219.0], "bbox2D_trunc": [177.0, 103.0, 274.0, 219.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2621, "image_id": 362, "category_id": 21, "category_name": "coral_formation", "bbox2D_proj": [301.0, 300.0, 377.0, 348.0], "bbox2D_tight": [301.0, 300.0, 377.0, 348.0], "bbox2D_trunc": [301.0, 300.0, 377.0, 348.0], "center_cam": [0.5595408404855773, 0.4113207499834714, 3.2353390988268043], "dimensions": [0.30664063422274584, 0.1732025156143827, 0.5546875312046842], "R_cam": [[0.8723427057266235, 0.14589354395866394, -0.46661895513534546], [-0.07149793207645416, 0.9822448492050171, 0.17344450950622559], [0.4836384952068329, -0.11794078350067139, 0.8672852516174316]], "bbox3D_cam": [[0.3765096366405487, 0.3194940388202667, 2.9784464836120605], [0.8603873252868652, 0.279835045337677, 3.2467145919799805], [0.885656476020813, 0.449962317943573, 3.2262871265411377], [0.4017787575721741, 0.4896213412284851, 2.9580187797546387], [0.2334252893924713, 0.3726791739463806, 3.2443912029266357], [0.7173029780387878, 0.3330201506614685, 3.5126595497131348], [0.7425720691680908, 0.5031474828720093, 3.492231845855713], [0.25869444012641907, 0.5428064465522766, 3.223963737487793]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2622, "image_id": 362, "category_id": 25, "category_name": "fish", "bbox2D_proj": [0.0, 156.0, 145.0, 213.0], "bbox2D_tight": [0.0, 156.0, 145.0, 213.0], "bbox2D_trunc": [0.0, 156.0, 145.0, 213.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2623, "image_id": 363, "category_id": 13, "category_name": "building", "bbox2D_proj": [172.0, 32.0, 198.0, 237.0], "bbox2D_tight": [172.0, 32.0, 198.0, 237.0], "bbox2D_trunc": [172.0, 32.0, 198.0, 237.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2624, "image_id": 363, "category_id": 13, "category_name": "building", "bbox2D_proj": [213.0, 91.0, 237.0, 239.0], "bbox2D_tight": [213.0, 91.0, 237.0, 239.0], "bbox2D_trunc": [213.0, 91.0, 237.0, 239.0], "center_cam": [-1.135073129653565, -3.096649717041723, 16.2236961331242], "dimensions": [0.7165649275404612, 4.937142736396775, 3.1164858883895477], "R_cam": [[-0.022392988204956055, -0.10309839993715286, -0.9944191575050354], [-0.09136365354061127, 0.9907174110412598, -0.10065723210573196], [0.9955658316612244, 0.08859975636005402, -0.03160446882247925]], "bbox3D_cam": [[-0.4893907308578491, -5.363875389099121, 14.464970588684082], [-0.5591782331466675, -5.648609161376953, 17.567638397216797], [-1.0681897401809692, -0.7572965621948242, 18.005067825317383], [-0.9984022378921509, -0.4725627899169922, 14.902400970458984], [-1.2019566297531128, -5.436002731323242, 14.442323684692383], [-1.2717441320419312, -5.720736503601074, 17.54499053955078], [-1.780755639076233, -0.8294239044189453, 17.982419967651367], [-1.7109681367874146, -0.5446901321411133, 14.879754066467285]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2625, "image_id": 363, "category_id": 13, "category_name": "building", "bbox2D_proj": [229.0, 171.0, 280.0, 238.0], "bbox2D_tight": [229.0, 171.0, 280.0, 238.0], "bbox2D_trunc": [229.0, 171.0, 280.0, 238.0], "center_cam": [-0.2939823492864507, -1.9861257584274004, 19.050733226694433], "dimensions": [1.4843750168461687, 2.506836109235593, 2.656250011556702], "R_cam": [[-0.3031257390975952, -0.043433964252471924, 0.9519602656364441], [-0.02872258424758911, 0.9989234209060669, 0.03643077239394188], [-0.9525176882743835, -0.01629965379834175, -0.3040469288825989]], "bbox3D_cam": [[-0.5434855818748474, -3.227085590362549, 20.561885833740234], [-1.348663330078125, -3.303380012512207, 18.031761169433594], [-1.4575451612472534, -0.7992428541183472, 17.99090003967285], [-0.6523674130439758, -0.722948431968689, 20.521026611328125], [0.8695803880691528, -3.173008441925049, 20.110567092895508], [0.06440269947052002, -3.249302864074707, 17.580440521240234], [-0.0444791316986084, -0.7451659440994263, 17.539581298828125], [0.7606985569000244, -0.6688715219497681, 20.069705963134766]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2626, "image_id": 363, "category_id": 45, "category_name": "person", "bbox2D_proj": [309.0, 235.0, 337.0, 325.0], "bbox2D_tight": [309.0, 235.0, 337.0, 325.0], "bbox2D_trunc": [309.0, 235.0, 337.0, 325.0], "center_cam": [1.0195240891793091, 0.33529546965079426, 6.735388548622164], "dimensions": [0.41406260595371785, 1.3505859993532763, 0.4355469999803603], "R_cam": [[0.936386227607727, -0.0021671652793884277, 0.35096466541290283], [-0.020333409309387207, 0.9979664087295532, 0.060412630438804626], [-0.35038185119628906, -0.06370587646961212, 0.9344378709793091]], "bbox3D_cam": [[0.7444068193435669, -0.34670349955558777, 6.6612548828125], [1.1522469520568848, -0.35555967688560486, 6.5086469650268555], [1.1493200063705444, 0.9922797679901123, 6.422606945037842], [0.7414798736572266, 1.0011359453201294, 6.575214385986328], [0.8897281289100647, -0.32168886065483093, 7.048170566558838], [1.2975683212280273, -0.330545037984848, 6.895563125610352], [1.294641375541687, 1.0172944068908691, 6.80952262878418], [0.8868011832237244, 1.0261505842208862, 6.962130546569824]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2627, "image_id": 363, "category_id": 45, "category_name": "person", "bbox2D_proj": [289.0, 246.0, 311.0, 313.0], "bbox2D_tight": [289.0, 246.0, 311.0, 313.0], "bbox2D_trunc": [289.0, 246.0, 311.0, 313.0], "center_cam": [0.7899093285729282, 0.3879133546220934, 7.619445939553533], "dimensions": [0.3828125562552651, 1.1411133309897172, 0.3906250739108864], "R_cam": [[0.9940341114997864, 0.0033799409866333008, -0.10901832580566406], [-0.00011622905731201172, 0.9995520710945129, 0.029929745942354202], [0.10907064378261566, -0.029738519340753555, 0.9935890436172485]], "bbox3D_cam": [[0.6147003769874573, -0.18809372186660767, 7.424931049346924], [1.0029948949813843, -0.1881391406059265, 7.467536926269531], [1.0068517923355103, 0.9524629712104797, 7.4336018562316895], [0.6185572743415833, 0.9525083899497986, 7.39099645614624], [0.5729667544364929, -0.17663627862930298, 7.8052897453308105], [0.9612613320350647, -0.17668169736862183, 7.84789514541626], [0.9651182293891907, 0.9639204144477844, 7.813960552215576], [0.5768236517906189, 0.9639658331871033, 7.771354675292969]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2628, "image_id": 363, "category_id": 45, "category_name": "person", "bbox2D_proj": [441.0, 251.0, 512.0, 512.0], "bbox2D_tight": [441.0, 251.0, 512.0, 512.0], "bbox2D_trunc": [441.0, 251.0, 512.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2629, "image_id": 363, "category_id": 45, "category_name": "person", "bbox2D_proj": [257.0, 244.0, 270.0, 275.0], "bbox2D_tight": [257.0, 244.0, 270.0, 275.0], "bbox2D_trunc": [257.0, 244.0, 270.0, 275.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2630, "image_id": 363, "category_id": 45, "category_name": "person", "bbox2D_proj": [330.0, 239.0, 420.0, 512.0], "bbox2D_tight": [330.0, 239.0, 420.0, 512.0], "bbox2D_trunc": [330.0, 239.0, 420.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2631, "image_id": 363, "category_id": 45, "category_name": "person", "bbox2D_proj": [123.0, 250.0, 154.0, 400.0], "bbox2D_tight": [123.0, 250.0, 154.0, 400.0], "bbox2D_trunc": [123.0, 250.0, 154.0, 400.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2632, "image_id": 363, "category_id": 30, "category_name": "handbag", "bbox2D_proj": [119.0, 289.0, 142.0, 328.0], "bbox2D_tight": [119.0, 289.0, 142.0, 328.0], "bbox2D_trunc": [119.0, 289.0, 142.0, 328.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2633, "image_id": 363, "category_id": 45, "category_name": "person", "bbox2D_proj": [256.0, 253.0, 290.0, 352.0], "bbox2D_tight": [256.0, 253.0, 290.0, 352.0], "bbox2D_trunc": [256.0, 253.0, 290.0, 352.0], "center_cam": [0.20225574179162661, 0.526119985658546, 5.249788911211338], "dimensions": [0.36914063384501783, 1.090576224179863, 0.5312499955728134], "R_cam": [[-0.26239341497421265, -0.016847968101501465, 0.9648138284683228], [-0.05973827838897705, 0.9982133507728577, 0.001184612512588501], [-0.963110089302063, -0.0573255717754364, -0.26293110847473145]], "bbox3D_cam": [[0.10306500643491745, -0.0025444626808166504, 5.585402965545654], [-0.03633151948451996, -0.034280478954315186, 5.073750972747803], [-0.05470551550388336, 1.054347276687622, 5.011232852935791], [0.08469101041555405, 1.086083173751831, 5.522885322570801], [0.45921701192855835, -0.0021072030067443848, 5.488344669342041], [0.31982046365737915, -0.03384321928024292, 4.976692199707031], [0.30144646763801575, 1.0547845363616943, 4.914174556732178], [0.44084298610687256, 1.0865204334259033, 5.425826549530029]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2634, "image_id": 363, "category_id": 45, "category_name": "person", "bbox2D_proj": [73.0, 232.0, 95.0, 302.0], "bbox2D_tight": [73.0, 232.0, 95.0, 302.0], "bbox2D_trunc": [73.0, 232.0, 95.0, 302.0], "center_cam": [-2.8640882841985364, 0.1551196864743064, 7.249798137617123], "dimensions": [0.3046875192500933, 1.1250000492279661, 0.3671875320293618], "R_cam": [[0.8762699365615845, 0.018097996711730957, 0.48148077726364136], [-0.0322110652923584, 0.9992592334747314, 0.02106163091957569], [-0.4807429015636444, -0.033964622765779495, 0.8762037754058838]], "bbox3D_cam": [[-3.10849666595459, -0.40425851941108704, 7.22368049621582], [-2.7867414951324463, -0.41608598828315735, 7.0471577644348145], [-2.766381025314331, 0.7080806493759155, 7.008947849273682], [-3.0881364345550537, 0.7199081182479858, 7.1854705810546875], [-2.9617955684661865, -0.3978412449359894, 7.4906487464904785], [-2.640040159225464, -0.4096687138080597, 7.314126014709473], [-2.6196799278259277, 0.7144979238510132, 7.27591609954834], [-2.9414350986480713, 0.7263253927230835, 7.452438831329346]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2635, "image_id": 363, "category_id": 45, "category_name": "person", "bbox2D_proj": [166.0, 235.0, 181.0, 256.0], "bbox2D_tight": [166.0, 235.0, 181.0, 256.0], "bbox2D_trunc": [166.0, 235.0, 181.0, 256.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2636, "image_id": 363, "category_id": 45, "category_name": "person", "bbox2D_proj": [129.0, 248.0, 190.0, 421.0], "bbox2D_tight": [129.0, 248.0, 190.0, 421.0], "bbox2D_trunc": [129.0, 248.0, 190.0, 421.0], "center_cam": [-0.7932722285195843, 0.6223980380911469, 3.7637669995003433], "dimensions": [0.5058593971581735, 1.303375299595217, 0.6865234679664134], "R_cam": [[-0.702829122543335, -0.0015680789947509766, 0.7113569974899292], [-0.006070971488952637, 0.9999744296073914, -0.003793895710259676], [-0.7113328576087952, -0.006985069252550602, -0.7028205990791321]], "bbox3D_cam": [[-0.7309193015098572, -0.026229381561279297, 4.190256595611572], [-1.213428020477295, -0.03039729595184326, 3.7019100189208984], [-1.2154717445373535, 1.2729445695877075, 3.692805767059326], [-0.7329630851745605, 1.2771124839782715, 4.18115234375], [-0.3710727095603943, -0.028148531913757324, 3.834728240966797], [-0.853581428527832, -0.03231644630432129, 3.346381664276123], [-0.8556252121925354, 1.2710254192352295, 3.337277412414551], [-0.37311649322509766, 1.2751933336257935, 3.8256239891052246]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2637, "image_id": 364, "category_id": 45, "category_name": "person", "bbox2D_proj": [227.0, 238.0, 260.0, 318.0], "bbox2D_tight": [227.0, 238.0, 260.0, 318.0], "bbox2D_trunc": [227.0, 238.0, 260.0, 318.0], "center_cam": [-0.1697511334840499, 0.2654458198485275, 5.8293921459028], "dimensions": [0.2968749992243509, 1.0239257768662853, 0.42236328738201623], "R_cam": [[0.992026150226593, -0.005862832069396973, 0.12589700520038605], [0.018363475799560547, 0.9949812293052673, -0.09836335480213165], [-0.12468844652175903, 0.09989091753959656, 0.9871547818183899]], "bbox3D_cam": [[-0.39493507146835327, -0.2332248091697693, 5.658052444458008], [0.024060264229774475, -0.2254686951637268, 5.605388641357422], [0.01805715262889862, 0.7933180928230286, 5.707669734954834], [-0.4009382128715515, 0.7855619788169861, 5.76033353805542], [-0.3575594425201416, -0.2624264359474182, 5.951114177703857], [0.06143592298030853, -0.25467032194137573, 5.8984503746032715], [0.05543281137943268, 0.7641164660453796, 6.000731468200684], [-0.36356252431869507, 0.7563603520393372, 6.0533952713012695]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2638, "image_id": 364, "category_id": 45, "category_name": "person", "bbox2D_proj": [288.0, 239.0, 311.0, 312.0], "bbox2D_tight": [288.0, 239.0, 311.0, 312.0], "bbox2D_trunc": [288.0, 239.0, 311.0, 312.0], "center_cam": [0.2988819229716101, 0.13501731531466182, 2.896573724801236], "dimensions": [0.12499999992748706, 0.4628906227706487, 0.18359375284788515], "R_cam": [[0.875548243522644, 0.10434627532958984, -0.4717278480529785], [-0.15656304359436035, 0.9849880933761597, -0.07270851731300354], [0.45705941319465637, 0.13751496374607086, 0.8787413239479065]], "bbox3D_cam": [[0.2238418459892273, -0.07403728365898132, 2.7678685188293457], [0.38458704948425293, -0.1027812659740448, 2.8517818450927734], [0.4328879714012146, 0.3531605005264282, 2.915436267852783], [0.27214276790618896, 0.3819044828414917, 2.8315229415893555], [0.16487586498260498, -0.08312585949897766, 2.877711296081543], [0.3256210684776306, -0.11186984181404114, 2.9616246223449707], [0.3739219903945923, 0.3440719246864319, 3.0252790451049805], [0.21317678689956665, 0.37281590700149536, 2.9413657188415527]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2639, "image_id": 364, "category_id": 45, "category_name": "person", "bbox2D_proj": [287.0, 206.0, 403.0, 434.0], "bbox2D_tight": [287.0, 206.0, 403.0, 434.0], "bbox2D_trunc": [287.0, 206.0, 403.0, 434.0], "center_cam": [0.5903015093231778, 0.4118688839352992, 2.877277902593205], "dimensions": [0.4941406284877995, 1.3901367134452807, 0.9291992243923326], "R_cam": [[0.7802318930625916, 0.015014052391052246, 0.6253100633621216], [0.013301610946655273, 0.9990875124931335, -0.040585607290267944], [-0.6253488063812256, 0.03998380899429321, 0.779320240020752]], "bbox3D_cam": [[0.06287473440170288, -0.27871763706207275, 2.947476387023926], [0.7878656387329102, -0.26635777950286865, 2.3664026260375977], [0.8087371587753296, 1.1225104331970215, 2.421985626220703], [0.08374625444412231, 1.1101505756378174, 3.0030593872070312], [0.3718658685684204, -0.2987726926803589, 3.3325700759887695], [1.0968568325042725, -0.2864128351211548, 2.7514963150024414], [1.1177282333374023, 1.1024553775787354, 2.807079315185547], [0.39273738861083984, 1.0900955200195312, 3.388153076171875]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2640, "image_id": 365, "category_id": 45, "category_name": "person", "bbox2D_proj": [112.0, 235.0, 144.0, 351.0], "bbox2D_tight": [112.0, 235.0, 144.0, 351.0], "bbox2D_trunc": [112.0, 235.0, 144.0, 351.0], "center_cam": [-1.2813961705059838, 0.44904776736987106, 4.628490047389775], "dimensions": [0.4023439552331811, 1.3413085336151545, 0.4121706328580428], "R_cam": [[-0.9456183910369873, 0.03229999542236328, 0.3236706852912903], [0.005817830562591553, 0.9965779781341553, -0.08245386183261871], [-0.3252263069152832, -0.07608680427074432, -0.9425703287124634]], "bbox3D_cam": [[-1.1732935905456543, -0.20392301678657532, 4.936161041259766], [-1.5630497932434082, -0.2015250027179718, 4.802112102508545], [-1.5197255611419678, 1.1351934671401978, 4.700056552886963], [-1.1299694776535034, 1.1327954530715942, 4.834105014801025], [-1.0430667400360107, -0.23709788918495178, 4.5569233894348145], [-1.432822823524475, -0.23469987511634827, 4.422874927520752], [-1.3894987106323242, 1.1020185947418213, 4.320818901062012], [-0.9997425079345703, 1.0996205806732178, 4.454867839813232]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2641, "image_id": 365, "category_id": 45, "category_name": "person", "bbox2D_proj": [398.0, 239.0, 425.0, 322.0], "bbox2D_tight": [398.0, 239.0, 425.0, 322.0], "bbox2D_trunc": [398.0, 239.0, 425.0, 322.0], "center_cam": [2.023704540341457, 0.30183138090932893, 5.8338877634963575], "dimensions": [0.35742219173323514, 1.0862426263778158, 0.36328156216277036], "R_cam": [[0.3654947876930237, 0.007242679595947266, 0.9307852983474731], [0.023825883865356445, 0.9995694160461426, -0.017133774235844612], [-0.9305084943771362, 0.028439108282327652, 0.3651648759841919]], "bbox3D_cam": [[1.7870404720306396, -0.24232175946235657, 5.922201156616211], [1.9198179244995117, -0.23366621136665344, 5.584164619445801], [1.927685260772705, 0.8521085977554321, 5.615056037902832], [1.794907808303833, 0.843453049659729, 5.953092575073242], [2.1197237968444824, -0.2484457790851593, 6.0527191162109375], [2.2525012493133545, -0.23979023098945618, 5.714682579040527], [2.260368585586548, 0.8459845781326294, 5.745573997497559], [2.127591133117676, 0.8373290300369263, 6.083610534667969]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2642, "image_id": 365, "category_id": 45, "category_name": "person", "bbox2D_proj": [82.0, 273.0, 114.0, 341.0], "bbox2D_tight": [82.0, 273.0, 114.0, 341.0], "bbox2D_trunc": [82.0, 273.0, 114.0, 341.0], "center_cam": [-1.6953496845485185, 0.5270196975463657, 4.737958180192086], "dimensions": [0.3025366599853153, 0.6775140467614432, 0.47794536394769693], "R_cam": [[0.3963332176208496, -7.869440742069855e-05, 0.918106734752655], [0.00029976919176988304, 1.0, -4.3692183680832386e-05], [-0.918106734752655, 0.0002925367734860629, 0.3963332176208496]], "bbox3D_cam": [[-1.928916335105896, 0.18819764256477356, 4.897308826446533], [-1.7394907474517822, 0.1883409321308136, 4.458503723144531], [-1.7395440340042114, 0.8658549785614014, 4.458702087402344], [-1.9289696216583252, 0.8657116889953613, 4.8975067138671875], [-1.6511553525924683, 0.18818441033363342, 5.017213821411133], [-1.4617297649383545, 0.18832769989967346, 4.578409194946289], [-1.4617830514907837, 0.8658417463302612, 4.578607082366943], [-1.6512086391448975, 0.8656984567642212, 5.017412185668945]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2643, "image_id": 365, "category_id": 58, "category_name": "signboard", "bbox2D_proj": [367.0, 194.0, 412.0, 232.0], "bbox2D_tight": [367.0, 194.0, 412.0, 232.0], "bbox2D_trunc": [367.0, 194.0, 412.0, 232.0], "center_cam": [2.3248215629188675, -0.7620161825651917, 7.784216782632769], "dimensions": [0.08593749661811576, 0.6074218483608111, 0.7294921775870926], "R_cam": [[-0.877848744392395, -0.009706901386380196, -0.47883957624435425], [0.06933094561100006, 0.9866880178451538, -0.1471051573753357], [0.4738932251930237, -0.16233447194099426, -0.8654899001121521]], "bbox3D_cam": [[2.66853666305542, -1.0806514024734497, 7.697857856750488], [2.0281529426574707, -1.0300750732421875, 8.043559074401855], [2.02225661277771, -0.4307391047477722, 7.944953918457031], [2.662640333175659, -0.4813154935836792, 7.599252223968506], [2.6273863315582275, -1.0932931900024414, 7.623479843139648], [1.9870026111602783, -1.0427168607711792, 7.969181537628174], [1.9811062812805176, -0.4433809518814087, 7.870575904846191], [2.621490001678467, -0.4939573407173157, 7.524874210357666]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2644, "image_id": 365, "category_id": 6, "category_name": "beam", "bbox2D_proj": [69.0, 145.0, 162.0, 171.0], "bbox2D_tight": [69.0, 145.0, 162.0, 171.0], "bbox2D_trunc": [69.0, 145.0, 162.0, 171.0], "center_cam": [-2.0007575729729212, -1.3889105885010187, 6.342498024040857], "dimensions": [0.2244687312624727, 0.24193002453651102, 1.2712163674969872], "R_cam": [[-0.8212136030197144, -7.869440014474094e-05, 0.5706208944320679], [0.00010230267071165144, 1.0, 0.0002851398312486708], [-0.5706208944320679, 0.00029253674438223243, -0.8212136030197144]], "bbox3D_cam": [[-1.5428211688995361, -1.5099725723266602, 6.7973222732543945], [-2.586761236190796, -1.5098425149917603, 6.071939468383789], [-2.586780309677124, -1.26791250705719, 6.072010040283203], [-1.5428402423858643, -1.2680425643920898, 6.797392845153809], [-1.4147346019744873, -1.5099085569381714, 6.612985610961914], [-2.458674669265747, -1.5097784996032715, 5.887602806091309], [-2.458693742752075, -1.2678484916687012, 5.887673377990723], [-1.4147536754608154, -1.267978549003601, 6.613056182861328]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2645, "image_id": 366, "category_id": 45, "category_name": "person", "bbox2D_proj": [298.0, 233.0, 324.0, 335.0], "bbox2D_tight": [298.0, 233.0, 324.0, 335.0], "bbox2D_trunc": [298.0, 233.0, 324.0, 335.0], "center_cam": [0.6463806071342294, 0.33820410095498044, 5.3883683986848485], "dimensions": [0.2734375111431231, 1.1958008076343043, 0.39453126426488977], "R_cam": [[0.5354022979736328, 0.01770651340484619, -0.8444115519523621], [-0.12327897548675537, 0.9907110929489136, -0.05739125609397888], [0.8355517387390137, 0.13482564687728882, 0.5326118469238281]], "bbox3D_cam": [[0.6456243395805359, -0.22197726368904114, 5.070112705230713], [0.8568572402000427, -0.2706146538257599, 5.399764060974121], [0.8780306577682495, 0.9140784740447998, 5.560988426208496], [0.6667977571487427, 0.9627158641815186, 5.231337070465088], [0.4147305190563202, -0.23767021298408508, 5.2157487869262695], [0.6259634494781494, -0.28630760312080383, 5.545400142669678], [0.6471368670463562, 0.8983855247497559, 5.706624507904053], [0.43590396642684937, 0.9470229148864746, 5.3769731521606445]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2646, "image_id": 366, "category_id": 71, "category_name": "tray", "bbox2D_proj": [193.0, 357.0, 249.0, 389.0], "bbox2D_tight": [193.0, 357.0, 249.0, 389.0], "bbox2D_trunc": [193.0, 357.0, 249.0, 389.0], "center_cam": [-0.311902526856786, 0.994024866657021, 3.8720750013819107], "dimensions": [0.425848094606442, 0.17137911789248395, 0.47252416516870327], "R_cam": [[-0.990270733833313, -0.004118739627301693, 0.13909313082695007], [0.007285849191248417, 0.9966561794281006, 0.08138382434844971], [-0.1389632225036621, 0.08160543441772461, -0.9869294762611389]], "bbox3D_cam": [[-0.1072024255990982, 0.8895719051361084, 4.108055114746094], [-0.5751292705535889, 0.8930146098136902, 4.042391777038574], [-0.5758351683616638, 1.063820719718933, 4.056376934051514], [-0.10790829360485077, 1.0603779554367065, 4.122040748596191], [-0.04796987771987915, 0.9242290258407593, 3.6877729892730713], [-0.515896737575531, 0.9276717901229858, 3.6221096515655518], [-0.516602635383606, 1.098477840423584, 3.6360950469970703], [-0.048675745725631714, 1.0950350761413574, 3.701758623123169]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2647, "image_id": 366, "category_id": 22, "category_name": "door", "bbox2D_proj": [51.0, 127.0, 125.0, 369.0], "bbox2D_tight": [51.0, 127.0, 125.0, 369.0], "bbox2D_trunc": [51.0, 127.0, 125.0, 369.0], "center_cam": [-1.7475636610897163, -0.028573288529104957, 4.4487612612406595], "dimensions": [0.14843750244474874, 2.285156299939834, 1.0664062732823654], "R_cam": [[0.8493956327438354, 0.030553996562957764, 0.5268716216087341], [-0.019489288330078125, 0.999457836151123, -0.026540640741586685], [-0.5273967981338501, 0.012275191023945808, 0.8495306968688965]], "bbox3D_cam": [[-2.2744781970977783, -1.158170223236084, 4.652894496917725], [-1.3686774969100952, -1.1789536476135254, 4.090475559234619], [-1.2988566160202026, 1.1049633026123047, 4.118525981903076], [-2.2046573162078857, 1.125746726989746, 4.68094539642334], [-2.196270704269409, -1.1621098518371582, 4.77899694442749], [-1.290470004081726, -1.1828932762145996, 4.216577529907227], [-1.220649242401123, 1.1010236740112305, 4.244628429412842], [-2.1264498233795166, 1.1218070983886719, 4.807047367095947]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2648, "image_id": 366, "category_id": 68, "category_name": "table", "bbox2D_proj": [321.0, 279.0, 358.0, 317.0], "bbox2D_tight": [321.0, 279.0, 358.0, 317.0], "bbox2D_trunc": [321.0, 279.0, 358.0, 317.0], "center_cam": [1.1396234188473768, 0.5688238927728282, 6.151007122992002], "dimensions": [0.38671876612083717, 0.46984864678762406, 0.5312500271329779], "R_cam": [[0.6995642185211182, 0.02795969881117344, -0.7140224575996399], [-0.002003466710448265, 0.9993070363998413, 0.037167973816394806], [0.7145668864250183, -0.02457086369395256, 0.699135422706604]], "bbox3D_cam": [[1.0852961540222168, 0.32740774750709534, 5.831788063049316], [1.456939697265625, 0.3263434171676636, 6.21140193939209], [1.470076560974121, 0.7958664894104004, 6.199857234954834], [1.098433017730713, 0.7969307899475098, 5.820243835449219], [0.8091703057289124, 0.34178128838539124, 6.102157115936279], [1.1808137893676758, 0.3407169580459595, 6.4817705154418945], [1.1939506530761719, 0.8102400302886963, 6.470226287841797], [0.8223071098327637, 0.8113043308258057, 6.090612411499023]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2649, "image_id": 366, "category_id": 36, "category_name": "lamp", "bbox2D_proj": [179.0, 88.0, 219.0, 129.0], "bbox2D_tight": [179.0, 88.0, 219.0, 129.0], "bbox2D_trunc": [179.0, 88.0, 219.0, 129.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2650, "image_id": 366, "category_id": 47, "category_name": "pipe", "bbox2D_proj": [374.0, 132.0, 512.0, 158.0], "bbox2D_tight": [374.0, 132.0, 512.0, 158.0], "bbox2D_trunc": [374.0, 132.0, 512.0, 158.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2651, "image_id": 366, "category_id": 45, "category_name": "person", "bbox2D_proj": [159.0, 225.0, 191.0, 355.0], "bbox2D_tight": [159.0, 225.0, 191.0, 355.0], "bbox2D_trunc": [159.0, 225.0, 191.0, 355.0], "center_cam": [-0.8275798055932913, 0.3439892484603076, 4.772871472097129], "dimensions": [0.3535156466738927, 1.3034668259725877, 0.42773439922700385], "R_cam": [[-0.5367075204849243, -0.03372502326965332, 0.8430941700935364], [0.11008208990097046, 0.9878619909286499, 0.10959339141845703], [-0.8365566730499268, 0.15162920951843262, -0.5264803171157837]], "bbox3D_cam": [[-0.8398393988609314, -0.3427478075027466, 4.94602108001709], [-1.0694077014923096, -0.29566192626953125, 4.588197231292725], [-1.1133671998977661, 0.9919832944869995, 4.78584098815918], [-0.8837988376617432, 0.9448974132537842, 5.143664836883545], [-0.5417923927307129, -0.3040047883987427, 4.759902000427246], [-0.7713607549667358, -0.25691890716552734, 4.402078151702881], [-0.8153201937675476, 1.0307263135910034, 4.599721908569336], [-0.5857518911361694, 0.9836404323577881, 4.957545757293701]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2652, "image_id": 367, "category_id": 45, "category_name": "person", "bbox2D_proj": [172.0, 231.0, 204.0, 374.0], "bbox2D_tight": [172.0, 231.0, 204.0, 374.0], "bbox2D_trunc": [172.0, 231.0, 204.0, 374.0], "center_cam": [-0.4522779957177964, 0.28012243033185724, 2.70274728424865], "dimensions": [0.23046878697125228, 0.8272705284378518, 0.26074222221412047], "R_cam": [[0.9015201330184937, -0.007815361022949219, 0.432666540145874], [-0.0011581182479858398, 0.9997897148132324, 0.020472541451454163], [-0.4327355623245239, -0.01895749568939209, 0.901321530342102]], "bbox3D_cam": [[-0.6164355278015137, -0.13563403487205505, 2.6631417274475098], [-0.3813711702823639, -0.13593599200248718, 2.550309419631958], [-0.3878365755081177, 0.6911605596542358, 2.5346264839172363], [-0.6229009628295898, 0.691462516784668, 2.647458791732788], [-0.516719400882721, -0.13091573119163513, 2.87086820602417], [-0.28165504336357117, -0.13121768832206726, 2.758035898208618], [-0.28812044858932495, 0.6958788633346558, 2.7423529624938965], [-0.5231848359107971, 0.6961808204650879, 2.8551852703094482]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2653, "image_id": 367, "category_id": 45, "category_name": "person", "bbox2D_proj": [98.0, 228.0, 146.0, 369.0], "bbox2D_tight": [98.0, 228.0, 146.0, 369.0], "bbox2D_trunc": [98.0, 228.0, 146.0, 369.0], "center_cam": [-0.8126414984676337, 0.24564393401192186, 2.6898068237307657], "dimensions": [0.220703134359986, 0.8186035374534448, 0.32470703146675634], "R_cam": [[-0.9990164041519165, 0.019780874252319336, 0.039684977382421494], [0.01466071605682373, 0.991998553276062, -0.1253950595855713], [-0.041847869753837585, -0.12468990683555603, -0.9913128614425659]], "bbox3D_cam": [[-0.6629233360290527, -0.14892549812793732, 2.857029914855957], [-0.9873110055923462, -0.1441650539636612, 2.8434414863586426], [-0.9711183309555054, 0.6678884625434875, 2.7413699626922607], [-0.6467306017875671, 0.6631280183792114, 2.754958152770996], [-0.6541646718978882, -0.1766005903482437, 2.6382439136505127], [-0.9785524010658264, -0.1718401461839676, 2.6246557235717773], [-0.9623596668243408, 0.6402133703231812, 2.5225839614868164], [-0.6379719972610474, 0.635452926158905, 2.536172389984131]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2654, "image_id": 367, "category_id": 45, "category_name": "person", "bbox2D_proj": [460.0, 233.0, 487.0, 320.0], "bbox2D_tight": [460.0, 233.0, 487.0, 320.0], "bbox2D_trunc": [460.0, 233.0, 487.0, 320.0], "center_cam": [1.41688130010685, 0.11253899489908108, 2.880191597730552], "dimensions": [0.16406255102173722, 0.5705566557216522, 0.17578130196901792], "R_cam": [[0.8205243349075317, -0.061066627502441406, -0.5683403611183167], [0.13199222087860107, 0.9876477718353271, 0.08443988114595413], [0.5561636090278625, -0.14430148899555206, 0.8184493780136108]], "bbox3D_cam": [[1.4088075160980225, -0.18774309754371643, 2.80533766746521], [1.5530403852462769, -0.1645413339138031, 2.9031007289886475], [1.5181984901428223, 0.3989676535129547, 2.8207685947418213], [1.3739656209945679, 0.3757658898830414, 2.723005533218384], [1.3155641555786133, -0.1738896667957306, 2.9396145343780518], [1.4597970247268677, -0.15068790316581726, 3.0373775959014893], [1.424955129623413, 0.41282108426094055, 2.955045461654663], [1.2807222604751587, 0.3896193206310272, 2.8572824001312256]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2655, "image_id": 367, "category_id": 45, "category_name": "person", "bbox2D_proj": [474.0, 249.0, 512.0, 327.0], "bbox2D_tight": [474.0, 249.0, 512.0, 327.0], "bbox2D_trunc": [474.0, 249.0, 512.0, 327.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2656, "image_id": 367, "category_id": 52, "category_name": "potted_plant", "bbox2D_proj": [218.0, 224.0, 235.0, 262.0], "bbox2D_tight": [218.0, 224.0, 235.0, 262.0], "bbox2D_trunc": [218.0, 224.0, 235.0, 262.0], "center_cam": [-0.2892114197911485, -0.1279273800919973, 4.2914395677745265], "dimensions": [0.07261519316040133, 0.34834699567912564, 0.161093255053722], "R_cam": [[0.9993762969970703, 0.0035969724413007498, -0.03512962907552719], [-0.0035773839335888624, 0.9999935626983643, 0.0006204447126947343], [0.03513162583112717, -0.0004943855456076562, 0.999382734298706]], "bbox3D_cam": [[-0.36905884742736816, -0.3018341064453125, 4.252410888671875], [-0.20806606113910675, -0.30241042375564575, 4.25806999206543], [-0.20681306719779968, 0.04593430459499359, 4.257897853851318], [-0.3678058385848999, 0.046510592103004456, 4.2522382736206055], [-0.37160977721214294, -0.3017890453338623, 4.324981212615967], [-0.21061700582504272, -0.30236536264419556, 4.33064079284668], [-0.20936401188373566, 0.04597936570644379, 4.33046817779541], [-0.37035679817199707, 0.04655565321445465, 4.3248090744018555]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2657, "image_id": 367, "category_id": 45, "category_name": "person", "bbox2D_proj": [266.0, 224.0, 288.0, 295.0], "bbox2D_tight": [266.0, 224.0, 288.0, 295.0], "bbox2D_trunc": [266.0, 224.0, 288.0, 295.0], "center_cam": [0.18612537194788048, 0.01935173127796644, 3.9216524471391594], "dimensions": [0.19335949310053535, 0.5893554839326053, 0.19726575230000704], "R_cam": [[0.31351369619369507, 0.015579462051391602, -0.9494558572769165], [0.03627216815948486, 0.9989392161369324, 0.02836853265762329], [0.9488906860351562, -0.04333272576332092, 0.3126159906387329]], "bbox3D_cam": [[0.24240484833717346, -0.28133371472358704, 3.8106062412261963], [0.3042503595352173, -0.27417847514152527, 3.9977898597717285], [0.3134321868419647, 0.31455180048942566, 3.9722516536712646], [0.2515866756439209, 0.3073965609073639, 3.7850680351257324], [0.058818548917770386, -0.2758483588695526, 3.871053457260132], [0.1206640675663948, -0.26869311928749084, 4.058237075805664], [0.12984588742256165, 0.3200371563434601, 4.032698631286621], [0.06800036877393723, 0.3128819167613983, 3.845515251159668]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2658, "image_id": 367, "category_id": 60, "category_name": "skyscraper", "bbox2D_proj": [110.0, 73.0, 207.0, 172.0], "bbox2D_tight": [110.0, 73.0, 207.0, 172.0], "bbox2D_trunc": [110.0, 73.0, 207.0, 172.0], "center_cam": [-1.0773521660408465, -1.2992678428157367, 4.745300678418483], "dimensions": [0.4238281441458105, 1.2285156763579836, 0.9768066602560227], "R_cam": [[0.9753348231315613, 0.06707072257995605, -0.2102939635515213], [0.0028985142707824707, 0.9487436413764954, 0.31603360176086426], [0.22071164846420288, -0.308848112821579, 0.9251481890678406]], "bbox3D_cam": [[-1.55034339427948, -1.9504287242889404, 4.631165027618408], [-0.5976299047470093, -1.9475972652435303, 4.846757411956787], [-0.5152324438095093, -0.7820510268211365, 4.46733283996582], [-1.46794593334198, -0.7848823666572571, 4.251739978790283], [-1.6394718885421753, -1.8164846897125244, 5.023268699645996], [-0.6867583990097046, -1.8136534690856934, 5.238861560821533], [-0.6043609380722046, -0.64810711145401, 4.859436511993408], [-1.5570744276046753, -0.6509384512901306, 4.643844127655029]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2659, "image_id": 368, "category_id": 39, "category_name": "monument", "bbox2D_proj": [0.0, 0.0, 512.0, 233.0], "bbox2D_tight": [0.0, 0.0, 512.0, 233.0], "bbox2D_trunc": [0.0, 0.0, 512.0, 233.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2660, "image_id": 368, "category_id": 13, "category_name": "building", "bbox2D_proj": [185.0, 199.0, 220.0, 219.0], "bbox2D_tight": [185.0, 199.0, 220.0, 219.0], "bbox2D_trunc": [185.0, 199.0, 220.0, 219.0], "center_cam": [-0.685533711155697, -0.6370459713248655, 6.008628681805309], "dimensions": [0.3043244359287236, 0.1849034949624202, 0.3069326455249117], "R_cam": [[-0.03762334585189819, -0.0007664860459044576, 0.9992917776107788], [0.013495536521077156, 0.9999082088470459, 0.001275181770324707], [-0.9992009401321411, 0.013534069061279297, -0.03760967031121254]], "bbox3D_cam": [[-0.8317433595657349, -0.7317543625831604, 6.166443824768066], [-0.8432912230491638, -0.7276121377944946, 5.8597564697265625], [-0.8434329032897949, -0.5427256226539612, 5.8622589111328125], [-0.8318850994110107, -0.546867847442627, 6.168946743011475], [-0.5276345014572144, -0.7313663363456726, 6.154998779296875], [-0.5391823053359985, -0.7272241115570068, 5.848310947418213], [-0.5393240451812744, -0.5423375964164734, 5.850813865661621], [-0.5277761816978455, -0.5464798212051392, 6.157501220703125]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2661, "image_id": 368, "category_id": 48, "category_name": "plant", "bbox2D_proj": [223.0, 211.0, 244.0, 260.0], "bbox2D_tight": [223.0, 211.0, 244.0, 260.0], "bbox2D_trunc": [223.0, 211.0, 244.0, 260.0], "center_cam": [-0.28035067094854893, -0.29038430246010993, 5.501596835137008], "dimensions": [0.22265626172308545, 0.565917994283777, 0.25146485819962494], "R_cam": [[-0.9952529072761536, 0.06679177284240723, -0.07078490406274796], [0.04804229736328125, 0.9697036147117615, 0.23951369524002075], [0.08463790267705917, 0.23497605323791504, -0.9683091640472412]], "bbox3D_cam": [[-0.166234090924263, -0.5974757671356201, 5.532266616821289], [-0.41650521755218506, -0.5853947401046753, 5.5535502433776855], [-0.37870657444000244, -0.036622077226638794, 5.686527252197266], [-0.12843544781208038, -0.04870304465293884, 5.665243625640869], [-0.18199479579925537, -0.5441465377807617, 5.316666603088379], [-0.4322659373283386, -0.5320655107498169, 5.337950229644775], [-0.394467294216156, 0.016707152128219604, 5.4709272384643555], [-0.14419613778591156, 0.004626184701919556, 5.449643611907959]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2662, "image_id": 368, "category_id": 39, "category_name": "monument", "bbox2D_proj": [248.0, 0.0, 359.0, 236.0], "bbox2D_tight": [248.0, 0.0, 359.0, 236.0], "bbox2D_trunc": [248.0, 0.0, 359.0, 236.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2663, "image_id": 368, "category_id": 65, "category_name": "suv", "bbox2D_proj": [304.0, 244.0, 373.0, 285.0], "bbox2D_tight": [304.0, 244.0, 373.0, 285.0], "bbox2D_trunc": [304.0, 244.0, 373.0, 285.0], "center_cam": [0.9039804458979821, 0.0696537453867498, 4.670796039936501], "dimensions": [0.35913388136907026, 0.3206307669098854, 0.7710694171074269], "R_cam": [[-0.999104380607605, 0.04215124249458313, 0.0037102699279785156], [0.042230963706970215, 0.9987958669662476, 0.02496922016143799], [-0.0026533901691436768, 0.02510356903076172, -0.9996813535690308]], "bbox3D_cam": [[1.2817461490631104, -0.11123374849557877, 4.847304344177246], [0.5113672614097595, -0.07867074757814407, 4.8452582359313965], [0.5248822569847107, 0.24157392978668213, 4.853307247161865], [1.2952611446380615, 0.20901092886924744, 4.855352878570557], [1.283078670501709, -0.10226643830537796, 4.488284587860107], [0.5126997828483582, -0.06970343738794327, 4.486238956451416], [0.5262147784233093, 0.25054123997688293, 4.494287490844727], [1.2965936660766602, 0.21797823905944824, 4.496333599090576]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2664, "image_id": 368, "category_id": 15, "category_name": "car", "bbox2D_proj": [324.0, 247.0, 481.0, 299.0], "bbox2D_tight": [324.0, 247.0, 481.0, 299.0], "bbox2D_trunc": [324.0, 247.0, 481.0, 299.0], "center_cam": [1.4227775024177103, 0.19905787854132032, 4.520910577831402], "dimensions": [0.6914062640592198, 0.5017090090240425, 1.5419922270733604], "R_cam": [[0.9993162155151367, 0.024258261546492577, -0.027906503528356552], [-0.021588534116744995, 0.9954988360404968, 0.09228312969207764], [0.030019516125321388, -0.09161746501922607, 0.9953417181968689]], "bbox3D_cam": [[0.655870795249939, -0.06592535972595215, 4.1766557693481445], [2.196808338165283, -0.09921470284461975, 4.222945690155029], [2.2089791297912598, 0.40023601055145264, 4.176980495452881], [0.6680413484573364, 0.43352535367012024, 4.130690574645996], [0.6365760564804077, -0.0021202415227890015, 4.864840984344482], [2.177513599395752, -0.0354095995426178, 4.911130905151367], [2.1896843910217285, 0.4640411138534546, 4.865165710449219], [0.6487466096878052, 0.4973304569721222, 4.818875789642334]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2665, "image_id": 368, "category_id": 65, "category_name": "suv", "bbox2D_proj": [0.0, 254.0, 7.0, 277.0], "bbox2D_tight": [0.0, 254.0, 7.0, 277.0], "bbox2D_trunc": [0.0, 254.0, 7.0, 277.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2666, "image_id": 368, "category_id": 13, "category_name": "building", "bbox2D_proj": [8.0, 179.0, 183.0, 244.0], "bbox2D_tight": [8.0, 179.0, 183.0, 244.0], "bbox2D_trunc": [8.0, 179.0, 183.0, 244.0], "center_cam": [-1.997159904722106, -0.5181633026090227, 5.211184361187501], "dimensions": [0.1797836277623457, 0.7753034632997535, 1.6399895522839185], "R_cam": [[0.8003109693527222, 0.0016577175119891763, -0.5995827913284302], [-0.0014358540065586567, 0.9999986886978149, 0.0008482321863994002], [0.5995833873748779, 0.00018206376989837736, 0.8003123998641968]], "bbox3D_cam": [[-2.600155830383301, -0.9047133922576904, 4.647517204284668], [-1.287654161453247, -0.907068133354187, 5.6308274269104], [-1.2863690853118896, -0.13176575303077698, 5.6309685707092285], [-2.5988705158233643, -0.12941095232963562, 4.647658348083496], [-2.7079508304595947, -0.904560923576355, 4.79140043258667], [-1.3954493999481201, -0.9069156646728516, 5.774710655212402], [-1.3941640853881836, -0.13161328434944153, 5.7748517990112305], [-2.7066657543182373, -0.12925848364830017, 4.791541576385498]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2667, "image_id": 368, "category_id": 13, "category_name": "building", "bbox2D_proj": [444.0, 175.0, 512.0, 224.0], "bbox2D_tight": [444.0, 175.0, 512.0, 224.0], "bbox2D_trunc": [444.0, 175.0, 512.0, 224.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2668, "image_id": 369, "category_id": 4, "category_name": "base", "bbox2D_proj": [247.0, 404.0, 341.0, 455.0], "bbox2D_tight": [247.0, 404.0, 341.0, 455.0], "bbox2D_trunc": [247.0, 404.0, 341.0, 455.0], "center_cam": [0.10648913868263013, 0.4334228751132623, 1.1714260598859603], "dimensions": [0.2451173830042452, 0.0766601544941979, 0.24755878861854425], "R_cam": [[0.46765685081481934, 0.025202810764312744, 0.883550763130188], [-0.011371523141860962, 0.9996822476387024, -0.022496581077575684], [-0.8838370442390442, 0.00047332048416137695, 0.4677947163581848]], "bbox3D_cam": [[-0.060649991035461426, 0.3992696702480316, 1.2234764099121094], [0.05512253940105438, 0.3964545428752899, 1.0046747922897339], [0.05705459415912628, 0.47309035062789917, 1.0047110319137573], [-0.058717936277389526, 0.47590547800064087, 1.2235126495361328], [0.15592367947101593, 0.39375537633895874, 1.3381410837173462], [0.27169620990753174, 0.39094024896621704, 1.1193394660949707], [0.27362826466560364, 0.4675760567188263, 1.1193757057189941], [0.15785573422908783, 0.470391184091568, 1.3381773233413696]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2669, "image_id": 369, "category_id": 28, "category_name": "flowerpot", "bbox2D_proj": [440.0, 208.0, 472.0, 237.0], "bbox2D_tight": [440.0, 208.0, 472.0, 237.0], "bbox2D_trunc": [440.0, 208.0, 472.0, 237.0], "center_cam": [2.107868997048156, -0.3595118491543547, 4.706539341868943], "dimensions": [0.34047947009194474, 0.2712193522457326, 0.34052645964002903], "R_cam": [[-0.9993451833724976, -0.012232896871864796, 0.034052472561597824], [-0.017139915376901627, 0.9888733625411987, -0.1477692723274231], [-0.031865935772657394, -0.1482561230659485, -0.9884355068206787]], "bbox3D_cam": [[2.2738823890686035, -0.4655381441116333, 4.900340557098389], [1.9335789680480957, -0.4713747501373291, 4.889489650726318], [1.9302611351013184, -0.20317316055297852, 4.849279403686523], [2.270564556121826, -0.19733655452728271, 4.860130786895752], [2.2854766845703125, -0.5158505439758301, 4.563798904418945], [1.9451731443405151, -0.5216871500015259, 4.552947521209717], [1.9418553113937378, -0.2534855604171753, 4.51273775100708], [2.282158851623535, -0.2476489543914795, 4.52358865737915]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2670, "image_id": 369, "category_id": 28, "category_name": "flowerpot", "bbox2D_proj": [53.0, 211.0, 87.0, 243.0], "bbox2D_tight": [53.0, 211.0, 87.0, 243.0], "bbox2D_trunc": [53.0, 211.0, 87.0, 243.0], "center_cam": [-1.5376104459708433, -0.22820077685267182, 3.7641166229431438], "dimensions": [0.24779224552342727, 0.22605146341587584, 0.25658564229173764], "R_cam": [[0.1676282435655594, 0.024410903453826904, -0.9855480194091797], [0.11334526538848877, 0.9925869703292847, 0.04386374354362488], [0.9793128967285156, -0.11906003952026367, 0.16361874341964722]], "bbox3D_cam": [[-1.4397693872451782, -0.36036455631256104, 3.6316628456115723], [-1.3967584371566772, -0.3312818109989166, 3.8829405307769775], [-1.3912402391433716, -0.10690607130527496, 3.8560266494750977], [-1.434251308441162, -0.13598883152008057, 3.6047492027282715], [-1.6839805841445923, -0.34949547052383423, 3.672206401824951], [-1.6409695148468018, -0.3204127252101898, 3.9234838485717773], [-1.6354514360427856, -0.09603698551654816, 3.8965702056884766], [-1.6784623861312866, -0.12511974573135376, 3.6452925205230713]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2671, "image_id": 369, "category_id": 28, "category_name": "flowerpot", "bbox2D_proj": [43.0, 87.0, 78.0, 118.0], "bbox2D_tight": [43.0, 87.0, 78.0, 118.0], "bbox2D_trunc": [43.0, 87.0, 78.0, 118.0], "center_cam": [-1.5954674816663332, -1.250992338279278, 3.6219956682259142], "dimensions": [0.2174071768896543, 0.18307530859804558, 0.23023989998456137], "R_cam": [[-0.09220953285694122, -0.006338667124509811, -0.9957194328308105], [-0.045867323875427246, 0.9989453554153442, -0.002111617475748062], [0.9946826696395874, 0.045476317405700684, -0.09240302443504333]], "bbox3D_cam": [[-1.4760338068008423, -1.336923599243164, 3.513369560241699], [-1.4972641468048096, -1.3474841117858887, 3.742385149002075], [-1.4984245300292969, -1.1646019220352173, 3.750710964202881], [-1.4771941900253296, -1.1540414094924927, 3.521695137023926], [-1.6925103664398193, -1.3373826742172241, 3.4932804107666016], [-1.7137407064437866, -1.3479431867599487, 3.7222962379455566], [-1.714901089668274, -1.1650609970092773, 3.730621814727783], [-1.6936707496643066, -1.1545004844665527, 3.5016062259674072]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2672, "image_id": 369, "category_id": 28, "category_name": "flowerpot", "bbox2D_proj": [448.0, 92.0, 481.0, 121.0], "bbox2D_tight": [448.0, 92.0, 481.0, 121.0], "bbox2D_trunc": [448.0, 92.0, 481.0, 121.0], "center_cam": [2.198474601488382, -1.5481959926812396, 4.720467700367289], "dimensions": [0.3078175001687913, 0.2356551897488982, 0.3162555044994393], "R_cam": [[0.05881857872009277, -0.010023955255746841, -0.9982183575630188], [0.08669853210449219, 0.9962225556373596, -0.004895323887467384], [0.994496762752533, -0.08625608682632446, 0.05946545675396919]], "bbox3D_cam": [[2.343989372253418, -1.6785345077514648, 4.564220905303955], [2.362591028213501, -1.6511155366897583, 4.8787360191345215], [2.360229015350342, -1.4163506031036377, 4.858409404754639], [2.3416271209716797, -1.4437694549560547, 4.543894290924072], [2.0367202758789062, -1.6800413131713867, 4.582525730133057], [2.0553221702575684, -1.6526224613189697, 4.897040843963623], [2.05295991897583, -1.4178574085235596, 4.87671422958374], [2.034358263015747, -1.4452763795852661, 4.562199115753174]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2673, "image_id": 369, "category_id": 45, "category_name": "person", "bbox2D_proj": [118.0, 145.0, 272.0, 347.0], "bbox2D_tight": [118.0, 145.0, 272.0, 347.0], "bbox2D_trunc": [118.0, 145.0, 272.0, 347.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2674, "image_id": 370, "category_id": 45, "category_name": "person", "bbox2D_proj": [195.0, 381.0, 222.0, 465.0], "bbox2D_tight": [195.0, 381.0, 222.0, 465.0], "bbox2D_trunc": [195.0, 381.0, 222.0, 465.0], "center_cam": [-0.9407122874328011, 3.332717889408322, 8.925357323411543], "dimensions": [0.4453125141586224, 1.5429686539792304, 0.47656252531765353], "R_cam": [[0.18442508578300476, -0.11898207664489746, -0.9756181240081787], [0.09056854248046875, 0.9904792308807373, -0.10367387533187866], [0.9786648154258728, -0.06924030184745789, 0.19344520568847656]], "bbox3D_cam": [[-0.6756370067596436, 2.5700814723968506, 8.702505111694336], [-0.5877469778060913, 2.6132431030273438, 9.168900489807129], [-0.7713325619697571, 4.141521453857422, 9.062065124511719], [-0.8592225909233093, 4.098360061645508, 8.595669746398926], [-1.1100919246673584, 2.523914337158203, 8.78864860534668], [-1.0222018957138062, 2.5670759677886963, 9.255043983459473], [-1.2057875394821167, 4.095354080200195, 9.148208618164062], [-1.293677568435669, 4.052192687988281, 8.68181324005127]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2675, "image_id": 370, "category_id": 45, "category_name": "person", "bbox2D_proj": [147.0, 399.0, 170.0, 476.0], "bbox2D_tight": [147.0, 399.0, 170.0, 476.0], "bbox2D_trunc": [147.0, 399.0, 170.0, 476.0], "center_cam": [-1.7362456820845797, 3.1883636988592605, 7.8793141970229685], "dimensions": [0.38671875661366484, 1.2402342984782035, 0.4121093739998999], "R_cam": [[0.9985670447349548, -0.03175771236419678, -0.0430741086602211], [0.03309589624404907, 0.9989799857139587, 0.03072097711265087], [0.042054541409015656, -0.03210253268480301, 0.9985995292663574]], "bbox3D_cam": [[-1.9139827489852905, 2.556119441986084, 7.697467803955078], [-1.502463936805725, 2.569758653640747, 7.714798927307129], [-1.5418509244918823, 3.808727741241455, 7.674983978271484], [-1.9533697366714478, 3.795088529586792, 7.657652854919434], [-1.9306403398513794, 2.567999839782715, 8.08364486694336], [-1.519121527671814, 2.581639051437378, 8.10097599029541], [-1.5585085153579712, 3.820608139038086, 8.061161041259766], [-1.9700273275375366, 3.806968927383423, 8.043829917907715]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2676, "image_id": 370, "category_id": 45, "category_name": "person", "bbox2D_proj": [174.0, 387.0, 198.0, 454.0], "bbox2D_tight": [174.0, 387.0, 198.0, 454.0], "bbox2D_trunc": [174.0, 387.0, 198.0, 454.0], "center_cam": [-1.4131479521283477, 3.329436473661403, 9.033842598423913], "dimensions": [0.4687501878134921, 1.2753905483243333, 0.4804689399368896], "R_cam": [[0.7599197626113892, -0.004511594772338867, -0.6500013470649719], [0.02624434232711792, 0.9993735551834106, 0.02374613657593727], [0.6494869589805603, -0.035104069858789444, 0.7595622539520264]], "bbox3D_cam": [[-1.4404857158660889, 2.6802706718444824, 8.722177505493164], [-1.0753679275512695, 2.692880153656006, 9.034235000610352], [-1.0811219215393066, 3.9674715995788574, 8.989463806152344], [-1.446239709854126, 3.954862117767334, 8.67740535736084], [-1.7451739311218262, 2.691401481628418, 9.078222274780273], [-1.3800561428070068, 2.7040109634399414, 9.390280723571777], [-1.385810136795044, 3.978602409362793, 9.345508575439453], [-1.7509279251098633, 3.9659929275512695, 9.033451080322266]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2677, "image_id": 370, "category_id": 45, "category_name": "person", "bbox2D_proj": [215.0, 374.0, 232.0, 447.0], "bbox2D_tight": [215.0, 374.0, 232.0, 447.0], "bbox2D_trunc": [215.0, 374.0, 232.0, 447.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2678, "image_id": 370, "category_id": 45, "category_name": "person", "bbox2D_proj": [273.0, 376.0, 291.0, 432.0], "bbox2D_tight": [273.0, 376.0, 291.0, 432.0], "bbox2D_trunc": [273.0, 376.0, 291.0, 432.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2679, "image_id": 370, "category_id": 45, "category_name": "person", "bbox2D_proj": [68.0, 384.0, 92.0, 468.0], "bbox2D_tight": [68.0, 384.0, 92.0, 468.0], "bbox2D_trunc": [68.0, 384.0, 92.0, 468.0], "center_cam": [-3.0761487470507696, 3.020737487879548, 8.023809293295521], "dimensions": [0.41503907400891193, 1.4582518836290266, 0.5078125211033895], "R_cam": [[0.5488204956054688, 0.03613168001174927, 0.8351589441299438], [-0.21158051490783691, 0.9725388288497925, 0.09696382284164429], [-0.8087210655212402, -0.22991904616355896, 0.5413939952850342]], "bbox3D_cam": [[-3.415153980255127, 2.345233917236328, 8.284439086914062], [-3.136456251144409, 2.237790584564209, 7.873760223388672], [-3.0837669372558594, 3.6559972763061523, 7.538480281829834], [-3.3624649047851562, 3.7634403705596924, 7.949159145355225], [-3.068530559539795, 2.3854775428771973, 8.509138107299805], [-2.789832592010498, 2.2780344486236572, 8.09846019744873], [-2.7371435165405273, 3.6962409019470215, 7.763179779052734], [-3.015841245651245, 3.8036842346191406, 8.173858642578125]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2680, "image_id": 370, "category_id": 45, "category_name": "person", "bbox2D_proj": [361.0, 376.0, 380.0, 440.0], "bbox2D_tight": [361.0, 376.0, 380.0, 440.0], "bbox2D_trunc": [361.0, 376.0, 380.0, 440.0], "center_cam": [2.818447222304539, 3.672795202457195, 10.724945151902205], "dimensions": [0.4648437615959156, 1.431640536577698, 0.6210937576599622], "R_cam": [[0.8726012110710144, -0.04036056995391846, -0.4867629408836365], [0.0593448281288147, 0.9979576468467712, 0.023638397455215454], [0.48481473326683044, -0.04951375722885132, 0.8732142448425293]], "bbox3D_cam": [[2.6894888877868652, 2.934513568878174, 10.406876564025879], [3.2314558029174805, 2.971372365951538, 10.707991600036621], [3.1736741065979004, 4.400088787078857, 10.637105941772461], [2.631706953048706, 4.363230228424072, 10.335989952087402], [2.4632201194763184, 2.9455018043518066, 10.812784194946289], [3.0051872730255127, 2.982360363006592, 11.113900184631348], [2.9474053382873535, 4.41107702255249, 11.043013572692871], [2.4054384231567383, 4.374218463897705, 10.741898536682129]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2681, "image_id": 370, "category_id": 45, "category_name": "person", "bbox2D_proj": [122.0, 356.0, 144.0, 423.0], "bbox2D_tight": [122.0, 356.0, 144.0, 423.0], "bbox2D_trunc": [122.0, 356.0, 144.0, 423.0], "center_cam": [-2.6562196112307497, 2.8411510725670173, 9.662245800854016], "dimensions": [0.41406252454032677, 1.3769530406348802, 0.4257812681170129], "R_cam": [[-0.9949830174446106, 0.026552438735961914, -0.09645634889602661], [0.027023494243621826, 0.9996283650398254, -0.003580283373594284], [0.09632544219493866, -0.006168913096189499, -0.995330810546875]], "bbox3D_cam": [[-2.4427084922790527, 2.147918701171875, 9.85205078125], [-2.8663535118103027, 2.1594247817993164, 9.893064498901367], [-2.829792022705078, 3.5358657836914062, 9.884570121765137], [-2.406147003173828, 3.524359703063965, 9.84355640411377], [-2.48264741897583, 2.1464362144470215, 9.439921379089355], [-2.90629243850708, 2.157942295074463, 9.480935096740723], [-2.8697309494018555, 3.5343832969665527, 9.472440719604492], [-2.4460859298706055, 3.5228772163391113, 9.431427001953125]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2682, "image_id": 371, "category_id": 45, "category_name": "person", "bbox2D_proj": [149.0, 232.0, 190.0, 360.0], "bbox2D_tight": [149.0, 232.0, 190.0, 360.0], "bbox2D_trunc": [149.0, 232.0, 190.0, 360.0], "center_cam": [-1.3369279799290932, 0.609813202866855, 6.968052617905247], "dimensions": [0.6367188265733734, 1.8901366518162162, 0.6923828805600796], "R_cam": [[0.9251381158828735, 0.012589573860168457, -0.3794219493865967], [0.0004093050956726074, 0.9994163513183594, 0.03415946662425995], [0.37963056564331055, -0.03175751864910126, 0.924592912197113]], "bbox3D_cam": [[-1.5483083724975586, -0.345720112323761, 6.572287559509277], [-0.9077585935592651, -0.3454367518424988, 6.835137367248535], [-0.8839626312255859, 1.5435965061187744, 6.775111198425293], [-1.5245124101638794, 1.5433132648468018, 6.512261867523193], [-1.789893388748169, -0.32397013902664185, 7.160993576049805], [-1.1493436098098755, -0.32368677854537964, 7.423842906951904], [-1.1255476474761963, 1.5653464794158936, 7.36381721496582], [-1.7660974264144897, 1.565063238143921, 7.1009674072265625]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2683, "image_id": 371, "category_id": 45, "category_name": "person", "bbox2D_proj": [99.0, 238.0, 135.0, 369.0], "bbox2D_tight": [99.0, 238.0, 135.0, 369.0], "bbox2D_trunc": [99.0, 238.0, 135.0, 369.0], "center_cam": [-1.9473030596433807, 0.6582004998902613, 6.431025403820424], "dimensions": [0.5859375819537611, 1.8215331387029927, 0.6269531993240322], "R_cam": [[0.9415693879127502, 0.03478872776031494, 0.33501768112182617], [-0.0386660099029541, 0.9992401003837585, 0.004908353090286255], [-0.33459237217903137, -0.01757533848285675, 0.9421991109848022]], "bbox3D_cam": [[-2.3722972869873047, -0.24119114875793457, 6.275884628295898], [-1.7819772958755493, -0.2654329538345337, 6.066110610961914], [-1.7186083793640137, 1.5547161102294922, 6.034096717834473], [-2.3089282512664795, 1.5789579153060913, 6.243870258331299], [-2.175997734069824, -0.23831510543823242, 6.827954292297363], [-1.5856778621673584, -0.26255691051483154, 6.618180751800537], [-1.5223089456558228, 1.5575921535491943, 6.5861663818359375], [-2.112628936767578, 1.5818339586257935, 6.795940399169922]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2684, "image_id": 371, "category_id": 70, "category_name": "trash_can", "bbox2D_proj": [6.0, 273.0, 76.0, 350.0], "bbox2D_tight": [6.0, 273.0, 76.0, 350.0], "bbox2D_trunc": [6.0, 273.0, 76.0, 350.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2685, "image_id": 371, "category_id": 15, "category_name": "car", "bbox2D_proj": [283.0, 261.0, 393.0, 299.0], "bbox2D_tight": [283.0, 261.0, 393.0, 299.0], "bbox2D_trunc": [283.0, 261.0, 393.0, 299.0], "center_cam": [1.9938715609173243, 0.5287911725089414, 8.931370548221194], "dimensions": [1.144531269025634, 0.912353489210231, 2.8222655755961226], "R_cam": [[0.9875550270080566, -0.0016812905669212341, -0.15726467967033386], [-0.005311585962772369, 0.9990159273147583, -0.04403477907180786], [0.1571839451789856, 0.04432213306427002, 0.9865742921829224]], "bbox3D_cam": [[0.6910643577575684, 0.10575830936431885, 8.124761581420898], [3.4782071113586426, 0.09076762199401855, 8.568376541137695], [3.476673126220703, 1.002223253250122, 8.608814239501953], [0.6895303726196289, 1.0172139406204224, 8.165199279785156], [0.5110700130462646, 0.0553591251373291, 9.253927230834961], [3.298212766647339, 0.04036843776702881, 9.697542190551758], [3.2966787815093994, 0.9518240690231323, 9.737979888916016], [0.5095360279083252, 0.9668147563934326, 9.294364929199219]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2686, "image_id": 371, "category_id": 57, "category_name": "shorts", "bbox2D_proj": [395.0, 294.0, 429.0, 330.0], "bbox2D_tight": [395.0, 294.0, 429.0, 330.0], "bbox2D_trunc": [395.0, 294.0, 429.0, 330.0], "center_cam": [1.945629818505459, 0.675950613275839, 5.561035281889793], "dimensions": [0.2421875030117978, 0.4042969187635963, 0.40722661173601304], "R_cam": [[0.9981878399848938, 0.04996626824140549, 0.03353150561451912], [-0.04809696972370148, 0.9973595142364502, -0.05441221222281456], [-0.03616173937916756, 0.052700843662023544, 0.9979553818702698]], "bbox3D_cam": [[1.7282243967056274, 0.4907180666923523, 5.436898708343506], [2.1347131729125977, 0.47113171219825745, 5.422172546386719], [2.154914379119873, 0.8743610382080078, 5.443479537963867], [1.7484256029129028, 0.893947422504425, 5.458205223083496], [1.7363454103469849, 0.47754010558128357, 5.678590774536133], [2.142833948135376, 0.4579537510871887, 5.663865089416504], [2.1630351543426514, 0.8611831068992615, 5.685171604156494], [1.7565466165542603, 0.8807694911956787, 5.699897766113281]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2687, "image_id": 371, "category_id": 18, "category_name": "chimney", "bbox2D_proj": [110.0, 74.0, 132.0, 124.0], "bbox2D_tight": [110.0, 74.0, 132.0, 124.0], "bbox2D_trunc": [110.0, 74.0, 132.0, 124.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2688, "image_id": 371, "category_id": 18, "category_name": "chimney", "bbox2D_proj": [445.0, 65.0, 469.0, 131.0], "bbox2D_tight": [445.0, 65.0, 469.0, 131.0], "bbox2D_trunc": [445.0, 65.0, 469.0, 131.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2689, "image_id": 371, "category_id": 63, "category_name": "streetlight", "bbox2D_proj": [192.0, 79.0, 213.0, 298.0], "bbox2D_tight": [192.0, 79.0, 213.0, 298.0], "bbox2D_trunc": [192.0, 79.0, 213.0, 298.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2690, "image_id": 371, "category_id": 15, "category_name": "car", "bbox2D_proj": [0.0, 318.0, 29.0, 389.0], "bbox2D_tight": [0.0, 318.0, 29.0, 389.0], "bbox2D_trunc": [0.0, 318.0, 29.0, 389.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2691, "image_id": 371, "category_id": 45, "category_name": "person", "bbox2D_proj": [390.0, 226.0, 423.0, 363.0], "bbox2D_tight": [390.0, 226.0, 423.0, 363.0], "bbox2D_trunc": [390.0, 226.0, 423.0, 363.0], "center_cam": [2.0251348267618523, 0.4708662058437389, 5.7235479812505625], "dimensions": [0.5156250251401968, 1.6977538497135263, 0.5922851683915102], "R_cam": [[-0.9805569648742676, 0.055648207664489746, -0.18817897140979767], [0.036459505558013916, 0.993915319442749, 0.10393816232681274], [0.19281792640686035, 0.09505636990070343, -0.9766194820404053]], "bbox3D_cam": [[2.316795825958252, -0.41043931245803833, 5.8375396728515625], [1.7360265254974365, -0.38884490728378296, 5.951743125915527], [1.8305034637451172, 1.2985785007476807, 6.113125324249268], [2.4112730026245117, 1.2769842147827148, 5.998922348022461], [2.219766139984131, -0.3568461537361145, 5.333970546722412], [1.6389967203140259, -0.33525174856185913, 5.448173522949219], [1.7334736585617065, 1.3521716594696045, 5.609556198120117], [2.3142430782318115, 1.3305773735046387, 5.495352745056152]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2692, "image_id": 372, "category_id": 45, "category_name": "person", "bbox2D_proj": [298.0, 249.0, 324.0, 338.0], "bbox2D_tight": [298.0, 249.0, 324.0, 338.0], "bbox2D_trunc": [298.0, 249.0, 324.0, 338.0], "center_cam": [1.01967289542486, 0.6919923661024666, 8.34006859392074], "dimensions": [0.4609375272266286, 1.624023420536631, 0.5625000395589054], "R_cam": [[-0.5995845198631287, -0.010997176170349121, -0.8002358675003052], [0.07333260774612427, 0.994944155216217, -0.06861814856529236], [0.7969446182250977, -0.09982573986053467, -0.5957467555999756]], "bbox3D_cam": [[1.3816652297973633, -0.12072449922561646, 8.334288597106934], [1.0443989038467407, -0.07947486639022827, 8.782569885253906], [1.0265392065048218, 1.5363378524780273, 8.620450973510742], [1.3638055324554443, 1.4950881004333496, 8.17216968536377], [1.0128065347671509, -0.15235310792922974, 8.059686660766602], [0.6755401492118835, -0.11110347509384155, 8.507967948913574], [0.6576804518699646, 1.504709243774414, 8.34584903717041], [0.9949468374252319, 1.4634594917297363, 7.897567272186279]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2693, "image_id": 372, "category_id": 45, "category_name": "person", "bbox2D_proj": [405.0, 249.0, 435.0, 346.0], "bbox2D_tight": [405.0, 249.0, 435.0, 346.0], "bbox2D_trunc": [405.0, 249.0, 435.0, 346.0], "center_cam": [2.705299052567066, 0.6686852965230554, 7.367624018232995], "dimensions": [0.4414063009546128, 1.5527343608682678, 0.49536137006231695], "R_cam": [[0.91403728723526, -0.03436779975891113, 0.40417155623435974], [-0.010596394538879395, 0.9940410256385803, 0.10848984122276306], [-0.4054916799068451, -0.10344657301902771, 0.9082264304161072]], "bbox3D_cam": [[2.4163899421691895, -0.1243751049041748, 7.3479204177856445], [2.869168519973755, -0.1296241283416748, 7.147055625915527], [2.8158044815063477, 1.4138575792312622, 6.9864301681518555], [2.363025665283203, 1.4191066026687622, 7.187295436859131], [2.5947937965393066, -0.07648694515228271, 7.748817443847656], [3.047572612762451, -0.08173596858978271, 7.547952175140381], [2.994208335876465, 1.4617457389831543, 7.387327194213867], [2.5414297580718994, 1.4669947624206543, 7.588191986083984]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2694, "image_id": 372, "category_id": 45, "category_name": "person", "bbox2D_proj": [365.0, 253.0, 391.0, 346.0], "bbox2D_tight": [365.0, 253.0, 391.0, 346.0], "bbox2D_trunc": [365.0, 253.0, 391.0, 346.0], "center_cam": [2.1184496803757287, 0.7098144483826693, 7.8377971695777084], "dimensions": [0.5390626503590017, 1.5717773276806764, 0.5703126418422376], "R_cam": [[0.9067743420600891, 0.034950852394104004, -0.42016518115997314], [0.015760719776153564, 0.9930515885353088, 0.11661948263645172], [0.42132169008255005, -0.11236965656280518, 0.8999228477478027]], "bbox3D_cam": [[1.94565749168396, -0.10654044151306152, 7.5634074211120605], [2.4628024101257324, -0.09755194187164307, 7.80369234085083], [2.51773738861084, 1.463304042816162, 7.627072334289551], [2.0005924701690674, 1.4543155431747437, 7.386787414550781], [1.719162106513977, -0.04367518424987793, 8.048521995544434], [2.23630690574646, -0.03468668460845947, 8.288806915283203], [2.2912418842315674, 1.5261693000793457, 8.112187385559082], [1.7740970849990845, 1.5171808004379272, 7.871901988983154]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2695, "image_id": 372, "category_id": 45, "category_name": "person", "bbox2D_proj": [321.0, 257.0, 346.0, 343.0], "bbox2D_tight": [321.0, 257.0, 346.0, 343.0], "bbox2D_trunc": [321.0, 257.0, 346.0, 343.0], "center_cam": [1.4116290757409504, 0.8053736555610631, 8.189342358230558], "dimensions": [0.3984375417577191, 1.55126951531466, 0.4462890947219237], "R_cam": [[0.9324995875358582, 0.04788053035736084, 0.35798338055610657], [-0.07299613952636719, 0.9957038760185242, 0.05696878582239151], [-0.35371774435043335, -0.07925476878881454, 0.9319885969161987]], "bbox3D_cam": [[1.0950920581817627, 0.038010597229003906, 8.144075393676758], [1.511256456375122, 0.005433201789855957, 7.986215591430664], [1.5855321884155273, 1.55003821849823, 7.863269805908203], [1.169367790222168, 1.582615613937378, 8.021130561828613], [1.2377259731292725, 0.06070911884307861, 8.51541519165039], [1.6538903713226318, 0.028131723403930664, 8.35755443572998], [1.728166103363037, 1.5727367401123047, 8.234609603881836], [1.3120017051696777, 1.6053141355514526, 8.39246940612793]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2696, "image_id": 372, "category_id": 45, "category_name": "person", "bbox2D_proj": [166.0, 255.0, 193.0, 318.0], "bbox2D_tight": [166.0, 255.0, 193.0, 318.0], "bbox2D_trunc": [166.0, 255.0, 193.0, 318.0], "center_cam": [-2.0836747844475583, 0.8621045966454038, 12.09768000694482], "dimensions": [0.6525118310390179, 1.5619186273111954, 1.5000322211065296], "R_cam": [[0.17405790090560913, 0.0076171401888132095, 0.9847059845924377], [-0.04649989306926727, 0.9989181756973267, 0.0004923045635223389], [-0.9836369156837463, -0.04587440937757492, 0.17422378063201904]], "bbox3D_cam": [[-2.541435718536377, 0.11670517921447754, 12.814408302307129], [-2.2803432941436768, 0.046953797340393066, 11.338920593261719], [-2.2684459686279297, 1.6071827411651611, 11.267269134521484], [-2.52953839302063, 1.6769341230392456, 12.742755889892578], [-1.8989033699035645, 0.1170264482498169, 12.928091049194336], [-1.6378109455108643, 0.04727506637573242, 11.452604293823242], [-1.6259136199951172, 1.6075040102005005, 11.380951881408691], [-1.8870060443878174, 1.677255392074585, 12.856439590454102]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2697, "image_id": 372, "category_id": 45, "category_name": "person", "bbox2D_proj": [343.0, 258.0, 368.0, 342.0], "bbox2D_tight": [343.0, 258.0, 368.0, 342.0], "bbox2D_trunc": [343.0, 258.0, 368.0, 342.0], "center_cam": [1.7965523052318535, 0.7544310556174729, 7.991400013966525], "dimensions": [0.38281255793321306, 1.5302734224895889, 0.40917973455920714], "R_cam": [[-0.9590492248535156, 0.07774782180786133, -0.27235978841781616], [0.09574174880981445, 0.9939732551574707, -0.05339200794696808], [0.2665672302246094, -0.07728175818920135, -0.9607129096984863]], "bbox3D_cam": [[1.9854077100753784, -0.01546257734298706, 8.17988109588623], [1.5929841995239258, 0.02371305227279663, 8.288954734802246], [1.7119596004486084, 1.5447638034820557, 8.170692443847656], [2.1043832302093506, 1.5055882930755615, 8.06161880493164], [1.8811450004577637, -0.03590172529220581, 7.812108039855957], [1.488721489906311, 0.003273904323577881, 7.921181678771973], [1.6076968908309937, 1.524324655532837, 7.802919387817383], [2.0001204013824463, 1.4851491451263428, 7.693845748901367]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2698, "image_id": 372, "category_id": 45, "category_name": "person", "bbox2D_proj": [219.0, 259.0, 234.0, 325.0], "bbox2D_tight": [219.0, 259.0, 234.0, 325.0], "bbox2D_trunc": [219.0, 259.0, 234.0, 325.0], "center_cam": [-0.7825177507528913, 0.7920775071679793, 10.49505452920867], "dimensions": [0.4765625229777909, 1.4536132678505593, 0.6015625327682685], "R_cam": [[-0.6481418013572693, -0.02546459436416626, -0.76109379529953], [0.006041169166564941, 0.9992373585700989, -0.03857704997062683], [0.7614957094192505, -0.02960127592086792, -0.6474936008453369]], "bbox3D_cam": [[-0.3877065181732178, 0.07320022583007812, 10.441810607910156], [-0.7776044011116028, 0.07683432102203369, 10.899897575378418], [-0.8146201372146606, 1.529339075088501, 10.856868743896484], [-0.42472222447395325, 1.5257049798965454, 10.398781776428223], [-0.7504153251647949, 0.05481588840484619, 10.13323974609375], [-1.1403132677078247, 0.05844998359680176, 10.591326713562012], [-1.1773289442062378, 1.510954737663269, 10.548297882080078], [-0.7874310612678528, 1.5073206424713135, 10.090210914611816]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2699, "image_id": 372, "category_id": 61, "category_name": "sports_car", "bbox2D_proj": [31.0, 275.0, 172.0, 332.0], "bbox2D_tight": [31.0, 275.0, 172.0, 332.0], "bbox2D_trunc": [31.0, 275.0, 172.0, 332.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2700, "image_id": 372, "category_id": 45, "category_name": "person", "bbox2D_proj": [269.0, 247.0, 292.0, 337.0], "bbox2D_tight": [269.0, 247.0, 292.0, 337.0], "bbox2D_trunc": [269.0, 247.0, 292.0, 337.0], "center_cam": [0.5294970915850181, 0.7366670404454765, 9.51114338157059], "dimensions": [0.5273438093792626, 1.8352050594078704, 0.6093750688678337], "R_cam": [[0.7081738710403442, 0.014994978904724121, -0.7058787941932678], [0.09032857418060303, 0.9896343946456909, 0.11164513230323792], [0.7002360820770264, -0.142825186252594, 0.6994787454605103]], "bbox3D_cam": [[0.48608630895614624, -0.22838354110717773, 9.244414329528809], [0.9176297783851624, -0.1733396053314209, 9.671120643615723], [0.9451487064361572, 1.6428422927856445, 9.40900707244873], [0.5136051774024963, 1.5877983570098877, 8.982300758361816], [0.11384546756744385, -0.1695082187652588, 9.613280296325684], [0.5453889966011047, -0.11446428298950195, 10.039986610412598], [0.5729078650474548, 1.7017176151275635, 9.777873039245605], [0.14136439561843872, 1.6466736793518066, 9.351166725158691]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2701, "image_id": 372, "category_id": 45, "category_name": "person", "bbox2D_proj": [440.0, 255.0, 481.0, 351.0], "bbox2D_tight": [440.0, 255.0, 481.0, 351.0], "bbox2D_trunc": [440.0, 255.0, 481.0, 351.0], "center_cam": [3.1494293310376507, 0.6973560183078213, 6.805219658650675], "dimensions": [0.5039063329790857, 1.3847656140158913, 0.5625000896671538], "R_cam": [[0.7280486226081848, -0.0460660457611084, 0.683975875377655], [-0.06429266929626465, 0.988753616809845, 0.1350283920764923], [-0.6825038194656372, -0.1422818899154663, 0.7168990969657898]], "bbox3D_cam": [[2.8042311668395996, -0.003178536891937256, 6.915062427520752], [3.2137584686279297, -0.039343178272247314, 6.531154155731201], [3.149967908859253, 1.3298490047454834, 6.334126949310303], [2.7404403686523438, 1.366013526916504, 6.7180352210998535], [3.148890733718872, 0.06486314535140991, 7.276312351226807], [3.5584182739257812, 0.028698503971099854, 6.892404079437256], [3.4946274757385254, 1.397890567779541, 6.695376873016357], [3.0851001739501953, 1.4340553283691406, 7.079285144805908]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2702, "image_id": 372, "category_id": 45, "category_name": "person", "bbox2D_proj": [475.0, 247.0, 507.0, 346.0], "bbox2D_tight": [475.0, 247.0, 507.0, 346.0], "bbox2D_trunc": [475.0, 247.0, 507.0, 346.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2703, "image_id": 373, "category_id": 45, "category_name": "person", "bbox2D_proj": [50.0, 355.0, 96.0, 499.0], "bbox2D_tight": [50.0, 355.0, 96.0, 499.0], "bbox2D_trunc": [50.0, 355.0, 96.0, 499.0], "center_cam": [-3.1367383180860644, 2.8537232826082493, 7.565046772901923], "dimensions": [0.6718750231625765, 2.247558507242006, 0.7832031456188782], "R_cam": [[0.8514235019683838, 0.09547817707061768, -0.5157152414321899], [0.1090354323387146, 0.9295846223831177, 0.3521135151386261], [0.5130200386047363, -0.3560289144515991, 0.7810594439506531]], "bbox3D_cam": [[-3.404205322265625, 1.6480889320373535, 7.501858234405518], [-2.737367868423462, 1.7334856986999512, 7.903656959533691], [-2.522775173187256, 3.8227813243865967, 7.103461265563965], [-3.189612627029419, 3.737384557723999, 6.701662063598633], [-3.750701427459717, 1.8846652507781982, 8.026632308959961], [-3.0838639736175537, 1.970062017440796, 8.428431510925293], [-2.8692712783813477, 4.059357643127441, 7.628235340118408], [-3.5361087322235107, 3.9739608764648438, 7.226436614990234]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2704, "image_id": 373, "category_id": 45, "category_name": "person", "bbox2D_proj": [105.0, 369.0, 145.0, 493.0], "bbox2D_tight": [105.0, 369.0, 145.0, 493.0], "bbox2D_trunc": [105.0, 369.0, 145.0, 493.0], "center_cam": [-2.291592039322481, 3.0679890743559723, 7.880363730080462], "dimensions": [0.5312500045246136, 1.940917881068942, 0.6982421850945364], "R_cam": [[0.8770560026168823, 0.005678057670593262, -0.4803546071052551], [0.08513587713241577, 0.9822647571563721, 0.1670563668012619], [0.4727839231491089, -0.18741321563720703, 0.8610177636146545]], "bbox3D_cam": [[-2.4757070541381836, 2.040644407272339, 7.668474197387695], [-1.8633095026016235, 2.1000900268554688, 7.998591899871826], [-1.852288842201233, 4.006585121154785, 7.634838104248047], [-2.464686393737793, 3.9471397399902344, 7.304720401763916], [-2.730895519256592, 2.1293931007385254, 8.125889778137207], [-2.118497848510742, 2.188838481903076, 8.45600700378418], [-2.1074771881103516, 4.095334053039551, 8.092253684997559], [-2.719874858856201, 4.035888195037842, 7.762135982513428]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2705, "image_id": 373, "category_id": 5, "category_name": "baseball_cap", "bbox2D_proj": [0.0, 453.0, 66.0, 512.0], "bbox2D_tight": [0.0, 453.0, 66.0, 512.0], "bbox2D_trunc": [0.0, 453.0, 66.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2706, "image_id": 373, "category_id": 45, "category_name": "person", "bbox2D_proj": [472.0, 375.0, 512.0, 443.0], "bbox2D_tight": [472.0, 375.0, 512.0, 443.0], "bbox2D_trunc": [472.0, 375.0, 512.0, 443.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2707, "image_id": 373, "category_id": 45, "category_name": "person", "bbox2D_proj": [340.0, 364.0, 358.0, 428.0], "bbox2D_tight": [340.0, 364.0, 358.0, 428.0], "bbox2D_trunc": [340.0, 364.0, 358.0, 428.0], "center_cam": [3.034549253133391, 4.387151262060513, 14.281138071137104], "dimensions": [0.6484381007726181, 1.990722568272452, 0.656250607894843], "R_cam": [[0.6880067586898804, 0.039586544036865234, 0.7246236801147461], [-0.17091071605682373, 0.9792635440826416, 0.10877656936645508], [-0.7052915096282959, -0.198684960603714, 0.6805057525634766]], "bbox3D_cam": [[2.534457206726074, 3.4332427978515625, 14.489692687988281], [2.9859619140625, 3.321082592010498, 14.02684497833252], [3.064767837524414, 5.270524978637695, 13.631318092346191], [2.613262891769409, 5.38268518447876, 14.094165802001953], [3.004330635070801, 3.5037777423858643, 14.93095874786377], [3.4558355808258057, 3.3916175365448, 14.468111038208008], [3.5346412658691406, 5.341059684753418, 14.07258415222168], [3.083136558532715, 5.453219890594482, 14.535431861877441]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2708, "image_id": 373, "category_id": 45, "category_name": "person", "bbox2D_proj": [142.0, 373.0, 172.0, 480.0], "bbox2D_tight": [142.0, 373.0, 172.0, 480.0], "bbox2D_trunc": [142.0, 373.0, 172.0, 480.0], "center_cam": [-1.9839183516252763, 3.367088293491575, 8.890778129938749], "dimensions": [0.4921874988872992, 1.931640542359141, 0.7109374897762956], "R_cam": [[0.8868701457977295, 0.01598215103149414, -0.46174246072769165], [0.10766273736953735, 0.9647394418716431, 0.2401803880929947], [0.44929975271224976, -0.2627212703227997, 0.8538777828216553]], "bbox3D_cam": [[-2.200976848602295, 2.3379459381103516, 8.774674415588379], [-1.5704677104949951, 2.414487361907959, 9.094098091125488], [-1.5395958423614502, 4.278017044067383, 8.586614608764648], [-2.17010498046875, 4.201475620269775, 8.267190933227539], [-2.4282407760620117, 2.4561595916748047, 9.194942474365234], [-1.797731637954712, 2.532701015472412, 9.514366149902344], [-1.766859769821167, 4.396230697631836, 9.006882667541504], [-2.397368907928467, 4.3196892738342285, 8.687458992004395]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2709, "image_id": 373, "category_id": 45, "category_name": "person", "bbox2D_proj": [176.0, 369.0, 198.0, 474.0], "bbox2D_tight": [176.0, 369.0, 198.0, 474.0], "bbox2D_trunc": [176.0, 369.0, 198.0, 474.0], "center_cam": [-1.4233921510456977, 3.329329944046404, 9.199517219152858], "dimensions": [0.5664062508679638, 1.9970092049084696, 0.64843751365174], "R_cam": [[0.38899707794189453, 0.05185520648956299, -0.9197784066200256], [0.3778422474861145, 0.9015934467315674, 0.21062883734703064], [0.8401883840560913, -0.429465115070343, 0.33112412691116333]], "bbox3D_cam": [[-1.3408058881759644, 2.2469305992126465, 9.262160301208496], [-1.0885655879974365, 2.4919376373291016, 9.80696964263916], [-0.9850102663040161, 4.292428016662598, 8.949323654174805], [-1.237250566482544, 4.047420978546143, 8.40451431274414], [-1.8617740869522095, 2.366231918334961, 9.449710845947266], [-1.6095337867736816, 2.611238956451416, 9.99452018737793], [-1.5059784650802612, 4.411729335784912, 9.136874198913574], [-1.758218765258789, 4.166722297668457, 8.59206485748291]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2710, "image_id": 373, "category_id": 45, "category_name": "person", "bbox2D_proj": [232.0, 358.0, 264.0, 454.0], "bbox2D_tight": [232.0, 358.0, 264.0, 454.0], "bbox2D_trunc": [232.0, 358.0, 264.0, 454.0], "center_cam": [-0.29422062240958113, 3.560741950580802, 10.966089001816004], "dimensions": [0.7031249927904831, 2.330810471306428, 1.1132812314415983], "R_cam": [[-0.8459513783454895, -0.02565300464630127, 0.5326426029205322], [-0.25169646739959717, 0.8997880816459656, -0.35641294717788696], [-0.47012245655059814, -0.4355722963809967, -0.7676336765289307]], "bbox3D_cam": [[0.01930934190750122, 2.7775299549102783, 12.005268096923828], [-0.9224726557731628, 2.497321128845215, 11.481889724731445], [-0.9822649359703064, 4.59455680847168, 10.466652870178223], [-0.040482938289642334, 4.874765872955322, 10.990031242370605], [0.39382368326187134, 2.5269269943237305, 11.46552562713623], [-0.5479583144187927, 2.246717929840088, 10.942147254943848], [-0.6077505946159363, 4.343953609466553, 9.926910400390625], [0.3340314030647278, 4.624162673950195, 10.450288772583008]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2711, "image_id": 373, "category_id": 45, "category_name": "person", "bbox2D_proj": [258.0, 368.0, 320.0, 512.0], "bbox2D_tight": [258.0, 368.0, 320.0, 512.0], "bbox2D_trunc": [258.0, 368.0, 320.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2712, "image_id": 373, "category_id": 45, "category_name": "person", "bbox2D_proj": [417.0, 356.0, 450.0, 433.0], "bbox2D_tight": [417.0, 356.0, 450.0, 433.0], "bbox2D_trunc": [417.0, 356.0, 450.0, 433.0], "center_cam": [5.148136971124725, 3.956637388139545, 12.822618229967992], "dimensions": [0.6640625022445414, 2.1171873979945115, 0.9199218704435383], "R_cam": [[0.8086940050125122, 0.023011088371276855, 0.5877794623374939], [-0.062128543853759766, 0.9969868659973145, 0.04644784703850746], [-0.5849395394325256, -0.0740799680352211, 0.8076869249343872]], "bbox3D_cam": [[4.5566487312316895, 2.9143881797790527, 12.901910781860352], [5.300583839416504, 2.857234477996826, 12.363812446594238], [5.349303245544434, 4.968042373657227, 12.206971168518066], [4.605367660522461, 5.025196075439453, 12.74506950378418], [4.9469709396362305, 2.945232391357422, 13.438265800476074], [5.690906524658203, 2.8880786895751953, 12.900167465209961], [5.739625453948975, 4.998886585235596, 12.743326187133789], [4.99569034576416, 5.056040287017822, 13.281424522399902]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2713, "image_id": 373, "category_id": 45, "category_name": "person", "bbox2D_proj": [393.0, 358.0, 412.0, 416.0], "bbox2D_tight": [393.0, 358.0, 412.0, 416.0], "bbox2D_trunc": [393.0, 358.0, 412.0, 416.0], "center_cam": [5.04595228780672, 4.459656793294086, 15.183554211027257], "dimensions": [0.5742187326716255, 1.8188475787817353, 0.5859374981368108], "R_cam": [[-0.010456115007400513, -0.05632948875427246, -0.9983574748039246], [0.29618334770202637, 0.953434944152832, -0.05689689517021179], [0.9550738334655762, -0.2962917685508728, 0.006714582443237305]], "bbox3D_cam": [[5.386880874633789, 3.5221433639526367, 15.17127513885498], [5.380753993988037, 3.695688247680664, 15.730888366699219], [5.278299331665039, 5.429841041564941, 15.191978454589844], [5.284426212310791, 5.256296157836914, 14.632365226745605], [4.813605308532715, 3.4894723892211914, 15.175130844116211], [4.807478427886963, 3.6630172729492188, 15.73474407196045], [4.705023765563965, 5.397170066833496, 15.195834159851074], [4.711150646209717, 5.223625183105469, 14.636220932006836]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2714, "image_id": 374, "category_id": 71, "category_name": "tray", "bbox2D_proj": [8.0, 159.0, 218.0, 193.0], "bbox2D_tight": [8.0, 159.0, 218.0, 193.0], "bbox2D_trunc": [8.0, 159.0, 218.0, 193.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2715, "image_id": 374, "category_id": 10, "category_name": "bowl", "bbox2D_proj": [4.0, 80.0, 111.0, 135.0], "bbox2D_tight": [4.0, 80.0, 111.0, 135.0], "bbox2D_trunc": [4.0, 80.0, 111.0, 135.0], "center_cam": [-0.30234987747365816, -0.22259229685664167, 0.6668610836870584], "dimensions": [0.04247196812646403, 0.07238083360799669, 0.14848152912470952], "R_cam": [[0.9952543377876282, -0.03208644315600395, -0.09186548739671707], [0.029457826167345047, 0.9991209506988525, -0.02982846088707447], [0.09274180978536606, 0.026980748400092125, 0.9953246116638184]], "bbox3D_cam": [[-0.37312623858451843, -0.26030442118644714, 0.6378626823425293], [-0.2253493368625641, -0.25593048334121704, 0.6516331434249878], [-0.2276718020439148, -0.18361328542232513, 0.6535860300064087], [-0.37544867396354675, -0.18798722326755524, 0.6398155689239502], [-0.3770279288291931, -0.26157131791114807, 0.6801360845565796], [-0.22925105690956116, -0.2571973502635956, 0.6939065456390381], [-0.23157349228858948, -0.18488015234470367, 0.695859432220459], [-0.3793503940105438, -0.18925410509109497, 0.6820889711380005]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2716, "image_id": 374, "category_id": 71, "category_name": "tray", "bbox2D_proj": [183.0, 140.0, 335.0, 172.0], "bbox2D_tight": [183.0, 140.0, 335.0, 172.0], "bbox2D_trunc": [183.0, 140.0, 335.0, 172.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2717, "image_id": 374, "category_id": 9, "category_name": "bottle", "bbox2D_proj": [135.0, 304.0, 164.0, 401.0], "bbox2D_tight": [135.0, 304.0, 164.0, 401.0], "bbox2D_trunc": [135.0, 304.0, 164.0, 401.0], "center_cam": [-0.14548511891077345, 0.13199786924465423, 0.6075146183034564], "dimensions": [0.04008953828900706, 0.13950310579787617, 0.054617184756993065], "R_cam": [[0.20564162731170654, -0.03208644315600395, 0.9781012535095215], [0.033016402274370193, 0.9991209506988525, 0.025834431871771812], [-0.9780702590942383, 0.026980748400092125, 0.2065201997756958]], "bbox3D_cam": [[-0.16846863925457, 0.06088815629482269, 0.6282027363777161], [-0.15723706781864166, 0.06269142031669617, 0.5747833251953125], [-0.16171322762966156, 0.2020718902349472, 0.5785471796989441], [-0.1729447990655899, 0.20026862621307373, 0.6319666504859924], [-0.12925700843334198, 0.06192384660243988, 0.6364820599555969], [-0.11802544444799423, 0.06372711062431335, 0.5830625891685486], [-0.12250159680843353, 0.2031075805425644, 0.586826503276825], [-0.13373316824436188, 0.20130431652069092, 0.6402459144592285]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2718, "image_id": 374, "category_id": 51, "category_name": "poster", "bbox2D_proj": [402.0, 219.0, 512.0, 334.0], "bbox2D_tight": [402.0, 219.0, 512.0, 334.0], "bbox2D_trunc": [402.0, 219.0, 512.0, 334.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2719, "image_id": 374, "category_id": 11, "category_name": "box", "bbox2D_proj": [324.0, 323.0, 490.0, 404.0], "bbox2D_tight": [324.0, 323.0, 490.0, 404.0], "bbox2D_trunc": [324.0, 323.0, 490.0, 404.0], "center_cam": [0.20668207043458492, 0.15928598585141465, 0.6392610962308983], "dimensions": [0.11171583317588354, 0.04006712929485857, 0.17655576847582366], "R_cam": [[-0.976407527923584, 0.009639956057071686, 0.2157207578420639], [0.10370926558971405, 0.8971770405769348, 0.42932236194610596], [-0.1894010603427887, 0.4415658712387085, -0.87701016664505]], "bbox3D_cam": [[0.28063443303108215, 0.10817605257034302, 0.6961228251457214], [0.10824403911828995, 0.12648651003837585, 0.6626829504966736], [0.10863029211759567, 0.16243383288383484, 0.6803752183914185], [0.2810206711292267, 0.1441233605146408, 0.7138150930404663], [0.30473384261131287, 0.15613815188407898, 0.598146915435791], [0.13234347105026245, 0.174448624253273, 0.5647070407867432], [0.13272970914840698, 0.2103959321975708, 0.582399308681488], [0.3051201105117798, 0.19208547472953796, 0.6158391833305359]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2720, "image_id": 375, "category_id": 74, "category_name": "trousers", "bbox2D_proj": [280.0, 315.0, 349.0, 386.0], "bbox2D_tight": [280.0, 315.0, 349.0, 386.0], "bbox2D_trunc": [280.0, 315.0, 349.0, 386.0], "center_cam": [0.49756280690165533, 0.8081548712804583, 3.8024573440822698], "dimensions": [0.16330863201769974, 0.6006525703374025, 0.5983687254745567], "R_cam": [[0.9802025556564331, -0.0011238582665100694, -0.197994202375412], [0.00032347801607102156, 0.9999916553497314, -0.004074740223586559], [0.19799712300300598, 0.003930023871362209, 0.9801946878433228]], "bbox3D_cam": [[0.22080612182617188, 0.5080670118331909, 3.6620023250579834], [0.8073286414146423, 0.5082606077194214, 3.780477523803711], [0.806653618812561, 1.1089081764221191, 3.7828381061553955], [0.22013109922409058, 1.1087145805358887, 3.664362907409668], [0.1884719729423523, 0.5074015855789185, 3.8220765590667725], [0.7749944925308228, 0.5075951814651489, 3.9405517578125], [0.7743194699287415, 1.1082427501678467, 3.9429123401641846], [0.187796950340271, 1.1080491542816162, 3.824437141418457]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2721, "image_id": 375, "category_id": 23, "category_name": "dress", "bbox2D_proj": [327.0, 249.0, 375.0, 360.0], "bbox2D_tight": [327.0, 249.0, 375.0, 360.0], "bbox2D_trunc": [327.0, 249.0, 375.0, 360.0], "center_cam": [1.078415857981057, 0.5487373193930735, 5.115700493710234], "dimensions": [0.3828125054218399, 1.2452392472986724, 0.527343774212826], "R_cam": [[0.9971433877944946, 0.010520100593566895, -0.07479525357484818], [-0.008947014808654785, 0.9997323751449585, 0.021334674209356308], [0.07499967515468597, -0.020604530349373817, 0.9969706535339355]], "bbox3D_cam": [[0.8232635259628296, -0.07544010877609253, 4.9179277420043945], [1.3491008281707764, -0.0801582932472229, 4.9574785232543945], [1.3622008562088013, 1.164747714996338, 4.931820869445801], [0.8363634347915649, 1.1694657802581787, 4.892270088195801], [0.7946308851242065, -0.06727296113967896, 5.2995805740356445], [1.3204683065414429, -0.07199114561080933, 5.3391313552856445], [1.3335682153701782, 1.172914743423462, 5.313473701477051], [0.8077309131622314, 1.1776330471038818, 5.273922920227051]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2722, "image_id": 375, "category_id": 74, "category_name": "trousers", "bbox2D_proj": [130.0, 294.0, 196.0, 376.0], "bbox2D_tight": [130.0, 294.0, 196.0, 376.0], "bbox2D_trunc": [130.0, 294.0, 196.0, 376.0], "center_cam": [-0.8196660346422594, 0.6754532074049014, 3.892564082164701], "dimensions": [0.21030750551262578, 0.6951030162348028, 0.5780213343758811], "R_cam": [[0.9283927083015442, -0.0011238583829253912, 0.37159886956214905], [0.0025037687737494707, 0.999991774559021, -0.0032309889793395996], [-0.37159213423728943, 0.003930024337023497, 0.9283878803253174]], "bbox3D_cam": [[-1.1266658306121826, 0.3275206983089447, 3.9009687900543213], [-0.590035080909729, 0.32896795868873596, 3.686180591583252], [-0.5908162593841553, 1.0240651369094849, 3.6889123916625977], [-1.1274470090866089, 1.0226179361343384, 3.903700590133667], [-1.048515796661377, 0.32684120535850525, 4.096215724945068], [-0.5118850469589233, 0.3282884657382965, 3.881427526473999], [-0.5126662254333496, 1.0233856439590454, 3.8841593265533447], [-1.0492969751358032, 1.021938443183899, 4.098947525024414]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2723, "image_id": 375, "category_id": 31, "category_name": "hat", "bbox2D_proj": [142.0, 188.0, 217.0, 234.0], "bbox2D_tight": [142.0, 188.0, 217.0, 234.0], "bbox2D_trunc": [142.0, 188.0, 217.0, 234.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2724, "image_id": 375, "category_id": 45, "category_name": "person", "bbox2D_proj": [354.0, 214.0, 384.0, 343.0], "bbox2D_tight": [354.0, 214.0, 384.0, 343.0], "bbox2D_trunc": [354.0, 214.0, 384.0, 343.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2725, "image_id": 375, "category_id": 31, "category_name": "hat", "bbox2D_proj": [277.0, 211.0, 328.0, 239.0], "bbox2D_tight": [277.0, 211.0, 328.0, 239.0], "bbox2D_trunc": [277.0, 211.0, 328.0, 239.0], "center_cam": [0.3740639928598286, -0.23872529021722366, 3.5503498779569105], "dimensions": [0.19409431975998892, 0.20287174015557186, 0.38788323046313505], "R_cam": [[0.998306930065155, -0.0011238583829253912, 0.058155205100774765], [0.0013504992239177227, 0.999991774559021, -0.0038580175023525953], [-0.058150384575128555, 0.003930024337023497, 0.9983001947402954]], "bbox3D_cam": [[0.1749209463596344, -0.34004783630371094, 3.4643468856811523], [0.5621474385261536, -0.33952397108078003, 3.441791296005249], [0.5619194507598877, -0.13665394484996796, 3.4425885677337646], [0.17469295859336853, -0.13717778027057648, 3.465144157409668], [0.1862085461616516, -0.34079664945602417, 3.658111333847046], [0.5734350681304932, -0.34027278423309326, 3.6355557441711426], [0.5732070207595825, -0.1374027580022812, 3.636353015899658], [0.18598055839538574, -0.1379265934228897, 3.6589086055755615]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2726, "image_id": 375, "category_id": 24, "category_name": "figure", "bbox2D_proj": [20.0, 194.0, 79.0, 389.0], "bbox2D_tight": [20.0, 194.0, 79.0, 389.0], "bbox2D_trunc": [20.0, 194.0, 79.0, 389.0], "center_cam": [-1.953286986405877, 0.3084830444201402, 4.034811262074404], "dimensions": [0.5195314251222585, 1.7304687397855645, 0.5351564158304396], "R_cam": [[0.26445668935775757, 0.05354273319244385, -0.9629101753234863], [0.1120678186416626, 0.9899872541427612, 0.08582697063684464], [0.9578640460968018, -0.13060881197452545, 0.2558082342147827]], "bbox3D_cam": [[-1.8202458620071411, -0.6003696918487549, 3.8250648975372314], [-1.6787201166152954, -0.5403958559036255, 4.337672233581543], [-1.5860661268234253, 1.172745943069458, 4.111657619476318], [-1.727591872215271, 1.1127721071243286, 3.599050521850586], [-2.320507764816284, -0.5557799339294434, 3.95796537399292], [-2.1789822578430176, -0.4958060681819916, 4.470572471618652], [-2.0863282680511475, 1.2173357009887695, 4.244557857513428], [-2.227853775024414, 1.1573618650436401, 3.7319509983062744]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2727, "image_id": 376, "category_id": 45, "category_name": "person", "bbox2D_proj": [185.0, 236.0, 215.0, 316.0], "bbox2D_tight": [185.0, 236.0, 215.0, 316.0], "bbox2D_trunc": [185.0, 236.0, 215.0, 316.0], "center_cam": [-1.03413607457394, 0.357233263563043, 8.049005918345943], "dimensions": [0.3124999987749643, 1.4232177384991669, 0.5224609498593012], "R_cam": [[-0.9951538443565369, 0.0981682538986206, 0.005648926831781864], [0.09829980134963989, 0.9946368336677551, 0.03216761350631714], [-0.002460792660713196, 0.032567013055086136, -0.9994665384292603]], "bbox3D_cam": [[-0.8449115753173828, -0.38126423954963684, 8.182640075683594], [-1.3648406267166138, -0.3299063742160797, 8.181354522705078], [-1.225125789642334, 1.0856784582138062, 8.227704048156738], [-0.7051967978477478, 1.034320592880249, 8.228989601135254], [-0.8431462645530701, -0.3712119162082672, 7.870306491851807], [-1.3630752563476562, -0.3198540508747101, 7.869020938873291], [-1.223360538482666, 1.0957307815551758, 7.915370941162109], [-0.7034314870834351, 1.0443729162216187, 7.916656494140625]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2728, "image_id": 376, "category_id": 45, "category_name": "person", "bbox2D_proj": [111.0, 245.0, 157.0, 336.0], "bbox2D_tight": [111.0, 245.0, 157.0, 336.0], "bbox2D_trunc": [111.0, 245.0, 157.0, 336.0], "center_cam": [-1.9421400271450153, 0.48829626440820995, 6.971828956183526], "dimensions": [0.37500000343749773, 1.4167480177862304, 0.5332031441940734], "R_cam": [[-0.978367269039154, 0.19229722023010254, -0.07628490775823593], [0.2022632360458374, 0.9665775895118713, -0.1575358659029007], [0.04344156011939049, -0.1695575714111328, -0.9845623970031738]], "bbox3D_cam": [[-1.8032206296920776, -0.22078782320022583, 7.264963150024414], [-2.3248891830444336, -0.11294037103652954, 7.288125991821289], [-2.052452564239502, 1.2564563751220703, 7.047905921936035], [-1.530784010887146, 1.148608922958374, 7.024742603302002], [-1.8318275213241577, -0.27986377477645874, 6.895751953125], [-2.3534960746765137, -0.17201632261276245, 6.918915271759033], [-2.081059217453003, 1.1973803043365479, 6.678694725036621], [-1.5593907833099365, 1.0895328521728516, 6.655531883239746]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2729, "image_id": 376, "category_id": 58, "category_name": "signboard", "bbox2D_proj": [11.0, 97.0, 67.0, 170.0], "bbox2D_tight": [11.0, 97.0, 67.0, 170.0], "bbox2D_trunc": [11.0, 97.0, 67.0, 170.0], "center_cam": [-2.3210621220265653, -1.3020740613492054, 4.7328325115949195], "dimensions": [0.03906249986664752, 0.7119140554724818, 0.5292968840295162], "R_cam": [[-0.6253302097320557, -0.0975642204284668, 0.7742373943328857], [0.32088416814804077, 0.8722445964813232, 0.3690837621688843], [-0.7113336324691772, 0.47923973202705383, -0.5141340494155884]], "bbox3D_cam": [[-2.13596248626709, -1.7046858072280884, 4.760538578033447], [-2.4669477939605713, -1.534842848777771, 4.384032249450684], [-2.536405086517334, -0.9138796329498291, 4.725209712982178], [-2.2054200172424316, -1.0837225914001465, 5.101716041564941], [-2.1057190895080566, -1.6902685165405273, 4.740455150604248], [-2.436704158782959, -1.52042555809021, 4.363948822021484], [-2.506161689758301, -0.8994623422622681, 4.7051262855529785], [-2.1751763820648193, -1.0693053007125854, 5.081632614135742]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2730, "image_id": 376, "category_id": 13, "category_name": "building", "bbox2D_proj": [73.0, 105.0, 418.0, 293.0], "bbox2D_tight": [73.0, 105.0, 418.0, 293.0], "bbox2D_trunc": [73.0, 105.0, 418.0, 293.0], "center_cam": [-0.8855270962974158, -2.3076847755316683, 20.922548187144084], "dimensions": [5.375000064214968, 7.058105366085871, 16.371093999778463], "R_cam": [[-0.9090467691421509, 0.11397439241409302, -0.4008040130138397], [0.11063405871391296, 0.9933602809906006, 0.03155183047056198], [0.40173885226249695, -0.01566048339009285, -0.9156203269958496]], "bbox3D_cam": [[7.230456829071045, -6.803701400756836, 20.15009307861328], [-7.651632785797119, -4.992500305175781, 26.72699737548828], [-6.847189426422119, 2.0187408924102783, 26.61646270751953], [8.034900665283203, 0.20754027366638184, 20.03955841064453], [5.076135158538818, -6.634110450744629, 15.228632926940918], [-9.805953979492188, -4.822909355163574, 21.805538177490234], [-9.001510620117188, 2.1883318424224854, 21.695003509521484], [5.880578517913818, 0.37713122367858887, 15.118099212646484]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2731, "image_id": 376, "category_id": 45, "category_name": "person", "bbox2D_proj": [425.0, 195.0, 476.0, 296.0], "bbox2D_tight": [425.0, 195.0, 476.0, 296.0], "bbox2D_trunc": [425.0, 195.0, 476.0, 296.0], "center_cam": [2.8906658466006276, -0.17060307018245371, 6.48191092694058], "dimensions": [0.570312510626841, 1.5183105118002451, 0.746093741835588], "R_cam": [[0.26321953535079956, 0.11162632703781128, 0.9582562446594238], [-0.010734915733337402, 0.9935608506202698, -0.11279016733169556], [-0.9646762013435364, 0.01940178871154785, 0.2627229690551758]], "bbox3D_cam": [[2.4344780445098877, -0.8887026309967041, 6.752134323120117], [2.6308646202087402, -0.8967118263244629, 6.032395362854004], [2.8003480434417725, 0.6118221282958984, 6.061852931976318], [2.60396146774292, 0.6198313236236572, 6.781591892242432], [2.9809834957122803, -0.9530283212661743, 6.901968479156494], [3.177370071411133, -0.9610375165939331, 6.182229518890381], [3.346853494644165, 0.5474964380264282, 6.211687088012695], [3.1504669189453125, 0.555505633354187, 6.931426048278809]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2732, "image_id": 376, "category_id": 45, "category_name": "person", "bbox2D_proj": [49.0, 246.0, 93.0, 345.0], "bbox2D_tight": [49.0, 246.0, 93.0, 345.0], "bbox2D_trunc": [49.0, 246.0, 93.0, 345.0], "center_cam": [-2.7637150800375925, 0.5783733401061628, 6.602552371561337], "dimensions": [0.42578128393543513, 1.416992158677476, 0.4638672347592551], "R_cam": [[-0.823697566986084, 0.18103861808776855, 0.5373522043228149], [0.15190410614013672, 0.983475923538208, -0.09849029779434204], [-0.5463035106658936, 0.0004998147487640381, -0.8375871181488037]], "bbox3D_cam": [[-2.8153343200683594, -0.1326795220375061, 6.907218933105469], [-3.197420597076416, -0.062216103076934814, 6.653806686401367], [-2.940890312194824, 1.3313615322113037, 6.654514789581299], [-2.5588040351867676, 1.2608981132507324, 6.9079270362854], [-2.5865397453308105, -0.17461484670639038, 6.5505900382995605], [-2.968626022338867, -0.10415142774581909, 6.297177791595459], [-2.7120957374572754, 1.2894260883331299, 6.297885894775391], [-2.3300094604492188, 1.2189626693725586, 6.551298141479492]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2733, "image_id": 376, "category_id": 58, "category_name": "signboard", "bbox2D_proj": [44.0, 201.0, 71.0, 243.0], "bbox2D_tight": [44.0, 201.0, 71.0, 243.0], "bbox2D_trunc": [44.0, 201.0, 71.0, 243.0], "center_cam": [-4.580136037942904, -0.776431704783918, 10.246588954688985], "dimensions": [0.062499998996782775, 0.9384765383307059, 0.5136718822089955], "R_cam": [[0.9795858860015869, -0.03803551197052002, -0.19739514589309692], [-0.015127301216125488, 0.9652060270309448, -0.2610528767108917], [0.20045624673366547, 0.25870975852012634, 0.9449268579483032]], "bbox3D_cam": [[-4.807712554931641, -1.2173001766204834, 10.04417896270752], [-4.3045268058776855, -1.225070595741272, 10.147147178649902], [-4.340221881866455, -0.31924742460250854, 10.38994026184082], [-4.84340763092041, -0.3114769458770752, 10.286972045898438], [-4.82004976272583, -1.2336158752441406, 10.10323715209961], [-4.316864013671875, -1.2413864135742188, 10.206205368041992], [-4.3525590896606445, -0.3355632424354553, 10.44899845123291], [-4.8557448387146, -0.327792763710022, 10.346030235290527]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2734, "image_id": 376, "category_id": 58, "category_name": "signboard", "bbox2D_proj": [423.0, 96.0, 481.0, 163.0], "bbox2D_tight": [423.0, 96.0, 481.0, 163.0], "bbox2D_trunc": [423.0, 96.0, 481.0, 163.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2735, "image_id": 376, "category_id": 58, "category_name": "signboard", "bbox2D_proj": [492.0, 17.0, 512.0, 67.0], "bbox2D_tight": [492.0, 17.0, 512.0, 67.0], "bbox2D_trunc": [492.0, 17.0, 512.0, 67.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2736, "image_id": 376, "category_id": 45, "category_name": "person", "bbox2D_proj": [413.0, 210.0, 429.0, 280.0], "bbox2D_tight": [413.0, 210.0, 429.0, 280.0], "bbox2D_trunc": [413.0, 210.0, 429.0, 280.0], "center_cam": [3.618764572304285, -0.2500582891789453, 9.453227174373206], "dimensions": [0.41497807532939324, 1.4655761345646612, 0.4609375479273656], "R_cam": [[0.33179402351379395, 0.06474447250366211, -0.9411274194717407], [-0.10425949096679688, 0.9940470457077026, 0.031628429889678955], [0.937572717666626, 0.08762744069099426, 0.3365691900253296]], "bbox3D_cam": [[3.6901261806488037, -0.9610181450843811, 9.10309886932373], [3.843062400817871, -1.0090751647949219, 9.535261154174805], [3.937950372695923, 0.4477764964103699, 9.66368579864502], [3.7850141525268555, 0.4958335757255554, 9.231523513793945], [3.299578905105591, -0.9478930830955505, 9.242768287658691], [3.452515125274658, -0.9959501624107361, 9.674930572509766], [3.54740309715271, 0.46090155839920044, 9.80335521697998], [3.3944668769836426, 0.508958637714386, 9.371192932128906]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2737, "image_id": 376, "category_id": 45, "category_name": "person", "bbox2D_proj": [426.0, 254.0, 439.0, 281.0], "bbox2D_tight": [426.0, 254.0, 439.0, 281.0], "bbox2D_trunc": [426.0, 254.0, 439.0, 281.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2738, "image_id": 377, "category_id": 45, "category_name": "person", "bbox2D_proj": [405.0, 221.0, 429.0, 261.0], "bbox2D_tight": [405.0, 221.0, 429.0, 261.0], "bbox2D_trunc": [405.0, 221.0, 429.0, 261.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2739, "image_id": 377, "category_id": 45, "category_name": "person", "bbox2D_proj": [267.0, 210.0, 286.0, 244.0], "bbox2D_tight": [267.0, 210.0, 286.0, 244.0], "bbox2D_trunc": [267.0, 210.0, 286.0, 244.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2740, "image_id": 377, "category_id": 45, "category_name": "person", "bbox2D_proj": [148.0, 136.0, 238.0, 236.0], "bbox2D_tight": [148.0, 136.0, 238.0, 236.0], "bbox2D_trunc": [148.0, 136.0, 238.0, 236.0], "center_cam": [-0.5893384259932652, -0.3821115772124112, 3.9773589841480272], "dimensions": [0.7246095269139787, 1.2280274090814505, 0.7700196900085075], "R_cam": [[0.9603868722915649, -0.08996343612670898, -0.2637493312358856], [-0.04022216796875, 0.8917956352233887, -0.4506469666957855], [0.2757522165775299, 0.4434039890766144, 0.8528501987457275]], "bbox3D_cam": [[-0.8083003759384155, -0.7509288787841797, 3.2899436950683594], [-0.06878364086151123, -0.7819007635116577, 3.5022785663604736], [-0.17926117777824402, 0.31324878334999084, 4.046791076660156], [-0.9187779426574707, 0.34422066807746887, 3.834456205368042], [-0.9994156360626221, -1.0774719715118408, 3.9079272747039795], [-0.2598988711833954, -1.1084438562393188, 4.120262145996094], [-0.37037643790245056, -0.013294309377670288, 4.664774417877197], [-1.1098932027816772, 0.01767757534980774, 4.452439785003662]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2741, "image_id": 377, "category_id": 45, "category_name": "person", "bbox2D_proj": [428.0, 185.0, 464.0, 299.0], "bbox2D_tight": [428.0, 185.0, 464.0, 299.0], "bbox2D_trunc": [428.0, 185.0, 464.0, 299.0], "center_cam": [3.063544789461799, -0.21562021159824404, 7.318801097160292], "dimensions": [0.531250056296333, 1.7749023762311182, 0.6132813043975671], "R_cam": [[-0.10828900337219238, -0.02947688102722168, -0.993682324886322], [-0.10869836807250977, 0.9939182996749878, -0.017638176679611206], [0.9881589412689209, 0.10610157251358032, -0.11083447933197021]], "bbox3D_cam": [[3.3868567943573, -1.0596576929092407, 6.951071739196777], [3.3204450607299805, -1.1263203620910645, 7.557091236114502], [3.2681264877319336, 0.6377875804901123, 7.745410919189453], [3.334538221359253, 0.704450249671936, 7.1393914222717285], [2.8589630126953125, -1.0690280199050903, 6.892190933227539], [2.792551279067993, -1.135690689086914, 7.498210430145264], [2.7402327060699463, 0.6284172534942627, 7.686530113220215], [2.8066444396972656, 0.6950799226760864, 7.08051061630249]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2742, "image_id": 378, "category_id": 45, "category_name": "person", "bbox2D_proj": [158.0, 236.0, 198.0, 366.0], "bbox2D_tight": [158.0, 236.0, 198.0, 366.0], "bbox2D_trunc": [158.0, 236.0, 198.0, 366.0], "center_cam": [-1.0100365140760212, 0.5460537939440566, 6.005446727485146], "dimensions": [0.5097656629008818, 1.678466724903894, 0.7539063034219453], "R_cam": [[-0.6269868612289429, -0.0353926420211792, -0.7782255411148071], [-0.0205843448638916, 0.999371349811554, -0.0288662351667881], [0.7787579298019409, -0.002079546684399247, -0.6273213624954224]], "bbox3D_cam": [[-0.5456326603889465, -0.2775351405143738, 5.873530387878418], [-1.0183221101760864, -0.2930538058280945, 6.460640907287598], [-1.0777275562286377, 1.3843576908111572, 6.457150459289551], [-0.6050381660461426, 1.399876356124878, 5.870039939880371], [-0.9423453211784363, -0.2922500967979431, 5.553743362426758], [-1.4150347709655762, -0.3077687621116638, 6.1408538818359375], [-1.474440336227417, 1.369642734527588, 6.137363433837891], [-1.0017508268356323, 1.3851613998413086, 5.550252914428711]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2743, "image_id": 378, "category_id": 13, "category_name": "building", "bbox2D_proj": [177.0, 146.0, 206.0, 239.0], "bbox2D_tight": [177.0, 146.0, 206.0, 239.0], "bbox2D_trunc": [177.0, 146.0, 206.0, 239.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2744, "image_id": 378, "category_id": 26, "category_name": "flag", "bbox2D_proj": [153.0, 47.0, 195.0, 111.0], "bbox2D_tight": [153.0, 47.0, 195.0, 111.0], "bbox2D_trunc": [153.0, 47.0, 195.0, 111.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2745, "image_id": 378, "category_id": 13, "category_name": "building", "bbox2D_proj": [0.0, 0.0, 100.0, 239.0], "bbox2D_tight": [0.0, 0.0, 100.0, 239.0], "bbox2D_trunc": [0.0, 0.0, 100.0, 239.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2746, "image_id": 378, "category_id": 45, "category_name": "person", "bbox2D_proj": [75.0, 242.0, 102.0, 334.0], "bbox2D_tight": [75.0, 242.0, 102.0, 334.0], "bbox2D_trunc": [75.0, 242.0, 102.0, 334.0], "center_cam": [-2.6104349103216764, 0.4637152142636364, 6.921395160969984], "dimensions": [0.386718777707275, 1.3818358842347855, 0.632812536591012], "R_cam": [[-0.4539394974708557, -0.08414703607559204, -0.8870503306388855], [-0.02238011360168457, 0.9962934851646423, -0.0830572247505188], [0.8907514214515686, -0.017850637435913086, -0.45414018630981445]], "bbox3D_cam": [[-2.237147331237793, -0.20150074362754822, 6.739701747894287], [-2.5244061946868896, -0.21566316485404968, 7.303380489349365], [-2.640683650970459, 1.1610509157180786, 7.278713703155518], [-2.3534247875213623, 1.17521333694458, 6.7150349617004395], [-2.580186367034912, -0.23362049460411072, 6.564076900482178], [-2.867445230484009, -0.24778291583061218, 7.127755641937256], [-2.983722686767578, 1.1289311647415161, 7.103088855743408], [-2.6964638233184814, 1.1430935859680176, 6.53941011428833]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2747, "image_id": 378, "category_id": 13, "category_name": "building", "bbox2D_proj": [98.0, 94.0, 179.0, 197.0], "bbox2D_tight": [98.0, 94.0, 179.0, 197.0], "bbox2D_trunc": [98.0, 94.0, 179.0, 197.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2748, "image_id": 378, "category_id": 45, "category_name": "person", "bbox2D_proj": [97.0, 241.0, 128.0, 338.0], "bbox2D_tight": [97.0, 241.0, 128.0, 338.0], "bbox2D_trunc": [97.0, 241.0, 128.0, 338.0], "center_cam": [-2.150748431297762, 0.47040312187124933, 6.773260621684755], "dimensions": [0.42578132745065966, 1.4760741629708696, 0.4628907097644431], "R_cam": [[-0.6647109985351562, -0.06452882289886475, 0.7443087100982666], [-0.11575829982757568, 0.9931271076202393, -0.017278432846069336], [-0.7380781769752502, -0.09764507412910461, -0.6676121950149536]], "bbox3D_cam": [[-2.1077358722686768, -0.23209136724472046, 7.1582794189453125], [-2.415424346923828, -0.2856747508049011, 6.816629886627197], [-2.510673761367798, 1.1802544593811035, 6.67249870300293], [-2.2029852867126465, 1.2338378429412842, 7.014148235321045], [-1.790823221206665, -0.23944824934005737, 6.874022483825684], [-2.0985116958618164, -0.29303163290023804, 6.532372951507568], [-2.193761110305786, 1.1728975772857666, 6.388241767883301], [-1.8860725164413452, 1.2264809608459473, 6.729891300201416]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2749, "image_id": 378, "category_id": 67, "category_name": "sweatshirt", "bbox2D_proj": [34.0, 248.0, 75.0, 293.0], "bbox2D_tight": [34.0, 248.0, 75.0, 293.0], "bbox2D_trunc": [34.0, 248.0, 75.0, 293.0], "center_cam": [-2.899734248625486, 0.19777623863435062, 6.446856418952394], "dimensions": [0.34375001342112277, 0.6609191641757812, 0.5488281620750349], "R_cam": [[0.9939773678779602, -0.02325272560119629, -0.1070912554860115], [0.02262192964553833, 0.999718964099884, -0.007100426591932774], [0.10722625255584717, 0.004635043907910585, 0.9942240715026855]], "bbox3D_cam": [[-3.1464052200317383, -0.1375778764486313, 6.245018005371094], [-2.6008825302124023, -0.1251622885465622, 6.303866863250732], [-2.61625075340271, 0.5355710983276367, 6.3069305419921875], [-3.161773443222046, 0.5231555104255676, 6.248081684112549], [-3.183217763900757, -0.14001862704753876, 6.586782455444336], [-2.637695074081421, -0.12760303914546967, 6.645631313323975], [-2.6530632972717285, 0.5331303477287292, 6.64869499206543], [-3.1985859870910645, 0.5207147598266602, 6.589846134185791]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2750, "image_id": 378, "category_id": 45, "category_name": "person", "bbox2D_proj": [260.0, 248.0, 296.0, 345.0], "bbox2D_tight": [260.0, 248.0, 296.0, 345.0], "bbox2D_trunc": [260.0, 248.0, 296.0, 345.0], "center_cam": [0.328276409222885, 0.5810141092803847, 6.687571781056421], "dimensions": [0.5273438085796813, 1.4455565949871485, 0.5859375568240824], "R_cam": [[-0.21986538171768188, -0.02090585231781006, -0.9753062725067139], [0.13107633590698242, 0.9900714159011841, -0.05077127367258072], [0.9666842222213745, -0.1390024572610855, -0.21494221687316895]], "bbox3D_cam": [[0.6649613380432129, -0.1596023440361023, 6.5615057945251465], [0.536133885383606, -0.08279973268508911, 7.127922534942627], [0.505913257598877, 1.3484044075012207, 6.9269866943359375], [0.6347406506538391, 1.271601915359497, 6.360569953918457], [0.15063956379890442, -0.18637627363204956, 6.44815731048584], [0.021812140941619873, -0.10957366228103638, 7.01457405090332], [-0.008408516645431519, 1.3216304779052734, 6.813638210296631], [0.12041890621185303, 1.2448279857635498, 6.24722146987915]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2751, "image_id": 378, "category_id": 45, "category_name": "person", "bbox2D_proj": [124.0, 245.0, 148.0, 335.0], "bbox2D_tight": [124.0, 245.0, 148.0, 335.0], "bbox2D_trunc": [124.0, 245.0, 148.0, 335.0], "center_cam": [-1.7926321037545945, 0.5039081152454696, 6.667187317523996], "dimensions": [0.40478519673694907, 1.317626894202499, 0.4726562897325637], "R_cam": [[-0.3278053104877472, -0.004073143005371094, -0.9447365403175354], [0.01347661018371582, 0.9998688697814941, -0.008986979722976685], [0.9446492195129395, -0.01567786931991577, -0.3277074098587036]], "bbox3D_cam": [[-1.5212713479995728, -0.15618497133255005, 6.520594120025635], [-1.6762105226516724, -0.1498151421546936, 6.96708869934082], [-1.681577444076538, 1.1676390171051025, 6.9464311599731445], [-1.5266382694244385, 1.161269187927246, 6.499936580657959], [-1.903686761856079, -0.1598227620124817, 6.387943267822266], [-2.0586259365081787, -0.15345293283462524, 6.834437847137451], [-2.063992977142334, 1.164001226425171, 6.813780307769775], [-1.9090536832809448, 1.1576313972473145, 6.36728572845459]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2752, "image_id": 378, "category_id": 45, "category_name": "person", "bbox2D_proj": [191.0, 242.0, 236.0, 364.0], "bbox2D_tight": [191.0, 242.0, 236.0, 364.0], "bbox2D_trunc": [191.0, 242.0, 236.0, 364.0], "center_cam": [-0.5435257152357797, 0.580282626322848, 5.662631158981618], "dimensions": [0.5546875664388489, 1.4301757263555208, 0.6142578948148266], "R_cam": [[0.9331187009811401, -0.014484405517578125, -0.3592766523361206], [0.038951754570007324, 0.9973801374435425, 0.060956209897994995], [0.3574524521827698, -0.07087384164333344, 0.9312381744384766]], "bbox3D_cam": [[-0.720112681388855, -0.16180086135864258, 5.345254898071289], [-0.14693719148635864, -0.13787448406219482, 5.564823150634766], [-0.167652428150177, 1.2885544300079346, 5.463460922241211], [-0.7408279180526733, 1.2646280527114868, 5.243892669677734], [-0.9193989634513855, -0.12798917293548584, 5.8618011474609375], [-0.34622347354888916, -0.10406279563903809, 6.081369400024414], [-0.3669387102127075, 1.3223661184310913, 5.980007171630859], [-0.9401142001152039, 1.2984397411346436, 5.760438919067383]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2753, "image_id": 379, "category_id": 62, "category_name": "statue", "bbox2D_proj": [0.0, 0.0, 512.0, 240.0], "bbox2D_tight": [0.0, 0.0, 512.0, 240.0], "bbox2D_trunc": [0.0, 0.0, 512.0, 240.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2754, "image_id": 379, "category_id": 13, "category_name": "building", "bbox2D_proj": [465.0, 237.0, 492.0, 288.0], "bbox2D_tight": [465.0, 237.0, 492.0, 288.0], "bbox2D_trunc": [465.0, 237.0, 492.0, 288.0], "center_cam": [3.5580075842119716, 0.14486686972868948, 7.100617591815162], "dimensions": [0.398437549265922, 0.5438833394259945, 0.40820316747262764], "R_cam": [[0.9921709895133972, 0.016121208667755127, 0.12384218722581863], [-0.014770030975341797, 0.9998210072517395, -0.01182105764746666], [-0.1240105926990509, 0.009899355471134186, 0.9922316074371338]], "bbox3D_cam": [[3.3264482021331787, -0.12165655195713043, 6.925564765930176], [3.7314553260803223, -0.12768574059009552, 6.874943256378174], [3.7402234077453613, 0.41610026359558105, 6.8803277015686035], [3.3352160453796387, 0.42212945222854614, 6.9309492111206055], [3.375791549682617, -0.1263665109872818, 7.320907115936279], [3.78079891204834, -0.1323956996202469, 7.270285606384277], [3.7895667552948, 0.4113903045654297, 7.275670051574707], [3.3845596313476562, 0.4174194931983948, 7.326291561126709]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2755, "image_id": 379, "category_id": 39, "category_name": "monument", "bbox2D_proj": [54.0, 48.0, 328.0, 349.0], "bbox2D_tight": [54.0, 48.0, 328.0, 349.0], "bbox2D_trunc": [54.0, 48.0, 328.0, 349.0], "center_cam": [-0.7609918431093214, -0.6299280326796467, 6.489846712416158], "dimensions": [2.7958985639485685, 3.5263673393158372, 3.683594015930419], "R_cam": [[-0.3709406852722168, -0.010329941287636757, 0.9285991787910461], [0.038625217974185944, 0.9989013671875, 0.026541326195001602], [-0.9278530478477478, 0.04571260139346123, -0.37013399600982666]], "bbox3D_cam": [[-1.357715368270874, -2.499417781829834, 8.635592460632324], [-2.7241103649139404, -2.357138156890869, 5.217759132385254], [-2.7605373859405518, 1.1653547286987305, 5.378958225250244], [-1.3941426277160645, 1.0230751037597656, 8.796792030334473], [1.238553762435913, -2.425210952758789, 7.600735187530518], [-0.12784117460250854, -2.282931327819824, 4.182901382446289], [-0.16426831483840942, 1.2395615577697754, 4.3441009521484375], [1.2021265029907227, 1.0972819328308105, 7.761934280395508]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2756, "image_id": 379, "category_id": 45, "category_name": "person", "bbox2D_proj": [345.0, 322.0, 370.0, 356.0], "bbox2D_tight": [345.0, 322.0, 370.0, 356.0], "bbox2D_trunc": [345.0, 322.0, 370.0, 356.0], "center_cam": [0.9994637156064876, 0.8243504256721754, 4.400157397195898], "dimensions": [0.1762999110308705, 0.3325915383832576, 0.25156100240628165], "R_cam": [[0.9141244888305664, 0.009796267375349998, 0.4053152799606323], [0.05797705054283142, 0.9862751960754395, -0.15459585189819336], [-0.401266872882843, 0.16481882333755493, 0.901010274887085]], "bbox3D_cam": [[0.8471270799636841, 0.6666722297668457, 4.343796253204346], [1.0770851373672485, 0.6812570095062256, 4.242853164672852], [1.0803433656692505, 1.0092837810516357, 4.297670364379883], [0.8503852486610413, 0.9946990013122559, 4.398613452911377], [0.9185841679573059, 0.6394170522689819, 4.5026445388793945], [1.1485421657562256, 0.6540018320083618, 4.4017014503479], [1.1518003940582275, 0.982028603553772, 4.456518650054932], [0.9218422770500183, 0.9674438238143921, 4.557461738586426]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2757, "image_id": 379, "category_id": 45, "category_name": "person", "bbox2D_proj": [376.0, 322.0, 397.0, 358.0], "bbox2D_tight": [376.0, 322.0, 397.0, 358.0], "bbox2D_trunc": [376.0, 322.0, 397.0, 358.0], "center_cam": [1.3130534414122157, 0.9639839807208321, 4.452930045102709], "dimensions": [0.1796875280677056, 0.5634765783750095, 0.19433596644047488], "R_cam": [[0.8068938255310059, 0.05507457256317139, 0.588123619556427], [-0.0009806156158447266, 0.9957675933837891, -0.09190302342176437], [-0.590695858001709, 0.07357928901910782, 0.8035327196121216]], "bbox3D_cam": [[1.1662933826446533, 0.6917903423309326, 4.4174041748046875], [1.3231018781661987, 0.6915997266769409, 4.302610874176025], [1.3541351556777954, 1.252691388130188, 4.344070911407471], [1.19732666015625, 1.2528820037841797, 4.458864212036133], [1.2719718217849731, 0.675276517868042, 4.561789035797119], [1.4287803173065186, 0.6750859022140503, 4.446995735168457], [1.4598135948181152, 1.2361775636672974, 4.488455772399902], [1.3030050992965698, 1.236368179321289, 4.6032490730285645]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2758, "image_id": 379, "category_id": 45, "category_name": "person", "bbox2D_proj": [115.0, 294.0, 133.0, 326.0], "bbox2D_tight": [115.0, 294.0, 133.0, 326.0], "bbox2D_trunc": [115.0, 294.0, 133.0, 326.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2759, "image_id": 379, "category_id": 13, "category_name": "building", "bbox2D_proj": [331.0, 223.0, 404.0, 294.0], "bbox2D_tight": [331.0, 223.0, 404.0, 294.0], "bbox2D_trunc": [331.0, 223.0, 404.0, 294.0], "center_cam": [2.0653437321282704, -0.02473614754087336, 7.7070912925930175], "dimensions": [0.9296877210202691, 1.1757812940226016, 0.9726564919746155], "R_cam": [[0.5628097057342529, 0.05366194248199463, -0.8248428106307983], [-0.16541194915771484, 0.9850174188613892, -0.04878199100494385], [0.809866726398468, 0.16389381885528564, 0.56325364112854]], "bbox3D_cam": [[2.1435091495513916, -0.5006981492042542, 6.955053806304932], [2.690929651260376, -0.6615871787071228, 7.742775917053223], [2.7540242671966553, 0.4965778887271881, 7.935479164123535], [2.206603765487671, 0.6574668288230896, 7.147757053375244], [1.3766629695892334, -0.5460501909255981, 7.478703498840332], [1.9240834712982178, -0.706939160823822, 8.266426086425781], [1.987178087234497, 0.4512258470058441, 8.459129333496094], [1.4397575855255127, 0.6121148467063904, 7.6714067459106445]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2760, "image_id": 379, "category_id": 13, "category_name": "building", "bbox2D_proj": [422.0, 240.0, 474.0, 292.0], "bbox2D_tight": [422.0, 240.0, 474.0, 292.0], "bbox2D_trunc": [422.0, 240.0, 474.0, 292.0], "center_cam": [3.19748847930888, 0.17352853933469653, 7.394695291626862], "dimensions": [0.511718775582201, 0.8271484614861798, 0.7998047148360821], "R_cam": [[0.9265193939208984, 0.035819411277770996, 0.3745383322238922], [-0.01689291000366211, 0.9984145164489746, -0.053695790469646454], [-0.3758678436279297, 0.04342317953705788, 0.9256554841995239]], "bbox3D_cam": [[2.7163281440734863, -0.21889586746692657, 7.2902092933654785], [3.457362651824951, -0.2324068695306778, 6.989588737487793], [3.4869906902313232, 0.5934301018714905, 7.025506019592285], [2.7459561824798584, 0.6069411039352417, 7.326126575469971], [2.9079864025115967, -0.2463730126619339, 7.763884544372559], [3.6490209102630615, -0.2598839998245239, 7.463263988494873], [3.6786489486694336, 0.5659529566764832, 7.499181270599365], [2.9376144409179688, 0.5794639587402344, 7.799801826477051]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2761, "image_id": 379, "category_id": 45, "category_name": "person", "bbox2D_proj": [140.0, 292.0, 162.0, 343.0], "bbox2D_tight": [140.0, 292.0, 162.0, 343.0], "bbox2D_trunc": [140.0, 292.0, 162.0, 343.0], "center_cam": [-1.0315965704506886, 0.6702661102526482, 4.305145912447531], "dimensions": [0.20800792929854078, 0.6337890813727143, 0.21093762133985006], "R_cam": [[-0.37866291403770447, -0.03773927688598633, -0.9247650504112244], [-0.19424569606781006, 0.9801559448242188, 0.03953773155808449], [0.9049217104911804, 0.1946030557155609, -0.37847936153411865]], "bbox3D_cam": [[-0.8835208415985107, 0.37603482604026794, 4.187399387359619], [-0.9633950591087341, 0.33506110310554504, 4.378281593322754], [-0.9873138666152954, 0.9562731981277466, 4.5016188621521], [-0.9074395895004272, 0.9972468614578247, 4.310736656188965], [-1.0758792161941528, 0.38425901532173157, 4.108672618865967], [-1.155753493309021, 0.34328529238700867, 4.299554824829102], [-1.1796722412109375, 0.9644973278045654, 4.422892093658447], [-1.0997980833053589, 1.005471110343933, 4.2320098876953125]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2762, "image_id": 379, "category_id": 45, "category_name": "person", "bbox2D_proj": [299.0, 341.0, 317.0, 353.0], "bbox2D_tight": [299.0, 341.0, 317.0, 353.0], "bbox2D_trunc": [299.0, 341.0, 317.0, 353.0], "center_cam": [0.5810712869017872, 1.028093607609398, 5.006844993830574], "dimensions": [0.09963416373762524, 0.12678245085865947, 0.19360638938606095], "R_cam": [[-0.9982792139053345, 0.009796268306672573, -0.057815127074718475], [0.0001161796972155571, 0.9862751960754395, 0.16510967910289764], [0.05863908678293228, 0.16481883823871613, -0.9845792055130005]], "bbox3D_cam": [[0.6799670457839966, 0.9573358297348022, 5.039769172668457], [0.4866938292980194, 0.9573583602905273, 5.051122188568115], [0.4879358112812042, 1.0824006795883179, 5.072018146514893], [0.6812090277671814, 1.0823782682418823, 5.060665607452393], [0.6742066740989685, 0.9737864136695862, 4.941671848297119], [0.48093345761299133, 0.9738088846206665, 4.953024387359619], [0.48217546939849854, 1.0988513231277466, 4.973920822143555], [0.6754487156867981, 1.0988287925720215, 4.9625678062438965]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2763, "image_id": 380, "category_id": 45, "category_name": "person", "bbox2D_proj": [458.0, 251.0, 505.0, 358.0], "bbox2D_tight": [458.0, 251.0, 505.0, 358.0], "bbox2D_trunc": [458.0, 251.0, 505.0, 358.0], "center_cam": [2.055418213707138, 0.43801751852559134, 4.033918109374543], "dimensions": [0.3834198690825662, 0.9612177597382328, 0.6374666037903545], "R_cam": [[-0.4188486337661743, -0.002855837345123291, 0.9080515503883362], [0.17249257862567902, 0.9815371036529541, 0.0826510339975357], [-0.8915223479270935, 0.19125042855739594, -0.41062289476394653]], "bbox3D_cam": [[2.016209363937378, -0.10454204678535461, 4.304879665374756], [1.7492072582244873, 0.005416154861450195, 3.7365639209747314], [1.7464622259140015, 0.9488871097564697, 3.9203972816467285], [2.0134642124176025, 0.8389288187026978, 4.488712787628174], [2.3643743991851807, -0.07285204529762268, 4.1474385261535645], [2.09737229347229, 0.037106215953826904, 3.57912278175354], [2.0946271419525146, 0.9805771112442017, 3.762956142425537], [2.3616292476654053, 0.8706188797950745, 4.331272125244141]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2764, "image_id": 380, "category_id": 45, "category_name": "person", "bbox2D_proj": [233.0, 242.0, 269.0, 341.0], "bbox2D_tight": [233.0, 242.0, 269.0, 341.0], "bbox2D_trunc": [233.0, 242.0, 269.0, 341.0], "center_cam": [-0.06780700693445976, 0.362352747216677, 4.417657237227928], "dimensions": [0.32226563148802667, 1.0075684042539823, 0.37988282407793794], "R_cam": [[0.9066421985626221, -0.022997677326202393, 0.4212731122970581], [-0.013380050659179688, 0.9964436292648315, 0.0831926167011261], [-0.42168816924095154, -0.08106260001659393, 0.903110146522522]], "bbox3D_cam": [[-0.2963109612464905, -0.15050342679023743, 4.393070697784424], [0.04810681939125061, -0.15558627247810364, 4.232878684997559], [0.024935096502304077, 0.8483988046646118, 4.15120267868042], [-0.319482684135437, 0.853481650352478, 4.311394691467285], [-0.1605491042137146, -0.12369328737258911, 4.684112071990967], [0.1838686615228653, -0.12877613306045532, 4.523920059204102], [0.16069695353507996, 0.8752089738845825, 4.442244052886963], [-0.18372082710266113, 0.8802918195724487, 4.602436065673828]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2765, "image_id": 380, "category_id": 45, "category_name": "person", "bbox2D_proj": [124.0, 233.0, 160.0, 334.0], "bbox2D_tight": [124.0, 233.0, 160.0, 334.0], "bbox2D_trunc": [124.0, 233.0, 160.0, 334.0], "center_cam": [-1.2140749947208205, 0.27909521014233396, 4.600315606978228], "dimensions": [0.35253905400059593, 1.031372111762332, 0.5390624726252042], "R_cam": [[-0.050786614418029785, -0.029765605926513672, -0.99826580286026], [0.0007642507553100586, 0.9995542764663696, -0.029842883348464966], [0.9987092018127441, -0.0022785067558288574, -0.05074119567871094]], "bbox3D_cam": [[-1.0090727806091309, -0.23130658268928528, 4.341251373291016], [-1.0364500284194946, -0.23089459538459778, 4.879618167877197], [-1.0671494007110596, 0.8000178337097168, 4.877267837524414], [-1.0397722721099854, 0.7996058464050293, 4.338901519775391], [-1.3610005378723145, -0.24182739853858948, 4.323363304138184], [-1.3883776664733887, -0.24141541123390198, 4.861729621887207], [-1.4190771579742432, 0.7894970178604126, 4.859379768371582], [-1.3916999101638794, 0.7890850305557251, 4.3210129737854]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2766, "image_id": 380, "category_id": 45, "category_name": "person", "bbox2D_proj": [341.0, 252.0, 365.0, 310.0], "bbox2D_tight": [341.0, 252.0, 365.0, 310.0], "bbox2D_trunc": [341.0, 252.0, 365.0, 310.0], "center_cam": [1.2117549836403576, 0.3200986786032858, 5.51197980093958], "dimensions": [0.2265624957269643, 0.7304687840919266, 0.2753906252496652], "R_cam": [[0.9664614796638489, 0.028062939643859863, -0.2552734613418579], [-0.052442193031311035, 0.9946319460868835, -0.08920244127511978], [0.2513998746871948, 0.09959783405065536, 0.9627452492713928]], "bbox3D_cam": [[1.0973459482192993, -0.025849133729934692, 5.331925392150879], [1.3635003566741943, -0.04029121994972229, 5.401158809661865], [1.3839994668960571, 0.6862564086914062, 5.473911762237549], [1.117845058441162, 0.7006984949111938, 5.4046783447265625], [1.0395106077194214, -0.04605904221534729, 5.550047397613525], [1.3056650161743164, -0.06050112843513489, 5.619280815124512], [1.3261641263961792, 0.6660465002059937, 5.692033767700195], [1.0600097179412842, 0.6804885864257812, 5.622800350189209]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2767, "image_id": 380, "category_id": 45, "category_name": "person", "bbox2D_proj": [377.0, 226.0, 448.0, 448.0], "bbox2D_tight": [377.0, 226.0, 448.0, 448.0], "bbox2D_trunc": [377.0, 226.0, 448.0, 448.0], "center_cam": [0.9677100104695103, 0.49310247538104557, 2.8491091291150337], "dimensions": [0.4345705852178162, 1.3313599238120335, 0.43945339267115097], "R_cam": [[0.356747031211853, 0.03189516067504883, 0.9336563348770142], [0.06156051158905029, 0.9964420795440674, -0.057562053203582764], [-0.9321704506874084, 0.0780113935470581, 0.3535141944885254]], "bbox3D_cam": [[0.6652213931083679, -0.17122825980186462, 2.925187826156616], [0.8219950795173645, -0.14417526125907898, 2.5155422687530518], [0.8644590377807617, 1.182447910308838, 2.619403600692749], [0.7076853513717651, 1.1553949117660522, 3.0290491580963135], [1.0709609985351562, -0.196243017911911, 3.078814744949341], [1.2277346849441528, -0.16919001936912537, 2.6691691875457764], [1.2701985836029053, 1.1574331521987915, 2.7730305194854736], [1.1134248971939087, 1.1303801536560059, 3.182676076889038]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2768, "image_id": 380, "category_id": 53, "category_name": "scaffolding", "bbox2D_proj": [120.0, 100.0, 238.0, 213.0], "bbox2D_tight": [120.0, 100.0, 238.0, 213.0], "bbox2D_trunc": [120.0, 100.0, 238.0, 213.0], "center_cam": [-1.233956063376529, -1.5102706678785278, 6.718385240620878], "dimensions": [0.9615001287362198, 1.6138800106504485, 1.6691558709823593], "R_cam": [[0.9827260971069336, -0.0010459423065185547, 0.18506358563899994], [0.03389386832714081, 0.9840875864028931, -0.17442160844802856], [-0.1819363385438919, 0.17768120765686035, 0.9671238660812378]], "bbox3D_cam": [[-2.142242908477783, -2.2488040924072266, 6.261902332305908], [-0.5019199848175049, -2.192230224609375, 5.958222389221191], [-0.503607988357544, -0.6040308475494385, 6.244978427886963], [-2.1439309120178223, -0.6606049537658691, 6.54865837097168], [-1.9643042087554932, -2.416510581970215, 7.191792011260986], [-0.3239814043045044, -2.359936475753784, 6.8881120681762695], [-0.32566940784454346, -0.7717372179031372, 7.174868106842041], [-1.9659922122955322, -0.8283113241195679, 7.478548049926758]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2769, "image_id": 380, "category_id": 45, "category_name": "person", "bbox2D_proj": [308.0, 250.0, 328.0, 304.0], "bbox2D_tight": [308.0, 250.0, 328.0, 304.0], "bbox2D_trunc": [308.0, 250.0, 328.0, 304.0], "center_cam": [0.8046077713330673, 0.23362826285717442, 5.809452455237064], "dimensions": [0.22265625705064535, 0.6699219086775877, 0.23559571242900001], "R_cam": [[0.9915202856063843, 0.0064716339111328125, 0.12979023158550262], [0.021061480045318604, 0.9775519371032715, -0.2096388339996338], [-0.1282333880662918, 0.21059471368789673, 0.9691262245178223]], "bbox3D_cam": [[0.6711917519569397, -0.07295580208301544, 5.6461262702941895], [0.9047896862030029, -0.06799383461475372, 5.615914821624756], [0.9091251492500305, 0.5868897438049316, 5.756997108459473], [0.6755272150039673, 0.5819277763366699, 5.787208080291748], [0.7000903487205505, -0.11963321268558502, 5.861907958984375], [0.9336882829666138, -0.1146712452173233, 5.8316969871521], [0.9380237460136414, 0.5402123332023621, 5.972778797149658], [0.7044258117675781, 0.5352503657341003, 6.002990245819092]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2770, "image_id": 380, "category_id": 45, "category_name": "person", "bbox2D_proj": [234.0, 227.0, 254.0, 254.0], "bbox2D_tight": [234.0, 227.0, 254.0, 254.0], "bbox2D_trunc": [234.0, 227.0, 254.0, 254.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2771, "image_id": 380, "category_id": 39, "category_name": "monument", "bbox2D_proj": [264.0, 48.0, 407.0, 166.0], "bbox2D_tight": [264.0, 48.0, 407.0, 166.0], "bbox2D_trunc": [264.0, 48.0, 407.0, 166.0], "center_cam": [1.375372994994199, -2.5659365740648767, 7.931767738647581], "dimensions": [1.2460937313623748, 1.899902473450398, 2.2705077812429533], "R_cam": [[-0.9821316003799438, 0.021215219050645828, -0.18699674308300018], [-0.0023917651269584894, 0.9921384453773499, 0.1251223236322403], [0.18818116188049316, 0.12333381175994873, -0.9743597507476807]], "bbox3D_cam": [[2.586696147918701, -3.5836615562438965, 8.20804500579834], [0.35675859451293945, -3.5890920162200928, 8.6353120803833], [0.3970654010772705, -1.7041257619857788, 8.869634628295898], [2.6270029544830322, -1.6986953020095825, 8.442367553710938], [2.3536806106567383, -3.4277472496032715, 6.99390172958374], [0.12374305725097656, -3.433177947998047, 7.421168327331543], [0.16404986381530762, -1.5482115745544434, 7.655490875244141], [2.3939874172210693, -1.542781114578247, 7.22822380065918]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2772, "image_id": 381, "category_id": 45, "category_name": "person", "bbox2D_proj": [481.0, 285.0, 512.0, 387.0], "bbox2D_tight": [481.0, 285.0, 512.0, 387.0], "bbox2D_trunc": [481.0, 285.0, 512.0, 387.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2773, "image_id": 381, "category_id": 45, "category_name": "person", "bbox2D_proj": [13.0, 289.0, 67.0, 374.0], "bbox2D_tight": [13.0, 289.0, 67.0, 374.0], "bbox2D_trunc": [13.0, 289.0, 67.0, 374.0], "center_cam": [-1.4255210271968852, 0.4741628198840962, 2.9581823580895206], "dimensions": [0.19140624251041571, 0.518554687405775, 0.41308595518629454], "R_cam": [[0.9761844873428345, -0.16604125499725342, 0.13962207734584808], [0.1702737808227539, 0.985216498374939, -0.018851174041628838], [-0.13442789018154144, 0.04217620939016342, 0.9900254011154175]], "bbox3D_cam": [[-1.5974565744400024, 0.18535378575325012, 2.880263566970825], [-1.1942085027694702, 0.2556914985179901, 2.824733257293701], [-1.280310034751892, 0.7665801048278809, 2.846604108810425], [-1.6835579872131348, 0.6962423324584961, 2.9021341800689697], [-1.5707319974899292, 0.18174555897712708, 3.06976056098938], [-1.1674840450286865, 0.25208327174186707, 3.014230489730835], [-1.2535854578018188, 0.7629718780517578, 3.0361011028289795], [-1.656833529472351, 0.692634105682373, 3.0916314125061035]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2774, "image_id": 381, "category_id": 45, "category_name": "person", "bbox2D_proj": [83.0, 284.0, 112.0, 362.0], "bbox2D_tight": [83.0, 284.0, 112.0, 362.0], "bbox2D_trunc": [83.0, 284.0, 112.0, 362.0], "center_cam": [-1.142307817997257, 0.5110013051591895, 3.2655430540208608], "dimensions": [0.2050781370374527, 0.593749992222142, 0.33007814074543707], "R_cam": [[-0.6385944485664368, -0.06038719415664673, -0.7671705484390259], [-0.13741910457611084, 0.9898413419723511, 0.03647330775856972], [0.7571744918823242, 0.12871553003787994, -0.6404056549072266]], "bbox3D_cam": [[-0.9403223991394043, 0.23608171939849854, 3.1680338382720947], [-1.1511085033416748, 0.19072270393371582, 3.4179606437683105], [-1.186963438987732, 0.7784409523010254, 3.4943854808807373], [-0.9761773347854614, 0.8237999677658081, 3.2444586753845215], [-1.0976523160934448, 0.24356162548065186, 3.036700487136841], [-1.3084384202957153, 0.19820261001586914, 3.2866272926330566], [-1.3442933559417725, 0.7859208583831787, 3.3630521297454834], [-1.133507251739502, 0.8312798738479614, 3.1131253242492676]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2775, "image_id": 381, "category_id": 45, "category_name": "person", "bbox2D_proj": [284.0, 285.0, 314.0, 362.0], "bbox2D_tight": [284.0, 285.0, 314.0, 362.0], "bbox2D_trunc": [284.0, 285.0, 314.0, 362.0], "center_cam": [0.4004057505597248, 0.6087889796782097, 4.201627174158411], "dimensions": [0.24023437482149212, 0.5825195211734778, 0.3876953333256665], "R_cam": [[0.9365540742874146, -0.014312505722045898, -0.35023075342178345], [0.00575488805770874, 0.9996591806411743, -0.025462940335273743], [0.35047584772109985, 0.021831899881362915, 0.9363172054290771]], "bbox3D_cam": [[0.2650943398475647, 0.31957143545150757, 4.014861583709717], [0.6281919479370117, 0.32180255651474, 4.150739669799805], [0.6198546886444092, 0.9041235446929932, 4.163456916809082], [0.2567570209503174, 0.9018924236297607, 4.027579307556152], [0.1809568703174591, 0.31345438957214355, 4.239797592163086], [0.5440545082092285, 0.315685510635376, 4.375675201416016], [0.5357171893119812, 0.8980064988136292, 4.388392925262451], [0.1726195514202118, 0.8957753777503967, 4.252514839172363]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2776, "image_id": 381, "category_id": 45, "category_name": "person", "bbox2D_proj": [353.0, 285.0, 374.0, 342.0], "bbox2D_tight": [353.0, 285.0, 374.0, 342.0], "bbox2D_trunc": [353.0, 285.0, 374.0, 342.0], "center_cam": [1.1346182912299867, 0.589088780735442, 4.66090863588982], "dimensions": [0.17529297871770955, 0.606811513881854, 0.1914062478677603], "R_cam": [[-0.028601262718439102, -0.11771464347839355, 0.9926356077194214], [-0.12430226802825928, 0.9857527017593384, 0.11331675946712494], [-0.9918321371078491, -0.12014581263065338, -0.04282587766647339]], "bbox3D_cam": [[1.0860698223114014, 0.29197004437446594, 4.796036720275879], [1.0805952548980713, 0.2681778371334076, 4.606193542480469], [1.0091646909713745, 0.8663438558578491, 4.53328800201416], [1.014639139175415, 0.8901361227035522, 4.723130702972412], [1.260071873664856, 0.3118337094783783, 4.788529396057129], [1.2545974254608154, 0.28804150223731995, 4.598686695098877], [1.183166742324829, 0.8862075805664062, 4.52578067779541], [1.1886413097381592, 0.9099997282028198, 4.71562385559082]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2777, "image_id": 381, "category_id": 45, "category_name": "person", "bbox2D_proj": [267.0, 285.0, 283.0, 319.0], "bbox2D_tight": [267.0, 285.0, 283.0, 319.0], "bbox2D_trunc": [267.0, 285.0, 283.0, 319.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2778, "image_id": 381, "category_id": 45, "category_name": "person", "bbox2D_proj": [243.0, 277.0, 260.0, 326.0], "bbox2D_tight": [243.0, 277.0, 260.0, 326.0], "bbox2D_trunc": [243.0, 277.0, 260.0, 326.0], "center_cam": [-0.05386381664341505, 0.46780517854108583, 4.391520119984701], "dimensions": [0.14453124376613302, 0.4653320225678415, 0.19122314931438444], "R_cam": [[0.9979369044303894, -0.04025769233703613, -0.05001230537891388], [0.03701204061508179, 0.9972500205039978, -0.06420712918043137], [0.05245959758758545, 0.06222359836101532, 0.9966826438903809]], "bbox3D_cam": [[-0.13629737496376038, 0.23688016831874847, 4.30000114440918], [0.05453125387430191, 0.2439577430486679, 4.310032367706299], [0.0357980951666832, 0.7080101370811462, 4.338987350463867], [-0.15503054857254028, 0.7009325623512268, 4.32895565032959], [-0.14352571964263916, 0.22760023176670074, 4.444052696228027], [0.047302909195423126, 0.23467780649662018, 4.454084396362305], [0.028569750487804413, 0.6987301707267761, 4.483038902282715], [-0.16225889325141907, 0.6916525959968567, 4.473007678985596]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2779, "image_id": 381, "category_id": 45, "category_name": "person", "bbox2D_proj": [246.0, 291.0, 297.0, 433.0], "bbox2D_tight": [246.0, 291.0, 297.0, 433.0], "bbox2D_trunc": [246.0, 291.0, 297.0, 433.0], "center_cam": [0.11363402081765514, 0.7379829778652849, 3.0897978048118153], "dimensions": [0.28124998549697894, 0.9590453926483735, 0.3782348701062319], "R_cam": [[0.9998292922973633, -0.01766371726989746, -0.005431864410638809], [0.017904996871948242, 0.9986789226531982, 0.04816456884145737], [0.004573926329612732, -0.04825360327959061, 0.9988245964050293]], "bbox3D_cam": [[-0.06621712446212769, 0.24893447756767273, 2.971611738204956], [0.3119531571865082, 0.2557067573070526, 2.973341703414917], [0.295012891292572, 1.2134852409362793, 2.9270644187927246], [-0.08315739035606384, 1.2067129611968994, 2.9253342151641846], [-0.06774485111236572, 0.262480765581131, 3.252531051635742], [0.31042543053627014, 0.26925304532051086, 3.2542612552642822], [0.293485164642334, 1.2270314693450928, 3.2079837322235107], [-0.08468511700630188, 1.220259189605713, 3.20625376701355]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2780, "image_id": 381, "category_id": 45, "category_name": "person", "bbox2D_proj": [410.0, 305.0, 481.0, 512.0], "bbox2D_tight": [410.0, 305.0, 481.0, 512.0], "bbox2D_trunc": [410.0, 305.0, 481.0, 512.0], "center_cam": [0.0, 0.0, 1.0], "dimensions": [0.1, 0.1, 0.1], "R_cam": [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], "bbox3D_cam": [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], "valid3D": false, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}, {"id": 2781, "image_id": 382, "category_id": 43, "category_name": "palm_tree", "bbox2D_proj": [380.0, 15.0, 442.0, 287.0], "bbox2D_tight": [380.0, 15.0, 442.0, 287.0], "bbox2D_trunc": [380.0, 15.0, 442.0, 287.0], "center_cam": [1.3155417420424085, -1.2959539366955475, 3.9532998981258283], "dimensions": [0.34375011845509174, 1.1839599941548455, 0.3496094949552666], "R_cam": [[-0.6491974592208862, -0.052103400230407715, -0.7588331699371338], [-0.1577986478805542, 0.985171377658844, 0.06735550612211227], [0.744071364402771, 0.16346989572048187, -0.6477926969528198]], "bbox3D_cam": [[1.590293288230896, -1.86314857006073, 3.837801218032837], [1.3633276224136353, -1.9183164834976196, 4.097935676574707], [1.301639199256897, -0.7519129514694214, 4.291477680206299], [1.5286048650741577, -0.6967450380325317, 4.03134298324585], [1.3294442892074585, -1.83999502658844, 3.6151223182678223], [1.1024786233901978, -1.8951629400253296, 3.8752567768096924], [1.0407902002334595, -0.7287594079971313, 4.068798542022705], [1.2677558660507202, -0.6735914945602417, 3.808664321899414]], "valid3D": true, "behind_camera": false, "truncation": 0.0, "visibility": 1.0, "lidar_pts": -1, "segmentation_pts": -1, "depth_error": -1}]}
\ No newline at end of file