Datasets:

JadeRay-42
/

Mono3DRefer-metadata

img_id stringlengths 6 6	instance_id int32 4 50.5k	ann_id stringclasses 5 values	category class label 9 classes	description stringlengths 97 551	object_3d unknown	p2 unknown	subset_refexp stringclasses 0 values	subset_depth stringclasses 0 values	subset_difficulty stringclasses 0 values
000006	24,625	0	1car	A car, about 1.5 meters in height, is located approximately to my north and is approximately 50 meters away from me. It is the second car in front of me on the road. It is traveling straight ahead and is facing away from me. Its position is in front of the first car on the road and it is mostly obscured by that car.	{ "cls_type": "Car", "truncation": 0, "occlusion": 2, "alpha": -1.55, "box2d": [ 548, 171.33, 572.4, 194.42 ], "h": 1.48, "w": 1.56, "l": 3.62, "pos": [ -2.7199999999999998, 0.8200000000000001, 48.22 ], "ry": -1.62, "score": -1 }	[ [ 718.3351, 0, 600.3891, 44.50382 ], [ 0, 718.3351, 181.5122, -0.5951107 ], [ 0, 0, 1, 0.002616315 ] ]	null	null	null
000006	24,625	1	1car	Positioned in front of me on the road, the second car is approximately 1.5 meters in height and is located about 50 meters away from me in a northerly direction. It is traveling straight ahead and is oriented with its back towards me as it moves further away. The car is situated in front of the first car on the road an...	{ "cls_type": "Car", "truncation": 0, "occlusion": 2, "alpha": -1.55, "box2d": [ 548, 171.33, 572.4, 194.42 ], "h": 1.48, "w": 1.56, "l": 3.62, "pos": [ -2.7199999999999998, 0.8200000000000001, 48.22 ], "ry": -1.62, "score": -1 }	[ [ 718.3351, 0, 600.3891, 44.50382 ], [ 0, 718.3351, 181.5122, -0.5951107 ], [ 0, 0, 1, 0.002616315 ] ]	null	null	null
000006	24,625	2	1car	A car, standing about 1.5 meters tall, is situated in the general vicinity of my northward direction and is estimated to be roughly 50 meters away from me. It is the second vehicle in line on the road and is moving forward. Facing away from me, the car is situated in front of the first car on the road and is mostly obs...	{ "cls_type": "Car", "truncation": 0, "occlusion": 2, "alpha": -1.55, "box2d": [ 548, 171.33, 572.4, 194.42 ], "h": 1.48, "w": 1.56, "l": 3.62, "pos": [ -2.7199999999999998, 0.8200000000000001, 48.22 ], "ry": -1.62, "score": -1 }	[ [ 718.3351, 0, 600.3891, 44.50382 ], [ 0, 718.3351, 181.5122, -0.5951107 ], [ 0, 0, 1, 0.002616315 ] ]	null	null	null
000006	24,625	3	1car	In the direction of my north, at an estimated distance of 50 meters, a car measuring around 1.5 meters tall is progressing straight ahead as the second car on the road. Moving away from me with its back turned, the car is positioned ahead of the first car on the road and is partially obscured by it.	{ "cls_type": "Car", "truncation": 0, "occlusion": 2, "alpha": -1.55, "box2d": [ 548, 171.33, 572.4, 194.42 ], "h": 1.48, "w": 1.56, "l": 3.62, "pos": [ -2.7199999999999998, 0.8200000000000001, 48.22 ], "ry": -1.62, "score": -1 }	[ [ 718.3351, 0, 600.3891, 44.50382 ], [ 0, 718.3351, 181.5122, -0.5951107 ], [ 0, 0, 1, 0.002616315 ] ]	null	null	null
000006	24,625	4	1car	Ahead of me on the road is the second car, standing at a height of approximately 1.5 meters, and located approximately 50 meters away from me in the northern direction. It is moving forward in a straight line, with its back facing me as it moves away. The car is situated in front of the first car on the road and is mos...	{ "cls_type": "Car", "truncation": 0, "occlusion": 2, "alpha": -1.55, "box2d": [ 548, 171.33, 572.4, 194.42 ], "h": 1.48, "w": 1.56, "l": 3.62, "pos": [ -2.7199999999999998, 0.8200000000000001, 48.22 ], "ry": -1.62, "score": -1 }	[ [ 718.3351, 0, 600.3891, 44.50382 ], [ 0, 718.3351, 181.5122, -0.5951107 ], [ 0, 0, 1, 0.002616315 ] ]	null	null	null
000006	24,626	0	1car	There is a black car, about 30 meters away from me, located approximately to my north. It is the first car on the road in front of me, and it is moving straight ahead with its back facing me as it drives away.	{ "cls_type": "Car", "truncation": 0, "occlusion": 0, "alpha": -1.21, "box2d": [ 505.25, 168.37, 575.44, 209.18 ], "h": 1.67, "w": 1.6400000000000001, "l": 4.32, "pos": [ -2.61, 1.13, 31.73 ], "ry": -1.3, "score": -1 }	[ [ 718.3351, 0, 600.3891, 44.50382 ], [ 0, 718.3351, 181.5122, -0.5951107 ], [ 0, 0, 1, 0.002616315 ] ]	null	null	null
000006	24,626	1	1car	The first car on the road in front of me is a black one, located around 30 meters away and approximately to the north of my position. It is driving straight ahead and its back is facing me as it moves away.	{ "cls_type": "Car", "truncation": 0, "occlusion": 0, "alpha": -1.21, "box2d": [ 505.25, 168.37, 575.44, 209.18 ], "h": 1.67, "w": 1.6400000000000001, "l": 4.32, "pos": [ -2.61, 1.13, 31.73 ], "ry": -1.3, "score": -1 }	[ [ 718.3351, 0, 600.3891, 44.50382 ], [ 0, 718.3351, 181.5122, -0.5951107 ], [ 0, 0, 1, 0.002616315 ] ]	null	null	null
000006	24,626	2	1car	Positioned around 30 meters to my north and at the forefront of the road, is a black car that is the first one in line. The car is driving straight ahead, with its back facing me as it travels away.	{ "cls_type": "Car", "truncation": 0, "occlusion": 0, "alpha": -1.21, "box2d": [ 505.25, 168.37, 575.44, 209.18 ], "h": 1.67, "w": 1.6400000000000001, "l": 4.32, "pos": [ -2.61, 1.13, 31.73 ], "ry": -1.3, "score": -1 }	[ [ 718.3351, 0, 600.3891, 44.50382 ], [ 0, 718.3351, 181.5122, -0.5951107 ], [ 0, 0, 1, 0.002616315 ] ]	null	null	null
000006	24,626	3	1car	A black car, situated around 30 meters in distance and to the north of my location, is the first vehicle on the road ahead of me. Moving straight ahead, the car's back is facing away from me as it drives off.	{ "cls_type": "Car", "truncation": 0, "occlusion": 0, "alpha": -1.21, "box2d": [ 505.25, 168.37, 575.44, 209.18 ], "h": 1.67, "w": 1.6400000000000001, "l": 4.32, "pos": [ -2.61, 1.13, 31.73 ], "ry": -1.3, "score": -1 }	[ [ 718.3351, 0, 600.3891, 44.50382 ], [ 0, 718.3351, 181.5122, -0.5951107 ], [ 0, 0, 1, 0.002616315 ] ]	null	null	null
000006	24,626	4	1car	The lead car in front of me on the road is black in color and located roughly 30 meters away, situated to the north of my position. It is driving forward with its back facing me, as it progresses away from my location.	{ "cls_type": "Car", "truncation": 0, "occlusion": 0, "alpha": -1.21, "box2d": [ 505.25, 168.37, 575.44, 209.18 ], "h": 1.67, "w": 1.6400000000000001, "l": 4.32, "pos": [ -2.61, 1.13, 31.73 ], "ry": -1.3, "score": -1 }	[ [ 718.3351, 0, 600.3891, 44.50382 ], [ 0, 718.3351, 181.5122, -0.5951107 ], [ 0, 0, 1, 0.002616315 ] ]	null	null	null
000006	24,627	0	1car	A black car, located approximately 30 degrees northwest of me, is turning left at the intersection to my left front. It is the only car in sight and is 20 meters away from me. The car is facing towards the right.	{ "cls_type": "Car", "truncation": 0, "occlusion": 0, "alpha": 0.15, "box2d": [ 49.7, 185.65, 227.42, 246.96 ], "h": 1.5, "w": 1.62, "l": 3.88, "pos": [ -12.54, 1.6400000000000001, 19.72 ], "ry": -0.42, "score": -1 }	[ [ 718.3351, 0, 600.3891, 44.50382 ], [ 0, 718.3351, 181.5122, -0.5951107 ], [ 0, 0, 1, 0.002616315 ] ]	null	null	null
000006	24,627	1	1car	Positioned around 30 degrees northwest of me, a black car is currently turning left at the intersection ahead of me. It is the sole car in the vicinity, with a distance of 20 meters separating us. Its orientation is directed towards the right.	{ "cls_type": "Car", "truncation": 0, "occlusion": 0, "alpha": 0.15, "box2d": [ 49.7, 185.65, 227.42, 246.96 ], "h": 1.5, "w": 1.62, "l": 3.88, "pos": [ -12.54, 1.6400000000000001, 19.72 ], "ry": -0.42, "score": -1 }	[ [ 718.3351, 0, 600.3891, 44.50382 ], [ 0, 718.3351, 181.5122, -0.5951107 ], [ 0, 0, 1, 0.002616315 ] ]	null	null	null
000006	24,627	2	1car	In my left front, there is a black car making a left turn at the intersection which is about 30 degrees northwest of me. With a distance of 20 meters from me, it is the only car present and it is facing to the right.	{ "cls_type": "Car", "truncation": 0, "occlusion": 0, "alpha": 0.15, "box2d": [ 49.7, 185.65, 227.42, 246.96 ], "h": 1.5, "w": 1.62, "l": 3.88, "pos": [ -12.54, 1.6400000000000001, 19.72 ], "ry": -0.42, "score": -1 }	[ [ 718.3351, 0, 600.3891, 44.50382 ], [ 0, 718.3351, 181.5122, -0.5951107 ], [ 0, 0, 1, 0.002616315 ] ]	null	null	null
000006	24,627	3	1car	The only black car in sight is situated around 30 degrees to the northwest of my location. It is executing a left turn at the intersection to my left front, approximately 20 meters away from me. The car's current orientation is facing towards the right.	{ "cls_type": "Car", "truncation": 0, "occlusion": 0, "alpha": 0.15, "box2d": [ 49.7, 185.65, 227.42, 246.96 ], "h": 1.5, "w": 1.62, "l": 3.88, "pos": [ -12.54, 1.6400000000000001, 19.72 ], "ry": -0.42, "score": -1 }	[ [ 718.3351, 0, 600.3891, 44.50382 ], [ 0, 718.3351, 181.5122, -0.5951107 ], [ 0, 0, 1, 0.002616315 ] ]	null	null	null
000006	24,627	4	1car	Located at the crossroads in my left front, a black car is currently turning left. It is the only vehicle in the area, positioned around 30 degrees northwest of me at a distance of 20 meters. The car's current orientation is directed towards the right.	{ "cls_type": "Car", "truncation": 0, "occlusion": 0, "alpha": 0.15, "box2d": [ 49.7, 185.65, 227.42, 246.96 ], "h": 1.5, "w": 1.62, "l": 3.88, "pos": [ -12.54, 1.6400000000000001, 19.72 ], "ry": -0.42, "score": -1 }	[ [ 718.3351, 0, 600.3891, 44.50382 ], [ 0, 718.3351, 181.5122, -0.5951107 ], [ 0, 0, 1, 0.002616315 ] ]	null	null	null
000006	24,628	0	1car	A car, measuring approximately 4.3 meters in length, is located about 20 degrees northwest of my position and about 40 meters away from me. It is traveling straight ahead on the opposite side of the road and facing away from me. It can be found on the far left side of the opposite lane, to the left of the first car on ...	{ "cls_type": "Car", "truncation": 0, "occlusion": 1, "alpha": 2.05, "box2d": [ 328.67, 170.65, 397.24, 204.16 ], "h": 1.6800000000000002, "w": 1.67, "l": 4.29, "pos": [ -12.66, 1.13, 38.44 ], "ry": 1.73, "score": -1 }	[ [ 718.3351, 0, 600.3891, 44.50382 ], [ 0, 718.3351, 181.5122, -0.5951107 ], [ 0, 0, 1, 0.002616315 ] ]	null	null	null
000006	24,628	1	1car	Positioned approximately 40 meters away from me, a car measuring around 4.3 meters in length is located about 20 degrees northwestern of my location. The car is driving straight ahead on the opposite side of the road, facing away from me. It is situated on the left side of the first vehicle on the opposite lane.	{ "cls_type": "Car", "truncation": 0, "occlusion": 1, "alpha": 2.05, "box2d": [ 328.67, 170.65, 397.24, 204.16 ], "h": 1.6800000000000002, "w": 1.67, "l": 4.29, "pos": [ -12.66, 1.13, 38.44 ], "ry": 1.73, "score": -1 }	[ [ 718.3351, 0, 600.3891, 44.50382 ], [ 0, 718.3351, 181.5122, -0.5951107 ], [ 0, 0, 1, 0.002616315 ] ]	null	null	null
000006	24,628	2	1car	A car with an approximate length of 4.3 meters is located about 20 degrees northwest of my position, at a distance of about 40 meters. It is driving straight ahead on the opposite side of the road, facing away from me. The car can be found to the left of the first car on the opposite lane, closest to the front of the r...	{ "cls_type": "Car", "truncation": 0, "occlusion": 1, "alpha": 2.05, "box2d": [ 328.67, 170.65, 397.24, 204.16 ], "h": 1.6800000000000002, "w": 1.67, "l": 4.29, "pos": [ -12.66, 1.13, 38.44 ], "ry": 1.73, "score": -1 }	[ [ 718.3351, 0, 600.3891, 44.50382 ], [ 0, 718.3351, 181.5122, -0.5951107 ], [ 0, 0, 1, 0.002616315 ] ]	null	null	null
000006	24,628	3	1car	About 40 meters from my location, there is a car measuring around 4.3 meters in length positioned roughly 20 degrees northwest of me. It is moving straight ahead on the opposite side of the road, facing away from me. The car is situated to the left of the first vehicle on the opposite lane, towards the front of the roa...	{ "cls_type": "Car", "truncation": 0, "occlusion": 1, "alpha": 2.05, "box2d": [ 328.67, 170.65, 397.24, 204.16 ], "h": 1.6800000000000002, "w": 1.67, "l": 4.29, "pos": [ -12.66, 1.13, 38.44 ], "ry": 1.73, "score": -1 }	[ [ 718.3351, 0, 600.3891, 44.50382 ], [ 0, 718.3351, 181.5122, -0.5951107 ], [ 0, 0, 1, 0.002616315 ] ]	null	null	null
000006	24,628	4	1car	Located about 20 degrees northwest of my position, a car measuring around 4.3 meters in length is positioned roughly 40 meters away from me. It is traveling straight ahead on the opposite side of the road while facing away from me. The car can be found on the left side of the first car on the opposite lane, towards the...	{ "cls_type": "Car", "truncation": 0, "occlusion": 1, "alpha": 2.05, "box2d": [ 328.67, 170.65, 397.24, 204.16 ], "h": 1.6800000000000002, "w": 1.67, "l": 4.29, "pos": [ -12.66, 1.13, 38.44 ], "ry": 1.73, "score": -1 }	[ [ 718.3351, 0, 600.3891, 44.50382 ], [ 0, 718.3351, 181.5122, -0.5951107 ], [ 0, 0, 1, 0.002616315 ] ]	null	null	null
000007	4	0	1car	A black car, approximately 3.2 meters in length, is located about 20 to 30 meters north of me in the middle of the road. Its back is facing towards me, and it is currently driving straight ahead.	{ "cls_type": "Car", "truncation": 0, "occlusion": 0, "alpha": -1.56, "box2d": [ 564.62, 174.59, 616.43, 224.74 ], "h": 1.6099999999999999, "w": 1.6600000000000001, "l": 3.2, "pos": [ -0.6900000000000001, 1.69, 25.01 ], "ry": -1.5899999999999999, "score": -1 }	[ [ 721.5377, 0, 609.5593, 44.85728 ], [ 0, 721.5377, 172.854, 0.2163791 ], [ 0, 0, 1, 0.002745884 ] ]	null	null	null
000007	4	1	1car	A car that is roughly 3.2 meters long and colored black is positioned directly ahead of me in the roadway, located about 20 to 30 meters away towards the north. The car's orientation is facing away from me as it continues to drive straight.	{ "cls_type": "Car", "truncation": 0, "occlusion": 0, "alpha": -1.56, "box2d": [ 564.62, 174.59, 616.43, 224.74 ], "h": 1.6099999999999999, "w": 1.6600000000000001, "l": 3.2, "pos": [ -0.6900000000000001, 1.69, 25.01 ], "ry": -1.5899999999999999, "score": -1 }	[ [ 721.5377, 0, 609.5593, 44.85728 ], [ 0, 721.5377, 172.854, 0.2163791 ], [ 0, 0, 1, 0.002745884 ] ]	null	null	null
000007	4	2	1car	Positioned in the middle of the road and approximately 20-30 meters away in a northern direction from me is a black car that measures around 3.2 meters in length. It is currently driving in a straight line facing away from me.	{ "cls_type": "Car", "truncation": 0, "occlusion": 0, "alpha": -1.56, "box2d": [ 564.62, 174.59, 616.43, 224.74 ], "h": 1.6099999999999999, "w": 1.6600000000000001, "l": 3.2, "pos": [ -0.6900000000000001, 1.69, 25.01 ], "ry": -1.5899999999999999, "score": -1 }	[ [ 721.5377, 0, 609.5593, 44.85728 ], [ 0, 721.5377, 172.854, 0.2163791 ], [ 0, 0, 1, 0.002745884 ] ]	null	null	null
000007	4	3	1car	At a distance of roughly 20 to 30 meters from me to the north, there is a black car in the middle of the road that is about 3.2 meters long. The car is moving straight ahead with its back facing towards me.	{ "cls_type": "Car", "truncation": 0, "occlusion": 0, "alpha": -1.56, "box2d": [ 564.62, 174.59, 616.43, 224.74 ], "h": 1.6099999999999999, "w": 1.6600000000000001, "l": 3.2, "pos": [ -0.6900000000000001, 1.69, 25.01 ], "ry": -1.5899999999999999, "score": -1 }	[ [ 721.5377, 0, 609.5593, 44.85728 ], [ 0, 721.5377, 172.854, 0.2163791 ], [ 0, 0, 1, 0.002745884 ] ]	null	null	null
000007	4	4	1car	Towards the north of my current location, there is a black-colored vehicle measuring about 3.2 meters in length and situated in the middle of the roadway approximately 20 to 30 meters away. The car is currently driving straight ahead, with its back towards me.	{ "cls_type": "Car", "truncation": 0, "occlusion": 0, "alpha": -1.56, "box2d": [ 564.62, 174.59, 616.43, 224.74 ], "h": 1.6099999999999999, "w": 1.6600000000000001, "l": 3.2, "pos": [ -0.6900000000000001, 1.69, 25.01 ], "ry": -1.5899999999999999, "score": -1 }	[ [ 721.5377, 0, 609.5593, 44.85728 ], [ 0, 721.5377, 172.854, 0.2163791 ], [ 0, 0, 1, 0.002745884 ] ]	null	null	null
000007	5	0	1car	A blue car, about 3.7 meters long, is located approximately 10 degrees north-west of me and 50 meters away. It's in the leftmost lane, facing towards me, and driving straight ahead.	{ "cls_type": "Car", "truncation": 0, "occlusion": 0, "alpha": 1.71, "box2d": [ 481.59, 180.09, 512.55, 202.42 ], "h": 1.4, "w": 1.51, "l": 3.7, "pos": [ -7.43, 1.88, 47.55 ], "ry": 1.55, "score": -1 }	[ [ 721.5377, 0, 609.5593, 44.85728 ], [ 0, 721.5377, 172.854, 0.2163791 ], [ 0, 0, 1, 0.002745884 ] ]	null	null	null
000007	5	1	1car	Positioned about 50 meters away from me at a north-western bearing of approximately 10 degrees, the first car in the left lane is blue, approximately 3.7 meters long, and is currently driving straight ahead towards me.	{ "cls_type": "Car", "truncation": 0, "occlusion": 0, "alpha": 1.71, "box2d": [ 481.59, 180.09, 512.55, 202.42 ], "h": 1.4, "w": 1.51, "l": 3.7, "pos": [ -7.43, 1.88, 47.55 ], "ry": 1.55, "score": -1 }	[ [ 721.5377, 0, 609.5593, 44.85728 ], [ 0, 721.5377, 172.854, 0.2163791 ], [ 0, 0, 1, 0.002745884 ] ]	null	null	null
000007	5	2	1car	I can see a single car in the left lane, which is approximately 3.7 meters in length, blue in color, and situated around 10 degrees to the north-west of my location. The car is facing directly towards me, and is driving forward without any deviations.	{ "cls_type": "Car", "truncation": 0, "occlusion": 0, "alpha": 1.71, "box2d": [ 481.59, 180.09, 512.55, 202.42 ], "h": 1.4, "w": 1.51, "l": 3.7, "pos": [ -7.43, 1.88, 47.55 ], "ry": 1.55, "score": -1 }	[ [ 721.5377, 0, 609.5593, 44.85728 ], [ 0, 721.5377, 172.854, 0.2163791 ], [ 0, 0, 1, 0.002745884 ] ]	null	null	null
000007	5	3	1car	As I look towards the north-west, I notice a blue car driving straight ahead in the left lane. It is the first car in the row, measuring about 3.7 meters in length and located approximately 50 meters away from me. The car is facing towards me with its front end.	{ "cls_type": "Car", "truncation": 0, "occlusion": 0, "alpha": 1.71, "box2d": [ 481.59, 180.09, 512.55, 202.42 ], "h": 1.4, "w": 1.51, "l": 3.7, "pos": [ -7.43, 1.88, 47.55 ], "ry": 1.55, "score": -1 }	[ [ 721.5377, 0, 609.5593, 44.85728 ], [ 0, 721.5377, 172.854, 0.2163791 ], [ 0, 0, 1, 0.002745884 ] ]	null	null	null
000007	5	4	1car	The first car in the left lane is currently traveling straight towards my position. The car is blue in color and about 3.7 meters long. Situated approximately 50 meters away from me and to the north-west by around 10 degrees, it remains visible despite some slight obstruction as it moves closer.	{ "cls_type": "Car", "truncation": 0, "occlusion": 0, "alpha": 1.71, "box2d": [ 481.59, 180.09, 512.55, 202.42 ], "h": 1.4, "w": 1.51, "l": 3.7, "pos": [ -7.43, 1.88, 47.55 ], "ry": 1.55, "score": -1 }	[ [ 721.5377, 0, 609.5593, 44.85728 ], [ 0, 721.5377, 172.854, 0.2163791 ], [ 0, 0, 1, 0.002745884 ] ]	null	null	null
000007	6	0	1car	A deep brown car, approximately 4.0 meters long, is traveling straight towards me from the north. It is located in the second lane on my left and is facing me, while driving behind a blue car in the first lane.	{ "cls_type": "Car", "truncation": 0, "occlusion": 0, "alpha": 1.6400000000000001, "box2d": [ 542.05, 175.55, 565.27, 193.79 ], "h": 1.46, "w": 1.6600000000000001, "l": 4.05, "pos": [ -4.71, 1.71, 60.52 ], "ry": 1.56, "score": -1 }	[ [ 721.5377, 0, 609.5593, 44.85728 ], [ 0, 721.5377, 172.854, 0.2163791 ], [ 0, 0, 1, 0.002745884 ] ]	null	null	null
000007	6	1	1car	I can see a car that is a deep brown color and about 4.0 meters in length, positioned around 60 meters away towards the north of my current location. The car is currently driving straight ahead in the second lane on my left side, facing towards me and following closely behind a blue car in the first lane.	{ "cls_type": "Car", "truncation": 0, "occlusion": 0, "alpha": 1.6400000000000001, "box2d": [ 542.05, 175.55, 565.27, 193.79 ], "h": 1.46, "w": 1.6600000000000001, "l": 4.05, "pos": [ -4.71, 1.71, 60.52 ], "ry": 1.56, "score": -1 }	[ [ 721.5377, 0, 609.5593, 44.85728 ], [ 0, 721.5377, 172.854, 0.2163791 ], [ 0, 0, 1, 0.002745884 ] ]	null	null	null
000007	6	2	1car	From my position, I can observe a car colored in deep brown that is roughly 4.0 meters in length. It is situated about 60 meters away, positioned in the northern direction and traveling straight. The car is situated in the second lane on my left side, facing towards me and following closely behind a blue car located in...	{ "cls_type": "Car", "truncation": 0, "occlusion": 0, "alpha": 1.6400000000000001, "box2d": [ 542.05, 175.55, 565.27, 193.79 ], "h": 1.46, "w": 1.6600000000000001, "l": 4.05, "pos": [ -4.71, 1.71, 60.52 ], "ry": 1.56, "score": -1 }	[ [ 721.5377, 0, 609.5593, 44.85728 ], [ 0, 721.5377, 172.854, 0.2163791 ], [ 0, 0, 1, 0.002745884 ] ]	null	null	null
000007	6	3	1car	In the northern direction, I can spot a deep brown car that measures approximately 4.0 meters in length. It is currently driving straight towards me in the second lane on my left side, while facing me and following the blue car in the first lane.	{ "cls_type": "Car", "truncation": 0, "occlusion": 0, "alpha": 1.6400000000000001, "box2d": [ 542.05, 175.55, 565.27, 193.79 ], "h": 1.46, "w": 1.6600000000000001, "l": 4.05, "pos": [ -4.71, 1.71, 60.52 ], "ry": 1.56, "score": -1 }	[ [ 721.5377, 0, 609.5593, 44.85728 ], [ 0, 721.5377, 172.854, 0.2163791 ], [ 0, 0, 1, 0.002745884 ] ]	null	null	null
000007	6	4	1car	The car, painted in a dark brown shade and measuring about 4.0 meters long, is headed straight towards my direction in the second lane on my left side. It is located approximately 60 meters away towards the north, facing me and following the vehicle in the first lane painted in blue.	{ "cls_type": "Car", "truncation": 0, "occlusion": 0, "alpha": 1.6400000000000001, "box2d": [ 542.05, 175.55, 565.27, 193.79 ], "h": 1.46, "w": 1.6600000000000001, "l": 4.05, "pos": [ -4.71, 1.71, 60.52 ], "ry": 1.56, "score": -1 }	[ [ 721.5377, 0, 609.5593, 44.85728 ], [ 0, 721.5377, 172.854, 0.2163791 ], [ 0, 0, 1, 0.002745884 ] ]	null	null	null
000007	7	0	2cyclist	The cyclist, the only one in sight, is riding towards me with a northwesterly bearing of approximately 20 degrees from my position and is located on the far left side of the sidewalk within a distance of 40 meters. He/she is facing me and positioned to the right front of a blue car in the leftmost lane.	{ "cls_type": "Cyclist", "truncation": 0, "occlusion": 0, "alpha": 1.8900000000000001, "box2d": [ 330.6, 176.09, 355.61, 213.6 ], "h": 1.72, "w": 0.5, "l": 1.9500000000000002, "pos": [ -12.63, 1.88, 34.09 ], "ry": 1.54, "score": -1 }	[ [ 721.5377, 0, 609.5593, 44.85728 ], [ 0, 721.5377, 172.854, 0.2163791 ], [ 0, 0, 1, 0.002745884 ] ]	null	null	null
000007	7	1	2cyclist	With a bearing of roughly 20 degrees northwest from where I am standing, the sole cyclist is riding on the left-hand sidewalk within a distance of 40 meters from me, facing me with their bicycle situated to the right of the front of a blue car in the first lane.	{ "cls_type": "Cyclist", "truncation": 0, "occlusion": 0, "alpha": 1.8900000000000001, "box2d": [ 330.6, 176.09, 355.61, 213.6 ], "h": 1.72, "w": 0.5, "l": 1.9500000000000002, "pos": [ -12.63, 1.88, 34.09 ], "ry": 1.54, "score": -1 }	[ [ 721.5377, 0, 609.5593, 44.85728 ], [ 0, 721.5377, 172.854, 0.2163791 ], [ 0, 0, 1, 0.002745884 ] ]	null	null	null
000007	7	2	2cyclist	At a distance within 40 meters of my location and oriented towards me, the lone cyclist is pedaling on the far-left sidewalk with a trajectory that places them to the right of the front of a blue vehicle situated in the leftmost lane.	{ "cls_type": "Cyclist", "truncation": 0, "occlusion": 0, "alpha": 1.8900000000000001, "box2d": [ 330.6, 176.09, 355.61, 213.6 ], "h": 1.72, "w": 0.5, "l": 1.9500000000000002, "pos": [ -12.63, 1.88, 34.09 ], "ry": 1.54, "score": -1 }	[ [ 721.5377, 0, 609.5593, 44.85728 ], [ 0, 721.5377, 172.854, 0.2163791 ], [ 0, 0, 1, 0.002745884 ] ]	null	null	null
000007	7	3	2cyclist	Positioned near the far-left sidewalk and facing me, the cyclist is the only one visible within a 40 meter radius of my location, situated to the right front of a blue car in the first lane.	{ "cls_type": "Cyclist", "truncation": 0, "occlusion": 0, "alpha": 1.8900000000000001, "box2d": [ 330.6, 176.09, 355.61, 213.6 ], "h": 1.72, "w": 0.5, "l": 1.9500000000000002, "pos": [ -12.63, 1.88, 34.09 ], "ry": 1.54, "score": -1 }	[ [ 721.5377, 0, 609.5593, 44.85728 ], [ 0, 721.5377, 172.854, 0.2163791 ], [ 0, 0, 1, 0.002745884 ] ]	null	null	null
000007	7	4	2cyclist	Located on the left-hand sidewalk and within 40 meters of my position, the single cyclist is traveling towards me with a northwesterly bearing of approximately 20 degrees. The cyclist is currently riding to the right of the front of a blue car located in the leftmost lane.	{ "cls_type": "Cyclist", "truncation": 0, "occlusion": 0, "alpha": 1.8900000000000001, "box2d": [ 330.6, 176.09, 355.61, 213.6 ], "h": 1.72, "w": 0.5, "l": 1.9500000000000002, "pos": [ -12.63, 1.88, 34.09 ], "ry": 1.54, "score": -1 }	[ [ 721.5377, 0, 609.5593, 44.85728 ], [ 0, 721.5377, 172.854, 0.2163791 ], [ 0, 0, 1, 0.002745884 ] ]	null	null	null
000008	24,631	0	1car	A red car, about 1.6 meters tall and 3.2 meters long, is parked on the left side of the road, facing slightly to the left front. It is the first car on the left side of the road, and it is only a few meters away from me, located at approximately 40 degrees northwest of my position.	{ "cls_type": "Car", "truncation": 0.88, "occlusion": 3, "alpha": -0.6900000000000001, "box2d": [ 0, 192.37, 402.31, 374 ], "h": 1.6, "w": 1.57, "l": 3.23, "pos": [ -2.7, 1.74, 3.68 ], "ry": -1.29, "score": -1 }	[ [ 721.5377, 0, 609.5593, 44.85728 ], [ 0, 721.5377, 172.854, 0.2163791 ], [ 0, 0, 1, 0.002745884 ] ]	null	null	null
000008	24,631	1	1car	In front of me, on the left side of the road, there is a red car that is parked and facing towards the left front. This car is the closest one to me, located just a few meters away. With a height of around 1.6 meters and a length of around 3.2 meters, it is easy to spot even from a distance.	{ "cls_type": "Car", "truncation": 0.88, "occlusion": 3, "alpha": -0.6900000000000001, "box2d": [ 0, 192.37, 402.31, 374 ], "h": 1.6, "w": 1.57, "l": 3.23, "pos": [ -2.7, 1.74, 3.68 ], "ry": -1.29, "score": -1 }	[ [ 721.5377, 0, 609.5593, 44.85728 ], [ 0, 721.5377, 172.854, 0.2163791 ], [ 0, 0, 1, 0.002745884 ] ]	null	null	null
000008	24,631	2	1car	Positioned on the left side of the road and facing slightly to the left front, the first car I see is a red one. It is around 1.6 meters tall and 3.2 meters long, and located only a few meters away from my position at approximately 40 degrees northwest of me.	{ "cls_type": "Car", "truncation": 0.88, "occlusion": 3, "alpha": -0.6900000000000001, "box2d": [ 0, 192.37, 402.31, 374 ], "h": 1.6, "w": 1.57, "l": 3.23, "pos": [ -2.7, 1.74, 3.68 ], "ry": -1.29, "score": -1 }	[ [ 721.5377, 0, 609.5593, 44.85728 ], [ 0, 721.5377, 172.854, 0.2163791 ], [ 0, 0, 1, 0.002745884 ] ]	null	null	null
000008	24,631	3	1car	From my current position, I can see a red car parked on the left side of the road, facing towards the left front. It is the first car on the left, and its height and length are approximately 1.6 meters and 3.2 meters respectively. The car is only a few meters away from me, positioned at about 40 degrees northwest of my...	{ "cls_type": "Car", "truncation": 0.88, "occlusion": 3, "alpha": -0.6900000000000001, "box2d": [ 0, 192.37, 402.31, 374 ], "h": 1.6, "w": 1.57, "l": 3.23, "pos": [ -2.7, 1.74, 3.68 ], "ry": -1.29, "score": -1 }	[ [ 721.5377, 0, 609.5593, 44.85728 ], [ 0, 721.5377, 172.854, 0.2163791 ], [ 0, 0, 1, 0.002745884 ] ]	null	null	null
000008	24,631	4	1car	A red car can be seen parked on the left side of the road, facing slightly to the left front. It is the first car on the left, and with a height of roughly 1.6 meters and a length of roughly 3.2 meters, it stands out in the landscape. The car is located only a few meters away from me, situated at approximately 40 degre...	{ "cls_type": "Car", "truncation": 0.88, "occlusion": 3, "alpha": -0.6900000000000001, "box2d": [ 0, 192.37, 402.31, 374 ], "h": 1.6, "w": 1.57, "l": 3.23, "pos": [ -2.7, 1.74, 3.68 ], "ry": -1.29, "score": -1 }	[ [ 721.5377, 0, 609.5593, 44.85728 ], [ 0, 721.5377, 172.854, 0.2163791 ], [ 0, 0, 1, 0.002745884 ] ]	null	null	null
000008	24,632	0	1car	A gray car, about 1.6 meters tall and 3.7 meters long, is parked on the left side of the road. It's the second car and located approximately 10 degrees west of north from my position, within 10 meters of me. It's facing towards me and positioned in front of the red car.	{ "cls_type": "Car", "truncation": 0, "occlusion": 1, "alpha": 2.04, "box2d": [ 334.85, 178.94, 624.5, 372.04 ], "h": 1.57, "w": 1.5, "l": 3.68, "pos": [ -1.17, 1.65, 7.86 ], "ry": 1.9, "score": -1 }	[ [ 721.5377, 0, 609.5593, 44.85728 ], [ 0, 721.5377, 172.854, 0.2163791 ], [ 0, 0, 1, 0.002745884 ] ]	null	null	null
000008	24,632	1	1car	The car in front of the red vehicle is a gray one, measuring roughly 1.6 meters in height and 3.7 meters in length. It's parked on the left-hand side of the road and is the second car from my location, which is around 10 meters away. The car is facing towards me.	{ "cls_type": "Car", "truncation": 0, "occlusion": 1, "alpha": 2.04, "box2d": [ 334.85, 178.94, 624.5, 372.04 ], "h": 1.57, "w": 1.5, "l": 3.68, "pos": [ -1.17, 1.65, 7.86 ], "ry": 1.9, "score": -1 }	[ [ 721.5377, 0, 609.5593, 44.85728 ], [ 0, 721.5377, 172.854, 0.2163791 ], [ 0, 0, 1, 0.002745884 ] ]	null	null	null
000008	24,632	2	1car	Positioned in front of the red car is a gray vehicle, standing at a height of approximately 1.6 meters and measuring around 3.7 meters in length. It's parked on the left side of the road and is the second car from my direction, situated within 10 meters of me. The car is stationary and facing directly towards me.	{ "cls_type": "Car", "truncation": 0, "occlusion": 1, "alpha": 2.04, "box2d": [ 334.85, 178.94, 624.5, 372.04 ], "h": 1.57, "w": 1.5, "l": 3.68, "pos": [ -1.17, 1.65, 7.86 ], "ry": 1.9, "score": -1 }	[ [ 721.5377, 0, 609.5593, 44.85728 ], [ 0, 721.5377, 172.854, 0.2163791 ], [ 0, 0, 1, 0.002745884 ] ]	null	null	null
000008	24,632	3	1car	A parked, gray-colored car is situated on the left side of the road, in front of the red car. It measures approximately 1.6 meters in height and 3.7 meters in length. From my position, it's located at around 10 degrees west of north, within 10 meters of me and facing towards my direction.	{ "cls_type": "Car", "truncation": 0, "occlusion": 1, "alpha": 2.04, "box2d": [ 334.85, 178.94, 624.5, 372.04 ], "h": 1.57, "w": 1.5, "l": 3.68, "pos": [ -1.17, 1.65, 7.86 ], "ry": 1.9, "score": -1 }	[ [ 721.5377, 0, 609.5593, 44.85728 ], [ 0, 721.5377, 172.854, 0.2163791 ], [ 0, 0, 1, 0.002745884 ] ]	null	null	null
000008	24,632	4	1car	The second car on the left side of the road, positioned less than 10 meters away from me, is a gray vehicle measuring around 1.6 meters in height and 3.7 meters in length. It's parked in front of the red car and facing directly towards me.	{ "cls_type": "Car", "truncation": 0, "occlusion": 1, "alpha": 2.04, "box2d": [ 334.85, 178.94, 624.5, 372.04 ], "h": 1.57, "w": 1.5, "l": 3.68, "pos": [ -1.17, 1.65, 7.86 ], "ry": 1.9, "score": -1 }	[ [ 721.5377, 0, 609.5593, 44.85728 ], [ 0, 721.5377, 172.854, 0.2163791 ], [ 0, 0, 1, 0.002745884 ] ]	null	null	null
000008	24,633	0	1car	A black car, about 1.4 meters tall and 3.1 meters long, is parked on the right side of the road. It is the first car on my north-northeast direction within 10 meters from me, with its back facing towards me and completely blocked from my view.	{ "cls_type": "Car", "truncation": 0.34, "occlusion": 3, "alpha": -1.8399999999999999, "box2d": [ 937.29, 197.39, 1241, 374 ], "h": 1.3900000000000001, "w": 1.44, "l": 3.08, "pos": [ 3.81, 1.6400000000000001, 6.15 ], "ry": -1.31, "score": -1 }	[ [ 721.5377, 0, 609.5593, 44.85728 ], [ 0, 721.5377, 172.854, 0.2163791 ], [ 0, 0, 1, 0.002745884 ] ]	null	null	null
000008	24,633	1	1car	The first car on my north-northeast direction within 10 meters is a black one, approximately 1.4 meters in height and 3.1 meters in length. Parked on the right side of the road, it faces away from me and is completely obstructed from my view.	{ "cls_type": "Car", "truncation": 0.34, "occlusion": 3, "alpha": -1.8399999999999999, "box2d": [ 937.29, 197.39, 1241, 374 ], "h": 1.3900000000000001, "w": 1.44, "l": 3.08, "pos": [ 3.81, 1.6400000000000001, 6.15 ], "ry": -1.31, "score": -1 }	[ [ 721.5377, 0, 609.5593, 44.85728 ], [ 0, 721.5377, 172.854, 0.2163791 ], [ 0, 0, 1, 0.002745884 ] ]	null	null	null
000008	24,633	2	1car	Within 10 meters from me, there is a black car parked on the right side of the road, with its back facing towards me. It is the first car on my north-northeast direction and completely hidden from my sight.	{ "cls_type": "Car", "truncation": 0.34, "occlusion": 3, "alpha": -1.8399999999999999, "box2d": [ 937.29, 197.39, 1241, 374 ], "h": 1.3900000000000001, "w": 1.44, "l": 3.08, "pos": [ 3.81, 1.6400000000000001, 6.15 ], "ry": -1.31, "score": -1 }	[ [ 721.5377, 0, 609.5593, 44.85728 ], [ 0, 721.5377, 172.854, 0.2163791 ], [ 0, 0, 1, 0.002745884 ] ]	null	null	null
000008	24,633	3	1car	I see a black car on the right side of the road, about 1.4 meters tall and 3.1 meters long, with its back facing towards me and completely obscured by something. It is the first car on my north-northeast direction within 10 meters.	{ "cls_type": "Car", "truncation": 0.34, "occlusion": 3, "alpha": -1.8399999999999999, "box2d": [ 937.29, 197.39, 1241, 374 ], "h": 1.3900000000000001, "w": 1.44, "l": 3.08, "pos": [ 3.81, 1.6400000000000001, 6.15 ], "ry": -1.31, "score": -1 }	[ [ 721.5377, 0, 609.5593, 44.85728 ], [ 0, 721.5377, 172.854, 0.2163791 ], [ 0, 0, 1, 0.002745884 ] ]	null	null	null
000008	24,633	4	1car	Positioned on the right side of the road, a black car stands out as the first car on my north-northeast direction within 10 meters. It has an approximate height of 1.4 meters and a length of 3.1 meters, facing away from me and entirely blocked from my view.	{ "cls_type": "Car", "truncation": 0.34, "occlusion": 3, "alpha": -1.8399999999999999, "box2d": [ 937.29, 197.39, 1241, 374 ], "h": 1.3900000000000001, "w": 1.44, "l": 3.08, "pos": [ 3.81, 1.6400000000000001, 6.15 ], "ry": -1.31, "score": -1 }	[ [ 721.5377, 0, 609.5593, 44.85728 ], [ 0, 721.5377, 172.854, 0.2163791 ], [ 0, 0, 1, 0.002745884 ] ]	null	null	null
000008	24,634	0	1car	A white car, approximately 1.5 meters tall and 3.7 meters long, is parked on the left side of the road about 10 meters away from me, facing away from me and situated behind the second gray car.	{ "cls_type": "Car", "truncation": 0, "occlusion": 1, "alpha": -1.33, "box2d": [ 597.59, 176.18, 720.9, 261.14 ], "h": 1.47, "w": 1.6, "l": 3.66, "pos": [ 1.07, 1.55, 14.44 ], "ry": -1.25, "score": -1 }	[ [ 721.5377, 0, 609.5593, 44.85728 ], [ 0, 721.5377, 172.854, 0.2163791 ], [ 0, 0, 1, 0.002745884 ] ]	null	null	null
000008	24,634	1	1car	Positioned approximately 10 meters away from me, a white car stands parked on the left side of the road. This car measures around 1.5 meters in height and 3.7 meters in length, possesses a white exterior, and is situated behind the second gray car with its back facing towards me.	{ "cls_type": "Car", "truncation": 0, "occlusion": 1, "alpha": -1.33, "box2d": [ 597.59, 176.18, 720.9, 261.14 ], "h": 1.47, "w": 1.6, "l": 3.66, "pos": [ 1.07, 1.55, 14.44 ], "ry": -1.25, "score": -1 }	[ [ 721.5377, 0, 609.5593, 44.85728 ], [ 0, 721.5377, 172.854, 0.2163791 ], [ 0, 0, 1, 0.002745884 ] ]	null	null	null
000008	24,634	2	1car	The third car on the left-hand side of the road is a white vehicle, approximately 1.5 meters tall and 3.7 meters long. It is parked about 10 meters away from my position and is situated at the back of the second gray car with its back facing towards me.	{ "cls_type": "Car", "truncation": 0, "occlusion": 1, "alpha": -1.33, "box2d": [ 597.59, 176.18, 720.9, 261.14 ], "h": 1.47, "w": 1.6, "l": 3.66, "pos": [ 1.07, 1.55, 14.44 ], "ry": -1.25, "score": -1 }	[ [ 721.5377, 0, 609.5593, 44.85728 ], [ 0, 721.5377, 172.854, 0.2163791 ], [ 0, 0, 1, 0.002745884 ] ]	null	null	null
000008	24,634	3	1car	Situated to the left side of the road, about 10 meters away from me, is a white car measuring around 1.5 meters in height and 3.7 meters in length. The car is parked behind the second gray car with its back facing towards me.	{ "cls_type": "Car", "truncation": 0, "occlusion": 1, "alpha": -1.33, "box2d": [ 597.59, 176.18, 720.9, 261.14 ], "h": 1.47, "w": 1.6, "l": 3.66, "pos": [ 1.07, 1.55, 14.44 ], "ry": -1.25, "score": -1 }	[ [ 721.5377, 0, 609.5593, 44.85728 ], [ 0, 721.5377, 172.854, 0.2163791 ], [ 0, 0, 1, 0.002745884 ] ]	null	null	null
000008	24,634	4	1car	A white car, with an estimated height of 1.5 meters and length of 3.7 meters, is parked on the left-hand side of the road approximately 10 meters away from me. Positioned behind the second gray car, this third car in line has its back facing towards me.	{ "cls_type": "Car", "truncation": 0, "occlusion": 1, "alpha": -1.33, "box2d": [ 597.59, 176.18, 720.9, 261.14 ], "h": 1.47, "w": 1.6, "l": 3.66, "pos": [ 1.07, 1.55, 14.44 ], "ry": -1.25, "score": -1 }	[ [ 721.5377, 0, 609.5593, 44.85728 ], [ 0, 721.5377, 172.854, 0.2163791 ], [ 0, 0, 1, 0.002745884 ] ]	null	null	null
000008	24,635	0	1car	A black car is parked on the left side of the road, approximately 10 degrees northeast of my position and about 30 meters away. It is the fourth car and facing towards me.	{ "cls_type": "Car", "truncation": 0, "occlusion": 0, "alpha": 1.74, "box2d": [ 741.18, 168.83, 792.25, 208.43 ], "h": 1.7000000000000002, "w": 1.63, "l": 4.08, "pos": [ 7.24, 1.55, 33.2 ], "ry": 1.9500000000000002, "score": -1 }	[ [ 721.5377, 0, 609.5593, 44.85728 ], [ 0, 721.5377, 172.854, 0.2163791 ], [ 0, 0, 1, 0.002745884 ] ]	null	null	null
000008	24,635	1	1car	The fourth car, which is black in color, is currently parked on the left side of the road, facing towards me from a distance of approximately 30 meters. Its position is about 10 degrees northeast of mine.	{ "cls_type": "Car", "truncation": 0, "occlusion": 0, "alpha": 1.74, "box2d": [ 741.18, 168.83, 792.25, 208.43 ], "h": 1.7000000000000002, "w": 1.63, "l": 4.08, "pos": [ 7.24, 1.55, 33.2 ], "ry": 1.9500000000000002, "score": -1 }	[ [ 721.5377, 0, 609.5593, 44.85728 ], [ 0, 721.5377, 172.854, 0.2163791 ], [ 0, 0, 1, 0.002745884 ] ]	null	null	null
000008	24,635	2	1car	At a distance of about 30 meters from my location, there is a black car parked on the left side of the road. It's the fourth car in the row and is currently facing towards me, positioned at around 10 degrees northeast of where I am standing.	{ "cls_type": "Car", "truncation": 0, "occlusion": 0, "alpha": 1.74, "box2d": [ 741.18, 168.83, 792.25, 208.43 ], "h": 1.7000000000000002, "w": 1.63, "l": 4.08, "pos": [ 7.24, 1.55, 33.2 ], "ry": 1.9500000000000002, "score": -1 }	[ [ 721.5377, 0, 609.5593, 44.85728 ], [ 0, 721.5377, 172.854, 0.2163791 ], [ 0, 0, 1, 0.002745884 ] ]	null	null	null
000008	24,635	3	1car	Positioned on the left side of the road, approximately 30 meters away from me, is a black car that happens to be the fourth one in a row. It is facing towards me and is located at a direction of roughly 10 degrees northeast from my position.	{ "cls_type": "Car", "truncation": 0, "occlusion": 0, "alpha": 1.74, "box2d": [ 741.18, 168.83, 792.25, 208.43 ], "h": 1.7000000000000002, "w": 1.63, "l": 4.08, "pos": [ 7.24, 1.55, 33.2 ], "ry": 1.9500000000000002, "score": -1 }	[ [ 721.5377, 0, 609.5593, 44.85728 ], [ 0, 721.5377, 172.854, 0.2163791 ], [ 0, 0, 1, 0.002745884 ] ]	null	null	null
000008	24,635	4	1car	A black-colored car, which is the fourth one in line, is parked on the left side of the road, around 10 degrees northeast of where I am standing. Facing towards me, it is positioned at a distance of about 30 meters away from my current location.	{ "cls_type": "Car", "truncation": 0, "occlusion": 0, "alpha": 1.74, "box2d": [ 741.18, 168.83, 792.25, 208.43 ], "h": 1.7000000000000002, "w": 1.63, "l": 4.08, "pos": [ 7.24, 1.55, 33.2 ], "ry": 1.9500000000000002, "score": -1 }	[ [ 721.5377, 0, 609.5593, 44.85728 ], [ 0, 721.5377, 172.854, 0.2163791 ], [ 0, 0, 1, 0.002745884 ] ]	null	null	null
000008	24,636	0	1car	A white car, located approximately 20 meters away from me in the direction of north-northeast at an angle of 20 degrees, is parked on the right side of the road. It is the second car on the right, with its back facing me.	{ "cls_type": "Car", "truncation": 0, "occlusion": 0, "alpha": -1.65, "box2d": [ 884.52, 178.31, 956.41, 240.18 ], "h": 1.5899999999999999, "w": 1.5899999999999999, "l": 2.47, "pos": [ 8.48, 1.75, 19.96 ], "ry": -1.25, "score": -1 }	[ [ 721.5377, 0, 609.5593, 44.85728 ], [ 0, 721.5377, 172.854, 0.2163791 ], [ 0, 0, 1, 0.002745884 ] ]	null	null	null
000008	24,636	1	1car	The second car on the right side of the road, which is white in color and about 20 meters away from me in a direction that is approximately 20 degrees north-northeast of my position, is currently parked. The car is facing away from me.	{ "cls_type": "Car", "truncation": 0, "occlusion": 0, "alpha": -1.65, "box2d": [ 884.52, 178.31, 956.41, 240.18 ], "h": 1.5899999999999999, "w": 1.5899999999999999, "l": 2.47, "pos": [ 8.48, 1.75, 19.96 ], "ry": -1.25, "score": -1 }	[ [ 721.5377, 0, 609.5593, 44.85728 ], [ 0, 721.5377, 172.854, 0.2163791 ], [ 0, 0, 1, 0.002745884 ] ]	null	null	null
000008	24,636	2	1car	Positioned on the right side of the road is a white car, the second one from the front, which is currently stationary and facing away from me. It is located around 20 meters away from me in the direction of approximately 20 degrees north of east.	{ "cls_type": "Car", "truncation": 0, "occlusion": 0, "alpha": -1.65, "box2d": [ 884.52, 178.31, 956.41, 240.18 ], "h": 1.5899999999999999, "w": 1.5899999999999999, "l": 2.47, "pos": [ 8.48, 1.75, 19.96 ], "ry": -1.25, "score": -1 }	[ [ 721.5377, 0, 609.5593, 44.85728 ], [ 0, 721.5377, 172.854, 0.2163791 ], [ 0, 0, 1, 0.002745884 ] ]	null	null	null
000008	24,636	3	1car	As I stand, a white car is parked on the right side of the road about 20 meters away from me, with its back facing me. It is the second car to my right and situated in a direction that is approximately 20 degrees north-northeast of my position.	{ "cls_type": "Car", "truncation": 0, "occlusion": 0, "alpha": -1.65, "box2d": [ 884.52, 178.31, 956.41, 240.18 ], "h": 1.5899999999999999, "w": 1.5899999999999999, "l": 2.47, "pos": [ 8.48, 1.75, 19.96 ], "ry": -1.25, "score": -1 }	[ [ 721.5377, 0, 609.5593, 44.85728 ], [ 0, 721.5377, 172.854, 0.2163791 ], [ 0, 0, 1, 0.002745884 ] ]	null	null	null
000008	24,636	4	1car	About 20 meters away from me on the right side of the road is a white car that is currently parked. It is positioned second on the right and facing away from me, in a direction that is approximately 20 degrees north-northeast of my location.	{ "cls_type": "Car", "truncation": 0, "occlusion": 0, "alpha": -1.65, "box2d": [ 884.52, 178.31, 956.41, 240.18 ], "h": 1.5899999999999999, "w": 1.5899999999999999, "l": 2.47, "pos": [ 8.48, 1.75, 19.96 ], "ry": -1.25, "score": -1 }	[ [ 721.5377, 0, 609.5593, 44.85728 ], [ 0, 721.5377, 172.854, 0.2163791 ], [ 0, 0, 1, 0.002745884 ] ]	null	null	null
000009	10	0	1car	A black car, approximately 1.6 meters high and 3.2 meters long, is heading north in the lane ahead of me. It is the first car and is about 30 meters away from me, moving away from me with its back facing me.	{ "cls_type": "Car", "truncation": 0, "occlusion": 0, "alpha": -1.5, "box2d": [ 601.96, 177.01, 659.15, 229.51 ], "h": 1.6099999999999999, "w": 1.6600000000000001, "l": 3.2, "pos": [ 0.7000000000000001, 1.76, 23.88 ], "ry": -1.48, "score": -1 }	[ [ 721.5377, 0, 609.5593, 44.85728 ], [ 0, 721.5377, 172.854, 0.2163791 ], [ 0, 0, 1, 0.002745884 ] ]	null	null	null
000009	10	1	1car	The first car in the lane ahead of me is a 3.2-meter-long and 1.6-meter-high black vehicle, located in the northern direction relative to me. It is driving away from me with its back towards me.	{ "cls_type": "Car", "truncation": 0, "occlusion": 0, "alpha": -1.5, "box2d": [ 601.96, 177.01, 659.15, 229.51 ], "h": 1.6099999999999999, "w": 1.6600000000000001, "l": 3.2, "pos": [ 0.7000000000000001, 1.76, 23.88 ], "ry": -1.48, "score": -1 }	[ [ 721.5377, 0, 609.5593, 44.85728 ], [ 0, 721.5377, 172.854, 0.2163791 ], [ 0, 0, 1, 0.002745884 ] ]	null	null	null
000009	10	2	1car	Within 30 meters of me, a black car with a height of about 1.6 meters and a length of about 3.2 meters is driving in the lane ahead of me. It is the first car and is positioned in the direction of due north, facing away from me as it moves.	{ "cls_type": "Car", "truncation": 0, "occlusion": 0, "alpha": -1.5, "box2d": [ 601.96, 177.01, 659.15, 229.51 ], "h": 1.6099999999999999, "w": 1.6600000000000001, "l": 3.2, "pos": [ 0.7000000000000001, 1.76, 23.88 ], "ry": -1.48, "score": -1 }	[ [ 721.5377, 0, 609.5593, 44.85728 ], [ 0, 721.5377, 172.854, 0.2163791 ], [ 0, 0, 1, 0.002745884 ] ]	null	null	null
000009	10	3	1car	A black car that is approximately 1.6 meters tall and 3.2 meters long is the first car in the lane ahead of me, located approximately 30 meters away from me and moving away from me in a northerly direction. It is facing away from me and appears to be driving.	{ "cls_type": "Car", "truncation": 0, "occlusion": 0, "alpha": -1.5, "box2d": [ 601.96, 177.01, 659.15, 229.51 ], "h": 1.6099999999999999, "w": 1.6600000000000001, "l": 3.2, "pos": [ 0.7000000000000001, 1.76, 23.88 ], "ry": -1.48, "score": -1 }	[ [ 721.5377, 0, 609.5593, 44.85728 ], [ 0, 721.5377, 172.854, 0.2163791 ], [ 0, 0, 1, 0.002745884 ] ]	null	null	null
000009	10	4	1car	Positioned in the lane ahead of me and approximately 30 meters away from me is a black car that is approximately 1.6 meters tall and 3.2 meters long. It is the first car in the lane and is driving away from me with its back facing me in a northerly direction.	{ "cls_type": "Car", "truncation": 0, "occlusion": 0, "alpha": -1.5, "box2d": [ 601.96, 177.01, 659.15, 229.51 ], "h": 1.6099999999999999, "w": 1.6600000000000001, "l": 3.2, "pos": [ 0.7000000000000001, 1.76, 23.88 ], "ry": -1.48, "score": -1 }	[ [ 721.5377, 0, 609.5593, 44.85728 ], [ 0, 721.5377, 172.854, 0.2163791 ], [ 0, 0, 1, 0.002745884 ] ]	null	null	null
000009	11	0	1car	A white car, which is approximately 1.4 meters tall and 3.7 meters long, is driving in the second lane on my left side, facing towards me. It is located about 60 meters away from me in the north direction. The car is partially obstructed by a black car in front of it.	{ "cls_type": "Car", "truncation": 0, "occlusion": 2, "alpha": 1.75, "box2d": [ 600.14, 177.09, 624.65, 193.31 ], "h": 1.44, "w": 1.6099999999999999, "l": 3.66, "pos": [ 0.24, 1.8399999999999999, 66.37 ], "ry": 1.76, "score": -1 }	[ [ 721.5377, 0, 609.5593, 44.85728 ], [ 0, 721.5377, 172.854, 0.2163791 ], [ 0, 0, 1, 0.002745884 ] ]	null	null	null
000009	11	1	1car	In the second lane on my left, there is a white car that is around 1.4 meters tall and 3.7 meters long. The car is facing towards me and is currently in motion. It is situated about 60 meters away from my position, obscured by the majority of a black car in front of it.	{ "cls_type": "Car", "truncation": 0, "occlusion": 2, "alpha": 1.75, "box2d": [ 600.14, 177.09, 624.65, 193.31 ], "h": 1.44, "w": 1.6099999999999999, "l": 3.66, "pos": [ 0.24, 1.8399999999999999, 66.37 ], "ry": 1.76, "score": -1 }	[ [ 721.5377, 0, 609.5593, 44.85728 ], [ 0, 721.5377, 172.854, 0.2163791 ], [ 0, 0, 1, 0.002745884 ] ]	null	null	null
000009	11	2	1car	Positioned in the second lane on my left side, a white car measuring approximately 1.4 meters in height and 3.7 meters in length faces towards me as it drives. The car is situated roughly 60 meters away in a northern direction from my location and is partially blocked by a black car ahead of it.	{ "cls_type": "Car", "truncation": 0, "occlusion": 2, "alpha": 1.75, "box2d": [ 600.14, 177.09, 624.65, 193.31 ], "h": 1.44, "w": 1.6099999999999999, "l": 3.66, "pos": [ 0.24, 1.8399999999999999, 66.37 ], "ry": 1.76, "score": -1 }	[ [ 721.5377, 0, 609.5593, 44.85728 ], [ 0, 721.5377, 172.854, 0.2163791 ], [ 0, 0, 1, 0.002745884 ] ]	null	null	null
000009	11	3	1car	A car painted in white and measuring about 1.4 meters tall and 3.7 meters long can be observed driving in the second lane on my left side. The car is facing towards me and traveling in a northerly direction, approximately 60 meters away from me. There is a black car in front of it blocking its visibility partly.	{ "cls_type": "Car", "truncation": 0, "occlusion": 2, "alpha": 1.75, "box2d": [ 600.14, 177.09, 624.65, 193.31 ], "h": 1.44, "w": 1.6099999999999999, "l": 3.66, "pos": [ 0.24, 1.8399999999999999, 66.37 ], "ry": 1.76, "score": -1 }	[ [ 721.5377, 0, 609.5593, 44.85728 ], [ 0, 721.5377, 172.854, 0.2163791 ], [ 0, 0, 1, 0.002745884 ] ]	null	null	null
000009	11	4	1car	As I stand observing, a white-colored car measuring around 1.4 meters in height and 3.7 meters in length moves in the second lane to my left. Facing towards me, the car remains in motion along a path roughly 60 meters from my position, partially concealed by a black car immediately ahead of it in the first lane.	{ "cls_type": "Car", "truncation": 0, "occlusion": 2, "alpha": 1.75, "box2d": [ 600.14, 177.09, 624.65, 193.31 ], "h": 1.44, "w": 1.6099999999999999, "l": 3.66, "pos": [ 0.24, 1.8399999999999999, 66.37 ], "ry": 1.76, "score": -1 }	[ [ 721.5377, 0, 609.5593, 44.85728 ], [ 0, 721.5377, 172.854, 0.2163791 ], [ 0, 0, 1, 0.002745884 ] ]	null	null	null
000009	12	0	1car	A blue car, approximately 1.4 meters tall and 3.4 meters long, is driving towards me from the north direction and is about 70 meters away from me. It is currently in the left lane and facing me. It is driving next to a white car in the second lane on the left side.	{ "cls_type": "Car", "truncation": 0, "occlusion": 0, "alpha": 1.78, "box2d": [ 574.98, 178.64, 598.45, 194.01 ], "h": 1.4100000000000001, "w": 1.53, "l": 3.37, "pos": [ -2.19, 1.96, 68.25 ], "ry": 1.75, "score": -1 }	[ [ 721.5377, 0, 609.5593, 44.85728 ], [ 0, 721.5377, 172.854, 0.2163791 ], [ 0, 0, 1, 0.002745884 ] ]	null	null	null
000009	12	1	1car	Positioned in the first lane on the left and facing me, there is a blue car which is about 1.4 meters tall and 3.4 meters long. The car is currently driving and is located approximately 70 meters away from me. It is driving adjacent to a white car in the second lane on the left.	{ "cls_type": "Car", "truncation": 0, "occlusion": 0, "alpha": 1.78, "box2d": [ 574.98, 178.64, 598.45, 194.01 ], "h": 1.4100000000000001, "w": 1.53, "l": 3.37, "pos": [ -2.19, 1.96, 68.25 ], "ry": 1.75, "score": -1 }	[ [ 721.5377, 0, 609.5593, 44.85728 ], [ 0, 721.5377, 172.854, 0.2163791 ], [ 0, 0, 1, 0.002745884 ] ]	null	null	null
000009	12	2	1car	A blue car, measuring around 1.4 meters in height and 3.4 meters in length, is heading towards me from the north and is currently located about 70 meters away from me. It is in the left lane and facing me as it drives beside a white car in the second lane on the left.	{ "cls_type": "Car", "truncation": 0, "occlusion": 0, "alpha": 1.78, "box2d": [ 574.98, 178.64, 598.45, 194.01 ], "h": 1.4100000000000001, "w": 1.53, "l": 3.37, "pos": [ -2.19, 1.96, 68.25 ], "ry": 1.75, "score": -1 }	[ [ 721.5377, 0, 609.5593, 44.85728 ], [ 0, 721.5377, 172.854, 0.2163791 ], [ 0, 0, 1, 0.002745884 ] ]	null	null	null
000009	12	3	1car	In the north direction, there is a blue car that is roughly 1.4 meters tall and 3.4 meters long and is driving towards me. It is positioned around 70 meters away from me and driving in the left lane while facing me. The car is driving next to a white car in the second lane on the left.	{ "cls_type": "Car", "truncation": 0, "occlusion": 0, "alpha": 1.78, "box2d": [ 574.98, 178.64, 598.45, 194.01 ], "h": 1.4100000000000001, "w": 1.53, "l": 3.37, "pos": [ -2.19, 1.96, 68.25 ], "ry": 1.75, "score": -1 }	[ [ 721.5377, 0, 609.5593, 44.85728 ], [ 0, 721.5377, 172.854, 0.2163791 ], [ 0, 0, 1, 0.002745884 ] ]	null	null	null
000009	12	4	1car	Driving towards me from the north and located around 70 meters away from me is a blue car that measures approximately 1.4 meters in height and 3.4 meters in length. It is currently in the left lane and facing me while driving beside a white car in the second lane on the left side.	{ "cls_type": "Car", "truncation": 0, "occlusion": 0, "alpha": 1.78, "box2d": [ 574.98, 178.64, 598.45, 194.01 ], "h": 1.4100000000000001, "w": 1.53, "l": 3.37, "pos": [ -2.19, 1.96, 68.25 ], "ry": 1.75, "score": -1 }	[ [ 721.5377, 0, 609.5593, 44.85728 ], [ 0, 721.5377, 172.854, 0.2163791 ], [ 0, 0, 1, 0.002745884 ] ]	null	null	null
000013	42	0	1car	A white car, approximately 1.4 meters tall, is driving towards me on the opposite lane to my left, about 10 degrees northwest of my position. It is the only car in sight and is about 20 meters away from me.	{ "cls_type": "Car", "truncation": 0, "occlusion": 0, "alpha": 1.74, "box2d": [ 455.7, 183.86, 533.81, 241.91 ], "h": 1.45, "w": 1.56, "l": 3.47, "pos": [ -3.16, 1.77, 20.13 ], "ry": 1.5899999999999999, "score": -1 }	[ [ 721.5377, 0, 609.5593, 44.85728 ], [ 0, 721.5377, 172.854, 0.2163791 ], [ 0, 0, 1, 0.002745884 ] ]	null	null	null
000013	42	1	1car	In the left lane going the opposite direction, there is a solitary white car driving straight towards me, standing at roughly 1.4 meters in height and about 20 meters away from where I am positioned as it approaches at an angle of roughly 10 degrees to the northwest.	{ "cls_type": "Car", "truncation": 0, "occlusion": 0, "alpha": 1.74, "box2d": [ 455.7, 183.86, 533.81, 241.91 ], "h": 1.45, "w": 1.56, "l": 3.47, "pos": [ -3.16, 1.77, 20.13 ], "ry": 1.5899999999999999, "score": -1 }	[ [ 721.5377, 0, 609.5593, 44.85728 ], [ 0, 721.5377, 172.854, 0.2163791 ], [ 0, 0, 1, 0.002745884 ] ]	null	null	null
000013	42	2	1car	A car painted in white appears on the opposite side of the road, travelling towards me, at a height of roughly 1.4 meters, placed at a distance of about 20 meters and facing my direction with its front.	{ "cls_type": "Car", "truncation": 0, "occlusion": 0, "alpha": 1.74, "box2d": [ 455.7, 183.86, 533.81, 241.91 ], "h": 1.45, "w": 1.56, "l": 3.47, "pos": [ -3.16, 1.77, 20.13 ], "ry": 1.5899999999999999, "score": -1 }	[ [ 721.5377, 0, 609.5593, 44.85728 ], [ 0, 721.5377, 172.854, 0.2163791 ], [ 0, 0, 1, 0.002745884 ] ]	null	null	null
000013	42	3	1car	A lone vehicle, painted white and standing no higher than 1.4 meters, is currently approaching from the opposite side of the road, located approximately 20 meters away from my position and at an angle of about 10 degrees northwest.	{ "cls_type": "Car", "truncation": 0, "occlusion": 0, "alpha": 1.74, "box2d": [ 455.7, 183.86, 533.81, 241.91 ], "h": 1.45, "w": 1.56, "l": 3.47, "pos": [ -3.16, 1.77, 20.13 ], "ry": 1.5899999999999999, "score": -1 }	[ [ 721.5377, 0, 609.5593, 44.85728 ], [ 0, 721.5377, 172.854, 0.2163791 ], [ 0, 0, 1, 0.002745884 ] ]	null	null	null
000013	42	4	1car	As it comes towards me, a white car with a height of around 1.4 meters can be seen driving along the opposite lane to my left, being the sole vehicle in sight whilst remaining about 20 meters away from me and facing me as it heads in my direction.	{ "cls_type": "Car", "truncation": 0, "occlusion": 0, "alpha": 1.74, "box2d": [ 455.7, 183.86, 533.81, 241.91 ], "h": 1.45, "w": 1.56, "l": 3.47, "pos": [ -3.16, 1.77, 20.13 ], "ry": 1.5899999999999999, "score": -1 }	[ [ 721.5377, 0, 609.5593, 44.85728 ], [ 0, 721.5377, 172.854, 0.2163791 ], [ 0, 0, 1, 0.002745884 ] ]	null	null	null
000015	24,641	0	1car	A silver car, approximately 1.6 meters high and 4.1 meters long, is located on my left side driving towards me. It is facing the opposite direction and is only a few meters away from me.	{ "cls_type": "Car", "truncation": 0.89, "occlusion": 0, "alpha": 2.29, "box2d": [ 0, 194.7, 414.71, 373 ], "h": 1.57, "w": 1.67, "l": 4.14, "pos": [ -2.75, 1.7000000000000002, 4.1 ], "ry": 1.72, "score": -1 }	[ [ 718.3351, 0, 600.3891, 44.50382 ], [ 0, 718.3351, 181.5122, -0.5951107 ], [ 0, 0, 1, 0.002616315 ] ]	null	null	null
000015	24,641	1	1car	Driving towards me on my left-hand side is a silver car that is roughly 1.6 meters tall and 4.1 meters long. It is facing the opposite direction and is only a few meters away from me.	{ "cls_type": "Car", "truncation": 0.89, "occlusion": 0, "alpha": 2.29, "box2d": [ 0, 194.7, 414.71, 373 ], "h": 1.57, "w": 1.67, "l": 4.14, "pos": [ -2.75, 1.7000000000000002, 4.1 ], "ry": 1.72, "score": -1 }	[ [ 718.3351, 0, 600.3891, 44.50382 ], [ 0, 718.3351, 181.5122, -0.5951107 ], [ 0, 0, 1, 0.002616315 ] ]	null	null	null
000015	24,641	2	1car	The car in front of me is a silver one, approximately 1.6 meters high and 4.1 meters long. Located on the left-hand side of the road, it is facing the opposite direction and is only a few meters away from me.	{ "cls_type": "Car", "truncation": 0.89, "occlusion": 0, "alpha": 2.29, "box2d": [ 0, 194.7, 414.71, 373 ], "h": 1.57, "w": 1.67, "l": 4.14, "pos": [ -2.75, 1.7000000000000002, 4.1 ], "ry": 1.72, "score": -1 }	[ [ 718.3351, 0, 600.3891, 44.50382 ], [ 0, 718.3351, 181.5122, -0.5951107 ], [ 0, 0, 1, 0.002616315 ] ]	null	null	null
000015	24,641	3	1car	My view consists of a silver car driving towards me on the left side of the road. This car is about 1.6 meters tall and 4.1 meters long, facing the opposite direction, and is only a few meters away from me.	{ "cls_type": "Car", "truncation": 0.89, "occlusion": 0, "alpha": 2.29, "box2d": [ 0, 194.7, 414.71, 373 ], "h": 1.57, "w": 1.67, "l": 4.14, "pos": [ -2.75, 1.7000000000000002, 4.1 ], "ry": 1.72, "score": -1 }	[ [ 718.3351, 0, 600.3891, 44.50382 ], [ 0, 718.3351, 181.5122, -0.5951107 ], [ 0, 0, 1, 0.002616315 ] ]	null	null	null
000015	24,641	4	1car	Positioned on the left side of the road and heading in my direction, a silver car stands approximately 1.6 meters tall and 4.1 meters long. It is facing the opposite direction and is only a few meters away from me.	{ "cls_type": "Car", "truncation": 0.89, "occlusion": 0, "alpha": 2.29, "box2d": [ 0, 194.7, 414.71, 373 ], "h": 1.57, "w": 1.67, "l": 4.14, "pos": [ -2.75, 1.7000000000000002, 4.1 ], "ry": 1.72, "score": -1 }	[ [ 718.3351, 0, 600.3891, 44.50382 ], [ 0, 718.3351, 181.5122, -0.5951107 ], [ 0, 0, 1, 0.002616315 ] ]	null	null	null
000015	24,642	0	0pedestrian	A pedestrian wearing a grey top and black pants, located approximately 30 degrees northeast of me, about 10 meters away on the right side of the road in front of the store. This is the first pedestrian, facing me and looking towards the store to the right.	{ "cls_type": "Pedestrian", "truncation": 0, "occlusion": 1, "alpha": 0.71, "box2d": [ 1021.76, 133.28, 1101.39, 316.63 ], "h": 1.81, "w": 1.06, "l": 0.73, "pos": [ 4.75, 1.33, 7.59 ], "ry": 1.25, "score": -1 }	[ [ 718.3351, 0, 600.3891, 44.50382 ], [ 0, 718.3351, 181.5122, -0.5951107 ], [ 0, 0, 1, 0.002616315 ] ]	null	null	null
000015	24,642	1	0pedestrian	In front of the store on the right side of the road, the first pedestrian is about 10 meters away from me and facing me. He or she is wearing a grey top and black pants, and is currently looking towards the store on the right.	{ "cls_type": "Pedestrian", "truncation": 0, "occlusion": 1, "alpha": 0.71, "box2d": [ 1021.76, 133.28, 1101.39, 316.63 ], "h": 1.81, "w": 1.06, "l": 0.73, "pos": [ 4.75, 1.33, 7.59 ], "ry": 1.25, "score": -1 }	[ [ 718.3351, 0, 600.3891, 44.50382 ], [ 0, 718.3351, 181.5122, -0.5951107 ], [ 0, 0, 1, 0.002616315 ] ]	null	null	null
000015	24,642	2	0pedestrian	Standing outside the store on the right side of the road is the first pedestrian, approximately 10 meters away from me at a direction of around 30 degrees northeast. He or she is wearing a grey top and black pants, and is currently facing me while looking towards the shop on the right.	{ "cls_type": "Pedestrian", "truncation": 0, "occlusion": 1, "alpha": 0.71, "box2d": [ 1021.76, 133.28, 1101.39, 316.63 ], "h": 1.81, "w": 1.06, "l": 0.73, "pos": [ 4.75, 1.33, 7.59 ], "ry": 1.25, "score": -1 }	[ [ 718.3351, 0, 600.3891, 44.50382 ], [ 0, 718.3351, 181.5122, -0.5951107 ], [ 0, 0, 1, 0.002616315 ] ]	null	null	null
000015	24,642	3	0pedestrian	The first pedestrian, wearing a grey top and black pants, is located on the right side of the road in front of the store at a distance of about 10 meters and facing me. He or she is currently looking towards the shop on the right.	{ "cls_type": "Pedestrian", "truncation": 0, "occlusion": 1, "alpha": 0.71, "box2d": [ 1021.76, 133.28, 1101.39, 316.63 ], "h": 1.81, "w": 1.06, "l": 0.73, "pos": [ 4.75, 1.33, 7.59 ], "ry": 1.25, "score": -1 }	[ [ 718.3351, 0, 600.3891, 44.50382 ], [ 0, 718.3351, 181.5122, -0.5951107 ], [ 0, 0, 1, 0.002616315 ] ]	null	null	null
000015	24,642	4	0pedestrian	Positioned in front of the store to the right of the road, the first pedestrian is facing me and looking towards the store. He or she is about 10 meters away from me and wearing a grey top and black pants.	{ "cls_type": "Pedestrian", "truncation": 0, "occlusion": 1, "alpha": 0.71, "box2d": [ 1021.76, 133.28, 1101.39, 316.63 ], "h": 1.81, "w": 1.06, "l": 0.73, "pos": [ 4.75, 1.33, 7.59 ], "ry": 1.25, "score": -1 }	[ [ 718.3351, 0, 600.3891, 44.50382 ], [ 0, 718.3351, 181.5122, -0.5951107 ], [ 0, 0, 1, 0.002616315 ] ]	null	null	null

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Mono3DRefer Metadata (MoME3DVG)

This folder contains the local source data and processing scripts used to build a metadata-only Hugging Face dataset for Mono3DRefer-style 3D visual grounding.

Dataset relationship

Original dataset repo: https://huggingface.co/datasets/JadeRay-42/Mono3DRefer
This repo: metadata-focused variant for easier indexing, filtering, and downstream analysis.
This repo does not embed image bytes; rows keep structured object/camera metadata.

Dataset overview

Mono3DRefer is a monocular 3D visual grounding dataset with language expressions aligned to 3D object targets.

Total expressions: 41,140
Splits by expressions: train 29,990 / val 5,735 / test 5,415
Source images/geometry originate from KITTI-based Mono3DRefer annotations.

What changed from the original repo

Compared with JadeRay-42/Mono3DRefer, this metadata repo:

replaces legacy label_2 payload with structured object_3d dict,
includes per-row camera matrix p2 (3x4),
exposes geometry mirror fields for querying (box2d, h, w, l, pos, ry, truncation, occlusion, alpha),
keeps subset tags for test slicing (subset_refexp, subset_depth, subset_difficulty),
keeps image payload out of parquet (embed_external_files=False).

Why this README is needed

Hugging Face can auto-create a minimal dataset card when pushing data, but that card is usually generic. A hand-written README.md is strongly recommended so users can understand schema, data source, and usage constraints.

Folder structure

Mono3DRefer.json: raw annotations.
Mono3DRefer_train_image.txt: train split image ids.
Mono3DRefer_val_image.txt: val split image ids.
Mono3DRefer_test_image.txt: test split image ids.
test_instanceID_split.json: test subset definitions.
images/: local RGB images (not embedded in metadata-only publication).
calib/: local calibration files.
process/: schema builder, validators, and conversion utilities.
publish_mono3drefer__metadata.ipynb: publication notebook.
visualization.ipynb: visualization and QA notebook.

Published schema (metadata-only)

Each row is one expression-target pair.

Required fields:

split: train | val | test
img_id: image id string
instance_id: object instance id
ann_id: expression-level unique annotation id
category: class label id (with ClassLabel mapping)
description: referring expression text
object_3d: structured object dict with keys
- cls_type, truncation, occlusion, alpha, box2d, h, w, l, pos, ry, score
p2: camera projection matrix (3x4)
geometric mirrors for filtering/debugging
- box2d, h, w, l, pos, ry, truncation, occlusion, alpha
subset tags
- subset_refexp, subset_depth, subset_difficulty

Publication behavior

Metadata-only publication is used.
Image bytes are not embedded.
Local paths can be resolved offline from img_id.

Quick usage

from datasets import load_dataset

ds = load_dataset("JadeRay-42/Mono3DRefer-metadata")
print(ds["test"].column_names)

row = ds["test"][0]
obj = row["object_3d"]
p2 = row["p2"]
print(obj["cls_type"], obj["box2d"], p2)

Validation

Before publishing, run notebook checks to ensure:

zero validation errors,
schema matches expected columns,
ann_id uniqueness for (img_id, instance_id, ann_id),
object_3d keys completeness,
p2 shape is always 3x4.

Notes

Current training loaders in src/mome3dvg/datasets/mono3drefer are intentionally unchanged in this iteration. If consuming this published schema directly for training, add an adapter from object_3d to the loader's expected in-memory object format.

Citation and attribution

If you use this metadata repo in research, please cite the original Mono3DRefer work and acknowledge the original dataset source.

Original project: https://github.com/ZhanYang-nwpu/Mono3DVG
Original data access reference appears in the original dataset card.

License and disclaimer

This metadata packaging follows the repository metadata shown on Hub (license: mit) for this project variant. Please verify the licensing terms and usage constraints of upstream data sources before redistribution or commercial use.

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