{
  "video_id": "sav_005633",
  "cohort": "current_train",
  "status": "ok",
  "object_ids": [
    0,
    1,
    2,
    3,
    4,
    5
  ],
  "frames": [
    {
      "step": 0,
      "source_frame": 0,
      "timestamp_s": 0.0,
      "depth_stats": {
        "available": true,
        "valid_patches": 3024,
        "total_patches": 5184,
        "mean_coverage": 0.5585317611694336,
        "min_m": 1.137850284576416,
        "median_m": 3.7399299144744873,
        "max_m": 18.16445541381836,
        "fraction_above_display_max": 0.0,
        "fraction_below_display_min": 0.0
      },
      "camera_valid": true,
      "intrinsics": [
        [
          957.095458984375,
          0.0,
          503.5
        ],
        [
          0.0,
          955.07568359375,
          504.0
        ],
        [
          0.0,
          0.0,
          1.0
        ]
      ],
      "objects": [
        {
          "object_id": 0,
          "visibility_known": true,
          "visible": true,
          "box2d_valid": true,
          "box2d_xyxy_px": [
            357.0,
            383.0,
            737.0,
            755.0
          ],
          "valid3d_components": {
            "center": true,
            "depth": true,
            "size": true,
            "rotation": true
          },
          "has_measurement": true,
          "interpolated": false,
          "segment_id": 0,
          "drawn_3d": true,
          "box3d_camera_wlh_wxyz": [
            0.11229715496301651,
            -0.03077244944870472,
            2.6565589904785156,
            0.5130977034568787,
            0.7777804732322693,
            1.0743337869644165,
            0.6735343337059021,
            0.04292917996644974,
            0.7373266816139221,
            0.02929079346358776
          ],
          "projection": {
            "corners_camera_m": [
              [
                -0.12135291771143031,
                -0.6012464570530417,
                3.010915098227391
              ],
              [
                0.3895613142504874,
                -0.6087555322273855,
                2.964229825801145
              ],
              [
                -0.09573118545914103,
                0.467284068699841,
                3.1194467902991745
              ],
              [
                0.41518304650277665,
                0.45977499352549706,
                3.0727615178729284
              ],
              [
                -0.19058873657674363,
                -0.5213198924229066,
                2.240356463084103
              ],
              [
                0.3203254953851741,
                -0.5288289675972504,
                2.1936711906578568
              ],
              [
                -0.16496700432445438,
                0.5472106333299761,
                2.3488881551558864
              ],
              [
                0.34594722763746333,
                0.5397015581556323,
                2.3022028827296404
              ]
            ],
            "projected_corners_px": [
              [
                464.92490814686437,
                313.2819451082089
              ],
              [
                629.2822054213887,
                307.8587962974801
              ],
              [
                474.12816292585404,
                647.0675633685572
              ],
              [
                632.8200940404186,
                646.9072557979215
              ],
              [
                422.0792005348736,
                281.7586018872138
              ],
              [
                643.2575344635538,
                273.7596203646838
              ],
              [
                436.2813159708694,
                726.4999809165929
              ],
              [
                647.320739303163,
                727.8967896612764
              ]
            ],
            "edges_in_front": 12,
            "edges_skipped_near_plane": 0
          },
          "complete_measured_visible_3d": true
        },
        {
          "object_id": 1,
          "visibility_known": true,
          "visible": true,
          "box2d_valid": true,
          "box2d_xyxy_px": [
            576.0,
            431.0,
            639.0,
            560.0
          ],
          "valid3d_components": {
            "center": true,
            "depth": true,
            "size": true,
            "rotation": true
          },
          "has_measurement": true,
          "interpolated": false,
          "segment_id": 0,
          "drawn_3d": true,
          "box3d_camera_wlh_wxyz": [
            0.406273752450943,
            -0.06362242996692657,
            3.7765722274780273,
            0.1814941167831421,
            0.3311028480529785,
            0.543868362903595,
            0.6635832786560059,
            0.0656641349196434,
            0.7430967092514038,
            0.05614951625466347
          ],
          "projection": {
            "corners_camera_m": [
              [
                0.32816021020528907,
                -0.35965422929397256,
                3.902484696879627
              ],
              [
                0.5084904209355054,
                -0.3603254312441812,
                3.881974235821167
              ],
              [
                0.3407071685957135,
                0.1760946721986803,
                3.995266616195845
              ],
              [
                0.5210373793259299,
                0.17542347024847166,
                3.974756155137385
              ],
              [
                0.2915101255759561,
                -0.3026683301823248,
                3.57838829981867
              ],
              [
                0.4718403363061725,
                -0.30333953213253345,
                3.5578778387602097
              ],
              [
                0.30405708396638054,
                0.23308057131032806,
                3.6711702191348876
              ],
              [
                0.4843872946965969,
                0.2324093693601194,
                3.6506597580764275
              ]
            ],
            "projected_corners_px": [
              [
                583.9822238657271,
                415.97992161891636
              ],
              [
                628.8676205070119,
                415.34973169420005
              ],
              [
                585.1189043766176,
                546.0957486906119
              ],
              [
                628.9624158690635,
                546.1516903746152
              ],
              [
                581.4689050097919,
                423.21749733931586
              ],
              [
                630.4285410321066,
                422.57162495679114
              ],
              [
                582.7694527808712,
                564.6372281013686
              ],
              [
                630.4920811212814,
                564.8023075347252
              ]
            ],
            "edges_in_front": 12,
            "edges_skipped_near_plane": 0
          },
          "complete_measured_visible_3d": true
        },
        {
          "object_id": 2,
          "visibility_known": true,
          "visible": true,
          "box2d_valid": true,
          "box2d_xyxy_px": [
            412.0,
            839.0,
            538.0,
            891.0
          ],
          "valid3d_components": {
            "center": true,
            "depth": true,
            "size": true,
            "rotation": true
          },
          "has_measurement": true,
          "interpolated": false,
          "segment_id": 0,
          "drawn_3d": true,
          "box3d_camera_wlh_wxyz": [
            -0.04968114569783211,
            0.7817187309265137,
            2.0930471420288086,
            0.17601975798606873,
            0.24077989161014557,
            0.09657707065343857,
            -0.03590930998325348,
            -0.003092184429988265,
            0.9993473291397095,
            -0.002432931214570999
          ],
          "projection": {
            "corners_camera_m": [
              [
                0.07701819221035644,
                0.7346022142034595,
                2.1724106860577237
              ],
              [
                0.06438759580993106,
                0.7337071954825597,
                1.9968469592303035
              ],
              [
                0.0764044389397244,
                0.8311762946843471,
                2.171962509537692
              ],
              [
                0.06377384253929902,
                0.8302812759634473,
                1.996398782710272
              ],
              [
                -0.16313613393496323,
                0.7331561858895801,
                2.1896955013473454
              ],
              [
                -0.17576673033538862,
                0.7322611671686803,
                2.014131774519925
              ],
              [
                -0.16374988720559527,
                0.8297302663704677,
                2.189247324827314
              ],
              [
                -0.17638048360602065,
                0.8288352476495678,
                2.0136835979998935
              ]
            ],
            "projected_corners_px": [
              [
                537.4317802553652,
                826.9595197642151
              ],
              [
                534.3611910791401,
                854.9261929383239
              ],
              [
                537.1683258731866,
                869.4926198526065
              ],
              [
                534.073879139259,
                901.2059410592027
              ],
              [
                432.1947190194494,
                823.7794601982896
              ],
              [
                419.97739161225996,
                851.2289368800016
              ],
              [
                431.9118008612658,
                865.9760967001328
              ],
              [
                419.6670879772447,
                897.1106115785863
              ]
            ],
            "edges_in_front": 12,
            "edges_skipped_near_plane": 0
          },
          "complete_measured_visible_3d": true
        },
        {
          "object_id": 3,
          "visibility_known": true,
          "visible": true,
          "box2d_valid": true,
          "box2d_xyxy_px": [
            478.0,
            733.0,
            494.0,
            1008.0
          ],
          "valid3d_components": {
            "center": true,
            "depth": true,
            "size": true,
            "rotation": true
          },
          "has_measurement": true,
          "interpolated": false,
          "segment_id": 0,
          "drawn_3d": true,
          "box3d_camera_wlh_wxyz": [
            -0.039766762405633926,
            0.7435555458068848,
            1.9254034757614136,
            0.038291819393634796,
            0.12221010774374008,
            0.495095819234848,
            0.7091154456138611,
            0.06643800437450409,
            0.6999682188034058,
            0.052780814468860626
          ],
          "projection": {
            "corners_camera_m": [
              [
                -0.0642884715740449,
                0.4897042028672302,
                1.9438029999387643
              ],
              [
                -0.02600699826938514,
                0.4889255523574208,
                1.944234204626752
              ],
              [
                -0.05530069971455464,
                0.9776708180890724,
                2.0270356414309436
              ],
              [
                -0.017019226409894884,
                0.976892167579263,
                2.0274668461189314
              ],
              [
                -0.06251429840137297,
                0.5102189240345065,
                1.8233401054038958
              ],
              [
                -0.024232825096713213,
                0.5094402735246971,
                1.8237713100918835
              ],
              [
                -0.05352652654188271,
                0.9981855392563488,
                1.9065727468960751
              ],
              [
                -0.015245053237222958,
                0.9974068887465393,
                1.9070039515840629
              ]
            ],
            "projected_corners_px": [
              [
                471.8454525944744,
                744.6131569541185
              ],
              [
                490.6974374865905,
                744.177291929632
              ],
              [
                477.3889403355062,
                964.6478573099586
              ],
              [
                495.465824573892,
                964.1830883371272
              ],
              [
                470.68541376662444,
                771.2555088381498
              ],
              [
                490.7828754734286,
                770.7845550560141
              ],
              [
                476.6297976582086,
                1004.0295623708603
              ],
              [
                495.8487462030684,
                1003.5265297166452
              ]
            ],
            "edges_in_front": 12,
            "edges_skipped_near_plane": 0
          },
          "complete_measured_visible_3d": true
        },
        {
          "object_id": 4,
          "visibility_known": true,
          "visible": true,
          "box2d_valid": true,
          "box2d_xyxy_px": [
            284.0,
            465.0,
            393.0,
            645.0
          ],
          "valid3d_components": {
            "center": true,
            "depth": true,
            "size": true,
            "rotation": true
          },
          "has_measurement": true,
          "interpolated": false,
          "segment_id": 0,
          "drawn_3d": true,
          "box3d_camera_wlh_wxyz": [
            -0.6531389951705933,
            0.10308647155761719,
            3.70011043548584,
            0.3289611339569092,
            0.47509926557540894,
            0.711852490901947,
            0.7052946090698242,
            0.04985155537724495,
            0.7061269283294678,
            0.03819781541824341
          ],
          "projection": {
            "corners_camera_m": [
              [
                -0.8234422786864042,
                -0.2768624036849455,
                3.8919510489585836
              ],
              [
                -0.49452604871831696,
                -0.2822491602768906,
                3.8912270522630887
              ],
              [
                -0.8116813186577334,
                0.4293746377403067,
                3.980409456933276
              ],
              [
                -0.4827650886896463,
                0.4239878811483616,
                3.979685460237781
              ],
              [
                -0.8235129016515402,
                -0.21781493803312724,
                3.4205354107338986
              ],
              [
                -0.4945966716834531,
                -0.22320169462507233,
                3.4198114140384037
              ],
              [
                -0.8117519416228696,
                0.488422103392125,
                3.508993818708591
              ],
              [
                -0.48283571165478234,
                0.4830353468001799,
                3.508269822013096
              ]
            ],
            "projected_corners_px": [
              [
                301.0018555597228,
                436.0586137558016
              ],
              [
                381.86519709058956,
                434.7238292511266
              ],
              [
                308.3300023816397,
                607.025902258205
              ],
              [
                387.39728817577395,
                605.7518895573828
              ],
              [
                273.07395146024055,
                443.1821086879831
              ],
              [
                365.0782652359722,
                441.6648343244197
              ],
              [
                282.0906338715273,
                636.93841436609
              ],
              [
                371.7769882291693,
                635.4993821599517
              ]
            ],
            "edges_in_front": 12,
            "edges_skipped_near_plane": 0
          },
          "complete_measured_visible_3d": true
        },
        {
          "object_id": 5,
          "visibility_known": true,
          "visible": true,
          "box2d_valid": true,
          "box2d_xyxy_px": [
            470.0,
            735.0,
            476.0,
            752.0
          ],
          "valid3d_components": {
            "center": false,
            "depth": false,
            "size": false,
            "rotation": false
          },
          "has_measurement": false,
          "interpolated": null,
          "segment_id": -1,
          "drawn_3d": false,
          "complete_measured_visible_3d": false
        }
      ]
    },
    {
      "step": 1,
      "source_frame": 12,
      "timestamp_s": 0.5,
      "depth_stats": {
        "available": true,
        "valid_patches": 3024,
        "total_patches": 5184,
        "mean_coverage": 0.5585317611694336,
        "min_m": 1.2703863382339478,
        "median_m": 3.788404941558838,
        "max_m": 17.731693267822266,
        "fraction_above_display_max": 0.0,
        "fraction_below_display_min": 0.0
      },
      "camera_valid": true,
      "intrinsics": [
        [
          958.1517333984375,
          0.0,
          503.5
        ],
        [
          0.0,
          955.6096801757812,
          504.0
        ],
        [
          0.0,
          0.0,
          1.0
        ]
      ],
      "objects": [
        {
          "object_id": 0,
          "visibility_known": true,
          "visible": true,
          "box2d_valid": true,
          "box2d_xyxy_px": [
            360.0,
            380.0,
            690.0,
            759.0
          ],
          "valid3d_components": {
            "center": true,
            "depth": true,
            "size": true,
            "rotation": true
          },
          "has_measurement": true,
          "interpolated": false,
          "segment_id": 0,
          "drawn_3d": true,
          "box3d_camera_wlh_wxyz": [
            0.05322342365980148,
            -0.012016749009490013,
            2.622145414352417,
            0.49811625480651855,
            0.753557562828064,
            1.098060965538025,
            0.6780237555503845,
            0.045300085097551346,
            0.7329429388046265,
            0.03203675523400307
          ],
          "projection": {
            "corners_camera_m": [
              [
                -0.17883642235028327,
                -0.5954522594273093,
                2.9555789234847634
              ],
              [
                0.31768982915361543,
                -0.6026584277639926,
                2.9164693849057524
              ],
              [
                -0.1536234136061799,
                0.49584805159508916,
                3.0745991713032987
              ],
              [
                0.3429028378977188,
                0.48864188325840585,
                3.0354896327242877
              ],
              [
                -0.23645599057811584,
                -0.5126753812773859,
                2.2088011959805463
              ],
              [
                0.2600702609257829,
                -0.5198815496140692,
                2.1696916574015352
              ],
              [
                -0.21124298183401247,
                0.5786249297450126,
                2.3278214437990816
              ],
              [
                0.28528326966988626,
                0.5714187614083293,
                2.2887119052200706
              ]
            ],
            "projected_corners_px": [
              [
                445.5240729462008,
                311.47597749128056
              ],
              [
                607.8710803418658,
                306.5330797602736
              ],
              [
                455.6256164344337,
                658.1134865393565
              ],
              [
                611.7372164862488,
                657.8305085107401
              ],
              [
                400.9281987635877,
                282.19753175251617
              ],
              [
                618.3489327787036,
                275.0256018816185
              ],
              [
                416.5505349748022,
                741.5352222690026
              ],
              [
                622.9316587947717,
                742.5854237881238
              ]
            ],
            "edges_in_front": 12,
            "edges_skipped_near_plane": 0
          },
          "complete_measured_visible_3d": true
        },
        {
          "object_id": 1,
          "visibility_known": true,
          "visible": true,
          "box2d_valid": true,
          "box2d_xyxy_px": [
            589.0,
            447.0,
            626.0,
            556.0
          ],
          "valid3d_components": {
            "center": true,
            "depth": true,
            "size": true,
            "rotation": true
          },
          "has_measurement": true,
          "interpolated": false,
          "segment_id": 0,
          "drawn_3d": true,
          "box3d_camera_wlh_wxyz": [
            0.4272504150867462,
            -0.08549808710813522,
            3.9349372386932373,
            0.16269183158874512,
            0.3157142698764801,
            0.51511549949646,
            0.6664654016494751,
            0.07528147846460342,
            0.7388339042663574,
            0.06542959064245224
          ],
          "projection": {
            "corners_camera_m": [
              [
                0.3559849919206315,
                -0.36896082503840116,
                4.046481593945929
              ],
              [
                0.5178089830035768,
                -0.36955657027009275,
                4.029710396513832
              ],
              [
                0.36836213585906236,
                0.13590559412262043,
                4.147973874110198
              ],
              [
                0.5301861269420077,
                0.1353098488909289,
                4.131202676678101
              ],
              [
                0.32431470323148476,
                -0.30630602310719934,
                3.7386718007083735
              ],
              [
                0.4861386943144301,
                -0.3069017683388909,
                3.7219006032762767
              ],
              [
                0.3366918471699156,
                0.1985603960538223,
                3.840164080872642
              ],
              [
                0.49851583825286094,
                0.19796465082213072,
                3.8233928834405457
              ]
            ],
            "projected_corners_px": [
              [
                587.7923980138435,
                416.86688748569895
              ],
              [
                626.6204046482788,
                416.3629737193573
              ],
              [
                588.5889686636283,
                535.3099130503749
              ],
              [
                626.4663118251488,
                535.299215154282
              ],
              [
                586.6157993084522,
                425.70775709118783
              ],
              [
                628.6496700958105,
                425.2020061928722
              ],
              [
                587.5073158836661,
                553.410971138882
              ],
              [
                628.4293047066428,
                553.4788117322676
              ]
            ],
            "edges_in_front": 12,
            "edges_skipped_near_plane": 0
          },
          "complete_measured_visible_3d": true
        },
        {
          "object_id": 2,
          "visibility_known": true,
          "visible": true,
          "box2d_valid": true,
          "box2d_xyxy_px": [
            401.0,
            844.0,
            526.0,
            896.0
          ],
          "valid3d_components": {
            "center": true,
            "depth": true,
            "size": true,
            "rotation": true
          },
          "has_measurement": true,
          "interpolated": false,
          "segment_id": 0,
          "drawn_3d": true,
          "box3d_camera_wlh_wxyz": [
            -0.07915674149990082,
            0.7928863167762756,
            2.108208417892456,
            0.16833552718162537,
            0.26659226417541504,
            0.10799155384302139,
            -0.05401647835969925,
            -0.00034390337532386184,
            0.9983652830123901,
            0.018676523119211197
          ],
          "projection": {
            "corners_camera_m": [
              [
                0.06236874292815417,
                0.7361530464744749,
                2.1754355588479304
              ],
              [
                0.04421052348072932,
                0.7424243585250743,
                2.008199798846731
              ],
              [
                0.06251247943797758,
                0.8440692371582681,
                2.1794667906131773
              ],
              [
                0.04435425999055273,
                0.8503405492088674,
                2.0122310306119777
              ],
              [
                -0.20266774299035437,
                0.7354320843436839,
                2.2041858051729344
              ],
              [
                -0.22082596243777922,
                0.7417033963942832,
                2.036950045171735
              ],
              [
                -0.20252400648053095,
                0.843348275027477,
                2.2082170369381813
              ],
              [
                -0.2206822259279558,
                0.8496195870780764,
                2.0409812769369817
              ]
            ],
            "projected_corners_px": [
              [
                530.9697721582429,
                827.3720136828356
              ],
              [
                524.5937127530038,
                857.2855168157516
              ],
              [
                530.9821533370008,
                874.0908576542691
              ],
              [
                524.6198964964914,
                907.8272185986768
              ],
              [
                415.40105262703946,
                822.8415501367124
              ],
              [
                399.6266727229446,
                851.9608874521391
              ],
              [
                415.62425019001904,
                868.9604010361439
              ],
              [
                399.8993155192353,
                901.8011513644221
              ]
            ],
            "edges_in_front": 12,
            "edges_skipped_near_plane": 0
          },
          "complete_measured_visible_3d": true
        },
        {
          "object_id": 3,
          "visibility_known": true,
          "visible": true,
          "box2d_valid": true,
          "box2d_xyxy_px": [
            464.0,
            739.0,
            482.0,
            1008.0
          ],
          "valid3d_components": {
            "center": true,
            "depth": true,
            "size": true,
            "rotation": true
          },
          "has_measurement": true,
          "interpolated": false,
          "segment_id": 0,
          "drawn_3d": true,
          "box3d_camera_wlh_wxyz": [
            -0.06650559604167938,
            0.7425203919410706,
            1.93622887134552,
            0.03936684876680374,
            0.12365176528692245,
            0.48769819736480713,
            0.7034582495689392,
            0.04666801914572716,
            0.7076025009155273,
            0.04761655256152153
          ],
          "projection": {
            "corners_camera_m": [
              [
                -0.08559049504218919,
                0.49258004280113055,
                1.9651744822436503
              ],
              [
                -0.04622435781283164,
                0.4926481150566167,
                1.9649477938323456
              ],
              [
                -0.0860526862651482,
                0.9759423692189095,
                2.030060378185282
              ],
              [
                -0.04668654903579066,
                0.9760104414743958,
                2.0298336897739775
              ],
              [
                -0.0863246430475681,
                0.5090303424077454,
                1.8426240529170628
              ],
              [
                -0.046958505818210566,
                0.5090984146632316,
                1.8423973645057579
              ],
              [
                -0.08678683427052712,
                0.9923926688255245,
                1.9075099488586944
              ],
              [
                -0.047420697041169586,
                0.9924607410810106,
                1.9072832604473897
              ]
            ],
            "projected_corners_px": [
              [
                461.76900769977726,
                743.527971391499
              ],
              [
                480.959987129117,
                743.5887102681075
              ],
              [
                462.88469052716107,
                963.4050429933354
              ],
              [
                481.4623335101828,
                963.4883957854819
              ],
              [
                458.61178406681114,
                767.989999445605
              ],
              [
                479.07889811702535,
                768.0577882854476
              ],
              [
                459.90654155317935,
                1001.161255401348
              ],
              [
                479.6775169891121,
                1001.2544514174454
              ]
            ],
            "edges_in_front": 12,
            "edges_skipped_near_plane": 0
          },
          "complete_measured_visible_3d": true
        },
        {
          "object_id": 4,
          "visibility_known": true,
          "visible": true,
          "box2d_valid": true,
          "box2d_xyxy_px": [
            274.0,
            469.0,
            385.0,
            655.0
          ],
          "valid3d_components": {
            "center": true,
            "depth": true,
            "size": true,
            "rotation": true
          },
          "has_measurement": true,
          "interpolated": false,
          "segment_id": 0,
          "drawn_3d": true,
          "box3d_camera_wlh_wxyz": [
            -0.6880435943603516,
            0.11740037798881531,
            3.6966655254364014,
            0.3310198187828064,
            0.4809359312057495,
            0.7145937085151672,
            0.7017748951911926,
            0.052113451063632965,
            0.7094564437866211,
            0.03831125423312187
          ],
          "projection": {
            "corners_camera_m": [
              [
                -0.8584131874040173,
                -0.2645097283911928,
                3.8915970186878703
              ],
              [
                -0.5274759603245106,
                -0.27072743607858274,
                3.887595485101448
              ],
              [
                -0.8439979070327625,
                0.4441048832001191,
                3.9827106849546388
              ],
              [
                -0.5130606799532558,
                0.43788717551272915,
                3.9787091513682165
              ],
              [
                -0.8630265087674474,
                -0.20308641953509854,
                3.4146218995045863
              ],
              [
                -0.5320892816879407,
                -0.20930412722248848,
                3.410620365918164
              ],
              [
                -0.8486112283961925,
                0.5055281920562134,
                3.5057355657713547
              ],
              [
                -0.5176740013166858,
                0.4993104843688234,
                3.5017340321849324
              ]
            ],
            "projected_corners_px": [
              [
                292.14972926704627,
                439.04773085767334
              ],
              [
                373.49624635644244,
                437.45250049874653
              ],
              [
                300.45284905754954,
                610.5583114039835
              ],
              [
                379.94485657697726,
                609.1721067876744
              ],
              [
                261.3325303119785,
                447.1646155469989
              ],
              [
                354.0191980125933,
                445.3558154776607
              ],
              [
                271.56627190939145,
                641.7992221225581
              ],
              [
                361.8529653771568,
                640.2599009206839
              ]
            ],
            "edges_in_front": 12,
            "edges_skipped_near_plane": 0
          },
          "complete_measured_visible_3d": true
        },
        {
          "object_id": 5,
          "visibility_known": true,
          "visible": true,
          "box2d_valid": true,
          "box2d_xyxy_px": [
            456.0,
            461.0,
            662.0,
            756.0
          ],
          "valid3d_components": {
            "center": false,
            "depth": false,
            "size": false,
            "rotation": false
          },
          "has_measurement": false,
          "interpolated": null,
          "segment_id": -1,
          "drawn_3d": false,
          "complete_measured_visible_3d": false
        }
      ]
    },
    {
      "step": 2,
      "source_frame": 24,
      "timestamp_s": 1.0,
      "depth_stats": {
        "available": true,
        "valid_patches": 3024,
        "total_patches": 5184,
        "mean_coverage": 0.5585317611694336,
        "min_m": 1.4226845502853394,
        "median_m": 3.8631768226623535,
        "max_m": 17.74883460998535,
        "fraction_above_display_max": 0.0,
        "fraction_below_display_min": 0.0
      },
      "camera_valid": true,
      "intrinsics": [
        [
          955.851318359375,
          0.0,
          503.5
        ],
        [
          0.0,
          954.417724609375,
          504.0
        ],
        [
          0.0,
          0.0,
          1.0
        ]
      ],
      "objects": [
        {
          "object_id": 0,
          "visibility_known": true,
          "visible": true,
          "box2d_valid": true,
          "box2d_xyxy_px": [
            349.0,
            380.0,
            658.0,
            765.0
          ],
          "valid3d_components": {
            "center": true,
            "depth": true,
            "size": true,
            "rotation": true
          },
          "has_measurement": true,
          "interpolated": false,
          "segment_id": 0,
          "drawn_3d": true,
          "box3d_camera_wlh_wxyz": [
            0.02329723909497261,
            -0.010287579149007797,
            2.616903781890869,
            0.5025295615196228,
            0.7550402283668518,
            1.1247807741165161,
            0.6861081719398499,
            0.04619826376438141,
            0.7253137826919556,
            0.03226786106824875
          ],
          "projection": {
            "corners_camera_m": [
              [
                -0.21984252366718637,
                -0.6069549997316143,
                2.9437208853266297
              ],
              [
                0.28181709082169587,
                -0.6152896353455405,
                2.9153637831976456
              ],
              [
                -0.19426727134027943,
                0.5106823042223186,
                3.067674719882679
              ],
              [
                0.3073923431486028,
                0.5023476686083924,
                3.039317617753695
              ],
              [
                -0.2607978649586576,
                -0.522922826906408,
                2.1944899460280434
              ],
              [
                0.24086174953022466,
                -0.5312574625203342,
                2.1661328438990592
              ],
              [
                -0.23522261263175065,
                0.5947144770475249,
                2.3184437805840927
              ],
              [
                0.2664370018571316,
                0.5863798414335987,
                2.2900866784551086
              ]
            ],
            "projected_corners_px": [
              [
                432.1152545486948,
                307.21211407247455
              ],
              [
                595.8984990657543,
                302.5694488191387
              ],
              [
                442.96860590493566,
                662.8839389114822
              ],
              [
                600.1734686548908,
                661.7490671048716
              ],
              [
                389.90459096327186,
                276.57274953314453
              ],
              [
                609.785273075126,
                269.9231565651679
              ],
              [
                406.5220847816498,
                748.8219977251096
              ],
              [
                614.7072140678367,
                748.3799701046258
              ]
            ],
            "edges_in_front": 12,
            "edges_skipped_near_plane": 0
          },
          "complete_measured_visible_3d": true
        },
        {
          "object_id": 1,
          "visibility_known": true,
          "visible": true,
          "box2d_valid": true,
          "box2d_xyxy_px": [
            566.0,
            441.0,
            610.0,
            543.0
          ],
          "valid3d_components": {
            "center": true,
            "depth": true,
            "size": true,
            "rotation": true
          },
          "has_measurement": true,
          "interpolated": false,
          "segment_id": 0,
          "drawn_3d": true,
          "box3d_camera_wlh_wxyz": [
            0.3375703990459442,
            -0.11479463428258896,
            3.936720132827759,
            0.18931962549686432,
            0.34357529878616333,
            0.5362687706947327,
            0.6687207818031311,
            0.0683685764670372,
            0.7376985549926758,
            0.06276194751262665
          ],
          "projection": {
            "corners_camera_m": [
              [
                0.2553634440222344,
                -0.41016804011580293,
                4.064642347127683
              ],
              [
                0.4437763482304555,
                -0.40994846338902574,
                4.0461369448851565
              ],
              [
                0.2644426692366081,
                0.11686261659624755,
                4.1633360600865705
              ],
              [
                0.4528555734448292,
                0.11708219332302469,
                4.144830657844044
              ],
              [
                0.22228522464705927,
                -0.34667146188820264,
                3.728609607811474
              ],
              [
                0.41069812885528034,
                -0.34645188516142544,
                3.710104205568947
              ],
              [
                0.23136444986143295,
                0.18035919482384782,
                3.8273033207703615
              ],
              [
                0.41977735406965405,
                0.18057877155062502,
                3.8087979185278344
              ]
            ],
            "projected_corners_px": [
              [
                563.5518972602673,
                407.68853785341076
              ],
              [
                608.336839012336,
                407.29984254994883
              ],
              [
                564.2128202893687,
                530.7899950938308
              ],
              [
                607.9343261851828,
                530.9601655093338
              ],
              [
                560.4841435224464,
                415.2619923659561
              ],
              [
                609.3100598157856,
                414.8758671990753
              ],
              [
                561.2822022156919,
                548.9763182870773
              ],
              [
                608.8468169978356,
                549.2498620149212
              ]
            ],
            "edges_in_front": 12,
            "edges_skipped_near_plane": 0
          },
          "complete_measured_visible_3d": true
        },
        {
          "object_id": 2,
          "visibility_known": true,
          "visible": true,
          "box2d_valid": true,
          "box2d_xyxy_px": [
            385.0,
            850.0,
            508.0,
            902.0
          ],
          "valid3d_components": {
            "center": true,
            "depth": true,
            "size": true,
            "rotation": true
          },
          "has_measurement": true,
          "interpolated": false,
          "segment_id": 0,
          "drawn_3d": true,
          "box3d_camera_wlh_wxyz": [
            -0.10967455059289932,
            0.7991989850997925,
            2.130711793899536,
            0.18595820665359497,
            0.2712341547012329,
            0.10919744521379471,
            0.17762622237205505,
            0.002258944557979703,
            0.9840865135192871,
            0.0041884477250278
          ],
          "projection": {
            "corners_camera_m": [
              [
                -0.015285266012183926,
                0.743106124116386,
                2.2647355967776823
              ],
              [
                0.04972908279540489,
                0.7444898566788054,
                2.0905182774459297
              ],
              [
                -0.014962255875060934,
                0.8522986235758371,
                2.265723406207063
              ],
              [
                0.05005209293252788,
                0.8536823561382566,
                2.09150608687531
              ],
              [
                -0.2694011941183265,
                0.7447156140613284,
                2.1699175009237623
              ],
              [
                -0.2043868453107377,
                0.7460993466237479,
                1.9957001815920092
              ],
              [
                -0.26907818398120353,
                0.8539081135207796,
                2.1709053103531426
              ],
              [
                -0.2040638351736147,
                0.855291846083199,
                1.9966879910213897
              ]
            ],
            "projected_corners_px": [
              [
                497.04872079106815,
                817.1639989814117
              ],
              [
                526.2377152659311,
                843.8938543958859
              ],
              [
                497.1878032134783,
                863.0239262093813
              ],
              [
                526.3745970745315,
                893.5611765117561
              ],
              [
                384.8284438436171,
                831.556131304947
              ],
              [
                405.6078229347371,
                860.8123344906098
              ],
              [
                385.0246636167926,
                879.4125225293278
              ],
              [
                405.81088344434266,
                912.8298729127448
              ]
            ],
            "edges_in_front": 12,
            "edges_skipped_near_plane": 0
          },
          "complete_measured_visible_3d": true
        },
        {
          "object_id": 3,
          "visibility_known": true,
          "visible": true,
          "box2d_valid": true,
          "box2d_xyxy_px": [
            450.0,
            743.0,
            467.0,
            1008.0
          ],
          "valid3d_components": {
            "center": true,
            "depth": true,
            "size": true,
            "rotation": true
          },
          "has_measurement": true,
          "interpolated": false,
          "segment_id": 0,
          "drawn_3d": true,
          "box3d_camera_wlh_wxyz": [
            -0.09483053535223007,
            0.7625486254692078,
            1.9512473344802856,
            0.04058237373828888,
            0.12655088305473328,
            0.5172117352485657,
            0.7140203714370728,
            0.051721688359975815,
            0.6968474388122559,
            0.043628063052892685
          ],
          "projection": {
            "corners_camera_m": [
              [
                -0.11922590364190455,
                0.4980723734668704,
                1.9786277411163662
              ],
              [
                -0.0786581564562986,
                0.4975425109025521,
                1.9795796823865364
              ],
              [
                -0.11416674496701047,
                1.010547958441892,
                2.0482780016818816
              ],
              [
                -0.07359899778140452,
                1.0100180958775735,
                2.049229942952052
              ],
              [
                -0.11606207292305562,
                0.515079155060842,
                1.8532647260085195
              ],
              [
                -0.07549432573744967,
                0.5145492924965237,
                1.8542166672786897
              ],
              [
                -0.11100291424816154,
                1.0275547400358636,
                1.922914986574035
              ],
              [
                -0.07043516706255559,
                1.0270248774715451,
                1.923866927844205
              ]
            ],
            "projected_corners_px": [
              [
                445.90339665186167,
                744.2519137363515
              ],
              [
                465.5194613950427,
                743.8809178418948
              ],
              [
                450.2228405519614,
                974.8759662081037
              ],
              [
                469.17017805823156,
                974.410446713018
              ],
              [
                443.63910486821914,
                769.2619824182789
              ],
              [
                464.58256814954655,
                768.8530636199292
              ],
              [
                448.3221670398049,
                1014.0155044523846
              ],
              [
                468.50509140148876,
                1013.5002842904485
              ]
            ],
            "edges_in_front": 12,
            "edges_skipped_near_plane": 0
          },
          "complete_measured_visible_3d": true
        },
        {
          "object_id": 4,
          "visibility_known": true,
          "visible": true,
          "box2d_valid": true,
          "box2d_xyxy_px": [
            256.0,
            475.0,
            371.0,
            657.0
          ],
          "valid3d_components": {
            "center": true,
            "depth": true,
            "size": true,
            "rotation": true
          },
          "has_measurement": true,
          "interpolated": false,
          "segment_id": 0,
          "drawn_3d": true,
          "box3d_camera_wlh_wxyz": [
            -0.7387086749076843,
            0.1437227576971054,
            3.698000431060791,
            0.3338152766227722,
            0.5015263557434082,
            0.6778702139854431,
            0.6941760182380676,
            0.05113958939909935,
            0.7168726325035095,
            0.03997516259551048
          ],
          "projection": {
            "corners_camera_m": [
              [
                -0.9037740154668485,
                -0.2223755740347565,
                3.908577691714459
              ],
              [
                -0.5701723074265872,
                -0.22694402075488018,
                3.8975473429473726
              ],
              [
                -0.8916933202707399,
                0.4497825377366352,
                3.9955578997629946
              ],
              [
                -0.5580916122304785,
                0.4452140910165115,
                3.9845275509959084
              ],
              [
                -0.9193257375848901,
                -0.15776857562230068,
                3.4114733111256736
              ],
              [
                -0.5857240295446288,
                -0.16233702234242436,
                3.4004429623585875
              ],
              [
                -0.9072450423887815,
                0.514389536149091,
                3.4984535191742094
              ],
              [
                -0.5736433343485201,
                0.5098210894289673,
                3.4874231704071232
              ]
            ],
            "projected_corners_px": [
              [
                282.4800658141699,
                449.6991248174833
              ],
              [
                363.66848448758685,
                448.4267440921499
              ],
              [
                290.18154557249875,
                611.4394207279773
              ],
              [
                369.61898236655964,
                610.6425603220647
              ],
              [
                245.91665165415958,
                459.86155563075096
              ],
              [
                338.85524870363656,
                458.4361328218099
              ],
              [
                255.62151166524015,
                644.3312886575585
              ],
              [
                346.2728122993775,
                643.5248756329918
              ]
            ],
            "edges_in_front": 12,
            "edges_skipped_near_plane": 0
          },
          "complete_measured_visible_3d": true
        },
        {
          "object_id": 5,
          "visibility_known": true,
          "visible": true,
          "box2d_valid": true,
          "box2d_xyxy_px": [
            438.0,
            434.0,
            624.0,
            759.0
          ],
          "valid3d_components": {
            "center": false,
            "depth": false,
            "size": false,
            "rotation": false
          },
          "has_measurement": false,
          "interpolated": null,
          "segment_id": -1,
          "drawn_3d": false,
          "complete_measured_visible_3d": false
        }
      ]
    },
    {
      "step": 3,
      "source_frame": 36,
      "timestamp_s": 1.5,
      "depth_stats": {
        "available": true,
        "valid_patches": 3024,
        "total_patches": 5184,
        "mean_coverage": 0.5585317611694336,
        "min_m": 1.4032131433486938,
        "median_m": 3.915264129638672,
        "max_m": 17.971494674682617,
        "fraction_above_display_max": 0.0,
        "fraction_below_display_min": 0.0
      },
      "camera_valid": true,
      "intrinsics": [
        [
          958.5037841796875,
          0.0,
          503.5
        ],
        [
          0.0,
          956.2008056640625,
          504.0
        ],
        [
          0.0,
          0.0,
          1.0
        ]
      ],
      "objects": [
        {
          "object_id": 0,
          "visibility_known": true,
          "visible": true,
          "box2d_valid": true,
          "box2d_xyxy_px": [
            331.0,
            383.0,
            674.0,
            773.0
          ],
          "valid3d_components": {
            "center": true,
            "depth": true,
            "size": true,
            "rotation": true
          },
          "has_measurement": true,
          "interpolated": false,
          "segment_id": 0,
          "drawn_3d": true,
          "box3d_camera_wlh_wxyz": [
            -0.009623399935662746,
            0.004009452182799578,
            2.579859733581543,
            0.5088469386100769,
            0.7632046937942505,
            1.1085971593856812,
            0.6653032302856445,
            0.04612889513373375,
            0.7443192005157471,
            0.03510918468236923
          ],
          "projection": {
            "corners_camera_m": [
              [
                -0.2324335696056535,
                -0.58827617892633,
                2.922134371574772
              ],
              [
                0.2731745797992136,
                -0.5929140772858719,
                2.86500210322282
              ],
              [
                -0.20809682779054972,
                0.51287003277249,
                3.0481201059146716
              ],
              [
                0.2975113216143174,
                0.5082321344129481,
                2.9909878375627192
              ],
              [
                -0.3167581214856429,
                -0.500213230047349,
                2.1687316296003667
              ],
              [
                0.18885002791922423,
                -0.5048511284068908,
                2.1115993612484143
              ],
              [
                -0.2924213796705391,
                0.600932981651471,
                2.294717363940266
              ],
              [
                0.213186769734328,
                0.5962950832919292,
                2.237585095588314
              ]
            ],
            "projected_corners_px": [
              [
                427.2583123470984,
                311.5002430708928
              ],
              [
                594.8922081190452,
                306.1136118006466
              ],
              [
                438.0624220889496,
                664.8882594837414
              ],
              [
                598.8416540255803,
                666.4787537705381
              ],
              [
                363.50395163251017,
                283.45436537796263
              ],
              [
                589.2233951311663,
                275.38700428585264
              ],
              [
                381.35554622379493,
                754.406699419651
              ],
              [
                594.8218120420449,
                758.8183933569458
              ]
            ],
            "edges_in_front": 12,
            "edges_skipped_near_plane": 0
          },
          "complete_measured_visible_3d": true
        },
        {
          "object_id": 1,
          "visibility_known": true,
          "visible": true,
          "box2d_valid": true,
          "box2d_xyxy_px": [
            542.0,
            443.0,
            592.0,
            532.0
          ],
          "valid3d_components": {
            "center": true,
            "depth": true,
            "size": true,
            "rotation": true
          },
          "has_measurement": true,
          "interpolated": false,
          "segment_id": 0,
          "drawn_3d": true,
          "box3d_camera_wlh_wxyz": [
            0.255222886800766,
            -0.13176976144313812,
            3.9064176082611084,
            0.20672808587551117,
            0.32055866718292236,
            0.4612066149711609,
            0.6725835204124451,
            0.06648185104131699,
            0.7347778677940369,
            0.05755901709198952
          ],
          "projection": {
            "corners_camera_m": [
              [
                0.1614438832407221,
                -0.3863749849806567,
                4.032644206927736
              ],
              [
                0.36735585751404753,
                -0.3873761714178604,
                4.014320507346809
              ],
              [
                0.1707935989385885,
                0.06769872185624817,
                4.112901251907713
              ],
              [
                0.3767055732119139,
                0.06669753541904447,
                4.094577552326787
              ],
              [
                0.1337402003896181,
                -0.3302370583053207,
                3.71825766419543
              ],
              [
                0.3396521746629435,
                -0.3312382447425244,
                3.699933964614503
              ],
              [
                0.14308991608748448,
                0.12383664853158416,
                3.7985147091754086
              ],
              [
                0.34900189036080986,
                0.12283546209438045,
                3.7801910095944815
              ]
            ],
            "projected_corners_px": [
              [
                541.8729793848557,
                412.38465955110615
              ],
              [
                591.2139677620088,
                411.7279936848806
              ],
              [
                543.3031221441001,
                519.7391506424683
              ],
              [
                591.6833871335551,
                519.5757795006853
              ],
              [
                537.9759561460185,
                419.075024452345
              ],
              [
                591.4901905906614,
                418.3956947559868
              ],
              [
                539.6068039874937,
                535.1734222880879
              ],
              [
                591.9927856152397,
                535.0712785466795
              ]
            ],
            "edges_in_front": 12,
            "edges_skipped_near_plane": 0
          },
          "complete_measured_visible_3d": true
        },
        {
          "object_id": 2,
          "visibility_known": true,
          "visible": true,
          "box2d_valid": true,
          "box2d_xyxy_px": [
            369.0,
            858.0,
            492.0,
            904.0
          ],
          "valid3d_components": {
            "center": true,
            "depth": true,
            "size": true,
            "rotation": true
          },
          "has_measurement": true,
          "interpolated": false,
          "segment_id": 0,
          "drawn_3d": true,
          "box3d_camera_wlh_wxyz": [
            -0.1481311321258545,
            0.8109736442565918,
            2.1083388328552246,
            0.14710651338100433,
            0.2607232630252838,
            0.09767785668373108,
            0.016259104013442993,
            -0.0035567465238273144,
            0.9998208284378052,
            0.00901789404451847
          ],
          "projection": {
            "corners_camera_m": [
              [
                -0.019866721506890006,
                0.7616979670435469,
                2.1852129251475185
              ],
              [
                -0.015093375187351432,
                0.7643676877121294,
                2.0382081155813645
              ],
              [
                -0.020590071369505192,
                0.8593574655927761,
                2.1869630092645966
              ],
              [
                -0.015816725049966618,
                0.8620271862613587,
                2.0399581996984426
              ],
              [
                -0.28044553920174237,
                0.7599201022518249,
                2.1767194660120066
              ],
              [
                -0.2756721928822038,
                0.7625898229204074,
                2.0297146564458526
              ],
              [
                -0.28116888906435755,
                0.8575796008010542,
                2.1784695501290847
              ],
              [
                -0.276395542744819,
                0.8602493214696367,
                2.0314647405629307
              ]
            ],
            "projected_corners_px": [
              [
                494.78582504502964,
                837.3021699524086
              ],
              [
                496.40207063620016,
                862.5939008026376
              ],
              [
                494.4757681128603,
                879.7348878203277
              ],
              [
                496.0682835972013,
                908.0627352704012
              ],
              [
                380.0076920666909,
                837.8217098525749
              ],
              [
                373.3177405225067,
                863.2569037977784
              ],
              [
                379.78863385039455,
                880.4194478451366
              ],
              [
                373.0885937070732,
                908.9152701677167
              ]
            ],
            "edges_in_front": 12,
            "edges_skipped_near_plane": 0
          },
          "complete_measured_visible_3d": true
        },
        {
          "object_id": 3,
          "visibility_known": true,
          "visible": true,
          "box2d_valid": true,
          "box2d_xyxy_px": [
            434.0,
            749.0,
            453.0,
            1008.0
          ],
          "valid3d_components": {
            "center": true,
            "depth": true,
            "size": true,
            "rotation": true
          },
          "has_measurement": true,
          "interpolated": false,
          "segment_id": 0,
          "drawn_3d": true,
          "box3d_camera_wlh_wxyz": [
            -0.12817417085170746,
            0.7807248830795288,
            1.959760308265686,
            0.03828898444771767,
            0.1285134106874466,
            0.498155415058136,
            0.7129706144332886,
            0.0636000707745552,
            0.6963143348693848,
            0.05267179384827614
          ],
          "projection": {
            "corners_camera_m": [
              [
                -0.1522547210319275,
                0.5248587426096607,
                1.98184617288872
              ],
              [
                -0.11398093190734414,
                0.5241948992154388,
                1.982696295251935
              ],
              [
                -0.14554735775202768,
                1.0162200285562506,
                2.0635646867181365
              ],
              [
                -0.1072735686274443,
                1.015556185162029,
                2.0644148090813514
              ],
              [
                -0.1490747730759706,
                0.5458935809970287,
                1.8551058074500208
              ],
              [
                -0.11080098395138724,
                0.5452297376028069,
                1.8559559298132358
              ],
              [
                -0.1423674097960708,
                1.0372548669436188,
                1.9368243212794372
              ],
              [
                -0.10409362067148742,
                1.036591023549397,
                1.937674443642652
              ]
            ],
            "projected_corners_px": [
              [
                429.8632423824251,
                757.2337571950213
              ],
              [
                448.397685631861,
                756.805024226418
              ],
              [
                435.89480493119686,
                974.8892414624702
              ],
              [
                453.6930905457805,
                974.3878494657646
              ],
              [
                426.47542622894537,
                785.376878806554
              ],
              [
                446.27710978895675,
                784.9059773419688
              ],
              [
                433.0446161357314,
                1016.0877141790919
              ],
              [
                452.0083112646006,
                1015.5354517442686
              ]
            ],
            "edges_in_front": 12,
            "edges_skipped_near_plane": 0
          },
          "complete_measured_visible_3d": true
        },
        {
          "object_id": 4,
          "visibility_known": true,
          "visible": true,
          "box2d_valid": true,
          "box2d_xyxy_px": [
            247.0,
            478.0,
            353.0,
            642.0
          ],
          "valid3d_components": {
            "center": true,
            "depth": true,
            "size": true,
            "rotation": true
          },
          "has_measurement": true,
          "interpolated": false,
          "segment_id": 0,
          "drawn_3d": true,
          "box3d_camera_wlh_wxyz": [
            -0.785542905330658,
            0.12032196670770645,
            3.651237964630127,
            0.30625900626182556,
            0.4613519608974457,
            0.6215736269950867,
            0.6944157481193542,
            0.04764014482498169,
            0.7169972062110901,
            0.037843987345695496
          ],
          "projection": {
            "corners_camera_m": [
              [
                -0.9363177503613757,
                -0.2142251700315969,
                3.8476906447710544
              ],
              [
                -0.6302443024395461,
                -0.21786844784549475,
                3.8376731640251425
              ],
              [
                -0.9265237512808524,
                0.4027466355382032,
                3.9225481259588326
              ],
              [
                -0.6204503033590228,
                0.3991033577243054,
                3.9125306452129207
              ],
              [
                -0.9506355073022931,
                -0.15845942430889248,
                3.389945284047333
              ],
              [
                -0.6445620593804635,
                -0.16210270212279032,
                3.3799278033014213
              ],
              [
                -0.9408415082217698,
                0.45851238126090765,
                3.4648027652351114
              ],
              [
                -0.6347680602999403,
                0.4548691034470098,
                3.4547852844891995
              ]
            ],
            "projected_corners_px": [
              [
                270.2525303429399,
                450.7622792242638
              ],
              [
                346.0891098520774,
                449.7155478190492
              ],
              [
                277.0970361057141,
                602.1776755858118
              ],
              [
                351.5001774829052,
                601.5386487173305
              ],
              [
                234.7087202667363,
                459.30339976215646
              ],
              [
                320.71054146441776,
                458.14022328561833
              ],
              [
                243.2254022675379,
                630.5382008949294
              ],
              [
                327.38845101155084,
                629.8967395572975
              ]
            ],
            "edges_in_front": 12,
            "edges_skipped_near_plane": 0
          },
          "complete_measured_visible_3d": true
        },
        {
          "object_id": 5,
          "visibility_known": true,
          "visible": true,
          "box2d_valid": true,
          "box2d_xyxy_px": [
            415.0,
            399.0,
            655.0,
            767.0
          ],
          "valid3d_components": {
            "center": false,
            "depth": false,
            "size": false,
            "rotation": false
          },
          "has_measurement": false,
          "interpolated": null,
          "segment_id": -1,
          "drawn_3d": false,
          "complete_measured_visible_3d": false
        }
      ]
    },
    {
      "step": 4,
      "source_frame": 48,
      "timestamp_s": 2.0,
      "depth_stats": {
        "available": true,
        "valid_patches": 3024,
        "total_patches": 5184,
        "mean_coverage": 0.5585317611694336,
        "min_m": 1.3633030652999878,
        "median_m": 3.883420467376709,
        "max_m": 17.8127384185791,
        "fraction_above_display_max": 0.0,
        "fraction_below_display_min": 0.0
      },
      "camera_valid": true,
      "intrinsics": [
        [
          956.006591796875,
          0.0,
          503.5
        ],
        [
          0.0,
          953.1468505859375,
          504.0
        ],
        [
          0.0,
          0.0,
          1.0
        ]
      ],
      "objects": [
        {
          "object_id": 0,
          "visibility_known": true,
          "visible": true,
          "box2d_valid": true,
          "box2d_xyxy_px": [
            316.0,
            383.0,
            621.0,
            776.0
          ],
          "valid3d_components": {
            "center": true,
            "depth": true,
            "size": true,
            "rotation": true
          },
          "has_measurement": true,
          "interpolated": false,
          "segment_id": 0,
          "drawn_3d": true,
          "box3d_camera_wlh_wxyz": [
            -0.10497885942459106,
            0.04540862888097763,
            2.451270580291748,
            0.46958285570144653,
            0.6962491273880005,
            1.1326394081115723,
            0.5466894507408142,
            0.03378220275044441,
            0.835597574710846,
            0.042025357484817505
          ],
          "projection": {
            "corners_camera_m": [
              [
                -0.18686465788111323,
                -0.5610857949205256,
                2.8012633852891837
              ],
              [
                0.2434911942772795,
                -0.5454506464095575,
                2.6140270613218797
              ],
              [
                -0.17496399992878153,
                0.5649676144885084,
                2.922647578271322
              ],
              [
                0.2553918522296112,
                0.5806027629994764,
                2.7354112543040174
              ],
              [
                -0.4653495710787933,
                -0.4897855052375212,
                2.1671299062794787
              ],
              [
                -0.03499371892040061,
                -0.47415035672655315,
                1.9798935823121744
              ],
              [
                -0.45344891312646163,
                0.6362679041715128,
                2.2885140992616164
              ],
              [
                -0.023093060968068915,
                0.6519030526824808,
                2.1012777752943124
              ]
            ],
            "projected_corners_px": [
              [
                439.72740166227885,
                313.0871564789338
              ],
              [
                592.550029442258,
                305.1135487203298
              ],
              [
                446.2687626443153,
                688.2497557475884
              ],
              [
                592.7576185166145,
                706.3095043290842
              ],
              [
                298.2159253572673,
                288.58258989132287
              ],
              [
                486.60301813276186,
                275.7377725471837
              ],
              [
                314.07571367731856,
                769.000224025565
              ],
              [
                492.9934792677999,
                799.7054744771358
              ]
            ],
            "edges_in_front": 12,
            "edges_skipped_near_plane": 0
          },
          "complete_measured_visible_3d": true
        },
        {
          "object_id": 1,
          "visibility_known": true,
          "visible": true,
          "box2d_valid": true,
          "box2d_xyxy_px": [
            526.0,
            443.0,
            580.0,
            528.0
          ],
          "valid3d_components": {
            "center": true,
            "depth": true,
            "size": true,
            "rotation": true
          },
          "has_measurement": true,
          "interpolated": false,
          "segment_id": 0,
          "drawn_3d": true,
          "box3d_camera_wlh_wxyz": [
            0.2052985280752182,
            -0.09600722044706345,
            3.9425082206726074,
            0.21526981890201569,
            0.30583655834198,
            0.40977177023887634,
            0.677122950553894,
            0.0647486001253128,
            0.7309509515762329,
            0.05497981607913971
          ],
          "projection": {
            "corners_camera_m": [
              [
                0.10525848564775425,
                -0.32301004073383166,
                4.066642056717755
              ],
              [
                0.31988402716838704,
                -0.32458375545256163,
                4.050074157663686
              ],
              [
                0.1135358394648226,
                0.08084859026664526,
                4.1355085599316554
              ],
              [
                0.3281613809854554,
                0.07927487554791529,
                4.118940660877587
              ],
              [
                0.082435675164981,
                -0.2712893164420422,
                3.766075780467628
              ],
              [
                0.2970612166856138,
                -0.27286303116077215,
                3.74950788141356
              ],
              [
                0.09071302898204935,
                0.13256931455843474,
                3.8349422836815283
              ],
              [
                0.30533857050268215,
                0.13099559983970477,
                3.81837438462746
              ]
            ],
            "projected_corners_px": [
              [
                528.2446922346119,
                428.2923279848293
              ],
              [
                579.0075652145387,
                427.6122667839171
              ],
              [
                529.7461096043181,
                522.633882162304
              ],
              [
                579.6662935266512,
                522.3446677629457
              ],
              [
                524.4260390525552,
                435.3400545720732
              ],
              [
                579.2412680011709,
                434.63662031984495
              ],
              [
                526.1137050452418,
                536.9491333398648
              ],
              [
                579.94763365939,
                536.6992669787701
              ]
            ],
            "edges_in_front": 12,
            "edges_skipped_near_plane": 0
          },
          "complete_measured_visible_3d": true
        },
        {
          "object_id": 2,
          "visibility_known": true,
          "visible": true,
          "box2d_valid": true,
          "box2d_xyxy_px": [
            362.0,
            861.0,
            483.0,
            906.0
          ],
          "valid3d_components": {
            "center": true,
            "depth": true,
            "size": true,
            "rotation": true
          },
          "has_measurement": true,
          "interpolated": false,
          "segment_id": 0,
          "drawn_3d": true,
          "box3d_camera_wlh_wxyz": [
            -0.17035789787769318,
            0.8154162168502808,
            2.087932586669922,
            0.14759135246276855,
            0.2543342709541321,
            0.09300744533538818,
            0.08317673206329346,
            -0.0031656587962061167,
            0.9965093731880188,
            0.0063748653046786785
          ],
          "projection": {
            "corners_camera_m": [
              [
                -0.05684050797638929,
                0.7686082198257802,
                2.181220806732228
              ],
              [
                -0.03237983424789875,
                0.7705611257094525,
                2.035683633057778
              ],
              [
                -0.05752594481120116,
                0.8616062415900171,
                2.182353507972285
              ],
              [
                -0.03306527108271062,
                0.8635591474736893,
                2.036816334297835
              ],
              [
                -0.30765052467267573,
                0.7672732862268722,
                2.1390488390420086
              ],
              [
                -0.2831898509441852,
                0.7692261921105444,
                1.9935116653675586
              ],
              [
                -0.3083359615074876,
                0.8602713079911091,
                2.140181540282066
              ],
              [
                -0.28387528777899707,
                0.8622242138747813,
                1.9946443666076157
              ]
            ],
            "projected_corners_px": [
              [
                478.58739136414175,
                839.8653565930988
              ],
              [
                488.2936415661093,
                864.7917744324044
              ],
              [
                478.3000577184446,
                880.30808785867
              ],
              [
                487.98037921616566,
                908.110408900946
              ],
              [
                366.0015361086531,
                845.8922013175704
              ],
              [
                367.6937396525348,
                871.7859202610665
              ],
              [
                365.7681271933893,
                887.128661016814
              ],
              [
                367.44233934216754,
                916.0164515098006
              ]
            ],
            "edges_in_front": 12,
            "edges_skipped_near_plane": 0
          },
          "complete_measured_visible_3d": true
        },
        {
          "object_id": 3,
          "visibility_known": true,
          "visible": true,
          "box2d_valid": true,
          "box2d_xyxy_px": [
            425.0,
            752.0,
            444.0,
            1008.0
          ],
          "valid3d_components": {
            "center": true,
            "depth": true,
            "size": true,
            "rotation": true
          },
          "has_measurement": true,
          "interpolated": false,
          "segment_id": 0,
          "drawn_3d": true,
          "box3d_camera_wlh_wxyz": [
            -0.1417900174856186,
            0.757908284664154,
            1.922974944114685,
            0.03924715891480446,
            0.12952789664268494,
            0.49182361364364624,
            0.7140787839889526,
            0.06447847187519073,
            0.6952995657920837,
            0.04992466792464256
          ],
          "projection": {
            "corners_camera_m": [
              [
                -0.16774024180236824,
                0.5052870882759877,
                1.9466643425997872
              ],
              [
                -0.1285152368207773,
                0.504397739058287,
                1.9476377515822088
              ],
              [
                -0.1587086803142472,
                0.9905695007880394,
                2.0260990827395
              ],
              [
                -0.11948367533265629,
                0.9896801515703388,
                2.0270724917219214
              ],
              [
                -0.16409635963858088,
                0.5261364177579693,
                1.8188773965074485
              ],
              [
                -0.12487135465698998,
                0.5252470685402687,
                1.81985080548987
              ],
              [
                -0.15506479815045987,
                1.011418830270021,
                1.8983121366471614
              ],
              [
                -0.11583979316886896,
                1.0105294810523204,
                1.899285545629583
              ]
            ],
            "projected_corners_px": [
              [
                421.12279024513157,
                751.4041293574003
              ],
              [
                440.4177284393927,
                750.8452442121298
              ],
              [
                428.6139562480563,
                969.998039289373
              ],
              [
                447.1491878328903,
                969.3560853935594
              ],
              [
                417.25053546457576,
                779.711419872231
              ],
              [
                437.90240385719227,
                779.098149611166
              ],
              [
                425.40801168804546,
                1011.8356999802334
              ],
              [
                445.1919661624047,
                1011.1291120524909
              ]
            ],
            "edges_in_front": 12,
            "edges_skipped_near_plane": 0
          },
          "complete_measured_visible_3d": true
        },
        {
          "object_id": 4,
          "visibility_known": true,
          "visible": true,
          "box2d_valid": true,
          "box2d_xyxy_px": [
            250.0,
            481.0,
            340.0,
            626.0
          ],
          "valid3d_components": {
            "center": true,
            "depth": true,
            "size": true,
            "rotation": true
          },
          "has_measurement": true,
          "interpolated": false,
          "segment_id": 0,
          "drawn_3d": true,
          "box3d_camera_wlh_wxyz": [
            -0.8193516731262207,
            0.12889592349529266,
            3.755805015563965,
            0.3015301823616028,
            0.44973868131637573,
            0.6101217269897461,
            0.702546238899231,
            0.045693524181842804,
            0.709132194519043,
            0.0383724682033062
          ],
          "projection": {
            "corners_camera_m": [
              [
                -0.9714715689994413,
                -0.19921503370767063,
                3.944381791880448
              ],
              [
                -0.6699706268244081,
                -0.2021643974028144,
                3.941392812726545
              ],
              [
                -0.9648281784136272,
                0.40656220638800356,
                4.016758048267072
              ],
              [
                -0.663327236238594,
                0.4036128426928598,
                4.01376906911317
              ],
              [
                -0.9753761100138474,
                -0.14582099570227447,
                3.497840962014759
              ],
              [
                -0.6738751678388142,
                -0.14877035939741823,
                3.494851982860857
              ],
              [
                -0.9687327194280333,
                0.4599562443933997,
                3.5702172184013845
              ],
              [
                -0.6672317772530001,
                0.45700688069825596,
                3.567228239247482
              ]
            ],
            "projected_corners_px": [
              [
                268.0427667223985,
                455.86034415869426
              ],
              [
                340.9949247671305,
                455.1105926658964
              ],
              [
                273.8665275749588,
                600.4741918555882
              ],
              [
                345.50754965142744,
                599.845651118572
              ],
              [
                236.91669882059733,
                464.26439614828263
              ],
              [
                319.16340844719514,
                463.4260357189403
              ],
              [
                244.0998546281188,
                626.7952863739779
              ],
              [
                324.68386194297045,
                626.1101201883107
              ]
            ],
            "edges_in_front": 12,
            "edges_skipped_near_plane": 0
          },
          "complete_measured_visible_3d": true
        },
        {
          "object_id": 5,
          "visibility_known": true,
          "visible": true,
          "box2d_valid": true,
          "box2d_xyxy_px": [
            401.0,
            399.0,
            580.0,
            770.0
          ],
          "valid3d_components": {
            "center": false,
            "depth": false,
            "size": false,
            "rotation": false
          },
          "has_measurement": false,
          "interpolated": null,
          "segment_id": -1,
          "drawn_3d": false,
          "complete_measured_visible_3d": false
        }
      ]
    },
    {
      "step": 5,
      "source_frame": 60,
      "timestamp_s": 2.5,
      "depth_stats": {
        "available": true,
        "valid_patches": 3024,
        "total_patches": 5184,
        "mean_coverage": 0.5585317611694336,
        "min_m": 1.4133696556091309,
        "median_m": 3.9283132553100586,
        "max_m": 18.272491455078125,
        "fraction_above_display_max": 0.0,
        "fraction_below_display_min": 0.0
      },
      "camera_valid": true,
      "intrinsics": [
        [
          958.0775756835938,
          0.0,
          503.5
        ],
        [
          0.0,
          954.9249267578125,
          504.0
        ],
        [
          0.0,
          0.0,
          1.0
        ]
      ],
      "objects": [
        {
          "object_id": 0,
          "visibility_known": true,
          "visible": true,
          "box2d_valid": true,
          "box2d_xyxy_px": [
            309.0,
            380.0,
            552.0,
            774.0
          ],
          "valid3d_components": {
            "center": true,
            "depth": true,
            "size": true,
            "rotation": true
          },
          "has_measurement": true,
          "interpolated": false,
          "segment_id": 0,
          "drawn_3d": true,
          "box3d_camera_wlh_wxyz": [
            -0.18293629586696625,
            0.032038766890764236,
            2.44840931892395,
            0.4192538857460022,
            0.6273666620254517,
            1.0737082958221436,
            0.6334239840507507,
            0.040363095700740814,
            0.7718134522438049,
            0.03806377574801445
          ],
          "projection": {
            "corners_camera_m": [
              [
                -0.3351633234667847,
                -0.5377786723406147,
                2.735964672688683
              ],
              [
                0.07605894402447277,
                -0.5345829671537251,
                2.6543567386330467
              ],
              [
                -0.32004063194474275,
                0.5293198095382058,
                2.8539546667150306
              ],
              [
                0.0911816355465147,
                0.5325155147250954,
                2.7723467326593942
              ],
              [
                -0.4570542272804472,
                -0.4684379809435669,
                2.124471905188506
              ],
              [
                -0.04583195978918975,
                -0.4652422757566773,
                2.0428639711328698
              ],
              [
                -0.44193153575840527,
                0.5986605009352536,
                2.2424618992148537
              ],
              [
                -0.030709268267147843,
                0.6018562061221432,
                2.1608539651592173
              ]
            ],
            "projected_corners_px": [
              [
                386.13281773680575,
                316.3008442239455
              ],
              [
                530.9531179774834,
                311.67973146739206
              ],
              [
                396.06179982466375,
                681.1088680033337
              ],
              [
                535.0108782397756,
                687.4230664244751
              ],
              [
                297.38129117671974,
                293.44268288479816
              ],
              [
                482.0053857994743,
                286.52519385555934
              ],
              [
                314.6875637459947,
                758.9322399673999
              ],
              [
                489.88415100381934,
                769.9723899979401
              ]
            ],
            "edges_in_front": 12,
            "edges_skipped_near_plane": 0
          },
          "complete_measured_visible_3d": true
        },
        {
          "object_id": 1,
          "visibility_known": true,
          "visible": true,
          "box2d_valid": true,
          "box2d_xyxy_px": [
            513.0,
            443.0,
            574.0,
            573.0
          ],
          "valid3d_components": {
            "center": true,
            "depth": true,
            "size": true,
            "rotation": true
          },
          "has_measurement": true,
          "interpolated": false,
          "segment_id": 0,
          "drawn_3d": true,
          "box3d_camera_wlh_wxyz": [
            0.16480103135108948,
            -0.04939337447285652,
            3.9373538494110107,
            0.22189797461032867,
            0.32687434554100037,
            0.46815159916877747,
            0.677435040473938,
            0.06010124087333679,
            0.7315261363983154,
            0.04836473613977432
          ],
          "projection": {
            "corners_camera_m": [
              [
                0.06119572847834688,
                -0.30458025501236125,
                4.071363044601082
              ],
              [
                0.2824138982039127,
                -0.30694773679231374,
                4.054169221598085
              ],
              [
                0.07168387970336475,
                0.15799911667493738,
                4.14261080511009
              ],
              [
                0.29290204942893056,
                0.15563163489498483,
                4.125416982107092
              ],
              [
                0.0367000132732484,
                -0.25441838384069787,
                3.7492907167149294
              ],
              [
                0.2579181829988142,
                -0.2567858656206504,
                3.732096893711932
              ],
              [
                0.047188164498266266,
                0.2081609878466007,
                3.820538477223937
              ],
              [
                0.2684063342238321,
                0.2057935060666482,
                3.8033446542209397
              ]
            ],
            "projected_corners_px": [
              [
                517.9006453220805,
                432.56169432120663
              ],
              [
                570.2397950458275,
                431.701082748752
              ],
              [
                520.0786072872393,
                540.4208230067136
              ],
              [
                571.5229142040074,
                540.0246074997696
              ],
              [
                512.8781630716536,
                439.200955350886
              ],
              [
                569.7109357097776,
                438.2966619292795
              ],
              [
                515.3333901131937,
                556.0288219208525
              ],
              [
                571.112618200641,
                555.6696136096509
              ]
            ],
            "edges_in_front": 12,
            "edges_skipped_near_plane": 0
          },
          "complete_measured_visible_3d": true
        },
        {
          "object_id": 2,
          "visibility_known": true,
          "visible": true,
          "box2d_valid": true,
          "box2d_xyxy_px": [
            360.0,
            859.0,
            482.0,
            907.0
          ],
          "valid3d_components": {
            "center": true,
            "depth": true,
            "size": true,
            "rotation": true
          },
          "has_measurement": true,
          "interpolated": false,
          "segment_id": 0,
          "drawn_3d": true,
          "box3d_camera_wlh_wxyz": [
            -0.17873527109622955,
            0.8191613554954529,
            2.0898025035858154,
            0.14599719643592834,
            0.25368332862854004,
            0.09094887226819992,
            0.038874439895153046,
            -0.004043579567223787,
            0.9991636276245117,
            0.012021806091070175
          ],
          "projection": {
            "corners_camera_m": [
              [
                -0.05753488591336005,
                0.7728312933126013,
                2.1713470892992346
              ],
              [
                -0.04620745595709275,
                0.7763845563342582,
                2.0258333613570376
              ],
              [
                -0.05835479697745623,
                0.8637509028995333,
                2.1735034068232038
              ],
              [
                -0.047027367021188926,
                0.8673041659211902,
                2.0279896788810063
              ],
              [
                -0.3104431751712702,
                0.7710185450697156,
                2.1516153282906245
              ],
              [
                -0.2991157452150029,
                0.7745718080913725,
                2.006101600348427
              ],
              [
                -0.31126308623536636,
                0.8619381546566476,
                2.1537716458145932
              ],
              [
                -0.29993565627909907,
                0.8654914176783045,
                2.0082579178723963
              ]
            ],
            "projected_corners_px": [
              [
                478.1135086901771,
                843.879271167493
              ],
              [
                481.64710319894095,
                869.967398768059
              ],
              [
                477.77727868189294,
                883.4874510428698
              ],
              [
                481.28299058637026,
                912.3898334117873
              ],
              [
                365.26495363978313,
                846.1916631652496
              ],
              [
                360.6477695972089,
                872.7041209587061
              ],
              [
                365.0386252114098,
                886.160397925546
              ],
              [
                360.4099995216821,
                915.5404307787146
              ]
            ],
            "edges_in_front": 12,
            "edges_skipped_near_plane": 0
          },
          "complete_measured_visible_3d": true
        },
        {
          "object_id": 3,
          "visibility_known": true,
          "visible": true,
          "box2d_valid": true,
          "box2d_xyxy_px": [
            425.0,
            752.0,
            444.0,
            1008.0
          ],
          "valid3d_components": {
            "center": true,
            "depth": true,
            "size": true,
            "rotation": true
          },
          "has_measurement": true,
          "interpolated": false,
          "segment_id": 0,
          "drawn_3d": true,
          "box3d_camera_wlh_wxyz": [
            -0.15020832419395447,
            0.7812533378601074,
            1.9679901599884033,
            0.04076176881790161,
            0.14237940311431885,
            0.49759596586227417,
            0.716736376285553,
            0.050443824380636215,
            0.693791925907135,
            0.04896039888262749
          ],
          "projection": {
            "corners_camera_m": [
              [
                -0.17284603692852712,
                0.5250241933105997,
                2.002889297703614
              ],
              [
                -0.13210581675328714,
                0.5248459343895444,
                2.0042024926602333
              ],
              [
                -0.17293976491307902,
                1.0177022189779514,
                2.0726753957604234
              ],
              [
                -0.13219954473783904,
                1.0175239600568962,
                2.0739885907170423
              ],
              [
                -0.1682171036500699,
                0.5449827156633187,
                1.861991729259764
              ],
              [
                -0.1274768834748299,
                0.5448044567422634,
                1.8633049242163835
              ],
              [
                -0.1683108316346218,
                1.0376607413306704,
                1.9317778273165735
              ],
              [
                -0.1275706114593818,
                1.0374824824096152,
                1.9330910222731927
              ]
            ],
            "projected_corners_px": [
              [
                420.8194882928045,
                754.3177234598188
              ],
              [
                440.3488857227726,
                754.0687766288676
              ],
              [
                423.55998090867234,
                972.8767082904646
              ],
              [
                442.43051297591074,
                972.4977522927059
              ],
              [
                416.9448170091249,
                783.4951082011307
              ],
              [
                437.95370004234377,
                783.2067735079521
              ],
              [
                420.0251659618712,
                1016.941029451139
              ],
              [
                440.27351932877315,
                1016.504518469334
              ]
            ],
            "edges_in_front": 12,
            "edges_skipped_near_plane": 0
          },
          "complete_measured_visible_3d": true
        },
        {
          "object_id": 4,
          "visibility_known": true,
          "visible": true,
          "box2d_valid": true,
          "box2d_xyxy_px": [
            244.0,
            481.0,
            325.0,
            603.0
          ],
          "valid3d_components": {
            "center": true,
            "depth": true,
            "size": true,
            "rotation": true
          },
          "has_measurement": true,
          "interpolated": false,
          "segment_id": 0,
          "drawn_3d": true,
          "box3d_camera_wlh_wxyz": [
            -0.8535606861114502,
            0.0766100287437439,
            3.7859842777252197,
            0.3046332597732544,
            0.4376569390296936,
            0.5918356776237488,
            0.698930025100708,
            0.04632418230175972,
            0.7128534913063049,
            0.034507788717746735
          ],
          "projection": {
            "corners_camera_m": [
              [
                -1.0070036400963867,
                -0.23997157799682772,
                3.9727594588474857
              ],
              [
                -0.7024719724900684,
                -0.24471067491389126,
                3.9664803390521053
              ],
              [
                -0.9964644369304791,
                0.34791452287114244,
                4.0402007437644
              ],
              [
                -0.691932769324161,
                0.3431754259540789,
                4.03392162396902
              ],
              [
                -1.0151886028987394,
                -0.1899553684665911,
                3.5380469314814196
              ],
              [
                -0.7106569352924212,
                -0.19469446538365465,
                3.5317678116860396
              ],
              [
                -1.0046493997328318,
                0.39793073240137905,
                3.605488216398334
              ],
              [
                -0.7001177321265138,
                0.3931916354843155,
                3.5992090966029537
              ]
            ],
            "projected_corners_px": [
              [
                260.64925199926677,
                446.3184705954847
              ],
              [
                333.82245546191376,
                445.08622674407445
              ],
              [
                267.20227804578053,
                586.2316195014489
              ],
              [
                339.16233259686686,
                585.2377629121722
              ],
              [
                228.59425274367743,
                452.73072069616063
              ],
              [
                310.71709070034933,
                451.3582047264082
              ],
              [
                236.53696932630083,
                609.393209653216
              ],
              [
                317.1348621362518,
                608.3197223720688
              ]
            ],
            "edges_in_front": 12,
            "edges_skipped_near_plane": 0
          },
          "complete_measured_visible_3d": true
        },
        {
          "object_id": 5,
          "visibility_known": true,
          "visible": true,
          "box2d_valid": true,
          "box2d_xyxy_px": [
            375.0,
            400.0,
            485.0,
            771.0
          ],
          "valid3d_components": {
            "center": false,
            "depth": false,
            "size": false,
            "rotation": false
          },
          "has_measurement": false,
          "interpolated": null,
          "segment_id": -1,
          "drawn_3d": false,
          "complete_measured_visible_3d": false
        }
      ]
    },
    {
      "step": 6,
      "source_frame": 72,
      "timestamp_s": 3.0,
      "depth_stats": {
        "available": true,
        "valid_patches": 3024,
        "total_patches": 5184,
        "mean_coverage": 0.5585317611694336,
        "min_m": 1.4108890295028687,
        "median_m": 3.937957763671875,
        "max_m": 18.156269073486328,
        "fraction_above_display_max": 0.0,
        "fraction_below_display_min": 0.0
      },
      "camera_valid": true,
      "intrinsics": [
        [
          957.250244140625,
          0.0,
          503.5
        ],
        [
          0.0,
          953.5640869140625,
          504.0
        ],
        [
          0.0,
          0.0,
          1.0
        ]
      ],
      "objects": [
        {
          "object_id": 0,
          "visibility_known": true,
          "visible": true,
          "box2d_valid": true,
          "box2d_xyxy_px": [
            312.0,
            390.0,
            599.0,
            774.0
          ],
          "valid3d_components": {
            "center": true,
            "depth": true,
            "size": true,
            "rotation": true
          },
          "has_measurement": true,
          "interpolated": false,
          "segment_id": 0,
          "drawn_3d": true,
          "box3d_camera_wlh_wxyz": [
            -0.10860294103622437,
            0.06712328642606735,
            2.500112533569336,
            0.4635578691959381,
            0.6808846592903137,
            1.0998083353042603,
            0.5778793692588806,
            0.03892332315444946,
            0.8141618371009827,
            0.040999047458171844
          ],
          "projection": {
            "corners_camera_m": [
              [
                -0.22420334014299464,
                -0.5220216663789458,
                2.8341212464040577
              ],
              [
                0.21347237215656922,
                -0.5119282739089243,
                2.6817270457762317
              ],
              [
                -0.20661216861877002,
                0.5707568107403979,
                2.9570200870570984
              ],
              [
                0.23106354368079385,
                0.5808502032104194,
                2.804625886429273
              ],
              [
                -0.4482694257532426,
                -0.44660363035828465,
                2.195599180709399
              ],
              [
                -0.010593713453678696,
                -0.43651023788826315,
                2.0432049800815735
              ],
              [
                -0.43067825422901795,
                0.646174846761059,
                2.31849802136244
              ],
              [
                0.0069974580705459005,
                0.6562682392310805,
                2.166103820734614
              ]
            ],
            "projected_corners_px": [
              [
                427.7732814055383,
                328.3613909314631
              ],
              [
                579.6995821632942,
                321.9693873601675
              ],
              [
                436.6152501403611,
                688.0546161542327
              ],
              [
                582.3645767946048,
                701.4872642865621
              ],
              [
                308.060859280142,
                310.0369184244704
              ],
              [
                498.5368000818572,
                300.2806030337965
              ],
              [
                325.683646391675,
                769.7621969314679
              ],
              [
                506.5923349020834,
                792.9029686955876
              ]
            ],
            "edges_in_front": 12,
            "edges_skipped_near_plane": 0
          },
          "complete_measured_visible_3d": true
        },
        {
          "object_id": 1,
          "visibility_known": true,
          "visible": true,
          "box2d_valid": true,
          "box2d_xyxy_px": [
            519.0,
            443.0,
            566.0,
            524.0
          ],
          "valid3d_components": {
            "center": true,
            "depth": true,
            "size": true,
            "rotation": true
          },
          "has_measurement": true,
          "interpolated": false,
          "segment_id": 0,
          "drawn_3d": true,
          "box3d_camera_wlh_wxyz": [
            0.16357721388339996,
            -0.09004847705364227,
            4.00608491897583,
            0.20013055205345154,
            0.2908238470554352,
            0.4113644063472748,
            0.6794495582580566,
            0.06353932619094849,
            0.7286664247512817,
            0.057933710515499115
          ],
          "projection": {
            "corners_camera_m": [
              [
                0.07088274668623074,
                -0.317410178158909,
                4.12087711511411
              ],
              [
                0.27052223383680907,
                -0.31779339509568016,
                4.106871181362563
              ],
              [
                0.07658914393878606,
                0.08787133283175019,
                4.191126732116412
              ],
              [
                0.27622863108936435,
                0.08748811589497901,
                4.177120798364864
              ],
              [
                0.050925796677435575,
                -0.26758507000226356,
                3.8350490395867958
              ],
              [
                0.25056528382801385,
                -0.26796828693903474,
                3.821043105835249
              ],
              [
                0.05663219392999089,
                0.13769644098839562,
                3.905298656589097
              ],
              [
                0.2562716810805692,
                0.13731322405162444,
                3.8912927228375502
              ]
            ],
            "projected_corners_px": [
              [
                519.9655544621532,
                430.551814514627
              ],
              [
                566.5546863901966,
                430.212351145333
              ],
              [
                520.9929037989033,
                523.9924632714022
              ],
              [
                566.801957810852,
                523.9720164621249
              ],
              [
                516.2113710409772,
                437.46642759592044
              ],
              [
                566.2717804992155,
                437.12691645202193
              ],
              [
                517.3814431962168,
                537.6215978772532
              ],
              [
                566.5423221159824,
                537.6487045411823
              ]
            ],
            "edges_in_front": 12,
            "edges_skipped_near_plane": 0
          },
          "complete_measured_visible_3d": true
        },
        {
          "object_id": 2,
          "visibility_known": true,
          "visible": true,
          "box2d_valid": true,
          "box2d_xyxy_px": [
            362.0,
            858.0,
            485.0,
            907.0
          ],
          "valid3d_components": {
            "center": true,
            "depth": true,
            "size": true,
            "rotation": true
          },
          "has_measurement": true,
          "interpolated": false,
          "segment_id": 0,
          "drawn_3d": true,
          "box3d_camera_wlh_wxyz": [
            -0.172046959400177,
            0.827549397945404,
            2.1190059185028076,
            0.15741436183452606,
            0.2634686231613159,
            0.09983275830745697,
            0.07868798822164536,
            -0.003885432379320264,
            0.9968509674072266,
            0.009015991352498531
          ],
          "projection": {
            "corners_camera_m": [
              [
                -0.05383257058411517,
                0.7770132845334659,
                2.2165346506869805
              ],
              [
                -0.02914837306745921,
                0.7799390937174555,
                2.061095236942111
              ],
              [
                -0.054747567181858525,
                0.8768267981437111,
                2.218268119255664
              ],
              [
                -0.030063369665202566,
                0.8797526073277008,
                2.062828705510795
              ],
              [
                -0.31403054913515144,
                0.7753461885631073,
                2.1751831314948205
              ],
              [
                -0.2893463516184955,
                0.778271997747097,
                2.019743717749951
              ],
              [
                -0.3149455457328948,
                0.8751597021733526,
                2.176916600063504
              ],
              [
                -0.29026134821623883,
                0.8780855113573423,
                2.0214771863186347
              ]
            ],
            "projected_corners_px": [
              [
                480.2514388649912,
                838.2749290910524
              ],
              [
                489.9623978868032,
                864.8382069974942
              ],
              [
                479.8747575885802,
                880.9204172822194
              ],
              [
                489.5491722483671,
                910.6748196181309
              ],
              [
                365.3020637091567,
                843.8988662767857
              ],
              [
                366.3653411351795,
                871.43880937986
              ],
              [
                365.009760853943,
                887.349946563213
              ],
              [
                366.0496501642017,
                918.2073996861575
              ]
            ],
            "edges_in_front": 12,
            "edges_skipped_near_plane": 0
          },
          "complete_measured_visible_3d": true
        },
        {
          "object_id": 3,
          "visibility_known": true,
          "visible": true,
          "box2d_valid": true,
          "box2d_xyxy_px": [
            426.0,
            752.0,
            447.0,
            1008.0
          ],
          "valid3d_components": {
            "center": true,
            "depth": true,
            "size": true,
            "rotation": true
          },
          "has_measurement": true,
          "interpolated": false,
          "segment_id": 0,
          "drawn_3d": true,
          "box3d_camera_wlh_wxyz": [
            -0.14195233583450317,
            0.7797060012817383,
            1.9864362478256226,
            0.04137029871344566,
            0.15674838423728943,
            0.4956263601779938,
            0.7226459383964539,
            0.059618834406137466,
            0.6867085099220276,
            0.05157347768545151
          ],
          "projection": {
            "corners_camera_m": [
              [
                -0.1684687259451699,
                0.5230306468721142,
                2.0238047521330547
              ],
              [
                -0.1271545347307045,
                0.5223962446902254,
                2.02586308976472
              ],
              [
                -0.1648294437697719,
                1.0124971353793784,
                2.1016173549484245
              ],
              [
                -0.1235152525553065,
                1.0118627331974896,
                2.1036756925800897
              ],
              [
                -0.16038941911369983,
                0.5475492693659869,
                1.8691968030711557
              ],
              [
                -0.11907522789923444,
                0.5469148671840982,
                1.8712551407028206
              ],
              [
                -0.15675013693830184,
                1.037015757873251,
                1.947009405886525
              ],
              [
                -0.11543594572383643,
                1.0363813556913624,
                1.9490677435181902
              ]
            ],
            "projected_corners_px": [
              [
                423.815075418663,
                750.4384178794977
              ],
              [
                443.41760349970605,
                749.8894189800471
              ],
              [
                428.4230479950763,
                963.3989976947229
              ],
              [
                447.2959919008967,
                962.6619347587949
              ],
              [
                421.36161288533,
                783.3303081973886
              ],
              [
                442.5864513885416,
                782.6997692630276
              ],
              [
                426.43354803545776,
                1011.8871120407591
              ],
              [
                446.805671342503,
                1011.0403758007546
              ]
            ],
            "edges_in_front": 12,
            "edges_skipped_near_plane": 0
          },
          "complete_measured_visible_3d": true
        },
        {
          "object_id": 4,
          "visibility_known": true,
          "visible": true,
          "box2d_valid": true,
          "box2d_xyxy_px": [
            242.0,
            483.0,
            332.0,
            614.0
          ],
          "valid3d_components": {
            "center": true,
            "depth": true,
            "size": true,
            "rotation": true
          },
          "has_measurement": true,
          "interpolated": false,
          "segment_id": 0,
          "drawn_3d": true,
          "box3d_camera_wlh_wxyz": [
            -0.8286750316619873,
            0.12329176068305969,
            3.6868016719818115,
            0.288859099149704,
            0.41479620337486267,
            0.5331533551216125,
            0.7012593150138855,
            0.04617864266037941,
            0.7104241847991943,
            0.03742148354649544
          ],
          "projection": {
            "corners_camera_m": [
              [
                -0.9740496726264688,
                -0.16421967786789843,
                3.863268039485961
              ],
              [
                -0.6852369881299605,
                -0.16756933216104491,
                3.8593193369629386
              ],
              [
                -0.9670501573351509,
                0.3651665920921148,
                3.926146366761287
              ],
              [
                -0.6782374728386427,
                0.3618169377989683,
                3.922197664238264
              ],
              [
                -0.979112590485332,
                -0.11523341643284887,
                3.451405679725359
              ],
              [
                -0.6902999059888237,
                -0.11858307072599536,
                3.4474569772023362
              ],
              [
                -0.9721130751940141,
                0.4141528535271643,
                3.5142840070006844
              ],
              [
                -0.6833003906975058,
                0.4108031992340178,
                3.510335304477662
              ]
            ],
            "projected_corners_px": [
              [
                262.14752913938435,
                463.4659274016461
              ],
              [
                333.5365383348193,
                462.59681895546635
              ],
              [
                267.719437399903,
                592.6899558579316
              ],
              [
                337.9695902555432,
                591.9648777184516
              ],
              [
                231.94230633652296,
                472.1629869915723
              ],
              [
                311.82545325212647,
                471.2000090768173
              ],
              [
                238.70766201364597,
                616.3760307447476
              ],
              [
                317.16752487084693,
                615.5925242466975
              ]
            ],
            "edges_in_front": 12,
            "edges_skipped_near_plane": 0
          },
          "complete_measured_visible_3d": true
        },
        {
          "object_id": 5,
          "visibility_known": true,
          "visible": true,
          "box2d_valid": true,
          "box2d_xyxy_px": [
            498.0,
            377.0,
            585.0,
            695.0
          ],
          "valid3d_components": {
            "center": false,
            "depth": false,
            "size": false,
            "rotation": false
          },
          "has_measurement": false,
          "interpolated": null,
          "segment_id": -1,
          "drawn_3d": false,
          "complete_measured_visible_3d": false
        }
      ]
    },
    {
      "step": 7,
      "source_frame": 84,
      "timestamp_s": 3.5,
      "depth_stats": {
        "available": true,
        "valid_patches": 3024,
        "total_patches": 5184,
        "mean_coverage": 0.5585317611694336,
        "min_m": 1.4105594158172607,
        "median_m": 4.001220703125,
        "max_m": 18.39335823059082,
        "fraction_above_display_max": 0.0,
        "fraction_below_display_min": 0.0
      },
      "camera_valid": true,
      "intrinsics": [
        [
          959.056640625,
          0.0,
          503.5
        ],
        [
          0.0,
          955.3099975585938,
          504.0
        ],
        [
          0.0,
          0.0,
          1.0
        ]
      ],
      "objects": [
        {
          "object_id": 0,
          "visibility_known": true,
          "visible": true,
          "box2d_valid": true,
          "box2d_xyxy_px": [
            309.0,
            393.0,
            637.0,
            778.0
          ],
          "valid3d_components": {
            "center": true,
            "depth": true,
            "size": true,
            "rotation": true
          },
          "has_measurement": true,
          "interpolated": false,
          "segment_id": 0,
          "drawn_3d": true,
          "box3d_camera_wlh_wxyz": [
            -0.0834229364991188,
            0.023064039647579193,
            2.558607578277588,
            0.459161639213562,
            0.7057634592056274,
            1.1078139543533325,
            0.6944643259048462,
            0.04446887597441673,
            0.7173798084259033,
            0.03328754007816315
          ],
          "projection": {
            "corners_camera_m": [
              [
                -0.3114755939368937,
                -0.5630393238523618,
                2.8561317620230633
              ],
              [
                0.1473875251977445,
                -0.5694696425945395,
                2.84087726025506
              ],
              [
                -0.2920133757536616,
                0.5379382193933814,
                2.977463657219354
              ],
              [
                0.16684974338097663,
                0.5315079006512037,
                2.9622091554513506
              ],
              [
                -0.33369561637921424,
                -0.4853798213560453,
                2.1550060011038252
              ],
              [
                0.125167502755424,
                -0.491810140098223,
                2.139751499335822
              ],
              [
                -0.3142333981959821,
                0.6155977218896979,
                2.2763378963001157
              ],
              [
                0.14462972093865614,
                0.6091674031475202,
                2.2610833945321125
              ]
            ],
            "projected_corners_px": [
              [
                398.91002949170604,
                315.67637213144485
              ],
              [
                553.2568081394303,
                312.50279929804515
              ],
              [
                409.4409620369918,
                676.5958124826595
              ],
              [
                557.5199378162143,
                675.4108574470692
              ],
              [
                354.9932224448505,
                288.83206277981293
              ],
              [
                559.601245749938,
                284.4272393862743
              ],
              [
                371.10857088227124,
                762.3476992371737
              ],
              [
                564.8458551035274,
                761.373837612944
              ]
            ],
            "edges_in_front": 12,
            "edges_skipped_near_plane": 0
          },
          "complete_measured_visible_3d": true
        },
        {
          "object_id": 1,
          "visibility_known": true,
          "visible": true,
          "box2d_valid": true,
          "box2d_xyxy_px": [
            519.0,
            446.0,
            574.0,
            567.0
          ],
          "valid3d_components": {
            "center": true,
            "depth": true,
            "size": true,
            "rotation": true
          },
          "has_measurement": true,
          "interpolated": false,
          "segment_id": 0,
          "drawn_3d": true,
          "box3d_camera_wlh_wxyz": [
            0.1814458668231964,
            -0.028719844296574593,
            3.9254133701324463,
            0.23324275016784668,
            0.3484659194946289,
            0.5662349462509155,
            0.6800140142440796,
            0.06714794039726257,
            0.7278146743774414,
            0.05794728174805641
          ],
          "projection": {
            "corners_camera_m": [
              [
                0.07126518347514346,
                -0.3373309146259982,
                4.054767911084059
              ],
              [
                0.30395525206098317,
                -0.33895739027256155,
                4.038803354580701
              ],
              [
                0.0819854750239639,
                0.21999519287972924,
                4.154240015703393
              ],
              [
                0.31467554360980365,
                0.21836871723316587,
                4.138275459200036
              ],
              [
                0.048216190036589196,
                -0.27580840582631505,
                3.712551281064856
              ],
              [
                0.2809062586224289,
                -0.2774348814728784,
                3.6965867245614996
              ],
              [
                0.058936481585409636,
                0.28151770167941237,
                3.8120233856841907
              ],
              [
                0.2916265501712494,
                0.279891226032849,
                3.7960588291808337
              ]
            ],
            "projected_corners_px": [
              [
                520.3560442807003,
                424.5242809713259
              ],
              [
                575.6773944778244,
                423.82541479607016
              ],
              [
                522.427340249794,
                554.5901455809967
              ],
              [
                576.4269167112435,
                554.4098436132656
              ],
              [
                515.9556009437705,
                433.0292557464679
              ],
              [
                576.3793973464593,
                432.30242174990127
              ],
              [
                518.3276698017726,
                574.5495868451476
              ],
              [
                577.1780940733343,
                574.4369712088504
              ]
            ],
            "edges_in_front": 12,
            "edges_skipped_near_plane": 0
          },
          "complete_measured_visible_3d": true
        },
        {
          "object_id": 2,
          "visibility_known": true,
          "visible": true,
          "box2d_valid": true,
          "box2d_xyxy_px": [
            362.0,
            862.0,
            485.0,
            909.0
          ],
          "valid3d_components": {
            "center": true,
            "depth": true,
            "size": true,
            "rotation": true
          },
          "has_measurement": true,
          "interpolated": false,
          "segment_id": 0,
          "drawn_3d": true,
          "box3d_camera_wlh_wxyz": [
            -0.16472549736499786,
            0.8238427042961121,
            2.105595827102661,
            0.15693558752536774,
            0.2569502890110016,
            0.0958269014954567,
            0.04225490242242813,
            0.0006510729435831308,
            0.9984667301177979,
            0.0357525534927845
          ],
          "projection": {
            "corners_camera_m": [
              [
                -0.043251551256965226,
                0.7698986396045066,
                2.190994155410293
              ],
              [
                -0.030001983807218302,
                0.781094495256999,
                2.0350201819065847
              ],
              [
                -0.043416497340346194,
                0.86548047931715,
                2.1978410350029303
              ],
              [
                -0.03016692989059927,
                0.8766763349696425,
                2.041867061499222
              ],
              [
                -0.29928406483939646,
                0.7710090736225816,
                2.1693245927061002
              ],
              [
                -0.28603449738964953,
                0.7822049292750741,
                2.013350619202392
              ],
              [
                -0.2994490109227774,
                0.8665909133352251,
                2.1761714722987375
              ],
              [
                -0.2861994434730305,
                0.8777867689877176,
                2.0201974987950293
              ]
            ],
            "projected_corners_px": [
              [
                484.567641213056,
                839.6886487829152
              ],
              [
                489.36077815932083,
                870.6732089398255
              ],
              [
                484.554644342428,
                880.1883327391668
              ],
              [
                489.33071592447106,
                914.1626806226068
              ],
              [
                371.1867579971454,
                843.5308745941231
              ],
              [
                367.2478829802365,
                875.146576234258
              ],
              [
                371.5303615272034,
                884.4217516132053
              ],
              [
                367.631364893924,
                919.0873746942021
              ]
            ],
            "edges_in_front": 12,
            "edges_skipped_near_plane": 0
          },
          "complete_measured_visible_3d": true
        },
        {
          "object_id": 3,
          "visibility_known": true,
          "visible": true,
          "box2d_valid": true,
          "box2d_xyxy_px": [
            426.0,
            755.0,
            447.0,
            1008.0
          ],
          "valid3d_components": {
            "center": true,
            "depth": true,
            "size": true,
            "rotation": true
          },
          "has_measurement": true,
          "interpolated": false,
          "segment_id": 0,
          "drawn_3d": true,
          "box3d_camera_wlh_wxyz": [
            -0.138778418302536,
            0.7828133702278137,
            1.976054072380066,
            0.03837024047970772,
            0.1686687469482422,
            0.4602629244327545,
            0.724530041217804,
            0.05226559191942215,
            0.6852920055389404,
            0.05195556953549385
          ],
          "projection": {
            "corners_camera_m": [
              [
                -0.1617614649911382,
                0.5428779700507532,
                2.024465110341686
              ],
              [
                -0.12345030392191571,
                0.5427042867695551,
                2.0265864604109876
              ],
              [
                -0.1634425096468232,
                0.9981414510536254,
                2.092098656466405
              ],
              [
                -0.12513134857760072,
                0.9979677677724272,
                2.0942200065357066
              ],
              [
                -0.1524254880274713,
                0.5676589726832002,
                1.8578881382244252
              ],
              [
                -0.11411432695824883,
                0.567485289402002,
                1.8600094882937268
              ],
              [
                -0.1541065326831563,
                1.0229224536860724,
                1.925521684349144
              ],
              [
                -0.11579537161393383,
                1.022748770404874,
                1.9276430344184456
              ]
            ],
            "projected_corners_px": [
              [
                426.86819913345136,
                760.174704910705
              ],
              [
                445.07869102733605,
                759.8246790831323
              ],
              [
                428.57493671356957,
                959.7789395934647
              ],
              [
                446.1955857411424,
                959.2380279144171
              ],
              [
                424.81675019306556,
                795.8853297197786
              ],
              [
                444.6604597995049,
                795.4632284647539
              ],
              [
                426.74319443671584,
                1011.503007977697
              ],
              [
                445.8885449136141,
                1010.858431728933
              ]
            ],
            "edges_in_front": 12,
            "edges_skipped_near_plane": 0
          },
          "complete_measured_visible_3d": true
        },
        {
          "object_id": 4,
          "visibility_known": true,
          "visible": true,
          "box2d_valid": true,
          "box2d_xyxy_px": [
            225.0,
            487.0,
            335.0,
            614.0
          ],
          "valid3d_components": {
            "center": true,
            "depth": true,
            "size": true,
            "rotation": true
          },
          "has_measurement": true,
          "interpolated": false,
          "segment_id": 0,
          "drawn_3d": true,
          "box3d_camera_wlh_wxyz": [
            -0.8424390554428101,
            0.10548803955316544,
            3.6748876571655273,
            0.3136797845363617,
            0.45574524998664856,
            0.5233476758003235,
            0.7109271287918091,
            0.04301027953624725,
            0.7012905478477478,
            0.030401282012462616
          ],
          "projection": {
            "corners_camera_m": [
              [
                -1.0070259011903078,
                -0.17542679630113356,
                3.8723614723241058
              ],
              [
                -0.6934251170728972,
                -0.181234291062084,
                3.876339968563263
              ],
              [
                -0.9980770673852746,
                0.3450172186160545,
                3.9266821449636096
              ],
              [
                -0.6844762832678639,
                0.33920972385510406,
                3.9306606412027665
              ],
              [
                -1.0004018276177562,
                -0.1282336447487732,
                3.419114673128288
              ],
              [
                -0.6868010435003455,
                -0.13404113950972363,
                3.423093169367445
              ],
              [
                -0.9914529938127229,
                0.39221037016841487,
                3.4734353457677916
              ],
              [
                -0.6778522096953122,
                0.38640287540746443,
                3.477413842006949
              ]
            ],
            "projected_corners_px": [
              [
                254.09278821966717,
                460.7222808242729
              ],
              [
                331.93765802321514,
                459.33546294799726
              ],
              [
                259.728692826818,
                587.9381406759702
              ],
              [
                336.49206297863157,
                586.4417241903418
              ],
              [
                222.8887576773309,
                468.17116869034487
              ],
              [
                311.0772206694263,
                466.5920667881068
              ],
              [
                229.74808498531456,
                611.8708685983102
              ],
              [
                316.55110849405764,
                610.1520275507665
              ]
            ],
            "edges_in_front": 12,
            "edges_skipped_near_plane": 0
          },
          "complete_measured_visible_3d": true
        },
        {
          "object_id": 5,
          "visibility_known": true,
          "visible": true,
          "box2d_valid": true,
          "box2d_xyxy_px": [
            376.0,
            447.0,
            624.0,
            607.0
          ],
          "valid3d_components": {
            "center": false,
            "depth": false,
            "size": false,
            "rotation": false
          },
          "has_measurement": false,
          "interpolated": null,
          "segment_id": -1,
          "drawn_3d": false,
          "complete_measured_visible_3d": false
        }
      ]
    }
  ],
  "input_shapes": {
    "images": [
      8,
      3,
      1008,
      1008
    ],
    "initial_boxes": [
      6,
      4
    ],
    "depth_patches": [
      8,
      1,
      72,
      72
    ],
    "depth_coverage": [
      8,
      1,
      72,
      72
    ],
    "intrinsics": [
      8,
      3,
      3
    ],
    "camera_valid": [
      8
    ],
    "source_frame_indices": [
      8
    ],
    "timestamps_s": [
      8
    ]
  },
  "provenance": {
    "schema_version": "wildtrack_video_clip_v1",
    "video_id": "sav_005633",
    "dataset": "sa-v",
    "manifest_sha256": "19c4d30ce47929fa6e829a7402304124e1293b2354310ea9a6d73ec1b4e3075f",
    "sampling_fps": 2.0,
    "source_frame_stride": 12,
    "hashes": {
      "container": "8381b86995f2e36608489919ab75e848288b173e7736544b8850efc569a3b01d",
      "manual": "173443f5ee082f259e8dd5bcb7b0a7a24217d4ffe31db6fa92af7d279d22f691",
      "rgb": "8d341f6e145eab6bc9a3b892acea8cfc88d6aab96b3868ebc8c9206eb41418f2"
    },
    "epoch": 0,
    "occurrence": 0,
    "annotation_slots": [
      0,
      3,
      6,
      9,
      12,
      15,
      18,
      21
    ],
    "all_manual_object_ids": [
      0,
      1,
      2,
      3,
      4,
      5
    ],
    "camera_source": [
      "exact_cache",
      "exact_cache",
      "exact_cache",
      "exact_cache",
      "exact_cache",
      "exact_cache",
      "exact_cache",
      "exact_cache"
    ],
    "depth_available": [
      true,
      true,
      true,
      true,
      true,
      true,
      true,
      true
    ],
    "depth_dropout_mode": "disabled",
    "depth_dropped": [
      false,
      false,
      false,
      false,
      false,
      false,
      false,
      false
    ],
    "decoder": {
      "decoder": "pyav-14.4.0-sequential-pts-v1",
      "pts_origin_s": 0.0,
      "rotation_degrees": [
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ]
    },
    "photometric": {
      "enabled": false,
      "seed": 12009205821161706323,
      "recipe": [
        {
          "transform": "ColorJitter",
          "consistent_transform": true,
          "brightness": 0.1,
          "contrast": 0.03,
          "saturation": 0.03,
          "hue": null
        },
        {
          "transform": "RandomGrayscale",
          "consistent_transform": true,
          "p": 0.05
        },
        {
          "transform": "ColorJitter",
          "consistent_transform": false,
          "brightness": 0.1,
          "contrast": 0.05,
          "saturation": 0.05,
          "hue": null
        }
      ],
      "source": "third_party/sam3/training/dataset/transforms.py",
      "input_domain": "float_rgb_after_fixed_resize_before_normalization_and_padding"
    },
    "depth_units": "camera_z_meters",
    "target_variant": "smoothed_at_measurement",
    "label_source": "wilddet_depth_rescaled_rts_pseudo",
    "world_frame_id": "sav_005633",
    "source_to_saved_affine": [
      [
        0.5333333333333333,
        0.0,
        0.0
      ],
      [
        0.0,
        0.5375,
        0.0
      ],
      [
        0.0,
        0.0,
        1.0
      ]
    ]
  },
  "preprocessing": {
    "grid": 72,
    "image_size": 1008,
    "interpolation": "nearest",
    "missing_depth": -1.0,
    "padding": [
      222,
      223,
      0,
      0
    ],
    "pooling": "positive_finite_mean",
    "resized_hw": [
      1008,
      563
    ],
    "scale_xy": [
      1.4661458333333333,
      1.4651162790697674
    ],
    "source_hw": [
      688,
      384
    ]
  },
  "record": {
    "bytes": 4700160,
    "container": "videos/sav_005633.tar",
    "format": "sav_metric_patch72_fp32_v1",
    "frame_indices": [
      0,
      12,
      24,
      36,
      48,
      60,
      72,
      84
    ],
    "frames": 267,
    "hashes": {
      "container": "8381b86995f2e36608489919ab75e848288b173e7736544b8850efc569a3b01d",
      "manual": "173443f5ee082f259e8dd5bcb7b0a7a24217d4ffe31db6fa92af7d279d22f691",
      "rgb": "8d341f6e145eab6bc9a3b892acea8cfc88d6aab96b3868ebc8c9206eb41418f2"
    },
    "manual": "extracted/sav_005/sav_train/sav_005/sav_005633_manual.json",
    "objects": 5,
    "records": 1325,
    "rgb": "extracted/sav_005/sav_train/sav_005/sav_005633.mp4",
    "rgb_geometry": {
      "crop_xyxy": [
        0,
        0,
        720,
        1280
      ],
      "geometry_only": true,
      "resize": "PIL_BICUBIC",
      "saved_hw": [
        688,
        384
      ],
      "source_hw": [
        1280,
        720
      ],
      "source_to_saved_affine": [
        [
          0.5333333333333333,
          0.0,
          0.0
        ],
        [
          0.0,
          0.5375,
          0.0
        ],
        [
          0.0,
          0.0,
          1.0
        ]
      ]
    },
    "seconds": 41.824594486970454,
    "sha256": "8381b86995f2e36608489919ab75e848288b173e7736544b8850efc569a3b01d",
    "video_id": "sav_005633"
  },
  "file_sha256": {
    "rgb": "8d341f6e145eab6bc9a3b892acea8cfc88d6aab96b3868ebc8c9206eb41418f2",
    "manual": "173443f5ee082f259e8dd5bcb7b0a7a24217d4ffe31db6fa92af7d279d22f691",
    "container": "8381b86995f2e36608489919ab75e848288b173e7736544b8850efc569a3b01d"
  },
  "depth_present_frames": 8,
  "depth_median_m": 3.8755276203155518,
  "complete_measured_visible_object_frames": 40,
  "total_object_frames": 48
}