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test: add sample t4 dataset
Signed-off-by: ktro2828 <kotaro.uetake@tier4.jp>
1 parent a4c9753 commit 19d50dc

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‎tests/sample/annotation/attribute.json‎

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[
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{
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"token": "33d1d37c9664a80121488037b8ac8485",
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"name": "moving",
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"description": "Object is in motion"
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},
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{
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"token": "81adf1af78e42f129890e080c98fb920",
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"name": "standing",
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"description": "Object is stationary"
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},
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{
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"token": "31b6e7aab1741f59529ff098b4889110",
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"name": "stopped",
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"description": "Vehicle is stopped"
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},
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{
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"token": "a4894d9a9c50c75891179f3a8b2cc9e3",
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"name": "parked",
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"description": "Vehicle is parked"
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}
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]

‎tests/sample/annotation/calibrated_sensor.json‎

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[
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{
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"token": "56f822ce227d36ef726a89ef6f6911dc",
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"sensor_token": "0132c9748dfe2777a146807f8a95a6c4",
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"translation": [0.0, 0.0, 2.0],
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"rotation": [1.0, 0.0, 0.0, 0.0],
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"camera_intrinsic": [],
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"camera_distortion": []
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},
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{
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"token": "50acc3b31066c20a9af2ae9d032508a6",
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"sensor_token": "391237c9a8cb743864cdfd764e6c8627",
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"translation": [1.5, 0.0, 1.8],
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"rotation": [1.0, 0.0, 0.0, 0.0],
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"camera_intrinsic": [
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[800.0, 0.0, 400.0],
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[0.0, 800.0, 300.0],
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[0.0, 0.0, 1.0]
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],
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"camera_distortion": [0.0, 0.0, 0.0, 0.0, 0.0]
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},
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{
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"token": "fc63adfe5b9bec05de27bc1d59840466",
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"sensor_token": "99998d7e7be2bbca0f2ce80688d8a63a",
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"translation": [-1.5, 0.0, 1.8],
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"rotation": [0.0, 0.0, 0.0, 1.0],
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"camera_intrinsic": [
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[800.0, 0.0, 400.0],
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[0.0, 800.0, 300.0],
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[0.0, 0.0, 1.0]
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],
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"camera_distortion": [0.0, 0.0, 0.0, 0.0, 0.0]
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}
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]

‎tests/sample/annotation/category.json‎

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[
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{
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"token": "1c22a023c1a214447d0bc497088c9a3d",
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"name": "car",
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"description": "Vehicle designed primarily for passenger transportation"
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},
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{
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"token": "4db2cce0862dbdf1385186fd604d477a",
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"name": "pedestrian",
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"description": "Person walking or standing"
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},
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{
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"token": "0531921ca79d7ca8c3815a77122de529",
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"name": "bicycle",
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"description": "Two-wheeled vehicle propelled by pedaling"
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},
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{
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"token": "bdb3ce20fb731507f2ecf9387071335f",
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"name": "traffic_cone",
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"description": "Cone-shaped marker used to redirect traffic"
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}
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]

‎tests/sample/annotation/ego_pose.json‎

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[
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{
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"token": "193556c46a9b5e6804de9fd28e4c6176",
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"timestamp": 1704067200000000,
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"translation": [0.0, 0.0, 0.0],
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"rotation": [1.0, 0.0, 0.0, 0.0]
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},
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{
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"token": "0056c5bdde94168fddc1b574af03d88a",
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"timestamp": 1704067201000000,
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"translation": [10.0, 0.0, 0.0],
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"rotation": [1.0, 0.0, 0.0, 0.0]
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},
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{
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"token": "5207dc85aa50ad74b1c8968d317ef7e3",
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"timestamp": 1704067202000000,
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"translation": [20.0, 0.0, 0.0],
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"rotation": [1.0, 0.0, 0.0, 0.0]
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}
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]

‎tests/sample/annotation/instance.json‎

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[
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{
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"token": "90f0c98d1a040d5360847f576c5528f8",
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"category_token": "1c22a023c1a214447d0bc497088c9a3d",
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"instance_name": "car_001",
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"nbr_annotations": 2,
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"first_annotation_token": "4517ec89ec131157097133ce6532861b",
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"last_annotation_token": "b573b38d867572bd0a4d8362c089e9b1"
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},
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{
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"token": "90bbf29d816e58181741b05a2b662d5f",
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"category_token": "4db2cce0862dbdf1385186fd604d477a",
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"instance_name": "pedestrian_001",
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"nbr_annotations": 1,
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"first_annotation_token": "b3647a753a8eada2bd7863defe9b562c",
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"last_annotation_token": "b3647a753a8eada2bd7863defe9b562c"
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},
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{
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"token": "960f58b84920a67c690ca871f6826f58",
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"category_token": "0531921ca79d7ca8c3815a77122de529",
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"instance_name": "bicycle_001",
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"nbr_annotations": 1,
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"first_annotation_token": "fca7706953ef7d068f9f406538840eff",
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"last_annotation_token": "fca7706953ef7d068f9f406538840eff"
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}
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]

‎tests/sample/annotation/log.json‎

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[
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{
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"token": "e2c60317a26f1b767f1d099e87335c4b",
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"logfile": "minimal_test_log.bag",
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"vehicle": "test_vehicle",
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"data_captured": "2024-01-01",
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"location": "test_location"
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}
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]

‎tests/sample/annotation/map.json‎

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[
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{
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"token": "a24946e32253b712307af5d3a4c29946",
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"log_tokens": ["e2c60317a26f1b767f1d099e87335c4b"],
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"category": "semantic_prior",
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"filename": "map/lanelet2_map.osm"
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}
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]

‎tests/sample/annotation/object_ann.json‎

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[
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{
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"token": "dfe442d00758b2543d8c9345e76bb46c",
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"sample_data_token": "a24cd7ccbf6a4a20b06f0727f2c7d67e",
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"instance_token": "90f0c98d1a040d5360847f576c5528f8",
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"category_token": "1c22a023c1a214447d0bc497088c9a3d",
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"attribute_tokens": ["33d1d37c9664a80121488037b8ac8485"],
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"bbox": [100, 100, 200, 150],
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"mask": {
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"size": [600, 800],
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"counts": "VGZqMWY0Uj4wMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwbGtUOQ=="
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}
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},
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{
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"token": "4eaef84a24f541d61f5c07e70ca51a27",
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"sample_data_token": "fee500620d16b48608472f39f2b64d7d",
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"instance_token": "90f0c98d1a040d5360847f576c5528f8",
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"category_token": "1c22a023c1a214447d0bc497088c9a3d",
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"attribute_tokens": ["33d1d37c9664a80121488037b8ac8485"],
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"bbox": [110, 95, 190, 155],
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"mask": {
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"size": [600, 800],
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"counts": "X2FQMms0bT0wMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMFFsVDk="
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}
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},
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{
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"token": "73f89223becd99a600af713929d2fd71",
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"sample_data_token": "a24cd7ccbf6a4a20b06f0727f2c7d67e",
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"instance_token": "90bbf29d816e58181741b05a2b662d5f",
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"category_token": "4db2cce0862dbdf1385186fd604d477a",
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"attribute_tokens": ["81adf1af78e42f129890e080c98fb920"],
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"bbox": [50, 150, 80, 200],
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"mask": {
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"size": [600, 800],
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"counts": "Vl5tMFg2YDwwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwal1YPA=="
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}
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},
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{
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"token": "e8ad846424d870f548e68e4e1af7b922",
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"sample_data_token": "fee500620d16b48608472f39f2b64d7d",
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"instance_token": "960f58b84920a67c690ca871f6826f58",
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"category_token": "0531921ca79d7ca8c3815a77122de529",
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"attribute_tokens": ["31b6e7aab1741f59529ff098b4889110"],
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"bbox": [120, 100, 300, 180],
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"mask": {
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"size": [600, 800],
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"counts": "VF1WMmQ1VD0wMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDAwMDBsYW42"
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}
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}
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]

‎tests/sample/annotation/sample.json‎

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[
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{
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"token": "9dc4405e487c08ded718359cf238df4b",
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"timestamp": 1704067200000000,
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"scene_token": "cacaf846c26bc90bca5c88a70d2bfae5",
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"next": "bb9ae73c87cd8272fcf96085a0b43116",
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"prev": ""
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},
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{
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"token": "bb9ae73c87cd8272fcf96085a0b43116",
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"timestamp": 1704067201000000,
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"scene_token": "cacaf846c26bc90bca5c88a70d2bfae5",
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"next": "79999359e0719197ed3eac6a3d983940",
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"prev": "9dc4405e487c08ded718359cf238df4b"
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},
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{
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"token": "79999359e0719197ed3eac6a3d983940",
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"timestamp": 1704067202000000,
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"scene_token": "cacaf846c26bc90bca5c88a70d2bfae5",
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"next": "",
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"prev": "bb9ae73c87cd8272fcf96085a0b43116"
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}
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]

‎tests/sample/annotation/sample_annotation.json‎

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[
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{
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"token": "4517ec89ec131157097133ce6532861b",
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"sample_token": "9dc4405e487c08ded718359cf238df4b",
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"instance_token": "90f0c98d1a040d5360847f576c5528f8",
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"attribute_tokens": ["33d1d37c9664a80121488037b8ac8485"],
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"visibility_token": "0c181184fe14086a5f3e2dfdc1993ad4",
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"translation": [10.0, 5.0, 1.0],
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"size": [4.5, 2.0, 1.8],
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"rotation": [1.0, 0.0, 0.0, 0.0],
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"num_lidar_pts": 250,
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"num_radar_pts": 15,
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"next": "b573b38d867572bd0a4d8362c089e9b1",
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"prev": ""
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},
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{
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"token": "b573b38d867572bd0a4d8362c089e9b1",
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"sample_token": "bb9ae73c87cd8272fcf96085a0b43116",
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"instance_token": "90f0c98d1a040d5360847f576c5528f8",
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"attribute_tokens": ["33d1d37c9664a80121488037b8ac8485"],
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"visibility_token": "0c181184fe14086a5f3e2dfdc1993ad4",
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"translation": [12.0, 5.2, 1.0],
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"size": [4.5, 2.0, 1.8],
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"rotation": [1.0, 0.0, 0.0, 0.0],
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"num_lidar_pts": 280,
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"num_radar_pts": 18,
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"next": "",
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"prev": "4517ec89ec131157097133ce6532861b"
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},
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{
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"token": "b3647a753a8eada2bd7863defe9b562c",
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"sample_token": "9dc4405e487c08ded718359cf238df4b",
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"instance_token": "90bbf29d816e58181741b05a2b662d5f",
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"attribute_tokens": ["81adf1af78e42f129890e080c98fb920"],
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"visibility_token": "00a2a6ec154cb1f803c1328eb3feae9e",
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"translation": [5.0, -2.0, 0.9],
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"size": [0.8, 0.8, 1.7],
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"rotation": [1.0, 0.0, 0.0, 0.0],
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"num_lidar_pts": 45,
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"num_radar_pts": 2,
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"next": "",
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"prev": ""
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},
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{
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"token": "fca7706953ef7d068f9f406538840eff",
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"sample_token": "bb9ae73c87cd8272fcf96085a0b43116",
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"instance_token": "960f58b84920a67c690ca871f6826f58",
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"attribute_tokens": ["31b6e7aab1741f59529ff098b4889110"],
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"visibility_token": "da1d2bb59aa16726bc9426aa178d54be",
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"translation": [8.0, 3.0, 0.5],
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"size": [1.8, 0.6, 1.2],
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"rotation": [0.9659, 0.0, 0.0, 0.2588],
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"num_lidar_pts": 120,
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"num_radar_pts": 5,
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"next": "",
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"prev": ""
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}
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]

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