Datasets:

the-future-dev

/

CoVLA-Dataset-Mini

like 0

2022-10-24--14-51-50--50_first/0000

{"ego_state": {"vEgo": 11.646078109741211, "vEgoRaw": 11.602083206176758, "aEgo": 0.24725154042243958, "steeringAngleDeg": -1.5736325979232788, "steeringTorque": -83.0, "brake": 0.0, "brakePressed": false, "gas": 0.07999999821186066, "gasPressed": true, "doorOpen": false, "seatbeltUnlatched": false, "gearShifter": "drive", "leftBlinker": false, "rightBlinker": false, "orientations_calib": [2.9602796814050505, -0.9434812703868177, -0.505233632995112], "orientations_ecef": [2.980588886759447, -0.9479504472427013, -0.530269885760225], "orientations_ned": [-0.026682671200842206, 0.01253232824562874, -0.09675175424556087], "positions_ecef": [-3960868.4707675106, 3313373.3484309916, 3731041.224473868], "velocities_calib": [11.59272195875733, 0.11131383354460814, 0.013309049817868367], "velocities_ecef": [5.895355550016072, -3.3886893197663324, 9.38963992634415], "accelerations_calib": [0.46144730924291294, -0.03456253148876209, 0.340541030599941], "accelerations_device": 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-0.200752550534367, 0.3203062548672361], [21.13215103355853, -0.20963485232638848, 0.33092785995367724], [21.757327745182106, -0.21315751580540215, 0.3413990322324178], [22.356139281364012, -0.21730589164931394, 0.3498637489251916], [22.93866269555203, -0.22076597069750742, 0.3575691806252553], [23.56226386801687, -0.23201251852941665, 0.36587027779702536], [24.17281754255436, -0.23679503845090447, 0.3714775791915018], [24.74213749137121, -0.24320379226087774, 0.3777900375382482], [25.37640471551013, -0.24690265753521204, 0.3842677701592731], [25.983792598344145, -0.25544968438348026, 0.3927996898913969], [26.578859978471026, -0.2597981416347333, 0.3997102987207594], [27.200398241575606, -0.2677177822256445, 0.4089212538301921], [27.825218876537818, -0.26952077693231724, 0.4146144262646289], [28.406773614734686, -0.27735080724114153, 0.4229957369365878], [29.036565456048802, -0.2826636816706284, 0.4285477278687254], [29.65951541853166, -0.29116319960143905, 0.43832361515292284], 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{"plain_caption": "The ego vehicle is moving straight at a high speed. There is no traffic light in the scene.", "rich_caption": "The ego vehicle is moving straight at a high speed. There is no traffic light in the scene. It is cloudy. The car is driving on a wide road. No pedestrians appear to be present. What the driver of ego vehicle should be careful is to maintain a safe distance from other vehicles on the road, as there are other cars and trucks moving in the same direction", "risk": "to maintain a safe distance from other vehicles on the road, as there are other cars and trucks moving in the same direction", "risk_correct": true, "risk_yes_rate": 0.6732244029761331, "weather": "cloudy", "weather_rate": 0.9782756130613991, "road": "wide road", "road_rate": 0.8781124895985231, "is_tunnel": false, "is_tunnel_yes_rate": 0.08796400242308887, "is_highway": true, "is_highway_yes_rate": 0.5004199742283215, "has_pedestrian": false, "has_pedestrian_yes_rate": 0.1454775290866918, "has_carrier_car": 0.32907517584243107}

2022-10-24--14-51-50--50_first/0001

{"ego_state": {"vEgo": 11.637085914611816, "vEgoRaw": 11.56944465637207, "aEgo": 0.19760513305664062, "steeringAngleDeg": -1.516456961631775, "steeringTorque": -69.0, "brake": 0.0, "brakePressed": false, "gas": 0.07999999821186066, "gasPressed": true, "doorOpen": false, "seatbeltUnlatched": false, "gearShifter": "drive", "leftBlinker": false, "rightBlinker": false, "orientations_calib": [2.964519023295928, -0.9408146446838933, -0.5064967234192267], "orientations_ecef": [2.984738898792037, -0.9452223241676013, -0.5314715226388341], "orientations_ned": [-0.02350400151480034, 0.009734977136277531, -0.09641974689926695], "positions_ecef": [-3960868.1842949083, 3313373.1851538867, 3731041.677016851], "velocities_calib": [11.613662507938697, 0.09306755899824458, 0.023313678920490563], "velocities_ecef": [5.941141543459057, -3.4054190323140157, 9.380422182471433], "accelerations_calib": [0.3106891255765605, 0.0553492021247882, 0.8143327227376682], "accelerations_device": [0.3099398960242004, 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{"plain_caption": "The ego vehicle is moving straight at a high speed. There is no traffic light in the scene.", "rich_caption": "The ego vehicle is moving straight at a high speed. There is no traffic light in the scene. It is cloudy. The car is driving on a wide road. No pedestrians appear to be present. What the driver of ego vehicle should be careful is to maintain a safe distance from other vehicles on the road, as there are other cars and trucks moving in the same direction", "risk": "to maintain a safe distance from other vehicles on the road, as there are other cars and trucks moving in the same direction", "risk_correct": true, "risk_yes_rate": 0.6732244029761331, "weather": "cloudy", "weather_rate": 0.9782756130613991, "road": "wide road", "road_rate": 0.8781124895985231, "is_tunnel": false, "is_tunnel_yes_rate": 0.08796400242308887, "is_highway": true, "is_highway_yes_rate": 0.5004199742283215, "has_pedestrian": false, "has_pedestrian_yes_rate": 0.1454775290866918, "has_carrier_car": 0.32907517584243107}

2022-10-24--14-51-50--50_first/0002

{"ego_state": {"vEgo": 11.633431434631348, "vEgoRaw": 11.655555725097656, "aEgo": 0.16717082262039185, "steeringAngleDeg": -1.516609787940979, "steeringTorque": -69.0, "brake": 0.0, "brakePressed": false, "gas": 0.0949999988079071, "gasPressed": true, "doorOpen": false, "seatbeltUnlatched": false, "gearShifter": "drive", "leftBlinker": false, "rightBlinker": false, "orientations_calib": [2.9687115661519674, -0.9374822364535172, -0.5078346978572936], "orientations_ecef": [2.988813862679311, -0.9418292352855514, -0.5327251052760147], "orientations_ned": [-0.020441739819077275, 0.006274420345816076, -0.09613987789644728], "positions_ecef": [-3960867.8853483866, 3313373.0122427805, 3731042.1444420284], "velocities_calib": [11.603951488894753, 0.10126798462031397, 0.018057895526470975], "velocities_ecef": [5.95100661889914, -3.4295716410055848, 9.353386019509276], "accelerations_calib": [-0.06672938845044642, 0.2716300969955127, 0.8624407543941982], "accelerations_device": 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[20.618060803597682, -0.19604690493822605, 0.2044830621129274], [21.216914939444067, -0.19996627353665716, 0.20922424812839682], [21.799476277887116, -0.20320023774744853, 0.21331109641303916], [22.423121635372716, -0.21420490493794883, 0.21769067842472764], [23.03370030962017, -0.21873478037848587, 0.2194980521187834], [23.60305110769657, -0.22491477258458983, 0.22225482608464678], [24.23734778445336, -0.228355337063961, 0.22479305627017784], [24.84478042080895, -0.23666964739779492, 0.2295206422944946], [25.439880959768633, -0.24078102358909845, 0.2327296299280603], [26.061467627851453, -0.24846558235636312, 0.23805283595725737], [26.686312230276528, -0.2500098054358074, 0.23987686232603803], [27.267910976714674, -0.2576183676045423, 0.24461787337272334], [27.89772733679331, -0.26266916092284764, 0.24624780833877696], [28.52072941747541, -0.27093649488838406, 0.25212353718933644], [29.11793013049644, -0.2710391845481753, 0.25889112410322707], [29.74785210238798, -0.2786036242178174, 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{"plain_caption": "The ego vehicle is moving straight at a high speed. There is no traffic light in the scene.", "rich_caption": "The ego vehicle is moving straight at a high speed. There is no traffic light in the scene. It is cloudy. The car is driving on a wide road. No pedestrians appear to be present. What the driver of ego vehicle should be careful is to maintain a safe distance from other vehicles on the road, as there are other cars and trucks moving in the same direction", "risk": "to maintain a safe distance from other vehicles on the road, as there are other cars and trucks moving in the same direction", "risk_correct": true, "risk_yes_rate": 0.6732244029761331, "weather": "cloudy", "weather_rate": 0.9782756130613991, "road": "wide road", "road_rate": 0.8781124895985231, "is_tunnel": false, "is_tunnel_yes_rate": 0.08796400242308887, "is_highway": true, "is_highway_yes_rate": 0.5004199742283215, "has_pedestrian": false, "has_pedestrian_yes_rate": 0.1454775290866918, "has_carrier_car": 0.32907517584243107}

2022-10-24--14-51-50--50_first/0003

{"ego_state": {"vEgo": 11.639118194580078, "vEgoRaw": 11.63611125946045, "aEgo": 0.1614099144935608, "steeringAngleDeg": -1.516762614250183, "steeringTorque": -50.0, "brake": 0.0, "brakePressed": false, "gas": 0.10999999940395355, "gasPressed": true, "doorOpen": false, "seatbeltUnlatched": false, "gearShifter": "drive", "leftBlinker": false, "rightBlinker": false, "orientations_calib": [2.972725755536142, -0.9347918023214146, -0.5092186070817094], "orientations_ecef": [2.9927370649468417, -0.9390804740722849, -0.5340457590649326], "orientations_ned": [-0.017583401677393782, 0.003447291933963437, -0.09572946218104621], "positions_ecef": [-3960867.5816611126, 3313372.837724841, 3731042.6207729317], "velocities_calib": [11.599084833028417, 0.06558169292512052, 0.02000108777506892], "velocities_ecef": [5.988520605321074, -3.4214833471204007, 9.326014295012186], "accelerations_calib": [-0.2086459688121428, -0.6597817284806178, 0.4469954351193264], "accelerations_device": [-0.21950084845715132, -0.6565254630044137, 0.4465911805100679], "angular_velocities_calib": [0.05080770318266708, -0.05380457068675807, 0.005947323592957814], "angular_velocities_device": [0.04997275175351521, -0.05457033346265166, 0.00604383780062305], "timestamp": 1666593712999}, "extrinsic_matrix": [[-0.01515707332873717, -0.9998851430912813, -2.9074134545226116e-05, 0.0], [0.00191818652577543, -2.470512762825043e-22, -0.999998152256012, 1.2200000286102295], [0.9998832953472933, -0.015157101210206747, 0.0019179661879509997, 0.0], [0.0, 0.0, 0.0, 1.0]], "intrinsic_matrix": [[2648.0, 0.0, 964.0], [0.0, 2648.0, 604.0], [0.0, 0.0, 1.0]], "image_path": "images/2022-10-24--14-51-50--50_first/0003.png", "trajectory_count": 60, "trajectory": [[0.0, -0.0, 0.0], [0.5617581898324108, -0.011401601198570404, 0.008163874046354332], [1.160092269948487, -0.014133853670157655, 0.010504507719916564], [1.7531452656324986, -0.02354040044278059, 0.01809424503534956], [2.3369844076116806, 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{"plain_caption": "The ego vehicle is moving straight at a high speed. There is no traffic light in the scene.", "rich_caption": "The ego vehicle is moving straight at a high speed. There is no traffic light in the scene. It is cloudy. The car is driving on a wide road. No pedestrians appear to be present. What the driver of ego vehicle should be careful is to maintain a safe distance from other vehicles on the road, as there are other cars and trucks moving in the same direction", "risk": "to maintain a safe distance from other vehicles on the road, as there are other cars and trucks moving in the same direction", "risk_correct": true, "risk_yes_rate": 0.6732244029761331, "weather": "cloudy", "weather_rate": 0.9782756130613991, "road": "wide road", "road_rate": 0.8781124895985231, "is_tunnel": false, "is_tunnel_yes_rate": 0.08796400242308887, "is_highway": true, "is_highway_yes_rate": 0.5004199742283215, "has_pedestrian": false, "has_pedestrian_yes_rate": 0.1454775290866918, "has_carrier_car": 0.32907517584243107}

2022-10-24--14-51-50--50_first/0004

{"ego_state": {"vEgo": 11.62883472442627, "vEgoRaw": 11.643054962158203, "aEgo": 0.12025593221187592, "steeringAngleDeg": -1.459643840789795, "steeringTorque": -39.0, "brake": 0.0, "brakePressed": false, "gas": 0.11999999731779099, "gasPressed": true, "doorOpen": false, "seatbeltUnlatched": false, "gearShifter": "drive", "leftBlinker": false, "rightBlinker": false, "orientations_calib": [2.974921656440751, -0.933100311606402, -0.510277781902916], "orientations_ecef": [2.994874102170039, -0.9373571144882659, -0.5350630232710143], "orientations_ned": [-0.016265846724941826, 0.0016602755678420704, -0.09535805652795921], "positions_ecef": [-3960867.2921608193, 3313372.6616431214, 3731043.0690515474], "velocities_calib": [11.594535396083048, 0.04730749434555698, 0.04222027137638518], "velocities_ecef": [6.02088989953326, -3.431522880128717, 9.295741344411992], "accelerations_calib": [-0.05217196107836035, -0.3523168966815316, 1.1199617778536717], "accelerations_device": [-0.05965694212099899, -0.35145986974493754, 1.1198573580054145], "angular_velocities_calib": [0.026570671041061752, -0.03234717188619823, 0.00649085034523736], "angular_velocities_device": [0.026063603555700157, -0.03274708229996903, 0.006541284074414404], "timestamp": 1666593713099}, "extrinsic_matrix": [[-0.01515707332873717, -0.9998851430912813, -2.9074134545226116e-05, 0.0], [0.00191818652577543, -2.470512762825043e-22, -0.999998152256012, 1.2200000286102295], [0.9998832953472933, -0.015157101210206747, 0.0019179661879509997, 0.0], [0.0, 0.0, 0.0, 1.0]], "intrinsic_matrix": [[2648.0, 0.0, 964.0], [0.0, 2648.0, 604.0], [0.0, 0.0, 1.0]], "image_path": "images/2022-10-24--14-51-50--50_first/0004.png", "trajectory_count": 60, "trajectory": [[0.0, -0.0, 0.0], [0.5983381775305002, -0.00253210978403627, 0.0012762944153923382], [1.191406838348667, -0.01174735678560055, 0.007802066594206654], [1.775259023744685, -0.011290000863430941, 0.014711208401493302], [2.320353658670203, 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{"plain_caption": "The ego vehicle is moving straight at a high speed. There is no traffic light in the scene.", "rich_caption": "The ego vehicle is moving straight at a high speed. There is no traffic light in the scene. It is cloudy. The car is driving on a wide road. No pedestrians appear to be present. What the driver of ego vehicle should be careful is to maintain a safe distance from other vehicles on the road, as there are other cars and trucks moving in the same direction", "risk": "to maintain a safe distance from other vehicles on the road, as there are other cars and trucks moving in the same direction", "risk_correct": true, "risk_yes_rate": 0.6732244029761331, "weather": "cloudy", "weather_rate": 0.9782756130613991, "road": "wide road", "road_rate": 0.8781124895985231, "is_tunnel": false, "is_tunnel_yes_rate": 0.08796400242308887, "is_highway": true, "is_highway_yes_rate": 0.5004199742283215, "has_pedestrian": false, "has_pedestrian_yes_rate": 0.1454775290866918, "has_carrier_car": 0.32907517584243107}

2022-10-24--14-51-50--50_first/0005

{"ego_state": {"vEgo": 11.62808609008789, "vEgoRaw": 11.598610877990723, "aEgo": 0.10397633165121078, "steeringAngleDeg": -1.4598439931869507, "steeringTorque": -48.0, "brake": 0.0, "brakePressed": false, "gas": 0.12999999523162842, "gasPressed": true, "doorOpen": false, "seatbeltUnlatched": false, "gearShifter": "drive", "leftBlinker": false, "rightBlinker": false, "orientations_calib": [2.9753504108197917, -0.9320115187386148, -0.5111469655832848], "orientations_ecef": [2.9952596799915434, -0.9362623292742488, -0.5358985042787164], "orientations_ned": [-0.016553013812339507, 0.0005106248615190411, -0.09500938807241292], "positions_ecef": [-3960866.982056812, 3313372.484966424, 3731043.5492988424], "velocities_calib": [11.587752874809125, -0.0055938341146492924, 0.058433290342161395], "velocities_ecef": [6.064759658022018, -3.4062757887127004, 9.267979174000436], "accelerations_calib": [-0.20169723573299048, -1.2098696215141167, 0.3235431859836769], "accelerations_device": [-0.22067679238843324, -1.2066580233135287, 0.32314801134425936], "angular_velocities_calib": [-0.011779317680216141, -0.018153309690074376, 0.005922028856870549], "angular_velocities_device": [-0.012065103893384914, -0.01797208440906669, 0.005899394336033015], "timestamp": 1666593713099}, "extrinsic_matrix": [[-0.01515707332873717, -0.9998851430912813, -2.9074134545226116e-05, 0.0], [0.00191818652577543, -2.470512762825043e-22, -0.999998152256012, 1.2200000286102295], [0.9998832953472933, -0.015157101210206747, 0.0019179661879509997, 0.0], [0.0, 0.0, 0.0, 1.0]], "intrinsic_matrix": [[2648.0, 0.0, 964.0], [0.0, 2648.0, 604.0], [0.0, 0.0, 1.0]], "image_path": "images/2022-10-24--14-51-50--50_first/0005.png", "trajectory_count": 60, "trajectory": [[0.0, -0.0, 0.0], [0.5930788415079141, -0.00901769748859918, 0.0058405318351833786], [1.1769384625705934, -0.008365732243551104, 0.012072517114603847], [1.72204360096862, -0.019911696481714532, 0.017501690842188163], [2.3244069620847196, 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[20.67284772785562, -0.17458828970564252, 0.0836093905457192], [21.283430984364315, -0.17849791815815327, 0.08190483970825169], [21.852794155961785, -0.18410378266464966, 0.08137901825132988], [22.487098104703414, -0.18690264088803263, 0.08027391891531824], [23.094555900891677, -0.19461150216626127, 0.08149246055908617], [23.689668889195136, -0.19812410537880815, 0.08127972333612528], [24.311283255821063, -0.20519104213272157, 0.08301538267413916], [24.936129294853664, -0.20610045084010825, 0.08125772573022111], [25.51775300547063, -0.21313016824620637, 0.08264032610161395], [26.147573130041774, -0.21754023826878016, 0.08064618683267283], [26.77060663479403, -0.2251906851933516, 0.08292393849233869], [27.367836111280344, -0.22470660999345915, 0.08627363962999225], [27.99779765277487, -0.23165327824088117, 0.09008079834868372], [28.633680754782816, -0.23302859836313608, 0.0949359445140346], [29.221707559550126, -0.23903502029567567, 0.09960457715477723], [29.867977043766523, 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{"plain_caption": "The ego vehicle is moving straight at a high speed. There is no traffic light in the scene.", "rich_caption": "The ego vehicle is moving straight at a high speed. There is no traffic light in the scene. It is cloudy. The car is driving on a wide road. No pedestrians appear to be present. What the driver of ego vehicle should be careful is to maintain a safe distance from other vehicles on the road, as there are other cars and trucks moving in the same direction", "risk": "to maintain a safe distance from other vehicles on the road, as there are other cars and trucks moving in the same direction", "risk_correct": true, "risk_yes_rate": 0.6732244029761331, "weather": "cloudy", "weather_rate": 0.9782756130613991, "road": "wide road", "road_rate": 0.8781124895985231, "is_tunnel": false, "is_tunnel_yes_rate": 0.08796400242308887, "is_highway": true, "is_highway_yes_rate": 0.5004199742283215, "has_pedestrian": false, "has_pedestrian_yes_rate": 0.1454775290866918, "has_carrier_car": 0.32907517584243107}

2022-10-24--14-51-50--50_first/0006

{"ego_state": {"vEgo": 11.632814407348633, "vEgoRaw": 11.641666412353516, "aEgo": 0.10378295183181763, "steeringAngleDeg": -1.460044026374817, "steeringTorque": -63.0, "brake": 0.0, "brakePressed": false, "gas": 0.13500000536441803, "gasPressed": true, "doorOpen": false, "seatbeltUnlatched": false, "gearShifter": "drive", "leftBlinker": false, "rightBlinker": false, "orientations_calib": [2.9738055676272683, -0.9317187728387208, -0.5118784190569026], "orientations_ecef": [2.9936941689813126, -0.9359924634920175, -0.536609399303001], "orientations_ned": [-0.018690851681037856, 0.00018868272743438507, -0.094626274412462], "positions_ecef": [-3960866.675482509, 3313372.3017146853, 3731044.0228903755], "velocities_calib": [11.595201785277354, -0.020857320616997802, 0.06763966019708396], "velocities_ecef": [6.083210076680276, -3.4070832677202594, 9.26499073731594], "accelerations_calib": [0.08918488569609051, 0.01979165675916745, 0.14371611895894476], "accelerations_device": [0.08920095143383264, 0.018437087726973538, 0.14388620650349326], "angular_velocities_calib": [-0.04127028768416424, -0.004881863636867282, 0.0065610613878322845], "angular_velocities_device": [-0.04135215409460236, -0.004253997111836752, 0.006482254619057709], "timestamp": 1666593713199}, "extrinsic_matrix": [[-0.01515707332873717, -0.9998851430912813, -2.9074134545226116e-05, 0.0], [0.00191818652577543, -2.470512762825043e-22, -0.999998152256012, 1.2200000286102295], [0.9998832953472933, -0.015157101210206747, 0.0019179661879509997, 0.0], [0.0, 0.0, 0.0, 1.0]], "intrinsic_matrix": [[2648.0, 0.0, 964.0], [0.0, 2648.0, 604.0], [0.0, 0.0, 1.0]], "image_path": "images/2022-10-24--14-51-50--50_first/0006.png", "trajectory_count": 60, "trajectory": [[0.0, -0.0, 0.0], [0.5838615399157111, 0.000887743774327685, 0.006019462177364808], [1.1289729705693836, -0.01043889325584258, 0.011276133156017725], [1.7313377404121557, -0.01108985967302952, 0.014256141866637278], [2.3102645445213237, 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{"plain_caption": "The ego vehicle is moving straight at a high speed. There is no traffic light in the scene.", "rich_caption": "The ego vehicle is moving straight at a high speed. There is no traffic light in the scene. It is cloudy. The car is driving on a wide road. No pedestrians appear to be present. What the driver of ego vehicle should be careful is to maintain a safe distance from other vehicles on the road, as there are other cars and trucks moving in the same direction", "risk": "to maintain a safe distance from other vehicles on the road, as there are other cars and trucks moving in the same direction", "risk_correct": true, "risk_yes_rate": 0.6732244029761331, "weather": "cloudy", "weather_rate": 0.9782756130613991, "road": "wide road", "road_rate": 0.8781124895985231, "is_tunnel": false, "is_tunnel_yes_rate": 0.08796400242308887, "is_highway": true, "is_highway_yes_rate": 0.5004199742283215, "has_pedestrian": false, "has_pedestrian_yes_rate": 0.1454775290866918, "has_carrier_car": 0.32907517584243107}

2022-10-24--14-51-50--50_first/0007

{"ego_state": {"vEgo": 11.628511428833008, "vEgoRaw": 11.638195037841797, "aEgo": 0.08219258487224579, "steeringAngleDeg": -1.4602439403533936, "steeringTorque": -62.0, "brake": 0.0, "brakePressed": false, "gas": 0.16500000655651093, "gasPressed": true, "doorOpen": false, "seatbeltUnlatched": false, "gearShifter": "drive", "leftBlinker": false, "rightBlinker": false, "orientations_calib": [2.972982661581818, -0.9314535956420483, -0.5125544410828716], "orientations_ecef": [2.992855690272313, -0.9357395032994626, -0.5372707886152135], "orientations_ned": [-0.020061808602222134, -0.00011252689918847216, -0.09426978102529682], "positions_ecef": [-3960866.367678312, 3313372.1286327485, 3731044.4878963316], "velocities_calib": [11.606324463725262, -0.022162453506353028, 0.049714952384135286], "velocities_ecef": [6.078708212723596, -3.405096861763462, 9.282475539137112], "accelerations_calib": [0.2006194052538375, -0.16788679335458886, -0.31258889920063], "accelerations_device": [0.19864105508539706, -0.17092268711808914, -0.3122068341879203], "angular_velocities_calib": [-0.023352323427820745, -0.005117605400344375, 0.006365407044307394], "angular_velocities_device": [-0.023439500636880214, -0.004762006597634698, 0.006320791438472995], "timestamp": 1666593713199}, "extrinsic_matrix": [[-0.01515707332873717, -0.9998851430912813, -2.9074134545226116e-05, 0.0], [0.00191818652577543, -2.470512762825043e-22, -0.999998152256012, 1.2200000286102295], [0.9998832953472933, -0.015157101210206747, 0.0019179661879509997, 0.0], [0.0, 0.0, 0.0, 1.0]], "intrinsic_matrix": [[2648.0, 0.0, 964.0], [0.0, 2648.0, 604.0], [0.0, 0.0, 1.0]], "image_path": "images/2022-10-24--14-51-50--50_first/0007.png", "trajectory_count": 60, "trajectory": [[0.0, -0.0, 0.0], [0.5451170982331479, -0.011127033968066519, 0.005092686366828064], [1.147483007532701, -0.011561307447550738, 0.00787528896060529], [1.7264135640580778, -0.01734231261902468, 0.012870591314617113], [2.3116686233409505, 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[20.67602226187467, -0.16032755118367714, 0.055627423066222696], [21.3103271871548, -0.1626649573957771, 0.05409362428881913], [21.917791187509284, -0.1699239011220183, 0.05491918176955435], [22.512906312154175, -0.17300067542717099, 0.05430732827798655], [23.13452675947081, -0.17960550531844804, 0.05563796878148128], [23.759371939827332, -0.1800626944749549, 0.05345154700928421], [24.34100148089541, -0.18666087566551468, 0.05445664618675431], [24.97082315778125, -0.1906158821427888, 0.05204254753247112], [25.59386354530631, -0.1978012813741571, 0.05391633651649333], [26.191094669174323, -0.19686738983941934, 0.056851458418451455], [26.821063625310053, -0.20333858333887098, 0.060247394130144814], [27.456950760373456, -0.20423045491971092, 0.06466773290841848], [28.044984902413084, -0.2097891565308081, 0.06895083833949708], [28.691258907258206, -0.21215296407325906, 0.07250692870860174], [29.31923770620112, -0.21739392868348167, 0.0785140415076777], [29.922476505335826, 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{"plain_caption": "The ego vehicle is moving straight at a high speed. There is no traffic light in the scene.", "rich_caption": "The ego vehicle is moving straight at a high speed. There is no traffic light in the scene. It is cloudy. The car is driving on a wide road. No pedestrians appear to be present. What the driver of ego vehicle should be careful is to maintain a safe distance from other vehicles on the road, as there are other cars and trucks moving in the same direction", "risk": "to maintain a safe distance from other vehicles on the road, as there are other cars and trucks moving in the same direction", "risk_correct": true, "risk_yes_rate": 0.6732244029761331, "weather": "cloudy", "weather_rate": 0.9782756130613991, "road": "wide road", "road_rate": 0.8781124895985231, "is_tunnel": false, "is_tunnel_yes_rate": 0.08796400242308887, "is_highway": true, "is_highway_yes_rate": 0.5004199742283215, "has_pedestrian": false, "has_pedestrian_yes_rate": 0.1454775290866918, "has_carrier_car": 0.32907517584243107}

2022-10-24--14-51-50--50_first/0008

{"ego_state": {"vEgo": 11.633179664611816, "vEgoRaw": 11.649999618530273, "aEgo": 0.08381639420986176, "steeringAngleDeg": -1.4604436159133911, "steeringTorque": -47.0, "brake": 0.0, "brakePressed": false, "gas": 0.17000000178813934, "gasPressed": true, "doorOpen": false, "seatbeltUnlatched": false, "gearShifter": "drive", "leftBlinker": false, "rightBlinker": false, "orientations_calib": [2.9724128439796416, -0.9312215756584872, -0.5131462108699639], "orientations_ecef": [2.992273073960927, -0.9355159559660857, -0.5378508011738038], "orientations_ned": [-0.0211113955771658, -0.0003782264195357167, -0.09395712592606016], "positions_ecef": [-3960866.0878144326, 3313371.9575811983, 3731044.9234648948], "velocities_calib": [11.60609437017128, -0.017257720731148885, 0.02979029240085035], "velocities_ecef": [6.063406770177804, -3.402940405780038, 9.29288473800462], "accelerations_calib": [-0.0072087764393002005, 0.12143424975297262, -0.530581981666082], "accelerations_device": 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{"plain_caption": "The ego vehicle is moving straight at a high speed. There is no traffic light in the scene.", "rich_caption": "The ego vehicle is moving straight at a high speed. There is no traffic light in the scene. It is cloudy. The car is driving on a wide road. No pedestrians appear to be present. What the driver of ego vehicle should be careful is to maintain a safe distance from other vehicles on the road, as there are other cars and trucks moving in the same direction", "risk": "to maintain a safe distance from other vehicles on the road, as there are other cars and trucks moving in the same direction", "risk_correct": true, "risk_yes_rate": 0.6732244029761331, "weather": "cloudy", "weather_rate": 0.9782756130613991, "road": "wide road", "road_rate": 0.8781124895985231, "is_tunnel": false, "is_tunnel_yes_rate": 0.08796400242308887, "is_highway": true, "is_highway_yes_rate": 0.5004199742283215, "has_pedestrian": false, "has_pedestrian_yes_rate": 0.1454775290866918, "has_carrier_car": 0.32907517584243107}

2022-10-24--14-51-50--50_first/0009

{"ego_state": {"vEgo": 11.636311531066895, "vEgoRaw": 11.620833396911621, "aEgo": 0.0813789963722229, "steeringAngleDeg": -1.4606431722640991, "steeringTorque": -73.0, "brake": 0.0, "brakePressed": false, "gas": 0.18000000715255737, "gasPressed": true, "doorOpen": false, "seatbeltUnlatched": false, "gearShifter": "drive", "leftBlinker": false, "rightBlinker": false, "orientations_calib": [2.971607220669581, -0.9310266997270016, -0.5133649923739936], "orientations_ecef": [2.991454897626468, -0.9353330158423773, -0.5380574172961646], "orientations_ned": [-0.022095912903642812, -0.0005752401211957535, -0.093858891695267], "positions_ecef": [-3960865.773159793, 3313371.7794925687, 3731045.4052631077], "velocities_calib": [11.60616420352868, -0.011001766988585536, 0.013635362265157446], "velocities_ecef": [6.050717599946882, -3.401503475828737, 9.30171732052042], "accelerations_calib": [-0.2491706371695501, 0.16281389341212135, -0.17322046472479852], "accelerations_device": 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[30.048777084552917, -0.20844071034985875, 0.06381138597831217], [30.666568576212747, -0.2195797649045, 0.06867027150312864], [31.293786824266654, -0.2234410302114517, 0.06828001294605827], [31.918039663542967, -0.2313271498328372, 0.07130966189325488], [32.55097081055651, -0.23707066805976149, 0.07043357957311104], [33.16653345385418, -0.24479998295039174, 0.07195767113598393], [33.78548298265757, -0.24867687502786762, 0.06921446783895915], [34.41674501212782, -0.26232409646459487, 0.0719876389259734], [35.02260417310628, -0.2670106167959322, 0.07319032615102868], [35.663467615003206, -0.276711172172095, 0.07558564635477547]], "frame_id": 9}

{"plain_caption": "The ego vehicle is moving straight at a high speed. There is no traffic light in the scene.", "rich_caption": "The ego vehicle is moving straight at a high speed. There is no traffic light in the scene. It is cloudy. The car is driving on a wide road. No pedestrians appear to be present. What the driver of ego vehicle should be careful is to maintain a safe distance from other vehicles on the road, as there are other cars and trucks moving in the same direction", "risk": "to maintain a safe distance from other vehicles on the road, as there are other cars and trucks moving in the same direction", "risk_correct": true, "risk_yes_rate": 0.6732244029761331, "weather": "cloudy", "weather_rate": 0.9782756130613991, "road": "wide road", "road_rate": 0.8781124895985231, "is_tunnel": false, "is_tunnel_yes_rate": 0.08796400242308887, "is_highway": true, "is_highway_yes_rate": 0.5004199742283215, "has_pedestrian": false, "has_pedestrian_yes_rate": 0.1454775290866918, "has_carrier_car": 0.32907517584243107}

2022-10-24--14-51-50--50_first/0010

{"ego_state": {"vEgo": 11.658524513244629, "vEgoRaw": 11.670833587646484, "aEgo": 0.12273362278938293, "steeringAngleDeg": -1.460842490196228, "steeringTorque": -96.0, "brake": 0.0, "brakePressed": false, "gas": 0.1850000023841858, "gasPressed": true, "doorOpen": false, "seatbeltUnlatched": false, "gearShifter": "drive", "leftBlinker": false, "rightBlinker": false, "orientations_calib": [2.9707672629664255, -0.931306975655764, -0.5134905742038413], "orientations_ecef": [2.990621954135339, -0.9356255859587034, -0.5381864888868924], "orientations_ned": [-0.02303279234265369, -0.00029474874619163285, -0.09374558569993878], "positions_ecef": [-3960865.472560316, 3313371.602838824, 3731045.8674885626], "velocities_calib": [11.616559272498845, -0.02031919803999872, 0.004136536625336595], "velocities_ecef": [6.053289844941218, -3.391574506312206, 9.31664015262411], "accelerations_calib": [0.2726305173922482, -0.19716264657587862, -0.1901546343405645], "accelerations_device": [0.2699652008594696, -0.20128690838136984, -0.18963560851997127], "angular_velocities_calib": [-0.019958455108865774, 0.00475149872046685, 0.0014589413291166383], "angular_velocities_device": [-0.019886691685085275, 0.005054279884748997, 0.00142089017661286], "timestamp": 1666593713399}, "extrinsic_matrix": [[-0.01515707332873717, -0.9998851430912813, -2.9074134545226116e-05, 0.0], [0.00191818652577543, -2.470512762825043e-22, -0.999998152256012, 1.2200000286102295], [0.9998832953472933, -0.015157101210206747, 0.0019179661879509997, 0.0], [0.0, 0.0, 0.0, 1.0]], "intrinsic_matrix": [[2648.0, 0.0, 964.0], [0.0, 2648.0, 604.0], [0.0, 0.0, 1.0]], "image_path": "images/2022-10-24--14-51-50--50_first/0010.png", "trajectory_count": 60, "trajectory": [[0.0, -0.0, 0.0], [0.5852548309161039, 0.0016577424509794869, 0.002274700881185819], [1.1462982596920708, 0.0023798992076549032, 0.008725190652772831], [1.7490454154961574, 0.00030618381593429736, 0.010715501538494019], [2.2994306988885844, 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{"plain_caption": "The ego vehicle is moving straight at a high speed. There is no traffic light in the scene.", "rich_caption": "The ego vehicle is moving straight at a high speed. There is no traffic light in the scene. It is cloudy. The car is driving on a wide road. No pedestrians appear to be present. What the driver of ego vehicle should be careful is to maintain a safe distance from other vehicles on the road, as there are other cars and trucks moving in the same direction", "risk": "to maintain a safe distance from other vehicles on the road, as there are other cars and trucks moving in the same direction", "risk_correct": true, "risk_yes_rate": 0.6732244029761331, "weather": "cloudy", "weather_rate": 0.9782756130613991, "road": "wide road", "road_rate": 0.8781124895985231, "is_tunnel": false, "is_tunnel_yes_rate": 0.08796400242308887, "is_highway": true, "is_highway_yes_rate": 0.5004199742283215, "has_pedestrian": false, "has_pedestrian_yes_rate": 0.1454775290866918, "has_carrier_car": 0.32907517584243107}

2022-10-24--14-51-50--50_first/0011

{"ego_state": {"vEgo": 11.668451309204102, "vEgoRaw": 11.670833587646484, "aEgo": 0.13137491047382355, "steeringAngleDeg": -1.4610416889190674, "steeringTorque": -88.0, "brake": 0.0, "brakePressed": false, "gas": 0.1899999976158142, "gasPressed": true, "doorOpen": false, "seatbeltUnlatched": false, "gearShifter": "drive", "leftBlinker": false, "rightBlinker": false, "orientations_calib": [2.969572555352549, -0.9318275654098236, -0.5135920472745781], "orientations_ecef": [2.9894422846739936, -0.9361636199827392, -0.5382969943710004], "orientations_ned": [-0.024301436224985744, 0.0002306236632890094, -0.09361196410337247], "positions_ecef": [-3960865.165956161, 3313371.4313608273, 3731046.335591466], "velocities_calib": [11.619863082710115, -0.0013919570796409703, -0.015070553205246959], "velocities_ecef": [6.0274060827340605, -3.395427990578622, 9.336106886420243], "accelerations_calib": [-0.06044917325129221, 0.5622629896853018, -0.8311489312820194], "accelerations_device": [-0.05031163867432263, 0.5630992324860692, -0.8312582700192315], "angular_velocities_calib": [-0.018740698999171166, 0.010026723779753612, 0.003023450266316251], "angular_velocities_device": [-0.018591898628115045, 0.010310422970835249, 0.0029877623416641177], "timestamp": 1666593713399}, "extrinsic_matrix": [[-0.01515707332873717, -0.9998851430912813, -2.9074134545226116e-05, 0.0], [0.00191818652577543, -2.470512762825043e-22, -0.999998152256012, 1.2200000286102295], [0.9998832953472933, -0.015157101210206747, 0.0019179661879509997, 0.0], [0.0, 0.0, 0.0, 1.0]], "intrinsic_matrix": [[2648.0, 0.0, 964.0], [0.0, 2648.0, 604.0], [0.0, 0.0, 1.0]], "image_path": "images/2022-10-24--14-51-50--50_first/0011.png", "trajectory_count": 60, "trajectory": [[0.0, -0.0, 0.0], [0.5610400019087768, 0.0008138565726004121, 0.006731507784063706], [1.1637863815335958, -0.0011676439179136428, 0.009027366630648567], [1.7141721590407581, -0.00479978824806272, 0.009269825555101783], [2.3224285176786506, 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[20.822952073419067, -0.14940020746770347, 0.04650245069322086], [21.44779797757374, -0.14944556175732657, 0.04448183668157865], [22.029431539515205, -0.15564743515047344, 0.04566743869822325], [22.659256352650992, -0.15918818661610265, 0.043435295922140224], [23.28230091504186, -0.1659456786057614, 0.045502930277053134], [23.879530476367677, -0.1645968455972751, 0.04859067034312691], [24.50950272153654, -0.1706290108732787, 0.0521792241458867], [25.14538911865967, -0.17107357090359676, 0.056770050773027075], [25.73342571158467, -0.1762177501217607, 0.06123089837675115], [26.379700195215396, -0.1781308992420492, 0.0649664534413837], [27.00768076382103, -0.1829231095573276, 0.07116041905737677], [27.610920688796885, -0.1854983617936032, 0.07408715055333646], [28.247088424369068, -0.19204315048770457, 0.07748614415746155], [28.884587991461228, -0.19654451580049806, 0.07954728930898002], [29.502378551074997, -0.20750557372751666, 0.08490397983739507], [30.12959792978037, 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{"plain_caption": "The ego vehicle is moving straight at a high speed. There is no traffic light in the scene.", "rich_caption": "The ego vehicle is moving straight at a high speed. There is no traffic light in the scene. It is cloudy. The car is driving on a wide road. No pedestrians appear to be present. What the driver of ego vehicle should be careful is to maintain a safe distance from other vehicles on the road, as there are other cars and trucks moving in the same direction", "risk": "to maintain a safe distance from other vehicles on the road, as there are other cars and trucks moving in the same direction", "risk_correct": true, "risk_yes_rate": 0.6732244029761331, "weather": "cloudy", "weather_rate": 0.9782756130613991, "road": "wide road", "road_rate": 0.8781124895985231, "is_tunnel": false, "is_tunnel_yes_rate": 0.08796400242308887, "is_highway": true, "is_highway_yes_rate": 0.5004199742283215, "has_pedestrian": false, "has_pedestrian_yes_rate": 0.1454775290866918, "has_carrier_car": 0.32907517584243107}

2022-10-24--14-51-50--50_first/0012

{"ego_state": {"vEgo": 11.680917739868164, "vEgoRaw": 11.702083587646484, "aEgo": 0.1454574018716812, "steeringAngleDeg": -1.4612407684326172, "steeringTorque": -64.0, "brake": 0.0, "brakePressed": false, "gas": 0.20000000298023224, "gasPressed": true, "doorOpen": false, "seatbeltUnlatched": false, "gearShifter": "drive", "leftBlinker": false, "rightBlinker": false, "orientations_calib": [2.971055846855298, -0.9322971233722613, -0.5139140332251417], "orientations_ecef": [2.9909534047629736, -0.9366111783541157, -0.5386452076135433], "orientations_ned": [-0.02307065807584579, 0.0006483397253310689, -0.09335026344234278], "positions_ecef": [-3960864.869974303, 3313371.2639998365, 3731046.781906263], "velocities_calib": [11.6427949891089, 0.024406196148245567, -0.010820437598173359], "velocities_ecef": [6.021395874492542, -3.4246413993342473, 9.3578849592902], "accelerations_calib": [0.5601823494939223, 0.31167917871392353, 0.47559857863712945], "accelerations_device": 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[20.8867795501395, -0.14468863559562828, 0.046550367733570505], [21.46841419875199, -0.15073554239252968, 0.04797855331659858], [22.098240844283517, -0.15410418348237082, 0.046012984811181], [22.721286258626705, -0.16069665247204848, 0.048340333773123426], [23.318514052545144, -0.15919099452028904, 0.051686611716884295], [23.948486299639697, -0.16505813724858048, 0.05553874700156519], [24.584370761575816, -0.1653373163067465, 0.06040254142984423], [25.172406747640558, -0.17032881950518225, 0.06511001938567962], [25.81868005805565, -0.17207274534386888, 0.06912121261762048], [26.446659174923152, -0.17670366090975406, 0.0755794194390398], [27.049898458258646, -0.17912027158993812, 0.07876246827699863], [27.686066414558617, -0.18549813905002702, 0.08242708058815931], [28.323566226622724, -0.1898305879238757, 0.08475692107401898], [28.941357357859335, -0.20063206103591893, 0.09036591529677458], [29.568577608367484, -0.20415587775516264, 0.09072982675268979], [30.192830522702984, 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{"plain_caption": "The ego vehicle is moving straight at a high speed. There is no traffic light in the scene.", "rich_caption": "The ego vehicle is moving straight at a high speed. There is no traffic light in the scene. It is cloudy. The car is driving on a wide road. No pedestrians appear to be present. What the driver of ego vehicle should be careful is to maintain a safe distance from other vehicles on the road, as there are other cars and trucks moving in the same direction", "risk": "to maintain a safe distance from other vehicles on the road, as there are other cars and trucks moving in the same direction", "risk_correct": true, "risk_yes_rate": 0.6732244029761331, "weather": "cloudy", "weather_rate": 0.9782756130613991, "road": "wide road", "road_rate": 0.8781124895985231, "is_tunnel": false, "is_tunnel_yes_rate": 0.08796400242308887, "is_highway": true, "is_highway_yes_rate": 0.5004199742283215, "has_pedestrian": false, "has_pedestrian_yes_rate": 0.1454775290866918, "has_carrier_car": 0.32907517584243107}

2022-10-24--14-51-50--50_first/0013

{"ego_state": {"vEgo": 11.691428184509277, "vEgoRaw": 11.643750190734863, "aEgo": 0.15116503834724426, "steeringAngleDeg": -1.461439609527588, "steeringTorque": -52.0, "brake": 0.0, "brakePressed": false, "gas": 0.20999999344348907, "gasPressed": true, "doorOpen": false, "seatbeltUnlatched": false, "gearShifter": "drive", "leftBlinker": false, "rightBlinker": false, "orientations_calib": [2.972966522963442, -0.9325693696177876, -0.5143988353413641], "orientations_ecef": [2.992886016609242, -0.9368551739456428, -0.5391525631839692], "orientations_ned": [-0.02154653755278506, 0.0008522754828920688, -0.09302114360723128], "positions_ecef": [-3960864.5566990245, 3313371.0845935787, 3731047.2645908287], "velocities_calib": [11.652552127209807, 0.026845444454349235, -0.022498898634235726], "velocities_ecef": [6.014038301495063, -3.4248839874366483, 9.374684577969544], "accelerations_calib": [-0.223773190218705, 0.6134470418592874, -0.9750671210200189], "accelerations_device": 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{"plain_caption": "The ego vehicle is moving straight at a high speed. There is no traffic light in the scene.", "rich_caption": "The ego vehicle is moving straight at a high speed. There is no traffic light in the scene. It is cloudy. The car is driving on a wide road. No pedestrians appear to be present. What the driver of ego vehicle should be careful is to maintain a safe distance from other vehicles on the road, as there are other cars and trucks moving in the same direction", "risk": "to maintain a safe distance from other vehicles on the road, as there are other cars and trucks moving in the same direction", "risk_correct": true, "risk_yes_rate": 0.6732244029761331, "weather": "cloudy", "weather_rate": 0.9782756130613991, "road": "wide road", "road_rate": 0.8781124895985231, "is_tunnel": false, "is_tunnel_yes_rate": 0.08796400242308887, "is_highway": true, "is_highway_yes_rate": 0.5004199742283215, "has_pedestrian": false, "has_pedestrian_yes_rate": 0.1454775290866918, "has_carrier_car": 0.32907517584243107}

2022-10-24--14-51-50--50_first/0014

{"ego_state": {"vEgo": 11.708345413208008, "vEgoRaw": 11.737500190734863, "aEgo": 0.17387889325618744, "steeringAngleDeg": -1.404386043548584, "steeringTorque": -63.0, "brake": 0.0, "brakePressed": false, "gas": 0.2150000035762787, "gasPressed": true, "doorOpen": false, "seatbeltUnlatched": false, "gearShifter": "drive", "leftBlinker": false, "rightBlinker": false, "orientations_calib": [2.9749683029723264, -0.93299431452345, -0.5148561521935305], "orientations_ecef": [2.9949165668921864, -0.9372504617167716, -0.5396381410440918], "orientations_ned": [-0.019906927768652865, 0.0012080583389660444, -0.09268586904931657], "positions_ecef": [-3960864.2728596013, 3313370.9203279964, 3731047.706619963], "velocities_calib": [11.668887726545146, 0.032868182059010424, -0.009014918967794845], "velocities_ecef": [6.022048767376265, -3.4425071079606893, 9.383398947921481], "accelerations_calib": [0.5888908488252924, 0.08365421275911743, 0.7628078764410489], "accelerations_device": 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{"plain_caption": "The ego vehicle is moving straight at a high speed. There is no traffic light in the scene.", "rich_caption": "The ego vehicle is moving straight at a high speed. There is no traffic light in the scene. It is cloudy. The car is driving on a wide road. No pedestrians appear to be present. What the driver of ego vehicle should be careful is to maintain a safe distance from other vehicles on the road, as there are other cars and trucks moving in the same direction", "risk": "to maintain a safe distance from other vehicles on the road, as there are other cars and trucks moving in the same direction", "risk_correct": true, "risk_yes_rate": 0.6732244029761331, "weather": "cloudy", "weather_rate": 0.9782756130613991, "road": "wide road", "road_rate": 0.8781124895985231, "is_tunnel": false, "is_tunnel_yes_rate": 0.08796400242308887, "is_highway": true, "is_highway_yes_rate": 0.5004199742283215, "has_pedestrian": false, "has_pedestrian_yes_rate": 0.1454775290866918, "has_carrier_car": 0.32907517584243107}

2022-10-24--14-51-50--50_first/0015

{"ego_state": {"vEgo": 11.723137855529785, "vEgoRaw": 11.717361450195312, "aEgo": 0.18689855933189392, "steeringAngleDeg": -1.3473514318466187, "steeringTorque": -51.0, "brake": 0.0, "brakePressed": false, "gas": 0.2199999988079071, "gasPressed": true, "doorOpen": false, "seatbeltUnlatched": false, "gearShifter": "drive", "leftBlinker": false, "rightBlinker": false, "orientations_calib": [2.975705959817484, -0.9333959793396045, -0.515337755989551], "orientations_ecef": [2.9956750825780283, -0.9376411182331396, -0.5401384192059238], "orientations_ned": [-0.019551185285060207, 0.0015583102618178545, -0.09234284267750467], "positions_ecef": [-3960863.9584111683, 3313370.739344806, 3731048.1948339986], "velocities_calib": [11.675856001925736, -0.00620063870764497, -0.013522427450681388], "velocities_ecef": [6.041488478275737, -3.4122297312172742, 9.390577187262142], "accelerations_calib": [0.15566324528940395, -0.5600624630251851, -0.24795606034027137], "accelerations_device": [0.1476071231249404, -0.5623685363231647, -0.24766304294313732], "angular_velocities_calib": [0.0048518817863464, 0.007578677205412402, 0.007057984863205782], "angular_velocities_device": [0.004953014361700705, 0.007504218474094288, 0.007067291504360631], "timestamp": 1666593713599}, "extrinsic_matrix": [[-0.01515707332873717, -0.9998851430912813, -2.9074134545226116e-05, 0.0], [0.00191818652577543, -2.470512762825043e-22, -0.999998152256012, 1.2200000286102295], [0.9998832953472933, -0.015157101210206747, 0.0019179661879509997, 0.0], [0.0, 0.0, 0.0, 1.0]], "intrinsic_matrix": [[2648.0, 0.0, 964.0], [0.0, 2648.0, 604.0], [0.0, 0.0, 1.0]], "image_path": "images/2022-10-24--14-51-50--50_first/0015.png", "trajectory_count": 60, "trajectory": [[0.0, -0.0, 0.0], [0.5888113761674639, -0.005606060186103423, 0.004589991007276141], [1.1469376906526947, -0.006963533757503249, 0.004792220594270188], [1.748755884015592, -0.012343356506226739, 0.006895807474906237], [2.344828349833155, 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[30.29900486000463, -0.1892855460094752, 0.1185865977375522], [30.930280016820333, -0.2019595448412136, 0.12267721170650796], [31.536141789605963, -0.20570837205860992, 0.12516547263490194], [32.17701298379445, -0.21441986344440853, 0.12890871597780912], [32.81231721840458, -0.21865316846619945, 0.13141226615965929], [33.40721591762782, -0.22838633174478337, 0.13403042116734049], [34.05890620939044, -0.23495614923175845, 0.13551580736146843], [34.69238269065012, -0.24536930641294283, 0.13989445956465352], [35.30097638010975, -0.25205254475167155, 0.13874144212220735], [35.94906671981787, -0.2627723453324237, 0.14008083842750252]], "frame_id": 15}

{"plain_caption": "The ego vehicle is moving straight at a high speed. There is no traffic light in the scene.", "rich_caption": "The ego vehicle is moving straight at a high speed. There is no traffic light in the scene. It is cloudy. The car is driving on a wide road. No pedestrians appear to be present. What the driver of ego vehicle should be careful is to maintain a safe distance from other vehicles on the road, as there are other cars and trucks moving in the same direction", "risk": "to maintain a safe distance from other vehicles on the road, as there are other cars and trucks moving in the same direction", "risk_correct": true, "risk_yes_rate": 0.6732244029761331, "weather": "cloudy", "weather_rate": 0.9782756130613991, "road": "wide road", "road_rate": 0.8781124895985231, "is_tunnel": false, "is_tunnel_yes_rate": 0.08796400242308887, "is_highway": true, "is_highway_yes_rate": 0.5004199742283215, "has_pedestrian": false, "has_pedestrian_yes_rate": 0.1454775290866918, "has_carrier_car": 0.32907517584243107}

2022-10-24--14-51-50--50_first/0016

{"ego_state": {"vEgo": 11.740913391113281, "vEgoRaw": 11.750694274902344, "aEgo": 0.20638293027877808, "steeringAngleDeg": -1.290354609489441, "steeringTorque": -28.0, "brake": 0.0, "brakePressed": false, "gas": 0.2199999988079071, "gasPressed": true, "doorOpen": false, "seatbeltUnlatched": false, "gearShifter": "drive", "leftBlinker": false, "rightBlinker": false, "orientations_calib": [2.975503280429994, -0.9335543680764394, -0.5158108365081393], "orientations_ecef": [2.995477934259252, -0.9378024492270582, -0.5406154482556046], "orientations_ned": [-0.020132433145827244, 0.001682936550423147, -0.09204256768451868], "positions_ecef": [-3960863.6540934015, 3313370.5597575665, 3731048.6658864934], "velocities_calib": [11.726204458521059, 0.017401137623005634, 0.025194530157766522], "velocities_ecef": [6.073971498369519, -3.468535329778041, 9.41174486851699], "accelerations_calib": [1.2869874615788053, 0.411286935582267, 0.9039108949268359], "accelerations_device": [1.291361806790775, 0.3917006775589408, 0.90636848950693], "angular_velocities_calib": [-0.004314264069954101, -0.0013711186090147355, 0.0049376727607164115], "angular_velocities_device": [-0.004344016318054943, -0.00130529479343424, 0.004929419917993404], "timestamp": 1666593713699}, "extrinsic_matrix": [[-0.01515707332873717, -0.9998851430912813, -2.9074134545226116e-05, 0.0], [0.00191818652577543, -2.470512762825043e-22, -0.999998152256012, 1.2200000286102295], [0.9998832953472933, -0.015157101210206747, 0.0019179661879509997, 0.0], [0.0, 0.0, 0.0, 1.0]], "intrinsic_matrix": [[2648.0, 0.0, 964.0], [0.0, 2648.0, 604.0], [0.0, 0.0, 1.0]], "image_path": "images/2022-10-24--14-51-50--50_first/0016.png", "trajectory_count": 60, "trajectory": [[0.0, -0.0, 0.0], [0.558126675531517, -0.001187776017424867, 0.0002641977269617863], [1.1599462407957546, -0.006383516885071146, 0.002436886189239644], [1.7560183759697339, -0.0074428283902338915, 0.008673439566503632], [2.3420494714382927, -0.010738332509726618, 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0.1215274205581846], [30.947376346949802, -0.19062904644130924, 0.12408427550285356], [31.588249743058263, -0.19914363376922406, 0.12790284283936335], [32.22355495563051, -0.20318244973340588, 0.1304784966640009], [32.81845629304977, -0.212733332659927, 0.13316753230297226], [33.47014838347156, -0.2191042753565679, 0.13472818038464177], [34.103627514196624, -0.22932240453581526, 0.13918233783981973], [34.71222332868359, -0.23582140025602655, 0.13809992499262114], [35.36031674391943, -0.24634350404202138, 0.13951660767173554], [35.99802206930393, -0.25168999341178816, 0.13988333782737555]], "frame_id": 16}

{"plain_caption": "The ego vehicle is moving straight at a high speed. There is no traffic light in the scene.", "rich_caption": "The ego vehicle is moving straight at a high speed. There is no traffic light in the scene. It is cloudy. The car is driving on a wide road. No pedestrians appear to be present. What the driver of ego vehicle should be careful is to maintain a safe distance from other vehicles on the road, as there are other cars and trucks moving in the same direction", "risk": "to maintain a safe distance from other vehicles on the road, as there are other cars and trucks moving in the same direction", "risk_correct": true, "risk_yes_rate": 0.6732244029761331, "weather": "cloudy", "weather_rate": 0.9782756130613991, "road": "wide road", "road_rate": 0.8781124895985231, "is_tunnel": false, "is_tunnel_yes_rate": 0.08796400242308887, "is_highway": true, "is_highway_yes_rate": 0.5004199742283215, "has_pedestrian": false, "has_pedestrian_yes_rate": 0.1454775290866918, "has_carrier_car": 0.32907517584243107}

2022-10-24--14-51-50--50_first/0017

{"ego_state": {"vEgo": 11.741402626037598, "vEgoRaw": 11.73680591583252, "aEgo": 0.18359164893627167, "steeringAngleDeg": -1.2333983182907104, "steeringTorque": -2.0, "brake": 0.0, "brakePressed": false, "gas": 0.2199999988079071, "gasPressed": true, "doorOpen": false, "seatbeltUnlatched": false, "gearShifter": "drive", "leftBlinker": false, "rightBlinker": false, "orientations_calib": [2.9769191731901667, -0.9328073875338179, -0.5164936763651098], "orientations_ecef": [2.996870255657669, -0.9370348003041863, -0.5412828503944064], "orientations_ned": [-0.019277681330801284, 0.0008719053918348869, -0.09174692537862857], "positions_ecef": [-3960863.365778343, 3313370.394882439, 3731049.1144369207], "velocities_calib": [11.730489604474782, -0.00015037246159089828, 0.04261669700739748], "velocities_ecef": [6.101123519792785, -3.4727852711774445, 9.397992169750458], "accelerations_calib": [0.14415860456497412, -0.5667749748262831, 0.4456450204340356], "accelerations_device": [0.13467830044194398, -0.5688908819832368, 0.44591476694936993], "angular_velocities_calib": [0.01497236132482189, -0.014988792142670813, 0.00652953918391428], "angular_velocities_device": [0.01473036774690746, -0.0152144521548397, 0.006557978892955253], "timestamp": 1666593713699}, "extrinsic_matrix": [[-0.01515707332873717, -0.9998851430912813, -2.9074134545226116e-05, 0.0], [0.00191818652577543, -2.470512762825043e-22, -0.999998152256012, 1.2200000286102295], [0.9998832953472933, -0.015157101210206747, 0.0019179661879509997, 0.0], [0.0, 0.0, 0.0, 1.0]], "intrinsic_matrix": [[2648.0, 0.0, 964.0], [0.0, 2648.0, 604.0], [0.0, 0.0, 1.0]], "image_path": "images/2022-10-24--14-51-50--50_first/0017.png", "trajectory_count": 60, "trajectory": [[0.0, -0.0, 0.0], [0.6018225365135144, -0.005030130508861557, 0.0016845666080090983], [1.197899763335611, -0.0059289567409543074, 0.0074412014967482325], [1.7839373812632429, -0.009067639043619654, 0.014207146726687513], [2.3708139489497557, 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[21.040361820492745, -0.11522704199857067, 0.05260106322670245], [21.676244710339184, -0.11450722626808746, 0.05762258041050166], [22.264286769417154, -0.11857566108017814, 0.062457965972818476], [22.91056104689867, -0.11930072445479546, 0.06662392951165626], [23.53854518048391, -0.12295130268694199, 0.07322137445505011], [24.14178676606817, -0.12441476088860669, 0.0765459012011171], [24.777963205924713, -0.1297885813878518, 0.08034519380677632], [25.415468550422087, -0.13310980857330026, 0.0828178116449198], [26.033274797529874, -0.14294397323186245, 0.08854011120464315], [26.660499778431664, -0.14546556852933826, 0.08904731257770082], [27.28476303432976, -0.15202790388736903, 0.0929588455406495], [27.917705620350873, -0.15641818725210577, 0.09298323026814732], [28.533280545066077, -0.16283804627897466, 0.09537706805098561], [29.152240260816274, -0.16538632191382455, 0.09351931882782161], [29.78352537160286, -0.17769404634988104, 0.09716840091658685], [30.38939080379647, 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{"plain_caption": "The ego vehicle is moving straight at a high speed. There is no traffic light in the scene.", "rich_caption": "The ego vehicle is moving straight at a high speed. There is no traffic light in the scene. It is cloudy. The car is driving on a wide road. No pedestrians appear to be present. What the driver of ego vehicle should be careful is to maintain a safe distance from other vehicles on the road, as there are other cars and trucks moving in the same direction", "risk": "to maintain a safe distance from other vehicles on the road, as there are other cars and trucks moving in the same direction", "risk_correct": true, "risk_yes_rate": 0.6732244029761331, "weather": "cloudy", "weather_rate": 0.9782756130613991, "road": "wide road", "road_rate": 0.8781124895985231, "is_tunnel": false, "is_tunnel_yes_rate": 0.08796400242308887, "is_highway": true, "is_highway_yes_rate": 0.5004199742283215, "has_pedestrian": false, "has_pedestrian_yes_rate": 0.1454775290866918, "has_carrier_car": 0.32907517584243107}

2022-10-24--14-51-50--50_first/0018

{"ego_state": {"vEgo": 11.776606559753418, "vEgoRaw": 11.740972518920898, "aEgo": 0.2422342300415039, "steeringAngleDeg": -1.1764322519302368, "steeringTorque": 12.0, "brake": 0.0, "brakePressed": false, "gas": 0.2150000035762787, "gasPressed": true, "doorOpen": false, "seatbeltUnlatched": false, "gearShifter": "drive", "leftBlinker": false, "rightBlinker": false, "orientations_calib": [2.977446405499581, -0.9321111400651079, -0.5171696990862058], "orientations_ecef": [2.997371231440007, -0.9363309827957162, -0.5419390440296497], "orientations_ned": [-0.0193051842454992, 0.00012515007371191822, -0.09144907769706365], "positions_ecef": [-3960863.056101771, 3313370.2129883287, 3731049.5973794213], "velocities_calib": [11.768088214387253, -0.0018536124865667293, 0.060609498575543], "velocities_ecef": [6.13591621899081, -3.4994594747664403, 9.41253912112932], "accelerations_calib": [1.0521003301418967, -0.20133662291649818, 0.6232633405505591], "accelerations_device": [1.0477279976343394, -0.21728856151657952, 0.6252683072837962], "angular_velocities_calib": [-0.001049329766584882, -0.01902651843201692, 0.005226577927353426], "angular_velocities_device": [-0.0013483172497170484, -0.019008265474001654, 0.005224413622370536], "timestamp": 1666593713799}, "extrinsic_matrix": [[-0.01515707332873717, -0.9998851430912813, -2.9074134545226116e-05, 0.0], [0.00191818652577543, -2.470512762825043e-22, -0.999998152256012, 1.2200000286102295], [0.9998832953472933, -0.015157101210206747, 0.0019179661879509997, 0.0], [0.0, 0.0, 0.0, 1.0]], "intrinsic_matrix": [[2648.0, 0.0, 964.0], [0.0, 2648.0, 604.0], [0.0, 0.0, 1.0]], "image_path": "images/2022-10-24--14-51-50--50_first/0018.png", "trajectory_count": 60, "trajectory": [[0.0, -0.0, 0.0], [0.5960816222527263, -0.0007297935772144459, 0.005307926492702525], [1.1821250335051217, -0.0037022726602920436, 0.01163275562094741], [1.7690036883486222, -0.003423659055701461, 0.014258005731780208], [2.3673876793750157, -0.00484298279756995, 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{"plain_caption": "The ego vehicle is moving straight at a high speed. There is no traffic light in the scene.", "rich_caption": "The ego vehicle is moving straight at a high speed. There is no traffic light in the scene. It is cloudy. The car is driving on a wide road. No pedestrians appear to be present. What the driver of ego vehicle should be careful is to maintain a safe distance from other vehicles on the road, as there are other cars and trucks moving in the same direction", "risk": "to maintain a safe distance from other vehicles on the road, as there are other cars and trucks moving in the same direction", "risk_correct": true, "risk_yes_rate": 0.6732244029761331, "weather": "cloudy", "weather_rate": 0.9782756130613991, "road": "wide road", "road_rate": 0.8781124895985231, "is_tunnel": false, "is_tunnel_yes_rate": 0.08796400242308887, "is_highway": true, "is_highway_yes_rate": 0.5004199742283215, "has_pedestrian": false, "has_pedestrian_yes_rate": 0.1454775290866918, "has_carrier_car": 0.32907517584243107}

2022-10-24--14-51-50--50_first/0019

{"ego_state": {"vEgo": 11.769547462463379, "vEgoRaw": 11.790277481079102, "aEgo": 0.19907765090465546, "steeringAngleDeg": -1.1195042133331299, "steeringTorque": 12.0, "brake": 0.0, "brakePressed": false, "gas": 0.2150000035762787, "gasPressed": true, "doorOpen": false, "seatbeltUnlatched": false, "gearShifter": "drive", "leftBlinker": false, "rightBlinker": false, "orientations_calib": [2.9776945300791238, -0.930759311032005, -0.5179230807207744], "orientations_ecef": [2.9975643155711746, -0.9349759041656428, -0.5426487415534463], "orientations_ned": [-0.01968353896582529, -0.0012716652609438125, -0.09119973961178776], "positions_ecef": [-3960862.7444387516, 3313370.033885188, 3731050.0729109496], "velocities_calib": [11.783678705560375, -0.016598028901408227, 0.02956603290626514], "velocities_ecef": [6.1424687802811775, -3.486728520569022, 9.43233984692366], "accelerations_calib": [0.20105567915651062, -0.08392738625805223, -0.417229695492914], "accelerations_device": 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{"plain_caption": "The ego vehicle is moving straight at a high speed. There is no traffic light in the scene.", "rich_caption": "The ego vehicle is moving straight at a high speed. There is no traffic light in the scene. It is cloudy. The car is driving on a wide road. No pedestrians appear to be present. What the driver of ego vehicle should be careful is to maintain a safe distance from other vehicles on the road, as there are other cars and trucks moving in the same direction", "risk": "to maintain a safe distance from other vehicles on the road, as there are other cars and trucks moving in the same direction", "risk_correct": true, "risk_yes_rate": 0.6732244029761331, "weather": "cloudy", "weather_rate": 0.9782756130613991, "road": "wide road", "road_rate": 0.8781124895985231, "is_tunnel": false, "is_tunnel_yes_rate": 0.08796400242308887, "is_highway": true, "is_highway_yes_rate": 0.5004199742283215, "has_pedestrian": false, "has_pedestrian_yes_rate": 0.1454775290866918, "has_carrier_car": 0.32907517584243107}

2022-10-24--14-51-50--50_first/0020

{"ego_state": {"vEgo": 11.80629825592041, "vEgoRaw": 11.80555534362793, "aEgo": 0.25998228788375854, "steeringAngleDeg": -1.1199043989181519, "steeringTorque": 18.0, "brake": 0.0, "brakePressed": false, "gas": 0.2150000035762787, "gasPressed": true, "doorOpen": false, "seatbeltUnlatched": false, "gearShifter": "drive", "leftBlinker": false, "rightBlinker": false, "orientations_calib": [2.9773777796195713, -0.930024373128115, -0.5185251674123961], "orientations_ecef": [2.9972152900633833, -0.9342458673470259, -0.5432240709756948], "orientations_ned": [-0.020495752104554524, -0.00203831028652605, -0.09095092887917745], "positions_ecef": [-3960862.4387090225, 3313369.8554203617, 3731050.5400034003], "velocities_calib": [11.791659218360143, -0.020801225218101984, 0.012091266772408571], "velocities_ecef": [6.1424749259204185, -3.483576534300752, 9.443436997499827], "accelerations_calib": [-0.11490614350712709, 0.19995244509261786, -0.7559903581670289], "accelerations_device": 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{"plain_caption": "The ego vehicle is moving straight at a high speed. There is no traffic light in the scene.", "rich_caption": "The ego vehicle is moving straight at a high speed. There is no traffic light in the scene. It is cloudy. The car is driving on a wide road. No pedestrians appear to be present. What the driver of ego vehicle should be careful is to maintain a safe distance from other vehicles on the road, as there are other cars and trucks moving in the same direction", "risk": "to maintain a safe distance from other vehicles on the road, as there are other cars and trucks moving in the same direction", "risk_correct": true, "risk_yes_rate": 0.6732244029761331, "weather": "cloudy", "weather_rate": 0.9782756130613991, "road": "wide road", "road_rate": 0.8781124895985231, "is_tunnel": false, "is_tunnel_yes_rate": 0.08796400242308887, "is_highway": true, "is_highway_yes_rate": 0.5004199742283215, "has_pedestrian": false, "has_pedestrian_yes_rate": 0.1454775290866918, "has_carrier_car": 0.32907517584243107}

2022-10-24--14-51-50--50_first/0021

{"ego_state": {"vEgo": 11.83424186706543, "vEgoRaw": 11.880556106567383, "aEgo": 0.2957450747489929, "steeringAngleDeg": -1.0056781768798828, "steeringTorque": 13.0, "brake": 0.0, "brakePressed": false, "gas": 0.2150000035762787, "gasPressed": true, "doorOpen": false, "seatbeltUnlatched": false, "gearShifter": "drive", "leftBlinker": false, "rightBlinker": false, "orientations_calib": [2.9786743609369473, -0.9305629650894996, -0.51872581458054], "orientations_ecef": [2.9985412502331847, -0.9347651488153446, -0.5434516019632789], "orientations_ned": [-0.019353149762396733, -0.0015396037085316386, -0.09075264994770725], "positions_ecef": [-3960862.1328381854, 3313369.681260735, 3731051.009625568], "velocities_calib": [11.788046649458437, 0.013438395324755487, -0.007891145356467677], "velocities_ecef": [6.102732745671556, -3.497669409526613, 9.459452859812883], "accelerations_calib": [-0.125424652174597, 0.43557291673880083, 0.15179036731084272], "accelerations_device": 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[29.889969043805394, -0.16540065205861793, 0.0168513179203814], [30.54167007748542, -0.1709739988758495, 0.016298364719355668], [31.175172329952595, -0.18041925263709782, 0.018694621620203487], [31.78376894898289, -0.18617129169380042, 0.015637936227428748], [32.431875940701964, -0.19590008720319396, 0.01494920353354345], [33.06958517630994, -0.2004651380849629, 0.013248440740768423], [33.67404964797774, -0.21258800469488562, 0.013630530167425166], [34.3376867815285, -0.2177486499111502, 0.012960254459113207], [34.97122482226051, -0.227950232881622, 0.0160956299434844], [35.588241469298154, -0.23035717251055235, 0.018120435656775645], [36.24144228522755, -0.2433842003479612, 0.02155170501441078]], "frame_id": 21}

{"plain_caption": "The ego vehicle is moving straight at a high speed. There is no traffic light in the scene.", "rich_caption": "The ego vehicle is moving straight at a high speed. There is no traffic light in the scene. It is cloudy. The car is driving on a wide road. No pedestrians appear to be present. What the driver of ego vehicle should be careful is to maintain a safe distance from other vehicles on the road, as there are other cars and trucks moving in the same direction", "risk": "to maintain a safe distance from other vehicles on the road, as there are other cars and trucks moving in the same direction", "risk_correct": true, "risk_yes_rate": 0.6732244029761331, "weather": "cloudy", "weather_rate": 0.9782756130613991, "road": "wide road", "road_rate": 0.8781124895985231, "is_tunnel": false, "is_tunnel_yes_rate": 0.08796400242308887, "is_highway": true, "is_highway_yes_rate": 0.5004199742283215, "has_pedestrian": false, "has_pedestrian_yes_rate": 0.1454775290866918, "has_carrier_car": 0.32907517584243107}

2022-10-24--14-51-50--50_first/0022

{"ego_state": {"vEgo": 11.869199752807617, "vEgoRaw": 11.847222328186035, "aEgo": 0.34076517820358276, "steeringAngleDeg": -0.7767831087112427, "steeringTorque": 26.0, "brake": 0.0, "brakePressed": false, "gas": 0.2150000035762787, "gasPressed": true, "doorOpen": false, "seatbeltUnlatched": false, "gearShifter": "drive", "leftBlinker": false, "rightBlinker": false, "orientations_calib": [2.9795995991194117, -0.9324495449435914, -0.5186016688224943], "orientations_ecef": [2.9995501940390916, -0.9366374834149317, -0.5433971497681683], "orientations_ned": [-0.018300490662953348, 0.0003224997776656858, -0.09055365909395797], "positions_ecef": [-3960861.823191434, 3313369.5033862926, 3731051.4897770975], "velocities_calib": [11.804761005504448, -0.01905158813344288, -0.0013817932963371103], "velocities_ecef": [6.119818394075386, -3.470715299036591, 9.479172189912548], "accelerations_calib": [0.19918156946075405, -0.7599309037620896, -0.608861784204025], "accelerations_device": [0.18877171170755902, -0.7628828011590734, -0.608486664541063], "angular_velocities_calib": [0.01007895900231338, 0.038068352956413046, 0.004614937952929328], "angular_velocities_device": [0.010647477846925811, 0.0379108887483501, 0.004634467984913576], "timestamp": 1666593713899}, "extrinsic_matrix": [[-0.01515707332873717, -0.9998851430912813, -2.9074134545226116e-05, 0.0], [0.00191818652577543, -2.470512762825043e-22, -0.999998152256012, 1.2200000286102295], [0.9998832953472933, -0.015157101210206747, 0.0019179661879509997, 0.0], [0.0, 0.0, 0.0, 1.0]], "intrinsic_matrix": [[2648.0, 0.0, 964.0], [0.0, 2648.0, 604.0], [0.0, 0.0, 1.0]], "image_path": "images/2022-10-24--14-51-50--50_first/0022.png", "trajectory_count": 60, "trajectory": [[0.0, -0.0, 0.0], [0.5493645320563667, -0.008400330302248543, 0.00024135762799353062], [1.16718683656202, -0.006581543635308575, 0.0002682540488612342], [1.7612370904624208, -0.006696167764213989, -0.002152912719725553], [2.317958971038704, 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[30.576738904023586, -0.17235088614753802, 0.07610139384138173], [31.185341505593485, -0.17795915074968072, 0.07417923242683556], [31.833450899445165, -0.18753746668069496, 0.07469497952683539], [32.47116324867366, -0.19195340619099174, 0.07418450616288737], [33.07562875180097, -0.20393697474159622, 0.07568684089202016], [33.73926716081737, -0.20894357302924163, 0.07625482664025861], [34.37280057496526, -0.21900196286701926, 0.08056688891743295], [34.98981288942992, -0.22126839309576182, 0.08374541233295371], [35.64300914768843, -0.23414798577224175, 0.08838731755354087], [36.29149956818836, -0.23729124263453027, 0.09146957847677789]], "frame_id": 22}

{"plain_caption": "The ego vehicle is moving straight at a high speed. There is no traffic light in the scene.", "rich_caption": "The ego vehicle is moving straight at a high speed. There is no traffic light in the scene. It is cloudy. The car is driving on a wide road. No pedestrians appear to be present. What the driver of ego vehicle should be careful is to maintain a safe distance from other vehicles on the road, as there are other cars and trucks moving in the same direction", "risk": "to maintain a safe distance from other vehicles on the road, as there are other cars and trucks moving in the same direction", "risk_correct": true, "risk_yes_rate": 0.6732244029761331, "weather": "cloudy", "weather_rate": 0.9782756130613991, "road": "wide road", "road_rate": 0.8781124895985231, "is_tunnel": false, "is_tunnel_yes_rate": 0.08796400242308887, "is_highway": true, "is_highway_yes_rate": 0.5004199742283215, "has_pedestrian": false, "has_pedestrian_yes_rate": 0.1454775290866918, "has_carrier_car": 0.32907517584243107}

2022-10-24--14-51-50--50_first/0023

{"ego_state": {"vEgo": 11.887062072753906, "vEgoRaw": 11.904167175292969, "aEgo": 0.34310367703437805, "steeringAngleDeg": -0.6052501797676086, "steeringTorque": 25.0, "brake": 0.0, "brakePressed": false, "gas": 0.2150000035762787, "gasPressed": true, "doorOpen": false, "seatbeltUnlatched": false, "gearShifter": "drive", "leftBlinker": false, "rightBlinker": false, "orientations_calib": [2.9783678436533116, -0.93476536428533, -0.5180936462849673], "orientations_ecef": [2.998408981300193, -0.938970783176227, -0.542959061676327], "orientations_ned": [-0.01908844317054304, 0.0026700261861111975, -0.0905224332679324], "positions_ecef": [-3960861.543791863, 3313369.334340847, 3731051.931627219], "velocities_calib": [11.826984729487181, -0.03724680422162818, 0.016073332224040768], "velocities_ecef": [6.135566891634908, -3.4581803720520465, 9.501316798243492], "accelerations_calib": [0.7538210978533544, -0.1899255225680276, 0.1855473878210045], "accelerations_device": [0.7504924075540704, 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{"plain_caption": "The ego vehicle is moving straight at a high speed. There is no traffic light in the scene.", "rich_caption": "The ego vehicle is moving straight at a high speed. There is no traffic light in the scene. It is cloudy. The car is driving on a wide road. No pedestrians appear to be present. What the driver of ego vehicle should be careful is to maintain a safe distance from other vehicles on the road, as there are other cars and trucks moving in the same direction", "risk": "to maintain a safe distance from other vehicles on the road, as there are other cars and trucks moving in the same direction", "risk_correct": true, "risk_yes_rate": 0.6732244029761331, "weather": "cloudy", "weather_rate": 0.9782756130613991, "road": "wide road", "road_rate": 0.8781124895985231, "is_tunnel": false, "is_tunnel_yes_rate": 0.08796400242308887, "is_highway": true, "is_highway_yes_rate": 0.5004199742283215, "has_pedestrian": false, "has_pedestrian_yes_rate": 0.1454775290866918, "has_carrier_car": 0.32907517584243107}

2022-10-24--14-51-50--50_first/0024

{"ego_state": {"vEgo": 11.9097318649292, "vEgoRaw": 11.879166603088379, "aEgo": 0.3540973961353302, "steeringAngleDeg": -0.4910195767879486, "steeringTorque": 34.0, "brake": 0.0, "brakePressed": false, "gas": 0.2150000035762787, "gasPressed": true, "doorOpen": false, "seatbeltUnlatched": false, "gearShifter": "drive", "leftBlinker": false, "rightBlinker": false, "orientations_calib": [2.976793093524578, -0.9368723842437552, -0.5178096863645876], "orientations_ecef": [2.9969145790369267, -0.9411004024494443, -0.5427360615854546], "orientations_ned": [-0.020402255620876192, 0.004799632716707992, -0.09038915484285766], "positions_ecef": [-3960861.2229459775, 3313369.153293718, 3731052.4275985523], "velocities_calib": [11.85983313455408, -0.040030698971360565, 0.01679068242229893], "velocities_ecef": [6.138182569093323, -3.4543834635135147, 9.541880108177136], "accelerations_calib": [0.6136978190905553, -0.021575808413908833, -0.607143476638993], "accelerations_device": 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[21.27882963462405, -0.08388947198444575, 0.14617549477067956], [21.89662248692402, -0.09282722543895824, 0.15430708025232595], [22.523843744221338, -0.0944450237673712, 0.15725147938707779], [23.14809588417819, -0.10010379598371685, 0.1635934866605071], [23.78103925448591, -0.10358261658418531, 0.16607948192787178], [24.396608825821854, -0.10911321771077415, 0.17086991863464998], [25.015574109279672, -0.11077239359077105, 0.1714173415390755], [25.646857309797895, -0.12216674378837919, 0.17753097456378542], [26.252714402056682, -0.12468875017998943, 0.18195320413586596], [26.89358668148592, -0.13210151919845245, 0.1877464595348248], [27.528886955042392, -0.13504847899969755, 0.19227823573035363], [28.12379271605454, -0.14357684876830257, 0.19680084163990333], [28.77548689222324, -0.1488281106991324, 0.2003687888843916], [29.408965920008136, -0.15795691655676988, 0.20677542661802742], [30.017572441751682, -0.16341107773198388, 0.20756775931141416], [30.66567553302741, 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{"plain_caption": "The ego vehicle is moving straight at a high speed. There is no traffic light in the scene.", "rich_caption": "The ego vehicle is moving straight at a high speed. There is no traffic light in the scene. It is cloudy. The car is driving on a wide road. No pedestrians appear to be present. What the driver of ego vehicle should be careful is to maintain a safe distance from other vehicles on the road, as there are other cars and trucks moving in the same direction", "risk": "to maintain a safe distance from other vehicles on the road, as there are other cars and trucks moving in the same direction", "risk_correct": true, "risk_yes_rate": 0.6732244029761331, "weather": "cloudy", "weather_rate": 0.9782756130613991, "road": "wide road", "road_rate": 0.8781124895985231, "is_tunnel": false, "is_tunnel_yes_rate": 0.08796400242308887, "is_highway": true, "is_highway_yes_rate": 0.5004199742283215, "has_pedestrian": false, "has_pedestrian_yes_rate": 0.1454775290866918, "has_carrier_car": 0.32907517584243107}

2022-10-24--14-51-50--50_first/0025

{"ego_state": {"vEgo": 11.927054405212402, "vEgoRaw": 11.902777671813965, "aEgo": 0.3530902564525604, "steeringAngleDeg": -0.4339960217475891, "steeringTorque": 58.0, "brake": 0.0, "brakePressed": false, "gas": 0.2150000035762787, "gasPressed": true, "doorOpen": false, "seatbeltUnlatched": false, "gearShifter": "drive", "leftBlinker": false, "rightBlinker": false, "orientations_calib": [2.9780483979987844, -0.9375453241052994, -0.517942139774098], "orientations_ecef": [2.998205263970622, -0.9417545980986505, -0.5429002427768914], "orientations_ned": [-0.019243387738486394, 0.005436908720914657, -0.09021221255945186], "positions_ecef": [-3960860.9170553046, 3313368.979039269, 3731052.906104417], "velocities_calib": [11.904221160072872, 0.009708350004238232, 0.0017099831163339407], "velocities_ecef": [6.1157745290645105, -3.496312719910452, 9.596024066157135], "accelerations_calib": [0.8446059508156543, 0.8579733131074276, -0.5642524902436696], "accelerations_device": 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{"plain_caption": "The ego vehicle is moving straight at a high speed. There is no traffic light in the scene.", "rich_caption": "The ego vehicle is moving straight at a high speed. There is no traffic light in the scene. It is cloudy. The car is driving on a wide road. No pedestrians appear to be present. What the driver of ego vehicle should be careful is to maintain a safe distance from other vehicles on the road, as there are other cars and trucks moving in the same direction", "risk": "to maintain a safe distance from other vehicles on the road, as there are other cars and trucks moving in the same direction", "risk_correct": true, "risk_yes_rate": 0.6732244029761331, "weather": "cloudy", "weather_rate": 0.9782756130613991, "road": "wide road", "road_rate": 0.8781124895985231, "is_tunnel": false, "is_tunnel_yes_rate": 0.08796400242308887, "is_highway": true, "is_highway_yes_rate": 0.5004199742283215, "has_pedestrian": false, "has_pedestrian_yes_rate": 0.1454775290866918, "has_carrier_car": 0.32907517584243107}

2022-10-24--14-51-50--50_first/0026

{"ego_state": {"vEgo": 11.941200256347656, "vEgoRaw": 11.963193893432617, "aEgo": 0.34614577889442444, "steeringAngleDeg": -0.31974634528160095, "steeringTorque": 42.0, "brake": 0.0, "brakePressed": false, "gas": 0.2150000035762787, "gasPressed": true, "doorOpen": false, "seatbeltUnlatched": false, "gearShifter": "drive", "leftBlinker": false, "rightBlinker": false, "orientations_calib": [2.9809406452591447, -0.9372771304118445, -0.5181913865207264], "orientations_ecef": [3.001101844960986, -0.9414437586380818, -0.5431601420448167], "orientations_ned": [-0.016556338048773066, 0.005109622028477083, -0.09009889960962808], "positions_ecef": [-3960860.634224316, 3313368.806432536, 3731053.353594921], "velocities_calib": [11.918961122499732, 0.016894358314914322, -0.006503849302357926], "velocities_ecef": [6.115394529662786, -3.5047698643229555, 9.611477508882949], "accelerations_calib": [0.2745224007290619, 0.14574215890087563, -0.06245160331868668], "accelerations_device": 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{"plain_caption": "The ego vehicle is moving straight at a high speed. There is no traffic light in the scene.", "rich_caption": "The ego vehicle is moving straight at a high speed. There is no traffic light in the scene. It is cloudy. The car is driving on a wide road. No pedestrians appear to be present. What the driver of ego vehicle should be careful is to maintain a safe distance from other vehicles on the road, as there are other cars and trucks moving in the same direction", "risk": "to maintain a safe distance from other vehicles on the road, as there are other cars and trucks moving in the same direction", "risk_correct": true, "risk_yes_rate": 0.6732244029761331, "weather": "cloudy", "weather_rate": 0.9782756130613991, "road": "wide road", "road_rate": 0.8781124895985231, "is_tunnel": false, "is_tunnel_yes_rate": 0.08796400242308887, "is_highway": true, "is_highway_yes_rate": 0.5004199742283215, "has_pedestrian": false, "has_pedestrian_yes_rate": 0.1454775290866918, "has_carrier_car": 0.32907517584243107}

2022-10-24--14-51-50--50_first/0027

{"ego_state": {"vEgo": 11.981932640075684, "vEgoRaw": 12.008333206176758, "aEgo": 0.4000091850757599, "steeringAngleDeg": -0.14817281067371368, "steeringTorque": 33.0, "brake": 0.0, "brakePressed": false, "gas": 0.20999999344348907, "gasPressed": true, "doorOpen": false, "seatbeltUnlatched": false, "gearShifter": "drive", "leftBlinker": false, "rightBlinker": false, "orientations_calib": [2.9826947212802954, -0.9367501046618084, -0.5178658392682314], "orientations_ecef": [3.0028430144297293, -0.9408909664846141, -0.5428284656562223], "orientations_ned": [-0.014548362451793657, 0.004585345156849877, -0.09036112228734519], "positions_ecef": [-3960860.3177753887, 3313368.6220722226, 3731053.852265482], "velocities_calib": [11.952341295950907, 0.0070868644341869095, -0.0006269953849609572], "velocities_ecef": [6.1476104887137, -3.5104266829055937, 9.630280517963426], "accelerations_calib": [0.6127581941763751, -0.32848829445799643, 0.3932620196395781], "accelerations_device": [0.6069440156199182, -0.33775390377301456, 0.39442799419725943], "angular_velocities_calib": [0.034612602742066345, -0.009238397845293702, -0.005256265753552896], "angular_velocities_device": [0.03447818114627997, -0.00976343276221538, -0.0051902792354557225], "timestamp": 1666593714199}, "extrinsic_matrix": [[-0.01515707332873717, -0.9998851430912813, -2.9074134545226116e-05, 0.0], [0.00191818652577543, -2.470512762825043e-22, -0.999998152256012, 1.2200000286102295], [0.9998832953472933, -0.015157101210206747, 0.0019179661879509997, 0.0], [0.0, 0.0, 0.0, 1.0]], "intrinsic_matrix": [[2648.0, 0.0, 964.0], [0.0, 2648.0, 604.0], [0.0, 0.0, 1.0]], "image_path": "images/2022-10-24--14-51-50--50_first/0027.png", "trajectory_count": 60, "trajectory": [[0.0, -0.0, 0.0], [0.5940551038689393, -0.004107258854202862, 0.0028254560628468957], [1.1607401455857855, -0.002075464619636083, 0.0020258357367986856], [1.7726930405454542, -0.011485649877805206, 0.005427061817190007], [2.381832865319447, 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{"plain_caption": "The ego vehicle is moving straight at a high speed. There is no traffic light in the scene.", "rich_caption": "The ego vehicle is moving straight at a high speed. There is no traffic light in the scene. It is cloudy. The car is driving on a wide road. No pedestrians appear to be present. What the driver of ego vehicle should be careful is to maintain a safe distance from other vehicles on the road, as there are other cars and trucks moving in the same direction", "risk": "to maintain a safe distance from other vehicles on the road, as there are other cars and trucks moving in the same direction", "risk_correct": true, "risk_yes_rate": 0.6732244029761331, "weather": "cloudy", "weather_rate": 0.9782756130613991, "road": "wide road", "road_rate": 0.8781124895985231, "is_tunnel": false, "is_tunnel_yes_rate": 0.08796400242308887, "is_highway": true, "is_highway_yes_rate": 0.5004199742283215, "has_pedestrian": false, "has_pedestrian_yes_rate": 0.1454775290866918, "has_carrier_car": 0.32907517584243107}