{"model": "meteor-p150", "frame_id": "base_link", "num_detections": 8, "detections": [{"label": "VEHICLE", "label_id": 0, "score": 0.9934753775596619, "center": [-12.859397888183594, 0.0946502685546875], "size": [4.39686393737793, 1.7419499158859253], "yaw": -0.06924973428249359, "stationary": false, "future_mode": 0, "future": [[-11.924470126628876, -0.08978131413459778], [-10.748428106307983, -0.15843603014945984], [-9.3604576587677, -0.23837068676948547], [-8.323944568634033, -0.2990213930606842], [-7.082995891571045, -0.4038173258304596], [-5.532894134521484, -0.3467808663845062]]}, {"label": "VEHICLE", "label_id": 0, "score": 0.9876182079315186, "center": [-7.17340087890625, -3.214324951171875], "size": [3.962895631790161, 1.7304655313491821], "yaw": 0.018418366089463234, "stationary": false, "future_mode": 0, "future": [[-3.0730948448181152, -3.265050206333399], [1.2256402969360352, -3.233331633731723], [5.618462562561035, -3.187714507803321], [9.967805862426758, -3.0996973738074303], [14.064231872558594, -2.999782159924507], [18.21440887451172, -2.8577268719673157]]}, {"label": "VEHICLE", "label_id": 0, "score": 0.963449239730835, "center": [10.840461730957031, 0.01940155029296875], "size": [4.336444854736328, 1.761385202407837], "yaw": -0.018810799345374107, "stationary": false, "future_mode": 0, "future": [[11.170668810606003, -0.11867478489875793], [11.527381658554077, -0.1544388085603714], [11.950125575065613, -0.20912858843803406], [12.311143636703491, -0.25244560837745667], [12.735493898391724, -0.2899334728717804], [13.638620376586914, -0.2555128335952759]]}, {"label": "VEHICLE", "label_id": 0, "score": 0.9622234106063843, "center": [5.906349182128906, 3.2283401489257812], "size": [3.526860475540161, 1.5823465585708618], "yaw": -0.20729826390743256, "stationary": true, "future_mode": 0, "future": [[5.925589676946402, 3.0942276269197464], [5.950499128550291, 3.058468282222748], [5.966592483222485, 3.0259872525930405], [5.9646331667900085, 3.0094976276159286], [5.96343395113945, 2.995062530040741], [6.002071410417557, 3.0774914771318436]]}, {"label": "VRU", "label_id": 1, "score": 0.9543824195861816, "center": [-3.7210235595703125, -6.497180938720703], "size": [0.5360694527626038, 0.5547528862953186], "yaw": 0.11788232624530792, "stationary": false, "future_mode": 1, "future": [[-2.979162096977234, -6.519810874015093], [-2.3925148248672485, -6.4458589144051075], [-1.8680790662765503, -6.397272430360317], [-1.307220220565796, -6.334466457366943], [-0.6710877418518066, -6.338432624936104], [-0.00254058837890625, -6.236406207084656]]}, {"label": "VEHICLE", "label_id": 0, "score": 0.9393100738525391, "center": [18.80853271484375, -3.5157241821289062], "size": [4.176955223083496, 1.8252708911895752], "yaw": 3.0537471771240234, "stationary": true, "future_mode": 0, "future": [[18.82933603040874, -3.574982650578022], [18.830279717221856, -3.569943256676197], [18.83282070979476, -3.5900656655430794], [18.837901256978512, -3.590080939233303], [18.826710402965546, -3.5849213302135468], [18.96100078523159, -3.5453028678894043]]}, {"label": "VRU", "label_id": 1, "score": 0.928659975528717, "center": [9.605934143066406, 4.140483856201172], "size": [0.6294549107551575, 0.6336610317230225], "yaw": 0.0763305053114891, "stationary": true, "future_mode": 1, "future": [[10.433757305145264, 4.166188707575202], [11.208794116973877, 4.3037575632333755], [12.11513638496399, 4.38412182033062], [12.873741149902344, 4.426208704710007], [13.572365522384644, 4.4816654324531555], [13.985256671905518, 4.474317669868469]]}, {"label": "VEHICLE", "label_id": 0, "score": 0.8892202973365784, "center": [29.077274322509766, -3.496685028076172], "size": [4.086712837219238, 1.7289568185806274], "yaw": 3.0037999153137207, "stationary": false, "future_mode": 0, "future": [[28.93540270626545, -3.5619419142603874], [28.66626286506653, -3.5664750561118126], [28.396295845508575, -3.5693904384970665], [28.25101125240326, -3.5870848521590233], [28.17542815208435, -3.5865601152181625], [28.201113522052765, -3.6430017352104187]]}], "trajectory": [[0.7415728569030762, 0.9150212407112122], [0.8484359383583069, 1.5551702976226807], [0.4081254005432129, 2.3570408821105957], [0.31098508834838867, 3.0978496074676514], [0.6144546270370483, 3.8475964069366455], [0.28881120681762695, 4.480010032653809]], "columns": ["x", "y"], "plan": {"mode": 0, "mode_probs": [0.23400846160906766, 0.2961580823943354, 0.4698334559965968], "mode_logits": [-2.0315117835998535, -1.795975685119629, -1.3344907760620117], "paths": [[[0.7415728569030762, 0.9150212407112122], [0.8484359383583069, 1.5551702976226807], [0.4081254005432129, 2.3570408821105957], [0.31098508834838867, 3.0978496074676514], [0.6144546270370483, 3.8475964069366455], [0.28881120681762695, 4.480010032653809]], [[0.765474796295166, 1.1254345178604126], [0.4464021921157837, 1.9872428178787231], [-0.5190038681030273, 3.0199739933013916], [-1.1220401525497437, 3.914423942565918], [-0.5470671057701111, 4.788815975189209], [-0.44302499294281006, 7.196262359619141]], [[0.33136776089668274, 0.031606584787368774], [-0.2905429005622864, 0.06355910003185272], [-1.106322169303894, 0.4811772108078003], [-1.2175170183181763, 0.9379713535308838], [-0.5846269130706787, 1.7528413534164429], [0.08481240272521973, 2.513364791870117]]], "steer": 0.0025189854204654694, "accel": 0.018632810562849045, "brake_prob": 0.12967704150966017, "dt": 0.5}, "detections_2d": {"CAM_FRONT_WIDE": [{"label": "car", "label_id": 1, "score": 0.5245665311813354, "box_xyxy": [412.7393159866333, 211.00581550598145, 438.51269817352295, 230.30570793151855]}, {"label": "car", "label_id": 1, "score": 0.8319181799888611, "box_xyxy": [344.9461441040039, 217.6244773864746, 426.68392181396484, 283.1177406311035]}, {"label": "bicycle", "label_id": 4, "score": 0.4141233265399933, "box_xyxy": [192.1883201599121, 225.38176345825195, 245.3885841369629, 279.88740158081055]}, {"label": "pedestrian", "label_id": 6, "score": 0.36628907918930054, "box_xyxy": [190.07253742218018, 215.86571884155273, 218.09823894500732, 286.46872329711914]}], "CAM_FRONT_LEFT": [{"label": "car", "label_id": 1, "score": 0.8443394899368286, "box_xyxy": [402.442626953125, 94.2266845703125, 723.7210693359375, 263.2530822753906]}], "CAM_FRONT_RIGHT": [], "CAM_BACK_WIDE": [{"label": "car", "label_id": 1, "score": 0.3928542137145996, "box_xyxy": [85.77788543701172, 219.4220199584961, 285.5052261352539, 333.0121841430664]}], "CAM_BACK_LEFT": [], "CAM_BACK_RIGHT": [{"label": "pedestrian", "label_id": 6, "score": 0.9246039390563965, "box_xyxy": [356.12495613098145, 86.8310546875, 398.1982250213623, 172.37091064453125]}, {"label": "car", "label_id": 1, "score": 0.8807837963104248, "box_xyxy": [527.9890823364258, 101.49794387817383, 766.5026168823242, 226.25101852416992]}], "CAM_FRONT_NARROW": [{"label": "car", "label_id": 1, "score": 0.7501626014709473, "box_xyxy": [588.8027877807617, 253.1881446838379, 763.3457717895508, 359.38442611694336]}], "CAM_BACK_NARROW": [{"label": "car", "label_id": 1, "score": 0.8524665832519531, "box_xyxy": [252.1571044921875, 211.5510482788086, 529.499755859375, 398.62284088134766]}]}, "unknown_obstacles": [], "traffic_light": {"state": "red", "state_id": 3, "probs": [0.3581359985429777, 0.14245319359702674, 0.03116670149406778, 0.4682441063659277]}, "lane": {"format": "png", "key": "lane", "dtype": "uint8", "shape": [800, 500], "data": "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"}, "lane_classes": ["bg", "road", "sidewalk", "crosswalk", "laneline", "stopline", "road_edge", "marking", "parking"], "stationary_head_healthy": true, "meta": {"present": [true, true, true, true, true, true, true, true], "v0": 8.0, "backend": "cpu-reference"}, "timing_ms": {}}