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index 0000000000000000000000000000000000000000..3ccb581e6944dc9f93c616b62528dbb4ac80d16f
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diff --git a/H2O/shared-v1.1/doc/validation/index.html b/H2O/shared-v1.1/doc/validation/index.html
new file mode 100644
index 0000000000000000000000000000000000000000..80c0d81f7b5cc1835efd76f233eac3e08377731c
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+H2O v1.1 review H2O v1.1 全量后抽样全部相机验收 数值按字节一致；媒体不重新编码。RGB、深度／深度 valid、相机、MANO、手／物体点、位姿、网格和来源均可查看；源没有 UV、分割或接触，不补造。
合同 · 字段映射 · 迁移报告 · 可视化报告
\ No newline at end of file
diff --git a/H2O/shared-v1.1/doc/validation/subject1_k2_6_cam0.html b/H2O/shared-v1.1/doc/validation/subject1_k2_6_cam0.html
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+} 源网格 mesh_espresso 源 OBJ 静态预览，不代表物体姿态投影 全部组件元数据 {
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+ "method": "Verified source packet copy or lossless fixed-decoder RGB encoding"
+ },
+ "source_locator": {
+ "frames_ref": "camera/frames.jsonl"
+ },
+ "storage": {
+ "profile": "mkv/h264_rgb_lossless/v1",
+ "codec": "h264",
+ "pixel_format": "gbrp",
+ "encoded_size": [
+ 1280,
+ 720
+ ],
+ "decoder": {
+ "name": "ffmpeg",
+ "version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers",
+ "autorotate": false,
+ "color_space": "gbr",
+ "color_range": "pc",
+ "color_primaries": "unknown",
+ "color_transfer": "unknown",
+ "source_color_metadata": {
+ "color_space": "gbr",
+ "color_range": "pc",
+ "color_primaries": "unknown",
+ "color_transfer": "unknown"
+ }
+ },
+ "encoder_parameters": {
+ "version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers",
+ "name": "libx264rgb",
+ "arguments": [
+ "-crf",
+ "0",
+ "-preset",
+ "medium",
+ "-g",
+ "30"
+ ],
+ "threads": 10,
+ "keyframe_indices": [
+ 0,
+ 30,
+ 60,
+ 90,
+ 120,
+ 150,
+ 180,
+ 210,
+ 240,
+ 270,
+ 300,
+ 330,
+ 360,
+ 390,
+ 420,
+ 450,
+ 480,
+ 510,
+ 540,
+ 570,
+ 600,
+ 630,
+ 660
+ ]
+ },
+ "source_lossy": false,
+ "storage_fps": 30,
+ "timebase_role": "index_only"
+ },
+ "valid_ref": "observation/rgb_valid.pt",
+ "valid_axes": [
+ "T"
+ ]
+ },
+ "intrinsic": {
+ "available": true,
+ "schema_id": "camera/pinhole/v1",
+ "data_ref": "camera/camera.pt",
+ "axes": [
+ "T",
+ "row",
+ "column"
+ ],
+ "provenance": {
+ "kind": "format_conversion",
+ "method": "Copy source annotation; normalize storage only"
+ },
+ "source_locator": {
+ "file": "/data/xuzhefeng/Datasets/Hand-Datasets-Raw/H2O/raw/data/subject1_v1_1.tar.gz",
+ "member": "subject1/k2/6/cam0/cam_intrinsics.txt",
+ "sha256": "93539ea3504778f08dbd4c62d091665eea07ea6f74a15aa820e3bd4489ce017f"
+ },
+ "valid_ref": "camera/camera.pt",
+ "valid_axes": [
+ "T"
+ ],
+ "data_key": [
+ "intrinsic",
+ "data"
+ ],
+ "valid_key": [
+ "intrinsic",
+ "valid"
+ ],
+ "storage": {
+ "profile": "pt/tensor_bundle/v1"
+ },
+ "valid_storage": {
+ "profile": "pt/tensor_bundle/v1"
+ }
+ },
+ "extrinsic": {
+ "available": true,
+ "schema_id": "transform/se3/v1",
+ "data_ref": "camera/camera.pt",
+ "axes": [
+ "T",
+ "row",
+ "column"
+ ],
+ "provenance": {
+ "kind": "format_conversion",
+ "method": "Copy source annotation; normalize storage only"
+ },
+ "source_locator": {
+ "frames_ref": "camera/frames.jsonl",
+ "source_field": "component_sources"
+ },
+ "valid_ref": "camera/camera.pt",
+ "valid_axes": [
+ "T"
+ ],
+ "convention": "T_camera_from_world",
+ "source_convention": "T_world_from_camera",
+ "data_key": [
+ "extrinsic",
+ "data"
+ ],
+ "valid_key": [
+ "extrinsic",
+ "valid"
+ ],
+ "storage": {
+ "profile": "pt/tensor_bundle/v1"
+ },
+ "valid_storage": {
+ "profile": "pt/tensor_bundle/v1"
+ }
+ },
+ "mano": {
+ "available": true,
+ "schema_id": "mano/axis_angle61/v1",
+ "data_ref": "annotation/mano/mano.pt",
+ "axes": [
+ "T",
+ "hand",
+ "parameter"
+ ],
+ "provenance": {
+ "kind": "format_conversion",
+ "method": "Copy source annotation; normalize storage only"
+ },
+ "source_locator": {
+ "frames_ref": "camera/frames.jsonl",
+ "source_field": "component_sources"
+ },
+ "valid_ref": "annotation/mano/mano.pt",
+ "valid_axes": [
+ "T",
+ "hand"
+ ],
+ "model_profile": {
+ "version": "sha256:eab78181e459e156559df334b103d825e00c8711d2eeffee1cc176fb42051f4f",
+ "flat_hand_mean": true,
+ "left_shapedirs_correction": "not_applied",
+ "models": {
+ "left": {
+ "file": "MANO_LEFT.pkl",
+ "sha256": "c4022f7083f2ca7c78b2b3d595abbab52debd32b09d372b16923a801f0ea6a30"
+ },
+ "right": {
+ "file": "MANO_RIGHT.pkl",
+ "sha256": "45d60aa3b27ef9107a7afd4e00808f307fd91111e1cfa35afd5c4a62de264767"
+ }
+ }
+ },
+ "valid_policy": {
+ "revision": "usable-annotation-2026-09-20",
+ "meaning": "annotation usable for supervision, not merely record presence",
+ "source_rule": "Per-hand hand_pose_mano flag equals 1; corresponding side model available",
+ "source_locator": {
+ "frames_ref": "camera/frames.jsonl",
+ "source_field": "component_sources"
+ },
+ "scope": [
+ "T",
+ "hand"
+ ],
+ "numerical_checks": "Schema shape, finite valid floats, SE(3) where applicable; malformed input aborts",
+ "official_qa": {
+ "status": "not_provided",
+ "reason": "No separate applicable official QA in selected source inputs"
+ },
+ "local_excluded_frame_indices": [],
+ "local_exclusion_reasons": {},
+ "visibility_independent": true
+ },
+ "data_key": [
+ "motion",
+ "data"
+ ],
+ "valid_key": [
+ "motion",
+ "valid"
+ ],
+ "storage": {
+ "profile": "pt/tensor_bundle/v1"
+ },
+ "valid_storage": {
+ "profile": "pt/tensor_bundle/v1"
+ }
+ },
+ "keypoints_xyz": {
+ "available": true,
+ "schema_id": "keypoints/xyz/v1",
+ "data_ref": "annotation/keypoints/keypoints.pt",
+ "axes": [
+ "T",
+ "hand",
+ "keypoint",
+ "coordinate"
+ ],
+ "provenance": {
+ "kind": "format_conversion",
+ "method": "Copy source annotation; normalize storage only"
+ },
+ "source_locator": {
+ "frames_ref": "camera/frames.jsonl",
+ "source_field": "component_sources"
+ },
+ "valid_ref": "annotation/keypoints/keypoints.pt",
+ "valid_axes": [
+ "T",
+ "hand",
+ "keypoint"
+ ],
+ "keypoint_schema": "mano21/v1",
+ "unit": "m",
+ "valid_policy": {
+ "revision": "usable-annotation-2026-09-20",
+ "meaning": "annotation usable for supervision, not merely record presence",
+ "source_rule": "Per-hand hand_pose flag equals 1, broadcast to that hand's 21 source points independently of MANO",
+ "source_locator": {
+ "frames_ref": "camera/frames.jsonl",
+ "source_field": "component_sources"
+ },
+ "scope": [
+ "T",
+ "hand",
+ "keypoint"
+ ],
+ "numerical_checks": "Schema shape, finite valid floats, SE(3) where applicable; malformed input aborts",
+ "official_qa": {
+ "status": "not_provided",
+ "reason": "No separate applicable official QA in selected source inputs"
+ },
+ "local_excluded_frame_indices": [],
+ "local_exclusion_reasons": {},
+ "visibility_independent": true
+ },
+ "data_key": [
+ "xyz",
+ "data"
+ ],
+ "valid_key": [
+ "xyz",
+ "valid"
+ ],
+ "storage": {
+ "profile": "pt/tensor_bundle/v1"
+ },
+ "valid_storage": {
+ "profile": "pt/tensor_bundle/v1"
+ }
+ },
+ "pose_espresso": {
+ "available": true,
+ "schema_id": "object/rigid/v1",
+ "data_ref": "annotation/object/espresso/object.pt",
+ "axes": [
+ "T",
+ "row",
+ "column"
+ ],
+ "provenance": {
+ "kind": "format_conversion",
+ "method": "Copy source annotation; normalize storage only"
+ },
+ "source_locator": {
+ "frames_ref": "camera/frames.jsonl",
+ "source_field": "component_sources"
+ },
+ "valid_ref": "annotation/object/espresso/object.pt",
+ "valid_axes": [
+ "T"
+ ],
+ "convention": "T_camera_from_object",
+ "unit": "m",
+ "valid_policy": {
+ "revision": "usable-annotation-2026-09-20",
+ "meaning": "annotation usable for supervision, not merely record presence",
+ "source_rule": "Source obj_pose_rt class equals this nonzero object class",
+ "source_locator": {
+ "frames_ref": "camera/frames.jsonl",
+ "source_field": "component_sources"
+ },
+ "scope": [
+ "T"
+ ],
+ "numerical_checks": "Schema shape, finite valid floats, SE(3) where applicable; malformed input aborts",
+ "official_qa": {
+ "status": "not_provided",
+ "reason": "No separate applicable official QA in selected source inputs"
+ },
+ "local_excluded_frame_indices": [],
+ "local_exclusion_reasons": {},
+ "visibility_independent": true
+ },
+ "data_key": [
+ "pose",
+ "data"
+ ],
+ "valid_key": [
+ "pose",
+ "valid"
+ ],
+ "storage": {
+ "profile": "pt/tensor_bundle/v1"
+ },
+ "valid_storage": {
+ "profile": "pt/tensor_bundle/v1"
+ }
+ },
+ "points_espresso": {
+ "available": true,
+ "schema_id": "object_keypoints/camera/v1",
+ "data_ref": "annotation/object/espresso/object.pt",
+ "axes": [
+ "T",
+ "keypoint",
+ "coordinate"
+ ],
+ "provenance": {
+ "kind": "format_conversion",
+ "method": "Copy source annotation; normalize storage only"
+ },
+ "source_locator": {
+ "frames_ref": "camera/frames.jsonl",
+ "source_field": "component_sources"
+ },
+ "valid_ref": "annotation/object/espresso/object.pt",
+ "valid_axes": [
+ "T",
+ "keypoint"
+ ],
+ "keypoint_schema": "H2O_official_object21",
+ "keypoint_names": [
+ "center",
+ "corner_0",
+ "corner_1",
+ "corner_2",
+ "corner_3",
+ "corner_4",
+ "corner_5",
+ "corner_6",
+ "corner_7",
+ "edge_midpoint_0",
+ "edge_midpoint_1",
+ "edge_midpoint_2",
+ "edge_midpoint_3",
+ "edge_midpoint_4",
+ "edge_midpoint_5",
+ "edge_midpoint_6",
+ "edge_midpoint_7",
+ "edge_midpoint_8",
+ "edge_midpoint_9",
+ "edge_midpoint_10",
+ "edge_midpoint_11"
+ ],
+ "source_order": "official obj_point_order.jpg: center, 8 corners, 12 edge midpoints",
+ "unit": "m",
+ "valid_policy": {
+ "revision": "usable-annotation-2026-09-20",
+ "meaning": "annotation usable for supervision, not merely record presence",
+ "source_rule": "Source obj_pose class equals this nonzero object class, broadcast to its 21 points",
+ "source_locator": {
+ "frames_ref": "camera/frames.jsonl",
+ "source_field": "component_sources"
+ },
+ "scope": [
+ "T",
+ "keypoint"
+ ],
+ "numerical_checks": "Schema shape, finite valid floats, SE(3) where applicable; malformed input aborts",
+ "official_qa": {
+ "status": "not_provided",
+ "reason": "No separate applicable official QA in selected source inputs"
+ },
+ "local_excluded_frame_indices": [],
+ "local_exclusion_reasons": {},
+ "visibility_independent": true
+ },
+ "data_key": [
+ "keypoints",
+ "xyz",
+ "data"
+ ],
+ "valid_key": [
+ "keypoints",
+ "xyz",
+ "valid"
+ ],
+ "storage": {
+ "profile": "pt/tensor_bundle/v1"
+ },
+ "valid_storage": {
+ "profile": "pt/tensor_bundle/v1"
+ }
+ },
+ "mesh_espresso": {
+ "available": true,
+ "schema_id": "mesh/obj/v1",
+ "data_ref": "annotation/object/espresso/assets/espresso.obj",
+ "axes": [
+ "vertex"
+ ],
+ "provenance": {
+ "kind": "format_conversion",
+ "method": "Copy source annotation; normalize storage only"
+ },
+ "source_locator": {
+ "file": "/data/xuzhefeng/Datasets/Hand-Datasets-Raw/H2O/raw/data/object.zip",
+ "member": "object/espresso/espresso.obj"
+ },
+ "valid": true,
+ "unit": "m"
+ },
+ "depth": {
+ "available": true,
+ "schema_id": "depth/z_float32/v1",
+ "data_ref": "observation/depth.mkv",
+ "axes": [
+ "T",
+ "height",
+ "width"
+ ],
+ "provenance": {
+ "kind": "format_conversion",
+ "method": "Copy source annotation; normalize storage only"
+ },
+ "source_locator": {
+ "frames_ref": "camera/frames.jsonl",
+ "source_field": "component_sources.depth",
+ "definition": "https://github.com/taeinkwon/h2oplayer/blob/main/utils.py",
+ "conversion": "registered millimetre camera-Z to metres; no viewer range clipping"
+ },
+ "storage": {
+ "profile": "mkv/depth_float32_bits/v1",
+ "codec": "ffv1",
+ "pixel_format": "gray16le",
+ "encoded_size": [
+ 2560,
+ 720
+ ],
+ "decoder": {
+ "name": "ffmpeg",
+ "version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers",
+ "autorotate": false,
+ "color_space": "unknown",
+ "color_range": "unknown",
+ "color_primaries": "unknown",
+ "color_transfer": "unknown"
+ },
+ "encoder_parameters": {
+ "version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers",
+ "name": "ffv1",
+ "arguments": [
+ "-level",
+ "3",
+ "-slices",
+ "16"
+ ],
+ "threads": 10
+ },
+ "source_lossy": false,
+ "storage_fps": 30,
+ "timebase_role": "index_only"
+ },
+ "valid_storage": {
+ "profile": "mkv/bool_ffv1/v1",
+ "codec": "ffv1",
+ "pixel_format": "gray",
+ "encoded_size": [
+ 1280,
+ 720
+ ],
+ "decoder": {
+ "name": "ffmpeg",
+ "version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers",
+ "autorotate": false,
+ "color_space": "unknown",
+ "color_range": "unknown",
+ "color_primaries": "unknown",
+ "color_transfer": "unknown"
+ },
+ "encoder_parameters": {
+ "version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers",
+ "name": "ffv1",
+ "arguments": [
+ "-level",
+ "3",
+ "-slices",
+ "16"
+ ],
+ "threads": 10
+ },
+ "source_lossy": false,
+ "storage_fps": 30,
+ "timebase_role": "index_only"
+ },
+ "valid_ref": "observation/depth_valid.mkv",
+ "valid_axes": [
+ "T",
+ "height",
+ "width"
+ ],
+ "unit": "m",
+ "depth_type": "z",
+ "depth_origin": "measured",
+ "invalid_value": "NaN"
+ },
+ "segment": {
+ "available": false,
+ "reason": "H2O provides no native segmentation; rendering deferred to v2.0",
+ "status": "source_missing"
+ },
+ "relations": {
+ "available": false,
+ "reason": "No source contact/grasp annotation",
+ "status": "source_missing"
+ }
+ },
+ "split": "train",
+ "view_type": "exo",
+ "split_scheme": "official_action_split",
+ "split_source_locator": {
+ "file": "/data/xuzhefeng/Datasets/Hand-Datasets-Raw/H2O/raw/data/label_split.zip",
+ "member": "label_split/action_train.txt",
+ "record": 153
+ }
+} 持久化 QC {
+ "num_frames": 678,
+ "numeric_components": {
+ "intrinsic": {
+ "shape": [
+ 678,
+ 3,
+ 3
+ ],
+ "dtype": "torch.float32",
+ "valid_true": 678,
+ "valid_total": 678
+ },
+ "extrinsic": {
+ "shape": [
+ 678,
+ 4,
+ 4
+ ],
+ "dtype": "torch.float32",
+ "valid_true": 678,
+ "valid_total": 678
+ },
+ "mano": {
+ "shape": [
+ 678,
+ 2,
+ 61
+ ],
+ "dtype": "torch.float32",
+ "valid_true": 1356,
+ "valid_total": 1356
+ },
+ "keypoints_xyz": {
+ "shape": [
+ 678,
+ 2,
+ 21,
+ 3
+ ],
+ "dtype": "torch.float32",
+ "valid_true": 28476,
+ "valid_total": 28476
+ },
+ "pose_espresso": {
+ "shape": [
+ 678,
+ 4,
+ 4
+ ],
+ "dtype": "torch.float32",
+ "valid_true": 678,
+ "valid_total": 678
+ },
+ "points_espresso": {
+ "shape": [
+ 678,
+ 21,
+ 3
+ ],
+ "dtype": "torch.float32",
+ "valid_true": 14238,
+ "valid_total": 14238
+ }
+ },
+ "bundle_files": 4,
+ "scope": "v1.1 registry, keys, shapes, validity and timeline; not a media pixel comparison",
+ "selected_frames": [
+ 0,
+ 169,
+ 339,
+ 508,
+ 677
+ ],
+ "preview_media": [
+ "rgb",
+ "depth",
+ "depth_valid"
+ ],
+ "decode_scope": "only selected frames emitted; sequential decoding may traverse earlier frames, no full-video pixel comparison"
+} subject1_k2_6_cam1 subject1_k2_6_cam1 直接读取 v1.1 bundle；预览只作人工核查。手／物体点来自源 3D 标注，仅为显示投影到 RGB；未生成新 UV、分割或接触标注。
帧 0 / 678 原生 RGB（仅预览缩放） RGB + 原生 3D 关键点投影（仅预览：keypoints_xyz #00e6ff, points_espresso #ff48a4） 深度 Z，黑=无效，白≥3 m；不改源深度 原深度逐像素 valid：白=有效，黑=无效，不是深度值 原帧号、全部数值标注及有效性 {
+ "frame": {
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+ "sync_id": "subject1/k2/6:0",
+ "source_locator": {
+ "file": "/data/xuzhefeng/Datasets/Hand-Datasets-Raw/H2O/raw/data/subject1_v1_1.tar.gz",
+ "member": "subject1/k2/6/cam1/rgb/000000.png",
+ "sha256": "dd7d3f598b73c0bc8c6731848c4e04fb097f3d9df8532b7bde92cf81efe4f3c5"
+ },
+ "component_sources": {
+ "hand_pose_mano": {
+ "file": "/data/xuzhefeng/Datasets/Hand-Datasets-Raw/H2O/raw/data/subject1_v1_1.tar.gz",
+ "member": "subject1/k2/6/cam1/hand_pose_mano/000000.txt",
+ "sha256": "fb9a549f49da7111bb3660219708bef6c631dcd950670bb5a56e10a174d3a744"
+ },
+ "hand_pose": {
+ "file": "/data/xuzhefeng/Datasets/Hand-Datasets-Raw/H2O/raw/data/subject1_v1_1.tar.gz",
+ "member": "subject1/k2/6/cam1/hand_pose/000000.txt",
+ "sha256": "c8a8cab4eed5d49c97c8c2712764380ec422339874228ffc9b42874318021005"
+ },
+ "depth": {
+ "file": "/data/xuzhefeng/Datasets/Hand-Datasets-Raw/H2O/raw/data/subject1_v1_1.tar.gz",
+ "member": "subject1/k2/6/cam1/depth/000000.png",
+ "sha256": "d4c954722e40b140a2417803dd964b330fe52b3b265c35b6efea0f4d24c930f2"
+ },
+ "cam_pose": {
+ "file": "/data/xuzhefeng/Datasets/Hand-Datasets-Raw/H2O/raw/data/subject1_v1_1.tar.gz",
+ "member": "subject1/k2/6/cam1/cam_pose/000000.txt",
+ "sha256": "73f53d6b50de7b6f97dc02d61eb40d111ea3ccfd53129f581f4bf36ca0e8d8e8"
+ },
+ "obj_pose": {
+ "file": "/data/xuzhefeng/Datasets/Hand-Datasets-Raw/H2O/raw/data/subject1_v1_1.tar.gz",
+ "member": "subject1/k2/6/cam1/obj_pose/000000.txt",
+ "sha256": "1b3fe3d0585c25893cdd499833729a0e8856e5a9c393e132bdbe91c5396fc455"
+ },
+ "obj_pose_rt": {
+ "file": "/data/xuzhefeng/Datasets/Hand-Datasets-Raw/H2O/raw/data/subject1_v1_1.tar.gz",
+ "member": "subject1/k2/6/cam1/obj_pose_rt/000000.txt",
+ "sha256": "4963571c2481b04ba2e620926b73b438b7430ae0881bbcf4708b71199294924f"
+ },
+ "rgb": {
+ "file": "/data/xuzhefeng/Datasets/Hand-Datasets-Raw/H2O/raw/data/subject1_v1_1.tar.gz",
+ "member": "subject1/k2/6/cam1/rgb/000000.png",
+ "sha256": "dd7d3f598b73c0bc8c6731848c4e04fb097f3d9df8532b7bde92cf81efe4f3c5"
+ }
+ },
+ "annotation_matches": {
+ "hand_pose_mano": {
+ "source_frame_id": 0,
+ "source_timestamp_ns": null,
+ "clock_domain": null,
+ "match_method": "index_map",
+ "delta_ns": null
+ },
+ "hand_pose": {
+ "source_frame_id": 0,
+ "source_timestamp_ns": null,
+ "clock_domain": null,
+ "match_method": "index_map",
+ "delta_ns": null
+ },
+ "depth": {
+ "source_frame_id": 0,
+ "source_timestamp_ns": null,
+ "clock_domain": null,
+ "match_method": "index_map",
+ "delta_ns": null
+ },
+ "cam_pose": {
+ "source_frame_id": 0,
+ "source_timestamp_ns": null,
+ "clock_domain": null,
+ "match_method": "index_map",
+ "delta_ns": null
+ },
+ "obj_pose": {
+ "source_frame_id": 0,
+ "source_timestamp_ns": null,
+ "clock_domain": null,
+ "match_method": "index_map",
+ "delta_ns": null
+ },
+ "obj_pose_rt": {
+ "source_frame_id": 0,
+ "source_timestamp_ns": null,
+ "clock_domain": null,
+ "match_method": "index_map",
+ "delta_ns": null
+ }
+ },
+ "frame_index": 0,
+ "timestamp_ns": null,
+ "clock_domain": null
+ },
+ "rgb_valid": true,
+ "intrinsic": {
+ "value": [
+ [
+ 636.356689453125,
+ 0.0,
+ 635.5181274414062
+ ],
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+} 源网格 mesh_espresso 源 OBJ 静态预览，不代表物体姿态投影 全部组件元数据 {
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+ "valid_storage": {
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+ "codec": "ffv1",
+ "pixel_format": "gray",
+ "encoded_size": [
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+ "decoder": {
+ "name": "ffmpeg",
+ "version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers",
+ "autorotate": false,
+ "color_space": "unknown",
+ "color_range": "unknown",
+ "color_primaries": "unknown",
+ "color_transfer": "unknown"
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+ "encoder_parameters": {
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+ "name": "ffv1",
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+ "threads": 10
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+ "source_lossy": false,
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+ "valid_axes": [
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+ "segment": {
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+ "status": "source_missing"
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+ "status": "source_missing"
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+ "record": 153
+ }
+} 持久化 QC {
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+ "bundle_files": 4,
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+ "preview_media": [
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+ "decode_scope": "only selected frames emitted; sequential decoding may traverse earlier frames, no full-video pixel comparison"
+} subject1_k2_6_cam2 subject1_k2_6_cam2 直接读取 v1.1 bundle；预览只作人工核查。手／物体点来自源 3D 标注，仅为显示投影到 RGB；未生成新 UV、分割或接触标注。
帧 0 / 678 原生 RGB（仅预览缩放） RGB + 原生 3D 关键点投影（仅预览：keypoints_xyz #00e6ff, points_espresso #ff48a4） 深度 Z，黑=无效，白≥3 m；不改源深度 原深度逐像素 valid：白=有效，黑=无效，不是深度值 原帧号、全部数值标注及有效性 {
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+} 源网格 mesh_espresso 源 OBJ 静态预览，不代表物体姿态投影 全部组件元数据 {
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+ "sha256": "45d60aa3b27ef9107a7afd4e00808f307fd91111e1cfa35afd5c4a62de264767"
+ }
+ }
+ },
+ "valid_policy": {
+ "revision": "usable-annotation-2026-09-20",
+ "meaning": "annotation usable for supervision, not merely record presence",
+ "source_rule": "Per-hand hand_pose_mano flag equals 1; corresponding side model available",
+ "source_locator": {
+ "frames_ref": "camera/frames.jsonl",
+ "source_field": "component_sources"
+ },
+ "scope": [
+ "T",
+ "hand"
+ ],
+ "numerical_checks": "Schema shape, finite valid floats, SE(3) where applicable; malformed input aborts",
+ "official_qa": {
+ "status": "not_provided",
+ "reason": "No separate applicable official QA in selected source inputs"
+ },
+ "local_excluded_frame_indices": [],
+ "local_exclusion_reasons": {},
+ "visibility_independent": true
+ },
+ "data_key": [
+ "motion",
+ "data"
+ ],
+ "valid_key": [
+ "motion",
+ "valid"
+ ],
+ "storage": {
+ "profile": "pt/tensor_bundle/v1"
+ },
+ "valid_storage": {
+ "profile": "pt/tensor_bundle/v1"
+ }
+ },
+ "keypoints_xyz": {
+ "available": true,
+ "schema_id": "keypoints/xyz/v1",
+ "data_ref": "annotation/keypoints/keypoints.pt",
+ "axes": [
+ "T",
+ "hand",
+ "keypoint",
+ "coordinate"
+ ],
+ "provenance": {
+ "kind": "format_conversion",
+ "method": "Copy source annotation; normalize storage only"
+ },
+ "source_locator": {
+ "frames_ref": "camera/frames.jsonl",
+ "source_field": "component_sources"
+ },
+ "valid_ref": "annotation/keypoints/keypoints.pt",
+ "valid_axes": [
+ "T",
+ "hand",
+ "keypoint"
+ ],
+ "keypoint_schema": "mano21/v1",
+ "unit": "m",
+ "valid_policy": {
+ "revision": "usable-annotation-2026-09-20",
+ "meaning": "annotation usable for supervision, not merely record presence",
+ "source_rule": "Per-hand hand_pose flag equals 1, broadcast to that hand's 21 source points independently of MANO",
+ "source_locator": {
+ "frames_ref": "camera/frames.jsonl",
+ "source_field": "component_sources"
+ },
+ "scope": [
+ "T",
+ "hand",
+ "keypoint"
+ ],
+ "numerical_checks": "Schema shape, finite valid floats, SE(3) where applicable; malformed input aborts",
+ "official_qa": {
+ "status": "not_provided",
+ "reason": "No separate applicable official QA in selected source inputs"
+ },
+ "local_excluded_frame_indices": [],
+ "local_exclusion_reasons": {},
+ "visibility_independent": true
+ },
+ "data_key": [
+ "xyz",
+ "data"
+ ],
+ "valid_key": [
+ "xyz",
+ "valid"
+ ],
+ "storage": {
+ "profile": "pt/tensor_bundle/v1"
+ },
+ "valid_storage": {
+ "profile": "pt/tensor_bundle/v1"
+ }
+ },
+ "pose_espresso": {
+ "available": true,
+ "schema_id": "object/rigid/v1",
+ "data_ref": "annotation/object/espresso/object.pt",
+ "axes": [
+ "T",
+ "row",
+ "column"
+ ],
+ "provenance": {
+ "kind": "format_conversion",
+ "method": "Copy source annotation; normalize storage only"
+ },
+ "source_locator": {
+ "frames_ref": "camera/frames.jsonl",
+ "source_field": "component_sources"
+ },
+ "valid_ref": "annotation/object/espresso/object.pt",
+ "valid_axes": [
+ "T"
+ ],
+ "convention": "T_camera_from_object",
+ "unit": "m",
+ "valid_policy": {
+ "revision": "usable-annotation-2026-09-20",
+ "meaning": "annotation usable for supervision, not merely record presence",
+ "source_rule": "Source obj_pose_rt class equals this nonzero object class",
+ "source_locator": {
+ "frames_ref": "camera/frames.jsonl",
+ "source_field": "component_sources"
+ },
+ "scope": [
+ "T"
+ ],
+ "numerical_checks": "Schema shape, finite valid floats, SE(3) where applicable; malformed input aborts",
+ "official_qa": {
+ "status": "not_provided",
+ "reason": "No separate applicable official QA in selected source inputs"
+ },
+ "local_excluded_frame_indices": [],
+ "local_exclusion_reasons": {},
+ "visibility_independent": true
+ },
+ "data_key": [
+ "pose",
+ "data"
+ ],
+ "valid_key": [
+ "pose",
+ "valid"
+ ],
+ "storage": {
+ "profile": "pt/tensor_bundle/v1"
+ },
+ "valid_storage": {
+ "profile": "pt/tensor_bundle/v1"
+ }
+ },
+ "points_espresso": {
+ "available": true,
+ "schema_id": "object_keypoints/camera/v1",
+ "data_ref": "annotation/object/espresso/object.pt",
+ "axes": [
+ "T",
+ "keypoint",
+ "coordinate"
+ ],
+ "provenance": {
+ "kind": "format_conversion",
+ "method": "Copy source annotation; normalize storage only"
+ },
+ "source_locator": {
+ "frames_ref": "camera/frames.jsonl",
+ "source_field": "component_sources"
+ },
+ "valid_ref": "annotation/object/espresso/object.pt",
+ "valid_axes": [
+ "T",
+ "keypoint"
+ ],
+ "keypoint_schema": "H2O_official_object21",
+ "keypoint_names": [
+ "center",
+ "corner_0",
+ "corner_1",
+ "corner_2",
+ "corner_3",
+ "corner_4",
+ "corner_5",
+ "corner_6",
+ "corner_7",
+ "edge_midpoint_0",
+ "edge_midpoint_1",
+ "edge_midpoint_2",
+ "edge_midpoint_3",
+ "edge_midpoint_4",
+ "edge_midpoint_5",
+ "edge_midpoint_6",
+ "edge_midpoint_7",
+ "edge_midpoint_8",
+ "edge_midpoint_9",
+ "edge_midpoint_10",
+ "edge_midpoint_11"
+ ],
+ "source_order": "official obj_point_order.jpg: center, 8 corners, 12 edge midpoints",
+ "unit": "m",
+ "valid_policy": {
+ "revision": "usable-annotation-2026-09-20",
+ "meaning": "annotation usable for supervision, not merely record presence",
+ "source_rule": "Source obj_pose class equals this nonzero object class, broadcast to its 21 points",
+ "source_locator": {
+ "frames_ref": "camera/frames.jsonl",
+ "source_field": "component_sources"
+ },
+ "scope": [
+ "T",
+ "keypoint"
+ ],
+ "numerical_checks": "Schema shape, finite valid floats, SE(3) where applicable; malformed input aborts",
+ "official_qa": {
+ "status": "not_provided",
+ "reason": "No separate applicable official QA in selected source inputs"
+ },
+ "local_excluded_frame_indices": [],
+ "local_exclusion_reasons": {},
+ "visibility_independent": true
+ },
+ "data_key": [
+ "keypoints",
+ "xyz",
+ "data"
+ ],
+ "valid_key": [
+ "keypoints",
+ "xyz",
+ "valid"
+ ],
+ "storage": {
+ "profile": "pt/tensor_bundle/v1"
+ },
+ "valid_storage": {
+ "profile": "pt/tensor_bundle/v1"
+ }
+ },
+ "mesh_espresso": {
+ "available": true,
+ "schema_id": "mesh/obj/v1",
+ "data_ref": "annotation/object/espresso/assets/espresso.obj",
+ "axes": [
+ "vertex"
+ ],
+ "provenance": {
+ "kind": "format_conversion",
+ "method": "Copy source annotation; normalize storage only"
+ },
+ "source_locator": {
+ "file": "/data/xuzhefeng/Datasets/Hand-Datasets-Raw/H2O/raw/data/object.zip",
+ "member": "object/espresso/espresso.obj"
+ },
+ "valid": true,
+ "unit": "m"
+ },
+ "depth": {
+ "available": true,
+ "schema_id": "depth/z_float32/v1",
+ "data_ref": "observation/depth.mkv",
+ "axes": [
+ "T",
+ "height",
+ "width"
+ ],
+ "provenance": {
+ "kind": "format_conversion",
+ "method": "Copy source annotation; normalize storage only"
+ },
+ "source_locator": {
+ "frames_ref": "camera/frames.jsonl",
+ "source_field": "component_sources.depth",
+ "definition": "https://github.com/taeinkwon/h2oplayer/blob/main/utils.py",
+ "conversion": "registered millimetre camera-Z to metres; no viewer range clipping"
+ },
+ "storage": {
+ "profile": "mkv/depth_float32_bits/v1",
+ "codec": "ffv1",
+ "pixel_format": "gray16le",
+ "encoded_size": [
+ 2560,
+ 720
+ ],
+ "decoder": {
+ "name": "ffmpeg",
+ "version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers",
+ "autorotate": false,
+ "color_space": "unknown",
+ "color_range": "unknown",
+ "color_primaries": "unknown",
+ "color_transfer": "unknown"
+ },
+ "encoder_parameters": {
+ "version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers",
+ "name": "ffv1",
+ "arguments": [
+ "-level",
+ "3",
+ "-slices",
+ "16"
+ ],
+ "threads": 10
+ },
+ "source_lossy": false,
+ "storage_fps": 30,
+ "timebase_role": "index_only"
+ },
+ "valid_storage": {
+ "profile": "mkv/bool_ffv1/v1",
+ "codec": "ffv1",
+ "pixel_format": "gray",
+ "encoded_size": [
+ 1280,
+ 720
+ ],
+ "decoder": {
+ "name": "ffmpeg",
+ "version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers",
+ "autorotate": false,
+ "color_space": "unknown",
+ "color_range": "unknown",
+ "color_primaries": "unknown",
+ "color_transfer": "unknown"
+ },
+ "encoder_parameters": {
+ "version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers",
+ "name": "ffv1",
+ "arguments": [
+ "-level",
+ "3",
+ "-slices",
+ "16"
+ ],
+ "threads": 10
+ },
+ "source_lossy": false,
+ "storage_fps": 30,
+ "timebase_role": "index_only"
+ },
+ "valid_ref": "observation/depth_valid.mkv",
+ "valid_axes": [
+ "T",
+ "height",
+ "width"
+ ],
+ "unit": "m",
+ "depth_type": "z",
+ "depth_origin": "measured",
+ "invalid_value": "NaN"
+ },
+ "segment": {
+ "available": false,
+ "reason": "H2O provides no native segmentation; rendering deferred to v2.0",
+ "status": "source_missing"
+ },
+ "relations": {
+ "available": false,
+ "reason": "No source contact/grasp annotation",
+ "status": "source_missing"
+ }
+ },
+ "split": "train",
+ "view_type": "exo",
+ "split_scheme": "official_action_split",
+ "split_source_locator": {
+ "file": "/data/xuzhefeng/Datasets/Hand-Datasets-Raw/H2O/raw/data/label_split.zip",
+ "member": "label_split/action_train.txt",
+ "record": 153
+ }
+} 持久化 QC {
+ "num_frames": 678,
+ "numeric_components": {
+ "intrinsic": {
+ "shape": [
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+ 3,
+ 3
+ ],
+ "dtype": "torch.float32",
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+ "valid_total": 678
+ },
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+ 4,
+ 4
+ ],
+ "dtype": "torch.float32",
+ "valid_true": 678,
+ "valid_total": 678
+ },
+ "mano": {
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+ "dtype": "torch.float32",
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+ "valid_total": 1356
+ },
+ "keypoints_xyz": {
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+ ],
+ "dtype": "torch.float32",
+ "valid_true": 28476,
+ "valid_total": 28476
+ },
+ "pose_espresso": {
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+ ],
+ "dtype": "torch.float32",
+ "valid_true": 678,
+ "valid_total": 678
+ },
+ "points_espresso": {
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+ "dtype": "torch.float32",
+ "valid_true": 14238,
+ "valid_total": 14238
+ }
+ },
+ "bundle_files": 4,
+ "scope": "v1.1 registry, keys, shapes, validity and timeline; not a media pixel comparison",
+ "selected_frames": [
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+ "preview_media": [
+ "rgb",
+ "depth",
+ "depth_valid"
+ ],
+ "decode_scope": "only selected frames emitted; sequential decoding may traverse earlier frames, no full-video pixel comparison"
+} subject1_k2_6_cam3 subject1_k2_6_cam3 直接读取 v1.1 bundle；预览只作人工核查。手／物体点来自源 3D 标注，仅为显示投影到 RGB；未生成新 UV、分割或接触标注。
帧 0 / 678 原生 RGB（仅预览缩放） RGB + 原生 3D 关键点投影（仅预览：keypoints_xyz #00e6ff, points_espresso #ff48a4） 深度 Z，黑=无效，白≥3 m；不改源深度 原深度逐像素 valid：白=有效，黑=无效，不是深度值 原帧号、全部数值标注及有效性 {
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+ "points_espresso": {
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+ ],
+ "valid": [
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+ true,
+ true,
+ true,
+ true,
+ true,
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+ true,
+ true,
+ true,
+ true,
+ true,
+ true,
+ true,
+ true,
+ true,
+ true,
+ true,
+ true
+ ]
+ }
+} 源网格 mesh_espresso 源 OBJ 静态预览，不代表物体姿态投影 全部组件元数据 {
+ "schema_version": "hand-warehouse/1.1",
+ "dataset_id": "H2O",
+ "release_id": "shared-v1.1",
+ "sequence_id": "subject1_k2_6",
+ "camera_id": "cam3",
+ "sample_type": "video",
+ "num_frames": 678,
+ "hand_slots": [
+ "left",
+ "right"
+ ],
+ "sampling": {
+ "type": "dense",
+ "source_fps": null,
+ "frames_ref": "camera/frames.jsonl",
+ "selection": {
+ "max_frames": null,
+ "views": null
+ }
+ },
+ "camera": {
+ "model": "pinhole",
+ "schema_id": "camera/pinhole/v1",
+ "image_size": [
+ 1280,
+ 720
+ ]
+ },
+ "components": {
+ "rgb": {
+ "available": true,
+ "schema_id": "rgb/uint8/v1",
+ "data_ref": "observation/rgb.mkv",
+ "axes": [
+ "T",
+ "height",
+ "width",
+ "channel"
+ ],
+ "provenance": {
+ "kind": "format_conversion",
+ "method": "Verified source packet copy or lossless fixed-decoder RGB encoding"
+ },
+ "source_locator": {
+ "frames_ref": "camera/frames.jsonl"
+ },
+ "storage": {
+ "profile": "mkv/ffv1_rgb/v1",
+ "codec": "ffv1",
+ "pixel_format": "bgr0",
+ "encoded_size": [
+ 1280,
+ 720
+ ],
+ "decoder": {
+ "name": "ffmpeg",
+ "version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers",
+ "autorotate": false,
+ "color_space": "gbr",
+ "color_range": "pc",
+ "color_primaries": "unknown",
+ "color_transfer": "unknown",
+ "source_color_metadata": {
+ "color_space": "gbr",
+ "color_range": "pc",
+ "color_primaries": "unknown",
+ "color_transfer": "unknown"
+ }
+ },
+ "encoder_parameters": {
+ "version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers",
+ "name": "ffv1",
+ "arguments": [
+ "-level",
+ "3",
+ "-pix_fmt",
+ "bgr0",
+ "-level",
+ "3",
+ "-slices",
+ "16"
+ ],
+ "threads": 10
+ },
+ "source_lossy": false,
+ "storage_fps": 30,
+ "timebase_role": "index_only"
+ },
+ "valid_ref": "observation/rgb_valid.pt",
+ "valid_axes": [
+ "T"
+ ]
+ },
+ "intrinsic": {
+ "available": true,
+ "schema_id": "camera/pinhole/v1",
+ "data_ref": "camera/camera.pt",
+ "axes": [
+ "T",
+ "row",
+ "column"
+ ],
+ "provenance": {
+ "kind": "format_conversion",
+ "method": "Copy source annotation; normalize storage only"
+ },
+ "source_locator": {
+ "file": "/data/xuzhefeng/Datasets/Hand-Datasets-Raw/H2O/raw/data/subject1_v1_1.tar.gz",
+ "member": "subject1/k2/6/cam3/cam_intrinsics.txt",
+ "sha256": "f406b977e4559315cefa9088f607eb353d1f28529e81d1eb2ad90ce948c5b8de"
+ },
+ "valid_ref": "camera/camera.pt",
+ "valid_axes": [
+ "T"
+ ],
+ "data_key": [
+ "intrinsic",
+ "data"
+ ],
+ "valid_key": [
+ "intrinsic",
+ "valid"
+ ],
+ "storage": {
+ "profile": "pt/tensor_bundle/v1"
+ },
+ "valid_storage": {
+ "profile": "pt/tensor_bundle/v1"
+ }
+ },
+ "extrinsic": {
+ "available": true,
+ "schema_id": "transform/se3/v1",
+ "data_ref": "camera/camera.pt",
+ "axes": [
+ "T",
+ "row",
+ "column"
+ ],
+ "provenance": {
+ "kind": "format_conversion",
+ "method": "Copy source annotation; normalize storage only"
+ },
+ "source_locator": {
+ "frames_ref": "camera/frames.jsonl",
+ "source_field": "component_sources"
+ },
+ "valid_ref": "camera/camera.pt",
+ "valid_axes": [
+ "T"
+ ],
+ "convention": "T_camera_from_world",
+ "source_convention": "T_world_from_camera",
+ "data_key": [
+ "extrinsic",
+ "data"
+ ],
+ "valid_key": [
+ "extrinsic",
+ "valid"
+ ],
+ "storage": {
+ "profile": "pt/tensor_bundle/v1"
+ },
+ "valid_storage": {
+ "profile": "pt/tensor_bundle/v1"
+ }
+ },
+ "mano": {
+ "available": true,
+ "schema_id": "mano/axis_angle61/v1",
+ "data_ref": "annotation/mano/mano.pt",
+ "axes": [
+ "T",
+ "hand",
+ "parameter"
+ ],
+ "provenance": {
+ "kind": "format_conversion",
+ "method": "Copy source annotation; normalize storage only"
+ },
+ "source_locator": {
+ "frames_ref": "camera/frames.jsonl",
+ "source_field": "component_sources"
+ },
+ "valid_ref": "annotation/mano/mano.pt",
+ "valid_axes": [
+ "T",
+ "hand"
+ ],
+ "model_profile": {
+ "version": "sha256:eab78181e459e156559df334b103d825e00c8711d2eeffee1cc176fb42051f4f",
+ "flat_hand_mean": true,
+ "left_shapedirs_correction": "not_applied",
+ "models": {
+ "left": {
+ "file": "MANO_LEFT.pkl",
+ "sha256": "c4022f7083f2ca7c78b2b3d595abbab52debd32b09d372b16923a801f0ea6a30"
+ },
+ "right": {
+ "file": "MANO_RIGHT.pkl",
+ "sha256": "45d60aa3b27ef9107a7afd4e00808f307fd91111e1cfa35afd5c4a62de264767"
+ }
+ }
+ },
+ "valid_policy": {
+ "revision": "usable-annotation-2026-09-20",
+ "meaning": "annotation usable for supervision, not merely record presence",
+ "source_rule": "Per-hand hand_pose_mano flag equals 1; corresponding side model available",
+ "source_locator": {
+ "frames_ref": "camera/frames.jsonl",
+ "source_field": "component_sources"
+ },
+ "scope": [
+ "T",
+ "hand"
+ ],
+ "numerical_checks": "Schema shape, finite valid floats, SE(3) where applicable; malformed input aborts",
+ "official_qa": {
+ "status": "not_provided",
+ "reason": "No separate applicable official QA in selected source inputs"
+ },
+ "local_excluded_frame_indices": [],
+ "local_exclusion_reasons": {},
+ "visibility_independent": true
+ },
+ "data_key": [
+ "motion",
+ "data"
+ ],
+ "valid_key": [
+ "motion",
+ "valid"
+ ],
+ "storage": {
+ "profile": "pt/tensor_bundle/v1"
+ },
+ "valid_storage": {
+ "profile": "pt/tensor_bundle/v1"
+ }
+ },
+ "keypoints_xyz": {
+ "available": true,
+ "schema_id": "keypoints/xyz/v1",
+ "data_ref": "annotation/keypoints/keypoints.pt",
+ "axes": [
+ "T",
+ "hand",
+ "keypoint",
+ "coordinate"
+ ],
+ "provenance": {
+ "kind": "format_conversion",
+ "method": "Copy source annotation; normalize storage only"
+ },
+ "source_locator": {
+ "frames_ref": "camera/frames.jsonl",
+ "source_field": "component_sources"
+ },
+ "valid_ref": "annotation/keypoints/keypoints.pt",
+ "valid_axes": [
+ "T",
+ "hand",
+ "keypoint"
+ ],
+ "keypoint_schema": "mano21/v1",
+ "unit": "m",
+ "valid_policy": {
+ "revision": "usable-annotation-2026-09-20",
+ "meaning": "annotation usable for supervision, not merely record presence",
+ "source_rule": "Per-hand hand_pose flag equals 1, broadcast to that hand's 21 source points independently of MANO",
+ "source_locator": {
+ "frames_ref": "camera/frames.jsonl",
+ "source_field": "component_sources"
+ },
+ "scope": [
+ "T",
+ "hand",
+ "keypoint"
+ ],
+ "numerical_checks": "Schema shape, finite valid floats, SE(3) where applicable; malformed input aborts",
+ "official_qa": {
+ "status": "not_provided",
+ "reason": "No separate applicable official QA in selected source inputs"
+ },
+ "local_excluded_frame_indices": [],
+ "local_exclusion_reasons": {},
+ "visibility_independent": true
+ },
+ "data_key": [
+ "xyz",
+ "data"
+ ],
+ "valid_key": [
+ "xyz",
+ "valid"
+ ],
+ "storage": {
+ "profile": "pt/tensor_bundle/v1"
+ },
+ "valid_storage": {
+ "profile": "pt/tensor_bundle/v1"
+ }
+ },
+ "pose_espresso": {
+ "available": true,
+ "schema_id": "object/rigid/v1",
+ "data_ref": "annotation/object/espresso/object.pt",
+ "axes": [
+ "T",
+ "row",
+ "column"
+ ],
+ "provenance": {
+ "kind": "format_conversion",
+ "method": "Copy source annotation; normalize storage only"
+ },
+ "source_locator": {
+ "frames_ref": "camera/frames.jsonl",
+ "source_field": "component_sources"
+ },
+ "valid_ref": "annotation/object/espresso/object.pt",
+ "valid_axes": [
+ "T"
+ ],
+ "convention": "T_camera_from_object",
+ "unit": "m",
+ "valid_policy": {
+ "revision": "usable-annotation-2026-09-20",
+ "meaning": "annotation usable for supervision, not merely record presence",
+ "source_rule": "Source obj_pose_rt class equals this nonzero object class",
+ "source_locator": {
+ "frames_ref": "camera/frames.jsonl",
+ "source_field": "component_sources"
+ },
+ "scope": [
+ "T"
+ ],
+ "numerical_checks": "Schema shape, finite valid floats, SE(3) where applicable; malformed input aborts",
+ "official_qa": {
+ "status": "not_provided",
+ "reason": "No separate applicable official QA in selected source inputs"
+ },
+ "local_excluded_frame_indices": [],
+ "local_exclusion_reasons": {},
+ "visibility_independent": true
+ },
+ "data_key": [
+ "pose",
+ "data"
+ ],
+ "valid_key": [
+ "pose",
+ "valid"
+ ],
+ "storage": {
+ "profile": "pt/tensor_bundle/v1"
+ },
+ "valid_storage": {
+ "profile": "pt/tensor_bundle/v1"
+ }
+ },
+ "points_espresso": {
+ "available": true,
+ "schema_id": "object_keypoints/camera/v1",
+ "data_ref": "annotation/object/espresso/object.pt",
+ "axes": [
+ "T",
+ "keypoint",
+ "coordinate"
+ ],
+ "provenance": {
+ "kind": "format_conversion",
+ "method": "Copy source annotation; normalize storage only"
+ },
+ "source_locator": {
+ "frames_ref": "camera/frames.jsonl",
+ "source_field": "component_sources"
+ },
+ "valid_ref": "annotation/object/espresso/object.pt",
+ "valid_axes": [
+ "T",
+ "keypoint"
+ ],
+ "keypoint_schema": "H2O_official_object21",
+ "keypoint_names": [
+ "center",
+ "corner_0",
+ "corner_1",
+ "corner_2",
+ "corner_3",
+ "corner_4",
+ "corner_5",
+ "corner_6",
+ "corner_7",
+ "edge_midpoint_0",
+ "edge_midpoint_1",
+ "edge_midpoint_2",
+ "edge_midpoint_3",
+ "edge_midpoint_4",
+ "edge_midpoint_5",
+ "edge_midpoint_6",
+ "edge_midpoint_7",
+ "edge_midpoint_8",
+ "edge_midpoint_9",
+ "edge_midpoint_10",
+ "edge_midpoint_11"
+ ],
+ "source_order": "official obj_point_order.jpg: center, 8 corners, 12 edge midpoints",
+ "unit": "m",
+ "valid_policy": {
+ "revision": "usable-annotation-2026-09-20",
+ "meaning": "annotation usable for supervision, not merely record presence",
+ "source_rule": "Source obj_pose class equals this nonzero object class, broadcast to its 21 points",
+ "source_locator": {
+ "frames_ref": "camera/frames.jsonl",
+ "source_field": "component_sources"
+ },
+ "scope": [
+ "T",
+ "keypoint"
+ ],
+ "numerical_checks": "Schema shape, finite valid floats, SE(3) where applicable; malformed input aborts",
+ "official_qa": {
+ "status": "not_provided",
+ "reason": "No separate applicable official QA in selected source inputs"
+ },
+ "local_excluded_frame_indices": [],
+ "local_exclusion_reasons": {},
+ "visibility_independent": true
+ },
+ "data_key": [
+ "keypoints",
+ "xyz",
+ "data"
+ ],
+ "valid_key": [
+ "keypoints",
+ "xyz",
+ "valid"
+ ],
+ "storage": {
+ "profile": "pt/tensor_bundle/v1"
+ },
+ "valid_storage": {
+ "profile": "pt/tensor_bundle/v1"
+ }
+ },
+ "mesh_espresso": {
+ "available": true,
+ "schema_id": "mesh/obj/v1",
+ "data_ref": "annotation/object/espresso/assets/espresso.obj",
+ "axes": [
+ "vertex"
+ ],
+ "provenance": {
+ "kind": "format_conversion",
+ "method": "Copy source annotation; normalize storage only"
+ },
+ "source_locator": {
+ "file": "/data/xuzhefeng/Datasets/Hand-Datasets-Raw/H2O/raw/data/object.zip",
+ "member": "object/espresso/espresso.obj"
+ },
+ "valid": true,
+ "unit": "m"
+ },
+ "depth": {
+ "available": true,
+ "schema_id": "depth/z_float32/v1",
+ "data_ref": "observation/depth.mkv",
+ "axes": [
+ "T",
+ "height",
+ "width"
+ ],
+ "provenance": {
+ "kind": "format_conversion",
+ "method": "Copy source annotation; normalize storage only"
+ },
+ "source_locator": {
+ "frames_ref": "camera/frames.jsonl",
+ "source_field": "component_sources.depth",
+ "definition": "https://github.com/taeinkwon/h2oplayer/blob/main/utils.py",
+ "conversion": "registered millimetre camera-Z to metres; no viewer range clipping"
+ },
+ "storage": {
+ "profile": "mkv/depth_float32_bits/v1",
+ "codec": "ffv1",
+ "pixel_format": "gray16le",
+ "encoded_size": [
+ 2560,
+ 720
+ ],
+ "decoder": {
+ "name": "ffmpeg",
+ "version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers",
+ "autorotate": false,
+ "color_space": "unknown",
+ "color_range": "unknown",
+ "color_primaries": "unknown",
+ "color_transfer": "unknown"
+ },
+ "encoder_parameters": {
+ "version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers",
+ "name": "ffv1",
+ "arguments": [
+ "-level",
+ "3",
+ "-slices",
+ "16"
+ ],
+ "threads": 10
+ },
+ "source_lossy": false,
+ "storage_fps": 30,
+ "timebase_role": "index_only"
+ },
+ "valid_storage": {
+ "profile": "mkv/bool_ffv1/v1",
+ "codec": "ffv1",
+ "pixel_format": "gray",
+ "encoded_size": [
+ 1280,
+ 720
+ ],
+ "decoder": {
+ "name": "ffmpeg",
+ "version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers",
+ "autorotate": false,
+ "color_space": "unknown",
+ "color_range": "unknown",
+ "color_primaries": "unknown",
+ "color_transfer": "unknown"
+ },
+ "encoder_parameters": {
+ "version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers",
+ "name": "ffv1",
+ "arguments": [
+ "-level",
+ "3",
+ "-slices",
+ "16"
+ ],
+ "threads": 10
+ },
+ "source_lossy": false,
+ "storage_fps": 30,
+ "timebase_role": "index_only"
+ },
+ "valid_ref": "observation/depth_valid.mkv",
+ "valid_axes": [
+ "T",
+ "height",
+ "width"
+ ],
+ "unit": "m",
+ "depth_type": "z",
+ "depth_origin": "measured",
+ "invalid_value": "NaN"
+ },
+ "segment": {
+ "available": false,
+ "reason": "H2O provides no native segmentation; rendering deferred to v2.0",
+ "status": "source_missing"
+ },
+ "relations": {
+ "available": false,
+ "reason": "No source contact/grasp annotation",
+ "status": "source_missing"
+ }
+ },
+ "split": "train",
+ "view_type": "exo",
+ "split_scheme": "official_action_split",
+ "split_source_locator": {
+ "file": "/data/xuzhefeng/Datasets/Hand-Datasets-Raw/H2O/raw/data/label_split.zip",
+ "member": "label_split/action_train.txt",
+ "record": 153
+ }
+} 持久化 QC {
+ "num_frames": 678,
+ "numeric_components": {
+ "intrinsic": {
+ "shape": [
+ 678,
+ 3,
+ 3
+ ],
+ "dtype": "torch.float32",
+ "valid_true": 678,
+ "valid_total": 678
+ },
+ "extrinsic": {
+ "shape": [
+ 678,
+ 4,
+ 4
+ ],
+ "dtype": "torch.float32",
+ "valid_true": 678,
+ "valid_total": 678
+ },
+ "mano": {
+ "shape": [
+ 678,
+ 2,
+ 61
+ ],
+ "dtype": "torch.float32",
+ "valid_true": 1356,
+ "valid_total": 1356
+ },
+ "keypoints_xyz": {
+ "shape": [
+ 678,
+ 2,
+ 21,
+ 3
+ ],
+ "dtype": "torch.float32",
+ "valid_true": 28476,
+ "valid_total": 28476
+ },
+ "pose_espresso": {
+ "shape": [
+ 678,
+ 4,
+ 4
+ ],
+ "dtype": "torch.float32",
+ "valid_true": 678,
+ "valid_total": 678
+ },
+ "points_espresso": {
+ "shape": [
+ 678,
+ 21,
+ 3
+ ],
+ "dtype": "torch.float32",
+ "valid_true": 14238,
+ "valid_total": 14238
+ }
+ },
+ "bundle_files": 4,
+ "scope": "v1.1 registry, keys, shapes, validity and timeline; not a media pixel comparison",
+ "selected_frames": [
+ 0,
+ 169,
+ 339,
+ 508,
+ 677
+ ],
+ "preview_media": [
+ "rgb",
+ "depth",
+ "depth_valid"
+ ],
+ "decode_scope": "only selected frames emitted; sequential decoding may traverse earlier frames, no full-video pixel comparison"
+} subject1_k2_6_cam4 subject1_k2_6_cam4 直接读取 v1.1 bundle；预览只作人工核查。手／物体点来自源 3D 标注，仅为显示投影到 RGB；未生成新 UV、分割或接触标注。
帧 0 / 678 原生 RGB（仅预览缩放） RGB + 原生 3D 关键点投影（仅预览：keypoints_xyz #00e6ff, points_espresso #ff48a4） 深度 Z，黑=无效，白≥3 m；不改源深度 原深度逐像素 valid：白=有效，黑=无效，不是深度值 原帧号、全部数值标注及有效性 {
+ "frame": {
+ "source_frame_id": 0,
+ "sync_id": "subject1/k2/6:0",
+ "source_locator": {
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+} 源网格 mesh_espresso 源 OBJ 静态预览，不代表物体姿态投影 全部组件元数据 {
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+ "reason": "No separate applicable official QA in selected source inputs"
+ },
+ "local_excluded_frame_indices": [],
+ "local_exclusion_reasons": {},
+ "visibility_independent": true
+ },
+ "data_key": [
+ "pose",
+ "data"
+ ],
+ "valid_key": [
+ "pose",
+ "valid"
+ ],
+ "storage": {
+ "profile": "pt/tensor_bundle/v1"
+ },
+ "valid_storage": {
+ "profile": "pt/tensor_bundle/v1"
+ }
+ },
+ "points_espresso": {
+ "available": true,
+ "schema_id": "object_keypoints/camera/v1",
+ "data_ref": "annotation/object/espresso/object.pt",
+ "axes": [
+ "T",
+ "keypoint",
+ "coordinate"
+ ],
+ "provenance": {
+ "kind": "format_conversion",
+ "method": "Copy source annotation; normalize storage only"
+ },
+ "source_locator": {
+ "frames_ref": "camera/frames.jsonl",
+ "source_field": "component_sources"
+ },
+ "valid_ref": "annotation/object/espresso/object.pt",
+ "valid_axes": [
+ "T",
+ "keypoint"
+ ],
+ "keypoint_schema": "H2O_official_object21",
+ "keypoint_names": [
+ "center",
+ "corner_0",
+ "corner_1",
+ "corner_2",
+ "corner_3",
+ "corner_4",
+ "corner_5",
+ "corner_6",
+ "corner_7",
+ "edge_midpoint_0",
+ "edge_midpoint_1",
+ "edge_midpoint_2",
+ "edge_midpoint_3",
+ "edge_midpoint_4",
+ "edge_midpoint_5",
+ "edge_midpoint_6",
+ "edge_midpoint_7",
+ "edge_midpoint_8",
+ "edge_midpoint_9",
+ "edge_midpoint_10",
+ "edge_midpoint_11"
+ ],
+ "source_order": "official obj_point_order.jpg: center, 8 corners, 12 edge midpoints",
+ "unit": "m",
+ "valid_policy": {
+ "revision": "usable-annotation-2026-09-20",
+ "meaning": "annotation usable for supervision, not merely record presence",
+ "source_rule": "Source obj_pose class equals this nonzero object class, broadcast to its 21 points",
+ "source_locator": {
+ "frames_ref": "camera/frames.jsonl",
+ "source_field": "component_sources"
+ },
+ "scope": [
+ "T",
+ "keypoint"
+ ],
+ "numerical_checks": "Schema shape, finite valid floats, SE(3) where applicable; malformed input aborts",
+ "official_qa": {
+ "status": "not_provided",
+ "reason": "No separate applicable official QA in selected source inputs"
+ },
+ "local_excluded_frame_indices": [],
+ "local_exclusion_reasons": {},
+ "visibility_independent": true
+ },
+ "data_key": [
+ "keypoints",
+ "xyz",
+ "data"
+ ],
+ "valid_key": [
+ "keypoints",
+ "xyz",
+ "valid"
+ ],
+ "storage": {
+ "profile": "pt/tensor_bundle/v1"
+ },
+ "valid_storage": {
+ "profile": "pt/tensor_bundle/v1"
+ }
+ },
+ "mesh_espresso": {
+ "available": true,
+ "schema_id": "mesh/obj/v1",
+ "data_ref": "annotation/object/espresso/assets/espresso.obj",
+ "axes": [
+ "vertex"
+ ],
+ "provenance": {
+ "kind": "format_conversion",
+ "method": "Copy source annotation; normalize storage only"
+ },
+ "source_locator": {
+ "file": "/data/xuzhefeng/Datasets/Hand-Datasets-Raw/H2O/raw/data/object.zip",
+ "member": "object/espresso/espresso.obj"
+ },
+ "valid": true,
+ "unit": "m"
+ },
+ "depth": {
+ "available": true,
+ "schema_id": "depth/z_float32/v1",
+ "data_ref": "observation/depth.mkv",
+ "axes": [
+ "T",
+ "height",
+ "width"
+ ],
+ "provenance": {
+ "kind": "format_conversion",
+ "method": "Copy source annotation; normalize storage only"
+ },
+ "source_locator": {
+ "frames_ref": "camera/frames.jsonl",
+ "source_field": "component_sources.depth",
+ "definition": "https://github.com/taeinkwon/h2oplayer/blob/main/utils.py",
+ "conversion": "registered millimetre camera-Z to metres; no viewer range clipping"
+ },
+ "storage": {
+ "profile": "mkv/depth_float32_bits/v1",
+ "codec": "ffv1",
+ "pixel_format": "gray16le",
+ "encoded_size": [
+ 2560,
+ 720
+ ],
+ "decoder": {
+ "name": "ffmpeg",
+ "version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers",
+ "autorotate": false,
+ "color_space": "unknown",
+ "color_range": "unknown",
+ "color_primaries": "unknown",
+ "color_transfer": "unknown"
+ },
+ "encoder_parameters": {
+ "version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers",
+ "name": "ffv1",
+ "arguments": [
+ "-level",
+ "3",
+ "-slices",
+ "16"
+ ],
+ "threads": 10
+ },
+ "source_lossy": false,
+ "storage_fps": 30,
+ "timebase_role": "index_only"
+ },
+ "valid_storage": {
+ "profile": "mkv/bool_ffv1/v1",
+ "codec": "ffv1",
+ "pixel_format": "gray",
+ "encoded_size": [
+ 1280,
+ 720
+ ],
+ "decoder": {
+ "name": "ffmpeg",
+ "version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers",
+ "autorotate": false,
+ "color_space": "unknown",
+ "color_range": "unknown",
+ "color_primaries": "unknown",
+ "color_transfer": "unknown"
+ },
+ "encoder_parameters": {
+ "version": "ffmpeg version 6.1.1-3ubuntu5 Copyright (c) 2000-2023 the FFmpeg developers",
+ "name": "ffv1",
+ "arguments": [
+ "-level",
+ "3",
+ "-slices",
+ "16"
+ ],
+ "threads": 10
+ },
+ "source_lossy": false,
+ "storage_fps": 30,
+ "timebase_role": "index_only"
+ },
+ "valid_ref": "observation/depth_valid.mkv",
+ "valid_axes": [
+ "T",
+ "height",
+ "width"
+ ],
+ "unit": "m",
+ "depth_type": "z",
+ "depth_origin": "measured",
+ "invalid_value": "NaN"
+ },
+ "segment": {
+ "available": false,
+ "reason": "H2O provides no native segmentation; rendering deferred to v2.0",
+ "status": "source_missing"
+ },
+ "relations": {
+ "available": false,
+ "reason": "No source contact/grasp annotation",
+ "status": "source_missing"
+ }
+ },
+ "split": "train",
+ "view_type": "ego",
+ "split_scheme": "official_action_split",
+ "split_source_locator": {
+ "file": "/data/xuzhefeng/Datasets/Hand-Datasets-Raw/H2O/raw/data/label_split.zip",
+ "member": "label_split/action_train.txt",
+ "record": 153
+ }
+} 持久化 QC {
+ "num_frames": 678,
+ "numeric_components": {
+ "intrinsic": {
+ "shape": [
+ 678,
+ 3,
+ 3
+ ],
+ "dtype": "torch.float32",
+ "valid_true": 678,
+ "valid_total": 678
+ },
+ "extrinsic": {
+ "shape": [
+ 678,
+ 4,
+ 4
+ ],
+ "dtype": "torch.float32",
+ "valid_true": 678,
+ "valid_total": 678
+ },
+ "mano": {
+ "shape": [
+ 678,
+ 2,
+ 61
+ ],
+ "dtype": "torch.float32",
+ "valid_true": 1356,
+ "valid_total": 1356
+ },
+ "keypoints_xyz": {
+ "shape": [
+ 678,
+ 2,
+ 21,
+ 3
+ ],
+ "dtype": "torch.float32",
+ "valid_true": 28476,
+ "valid_total": 28476
+ },
+ "pose_espresso": {
+ "shape": [
+ 678,
+ 4,
+ 4
+ ],
+ "dtype": "torch.float32",
+ "valid_true": 678,
+ "valid_total": 678
+ },
+ "points_espresso": {
+ "shape": [
+ 678,
+ 21,
+ 3
+ ],
+ "dtype": "torch.float32",
+ "valid_true": 14238,
+ "valid_total": 14238
+ }
+ },
+ "bundle_files": 4,
+ "scope": "v1.1 registry, keys, shapes, validity and timeline; not a media pixel comparison",
+ "selected_frames": [
+ 0,
+ 169,
+ 339,
+ 508,
+ 677
+ ],
+ "preview_media": [
+ "rgb",
+ "depth",
+ "depth_valid"
+ ],
+ "decode_scope": "only selected frames emitted; sequential decoding may traverse earlier frames, no full-video pixel comparison"
+} 
