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numerical_checks_pass AND applicable_official_QA_pass AND NOT explicitly_reviewed_local_exclusion", + "without_official_qa": "omit QA term; declare source rules; do not fabricate QA", + "policy_field": "components..valid_policy", + "visibility_is_independent": true, + "invalid_float_value": "NaN", + "hot3d": "broadcast per-camera frame manual QA conservatively to hand/object labels and pose-derived visibility; retain RGB and source calibration; keep native QA in raw and review report", + "hot3d_visibility": "native visibility_ratio[%] already ranges from 0 to 1; do not divide by 100" + }, + "hand_slots": [ + "left", + "right" + ], + "view_metadata": { + "required_fields": [ + "schema_version", + "dataset_id", + "release_id", + "sequence_id", + "camera_id", + "sample_type", + "num_frames", + "hand_slots", + "sampling", + "camera", + "components", + "split", + "view_type" + ], + "view_type_values": [ + "ego", + "exo", + "unknown" + ], + "view_type_policy": "required per camera view; use 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probability", + "zero": "background", + "full_scale": "foreground", + "mapping": "foreground_category in component metadata", + "valid_shape": [ + "T" + ], + "required_metadata": [ + "segmentation_type", + "coverage", + "value_range", + "normalization_scale", + "foreground_category", + "entity_id", + "storage" + ], + "shape": [ + "T", + "H", + "W" + ], + "allowed_storage_profiles": [ + "mkv/uint16_ffv1/v1" + ] + } + }, + "note": "Registry for hand-warehouse/1.1. 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"allowed_storage_profiles": [ + "pt/tensor_bundle/v1" + ], + "allowed_valid_storage_profiles": [ + "pt/tensor_bundle/v1" + ], + "valid_storage": "pt", + "tensor_container": "dict", + "valid_dtype": "bool", + "required_metadata": [ + "data_ref", + "data_key", + "valid_ref", + "valid_key", + "storage", + "valid_storage" + ] + }, + "object/joint_state/v1": { + "storage": "pt", + "dtype": "float32", + "shape": [ + "T", + "J" + ], + "valid_shape": [ + "T", + "J" + ], + "required_metadata": [ + "joint_order", + "data_ref", + "data_key", + "valid_ref", + "valid_key", + "storage", + "valid_storage" + ], + "unit_rule": "revolute radians; prismatic metres; mixed types declared per joint", + "allowed_storage_profiles": [ + "pt/tensor_bundle/v1" + ], + "allowed_valid_storage_profiles": [ + "pt/tensor_bundle/v1" + ], + "valid_storage": "pt", + "tensor_container": "dict", + "valid_dtype": "bool" + }, + "object_keypoints/camera/v1": { + "storage": "pt", + "dtype": "float32", + "shape": [ + "T", + 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only the frames listed in selected_frames are decoded, each checked against height*width*3 bytes", + "projection": { + "model": "pinhole", + "calibrated": true, + "points": 128, + "inside": 128, + "off_image": 0, + "frames": { + "0": { + "annotated": true, + "valid_points": 32, + "inside_points": 32, + "inside_ratio": 1.0, + "mostly_out_of_frame": false + }, + "155": { + "annotated": true, + "valid_points": 32, + "inside_points": 32, + "inside_ratio": 1.0, + "mostly_out_of_frame": false + }, + "311": { + "annotated": true, + "valid_points": 32, + "inside_points": 32, + "inside_ratio": 1.0, + "mostly_out_of_frame": false + }, + "466": { + "annotated": true, + "valid_points": 32, + "inside_points": 32, + "inside_ratio": 1.0, + "mostly_out_of_frame": false + }, + "621": { + "annotated": false, + "valid_points": 0, + "inside_points": 0, + "inside_ratio": null, + "mostly_out_of_frame": false + } + }, + "coordinate_frame": "camera", + "scope": "saved camera-frame xyz through the view's own intrinsic and distortion; 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Render-only joints are not published as additional labels", + "visibility": "Not supplied in selected raw annotations; fitting_err is outside current shared scope" + }, + "source_hand_object_gt_available": null, + "scope": "v1.1 registry, keys, shapes, validity and timeline; not a media pixel comparison", + "geometry_panels": { + "keypoint_panels": 4, + "axis_panels": 8, + "mano_panels": 4, + "note_panels": 5, + "frames_noted": 5, + "frames_mostly_out_of_frame": 0, + "frames_mostly_out_of_frame_list": [] + }, + "_page": "s10_phone_grab_01_6.html" + }, + { + "view": "s10_phone_grab_01/7", + "sequence_id": "s10_phone_grab_01", + "camera_id": "7", + "view_type": "exo", + "split": "train", + "num_frames": 622, + "camera": { + "model": "pinhole", + "schema_id": "camera/pinhole/v1", + "image_size": [ + 2000, + 2800 + ] + }, + "numeric_components": { + "intrinsic": { + "shape": [ + 622, + 3, + 3 + ], + "dtype": "torch.float32", + "valid_true": 622, + "valid_total": 622, + "shares_intrinsic_validity": null + }, + "extrinsic": { + "shape": [ + 622, + 4, + 4 + ], + "dtype": "torch.float32", + "valid_true": 622, + "valid_total": 622, + "shares_intrinsic_validity": null + }, + "mano": { + "shape": [ + 622, + 2, + 61 + ], + "dtype": "torch.float32", + "valid_true": 1242, + "valid_total": 1244, + "shares_intrinsic_validity": null + }, + "object_phone_root_pose": { + "shape": [ + 622, + 4, + 4 + ], + "dtype": "torch.float32", + "valid_true": 621, + "valid_total": 622, + "shares_intrinsic_validity": null + }, + "object_phone_bottom_pose": { + "shape": [ + 622, + 4, + 4 + ], + "dtype": "torch.float32", + "valid_true": 621, + "valid_total": 622, + "shares_intrinsic_validity": null + }, + "object_phone_top_pose": { + "shape": [ + 622, + 4, + 4 + ], + "dtype": "torch.float32", + "valid_true": 621, + "valid_total": 622, + "shares_intrinsic_validity": null + }, + "object_phone_joint": { + "shape": [ + 622, + 1 + ], + "dtype": "torch.float32", + "valid_true": 621, + "valid_total": 622, + "shares_intrinsic_validity": null + }, + "object_phone_keypoints": { + "shape": [ + 622, + 32, + 3 + ], + "dtype": "torch.float32", + "valid_true": 19872, + "valid_total": 19904, + "shares_intrinsic_validity": null + } + }, + "bundle_files": 3, + "bundles": [ + "annotation/mano/mano.pt", + "annotation/object/phone/object.pt", + "camera/camera.pt" + ], + "media": [ + { + "component": "object_phone_articulation", + "ref": "annotation/object/phone/articulation.json", + "pixels_decoded": 0 + }, + { + "component": "object_phone_mesh", + "ref": "annotation/object/phone/assets/mesh.obj", + "pixels_decoded": 0 + }, + { + "component": "rgb", + "ref": "observation/rgb.mkv", + "pixels_decoded": 5 + } + ], + "consumed_files": [ + "annotation/mano/mano.pt", + "annotation/object/phone/articulation.json", + "annotation/object/phone/articulation_valid.pt", + "annotation/object/phone/assets/mesh.obj", + "annotation/object/phone/assets/mesh_valid.pt", + "annotation/object/phone/object.pt", + "camera/camera.pt", + "observation/rgb.mkv", + "observation/rgb_valid.pt" + ], + "registry_gaps": [ + { + "kind": "keypoint_schema_unregistered", + "schema": "arctic_object_keypoints/v1", + "resolved_from": "component.keypoint_names", + "count": 32 + } + ], + "selected_frames": [ + 0, + 155, + 311, + 466, + 621 + ], + "decode_scope": "ffmpeg select= demux filter over the preserved MKV; only the frames listed in selected_frames are decoded, each checked against height*width*3 bytes", + "projection": { + "model": "pinhole", + "calibrated": true, + "points": 128, + "inside": 128, + "off_image": 0, + "frames": { + "0": { + "annotated": true, + "valid_points": 32, + "inside_points": 32, + "inside_ratio": 1.0, + "mostly_out_of_frame": false + }, + "155": { + "annotated": true, + "valid_points": 32, + "inside_points": 32, + "inside_ratio": 1.0, + "mostly_out_of_frame": false + }, + "311": { + "annotated": true, + "valid_points": 32, + "inside_points": 32, + "inside_ratio": 1.0, + "mostly_out_of_frame": false + }, + "466": { + "annotated": true, + "valid_points": 32, + "inside_points": 32, + "inside_ratio": 1.0, + "mostly_out_of_frame": false + }, + "621": { + "annotated": false, + "valid_points": 0, + "inside_points": 0, + "inside_ratio": null, + "mostly_out_of_frame": false + } + }, + "coordinate_frame": "camera", + "scope": "saved camera-frame xyz through the view's own intrinsic and distortion; not a media pixel comparison", + "out_of_frame_rule": "a sampled frame is marked 物体大部分落在画外 when fewer than half of its valid object keypoints land inside the image; every annotated frame's valid_points / inside_points / inside_ratio is recorded in projection.frames either way", + "note": "ARCTIC publishes no 2D keypoints and no uv series, so the published projection_qc (saved xyz against saved uv) has no second series here; this counts what the release's own camera-frame geometry projects to." + }, + "omitted_components": { + "depth": "No depth images in this official raw release", + "segment": "No pixel segmentation in this official raw release", + "contact": "No source contact labels in selected official raw packages", + "keypoints": "No separate measured hand keypoints in raw; MANO available. Render-only joints are not published as additional labels", + "visibility": "Not supplied in selected raw annotations; fitting_err is outside current shared scope" + }, + "source_hand_object_gt_available": null, + "scope": "v1.1 registry, keys, shapes, validity and timeline; not a media pixel comparison", + "geometry_panels": { + "keypoint_panels": 4, + "axis_panels": 8, + "mano_panels": 3, + "note_panels": 6, + "frames_noted": 5, + "frames_mostly_out_of_frame": 0, + "frames_mostly_out_of_frame_list": [] + }, + "_page": "s10_phone_grab_01_7.html" + }, + { + "view": "s10_phone_grab_01/8", + "sequence_id": "s10_phone_grab_01", + "camera_id": "8", + "view_type": "exo", + "split": "train", + "num_frames": 622, + "camera": { + "model": "pinhole", + "schema_id": "camera/pinhole/v1", + "image_size": [ + 2800, + 2000 + ] + }, + "numeric_components": { + "intrinsic": { + "shape": [ + 622, + 3, + 3 + ], + "dtype": "torch.float32", + "valid_true": 622, + "valid_total": 622, + "shares_intrinsic_validity": null + }, + "extrinsic": { + "shape": [ + 622, + 4, + 4 + ], + "dtype": "torch.float32", + "valid_true": 622, + "valid_total": 622, + "shares_intrinsic_validity": null + }, + "mano": { + "shape": [ + 622, + 2, + 61 + ], + "dtype": "torch.float32", + "valid_true": 1242, + "valid_total": 1244, + "shares_intrinsic_validity": null + }, + "object_phone_root_pose": { + "shape": [ + 622, + 4, + 4 + ], + "dtype": "torch.float32", + "valid_true": 621, + "valid_total": 622, + "shares_intrinsic_validity": null + }, + "object_phone_bottom_pose": { + "shape": [ + 622, + 4, + 4 + ], + "dtype": "torch.float32", + "valid_true": 621, + "valid_total": 622, + "shares_intrinsic_validity": null + }, + "object_phone_top_pose": { + "shape": [ + 622, + 4, + 4 + ], + "dtype": "torch.float32", + "valid_true": 621, + "valid_total": 622, + "shares_intrinsic_validity": null + }, + "object_phone_joint": { + "shape": [ + 622, + 1 + ], + "dtype": "torch.float32", + "valid_true": 621, + "valid_total": 622, + "shares_intrinsic_validity": null + }, + "object_phone_keypoints": { + "shape": [ + 622, + 32, + 3 + ], + "dtype": "torch.float32", + "valid_true": 19872, + "valid_total": 19904, + "shares_intrinsic_validity": null + } + }, + "bundle_files": 3, + "bundles": [ + "annotation/mano/mano.pt", + "annotation/object/phone/object.pt", + "camera/camera.pt" + ], + "media": [ + { + "component": "object_phone_articulation", + "ref": "annotation/object/phone/articulation.json", + "pixels_decoded": 0 + }, + { + "component": "object_phone_mesh", + "ref": "annotation/object/phone/assets/mesh.obj", + "pixels_decoded": 0 + }, + { + "component": "rgb", + "ref": "observation/rgb.mkv", + "pixels_decoded": 5 + } + ], + "consumed_files": [ + "annotation/mano/mano.pt", + "annotation/object/phone/articulation.json", + "annotation/object/phone/articulation_valid.pt", + "annotation/object/phone/assets/mesh.obj", + "annotation/object/phone/assets/mesh_valid.pt", + "annotation/object/phone/object.pt", + "camera/camera.pt", + "observation/rgb.mkv", + "observation/rgb_valid.pt" + ], + "registry_gaps": [ + { + "kind": "keypoint_schema_unregistered", + "schema": "arctic_object_keypoints/v1", + "resolved_from": "component.keypoint_names", + "count": 32 + } + ], + "selected_frames": [ + 0, + 155, + 311, + 466, + 621 + ], + "decode_scope": "ffmpeg select= demux filter over the preserved MKV; only the frames listed in selected_frames are decoded, each checked against height*width*3 bytes", + "projection": { + "model": "pinhole", + "calibrated": true, + "points": 128, + "inside": 128, + "off_image": 0, + "frames": { + "0": { + "annotated": true, + "valid_points": 32, + "inside_points": 32, + "inside_ratio": 1.0, + "mostly_out_of_frame": false + }, + "155": { + "annotated": true, + "valid_points": 32, + "inside_points": 32, + "inside_ratio": 1.0, + "mostly_out_of_frame": false + }, + "311": { + "annotated": true, + "valid_points": 32, + "inside_points": 32, + "inside_ratio": 1.0, + "mostly_out_of_frame": false + }, + "466": { + "annotated": true, + "valid_points": 32, + "inside_points": 32, + "inside_ratio": 1.0, + "mostly_out_of_frame": false + }, + "621": { + "annotated": false, + "valid_points": 0, + "inside_points": 0, + "inside_ratio": null, + "mostly_out_of_frame": false + } + }, + "coordinate_frame": "camera", + "scope": "saved camera-frame xyz through the view's own intrinsic and distortion; not a media pixel comparison", + "out_of_frame_rule": "a sampled frame is marked 物体大部分落在画外 when fewer than half of its valid object keypoints land inside the image; every annotated frame's valid_points / inside_points / inside_ratio is recorded in projection.frames either way", + "note": "ARCTIC publishes no 2D keypoints and no uv series, so the published projection_qc (saved xyz against saved uv) has no second series here; this counts what the release's own camera-frame geometry projects to." + }, + "omitted_components": { + "depth": "No depth images in this official raw release", + "segment": "No pixel segmentation in this official raw release", + "contact": "No source contact labels in selected official raw packages", + "keypoints": "No separate measured hand keypoints in raw; MANO available. Render-only joints are not published as additional labels", + "visibility": "Not supplied in selected raw annotations; fitting_err is outside current shared scope" + }, + "source_hand_object_gt_available": null, + "scope": "v1.1 registry, keys, shapes, validity and timeline; not a media pixel comparison", + "geometry_panels": { + "keypoint_panels": 4, + "axis_panels": 8, + "mano_panels": 4, + "note_panels": 5, + "frames_noted": 5, + "frames_mostly_out_of_frame": 0, + "frames_mostly_out_of_frame_list": [] + }, + "_page": "s10_phone_grab_01_8.html" + } + ], + "scope": "post-full sampled complete sequences, all cameras, read directly from v1.1 bundles; evidence for human acceptance, not training input; manual review pending" +} \ No newline at end of file diff --git a/ARCTIC/shared-v1.1/doc/validation/index.html b/ARCTIC/shared-v1.1/doc/validation/index.html new file mode 100644 index 0000000000000000000000000000000000000000..acbc63b36238c638d20aa881a72d0f3b69ac8be6 --- /dev/null +++ b/ARCTIC/shared-v1.1/doc/validation/index.html @@ -0,0 +1 @@ +ARCTIC shared-v1.1 review

ARCTIC shared-v1.1 全量后抽样人工复查

数值按字节一致（CONTRACT §6）；媒体不重新编码。抽样规则与种子见 V1_1_VALIDATION.json，本页所列视图即全部入选视图：54 个视图 / 6 段，其中 1 个视图源不提供相机标定（camera.model=unknown），页面只显示 RGB 与源缺项。

配色沿用 ARCTIC v1.0 复核页自己的约定（「顶盖紫、底座绿，左手青、右手橙」），便于两套页面并排读：
    物体 top ·     物体 bottom ·     左手 ·     右手 ·     位姿轴 x 红 /     y 绿 /     z 蓝
部件的 top/bottom 取自组件名（object_<id>_top_pose 等），关键点取自发布的 keypoint_names；v1.0 页面把 32 个物体关键点画成同一种白色，并用索引区分顶盖/底座。投影不做遮挡剔除，也不是分割真值。

手部没有骨架：release 的 mano 只有 61 个参数，要还原成关节需要发布外的 MANO 模型资产与 smplx——本发布与本渲染环境都没有。ARCTIC v1.0 页面上那层白色 MANO 派生关节点，正是靠那套外部依赖画出来的。页面因此只画 schema layout.translation 声明的根平移（青色/橙色点），手部监督的其余部分以逐帧数值呈现。

逐视图页面的每帧面板与逐帧数值在页面内；抽样帧之外的帧不在页面里，v1.0 的全帧逐相机视频见 ../history-v1.0/validation/。

视图split物体类型相机模型帧数本页抽样帧
s02_espressomachine_grab_01/0trainespressomachineegorational86646
s02_espressomachine_grab_01/1trainespressomachineexopinhole6646
s02_espressomachine_grab_01/2trainespressomachineexopinhole6646
s02_espressomachine_grab_01/3trainespressomachineexopinhole6646
s02_espressomachine_grab_01/4trainespressomachineexopinhole6646
s02_espressomachine_grab_01/5trainespressomachineexopinhole6646
s02_espressomachine_grab_01/6trainespressomachineexopinhole6646
s02_espressomachine_grab_01/7trainespressomachineexopinhole6646
s02_espressomachine_grab_01/8trainespressomachineexopinhole6646
s03_notebook_use_04/0testnotebookegounknown6975
s03_notebook_use_04/1testnotebookexopinhole6975
s03_notebook_use_04/2testnotebookexopinhole6975
s03_notebook_use_04/3testnotebookexopinhole6975
s03_notebook_use_04/4testnotebookexopinhole6975
s03_notebook_use_04/5testnotebookexopinhole6975
s03_notebook_use_04/6testnotebookexopinhole6975
s03_notebook_use_04/7testnotebookexopinhole6975
s03_notebook_use_04/8testnotebookexopinhole6975
s05_capsulemachine_use_02/0valcapsulemachineegorational88005
s05_capsulemachine_use_02/1valcapsulemachineexopinhole8005
s05_capsulemachine_use_02/2valcapsulemachineexopinhole8005
s05_capsulemachine_use_02/3valcapsulemachineexopinhole8005
s05_capsulemachine_use_02/4valcapsulemachineexopinhole8005
s05_capsulemachine_use_02/5valcapsulemachineexopinhole8005
s05_capsulemachine_use_02/6valcapsulemachineexopinhole8005
s05_capsulemachine_use_02/7valcapsulemachineexopinhole8005
s05_capsulemachine_use_02/8valcapsulemachineexopinhole8005
s05_microwave_use_01/0valmicrowaveegorational87805
s05_microwave_use_01/1valmicrowaveexopinhole7805
s05_microwave_use_01/2valmicrowaveexopinhole7805
s05_microwave_use_01/3valmicrowaveexopinhole7805
s05_microwave_use_01/4valmicrowaveexopinhole7805
s05_microwave_use_01/5valmicrowaveexopinhole7805
s05_microwave_use_01/6valmicrowaveexopinhole7805
s05_microwave_use_01/7valmicrowaveexopinhole7805
s05_microwave_use_01/8valmicrowaveexopinhole7805
s08_laptop_use_03/0trainlaptopegorational88305
s08_laptop_use_03/1trainlaptopexopinhole8305
s08_laptop_use_03/2trainlaptopexopinhole8305
s08_laptop_use_03/3trainlaptopexopinhole8305
s08_laptop_use_03/4trainlaptopexopinhole8305
s08_laptop_use_03/5trainlaptopexopinhole8305
s08_laptop_use_03/6trainlaptopexopinhole8305
s08_laptop_use_03/7trainlaptopexopinhole8305
s08_laptop_use_03/8trainlaptopexopinhole8305
s10_phone_grab_01/0trainphoneegorational86225
s10_phone_grab_01/1trainphoneexopinhole6225
s10_phone_grab_01/2trainphoneexopinhole6225
s10_phone_grab_01/3trainphoneexopinhole6225
s10_phone_grab_01/4trainphoneexopinhole6225
s10_phone_grab_01/5trainphoneexopinhole6225
s10_phone_grab_01/6trainphoneexopinhole6225
s10_phone_grab_01/7trainphoneexopinhole6225
s10_phone_grab_01/8trainphoneexopinhole6225
\ No newline at end of file diff --git a/ARCTIC/shared-v1.1/doc/validation/negative_controls.txt b/ARCTIC/shared-v1.1/doc/validation/negative_controls.txt new file mode 100644 index 0000000000000000000000000000000000000000..3c3a25ac199ae848eb28e458178a5848fce1cf7a --- /dev/null +++ b/ARCTIC/shared-v1.1/doc/validation/negative_controls.txt @@ -0,0 +1,221 @@ +ARCTIC shared-v1.1 校验器证据 +生成时间: 2026-10-13T22:23:57+08:00 +生成命令: tmp/arctic-tools/record_validation_evidence.sh +解释器: /data0/yanghonglei/sam3/.venv/bin/python + +本文件的四类证据都不证明官方源数据的正确性或画面的主观质量： + (1) 校验器的检查非空转 —— 真实视图注入缺陷后必须被具名检查抓到； + (2) 「声明为 unknown 的相机」这条路径在 HF 实际字节上跑通全链路； + (3) 顶层 metainfo 键逐字保留这条规则在真实字节上确实在比对； + (4) v1.1 读取器能读完整条九机位序列，且其连接判据同样非空转。 + +================================================================================ +一、反向对照：对 shared-v1.1/data/s01_box_grab_01/0 逐项注入缺陷 +================================================================================ +$ /data0/yanghonglei/sam3/.venv/bin/python tmp/arctic-tools/negative_controls.py + +baseline: unmutated pilot view passes +caught annotate_last_frame: (PosixPath('/data1/yanghonglei/Datasets/hand-warehouse/ARCTIC/tmp/arctic-tools/scratch/annotate_last_frame'), 732, 'annotation index must be +caught mislabel_camera: (PosixPath('/data1/yanghonglei/Datasets/hand-warehouse/ARCTIC/tmp/arctic-tools/scratch/mislabel_camera'), 0, 'source_locator.camera_id', '1' +caught claim_mano_on_unannotated: ('mano', 732, 'claims an annotation the source has no record for') +caught claim_keypoints_on_unannotated: ('object_box_keypoints', 732, 'derived field valid where everything it derives from is invalid') +caught break_distortion_pairing: ('intrinsic', 'distortion valid must equal the intrinsic valid (CONTRACT 3)') +caught not_bundled: ('intrinsic', 'distortion_ref', 'camera/distortion.pt', 'camera/camera.pt') +caught drop_distortion_entry: KeyError: "camera/camera.pt: missing key 'distortion' on path distortion/data" +caught leave_stray_validity: ('stray validity', ['camera/intrinsic_valid.pt']) +caught leave_v10_numeric: ('leftover numeric', ['camera/intrinsic.pt']) +caught rename_shape_symbol: ('object_box_joint', 'data shape', [733, 1], ['T', 'J'], {'T': 733, 'J': 2}) +caught claim_calibration_when_unknown: (PosixPath('/data1/yanghonglei/Datasets/hand-warehouse/ARCTIC/tmp/arctic-tools/scratch/claim_calibration_when_unknown'), 'an unknown camera + +11/11 mutations caught by the named check +negative_controls exit=0 + +================================================================================ +二、unknown 相机的回归语料：s03_laptop_use_02（P1 测试段，取自 HF 固定提交） +================================================================================ +语料来源: ParityLab/Hand-Datasets-Raw @ d4e2bb40cd30071e4f6483877889c1857b41b707 + ARCTIC/shared-v1.0/data/s03_laptop_use_02/{0,1}，34 个真实文件； + 重型媒体以同尺寸占位符替换，迁移与校验都不读取其内容。 +视图 0 声明 camera.model = "unknown"、schema_id = null，且不发布任何标定组件； +视图 1 是 pinhole，两者都要通过。 + +--- 迁移 --- +$ cd unknown-camera/shared-v1.1/script/arctic_v1_1 && /data0/yanghonglei/sam3/.venv/bin/python migrate.py --link copy + +dataset=ARCTIC views=2 src=/data1/yanghonglei/Datasets/hand-warehouse/ARCTIC/tmp/arctic-tools/unknown-camera/shared-v1.0 dst=/data1/yanghonglei/Datasets/hand-warehouse/ARCTIC/tmp/arctic-tools/unknown-camera/shared-v1.1 +tool=hw11-migrate/1 link=copy +[1/2] s03_laptop_use_02/0 ok fields=0 bundles=0 passthrough=14 +[2/2] s03_laptop_use_02/1 ok fields=2 bundles=1 passthrough=14 +done=2 skipped=0 failed=0 +registration: /data1/yanghonglei/Datasets/hand-warehouse/ARCTIC/tmp/arctic-tools/unknown-camera/tmp/migration-v11/registration.json +migrate exit=0 + +--- 逐视图字节级验收 --- +$ /data0/yanghonglei/sam3/.venv/bin/python verify.py + +views=2 merged_fields=2 failures=0 manifest_files=67 +ACCEPTANCE_PASS +verify exit=0 + +--- 全量结构校验 --- +$ /data0/yanghonglei/sam3/.venv/bin/python validate.py --views s03_laptop_use_02 + （语料只有 0/1 两个机位，故按视图限定；全量发布要 9 个机位齐备， + 该断言在 --views/--limit 下自动让路。） + + view 1/2: data/s03_laptop_use_02/0 + view 2/2: data/s03_laptop_use_02/1 +{ + "passed": true, + "dataset_id": "ARCTIC", + "schema_version": "hand-warehouse/1.1", + "release_id": "shared-v1.1", + "schema_sha256": "9f3769f950b36f75f3d571c77b5a661ca8e72afae20c9f1ddd1deef140e6cca8", + "views": 2, + "sequences": 1, + "counts_by_split": { + "test": 2 + }, + "num_frames": 1604, + "released_files": 31, + "cameras_per_sequence": 9, + "camera_models": { + "pinhole": 1, + "unknown": 1 + }, + "uncalibrated_views": [ + "s03_laptop_use_02/0" + ], + "status_flags": { + "full_output_human_review": [ + "pending" + ], + "media_validation_policy": [ + "jpeg-packets-all-rgb-sample16/v1" + ], + "pilot": [ + false + ], + "pilot_complete": [ + true + ], + "pilot_human_review": [ + "approved" + ], + "production_complete": [ + true + ], + "upload_authorized": [ + false + ] + }, + "status_flags_varying": [], + "registry_gaps": [], + "meshes_dependencies": [ + "annotation/object/laptop/assets/bottom.obj", + "annotation/object/laptop/assets/material.jpg", + "annotation/object/laptop/assets/material.mtl", + "annotation/object/laptop/assets/mesh_tex.obj", + "annotation/object/laptop/assets/top.obj" + ], + "meshes_dependency_views": { + "annotation/object/laptop/assets/bottom.obj": 2, + "annotation/object/laptop/assets/material.jpg": 2, + "annotation/object/laptop/assets/material.mtl": 2, + "annotation/object/laptop/assets/mesh_tex.obj": 2, + "annotation/object/laptop/assets/top.obj": 2 + }, + "unreferenced_files": [], + "unreferenced_file_views": {}, + "rewrite_check": [], + "scope": "released content and layout; does not independently prove official source correctness or visual quality" +} +validate exit=0 + +--- 校验报告中的相机统计 --- + + passed: true + views: 2 + sequences: 1 + counts_by_split: {"test": 2} + camera_models: {"pinhole": 1, "unknown": 1} + uncalibrated_views: ["s03_laptop_use_02/0"] + registry_gaps: [] + unreferenced_files: [] + +================================================================================ +三、顶层键逐字保留这条规则的对照（verify.py） +================================================================================ +verify.py 逐视图把 v1.1 的 metainfo 与 v1.0 源比对，除 schema_version、 +release_id、components 三个迁移必改的键外，其余顶层键必须逐字相同。ARCTIC 的 +状态标志本来就**不是**全发布统一的（media_validation_policy 在部分段是 null、 +部分段是策略字符串，这是 v1.0 内容而非迁移缺陷），所以这条规则只能对着各视图 +自己的源比对，不能对着某个固定期望值断言。下面证明它确实在比对。 + +$ 把视图 1 的 omitted_components 改一个字符，再跑 verify.py（应当失败） + + injected: omitted_components.depth +FAIL s03_laptop_use_02/1: s03_laptop_use_02/1: omitted_components changed ({'mano': 'Official test ground truth withheld: no sequence MANO file in raw_seqs.zip', 'object_pose': 'Official test ground truth withheld: no sequence object trajectory, joint states or camera-frame keypoints', 'keypoints': 'No released sequence hand keypoint supervision', 'visibility': 'Not provided in selected official release', 'depth': 'No source depth images', 'segment': 'No source pixel masks', 'contact': 'No native contact labels in downloaded scope'} -> {'mano': 'Official test ground truth withheld: no sequence MANO file in raw_seqs.zip', 'object_pose': 'Official test ground truth withheld: no sequence object trajectory, joint states or camera-frame keypoints', 'keypoints': 'No released sequence hand keypoint supervision', 'visibility': 'Not provided in selected official release', 'depth': 'injected by the control', 'segment': 'No source pixel masks', 'contact': 'No native contact labels in downloaded scope'}) +views=1 merged_fields=0 failures=1 manifest_files=68 +ACCEPTANCE_FAIL +verify exit=1 (expected non-zero) + +$ 把 media_validation_policy 也改掉（应当同样失败） + + injected: media_validation_policy +FAIL s03_laptop_use_02/1: s03_laptop_use_02/1: media_validation_policy changed ('jpeg-packets-all-rgb-sample16/v1' -> 'injected-by-the-control/v1') +views=1 merged_fields=0 failures=1 manifest_files=68 +ACCEPTANCE_FAIL +verify exit=1 (expected non-zero) + +$ 还原后重跑 verify.py（应当通过） + +views=2 merged_fields=2 failures=0 manifest_files=67 +ACCEPTANCE_PASS +verify exit=0 + +================================================================================ +四、读取器路径：完整九机位序列 + 8 项反向对照（read_sequence.py） +================================================================================ +CONTRACT 6.5 要的是「用新读取器跑代表性完整序列及所有相机」。verify.py 逐视图 +对着自己的 v1.0 源比字节，它不读媒体、也不跨组件，因此一个「各个 bundle 都 +逐字节正确、但 RGB / 标定 / 标注彼此对不上」的发布能通过它；validate.py 跨组件 +但只读 frames.jsonl，不读媒体。read_sequence.py 走的是消费者路径：经 Registry 与 +BundleReader 打开整条序列，并把三类连接查实 —— + 帧数 用 ffprobe 只解复用读出 RGB 的真实帧数（Matroska 没有 nb_frames）， + 与 metainfo num_frames 及每个字段 T 轴的长度对齐； + 相机 目录名、camera_id、camera 块、内参组件 schema_id 与注册表的畸变规则 + 必须指向同一个相机； + 同一次录制 九个机位共用一个 sequence_id、一个帧数，以及逐帧一致的 sync_id—— + 这样才谈得上「ego 视图第 i 行的标注」与「某 exo 视图第 i 帧」是同一时刻。 + +语料：s01_box_grab_01 的硬链接副本（共享 inode，故任何改动都必须先 unlink 再 +新建；脚本结尾会重新读取真实发布树，证明没有写穿到它）。下面 8 项缺陷逐一注入， +每项都必须被具名检查抓到并非零退出。 + +$ /data0/yanghonglei/sam3/.venv/bin/python tmp/arctic-tools/read_sequence_controls.py + +baseline (unmutated corpus): exit=0 ACCEPTANCE_PASS + caught rgb truncated to 600 frames: exit=1 -- FAIL s01_box_grab_01/4: rgb: 600 packets, metainfo declares 733 + caught metainfo num_frames 733 -> 700: exit=1 -- FAIL s01_box_grab_01/2: intrinsic: 733 frames on its T axis, metainfo declares 700 + caught preserved mesh.obj deleted: exit=1 -- FAIL s01_box_grab_01/3: object_box_mesh: preserved file annotation/object/box/assets/mesh.obj is missing + caught rgb declared absent while present: exit=1 -- FAIL s01_box_grab_01/6: rgb: available=false but observation/rgb.mkv exists + caught rogue key injected into camera/camera.pt: exit=1 -- FAIL s01_box_grab_01/0: intrinsic: camera/camera.pt:rogue is not a registered bundle entry + caught root_pose pointed at a key the bundle lacks: exit=1 -- FAIL s01_box_grab_01/1: object_box_root_pose: reader could not open annotation/object/box/object.pt: "annotation/object/box/object.pt: missing key 'ro + caught sync_id altered on camera 3: exit=1 -- FAIL s01_box_grab_01: sync_id differs between 0 and 3 at 1 frame(s), first 100 + caught camera_id 3 -> 5: exit=1 -- FAIL s01_box_grab_01/3: directory 3 but camera_id '5' +restored corpus: exit=0 ACCEPTANCE_PASS +real release unchanged: exit=0 ACCEPTANCE_PASS +8/8 mutations caught by the named check +read_sequence_controls exit=0 + +================================================================================ +结论 +================================================================================ +unknown 不是注册表 camera 段里的相机模型，而是 v1.0 语义 4.3 允许的 +「不提供可用标定」的声明状态。校验器接受这一状态，同时拒绝任何一边声明 +unknown、一边仍发布标定的视图（见第一部分 claim_calibration_when_unknown）。 + +以上四类证据都只覆盖「重新打包在数值与结构上一致」。第四类把范围推到了「读取器 +能把整条序列读出来且各部件彼此对得上」，但仍未解码任何一个像素、也没有对画面 +内容作任何判断。人工目视复查不在其中（CONTRACT 6.5），metainfo 的 +full_output_human_review 仍为 pending。 diff --git a/ARCTIC/shared-v1.1/doc/validation/read_sequence_sweep.json b/ARCTIC/shared-v1.1/doc/validation/read_sequence_sweep.json new file mode 100644 index 0000000000000000000000000000000000000000..eabca22daa769c5e2113c76a0f1360e098605b40 --- /dev/null +++ b/ARCTIC/shared-v1.1/doc/validation/read_sequence_sweep.json @@ -0,0 +1,3403 @@ +{ + "scope": "shared-v1.1 read through the released reader; frame counts by demux, no pixel is decoded and no mask is judged", + "sequences_expected": 339, + "sequences_swept": 339, + "views_swept": 3051, + "fields_read": 22581, + "media_declared": 9153, + "absent_declared": 0, + "accepted": true, + "failed": [], + "records": [ + { + "sequence": "s01_box_grab_01", + "views": 9, + "accepted": true, + "sequence_problems": [], + "view_problems": {}, + "field_count": 73, + "media_count": 27, + "absent_count": 0 + }, + { + "sequence": "s01_box_use_01", + "views": 9, + "accepted": true, + "sequence_problems": [], + "view_problems": {}, + "field_count": 73, + "media_count": 27, + "absent_count": 0 + }, + { + "sequence": "s01_box_use_02", + "views": 9, + "accepted": true, + "sequence_problems": [], + "view_problems": {}, + "field_count": 73, + "media_count": 27, + "absent_count": 0 + }, + { + "sequence": "s01_capsulemachine_grab_01", + "views": 9, + "accepted": true, + "sequence_problems": [], + "view_problems": {}, + "field_count": 73, + "media_count": 27, + "absent_count": 0 + }, + { + "sequence": "s01_capsulemachine_use_01", + "views": 9, + "accepted": true, + "sequence_problems": [], + "view_problems": {}, + "field_count": 73, + "media_count": 27, + "absent_count": 0 + }, + { + "sequence": "s01_capsulemachine_use_02", + "views": 9, + "accepted": true, + "sequence_problems": [], + "view_problems": {}, + "field_count": 73, + "media_count": 27, + "absent_count": 0 + }, + { + "sequence": "s01_espressomachine_grab_01", + "views": 9, + "accepted": true, + "sequence_problems": [], + "view_problems": {}, + "field_count": 73, + "media_count": 27, + "absent_count": 0 + }, + { + "sequence": "s01_espressomachine_use_01", + "views": 9, + "accepted": true, + "sequence_problems": [], + "view_problems": {}, + "field_count": 73, + "media_count": 27, + "absent_count": 0 + }, + { + "sequence": "s01_espressomachine_use_02", + "views": 9, + "accepted": true, + "sequence_problems": [], + "view_problems": {}, + "field_count": 73, + "media_count": 27, + "absent_count": 0 + }, + { + "sequence": "s01_ketchup_grab_01", + "views": 9, + "accepted": true, + "sequence_problems": [], + "view_problems": {}, + "field_count": 73, + "media_count": 27, + "absent_count": 0 + }, + { + "sequence": "s01_ketchup_use_01", + "views": 9, + "accepted": true, + "sequence_problems": [], + "view_problems": {}, + "field_count": 73, + "media_count": 27, + "absent_count": 0 + }, + { + "sequence": "s01_ketchup_use_02", + "views": 9, + "accepted": true, + "sequence_problems": [], + "view_problems": {}, + "field_count": 73, + "media_count": 27, + "absent_count": 0 + }, + { + "sequence": "s01_laptop_grab_01", + "views": 9, + "accepted": true, + "sequence_problems": [], + "view_problems": {}, + "field_count": 73, + "media_count": 27, + "absent_count": 0 + }, + { + "sequence": "s01_laptop_use_01", + "views": 9, + "accepted": true, + "sequence_problems": [], + "view_problems": {}, + "field_count": 73, + "media_count": 27, + "absent_count": 0 + }, + { + "sequence": "s01_laptop_use_02", + "views": 9, + "accepted": true, + "sequence_problems": [], + "view_problems": {}, + "field_count": 73, + "media_count": 27, + "absent_count": 0 + }, + { + "sequence": "s01_laptop_use_03", + "views": 9, + "accepted": true, + "sequence_problems": [], + "view_problems": {}, + "field_count": 73, + "media_count": 27, + "absent_count": 0 + }, + { + "sequence": "s01_laptop_use_04", + "views": 9, + "accepted": true, + "sequence_problems": [], + "view_problems": {}, + "field_count": 73, + "media_count": 27, + "absent_count": 0 + }, + { + "sequence": "s01_microwave_grab_01", + "views": 9, + "accepted": true, + "sequence_problems": [], + "view_problems": {}, + "field_count": 73, + "media_count": 27, + "absent_count": 0 + }, + { + "sequence": "s01_microwave_use_01", + "views": 9, + "accepted": true, + "sequence_problems": [], + "view_problems": {}, + "field_count": 73, + "media_count": 27, + "absent_count": 0 + }, + { + "sequence": "s01_microwave_use_02", + "views": 9, + "accepted": true, + "sequence_problems": [], + "view_problems": {}, + "field_count": 73, + "media_count": 27, + "absent_count": 0 + }, + { + "sequence": "s01_mixer_grab_01", + "views": 9, + "accepted": true, + "sequence_problems": [], + "view_problems": {}, + "field_count": 73, + "media_count": 27, + "absent_count": 0 + }, + { + "sequence": "s01_mixer_use_01", + "views": 9, + "accepted": true, + "sequence_problems": [], + "view_problems": {}, + "field_count": 73, + "media_count": 27, + "absent_count": 0 + }, + { + "sequence": "s01_mixer_use_02", + "views": 9, + "accepted": true, + "sequence_problems": [], + "view_problems": {}, + "field_count": 73, + "media_count": 27, + "absent_count": 0 + }, + { + "sequence": "s01_notebook_use_01", + "views": 9, + "accepted": true, + "sequence_problems": [], + "view_problems": {}, + "field_count": 73, + "media_count": 27, + "absent_count": 0 + }, + { + "sequence": "s01_notebook_use_02", + "views": 9, + "accepted": true, + "sequence_problems": [], + "view_problems": {}, + "field_count": 73, + "media_count": 27, + "absent_count": 0 + }, + { + "sequence": "s01_phone_grab_01", + "views": 9, + "accepted": true, + "sequence_problems": [], + "view_problems": {}, + "field_count": 73, + "media_count": 27, + "absent_count": 0 + }, + { + "sequence": "s01_phone_use_01", + "views": 9, + "accepted": true, + "sequence_problems": [], + "view_problems": {}, + "field_count": 73, + "media_count": 27, + "absent_count": 0 + }, + { + "sequence": "s01_phone_use_02", + "views": 9, + "accepted": true, + "sequence_problems": [], + "view_problems": {}, + "field_count": 73, + "media_count": 27, + "absent_count": 0 + }, + { + "sequence": "s01_scissors_grab_01", + "views": 9, + "accepted": true, + "sequence_problems": [], + "view_problems": {}, + "field_count": 73, + "media_count": 27, + "absent_count": 0 + }, + { + "sequence": "s01_scissors_use_01", + "views": 9, + "accepted": true, + "sequence_problems": [], + "view_problems": {}, + "field_count": 73, + "media_count": 27, + "absent_count": 0 + }, + { + "sequence": "s01_scissors_use_02", + "views": 9, + "accepted": true, + "sequence_problems": [], + "view_problems": {}, + "field_count": 73, + "media_count": 27, + "absent_count": 0 + }, + { + "sequence": "s01_waffleiron_grab_01", + "views": 9, + "accepted": true, + "sequence_problems": [], + "view_problems": {}, + "field_count": 73, + "media_count": 27, + "absent_count": 0 + }, + { + "sequence": "s01_waffleiron_use_01", + "views": 9, + "accepted": true, + "sequence_problems": [], + "view_problems": {}, + "field_count": 73, + "media_count": 27, + "absent_count": 0 + }, + { + "sequence": "s01_waffleiron_use_02", + "views": 9, + "accepted": true, + "sequence_problems": [], + "view_problems": {}, + "field_count": 73, + "media_count": 27, + "absent_count": 0 + }, + { + "sequence": "s02_box_grab_01", + "views": 9, + "accepted": true, + "sequence_problems": [], + "view_problems": {}, + "field_count": 73, + "media_count": 27, + "absent_count": 0 + }, + { + "sequence": "s02_box_use_01", + "views": 9, + "accepted": true, + "sequence_problems": [], + "view_problems": {}, + "field_count": 73, + "media_count": 27, + "absent_count": 0 + }, + { + "sequence": "s02_box_use_02", + "views": 9, + "accepted": true, + "sequence_problems": [], + "view_problems": {}, + "field_count": 73, + "media_count": 27, + "absent_count": 0 + }, + { + "sequence": "s02_capsulemachine_grab_01", + "views": 9, + "accepted": true, + "sequence_problems": [], + "view_problems": {}, + "field_count": 73, + "media_count": 27, + "absent_count": 0 + }, + { + "sequence": "s02_capsulemachine_use_01", + "views": 9, + "accepted": true, + "sequence_problems": [], + "view_problems": {}, + "field_count": 73, + "media_count": 27, + "absent_count": 0 + }, + { + "sequence": "s02_capsulemachine_use_02", + "views": 9, + "accepted": true, + "sequence_problems": [], + "view_problems": {}, + "field_count": 73, + "media_count": 27, + "absent_count": 0 + }, + { + "sequence": "s02_espressomachine_grab_01", + "views": 9, + "accepted": true, + "sequence_problems": [], + "view_problems": {}, + "field_count": 73, + "media_count": 27, + "absent_count": 0 + }, + { + "sequence": "s02_espressomachine_use_01", + "views": 9, + "accepted": true, + "sequence_problems": [], + "view_problems": {}, + "field_count": 73, + "media_count": 27, + "absent_count": 0 + }, + { + "sequence": "s02_espressomachine_use_02", + "views": 9, + "accepted": true, + "sequence_problems": [], + "view_problems": {}, + "field_count": 73, + "media_count": 27, + "absent_count": 0 + }, + { + "sequence": "s02_ketchup_grab_01", + "views": 9, + "accepted": true, + "sequence_problems": [], + 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s02_espressomachine_grab_01_0

直接读取 v1.1 bundle（s02_espressomachine_grab_01 的 ego 视图，split=train）。预览仅供人工复核，不是训练输入（CONTRACT §6.5）；这里只解码抽样帧，不是全部帧。本 release 另带 v1.0 的全帧逐相机视频（doc/history-v1.0/validation/），两者并存，本页不替代它。

配色沿用 ARCTIC v1.0 复核页自己的约定（「顶盖紫、底座绿，左手青、右手橙」），便于两套页面并排读：
    物体 top ·     物体 bottom ·     左手 ·     右手 ·     位姿轴 x 红 /     y 绿 /     z 蓝
部件的 top/bottom 取自组件名（object_<id>_top_pose 等），关键点取自发布的 keypoint_names；v1.0 页面把 32 个物体关键点画成同一种白色，并用索引区分顶盖/底座。投影不做遮挡剔除，也不是分割真值。

手部没有骨架：release 的 mano 只有 61 个参数，要还原成关节需要发布外的 MANO 模型资产与 smplx——本发布与本渲染环境都没有。ARCTIC v1.0 页面上那层白色 MANO 派生关节点，正是靠那套外部依赖画出来的。页面因此只画 schema layout.translation 声明的根平移（青色/橙色点），手部监督的其余部分以逐帧数值呈现。

源未发布的组件及原始理由（不补造）
{
+  "depth": "No depth images in this official raw release",
+  "segment": "No pixel segmentation in this official raw release",
+  "contact": "No source contact labels in selected official raw packages",
+  "keypoints": "No separate measured hand keypoints in raw; MANO available. Render-only joints are not published as additional labels",
+  "visibility": "Not supplied in selected raw annotations; fitting_err is outside current shared scope"
+}

帧 0 / 664

原生 RGB（MKV 解出的第 0 帧，未重编码）

该帧未投影的几何：
· object_espressomachine_keypoints：该帧 valid 为假（源未标注，该帧数值非有限值，故不投影）
· object_espressomachine_root_pose：该帧 valid 为假（源未标注，该帧数值非有限值，故不投影）
· object_espressomachine_bottom_pose：该帧 valid 为假（源未标注，该帧数值非有限值，故不投影）
· object_espressomachine_top_pose：该帧 valid 为假（源未标注，该帧数值非有限值，故不投影）
· mano：该帧 valid 为假（源未标注，该帧数值非有限值，故不投影）

帧号、来源、全部数值组件与有效性
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帧 1 / 664

原生 RGB（MKV 解出的第 1 帧，未重编码）
物体 espressomachine 关键点投影（按发布的 keypoint_names 分色：top 紫 / bottom 绿；v1.0 页面把这 32 点画成同一种白色。32 个有效点，画内 32 个＝bottom 16 点、top 16 点）
object_espressomachine_root_pose 位姿坐标轴（x 红 / y 绿 / z 蓝，每轴 5 cm，已画 3/3 条；由已发布位姿与内参投影，仅示朝向）
object_espressomachine_top_pose 位姿坐标轴（x 红 / y 绿 / z 蓝，每轴 5 cm，已画 3/3 条；由已发布位姿与内参投影，仅示朝向）

该帧这些部件的位姿与已画出的部件逐元素相同（部件静止），投影为同一图，未重复绘制：object_espressomachine_bottom_pose ＝ object_espressomachine_root_pose

该帧未投影的几何：
· mano：1 个有效手（right）的根平移全部落在画外

帧号、来源、全部数值组件与有效性
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+}

帧 166 / 664

原生 RGB（MKV 解出的第 166 帧，未重编码）
物体 espressomachine 关键点投影（按发布的 keypoint_names 分色：top 紫 / bottom 绿；v1.0 页面把这 32 点画成同一种白色。32 个有效点，画内 32 个＝bottom 16 点、top 16 点）
object_espressomachine_root_pose 位姿坐标轴（x 红 / y 绿 / z 蓝，每轴 5 cm，已画 3/3 条；由已发布位姿与内参投影，仅示朝向）
object_espressomachine_top_pose 位姿坐标轴（x 红 / y 绿 / z 蓝，每轴 5 cm，已画 3/3 条；由已发布位姿与内参投影，仅示朝向）
MANO 根平移投影（schema layout.translation 第 58–61 个参数，声明坐标系 camera，单位 m；画内 left、right）。不画骨架与网格，原因见「手部没有骨架」一节

该帧这些部件的位姿与已画出的部件逐元素相同（部件静止），投影为同一图，未重复绘制：object_espressomachine_bottom_pose ＝ object_espressomachine_root_pose

帧号、来源、全部数值组件与有效性
{
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+}

帧 332 / 664

原生 RGB（MKV 解出的第 332 帧，未重编码）
物体 espressomachine 关键点投影（按发布的 keypoint_names 分色：top 紫 / bottom 绿；v1.0 页面把这 32 点画成同一种白色。32 个有效点，画内 32 个＝bottom 16 点、top 16 点）
object_espressomachine_root_pose 位姿坐标轴（x 红 / y 绿 / z 蓝，每轴 5 cm，已画 3/3 条；由已发布位姿与内参投影，仅示朝向）
object_espressomachine_top_pose 位姿坐标轴（x 红 / y 绿 / z 蓝，每轴 5 cm，已画 3/3 条；由已发布位姿与内参投影，仅示朝向）
MANO 根平移投影（schema layout.translation 第 58–61 个参数，声明坐标系 camera，单位 m；画内 left、right）。不画骨架与网格，原因见「手部没有骨架」一节

该帧这些部件的位姿与已画出的部件逐元素相同（部件静止），投影为同一图，未重复绘制：object_espressomachine_bottom_pose ＝ object_espressomachine_root_pose

帧号、来源、全部数值组件与有效性
{
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+}

帧 498 / 664

原生 RGB（MKV 解出的第 498 帧，未重编码）
物体 espressomachine 关键点投影（按发布的 keypoint_names 分色：top 紫 / bottom 绿；v1.0 页面把这 32 点画成同一种白色。32 个有效点，画内 31 个＝bottom 15 点、top 16 点）
object_espressomachine_root_pose 位姿坐标轴（x 红 / y 绿 / z 蓝，每轴 5 cm，已画 3/3 条；由已发布位姿与内参投影，仅示朝向）
object_espressomachine_top_pose 位姿坐标轴（x 红 / y 绿 / z 蓝，每轴 5 cm，已画 3/3 条；由已发布位姿与内参投影，仅示朝向）
MANO 根平移投影（schema layout.translation 第 58–61 个参数，声明坐标系 camera，单位 m；画内 left、right）。不画骨架与网格，原因见「手部没有骨架」一节

该帧这些部件的位姿与已画出的部件逐元素相同（部件静止），投影为同一图，未重复绘制：object_espressomachine_bottom_pose ＝ object_espressomachine_root_pose

帧号、来源、全部数值组件与有效性
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+}

帧 663 / 664

原生 RGB（MKV 解出的第 663 帧，未重编码）
物体 espressomachine 关键点投影（按发布的 keypoint_names 分色：top 紫 / bottom 绿；v1.0 页面把这 32 点画成同一种白色。32 个有效点，画内 32 个＝bottom 16 点、top 16 点）
object_espressomachine_root_pose 位姿坐标轴（x 红 / y 绿 / z 蓝，每轴 5 cm，已画 3/3 条；由已发布位姿与内参投影，仅示朝向）
object_espressomachine_top_pose 位姿坐标轴（x 红 / y 绿 / z 蓝，每轴 5 cm，已画 3/3 条；由已发布位姿与内参投影，仅示朝向）

该帧这些部件的位姿与已画出的部件逐元素相同（部件静止），投影为同一图，未重复绘制：object_espressomachine_bottom_pose ＝ object_espressomachine_root_pose

该帧未投影的几何：
· mano：1 个有效手（right）的根平移全部落在画外

帧号、来源、全部数值组件与有效性
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+        -0.07772263139486313,
+        -0.04782939329743385,
+        0.5409054160118103
+      ],
+      [
+        -0.06290438026189804,
+        0.0029612246435135603,
+        0.6043335199356079
+      ]
+    ],
+    "valid": [
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true,
+      true
+    ]
+  }
+}

原始物体模型（独立预览）

object_espressomachine_mesh

仅展示网格原生形状（annotation/object/espressomachine/assets/mesh.obj）；未验证尺度／位姿对应。

object_espressomachine_mesh:bottom

仅展示网格原生形状（annotation/object/espressomachine/assets/bottom.obj）；未验证尺度／位姿对应。

object_espressomachine_mesh:top

仅展示网格原生形状（annotation/object/espressomachine/assets/top.obj）；未验证尺度／位姿对应。
全部组件元信息及原始来源
{
+  "schema_version": "hand-warehouse/1.1",
+  "storage_revision": "lossless-video-2026-09-18",
+  "dataset_id": "ARCTIC",
+  "release_id": "shared-v1.1",
+  "sequence_id": "s02_espressomachine_grab_01",
+  "camera_id": "0",
+  "sample_type": "video",
+  "num_frames": 664,
+  "hand_slots": [
+    "left",
+    "right"
+  ],
+  "sampling": {
+    "type": "dense",
+    "source_fps": 30.0,
+    "frames_ref": "camera/frames.jsonl",
+    "selection": "Every released image of this selected camera in the complete official sequence ZIP; boundary images without annotations retained",
+    "source_fps_basis": "ARCTIC paper v3, Sec. 3.2 Acquisition Setup: 8 static allocentric and 1 moving egocentric RGB views captured at 30 FPS",
+    "source_fps_evidence_url": "https://arxiv.org/html/2204.13662v3#S3.SS2",
+    "source_timestamp_status": "not_released; do not invent measured timestamp_ns"
+  },
+  "camera": {
+    "model": "rational8",
+    "schema_id": "camera/rational8/v1",
+    "image_size": [
+      2800,
+      2000
+    ]
+  },
+  "split": "train",
+  "components": {
+    "intrinsic": {
+      "available": true,
+      "schema_id": "camera/rational8/v1",
+      "data_ref": "camera/camera.pt",
+      "axes": [
+        "T",
+        "row",
+        "column"
+      ],
+      "valid_ref": "camera/camera.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "source values retained"
+      },
+      "source_locator": {
+        "archive": "raw/data/raw_seqs.zip",
+        "member": "raw_seqs/s02/espressomachine_grab_01.egocam.dist.npy"
+      },
+      "distortion_ref": "camera/camera.pt",
+      "data_key": [
+        "intrinsic",
+        "data"
+      ],
+      "valid_key": [
+        "intrinsic",
+        "valid"
+      ],
+      "storage": {
+        "profile": "pt/tensor_bundle/v1"
+      },
+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
+      },
+      "distortion_key": [
+        "distortion",
+        "data"
+      ],
+      "distortion_valid_ref": "camera/camera.pt",
+      "distortion_valid_key": [
+        "distortion",
+        "valid"
+      ]
+    },
+    "extrinsic": {
+      "available": true,
+      "schema_id": "transform/se3/v1",
+      "data_ref": "camera/camera.pt",
+      "axes": [
+        "T",
+        "row",
+        "column"
+      ],
+      "valid_ref": "camera/camera.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "source values retained"
+      },
+      "source_locator": {
+        "archive": "raw/data/raw_seqs.zip",
+        "member": "raw_seqs/s02/espressomachine_grab_01.egocam.dist.npy"
+      },
+      "unit": "m",
+      "convention": "T_camera_from_world",
+      "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"
+      ],
+      "valid_ref": "annotation/mano/mano.pt",
+      "valid_axes": [
+        "T",
+        "hand"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Official nonflat mean expanded; shape-dependent root corrected during world-to-camera conversion; image index minus official ioi_offset"
+      },
+      "source_locator": {
+        "archive": "raw/data/raw_seqs.zip",
+        "member": "raw_seqs/s02/espressomachine_grab_01.mano.npy",
+        "index_ref": "camera/frames.jsonl:source_annotation_index"
+      },
+      "unit": "m",
+      "angle_unit": "rad",
+      "coordinate_frame": "camera",
+      "model_profile": {
+        "version": "MANO-v1.2",
+        "flat_hand_mean": true,
+        "left_shapedirs_fix": false
+      },
+      "data_key": [
+        "motion",
+        "data"
+      ],
+      "valid_key": [
+        "motion",
+        "valid"
+      ],
+      "storage": {
+        "profile": "pt/tensor_bundle/v1"
+      },
+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
+      }
+    },
+    "object_espressomachine_root_pose": {
+      "available": true,
+      "schema_id": "object/rigid/v1",
+      "data_ref": "annotation/object/espressomachine/object.pt",
+      "axes": [
+        "T",
+        "row",
+        "column"
+      ],
+      "valid_ref": "annotation/object/espressomachine/object.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "source values retained"
+      },
+      "source_locator": {
+        "archive": "raw/data/raw_seqs.zip",
+        "member": "raw_seqs/s02/espressomachine_grab_01.object.npy",
+        "index_ref": "camera/frames.jsonl:source_annotation_index"
+      },
+      "unit": "m",
+      "convention": "T_camera_from_object",
+      "data_key": [
+        "pose",
+        "data"
+      ],
+      "valid_key": [
+        "pose",
+        "valid"
+      ],
+      "storage": {
+        "profile": "pt/tensor_bundle/v1"
+      },
+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
+      }
+    },
+    "object_espressomachine_bottom_pose": {
+      "available": true,
+      "schema_id": "object/rigid/v1",
+      "data_ref": "annotation/object/espressomachine/object.pt",
+      "axes": [
+        "T",
+        "row",
+        "column"
+      ],
+      "valid_ref": "annotation/object/espressomachine/object.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "source values retained"
+      },
+      "source_locator": {
+        "archive": "raw/data/raw_seqs.zip",
+        "member": "raw_seqs/s02/espressomachine_grab_01.object.npy",
+        "index_ref": "camera/frames.jsonl:source_annotation_index"
+      },
+      "unit": "m",
+      "convention": "T_camera_from_part",
+      "data_key": [
+        "parts",
+        "bottom",
+        "pose",
+        "data"
+      ],
+      "valid_key": [
+        "parts",
+        "bottom",
+        "pose",
+        "valid"
+      ],
+      "storage": {
+        "profile": "pt/tensor_bundle/v1"
+      },
+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
+      }
+    },
+    "object_espressomachine_top_pose": {
+      "available": true,
+      "schema_id": "object/rigid/v1",
+      "data_ref": "annotation/object/espressomachine/object.pt",
+      "axes": [
+        "T",
+        "row",
+        "column"
+      ],
+      "valid_ref": "annotation/object/espressomachine/object.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "source values retained"
+      },
+      "source_locator": {
+        "archive": "raw/data/raw_seqs.zip",
+        "member": "raw_seqs/s02/espressomachine_grab_01.object.npy",
+        "index_ref": "camera/frames.jsonl:source_annotation_index"
+      },
+      "unit": "m",
+      "convention": "T_camera_from_part",
+      "data_key": [
+        "parts",
+        "top",
+        "pose",
+        "data"
+      ],
+      "valid_key": [
+        "parts",
+        "top",
+        "pose",
+        "valid"
+      ],
+      "storage": {
+        "profile": "pt/tensor_bundle/v1"
+      },
+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
+      }
+    },
+    "object_espressomachine_joint": {
+      "available": true,
+      "schema_id": "object/joint_state/v1",
+      "data_ref": "annotation/object/espressomachine/object.pt",
+      "axes": [
+        "T",
+        "joint"
+      ],
+      "valid_ref": "annotation/object/espressomachine/object.pt",
+      "valid_axes": [
+        "T",
+        "joint"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "source values retained"
+      },
+      "source_locator": {
+        "archive": "raw/data/raw_seqs.zip",
+        "member": "raw_seqs/s02/espressomachine_grab_01.object.npy",
+        "index_ref": "camera/frames.jsonl:source_annotation_index"
+      },
+      "joint_order": [
+        "hinge"
+      ],
+      "unit": "rad",
+      "data_key": [
+        "joint_state",
+        "data"
+      ],
+      "valid_key": [
+        "joint_state",
+        "valid"
+      ],
+      "storage": {
+        "profile": "pt/tensor_bundle/v1"
+      },
+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
+      }
+    },
+    "object_espressomachine_articulation": {
+      "available": true,
+      "schema_id": "object/articulated/v1",
+      "data_ref": "annotation/object/espressomachine/articulation.json",
+      "axes": [],
+      "valid_ref": "annotation/object/espressomachine/articulation_valid.pt",
+      "valid_axes": [],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "source values retained"
+      },
+      "source_locator": {
+        "archive": "raw/data/raw_seqs.zip",
+        "member": "raw_seqs/s02/espressomachine_grab_01.object.npy",
+        "index_ref": "camera/frames.jsonl:source_annotation_index"
+      },
+      "static": true
+    },
+    "object_espressomachine_mesh": {
+      "available": true,
+      "schema_id": "mesh/obj/v1",
+      "data_ref": "annotation/object/espressomachine/assets/mesh.obj",
+      "axes": [
+        "vertex",
+        "coordinate"
+      ],
+      "valid_ref": "annotation/object/espressomachine/assets/mesh_valid.pt",
+      "valid_axes": [],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Object vertices in metres; topology, material and texture dependencies retained"
+      },
+      "source_locator": {
+        "archive": "raw/data/meta.zip",
+        "member_prefix": "meta/object_vtemplates/espressomachine/"
+      },
+      "static": true,
+      "unit": "m",
+      "coordinate_frame": "object"
+    },
+    "object_espressomachine_keypoints": {
+      "available": true,
+      "schema_id": "object_keypoints/camera/v1",
+      "data_ref": "annotation/object/espressomachine/object.pt",
+      "axes": [
+        "T",
+        "joint",
+        "coordinate"
+      ],
+      "valid_ref": "annotation/object/espressomachine/object.pt",
+      "valid_axes": [
+        "T",
+        "joint"
+      ],
+      "provenance": {
+        "kind": "derived",
+        "method": "Official template keypoints driven by released articulation and camera transforms"
+      },
+      "source_locator": {
+        "archive": "raw/data/meta.zip",
+        "member_prefix": "meta/object_vtemplates/espressomachine/"
+      },
+      "unit": "m",
+      "coordinate_frame": "camera",
+      "keypoint_schema": "arctic_object_keypoints/v1",
+      "keypoint_names": [
+        "top_0",
+        "top_1",
+        "top_2",
+        "top_3",
+        "top_4",
+        "top_5",
+        "top_6",
+        "top_7",
+        "top_8",
+        "top_9",
+        "top_10",
+        "top_11",
+        "top_12",
+        "top_13",
+        "top_14",
+        "top_15",
+        "bottom_0",
+        "bottom_1",
+        "bottom_2",
+        "bottom_3",
+        "bottom_4",
+        "bottom_5",
+        "bottom_6",
+        "bottom_7",
+        "bottom_8",
+        "bottom_9",
+        "bottom_10",
+        "bottom_11",
+        "bottom_12",
+        "bottom_13",
+        "bottom_14",
+        "bottom_15"
+      ],
+      "data_key": [
+        "keypoints",
+        "xyz",
+        "data"
+      ],
+      "valid_key": [
+        "keypoints",
+        "xyz",
+        "valid"
+      ],
+      "storage": {
+        "profile": "pt/tensor_bundle/v1"
+      },
+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
+      }
+    },
+    "rgb": {
+      "available": true,
+      "schema_id": "rgb/uint8/v1",
+      "data_ref": "observation/rgb.mkv",
+      "axes": [
+        "T",
+        "height",
+        "width",
+        "channel"
+      ],
+      "valid_ref": "observation/rgb_valid.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Original JPEG packets copied into MKV; every payload/order/dimension checked; declared deterministic RGB sample checked"
+      },
+      "source_locator": {
+        "archive": "raw/data/images_zips/s02/espressomachine_grab_01.zip",
+        "member_pattern": "{camera_id}/{source_frame_id:05d}.jpg",
+        "camera_id": "0"
+      },
+      "storage": {
+        "profile": "mkv/mjpeg_copy/v1",
+        "codec": "mjpeg",
+        "pixel_format": "yuvj420p",
+        "encoded_size": [
+          2800,
+          2000
+        ],
+        "source_lossy": true,
+        "decoder": {
+          "name": "ffmpeg",
+          "version": "ffmpeg version 7.1-essentials_build-www.gyan.dev Copyright (c) 2000-2024 the FFmpeg developers",
+          "output_pixel_format": "rgb24",
+          "autorotate": false,
+          "source_color_declaration": "unknown",
+          "actual_stream_description": "Stream #0:0: Video: mjpeg (Baseline), yuvj420p(pc, bt470bg/unknown/unknown), 2800x2000 [SAR 1:1 DAR 7:5], 1 fps, 1 tbr, 1k tbn"
+        },
+        "encoder_parameters": {
+          "mode": "stream_copy",
+          "version": "ffmpeg version 7.1-essentials_build-www.gyan.dev Copyright (c) 2000-2024 the FFmpeg developers"
+        }
+      },
+      "storage_fps": 1,
+      "timebase_role": "index_only"
+    }
+  },
+  "pilot": false,
+  "split_scheme": "ARCTIC_protocol_p1",
+  "split_source_locator": {
+    "archive": "raw/data/splits_json.zip",
+    "member": "splits_json/protocol_p1.json",
+    "sequence": "s02/espressomachine_grab_01"
+  },
+  "view_type": "ego",
+  "omitted_components": {
+    "depth": "No depth images in this official raw release",
+    "segment": "No pixel segmentation in this official raw release",
+    "contact": "No source contact labels in selected official raw packages",
+    "keypoints": "No separate measured hand keypoints in raw; MANO available. Render-only joints are not published as additional labels",
+    "visibility": "Not supplied in selected raw annotations; fitting_err is outside current shared scope"
+  },
+  "media_validation_policy": "jpeg-packets-all-rgb-sample16/v1",
+  "pilot_complete": true,
+  "production_complete": true,
+  "pilot_human_review": "approved",
+  "full_output_human_review": "pending",
+  "upload_authorized": false
+}
持久化 QC 结果
{
+  "view": "s02_espressomachine_grab_01/0",
+  "sequence_id": "s02_espressomachine_grab_01",
+  "camera_id": "0",
+  "view_type": "ego",
+  "split": "train",
+  "num_frames": 664,
+  "camera": {
+    "model": "rational8",
+    "schema_id": "camera/rational8/v1",
+    "image_size": [
+      2800,
+      2000
+    ]
+  },
+  "numeric_components": {
+    "intrinsic": {
+      "shape": [
+        664,
+        3,
+        3
+      ],
+      "dtype": "torch.float32",
+      "valid_true": 664,
+      "valid_total": 664,
+      "shares_intrinsic_validity": null
+    },
+    "intrinsic.distortion": {
+      "shape": [
+        664,
+        8
+      ],
+      "dtype": "torch.float32",
+      "valid_true": 664,
+      "valid_total": 664,
+      "shares_intrinsic_validity": true
+    },
+    "extrinsic": {
+      "shape": [
+        664,
+        4,
+        4
+      ],
+      "dtype": "torch.float32",
+      "valid_true": 663,
+      "valid_total": 664,
+      "shares_intrinsic_validity": null
+    },
+    "mano": {
+      "shape": [
+        664,
+        2,
+        61
+      ],
+      "dtype": "torch.float32",
+      "valid_true": 1326,
+      "valid_total": 1328,
+      "shares_intrinsic_validity": null
+    },
+    "object_espressomachine_root_pose": {
+      "shape": [
+        664,
+        4,
+        4
+      ],
+      "dtype": "torch.float32",
+      "valid_true": 663,
+      "valid_total": 664,
+      "shares_intrinsic_validity": null
+    },
+    "object_espressomachine_bottom_pose": {
+      "shape": [
+        664,
+        4,
+        4
+      ],
+      "dtype": "torch.float32",
+      "valid_true": 663,
+      "valid_total": 664,
+      "shares_intrinsic_validity": null
+    },
+    "object_espressomachine_top_pose": {
+      "shape": [
+        664,
+        4,
+        4
+      ],
+      "dtype": "torch.float32",
+      "valid_true": 663,
+      "valid_total": 664,
+      "shares_intrinsic_validity": null
+    },
+    "object_espressomachine_joint": {
+      "shape": [
+        664,
+        1
+      ],
+      "dtype": "torch.float32",
+      "valid_true": 663,
+      "valid_total": 664,
+      "shares_intrinsic_validity": null
+    },
+    "object_espressomachine_keypoints": {
+      "shape": [
+        664,
+        32,
+        3
+      ],
+      "dtype": "torch.float32",
+      "valid_true": 21216,
+      "valid_total": 21248,
+      "shares_intrinsic_validity": null
+    }
+  },
+  "bundle_files": 3,
+  "bundles": [
+    "annotation/mano/mano.pt",
+    "annotation/object/espressomachine/object.pt",
+    "camera/camera.pt"
+  ],
+  "media": [
+    {
+      "component": "object_espressomachine_articulation",
+      "ref": "annotation/object/espressomachine/articulation.json",
+      "pixels_decoded": 0
+    },
+    {
+      "component": "object_espressomachine_mesh",
+      "ref": "annotation/object/espressomachine/assets/mesh.obj",
+      "pixels_decoded": 0
+    },
+    {
+      "component": "rgb",
+      "ref": "observation/rgb.mkv",
+      "pixels_decoded": 6
+    }
+  ],
+  "consumed_files": [
+    "annotation/mano/mano.pt",
+    "annotation/object/espressomachine/articulation.json",
+    "annotation/object/espressomachine/articulation_valid.pt",
+    "annotation/object/espressomachine/assets/mesh.obj",
+    "annotation/object/espressomachine/assets/mesh_valid.pt",
+    "annotation/object/espressomachine/object.pt",
+    "camera/camera.pt",
+    "observation/rgb.mkv",
+    "observation/rgb_valid.pt"
+  ],
+  "registry_gaps": [
+    {
+      "kind": "keypoint_schema_unregistered",
+      "schema": "arctic_object_keypoints/v1",
+      "resolved_from": "component.keypoint_names",
+      "count": 32
+    }
+  ],
+  "selected_frames": [
+    0,
+    1,
+    166,
+    332,
+    498,
+    663
+  ],
+  "decode_scope": "ffmpeg select= demux filter over the preserved MKV; only the frames listed in selected_frames are decoded, each checked against height*width*3 bytes",
+  "projection": {
+    "model": "rational8",
+    "calibrated": true,
+    "points": 160,
+    "inside": 159,
+    "off_image": 1,
+    "frames": {
+      "0": {
+        "annotated": false,
+        "valid_points": 0,
+        "inside_points": 0,
+        "inside_ratio": null,
+        "mostly_out_of_frame": false
+      },
+      "1": {
+        "annotated": true,
+        "valid_points": 32,
+        "inside_points": 32,
+        "inside_ratio": 1.0,
+        "mostly_out_of_frame": false
+      },
+      "166": {
+        "annotated": true,
+        "valid_points": 32,
+        "inside_points": 32,
+        "inside_ratio": 1.0,
+        "mostly_out_of_frame": false
+      },
+      "332": {
+        "annotated": true,
+        "valid_points": 32,
+        "inside_points": 32,
+        "inside_ratio": 1.0,
+        "mostly_out_of_frame": false
+      },
+      "498": {
+        "annotated": true,
+        "valid_points": 32,
+        "inside_points": 31,
+        "inside_ratio": 0.9688,
+        "mostly_out_of_frame": false
+      },
+      "663": {
+        "annotated": true,
+        "valid_points": 32,
+        "inside_points": 32,
+        "inside_ratio": 1.0,
+        "mostly_out_of_frame": false
+      }
+    },
+    "coordinate_frame": "camera",
+    "scope": "saved camera-frame xyz through the view's own intrinsic and distortion; not a media pixel comparison",
+    "out_of_frame_rule": "a sampled frame is marked 物体大部分落在画外 when fewer than half of its valid object keypoints land inside the image; every annotated frame's valid_points / inside_points / inside_ratio is recorded in projection.frames either way",
+    "note": "ARCTIC publishes no 2D keypoints and no uv series, so the published projection_qc (saved xyz against saved uv) has no second series here; this counts what the release's own camera-frame geometry projects to."
+  },
+  "omitted_components": {
+    "depth": "No depth images in this official raw release",
+    "segment": "No pixel segmentation in this official raw release",
+    "contact": "No source contact labels in selected official raw packages",
+    "keypoints": "No separate measured hand keypoints in raw; MANO available. Render-only joints are not published as additional labels",
+    "visibility": "Not supplied in selected raw annotations; fitting_err is outside current shared scope"
+  },
+  "source_hand_object_gt_available": null,
+  "scope": "v1.1 registry, keys, shapes, validity and timeline; not a media pixel comparison",
+  "geometry_panels": {
+    "keypoint_panels": 5,
+    "axis_panels": 10,
+    "mano_panels": 3,
+    "note_panels": 8,
+    "frames_noted": 6,
+    "frames_mostly_out_of_frame": 0,
+    "frames_mostly_out_of_frame_list": []
+  }
+}
\ No newline at end of file diff --git a/ARCTIC/shared-v1.1/doc/validation/s02_espressomachine_grab_01_0.report.json b/ARCTIC/shared-v1.1/doc/validation/s02_espressomachine_grab_01_0.report.json new file mode 100644 index 0000000000000000000000000000000000000000..795072eccd1beba99f28abf50bc5ec1d5a78f4db --- /dev/null +++ b/ARCTIC/shared-v1.1/doc/validation/s02_espressomachine_grab_01_0.report.json @@ -0,0 +1,239 @@ +{ + "view": "s02_espressomachine_grab_01/0", + "sequence_id": "s02_espressomachine_grab_01", + "camera_id": "0", + "view_type": "ego", + "split": "train", + "num_frames": 664, + "camera": { + "model": "rational8", + "schema_id": "camera/rational8/v1", + "image_size": [ + 2800, + 2000 + ] + }, + "numeric_components": { + "intrinsic": { + "shape": [ + 664, + 3, + 3 + ], + "dtype": "torch.float32", + "valid_true": 664, + "valid_total": 664, + "shares_intrinsic_validity": null + }, + "intrinsic.distortion": { + "shape": [ + 664, + 8 + ], + "dtype": "torch.float32", + "valid_true": 664, + "valid_total": 664, + "shares_intrinsic_validity": true + }, + "extrinsic": { + "shape": [ + 664, + 4, + 4 + ], + "dtype": "torch.float32", + "valid_true": 663, + "valid_total": 664, + "shares_intrinsic_validity": null + }, + "mano": { + "shape": [ + 664, + 2, + 61 + ], + "dtype": "torch.float32", + "valid_true": 1326, + "valid_total": 1328, + "shares_intrinsic_validity": null + }, + "object_espressomachine_root_pose": { + "shape": [ + 664, + 4, + 4 + ], + "dtype": "torch.float32", + "valid_true": 663, + "valid_total": 664, + "shares_intrinsic_validity": null + }, + "object_espressomachine_bottom_pose": { + "shape": [ + 664, + 4, + 4 + ], + "dtype": "torch.float32", + "valid_true": 663, + "valid_total": 664, + "shares_intrinsic_validity": null + }, + "object_espressomachine_top_pose": { + "shape": [ + 664, + 4, + 4 + ], + "dtype": "torch.float32", + "valid_true": 663, + "valid_total": 664, + "shares_intrinsic_validity": null + }, + "object_espressomachine_joint": { + "shape": [ + 664, + 1 + ], + "dtype": "torch.float32", + "valid_true": 663, + "valid_total": 664, + "shares_intrinsic_validity": null + }, + "object_espressomachine_keypoints": { + "shape": [ + 664, + 32, + 3 + ], + "dtype": "torch.float32", + "valid_true": 21216, + "valid_total": 21248, + "shares_intrinsic_validity": null + } + }, + "bundle_files": 3, + "bundles": [ + "annotation/mano/mano.pt", + "annotation/object/espressomachine/object.pt", + "camera/camera.pt" + ], + "media": [ + { + "component": "object_espressomachine_articulation", + "ref": "annotation/object/espressomachine/articulation.json", + "pixels_decoded": 0 + }, + { + "component": "object_espressomachine_mesh", + "ref": "annotation/object/espressomachine/assets/mesh.obj", + "pixels_decoded": 0 + }, + { + "component": "rgb", + "ref": "observation/rgb.mkv", + "pixels_decoded": 6 + } + ], + "consumed_files": [ + "annotation/mano/mano.pt", + "annotation/object/espressomachine/articulation.json", + "annotation/object/espressomachine/articulation_valid.pt", + "annotation/object/espressomachine/assets/mesh.obj", + "annotation/object/espressomachine/assets/mesh_valid.pt", + "annotation/object/espressomachine/object.pt", + "camera/camera.pt", + "observation/rgb.mkv", + "observation/rgb_valid.pt" + ], + "registry_gaps": [ + { + "kind": "keypoint_schema_unregistered", + "schema": "arctic_object_keypoints/v1", + "resolved_from": "component.keypoint_names", + "count": 32 + } + ], + "selected_frames": [ + 0, + 1, + 166, + 332, + 498, + 663 + ], + "decode_scope": "ffmpeg select= demux filter over the preserved MKV; only the frames listed in selected_frames are decoded, each checked against height*width*3 bytes", + "projection": { + "model": "rational8", + "calibrated": true, + "points": 160, + "inside": 159, + "off_image": 1, + "frames": { + "0": { + "annotated": false, + "valid_points": 0, + "inside_points": 0, + "inside_ratio": null, + "mostly_out_of_frame": false + }, + "1": { + "annotated": true, + "valid_points": 32, + "inside_points": 32, + "inside_ratio": 1.0, + "mostly_out_of_frame": false + }, + "166": { + "annotated": true, + "valid_points": 32, + "inside_points": 32, + "inside_ratio": 1.0, + "mostly_out_of_frame": false + }, + "332": { + "annotated": true, + "valid_points": 32, + "inside_points": 32, + "inside_ratio": 1.0, + "mostly_out_of_frame": false + }, + "498": { + "annotated": true, + "valid_points": 32, + "inside_points": 31, + "inside_ratio": 0.9688, + "mostly_out_of_frame": false + }, + "663": { + "annotated": true, + "valid_points": 32, + "inside_points": 32, + "inside_ratio": 1.0, + "mostly_out_of_frame": false + } + }, + "coordinate_frame": "camera", + "scope": "saved camera-frame xyz through the view's own intrinsic and distortion; not a media pixel comparison", + "out_of_frame_rule": "a sampled frame is marked 物体大部分落在画外 when fewer than half of its valid object keypoints land inside the image; every annotated frame's valid_points / inside_points / inside_ratio is recorded in projection.frames either way", + "note": "ARCTIC publishes no 2D keypoints and no uv series, so the published projection_qc (saved xyz against saved uv) has no second series here; this counts what the release's own camera-frame geometry projects to." + }, + "omitted_components": { + "depth": "No depth images in this official raw release", + "segment": "No pixel segmentation in this official raw release", + "contact": "No source contact labels in selected official raw packages", + "keypoints": "No separate measured hand keypoints in raw; MANO available. Render-only joints are not published as additional labels", + "visibility": "Not supplied in selected raw annotations; fitting_err is outside current shared scope" + }, + "source_hand_object_gt_available": null, + "scope": "v1.1 registry, keys, shapes, validity and timeline; not a media pixel comparison", + "geometry_panels": { + "keypoint_panels": 5, + "axis_panels": 10, + "mano_panels": 3, + "note_panels": 8, + "frames_noted": 6, + "frames_mostly_out_of_frame": 0, + "frames_mostly_out_of_frame_list": [] + } +} \ No newline at end of file diff --git a/ARCTIC/shared-v1.1/doc/validation/s02_espressomachine_grab_01_1.html b/ARCTIC/shared-v1.1/doc/validation/s02_espressomachine_grab_01_1.html new file mode 100644 index 0000000000000000000000000000000000000000..f9440cb3d7683b0b0fc745acc9da5bd99c4428d6 --- /dev/null +++ b/ARCTIC/shared-v1.1/doc/validation/s02_espressomachine_grab_01_1.html @@ -0,0 +1,3777 @@ +s02_espressomachine_grab_01_1

s02_espressomachine_grab_01_1

直接读取 v1.1 bundle（s02_espressomachine_grab_01 的 exo 视图，split=train）。预览仅供人工复核，不是训练输入（CONTRACT §6.5）；这里只解码抽样帧，不是全部帧。本 release 另带 v1.0 的全帧逐相机视频（doc/history-v1.0/validation/），两者并存，本页不替代它。

配色沿用 ARCTIC v1.0 复核页自己的约定（「顶盖紫、底座绿，左手青、右手橙」），便于两套页面并排读：
    物体 top ·     物体 bottom ·     左手 ·     右手 ·     位姿轴 x 红 /     y 绿 /     z 蓝
部件的 top/bottom 取自组件名（object_<id>_top_pose 等），关键点取自发布的 keypoint_names；v1.0 页面把 32 个物体关键点画成同一种白色，并用索引区分顶盖/底座。投影不做遮挡剔除，也不是分割真值。

手部没有骨架：release 的 mano 只有 61 个参数，要还原成关节需要发布外的 MANO 模型资产与 smplx——本发布与本渲染环境都没有。ARCTIC v1.0 页面上那层白色 MANO 派生关节点，正是靠那套外部依赖画出来的。页面因此只画 schema layout.translation 声明的根平移（青色/橙色点），手部监督的其余部分以逐帧数值呈现。

源未发布的组件及原始理由（不补造）
{
+  "depth": "No depth images in this official raw release",
+  "segment": "No pixel segmentation in this official raw release",
+  "contact": "No source contact labels in selected official raw packages",
+  "keypoints": "No separate measured hand keypoints in raw; MANO available. Render-only joints are not published as additional labels",
+  "visibility": "Not supplied in selected raw annotations; fitting_err is outside current shared scope"
+}

帧 0 / 664

原生 RGB（MKV 解出的第 0 帧，未重编码）

该帧未投影的几何：
· object_espressomachine_keypoints：该帧 valid 为假（源未标注，该帧数值非有限值，故不投影）
· object_espressomachine_root_pose：该帧 valid 为假（源未标注，该帧数值非有限值，故不投影）
· object_espressomachine_bottom_pose：该帧 valid 为假（源未标注，该帧数值非有限值，故不投影）
· object_espressomachine_top_pose：该帧 valid 为假（源未标注，该帧数值非有限值，故不投影）
· mano：该帧 valid 为假（源未标注，该帧数值非有限值，故不投影）

帧号、来源、全部数值组件与有效性
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+}

帧 1 / 664

原生 RGB（MKV 解出的第 1 帧，未重编码）
物体 espressomachine 关键点投影（按发布的 keypoint_names 分色：top 紫 / bottom 绿；v1.0 页面把这 32 点画成同一种白色。32 个有效点，画内 32 个＝bottom 16 点、top 16 点）
object_espressomachine_root_pose 位姿坐标轴（x 红 / y 绿 / z 蓝，每轴 5 cm，已画 3/3 条；由已发布位姿与内参投影，仅示朝向）
object_espressomachine_top_pose 位姿坐标轴（x 红 / y 绿 / z 蓝，每轴 5 cm，已画 3/3 条；由已发布位姿与内参投影，仅示朝向）
MANO 根平移投影（schema layout.translation 第 58–61 个参数，声明坐标系 camera，单位 m；画内 left，画外 right）。不画骨架与网格，原因见「手部没有骨架」一节

该帧这些部件的位姿与已画出的部件逐元素相同（部件静止），投影为同一图，未重复绘制：object_espressomachine_bottom_pose ＝ object_espressomachine_root_pose

帧号、来源、全部数值组件与有效性
{
+  "frame": {
+    "frame_index": 1,
+    "source_frame_id": "2",
+    "timestamp_ns": null,
+    "clock_domain": null,
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+    "source_annotation_index": 0,
+    "sync_id": "s02/espressomachine_grab_01:2",
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+}

帧 166 / 664

原生 RGB（MKV 解出的第 166 帧，未重编码）
物体 espressomachine 关键点投影（按发布的 keypoint_names 分色：top 紫 / bottom 绿；v1.0 页面把这 32 点画成同一种白色。32 个有效点，画内 32 个＝bottom 16 点、top 16 点）
object_espressomachine_root_pose 位姿坐标轴（x 红 / y 绿 / z 蓝，每轴 5 cm，已画 3/3 条；由已发布位姿与内参投影，仅示朝向）
object_espressomachine_top_pose 位姿坐标轴（x 红 / y 绿 / z 蓝，每轴 5 cm，已画 3/3 条；由已发布位姿与内参投影，仅示朝向）
MANO 根平移投影（schema layout.translation 第 58–61 个参数，声明坐标系 camera，单位 m；画内 left、right）。不画骨架与网格，原因见「手部没有骨架」一节

该帧这些部件的位姿与已画出的部件逐元素相同（部件静止），投影为同一图，未重复绘制：object_espressomachine_bottom_pose ＝ object_espressomachine_root_pose

帧号、来源、全部数值组件与有效性
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+}

帧 332 / 664

原生 RGB（MKV 解出的第 332 帧，未重编码）
物体 espressomachine 关键点投影（按发布的 keypoint_names 分色：top 紫 / bottom 绿；v1.0 页面把这 32 点画成同一种白色。32 个有效点，画内 32 个＝bottom 16 点、top 16 点）
object_espressomachine_root_pose 位姿坐标轴（x 红 / y 绿 / z 蓝，每轴 5 cm，已画 3/3 条；由已发布位姿与内参投影，仅示朝向）
object_espressomachine_top_pose 位姿坐标轴（x 红 / y 绿 / z 蓝，每轴 5 cm，已画 3/3 条；由已发布位姿与内参投影，仅示朝向）
MANO 根平移投影（schema layout.translation 第 58–61 个参数，声明坐标系 camera，单位 m；画内 left、right）。不画骨架与网格，原因见「手部没有骨架」一节

该帧这些部件的位姿与已画出的部件逐元素相同（部件静止），投影为同一图，未重复绘制：object_espressomachine_bottom_pose ＝ object_espressomachine_root_pose

帧号、来源、全部数值组件与有效性
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+}

帧 498 / 664

原生 RGB（MKV 解出的第 498 帧，未重编码）
物体 espressomachine 关键点投影（按发布的 keypoint_names 分色：top 紫 / bottom 绿；v1.0 页面把这 32 点画成同一种白色。32 个有效点，画内 32 个＝bottom 16 点、top 16 点）
object_espressomachine_root_pose 位姿坐标轴（x 红 / y 绿 / z 蓝，每轴 5 cm，已画 3/3 条；由已发布位姿与内参投影，仅示朝向）
object_espressomachine_top_pose 位姿坐标轴（x 红 / y 绿 / z 蓝，每轴 5 cm，已画 3/3 条；由已发布位姿与内参投影，仅示朝向）
MANO 根平移投影（schema layout.translation 第 58–61 个参数，声明坐标系 camera，单位 m；画内 left、right）。不画骨架与网格，原因见「手部没有骨架」一节

该帧这些部件的位姿与已画出的部件逐元素相同（部件静止），投影为同一图，未重复绘制：object_espressomachine_bottom_pose ＝ object_espressomachine_root_pose

帧号、来源、全部数值组件与有效性
{
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+}

帧 663 / 664

原生 RGB（MKV 解出的第 663 帧，未重编码）
物体 espressomachine 关键点投影（按发布的 keypoint_names 分色：top 紫 / bottom 绿；v1.0 页面把这 32 点画成同一种白色。32 个有效点，画内 32 个＝bottom 16 点、top 16 点）
object_espressomachine_root_pose 位姿坐标轴（x 红 / y 绿 / z 蓝，每轴 5 cm，已画 3/3 条；由已发布位姿与内参投影，仅示朝向）
object_espressomachine_top_pose 位姿坐标轴（x 红 / y 绿 / z 蓝，每轴 5 cm，已画 3/3 条；由已发布位姿与内参投影，仅示朝向）
MANO 根平移投影（schema layout.translation 第 58–61 个参数，声明坐标系 camera，单位 m；画内 left，画外 right）。不画骨架与网格，原因见「手部没有骨架」一节

该帧这些部件的位姿与已画出的部件逐元素相同（部件静止），投影为同一图，未重复绘制：object_espressomachine_bottom_pose ＝ object_espressomachine_root_pose

帧号、来源、全部数值组件与有效性
{
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+  "object_espressomachine_joint": {
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+    "valid": [
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+  "object_espressomachine_keypoints": {
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+  }
+}

原始物体模型（独立预览）

object_espressomachine_mesh

仅展示网格原生形状（annotation/object/espressomachine/assets/mesh.obj）；未验证尺度／位姿对应。

object_espressomachine_mesh:bottom

仅展示网格原生形状（annotation/object/espressomachine/assets/bottom.obj）；未验证尺度／位姿对应。

object_espressomachine_mesh:top

仅展示网格原生形状（annotation/object/espressomachine/assets/top.obj）；未验证尺度／位姿对应。
全部组件元信息及原始来源
{
+  "schema_version": "hand-warehouse/1.1",
+  "storage_revision": "lossless-video-2026-09-18",
+  "dataset_id": "ARCTIC",
+  "release_id": "shared-v1.1",
+  "sequence_id": "s02_espressomachine_grab_01",
+  "camera_id": "1",
+  "sample_type": "video",
+  "num_frames": 664,
+  "hand_slots": [
+    "left",
+    "right"
+  ],
+  "sampling": {
+    "type": "dense",
+    "source_fps": 30.0,
+    "frames_ref": "camera/frames.jsonl",
+    "selection": "Every released image of this selected camera in the complete official sequence ZIP; boundary images without annotations retained",
+    "source_fps_basis": "ARCTIC paper v3, Sec. 3.2 Acquisition Setup: 8 static allocentric and 1 moving egocentric RGB views captured at 30 FPS",
+    "source_fps_evidence_url": "https://arxiv.org/html/2204.13662v3#S3.SS2",
+    "source_timestamp_status": "not_released; do not invent measured timestamp_ns"
+  },
+  "camera": {
+    "model": "pinhole",
+    "schema_id": "camera/pinhole/v1",
+    "image_size": [
+      2000,
+      2800
+    ]
+  },
+  "split": "train",
+  "components": {
+    "intrinsic": {
+      "available": true,
+      "schema_id": "camera/pinhole/v1",
+      "data_ref": "camera/camera.pt",
+      "axes": [
+        "T",
+        "row",
+        "column"
+      ],
+      "valid_ref": "camera/camera.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "source values retained"
+      },
+      "source_locator": {
+        "archive": "raw/data/meta.zip",
+        "member": "meta/misc.json",
+        "record": "s02"
+      },
+      "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"
+      ],
+      "valid_ref": "camera/camera.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "source values retained"
+      },
+      "source_locator": {
+        "archive": "raw/data/meta.zip",
+        "member": "meta/misc.json",
+        "record": "s02"
+      },
+      "unit": "m",
+      "convention": "T_camera_from_world",
+      "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"
+      ],
+      "valid_ref": "annotation/mano/mano.pt",
+      "valid_axes": [
+        "T",
+        "hand"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Official nonflat mean expanded; shape-dependent root corrected during world-to-camera conversion; image index minus official ioi_offset"
+      },
+      "source_locator": {
+        "archive": "raw/data/raw_seqs.zip",
+        "member": "raw_seqs/s02/espressomachine_grab_01.mano.npy",
+        "index_ref": "camera/frames.jsonl:source_annotation_index"
+      },
+      "unit": "m",
+      "angle_unit": "rad",
+      "coordinate_frame": "camera",
+      "model_profile": {
+        "version": "MANO-v1.2",
+        "flat_hand_mean": true,
+        "left_shapedirs_fix": false
+      },
+      "data_key": [
+        "motion",
+        "data"
+      ],
+      "valid_key": [
+        "motion",
+        "valid"
+      ],
+      "storage": {
+        "profile": "pt/tensor_bundle/v1"
+      },
+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
+      }
+    },
+    "object_espressomachine_root_pose": {
+      "available": true,
+      "schema_id": "object/rigid/v1",
+      "data_ref": "annotation/object/espressomachine/object.pt",
+      "axes": [
+        "T",
+        "row",
+        "column"
+      ],
+      "valid_ref": "annotation/object/espressomachine/object.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "source values retained"
+      },
+      "source_locator": {
+        "archive": "raw/data/raw_seqs.zip",
+        "member": "raw_seqs/s02/espressomachine_grab_01.object.npy",
+        "index_ref": "camera/frames.jsonl:source_annotation_index"
+      },
+      "unit": "m",
+      "convention": "T_camera_from_object",
+      "data_key": [
+        "pose",
+        "data"
+      ],
+      "valid_key": [
+        "pose",
+        "valid"
+      ],
+      "storage": {
+        "profile": "pt/tensor_bundle/v1"
+      },
+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
+      }
+    },
+    "object_espressomachine_bottom_pose": {
+      "available": true,
+      "schema_id": "object/rigid/v1",
+      "data_ref": "annotation/object/espressomachine/object.pt",
+      "axes": [
+        "T",
+        "row",
+        "column"
+      ],
+      "valid_ref": "annotation/object/espressomachine/object.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "source values retained"
+      },
+      "source_locator": {
+        "archive": "raw/data/raw_seqs.zip",
+        "member": "raw_seqs/s02/espressomachine_grab_01.object.npy",
+        "index_ref": "camera/frames.jsonl:source_annotation_index"
+      },
+      "unit": "m",
+      "convention": "T_camera_from_part",
+      "data_key": [
+        "parts",
+        "bottom",
+        "pose",
+        "data"
+      ],
+      "valid_key": [
+        "parts",
+        "bottom",
+        "pose",
+        "valid"
+      ],
+      "storage": {
+        "profile": "pt/tensor_bundle/v1"
+      },
+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
+      }
+    },
+    "object_espressomachine_top_pose": {
+      "available": true,
+      "schema_id": "object/rigid/v1",
+      "data_ref": "annotation/object/espressomachine/object.pt",
+      "axes": [
+        "T",
+        "row",
+        "column"
+      ],
+      "valid_ref": "annotation/object/espressomachine/object.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "source values retained"
+      },
+      "source_locator": {
+        "archive": "raw/data/raw_seqs.zip",
+        "member": "raw_seqs/s02/espressomachine_grab_01.object.npy",
+        "index_ref": "camera/frames.jsonl:source_annotation_index"
+      },
+      "unit": "m",
+      "convention": "T_camera_from_part",
+      "data_key": [
+        "parts",
+        "top",
+        "pose",
+        "data"
+      ],
+      "valid_key": [
+        "parts",
+        "top",
+        "pose",
+        "valid"
+      ],
+      "storage": {
+        "profile": "pt/tensor_bundle/v1"
+      },
+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
+      }
+    },
+    "object_espressomachine_joint": {
+      "available": true,
+      "schema_id": "object/joint_state/v1",
+      "data_ref": "annotation/object/espressomachine/object.pt",
+      "axes": [
+        "T",
+        "joint"
+      ],
+      "valid_ref": "annotation/object/espressomachine/object.pt",
+      "valid_axes": [
+        "T",
+        "joint"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "source values retained"
+      },
+      "source_locator": {
+        "archive": "raw/data/raw_seqs.zip",
+        "member": "raw_seqs/s02/espressomachine_grab_01.object.npy",
+        "index_ref": "camera/frames.jsonl:source_annotation_index"
+      },
+      "joint_order": [
+        "hinge"
+      ],
+      "unit": "rad",
+      "data_key": [
+        "joint_state",
+        "data"
+      ],
+      "valid_key": [
+        "joint_state",
+        "valid"
+      ],
+      "storage": {
+        "profile": "pt/tensor_bundle/v1"
+      },
+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
+      }
+    },
+    "object_espressomachine_articulation": {
+      "available": true,
+      "schema_id": "object/articulated/v1",
+      "data_ref": "annotation/object/espressomachine/articulation.json",
+      "axes": [],
+      "valid_ref": "annotation/object/espressomachine/articulation_valid.pt",
+      "valid_axes": [],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "source values retained"
+      },
+      "source_locator": {
+        "archive": "raw/data/raw_seqs.zip",
+        "member": "raw_seqs/s02/espressomachine_grab_01.object.npy",
+        "index_ref": "camera/frames.jsonl:source_annotation_index"
+      },
+      "static": true
+    },
+    "object_espressomachine_mesh": {
+      "available": true,
+      "schema_id": "mesh/obj/v1",
+      "data_ref": "annotation/object/espressomachine/assets/mesh.obj",
+      "axes": [
+        "vertex",
+        "coordinate"
+      ],
+      "valid_ref": "annotation/object/espressomachine/assets/mesh_valid.pt",
+      "valid_axes": [],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Object vertices in metres; topology, material and texture dependencies retained"
+      },
+      "source_locator": {
+        "archive": "raw/data/meta.zip",
+        "member_prefix": "meta/object_vtemplates/espressomachine/"
+      },
+      "static": true,
+      "unit": "m",
+      "coordinate_frame": "object"
+    },
+    "object_espressomachine_keypoints": {
+      "available": true,
+      "schema_id": "object_keypoints/camera/v1",
+      "data_ref": "annotation/object/espressomachine/object.pt",
+      "axes": [
+        "T",
+        "joint",
+        "coordinate"
+      ],
+      "valid_ref": "annotation/object/espressomachine/object.pt",
+      "valid_axes": [
+        "T",
+        "joint"
+      ],
+      "provenance": {
+        "kind": "derived",
+        "method": "Official template keypoints driven by released articulation and camera transforms"
+      },
+      "source_locator": {
+        "archive": "raw/data/meta.zip",
+        "member_prefix": "meta/object_vtemplates/espressomachine/"
+      },
+      "unit": "m",
+      "coordinate_frame": "camera",
+      "keypoint_schema": "arctic_object_keypoints/v1",
+      "keypoint_names": [
+        "top_0",
+        "top_1",
+        "top_2",
+        "top_3",
+        "top_4",
+        "top_5",
+        "top_6",
+        "top_7",
+        "top_8",
+        "top_9",
+        "top_10",
+        "top_11",
+        "top_12",
+        "top_13",
+        "top_14",
+        "top_15",
+        "bottom_0",
+        "bottom_1",
+        "bottom_2",
+        "bottom_3",
+        "bottom_4",
+        "bottom_5",
+        "bottom_6",
+        "bottom_7",
+        "bottom_8",
+        "bottom_9",
+        "bottom_10",
+        "bottom_11",
+        "bottom_12",
+        "bottom_13",
+        "bottom_14",
+        "bottom_15"
+      ],
+      "data_key": [
+        "keypoints",
+        "xyz",
+        "data"
+      ],
+      "valid_key": [
+        "keypoints",
+        "xyz",
+        "valid"
+      ],
+      "storage": {
+        "profile": "pt/tensor_bundle/v1"
+      },
+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
+      }
+    },
+    "rgb": {
+      "available": true,
+      "schema_id": "rgb/uint8/v1",
+      "data_ref": "observation/rgb.mkv",
+      "axes": [
+        "T",
+        "height",
+        "width",
+        "channel"
+      ],
+      "valid_ref": "observation/rgb_valid.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Original JPEG packets copied into MKV; every payload/order/dimension checked; declared deterministic RGB sample checked"
+      },
+      "source_locator": {
+        "archive": "raw/data/images_zips/s02/espressomachine_grab_01.zip",
+        "member_pattern": "{camera_id}/{source_frame_id:05d}.jpg",
+        "camera_id": "1"
+      },
+      "storage": {
+        "profile": "mkv/mjpeg_copy/v1",
+        "codec": "mjpeg",
+        "pixel_format": "yuvj420p",
+        "encoded_size": [
+          2000,
+          2800
+        ],
+        "source_lossy": true,
+        "decoder": {
+          "name": "ffmpeg",
+          "version": "ffmpeg version 7.1-essentials_build-www.gyan.dev Copyright (c) 2000-2024 the FFmpeg developers",
+          "output_pixel_format": "rgb24",
+          "autorotate": false,
+          "source_color_declaration": "unknown",
+          "actual_stream_description": "Stream #0:0: Video: mjpeg (Baseline), yuvj420p(pc, bt470bg/unknown/unknown), 2000x2800 [SAR 1:1 DAR 5:7], 1 fps, 1 tbr, 1k tbn"
+        },
+        "encoder_parameters": {
+          "mode": "stream_copy",
+          "version": "ffmpeg version 7.1-essentials_build-www.gyan.dev Copyright (c) 2000-2024 the FFmpeg developers"
+        }
+      },
+      "storage_fps": 1,
+      "timebase_role": "index_only"
+    }
+  },
+  "pilot": false,
+  "split_scheme": "ARCTIC_protocol_p1",
+  "split_source_locator": {
+    "archive": "raw/data/splits_json.zip",
+    "member": "splits_json/protocol_p1.json",
+    "sequence": "s02/espressomachine_grab_01"
+  },
+  "view_type": "exo",
+  "omitted_components": {
+    "depth": "No depth images in this official raw release",
+    "segment": "No pixel segmentation in this official raw release",
+    "contact": "No source contact labels in selected official raw packages",
+    "keypoints": "No separate measured hand keypoints in raw; MANO available. Render-only joints are not published as additional labels",
+    "visibility": "Not supplied in selected raw annotations; fitting_err is outside current shared scope"
+  },
+  "media_validation_policy": "jpeg-packets-all-rgb-sample16/v1",
+  "pilot_complete": true,
+  "production_complete": true,
+  "pilot_human_review": "approved",
+  "full_output_human_review": "pending",
+  "upload_authorized": false
+}
持久化 QC 结果
{
+  "view": "s02_espressomachine_grab_01/1",
+  "sequence_id": "s02_espressomachine_grab_01",
+  "camera_id": "1",
+  "view_type": "exo",
+  "split": "train",
+  "num_frames": 664,
+  "camera": {
+    "model": "pinhole",
+    "schema_id": "camera/pinhole/v1",
+    "image_size": [
+      2000,
+      2800
+    ]
+  },
+  "numeric_components": {
+    "intrinsic": {
+      "shape": [
+        664,
+        3,
+        3
+      ],
+      "dtype": "torch.float32",
+      "valid_true": 664,
+      "valid_total": 664,
+      "shares_intrinsic_validity": null
+    },
+    "extrinsic": {
+      "shape": [
+        664,
+        4,
+        4
+      ],
+      "dtype": "torch.float32",
+      "valid_true": 664,
+      "valid_total": 664,
+      "shares_intrinsic_validity": null
+    },
+    "mano": {
+      "shape": [
+        664,
+        2,
+        61
+      ],
+      "dtype": "torch.float32",
+      "valid_true": 1326,
+      "valid_total": 1328,
+      "shares_intrinsic_validity": null
+    },
+    "object_espressomachine_root_pose": {
+      "shape": [
+        664,
+        4,
+        4
+      ],
+      "dtype": "torch.float32",
+      "valid_true": 663,
+      "valid_total": 664,
+      "shares_intrinsic_validity": null
+    },
+    "object_espressomachine_bottom_pose": {
+      "shape": [
+        664,
+        4,
+        4
+      ],
+      "dtype": "torch.float32",
+      "valid_true": 663,
+      "valid_total": 664,
+      "shares_intrinsic_validity": null
+    },
+    "object_espressomachine_top_pose": {
+      "shape": [
+        664,
+        4,
+        4
+      ],
+      "dtype": "torch.float32",
+      "valid_true": 663,
+      "valid_total": 664,
+      "shares_intrinsic_validity": null
+    },
+    "object_espressomachine_joint": {
+      "shape": [
+        664,
+        1
+      ],
+      "dtype": "torch.float32",
+      "valid_true": 663,
+      "valid_total": 664,
+      "shares_intrinsic_validity": null
+    },
+    "object_espressomachine_keypoints": {
+      "shape": [
+        664,
+        32,
+        3
+      ],
+      "dtype": "torch.float32",
+      "valid_true": 21216,
+      "valid_total": 21248,
+      "shares_intrinsic_validity": null
+    }
+  },
+  "bundle_files": 3,
+  "bundles": [
+    "annotation/mano/mano.pt",
+    "annotation/object/espressomachine/object.pt",
+    "camera/camera.pt"
+  ],
+  "media": [
+    {
+      "component": "object_espressomachine_articulation",
+      "ref": "annotation/object/espressomachine/articulation.json",
+      "pixels_decoded": 0
+    },
+    {
+      "component": "object_espressomachine_mesh",
+      "ref": "annotation/object/espressomachine/assets/mesh.obj",
+      "pixels_decoded": 0
+    },
+    {
+      "component": "rgb",
+      "ref": "observation/rgb.mkv",
+      "pixels_decoded": 6
+    }
+  ],
+  "consumed_files": [
+    "annotation/mano/mano.pt",
+    "annotation/object/espressomachine/articulation.json",
+    "annotation/object/espressomachine/articulation_valid.pt",
+    "annotation/object/espressomachine/assets/mesh.obj",
+    "annotation/object/espressomachine/assets/mesh_valid.pt",
+    "annotation/object/espressomachine/object.pt",
+    "camera/camera.pt",
+    "observation/rgb.mkv",
+    "observation/rgb_valid.pt"
+  ],
+  "registry_gaps": [
+    {
+      "kind": "keypoint_schema_unregistered",
+      "schema": "arctic_object_keypoints/v1",
+      "resolved_from": "component.keypoint_names",
+      "count": 32
+    }
+  ],
+  "selected_frames": [
+    0,
+    1,
+    166,
+    332,
+    498,
+    663
+  ],
+  "decode_scope": "ffmpeg select= demux filter over the preserved MKV; only the frames listed in selected_frames are decoded, each checked against height*width*3 bytes",
+  "projection": {
+    "model": "pinhole",
+    "calibrated": true,
+    "points": 160,
+    "inside": 160,
+    "off_image": 0,
+    "frames": {
+      "0": {
+        "annotated": false,
+        "valid_points": 0,
+        "inside_points": 0,
+        "inside_ratio": null,
+        "mostly_out_of_frame": false
+      },
+      "1": {
+        "annotated": true,
+        "valid_points": 32,
+        "inside_points": 32,
+        "inside_ratio": 1.0,
+        "mostly_out_of_frame": false
+      },
+      "166": {
+        "annotated": true,
+        "valid_points": 32,
+        "inside_points": 32,
+        "inside_ratio": 1.0,
+        "mostly_out_of_frame": false
+      },
+      "332": {
+        "annotated": true,
+        "valid_points": 32,
+        "inside_points": 32,
+        "inside_ratio": 1.0,
+        "mostly_out_of_frame": false
+      },
+      "498": {
+        "annotated": true,
+        "valid_points": 32,
+        "inside_points": 32,
+        "inside_ratio": 1.0,
+        "mostly_out_of_frame": false
+      },
+      "663": {
+        "annotated": true,
+        "valid_points": 32,
+        "inside_points": 32,
+        "inside_ratio": 1.0,
+        "mostly_out_of_frame": false
+      }
+    },
+    "coordinate_frame": "camera",
+    "scope": "saved camera-frame xyz through the view's own intrinsic and distortion; not a media pixel comparison",
+    "out_of_frame_rule": "a sampled frame is marked 物体大部分落在画外 when fewer than half of its valid object keypoints land inside the image; every annotated frame's valid_points / inside_points / inside_ratio is recorded in projection.frames either way",
+    "note": "ARCTIC publishes no 2D keypoints and no uv series, so the published projection_qc (saved xyz against saved uv) has no second series here; this counts what the release's own camera-frame geometry projects to."
+  },
+  "omitted_components": {
+    "depth": "No depth images in this official raw release",
+    "segment": "No pixel segmentation in this official raw release",
+    "contact": "No source contact labels in selected official raw packages",
+    "keypoints": "No separate measured hand keypoints in raw; MANO available. Render-only joints are not published as additional labels",
+    "visibility": "Not supplied in selected raw annotations; fitting_err is outside current shared scope"
+  },
+  "source_hand_object_gt_available": null,
+  "scope": "v1.1 registry, keys, shapes, validity and timeline; not a media pixel comparison",
+  "geometry_panels": {
+    "keypoint_panels": 5,
+    "axis_panels": 10,
+    "mano_panels": 5,
+    "note_panels": 6,
+    "frames_noted": 6,
+    "frames_mostly_out_of_frame": 0,
+    "frames_mostly_out_of_frame_list": []
+  }
+}
\ No newline at end of file diff --git a/ARCTIC/shared-v1.1/doc/validation/s02_espressomachine_grab_01_1.report.json b/ARCTIC/shared-v1.1/doc/validation/s02_espressomachine_grab_01_1.report.json new file mode 100644 index 0000000000000000000000000000000000000000..0eb4f3b0f88f2f2616dff6cb28fb6fecb44799bb --- /dev/null +++ b/ARCTIC/shared-v1.1/doc/validation/s02_espressomachine_grab_01_1.report.json @@ -0,0 +1,229 @@ +{ + "view": "s02_espressomachine_grab_01/1", + "sequence_id": "s02_espressomachine_grab_01", + "camera_id": "1", + "view_type": "exo", + "split": "train", + "num_frames": 664, + "camera": { + "model": "pinhole", + "schema_id": "camera/pinhole/v1", + "image_size": [ + 2000, + 2800 + ] + }, + "numeric_components": { + "intrinsic": { + "shape": [ + 664, + 3, + 3 + ], + "dtype": "torch.float32", + "valid_true": 664, + "valid_total": 664, + "shares_intrinsic_validity": null + }, + "extrinsic": { + "shape": [ + 664, + 4, + 4 + ], + "dtype": "torch.float32", + "valid_true": 664, + "valid_total": 664, + "shares_intrinsic_validity": null + }, + "mano": { + "shape": [ + 664, + 2, + 61 + ], + "dtype": "torch.float32", + "valid_true": 1326, + "valid_total": 1328, + "shares_intrinsic_validity": null + }, + "object_espressomachine_root_pose": { + "shape": [ + 664, + 4, + 4 + ], + "dtype": "torch.float32", + "valid_true": 663, + "valid_total": 664, + "shares_intrinsic_validity": null + }, + "object_espressomachine_bottom_pose": { + "shape": [ + 664, + 4, + 4 + ], + "dtype": "torch.float32", + "valid_true": 663, + "valid_total": 664, + "shares_intrinsic_validity": null + }, + "object_espressomachine_top_pose": { + "shape": [ + 664, + 4, + 4 + ], + "dtype": "torch.float32", + "valid_true": 663, + "valid_total": 664, + "shares_intrinsic_validity": null + }, + "object_espressomachine_joint": { + "shape": [ + 664, + 1 + ], + "dtype": "torch.float32", + "valid_true": 663, + "valid_total": 664, + "shares_intrinsic_validity": null + }, + "object_espressomachine_keypoints": { + "shape": [ + 664, + 32, + 3 + ], + "dtype": "torch.float32", + "valid_true": 21216, + "valid_total": 21248, + "shares_intrinsic_validity": null + } + }, + "bundle_files": 3, + "bundles": [ + "annotation/mano/mano.pt", + "annotation/object/espressomachine/object.pt", + "camera/camera.pt" + ], + "media": [ + { + "component": "object_espressomachine_articulation", + "ref": "annotation/object/espressomachine/articulation.json", + "pixels_decoded": 0 + }, + { + "component": "object_espressomachine_mesh", + "ref": "annotation/object/espressomachine/assets/mesh.obj", + "pixels_decoded": 0 + }, + { + "component": "rgb", + "ref": "observation/rgb.mkv", + "pixels_decoded": 6 + } + ], + "consumed_files": [ + "annotation/mano/mano.pt", + "annotation/object/espressomachine/articulation.json", + "annotation/object/espressomachine/articulation_valid.pt", + "annotation/object/espressomachine/assets/mesh.obj", + "annotation/object/espressomachine/assets/mesh_valid.pt", + "annotation/object/espressomachine/object.pt", + "camera/camera.pt", + "observation/rgb.mkv", + "observation/rgb_valid.pt" + ], + "registry_gaps": [ + { + "kind": "keypoint_schema_unregistered", + "schema": "arctic_object_keypoints/v1", + "resolved_from": "component.keypoint_names", + "count": 32 + } + ], + "selected_frames": [ + 0, + 1, + 166, + 332, + 498, + 663 + ], + "decode_scope": "ffmpeg select= demux filter over the preserved MKV; only the frames listed in selected_frames are decoded, each checked against height*width*3 bytes", + "projection": { + "model": "pinhole", + "calibrated": true, + "points": 160, + "inside": 160, + "off_image": 0, + "frames": { + "0": { + "annotated": false, + "valid_points": 0, + "inside_points": 0, + "inside_ratio": null, + "mostly_out_of_frame": false + }, + "1": { + "annotated": true, + "valid_points": 32, + "inside_points": 32, + "inside_ratio": 1.0, + "mostly_out_of_frame": false + }, + "166": { + "annotated": true, + "valid_points": 32, + "inside_points": 32, + "inside_ratio": 1.0, + "mostly_out_of_frame": false + }, + "332": { + "annotated": true, + "valid_points": 32, + "inside_points": 32, + "inside_ratio": 1.0, + "mostly_out_of_frame": false + }, + "498": { + "annotated": true, + "valid_points": 32, + "inside_points": 32, + "inside_ratio": 1.0, + "mostly_out_of_frame": false + }, + "663": { + "annotated": true, + "valid_points": 32, + "inside_points": 32, + "inside_ratio": 1.0, + "mostly_out_of_frame": false + } + }, + "coordinate_frame": "camera", + "scope": "saved camera-frame xyz through the view's own intrinsic and distortion; not a media pixel comparison", + "out_of_frame_rule": "a sampled frame is marked 物体大部分落在画外 when fewer than half of its valid object keypoints land inside the image; every annotated frame's valid_points / inside_points / inside_ratio is recorded in projection.frames either way", + "note": "ARCTIC publishes no 2D keypoints and no uv series, so the published projection_qc (saved xyz against saved uv) has no second series here; this counts what the release's own camera-frame geometry projects to." + }, + "omitted_components": { + "depth": "No depth images in this official raw release", + "segment": "No pixel segmentation in this official raw release", + "contact": "No source contact labels in selected official raw packages", + "keypoints": "No separate measured hand keypoints in raw; MANO available. Render-only joints are not published as additional labels", + "visibility": "Not supplied in selected raw annotations; fitting_err is outside current shared scope" + }, + "source_hand_object_gt_available": null, + "scope": "v1.1 registry, keys, shapes, validity and timeline; not a media pixel comparison", + "geometry_panels": { + "keypoint_panels": 5, + "axis_panels": 10, + "mano_panels": 5, + "note_panels": 6, + "frames_noted": 6, + "frames_mostly_out_of_frame": 0, + "frames_mostly_out_of_frame_list": [] + } +} \ No newline at end of file diff --git a/ARCTIC/shared-v1.1/doc/validation/s02_espressomachine_grab_01_2.html b/ARCTIC/shared-v1.1/doc/validation/s02_espressomachine_grab_01_2.html new file mode 100644 index 0000000000000000000000000000000000000000..f50c12344fc6f55463b0578d1d47e3bd48e8ad56 --- /dev/null +++ b/ARCTIC/shared-v1.1/doc/validation/s02_espressomachine_grab_01_2.html @@ -0,0 +1,3777 @@ +s02_espressomachine_grab_01_2

s02_espressomachine_grab_01_2

直接读取 v1.1 bundle（s02_espressomachine_grab_01 的 exo 视图，split=train）。预览仅供人工复核，不是训练输入（CONTRACT §6.5）；这里只解码抽样帧，不是全部帧。本 release 另带 v1.0 的全帧逐相机视频（doc/history-v1.0/validation/），两者并存，本页不替代它。

配色沿用 ARCTIC v1.0 复核页自己的约定（「顶盖紫、底座绿，左手青、右手橙」），便于两套页面并排读：
    物体 top ·     物体 bottom ·     左手 ·     右手 ·     位姿轴 x 红 /     y 绿 /     z 蓝
部件的 top/bottom 取自组件名（object_<id>_top_pose 等），关键点取自发布的 keypoint_names；v1.0 页面把 32 个物体关键点画成同一种白色，并用索引区分顶盖/底座。投影不做遮挡剔除，也不是分割真值。

手部没有骨架：release 的 mano 只有 61 个参数，要还原成关节需要发布外的 MANO 模型资产与 smplx——本发布与本渲染环境都没有。ARCTIC v1.0 页面上那层白色 MANO 派生关节点，正是靠那套外部依赖画出来的。页面因此只画 schema layout.translation 声明的根平移（青色/橙色点），手部监督的其余部分以逐帧数值呈现。

源未发布的组件及原始理由（不补造）
{
+  "depth": "No depth images in this official raw release",
+  "segment": "No pixel segmentation in this official raw release",
+  "contact": "No source contact labels in selected official raw packages",
+  "keypoints": "No separate measured hand keypoints in raw; MANO available. Render-only joints are not published as additional labels",
+  "visibility": "Not supplied in selected raw annotations; fitting_err is outside current shared scope"
+}

帧 0 / 664

原生 RGB（MKV 解出的第 0 帧，未重编码）

该帧未投影的几何：
· object_espressomachine_keypoints：该帧 valid 为假（源未标注，该帧数值非有限值，故不投影）
· object_espressomachine_root_pose：该帧 valid 为假（源未标注，该帧数值非有限值，故不投影）
· object_espressomachine_bottom_pose：该帧 valid 为假（源未标注，该帧数值非有限值，故不投影）
· object_espressomachine_top_pose：该帧 valid 为假（源未标注，该帧数值非有限值，故不投影）
· mano：该帧 valid 为假（源未标注，该帧数值非有限值，故不投影）

帧号、来源、全部数值组件与有效性
{
+  "frame": {
+    "frame_index": 0,
+    "source_frame_id": "1",
+    "timestamp_ns": null,
+    "clock_domain": null,
+    "source_locator": {
+      "archive": "raw/data/images_zips/s02/espressomachine_grab_01.zip",
+      "member_pattern": "{camera_id}/{source_frame_id:05d}.jpg",
+      "camera_id": "2",
+      "source_frame_id": "1",
+      "member": "2/00001.jpg"
+    },
+    "source_annotation_index": null,
+    "sync_id": "s02/espressomachine_grab_01:1",
+    "annotation_matches": {
+      "mano": {
+        "source_frame_id": null,
+        "source_timestamp_ns": null,
+        "clock_domain": null,
+        "match_method": "index_map",
+        "delta_ns": null,
+        "mapping": "image_number - misc.ioi_offset",
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+}

帧 1 / 664

原生 RGB（MKV 解出的第 1 帧，未重编码）
物体 espressomachine 关键点投影（按发布的 keypoint_names 分色：top 紫 / bottom 绿；v1.0 页面把这 32 点画成同一种白色。32 个有效点，画内 32 个＝bottom 16 点、top 16 点）
object_espressomachine_root_pose 位姿坐标轴（x 红 / y 绿 / z 蓝，每轴 5 cm，已画 3/3 条；由已发布位姿与内参投影，仅示朝向）
object_espressomachine_top_pose 位姿坐标轴（x 红 / y 绿 / z 蓝，每轴 5 cm，已画 3/3 条；由已发布位姿与内参投影，仅示朝向）
MANO 根平移投影（schema layout.translation 第 58–61 个参数，声明坐标系 camera，单位 m；画内 left，画外 right）。不画骨架与网格，原因见「手部没有骨架」一节

该帧这些部件的位姿与已画出的部件逐元素相同（部件静止），投影为同一图，未重复绘制：object_espressomachine_bottom_pose ＝ object_espressomachine_root_pose

帧号、来源、全部数值组件与有效性
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+}

帧 166 / 664

原生 RGB（MKV 解出的第 166 帧，未重编码）
物体 espressomachine 关键点投影（按发布的 keypoint_names 分色：top 紫 / bottom 绿；v1.0 页面把这 32 点画成同一种白色。32 个有效点，画内 32 个＝bottom 16 点、top 16 点）
object_espressomachine_root_pose 位姿坐标轴（x 红 / y 绿 / z 蓝，每轴 5 cm，已画 3/3 条；由已发布位姿与内参投影，仅示朝向）
object_espressomachine_top_pose 位姿坐标轴（x 红 / y 绿 / z 蓝，每轴 5 cm，已画 3/3 条；由已发布位姿与内参投影，仅示朝向）
MANO 根平移投影（schema layout.translation 第 58–61 个参数，声明坐标系 camera，单位 m；画内 left、right）。不画骨架与网格，原因见「手部没有骨架」一节

该帧这些部件的位姿与已画出的部件逐元素相同（部件静止），投影为同一图，未重复绘制：object_espressomachine_bottom_pose ＝ object_espressomachine_root_pose

帧号、来源、全部数值组件与有效性
{
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+}

帧 332 / 664

原生 RGB（MKV 解出的第 332 帧，未重编码）
物体 espressomachine 关键点投影（按发布的 keypoint_names 分色：top 紫 / bottom 绿；v1.0 页面把这 32 点画成同一种白色。32 个有效点，画内 32 个＝bottom 16 点、top 16 点）
object_espressomachine_root_pose 位姿坐标轴（x 红 / y 绿 / z 蓝，每轴 5 cm，已画 3/3 条；由已发布位姿与内参投影，仅示朝向）
object_espressomachine_top_pose 位姿坐标轴（x 红 / y 绿 / z 蓝，每轴 5 cm，已画 3/3 条；由已发布位姿与内参投影，仅示朝向）
MANO 根平移投影（schema layout.translation 第 58–61 个参数，声明坐标系 camera，单位 m；画内 left、right）。不画骨架与网格，原因见「手部没有骨架」一节

该帧这些部件的位姿与已画出的部件逐元素相同（部件静止），投影为同一图，未重复绘制：object_espressomachine_bottom_pose ＝ object_espressomachine_root_pose

帧号、来源、全部数值组件与有效性
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+}

帧 498 / 664

原生 RGB（MKV 解出的第 498 帧，未重编码）
物体 espressomachine 关键点投影（按发布的 keypoint_names 分色：top 紫 / bottom 绿；v1.0 页面把这 32 点画成同一种白色。32 个有效点，画内 32 个＝bottom 16 点、top 16 点）
object_espressomachine_root_pose 位姿坐标轴（x 红 / y 绿 / z 蓝，每轴 5 cm，已画 3/3 条；由已发布位姿与内参投影，仅示朝向）
object_espressomachine_top_pose 位姿坐标轴（x 红 / y 绿 / z 蓝，每轴 5 cm，已画 3/3 条；由已发布位姿与内参投影，仅示朝向）
MANO 根平移投影（schema layout.translation 第 58–61 个参数，声明坐标系 camera，单位 m；画内 left、right）。不画骨架与网格，原因见「手部没有骨架」一节

该帧这些部件的位姿与已画出的部件逐元素相同（部件静止），投影为同一图，未重复绘制：object_espressomachine_bottom_pose ＝ object_espressomachine_root_pose

帧号、来源、全部数值组件与有效性
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+  }
+}

帧 663 / 664

原生 RGB（MKV 解出的第 663 帧，未重编码）
物体 espressomachine 关键点投影（按发布的 keypoint_names 分色：top 紫 / bottom 绿；v1.0 页面把这 32 点画成同一种白色。32 个有效点，画内 32 个＝bottom 16 点、top 16 点）
object_espressomachine_root_pose 位姿坐标轴（x 红 / y 绿 / z 蓝，每轴 5 cm，已画 3/3 条；由已发布位姿与内参投影，仅示朝向）
object_espressomachine_top_pose 位姿坐标轴（x 红 / y 绿 / z 蓝，每轴 5 cm，已画 3/3 条；由已发布位姿与内参投影，仅示朝向）
MANO 根平移投影（schema layout.translation 第 58–61 个参数，声明坐标系 camera，单位 m；画内 left，画外 right）。不画骨架与网格，原因见「手部没有骨架」一节

该帧这些部件的位姿与已画出的部件逐元素相同（部件静止），投影为同一图，未重复绘制：object_espressomachine_bottom_pose ＝ object_espressomachine_root_pose

帧号、来源、全部数值组件与有效性
{
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+    "source_frame_id": "664",
+    "timestamp_ns": null,
+    "clock_domain": null,
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+      "member_pattern": "{camera_id}/{source_frame_id:05d}.jpg",
+      "camera_id": "2",
+      "source_frame_id": "664",
+      "member": "2/00664.jpg"
+    },
+    "source_annotation_index": 662,
+    "sync_id": "s02/espressomachine_grab_01:664",
+    "annotation_matches": {
+      "mano": {
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+        "source_timestamp_ns": null,
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+        "match_method": "index_map",
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+        "mapping": "image_number - misc.ioi_offset",
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+  }
+}

原始物体模型（独立预览）

object_espressomachine_mesh

仅展示网格原生形状（annotation/object/espressomachine/assets/mesh.obj）；未验证尺度／位姿对应。

object_espressomachine_mesh:bottom

仅展示网格原生形状（annotation/object/espressomachine/assets/bottom.obj）；未验证尺度／位姿对应。

object_espressomachine_mesh:top

仅展示网格原生形状（annotation/object/espressomachine/assets/top.obj）；未验证尺度／位姿对应。
全部组件元信息及原始来源
{
+  "schema_version": "hand-warehouse/1.1",
+  "storage_revision": "lossless-video-2026-09-18",
+  "dataset_id": "ARCTIC",
+  "release_id": "shared-v1.1",
+  "sequence_id": "s02_espressomachine_grab_01",
+  "camera_id": "2",
+  "sample_type": "video",
+  "num_frames": 664,
+  "hand_slots": [
+    "left",
+    "right"
+  ],
+  "sampling": {
+    "type": "dense",
+    "source_fps": 30.0,
+    "frames_ref": "camera/frames.jsonl",
+    "selection": "Every released image of this selected camera in the complete official sequence ZIP; boundary images without annotations retained",
+    "source_fps_basis": "ARCTIC paper v3, Sec. 3.2 Acquisition Setup: 8 static allocentric and 1 moving egocentric RGB views captured at 30 FPS",
+    "source_fps_evidence_url": "https://arxiv.org/html/2204.13662v3#S3.SS2",
+    "source_timestamp_status": "not_released; do not invent measured timestamp_ns"
+  },
+  "camera": {
+    "model": "pinhole",
+    "schema_id": "camera/pinhole/v1",
+    "image_size": [
+      2000,
+      2800
+    ]
+  },
+  "split": "train",
+  "components": {
+    "intrinsic": {
+      "available": true,
+      "schema_id": "camera/pinhole/v1",
+      "data_ref": "camera/camera.pt",
+      "axes": [
+        "T",
+        "row",
+        "column"
+      ],
+      "valid_ref": "camera/camera.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "source values retained"
+      },
+      "source_locator": {
+        "archive": "raw/data/meta.zip",
+        "member": "meta/misc.json",
+        "record": "s02"
+      },
+      "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"
+      ],
+      "valid_ref": "camera/camera.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "source values retained"
+      },
+      "source_locator": {
+        "archive": "raw/data/meta.zip",
+        "member": "meta/misc.json",
+        "record": "s02"
+      },
+      "unit": "m",
+      "convention": "T_camera_from_world",
+      "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"
+      ],
+      "valid_ref": "annotation/mano/mano.pt",
+      "valid_axes": [
+        "T",
+        "hand"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Official nonflat mean expanded; shape-dependent root corrected during world-to-camera conversion; image index minus official ioi_offset"
+      },
+      "source_locator": {
+        "archive": "raw/data/raw_seqs.zip",
+        "member": "raw_seqs/s02/espressomachine_grab_01.mano.npy",
+        "index_ref": "camera/frames.jsonl:source_annotation_index"
+      },
+      "unit": "m",
+      "angle_unit": "rad",
+      "coordinate_frame": "camera",
+      "model_profile": {
+        "version": "MANO-v1.2",
+        "flat_hand_mean": true,
+        "left_shapedirs_fix": false
+      },
+      "data_key": [
+        "motion",
+        "data"
+      ],
+      "valid_key": [
+        "motion",
+        "valid"
+      ],
+      "storage": {
+        "profile": "pt/tensor_bundle/v1"
+      },
+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
+      }
+    },
+    "object_espressomachine_root_pose": {
+      "available": true,
+      "schema_id": "object/rigid/v1",
+      "data_ref": "annotation/object/espressomachine/object.pt",
+      "axes": [
+        "T",
+        "row",
+        "column"
+      ],
+      "valid_ref": "annotation/object/espressomachine/object.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "source values retained"
+      },
+      "source_locator": {
+        "archive": "raw/data/raw_seqs.zip",
+        "member": "raw_seqs/s02/espressomachine_grab_01.object.npy",
+        "index_ref": "camera/frames.jsonl:source_annotation_index"
+      },
+      "unit": "m",
+      "convention": "T_camera_from_object",
+      "data_key": [
+        "pose",
+        "data"
+      ],
+      "valid_key": [
+        "pose",
+        "valid"
+      ],
+      "storage": {
+        "profile": "pt/tensor_bundle/v1"
+      },
+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
+      }
+    },
+    "object_espressomachine_bottom_pose": {
+      "available": true,
+      "schema_id": "object/rigid/v1",
+      "data_ref": "annotation/object/espressomachine/object.pt",
+      "axes": [
+        "T",
+        "row",
+        "column"
+      ],
+      "valid_ref": "annotation/object/espressomachine/object.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "source values retained"
+      },
+      "source_locator": {
+        "archive": "raw/data/raw_seqs.zip",
+        "member": "raw_seqs/s02/espressomachine_grab_01.object.npy",
+        "index_ref": "camera/frames.jsonl:source_annotation_index"
+      },
+      "unit": "m",
+      "convention": "T_camera_from_part",
+      "data_key": [
+        "parts",
+        "bottom",
+        "pose",
+        "data"
+      ],
+      "valid_key": [
+        "parts",
+        "bottom",
+        "pose",
+        "valid"
+      ],
+      "storage": {
+        "profile": "pt/tensor_bundle/v1"
+      },
+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
+      }
+    },
+    "object_espressomachine_top_pose": {
+      "available": true,
+      "schema_id": "object/rigid/v1",
+      "data_ref": "annotation/object/espressomachine/object.pt",
+      "axes": [
+        "T",
+        "row",
+        "column"
+      ],
+      "valid_ref": "annotation/object/espressomachine/object.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "source values retained"
+      },
+      "source_locator": {
+        "archive": "raw/data/raw_seqs.zip",
+        "member": "raw_seqs/s02/espressomachine_grab_01.object.npy",
+        "index_ref": "camera/frames.jsonl:source_annotation_index"
+      },
+      "unit": "m",
+      "convention": "T_camera_from_part",
+      "data_key": [
+        "parts",
+        "top",
+        "pose",
+        "data"
+      ],
+      "valid_key": [
+        "parts",
+        "top",
+        "pose",
+        "valid"
+      ],
+      "storage": {
+        "profile": "pt/tensor_bundle/v1"
+      },
+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
+      }
+    },
+    "object_espressomachine_joint": {
+      "available": true,
+      "schema_id": "object/joint_state/v1",
+      "data_ref": "annotation/object/espressomachine/object.pt",
+      "axes": [
+        "T",
+        "joint"
+      ],
+      "valid_ref": "annotation/object/espressomachine/object.pt",
+      "valid_axes": [
+        "T",
+        "joint"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "source values retained"
+      },
+      "source_locator": {
+        "archive": "raw/data/raw_seqs.zip",
+        "member": "raw_seqs/s02/espressomachine_grab_01.object.npy",
+        "index_ref": "camera/frames.jsonl:source_annotation_index"
+      },
+      "joint_order": [
+        "hinge"
+      ],
+      "unit": "rad",
+      "data_key": [
+        "joint_state",
+        "data"
+      ],
+      "valid_key": [
+        "joint_state",
+        "valid"
+      ],
+      "storage": {
+        "profile": "pt/tensor_bundle/v1"
+      },
+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
+      }
+    },
+    "object_espressomachine_articulation": {
+      "available": true,
+      "schema_id": "object/articulated/v1",
+      "data_ref": "annotation/object/espressomachine/articulation.json",
+      "axes": [],
+      "valid_ref": "annotation/object/espressomachine/articulation_valid.pt",
+      "valid_axes": [],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "source values retained"
+      },
+      "source_locator": {
+        "archive": "raw/data/raw_seqs.zip",
+        "member": "raw_seqs/s02/espressomachine_grab_01.object.npy",
+        "index_ref": "camera/frames.jsonl:source_annotation_index"
+      },
+      "static": true
+    },
+    "object_espressomachine_mesh": {
+      "available": true,
+      "schema_id": "mesh/obj/v1",
+      "data_ref": "annotation/object/espressomachine/assets/mesh.obj",
+      "axes": [
+        "vertex",
+        "coordinate"
+      ],
+      "valid_ref": "annotation/object/espressomachine/assets/mesh_valid.pt",
+      "valid_axes": [],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Object vertices in metres; topology, material and texture dependencies retained"
+      },
+      "source_locator": {
+        "archive": "raw/data/meta.zip",
+        "member_prefix": "meta/object_vtemplates/espressomachine/"
+      },
+      "static": true,
+      "unit": "m",
+      "coordinate_frame": "object"
+    },
+    "object_espressomachine_keypoints": {
+      "available": true,
+      "schema_id": "object_keypoints/camera/v1",
+      "data_ref": "annotation/object/espressomachine/object.pt",
+      "axes": [
+        "T",
+        "joint",
+        "coordinate"
+      ],
+      "valid_ref": "annotation/object/espressomachine/object.pt",
+      "valid_axes": [
+        "T",
+        "joint"
+      ],
+      "provenance": {
+        "kind": "derived",
+        "method": "Official template keypoints driven by released articulation and camera transforms"
+      },
+      "source_locator": {
+        "archive": "raw/data/meta.zip",
+        "member_prefix": "meta/object_vtemplates/espressomachine/"
+      },
+      "unit": "m",
+      "coordinate_frame": "camera",
+      "keypoint_schema": "arctic_object_keypoints/v1",
+      "keypoint_names": [
+        "top_0",
+        "top_1",
+        "top_2",
+        "top_3",
+        "top_4",
+        "top_5",
+        "top_6",
+        "top_7",
+        "top_8",
+        "top_9",
+        "top_10",
+        "top_11",
+        "top_12",
+        "top_13",
+        "top_14",
+        "top_15",
+        "bottom_0",
+        "bottom_1",
+        "bottom_2",
+        "bottom_3",
+        "bottom_4",
+        "bottom_5",
+        "bottom_6",
+        "bottom_7",
+        "bottom_8",
+        "bottom_9",
+        "bottom_10",
+        "bottom_11",
+        "bottom_12",
+        "bottom_13",
+        "bottom_14",
+        "bottom_15"
+      ],
+      "data_key": [
+        "keypoints",
+        "xyz",
+        "data"
+      ],
+      "valid_key": [
+        "keypoints",
+        "xyz",
+        "valid"
+      ],
+      "storage": {
+        "profile": "pt/tensor_bundle/v1"
+      },
+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
+      }
+    },
+    "rgb": {
+      "available": true,
+      "schema_id": "rgb/uint8/v1",
+      "data_ref": "observation/rgb.mkv",
+      "axes": [
+        "T",
+        "height",
+        "width",
+        "channel"
+      ],
+      "valid_ref": "observation/rgb_valid.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Original JPEG packets copied into MKV; every payload/order/dimension checked; declared deterministic RGB sample checked"
+      },
+      "source_locator": {
+        "archive": "raw/data/images_zips/s02/espressomachine_grab_01.zip",
+        "member_pattern": "{camera_id}/{source_frame_id:05d}.jpg",
+        "camera_id": "2"
+      },
+      "storage": {
+        "profile": "mkv/mjpeg_copy/v1",
+        "codec": "mjpeg",
+        "pixel_format": "yuvj420p",
+        "encoded_size": [
+          2000,
+          2800
+        ],
+        "source_lossy": true,
+        "decoder": {
+          "name": "ffmpeg",
+          "version": "ffmpeg version 7.1-essentials_build-www.gyan.dev Copyright (c) 2000-2024 the FFmpeg developers",
+          "output_pixel_format": "rgb24",
+          "autorotate": false,
+          "source_color_declaration": "unknown",
+          "actual_stream_description": "Stream #0:0: Video: mjpeg (Baseline), yuvj420p(pc, bt470bg/unknown/unknown), 2000x2800 [SAR 1:1 DAR 5:7], 1 fps, 1 tbr, 1k tbn"
+        },
+        "encoder_parameters": {
+          "mode": "stream_copy",
+          "version": "ffmpeg version 7.1-essentials_build-www.gyan.dev Copyright (c) 2000-2024 the FFmpeg developers"
+        }
+      },
+      "storage_fps": 1,
+      "timebase_role": "index_only"
+    }
+  },
+  "pilot": false,
+  "split_scheme": "ARCTIC_protocol_p1",
+  "split_source_locator": {
+    "archive": "raw/data/splits_json.zip",
+    "member": "splits_json/protocol_p1.json",
+    "sequence": "s02/espressomachine_grab_01"
+  },
+  "view_type": "exo",
+  "omitted_components": {
+    "depth": "No depth images in this official raw release",
+    "segment": "No pixel segmentation in this official raw release",
+    "contact": "No source contact labels in selected official raw packages",
+    "keypoints": "No separate measured hand keypoints in raw; MANO available. Render-only joints are not published as additional labels",
+    "visibility": "Not supplied in selected raw annotations; fitting_err is outside current shared scope"
+  },
+  "media_validation_policy": "jpeg-packets-all-rgb-sample16/v1",
+  "pilot_complete": true,
+  "production_complete": true,
+  "pilot_human_review": "approved",
+  "full_output_human_review": "pending",
+  "upload_authorized": false
+}
持久化 QC 结果
{
+  "view": "s02_espressomachine_grab_01/2",
+  "sequence_id": "s02_espressomachine_grab_01",
+  "camera_id": "2",
+  "view_type": "exo",
+  "split": "train",
+  "num_frames": 664,
+  "camera": {
+    "model": "pinhole",
+    "schema_id": "camera/pinhole/v1",
+    "image_size": [
+      2000,
+      2800
+    ]
+  },
+  "numeric_components": {
+    "intrinsic": {
+      "shape": [
+        664,
+        3,
+        3
+      ],
+      "dtype": "torch.float32",
+      "valid_true": 664,
+      "valid_total": 664,
+      "shares_intrinsic_validity": null
+    },
+    "extrinsic": {
+      "shape": [
+        664,
+        4,
+        4
+      ],
+      "dtype": "torch.float32",
+      "valid_true": 664,
+      "valid_total": 664,
+      "shares_intrinsic_validity": null
+    },
+    "mano": {
+      "shape": [
+        664,
+        2,
+        61
+      ],
+      "dtype": "torch.float32",
+      "valid_true": 1326,
+      "valid_total": 1328,
+      "shares_intrinsic_validity": null
+    },
+    "object_espressomachine_root_pose": {
+      "shape": [
+        664,
+        4,
+        4
+      ],
+      "dtype": "torch.float32",
+      "valid_true": 663,
+      "valid_total": 664,
+      "shares_intrinsic_validity": null
+    },
+    "object_espressomachine_bottom_pose": {
+      "shape": [
+        664,
+        4,
+        4
+      ],
+      "dtype": "torch.float32",
+      "valid_true": 663,
+      "valid_total": 664,
+      "shares_intrinsic_validity": null
+    },
+    "object_espressomachine_top_pose": {
+      "shape": [
+        664,
+        4,
+        4
+      ],
+      "dtype": "torch.float32",
+      "valid_true": 663,
+      "valid_total": 664,
+      "shares_intrinsic_validity": null
+    },
+    "object_espressomachine_joint": {
+      "shape": [
+        664,
+        1
+      ],
+      "dtype": "torch.float32",
+      "valid_true": 663,
+      "valid_total": 664,
+      "shares_intrinsic_validity": null
+    },
+    "object_espressomachine_keypoints": {
+      "shape": [
+        664,
+        32,
+        3
+      ],
+      "dtype": "torch.float32",
+      "valid_true": 21216,
+      "valid_total": 21248,
+      "shares_intrinsic_validity": null
+    }
+  },
+  "bundle_files": 3,
+  "bundles": [
+    "annotation/mano/mano.pt",
+    "annotation/object/espressomachine/object.pt",
+    "camera/camera.pt"
+  ],
+  "media": [
+    {
+      "component": "object_espressomachine_articulation",
+      "ref": "annotation/object/espressomachine/articulation.json",
+      "pixels_decoded": 0
+    },
+    {
+      "component": "object_espressomachine_mesh",
+      "ref": "annotation/object/espressomachine/assets/mesh.obj",
+      "pixels_decoded": 0
+    },
+    {
+      "component": "rgb",
+      "ref": "observation/rgb.mkv",
+      "pixels_decoded": 6
+    }
+  ],
+  "consumed_files": [
+    "annotation/mano/mano.pt",
+    "annotation/object/espressomachine/articulation.json",
+    "annotation/object/espressomachine/articulation_valid.pt",
+    "annotation/object/espressomachine/assets/mesh.obj",
+    "annotation/object/espressomachine/assets/mesh_valid.pt",
+    "annotation/object/espressomachine/object.pt",
+    "camera/camera.pt",
+    "observation/rgb.mkv",
+    "observation/rgb_valid.pt"
+  ],
+  "registry_gaps": [
+    {
+      "kind": "keypoint_schema_unregistered",
+      "schema": "arctic_object_keypoints/v1",
+      "resolved_from": "component.keypoint_names",
+      "count": 32
+    }
+  ],
+  "selected_frames": [
+    0,
+    1,
+    166,
+    332,
+    498,
+    663
+  ],
+  "decode_scope": "ffmpeg select= demux filter over the preserved MKV; only the frames listed in selected_frames are decoded, each checked against height*width*3 bytes",
+  "projection": {
+    "model": "pinhole",
+    "calibrated": true,
+    "points": 160,
+    "inside": 160,
+    "off_image": 0,
+    "frames": {
+      "0": {
+        "annotated": false,
+        "valid_points": 0,
+        "inside_points": 0,
+        "inside_ratio": null,
+        "mostly_out_of_frame": false
+      },
+      "1": {
+        "annotated": true,
+        "valid_points": 32,
+        "inside_points": 32,
+        "inside_ratio": 1.0,
+        "mostly_out_of_frame": false
+      },
+      "166": {
+        "annotated": true,
+        "valid_points": 32,
+        "inside_points": 32,
+        "inside_ratio": 1.0,
+        "mostly_out_of_frame": false
+      },
+      "332": {
+        "annotated": true,
+        "valid_points": 32,
+        "inside_points": 32,
+        "inside_ratio": 1.0,
+        "mostly_out_of_frame": false
+      },
+      "498": {
+        "annotated": true,
+        "valid_points": 32,
+        "inside_points": 32,
+        "inside_ratio": 1.0,
+        "mostly_out_of_frame": false
+      },
+      "663": {
+        "annotated": true,
+        "valid_points": 32,
+        "inside_points": 32,
+        "inside_ratio": 1.0,
+        "mostly_out_of_frame": false
+      }
+    },
+    "coordinate_frame": "camera",
+    "scope": "saved camera-frame xyz through the view's own intrinsic and distortion; not a media pixel comparison",
+    "out_of_frame_rule": "a sampled frame is marked 物体大部分落在画外 when fewer than half of its valid object keypoints land inside the image; every annotated frame's valid_points / inside_points / inside_ratio is recorded in projection.frames either way",
+    "note": "ARCTIC publishes no 2D keypoints and no uv series, so the published projection_qc (saved xyz against saved uv) has no second series here; this counts what the release's own camera-frame geometry projects to."
+  },
+  "omitted_components": {
+    "depth": "No depth images in this official raw release",
+    "segment": "No pixel segmentation in this official raw release",
+    "contact": "No source contact labels in selected official raw packages",
+    "keypoints": "No separate measured hand keypoints in raw; MANO available. Render-only joints are not published as additional labels",
+    "visibility": "Not supplied in selected raw annotations; fitting_err is outside current shared scope"
+  },
+  "source_hand_object_gt_available": null,
+  "scope": "v1.1 registry, keys, shapes, validity and timeline; not a media pixel comparison",
+  "geometry_panels": {
+    "keypoint_panels": 5,
+    "axis_panels": 10,
+    "mano_panels": 5,
+    "note_panels": 6,
+    "frames_noted": 6,
+    "frames_mostly_out_of_frame": 0,
+    "frames_mostly_out_of_frame_list": []
+  }
+}
\ No newline at end of file diff --git a/ARCTIC/shared-v1.1/doc/validation/s02_espressomachine_grab_01_2.report.json b/ARCTIC/shared-v1.1/doc/validation/s02_espressomachine_grab_01_2.report.json new file mode 100644 index 0000000000000000000000000000000000000000..2dbe038b2858ffd841422c53dce5eacbcb70d0fc --- /dev/null +++ b/ARCTIC/shared-v1.1/doc/validation/s02_espressomachine_grab_01_2.report.json @@ -0,0 +1,229 @@ +{ + "view": "s02_espressomachine_grab_01/2", + "sequence_id": "s02_espressomachine_grab_01", + "camera_id": "2", + "view_type": "exo", + "split": "train", + "num_frames": 664, + "camera": { + "model": "pinhole", + "schema_id": "camera/pinhole/v1", + "image_size": [ + 2000, + 2800 + ] + }, + "numeric_components": { + "intrinsic": { + "shape": [ + 664, + 3, + 3 + ], + "dtype": "torch.float32", + "valid_true": 664, + "valid_total": 664, + "shares_intrinsic_validity": null + }, + "extrinsic": { + "shape": [ + 664, + 4, + 4 + ], + "dtype": "torch.float32", + "valid_true": 664, + "valid_total": 664, + "shares_intrinsic_validity": null + }, + "mano": { + "shape": [ + 664, + 2, + 61 + ], + "dtype": "torch.float32", + "valid_true": 1326, + "valid_total": 1328, + "shares_intrinsic_validity": null + }, + "object_espressomachine_root_pose": { + "shape": [ + 664, + 4, + 4 + ], + "dtype": "torch.float32", + "valid_true": 663, + "valid_total": 664, + "shares_intrinsic_validity": null + }, + "object_espressomachine_bottom_pose": { + "shape": [ + 664, + 4, + 4 + ], + "dtype": "torch.float32", + "valid_true": 663, + "valid_total": 664, + "shares_intrinsic_validity": null + }, + "object_espressomachine_top_pose": { + "shape": [ + 664, + 4, + 4 + ], + "dtype": "torch.float32", + "valid_true": 663, + "valid_total": 664, + "shares_intrinsic_validity": null + }, + "object_espressomachine_joint": { + "shape": [ + 664, + 1 + ], + "dtype": "torch.float32", + "valid_true": 663, + "valid_total": 664, + "shares_intrinsic_validity": null + }, + "object_espressomachine_keypoints": { + "shape": [ + 664, + 32, + 3 + ], + "dtype": "torch.float32", + "valid_true": 21216, + "valid_total": 21248, + "shares_intrinsic_validity": null + } + }, + "bundle_files": 3, + "bundles": [ + "annotation/mano/mano.pt", + "annotation/object/espressomachine/object.pt", + "camera/camera.pt" + ], + "media": [ + { + "component": "object_espressomachine_articulation", + "ref": "annotation/object/espressomachine/articulation.json", + "pixels_decoded": 0 + }, + { + "component": "object_espressomachine_mesh", + "ref": "annotation/object/espressomachine/assets/mesh.obj", + "pixels_decoded": 0 + }, + { + "component": "rgb", + "ref": "observation/rgb.mkv", + "pixels_decoded": 6 + } + ], + "consumed_files": [ + "annotation/mano/mano.pt", + "annotation/object/espressomachine/articulation.json", + "annotation/object/espressomachine/articulation_valid.pt", + "annotation/object/espressomachine/assets/mesh.obj", + "annotation/object/espressomachine/assets/mesh_valid.pt", + "annotation/object/espressomachine/object.pt", + "camera/camera.pt", + "observation/rgb.mkv", + "observation/rgb_valid.pt" + ], + "registry_gaps": [ + { + "kind": "keypoint_schema_unregistered", + "schema": "arctic_object_keypoints/v1", + "resolved_from": "component.keypoint_names", + "count": 32 + } + ], + "selected_frames": [ + 0, + 1, + 166, + 332, + 498, + 663 + ], + "decode_scope": "ffmpeg select= demux filter over the preserved MKV; only the frames listed in selected_frames are decoded, each checked against height*width*3 bytes", + "projection": { + "model": "pinhole", + "calibrated": true, + "points": 160, + "inside": 160, + "off_image": 0, + "frames": { + "0": { + "annotated": false, + "valid_points": 0, + "inside_points": 0, + "inside_ratio": null, + "mostly_out_of_frame": false + }, + "1": { + "annotated": true, + "valid_points": 32, + "inside_points": 32, + "inside_ratio": 1.0, + "mostly_out_of_frame": false + }, + "166": { + "annotated": true, + "valid_points": 32, + "inside_points": 32, + "inside_ratio": 1.0, + "mostly_out_of_frame": false + }, + "332": { + "annotated": true, + "valid_points": 32, + "inside_points": 32, + "inside_ratio": 1.0, + "mostly_out_of_frame": false + }, + "498": { + "annotated": true, + "valid_points": 32, + "inside_points": 32, + "inside_ratio": 1.0, + "mostly_out_of_frame": false + }, + "663": { + "annotated": true, + "valid_points": 32, + "inside_points": 32, + "inside_ratio": 1.0, + "mostly_out_of_frame": false + } + }, + "coordinate_frame": "camera", + "scope": "saved camera-frame xyz through the view's own intrinsic and distortion; not a media pixel comparison", + "out_of_frame_rule": "a sampled frame is marked 物体大部分落在画外 when fewer than half of its valid object keypoints land inside the image; every annotated frame's valid_points / inside_points / inside_ratio is recorded in projection.frames either way", + "note": "ARCTIC publishes no 2D keypoints and no uv series, so the published projection_qc (saved xyz against saved uv) has no second series here; this counts what the release's own camera-frame geometry projects to." + }, + "omitted_components": { + "depth": "No depth images in this official raw release", + "segment": "No pixel segmentation in this official raw release", + "contact": "No source contact labels in selected official raw packages", + "keypoints": "No separate measured hand keypoints in raw; MANO available. Render-only joints are not published as additional labels", + "visibility": "Not supplied in selected raw annotations; fitting_err is outside current shared scope" + }, + "source_hand_object_gt_available": null, + "scope": "v1.1 registry, keys, shapes, validity and timeline; not a media pixel comparison", + "geometry_panels": { + "keypoint_panels": 5, + "axis_panels": 10, + "mano_panels": 5, + "note_panels": 6, + "frames_noted": 6, + "frames_mostly_out_of_frame": 0, + "frames_mostly_out_of_frame_list": [] + } +} \ No newline at end of file diff --git a/ARCTIC/shared-v1.1/doc/validation/s02_espressomachine_grab_01_3.html b/ARCTIC/shared-v1.1/doc/validation/s02_espressomachine_grab_01_3.html new file mode 100644 index 0000000000000000000000000000000000000000..06172e3fe16f88d1748897aae95c0db178ed2a20 --- /dev/null +++ b/ARCTIC/shared-v1.1/doc/validation/s02_espressomachine_grab_01_3.html @@ -0,0 +1,3777 @@ +s02_espressomachine_grab_01_3

s02_espressomachine_grab_01_3

直接读取 v1.1 bundle（s02_espressomachine_grab_01 的 exo 视图，split=train）。预览仅供人工复核，不是训练输入（CONTRACT §6.5）；这里只解码抽样帧，不是全部帧。本 release 另带 v1.0 的全帧逐相机视频（doc/history-v1.0/validation/），两者并存，本页不替代它。

配色沿用 ARCTIC v1.0 复核页自己的约定（「顶盖紫、底座绿，左手青、右手橙」），便于两套页面并排读：
    物体 top ·     物体 bottom ·     左手 ·     右手 ·     位姿轴 x 红 /     y 绿 /     z 蓝
部件的 top/bottom 取自组件名（object_<id>_top_pose 等），关键点取自发布的 keypoint_names；v1.0 页面把 32 个物体关键点画成同一种白色，并用索引区分顶盖/底座。投影不做遮挡剔除，也不是分割真值。

手部没有骨架：release 的 mano 只有 61 个参数，要还原成关节需要发布外的 MANO 模型资产与 smplx——本发布与本渲染环境都没有。ARCTIC v1.0 页面上那层白色 MANO 派生关节点，正是靠那套外部依赖画出来的。页面因此只画 schema layout.translation 声明的根平移（青色/橙色点），手部监督的其余部分以逐帧数值呈现。

源未发布的组件及原始理由（不补造）
{
+  "depth": "No depth images in this official raw release",
+  "segment": "No pixel segmentation in this official raw release",
+  "contact": "No source contact labels in selected official raw packages",
+  "keypoints": "No separate measured hand keypoints in raw; MANO available. Render-only joints are not published as additional labels",
+  "visibility": "Not supplied in selected raw annotations; fitting_err is outside current shared scope"
+}

帧 0 / 664

原生 RGB（MKV 解出的第 0 帧，未重编码）

该帧未投影的几何：
· object_espressomachine_keypoints：该帧 valid 为假（源未标注，该帧数值非有限值，故不投影）
· object_espressomachine_root_pose：该帧 valid 为假（源未标注，该帧数值非有限值，故不投影）
· object_espressomachine_bottom_pose：该帧 valid 为假（源未标注，该帧数值非有限值，故不投影）
· object_espressomachine_top_pose：该帧 valid 为假（源未标注，该帧数值非有限值，故不投影）
· mano：该帧 valid 为假（源未标注，该帧数值非有限值，故不投影）

帧号、来源、全部数值组件与有效性
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+}

帧 1 / 664

原生 RGB（MKV 解出的第 1 帧，未重编码）
物体 espressomachine 关键点投影（按发布的 keypoint_names 分色：top 紫 / bottom 绿；v1.0 页面把这 32 点画成同一种白色。32 个有效点，画内 32 个＝bottom 16 点、top 16 点）
object_espressomachine_root_pose 位姿坐标轴（x 红 / y 绿 / z 蓝，每轴 5 cm，已画 3/3 条；由已发布位姿与内参投影，仅示朝向）
object_espressomachine_top_pose 位姿坐标轴（x 红 / y 绿 / z 蓝，每轴 5 cm，已画 3/3 条；由已发布位姿与内参投影，仅示朝向）

该帧这些部件的位姿与已画出的部件逐元素相同（部件静止），投影为同一图，未重复绘制：object_espressomachine_bottom_pose ＝ object_espressomachine_root_pose

该帧未投影的几何：
· mano：2 个有效手（left、right）的根平移全部落在画外

帧号、来源、全部数值组件与有效性
{
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+    "source_frame_id": "2",
+    "timestamp_ns": null,
+    "clock_domain": null,
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+      "source_frame_id": "2",
+      "member": "3/00002.jpg"
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+    "source_annotation_index": 0,
+    "sync_id": "s02/espressomachine_grab_01:2",
+    "annotation_matches": {
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+  "intrinsic": {
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+}

帧 166 / 664

原生 RGB（MKV 解出的第 166 帧，未重编码）
物体 espressomachine 关键点投影（按发布的 keypoint_names 分色：top 紫 / bottom 绿；v1.0 页面把这 32 点画成同一种白色。32 个有效点，画内 32 个＝bottom 16 点、top 16 点）
object_espressomachine_root_pose 位姿坐标轴（x 红 / y 绿 / z 蓝，每轴 5 cm，已画 3/3 条；由已发布位姿与内参投影，仅示朝向）
object_espressomachine_top_pose 位姿坐标轴（x 红 / y 绿 / z 蓝，每轴 5 cm，已画 3/3 条；由已发布位姿与内参投影，仅示朝向）
MANO 根平移投影（schema layout.translation 第 58–61 个参数，声明坐标系 camera，单位 m；画内 left、right）。不画骨架与网格，原因见「手部没有骨架」一节

该帧这些部件的位姿与已画出的部件逐元素相同（部件静止），投影为同一图，未重复绘制：object_espressomachine_bottom_pose ＝ object_espressomachine_root_pose

帧号、来源、全部数值组件与有效性
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+}

帧 332 / 664

原生 RGB（MKV 解出的第 332 帧，未重编码）
物体 espressomachine 关键点投影（按发布的 keypoint_names 分色：top 紫 / bottom 绿；v1.0 页面把这 32 点画成同一种白色。32 个有效点，画内 32 个＝bottom 16 点、top 16 点）
object_espressomachine_root_pose 位姿坐标轴（x 红 / y 绿 / z 蓝，每轴 5 cm，已画 3/3 条；由已发布位姿与内参投影，仅示朝向）
object_espressomachine_top_pose 位姿坐标轴（x 红 / y 绿 / z 蓝，每轴 5 cm，已画 3/3 条；由已发布位姿与内参投影，仅示朝向）
MANO 根平移投影（schema layout.translation 第 58–61 个参数，声明坐标系 camera，单位 m；画内 left、right）。不画骨架与网格，原因见「手部没有骨架」一节

该帧这些部件的位姿与已画出的部件逐元素相同（部件静止），投影为同一图，未重复绘制：object_espressomachine_bottom_pose ＝ object_espressomachine_root_pose

帧号、来源、全部数值组件与有效性
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+    "sync_id": "s02/espressomachine_grab_01:333",
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+  }
+}

帧 498 / 664

原生 RGB（MKV 解出的第 498 帧，未重编码）
物体 espressomachine 关键点投影（按发布的 keypoint_names 分色：top 紫 / bottom 绿；v1.0 页面把这 32 点画成同一种白色。32 个有效点，画内 32 个＝bottom 16 点、top 16 点）
object_espressomachine_root_pose 位姿坐标轴（x 红 / y 绿 / z 蓝，每轴 5 cm，已画 3/3 条；由已发布位姿与内参投影，仅示朝向）
object_espressomachine_top_pose 位姿坐标轴（x 红 / y 绿 / z 蓝，每轴 5 cm，已画 3/3 条；由已发布位姿与内参投影，仅示朝向）
MANO 根平移投影（schema layout.translation 第 58–61 个参数，声明坐标系 camera，单位 m；画内 left、right）。不画骨架与网格，原因见「手部没有骨架」一节

该帧这些部件的位姿与已画出的部件逐元素相同（部件静止），投影为同一图，未重复绘制：object_espressomachine_bottom_pose ＝ object_espressomachine_root_pose

帧号、来源、全部数值组件与有效性
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+}

帧 663 / 664

原生 RGB（MKV 解出的第 663 帧，未重编码）
物体 espressomachine 关键点投影（按发布的 keypoint_names 分色：top 紫 / bottom 绿；v1.0 页面把这 32 点画成同一种白色。32 个有效点，画内 32 个＝bottom 16 点、top 16 点）
object_espressomachine_root_pose 位姿坐标轴（x 红 / y 绿 / z 蓝，每轴 5 cm，已画 3/3 条；由已发布位姿与内参投影，仅示朝向）
object_espressomachine_top_pose 位姿坐标轴（x 红 / y 绿 / z 蓝，每轴 5 cm，已画 3/3 条；由已发布位姿与内参投影，仅示朝向）

该帧这些部件的位姿与已画出的部件逐元素相同（部件静止），投影为同一图，未重复绘制：object_espressomachine_bottom_pose ＝ object_espressomachine_root_pose

该帧未投影的几何：
· mano：2 个有效手（left、right）的根平移全部落在画外

帧号、来源、全部数值组件与有效性
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+  },
+  "object_espressomachine_root_pose": {
+    "value": [
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+    ],
+    "valid": true
+  },
+  "object_espressomachine_bottom_pose": {
+    "value": [
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+    ],
+    "valid": true
+  },
+  "object_espressomachine_top_pose": {
+    "value": [
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+    ],
+    "valid": true
+  },
+  "object_espressomachine_joint": {
+    "value": [
+      0.13449668884277344
+    ],
+    "valid": [
+      true
+    ]
+  },
+  "object_espressomachine_keypoints": {
+    "value": [
+      [
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+      true,
+      true,
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+      true
+    ]
+  }
+}

原始物体模型（独立预览）

object_espressomachine_mesh

仅展示网格原生形状（annotation/object/espressomachine/assets/mesh.obj）；未验证尺度／位姿对应。

object_espressomachine_mesh:bottom

仅展示网格原生形状（annotation/object/espressomachine/assets/bottom.obj）；未验证尺度／位姿对应。

object_espressomachine_mesh:top

仅展示网格原生形状（annotation/object/espressomachine/assets/top.obj）；未验证尺度／位姿对应。
全部组件元信息及原始来源
{
+  "schema_version": "hand-warehouse/1.1",
+  "storage_revision": "lossless-video-2026-09-18",
+  "dataset_id": "ARCTIC",
+  "release_id": "shared-v1.1",
+  "sequence_id": "s02_espressomachine_grab_01",
+  "camera_id": "3",
+  "sample_type": "video",
+  "num_frames": 664,
+  "hand_slots": [
+    "left",
+    "right"
+  ],
+  "sampling": {
+    "type": "dense",
+    "source_fps": 30.0,
+    "frames_ref": "camera/frames.jsonl",
+    "selection": "Every released image of this selected camera in the complete official sequence ZIP; boundary images without annotations retained",
+    "source_fps_basis": "ARCTIC paper v3, Sec. 3.2 Acquisition Setup: 8 static allocentric and 1 moving egocentric RGB views captured at 30 FPS",
+    "source_fps_evidence_url": "https://arxiv.org/html/2204.13662v3#S3.SS2",
+    "source_timestamp_status": "not_released; do not invent measured timestamp_ns"
+  },
+  "camera": {
+    "model": "pinhole",
+    "schema_id": "camera/pinhole/v1",
+    "image_size": [
+      2000,
+      2800
+    ]
+  },
+  "split": "train",
+  "components": {
+    "intrinsic": {
+      "available": true,
+      "schema_id": "camera/pinhole/v1",
+      "data_ref": "camera/camera.pt",
+      "axes": [
+        "T",
+        "row",
+        "column"
+      ],
+      "valid_ref": "camera/camera.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "source values retained"
+      },
+      "source_locator": {
+        "archive": "raw/data/meta.zip",
+        "member": "meta/misc.json",
+        "record": "s02"
+      },
+      "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"
+      ],
+      "valid_ref": "camera/camera.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "source values retained"
+      },
+      "source_locator": {
+        "archive": "raw/data/meta.zip",
+        "member": "meta/misc.json",
+        "record": "s02"
+      },
+      "unit": "m",
+      "convention": "T_camera_from_world",
+      "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"
+      ],
+      "valid_ref": "annotation/mano/mano.pt",
+      "valid_axes": [
+        "T",
+        "hand"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Official nonflat mean expanded; shape-dependent root corrected during world-to-camera conversion; image index minus official ioi_offset"
+      },
+      "source_locator": {
+        "archive": "raw/data/raw_seqs.zip",
+        "member": "raw_seqs/s02/espressomachine_grab_01.mano.npy",
+        "index_ref": "camera/frames.jsonl:source_annotation_index"
+      },
+      "unit": "m",
+      "angle_unit": "rad",
+      "coordinate_frame": "camera",
+      "model_profile": {
+        "version": "MANO-v1.2",
+        "flat_hand_mean": true,
+        "left_shapedirs_fix": false
+      },
+      "data_key": [
+        "motion",
+        "data"
+      ],
+      "valid_key": [
+        "motion",
+        "valid"
+      ],
+      "storage": {
+        "profile": "pt/tensor_bundle/v1"
+      },
+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
+      }
+    },
+    "object_espressomachine_root_pose": {
+      "available": true,
+      "schema_id": "object/rigid/v1",
+      "data_ref": "annotation/object/espressomachine/object.pt",
+      "axes": [
+        "T",
+        "row",
+        "column"
+      ],
+      "valid_ref": "annotation/object/espressomachine/object.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "source values retained"
+      },
+      "source_locator": {
+        "archive": "raw/data/raw_seqs.zip",
+        "member": "raw_seqs/s02/espressomachine_grab_01.object.npy",
+        "index_ref": "camera/frames.jsonl:source_annotation_index"
+      },
+      "unit": "m",
+      "convention": "T_camera_from_object",
+      "data_key": [
+        "pose",
+        "data"
+      ],
+      "valid_key": [
+        "pose",
+        "valid"
+      ],
+      "storage": {
+        "profile": "pt/tensor_bundle/v1"
+      },
+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
+      }
+    },
+    "object_espressomachine_bottom_pose": {
+      "available": true,
+      "schema_id": "object/rigid/v1",
+      "data_ref": "annotation/object/espressomachine/object.pt",
+      "axes": [
+        "T",
+        "row",
+        "column"
+      ],
+      "valid_ref": "annotation/object/espressomachine/object.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "source values retained"
+      },
+      "source_locator": {
+        "archive": "raw/data/raw_seqs.zip",
+        "member": "raw_seqs/s02/espressomachine_grab_01.object.npy",
+        "index_ref": "camera/frames.jsonl:source_annotation_index"
+      },
+      "unit": "m",
+      "convention": "T_camera_from_part",
+      "data_key": [
+        "parts",
+        "bottom",
+        "pose",
+        "data"
+      ],
+      "valid_key": [
+        "parts",
+        "bottom",
+        "pose",
+        "valid"
+      ],
+      "storage": {
+        "profile": "pt/tensor_bundle/v1"
+      },
+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
+      }
+    },
+    "object_espressomachine_top_pose": {
+      "available": true,
+      "schema_id": "object/rigid/v1",
+      "data_ref": "annotation/object/espressomachine/object.pt",
+      "axes": [
+        "T",
+        "row",
+        "column"
+      ],
+      "valid_ref": "annotation/object/espressomachine/object.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "source values retained"
+      },
+      "source_locator": {
+        "archive": "raw/data/raw_seqs.zip",
+        "member": "raw_seqs/s02/espressomachine_grab_01.object.npy",
+        "index_ref": "camera/frames.jsonl:source_annotation_index"
+      },
+      "unit": "m",
+      "convention": "T_camera_from_part",
+      "data_key": [
+        "parts",
+        "top",
+        "pose",
+        "data"
+      ],
+      "valid_key": [
+        "parts",
+        "top",
+        "pose",
+        "valid"
+      ],
+      "storage": {
+        "profile": "pt/tensor_bundle/v1"
+      },
+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
+      }
+    },
+    "object_espressomachine_joint": {
+      "available": true,
+      "schema_id": "object/joint_state/v1",
+      "data_ref": "annotation/object/espressomachine/object.pt",
+      "axes": [
+        "T",
+        "joint"
+      ],
+      "valid_ref": "annotation/object/espressomachine/object.pt",
+      "valid_axes": [
+        "T",
+        "joint"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "source values retained"
+      },
+      "source_locator": {
+        "archive": "raw/data/raw_seqs.zip",
+        "member": "raw_seqs/s02/espressomachine_grab_01.object.npy",
+        "index_ref": "camera/frames.jsonl:source_annotation_index"
+      },
+      "joint_order": [
+        "hinge"
+      ],
+      "unit": "rad",
+      "data_key": [
+        "joint_state",
+        "data"
+      ],
+      "valid_key": [
+        "joint_state",
+        "valid"
+      ],
+      "storage": {
+        "profile": "pt/tensor_bundle/v1"
+      },
+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
+      }
+    },
+    "object_espressomachine_articulation": {
+      "available": true,
+      "schema_id": "object/articulated/v1",
+      "data_ref": "annotation/object/espressomachine/articulation.json",
+      "axes": [],
+      "valid_ref": "annotation/object/espressomachine/articulation_valid.pt",
+      "valid_axes": [],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "source values retained"
+      },
+      "source_locator": {
+        "archive": "raw/data/raw_seqs.zip",
+        "member": "raw_seqs/s02/espressomachine_grab_01.object.npy",
+        "index_ref": "camera/frames.jsonl:source_annotation_index"
+      },
+      "static": true
+    },
+    "object_espressomachine_mesh": {
+      "available": true,
+      "schema_id": "mesh/obj/v1",
+      "data_ref": "annotation/object/espressomachine/assets/mesh.obj",
+      "axes": [
+        "vertex",
+        "coordinate"
+      ],
+      "valid_ref": "annotation/object/espressomachine/assets/mesh_valid.pt",
+      "valid_axes": [],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Object vertices in metres; topology, material and texture dependencies retained"
+      },
+      "source_locator": {
+        "archive": "raw/data/meta.zip",
+        "member_prefix": "meta/object_vtemplates/espressomachine/"
+      },
+      "static": true,
+      "unit": "m",
+      "coordinate_frame": "object"
+    },
+    "object_espressomachine_keypoints": {
+      "available": true,
+      "schema_id": "object_keypoints/camera/v1",
+      "data_ref": "annotation/object/espressomachine/object.pt",
+      "axes": [
+        "T",
+        "joint",
+        "coordinate"
+      ],
+      "valid_ref": "annotation/object/espressomachine/object.pt",
+      "valid_axes": [
+        "T",
+        "joint"
+      ],
+      "provenance": {
+        "kind": "derived",
+        "method": "Official template keypoints driven by released articulation and camera transforms"
+      },
+      "source_locator": {
+        "archive": "raw/data/meta.zip",
+        "member_prefix": "meta/object_vtemplates/espressomachine/"
+      },
+      "unit": "m",
+      "coordinate_frame": "camera",
+      "keypoint_schema": "arctic_object_keypoints/v1",
+      "keypoint_names": [
+        "top_0",
+        "top_1",
+        "top_2",
+        "top_3",
+        "top_4",
+        "top_5",
+        "top_6",
+        "top_7",
+        "top_8",
+        "top_9",
+        "top_10",
+        "top_11",
+        "top_12",
+        "top_13",
+        "top_14",
+        "top_15",
+        "bottom_0",
+        "bottom_1",
+        "bottom_2",
+        "bottom_3",
+        "bottom_4",
+        "bottom_5",
+        "bottom_6",
+        "bottom_7",
+        "bottom_8",
+        "bottom_9",
+        "bottom_10",
+        "bottom_11",
+        "bottom_12",
+        "bottom_13",
+        "bottom_14",
+        "bottom_15"
+      ],
+      "data_key": [
+        "keypoints",
+        "xyz",
+        "data"
+      ],
+      "valid_key": [
+        "keypoints",
+        "xyz",
+        "valid"
+      ],
+      "storage": {
+        "profile": "pt/tensor_bundle/v1"
+      },
+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
+      }
+    },
+    "rgb": {
+      "available": true,
+      "schema_id": "rgb/uint8/v1",
+      "data_ref": "observation/rgb.mkv",
+      "axes": [
+        "T",
+        "height",
+        "width",
+        "channel"
+      ],
+      "valid_ref": "observation/rgb_valid.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Original JPEG packets copied into MKV; every payload/order/dimension checked; declared deterministic RGB sample checked"
+      },
+      "source_locator": {
+        "archive": "raw/data/images_zips/s02/espressomachine_grab_01.zip",
+        "member_pattern": "{camera_id}/{source_frame_id:05d}.jpg",
+        "camera_id": "3"
+      },
+      "storage": {
+        "profile": "mkv/mjpeg_copy/v1",
+        "codec": "mjpeg",
+        "pixel_format": "yuvj420p",
+        "encoded_size": [
+          2000,
+          2800
+        ],
+        "source_lossy": true,
+        "decoder": {
+          "name": "ffmpeg",
+          "version": "ffmpeg version 7.1-essentials_build-www.gyan.dev Copyright (c) 2000-2024 the FFmpeg developers",
+          "output_pixel_format": "rgb24",
+          "autorotate": false,
+          "source_color_declaration": "unknown",
+          "actual_stream_description": "Stream #0:0: Video: mjpeg (Baseline), yuvj420p(pc, bt470bg/unknown/unknown), 2000x2800 [SAR 1:1 DAR 5:7], 1 fps, 1 tbr, 1k tbn"
+        },
+        "encoder_parameters": {
+          "mode": "stream_copy",
+          "version": "ffmpeg version 7.1-essentials_build-www.gyan.dev Copyright (c) 2000-2024 the FFmpeg developers"
+        }
+      },
+      "storage_fps": 1,
+      "timebase_role": "index_only"
+    }
+  },
+  "pilot": false,
+  "split_scheme": "ARCTIC_protocol_p1",
+  "split_source_locator": {
+    "archive": "raw/data/splits_json.zip",
+    "member": "splits_json/protocol_p1.json",
+    "sequence": "s02/espressomachine_grab_01"
+  },
+  "view_type": "exo",
+  "omitted_components": {
+    "depth": "No depth images in this official raw release",
+    "segment": "No pixel segmentation in this official raw release",
+    "contact": "No source contact labels in selected official raw packages",
+    "keypoints": "No separate measured hand keypoints in raw; MANO available. Render-only joints are not published as additional labels",
+    "visibility": "Not supplied in selected raw annotations; fitting_err is outside current shared scope"
+  },
+  "media_validation_policy": "jpeg-packets-all-rgb-sample16/v1",
+  "pilot_complete": true,
+  "production_complete": true,
+  "pilot_human_review": "approved",
+  "full_output_human_review": "pending",
+  "upload_authorized": false
+}
持久化 QC 结果
{
+  "view": "s02_espressomachine_grab_01/3",
+  "sequence_id": "s02_espressomachine_grab_01",
+  "camera_id": "3",
+  "view_type": "exo",
+  "split": "train",
+  "num_frames": 664,
+  "camera": {
+    "model": "pinhole",
+    "schema_id": "camera/pinhole/v1",
+    "image_size": [
+      2000,
+      2800
+    ]
+  },
+  "numeric_components": {
+    "intrinsic": {
+      "shape": [
+        664,
+        3,
+        3
+      ],
+      "dtype": "torch.float32",
+      "valid_true": 664,
+      "valid_total": 664,
+      "shares_intrinsic_validity": null
+    },
+    "extrinsic": {
+      "shape": [
+        664,
+        4,
+        4
+      ],
+      "dtype": "torch.float32",
+      "valid_true": 664,
+      "valid_total": 664,
+      "shares_intrinsic_validity": null
+    },
+    "mano": {
+      "shape": [
+        664,
+        2,
+        61
+      ],
+      "dtype": "torch.float32",
+      "valid_true": 1326,
+      "valid_total": 1328,
+      "shares_intrinsic_validity": null
+    },
+    "object_espressomachine_root_pose": {
+      "shape": [
+        664,
+        4,
+        4
+      ],
+      "dtype": "torch.float32",
+      "valid_true": 663,
+      "valid_total": 664,
+      "shares_intrinsic_validity": null
+    },
+    "object_espressomachine_bottom_pose": {
+      "shape": [
+        664,
+        4,
+        4
+      ],
+      "dtype": "torch.float32",
+      "valid_true": 663,
+      "valid_total": 664,
+      "shares_intrinsic_validity": null
+    },
+    "object_espressomachine_top_pose": {
+      "shape": [
+        664,
+        4,
+        4
+      ],
+      "dtype": "torch.float32",
+      "valid_true": 663,
+      "valid_total": 664,
+      "shares_intrinsic_validity": null
+    },
+    "object_espressomachine_joint": {
+      "shape": [
+        664,
+        1
+      ],
+      "dtype": "torch.float32",
+      "valid_true": 663,
+      "valid_total": 664,
+      "shares_intrinsic_validity": null
+    },
+    "object_espressomachine_keypoints": {
+      "shape": [
+        664,
+        32,
+        3
+      ],
+      "dtype": "torch.float32",
+      "valid_true": 21216,
+      "valid_total": 21248,
+      "shares_intrinsic_validity": null
+    }
+  },
+  "bundle_files": 3,
+  "bundles": [
+    "annotation/mano/mano.pt",
+    "annotation/object/espressomachine/object.pt",
+    "camera/camera.pt"
+  ],
+  "media": [
+    {
+      "component": "object_espressomachine_articulation",
+      "ref": "annotation/object/espressomachine/articulation.json",
+      "pixels_decoded": 0
+    },
+    {
+      "component": "object_espressomachine_mesh",
+      "ref": "annotation/object/espressomachine/assets/mesh.obj",
+      "pixels_decoded": 0
+    },
+    {
+      "component": "rgb",
+      "ref": "observation/rgb.mkv",
+      "pixels_decoded": 6
+    }
+  ],
+  "consumed_files": [
+    "annotation/mano/mano.pt",
+    "annotation/object/espressomachine/articulation.json",
+    "annotation/object/espressomachine/articulation_valid.pt",
+    "annotation/object/espressomachine/assets/mesh.obj",
+    "annotation/object/espressomachine/assets/mesh_valid.pt",
+    "annotation/object/espressomachine/object.pt",
+    "camera/camera.pt",
+    "observation/rgb.mkv",
+    "observation/rgb_valid.pt"
+  ],
+  "registry_gaps": [
+    {
+      "kind": "keypoint_schema_unregistered",
+      "schema": "arctic_object_keypoints/v1",
+      "resolved_from": "component.keypoint_names",
+      "count": 32
+    }
+  ],
+  "selected_frames": [
+    0,
+    1,
+    166,
+    332,
+    498,
+    663
+  ],
+  "decode_scope": "ffmpeg select= demux filter over the preserved MKV; only the frames listed in selected_frames are decoded, each checked against height*width*3 bytes",
+  "projection": {
+    "model": "pinhole",
+    "calibrated": true,
+    "points": 160,
+    "inside": 160,
+    "off_image": 0,
+    "frames": {
+      "0": {
+        "annotated": false,
+        "valid_points": 0,
+        "inside_points": 0,
+        "inside_ratio": null,
+        "mostly_out_of_frame": false
+      },
+      "1": {
+        "annotated": true,
+        "valid_points": 32,
+        "inside_points": 32,
+        "inside_ratio": 1.0,
+        "mostly_out_of_frame": false
+      },
+      "166": {
+        "annotated": true,
+        "valid_points": 32,
+        "inside_points": 32,
+        "inside_ratio": 1.0,
+        "mostly_out_of_frame": false
+      },
+      "332": {
+        "annotated": true,
+        "valid_points": 32,
+        "inside_points": 32,
+        "inside_ratio": 1.0,
+        "mostly_out_of_frame": false
+      },
+      "498": {
+        "annotated": true,
+        "valid_points": 32,
+        "inside_points": 32,
+        "inside_ratio": 1.0,
+        "mostly_out_of_frame": false
+      },
+      "663": {
+        "annotated": true,
+        "valid_points": 32,
+        "inside_points": 32,
+        "inside_ratio": 1.0,
+        "mostly_out_of_frame": false
+      }
+    },
+    "coordinate_frame": "camera",
+    "scope": "saved camera-frame xyz through the view's own intrinsic and distortion; not a media pixel comparison",
+    "out_of_frame_rule": "a sampled frame is marked 物体大部分落在画外 when fewer than half of its valid object keypoints land inside the image; every annotated frame's valid_points / inside_points / inside_ratio is recorded in projection.frames either way",
+    "note": "ARCTIC publishes no 2D keypoints and no uv series, so the published projection_qc (saved xyz against saved uv) has no second series here; this counts what the release's own camera-frame geometry projects to."
+  },
+  "omitted_components": {
+    "depth": "No depth images in this official raw release",
+    "segment": "No pixel segmentation in this official raw release",
+    "contact": "No source contact labels in selected official raw packages",
+    "keypoints": "No separate measured hand keypoints in raw; MANO available. Render-only joints are not published as additional labels",
+    "visibility": "Not supplied in selected raw annotations; fitting_err is outside current shared scope"
+  },
+  "source_hand_object_gt_available": null,
+  "scope": "v1.1 registry, keys, shapes, validity and timeline; not a media pixel comparison",
+  "geometry_panels": {
+    "keypoint_panels": 5,
+    "axis_panels": 10,
+    "mano_panels": 3,
+    "note_panels": 8,
+    "frames_noted": 6,
+    "frames_mostly_out_of_frame": 0,
+    "frames_mostly_out_of_frame_list": []
+  }
+}
\ No newline at end of file diff --git a/ARCTIC/shared-v1.1/doc/validation/s02_espressomachine_grab_01_3.report.json b/ARCTIC/shared-v1.1/doc/validation/s02_espressomachine_grab_01_3.report.json new file mode 100644 index 0000000000000000000000000000000000000000..c753b8427a66f75e6df99ea79bdcffd1b063bbe7 --- /dev/null +++ b/ARCTIC/shared-v1.1/doc/validation/s02_espressomachine_grab_01_3.report.json @@ -0,0 +1,229 @@ +{ + "view": "s02_espressomachine_grab_01/3", + "sequence_id": "s02_espressomachine_grab_01", + "camera_id": "3", + "view_type": "exo", + "split": "train", + "num_frames": 664, + "camera": { + "model": "pinhole", + "schema_id": "camera/pinhole/v1", + "image_size": [ + 2000, + 2800 + ] + }, + "numeric_components": { + "intrinsic": { + "shape": [ + 664, + 3, + 3 + ], + "dtype": "torch.float32", + "valid_true": 664, + "valid_total": 664, + "shares_intrinsic_validity": null + }, + "extrinsic": { + "shape": [ + 664, + 4, + 4 + ], + "dtype": "torch.float32", + "valid_true": 664, + "valid_total": 664, + "shares_intrinsic_validity": null + }, + "mano": { + "shape": [ + 664, + 2, + 61 + ], + "dtype": "torch.float32", + "valid_true": 1326, + "valid_total": 1328, + "shares_intrinsic_validity": null + }, + "object_espressomachine_root_pose": { + "shape": [ + 664, + 4, + 4 + ], + "dtype": "torch.float32", + "valid_true": 663, + "valid_total": 664, + "shares_intrinsic_validity": null + }, + "object_espressomachine_bottom_pose": { + "shape": [ + 664, + 4, + 4 + ], + "dtype": "torch.float32", + "valid_true": 663, + "valid_total": 664, + "shares_intrinsic_validity": null + }, + "object_espressomachine_top_pose": { + "shape": [ + 664, + 4, + 4 + ], + "dtype": "torch.float32", + "valid_true": 663, + "valid_total": 664, + "shares_intrinsic_validity": null + }, + "object_espressomachine_joint": { + "shape": [ + 664, + 1 + ], + "dtype": "torch.float32", + "valid_true": 663, + "valid_total": 664, + "shares_intrinsic_validity": null + }, + "object_espressomachine_keypoints": { + "shape": [ + 664, + 32, + 3 + ], + "dtype": "torch.float32", + "valid_true": 21216, + "valid_total": 21248, + "shares_intrinsic_validity": null + } + }, + "bundle_files": 3, + "bundles": [ + "annotation/mano/mano.pt", + "annotation/object/espressomachine/object.pt", + "camera/camera.pt" + ], + "media": [ + { + "component": "object_espressomachine_articulation", + "ref": "annotation/object/espressomachine/articulation.json", + "pixels_decoded": 0 + }, + { + "component": "object_espressomachine_mesh", + "ref": "annotation/object/espressomachine/assets/mesh.obj", + "pixels_decoded": 0 + }, + { + "component": "rgb", + "ref": "observation/rgb.mkv", + "pixels_decoded": 6 + } + ], + "consumed_files": [ + "annotation/mano/mano.pt", + "annotation/object/espressomachine/articulation.json", + "annotation/object/espressomachine/articulation_valid.pt", + "annotation/object/espressomachine/assets/mesh.obj", + "annotation/object/espressomachine/assets/mesh_valid.pt", + "annotation/object/espressomachine/object.pt", + "camera/camera.pt", + "observation/rgb.mkv", + "observation/rgb_valid.pt" + ], + "registry_gaps": [ + { + "kind": "keypoint_schema_unregistered", + "schema": "arctic_object_keypoints/v1", + "resolved_from": "component.keypoint_names", + "count": 32 + } + ], + "selected_frames": [ + 0, + 1, + 166, + 332, + 498, + 663 + ], + "decode_scope": "ffmpeg select= demux filter over the preserved MKV; only the frames listed in selected_frames are decoded, each checked against height*width*3 bytes", + "projection": { + "model": "pinhole", + "calibrated": true, + "points": 160, + "inside": 160, + "off_image": 0, + "frames": { + "0": { + "annotated": false, + "valid_points": 0, + "inside_points": 0, + "inside_ratio": null, + "mostly_out_of_frame": false + }, + "1": { + "annotated": true, + "valid_points": 32, + "inside_points": 32, + "inside_ratio": 1.0, + "mostly_out_of_frame": false + }, + "166": { + "annotated": true, + "valid_points": 32, + "inside_points": 32, + "inside_ratio": 1.0, + "mostly_out_of_frame": false + }, + "332": { + "annotated": true, + "valid_points": 32, + "inside_points": 32, + "inside_ratio": 1.0, + "mostly_out_of_frame": false + }, + "498": { + "annotated": true, + "valid_points": 32, + "inside_points": 32, + "inside_ratio": 1.0, + "mostly_out_of_frame": false + }, + "663": { + "annotated": true, + "valid_points": 32, + "inside_points": 32, + "inside_ratio": 1.0, + "mostly_out_of_frame": false + } + }, + "coordinate_frame": "camera", + "scope": "saved camera-frame xyz through the view's own intrinsic and distortion; not a media pixel comparison", + "out_of_frame_rule": "a sampled frame is marked 物体大部分落在画外 when fewer than half of its valid object keypoints land inside the image; every annotated frame's valid_points / inside_points / inside_ratio is recorded in projection.frames either way", + "note": "ARCTIC publishes no 2D keypoints and no uv series, so the published projection_qc (saved xyz against saved uv) has no second series here; this counts what the release's own camera-frame geometry projects to." + }, + "omitted_components": { + "depth": "No depth images in this official raw release", + "segment": "No pixel segmentation in this official raw release", + "contact": "No source contact labels in selected official raw packages", + "keypoints": "No separate measured hand keypoints in raw; MANO available. Render-only joints are not published as additional labels", + "visibility": "Not supplied in selected raw annotations; fitting_err is outside current shared scope" + }, + "source_hand_object_gt_available": null, + "scope": "v1.1 registry, keys, shapes, validity and timeline; not a media pixel comparison", + "geometry_panels": { + "keypoint_panels": 5, + "axis_panels": 10, + "mano_panels": 3, + "note_panels": 8, + "frames_noted": 6, + "frames_mostly_out_of_frame": 0, + "frames_mostly_out_of_frame_list": [] + } +} \ No newline at end of file diff --git a/ARCTIC/shared-v1.1/doc/validation/s02_espressomachine_grab_01_4.html b/ARCTIC/shared-v1.1/doc/validation/s02_espressomachine_grab_01_4.html new file mode 100644 index 0000000000000000000000000000000000000000..5e7a95160351cab01cc74161543a76057f2b2e0d --- /dev/null +++ b/ARCTIC/shared-v1.1/doc/validation/s02_espressomachine_grab_01_4.html @@ -0,0 +1,3777 @@ +s02_espressomachine_grab_01_4

s02_espressomachine_grab_01_4

直接读取 v1.1 bundle（s02_espressomachine_grab_01 的 exo 视图，split=train）。预览仅供人工复核，不是训练输入（CONTRACT §6.5）；这里只解码抽样帧，不是全部帧。本 release 另带 v1.0 的全帧逐相机视频（doc/history-v1.0/validation/），两者并存，本页不替代它。

配色沿用 ARCTIC v1.0 复核页自己的约定（「顶盖紫、底座绿，左手青、右手橙」），便于两套页面并排读：
    物体 top ·     物体 bottom ·     左手 ·     右手 ·     位姿轴 x 红 /     y 绿 /     z 蓝
部件的 top/bottom 取自组件名（object_<id>_top_pose 等），关键点取自发布的 keypoint_names；v1.0 页面把 32 个物体关键点画成同一种白色，并用索引区分顶盖/底座。投影不做遮挡剔除，也不是分割真值。

手部没有骨架：release 的 mano 只有 61 个参数，要还原成关节需要发布外的 MANO 模型资产与 smplx——本发布与本渲染环境都没有。ARCTIC v1.0 页面上那层白色 MANO 派生关节点，正是靠那套外部依赖画出来的。页面因此只画 schema layout.translation 声明的根平移（青色/橙色点），手部监督的其余部分以逐帧数值呈现。

源未发布的组件及原始理由（不补造）
{
+  "depth": "No depth images in this official raw release",
+  "segment": "No pixel segmentation in this official raw release",
+  "contact": "No source contact labels in selected official raw packages",
+  "keypoints": "No separate measured hand keypoints in raw; MANO available. Render-only joints are not published as additional labels",
+  "visibility": "Not supplied in selected raw annotations; fitting_err is outside current shared scope"
+}

帧 0 / 664

原生 RGB（MKV 解出的第 0 帧，未重编码）

该帧未投影的几何：
· object_espressomachine_keypoints：该帧 valid 为假（源未标注，该帧数值非有限值，故不投影）
· object_espressomachine_root_pose：该帧 valid 为假（源未标注，该帧数值非有限值，故不投影）
· object_espressomachine_bottom_pose：该帧 valid 为假（源未标注，该帧数值非有限值，故不投影）
· object_espressomachine_top_pose：该帧 valid 为假（源未标注，该帧数值非有限值，故不投影）
· mano：该帧 valid 为假（源未标注，该帧数值非有限值，故不投影）

帧号、来源、全部数值组件与有效性
{
+  "frame": {
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+    "source_frame_id": "1",
+    "timestamp_ns": null,
+    "clock_domain": null,
+    "source_locator": {
+      "archive": "raw/data/images_zips/s02/espressomachine_grab_01.zip",
+      "member_pattern": "{camera_id}/{source_frame_id:05d}.jpg",
+      "camera_id": "4",
+      "source_frame_id": "1",
+      "member": "4/00001.jpg"
+    },
+    "source_annotation_index": null,
+    "sync_id": "s02/espressomachine_grab_01:1",
+    "annotation_matches": {
+      "mano": {
+        "source_frame_id": null,
+        "source_timestamp_ns": null,
+        "clock_domain": null,
+        "match_method": "index_map",
+        "delta_ns": null,
+        "mapping": "image_number - misc.ioi_offset",
+        "source_record_present": false
+      }
+    }
+  },
+  "media_validity": {
+    "rgb": true
+  },
+  "intrinsic": {
+    "value": [
+      [
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+        0.0,
+        1423.4971923828125
+      ],
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+    "valid": true
+  },
+  "extrinsic": {
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+    "valid": [
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+  "object_espressomachine_root_pose": {
+    "value": [
+      [
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+  "object_espressomachine_bottom_pose": {
+    "value": [
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+    ]
+  }
+}

帧 1 / 664

原生 RGB（MKV 解出的第 1 帧，未重编码）
物体 espressomachine 关键点投影（按发布的 keypoint_names 分色：top 紫 / bottom 绿；v1.0 页面把这 32 点画成同一种白色。32 个有效点，画内 32 个＝bottom 16 点、top 16 点）
object_espressomachine_root_pose 位姿坐标轴（x 红 / y 绿 / z 蓝，每轴 5 cm，已画 3/3 条；由已发布位姿与内参投影，仅示朝向）
object_espressomachine_top_pose 位姿坐标轴（x 红 / y 绿 / z 蓝，每轴 5 cm，已画 3/3 条；由已发布位姿与内参投影，仅示朝向）
MANO 根平移投影（schema layout.translation 第 58–61 个参数，声明坐标系 camera，单位 m；画内 right，画外 left）。不画骨架与网格，原因见「手部没有骨架」一节

该帧这些部件的位姿与已画出的部件逐元素相同（部件静止），投影为同一图，未重复绘制：object_espressomachine_bottom_pose ＝ object_espressomachine_root_pose

帧号、来源、全部数值组件与有效性
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+      "source_frame_id": "2",
+      "member": "4/00002.jpg"
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+    "sync_id": "s02/espressomachine_grab_01:2",
+    "annotation_matches": {
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+  }
+}

帧 166 / 664

原生 RGB（MKV 解出的第 166 帧，未重编码）
物体 espressomachine 关键点投影（按发布的 keypoint_names 分色：top 紫 / bottom 绿；v1.0 页面把这 32 点画成同一种白色。32 个有效点，画内 32 个＝bottom 16 点、top 16 点）
object_espressomachine_root_pose 位姿坐标轴（x 红 / y 绿 / z 蓝，每轴 5 cm，已画 3/3 条；由已发布位姿与内参投影，仅示朝向）
object_espressomachine_top_pose 位姿坐标轴（x 红 / y 绿 / z 蓝，每轴 5 cm，已画 3/3 条；由已发布位姿与内参投影，仅示朝向）
MANO 根平移投影（schema layout.translation 第 58–61 个参数，声明坐标系 camera，单位 m；画内 left、right）。不画骨架与网格，原因见「手部没有骨架」一节

该帧这些部件的位姿与已画出的部件逐元素相同（部件静止），投影为同一图，未重复绘制：object_espressomachine_bottom_pose ＝ object_espressomachine_root_pose

帧号、来源、全部数值组件与有效性
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+}

帧 332 / 664

原生 RGB（MKV 解出的第 332 帧，未重编码）
物体 espressomachine 关键点投影（按发布的 keypoint_names 分色：top 紫 / bottom 绿；v1.0 页面把这 32 点画成同一种白色。32 个有效点，画内 32 个＝bottom 16 点、top 16 点）
object_espressomachine_root_pose 位姿坐标轴（x 红 / y 绿 / z 蓝，每轴 5 cm，已画 3/3 条；由已发布位姿与内参投影，仅示朝向）
object_espressomachine_top_pose 位姿坐标轴（x 红 / y 绿 / z 蓝，每轴 5 cm，已画 3/3 条；由已发布位姿与内参投影，仅示朝向）
MANO 根平移投影（schema layout.translation 第 58–61 个参数，声明坐标系 camera，单位 m；画内 left、right）。不画骨架与网格，原因见「手部没有骨架」一节

该帧这些部件的位姿与已画出的部件逐元素相同（部件静止），投影为同一图，未重复绘制：object_espressomachine_bottom_pose ＝ object_espressomachine_root_pose

帧号、来源、全部数值组件与有效性
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+}

帧 498 / 664

原生 RGB（MKV 解出的第 498 帧，未重编码）
物体 espressomachine 关键点投影（按发布的 keypoint_names 分色：top 紫 / bottom 绿；v1.0 页面把这 32 点画成同一种白色。32 个有效点，画内 32 个＝bottom 16 点、top 16 点）
object_espressomachine_root_pose 位姿坐标轴（x 红 / y 绿 / z 蓝，每轴 5 cm，已画 3/3 条；由已发布位姿与内参投影，仅示朝向）
object_espressomachine_top_pose 位姿坐标轴（x 红 / y 绿 / z 蓝，每轴 5 cm，已画 3/3 条；由已发布位姿与内参投影，仅示朝向）
MANO 根平移投影（schema layout.translation 第 58–61 个参数，声明坐标系 camera，单位 m；画内 left、right）。不画骨架与网格，原因见「手部没有骨架」一节

该帧这些部件的位姿与已画出的部件逐元素相同（部件静止），投影为同一图，未重复绘制：object_espressomachine_bottom_pose ＝ object_espressomachine_root_pose

帧号、来源、全部数值组件与有效性
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+  }
+}

帧 663 / 664

原生 RGB（MKV 解出的第 663 帧，未重编码）
物体 espressomachine 关键点投影（按发布的 keypoint_names 分色：top 紫 / bottom 绿；v1.0 页面把这 32 点画成同一种白色。32 个有效点，画内 32 个＝bottom 16 点、top 16 点）
object_espressomachine_root_pose 位姿坐标轴（x 红 / y 绿 / z 蓝，每轴 5 cm，已画 3/3 条；由已发布位姿与内参投影，仅示朝向）
object_espressomachine_top_pose 位姿坐标轴（x 红 / y 绿 / z 蓝，每轴 5 cm，已画 3/3 条；由已发布位姿与内参投影，仅示朝向）
MANO 根平移投影（schema layout.translation 第 58–61 个参数，声明坐标系 camera，单位 m；画内 left、right）。不画骨架与网格，原因见「手部没有骨架」一节

该帧这些部件的位姿与已画出的部件逐元素相同（部件静止），投影为同一图，未重复绘制：object_espressomachine_bottom_pose ＝ object_espressomachine_root_pose

帧号、来源、全部数值组件与有效性
{
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+    "source_frame_id": "664",
+    "timestamp_ns": null,
+    "clock_domain": null,
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+      "member_pattern": "{camera_id}/{source_frame_id:05d}.jpg",
+      "camera_id": "4",
+      "source_frame_id": "664",
+      "member": "4/00664.jpg"
+    },
+    "source_annotation_index": 662,
+    "sync_id": "s02/espressomachine_grab_01:664",
+    "annotation_matches": {
+      "mano": {
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+        "source_timestamp_ns": null,
+        "clock_domain": null,
+        "match_method": "index_map",
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+        "mapping": "image_number - misc.ioi_offset",
+        "source_record_present": true
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+  }
+}

原始物体模型（独立预览）

object_espressomachine_mesh

仅展示网格原生形状（annotation/object/espressomachine/assets/mesh.obj）；未验证尺度／位姿对应。

object_espressomachine_mesh:bottom

仅展示网格原生形状（annotation/object/espressomachine/assets/bottom.obj）；未验证尺度／位姿对应。

object_espressomachine_mesh:top

仅展示网格原生形状（annotation/object/espressomachine/assets/top.obj）；未验证尺度／位姿对应。
全部组件元信息及原始来源
{
+  "schema_version": "hand-warehouse/1.1",
+  "storage_revision": "lossless-video-2026-09-18",
+  "dataset_id": "ARCTIC",
+  "release_id": "shared-v1.1",
+  "sequence_id": "s02_espressomachine_grab_01",
+  "camera_id": "4",
+  "sample_type": "video",
+  "num_frames": 664,
+  "hand_slots": [
+    "left",
+    "right"
+  ],
+  "sampling": {
+    "type": "dense",
+    "source_fps": 30.0,
+    "frames_ref": "camera/frames.jsonl",
+    "selection": "Every released image of this selected camera in the complete official sequence ZIP; boundary images without annotations retained",
+    "source_fps_basis": "ARCTIC paper v3, Sec. 3.2 Acquisition Setup: 8 static allocentric and 1 moving egocentric RGB views captured at 30 FPS",
+    "source_fps_evidence_url": "https://arxiv.org/html/2204.13662v3#S3.SS2",
+    "source_timestamp_status": "not_released; do not invent measured timestamp_ns"
+  },
+  "camera": {
+    "model": "pinhole",
+    "schema_id": "camera/pinhole/v1",
+    "image_size": [
+      2800,
+      2000
+    ]
+  },
+  "split": "train",
+  "components": {
+    "intrinsic": {
+      "available": true,
+      "schema_id": "camera/pinhole/v1",
+      "data_ref": "camera/camera.pt",
+      "axes": [
+        "T",
+        "row",
+        "column"
+      ],
+      "valid_ref": "camera/camera.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "source values retained"
+      },
+      "source_locator": {
+        "archive": "raw/data/meta.zip",
+        "member": "meta/misc.json",
+        "record": "s02"
+      },
+      "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": [
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+        "row",
+        "column"
+      ],
+      "valid_ref": "camera/camera.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "source values retained"
+      },
+      "source_locator": {
+        "archive": "raw/data/meta.zip",
+        "member": "meta/misc.json",
+        "record": "s02"
+      },
+      "unit": "m",
+      "convention": "T_camera_from_world",
+      "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"
+      ],
+      "valid_ref": "annotation/mano/mano.pt",
+      "valid_axes": [
+        "T",
+        "hand"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Official nonflat mean expanded; shape-dependent root corrected during world-to-camera conversion; image index minus official ioi_offset"
+      },
+      "source_locator": {
+        "archive": "raw/data/raw_seqs.zip",
+        "member": "raw_seqs/s02/espressomachine_grab_01.mano.npy",
+        "index_ref": "camera/frames.jsonl:source_annotation_index"
+      },
+      "unit": "m",
+      "angle_unit": "rad",
+      "coordinate_frame": "camera",
+      "model_profile": {
+        "version": "MANO-v1.2",
+        "flat_hand_mean": true,
+        "left_shapedirs_fix": false
+      },
+      "data_key": [
+        "motion",
+        "data"
+      ],
+      "valid_key": [
+        "motion",
+        "valid"
+      ],
+      "storage": {
+        "profile": "pt/tensor_bundle/v1"
+      },
+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
+      }
+    },
+    "object_espressomachine_root_pose": {
+      "available": true,
+      "schema_id": "object/rigid/v1",
+      "data_ref": "annotation/object/espressomachine/object.pt",
+      "axes": [
+        "T",
+        "row",
+        "column"
+      ],
+      "valid_ref": "annotation/object/espressomachine/object.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "source values retained"
+      },
+      "source_locator": {
+        "archive": "raw/data/raw_seqs.zip",
+        "member": "raw_seqs/s02/espressomachine_grab_01.object.npy",
+        "index_ref": "camera/frames.jsonl:source_annotation_index"
+      },
+      "unit": "m",
+      "convention": "T_camera_from_object",
+      "data_key": [
+        "pose",
+        "data"
+      ],
+      "valid_key": [
+        "pose",
+        "valid"
+      ],
+      "storage": {
+        "profile": "pt/tensor_bundle/v1"
+      },
+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
+      }
+    },
+    "object_espressomachine_bottom_pose": {
+      "available": true,
+      "schema_id": "object/rigid/v1",
+      "data_ref": "annotation/object/espressomachine/object.pt",
+      "axes": [
+        "T",
+        "row",
+        "column"
+      ],
+      "valid_ref": "annotation/object/espressomachine/object.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "source values retained"
+      },
+      "source_locator": {
+        "archive": "raw/data/raw_seqs.zip",
+        "member": "raw_seqs/s02/espressomachine_grab_01.object.npy",
+        "index_ref": "camera/frames.jsonl:source_annotation_index"
+      },
+      "unit": "m",
+      "convention": "T_camera_from_part",
+      "data_key": [
+        "parts",
+        "bottom",
+        "pose",
+        "data"
+      ],
+      "valid_key": [
+        "parts",
+        "bottom",
+        "pose",
+        "valid"
+      ],
+      "storage": {
+        "profile": "pt/tensor_bundle/v1"
+      },
+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
+      }
+    },
+    "object_espressomachine_top_pose": {
+      "available": true,
+      "schema_id": "object/rigid/v1",
+      "data_ref": "annotation/object/espressomachine/object.pt",
+      "axes": [
+        "T",
+        "row",
+        "column"
+      ],
+      "valid_ref": "annotation/object/espressomachine/object.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "source values retained"
+      },
+      "source_locator": {
+        "archive": "raw/data/raw_seqs.zip",
+        "member": "raw_seqs/s02/espressomachine_grab_01.object.npy",
+        "index_ref": "camera/frames.jsonl:source_annotation_index"
+      },
+      "unit": "m",
+      "convention": "T_camera_from_part",
+      "data_key": [
+        "parts",
+        "top",
+        "pose",
+        "data"
+      ],
+      "valid_key": [
+        "parts",
+        "top",
+        "pose",
+        "valid"
+      ],
+      "storage": {
+        "profile": "pt/tensor_bundle/v1"
+      },
+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
+      }
+    },
+    "object_espressomachine_joint": {
+      "available": true,
+      "schema_id": "object/joint_state/v1",
+      "data_ref": "annotation/object/espressomachine/object.pt",
+      "axes": [
+        "T",
+        "joint"
+      ],
+      "valid_ref": "annotation/object/espressomachine/object.pt",
+      "valid_axes": [
+        "T",
+        "joint"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "source values retained"
+      },
+      "source_locator": {
+        "archive": "raw/data/raw_seqs.zip",
+        "member": "raw_seqs/s02/espressomachine_grab_01.object.npy",
+        "index_ref": "camera/frames.jsonl:source_annotation_index"
+      },
+      "joint_order": [
+        "hinge"
+      ],
+      "unit": "rad",
+      "data_key": [
+        "joint_state",
+        "data"
+      ],
+      "valid_key": [
+        "joint_state",
+        "valid"
+      ],
+      "storage": {
+        "profile": "pt/tensor_bundle/v1"
+      },
+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
+      }
+    },
+    "object_espressomachine_articulation": {
+      "available": true,
+      "schema_id": "object/articulated/v1",
+      "data_ref": "annotation/object/espressomachine/articulation.json",
+      "axes": [],
+      "valid_ref": "annotation/object/espressomachine/articulation_valid.pt",
+      "valid_axes": [],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "source values retained"
+      },
+      "source_locator": {
+        "archive": "raw/data/raw_seqs.zip",
+        "member": "raw_seqs/s02/espressomachine_grab_01.object.npy",
+        "index_ref": "camera/frames.jsonl:source_annotation_index"
+      },
+      "static": true
+    },
+    "object_espressomachine_mesh": {
+      "available": true,
+      "schema_id": "mesh/obj/v1",
+      "data_ref": "annotation/object/espressomachine/assets/mesh.obj",
+      "axes": [
+        "vertex",
+        "coordinate"
+      ],
+      "valid_ref": "annotation/object/espressomachine/assets/mesh_valid.pt",
+      "valid_axes": [],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Object vertices in metres; topology, material and texture dependencies retained"
+      },
+      "source_locator": {
+        "archive": "raw/data/meta.zip",
+        "member_prefix": "meta/object_vtemplates/espressomachine/"
+      },
+      "static": true,
+      "unit": "m",
+      "coordinate_frame": "object"
+    },
+    "object_espressomachine_keypoints": {
+      "available": true,
+      "schema_id": "object_keypoints/camera/v1",
+      "data_ref": "annotation/object/espressomachine/object.pt",
+      "axes": [
+        "T",
+        "joint",
+        "coordinate"
+      ],
+      "valid_ref": "annotation/object/espressomachine/object.pt",
+      "valid_axes": [
+        "T",
+        "joint"
+      ],
+      "provenance": {
+        "kind": "derived",
+        "method": "Official template keypoints driven by released articulation and camera transforms"
+      },
+      "source_locator": {
+        "archive": "raw/data/meta.zip",
+        "member_prefix": "meta/object_vtemplates/espressomachine/"
+      },
+      "unit": "m",
+      "coordinate_frame": "camera",
+      "keypoint_schema": "arctic_object_keypoints/v1",
+      "keypoint_names": [
+        "top_0",
+        "top_1",
+        "top_2",
+        "top_3",
+        "top_4",
+        "top_5",
+        "top_6",
+        "top_7",
+        "top_8",
+        "top_9",
+        "top_10",
+        "top_11",
+        "top_12",
+        "top_13",
+        "top_14",
+        "top_15",
+        "bottom_0",
+        "bottom_1",
+        "bottom_2",
+        "bottom_3",
+        "bottom_4",
+        "bottom_5",
+        "bottom_6",
+        "bottom_7",
+        "bottom_8",
+        "bottom_9",
+        "bottom_10",
+        "bottom_11",
+        "bottom_12",
+        "bottom_13",
+        "bottom_14",
+        "bottom_15"
+      ],
+      "data_key": [
+        "keypoints",
+        "xyz",
+        "data"
+      ],
+      "valid_key": [
+        "keypoints",
+        "xyz",
+        "valid"
+      ],
+      "storage": {
+        "profile": "pt/tensor_bundle/v1"
+      },
+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
+      }
+    },
+    "rgb": {
+      "available": true,
+      "schema_id": "rgb/uint8/v1",
+      "data_ref": "observation/rgb.mkv",
+      "axes": [
+        "T",
+        "height",
+        "width",
+        "channel"
+      ],
+      "valid_ref": "observation/rgb_valid.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Original JPEG packets copied into MKV; every payload/order/dimension checked; declared deterministic RGB sample checked"
+      },
+      "source_locator": {
+        "archive": "raw/data/images_zips/s02/espressomachine_grab_01.zip",
+        "member_pattern": "{camera_id}/{source_frame_id:05d}.jpg",
+        "camera_id": "4"
+      },
+      "storage": {
+        "profile": "mkv/mjpeg_copy/v1",
+        "codec": "mjpeg",
+        "pixel_format": "yuvj420p",
+        "encoded_size": [
+          2800,
+          2000
+        ],
+        "source_lossy": true,
+        "decoder": {
+          "name": "ffmpeg",
+          "version": "ffmpeg version 7.1-essentials_build-www.gyan.dev Copyright (c) 2000-2024 the FFmpeg developers",
+          "output_pixel_format": "rgb24",
+          "autorotate": false,
+          "source_color_declaration": "unknown",
+          "actual_stream_description": "Stream #0:0: Video: mjpeg (Baseline), yuvj420p(pc, bt470bg/unknown/unknown), 2800x2000 [SAR 1:1 DAR 7:5], 1 fps, 1 tbr, 1k tbn"
+        },
+        "encoder_parameters": {
+          "mode": "stream_copy",
+          "version": "ffmpeg version 7.1-essentials_build-www.gyan.dev Copyright (c) 2000-2024 the FFmpeg developers"
+        }
+      },
+      "storage_fps": 1,
+      "timebase_role": "index_only"
+    }
+  },
+  "pilot": false,
+  "split_scheme": "ARCTIC_protocol_p1",
+  "split_source_locator": {
+    "archive": "raw/data/splits_json.zip",
+    "member": "splits_json/protocol_p1.json",
+    "sequence": "s02/espressomachine_grab_01"
+  },
+  "view_type": "exo",
+  "omitted_components": {
+    "depth": "No depth images in this official raw release",
+    "segment": "No pixel segmentation in this official raw release",
+    "contact": "No source contact labels in selected official raw packages",
+    "keypoints": "No separate measured hand keypoints in raw; MANO available. Render-only joints are not published as additional labels",
+    "visibility": "Not supplied in selected raw annotations; fitting_err is outside current shared scope"
+  },
+  "media_validation_policy": "jpeg-packets-all-rgb-sample16/v1",
+  "pilot_complete": true,
+  "production_complete": true,
+  "pilot_human_review": "approved",
+  "full_output_human_review": "pending",
+  "upload_authorized": false
+}
持久化 QC 结果
{
+  "view": "s02_espressomachine_grab_01/4",
+  "sequence_id": "s02_espressomachine_grab_01",
+  "camera_id": "4",
+  "view_type": "exo",
+  "split": "train",
+  "num_frames": 664,
+  "camera": {
+    "model": "pinhole",
+    "schema_id": "camera/pinhole/v1",
+    "image_size": [
+      2800,
+      2000
+    ]
+  },
+  "numeric_components": {
+    "intrinsic": {
+      "shape": [
+        664,
+        3,
+        3
+      ],
+      "dtype": "torch.float32",
+      "valid_true": 664,
+      "valid_total": 664,
+      "shares_intrinsic_validity": null
+    },
+    "extrinsic": {
+      "shape": [
+        664,
+        4,
+        4
+      ],
+      "dtype": "torch.float32",
+      "valid_true": 664,
+      "valid_total": 664,
+      "shares_intrinsic_validity": null
+    },
+    "mano": {
+      "shape": [
+        664,
+        2,
+        61
+      ],
+      "dtype": "torch.float32",
+      "valid_true": 1326,
+      "valid_total": 1328,
+      "shares_intrinsic_validity": null
+    },
+    "object_espressomachine_root_pose": {
+      "shape": [
+        664,
+        4,
+        4
+      ],
+      "dtype": "torch.float32",
+      "valid_true": 663,
+      "valid_total": 664,
+      "shares_intrinsic_validity": null
+    },
+    "object_espressomachine_bottom_pose": {
+      "shape": [
+        664,
+        4,
+        4
+      ],
+      "dtype": "torch.float32",
+      "valid_true": 663,
+      "valid_total": 664,
+      "shares_intrinsic_validity": null
+    },
+    "object_espressomachine_top_pose": {
+      "shape": [
+        664,
+        4,
+        4
+      ],
+      "dtype": "torch.float32",
+      "valid_true": 663,
+      "valid_total": 664,
+      "shares_intrinsic_validity": null
+    },
+    "object_espressomachine_joint": {
+      "shape": [
+        664,
+        1
+      ],
+      "dtype": "torch.float32",
+      "valid_true": 663,
+      "valid_total": 664,
+      "shares_intrinsic_validity": null
+    },
+    "object_espressomachine_keypoints": {
+      "shape": [
+        664,
+        32,
+        3
+      ],
+      "dtype": "torch.float32",
+      "valid_true": 21216,
+      "valid_total": 21248,
+      "shares_intrinsic_validity": null
+    }
+  },
+  "bundle_files": 3,
+  "bundles": [
+    "annotation/mano/mano.pt",
+    "annotation/object/espressomachine/object.pt",
+    "camera/camera.pt"
+  ],
+  "media": [
+    {
+      "component": "object_espressomachine_articulation",
+      "ref": "annotation/object/espressomachine/articulation.json",
+      "pixels_decoded": 0
+    },
+    {
+      "component": "object_espressomachine_mesh",
+      "ref": "annotation/object/espressomachine/assets/mesh.obj",
+      "pixels_decoded": 0
+    },
+    {
+      "component": "rgb",
+      "ref": "observation/rgb.mkv",
+      "pixels_decoded": 6
+    }
+  ],
+  "consumed_files": [
+    "annotation/mano/mano.pt",
+    "annotation/object/espressomachine/articulation.json",
+    "annotation/object/espressomachine/articulation_valid.pt",
+    "annotation/object/espressomachine/assets/mesh.obj",
+    "annotation/object/espressomachine/assets/mesh_valid.pt",
+    "annotation/object/espressomachine/object.pt",
+    "camera/camera.pt",
+    "observation/rgb.mkv",
+    "observation/rgb_valid.pt"
+  ],
+  "registry_gaps": [
+    {
+      "kind": "keypoint_schema_unregistered",
+      "schema": "arctic_object_keypoints/v1",
+      "resolved_from": "component.keypoint_names",
+      "count": 32
+    }
+  ],
+  "selected_frames": [
+    0,
+    1,
+    166,
+    332,
+    498,
+    663
+  ],
+  "decode_scope": "ffmpeg select= demux filter over the preserved MKV; only the frames listed in selected_frames are decoded, each checked against height*width*3 bytes",
+  "projection": {
+    "model": "pinhole",
+    "calibrated": true,
+    "points": 160,
+    "inside": 160,
+    "off_image": 0,
+    "frames": {
+      "0": {
+        "annotated": false,
+        "valid_points": 0,
+        "inside_points": 0,
+        "inside_ratio": null,
+        "mostly_out_of_frame": false
+      },
+      "1": {
+        "annotated": true,
+        "valid_points": 32,
+        "inside_points": 32,
+        "inside_ratio": 1.0,
+        "mostly_out_of_frame": false
+      },
+      "166": {
+        "annotated": true,
+        "valid_points": 32,
+        "inside_points": 32,
+        "inside_ratio": 1.0,
+        "mostly_out_of_frame": false
+      },
+      "332": {
+        "annotated": true,
+        "valid_points": 32,
+        "inside_points": 32,
+        "inside_ratio": 1.0,
+        "mostly_out_of_frame": false
+      },
+      "498": {
+        "annotated": true,
+        "valid_points": 32,
+        "inside_points": 32,
+        "inside_ratio": 1.0,
+        "mostly_out_of_frame": false
+      },
+      "663": {
+        "annotated": true,
+        "valid_points": 32,
+        "inside_points": 32,
+        "inside_ratio": 1.0,
+        "mostly_out_of_frame": false
+      }
+    },
+    "coordinate_frame": "camera",
+    "scope": "saved camera-frame xyz through the view's own intrinsic and distortion; not a media pixel comparison",
+    "out_of_frame_rule": "a sampled frame is marked 物体大部分落在画外 when fewer than half of its valid object keypoints land inside the image; every annotated frame's valid_points / inside_points / inside_ratio is recorded in projection.frames either way",
+    "note": "ARCTIC publishes no 2D keypoints and no uv series, so the published projection_qc (saved xyz against saved uv) has no second series here; this counts what the release's own camera-frame geometry projects to."
+  },
+  "omitted_components": {
+    "depth": "No depth images in this official raw release",
+    "segment": "No pixel segmentation in this official raw release",
+    "contact": "No source contact labels in selected official raw packages",
+    "keypoints": "No separate measured hand keypoints in raw; MANO available. Render-only joints are not published as additional labels",
+    "visibility": "Not supplied in selected raw annotations; fitting_err is outside current shared scope"
+  },
+  "source_hand_object_gt_available": null,
+  "scope": "v1.1 registry, keys, shapes, validity and timeline; not a media pixel comparison",
+  "geometry_panels": {
+    "keypoint_panels": 5,
+    "axis_panels": 10,
+    "mano_panels": 5,
+    "note_panels": 6,
+    "frames_noted": 6,
+    "frames_mostly_out_of_frame": 0,
+    "frames_mostly_out_of_frame_list": []
+  }
+}
\ No newline at end of file diff --git a/ARCTIC/shared-v1.1/doc/validation/s02_espressomachine_grab_01_4.report.json b/ARCTIC/shared-v1.1/doc/validation/s02_espressomachine_grab_01_4.report.json new file mode 100644 index 0000000000000000000000000000000000000000..fcd0a2b61e971edfe1d13a0ab4e376743c4c2628 --- /dev/null +++ b/ARCTIC/shared-v1.1/doc/validation/s02_espressomachine_grab_01_4.report.json @@ -0,0 +1,229 @@ +{ + "view": "s02_espressomachine_grab_01/4", + "sequence_id": "s02_espressomachine_grab_01", + "camera_id": "4", + "view_type": "exo", + "split": "train", + "num_frames": 664, + "camera": { + "model": "pinhole", + "schema_id": "camera/pinhole/v1", + "image_size": [ + 2800, + 2000 + ] + }, + "numeric_components": { + "intrinsic": { + "shape": [ + 664, + 3, + 3 + ], + "dtype": "torch.float32", + "valid_true": 664, + "valid_total": 664, + "shares_intrinsic_validity": null + }, + "extrinsic": { + "shape": [ + 664, + 4, + 4 + ], + "dtype": "torch.float32", + "valid_true": 664, + "valid_total": 664, + "shares_intrinsic_validity": null + }, + "mano": { + "shape": [ + 664, + 2, + 61 + ], + "dtype": "torch.float32", + "valid_true": 1326, + "valid_total": 1328, + "shares_intrinsic_validity": null + }, + "object_espressomachine_root_pose": { + "shape": [ + 664, + 4, + 4 + ], + "dtype": "torch.float32", + "valid_true": 663, + "valid_total": 664, + "shares_intrinsic_validity": null + }, + "object_espressomachine_bottom_pose": { + "shape": [ + 664, + 4, + 4 + ], + "dtype": "torch.float32", + "valid_true": 663, + "valid_total": 664, + "shares_intrinsic_validity": null + }, + "object_espressomachine_top_pose": { + "shape": [ + 664, + 4, + 4 + ], + "dtype": "torch.float32", + "valid_true": 663, + "valid_total": 664, + "shares_intrinsic_validity": null + }, + "object_espressomachine_joint": { + "shape": [ + 664, + 1 + ], + "dtype": "torch.float32", + "valid_true": 663, + "valid_total": 664, + "shares_intrinsic_validity": null + }, + "object_espressomachine_keypoints": { + "shape": [ + 664, + 32, + 3 + ], + "dtype": "torch.float32", + "valid_true": 21216, + "valid_total": 21248, + "shares_intrinsic_validity": null + } + }, + "bundle_files": 3, + "bundles": [ + "annotation/mano/mano.pt", + "annotation/object/espressomachine/object.pt", + "camera/camera.pt" + ], + "media": [ + { + "component": "object_espressomachine_articulation", + "ref": "annotation/object/espressomachine/articulation.json", + "pixels_decoded": 0 + }, + { + "component": "object_espressomachine_mesh", + "ref": "annotation/object/espressomachine/assets/mesh.obj", + "pixels_decoded": 0 + }, + { + "component": "rgb", + "ref": "observation/rgb.mkv", + "pixels_decoded": 6 + } + ], + "consumed_files": [ + "annotation/mano/mano.pt", + "annotation/object/espressomachine/articulation.json", + "annotation/object/espressomachine/articulation_valid.pt", + "annotation/object/espressomachine/assets/mesh.obj", + "annotation/object/espressomachine/assets/mesh_valid.pt", + "annotation/object/espressomachine/object.pt", + "camera/camera.pt", + "observation/rgb.mkv", + "observation/rgb_valid.pt" + ], + "registry_gaps": [ + { + "kind": "keypoint_schema_unregistered", + "schema": "arctic_object_keypoints/v1", + "resolved_from": "component.keypoint_names", + "count": 32 + } + ], + "selected_frames": [ + 0, + 1, + 166, + 332, + 498, + 663 + ], + "decode_scope": "ffmpeg select= demux filter over the preserved MKV; only the frames listed in selected_frames are decoded, each checked against height*width*3 bytes", + "projection": { + "model": "pinhole", + "calibrated": true, + "points": 160, + "inside": 160, + "off_image": 0, + "frames": { + "0": { + "annotated": false, + "valid_points": 0, + "inside_points": 0, + "inside_ratio": null, + "mostly_out_of_frame": false + }, + "1": { + "annotated": true, + "valid_points": 32, + "inside_points": 32, + "inside_ratio": 1.0, + "mostly_out_of_frame": false + }, + "166": { + "annotated": true, + "valid_points": 32, + "inside_points": 32, + "inside_ratio": 1.0, + "mostly_out_of_frame": false + }, + "332": { + "annotated": true, + "valid_points": 32, + "inside_points": 32, + "inside_ratio": 1.0, + "mostly_out_of_frame": false + }, + "498": { + "annotated": true, + "valid_points": 32, + "inside_points": 32, + "inside_ratio": 1.0, + "mostly_out_of_frame": false + }, + "663": { + "annotated": true, + "valid_points": 32, + "inside_points": 32, + "inside_ratio": 1.0, + "mostly_out_of_frame": false + } + }, + "coordinate_frame": "camera", + "scope": "saved camera-frame xyz through the view's own intrinsic and distortion; not a media pixel comparison", + "out_of_frame_rule": "a sampled frame is marked 物体大部分落在画外 when fewer than half of its valid object keypoints land inside the image; every annotated frame's valid_points / inside_points / inside_ratio is recorded in projection.frames either way", + "note": "ARCTIC publishes no 2D keypoints and no uv series, so the published projection_qc (saved xyz against saved uv) has no second series here; this counts what the release's own camera-frame geometry projects to." + }, + "omitted_components": { + "depth": "No depth images in this official raw release", + "segment": "No pixel segmentation in this official raw release", + "contact": "No source contact labels in selected official raw packages", + "keypoints": "No separate measured hand keypoints in raw; MANO available. Render-only joints are not published as additional labels", + "visibility": "Not supplied in selected raw annotations; fitting_err is outside current shared scope" + }, + "source_hand_object_gt_available": null, + "scope": "v1.1 registry, keys, shapes, validity and timeline; not a media pixel comparison", + "geometry_panels": { + "keypoint_panels": 5, + "axis_panels": 10, + "mano_panels": 5, + "note_panels": 6, + "frames_noted": 6, + "frames_mostly_out_of_frame": 0, + "frames_mostly_out_of_frame_list": [] + } +} \ No newline at end of file diff --git a/ARCTIC/shared-v1.1/doc/validation/s02_espressomachine_grab_01_5.html b/ARCTIC/shared-v1.1/doc/validation/s02_espressomachine_grab_01_5.html new file mode 100644 index 0000000000000000000000000000000000000000..4379c37a23d27c3fa0c03480da8520b92dcf83ba --- /dev/null +++ b/ARCTIC/shared-v1.1/doc/validation/s02_espressomachine_grab_01_5.html @@ -0,0 +1,3777 @@ +s02_espressomachine_grab_01_5

s02_espressomachine_grab_01_5

直接读取 v1.1 bundle（s02_espressomachine_grab_01 的 exo 视图，split=train）。预览仅供人工复核，不是训练输入（CONTRACT §6.5）；这里只解码抽样帧，不是全部帧。本 release 另带 v1.0 的全帧逐相机视频（doc/history-v1.0/validation/），两者并存，本页不替代它。

配色沿用 ARCTIC v1.0 复核页自己的约定（「顶盖紫、底座绿，左手青、右手橙」），便于两套页面并排读：
    物体 top ·     物体 bottom ·     左手 ·     右手 ·     位姿轴 x 红 /     y 绿 /     z 蓝
部件的 top/bottom 取自组件名（object_<id>_top_pose 等），关键点取自发布的 keypoint_names；v1.0 页面把 32 个物体关键点画成同一种白色，并用索引区分顶盖/底座。投影不做遮挡剔除，也不是分割真值。

手部没有骨架：release 的 mano 只有 61 个参数，要还原成关节需要发布外的 MANO 模型资产与 smplx——本发布与本渲染环境都没有。ARCTIC v1.0 页面上那层白色 MANO 派生关节点，正是靠那套外部依赖画出来的。页面因此只画 schema layout.translation 声明的根平移（青色/橙色点），手部监督的其余部分以逐帧数值呈现。

源未发布的组件及原始理由（不补造）
{
+  "depth": "No depth images in this official raw release",
+  "segment": "No pixel segmentation in this official raw release",
+  "contact": "No source contact labels in selected official raw packages",
+  "keypoints": "No separate measured hand keypoints in raw; MANO available. Render-only joints are not published as additional labels",
+  "visibility": "Not supplied in selected raw annotations; fitting_err is outside current shared scope"
+}

帧 0 / 664

原生 RGB（MKV 解出的第 0 帧，未重编码）

该帧未投影的几何：
· object_espressomachine_keypoints：该帧 valid 为假（源未标注，该帧数值非有限值，故不投影）
· object_espressomachine_root_pose：该帧 valid 为假（源未标注，该帧数值非有限值，故不投影）
· object_espressomachine_bottom_pose：该帧 valid 为假（源未标注，该帧数值非有限值，故不投影）
· object_espressomachine_top_pose：该帧 valid 为假（源未标注，该帧数值非有限值，故不投影）
· mano：该帧 valid 为假（源未标注，该帧数值非有限值，故不投影）

帧号、来源、全部数值组件与有效性
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+}

帧 1 / 664

原生 RGB（MKV 解出的第 1 帧，未重编码）
物体 espressomachine 关键点投影（按发布的 keypoint_names 分色：top 紫 / bottom 绿；v1.0 页面把这 32 点画成同一种白色。32 个有效点，画内 32 个＝bottom 16 点、top 16 点）
object_espressomachine_root_pose 位姿坐标轴（x 红 / y 绿 / z 蓝，每轴 5 cm，已画 3/3 条；由已发布位姿与内参投影，仅示朝向）
object_espressomachine_top_pose 位姿坐标轴（x 红 / y 绿 / z 蓝，每轴 5 cm，已画 3/3 条；由已发布位姿与内参投影，仅示朝向）
MANO 根平移投影（schema layout.translation 第 58–61 个参数，声明坐标系 camera，单位 m；画内 right，画外 left）。不画骨架与网格，原因见「手部没有骨架」一节

该帧这些部件的位姿与已画出的部件逐元素相同（部件静止），投影为同一图，未重复绘制：object_espressomachine_bottom_pose ＝ object_espressomachine_root_pose

帧号、来源、全部数值组件与有效性
{
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+}

帧 166 / 664

原生 RGB（MKV 解出的第 166 帧，未重编码）
物体 espressomachine 关键点投影（按发布的 keypoint_names 分色：top 紫 / bottom 绿；v1.0 页面把这 32 点画成同一种白色。32 个有效点，画内 32 个＝bottom 16 点、top 16 点）
object_espressomachine_root_pose 位姿坐标轴（x 红 / y 绿 / z 蓝，每轴 5 cm，已画 3/3 条；由已发布位姿与内参投影，仅示朝向）
object_espressomachine_top_pose 位姿坐标轴（x 红 / y 绿 / z 蓝，每轴 5 cm，已画 3/3 条；由已发布位姿与内参投影，仅示朝向）
MANO 根平移投影（schema layout.translation 第 58–61 个参数，声明坐标系 camera，单位 m；画内 left、right）。不画骨架与网格，原因见「手部没有骨架」一节

该帧这些部件的位姿与已画出的部件逐元素相同（部件静止），投影为同一图，未重复绘制：object_espressomachine_bottom_pose ＝ object_espressomachine_root_pose

帧号、来源、全部数值组件与有效性
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+}

帧 332 / 664

原生 RGB（MKV 解出的第 332 帧，未重编码）
物体 espressomachine 关键点投影（按发布的 keypoint_names 分色：top 紫 / bottom 绿；v1.0 页面把这 32 点画成同一种白色。32 个有效点，画内 32 个＝bottom 16 点、top 16 点）
object_espressomachine_root_pose 位姿坐标轴（x 红 / y 绿 / z 蓝，每轴 5 cm，已画 3/3 条；由已发布位姿与内参投影，仅示朝向）
object_espressomachine_top_pose 位姿坐标轴（x 红 / y 绿 / z 蓝，每轴 5 cm，已画 3/3 条；由已发布位姿与内参投影，仅示朝向）
MANO 根平移投影（schema layout.translation 第 58–61 个参数，声明坐标系 camera，单位 m；画内 left、right）。不画骨架与网格，原因见「手部没有骨架」一节

该帧这些部件的位姿与已画出的部件逐元素相同（部件静止），投影为同一图，未重复绘制：object_espressomachine_bottom_pose ＝ object_espressomachine_root_pose

帧号、来源、全部数值组件与有效性
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+    "sync_id": "s02/espressomachine_grab_01:333",
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+}

帧 498 / 664

原生 RGB（MKV 解出的第 498 帧，未重编码）
物体 espressomachine 关键点投影（按发布的 keypoint_names 分色：top 紫 / bottom 绿；v1.0 页面把这 32 点画成同一种白色。32 个有效点，画内 32 个＝bottom 16 点、top 16 点）
object_espressomachine_root_pose 位姿坐标轴（x 红 / y 绿 / z 蓝，每轴 5 cm，已画 3/3 条；由已发布位姿与内参投影，仅示朝向）
object_espressomachine_top_pose 位姿坐标轴（x 红 / y 绿 / z 蓝，每轴 5 cm，已画 3/3 条；由已发布位姿与内参投影，仅示朝向）
MANO 根平移投影（schema layout.translation 第 58–61 个参数，声明坐标系 camera，单位 m；画内 left、right）。不画骨架与网格，原因见「手部没有骨架」一节

该帧这些部件的位姿与已画出的部件逐元素相同（部件静止），投影为同一图，未重复绘制：object_espressomachine_bottom_pose ＝ object_espressomachine_root_pose

帧号、来源、全部数值组件与有效性
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+}

帧 663 / 664

原生 RGB（MKV 解出的第 663 帧，未重编码）
物体 espressomachine 关键点投影（按发布的 keypoint_names 分色：top 紫 / bottom 绿；v1.0 页面把这 32 点画成同一种白色。32 个有效点，画内 32 个＝bottom 16 点、top 16 点）
object_espressomachine_root_pose 位姿坐标轴（x 红 / y 绿 / z 蓝，每轴 5 cm，已画 3/3 条；由已发布位姿与内参投影，仅示朝向）
object_espressomachine_top_pose 位姿坐标轴（x 红 / y 绿 / z 蓝，每轴 5 cm，已画 3/3 条；由已发布位姿与内参投影，仅示朝向）
MANO 根平移投影（schema layout.translation 第 58–61 个参数，声明坐标系 camera，单位 m；画内 right，画外 left）。不画骨架与网格，原因见「手部没有骨架」一节

该帧这些部件的位姿与已画出的部件逐元素相同（部件静止），投影为同一图，未重复绘制：object_espressomachine_bottom_pose ＝ object_espressomachine_root_pose

帧号、来源、全部数值组件与有效性
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+    "valid": [
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+  },
+  "object_espressomachine_root_pose": {
+    "value": [
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+    "valid": true
+  },
+  "object_espressomachine_bottom_pose": {
+    "value": [
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+    "valid": true
+  },
+  "object_espressomachine_top_pose": {
+    "value": [
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+    ],
+    "valid": true
+  },
+  "object_espressomachine_joint": {
+    "value": [
+      0.13449668884277344
+    ],
+    "valid": [
+      true
+    ]
+  },
+  "object_espressomachine_keypoints": {
+    "value": [
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+      true
+    ]
+  }
+}

原始物体模型（独立预览）

object_espressomachine_mesh

仅展示网格原生形状（annotation/object/espressomachine/assets/mesh.obj）；未验证尺度／位姿对应。

object_espressomachine_mesh:bottom

仅展示网格原生形状（annotation/object/espressomachine/assets/bottom.obj）；未验证尺度／位姿对应。

object_espressomachine_mesh:top

仅展示网格原生形状（annotation/object/espressomachine/assets/top.obj）；未验证尺度／位姿对应。
全部组件元信息及原始来源
{
+  "schema_version": "hand-warehouse/1.1",
+  "storage_revision": "lossless-video-2026-09-18",
+  "dataset_id": "ARCTIC",
+  "release_id": "shared-v1.1",
+  "sequence_id": "s02_espressomachine_grab_01",
+  "camera_id": "5",
+  "sample_type": "video",
+  "num_frames": 664,
+  "hand_slots": [
+    "left",
+    "right"
+  ],
+  "sampling": {
+    "type": "dense",
+    "source_fps": 30.0,
+    "frames_ref": "camera/frames.jsonl",
+    "selection": "Every released image of this selected camera in the complete official sequence ZIP; boundary images without annotations retained",
+    "source_fps_basis": "ARCTIC paper v3, Sec. 3.2 Acquisition Setup: 8 static allocentric and 1 moving egocentric RGB views captured at 30 FPS",
+    "source_fps_evidence_url": "https://arxiv.org/html/2204.13662v3#S3.SS2",
+    "source_timestamp_status": "not_released; do not invent measured timestamp_ns"
+  },
+  "camera": {
+    "model": "pinhole",
+    "schema_id": "camera/pinhole/v1",
+    "image_size": [
+      2800,
+      2000
+    ]
+  },
+  "split": "train",
+  "components": {
+    "intrinsic": {
+      "available": true,
+      "schema_id": "camera/pinhole/v1",
+      "data_ref": "camera/camera.pt",
+      "axes": [
+        "T",
+        "row",
+        "column"
+      ],
+      "valid_ref": "camera/camera.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "source values retained"
+      },
+      "source_locator": {
+        "archive": "raw/data/meta.zip",
+        "member": "meta/misc.json",
+        "record": "s02"
+      },
+      "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"
+      ],
+      "valid_ref": "camera/camera.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "source values retained"
+      },
+      "source_locator": {
+        "archive": "raw/data/meta.zip",
+        "member": "meta/misc.json",
+        "record": "s02"
+      },
+      "unit": "m",
+      "convention": "T_camera_from_world",
+      "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"
+      ],
+      "valid_ref": "annotation/mano/mano.pt",
+      "valid_axes": [
+        "T",
+        "hand"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Official nonflat mean expanded; shape-dependent root corrected during world-to-camera conversion; image index minus official ioi_offset"
+      },
+      "source_locator": {
+        "archive": "raw/data/raw_seqs.zip",
+        "member": "raw_seqs/s02/espressomachine_grab_01.mano.npy",
+        "index_ref": "camera/frames.jsonl:source_annotation_index"
+      },
+      "unit": "m",
+      "angle_unit": "rad",
+      "coordinate_frame": "camera",
+      "model_profile": {
+        "version": "MANO-v1.2",
+        "flat_hand_mean": true,
+        "left_shapedirs_fix": false
+      },
+      "data_key": [
+        "motion",
+        "data"
+      ],
+      "valid_key": [
+        "motion",
+        "valid"
+      ],
+      "storage": {
+        "profile": "pt/tensor_bundle/v1"
+      },
+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
+      }
+    },
+    "object_espressomachine_root_pose": {
+      "available": true,
+      "schema_id": "object/rigid/v1",
+      "data_ref": "annotation/object/espressomachine/object.pt",
+      "axes": [
+        "T",
+        "row",
+        "column"
+      ],
+      "valid_ref": "annotation/object/espressomachine/object.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "source values retained"
+      },
+      "source_locator": {
+        "archive": "raw/data/raw_seqs.zip",
+        "member": "raw_seqs/s02/espressomachine_grab_01.object.npy",
+        "index_ref": "camera/frames.jsonl:source_annotation_index"
+      },
+      "unit": "m",
+      "convention": "T_camera_from_object",
+      "data_key": [
+        "pose",
+        "data"
+      ],
+      "valid_key": [
+        "pose",
+        "valid"
+      ],
+      "storage": {
+        "profile": "pt/tensor_bundle/v1"
+      },
+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
+      }
+    },
+    "object_espressomachine_bottom_pose": {
+      "available": true,
+      "schema_id": "object/rigid/v1",
+      "data_ref": "annotation/object/espressomachine/object.pt",
+      "axes": [
+        "T",
+        "row",
+        "column"
+      ],
+      "valid_ref": "annotation/object/espressomachine/object.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "source values retained"
+      },
+      "source_locator": {
+        "archive": "raw/data/raw_seqs.zip",
+        "member": "raw_seqs/s02/espressomachine_grab_01.object.npy",
+        "index_ref": "camera/frames.jsonl:source_annotation_index"
+      },
+      "unit": "m",
+      "convention": "T_camera_from_part",
+      "data_key": [
+        "parts",
+        "bottom",
+        "pose",
+        "data"
+      ],
+      "valid_key": [
+        "parts",
+        "bottom",
+        "pose",
+        "valid"
+      ],
+      "storage": {
+        "profile": "pt/tensor_bundle/v1"
+      },
+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
+      }
+    },
+    "object_espressomachine_top_pose": {
+      "available": true,
+      "schema_id": "object/rigid/v1",
+      "data_ref": "annotation/object/espressomachine/object.pt",
+      "axes": [
+        "T",
+        "row",
+        "column"
+      ],
+      "valid_ref": "annotation/object/espressomachine/object.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "source values retained"
+      },
+      "source_locator": {
+        "archive": "raw/data/raw_seqs.zip",
+        "member": "raw_seqs/s02/espressomachine_grab_01.object.npy",
+        "index_ref": "camera/frames.jsonl:source_annotation_index"
+      },
+      "unit": "m",
+      "convention": "T_camera_from_part",
+      "data_key": [
+        "parts",
+        "top",
+        "pose",
+        "data"
+      ],
+      "valid_key": [
+        "parts",
+        "top",
+        "pose",
+        "valid"
+      ],
+      "storage": {
+        "profile": "pt/tensor_bundle/v1"
+      },
+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
+      }
+    },
+    "object_espressomachine_joint": {
+      "available": true,
+      "schema_id": "object/joint_state/v1",
+      "data_ref": "annotation/object/espressomachine/object.pt",
+      "axes": [
+        "T",
+        "joint"
+      ],
+      "valid_ref": "annotation/object/espressomachine/object.pt",
+      "valid_axes": [
+        "T",
+        "joint"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "source values retained"
+      },
+      "source_locator": {
+        "archive": "raw/data/raw_seqs.zip",
+        "member": "raw_seqs/s02/espressomachine_grab_01.object.npy",
+        "index_ref": "camera/frames.jsonl:source_annotation_index"
+      },
+      "joint_order": [
+        "hinge"
+      ],
+      "unit": "rad",
+      "data_key": [
+        "joint_state",
+        "data"
+      ],
+      "valid_key": [
+        "joint_state",
+        "valid"
+      ],
+      "storage": {
+        "profile": "pt/tensor_bundle/v1"
+      },
+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
+      }
+    },
+    "object_espressomachine_articulation": {
+      "available": true,
+      "schema_id": "object/articulated/v1",
+      "data_ref": "annotation/object/espressomachine/articulation.json",
+      "axes": [],
+      "valid_ref": "annotation/object/espressomachine/articulation_valid.pt",
+      "valid_axes": [],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "source values retained"
+      },
+      "source_locator": {
+        "archive": "raw/data/raw_seqs.zip",
+        "member": "raw_seqs/s02/espressomachine_grab_01.object.npy",
+        "index_ref": "camera/frames.jsonl:source_annotation_index"
+      },
+      "static": true
+    },
+    "object_espressomachine_mesh": {
+      "available": true,
+      "schema_id": "mesh/obj/v1",
+      "data_ref": "annotation/object/espressomachine/assets/mesh.obj",
+      "axes": [
+        "vertex",
+        "coordinate"
+      ],
+      "valid_ref": "annotation/object/espressomachine/assets/mesh_valid.pt",
+      "valid_axes": [],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Object vertices in metres; topology, material and texture dependencies retained"
+      },
+      "source_locator": {
+        "archive": "raw/data/meta.zip",
+        "member_prefix": "meta/object_vtemplates/espressomachine/"
+      },
+      "static": true,
+      "unit": "m",
+      "coordinate_frame": "object"
+    },
+    "object_espressomachine_keypoints": {
+      "available": true,
+      "schema_id": "object_keypoints/camera/v1",
+      "data_ref": "annotation/object/espressomachine/object.pt",
+      "axes": [
+        "T",
+        "joint",
+        "coordinate"
+      ],
+      "valid_ref": "annotation/object/espressomachine/object.pt",
+      "valid_axes": [
+        "T",
+        "joint"
+      ],
+      "provenance": {
+        "kind": "derived",
+        "method": "Official template keypoints driven by released articulation and camera transforms"
+      },
+      "source_locator": {
+        "archive": "raw/data/meta.zip",
+        "member_prefix": "meta/object_vtemplates/espressomachine/"
+      },
+      "unit": "m",
+      "coordinate_frame": "camera",
+      "keypoint_schema": "arctic_object_keypoints/v1",
+      "keypoint_names": [
+        "top_0",
+        "top_1",
+        "top_2",
+        "top_3",
+        "top_4",
+        "top_5",
+        "top_6",
+        "top_7",
+        "top_8",
+        "top_9",
+        "top_10",
+        "top_11",
+        "top_12",
+        "top_13",
+        "top_14",
+        "top_15",
+        "bottom_0",
+        "bottom_1",
+        "bottom_2",
+        "bottom_3",
+        "bottom_4",
+        "bottom_5",
+        "bottom_6",
+        "bottom_7",
+        "bottom_8",
+        "bottom_9",
+        "bottom_10",
+        "bottom_11",
+        "bottom_12",
+        "bottom_13",
+        "bottom_14",
+        "bottom_15"
+      ],
+      "data_key": [
+        "keypoints",
+        "xyz",
+        "data"
+      ],
+      "valid_key": [
+        "keypoints",
+        "xyz",
+        "valid"
+      ],
+      "storage": {
+        "profile": "pt/tensor_bundle/v1"
+      },
+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
+      }
+    },
+    "rgb": {
+      "available": true,
+      "schema_id": "rgb/uint8/v1",
+      "data_ref": "observation/rgb.mkv",
+      "axes": [
+        "T",
+        "height",
+        "width",
+        "channel"
+      ],
+      "valid_ref": "observation/rgb_valid.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Original JPEG packets copied into MKV; every payload/order/dimension checked; declared deterministic RGB sample checked"
+      },
+      "source_locator": {
+        "archive": "raw/data/images_zips/s02/espressomachine_grab_01.zip",
+        "member_pattern": "{camera_id}/{source_frame_id:05d}.jpg",
+        "camera_id": "5"
+      },
+      "storage": {
+        "profile": "mkv/mjpeg_copy/v1",
+        "codec": "mjpeg",
+        "pixel_format": "yuvj420p",
+        "encoded_size": [
+          2800,
+          2000
+        ],
+        "source_lossy": true,
+        "decoder": {
+          "name": "ffmpeg",
+          "version": "ffmpeg version 7.1-essentials_build-www.gyan.dev Copyright (c) 2000-2024 the FFmpeg developers",
+          "output_pixel_format": "rgb24",
+          "autorotate": false,
+          "source_color_declaration": "unknown",
+          "actual_stream_description": "Stream #0:0: Video: mjpeg (Baseline), yuvj420p(pc, bt470bg/unknown/unknown), 2800x2000 [SAR 1:1 DAR 7:5], 1 fps, 1 tbr, 1k tbn"
+        },
+        "encoder_parameters": {
+          "mode": "stream_copy",
+          "version": "ffmpeg version 7.1-essentials_build-www.gyan.dev Copyright (c) 2000-2024 the FFmpeg developers"
+        }
+      },
+      "storage_fps": 1,
+      "timebase_role": "index_only"
+    }
+  },
+  "pilot": false,
+  "split_scheme": "ARCTIC_protocol_p1",
+  "split_source_locator": {
+    "archive": "raw/data/splits_json.zip",
+    "member": "splits_json/protocol_p1.json",
+    "sequence": "s02/espressomachine_grab_01"
+  },
+  "view_type": "exo",
+  "omitted_components": {
+    "depth": "No depth images in this official raw release",
+    "segment": "No pixel segmentation in this official raw release",
+    "contact": "No source contact labels in selected official raw packages",
+    "keypoints": "No separate measured hand keypoints in raw; MANO available. Render-only joints are not published as additional labels",
+    "visibility": "Not supplied in selected raw annotations; fitting_err is outside current shared scope"
+  },
+  "media_validation_policy": "jpeg-packets-all-rgb-sample16/v1",
+  "pilot_complete": true,
+  "production_complete": true,
+  "pilot_human_review": "approved",
+  "full_output_human_review": "pending",
+  "upload_authorized": false
+}
持久化 QC 结果
{
+  "view": "s02_espressomachine_grab_01/5",
+  "sequence_id": "s02_espressomachine_grab_01",
+  "camera_id": "5",
+  "view_type": "exo",
+  "split": "train",
+  "num_frames": 664,
+  "camera": {
+    "model": "pinhole",
+    "schema_id": "camera/pinhole/v1",
+    "image_size": [
+      2800,
+      2000
+    ]
+  },
+  "numeric_components": {
+    "intrinsic": {
+      "shape": [
+        664,
+        3,
+        3
+      ],
+      "dtype": "torch.float32",
+      "valid_true": 664,
+      "valid_total": 664,
+      "shares_intrinsic_validity": null
+    },
+    "extrinsic": {
+      "shape": [
+        664,
+        4,
+        4
+      ],
+      "dtype": "torch.float32",
+      "valid_true": 664,
+      "valid_total": 664,
+      "shares_intrinsic_validity": null
+    },
+    "mano": {
+      "shape": [
+        664,
+        2,
+        61
+      ],
+      "dtype": "torch.float32",
+      "valid_true": 1326,
+      "valid_total": 1328,
+      "shares_intrinsic_validity": null
+    },
+    "object_espressomachine_root_pose": {
+      "shape": [
+        664,
+        4,
+        4
+      ],
+      "dtype": "torch.float32",
+      "valid_true": 663,
+      "valid_total": 664,
+      "shares_intrinsic_validity": null
+    },
+    "object_espressomachine_bottom_pose": {
+      "shape": [
+        664,
+        4,
+        4
+      ],
+      "dtype": "torch.float32",
+      "valid_true": 663,
+      "valid_total": 664,
+      "shares_intrinsic_validity": null
+    },
+    "object_espressomachine_top_pose": {
+      "shape": [
+        664,
+        4,
+        4
+      ],
+      "dtype": "torch.float32",
+      "valid_true": 663,
+      "valid_total": 664,
+      "shares_intrinsic_validity": null
+    },
+    "object_espressomachine_joint": {
+      "shape": [
+        664,
+        1
+      ],
+      "dtype": "torch.float32",
+      "valid_true": 663,
+      "valid_total": 664,
+      "shares_intrinsic_validity": null
+    },
+    "object_espressomachine_keypoints": {
+      "shape": [
+        664,
+        32,
+        3
+      ],
+      "dtype": "torch.float32",
+      "valid_true": 21216,
+      "valid_total": 21248,
+      "shares_intrinsic_validity": null
+    }
+  },
+  "bundle_files": 3,
+  "bundles": [
+    "annotation/mano/mano.pt",
+    "annotation/object/espressomachine/object.pt",
+    "camera/camera.pt"
+  ],
+  "media": [
+    {
+      "component": "object_espressomachine_articulation",
+      "ref": "annotation/object/espressomachine/articulation.json",
+      "pixels_decoded": 0
+    },
+    {
+      "component": "object_espressomachine_mesh",
+      "ref": "annotation/object/espressomachine/assets/mesh.obj",
+      "pixels_decoded": 0
+    },
+    {
+      "component": "rgb",
+      "ref": "observation/rgb.mkv",
+      "pixels_decoded": 6
+    }
+  ],
+  "consumed_files": [
+    "annotation/mano/mano.pt",
+    "annotation/object/espressomachine/articulation.json",
+    "annotation/object/espressomachine/articulation_valid.pt",
+    "annotation/object/espressomachine/assets/mesh.obj",
+    "annotation/object/espressomachine/assets/mesh_valid.pt",
+    "annotation/object/espressomachine/object.pt",
+    "camera/camera.pt",
+    "observation/rgb.mkv",
+    "observation/rgb_valid.pt"
+  ],
+  "registry_gaps": [
+    {
+      "kind": "keypoint_schema_unregistered",
+      "schema": "arctic_object_keypoints/v1",
+      "resolved_from": "component.keypoint_names",
+      "count": 32
+    }
+  ],
+  "selected_frames": [
+    0,
+    1,
+    166,
+    332,
+    498,
+    663
+  ],
+  "decode_scope": "ffmpeg select= demux filter over the preserved MKV; only the frames listed in selected_frames are decoded, each checked against height*width*3 bytes",
+  "projection": {
+    "model": "pinhole",
+    "calibrated": true,
+    "points": 160,
+    "inside": 160,
+    "off_image": 0,
+    "frames": {
+      "0": {
+        "annotated": false,
+        "valid_points": 0,
+        "inside_points": 0,
+        "inside_ratio": null,
+        "mostly_out_of_frame": false
+      },
+      "1": {
+        "annotated": true,
+        "valid_points": 32,
+        "inside_points": 32,
+        "inside_ratio": 1.0,
+        "mostly_out_of_frame": false
+      },
+      "166": {
+        "annotated": true,
+        "valid_points": 32,
+        "inside_points": 32,
+        "inside_ratio": 1.0,
+        "mostly_out_of_frame": false
+      },
+      "332": {
+        "annotated": true,
+        "valid_points": 32,
+        "inside_points": 32,
+        "inside_ratio": 1.0,
+        "mostly_out_of_frame": false
+      },
+      "498": {
+        "annotated": true,
+        "valid_points": 32,
+        "inside_points": 32,
+        "inside_ratio": 1.0,
+        "mostly_out_of_frame": false
+      },
+      "663": {
+        "annotated": true,
+        "valid_points": 32,
+        "inside_points": 32,
+        "inside_ratio": 1.0,
+        "mostly_out_of_frame": false
+      }
+    },
+    "coordinate_frame": "camera",
+    "scope": "saved camera-frame xyz through the view's own intrinsic and distortion; not a media pixel comparison",
+    "out_of_frame_rule": "a sampled frame is marked 物体大部分落在画外 when fewer than half of its valid object keypoints land inside the image; every annotated frame's valid_points / inside_points / inside_ratio is recorded in projection.frames either way",
+    "note": "ARCTIC publishes no 2D keypoints and no uv series, so the published projection_qc (saved xyz against saved uv) has no second series here; this counts what the release's own camera-frame geometry projects to."
+  },
+  "omitted_components": {
+    "depth": "No depth images in this official raw release",
+    "segment": "No pixel segmentation in this official raw release",
+    "contact": "No source contact labels in selected official raw packages",
+    "keypoints": "No separate measured hand keypoints in raw; MANO available. Render-only joints are not published as additional labels",
+    "visibility": "Not supplied in selected raw annotations; fitting_err is outside current shared scope"
+  },
+  "source_hand_object_gt_available": null,
+  "scope": "v1.1 registry, keys, shapes, validity and timeline; not a media pixel comparison",
+  "geometry_panels": {
+    "keypoint_panels": 5,
+    "axis_panels": 10,
+    "mano_panels": 5,
+    "note_panels": 6,
+    "frames_noted": 6,
+    "frames_mostly_out_of_frame": 0,
+    "frames_mostly_out_of_frame_list": []
+  }
+}
\ No newline at end of file diff --git a/ARCTIC/shared-v1.1/doc/validation/s02_espressomachine_grab_01_5.report.json b/ARCTIC/shared-v1.1/doc/validation/s02_espressomachine_grab_01_5.report.json new file mode 100644 index 0000000000000000000000000000000000000000..907a7865073902bc40386e6e62dbca633a854921 --- /dev/null +++ b/ARCTIC/shared-v1.1/doc/validation/s02_espressomachine_grab_01_5.report.json @@ -0,0 +1,229 @@ +{ + "view": "s02_espressomachine_grab_01/5", + "sequence_id": "s02_espressomachine_grab_01", + "camera_id": "5", + "view_type": "exo", + "split": "train", + "num_frames": 664, + "camera": { + "model": "pinhole", + "schema_id": "camera/pinhole/v1", + "image_size": [ + 2800, + 2000 + ] + }, + "numeric_components": { + "intrinsic": { + "shape": [ + 664, + 3, + 3 + ], + "dtype": "torch.float32", + "valid_true": 664, + "valid_total": 664, + "shares_intrinsic_validity": null + }, + "extrinsic": { + "shape": [ + 664, + 4, + 4 + ], + "dtype": "torch.float32", + "valid_true": 664, + "valid_total": 664, + "shares_intrinsic_validity": null + }, + "mano": { + "shape": [ + 664, + 2, + 61 + ], + "dtype": "torch.float32", + "valid_true": 1326, + "valid_total": 1328, + "shares_intrinsic_validity": null + }, + "object_espressomachine_root_pose": { + "shape": [ + 664, + 4, + 4 + ], + "dtype": "torch.float32", + "valid_true": 663, + "valid_total": 664, + "shares_intrinsic_validity": null + }, + "object_espressomachine_bottom_pose": { + "shape": [ + 664, + 4, + 4 + ], + "dtype": "torch.float32", + "valid_true": 663, + "valid_total": 664, + "shares_intrinsic_validity": null + }, + "object_espressomachine_top_pose": { + "shape": [ + 664, + 4, + 4 + ], + "dtype": "torch.float32", + "valid_true": 663, + "valid_total": 664, + "shares_intrinsic_validity": null + }, + "object_espressomachine_joint": { + "shape": [ + 664, + 1 + ], + "dtype": "torch.float32", + "valid_true": 663, + "valid_total": 664, + "shares_intrinsic_validity": null + }, + "object_espressomachine_keypoints": { + "shape": [ + 664, + 32, + 3 + ], + "dtype": "torch.float32", + "valid_true": 21216, + "valid_total": 21248, + "shares_intrinsic_validity": null + } + }, + "bundle_files": 3, + "bundles": [ + "annotation/mano/mano.pt", + "annotation/object/espressomachine/object.pt", + "camera/camera.pt" + ], + "media": [ + { + "component": "object_espressomachine_articulation", + "ref": "annotation/object/espressomachine/articulation.json", + "pixels_decoded": 0 + }, + { + "component": "object_espressomachine_mesh", + "ref": "annotation/object/espressomachine/assets/mesh.obj", + "pixels_decoded": 0 + }, + { + "component": "rgb", + "ref": "observation/rgb.mkv", + "pixels_decoded": 6 + } + ], + "consumed_files": [ + "annotation/mano/mano.pt", + "annotation/object/espressomachine/articulation.json", + "annotation/object/espressomachine/articulation_valid.pt", + "annotation/object/espressomachine/assets/mesh.obj", + "annotation/object/espressomachine/assets/mesh_valid.pt", + "annotation/object/espressomachine/object.pt", + "camera/camera.pt", + "observation/rgb.mkv", + "observation/rgb_valid.pt" + ], + "registry_gaps": [ + { + "kind": "keypoint_schema_unregistered", + "schema": "arctic_object_keypoints/v1", + "resolved_from": "component.keypoint_names", + "count": 32 + } + ], + "selected_frames": [ + 0, + 1, + 166, + 332, + 498, + 663 + ], + "decode_scope": "ffmpeg select= demux filter over the preserved MKV; only the frames listed in selected_frames are decoded, each checked against height*width*3 bytes", + "projection": { + "model": "pinhole", + "calibrated": true, + "points": 160, + "inside": 160, + "off_image": 0, + "frames": { + "0": { + "annotated": false, + "valid_points": 0, + "inside_points": 0, + "inside_ratio": null, + "mostly_out_of_frame": false + }, + "1": { + "annotated": true, + "valid_points": 32, + "inside_points": 32, + "inside_ratio": 1.0, + "mostly_out_of_frame": false + }, + "166": { + "annotated": true, + "valid_points": 32, + "inside_points": 32, + "inside_ratio": 1.0, + "mostly_out_of_frame": false + }, + "332": { + "annotated": true, + "valid_points": 32, + "inside_points": 32, + "inside_ratio": 1.0, + "mostly_out_of_frame": false + }, + "498": { + "annotated": true, + "valid_points": 32, + "inside_points": 32, + "inside_ratio": 1.0, + "mostly_out_of_frame": false + }, + "663": { + "annotated": true, + "valid_points": 32, + "inside_points": 32, + "inside_ratio": 1.0, + "mostly_out_of_frame": false + } + }, + "coordinate_frame": "camera", + "scope": "saved camera-frame xyz through the view's own intrinsic and distortion; not a media pixel comparison", + "out_of_frame_rule": "a sampled frame is marked 物体大部分落在画外 when fewer than half of its valid object keypoints land inside the image; every annotated frame's valid_points / inside_points / inside_ratio is recorded in projection.frames either way", + "note": "ARCTIC publishes no 2D keypoints and no uv series, so the published projection_qc (saved xyz against saved uv) has no second series here; this counts what the release's own camera-frame geometry projects to." + }, + "omitted_components": { + "depth": "No depth images in this official raw release", + "segment": "No pixel segmentation in this official raw release", + "contact": "No source contact labels in selected official raw packages", + "keypoints": "No separate measured hand keypoints in raw; MANO available. Render-only joints are not published as additional labels", + "visibility": "Not supplied in selected raw annotations; fitting_err is outside current shared scope" + }, + "source_hand_object_gt_available": null, + "scope": "v1.1 registry, keys, shapes, validity and timeline; not a media pixel comparison", + "geometry_panels": { + "keypoint_panels": 5, + "axis_panels": 10, + "mano_panels": 5, + "note_panels": 6, + "frames_noted": 6, + "frames_mostly_out_of_frame": 0, + "frames_mostly_out_of_frame_list": [] + } +} \ No newline at end of file diff --git a/ARCTIC/shared-v1.1/doc/validation/s02_espressomachine_grab_01_6.html b/ARCTIC/shared-v1.1/doc/validation/s02_espressomachine_grab_01_6.html new file mode 100644 index 0000000000000000000000000000000000000000..08d9ee65d1dc5d55d2df57a3a11466e17b39ccef --- /dev/null +++ b/ARCTIC/shared-v1.1/doc/validation/s02_espressomachine_grab_01_6.html @@ -0,0 +1,3777 @@ +s02_espressomachine_grab_01_6

s02_espressomachine_grab_01_6

直接读取 v1.1 bundle（s02_espressomachine_grab_01 的 exo 视图，split=train）。预览仅供人工复核，不是训练输入（CONTRACT §6.5）；这里只解码抽样帧，不是全部帧。本 release 另带 v1.0 的全帧逐相机视频（doc/history-v1.0/validation/），两者并存，本页不替代它。

配色沿用 ARCTIC v1.0 复核页自己的约定（「顶盖紫、底座绿，左手青、右手橙」），便于两套页面并排读：
    物体 top ·     物体 bottom ·     左手 ·     右手 ·     位姿轴 x 红 /     y 绿 /     z 蓝
部件的 top/bottom 取自组件名（object_<id>_top_pose 等），关键点取自发布的 keypoint_names；v1.0 页面把 32 个物体关键点画成同一种白色，并用索引区分顶盖/底座。投影不做遮挡剔除，也不是分割真值。

手部没有骨架：release 的 mano 只有 61 个参数，要还原成关节需要发布外的 MANO 模型资产与 smplx——本发布与本渲染环境都没有。ARCTIC v1.0 页面上那层白色 MANO 派生关节点，正是靠那套外部依赖画出来的。页面因此只画 schema layout.translation 声明的根平移（青色/橙色点），手部监督的其余部分以逐帧数值呈现。

源未发布的组件及原始理由（不补造）
{
+  "depth": "No depth images in this official raw release",
+  "segment": "No pixel segmentation in this official raw release",
+  "contact": "No source contact labels in selected official raw packages",
+  "keypoints": "No separate measured hand keypoints in raw; MANO available. Render-only joints are not published as additional labels",
+  "visibility": "Not supplied in selected raw annotations; fitting_err is outside current shared scope"
+}

帧 0 / 664

原生 RGB（MKV 解出的第 0 帧，未重编码）

该帧未投影的几何：
· object_espressomachine_keypoints：该帧 valid 为假（源未标注，该帧数值非有限值，故不投影）
· object_espressomachine_root_pose：该帧 valid 为假（源未标注，该帧数值非有限值，故不投影）
· object_espressomachine_bottom_pose：该帧 valid 为假（源未标注，该帧数值非有限值，故不投影）
· object_espressomachine_top_pose：该帧 valid 为假（源未标注，该帧数值非有限值，故不投影）
· mano：该帧 valid 为假（源未标注，该帧数值非有限值，故不投影）

帧号、来源、全部数值组件与有效性
{
+  "frame": {
+    "frame_index": 0,
+    "source_frame_id": "1",
+    "timestamp_ns": null,
+    "clock_domain": null,
+    "source_locator": {
+      "archive": "raw/data/images_zips/s02/espressomachine_grab_01.zip",
+      "member_pattern": "{camera_id}/{source_frame_id:05d}.jpg",
+      "camera_id": "6",
+      "source_frame_id": "1",
+      "member": "6/00001.jpg"
+    },
+    "source_annotation_index": null,
+    "sync_id": "s02/espressomachine_grab_01:1",
+    "annotation_matches": {
+      "mano": {
+        "source_frame_id": null,
+        "source_timestamp_ns": null,
+        "clock_domain": null,
+        "match_method": "index_map",
+        "delta_ns": null,
+        "mapping": "image_number - misc.ioi_offset",
+        "source_record_present": false
+      }
+    }
+  },
+  "media_validity": {
+    "rgb": true
+  },
+  "intrinsic": {
+    "value": [
+      [
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+        0.0,
+        660.34228515625
+      ],
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+    "valid": true
+  },
+  "extrinsic": {
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+    "valid": [
+      false,
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+  },
+  "object_espressomachine_root_pose": {
+    "value": [
+      [
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+  "object_espressomachine_bottom_pose": {
+    "value": [
+      [
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+      [
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+  "object_espressomachine_top_pose": {
+    "value": [
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+  "object_espressomachine_joint": {
+    "value": [
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+      [
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+      false,
+      false,
+      false
+    ]
+  }
+}

帧 1 / 664

原生 RGB（MKV 解出的第 1 帧，未重编码）
物体 espressomachine 关键点投影（按发布的 keypoint_names 分色：top 紫 / bottom 绿；v1.0 页面把这 32 点画成同一种白色。32 个有效点，画内 32 个＝bottom 16 点、top 16 点）
object_espressomachine_root_pose 位姿坐标轴（x 红 / y 绿 / z 蓝，每轴 5 cm，已画 3/3 条；由已发布位姿与内参投影，仅示朝向）
object_espressomachine_top_pose 位姿坐标轴（x 红 / y 绿 / z 蓝，每轴 5 cm，已画 3/3 条；由已发布位姿与内参投影，仅示朝向）

该帧这些部件的位姿与已画出的部件逐元素相同（部件静止），投影为同一图，未重复绘制：object_espressomachine_bottom_pose ＝ object_espressomachine_root_pose

该帧未投影的几何：
· mano：2 个有效手（left、right）的根平移全部落在画外

帧号、来源、全部数值组件与有效性
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+      "member_pattern": "{camera_id}/{source_frame_id:05d}.jpg",
+      "camera_id": "6",
+      "source_frame_id": "2",
+      "member": "6/00002.jpg"
+    },
+    "source_annotation_index": 0,
+    "sync_id": "s02/espressomachine_grab_01:2",
+    "annotation_matches": {
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+        "delta_ns": null,
+        "mapping": "image_number - misc.ioi_offset",
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+  }
+}

帧 166 / 664

原生 RGB（MKV 解出的第 166 帧，未重编码）
物体 espressomachine 关键点投影（按发布的 keypoint_names 分色：top 紫 / bottom 绿；v1.0 页面把这 32 点画成同一种白色。32 个有效点，画内 32 个＝bottom 16 点、top 16 点）
object_espressomachine_root_pose 位姿坐标轴（x 红 / y 绿 / z 蓝，每轴 5 cm，已画 3/3 条；由已发布位姿与内参投影，仅示朝向）
object_espressomachine_top_pose 位姿坐标轴（x 红 / y 绿 / z 蓝，每轴 5 cm，已画 3/3 条；由已发布位姿与内参投影，仅示朝向）
MANO 根平移投影（schema layout.translation 第 58–61 个参数，声明坐标系 camera，单位 m；画内 left、right）。不画骨架与网格，原因见「手部没有骨架」一节

该帧这些部件的位姿与已画出的部件逐元素相同（部件静止），投影为同一图，未重复绘制：object_espressomachine_bottom_pose ＝ object_espressomachine_root_pose

帧号、来源、全部数值组件与有效性
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+}

帧 332 / 664

原生 RGB（MKV 解出的第 332 帧，未重编码）
物体 espressomachine 关键点投影（按发布的 keypoint_names 分色：top 紫 / bottom 绿；v1.0 页面把这 32 点画成同一种白色。32 个有效点，画内 32 个＝bottom 16 点、top 16 点）
object_espressomachine_root_pose 位姿坐标轴（x 红 / y 绿 / z 蓝，每轴 5 cm，已画 3/3 条；由已发布位姿与内参投影，仅示朝向）
object_espressomachine_top_pose 位姿坐标轴（x 红 / y 绿 / z 蓝，每轴 5 cm，已画 3/3 条；由已发布位姿与内参投影，仅示朝向）
MANO 根平移投影（schema layout.translation 第 58–61 个参数，声明坐标系 camera，单位 m；画内 left、right）。不画骨架与网格，原因见「手部没有骨架」一节

该帧这些部件的位姿与已画出的部件逐元素相同（部件静止），投影为同一图，未重复绘制：object_espressomachine_bottom_pose ＝ object_espressomachine_root_pose

帧号、来源、全部数值组件与有效性
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+}

帧 498 / 664

原生 RGB（MKV 解出的第 498 帧，未重编码）
物体 espressomachine 关键点投影（按发布的 keypoint_names 分色：top 紫 / bottom 绿；v1.0 页面把这 32 点画成同一种白色。32 个有效点，画内 32 个＝bottom 16 点、top 16 点）
object_espressomachine_root_pose 位姿坐标轴（x 红 / y 绿 / z 蓝，每轴 5 cm，已画 3/3 条；由已发布位姿与内参投影，仅示朝向）
object_espressomachine_top_pose 位姿坐标轴（x 红 / y 绿 / z 蓝，每轴 5 cm，已画 3/3 条；由已发布位姿与内参投影，仅示朝向）
MANO 根平移投影（schema layout.translation 第 58–61 个参数，声明坐标系 camera，单位 m；画内 left、right）。不画骨架与网格，原因见「手部没有骨架」一节

该帧这些部件的位姿与已画出的部件逐元素相同（部件静止），投影为同一图，未重复绘制：object_espressomachine_bottom_pose ＝ object_espressomachine_root_pose

帧号、来源、全部数值组件与有效性
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+  }
+}

帧 663 / 664

原生 RGB（MKV 解出的第 663 帧，未重编码）
物体 espressomachine 关键点投影（按发布的 keypoint_names 分色：top 紫 / bottom 绿；v1.0 页面把这 32 点画成同一种白色。32 个有效点，画内 32 个＝bottom 16 点、top 16 点）
object_espressomachine_root_pose 位姿坐标轴（x 红 / y 绿 / z 蓝，每轴 5 cm，已画 3/3 条；由已发布位姿与内参投影，仅示朝向）
object_espressomachine_top_pose 位姿坐标轴（x 红 / y 绿 / z 蓝，每轴 5 cm，已画 3/3 条；由已发布位姿与内参投影，仅示朝向）
MANO 根平移投影（schema layout.translation 第 58–61 个参数，声明坐标系 camera，单位 m；画内 left，画外 right）。不画骨架与网格，原因见「手部没有骨架」一节

该帧这些部件的位姿与已画出的部件逐元素相同（部件静止），投影为同一图，未重复绘制：object_espressomachine_bottom_pose ＝ object_espressomachine_root_pose

帧号、来源、全部数值组件与有效性
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+      "source_frame_id": "664",
+      "member": "6/00664.jpg"
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+    "sync_id": "s02/espressomachine_grab_01:664",
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+}

原始物体模型（独立预览）

object_espressomachine_mesh

仅展示网格原生形状（annotation/object/espressomachine/assets/mesh.obj）；未验证尺度／位姿对应。

object_espressomachine_mesh:bottom

仅展示网格原生形状（annotation/object/espressomachine/assets/bottom.obj）；未验证尺度／位姿对应。

object_espressomachine_mesh:top

仅展示网格原生形状（annotation/object/espressomachine/assets/top.obj）；未验证尺度／位姿对应。
全部组件元信息及原始来源
{
+  "schema_version": "hand-warehouse/1.1",
+  "storage_revision": "lossless-video-2026-09-18",
+  "dataset_id": "ARCTIC",
+  "release_id": "shared-v1.1",
+  "sequence_id": "s02_espressomachine_grab_01",
+  "camera_id": "6",
+  "sample_type": "video",
+  "num_frames": 664,
+  "hand_slots": [
+    "left",
+    "right"
+  ],
+  "sampling": {
+    "type": "dense",
+    "source_fps": 30.0,
+    "frames_ref": "camera/frames.jsonl",
+    "selection": "Every released image of this selected camera in the complete official sequence ZIP; boundary images without annotations retained",
+    "source_fps_basis": "ARCTIC paper v3, Sec. 3.2 Acquisition Setup: 8 static allocentric and 1 moving egocentric RGB views captured at 30 FPS",
+    "source_fps_evidence_url": "https://arxiv.org/html/2204.13662v3#S3.SS2",
+    "source_timestamp_status": "not_released; do not invent measured timestamp_ns"
+  },
+  "camera": {
+    "model": "pinhole",
+    "schema_id": "camera/pinhole/v1",
+    "image_size": [
+      2000,
+      2800
+    ]
+  },
+  "split": "train",
+  "components": {
+    "intrinsic": {
+      "available": true,
+      "schema_id": "camera/pinhole/v1",
+      "data_ref": "camera/camera.pt",
+      "axes": [
+        "T",
+        "row",
+        "column"
+      ],
+      "valid_ref": "camera/camera.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "source values retained"
+      },
+      "source_locator": {
+        "archive": "raw/data/meta.zip",
+        "member": "meta/misc.json",
+        "record": "s02"
+      },
+      "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"
+      ],
+      "valid_ref": "camera/camera.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "source values retained"
+      },
+      "source_locator": {
+        "archive": "raw/data/meta.zip",
+        "member": "meta/misc.json",
+        "record": "s02"
+      },
+      "unit": "m",
+      "convention": "T_camera_from_world",
+      "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"
+      ],
+      "valid_ref": "annotation/mano/mano.pt",
+      "valid_axes": [
+        "T",
+        "hand"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Official nonflat mean expanded; shape-dependent root corrected during world-to-camera conversion; image index minus official ioi_offset"
+      },
+      "source_locator": {
+        "archive": "raw/data/raw_seqs.zip",
+        "member": "raw_seqs/s02/espressomachine_grab_01.mano.npy",
+        "index_ref": "camera/frames.jsonl:source_annotation_index"
+      },
+      "unit": "m",
+      "angle_unit": "rad",
+      "coordinate_frame": "camera",
+      "model_profile": {
+        "version": "MANO-v1.2",
+        "flat_hand_mean": true,
+        "left_shapedirs_fix": false
+      },
+      "data_key": [
+        "motion",
+        "data"
+      ],
+      "valid_key": [
+        "motion",
+        "valid"
+      ],
+      "storage": {
+        "profile": "pt/tensor_bundle/v1"
+      },
+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
+      }
+    },
+    "object_espressomachine_root_pose": {
+      "available": true,
+      "schema_id": "object/rigid/v1",
+      "data_ref": "annotation/object/espressomachine/object.pt",
+      "axes": [
+        "T",
+        "row",
+        "column"
+      ],
+      "valid_ref": "annotation/object/espressomachine/object.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "source values retained"
+      },
+      "source_locator": {
+        "archive": "raw/data/raw_seqs.zip",
+        "member": "raw_seqs/s02/espressomachine_grab_01.object.npy",
+        "index_ref": "camera/frames.jsonl:source_annotation_index"
+      },
+      "unit": "m",
+      "convention": "T_camera_from_object",
+      "data_key": [
+        "pose",
+        "data"
+      ],
+      "valid_key": [
+        "pose",
+        "valid"
+      ],
+      "storage": {
+        "profile": "pt/tensor_bundle/v1"
+      },
+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
+      }
+    },
+    "object_espressomachine_bottom_pose": {
+      "available": true,
+      "schema_id": "object/rigid/v1",
+      "data_ref": "annotation/object/espressomachine/object.pt",
+      "axes": [
+        "T",
+        "row",
+        "column"
+      ],
+      "valid_ref": "annotation/object/espressomachine/object.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "source values retained"
+      },
+      "source_locator": {
+        "archive": "raw/data/raw_seqs.zip",
+        "member": "raw_seqs/s02/espressomachine_grab_01.object.npy",
+        "index_ref": "camera/frames.jsonl:source_annotation_index"
+      },
+      "unit": "m",
+      "convention": "T_camera_from_part",
+      "data_key": [
+        "parts",
+        "bottom",
+        "pose",
+        "data"
+      ],
+      "valid_key": [
+        "parts",
+        "bottom",
+        "pose",
+        "valid"
+      ],
+      "storage": {
+        "profile": "pt/tensor_bundle/v1"
+      },
+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
+      }
+    },
+    "object_espressomachine_top_pose": {
+      "available": true,
+      "schema_id": "object/rigid/v1",
+      "data_ref": "annotation/object/espressomachine/object.pt",
+      "axes": [
+        "T",
+        "row",
+        "column"
+      ],
+      "valid_ref": "annotation/object/espressomachine/object.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "source values retained"
+      },
+      "source_locator": {
+        "archive": "raw/data/raw_seqs.zip",
+        "member": "raw_seqs/s02/espressomachine_grab_01.object.npy",
+        "index_ref": "camera/frames.jsonl:source_annotation_index"
+      },
+      "unit": "m",
+      "convention": "T_camera_from_part",
+      "data_key": [
+        "parts",
+        "top",
+        "pose",
+        "data"
+      ],
+      "valid_key": [
+        "parts",
+        "top",
+        "pose",
+        "valid"
+      ],
+      "storage": {
+        "profile": "pt/tensor_bundle/v1"
+      },
+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
+      }
+    },
+    "object_espressomachine_joint": {
+      "available": true,
+      "schema_id": "object/joint_state/v1",
+      "data_ref": "annotation/object/espressomachine/object.pt",
+      "axes": [
+        "T",
+        "joint"
+      ],
+      "valid_ref": "annotation/object/espressomachine/object.pt",
+      "valid_axes": [
+        "T",
+        "joint"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "source values retained"
+      },
+      "source_locator": {
+        "archive": "raw/data/raw_seqs.zip",
+        "member": "raw_seqs/s02/espressomachine_grab_01.object.npy",
+        "index_ref": "camera/frames.jsonl:source_annotation_index"
+      },
+      "joint_order": [
+        "hinge"
+      ],
+      "unit": "rad",
+      "data_key": [
+        "joint_state",
+        "data"
+      ],
+      "valid_key": [
+        "joint_state",
+        "valid"
+      ],
+      "storage": {
+        "profile": "pt/tensor_bundle/v1"
+      },
+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
+      }
+    },
+    "object_espressomachine_articulation": {
+      "available": true,
+      "schema_id": "object/articulated/v1",
+      "data_ref": "annotation/object/espressomachine/articulation.json",
+      "axes": [],
+      "valid_ref": "annotation/object/espressomachine/articulation_valid.pt",
+      "valid_axes": [],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "source values retained"
+      },
+      "source_locator": {
+        "archive": "raw/data/raw_seqs.zip",
+        "member": "raw_seqs/s02/espressomachine_grab_01.object.npy",
+        "index_ref": "camera/frames.jsonl:source_annotation_index"
+      },
+      "static": true
+    },
+    "object_espressomachine_mesh": {
+      "available": true,
+      "schema_id": "mesh/obj/v1",
+      "data_ref": "annotation/object/espressomachine/assets/mesh.obj",
+      "axes": [
+        "vertex",
+        "coordinate"
+      ],
+      "valid_ref": "annotation/object/espressomachine/assets/mesh_valid.pt",
+      "valid_axes": [],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Object vertices in metres; topology, material and texture dependencies retained"
+      },
+      "source_locator": {
+        "archive": "raw/data/meta.zip",
+        "member_prefix": "meta/object_vtemplates/espressomachine/"
+      },
+      "static": true,
+      "unit": "m",
+      "coordinate_frame": "object"
+    },
+    "object_espressomachine_keypoints": {
+      "available": true,
+      "schema_id": "object_keypoints/camera/v1",
+      "data_ref": "annotation/object/espressomachine/object.pt",
+      "axes": [
+        "T",
+        "joint",
+        "coordinate"
+      ],
+      "valid_ref": "annotation/object/espressomachine/object.pt",
+      "valid_axes": [
+        "T",
+        "joint"
+      ],
+      "provenance": {
+        "kind": "derived",
+        "method": "Official template keypoints driven by released articulation and camera transforms"
+      },
+      "source_locator": {
+        "archive": "raw/data/meta.zip",
+        "member_prefix": "meta/object_vtemplates/espressomachine/"
+      },
+      "unit": "m",
+      "coordinate_frame": "camera",
+      "keypoint_schema": "arctic_object_keypoints/v1",
+      "keypoint_names": [
+        "top_0",
+        "top_1",
+        "top_2",
+        "top_3",
+        "top_4",
+        "top_5",
+        "top_6",
+        "top_7",
+        "top_8",
+        "top_9",
+        "top_10",
+        "top_11",
+        "top_12",
+        "top_13",
+        "top_14",
+        "top_15",
+        "bottom_0",
+        "bottom_1",
+        "bottom_2",
+        "bottom_3",
+        "bottom_4",
+        "bottom_5",
+        "bottom_6",
+        "bottom_7",
+        "bottom_8",
+        "bottom_9",
+        "bottom_10",
+        "bottom_11",
+        "bottom_12",
+        "bottom_13",
+        "bottom_14",
+        "bottom_15"
+      ],
+      "data_key": [
+        "keypoints",
+        "xyz",
+        "data"
+      ],
+      "valid_key": [
+        "keypoints",
+        "xyz",
+        "valid"
+      ],
+      "storage": {
+        "profile": "pt/tensor_bundle/v1"
+      },
+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
+      }
+    },
+    "rgb": {
+      "available": true,
+      "schema_id": "rgb/uint8/v1",
+      "data_ref": "observation/rgb.mkv",
+      "axes": [
+        "T",
+        "height",
+        "width",
+        "channel"
+      ],
+      "valid_ref": "observation/rgb_valid.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Original JPEG packets copied into MKV; every payload/order/dimension checked; declared deterministic RGB sample checked"
+      },
+      "source_locator": {
+        "archive": "raw/data/images_zips/s02/espressomachine_grab_01.zip",
+        "member_pattern": "{camera_id}/{source_frame_id:05d}.jpg",
+        "camera_id": "6"
+      },
+      "storage": {
+        "profile": "mkv/mjpeg_copy/v1",
+        "codec": "mjpeg",
+        "pixel_format": "yuvj420p",
+        "encoded_size": [
+          2000,
+          2800
+        ],
+        "source_lossy": true,
+        "decoder": {
+          "name": "ffmpeg",
+          "version": "ffmpeg version 7.1-essentials_build-www.gyan.dev Copyright (c) 2000-2024 the FFmpeg developers",
+          "output_pixel_format": "rgb24",
+          "autorotate": false,
+          "source_color_declaration": "unknown",
+          "actual_stream_description": "Stream #0:0: Video: mjpeg (Baseline), yuvj420p(pc, bt470bg/unknown/unknown), 2000x2800 [SAR 1:1 DAR 5:7], 1 fps, 1 tbr, 1k tbn"
+        },
+        "encoder_parameters": {
+          "mode": "stream_copy",
+          "version": "ffmpeg version 7.1-essentials_build-www.gyan.dev Copyright (c) 2000-2024 the FFmpeg developers"
+        }
+      },
+      "storage_fps": 1,
+      "timebase_role": "index_only"
+    }
+  },
+  "pilot": false,
+  "split_scheme": "ARCTIC_protocol_p1",
+  "split_source_locator": {
+    "archive": "raw/data/splits_json.zip",
+    "member": "splits_json/protocol_p1.json",
+    "sequence": "s02/espressomachine_grab_01"
+  },
+  "view_type": "exo",
+  "omitted_components": {
+    "depth": "No depth images in this official raw release",
+    "segment": "No pixel segmentation in this official raw release",
+    "contact": "No source contact labels in selected official raw packages",
+    "keypoints": "No separate measured hand keypoints in raw; MANO available. Render-only joints are not published as additional labels",
+    "visibility": "Not supplied in selected raw annotations; fitting_err is outside current shared scope"
+  },
+  "media_validation_policy": "jpeg-packets-all-rgb-sample16/v1",
+  "pilot_complete": true,
+  "production_complete": true,
+  "pilot_human_review": "approved",
+  "full_output_human_review": "pending",
+  "upload_authorized": false
+}
持久化 QC 结果
{
+  "view": "s02_espressomachine_grab_01/6",
+  "sequence_id": "s02_espressomachine_grab_01",
+  "camera_id": "6",
+  "view_type": "exo",
+  "split": "train",
+  "num_frames": 664,
+  "camera": {
+    "model": "pinhole",
+    "schema_id": "camera/pinhole/v1",
+    "image_size": [
+      2000,
+      2800
+    ]
+  },
+  "numeric_components": {
+    "intrinsic": {
+      "shape": [
+        664,
+        3,
+        3
+      ],
+      "dtype": "torch.float32",
+      "valid_true": 664,
+      "valid_total": 664,
+      "shares_intrinsic_validity": null
+    },
+    "extrinsic": {
+      "shape": [
+        664,
+        4,
+        4
+      ],
+      "dtype": "torch.float32",
+      "valid_true": 664,
+      "valid_total": 664,
+      "shares_intrinsic_validity": null
+    },
+    "mano": {
+      "shape": [
+        664,
+        2,
+        61
+      ],
+      "dtype": "torch.float32",
+      "valid_true": 1326,
+      "valid_total": 1328,
+      "shares_intrinsic_validity": null
+    },
+    "object_espressomachine_root_pose": {
+      "shape": [
+        664,
+        4,
+        4
+      ],
+      "dtype": "torch.float32",
+      "valid_true": 663,
+      "valid_total": 664,
+      "shares_intrinsic_validity": null
+    },
+    "object_espressomachine_bottom_pose": {
+      "shape": [
+        664,
+        4,
+        4
+      ],
+      "dtype": "torch.float32",
+      "valid_true": 663,
+      "valid_total": 664,
+      "shares_intrinsic_validity": null
+    },
+    "object_espressomachine_top_pose": {
+      "shape": [
+        664,
+        4,
+        4
+      ],
+      "dtype": "torch.float32",
+      "valid_true": 663,
+      "valid_total": 664,
+      "shares_intrinsic_validity": null
+    },
+    "object_espressomachine_joint": {
+      "shape": [
+        664,
+        1
+      ],
+      "dtype": "torch.float32",
+      "valid_true": 663,
+      "valid_total": 664,
+      "shares_intrinsic_validity": null
+    },
+    "object_espressomachine_keypoints": {
+      "shape": [
+        664,
+        32,
+        3
+      ],
+      "dtype": "torch.float32",
+      "valid_true": 21216,
+      "valid_total": 21248,
+      "shares_intrinsic_validity": null
+    }
+  },
+  "bundle_files": 3,
+  "bundles": [
+    "annotation/mano/mano.pt",
+    "annotation/object/espressomachine/object.pt",
+    "camera/camera.pt"
+  ],
+  "media": [
+    {
+      "component": "object_espressomachine_articulation",
+      "ref": "annotation/object/espressomachine/articulation.json",
+      "pixels_decoded": 0
+    },
+    {
+      "component": "object_espressomachine_mesh",
+      "ref": "annotation/object/espressomachine/assets/mesh.obj",
+      "pixels_decoded": 0
+    },
+    {
+      "component": "rgb",
+      "ref": "observation/rgb.mkv",
+      "pixels_decoded": 6
+    }
+  ],
+  "consumed_files": [
+    "annotation/mano/mano.pt",
+    "annotation/object/espressomachine/articulation.json",
+    "annotation/object/espressomachine/articulation_valid.pt",
+    "annotation/object/espressomachine/assets/mesh.obj",
+    "annotation/object/espressomachine/assets/mesh_valid.pt",
+    "annotation/object/espressomachine/object.pt",
+    "camera/camera.pt",
+    "observation/rgb.mkv",
+    "observation/rgb_valid.pt"
+  ],
+  "registry_gaps": [
+    {
+      "kind": "keypoint_schema_unregistered",
+      "schema": "arctic_object_keypoints/v1",
+      "resolved_from": "component.keypoint_names",
+      "count": 32
+    }
+  ],
+  "selected_frames": [
+    0,
+    1,
+    166,
+    332,
+    498,
+    663
+  ],
+  "decode_scope": "ffmpeg select= demux filter over the preserved MKV; only the frames listed in selected_frames are decoded, each checked against height*width*3 bytes",
+  "projection": {
+    "model": "pinhole",
+    "calibrated": true,
+    "points": 160,
+    "inside": 160,
+    "off_image": 0,
+    "frames": {
+      "0": {
+        "annotated": false,
+        "valid_points": 0,
+        "inside_points": 0,
+        "inside_ratio": null,
+        "mostly_out_of_frame": false
+      },
+      "1": {
+        "annotated": true,
+        "valid_points": 32,
+        "inside_points": 32,
+        "inside_ratio": 1.0,
+        "mostly_out_of_frame": false
+      },
+      "166": {
+        "annotated": true,
+        "valid_points": 32,
+        "inside_points": 32,
+        "inside_ratio": 1.0,
+        "mostly_out_of_frame": false
+      },
+      "332": {
+        "annotated": true,
+        "valid_points": 32,
+        "inside_points": 32,
+        "inside_ratio": 1.0,
+        "mostly_out_of_frame": false
+      },
+      "498": {
+        "annotated": true,
+        "valid_points": 32,
+        "inside_points": 32,
+        "inside_ratio": 1.0,
+        "mostly_out_of_frame": false
+      },
+      "663": {
+        "annotated": true,
+        "valid_points": 32,
+        "inside_points": 32,
+        "inside_ratio": 1.0,
+        "mostly_out_of_frame": false
+      }
+    },
+    "coordinate_frame": "camera",
+    "scope": "saved camera-frame xyz through the view's own intrinsic and distortion; not a media pixel comparison",
+    "out_of_frame_rule": "a sampled frame is marked 物体大部分落在画外 when fewer than half of its valid object keypoints land inside the image; every annotated frame's valid_points / inside_points / inside_ratio is recorded in projection.frames either way",
+    "note": "ARCTIC publishes no 2D keypoints and no uv series, so the published projection_qc (saved xyz against saved uv) has no second series here; this counts what the release's own camera-frame geometry projects to."
+  },
+  "omitted_components": {
+    "depth": "No depth images in this official raw release",
+    "segment": "No pixel segmentation in this official raw release",
+    "contact": "No source contact labels in selected official raw packages",
+    "keypoints": "No separate measured hand keypoints in raw; MANO available. Render-only joints are not published as additional labels",
+    "visibility": "Not supplied in selected raw annotations; fitting_err is outside current shared scope"
+  },
+  "source_hand_object_gt_available": null,
+  "scope": "v1.1 registry, keys, shapes, validity and timeline; not a media pixel comparison",
+  "geometry_panels": {
+    "keypoint_panels": 5,
+    "axis_panels": 10,
+    "mano_panels": 4,
+    "note_panels": 7,
+    "frames_noted": 6,
+    "frames_mostly_out_of_frame": 0,
+    "frames_mostly_out_of_frame_list": []
+  }
+}
\ No newline at end of file diff --git a/ARCTIC/shared-v1.1/doc/validation/s02_espressomachine_grab_01_6.report.json b/ARCTIC/shared-v1.1/doc/validation/s02_espressomachine_grab_01_6.report.json new file mode 100644 index 0000000000000000000000000000000000000000..0b82f0df0ee4b59c9f50a6077c70c5341ce5c9a4 --- /dev/null +++ b/ARCTIC/shared-v1.1/doc/validation/s02_espressomachine_grab_01_6.report.json @@ -0,0 +1,229 @@ +{ + "view": "s02_espressomachine_grab_01/6", + "sequence_id": "s02_espressomachine_grab_01", + "camera_id": "6", + "view_type": "exo", + "split": "train", + "num_frames": 664, + "camera": { + "model": "pinhole", + "schema_id": "camera/pinhole/v1", + "image_size": [ + 2000, + 2800 + ] + }, + "numeric_components": { + "intrinsic": { + "shape": [ + 664, + 3, + 3 + ], + "dtype": "torch.float32", + "valid_true": 664, + "valid_total": 664, + "shares_intrinsic_validity": null + }, + "extrinsic": { + "shape": [ + 664, + 4, + 4 + ], + "dtype": "torch.float32", + "valid_true": 664, + "valid_total": 664, + "shares_intrinsic_validity": null + }, + "mano": { + "shape": [ + 664, + 2, + 61 + ], + "dtype": "torch.float32", + "valid_true": 1326, + "valid_total": 1328, + "shares_intrinsic_validity": null + }, + "object_espressomachine_root_pose": { + "shape": [ + 664, + 4, + 4 + ], + "dtype": "torch.float32", + "valid_true": 663, + "valid_total": 664, + "shares_intrinsic_validity": null + }, + "object_espressomachine_bottom_pose": { + "shape": [ + 664, + 4, + 4 + ], + "dtype": "torch.float32", + "valid_true": 663, + "valid_total": 664, + "shares_intrinsic_validity": null + }, + "object_espressomachine_top_pose": { + "shape": [ + 664, + 4, + 4 + ], + "dtype": "torch.float32", + "valid_true": 663, + "valid_total": 664, + "shares_intrinsic_validity": null + }, + "object_espressomachine_joint": { + "shape": [ + 664, + 1 + ], + "dtype": "torch.float32", + "valid_true": 663, + "valid_total": 664, + "shares_intrinsic_validity": null + }, + "object_espressomachine_keypoints": { + "shape": [ + 664, + 32, + 3 + ], + "dtype": "torch.float32", + "valid_true": 21216, + "valid_total": 21248, + "shares_intrinsic_validity": null + } + }, + "bundle_files": 3, + "bundles": [ + "annotation/mano/mano.pt", + "annotation/object/espressomachine/object.pt", + "camera/camera.pt" + ], + "media": [ + { + "component": "object_espressomachine_articulation", + "ref": "annotation/object/espressomachine/articulation.json", + "pixels_decoded": 0 + }, + { + "component": "object_espressomachine_mesh", + "ref": "annotation/object/espressomachine/assets/mesh.obj", + "pixels_decoded": 0 + }, + { + "component": "rgb", + "ref": "observation/rgb.mkv", + "pixels_decoded": 6 + } + ], + "consumed_files": [ + "annotation/mano/mano.pt", + "annotation/object/espressomachine/articulation.json", + "annotation/object/espressomachine/articulation_valid.pt", + "annotation/object/espressomachine/assets/mesh.obj", + "annotation/object/espressomachine/assets/mesh_valid.pt", + "annotation/object/espressomachine/object.pt", + "camera/camera.pt", + "observation/rgb.mkv", + "observation/rgb_valid.pt" + ], + "registry_gaps": [ + { + "kind": "keypoint_schema_unregistered", + "schema": "arctic_object_keypoints/v1", + "resolved_from": "component.keypoint_names", + "count": 32 + } + ], + "selected_frames": [ + 0, + 1, + 166, + 332, + 498, + 663 + ], + "decode_scope": "ffmpeg select= demux filter over the preserved MKV; only the frames listed in selected_frames are decoded, each checked against height*width*3 bytes", + "projection": { + "model": "pinhole", + "calibrated": true, + "points": 160, + "inside": 160, + "off_image": 0, + "frames": { + "0": { + "annotated": false, + "valid_points": 0, + "inside_points": 0, + "inside_ratio": null, + "mostly_out_of_frame": false + }, + "1": { + "annotated": true, + "valid_points": 32, + "inside_points": 32, + "inside_ratio": 1.0, + "mostly_out_of_frame": false + }, + "166": { + "annotated": true, + "valid_points": 32, + "inside_points": 32, + "inside_ratio": 1.0, + "mostly_out_of_frame": false + }, + "332": { + "annotated": true, + "valid_points": 32, + "inside_points": 32, + "inside_ratio": 1.0, + "mostly_out_of_frame": false + }, + "498": { + "annotated": true, + "valid_points": 32, + "inside_points": 32, + "inside_ratio": 1.0, + "mostly_out_of_frame": false + }, + "663": { + "annotated": true, + "valid_points": 32, + "inside_points": 32, + "inside_ratio": 1.0, + "mostly_out_of_frame": false + } + }, + "coordinate_frame": "camera", + "scope": "saved camera-frame xyz through the view's own intrinsic and distortion; not a media pixel comparison", + "out_of_frame_rule": "a sampled frame is marked 物体大部分落在画外 when fewer than half of its valid object keypoints land inside the image; every annotated frame's valid_points / inside_points / inside_ratio is recorded in projection.frames either way", + "note": "ARCTIC publishes no 2D keypoints and no uv series, so the published projection_qc (saved xyz against saved uv) has no second series here; this counts what the release's own camera-frame geometry projects to." + }, + "omitted_components": { + "depth": "No depth images in this official raw release", + "segment": "No pixel segmentation in this official raw release", + "contact": "No source contact labels in selected official raw packages", + "keypoints": "No separate measured hand keypoints in raw; MANO available. Render-only joints are not published as additional labels", + "visibility": "Not supplied in selected raw annotations; fitting_err is outside current shared scope" + }, + "source_hand_object_gt_available": null, + "scope": "v1.1 registry, keys, shapes, validity and timeline; not a media pixel comparison", + "geometry_panels": { + "keypoint_panels": 5, + "axis_panels": 10, + "mano_panels": 4, + "note_panels": 7, + "frames_noted": 6, + "frames_mostly_out_of_frame": 0, + "frames_mostly_out_of_frame_list": [] + } +} \ No newline at end of file diff --git a/ARCTIC/shared-v1.1/doc/validation/s02_espressomachine_grab_01_7.html b/ARCTIC/shared-v1.1/doc/validation/s02_espressomachine_grab_01_7.html new file mode 100644 index 0000000000000000000000000000000000000000..c23e747ef2d325175b0d5d418e9f4aab332085fa --- /dev/null +++ b/ARCTIC/shared-v1.1/doc/validation/s02_espressomachine_grab_01_7.html @@ -0,0 +1,3777 @@ +s02_espressomachine_grab_01_7

s02_espressomachine_grab_01_7

直接读取 v1.1 bundle（s02_espressomachine_grab_01 的 exo 视图，split=train）。预览仅供人工复核，不是训练输入（CONTRACT §6.5）；这里只解码抽样帧，不是全部帧。本 release 另带 v1.0 的全帧逐相机视频（doc/history-v1.0/validation/），两者并存，本页不替代它。

配色沿用 ARCTIC v1.0 复核页自己的约定（「顶盖紫、底座绿，左手青、右手橙」），便于两套页面并排读：
    物体 top ·     物体 bottom ·     左手 ·     右手 ·     位姿轴 x 红 /     y 绿 /     z 蓝
部件的 top/bottom 取自组件名（object_<id>_top_pose 等），关键点取自发布的 keypoint_names；v1.0 页面把 32 个物体关键点画成同一种白色，并用索引区分顶盖/底座。投影不做遮挡剔除，也不是分割真值。

手部没有骨架：release 的 mano 只有 61 个参数，要还原成关节需要发布外的 MANO 模型资产与 smplx——本发布与本渲染环境都没有。ARCTIC v1.0 页面上那层白色 MANO 派生关节点，正是靠那套外部依赖画出来的。页面因此只画 schema layout.translation 声明的根平移（青色/橙色点），手部监督的其余部分以逐帧数值呈现。

源未发布的组件及原始理由（不补造）
{
+  "depth": "No depth images in this official raw release",
+  "segment": "No pixel segmentation in this official raw release",
+  "contact": "No source contact labels in selected official raw packages",
+  "keypoints": "No separate measured hand keypoints in raw; MANO available. Render-only joints are not published as additional labels",
+  "visibility": "Not supplied in selected raw annotations; fitting_err is outside current shared scope"
+}

帧 0 / 664

原生 RGB（MKV 解出的第 0 帧，未重编码）

该帧未投影的几何：
· object_espressomachine_keypoints：该帧 valid 为假（源未标注，该帧数值非有限值，故不投影）
· object_espressomachine_root_pose：该帧 valid 为假（源未标注，该帧数值非有限值，故不投影）
· object_espressomachine_bottom_pose：该帧 valid 为假（源未标注，该帧数值非有限值，故不投影）
· object_espressomachine_top_pose：该帧 valid 为假（源未标注，该帧数值非有限值，故不投影）
· mano：该帧 valid 为假（源未标注，该帧数值非有限值，故不投影）

帧号、来源、全部数值组件与有效性
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+}

帧 1 / 664

原生 RGB（MKV 解出的第 1 帧，未重编码）
物体 espressomachine 关键点投影（按发布的 keypoint_names 分色：top 紫 / bottom 绿；v1.0 页面把这 32 点画成同一种白色。32 个有效点，画内 32 个＝bottom 16 点、top 16 点）
object_espressomachine_root_pose 位姿坐标轴（x 红 / y 绿 / z 蓝，每轴 5 cm，已画 3/3 条；由已发布位姿与内参投影，仅示朝向）
object_espressomachine_top_pose 位姿坐标轴（x 红 / y 绿 / z 蓝，每轴 5 cm，已画 3/3 条；由已发布位姿与内参投影，仅示朝向）
MANO 根平移投影（schema layout.translation 第 58–61 个参数，声明坐标系 camera，单位 m；画内 right，画外 left）。不画骨架与网格，原因见「手部没有骨架」一节

该帧这些部件的位姿与已画出的部件逐元素相同（部件静止），投影为同一图，未重复绘制：object_espressomachine_bottom_pose ＝ object_espressomachine_root_pose

帧号、来源、全部数值组件与有效性
{
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+}

帧 166 / 664

原生 RGB（MKV 解出的第 166 帧，未重编码）
物体 espressomachine 关键点投影（按发布的 keypoint_names 分色：top 紫 / bottom 绿；v1.0 页面把这 32 点画成同一种白色。32 个有效点，画内 32 个＝bottom 16 点、top 16 点）
object_espressomachine_root_pose 位姿坐标轴（x 红 / y 绿 / z 蓝，每轴 5 cm，已画 3/3 条；由已发布位姿与内参投影，仅示朝向）
object_espressomachine_top_pose 位姿坐标轴（x 红 / y 绿 / z 蓝，每轴 5 cm，已画 3/3 条；由已发布位姿与内参投影，仅示朝向）
MANO 根平移投影（schema layout.translation 第 58–61 个参数，声明坐标系 camera，单位 m；画内 left、right）。不画骨架与网格，原因见「手部没有骨架」一节

该帧这些部件的位姿与已画出的部件逐元素相同（部件静止），投影为同一图，未重复绘制：object_espressomachine_bottom_pose ＝ object_espressomachine_root_pose

帧号、来源、全部数值组件与有效性
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+}

帧 332 / 664

原生 RGB（MKV 解出的第 332 帧，未重编码）
物体 espressomachine 关键点投影（按发布的 keypoint_names 分色：top 紫 / bottom 绿；v1.0 页面把这 32 点画成同一种白色。32 个有效点，画内 32 个＝bottom 16 点、top 16 点）
object_espressomachine_root_pose 位姿坐标轴（x 红 / y 绿 / z 蓝，每轴 5 cm，已画 3/3 条；由已发布位姿与内参投影，仅示朝向）
object_espressomachine_top_pose 位姿坐标轴（x 红 / y 绿 / z 蓝，每轴 5 cm，已画 3/3 条；由已发布位姿与内参投影，仅示朝向）
MANO 根平移投影（schema layout.translation 第 58–61 个参数，声明坐标系 camera，单位 m；画内 left、right）。不画骨架与网格，原因见「手部没有骨架」一节

该帧这些部件的位姿与已画出的部件逐元素相同（部件静止），投影为同一图，未重复绘制：object_espressomachine_bottom_pose ＝ object_espressomachine_root_pose

帧号、来源、全部数值组件与有效性
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+  }
+}

帧 498 / 664

原生 RGB（MKV 解出的第 498 帧，未重编码）
物体 espressomachine 关键点投影（按发布的 keypoint_names 分色：top 紫 / bottom 绿；v1.0 页面把这 32 点画成同一种白色。32 个有效点，画内 32 个＝bottom 16 点、top 16 点）
object_espressomachine_root_pose 位姿坐标轴（x 红 / y 绿 / z 蓝，每轴 5 cm，已画 3/3 条；由已发布位姿与内参投影，仅示朝向）
object_espressomachine_top_pose 位姿坐标轴（x 红 / y 绿 / z 蓝，每轴 5 cm，已画 3/3 条；由已发布位姿与内参投影，仅示朝向）
MANO 根平移投影（schema layout.translation 第 58–61 个参数，声明坐标系 camera，单位 m；画内 left、right）。不画骨架与网格，原因见「手部没有骨架」一节

该帧这些部件的位姿与已画出的部件逐元素相同（部件静止），投影为同一图，未重复绘制：object_espressomachine_bottom_pose ＝ object_espressomachine_root_pose

帧号、来源、全部数值组件与有效性
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+}

帧 663 / 664

原生 RGB（MKV 解出的第 663 帧，未重编码）
物体 espressomachine 关键点投影（按发布的 keypoint_names 分色：top 紫 / bottom 绿；v1.0 页面把这 32 点画成同一种白色。32 个有效点，画内 32 个＝bottom 16 点、top 16 点）
object_espressomachine_root_pose 位姿坐标轴（x 红 / y 绿 / z 蓝，每轴 5 cm，已画 3/3 条；由已发布位姿与内参投影，仅示朝向）
object_espressomachine_top_pose 位姿坐标轴（x 红 / y 绿 / z 蓝，每轴 5 cm，已画 3/3 条；由已发布位姿与内参投影，仅示朝向）
MANO 根平移投影（schema layout.translation 第 58–61 个参数，声明坐标系 camera，单位 m；画内 right，画外 left）。不画骨架与网格，原因见「手部没有骨架」一节

该帧这些部件的位姿与已画出的部件逐元素相同（部件静止），投影为同一图，未重复绘制：object_espressomachine_bottom_pose ＝ object_espressomachine_root_pose

帧号、来源、全部数值组件与有效性
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+    "valid": [
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+  },
+  "object_espressomachine_root_pose": {
+    "value": [
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+    "valid": true
+  },
+  "object_espressomachine_bottom_pose": {
+    "value": [
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+    "valid": true
+  },
+  "object_espressomachine_top_pose": {
+    "value": [
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+    ],
+    "valid": true
+  },
+  "object_espressomachine_joint": {
+    "value": [
+      0.13449668884277344
+    ],
+    "valid": [
+      true
+    ]
+  },
+  "object_espressomachine_keypoints": {
+    "value": [
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+    ]
+  }
+}

原始物体模型（独立预览）

object_espressomachine_mesh

仅展示网格原生形状（annotation/object/espressomachine/assets/mesh.obj）；未验证尺度／位姿对应。

object_espressomachine_mesh:bottom

仅展示网格原生形状（annotation/object/espressomachine/assets/bottom.obj）；未验证尺度／位姿对应。

object_espressomachine_mesh:top

仅展示网格原生形状（annotation/object/espressomachine/assets/top.obj）；未验证尺度／位姿对应。
全部组件元信息及原始来源
{
+  "schema_version": "hand-warehouse/1.1",
+  "storage_revision": "lossless-video-2026-09-18",
+  "dataset_id": "ARCTIC",
+  "release_id": "shared-v1.1",
+  "sequence_id": "s02_espressomachine_grab_01",
+  "camera_id": "7",
+  "sample_type": "video",
+  "num_frames": 664,
+  "hand_slots": [
+    "left",
+    "right"
+  ],
+  "sampling": {
+    "type": "dense",
+    "source_fps": 30.0,
+    "frames_ref": "camera/frames.jsonl",
+    "selection": "Every released image of this selected camera in the complete official sequence ZIP; boundary images without annotations retained",
+    "source_fps_basis": "ARCTIC paper v3, Sec. 3.2 Acquisition Setup: 8 static allocentric and 1 moving egocentric RGB views captured at 30 FPS",
+    "source_fps_evidence_url": "https://arxiv.org/html/2204.13662v3#S3.SS2",
+    "source_timestamp_status": "not_released; do not invent measured timestamp_ns"
+  },
+  "camera": {
+    "model": "pinhole",
+    "schema_id": "camera/pinhole/v1",
+    "image_size": [
+      2000,
+      2800
+    ]
+  },
+  "split": "train",
+  "components": {
+    "intrinsic": {
+      "available": true,
+      "schema_id": "camera/pinhole/v1",
+      "data_ref": "camera/camera.pt",
+      "axes": [
+        "T",
+        "row",
+        "column"
+      ],
+      "valid_ref": "camera/camera.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "source values retained"
+      },
+      "source_locator": {
+        "archive": "raw/data/meta.zip",
+        "member": "meta/misc.json",
+        "record": "s02"
+      },
+      "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"
+      ],
+      "valid_ref": "camera/camera.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "source values retained"
+      },
+      "source_locator": {
+        "archive": "raw/data/meta.zip",
+        "member": "meta/misc.json",
+        "record": "s02"
+      },
+      "unit": "m",
+      "convention": "T_camera_from_world",
+      "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"
+      ],
+      "valid_ref": "annotation/mano/mano.pt",
+      "valid_axes": [
+        "T",
+        "hand"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Official nonflat mean expanded; shape-dependent root corrected during world-to-camera conversion; image index minus official ioi_offset"
+      },
+      "source_locator": {
+        "archive": "raw/data/raw_seqs.zip",
+        "member": "raw_seqs/s02/espressomachine_grab_01.mano.npy",
+        "index_ref": "camera/frames.jsonl:source_annotation_index"
+      },
+      "unit": "m",
+      "angle_unit": "rad",
+      "coordinate_frame": "camera",
+      "model_profile": {
+        "version": "MANO-v1.2",
+        "flat_hand_mean": true,
+        "left_shapedirs_fix": false
+      },
+      "data_key": [
+        "motion",
+        "data"
+      ],
+      "valid_key": [
+        "motion",
+        "valid"
+      ],
+      "storage": {
+        "profile": "pt/tensor_bundle/v1"
+      },
+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
+      }
+    },
+    "object_espressomachine_root_pose": {
+      "available": true,
+      "schema_id": "object/rigid/v1",
+      "data_ref": "annotation/object/espressomachine/object.pt",
+      "axes": [
+        "T",
+        "row",
+        "column"
+      ],
+      "valid_ref": "annotation/object/espressomachine/object.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "source values retained"
+      },
+      "source_locator": {
+        "archive": "raw/data/raw_seqs.zip",
+        "member": "raw_seqs/s02/espressomachine_grab_01.object.npy",
+        "index_ref": "camera/frames.jsonl:source_annotation_index"
+      },
+      "unit": "m",
+      "convention": "T_camera_from_object",
+      "data_key": [
+        "pose",
+        "data"
+      ],
+      "valid_key": [
+        "pose",
+        "valid"
+      ],
+      "storage": {
+        "profile": "pt/tensor_bundle/v1"
+      },
+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
+      }
+    },
+    "object_espressomachine_bottom_pose": {
+      "available": true,
+      "schema_id": "object/rigid/v1",
+      "data_ref": "annotation/object/espressomachine/object.pt",
+      "axes": [
+        "T",
+        "row",
+        "column"
+      ],
+      "valid_ref": "annotation/object/espressomachine/object.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "source values retained"
+      },
+      "source_locator": {
+        "archive": "raw/data/raw_seqs.zip",
+        "member": "raw_seqs/s02/espressomachine_grab_01.object.npy",
+        "index_ref": "camera/frames.jsonl:source_annotation_index"
+      },
+      "unit": "m",
+      "convention": "T_camera_from_part",
+      "data_key": [
+        "parts",
+        "bottom",
+        "pose",
+        "data"
+      ],
+      "valid_key": [
+        "parts",
+        "bottom",
+        "pose",
+        "valid"
+      ],
+      "storage": {
+        "profile": "pt/tensor_bundle/v1"
+      },
+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
+      }
+    },
+    "object_espressomachine_top_pose": {
+      "available": true,
+      "schema_id": "object/rigid/v1",
+      "data_ref": "annotation/object/espressomachine/object.pt",
+      "axes": [
+        "T",
+        "row",
+        "column"
+      ],
+      "valid_ref": "annotation/object/espressomachine/object.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "source values retained"
+      },
+      "source_locator": {
+        "archive": "raw/data/raw_seqs.zip",
+        "member": "raw_seqs/s02/espressomachine_grab_01.object.npy",
+        "index_ref": "camera/frames.jsonl:source_annotation_index"
+      },
+      "unit": "m",
+      "convention": "T_camera_from_part",
+      "data_key": [
+        "parts",
+        "top",
+        "pose",
+        "data"
+      ],
+      "valid_key": [
+        "parts",
+        "top",
+        "pose",
+        "valid"
+      ],
+      "storage": {
+        "profile": "pt/tensor_bundle/v1"
+      },
+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
+      }
+    },
+    "object_espressomachine_joint": {
+      "available": true,
+      "schema_id": "object/joint_state/v1",
+      "data_ref": "annotation/object/espressomachine/object.pt",
+      "axes": [
+        "T",
+        "joint"
+      ],
+      "valid_ref": "annotation/object/espressomachine/object.pt",
+      "valid_axes": [
+        "T",
+        "joint"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "source values retained"
+      },
+      "source_locator": {
+        "archive": "raw/data/raw_seqs.zip",
+        "member": "raw_seqs/s02/espressomachine_grab_01.object.npy",
+        "index_ref": "camera/frames.jsonl:source_annotation_index"
+      },
+      "joint_order": [
+        "hinge"
+      ],
+      "unit": "rad",
+      "data_key": [
+        "joint_state",
+        "data"
+      ],
+      "valid_key": [
+        "joint_state",
+        "valid"
+      ],
+      "storage": {
+        "profile": "pt/tensor_bundle/v1"
+      },
+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
+      }
+    },
+    "object_espressomachine_articulation": {
+      "available": true,
+      "schema_id": "object/articulated/v1",
+      "data_ref": "annotation/object/espressomachine/articulation.json",
+      "axes": [],
+      "valid_ref": "annotation/object/espressomachine/articulation_valid.pt",
+      "valid_axes": [],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "source values retained"
+      },
+      "source_locator": {
+        "archive": "raw/data/raw_seqs.zip",
+        "member": "raw_seqs/s02/espressomachine_grab_01.object.npy",
+        "index_ref": "camera/frames.jsonl:source_annotation_index"
+      },
+      "static": true
+    },
+    "object_espressomachine_mesh": {
+      "available": true,
+      "schema_id": "mesh/obj/v1",
+      "data_ref": "annotation/object/espressomachine/assets/mesh.obj",
+      "axes": [
+        "vertex",
+        "coordinate"
+      ],
+      "valid_ref": "annotation/object/espressomachine/assets/mesh_valid.pt",
+      "valid_axes": [],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Object vertices in metres; topology, material and texture dependencies retained"
+      },
+      "source_locator": {
+        "archive": "raw/data/meta.zip",
+        "member_prefix": "meta/object_vtemplates/espressomachine/"
+      },
+      "static": true,
+      "unit": "m",
+      "coordinate_frame": "object"
+    },
+    "object_espressomachine_keypoints": {
+      "available": true,
+      "schema_id": "object_keypoints/camera/v1",
+      "data_ref": "annotation/object/espressomachine/object.pt",
+      "axes": [
+        "T",
+        "joint",
+        "coordinate"
+      ],
+      "valid_ref": "annotation/object/espressomachine/object.pt",
+      "valid_axes": [
+        "T",
+        "joint"
+      ],
+      "provenance": {
+        "kind": "derived",
+        "method": "Official template keypoints driven by released articulation and camera transforms"
+      },
+      "source_locator": {
+        "archive": "raw/data/meta.zip",
+        "member_prefix": "meta/object_vtemplates/espressomachine/"
+      },
+      "unit": "m",
+      "coordinate_frame": "camera",
+      "keypoint_schema": "arctic_object_keypoints/v1",
+      "keypoint_names": [
+        "top_0",
+        "top_1",
+        "top_2",
+        "top_3",
+        "top_4",
+        "top_5",
+        "top_6",
+        "top_7",
+        "top_8",
+        "top_9",
+        "top_10",
+        "top_11",
+        "top_12",
+        "top_13",
+        "top_14",
+        "top_15",
+        "bottom_0",
+        "bottom_1",
+        "bottom_2",
+        "bottom_3",
+        "bottom_4",
+        "bottom_5",
+        "bottom_6",
+        "bottom_7",
+        "bottom_8",
+        "bottom_9",
+        "bottom_10",
+        "bottom_11",
+        "bottom_12",
+        "bottom_13",
+        "bottom_14",
+        "bottom_15"
+      ],
+      "data_key": [
+        "keypoints",
+        "xyz",
+        "data"
+      ],
+      "valid_key": [
+        "keypoints",
+        "xyz",
+        "valid"
+      ],
+      "storage": {
+        "profile": "pt/tensor_bundle/v1"
+      },
+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
+      }
+    },
+    "rgb": {
+      "available": true,
+      "schema_id": "rgb/uint8/v1",
+      "data_ref": "observation/rgb.mkv",
+      "axes": [
+        "T",
+        "height",
+        "width",
+        "channel"
+      ],
+      "valid_ref": "observation/rgb_valid.pt",
+      "valid_axes": [
+        "T"
+      ],
+      "provenance": {
+        "kind": "format_conversion",
+        "method": "Original JPEG packets copied into MKV; every payload/order/dimension checked; declared deterministic RGB sample checked"
+      },
+      "source_locator": {
+        "archive": "raw/data/images_zips/s02/espressomachine_grab_01.zip",
+        "member_pattern": "{camera_id}/{source_frame_id:05d}.jpg",
+        "camera_id": "7"
+      },
+      "storage": {
+        "profile": "mkv/mjpeg_copy/v1",
+        "codec": "mjpeg",
+        "pixel_format": "yuvj420p",
+        "encoded_size": [
+          2000,
+          2800
+        ],
+        "source_lossy": true,
+        "decoder": {
+          "name": "ffmpeg",
+          "version": "ffmpeg version 7.1-essentials_build-www.gyan.dev Copyright (c) 2000-2024 the FFmpeg developers",
+          "output_pixel_format": "rgb24",
+          "autorotate": false,
+          "source_color_declaration": "unknown",
+          "actual_stream_description": "Stream #0:0: Video: mjpeg (Baseline), yuvj420p(pc, bt470bg/unknown/unknown), 2000x2800 [SAR 1:1 DAR 5:7], 1 fps, 1 tbr, 1k tbn"
+        },
+        "encoder_parameters": {
+          "mode": "stream_copy",
+          "version": "ffmpeg version 7.1-essentials_build-www.gyan.dev Copyright (c) 2000-2024 the FFmpeg developers"
+        }
+      },
+      "storage_fps": 1,
+      "timebase_role": "index_only"
+    }
+  },
+  "pilot": false,
+  "split_scheme": "ARCTIC_protocol_p1",
+  "split_source_locator": {
+    "archive": "raw/data/splits_json.zip",
+    "member": "splits_json/protocol_p1.json",
+    "sequence": "s02/espressomachine_grab_01"
+  },
+  "view_type": "exo",
+  "omitted_components": {
+    "depth": "No depth images in this official raw release",
+    "segment": "No pixel segmentation in this official raw release",
+    "contact": "No source contact labels in selected official raw packages",
+    "keypoints": "No separate measured hand keypoints in raw; MANO available. Render-only joints are not published as additional labels",
+    "visibility": "Not supplied in selected raw annotations; fitting_err is outside current shared scope"
+  },
+  "media_validation_policy": "jpeg-packets-all-rgb-sample16/v1",
+  "pilot_complete": true,
+  "production_complete": true,
+  "pilot_human_review": "approved",
+  "full_output_human_review": "pending",
+  "upload_authorized": false
+}
持久化 QC 结果
{
+  "view": "s02_espressomachine_grab_01/7",
+  "sequence_id": "s02_espressomachine_grab_01",
+  "camera_id": "7",
+  "view_type": "exo",
+  "split": "train",
+  "num_frames": 664,
+  "camera": {
+    "model": "pinhole",
+    "schema_id": "camera/pinhole/v1",
+    "image_size": [
+      2000,
+      2800
+    ]
+  },
+  "numeric_components": {
+    "intrinsic": {
+      "shape": [
+        664,
+        3,
+        3
+      ],
+      "dtype": "torch.float32",
+      "valid_true": 664,
+      "valid_total": 664,
+      "shares_intrinsic_validity": null
+    },
+    "extrinsic": {
+      "shape": [
+        664,
+        4,
+        4
+      ],
+      "dtype": "torch.float32",
+      "valid_true": 664,
+      "valid_total": 664,
+      "shares_intrinsic_validity": null
+    },
+    "mano": {
+      "shape": [
+        664,
+        2,
+        61
+      ],
+      "dtype": "torch.float32",
+      "valid_true": 1326,
+      "valid_total": 1328,
+      "shares_intrinsic_validity": null
+    },
+    "object_espressomachine_root_pose": {
+      "shape": [
+        664,
+        4,
+        4
+      ],
+      "dtype": "torch.float32",
+      "valid_true": 663,
+      "valid_total": 664,
+      "shares_intrinsic_validity": null
+    },
+    "object_espressomachine_bottom_pose": {
+      "shape": [
+        664,
+        4,
+        4
+      ],
+      "dtype": "torch.float32",
+      "valid_true": 663,
+      "valid_total": 664,
+      "shares_intrinsic_validity": null
+    },
+    "object_espressomachine_top_pose": {
+      "shape": [
+        664,
+        4,
+        4
+      ],
+      "dtype": "torch.float32",
+      "valid_true": 663,
+      "valid_total": 664,
+      "shares_intrinsic_validity": null
+    },
+    "object_espressomachine_joint": {
+      "shape": [
+        664,
+        1
+      ],
+      "dtype": "torch.float32",
+      "valid_true": 663,
+      "valid_total": 664,
+      "shares_intrinsic_validity": null
+    },
+    "object_espressomachine_keypoints": {
+      "shape": [
+        664,
+        32,
+        3
+      ],
+      "dtype": "torch.float32",
+      "valid_true": 21216,
+      "valid_total": 21248,
+      "shares_intrinsic_validity": null
+    }
+  },
+  "bundle_files": 3,
+  "bundles": [
+    "annotation/mano/mano.pt",
+    "annotation/object/espressomachine/object.pt",
+    "camera/camera.pt"
+  ],
+  "media": [
+    {
+      "component": "object_espressomachine_articulation",
+      "ref": "annotation/object/espressomachine/articulation.json",
+      "pixels_decoded": 0
+    },
+    {
+      "component": "object_espressomachine_mesh",
+      "ref": "annotation/object/espressomachine/assets/mesh.obj",
+      "pixels_decoded": 0
+    },
+    {
+      "component": "rgb",
+      "ref": "observation/rgb.mkv",
+      "pixels_decoded": 6
+    }
+  ],
+  "consumed_files": [
+    "annotation/mano/mano.pt",
+    "annotation/object/espressomachine/articulation.json",
+    "annotation/object/espressomachine/articulation_valid.pt",
+    "annotation/object/espressomachine/assets/mesh.obj",
+    "annotation/object/espressomachine/assets/mesh_valid.pt",
+    "annotation/object/espressomachine/object.pt",
+    "camera/camera.pt",
+    "observation/rgb.mkv",
+    "observation/rgb_valid.pt"
+  ],
+  "registry_gaps": [
+    {
+      "kind": "keypoint_schema_unregistered",
+      "schema": "arctic_object_keypoints/v1",
+      "resolved_from": "component.keypoint_names",
+      "count": 32
+    }
+  ],
+  "selected_frames": [
+    0,
+    1,
+    166,
+    332,
+    498,
+    663
+  ],
+  "decode_scope": "ffmpeg select= demux filter over the preserved MKV; only the frames listed in selected_frames are decoded, each checked against height*width*3 bytes",
+  "projection": {
+    "model": "pinhole",
+    "calibrated": true,
+    "points": 160,
+    "inside": 160,
+    "off_image": 0,
+    "frames": {
+      "0": {
+        "annotated": false,
+        "valid_points": 0,
+        "inside_points": 0,
+        "inside_ratio": null,
+        "mostly_out_of_frame": false
+      },
+      "1": {
+        "annotated": true,
+        "valid_points": 32,
+        "inside_points": 32,
+        "inside_ratio": 1.0,
+        "mostly_out_of_frame": false
+      },
+      "166": {
+        "annotated": true,
+        "valid_points": 32,
+        "inside_points": 32,
+        "inside_ratio": 1.0,
+        "mostly_out_of_frame": false
+      },
+      "332": {
+        "annotated": true,
+        "valid_points": 32,
+        "inside_points": 32,
+        "inside_ratio": 1.0,
+        "mostly_out_of_frame": false
+      },
+      "498": {
+        "annotated": true,
+        "valid_points": 32,
+        "inside_points": 32,
+        "inside_ratio": 1.0,
+        "mostly_out_of_frame": false
+      },
+      "663": {
+        "annotated": true,
+        "valid_points": 32,
+        "inside_points": 32,
+        "inside_ratio": 1.0,
+        "mostly_out_of_frame": false
+      }
+    },
+    "coordinate_frame": "camera",
+    "scope": "saved camera-frame xyz through the view's own intrinsic and distortion; not a media pixel comparison",
+    "out_of_frame_rule": "a sampled frame is marked 物体大部分落在画外 when fewer than half of its valid object keypoints land inside the image; every annotated frame's valid_points / inside_points / inside_ratio is recorded in projection.frames either way",
+    "note": "ARCTIC publishes no 2D keypoints and no uv series, so the published projection_qc (saved xyz against saved uv) has no second series here; this counts what the release's own camera-frame geometry projects to."
+  },
+  "omitted_components": {
+    "depth": "No depth images in this official raw release",
+    "segment": "No pixel segmentation in this official raw release",
+    "contact": "No source contact labels in selected official raw packages",
+    "keypoints": "No separate measured hand keypoints in raw; MANO available. Render-only joints are not published as additional labels",
+    "visibility": "Not supplied in selected raw annotations; fitting_err is outside current shared scope"
+  },
+  "source_hand_object_gt_available": null,
+  "scope": "v1.1 registry, keys, shapes, validity and timeline; not a media pixel comparison",
+  "geometry_panels": {
+    "keypoint_panels": 5,
+    "axis_panels": 10,
+    "mano_panels": 5,
+    "note_panels": 6,
+    "frames_noted": 6,
+    "frames_mostly_out_of_frame": 0,
+    "frames_mostly_out_of_frame_list": []
+  }
+}
\ No newline at end of file diff --git a/ARCTIC/shared-v1.1/doc/validation/s02_espressomachine_grab_01_7.report.json b/ARCTIC/shared-v1.1/doc/validation/s02_espressomachine_grab_01_7.report.json new file mode 100644 index 0000000000000000000000000000000000000000..f5bc040235af7cd5e8b413591ef3aef90b41d359 --- /dev/null +++ b/ARCTIC/shared-v1.1/doc/validation/s02_espressomachine_grab_01_7.report.json @@ -0,0 +1,229 @@ +{ + "view": "s02_espressomachine_grab_01/7", + "sequence_id": "s02_espressomachine_grab_01", + "camera_id": "7", + "view_type": "exo", + "split": "train", + "num_frames": 664, + "camera": { + "model": "pinhole", + "schema_id": "camera/pinhole/v1", + "image_size": [ + 2000, + 2800 + ] + }, + "numeric_components": { + "intrinsic": { + "shape": [ + 664, + 3, + 3 + ], + "dtype": "torch.float32", + "valid_true": 664, + "valid_total": 664, + "shares_intrinsic_validity": null + }, + "extrinsic": { + "shape": [ + 664, + 4, + 4 + ], + "dtype": "torch.float32", + "valid_true": 664, + "valid_total": 664, + "shares_intrinsic_validity": null + }, + "mano": { + "shape": [ + 664, + 2, + 61 + ], + "dtype": "torch.float32", + "valid_true": 1326, + "valid_total": 1328, + "shares_intrinsic_validity": null + }, + "object_espressomachine_root_pose": { + "shape": [ + 664, + 4, + 4 + ], + "dtype": "torch.float32", + "valid_true": 663, + "valid_total": 664, + "shares_intrinsic_validity": null + }, + "object_espressomachine_bottom_pose": { + "shape": [ + 664, + 4, + 4 + ], + "dtype": "torch.float32", + "valid_true": 663, + "valid_total": 664, + "shares_intrinsic_validity": null + }, + "object_espressomachine_top_pose": { + "shape": [ + 664, + 4, + 4 + ], + "dtype": "torch.float32", + "valid_true": 663, + "valid_total": 664, + "shares_intrinsic_validity": null + }, + "object_espressomachine_joint": { + "shape": [ + 664, + 1 + ], + "dtype": "torch.float32", + "valid_true": 663, + "valid_total": 664, + "shares_intrinsic_validity": null + }, + "object_espressomachine_keypoints": { + "shape": [ + 664, + 32, + 3 + ], + "dtype": "torch.float32", + "valid_true": 21216, + "valid_total": 21248, + "shares_intrinsic_validity": null + } + }, + "bundle_files": 3, + "bundles": [ + "annotation/mano/mano.pt", + "annotation/object/espressomachine/object.pt", + "camera/camera.pt" + ], + "media": [ + { + "component": "object_espressomachine_articulation", + "ref": "annotation/object/espressomachine/articulation.json", + "pixels_decoded": 0 + }, + { + "component": "object_espressomachine_mesh", + "ref": "annotation/object/espressomachine/assets/mesh.obj", + "pixels_decoded": 0 + }, + { + "component": "rgb", + "ref": "observation/rgb.mkv", + "pixels_decoded": 6 + } + ], + "consumed_files": [ + "annotation/mano/mano.pt", + "annotation/object/espressomachine/articulation.json", + "annotation/object/espressomachine/articulation_valid.pt", + "annotation/object/espressomachine/assets/mesh.obj", + "annotation/object/espressomachine/assets/mesh_valid.pt", + "annotation/object/espressomachine/object.pt", + "camera/camera.pt", + "observation/rgb.mkv", + "observation/rgb_valid.pt" + ], + "registry_gaps": [ + { + "kind": "keypoint_schema_unregistered", + "schema": "arctic_object_keypoints/v1", + "resolved_from": "component.keypoint_names", + "count": 32 + } + ], + "selected_frames": [ + 0, + 1, + 166, + 332, + 498, + 663 + ], + "decode_scope": "ffmpeg select= demux filter over the preserved MKV; only the frames listed in selected_frames are decoded, each checked against height*width*3 bytes", + "projection": { + "model": "pinhole", + "calibrated": true, + "points": 160, + "inside": 160, + "off_image": 0, + "frames": { + "0": { + "annotated": false, + "valid_points": 0, + "inside_points": 0, + "inside_ratio": null, + "mostly_out_of_frame": false + }, + "1": { + "annotated": true, + "valid_points": 32, + "inside_points": 32, + "inside_ratio": 1.0, + "mostly_out_of_frame": false + }, + "166": { + "annotated": true, + "valid_points": 32, + "inside_points": 32, + "inside_ratio": 1.0, + "mostly_out_of_frame": false + }, + "332": { + "annotated": true, + "valid_points": 32, + "inside_points": 32, + "inside_ratio": 1.0, + "mostly_out_of_frame": false + }, + "498": { + "annotated": true, + "valid_points": 32, + "inside_points": 32, + "inside_ratio": 1.0, + "mostly_out_of_frame": false + }, + "663": { + "annotated": true, + "valid_points": 32, + "inside_points": 32, + "inside_ratio": 1.0, + "mostly_out_of_frame": false + } + }, + "coordinate_frame": "camera", + "scope": "saved camera-frame xyz through the view's own intrinsic and distortion; not a media pixel comparison", + "out_of_frame_rule": "a sampled frame is marked 物体大部分落在画外 when fewer than half of its valid object keypoints land inside the image; every annotated frame's valid_points / inside_points / inside_ratio is recorded in projection.frames either way", + "note": "ARCTIC publishes no 2D keypoints and no uv series, so the published projection_qc (saved xyz against saved uv) has no second series here; this counts what the release's own camera-frame geometry projects to." + }, + "omitted_components": { + "depth": "No depth images in this official raw release", + "segment": "No pixel segmentation in this official raw release", + "contact": "No source contact labels in selected official raw packages", + "keypoints": "No separate measured hand keypoints in raw; MANO available. Render-only joints are not published as additional labels", + "visibility": "Not supplied in selected raw annotations; fitting_err is outside current shared scope" + }, + "source_hand_object_gt_available": null, + "scope": "v1.1 registry, keys, shapes, validity and timeline; not a media pixel comparison", + "geometry_panels": { + "keypoint_panels": 5, + "axis_panels": 10, + "mano_panels": 5, + "note_panels": 6, + "frames_noted": 6, + "frames_mostly_out_of_frame": 0, + "frames_mostly_out_of_frame_list": [] + } +} \ No newline at end of file