Datasets:

rooty2020
/

VP-WorldBench

{
 "clip": "C019",
 "views": [
  "22640992",
  "22684751",
  "22645025",
  "22684252"
 ],
 "fps": 15.0,
 "frames_full": [
  0,
  149
 ],
 "cond_frame": 16,
 "eval_frames": [
  16,
  80
 ],
 "prompt": "A person works in a robotics lab, moving around a desk with monitors, keyboards and white robot arms. The camera is static on a tripod and does not move.",
 "cameras": [
  {
   "view": 0,
   "serial": "22640992",
   "file": "view0_22640992",
   "K_undistort_2048x1536": [
    [
     1060.9857798894272,
     0.0,
     1037.550254739037
    ],
    [
     0.0,
     1050.683540281349,
     768.6659745951596
    ],
    [
     0.0,
     0.0,
     1.0
    ]
   ],
   "K_1024x768": [
    [
     530.4928899447136,
     0.0,
     518.7751273695185
    ],
    [
     0.0,
     525.3417701406745,
     384.3329872975798
    ],
    [
     0.0,
     0.0,
     1.0
    ]
   ],
   "K_eval_480x480": [
    [
     248.66854216158453,
     0.0,
     243.1758409544618
    ],
    [
     0.0,
     328.33860633792153,
     240.20811706098738
    ],
    [
     0.0,
     0.0,
     1.0
    ]
   ],
   "T_cam_from_world": [
    [
     0.9895865867767047,
     0.1415010011722984,
     -0.026379043554850753,
     0.10560650885067777
    ],
    [
     0.07968284256927591,
     -0.6911671299043662,
     -0.7182886906668111,
     1.0368027679082148
    ],
    [
     -0.11987089668352156,
     0.7087068965425687,
     -0.6952449229741202,
     2.175785025507491
    ],
    [
     0.0,
     0.0,
     0.0,
     1.0
    ]
   ],
   "native_wh": [
    2048,
    1536
   ]
  },
  {
   "view": 1,
   "serial": "22684751",
   "file": "view1_22684751",
   "K_undistort_2048x1536": [
    [
     1060.4218402533063,
     0.0,
     1020.6897384194554
    ],
    [
     0.0,
     1048.909954666966,
     769.1504567731555
    ],
    [
     0.0,
     0.0,
     1.0
    ]
   ],
   "K_1024x768": [
    [
     530.2109201266531,
     0.0,
     510.3448692097277
    ],
    [
     0.0,
     524.454977333483,
     384.57522838657775
    ],
    [
     0.0,
     0.0,
     1.0
    ]
   ],
   "K_eval_480x480": [
    [
     248.53636880936867,
     0.0,
     239.22415744205983
    ],
    [
     0.0,
     327.7843608334269,
     240.35951774161109
    ],
    [
     0.0,
     0.0,
     1.0
    ]
   ],
   "T_cam_from_world": [
    [
     -0.6345207807591338,
     0.7728606751933218,
     -0.008351977283377221,
     -0.5931541113679426
    ],
    [
     0.4363794030423993,
     0.3493080030045359,
     -0.8291905303591826,
     -0.48186104332807367
    ],
    [
     -0.6379313406513106,
     -0.5297832535827326,
     -0.5589036668676595,
     3.9948351086021683
    ],
    [
     0.0,
     0.0,
     0.0,
     1.0
    ]
   ],
   "native_wh": [
    2048,
    1536
   ]
  },
  {
   "view": 2,
   "serial": "22645025",
   "file": "view2_22645025",
   "K_undistort_2048x1536": [
    [
     1072.6171081497816,
     0.0,
     1024.7142244848721
    ],
    [
     0.0,
     1059.255055463533,
     772.8642226535437
    ],
    [
     0.0,
     0.0,
     1.0
    ]
   ],
   "K_1024x768": [
    [
     536.3085540748908,
     0.0,
     512.3571122424361
    ],
    [
     0.0,
     529.6275277317665,
     386.43211132677186
    ],
    [
     0.0,
     0.0,
     1.0
    ]
   ],
   "K_eval_480x480": [
    [
     251.39463472260508,
     0.0,
     240.1673963636419
    ],
    [
     0.0,
     331.017204832354,
     241.52006957923243
    ],
    [
     0.0,
     0.0,
     1.0
    ]
   ],
   "T_cam_from_world": [
    [
     0.38373120830507623,
     -0.9023758909303151,
     -0.1961328917862741,
     2.694628962569761
    ],
    [
     -0.7246763594593876,
     -0.1626210461056854,
     -0.6696256935065894,
     0.292763397727724
    ],
    [
     0.5723587457298216,
     0.3990891464713273,
     -0.7163332460212724,
     2.237182796945605
    ],
    [
     0.0,
     0.0,
     0.0,
     1.0
    ]
   ],
   "native_wh": [
    2048,
    1536
   ]
  },
  {
   "view": 3,
   "serial": "22684252",
   "file": "view3_22684252",
   "K_undistort_2048x1536": [
    [
     1067.60019779383,
     0.0,
     1040.899260886375
    ],
    [
     0.0,
     1056.5487905192192,
     789.0384267310702
    ],
    [
     0.0,
     0.0,
     1.0
    ]
   ],
   "K_1024x768": [
    [
     533.800098896915,
     0.0,
     520.4496304431875
    ],
    [
     0.0,
     528.2743952596096,
     394.5192133655351
    ],
    [
     0.0,
     0.0,
     1.0
    ]
   ],
   "K_eval_480x480": [
    [
     250.21879635792888,
     0.0,
     243.96076427024414
    ],
    [
     0.0,
     330.171497037256,
     246.57450835345944
    ],
    [
     0.0,
     0.0,
     1.0
    ]
   ],
   "T_cam_from_world": [
    [
     -0.8971236241496854,
     0.44063474415903364,
     0.03178404053039793,
     -2.1053691306683464
    ],
    [
     0.02711541313852367,
     0.12673051407355085,
     -0.9915665036562001,
     0.9426437391597408
    ],
    [
     -0.4409466604509691,
     -0.8886958979552887,
     -0.12564093120707676,
     2.552602446100533
    ],
    [
     0.0,
     0.0,
     0.0,
     1.0
    ]
   ],
   "native_wh": [
    2048,
    1536
   ]
  }
 ],
 "gt": {
  "files": [
   "depth_cond.npz",
   "orhtrack.npz",
   "wholebody.npz"
  ],
  "delta_rule": "union of orhtrack (+orhtrack_q16) and wholebody points; wholebody frames kept where valid & err_p90_mm <= 20; query = valid at frame 16 & visible in >= 1 view"
 },
 "conventions": {
  "world": "orhsurf world, metres, z up",
  "w2c": "OpenCV x right, y down, z forward",
  "eval_grid": "undistorted to K_undistort, then 2048x1536 squashed to 480x480"
 }
}

	{
	"clip": "C019",
	"views": [
	"22640992",
	"22684751",
	"22645025",
	"22684252"
	],
	"fps": 15.0,
	"frames_full": [
	0,
	149
	],
	"cond_frame": 16,
	"eval_frames": [
	16,
	80
	],
	"prompt": "A person works in a robotics lab, moving around a desk with monitors, keyboards and white robot arms. The camera is static on a tripod and does not move.",
	"cameras": [
	{
	"view": 0,
	"serial": "22640992",
	"file": "view0_22640992",
	"K_undistort_2048x1536": [
	[
	1060.9857798894272,
	0.0,
	1037.550254739037
	],
	[
	0.0,
	1050.683540281349,
	768.6659745951596
	],
	[
	0.0,
	0.0,
	1.0
	]
	],
	"K_1024x768": [
	[
	530.4928899447136,
	0.0,
	518.7751273695185
	],
	[
	0.0,
	525.3417701406745,
	384.3329872975798
	],
	[
	0.0,
	0.0,
	1.0
	]
	],
	"K_eval_480x480": [
	[
	248.66854216158453,
	0.0,
	243.1758409544618
	],
	[
	0.0,
	328.33860633792153,
	240.20811706098738
	],
	[
	0.0,
	0.0,
	1.0
	]
	],
	"T_cam_from_world": [
	[
	0.9895865867767047,
	0.1415010011722984,
	-0.026379043554850753,
	0.10560650885067777
	],
	[
	0.07968284256927591,
	-0.6911671299043662,
	-0.7182886906668111,
	1.0368027679082148
	],
	[
	-0.11987089668352156,
	0.7087068965425687,
	-0.6952449229741202,
	2.175785025507491
	],
	[
	0.0,
	0.0,
	0.0,
	1.0
	]
	],
	"native_wh": [
	2048,
	1536
	]
	},
	{
	"view": 1,
	"serial": "22684751",
	"file": "view1_22684751",
	"K_undistort_2048x1536": [
	[
	1060.4218402533063,
	0.0,
	1020.6897384194554
	],
	[
	0.0,
	1048.909954666966,
	769.1504567731555
	],
	[
	0.0,
	0.0,
	1.0
	]
	],
	"K_1024x768": [
	[
	530.2109201266531,
	0.0,
	510.3448692097277
	],
	[
	0.0,
	524.454977333483,
	384.57522838657775
	],
	[
	0.0,
	0.0,
	1.0
	]
	],
	"K_eval_480x480": [
	[
	248.53636880936867,
	0.0,
	239.22415744205983
	],
	[
	0.0,
	327.7843608334269,
	240.35951774161109
	],
	[
	0.0,
	0.0,
	1.0
	]
	],
	"T_cam_from_world": [
	[
	-0.6345207807591338,
	0.7728606751933218,
	-0.008351977283377221,
	-0.5931541113679426
	],
	[
	0.4363794030423993,
	0.3493080030045359,
	-0.8291905303591826,
	-0.48186104332807367
	],
	[
	-0.6379313406513106,
	-0.5297832535827326,
	-0.5589036668676595,
	3.9948351086021683
	],
	[
	0.0,
	0.0,
	0.0,
	1.0
	]
	],
	"native_wh": [
	2048,
	1536
	]
	},
	{
	"view": 2,
	"serial": "22645025",
	"file": "view2_22645025",
	"K_undistort_2048x1536": [
	[
	1072.6171081497816,
	0.0,
	1024.7142244848721
	],
	[
	0.0,
	1059.255055463533,
	772.8642226535437
	],
	[
	0.0,
	0.0,
	1.0
	]
	],
	"K_1024x768": [
	[
	536.3085540748908,
	0.0,
	512.3571122424361
	],
	[
	0.0,
	529.6275277317665,
	386.43211132677186
	],
	[
	0.0,
	0.0,
	1.0
	]
	],
	"K_eval_480x480": [
	[
	251.39463472260508,
	0.0,
	240.1673963636419
	],
	[
	0.0,
	331.017204832354,
	241.52006957923243
	],
	[
	0.0,
	0.0,
	1.0
	]
	],
	"T_cam_from_world": [
	[
	0.38373120830507623,
	-0.9023758909303151,
	-0.1961328917862741,
	2.694628962569761
	],
	[
	-0.7246763594593876,
	-0.1626210461056854,
	-0.6696256935065894,
	0.292763397727724
	],
	[
	0.5723587457298216,
	0.3990891464713273,
	-0.7163332460212724,
	2.237182796945605
	],
	[
	0.0,
	0.0,
	0.0,
	1.0
	]
	],
	"native_wh": [
	2048,
	1536
	]
	},
	{
	"view": 3,
	"serial": "22684252",
	"file": "view3_22684252",
	"K_undistort_2048x1536": [
	[
	1067.60019779383,
	0.0,
	1040.899260886375
	],
	[
	0.0,
	1056.5487905192192,
	789.0384267310702
	],
	[
	0.0,
	0.0,
	1.0
	]
	],
	"K_1024x768": [
	[
	533.800098896915,
	0.0,
	520.4496304431875
	],
	[
	0.0,
	528.2743952596096,
	394.5192133655351
	],
	[
	0.0,
	0.0,
	1.0
	]
	],
	"K_eval_480x480": [
	[
	250.21879635792888,
	0.0,
	243.96076427024414
	],
	[
	0.0,
	330.171497037256,
	246.57450835345944
	],
	[
	0.0,
	0.0,
	1.0
	]
	],
	"T_cam_from_world": [
	[
	-0.8971236241496854,
	0.44063474415903364,
	0.03178404053039793,
	-2.1053691306683464
	],
	[
	0.02711541313852367,
	0.12673051407355085,
	-0.9915665036562001,
	0.9426437391597408
	],
	[
	-0.4409466604509691,
	-0.8886958979552887,
	-0.12564093120707676,
	2.552602446100533
	],
	[
	0.0,
	0.0,
	0.0,
	1.0
	]
	],
	"native_wh": [
	2048,
	1536
	]
	}
	],
	"gt": {
	"files": [
	"depth_cond.npz",
	"orhtrack.npz",
	"wholebody.npz"
	],
	"delta_rule": "union of orhtrack (+orhtrack_q16) and wholebody points; wholebody frames kept where valid & err_p90_mm <= 20; query = valid at frame 16 & visible in >= 1 view"
	},
	"conventions": {
	"world": "orhsurf world, metres, z up",
	"w2c": "OpenCV x right, y down, z forward",
	"eval_grid": "undistorted to K_undistort, then 2048x1536 squashed to 480x480"
	}
	}