Real-General/C034/source/package_meta.json

{
 "clip": "C034",
 "views": [
  "22640993",
  "22682527",
  "22684259",
  "22684751"
 ],
 "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": "22640993",
   "file": "view0_22640993",
   "K_undistort_2048x1536": [
    [
     1064.4474440981849,
     0.0,
     1051.2667157020119
    ],
    [
     0.0,
     1060.348841077481,
     764.9479105972847
    ],
    [
     0.0,
     0.0,
     1.0
    ]
   ],
   "K_1024x768": [
    [
     532.2237220490924,
     0.0,
     525.6333578510059
    ],
    [
     0.0,
     530.1744205387405,
     382.47395529864235
    ],
    [
     0.0,
     0.0,
     1.0
    ]
   ],
   "K_eval_480x480": [
    [
     249.47986971051208,
     0.0,
     246.39063649265904
    ],
    [
     0.0,
     331.3590128367128,
     239.04622206165146
    ],
    [
     0.0,
     0.0,
     1.0
    ]
   ],
   "T_cam_from_world": [
    [
     0.9721491232199968,
     -0.18712161828638946,
     0.14110840581791836,
     0.26859794646158025
    ],
    [
     0.1102677379464842,
     -0.16609044421463937,
     -0.979926012670727,
     1.6226164004969579
    ],
    [
     0.206802099096593,
     0.968193918753091,
     -0.1408312021491558,
     1.2092106838450172
    ],
    [
     0.0,
     0.0,
     0.0,
     1.0
    ]
   ],
   "native_wh": [
    2048,
    1536
   ]
  },
  {
   "view": 1,
   "serial": "22682527",
   "file": "view1_22682527",
   "K_undistort_2048x1536": [
    [
     1064.7728303705221,
     0.0,
     1054.1140242977824
    ],
    [
     0.0,
     1057.7174101998978,
     783.732471492436
    ],
    [
     0.0,
     0.0,
     1.0
    ]
   ],
   "K_1024x768": [
    [
     532.3864151852611,
     0.0,
     527.0570121488912
    ],
    [
     0.0,
     528.8587050999489,
     391.866235746218
    ],
    [
     0.0,
     0.0,
     1.0
    ]
   ],
   "K_eval_480x480": [
    [
     249.5561321180911,
     0.0,
     247.05797444479276
    ],
    [
     0.0,
     330.5366906874681,
     244.91639734138627
    ],
    [
     0.0,
     0.0,
     1.0
    ]
   ],
   "T_cam_from_world": [
    [
     -0.07415936584162841,
     -0.9965049440009383,
     -0.038448472526942334,
     2.562587481243812
    ],
    [
     -0.5031975860937775,
     0.07067859457259562,
     -0.8612762191182561,
     0.12634426627541867
    ],
    [
     0.8609834945034449,
     -0.04452451965973475,
     -0.5066803621038685,
     2.7121443004384638
    ],
    [
     0.0,
     0.0,
     0.0,
     1.0
    ]
   ],
   "native_wh": [
    2048,
    1536
   ]
  },
  {
   "view": 2,
   "serial": "22684259",
   "file": "view2_22684259",
   "K_undistort_2048x1536": [
    [
     1073.9103211646648,
     0.0,
     1038.6461373018828
    ],
    [
     0.0,
     1064.4058879106037,
     780.8586067432151
    ],
    [
     0.0,
     0.0,
     1.0
    ]
   ],
   "K_1024x768": [
    [
     536.9551605823324,
     0.0,
     519.3230686509414
    ],
    [
     0.0,
     532.2029439553019,
     390.42930337160755
    ],
    [
     0.0,
     0.0,
     1.0
    ]
   ],
   "K_eval_480x480": [
    [
     251.6977315229683,
     0.0,
     243.4326884301288
    ],
    [
     0.0,
     332.62683997206364,
     244.01831460725472
    ],
    [
     0.0,
     0.0,
     1.0
    ]
   ],
   "T_cam_from_world": [
    [
     0.743254947142039,
     0.6574303136298258,
     -0.12392524468191995,
     -0.7554602362489059
    ],
    [
     0.16871246732068096,
     -0.3634426956612822,
     -0.9162125901454472,
     1.036889606272748
    ],
    [
     -0.6473856554785973,
     0.6600718064658193,
     -0.38104727185678344,
     2.6471643487233663
    ],
    [
     0.0,
     0.0,
     0.0,
     1.0
    ]
   ],
   "native_wh": [
    2048,
    1536
   ]
  },
  {
   "view": 3,
   "serial": "22684751",
   "file": "view3_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
   ]
  }
 ],
 "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"
 }
}