| { |
| "schema": "vpm-worldbench/sample/1.0", |
| "uid": "Simul-General/clip_00044", |
| "subset": "Simul-General", |
| "id": "clip_00044", |
| "source": { |
| "dataset": "HyperWorld-Bench-General", |
| "repo": "hf:rooty2020/HyperWorld-Bench-General", |
| "revision": "ca94a48704dc230bf39202f3c672f356aacb21c7", |
| "id": "clip_00044", |
| "path": "bench_people&car/clip_00044" |
| }, |
| "n_views": 4, |
| "n_frames": 100, |
| "fps": 15.0, |
| "duration_s": 6.6667, |
| "views": [ |
| { |
| "name": "view0", |
| "video": "videos/view0.mp4", |
| "width": 1280, |
| "height": 1280, |
| "source_name": "cam01", |
| "role": null, |
| "static": false, |
| "hfov_deg": 30.182, |
| "motion_kind_rel_anchor": "translation", |
| "max_travel_m": 18.6896, |
| "max_rotation_deg": 75.197 |
| }, |
| { |
| "name": "view1", |
| "video": "videos/view1.mp4", |
| "width": 1280, |
| "height": 1280, |
| "source_name": "cam02", |
| "role": null, |
| "static": false, |
| "hfov_deg": 41.136, |
| "motion_kind_rel_anchor": "arc", |
| "max_travel_m": 36.1884, |
| "max_rotation_deg": 42.656 |
| }, |
| { |
| "name": "view2", |
| "video": "videos/view2.mp4", |
| "width": 1280, |
| "height": 1280, |
| "source_name": "cam03", |
| "role": null, |
| "static": false, |
| "hfov_deg": 73.12, |
| "motion_kind_rel_anchor": "arc", |
| "max_travel_m": 44.3393, |
| "max_rotation_deg": 85.327 |
| }, |
| { |
| "name": "view3", |
| "video": "videos/view3.mp4", |
| "width": 1280, |
| "height": 1280, |
| "source_name": "cam04", |
| "role": null, |
| "static": false, |
| "hfov_deg": 51.378, |
| "motion_kind_rel_anchor": "arc", |
| "max_travel_m": 54.5587, |
| "max_rotation_deg": 50.781 |
| } |
| ], |
| "world": { |
| "description": "CARLA Town10HD_x6 map frame as delivered by the vendor in right-handed metres (X_ue/100, -Y_ue/100, Z_ue/100), +z up, ground at z ~ 0, recentred per sample: X = X_source - o with o = (x, y, 0) of the target surface-point centroid at frame 0.", |
| "units": "m", |
| "handedness": "right", |
| "up": "+z", |
| "origin_in_source": [ |
| 396.8518412465517, |
| 517.6823332384887, |
| 0.0 |
| ], |
| "to_source": { |
| "note": "X_source = A @ X + b; source = vendor right-handed metre world of cameras.json extrinsic_w2c / c2w", |
| "A": [ |
| [ |
| 1.0, |
| 0.0, |
| 0.0 |
| ], |
| [ |
| 0.0, |
| 1.0, |
| 0.0 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "b": [ |
| 396.8518412465517, |
| 517.6823332384887, |
| 0.0 |
| ], |
| "source_units": "m" |
| }, |
| "to_ue_cm": { |
| "note": "X_ue = A @ X + b; Unreal/CARLA left-handed centimetre world of ue_pose.location_cm and visibility.json *_cm", |
| "A": [ |
| [ |
| 100.0, |
| 0.0, |
| 0.0 |
| ], |
| [ |
| 0.0, |
| -100.0, |
| 0.0 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 100.0 |
| ] |
| ], |
| "b": [ |
| 39685.18412465517, |
| -51768.23332384887, |
| 0.0 |
| ], |
| "source_units": "cm" |
| } |
| }, |
| "files": { |
| "cameras": "cameras.npz", |
| "tracks3d": "tracks3d.npz", |
| "captions": "captions.json", |
| "depth": "depth/depth.zip", |
| "labels": { |
| "target": "labels/target.npz", |
| "oos_segments": "labels/oos_segments.json" |
| } |
| }, |
| "tracks": { |
| "n_points": 256, |
| "groups": [ |
| "target" |
| ], |
| "visible_outside_frustum_dropped": 0, |
| "default_report_group": "target", |
| "visibility_rule": "visible = in_frustum AND depth test against depth.zip of that view and frame at the nearest pixel (rint(u), rint(v)) of the native 1280x1280 grid, (u, v) projected with the stored K (OpenCV pixel centres, cx = cy = 639.5; = floor(u), floor(v) with K_delivered): |D - z| <= clip(0.02 z, 0.05 m, 0.15 m), D = planar depth in metres, 65535 (sky) never passes. Strict rule: area-sampled points on the far side or inside the target (vehicle interior/glass, eyes) fail it; the tolerance is 2 % of the distance, at least 5 cm and at most 15 cm. in_frustum = recomputed with the stored K (valid, z > 0.05 m and -0.5 <= u, v < 1279.5, i.e. the vendor in_frustum_cam rule z > 0 and 0 <= u, v < 1280 with the delivered K; agreement with in_frustum_cam in stats). The legacy pre-release protocol used the vendor in_frustum_cam alone (frustum-only).", |
| "accuracy": "exact simulator GT: 256 triangle-area-weighted surface points moved by linear blend skinning of the CARLA bone transforms (rigid propagation for unskinned vehicle parts); no cloth/hair secondary motion; other traffic is untracked. Stored as float32 (< 4e-6 m rounding within 100 m of the origin). Depth is quantised to 1 cm. K = delivered intrinsics with cx = cy = 640 - 0.5 = 639.5: the vendor uses the CARLA/UE pixel-corner convention (depth-vs-track residuals are lowest with the corrected K); cameras.npz K_delivered keeps the delivered matrix (pre-release numbers used 640, docs/DATA_FORMAT.md §1).", |
| "depth_test": { |
| "pixel": "rint", |
| "K": "cameras.npz K (OpenCV pixel centres)", |
| "tol_rel": 0.02, |
| "tol_min_m": 0.05, |
| "tol_max_m": 0.15, |
| "grid": [ |
| 1280, |
| 1280 |
| ], |
| "invalid_values": [ |
| 65535 |
| ] |
| }, |
| "stats": { |
| "n_in_frustum": 76906, |
| "n_visible": 17407, |
| "visible_frac_of_in_frustum": 0.2263, |
| "in_frustum_sky_hits": 0, |
| "n_visible_other_pixel_rule": { |
| "rint_K_delivered": 17185 |
| }, |
| "visible_abs_dz_m": { |
| "median": 0.022893, |
| "p90": 0.109578 |
| }, |
| "in_frustum_recomputed_agreement": 1.0, |
| "in_frustum_recomputed_mismatches": 0 |
| }, |
| "part_note": "part = vendor point_section (mesh section / material slot, '<mesh>/<material>'; a name that occurs more than once gets '#<section index>' appended, codes unchanged); component = mesh component (doors, glass, lights for vehicles); point_skinned = driven by bone skinning (else rigid).", |
| "extras": { |
| "component": "(N,) int16 index into component_names: mesh component of the point (e.g. body, doors, glass, lights for vehicles)", |
| "component_names": "(C,) str component names", |
| "component_mesh_names": "(C,) str mesh file of each component", |
| "point_skinned": "(N,) bool, moved by bone skinning (else rigid with its component)" |
| } |
| }, |
| "depth": { |
| "file": "depth/depth.zip", |
| "member": "{source_view}/frame_{t:04d}.png", |
| "view_member_names": [ |
| "cam01", |
| "cam02", |
| "cam03", |
| "cam04" |
| ], |
| "dtype": "uint16", |
| "unit_scale": 0.01, |
| "invalid_values": [ |
| 65535 |
| ], |
| "valid_max_m": 655.34, |
| "width": 1280, |
| "height": 1280, |
| "kind": "rendered (synthetic GT)", |
| "planar_z": true, |
| "note": "CARLA sensor.camera.depth decoded by the vendor to linear planar z in cm, lossless 16-bit grayscale PNG, pixel-aligned with the RGB video; 65535 = sky/far clamp (no zeros occur). The pre-release loader additionally discarded depth > 80 m." |
| }, |
| "caption": "A large black SUV with chrome-accented wheels drives along a curving city street lined with palm trees, passing between the roadway and a paved plaza before continuing on down the wide boulevard, amid tall glass office towers, low historic-style buildings, and bright midday sunlight casting sharp shadows.", |
| "attributes": { |
| "category": "vehicle", |
| "subcategory": "car", |
| "semantic_tag": 14, |
| "blueprint": "vehicle.nissan.patrol", |
| "difficulty": "normal", |
| "hard_relay_k": null, |
| "camera_motion_kinds": [ |
| "translation", |
| "arc", |
| "arc", |
| "arc" |
| ], |
| "all_cameras_moving": true, |
| "map": "Town10HD_x6", |
| "tile": 4, |
| "rotation_only_views": [], |
| "oos_departed_views": [ |
| "view1", |
| "view2" |
| ], |
| "n_frames_target_invisible_all_views": 0, |
| "n_default_queries_at_ref_frame": 108, |
| "visible_frac_of_in_frustum": 0.2263, |
| "quality_ok": true, |
| "abort": null, |
| "source_frame_range": [ |
| 10993, |
| 11092 |
| ], |
| "flag_rules": { |
| "quality_ok_false": "the vendor capture gate .capture_done quality_ok is false", |
| "target_not_visible_in_view_at_ref_frame": "at frame 16 the target is not visible in that view by either trigger: (a) the vendor target state (labels/target.npz state_strict) is not 'visible' (instance mask < 300 px, out of frustum or absent), or (b) the view has zero visible GT track points (tracks3d visible, depth test)", |
| "target_invisible_all_views_some_frames": "at some frame the vendor target state (state_strict) is not 'visible' in any view", |
| "caption_mentions_leaving_view": "the caption says the target leaves the view (out of/from view|frame|sight, leaves the view|frame, off-screen, disappear*)", |
| "few_default_queries_at_ref_frame": "fewer than 20 points with default_gt and visible in >= 1 view at frame 16 (exact count in attributes.n_default_queries_at_ref_frame)" |
| } |
| }, |
| "flags": [], |
| "files_sha256": { |
| "cameras.npz": "8f266c681d8403a18244685bbf23abe2697dd64182762fc43f324200666b6dc3", |
| "captions.json": "87d405499cb9215135f3ba8d001ff3d0cd621a374bbb0cca961854e951662528", |
| "depth/depth.zip": "5942be7182478aca07cf6ed822728ce9fd4071368a42650c98548c1709478af6", |
| "labels/oos_segments.json": "5d5dea3a26c3ad9802b97706a9e207aa2fc2c078188984a524403b2332474eca", |
| "labels/target.npz": "0185c0d8ad6ae7b932ce89ff8b6bd6dd5b9ddc17250d41975b332987ffadd00f", |
| "source/cameras.json": "0fe9bf2e719b58b67ee6c41918976be0c44137c132ab1f2f96a44c41ce60c2b9", |
| "source/caption.txt": "d8718f398123f623fd59e2f8c2d8583be3a79af255379656e4912957e6fa1c01", |
| "source/capture_done.json": "c7c4204b02365b0dcf66ee38e13db2c315614917b57b949b1ee50320769640f5", |
| "source/meta.json": "2ef9174c06df9241ab66ad3cea8e2b7e7ab68aeb2929352217be9ac1d2a0fe8a", |
| "source/points_target.npz": "1a0655b03e5dfd0d45de5afb3678872a4bb7d7d3136396a397fcbdd7dbfaae51", |
| "source/visibility.json": "acd0d24ca692999fa4a09920b94551636bc0851ec56430d9bd49cf4dd073da4e", |
| "tracks3d.npz": "a0f3a68b79c0d52c0edbe79f8e254eeb44e39a963dae9db446391b613750af22", |
| "videos/view0.mp4": "ef0510429e8e9c5f0132d733f5de0a7c3a5f7923b181a04c09745913afaa90e8", |
| "videos/view1.mp4": "0ef108584cda8169ea6e4137f511ffae78cb62623a1f29330c41df10c6ff6743", |
| "videos/view2.mp4": "7fcc283d24cf4532cc29f022f6a74212b51dc499af626a3829a1cbf7407d7d63", |
| "videos/view3.mp4": "06bc8bdf5adaebde6c7d5932d36b0b446f8542082554fe9c814db2cc8ddde421" |
| } |
| } |
