{ "clip": "C003", "views": [ "22640992", "22641022", "22684751", "23022627" ], "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": "22641022", "file": "view1_22641022", "K_undistort_2048x1536": [ [ 1064.085621986425, 0.0, 1058.4298135978704 ], [ 0.0, 1052.7387752188295, 790.8363413089962 ], [ 0.0, 0.0, 1.0 ] ], "K_1024x768": [ [ 532.0428109932125, 0.0, 529.2149067989352 ], [ 0.0, 526.3693876094147, 395.4181706544981 ], [ 0.0, 0.0, 1.0 ] ], "K_eval_480x480": [ [ 249.39506765306834, 0.0, 248.0694875620009 ], [ 0.0, 328.9808672558842, 247.13635665906133 ], [ 0.0, 0.0, 1.0 ] ], "T_cam_from_world": [ [ 0.602717547967702, -0.7956705715431062, -0.060331575083595435, 0.743490126507839 ], [ -0.38885712848790754, -0.22685140443475738, -0.8929325696434852, 0.7039100330161119 ], [ 0.6967938654982115, 0.5616464919201803, -0.44612949590653095, 2.8243775302413225 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "native_wh": [ 2048, 1536 ] }, { "view": 2, "serial": "22684751", "file": "view2_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": 3, "serial": "23022627", "file": "view3_23022627", "K_undistort_2048x1536": [ [ 1063.0457008489047, 0.0, 1028.9465032165817 ], [ 0.0, 1053.6413954133404, 763.2706691653216 ], [ 0.0, 0.0, 1.0 ] ], "K_1024x768": [ [ 531.5228504244524, 0.0, 514.4732516082909 ], [ 0.0, 526.8206977066702, 381.6353345826608 ], [ 0.0, 0.0, 1.0 ] ], "K_eval_480x480": [ [ 249.15133613646205, 0.0, 241.15933669138633 ], [ 0.0, 329.2629360666689, 238.522084114163 ], [ 0.0, 0.0, 1.0 ] ], "T_cam_from_world": [ [ 0.7601388873051864, 0.5892879828734069, -0.27373078973221915, -1.220056902359415 ], [ 0.18860238534149357, -0.6032482535013608, -0.7749326970073318, 0.8647414023397391 ], [ -0.6217861467176089, 0.537430198154653, -0.5696935754083232, 2.5696231987312235 ], [ 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" } }