{ "clip": "C016", "views": [ "22640993", "22684227", "22684751", "22684259" ], "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": "22684227", "file": "view1_22684227", "K_undistort_2048x1536": [ [ 1067.7799705145317, 0.0, 1039.184839121223 ], [ 0.0, 1055.919326749064, 771.9957833866664 ], [ 0.0, 0.0, 1.0 ] ], "K_1024x768": [ [ 533.8899852572658, 0.0, 519.5924195606115 ], [ 0.0, 527.959663374532, 385.9978916933332 ], [ 0.0, 0.0, 1.0 ] ], "K_eval_480x480": [ [ 250.26093058934336, 0.0, 243.55894666903663 ], [ 0.0, 329.97478960908256, 241.24868230833326 ], [ 0.0, 0.0, 1.0 ] ], "T_cam_from_world": [ [ 0.1818829398097983, -0.9772215497024743, -0.10934641742297962, 2.5527867511534725 ], [ -0.5134200238826112, 0.0004624321199057091, -0.8581373230625235, 0.5693034087441982 ], [ 0.838640849996305, 0.21222117932390677, -0.501641002873416, 2.2897368119710197 ], [ 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": "22684259", "file": "view3_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 ] } ], "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" } }