{ "clip": "C017", "views": [ "22641022", "22684259", "22684751", "22684201" ], "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": "22641022", "file": "view0_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": 1, "serial": "22684259", "file": "view1_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": 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": "22684201", "file": "view3_22684201", "K_undistort_2048x1536": [ [ 1068.0785980650119, 0.0, 1037.960683254105 ], [ 0.0, 1055.5545177785266, 797.097222470537 ], [ 0.0, 0.0, 1.0 ] ], "K_1024x768": [ [ 534.0392990325059, 0.0, 518.9803416270526 ], [ 0.0, 527.7772588892633, 398.5486112352685 ], [ 0.0, 0.0, 1.0 ] ], "K_eval_480x480": [ [ 250.33092142148715, 0.0, 243.2720351376809 ], [ 0.0, 329.86078680578953, 249.0928820220428 ], [ 0.0, 0.0, 1.0 ] ], "T_cam_from_world": [ [ -0.7207540128760781, 0.690514972444827, 0.060850026725964346, -2.1819249107153347 ], [ 0.004810815042490146, 0.09276317420125146, -0.9956765787999311, 1.176042085580396 ], [ -0.6931742270033254, -0.7173451514728655, -0.07018136986917711, 2.3384360069469867 ], [ 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" } }