{ "clip": "C028", "views": [ "22640992", "22684751", "22684227", "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": "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": "22684751", "file": "view1_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": 2, "serial": "22684227", "file": "view2_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": 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" } }