{
 "clip": "C033",
 "views": [
  "22641021",
  "22684259",
  "22684751",
  "23022640"
 ],
 "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": "22641021",
   "file": "view0_22641021",
   "K_undistort_2048x1536": [
    [
     1075.4167969488583,
     0.0,
     1051.5646402547065
    ],
    [
     0.0,
     1059.8703811918792,
     783.1072486877719
    ],
    [
     0.0,
     0.0,
     1.0
    ]
   ],
   "K_1024x768": [
    [
     537.7083984744291,
     0.0,
     525.7823201273533
    ],
    [
     0.0,
     529.9351905959396,
     391.55362434388593
    ],
    [
     0.0,
     0.0,
     1.0
    ]
   ],
   "K_eval_480x480": [
    [
     252.05081178488865,
     0.0,
     246.46046255969685
    ],
    [
     0.0,
     331.2094941224623,
     244.7210152149287
    ],
    [
     0.0,
     0.0,
     1.0
    ]
   ],
   "T_cam_from_world": [
    [
     0.8995650590794261,
     -0.3908757729030397,
     0.1949328977901882,
     0.4589460790926018
    ],
    [
     -0.05798051366000001,
     -0.5491987980724256,
     -0.8336779595452469,
     1.3925946550345651
    ],
    [
     0.43292142996062366,
     0.7386452533884281,
     -0.5167032273245391,
     2.416566548083264
    ],
    [
     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": "23022640",
   "file": "view3_23022640",
   "K_undistort_2048x1536": [
    [
     1063.6967777211412,
     0.0,
     1023.726465148608
    ],
    [
     0.0,
     1051.2533360618088,
     753.1884205673165
    ],
    [
     0.0,
     0.0,
     1.0
    ]
   ],
   "K_1024x768": [
    [
     531.8483888605706,
     0.0,
     511.863232574304
    ],
    [
     0.0,
     525.6266680309044,
     376.59421028365824
    ],
    [
     0.0,
     0.0,
     1.0
    ]
   ],
   "K_eval_480x480": [
    [
     249.30393227839247,
     0.0,
     239.935890269205
    ],
    [
     0.0,
     328.51666751931526,
     235.3713814272864
    ],
    [
     0.0,
     0.0,
     1.0
    ]
   ],
   "T_cam_from_world": [
    [
     -0.9483442472973829,
     -0.3167227857333552,
     0.01816220292981474,
     -0.11628710739304035
    ],
    [
     -0.2357934599151845,
     0.6654077194263974,
     -0.7082612591332291,
     0.028030152790863228
    ],
    [
     0.21223720898840265,
     -0.6759580193511014,
     -0.7057167443073387,
     3.3442256526534213
    ],
    [
     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"
 }
}