{ "clip": "C036", "views": [ "22640993", "22641018", "22645025", "22682527" ], "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": "22641018", "file": "view1_22641018", "K_undistort_2048x1536": [ [ 1673.973275160782, 0.0, 1054.943696121382 ], [ 0.0, 1672.5631842525565, 749.6539381005132 ], [ 0.0, 0.0, 1.0 ] ], "K_1024x768": [ [ 836.986637580391, 0.0, 527.471848060691 ], [ 0.0, 836.2815921262783, 374.8269690502566 ], [ 0.0, 0.0, 1.0 ] ], "K_eval_480x480": [ [ 392.3374863658083, 0.0, 247.2524287784489 ], [ 0.0, 522.675995078924, 234.26685565641037 ], [ 0.0, 0.0, 1.0 ] ], "T_cam_from_world": [ [ -0.6978544596530822, -0.4569790289944584, 0.5515154759402378, -0.02221417222228093 ], [ -0.2932246158031385, 0.8848116859634156, 0.3621154582031536, -2.713329140299163 ], [ -0.6534665085751578, 0.09098597387432869, -0.7514672812097234, 1.779927285781203 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "native_wh": [ 2048, 1536 ] }, { "view": 2, "serial": "22645025", "file": "view2_22645025", "K_undistort_2048x1536": [ [ 1072.6171081497816, 0.0, 1024.7142244848721 ], [ 0.0, 1059.255055463533, 772.8642226535437 ], [ 0.0, 0.0, 1.0 ] ], "K_1024x768": [ [ 536.3085540748908, 0.0, 512.3571122424361 ], [ 0.0, 529.6275277317665, 386.43211132677186 ], [ 0.0, 0.0, 1.0 ] ], "K_eval_480x480": [ [ 251.39463472260508, 0.0, 240.1673963636419 ], [ 0.0, 331.017204832354, 241.52006957923243 ], [ 0.0, 0.0, 1.0 ] ], "T_cam_from_world": [ [ 0.38373120830507623, -0.9023758909303151, -0.1961328917862741, 2.694628962569761 ], [ -0.7246763594593876, -0.1626210461056854, -0.6696256935065894, 0.292763397727724 ], [ 0.5723587457298216, 0.3990891464713273, -0.7163332460212724, 2.237182796945605 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "native_wh": [ 2048, 1536 ] }, { "view": 3, "serial": "22682527", "file": "view3_22682527", "K_undistort_2048x1536": [ [ 1064.7728303705221, 0.0, 1054.1140242977824 ], [ 0.0, 1057.7174101998978, 783.732471492436 ], [ 0.0, 0.0, 1.0 ] ], "K_1024x768": [ [ 532.3864151852611, 0.0, 527.0570121488912 ], [ 0.0, 528.8587050999489, 391.866235746218 ], [ 0.0, 0.0, 1.0 ] ], "K_eval_480x480": [ [ 249.5561321180911, 0.0, 247.05797444479276 ], [ 0.0, 330.5366906874681, 244.91639734138627 ], [ 0.0, 0.0, 1.0 ] ], "T_cam_from_world": [ [ -0.07415936584162841, -0.9965049440009383, -0.038448472526942334, 2.562587481243812 ], [ -0.5031975860937775, 0.07067859457259562, -0.8612762191182561, 0.12634426627541867 ], [ 0.8609834945034449, -0.04452451965973475, -0.5066803621038685, 2.7121443004384638 ], [ 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" } }