{
 "clip": "C039",
 "views": [
  "22641022",
  "22684751",
  "22684259",
  "22684227"
 ],
 "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": "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": "22684259",
   "file": "view2_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": 3,
   "serial": "22684227",
   "file": "view3_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
   ]
  }
 ],
 "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"
 }
}