{
 "clip": "C048",
 "views": [
  "22640993",
  "22684254",
  "22645025",
  "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": "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": "22684254",
   "file": "view1_22684254",
   "K_undistort_2048x1536": [
    [
     1701.207903303457,
     0.0,
     1061.099219971293
    ],
    [
     0.0,
     1701.1821954635134,
     773.0843416279679
    ],
    [
     0.0,
     0.0,
     1.0
    ]
   ],
   "K_1024x768": [
    [
     850.6039516517285,
     0.0,
     530.5496099856465
    ],
    [
     0.0,
     850.5910977317567,
     386.54217081398394
    ],
    [
     0.0,
     0.0,
     1.0
    ]
   ],
   "K_eval_480x480": [
    [
     398.72060233674773,
     0.0,
     248.6951296807718
    ],
    [
     0.0,
     531.6194360823479,
     241.58885675873995
    ],
    [
     0.0,
     0.0,
     1.0
    ]
   ],
   "T_cam_from_world": [
    [
     0.5434869180948154,
     0.8284508754997979,
     -0.13524465513807776,
     -1.6684579833857258
    ],
    [
     0.3278591557049348,
     -0.3578210150255383,
     -0.8743411778170698,
     2.0615041803780545
    ],
    [
     -0.7727420940263618,
     0.43085179364801496,
     -0.4660862452701664,
     1.3945766650674472
    ],
    [
     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": "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"
 }
}