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Diogenes Depth + Pose Sample v01

A sample dataset. One complete 120-second capture package: gameplay video, a per-frame linear depth map, and a per-frame camera pose — all on a single clock, so every pixel of depth can be back-projected into one shared world frame.

This is the artifact behind the claim that our capture is geometric, not just video. It exists so an evaluator can reproduce the reconstruction themselves rather than take our word for it.

⚠️ Not for model training

Every package in this repository is non_trainable and production_certified: false. The source runs in a release-test capture mode and carries no consent grant.

Permitted: inspecting capture quality, validating the depth/pose schema, verifying time alignment, and reproducing the back-projection. Not permitted: training, fine-tuning, or evaluating any model; redistribution outside approved collaborators.

The video depicts Fallout 4, copyright Bethesda Softworks LLC. Diogenes Lab claims no rights to the depicted game content.

What is in the package

data/2026_08_06_FO4Commonwealth_120s_01/

File	Size	Content
`video.mp4`	239.8 MB	1920×1080, 30 fps CFR, H.264, 3600 frames = 120.000 s, in-game audio
`depth.zip`	364.0 MB	1800 × `depth_<even frame>.exr` — 1280×720, fp16, channel `Z`
`action_camera_30fps.json`	3.2 MB	3600 rows, one per video frame
`action_camera.json`	1.7 MB	1800 rows at 15 fps, the depth-frame subset
`systeminfo.json`	110 B	Capture surface geometry
`sha256.json`	1.1 KB	Digest for all 11 delivered files
`QC/`	41.8 MB	Conversion manifest, frame-pair report, overlay preview, source-frame selection

preview/spatial-overview-en.mp4 is a rendered walkthrough of this exact package — RGB with an action HUD, the depth map in metres, and the fused point cloud with the camera path. Nothing in it is staged; it is rendered from the files above.

Per-frame pose row

{
  "time": "...", "fps": 30.0, "frame": 0,
  "camera_position": [x, y, z],
  "camera_rotation_quaternion": [x, y, z, w],
  "camera_intrinsics": {"fx": 698.2612, "fy": 698.26117, "cx": 960.0, "cy": 540.0},
  "camera_follow_offset": [...], "camera_speed": [...],
  "player_position": [...], "player_rotation_quaternion": [...], "player_speed": [...],
  "mouse_dx": 0, "mouse_dy": 0, "keyCode": [], "metric_scale": 1.0
}

Reading the depth — three conventions you need

These are not guessable from the files; they were established empirically and are stated here so the reconstruction is reproducible on first attempt.

The stored quaternion is world→camera. To go the other way, transpose: R_cam2world = R(q)ᵀ (equivalently, take the conjugate).
The depth EXR is 1280×720 while the intrinsics are calibrated for 1920×1080. Scale the intrinsics by 2/3 before using them with the depth raster.
First-person viewmodel geometry sits at ≈0.21–1.0 m with a clean empty gap between it and the scene. Discard z ≤ 1.05 to drop the weapon/armature.

Back-projection, left-handed Y-up, image v downward:

p_cam   = [(u - cx)/fx * z,  -(v - cy)/fy * z,  z]
p_world = R(q)ᵀ · p_cam + camera_position

Depth is view-space linear Z in metres. NaN marks sky and invalid samples.

Measured properties of this package

Property	Value
Duration	120.000 s, 3600 video frames, 1800 depth frames
Depth-to-video pairing coverage	1.000 (1800 / 1800 eligible even frames)
Frame-sync watermark mismatches	0 of 3600 decoded
Camera path length	324.80 m
Elevation range	7.38 m
Cross-frame depth consistency	0.15 % median-of-medians reprojection error over 12 frame pairs spaced 10 frames apart

The consistency figure is the honest test: back-project frame A, reproject it into frame B using only the stored poses, and compare against B's own depth. A broken handedness or intrinsic scale puts this in the 7–9 % range; 0.15 % means the pose and depth agree.

Known limitations

Stated up front rather than discovered later:

fp16 with two-decimal truncation cannot represent 1 cm beyond about z ≥ 16 m, so distant surfaces show stepped quantisation.
The depth raster includes the first-person viewmodel (the ≈0.21 m block). It is real content of the EXR and is not masked out in the delivered file.
36 reconstructed frames carry a ~33 ms micro-jump from dropped-frame reconstruction.
Dynamic objects (NPCs, animals) leave ghost trails in any multi-frame fusion; only the player and the viewmodel are explicitly removable.

DiogenesLab/Diogenes_Gameplay_raw_sample_v01 — gameplay video with frame-aligned keyboard/mouse action annotations.
DiogenesLab/Diogenes_Gameplay_validation_sample_v01 — the same capture line packaged as fixed-length shards.

Access to all Diogenes Lab sample datasets uses the same access code, but permission is granted per repository — request each one separately.

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