Public wording: heading check, median run, no internal tool/run names (part 2)

maps/oak_161834/keyframes.json

@@ -1 +1 @@
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maps/oak_161834/manifest.json

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  "map": "oak_161834",
  "files": {
   "ATTRIBUTION.json": 779,
-  "keyframes.json": 18745,
-  "manifest.json": 3390,
+  "keyframes.json": 18705,
+  "manifest.json": 3388,
   "points.bin": 1629719,
   "points.json": 1472,
   "preview.jpg": 124442,
   "splats.spz": 34909857,
-  "splats_lite.json": 1054,
+  "splats_lite.json": 976,
   "splats_lite.spz": 10667507,
   "thumb.jpg": 27748,
-  "traj.json": 137738,
+  "traj.json": 137716,
   "film/film.jpg": 72757,
-  "film/film.json": 862,
+  "film/film.json": 830,
   "film/film.mp4": 3478381,
   "film/film.webm": 1412467,
   "film/film.webp": 29284,

maps/oak_161834/splats_lite.json

@@ -1 +1 @@
-{"row":"oak_161834","tool":"build_lite_splats_v4.py (fork of website/tools/build_lite_splats.py)","built":"2026-10-30T12:48:52","source":{"file":"splats.ply","sha1":"12d434eb1765cccaf5b99a43bcf63eca509493ca","bytes":208000529,"n_splats":1999999,"n_visible":1999999},"criterion":{"score":"footprint","n_target":600000,"min_alpha":0.00392156862745098,"skip_rule":"no LITE file when the source has <= 1.3 x N splats (STANDARD is already small)"},"lite":{"url":"splats_lite.spz","format":"Niantic SPZ v3 (gzip), own encoder (build_map_assets.encode_spz_v3)","loader":"Spark 2.3.1 SplatMesh({url, extSplats:true})","n_splats":600000,"fraction_of_source":0.3,"fraction_of_visible":0.3,"bytes":10667507,"sha1":"7bb8911d5e251ea6ec52d1d60e986c9102030bb3","fractional_bits":14,"position_step_m":6.103515625e-05,"encode_s":2.66,"verify":{"max_position_error_m":3.0517578125e-05,"max_alpha_error":0.0019607806907847025,"count_ok":true},"kept_alpha_x_volume_min":9.50464326330331e-05,"kept_volume_m3_p50":7.631324720362113e-05,"bytes_per_splat":17.78},"seconds":3.68}
+{"row":"oak_161834","built":"2026-10-30T12:48:52","source":{"file":"splats.ply","sha1":"12d434eb1765cccaf5b99a43bcf63eca509493ca","bytes":208000529,"n_splats":1999999,"n_visible":1999999},"criterion":{"score":"footprint","n_target":600000,"min_alpha":0.00392156862745098,"skip_rule":"no LITE file when the source has <= 1.3 x N splats (STANDARD is already small)"},"lite":{"url":"splats_lite.spz","format":"Niantic SPZ v3 (gzip), own encoder (build_map_assets.encode_spz_v3)","loader":"Spark 2.3.1 SplatMesh({url, extSplats:true})","n_splats":600000,"fraction_of_source":0.3,"fraction_of_visible":0.3,"bytes":10667507,"sha1":"7bb8911d5e251ea6ec52d1d60e986c9102030bb3","fractional_bits":14,"position_step_m":6.103515625e-05,"encode_s":2.66,"verify":{"max_position_error_m":3.0517578125e-05,"max_alpha_error":0.0019607806907847025,"count_ok":true},"kept_alpha_x_volume_min":9.50464326330331e-05,"kept_volume_m3_p50":7.631324720362113e-05,"bytes_per_splat":17.78},"seconds":3.68}

maps/oak_164002/ATTRIBUTION.json

@@ -4,6 +4,6 @@
  "source_licence": "own data",
  "map_licence": "CC-BY-4.0",
  "credit": "3-D map by Necessity Robotics (xclean).",
- "limitations": "Camera poses come from xclean's live output in a real-time (paced) replay (the median of three board runs), not from ground truth. The map's pose check found: 4 place(s) visited twice cannot be checked (no ground truth exists). Some surfaces may look doubled or soft.",
+ "limitations": "Camera poses come from xclean's live output in a real-time (paced) replay (the median run of the three final-board runs), not from ground truth. The map's pose check found: 4 place(s) visited twice cannot be checked (no ground truth exists). Some surfaces may look doubled or soft.",
  "engine": "xclean, final-board engine; camera poses are xclean's live output in a real-time (paced) replay of the recording (the median run of the three final-board runs), not ground truth"
 }

maps/oak_164002/film/film.json

@@ -1 +1 @@
-{"mp4":"film/film.mp4","webm":"film/film.webm","webm_codec":"av1 (libsvtav1)","poster":"film/film.jpg","poster_webp":"film/film.webp","width":1280,"height":800,"fps":30,"duration":12.0,"speed_factor":1.0,"platform":"vehicle / handheld","stretch":{"t0":48.0,"t1":60.0,"path_m":66.27,"mean_speed_mps":5.513,"n_kf":120},"photo_psnr_db":22.884,"backdrop":{"type":"gradient","horizon_grey":0.8,"zenith_grey":0.62,"ramp":"linear in sin(elevation)","below_horizon_fade_deg":4.0,"clear_rgb":[0.01568627450980392,0.023529411764705882,0.0392156862745098],"disclosure":"sky not reconstructed; plain backdrop"},"mp4_type":"video/mp4; codecs=\"avc1.640028\"","webm_type":"video/webm; codecs=\"av01.0.08M.08\"","bytes":5549806,"webm_bytes":2445306,"poster_bytes":102085,"sha1":"40db97bc02ef4a8abda28f980e33fe6cdccea186","webm_sha1":"47778b3580ea52b7f43084502e2e7dcf8a685ba3"}
+{"mp4":"film/film.mp4","webm":"film/film.webm","webm_codec":"av1 (libsvtav1)","poster":"film/film.jpg","poster_webp":"film/film.webp","width":1280,"height":800,"fps":30,"duration":12.0,"speed_factor":1.0,"stretch":{"t0":48.0,"t1":60.0,"path_m":66.27,"mean_speed_mps":5.513,"n_kf":120},"photo_psnr_db":22.884,"backdrop":{"type":"gradient","horizon_grey":0.8,"zenith_grey":0.62,"ramp":"linear in sin(elevation)","below_horizon_fade_deg":4.0,"clear_rgb":[0.01568627450980392,0.023529411764705882,0.0392156862745098],"disclosure":"sky not reconstructed; plain backdrop"},"mp4_type":"video/mp4; codecs=\"avc1.640028\"","webm_type":"video/webm; codecs=\"av01.0.08M.08\"","bytes":5549806,"webm_bytes":2445306,"poster_bytes":102085,"sha1":"40db97bc02ef4a8abda28f980e33fe6cdccea186","webm_sha1":"47778b3580ea52b7f43084502e2e7dcf8a685ba3"}

maps/oak_164002/keyframes.json

@@ -1 +1 @@
-{"row":"oak_164002","n":80,"image_size":[320,200],"K":[[236.3888,0.0,164.4994],[0.0,236.3888,94.8158],[0.0,0.0,1.0]],"camera":"rectified left camera (the splat's own camera model), downscaled x0.5000","pose":"T_map_cam: 4x4 camera-to-map (OpenCV camera axes), xclean's LIVE pose of the keyframe (published at that frame, never revised)","channels":"grey (single channel JPEG)","selection":"evenly spaced over the route's 1117 keyframes","files_relative_to":"","three_js_pose":"camera.matrixWorld = world.matrixWorld * T_map_cam * diag(1,-1,-1,1); vertical fov = 2 atan(h/2 / fy); principal point (cx, cy) via PerspectiveCamera.setViewOffset (see notes/SPARK_NOTES.md, Lab results)","held_out_rule":"held_out_of_map = never trained on by the splat map (every 10th segment 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maps/oak_164002/manifest.json

@@ -1,19 +1,19 @@
 {
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  "files": {
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-  "keyframes.json": 18712,
-  "manifest.json": 3390,
+  "ATTRIBUTION.json": 716,
+  "keyframes.json": 18672,
+  "manifest.json": 3388,
   "points.bin": 1953903,
   "points.json": 1476,
   "preview.jpg": 123386,
   "splats.spz": 35608000,
-  "splats_lite.json": 1056,
+  "splats_lite.json": 978,
   "splats_lite.spz": 10938590,
   "thumb.jpg": 27034,
-  "traj.json": 82126,
+  "traj.json": 82095,
   "film/film.jpg": 102085,
-  "film/film.json": 861,
+  "film/film.json": 829,
   "film/film.mp4": 5549806,
   "film/film.webm": 2445306,
   "film/film.webp": 44938,

maps/oak_164002/splats_lite.json

@@ -1 +1 @@
-{"row":"oak_164002","tool":"build_lite_splats_v4.py (fork of website/tools/build_lite_splats.py)","built":"2026-10-30T23:12:33","source":{"file":"splats.ply","sha1":"b642992aaebe16e0cd0f243f749a4513f55298c8","bytes":207999385,"n_splats":1999988,"n_visible":1999988},"criterion":{"score":"footprint","n_target":600000,"min_alpha":0.00392156862745098,"skip_rule":"no LITE file when the source has <= 1.3 x N splats (STANDARD is already small)"},"lite":{"url":"splats_lite.spz","format":"Niantic SPZ v3 (gzip), own encoder (build_map_assets.encode_spz_v3)","loader":"Spark 2.3.1 SplatMesh({url, extSplats:true})","n_splats":600000,"fraction_of_source":0.3,"fraction_of_visible":0.3,"bytes":10938590,"sha1":"0867b5812c7ca2f3586566e77c00ff71430096f8","fractional_bits":14,"position_step_m":6.103515625e-05,"encode_s":3.11,"verify":{"max_position_error_m":3.0517578125e-05,"max_alpha_error":0.0019607835459318768,"count_ok":true},"kept_alpha_x_volume_min":6.302021288316206e-05,"kept_volume_m3_p50":3.6722947300102203e-05,"bytes_per_splat":18.23},"seconds":4.16}
+{"row":"oak_164002","built":"2026-10-30T23:12:33","source":{"file":"splats.ply","sha1":"b642992aaebe16e0cd0f243f749a4513f55298c8","bytes":207999385,"n_splats":1999988,"n_visible":1999988},"criterion":{"score":"footprint","n_target":600000,"min_alpha":0.00392156862745098,"skip_rule":"no LITE file when the source has <= 1.3 x N splats (STANDARD is already small)"},"lite":{"url":"splats_lite.spz","format":"Niantic SPZ v3 (gzip), own encoder (build_map_assets.encode_spz_v3)","loader":"Spark 2.3.1 SplatMesh({url, extSplats:true})","n_splats":600000,"fraction_of_source":0.3,"fraction_of_visible":0.3,"bytes":10938590,"sha1":"0867b5812c7ca2f3586566e77c00ff71430096f8","fractional_bits":14,"position_step_m":6.103515625e-05,"encode_s":3.11,"verify":{"max_position_error_m":3.0517578125e-05,"max_alpha_error":0.0019607835459318768,"count_ok":true},"kept_alpha_x_volume_min":6.302021288316206e-05,"kept_volume_m3_p50":3.6722947300102203e-05,"bytes_per_splat":18.23},"seconds":4.16}

maps/oak_164424/ATTRIBUTION.json

@@ -4,6 +4,6 @@
  "source_licence": "own data",
  "map_licence": "CC-BY-4.0",
  "credit": "3-D map by Necessity Robotics (xclean).",
- "limitations": "Camera poses come from xclean's live output in a real-time (paced) replay (the median of three board runs); this route has no ground truth. During that live run, 8 of the 4,068 camera frames were not published by the live stream, so the map is built from the 4,060 that were. Some surfaces may look soft.",
+ "limitations": "Camera poses come from xclean's live output in a real-time (paced) replay (the median run of the three final-board runs); this route has no ground truth. During that live run, 8 of the 4,068 camera frames were not published by the live stream, so the map is built from the 4,060 that were. Some surfaces may look soft.",
  "engine": "xclean, final-board engine; camera poses are xclean's live output in a real-time (paced) replay of the recording (the median run of the three final-board runs), not ground truth"
 }

maps/oak_164424/film/film.json

@@ -1 +1 @@
-{"mp4":"film/film.mp4","webm":"film/film.webm","webm_codec":"av1 (libsvtav1)","poster":"film/film.jpg","poster_webp":"film/film.webp","width":1280,"height":800,"fps":30,"duration":12.0,"speed_factor":1.0,"platform":"vehicle / handheld","stretch":{"t0":43.0,"t1":55.0,"path_m":48.57,"mean_speed_mps":4.044,"n_kf":110},"photo_psnr_db":23.756,"backdrop":{"type":"gradient","horizon_grey":0.8,"zenith_grey":0.62,"ramp":"linear in sin(elevation)","below_horizon_fade_deg":4.0,"clear_rgb":[0.01568627450980392,0.023529411764705882,0.0392156862745098],"disclosure":"sky not reconstructed; plain backdrop"},"mp4_type":"video/mp4; codecs=\"avc1.640028\"","webm_type":"video/webm; codecs=\"av01.0.08M.08\"","bytes":4054601,"webm_bytes":1893782,"poster_bytes":114271,"sha1":"83ac17aa9efbdea3650e9f24c8b761e8c49aa0c4","webm_sha1":"ae1c7a1e3671c8098e9b5d1eff5cb5974f8d6776"}
+{"mp4":"film/film.mp4","webm":"film/film.webm","webm_codec":"av1 (libsvtav1)","poster":"film/film.jpg","poster_webp":"film/film.webp","width":1280,"height":800,"fps":30,"duration":12.0,"speed_factor":1.0,"stretch":{"t0":43.0,"t1":55.0,"path_m":48.57,"mean_speed_mps":4.044,"n_kf":110},"photo_psnr_db":23.756,"backdrop":{"type":"gradient","horizon_grey":0.8,"zenith_grey":0.62,"ramp":"linear in sin(elevation)","below_horizon_fade_deg":4.0,"clear_rgb":[0.01568627450980392,0.023529411764705882,0.0392156862745098],"disclosure":"sky not reconstructed; plain backdrop"},"mp4_type":"video/mp4; codecs=\"avc1.640028\"","webm_type":"video/webm; codecs=\"av01.0.08M.08\"","bytes":4054601,"webm_bytes":1893782,"poster_bytes":114271,"sha1":"83ac17aa9efbdea3650e9f24c8b761e8c49aa0c4","webm_sha1":"ae1c7a1e3671c8098e9b5d1eff5cb5974f8d6776"}

maps/oak_164424/keyframes.json

@@ -1 +1 @@
-{"row":"oak_164424","n":80,"image_size":[320,200],"K":[[236.3888,0.0,164.4994],[0.0,236.3888,94.8158],[0.0,0.0,1.0]],"camera":"rectified left camera (the splat's own camera model), downscaled x0.5000","pose":"T_map_cam: 4x4 camera-to-map (OpenCV camera axes), xclean's LIVE pose of the keyframe (published at that frame, never revised)","channels":"grey (single channel JPEG)","selection":"evenly spaced over the route's 1148 keyframes","files_relative_to":"","three_js_pose":"camera.matrixWorld = world.matrixWorld * T_map_cam * diag(1,-1,-1,1); vertical fov = 2 atan(h/2 / fy); principal point (cx, cy) via PerspectiveCamera.setViewOffset (see notes/SPARK_NOTES.md, Lab results)","held_out_rule":"held_out_of_map = never trained on by the splat map (every 10th segment 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maps/oak_164424/manifest.json

@@ -1,19 +1,19 @@
 {
  "map": "oak_164424",
  "files": {
-  "ATTRIBUTION.json": 739,
-  "keyframes.json": 18746,
-  "manifest.json": 3390,
+  "ATTRIBUTION.json": 753,
+  "keyframes.json": 18706,
+  "manifest.json": 3388,
   "points.bin": 2608788,
   "points.json": 1476,
   "preview.jpg": 162525,
   "splats.spz": 35071876,
-  "splats_lite.json": 1054,
+  "splats_lite.json": 976,
   "splats_lite.spz": 10685157,
   "thumb.jpg": 34967,
-  "traj.json": 84564,
+  "traj.json": 84533,
   "film/film.jpg": 114271,
-  "film/film.json": 861,
+  "film/film.json": 829,
   "film/film.mp4": 4054601,
   "film/film.webm": 1893782,
   "film/film.webp": 54152,

maps/oak_164424/splats_lite.json

@@ -1 +1 @@
-{"row":"oak_164424","tool":"build_lite_splats_v4.py (fork of website/tools/build_lite_splats.py)","built":"2026-10-30T23:50:20","source":{"file":"splats.ply","sha1":"e70b2896322ebcf0911e2bdf93377bcf4e8b667e","bytes":208000321,"n_splats":1999997,"n_visible":1999997},"criterion":{"score":"footprint","n_target":600000,"min_alpha":0.00392156862745098,"skip_rule":"no LITE file when the source has <= 1.3 x N splats (STANDARD is already small)"},"lite":{"url":"splats_lite.spz","format":"Niantic SPZ v3 (gzip), own encoder (build_map_assets.encode_spz_v3)","loader":"Spark 2.3.1 SplatMesh({url, extSplats:true})","n_splats":600000,"fraction_of_source":0.3,"fraction_of_visible":0.3,"bytes":10685157,"sha1":"232ee4c1cb2d7679209901eec03755b76480d7dc","fractional_bits":14,"position_step_m":6.103515625e-05,"encode_s":2.51,"verify":{"max_position_error_m":3.0517578125e-05,"max_alpha_error":0.001960782172190978,"count_ok":true},"kept_alpha_x_volume_min":6.150459732451449e-05,"kept_volume_m3_p50":3.881221296375352e-05,"bytes_per_splat":17.81},"seconds":3.54}
+{"row":"oak_164424","built":"2026-10-30T23:50:20","source":{"file":"splats.ply","sha1":"e70b2896322ebcf0911e2bdf93377bcf4e8b667e","bytes":208000321,"n_splats":1999997,"n_visible":1999997},"criterion":{"score":"footprint","n_target":600000,"min_alpha":0.00392156862745098,"skip_rule":"no LITE file when the source has <= 1.3 x N splats (STANDARD is already small)"},"lite":{"url":"splats_lite.spz","format":"Niantic SPZ v3 (gzip), own encoder (build_map_assets.encode_spz_v3)","loader":"Spark 2.3.1 SplatMesh({url, extSplats:true})","n_splats":600000,"fraction_of_source":0.3,"fraction_of_visible":0.3,"bytes":10685157,"sha1":"232ee4c1cb2d7679209901eec03755b76480d7dc","fractional_bits":14,"position_step_m":6.103515625e-05,"encode_s":2.51,"verify":{"max_position_error_m":3.0517578125e-05,"max_alpha_error":0.001960782172190978,"count_ok":true},"kept_alpha_x_volume_min":6.150459732451449e-05,"kept_volume_m3_p50":3.881221296375352e-05,"bytes_per_splat":17.81},"seconds":3.54}

maps/rosario_01/ATTRIBUTION.json

@@ -4,6 +4,6 @@
  "source_licence": "CC BY 4.0 (\"All data in the Rosario Dataset is licensed under a Creative Commons 4.0 Attribution License (CC BY 4.0)\", official page checked 2026-10-30)",
  "map_licence": "CC-BY-4.0",
  "credit": "Source images: The Rosario Dataset, CIFASIS-CONICET, CC BY 4.0 (Pire et al., IJRR 2019). Changes: 3-D Gaussian-splat map reconstructed by Necessity Robotics (xclean) from the images and xclean's own live camera poses.",
- "limitations": "Camera poses come from xclean's live output in a real-time (paced) replay (the median of three board runs), not from ground truth. The map's pose check found: at 3 place(s) the route passes twice, the two passes differ from the ground truth by up to 1.7 degrees in heading; passes are up to 3.73 m apart sideways. Some surfaces may look doubled or soft.",
+ "limitations": "Camera poses come from xclean's live output in a real-time (paced) replay (the median run of the three final-board runs), not from ground truth. The map's pose check found: at 3 place(s) the route passes twice, the heading between our two passes differs from the heading implied by the ground-truth positions by up to 1.7 degrees in heading; passes are up to 3.73 m apart sideways. Some surfaces may look doubled or soft.",
  "engine": "xclean, final-board engine; camera poses are xclean's live output in a real-time (paced) replay of the recording (the median run of the three final-board runs), not ground truth"
 }

maps/rosario_01/film/film.json

@@ -1 +1 @@
-{"mp4":"film/film.mp4","webm":"film/film.webm","webm_codec":"av1 (libsvtav1)","poster":"film/film.jpg","poster_webp":"film/film.webp","width":1280,"height":716,"fps":30,"duration":12.0,"speed_factor":2.0,"platform":"ground robot","stretch":{"t0":330.0,"t1":354.0,"path_m":27.99,"mean_speed_mps":1.166,"n_kf":108},"photo_psnr_db":24.808,"backdrop":{"type":"gradient","horizon_grey":0.8,"zenith_grey":0.62,"ramp":"linear in sin(elevation)","below_horizon_fade_deg":4.0,"clear_rgb":[0.01568627450980392,0.023529411764705882,0.0392156862745098],"disclosure":"sky not reconstructed; plain backdrop"},"mp4_type":"video/mp4; codecs=\"avc1.640028\"","webm_type":"video/webm; codecs=\"av01.0.08M.08\"","bytes":5092804,"webm_bytes":2284537,"poster_bytes":109639,"sha1":"64411181aef7ccbe6dcad430f4a4ccaf16a8ea49","webm_sha1":"c50d70511dc39f83f08ddbf843e7e14cb6f9b53e"}
+{"mp4":"film/film.mp4","webm":"film/film.webm","webm_codec":"av1 (libsvtav1)","poster":"film/film.jpg","poster_webp":"film/film.webp","width":1280,"height":716,"fps":30,"duration":12.0,"speed_factor":2.0,"stretch":{"t0":330.0,"t1":354.0,"path_m":27.99,"mean_speed_mps":1.166,"n_kf":108},"photo_psnr_db":24.808,"backdrop":{"type":"gradient","horizon_grey":0.8,"zenith_grey":0.62,"ramp":"linear in sin(elevation)","below_horizon_fade_deg":4.0,"clear_rgb":[0.01568627450980392,0.023529411764705882,0.0392156862745098],"disclosure":"sky not reconstructed; plain backdrop"},"mp4_type":"video/mp4; codecs=\"avc1.640028\"","webm_type":"video/webm; codecs=\"av01.0.08M.08\"","bytes":5092804,"webm_bytes":2284537,"poster_bytes":109639,"sha1":"64411181aef7ccbe6dcad430f4a4ccaf16a8ea49","webm_sha1":"c50d70511dc39f83f08ddbf843e7e14cb6f9b53e"}