Public wording: heading check, median run, no internal tool/run names (part 3)

maps/rosario_01/keyframes.json

@@ -1 +1 @@
-{"row":"rosario_01","n":80,"image_size":[320,179],"K":[[167.1716,0.0,161.9923],[0.0,167.1716,95.7904],[0.0,0.0,1.0]],"camera":"rectified left camera (the splat's own camera model), downscaled x0.4762","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":"RGB","selection":"evenly spaced over the route's 1838 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/rosario_01/manifest.json

@@ -1,19 +1,19 @@
 {
  "map": "rosario_01",
  "files": {
-  "ATTRIBUTION.json": 1126,
-  "keyframes.json": 18646,
-  "manifest.json": 3392,
+  "ATTRIBUTION.json": 1194,
+  "keyframes.json": 18606,
+  "manifest.json": 3390,
   "points.bin": 6560424,
   "points.json": 1462,
   "preview.jpg": 161636,
   "splats.spz": 40774252,
-  "splats_lite.json": 1057,
+  "splats_lite.json": 979,
   "splats_lite.spz": 12633848,
   "thumb.jpg": 31424,
-  "traj.json": 240856,
+  "traj.json": 240648,
   "film/film.jpg": 109639,
-  "film/film.json": 857,
+  "film/film.json": 831,
   "film/film.mp4": 5092804,
   "film/film.webm": 2284537,
   "film/film.webp": 52482,

maps/rosario_01/splats_lite.json

@@ -1 +1 @@
-{"row":"rosario_01","tool":"build_lite_splats_v4.py (fork of website/tools/build_lite_splats.py)","built":"2026-10-30T18:28:27","source":{"file":"splats.ply","sha1":"f13460baf56889589037721bd6ceec155d858d07","bytes":207999697,"n_splats":1999991,"n_visible":1999991},"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":12633848,"sha1":"ef9cfca2b052025ec06a0f2daea1199a85aaba81","fractional_bits":15,"position_step_m":3.0517578125e-05,"encode_s":4.31,"verify":{"max_position_error_m":1.52587890625e-05,"max_alpha_error":0.0019607833784585083,"count_ok":true},"kept_alpha_x_volume_min":6.984145694348847e-05,"kept_volume_m3_p50":4.769285673641895e-06,"bytes_per_splat":21.06},"seconds":5.35}
+{"row":"rosario_01","built":"2026-10-30T18:28:27","source":{"file":"splats.ply","sha1":"f13460baf56889589037721bd6ceec155d858d07","bytes":207999697,"n_splats":1999991,"n_visible":1999991},"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":12633848,"sha1":"ef9cfca2b052025ec06a0f2daea1199a85aaba81","fractional_bits":15,"position_step_m":3.0517578125e-05,"encode_s":4.31,"verify":{"max_position_error_m":1.52587890625e-05,"max_alpha_error":0.0019607833784585083,"count_ok":true},"kept_alpha_x_volume_min":6.984145694348847e-05,"kept_volume_m3_p50":4.769285673641895e-06,"bytes_per_splat":21.06},"seconds":5.35}

maps/rosario_03/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 1 place(s) the route passes twice, the two passes differ from the ground truth by up to 1.1 degrees in heading; passes are up to 0.18 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 1 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 1.1 degrees in heading; passes are up to 0.18 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_03/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":36.5,"t1":60.5,"path_m":27.0,"mean_speed_mps":1.123,"n_kf":94},"photo_psnr_db":29.722,"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":3202564,"webm_bytes":1437001,"poster_bytes":79818,"sha1":"f4ef2fb0b0e122975a84ee6c2f8b0da23fcde445","webm_sha1":"f78a8af5a3147970f632bde627fcda3f8cff19fd"}
+{"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":36.5,"t1":60.5,"path_m":27.0,"mean_speed_mps":1.123,"n_kf":94},"photo_psnr_db":29.722,"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":3202564,"webm_bytes":1437001,"poster_bytes":79818,"sha1":"f4ef2fb0b0e122975a84ee6c2f8b0da23fcde445","webm_sha1":"f78a8af5a3147970f632bde627fcda3f8cff19fd"}

maps/rosario_03/keyframes.json

@@ -1 +1 @@
-{"row":"rosario_03","n":80,"image_size":[320,179],"K":[[167.1716,0.0,161.9923],[0.0,167.1716,95.7904],[0.0,0.0,1.0]],"camera":"rectified left camera (the splat's own camera model), downscaled x0.4762","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":"RGB","selection":"evenly spaced over the route's 654 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/rosario_03/manifest.json

@@ -1,19 +1,19 @@
 {
  "map": "rosario_03",
  "files": {
-  "ATTRIBUTION.json": 1126,
-  "keyframes.json": 18458,
-  "manifest.json": 3390,
+  "ATTRIBUTION.json": 1194,
+  "keyframes.json": 18418,
+  "manifest.json": 3388,
   "points.bin": 5216625,
   "points.json": 1467,
   "preview.jpg": 142353,
   "splats.spz": 38540920,
-  "splats_lite.json": 1057,
+  "splats_lite.json": 979,
   "splats_lite.spz": 11805216,
   "thumb.jpg": 28161,
-  "traj.json": 93796,
+  "traj.json": 93573,
   "film/film.jpg": 79818,
-  "film/film.json": 852,
+  "film/film.json": 826,
   "film/film.mp4": 3202564,
   "film/film.webm": 1437001,
   "film/film.webp": 33730,

maps/rosario_03/splats_lite.json

@@ -1 +1 @@
-{"row":"rosario_03","tool":"build_lite_splats_v4.py (fork of website/tools/build_lite_splats.py)","built":"2026-10-31T01:50:13","source":{"file":"splats.ply","sha1":"af9c91f5459c445adfd961b4c3add108892f00d2","bytes":207999593,"n_splats":1999990,"n_visible":1999990},"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":11805216,"sha1":"0153bb42b704e0003ca248d70a90017aacf54408","fractional_bits":15,"position_step_m":3.0517578125e-05,"encode_s":4.22,"verify":{"max_position_error_m":1.52587890625e-05,"max_alpha_error":0.001960780703702425,"count_ok":true},"kept_alpha_x_volume_min":2.9300370644203277e-05,"kept_volume_m3_p50":3.6082511130500442e-06,"bytes_per_splat":19.68},"seconds":5.3}
+{"row":"rosario_03","built":"2026-10-31T01:50:13","source":{"file":"splats.ply","sha1":"af9c91f5459c445adfd961b4c3add108892f00d2","bytes":207999593,"n_splats":1999990,"n_visible":1999990},"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":11805216,"sha1":"0153bb42b704e0003ca248d70a90017aacf54408","fractional_bits":15,"position_step_m":3.0517578125e-05,"encode_s":4.22,"verify":{"max_position_error_m":1.52587890625e-05,"max_alpha_error":0.001960780703702425,"count_ok":true},"kept_alpha_x_volume_min":2.9300370644203277e-05,"kept_volume_m3_p50":3.6082511130500442e-06,"bytes_per_splat":19.68},"seconds":5.3}

maps/rosario_04/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 passed; the route visits no place twice, so there was no revisit to check. 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), not from ground truth. The map's pose check passed; the route visits no place twice, so there was no revisit to check. 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/rosario_04/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":15.0,"t1":39.0,"path_m":25.3,"mean_speed_mps":1.052,"n_kf":94},"photo_psnr_db":30.043,"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":3388832,"webm_bytes":1651003,"poster_bytes":89584,"sha1":"e0b30bf9768bca55cd1aa9efecdc0bbfa4bf8037","webm_sha1":"8ac5b494b2f9c63e271e92a0f12a858e7a38e3c7"}
+{"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":15.0,"t1":39.0,"path_m":25.3,"mean_speed_mps":1.052,"n_kf":94},"photo_psnr_db":30.043,"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":3388832,"webm_bytes":1651003,"poster_bytes":89584,"sha1":"e0b30bf9768bca55cd1aa9efecdc0bbfa4bf8037","webm_sha1":"8ac5b494b2f9c63e271e92a0f12a858e7a38e3c7"}