Real-General/C005/sample.json

{
 "schema": "vpm-worldbench/sample/1.0",
 "uid": "Real-General/C005",
 "subset": "Real-General",
 "id": "C005",
 "source": {
  "dataset": "ORH-4D",
  "repo": "hf:Sulwon/anonymous_dataset_lih_orh_0920",
  "revision": "e88079d8",
  "id": "C005",
  "sequence_id": "C005__20260807_cand2_quant10__20260807_170756",
  "derived_from": [
   "ORH-4D capture, 4 selected views",
   "orhtrack v3.2 multi-view surface tracks",
   "orhtrack v3.2 rerun with query frame 16",
   "orhbody v1 whole-body tracks",
   "motion captions (_source/CAPTIONS.md)",
   "ORH-4D multi-view surface reconstruction"
  ]
 },
 "n_views": 4,
 "n_frames": 150,
 "fps": 15.0,
 "duration_s": 10.0,
 "views": [
  {
   "name": "view0",
   "video": "videos/view0.mp4",
   "width": 1024,
   "height": 768,
   "source_name": "22684751",
   "role": null,
   "static": true,
   "hfov_deg": 87.998,
   "telephoto": false
  },
  {
   "name": "view1",
   "video": "videos/view1.mp4",
   "width": 1024,
   "height": 768,
   "source_name": "22645022",
   "role": null,
   "static": true,
   "hfov_deg": 87.873,
   "telephoto": false
  },
  {
   "name": "view2",
   "video": "videos/view2.mp4",
   "width": 1024,
   "height": 768,
   "source_name": "22684259",
   "role": null,
   "static": true,
   "hfov_deg": 87.274,
   "telephoto": false
  },
  {
   "name": "view3",
   "video": "videos/view3.mp4",
   "width": 1024,
   "height": 768,
   "source_name": "23022638",
   "role": null,
   "static": true,
   "hfov_deg": 87.811,
   "telephoto": false
  }
 ],
 "world": {
  "description": "ORH-4D rig world (orhsurf reconstruction / rig calibration frame), unchanged: right-handed, metres, +z up, floor ~ z = 0 (this clip's floor fit z = a*x + b*y + c in floor_plane_abc); room about x -2.3..2.7, y -2.7..3.3, z 0..2.9 m.",
  "units": "m",
  "handedness": "right",
  "up": "+z",
  "floor_plane_abc": [
   0.000500066380482167,
   0.0011455354979261756,
   0.00819996278733015
  ],
  "to_source": {
   "note": "X_source = A @ X + b (identity: unified world == source world)",
   "A": [
    [
     1.0,
     0.0,
     0.0
    ],
    [
     0.0,
     1.0,
     0.0
    ],
    [
     0.0,
     0.0,
     1.0
    ]
   ],
   "b": [
    0.0,
    0.0,
    0.0
   ],
   "source_units": "m",
   "source_frame": "orhsurf / rig calibration world of the ORH manifest (T_cam_from_world)"
  }
 },
 "files": {
  "cameras": "cameras.npz",
  "tracks3d": "tracks3d.npz",
  "captions": "captions.json",
  "depth": "depth/depth.zip",
  "labels": {
   "masks": "labels/human/masks.npz",
   "keypoints2d": "labels/human/keypoints2d.npz",
   "keypoints3d": "labels/human/keypoints3d.npz",
   "mhr_fit": "labels/human/mhr_fit.npz",
   "motion_events": "labels/motion_events.json"
  }
 },
 "tracks": {
  "n_points": 1001,
  "groups": [
   "dynamic_surface",
   "human_body"
  ],
  "visible_outside_frustum_dropped": 0,
  "default_report_group": "all",
  "default_report_group_note": "metrics use default_gt points of both groups (the pre-release delta union of orhtrack and whole-body tracks)",
  "visibility_rule": "visible[t,n,v] = source visible_views flag of bench camera v AND valid AND in_frustum. in_frustum = valid & camera z > 0.1 m & projects inside the 1024x768 image (-0.5 <= u < 1023.5, -0.5 <= v < 767.5; the black undistortion border is not excluded). Source flags: dynamic_surface (orhtrack, orhtrack_q16) = z-buffer of that frame's orhsurf reconstruction + surface facing <= 80 deg; human_body (whole-body) = fitted-body point-splat z-buffer (3 cm) + static-scene depth (+2 cm) + not on another person's mask + facing cos > 0.26, all False in bench cameras excluded by the whole-body pipeline (camera_role 0; see flags). Pre-release delta evaluator: same rule on a 640x480 grid (K_undistort*640/2048) with 0 <= u < 639.5, 0 <= v < 479.5, i.e. a 0.3-0.5 px narrower border.",
  "accuracy": "pseudo-GT from a static 47-camera rig (one calibration for all clips). dynamic_surface (orhtrack v3.2, CoTracker3 + AllTracker in up to 46 views, RANSAC triangulation, cycle/rigidity gates): 6-fold camera cross-validation per-clip median-of-medians 1.6 mm (p90 4.5 mm); err_mm = sigma_max_mm (median 2.3 mm on valid frames). human_body (orhbody v1 MHR-surface tracks): err_mm = calibrated p90 3D error err_p90_mm; valid = status 1-3 & err_p90_mm <= 50 mm (file contract); default_gt additionally requires err_p90_mm <= 20 mm; pooled held-out error median/p90 9.7/26.9 mm (V1a) and 4.2/13.0 mm (V1b). orhtrack prefers textured cloth/skin; plain black cloth is mostly untracked.",
  "default_gt_rule": "orhtrack/orhtrack_q16: valid; wholebody: valid & err_mm <= 20",
  "n_by_source": {
   "orhtrack": 512,
   "orhtrack_q16": 0,
   "wholebody": 489
  },
  "extras": {
   "err_mm": "(T,N) float16 mm, NaN where not valid: orhtrack sigma_max_mm / whole-body err_p90_mm",
   "source": "(N,) int8 index into source_names: 0 orhtrack, 1 orhtrack_q16 (rerun with query frame 16, C007 only; no de-duplication against source 0), 2 wholebody (whole-body rows with orhtrack_id < 0)",
   "source_index": "(N,) int16 row of the point in its source file (wholebody: index into the 512 source tracks; joins source/*_tracks_extras.npz)",
   "query_t": "(N,) int16 source query frame (provenance; the benchmark query frame is the protocol ref_frame)",
   "tier": "(N,) int8 source tier. orhtrack: 0 textured query & valid_frac >= 0.8, 1 textured or valid_frac >= 0.8, 2 other; wholebody: 1 anchored on >= 30% of valid frames, 2 model only (0 = seeded, removed)",
   "entity": "(N,) int16 orhtrack co-moving group id (person or carried object; per run), -1 for whole-body points",
   "clothing": "(N,) int8 index into clothing_names (whole-body; image statistics in 12 train views), -1 for orhtrack",
   "source_names": "(S,) str names of the track sources indexed by `source`",
   "clothing_names": "(C,) str clothing classes indexed by `clothing`"
  },
  "time_offset_frames": 0
 },
 "depth": {
  "file": "depth/depth.zip",
  "member": "{source_view}/frame_{t:04d}.png",
  "view_member_names": [
   "view0",
   "view1",
   "view2",
   "view3"
  ],
  "dtype": "uint16",
  "unit_scale": 0.001,
  "invalid_values": [
   0
  ],
  "valid_max_m": 65.535,
  "width": 512,
  "height": 384,
  "planar_z": true,
  "kind": "reconstruction (pseudo-GT; orhsurf, includes camera 23280595)",
  "intrinsics": [
   [
    [
     265.1054600633266,
     0.0,
     254.92243460486384
    ],
    [
     0.0,
     262.2274886667415,
     192.03761419328887
    ],
    [
     0.0,
     0.0,
     1.0
    ]
   ],
   [
    [
     265.68253330411005,
     0.0,
     257.3757778052364
    ],
    [
     0.0,
     263.97722061573256,
     188.5992275645351
    ],
    [
     0.0,
     0.0,
     1.0
    ]
   ],
   [
    [
     268.4775802911662,
     0.0,
     259.4115343254707
    ],
    [
     0.0,
     266.10147197765093,
     194.96465168580377
    ],
    [
     0.0,
     0.0,
     1.0
    ]
   ],
   [
    [
     265.9725586708402,
     0.0,
     263.2106135572155
    ],
    [
     0.0,
     263.7877077242233,
     190.62607285400048
    ],
    [
     0.0,
     0.0,
     1.0
    ]
   ]
  ],
  "intrinsics_rule": "K_depth = [[fx/2, 0, (cx+0.5)/2-0.5], [0, fy/2, (cy+0.5)/2-0.5], [0, 0, 1]] with fx, fy, cx, cy of cameras.npz K (1024x768): OpenCV pixel-centre mapping u_depth = (u_video+0.5)/2-0.5 (same for v) of the video grid onto the 512x384 depth grid, i.e. the inverse of vpm_worldbench.geometry.image_map((512,384),(1024,768),'resize'); 'intrinsics' lists K_depth of view0..view3",
  "render": "per-frame orhsurf 5M-point random subset, points with camera z > 0.2 m projected with K_depth, 1x1 nearest-pixel min-z z-buffer (each point writes the pixel whose centre is nearest to its projection), planar camera z rounded to mm, 0 = no surface (holes)"
 },
 "caption": "The person, bent forward beside the chair at the work desk with a black bag at the hips, reaches back to the chair with the left hand, steps back a little and quickly lowers onto the seat. Hunched over the bag with the head bowed, the person settles it on the lap and works at its opening with both hands, tugging and fiddling with small movements. Later the right hand lifts and reaches forward and down to the keyboard edge, then returns to the bag.",
 "attributes": {
  "difficulty": "normal",
  "category": "person",
  "view_serials": [
   "22684751",
   "22645022",
   "22684259",
   "23022638"
  ],
  "session": "20260807_cand2_quant10",
  "recording": "20260807_170756",
  "sequence_id": "C005__20260807_cand2_quant10__20260807_170756",
  "raw_frames": {
   "start_raw_frame_id": 793,
   "stride": 2,
   "source_fps": 30,
   "rule": "raw_frame_id = start_raw_frame_id + stride * t"
  },
  "wholebody_qa_level": "verified",
  "wholebody_failed_gates": [
   "V6",
   "coverage"
  ],
  "frame_ok": 138,
  "operator_present": true,
  "n_default_queries_at_ref_frame": 320,
  "n_default_queries_at_ref_frame_by_source": {
   "orhtrack": 298,
   "orhtrack_q16": 0,
   "wholebody": 22
  },
  "n_points_by_source": {
   "orhtrack": 512,
   "orhtrack_q16": 0,
   "wholebody": 489
  },
  "wholebody_seeded_removed": 23,
  "telephoto_views": [],
  "views_without_wholebody_labels": [],
  "views_subject_closer_than_0.8m": [],
  "orhtrack_camqa_excluded_bench_views": [],
  "label_coverage": {
   "mask_ran_frames": [
    150,
    150,
    150,
    150
   ],
   "mask_ok_frames": [
    150,
    3,
    150,
    150
   ],
   "keypoints2d_run_frames": [
    150,
    150,
    150,
    150
   ]
  },
  "motion_summary": {
   "path_m": 0.5134265449351455,
   "net_m": 0.2241148334149018,
   "max_speed_mps": 0.4344062425720091,
   "walking_share": 0.04,
   "standing_pelvis_m": 0.8356774461381299,
   "min_pelvis_rel": 0.5874577792466344,
   "max_bend_deg": 17.45638391612677,
   "min_head_m": 1.157319223880768,
   "max_head_m": 1.4256976366043093,
   "total_yaw_deg": -10.669109840079024,
   "frames_fitted": 150
  },
  "legacy": {
   "cond_frame": 16,
   "eval_frames": [
    16,
    80
   ],
   "reproduce_dir": "_reproduce/Real-General/C005",
   "prompt": "legacy_prompts in captions.json (one generic sentence for every clip)"
  },
  "consent": "release blocker: identifiable people (faces not blurred); data-owner consent not yet confirmed",
  "flag_rules": {
   "view_without_wholebody_labels": "view_without_wholebody_labels:<view>: the whole-body pipeline did not use this camera: its human_body points are never marked visible there and it has no 2D keypoints",
   "subject_closer_than_0.8m": "subject_closer_than_0.8m:<view>: the person comes closer than 0.8 m to this camera; the surface-track pipeline excluded the view",
   "wholebody_qa": "wholebody_qa:<level>: the whole-body (body-model) QA level of the clip when it is not 'verified' (attributes.wholebody_qa_level, wholebody_failed_gates)",
   "few_default_queries_at_ref_frame": "few_default_queries_at_ref_frame:<n>: fewer than 20 points with default_gt visible in >= 1 view at frame 16 (n given)",
   "people_identifiable": "every clip: real, identifiable people are visible (the actor, sometimes an operator)"
  }
 },
 "flags": [
  "people_identifiable"
 ],
 "files_sha256": {
  "cameras.npz": "547b7ec47c767207b2c48c90ab86f6a378ae83070322fa30a25823d5842b6f51",
  "captions.json": "1bc71fbf9822fa2b05d0fa0c3db17f7fe5270907f32c2e9c0b896ba2723b1ee9",
  "depth/depth.zip": "e1e4968c2faac1e9355464015e886bc4d7ca340d7a5c5e1648f6417506b505ff",
  "labels/human/keypoints2d.npz": "303335f8bae3a32f93306a664e2a6ee31bd5fff7b75f4a27762a67200bc69a15",
  "labels/human/keypoints3d.npz": "a275eaf766b965f5cf3a85df15bde52d4b788a1d8a0c267a10530b309f0c170d",
  "labels/human/masks.npz": "7f3db9d2cc73e39ae7a9e69219013c6a3771a301835b080e238c31bde44851da",
  "labels/human/mhr_fit.npz": "fe21dbdcb5420af97f19b40ce704361af0856bdfa837f04ae0bddae6a7632e1b",
  "labels/motion_events.json": "2543dd074a20299a1a5561808789bfa9efc53ef398fd156af1fbc5ffba7f59c6",
  "source/bench_views.json": "7332ef24f06ed5b0121a70875fdc2c56ce4fd39dab8f20498461ef7b38f0af82",
  "source/cam_param/extrinsics.json": "c7854594f81539572fe3b718ea922ed5a820226bda7848b3bbc67befd882a6a8",
  "source/cam_param/intrinsics.json": "c0f0251eb36f585624777e791c3e27ae0317a714e0e5b9a7e356cbc9819a8ed1",
  "source/lang_ann_fixed.json": "aaef9b782805c6021429b1885eb242200f118360f26375284f8e7d7c81e52ea7",
  "source/lang_ann_verify.json": "01f264d5844f2aa1812dad85f5fc9116e2350beeb99e6af16fec8164f7ca7d15",
  "source/lang_hints.txt": "5ae9340b1dd98e3ee070abac9d9c294574f1e4e7f06c768626b5f3f6fd9ab26e",
  "source/manifest_bench_cameras.json": "da4e8ac4728c86ac6c4b218cf8d67c109f9c875d4fac591fc593311ae2bd6965",
  "source/orhtrack_meta.json": "99ef91b350714ec5cf3d61796a3db7a36e3cc8e9ce0a96923bd49bc5ecc6be19",
  "source/orhtrack_tracks_extras.npz": "e475d277ef59e6038fae4e70e0b5206302c03cf7fe449f75f176f809055785fd",
  "source/package_meta.json": "0e4f071174cf121e3b0f8ef5cbac3753ca1c35f2b0f2c17d01a3c0f90f9a790d",
  "source/s2_actor_info.json": "3267fb976c29d79f42971f4fd137aa0c7a48540da9e252df75d451b56cc3eb3c",
  "source/s6_floor.json": "96fde09405a9aa283442fa53c1034a991dbf19a6c5a1867024ffd7a6780edacb",
  "source/timestamps/22645022.json": "3d868537d124afa85dacdbfaf9e83ccb272ab8c5d41b0635887a859b920997f8",
  "source/timestamps/22684259.json": "58919078bb77a25dadbd4ba15d286975e18c5cbf25e42bff53d299b1bec56320",
  "source/timestamps/22684751.json": "6202ffc72c861edd485fb09088720d43904c1c57e18fb2be62cfc48184897810",
  "source/timestamps/23022638.json": "f244bb0fbfe6d4aeac956ad1be7d0934a5a5f402fe4292bae97aecb1414c3a23",
  "source/video_manifest.json": "3d049dd048aa38ecba79732c01e930652071e4feddddc9ae962926a8474e2c8d",
  "source/wholebody_meta.json": "0e05476cf199ef932fa6c1440ae8dc61365964da4edf157dc10b965f8b5bb806",
  "source/wholebody_qa.json": "5168983ac33d81e2ce7629d45acadada27629a32e97fb350ec03086f04590389",
  "source/wholebody_run_clip.json": "d9a0dc65c0c4236841a5c0f9b046baefce3608c634c16e5a143629686ab5a12c",
  "source/wholebody_tracks_extras.npz": "ddcb7a497cebd9c5ac651baa962fde14d079841e29abdd7c0989f5a8fe5c01b9",
  "source/windows_full225.json": "d80915bfde5c8b4c5992fe9cc5c933a2fea4b68b692b1481dec2663984b05a69",
  "tracks3d.npz": "388e5c33ad375998860cfebb6d379debcdf217a4dc82cd2868e2c6e63bdb2971",
  "videos/view0.mp4": "c98893929bb43cd633ebec739a82a74a40d3fbfa943c9dd895a0722467e41633",
  "videos/view1.mp4": "0db2295d11b7c82546e126cd9bb1ac46d2e081692f5deebe30e5122d7c2382ba",
  "videos/view2.mp4": "820642da0801c52fd1ac9af3c7fa287e73b0c29e2699ef374ca27546112cf06f",
  "videos/view3.mp4": "a1d78a4071c83c79ebb9ec03c0dd6f97d428ab3be7a379075ffdea10188d3644"
 }
}