Real-General/C016/sample.json

{
 "schema": "vpm-worldbench/sample/1.0",
 "uid": "Real-General/C016",
 "subset": "Real-General",
 "id": "C016",
 "source": {
  "dataset": "ORH-4D",
  "repo": "hf:Sulwon/anonymous_dataset_lih_orh_0920",
  "revision": "e88079d8",
  "id": "C016",
  "sequence_id": "C016__20260807_cand1_quant07__20260807_163735",
  "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": "22640993",
   "role": null,
   "static": true,
   "hfov_deg": 87.781,
   "telephoto": false
  },
  {
   "name": "view1",
   "video": "videos/view1.mp4",
   "width": 1024,
   "height": 768,
   "source_name": "22684227",
   "role": null,
   "static": true,
   "hfov_deg": 87.602,
   "telephoto": false
  },
  {
   "name": "view2",
   "video": "videos/view2.mp4",
   "width": 1024,
   "height": 768,
   "source_name": "22684751",
   "role": null,
   "static": true,
   "hfov_deg": 87.998,
   "telephoto": false
  },
  {
   "name": "view3",
   "video": "videos/view3.mp4",
   "width": 1024,
   "height": 768,
   "source_name": "22684259",
   "role": null,
   "static": true,
   "hfov_deg": 87.274,
   "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": [
   0.000809241144452244,
   0.0033125574700534344,
   0.006642688065767288
  ],
  "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": 996,
  "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": 484
  },
  "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": [
   [
    [
     266.1118610245462,
     0.0,
     262.56667892550297
    ],
    [
     0.0,
     265.08721026937025,
     190.98697764932118
    ],
    [
     0.0,
     0.0,
     1.0
    ]
   ],
   [
    [
     266.9449926286329,
     0.0,
     259.54620978030573
    ],
    [
     0.0,
     263.979831687266,
     192.7489458466666
    ],
    [
     0.0,
     0.0,
     1.0
    ]
   ],
   [
    [
     265.1054600633266,
     0.0,
     254.92243460486384
    ],
    [
     0.0,
     262.2274886667415,
     192.03761419328887
    ],
    [
     0.0,
     0.0,
     1.0
    ]
   ],
   [
    [
     268.4775802911662,
     0.0,
     259.4115343254707
    ],
    [
     0.0,
     266.10147197765093,
     194.96465168580377
    ],
    [
     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 stands at the kitchen counter, moves the right hand quickly over it, then swings around to the right and walks a few steps along the island table, head lowered. Beside the table end, the person stops, reaches the right arm out sideways, leans forward and picks up a slice of toast. Turning left, the person walks steadily to the work desk, bends forward over it, lays the toast down, swings the left arm out to touch a white folding chair, and picks the toast up again.",
 "attributes": {
  "difficulty": "normal",
  "category": "person",
  "view_serials": [
   "22640993",
   "22684227",
   "22684751",
   "22684259"
  ],
  "session": "20260807_cand1_quant07",
  "recording": "20260807_163735",
  "sequence_id": "C016__20260807_cand1_quant07__20260807_163735",
  "raw_frames": {
   "start_raw_frame_id": 11525,
   "stride": 2,
   "source_fps": 30,
   "rule": "raw_frame_id = start_raw_frame_id + stride * t"
  },
  "wholebody_qa_level": "verified",
  "wholebody_failed_gates": [
   "coverage"
  ],
  "frame_ok": 137,
  "operator_present": true,
  "n_default_queries_at_ref_frame": 331,
  "n_default_queries_at_ref_frame_by_source": {
   "orhtrack": 308,
   "orhtrack_q16": 0,
   "wholebody": 23
  },
  "n_points_by_source": {
   "orhtrack": 512,
   "orhtrack_q16": 0,
   "wholebody": 484
  },
  "wholebody_seeded_removed": 28,
  "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,
    150,
    150,
    150
   ],
   "keypoints2d_run_frames": [
    150,
    150,
    150,
    150
   ]
  },
  "motion_summary": {
   "path_m": 3.459627658868481,
   "net_m": 2.7181835928329012,
   "max_speed_mps": 0.7638732688172517,
   "walking_share": 0.5466666666666666,
   "standing_pelvis_m": 0.8404374281178644,
   "min_pelvis_rel": 0.9647305317204312,
   "max_bend_deg": 28.222627000785895,
   "min_head_m": 1.3533288836479187,
   "max_head_m": 1.5886473894119264,
   "total_yaw_deg": -43.87231829350173,
   "frames_fitted": 150
  },
  "legacy": {
   "cond_frame": 16,
   "eval_frames": [
    16,
    80
   ],
   "reproduce_dir": "_reproduce/Real-General/C016",
   "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": "b39455b9562a73f243e406a269eda86fd3d42debd0db49ef523e914cb3a14c4e",
  "captions.json": "e4b7985e43bcae139fc3ef4dde96e1bc143aa0d80293c9a43ad9a4b20fbeb3d9",
  "depth/depth.zip": "cc33ee8384bc5782d78f9f8488f9ab2d03b934c3e14cfe8e6f9c1c89bea32c87",
  "labels/human/keypoints2d.npz": "d88983f231a5366601540d08b31e7acc9e11c6f9711f3fd1939536387681772b",
  "labels/human/keypoints3d.npz": "9134a011e797c4b7ce38b8afc7c31c4e0dabfede0eff6e213e1366e520a7bda4",
  "labels/human/masks.npz": "2b21b7a0cfbb3125b30afd5ab538661cbaf559afb6acbf8f1f17240d4b7e32b6",
  "labels/human/mhr_fit.npz": "6fc163d007ad54d4d6c2c5486b55d77a236925ea71e6c946cc2c52238a973dc8",
  "labels/motion_events.json": "c690e84dd4e963230121064afcd9434a01bf0f816a25f68f17a72ad29b70e3d1",
  "source/bench_views.json": "d1cbf17c684454b5c6cf9087fe6c75a54bc606d2adb93a090fa9ef6b091b044f",
  "source/cam_param/extrinsics.json": "c7854594f81539572fe3b718ea922ed5a820226bda7848b3bbc67befd882a6a8",
  "source/cam_param/intrinsics.json": "c0f0251eb36f585624777e791c3e27ae0317a714e0e5b9a7e356cbc9819a8ed1",
  "source/lang_ann_fixed.json": "1168a1f520e806fdbfb06826274cf4e2b5a8bedf8baaa7f532d49017b5c2a7a2",
  "source/lang_ann_verify.json": "8065dcd02319eb6aff4d239a69c827cbd10e027c838b6a4cc2332fcfda5e45ce",
  "source/lang_hints.txt": "2a196ea7ed8ed7a8cd0c77de9fa635eadeacd62f092f39c74a1eeb280f0478aa",
  "source/manifest_bench_cameras.json": "2a66eee7972a7e77a3a7550a838b1950e1f9fc57089db5a0ab10ab6e16a657a8",
  "source/orhtrack_meta.json": "d1b69c2ccb9f1b3a867b7b8db82c3902ccebc25f1b2b6fb7ba02c8e84bfb4166",
  "source/orhtrack_tracks_extras.npz": "7ada29c792db1a013304771973abf77c703d495045d2568bf437f32dd6f0c2f5",
  "source/package_meta.json": "5e1eb82305ee1a595ea5255bb39805e43616ee3f1a3bdc7974102f8a0b1b6058",
  "source/s2_actor_info.json": "f4b4fba9d216ee6d5b6f92aa5d044b2899977f336f027512790e5b7c98d979d2",
  "source/s6_floor.json": "d00c6f269746fa5f313dc767f1916a5fe3ff7eb41056cafdcbf17dd5525b250b",
  "source/timestamps/22640993.json": "c00b78e0163deda93e1235e731f54ec06e2a3a35243166a62fe96cdec84e6af5",
  "source/timestamps/22684227.json": "5a2959206270912c05ed4e529bd33185418f84d42f852a492cf86252ccb51e76",
  "source/timestamps/22684259.json": "a83ab3999755fdab9fccac471beddeaa0d0026f8f87fcd28ae36c1639abfdb7c",
  "source/timestamps/22684751.json": "945f317ea3914de79873fcdb5ad56da78a674d73bfa8de0a2be4ee27cf869e44",
  "source/video_manifest.json": "84f7978cee050b9d8ed274e7e84f357fd09606c9d67b415eb2e0bb7536633fa3",
  "source/wholebody_meta.json": "8ff0c6d63678e0efe4738de557f7a9e9c15f9fefefd16fe9c741e0319d9676f1",
  "source/wholebody_qa.json": "50f19bf15aad5924abcbfecaa34ac0f0ca7c1959147d3d00fe164ea9b4fcf4a6",
  "source/wholebody_run_clip.json": "b965eff7abeb096bdb15850f51ae5af1687f47bbd5cd02a2219161e5c16a9cc3",
  "source/wholebody_tracks_extras.npz": "20068f973880acc2ff9b29bb8a08ed32fba7e4b10f648202e57329420b91d930",
  "source/windows_full225.json": "c1f5c2a090509fd371024492fdef00640828b148d0382820fe8e2ba399b14989",
  "tracks3d.npz": "1f5f81318d3971634af36f8159ac07afa94cea68224c0840888b4b0297b8b6d9",
  "videos/view0.mp4": "9b7dc5db88b908e5e8bf34fa788bdd58cfb03994565295b4152e0e84011cb9fd",
  "videos/view1.mp4": "731eb737cdad7a2c62605fb88c2353f5b40a215f18b00f1f2c2218d73fa70fda",
  "videos/view2.mp4": "99cbf4b77f3ea37f251c4e409cbdea994e8b47ffc9f9a0c894e58e9f91ff8596",
  "videos/view3.mp4": "903d02bf0d40bbce647dc8593e18166484e9536ef440af00af6c2a3c127e286a"
 }
}