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Simul-General/clip_00000/cameras.npz

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Simul-General/clip_00000/depth/depth.zip

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Simul-General/clip_00000/labels/target.npz

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Simul-General/clip_00000/source/points_target.npz

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+size 352000

Simul-General/clip_00000/tracks3d.npz

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+size 357583

Simul-General/clip_00000/videos/view0.mp4

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+size 16485218

Simul-General/clip_00000/videos/view1.mp4

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Simul-General/clip_00000/videos/view2.mp4

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+size 13506536

Simul-General/clip_00000/videos/view3.mp4

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+oid sha256:3fb34c3d8fba78d5a2452c1045b1e1c0a9c63d90667bda2ef21fd09cd8da0c7e
+size 16788716

Simul-General/clip_00013/captions.json

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+{
+ "caption": "A short-haired figure in a light gray top and dark jeans walks barefoot along a tree-shaded sidewalk past a green corner building, continuing down the block beside parked cars, a fire hydrant, and a parking meter on a sunlit city street lined with shops and awnings.",
+ "structured": {
+  "target_class": "pedestrian",
+  "semantic_tag": "pedestrian",
+  "semantic_tag_id": 12,
+  "blueprint": "walker.pedestrian.0042",
+  "motion_kinds": {
+   "view0": "random_polyline",
+   "view1": "translation",
+   "view2": "pan_tilt",
+   "view3": "translation"
+  },
+  "motion_kinds_note": "vendor camera motion labels relative to the target-following anchor; every camera moves in the world"
+ },
+ "legacy_prompts": {
+  "view0": "A short-haired figure in a light gray top and dark jeans walks barefoot along a tree-shaded sidewalk past a green corner building, continuing down the block beside parked cars, a fire hydrant, and a parking meter on a sunlit city street lined with shops and awnings. The camera travels about 8.8 m, panning left.",
+  "view1": "A short-haired figure in a light gray top and dark jeans walks barefoot along a tree-shaded sidewalk past a green corner building, continuing down the block beside parked cars, a fire hydrant, and a parking meter on a sunlit city street lined with shops and awnings. The camera travels about 6.0 m.",
+  "view2": "A short-haired figure in a light gray top and dark jeans walks barefoot along a tree-shaded sidewalk past a green corner building, continuing down the block beside parked cars, a fire hydrant, and a parking meter on a sunlit city street lined with shops and awnings. The camera travels about 6.8 m.",
+  "view3": "A short-haired figure in a light gray top and dark jeans walks barefoot along a tree-shaded sidewalk past a green corner building, continuing down the block beside parked cars, a fire hydrant, and a parking meter on a sunlit city street lined with shops and awnings. The camera travels about 8.1 m."
+ },
+ "camera_phrases_corrected": {
+  "view0": "The camera travels about 8.8 m, panning right.",
+  "view1": "The camera travels about 6.0 m.",
+  "view2": "The camera travels about 6.8 m.",
+  "view3": "The camera travels about 8.1 m."
+ },
+ "camera_phrase_note": "legacy_prompts = caption + ' ' + the pre-release camera phrase of view k exactly as given to the pre-release baselines: frames 16 -> 80, float32 poses, pan = atan2(f_x, f_z), which is wrong in this z-up world. camera_phrases_corrected uses the same wording rules (static if moved < 0.05 m and |pan| < 2 deg, pan word if |pan| > 8 deg) with the z-up heading atan2(f_y, f_x) (counter-clockwise seen from above = panning left), except that a camera moving < 0.05 m with |pan| >= 2 deg 'rotates in place, panning <dir>'."
+}

Simul-General/clip_00013/labels/oos_segments.json

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+{
+ "note": "Out-of-sight segments (vendor visibility.json oos_segments: maximal runs >= 8 frames of visibility_strict, start/end inclusive local frames; 'cam' = 0-based view index) and the per-view departure schedule. relay = meta.oos.relay of hard clips (null otherwise).",
+ "segment_note": "derived from `visibility_strict` (frame-level is authoritative); maximal runs only, no merging/smoothing; min length 8f applies to this list only; start/end inclusive",
+ "segments": [
+  {
+   "view": "view0",
+   "cam": 0,
+   "cam_name": "cam01",
+   "start": 128,
+   "end": 143,
+   "kind": "occluded",
+   "len": 16
+  },
+  {
+   "view": "view1",
+   "cam": 1,
+   "cam_name": "cam02",
+   "start": 39,
+   "end": 66,
+   "kind": "out_of_frustum",
+   "len": 28
+  },
+  {
+   "view": "view3",
+   "cam": 3,
+   "cam_name": "cam04",
+   "start": 132,
+   "end": 143,
+   "kind": "occluded",
+   "len": 12
+  }
+ ],
+ "per_view": [
+  {
+   "view": "view0",
+   "source_view": "cam01",
+   "oos_allowed": false,
+   "oos_reason": "none",
+   "oos_effective": false,
+   "oos_departed": false,
+   "oos_cycles": 0
+  },
+  {
+   "view": "view1",
+   "source_view": "cam02",
+   "oos_allowed": true,
+   "oos_reason": "sampled",
+   "oos_effective": true,
+   "oos_departed": true,
+   "oos_cycles": 1
+  },
+  {
+   "view": "view2",
+   "source_view": "cam03",
+   "oos_allowed": false,
+   "oos_reason": "none",
+   "oos_effective": false,
+   "oos_departed": false,
+   "oos_cycles": 0
+  },
+  {
+   "view": "view3",
+   "source_view": "cam04",
+   "oos_allowed": false,
+   "oos_reason": "none",
+   "oos_effective": false,
+   "oos_departed": false,
+   "oos_cycles": 0
+  }
+ ],
+ "relay": null
+}

Simul-General/clip_00013/sample.json

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+{
+ "schema": "vpm-worldbench/sample/1.0",
+ "uid": "Simul-General/clip_00013",
+ "subset": "Simul-General",
+ "id": "clip_00013",
+ "source": {
+  "dataset": "HyperWorld-Bench-General",
+  "repo": "hf:rooty2020/HyperWorld-Bench-General",
+  "revision": "ca94a48704dc230bf39202f3c672f356aacb21c7",
+  "id": "clip_00013",
+  "path": "bench_people&car/clip_00013"
+ },
+ "n_views": 4,
+ "n_frames": 144,
+ "fps": 15.0,
+ "duration_s": 9.6,
+ "views": [
+  {
+   "name": "view0",
+   "video": "videos/view0.mp4",
+   "width": 1280,
+   "height": 1280,
+   "source_name": "cam01",
+   "role": null,
+   "static": false,
+   "hfov_deg": 48.477,
+   "motion_kind_rel_anchor": "random_polyline",
+   "max_travel_m": 12.5741,
+   "max_rotation_deg": 37.353
+  },
+  {
+   "name": "view1",
+   "video": "videos/view1.mp4",
+   "width": 1280,
+   "height": 1280,
+   "source_name": "cam02",
+   "role": null,
+   "static": false,
+   "hfov_deg": 36.353,
+   "motion_kind_rel_anchor": "translation",
+   "max_travel_m": 9.5247,
+   "max_rotation_deg": 33.316
+  },
+  {
+   "name": "view2",
+   "video": "videos/view2.mp4",
+   "width": 1280,
+   "height": 1280,
+   "source_name": "cam03",
+   "role": null,
+   "static": false,
+   "hfov_deg": 72.717,
+   "motion_kind_rel_anchor": "pan_tilt",
+   "max_travel_m": 12.8087,
+   "max_rotation_deg": 15.33
+  },
+  {
+   "name": "view3",
+   "video": "videos/view3.mp4",
+   "width": 1280,
+   "height": 1280,
+   "source_name": "cam04",
+   "role": null,
+   "static": false,
+   "hfov_deg": 48.783,
+   "motion_kind_rel_anchor": "translation",
+   "max_travel_m": 15.8463,
+   "max_rotation_deg": 9.72
+  }
+ ],
+ "world": {
+  "description": "CARLA Town10HD_x6 map frame as delivered by the vendor in right-handed metres (X_ue/100, -Y_ue/100, Z_ue/100), +z up, ground at z ~ 0, recentred per sample: X = X_source - o with o = (x, y, 0) of the target surface-point centroid at frame 0.",
+  "units": "m",
+  "handedness": "right",
+  "up": "+z",
+  "origin_in_source": [
+   541.5062842644237,
+   -103.00995618707111,
+   0.0
+  ],
+  "to_source": {
+   "note": "X_source = A @ X + b; source = vendor right-handed metre world of cameras.json extrinsic_w2c / c2w",
+   "A": [
+    [
+     1.0,
+     0.0,
+     0.0
+    ],
+    [
+     0.0,
+     1.0,
+     0.0
+    ],
+    [
+     0.0,
+     0.0,
+     1.0
+    ]
+   ],
+   "b": [
+    541.5062842644237,
+    -103.00995618707111,
+    0.0
+   ],
+   "source_units": "m"
+  },
+  "to_ue_cm": {
+   "note": "X_ue = A @ X + b; Unreal/CARLA left-handed centimetre world of ue_pose.location_cm and visibility.json *_cm",
+   "A": [
+    [
+     100.0,
+     0.0,
+     0.0
+    ],
+    [
+     0.0,
+     -100.0,
+     0.0
+    ],
+    [
+     0.0,
+     0.0,
+     100.0
+    ]
+   ],
+   "b": [
+    54150.62842644237,
+    10300.995618707111,
+    0.0
+   ],
+   "source_units": "cm"
+  }
+ },
+ "files": {
+  "cameras": "cameras.npz",
+  "tracks3d": "tracks3d.npz",
+  "captions": "captions.json",
+  "depth": "depth/depth.zip",
+  "labels": {
+   "target": "labels/target.npz",
+   "oos_segments": "labels/oos_segments.json"
+  }
+ },
+ "tracks": {
+  "n_points": 256,
+  "groups": [
+   "target"
+  ],
+  "visible_outside_frustum_dropped": 0,
+  "default_report_group": "target",
+  "visibility_rule": "visible = in_frustum AND depth test against depth.zip of that view and frame at the nearest pixel (rint(u), rint(v)) of the native 1280x1280 grid, (u, v) projected with the stored K (OpenCV pixel centres, cx = cy = 639.5; = floor(u), floor(v) with K_delivered): |D - z| <= clip(0.02 z, 0.05 m, 0.15 m), D = planar depth in metres, 65535 (sky) never passes. Strict rule: area-sampled points on the far side or inside the target (vehicle interior/glass, eyes) fail it; the tolerance is 2 % of the distance, at least 5 cm and at most 15 cm. in_frustum = recomputed with the stored K (valid, z > 0.05 m and -0.5 <= u, v < 1279.5, i.e. the vendor in_frustum_cam rule z > 0 and 0 <= u, v < 1280 with the delivered K; agreement with in_frustum_cam in stats). The legacy pre-release protocol used the vendor in_frustum_cam alone (frustum-only).",
+  "accuracy": "exact simulator GT: 256 triangle-area-weighted surface points moved by linear blend skinning of the CARLA bone transforms (rigid propagation for unskinned vehicle parts); no cloth/hair secondary motion; other traffic is untracked. Stored as float32 (< 4e-6 m rounding within 100 m of the origin). Depth is quantised to 1 cm. K = delivered intrinsics with cx = cy = 640 - 0.5 = 639.5: the vendor uses the CARLA/UE pixel-corner convention (depth-vs-track residuals are lowest with the corrected K); cameras.npz K_delivered keeps the delivered matrix (pre-release numbers used 640, docs/DATA_FORMAT.md §1).",
+  "depth_test": {
+   "pixel": "rint",
+   "K": "cameras.npz K (OpenCV pixel centres)",
+   "tol_rel": 0.02,
+   "tol_min_m": 0.05,
+   "tol_max_m": 0.15,
+   "grid": [
+    1280,
+    1280
+   ],
+   "invalid_values": [
+    65535
+   ]
+  },
+  "stats": {
+   "n_in_frustum": 139243,
+   "n_visible": 78966,
+   "visible_frac_of_in_frustum": 0.5671,
+   "in_frustum_sky_hits": 0,
+   "n_visible_other_pixel_rule": {
+    "rint_K_delivered": 78529
+   },
+   "visible_abs_dz_m": {
+    "median": 0.01321,
+    "p90": 0.088768
+   },
+   "in_frustum_recomputed_agreement": 1.0,
+   "in_frustum_recomputed_mismatches": 0
+  },
+  "part_note": "part = vendor point_section (mesh section / material slot, '<mesh>/<material>'; a name that occurs more than once gets '#<section index>' appended, codes unchanged); component = mesh component (doors, glass, lights for vehicles); point_skinned = driven by bone skinning (else rigid).",
+  "extras": {
+   "component": "(N,) int16 index into component_names: mesh component of the point (e.g. body, doors, glass, lights for vehicles)",
+   "component_names": "(C,) str component names",
+   "component_mesh_names": "(C,) str mesh file of each component",
+   "point_skinned": "(N,) bool, moved by bone skinning (else rigid with its component)"
+  }
+ },
+ "depth": {
+  "file": "depth/depth.zip",
+  "member": "{source_view}/frame_{t:04d}.png",
+  "view_member_names": [
+   "cam01",
+   "cam02",
+   "cam03",
+   "cam04"
+  ],
+  "dtype": "uint16",
+  "unit_scale": 0.01,
+  "invalid_values": [
+   65535
+  ],
+  "valid_max_m": 655.34,
+  "width": 1280,
+  "height": 1280,
+  "kind": "rendered (synthetic GT)",
+  "planar_z": true,
+  "note": "CARLA sensor.camera.depth decoded by the vendor to linear planar z in cm, lossless 16-bit grayscale PNG, pixel-aligned with the RGB video; 65535 = sky/far clamp (no zeros occur). The pre-release loader additionally discarded depth > 80 m."
+ },
+ "caption": "A short-haired figure in a light gray top and dark jeans walks barefoot along a tree-shaded sidewalk past a green corner building, continuing down the block beside parked cars, a fire hydrant, and a parking meter on a sunlit city street lined with shops and awnings.",
+ "attributes": {
+  "category": "pedestrian",
+  "subcategory": "pedestrian",
+  "semantic_tag": 12,
+  "blueprint": "walker.pedestrian.0042",
+  "difficulty": "normal",
+  "hard_relay_k": null,
+  "camera_motion_kinds": [
+   "random_polyline",
+   "translation",
+   "pan_tilt",
+   "translation"
+  ],
+  "all_cameras_moving": true,
+  "map": "Town10HD_x6",
+  "tile": 1,
+  "rotation_only_views": [],
+  "oos_departed_views": [
+   "view1"
+  ],
+  "n_frames_target_invisible_all_views": 0,
+  "n_default_queries_at_ref_frame": 246,
+  "visible_frac_of_in_frustum": 0.5671,
+  "quality_ok": true,
+  "abort": null,
+  "source_frame_range": [
+   21354,
+   21497
+  ],
+  "flag_rules": {
+   "quality_ok_false": "the vendor capture gate .capture_done quality_ok is false",
+   "target_not_visible_in_view_at_ref_frame": "at frame 16 the target is not visible in that view by either trigger: (a) the vendor target state (labels/target.npz state_strict) is not 'visible' (instance mask < 300 px, out of frustum or absent), or (b) the view has zero visible GT track points (tracks3d visible, depth test)",
+   "target_invisible_all_views_some_frames": "at some frame the vendor target state (state_strict) is not 'visible' in any view",
+   "caption_mentions_leaving_view": "the caption says the target leaves the view (out of/from view|frame|sight, leaves the view|frame, off-screen, disappear*)",
+   "few_default_queries_at_ref_frame": "fewer than 20 points with default_gt and visible in >= 1 view at frame 16 (exact count in attributes.n_default_queries_at_ref_frame)"
+  }
+ },
+ "flags": [],
+ "files_sha256": {
+  "cameras.npz": "6f340769bac1f275333128f409639e5989f26c03c47a5219a248d74e62cf9273",
+  "captions.json": "3cb3670c54cc32fac7f40b9e052211e95adc5595a88f2708bcef120acce35fac",
+  "depth/depth.zip": "b6c6c5fc751d7bd92ec44a88ed4f0ce912163d898e2351f4c7b030c0a7f7b0e9",
+  "labels/oos_segments.json": "04c4098c92891f9a9e58abf81aac3cd7db7a0192d531336c9a3f3af5416af757",
+  "labels/target.npz": "b5dbbc15deeb2ed9b6f05d4908c0d977f7d5906264ebeea9f15b92f7141e7323",
+  "source/cameras.json": "d6e378d2aed47ae63fbc09ef8ddd8feb64d8788bb22a1a95273058fa59784b09",
+  "source/caption.txt": "9361ac120aed13b9eed8b59a5d24ba2f2f298543290dae2d9997c4f328975f26",
+  "source/capture_done.json": "6cb1fa1135a5636975dd5c15b58480e9b4696f397a8cbed03a3cb2e5b528dbb6",
+  "source/meta.json": "29d42137b41b828b18ba6570557c7bc870f3ef5907256865bbc4ea2b2a277ea6",
+  "source/points_target.npz": "2ea53f324fab4be4f7d47c241e2dae562acc7532781e33aa48188d843755ac34",
+  "source/visibility.json": "d1d4badf307208aac063ed6a4b4aa40be3993403c7e1c8f21a61c17e246488ef",
+  "tracks3d.npz": "6a37bbf30ff4ffaaab53c1c788bac337ce32874cdbabb265b3537a13c9c7851b",
+  "videos/view0.mp4": "5de0e61cc5cc0604adeeb253b431616a74cf99edb6e184b15759a10af8ad4552",
+  "videos/view1.mp4": "792d2af9606dd75a98e955b25acbf5b57d99a36a250e5b90412bca98e0c84dc0",
+  "videos/view2.mp4": "7bd577977396819c29ae214286505d5a7ced4442072f75e9b90abc51c4a8d9e1",
+  "videos/view3.mp4": "11bfe059710fe33314909509644e25116d1019cb5f1d0295ad8eae8a824dcd68"
+ }
+}

Simul-General/clip_00013/source/caption.txt

@@ -0,0 +1 @@
+A short-haired figure in a light gray top and dark jeans walks barefoot along a tree-shaded sidewalk past a green corner building, continuing down the block beside parked cars, a fire hydrant, and a parking meter on a sunlit city street lined with shops and awnings.

Simul-General/clip_00013/source/capture_done.json

@@ -0,0 +1,240 @@
+{
+ "clip": 13,
+ "spec_gen": "carla1",
+ "map": "Town10HD_x6",
+ "target_bp_id": "walker.pedestrian.0042",
+ "target_kind": "walker",
+ "target_class": "pedestrian",
+ "target_class_fallback": false,
+ "target_model": "walker.pedestrian.0042",
+ "target_lost_frame": null,
+ "bucket_retired": false,
+ "num_cams": 4,
+ "frames": 144,
+ "frame_count": 144,
+ "frame_bucket": 144,
+ "hfov_deg_per_cam": [
+  48.477,
+  36.353,
+  72.717,
+  48.783
+ ],
+ "oos_allowed": [
+  false,
+  true,
+  false,
+  false
+ ],
+ "oos_effective": [
+  false,
+  true,
+  false,
+  false
+ ],
+ "oos_departed": [
+  false,
+  true,
+  false,
+  false
+ ],
+ "oos_cycles": [
+  0,
+  1,
+  0,
+  0
+ ],
+ "oos_cycles_per_cam": [
+  0,
+  1,
+  0,
+  0
+ ],
+ "oos_forced_returns": 0,
+ "visible_ratio": [
+  0.8819,
+  0.8056,
+  0.9722,
+  0.9097
+ ],
+ "visibility_frac_per_cam": [
+  0.8819,
+  0.8056,
+  0.9722,
+  0.9097
+ ],
+ "min_visible_ratio_non_oos": 0.8819,
+ "points_ok": true,
+ "points_n": 256,
+ "points_track_complete_ratio": 1.0,
+ "points_track_breaks": 0,
+ "points_in_frustum_ratio": 0.9443,
+ "num_points": 256,
+ "track_breaks": 0,
+ "depth_qc": {
+  "frames": 576,
+  "sky": 0,
+  "near": 2,
+  "const": 0,
+  "per_cam": [
+   {
+    "frames": 144,
+    "sky": 0,
+    "near": 0,
+    "const": 0
+   },
+   {
+    "frames": 144,
+    "sky": 0,
+    "near": 0,
+    "const": 0
+   },
+   {
+    "frames": 144,
+    "sky": 0,
+    "near": 0,
+    "const": 0
+   },
+   {
+    "frames": 144,
+    "sky": 0,
+    "near": 2,
+    "const": 0
+   }
+  ],
+  "dist": {
+   "saturated_frac_p50": 0.0,
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+}

Simul-General/clip_00013/source/meta.json

@@ -0,0 +1,646 @@
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Simul-General/clip_00052/captions.json

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+{
+ "caption": "A heavyset man in a dark jacket and jeans walks steadily away down a tree-lined city sidewalk past townhouse stoops, moving from near a parked car and museum banners deeper along the block under bright sunlight and dappled tree shadows, with a wide empty street and waterfront buildings alongside.",
+ "structured": {
+  "target_class": "pedestrian",
+  "semantic_tag": "pedestrian",
+  "semantic_tag_id": 12,
+  "blueprint": "walker.pedestrian.0047",
+  "motion_kinds": {
+   "view0": "translation",
+   "view1": "random_polyline",
+   "view2": "arc",
+   "view3": "random_polyline"
+  },
+  "motion_kinds_note": "vendor camera motion labels relative to the target-following anchor; every camera moves in the world"
+ },
+ "legacy_prompts": {
+  "view0": "A heavyset man in a dark jacket and jeans walks steadily away down a tree-lined city sidewalk past townhouse stoops, moving from near a parked car and museum banners deeper along the block under bright sunlight and dappled tree shadows, with a wide empty street and waterfront buildings alongside. The camera travels about 5.7 m.",
+  "view1": "A heavyset man in a dark jacket and jeans walks steadily away down a tree-lined city sidewalk past townhouse stoops, moving from near a parked car and museum banners deeper along the block under bright sunlight and dappled tree shadows, with a wide empty street and waterfront buildings alongside. The camera travels about 4.1 m, panning left.",
+  "view2": "A heavyset man in a dark jacket and jeans walks steadily away down a tree-lined city sidewalk past townhouse stoops, moving from near a parked car and museum banners deeper along the block under bright sunlight and dappled tree shadows, with a wide empty street and waterfront buildings alongside. The camera travels about 9.6 m, panning left.",
+  "view3": "A heavyset man in a dark jacket and jeans walks steadily away down a tree-lined city sidewalk past townhouse stoops, moving from near a parked car and museum banners deeper along the block under bright sunlight and dappled tree shadows, with a wide empty street and waterfront buildings alongside. The camera travels about 9.9 m, panning left."
+ },
+ "camera_phrases_corrected": {
+  "view0": "The camera travels about 5.7 m, panning left.",
+  "view1": "The camera travels about 4.1 m, panning right.",
+  "view2": "The camera travels about 9.6 m, panning right.",
+  "view3": "The camera travels about 9.9 m, panning right."
+ },
+ "camera_phrase_note": "legacy_prompts = caption + ' ' + the pre-release camera phrase of view k exactly as given to the pre-release baselines: frames 16 -> 80, float32 poses, pan = atan2(f_x, f_z), which is wrong in this z-up world. camera_phrases_corrected uses the same wording rules (static if moved < 0.05 m and |pan| < 2 deg, pan word if |pan| > 8 deg) with the z-up heading atan2(f_y, f_x) (counter-clockwise seen from above = panning left), except that a camera moving < 0.05 m with |pan| >= 2 deg 'rotates in place, panning <dir>'."
+}

Simul-General/clip_00052/sample.json

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+{
+ "schema": "vpm-worldbench/sample/1.0",
+ "uid": "Simul-General/clip_00052",
+ "subset": "Simul-General",
+ "id": "clip_00052",
+ "source": {
+  "dataset": "HyperWorld-Bench-General",
+  "repo": "hf:rooty2020/HyperWorld-Bench-General",
+  "revision": "ca94a48704dc230bf39202f3c672f356aacb21c7",
+  "id": "clip_00052",
+  "path": "bench_people&car/clip_00052"
+ },
+ "n_views": 4,
+ "n_frames": 121,
+ "fps": 15.0,
+ "duration_s": 8.0667,
+ "views": [
+  {
+   "name": "view0",
+   "video": "videos/view0.mp4",
+   "width": 1280,
+   "height": 1280,
+   "source_name": "cam01",
+   "role": null,
+   "static": false,
+   "hfov_deg": 60.384,
+   "motion_kind_rel_anchor": "translation",
+   "max_travel_m": 10.5334,
+   "max_rotation_deg": 19.293
+  },
+  {
+   "name": "view1",
+   "video": "videos/view1.mp4",
+   "width": 1280,
+   "height": 1280,
+   "source_name": "cam02",
+   "role": null,
+   "static": false,
+   "hfov_deg": 58.15,
+   "motion_kind_rel_anchor": "random_polyline",
+   "max_travel_m": 5.8735,
+   "max_rotation_deg": 94.172
+  },
+  {
+   "name": "view2",
+   "video": "videos/view2.mp4",
+   "width": 1280,
+   "height": 1280,
+   "source_name": "cam03",
+   "role": null,
+   "static": false,
+   "hfov_deg": 82.086,
+   "motion_kind_rel_anchor": "arc",
+   "max_travel_m": 17.5395,
+   "max_rotation_deg": 76.72
+  },
+  {
+   "name": "view3",
+   "video": "videos/view3.mp4",
+   "width": 1280,
+   "height": 1280,
+   "source_name": "cam04",
+   "role": null,
+   "static": false,
+   "hfov_deg": 69.418,
+   "motion_kind_rel_anchor": "random_polyline",
+   "max_travel_m": 14.6775,
+   "max_rotation_deg": 65.678
+  }
+ ],
+ "world": {
+  "description": "CARLA Town10HD_x6 map frame as delivered by the vendor in right-handed metres (X_ue/100, -Y_ue/100, Z_ue/100), +z up, ground at z ~ 0, recentred per sample: X = X_source - o with o = (x, y, 0) of the target surface-point centroid at frame 0.",
+  "units": "m",
+  "handedness": "right",
+  "up": "+z",
+  "origin_in_source": [
+   -10.74428478498348,
+   -123.56325146532133,
+   0.0
+  ],
+  "to_source": {
+   "note": "X_source = A @ X + b; source = vendor right-handed metre world of cameras.json extrinsic_w2c / c2w",
+   "A": [
+    [
+     1.0,
+     0.0,
+     0.0
+    ],
+    [
+     0.0,
+     1.0,
+     0.0
+    ],
+    [
+     0.0,
+     0.0,
+     1.0
+    ]
+   ],
+   "b": [
+    -10.74428478498348,
+    -123.56325146532133,
+    0.0
+   ],
+   "source_units": "m"
+  },
+  "to_ue_cm": {
+   "note": "X_ue = A @ X + b; Unreal/CARLA left-handed centimetre world of ue_pose.location_cm and visibility.json *_cm",
+   "A": [
+    [
+     100.0,
+     0.0,
+     0.0
+    ],
+    [
+     0.0,
+     -100.0,
+     0.0
+    ],
+    [
+     0.0,
+     0.0,
+     100.0
+    ]
+   ],
+   "b": [
+    -1074.4284784983479,
+    12356.325146532134,
+    0.0
+   ],
+   "source_units": "cm"
+  }
+ },
+ "files": {
+  "cameras": "cameras.npz",
+  "tracks3d": "tracks3d.npz",
+  "captions": "captions.json",
+  "depth": "depth/depth.zip",
+  "labels": {
+   "target": "labels/target.npz",
+   "oos_segments": "labels/oos_segments.json"
+  }
+ },
+ "tracks": {
+  "n_points": 256,
+  "groups": [
+   "target"
+  ],
+  "visible_outside_frustum_dropped": 0,
+  "default_report_group": "target",
+  "visibility_rule": "visible = in_frustum AND depth test against depth.zip of that view and frame at the nearest pixel (rint(u), rint(v)) of the native 1280x1280 grid, (u, v) projected with the stored K (OpenCV pixel centres, cx = cy = 639.5; = floor(u), floor(v) with K_delivered): |D - z| <= clip(0.02 z, 0.05 m, 0.15 m), D = planar depth in metres, 65535 (sky) never passes. Strict rule: area-sampled points on the far side or inside the target (vehicle interior/glass, eyes) fail it; the tolerance is 2 % of the distance, at least 5 cm and at most 15 cm. in_frustum = recomputed with the stored K (valid, z > 0.05 m and -0.5 <= u, v < 1279.5, i.e. the vendor in_frustum_cam rule z > 0 and 0 <= u, v < 1280 with the delivered K; agreement with in_frustum_cam in stats). The legacy pre-release protocol used the vendor in_frustum_cam alone (frustum-only).",
+  "accuracy": "exact simulator GT: 256 triangle-area-weighted surface points moved by linear blend skinning of the CARLA bone transforms (rigid propagation for unskinned vehicle parts); no cloth/hair secondary motion; other traffic is untracked. Stored as float32 (< 4e-6 m rounding within 100 m of the origin). Depth is quantised to 1 cm. K = delivered intrinsics with cx = cy = 640 - 0.5 = 639.5: the vendor uses the CARLA/UE pixel-corner convention (depth-vs-track residuals are lowest with the corrected K); cameras.npz K_delivered keeps the delivered matrix (pre-release numbers used 640, docs/DATA_FORMAT.md §1).",
+  "depth_test": {
+   "pixel": "rint",
+   "K": "cameras.npz K (OpenCV pixel centres)",
+   "tol_rel": 0.02,
+   "tol_min_m": 0.05,
+   "tol_max_m": 0.15,
+   "grid": [
+    1280,
+    1280
+   ],
+   "invalid_values": [
+    65535
+   ]
+  },
+  "stats": {
+   "n_in_frustum": 101488,
+   "n_visible": 50935,
+   "visible_frac_of_in_frustum": 0.5019,
+   "in_frustum_sky_hits": 170,
+   "n_visible_other_pixel_rule": {
+    "rint_K_delivered": 49945
+   },
+   "visible_abs_dz_m": {
+    "median": 0.00694,
+    "p90": 0.076942
+   },
+   "in_frustum_recomputed_agreement": 1.0,
+   "in_frustum_recomputed_mismatches": 0
+  },
+  "part_note": "part = vendor point_section (mesh section / material slot, '<mesh>/<material>'; a name that occurs more than once gets '#<section index>' appended, codes unchanged); component = mesh component (doors, glass, lights for vehicles); point_skinned = driven by bone skinning (else rigid).",
+  "extras": {
+   "component": "(N,) int16 index into component_names: mesh component of the point (e.g. body, doors, glass, lights for vehicles)",
+   "component_names": "(C,) str component names",
+   "component_mesh_names": "(C,) str mesh file of each component",
+   "point_skinned": "(N,) bool, moved by bone skinning (else rigid with its component)"
+  }
+ },
+ "depth": {
+  "file": "depth/depth.zip",
+  "member": "{source_view}/frame_{t:04d}.png",
+  "view_member_names": [
+   "cam01",
+   "cam02",
+   "cam03",
+   "cam04"
+  ],
+  "dtype": "uint16",
+  "unit_scale": 0.01,
+  "invalid_values": [
+   65535
+  ],
+  "valid_max_m": 655.34,
+  "width": 1280,
+  "height": 1280,
+  "kind": "rendered (synthetic GT)",
+  "planar_z": true,
+  "note": "CARLA sensor.camera.depth decoded by the vendor to linear planar z in cm, lossless 16-bit grayscale PNG, pixel-aligned with the RGB video; 65535 = sky/far clamp (no zeros occur). The pre-release loader additionally discarded depth > 80 m."
+ },
+ "caption": "A heavyset man in a dark jacket and jeans walks steadily away down a tree-lined city sidewalk past townhouse stoops, moving from near a parked car and museum banners deeper along the block under bright sunlight and dappled tree shadows, with a wide empty street and waterfront buildings alongside.",
+ "attributes": {
+  "category": "pedestrian",
+  "subcategory": "pedestrian",
+  "semantic_tag": 12,
+  "blueprint": "walker.pedestrian.0047",
+  "difficulty": "normal",
+  "hard_relay_k": null,
+  "camera_motion_kinds": [
+   "translation",
+   "random_polyline",
+   "arc",
+   "random_polyline"
+  ],
+  "all_cameras_moving": true,
+  "map": "Town10HD_x6",
+  "tile": 0,
+  "rotation_only_views": [],
+  "oos_departed_views": [
+   "view1",
+   "view3"
+  ],
+  "n_frames_target_invisible_all_views": 0,
+  "n_default_queries_at_ref_frame": 213,
+  "visible_frac_of_in_frustum": 0.5019,
+  "quality_ok": true,
+  "abort": null,
+  "source_frame_range": [
+   1718,
+   1838
+  ],
+  "flag_rules": {
+   "quality_ok_false": "the vendor capture gate .capture_done quality_ok is false",
+   "target_not_visible_in_view_at_ref_frame": "at frame 16 the target is not visible in that view by either trigger: (a) the vendor target state (labels/target.npz state_strict) is not 'visible' (instance mask < 300 px, out of frustum or absent), or (b) the view has zero visible GT track points (tracks3d visible, depth test)",
+   "target_invisible_all_views_some_frames": "at some frame the vendor target state (state_strict) is not 'visible' in any view",
+   "caption_mentions_leaving_view": "the caption says the target leaves the view (out of/from view|frame|sight, leaves the view|frame, off-screen, disappear*)",
+   "few_default_queries_at_ref_frame": "fewer than 20 points with default_gt and visible in >= 1 view at frame 16 (exact count in attributes.n_default_queries_at_ref_frame)"
+  }
+ },
+ "flags": [],
+ "files_sha256": {
+  "cameras.npz": "91a55a48ccbe3681f8c06865107775a548f7f057e0bca9b499d90b4223207cd3",
+  "captions.json": "d09732f84aba0477db7539c2cb1ff1f79ead01faf74b50e82ada904ef803648e",
+  "depth/depth.zip": "e19da8ea2e8282dd291f9c40310bb6abe7fe5d717be89ddf28cefba52f8b1176",
+  "labels/oos_segments.json": "e33ebbf50930b2b3933190ba620871df01937ea77678db33942f1a5ee4c67431",
+  "labels/target.npz": "6c3445cc7ced369930e4a3194ef3d0d6d03f9513481e7a4e9d693fa6b1babcee",
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