{
 "schema": "vpm-worldbench/sample/1.0",
 "uid": "Real-General/C044",
 "subset": "Real-General",
 "id": "C044",
 "source": {
  "dataset": "ORH-4D",
  "repo": "hf:Sulwon/anonymous_dataset_lih_orh_0920",
  "revision": "e88079d8",
  "id": "C044",
  "sequence_id": "C044__20260807_cand1_quant06__20260807_161842",
  "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": "22641000",
   "role": null,
   "static": true,
   "hfov_deg": 87.704,
   "telephoto": false
  },
  {
   "name": "view1",
   "video": "videos/view1.mp4",
   "width": 1024,
   "height": 768,
   "source_name": "22641022",
   "role": null,
   "static": true,
   "hfov_deg": 87.8,
   "telephoto": false
  },
  {
   "name": "view2",
   "video": "videos/view2.mp4",
   "width": 1024,
   "height": 768,
   "source_name": "23022640",
   "role": null,
   "static": true,
   "hfov_deg": 87.821,
   "telephoto": false
  },
  {
   "name": "view3",
   "video": "videos/view3.mp4",
   "width": 1024,
   "height": 768,
   "source_name": "23180201",
   "role": null,
   "static": true,
   "hfov_deg": 60.687,
   "telephoto": true
  }
 ],
 "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": [
   0.0007580764358863235,
   0.0021766636054962873,
   0.007063440512865782
  ],
  "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": 1017,
  "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": 505
  },
  "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": [
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    ],
    [
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    ],
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   ],
   [
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    ],
    [
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   ],
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    ],
    [
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    ]
   ]
  ],
  "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 bends forward at the island table and gathers the banana, red apple and orange, the right hand sweeping quickly. Pivoting sharply to the left, the person takes a few steps to the white drawer unit, pulls the drawer open and sets the fruit inside. After pushing the drawer in and turning to the right, the person lifts a red can and a white spray bottle, sets both on the wooden shelf, then turns left and walks back to reach for a slice of bread.",
 "attributes": {
  "difficulty": "normal",
  "category": "person",
  "view_serials": [
   "22641000",
   "22641022",
   "23022640",
   "23180201"
  ],
  "session": "20260807_cand1_quant06",
  "recording": "20260807_161842",
  "sequence_id": "C044__20260807_cand1_quant06__20260807_161842",
  "raw_frames": {
   "start_raw_frame_id": 13761,
   "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": 150,
  "operator_present": true,
  "n_default_queries_at_ref_frame": 44,
  "n_default_queries_at_ref_frame_by_source": {
   "orhtrack": 2,
   "orhtrack_q16": 0,
   "wholebody": 42
  },
  "n_points_by_source": {
   "orhtrack": 512,
   "orhtrack_q16": 0,
   "wholebody": 505
  },
  "wholebody_seeded_removed": 7,
  "telephoto_views": [
   "view3"
  ],
  "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,
    144,
    101,
    149
   ],
   "keypoints2d_run_frames": [
    150,
    150,
    150,
    150
   ]
  },
  "motion_summary": {
   "path_m": 2.6238840379579043,
   "net_m": 1.3998133435740414,
   "max_speed_mps": 0.5120718796727886,
   "walking_share": 0.4666666666666667,
   "standing_pelvis_m": 0.8280625188192561,
   "min_pelvis_rel": 0.9694825708682164,
   "max_bend_deg": 20.33775063326094,
   "min_head_m": 1.479322934150696,
   "max_head_m": 1.582709550857544,
   "total_yaw_deg": -46.44607640317443,
   "frames_fitted": 150
  },
  "legacy": {
   "cond_frame": 16,
   "eval_frames": [
    16,
    80
   ],
   "reproduce_dir": "_reproduce/Real-General/C044",
   "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": {
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 }
}