{
  "video_id": "sav_002698",
  "cohort": "candidate_pool",
  "status": "ok",
  "object_ids": [
    0,
    1
  ],
  "frames": [
    {
      "step": 0,
      "source_frame": 88,
      "timestamp_s": 3.6666666666666665,
      "depth_stats": {
        "available": true,
        "valid_patches": 3024,
        "total_patches": 5184,
        "mean_coverage": 0.5585317611694336,
        "min_m": 1.8856745958328247,
        "median_m": 2.3757636547088623,
        "max_m": 3.3634774684906006,
        "fraction_above_display_max": 0.0,
        "fraction_below_display_min": 0.0
      },
      "camera_valid": true,
      "intrinsics": [
        [
          2487.293212890625,
          0.0,
          504.0
        ],
        [
          0.0,
          2493.74560546875,
          503.5
        ],
        [
          0.0,
          0.0,
          1.0
        ]
      ],
      "objects": [
        {
          "object_id": 0,
          "visibility_known": true,
          "visible": true,
          "box2d_valid": true,
          "box2d_xyxy_px": [
            428.0,
            335.0,
            916.0,
            649.0
          ],
          "valid3d_components": {
            "center": true,
            "depth": true,
            "size": true,
            "rotation": true
          },
          "has_measurement": true,
          "interpolated": false,
          "segment_id": 0,
          "drawn_3d": true,
          "box3d_camera_wlh_wxyz": [
            0.15782588720321655,
            -0.027228308841586113,
            2.423068046569824,
            0.2341962605714798,
            0.5148787498474121,
            0.21614421904087067,
            0.965661883354187,
            0.1912919580936432,
            0.16865721344947815,
            0.04959121719002724
          ],
          "projection": {
            "corners_camera_m": [
              [
                -0.12068826606697702,
                -0.12682496213327166,
                2.3584386584015578
              ],
              [
                -0.039959766721743895,
                -0.20943040046508013,
                2.5621716685328098
              ],
              [
                -0.12744302325154233,
                0.07243757168237223,
                2.441908049782679
              ],
              [
                -0.0467145239063092,
                -0.010167866649436239,
                2.6456410599139315
              ],
              [
                0.3623662983127423,
                -0.04428875103373599,
                2.200495033225717
              ],
              [
                0.44309479765797544,
                -0.12689418936554447,
                2.4042280433569694
              ],
              [
                0.355611541128177,
                0.1549737827819079,
                2.2839644246068387
              ],
              [
                0.43634004047341013,
                0.07236834445009942,
                2.4876974347380907
              ]
            ],
            "projected_corners_px": [
              [
                376.71786612106206,
                369.39891118985486
              ],
              [
                465.2080416873076,
                299.66270555734377
              ],
              [
                374.1883280199538,
                577.4752981566279
              ],
              [
                460.0814503463445,
                493.9159059374257
              ],
              [
                913.5947597083856,
                453.3090763239865
              ],
              [
                962.4035553228888,
                371.8811097020542
              ],
              [
                891.2696803611333,
                672.7080601657259
              ],
              [
                940.2691403008971,
                576.0442887175242
              ]
            ],
            "edges_in_front": 12,
            "edges_skipped_near_plane": 0
          },
          "complete_measured_visible_3d": true
        },
        {
          "object_id": 1,
          "visibility_known": true,
          "visible": true,
          "box2d_valid": true,
          "box2d_xyxy_px": [
            172.0,
            435.0,
            496.0,
            785.0
          ],
          "valid3d_components": {
            "center": true,
            "depth": true,
            "size": true,
            "rotation": true
          },
          "has_measurement": true,
          "interpolated": false,
          "segment_id": 0,
          "drawn_3d": true,
          "box3d_camera_wlh_wxyz": [
            -0.16692401468753815,
            0.09910977631807327,
            2.150352954864502,
            0.23745205998420715,
            0.5339643955230713,
            0.20922403037548065,
            0.7905887961387634,
            0.14078351855278015,
            0.5853525400161743,
            0.11185606569051743
          ],
          "projection": {
            "corners_camera_m": [
              [
                -0.356634407012446,
                -0.07907857572357141,
                2.3194029950346184
              ],
              [
                -0.12938298300025897,
                -0.10084183557906551,
                2.3847224530516513
              ],
              [
                -0.35915520592822997,
                0.11661628488620981,
                2.393375030225659
              ],
              [
                -0.13190378191604293,
                0.09485302503071572,
                2.458694488242692
              ],
              [
                -0.20194424745903336,
                0.10336652760543083,
                1.842011421486312
              ],
              [
                0.025307176553153676,
                0.08160326774993673,
                1.9073308795033448
              ],
              [
                -0.20446504637481733,
                0.29906138821521205,
                1.9159834566773524
              ],
              [
                0.02278637763736971,
                0.27729812835971795,
                1.9813029146943852
              ]
            ],
            "projected_corners_px": [
              [
                121.55057575404663,
                418.47732342350423
              ],
              [
                369.0520461749026,
                398.04794456231417
              ],
              [
                130.7512216857238,
                625.0068028572432
              ],
              [
                370.5619567281535,
                599.7052485442496
              ],
              [
                231.31192096417135,
                643.4393190301795
              ],
              [
                537.0023328173005,
                610.1924425804315
              ],
              [
                238.56737303807984,
                892.7429342372225
              ],
              [
                532.6056221002101,
                852.5183070307658
              ]
            ],
            "edges_in_front": 12,
            "edges_skipped_near_plane": 0
          },
          "complete_measured_visible_3d": true
        }
      ]
    },
    {
      "step": 1,
      "source_frame": 100,
      "timestamp_s": 4.166666666666667,
      "depth_stats": {
        "available": true,
        "valid_patches": 3024,
        "total_patches": 5184,
        "mean_coverage": 0.5585317611694336,
        "min_m": 1.8321260213851929,
        "median_m": 2.4712398052215576,
        "max_m": 3.3421237468719482,
        "fraction_above_display_max": 0.0,
        "fraction_below_display_min": 0.0
      },
      "camera_valid": true,
      "intrinsics": [
        [
          2475.15283203125,
          0.0,
          504.0
        ],
        [
          0.0,
          2484.466552734375,
          503.5
        ],
        [
          0.0,
          0.0,
          1.0
        ]
      ],
      "objects": [
        {
          "object_id": 0,
          "visibility_known": true,
          "visible": true,
          "box2d_valid": true,
          "box2d_xyxy_px": [
            440.0,
            382.0,
            926.0,
            700.0
          ],
          "valid3d_components": {
            "center": true,
            "depth": true,
            "size": true,
            "rotation": true
          },
          "has_measurement": true,
          "interpolated": false,
          "segment_id": 0,
          "drawn_3d": true,
          "box3d_camera_wlh_wxyz": [
            0.17173562943935394,
            0.022574836388230324,
            2.4012136459350586,
            0.2284662425518036,
            0.5244682431221008,
            0.22078321874141693,
            0.964253842830658,
            0.17508970201015472,
            0.19187840819358826,
            0.052352309226989746
          ],
          "projection": {
            "corners_camera_m": [
              [
                -0.11038852115249431,
                -0.08826171725268574,
                2.3551325222875366
              ],
              [
                -0.021658698377570035,
                -0.1608160369891189,
                2.552767825873848
              ],
              [
                -0.11784436278016241,
                0.11777443246258758,
                2.4341182495675264
              ],
              [
                -0.029114540005238138,
                0.04522011272615443,
                2.631753553153838
              ],
              [
                0.37258579888394605,
                -7.043994969378048e-05,
                2.170673738716279
              ],
              [
                0.4613156216588703,
                -0.07262475968612693,
                2.3683090423025908
              ],
              [
                0.36512995725627795,
                0.20596570976557954,
                2.249659465996269
              ],
              [
                0.4538597800312022,
                0.13341139002914637,
                2.4472947695825806
              ]
            ],
            "projected_corners_px": [
              [
                387.9859506126851,
                410.39131829057044
              ],
              [
                482.99981812525306,
                346.9867201814599
              ],
              [
                384.1690064457383,
                623.7105272710396
              ],
              [
                476.6179010717422,
                546.189353432951
              ],
              [
                928.8481836923182,
                503.4193772440929
              ],
              [
                986.1273942775084,
                427.3132426479581
              ],
              [
                905.7285555536716,
                730.9632781793771
              ],
              [
                963.0261597628947,
                638.9377659777163
              ]
            ],
            "edges_in_front": 12,
            "edges_skipped_near_plane": 0
          },
          "complete_measured_visible_3d": true
        },
        {
          "object_id": 1,
          "visibility_known": true,
          "visible": true,
          "box2d_valid": true,
          "box2d_xyxy_px": [
            179.0,
            483.0,
            499.0,
            785.0
          ],
          "valid3d_components": {
            "center": true,
            "depth": true,
            "size": true,
            "rotation": true
          },
          "has_measurement": true,
          "interpolated": false,
          "segment_id": 0,
          "drawn_3d": true,
          "box3d_camera_wlh_wxyz": [
            -0.15998531877994537,
            0.13818055391311646,
            2.1626482009887695,
            0.23975305259227753,
            0.500775933265686,
            0.19554853439331055,
            0.7949355840682983,
            0.12852731347084045,
            0.5848562121391296,
            0.097475066781044
          ],
          "projection": {
            "corners_camera_m": [
              [
                -0.3483388321552733,
                -0.02012432315904944,
                2.324162418974488
              ],
              [
                -0.1193980627883415,
                -0.041779794799802206,
                2.3919760672837276
              ],
              [
                -0.34924476993719267,
                0.16524760810212716,
                2.386417183295049
              ],
              [
                -0.12030400057026089,
                0.1435921364613744,
                2.4542308316042893
              ],
              [
                -0.19966663698962986,
                0.13276897136485852,
                1.8710655703732497
              ],
              [
                0.02927413237730192,
                0.11111349972410574,
                1.9388792186824897
              ],
              [
                -0.20057257477154924,
                0.3181409026260351,
                1.9333203346938115
              ],
              [
                0.028368194595382534,
                0.29648543098528235,
                2.0011339830030512
              ]
            ],
            "projected_corners_px": [
              [
                133.03115553515573,
                481.9876446771146
              ],
              [
                380.4500793750818,
                460.10470680290393
              ],
              [
                141.76904246533462,
                675.5370428619788
              ],
              [
                382.670423384127,
                648.8611680205131
              ],
              [
                239.86952278297161,
                679.7953013619597
              ],
              [
                541.3710497078685,
                645.8800776045184
              ],
              [
                247.21494086378374,
                912.3357306583075
              ],
              [
                539.0879140471163,
                871.5953613863278
              ]
            ],
            "edges_in_front": 12,
            "edges_skipped_near_plane": 0
          },
          "complete_measured_visible_3d": true
        }
      ]
    },
    {
      "step": 2,
      "source_frame": 112,
      "timestamp_s": 4.666666666666667,
      "depth_stats": {
        "available": true,
        "valid_patches": 3024,
        "total_patches": 5184,
        "mean_coverage": 0.5585317611694336,
        "min_m": 1.5796197652816772,
        "median_m": 2.4229025840759277,
        "max_m": 3.1535134315490723,
        "fraction_above_display_max": 0.0,
        "fraction_below_display_min": 0.0
      },
      "camera_valid": true,
      "intrinsics": [
        [
          2872.770751953125,
          0.0,
          504.0
        ],
        [
          0.0,
          2891.149658203125,
          503.5
        ],
        [
          0.0,
          0.0,
          1.0
        ]
      ],
      "objects": [
        {
          "object_id": 0,
          "visibility_known": true,
          "visible": true,
          "box2d_valid": true,
          "box2d_xyxy_px": [
            449.0,
            442.0,
            1008.0,
            785.0
          ],
          "valid3d_components": {
            "center": true,
            "depth": true,
            "size": true,
            "rotation": true
          },
          "has_measurement": true,
          "interpolated": false,
          "segment_id": 0,
          "drawn_3d": true,
          "box3d_camera_wlh_wxyz": [
            0.1645645797252655,
            0.09140621870756149,
            2.2826809883117676,
            0.2534779906272888,
            0.5254712104797363,
            0.24485528469085693,
            0.9600704908370972,
            0.1533833146095276,
            0.22785578668117523,
            0.053103718906641006
          ],
          "projection": {
            "corners_camera_m": [
              [
                -0.12299649954334224,
                -0.035465676361011,
                2.2467164677989815
              ],
              [
                -0.007966753044317959,
                -0.10398523708376228,
                2.461947318169414
              ],
              [
                -0.13084853683956704,
                0.19648747586313184,
                2.3247561444040454
              ],
              [
                -0.01581879034054276,
                0.12796791514038056,
                2.5399869947744773
              ],
              [
                0.3449479497910738,
                0.05484452227474244,
                2.025374981849058
              ],
              [
                0.45997769629009805,
                -0.013675038448008853,
                2.2406058322194897
              ],
              [
                0.33709591249484894,
                0.28679767449888527,
                2.1034146584541213
              ],
              [
                0.45212565899387325,
                0.218278113776134,
                2.3186455088245537
              ]
            ],
            "projected_corners_px": [
              [
                346.73015685558073,
                457.8615852028135
              ],
              [
                494.7038404254858,
                381.3865492229828
              ],
              [
                342.30654648514496,
                747.8588330975313
              ],
              [
                486.1086649990408,
                649.1599560864788
              ],
              [
                993.2705745783935,
                581.7885753255307
              ],
              [
                1093.7558836326039,
                485.8545122634482
              ],
              [
                964.3939000453031,
                897.7042503451484
              ],
              [
                1064.1776401014358,
                775.6738582440826
              ]
            ],
            "edges_in_front": 12,
            "edges_skipped_near_plane": 0
          },
          "complete_measured_visible_3d": true
        },
        {
          "object_id": 1,
          "visibility_known": true,
          "visible": true,
          "box2d_valid": true,
          "box2d_xyxy_px": [
            109.0,
            574.0,
            483.0,
            785.0
          ],
          "valid3d_components": {
            "center": true,
            "depth": true,
            "size": true,
            "rotation": true
          },
          "has_measurement": true,
          "interpolated": false,
          "segment_id": 0,
          "drawn_3d": true,
          "box3d_camera_wlh_wxyz": [
            -0.15414614975452423,
            0.1572786420583725,
            2.0099422931671143,
            0.21208758652210236,
            0.36153602600097656,
            0.1467222273349762,
            0.8408838510513306,
            0.12162652611732483,
            0.5215662121772766,
            0.07803813368082047
          ],
          "projection": {
            "corners_camera_m": [
              [
                -0.32907244334364893,
                0.05338125923885678,
                2.0988823812393536
              ],
              [
                -0.13901306041398903,
                0.027264058998196172,
                2.189306200937243
              ],
              [
                -0.3297135373158828,
                0.1939754966812748,
                2.140837850377956
              ],
              [
                -0.13965415438622286,
                0.16785829644061417,
                2.231261670075845
              ],
              [
                -0.1686381451228256,
                0.14669898767613082,
                1.7886229162583835
              ],
              [
                0.02142123780683433,
                0.12058178743547018,
                1.8790467359562728
              ],
              [
                -0.16927923909505943,
                0.2872932251185488,
                1.8305783853969855
              ],
              [
                0.0207801438346005,
                0.2611760248778882,
                1.9210022050948747
              ]
            ],
            "projected_corners_px": [
              [
                53.59377478161781,
                577.0311377056498
              ],
              [
                321.58940164430294,
                539.5043171759711
              ],
              [
                61.56041665796835,
                765.4592094893314
              ],
              [
                324.1939398278419,
                721.0018120417692
              ],
              [
                233.14428940342657,
                740.6258492907068
              ],
              [
                536.7497471268529,
                689.0302408708658
              ],
              [
                238.34601278780752,
                957.2405861620274
              ],
              [
                535.0757526832048,
                896.5755378905276
              ]
            ],
            "edges_in_front": 12,
            "edges_skipped_near_plane": 0
          },
          "complete_measured_visible_3d": true
        }
      ]
    },
    {
      "step": 3,
      "source_frame": 124,
      "timestamp_s": 5.166666666666667,
      "depth_stats": {
        "available": true,
        "valid_patches": 3024,
        "total_patches": 5184,
        "mean_coverage": 0.5585317611694336,
        "min_m": 1.1608518362045288,
        "median_m": 2.306464672088623,
        "max_m": 2.9043164253234863,
        "fraction_above_display_max": 0.0,
        "fraction_below_display_min": 0.0
      },
      "camera_valid": true,
      "intrinsics": [
        [
          3099.58544921875,
          0.0,
          504.0
        ],
        [
          0.0,
          3138.53076171875,
          503.5
        ],
        [
          0.0,
          0.0,
          1.0
        ]
      ],
      "objects": [
        {
          "object_id": 0,
          "visibility_known": true,
          "visible": true,
          "box2d_valid": true,
          "box2d_xyxy_px": [
            459.0,
            522.0,
            894.0,
            785.0
          ],
          "valid3d_components": {
            "center": true,
            "depth": true,
            "size": true,
            "rotation": true
          },
          "has_measurement": true,
          "interpolated": false,
          "segment_id": 0,
          "drawn_3d": true,
          "box3d_camera_wlh_wxyz": [
            0.11619038879871368,
            0.1417631059885025,
            2.157621145248413,
            0.22581002116203308,
            0.4000798463821411,
            0.2430797517299652,
            0.972318708896637,
            0.10474029183387756,
            0.20635923743247986,
            0.03227390721440315
          ],
          "projection": {
            "corners_camera_m": [
              [
                -0.11009315799693115,
                0.023433852187100687,
                2.109357309364276
              ],
              [
                -0.0179503230026567,
                -0.019551764405290856,
                2.3109809696390258
              ],
              [
                -0.1148411850168391,
                0.2606737905552198,
                2.162106087393827
              ],
              [
                -0.02269835002256465,
                0.21768817396282825,
                2.3637297476685766
              ],
              [
                0.255079127619992,
                0.06583803801417677,
                1.9515125428282496
              ],
              [
                0.34722196261426647,
                0.022852421421785216,
                2.1531362031029992
              ],
              [
                0.25033110060008407,
                0.30307797638229583,
                2.0042613208578004
              ],
              [
                0.3424739355943585,
                0.2600923597899043,
                2.20588498113255
              ]
            ],
            "projected_corners_px": [
              [
                342.2241125906386,
                538.3674288743199
              ],
              [
                479.9242673484663,
                476.946854457885
              ],
              [
                339.3641996918374,
                881.8961921209675
              ],
              [
                474.23539788310853,
                792.5436316243861
              ],
              [
                909.1419271046536,
                609.3843861178749
              ],
              [
                1003.8495410635539,
                536.8109570628508
              ],
              [
                891.1364621130591,
                978.0985676499477
              ],
              [
                985.225103114824,
                873.559127774434
              ]
            ],
            "edges_in_front": 12,
            "edges_skipped_near_plane": 0
          },
          "complete_measured_visible_3d": true
        },
        {
          "object_id": 1,
          "visibility_known": true,
          "visible": true,
          "box2d_valid": true,
          "box2d_xyxy_px": [
            68.0,
            677.0,
            277.0,
            785.0
          ],
          "valid3d_components": {
            "center": true,
            "depth": true,
            "size": true,
            "rotation": true
          },
          "has_measurement": true,
          "interpolated": false,
          "segment_id": 0,
          "drawn_3d": true,
          "box3d_camera_wlh_wxyz": [
            -0.1898593008518219,
            0.14804010093212128,
            1.862423062324524,
            0.14829374849796295,
            0.21334132552146912,
            0.09601321816444397,
            0.7165317535400391,
            0.06044565141201019,
            0.6926196813583374,
            0.05662626028060913
          ],
          "projection": {
            "corners_camera_m": [
              [
                -0.267728725461192,
                0.08371086157330224,
                1.9571813096954167
              ],
              [
                -0.11952193270292819,
                0.08249759143518223,
                1.9621118674182383
              ],
              [
                -0.26748075514474345,
                0.17840673801722826,
                1.9730295763997592
              ],
              [
                -0.11927396238647966,
                0.17719346787910825,
                1.9779601341225808
              ],
              [
                -0.2604446393171641,
                0.1188867339851343,
                1.746885990526467
              ],
              [
                -0.11223784655890033,
                0.11767346384701428,
                1.7518165482492887
              ],
              [
                -0.2601966690007156,
                0.21358261042906032,
                1.7627342572308096
              ],
              [
                -0.11198987624245181,
                0.21236934029094032,
                1.7676648149536311
              ]
            ],
            "projected_corners_px": [
              [
                79.99837191040007,
                637.7385157860904
              ],
              [
                315.18892881680387,
                635.4604823692929
              ],
              [
                83.7937007586404,
                787.294547260005
              ],
              [
                317.0903490389128,
                784.6619608101462
              ],
              [
                41.880308885403224,
                717.0970371255689
              ],
              [
                305.41139984475797,
                714.3221814041785
              ],
              [
                46.4711320713821,
                883.7817073816165
              ],
              [
                307.6266898993417,
                880.5667955318879
              ]
            ],
            "edges_in_front": 12,
            "edges_skipped_near_plane": 0
          },
          "complete_measured_visible_3d": true
        }
      ]
    },
    {
      "step": 4,
      "source_frame": 136,
      "timestamp_s": 5.666666666666667,
      "depth_stats": {
        "available": true,
        "valid_patches": 3024,
        "total_patches": 5184,
        "mean_coverage": 0.5585317611694336,
        "min_m": 1.6699841022491455,
        "median_m": 2.1857283115386963,
        "max_m": 2.7665834426879883,
        "fraction_above_display_max": 0.0,
        "fraction_below_display_min": 0.0
      },
      "camera_valid": true,
      "intrinsics": [
        [
          3162.405517578125,
          0.0,
          504.0
        ],
        [
          0.0,
          3210.712646484375,
          503.5
        ],
        [
          0.0,
          0.0,
          1.0
        ]
      ],
      "objects": [
        {
          "object_id": 0,
          "visibility_known": true,
          "visible": true,
          "box2d_valid": true,
          "box2d_xyxy_px": [
            499.0,
            522.0,
            896.0,
            785.0
          ],
          "valid3d_components": {
            "center": true,
            "depth": true,
            "size": true,
            "rotation": true
          },
          "has_measurement": true,
          "interpolated": false,
          "segment_id": 0,
          "drawn_3d": true,
          "box3d_camera_wlh_wxyz": [
            0.1122964546084404,
            0.13096946477890015,
            2.026693105697632,
            0.20515522360801697,
            0.35208138823509216,
            0.22005604207515717,
            0.9736286997795105,
            0.10618969053030014,
            0.2000185251235962,
            0.02763071283698082
          ],
          "projection": {
            "corners_camera_m": [
              [
                -0.08869823517225406,
                0.026718005098873107,
                1.9782016046196778
              ],
              [
                -0.0075889354610299,
                -0.013436074733908843,
                2.162314605645659
              ],
              [
                -0.09119021578526665,
                0.24147522657948783,
                2.026136847482668
              ],
              [
                -0.01008091607404249,
                0.20132114674670593,
                2.2102498485086493
              ],
              [
                0.2346738252909233,
                0.06061778281109438,
                1.8431363628866144
              ],
              [
                0.31578312500214745,
                0.020463702978312445,
                2.0272493639125955
              ],
              [
                0.2321818446779107,
                0.27537500429170914,
                1.891071605749605
              ],
              [
                0.31329114438913486,
                0.23522092445892717,
                2.075184606775586
              ]
            ],
            "projected_corners_px": [
              [
                362.20465029796276,
                546.8645573127914
              ],
              [
                492.9011102677452,
                483.549445647439
              ],
              [
                361.6698104539388,
                886.1531089223841
              ],
              [
                489.5763163443695,
                795.9485448106823
              ],
              [
                906.6472565322804,
                609.0951614825782
              ],
              [
                996.605554423501,
                535.9099595816672
              ],
              [
                892.2735822686313,
                971.039148764602
              ],
              [
                981.4291599839854,
                867.4323433742561
              ]
            ],
            "edges_in_front": 12,
            "edges_skipped_near_plane": 0
          },
          "complete_measured_visible_3d": true
        },
        {
          "object_id": 1,
          "visibility_known": true,
          "visible": true,
          "box2d_valid": true,
          "box2d_xyxy_px": [
            22.0,
            686.0,
            223.0,
            785.0
          ],
          "valid3d_components": {
            "center": true,
            "depth": true,
            "size": true,
            "rotation": true
          },
          "has_measurement": true,
          "interpolated": false,
          "segment_id": 0,
          "drawn_3d": true,
          "box3d_camera_wlh_wxyz": [
            -0.20252488553524017,
            0.13521499931812286,
            1.7228211164474487,
            0.11099249869585037,
            0.15620462596416473,
            0.07084665447473526,
            0.381597638130188,
            0.029136789962649345,
            0.9214924573898315,
            0.0662260353565216
          ],
          "projection": {
            "corners_camera_m": [
              [
                -0.18665646962648616,
                0.08648155347675293,
                1.8111832221850155
              ],
              [
                -0.10816946092128064,
                0.09756043943927356,
                1.7334890620628622
              ],
              [
                -0.18643292950247187,
                0.1565864660697027,
                1.8214057321708437
              ],
              [
                -0.10794592079726635,
                0.16766535203222332,
                1.7437115720486902
              ],
              [
                -0.297103850273214,
                0.1027646466040224,
                1.7019306608462073
              ],
              [
                -0.21861684156800848,
                0.11384353256654303,
                1.6242365007240538
              ],
              [
                -0.2968803101491997,
                0.17286955919697217,
                1.7121531708320352
              ],
              [
                -0.2183933014439942,
                0.1839484451594928,
                1.634459010709882
              ]
            ],
            "projected_corners_px": [
              [
                178.0895994352607,
                656.8071939019217
              ],
              [
                306.66636373013097,
                684.1983058384533
              ],
              [
                180.30686864360337,
                779.5253456977337
              ],
              [
                308.2286459518924,
                812.2238020188365
              ],
              [
                -48.057070838927416,
                697.36674090411
              ],
              [
                78.35071450371925,
                728.5404233428532
              ],
              [
                -44.348095760549995,
                827.6733796726692
              ],
              [
                81.44539510438625,
                864.8462285103178
              ]
            ],
            "edges_in_front": 12,
            "edges_skipped_near_plane": 0
          },
          "complete_measured_visible_3d": true
        }
      ]
    },
    {
      "step": 5,
      "source_frame": 148,
      "timestamp_s": 6.166666666666667,
      "depth_stats": {
        "available": true,
        "valid_patches": 3024,
        "total_patches": 5184,
        "mean_coverage": 0.5585317611694336,
        "min_m": 1.5108906030654907,
        "median_m": 2.068819999694824,
        "max_m": 2.6583192348480225,
        "fraction_above_display_max": 0.0,
        "fraction_below_display_min": 0.0
      },
      "camera_valid": true,
      "intrinsics": [
        [
          3097.32080078125,
          0.0,
          504.0
        ],
        [
          0.0,
          3146.135986328125,
          503.5
        ],
        [
          0.0,
          0.0,
          1.0
        ]
      ],
      "objects": [
        {
          "object_id": 0,
          "visibility_known": true,
          "visible": true,
          "box2d_valid": true,
          "box2d_xyxy_px": [
            518.0,
            549.0,
            849.0,
            785.0
          ],
          "valid3d_components": {
            "center": true,
            "depth": true,
            "size": true,
            "rotation": true
          },
          "has_measurement": true,
          "interpolated": false,
          "segment_id": 0,
          "drawn_3d": true,
          "box3d_camera_wlh_wxyz": [
            0.10509170591831207,
            0.127689391374588,
            1.8843905925750732,
            0.13932502269744873,
            0.24048016965389252,
            0.182575523853302,
            0.9822954535484314,
            0.08075349032878876,
            -0.16855502128601074,
            -0.012797457166016102
          ],
          "projection": {
            "corners_camera_m": [
              [
                0.015125354572623928,
                0.05466970310916881,
                1.7651505837049608
              ],
              [
                -0.03129893041741752,
                0.033167196826778225,
                1.8947418254475406
              ],
              [
                0.014745406788879645,
                0.23480422845099108,
                1.7949034042412675
              ],
              [
                -0.0316788782011618,
                0.2133017221686005,
                1.9244946459838472
              ],
              [
                0.24186229003778595,
                0.04207706058057553,
                1.8442865391662993
              ],
              [
                0.1954380050477445,
                0.020574554298184944,
                1.973877780908879
              ],
              [
                0.24148234225404167,
                0.22221158592239781,
                1.874039359702606
              ],
              [
                0.19505805726400022,
                0.20070907964000723,
                2.003630601445186
              ]
            ],
            "projected_corners_px": [
              [
                530.540554539346,
                600.9411599222401
              ],
              [
                452.83586411506263,
                558.5726806686223
              ],
              [
                529.4449654812951,
                915.0686844908201
              ],
              [
                453.01536951394684,
                852.2025674302812
              ],
              [
                910.1869378482047,
                575.2785179689589
              ],
              [
                810.6725833545995,
                536.2934922345478
              ],
              [
                903.1102309630855,
                876.5486573987658
              ],
              [
                805.5313190405453,
                818.6569245262895
              ]
            ],
            "edges_in_front": 12,
            "edges_skipped_near_plane": 0
          },
          "complete_measured_visible_3d": true
        },
        {
          "object_id": 1,
          "visibility_known": true,
          "visible": true,
          "box2d_valid": true,
          "box2d_xyxy_px": [
            11.0,
            728.0,
            214.0,
            785.0
          ],
          "valid3d_components": {
            "center": true,
            "depth": true,
            "size": true,
            "rotation": true
          },
          "has_measurement": true,
          "interpolated": false,
          "segment_id": 0,
          "drawn_3d": true,
          "box3d_camera_wlh_wxyz": [
            -0.19495806097984314,
            0.1337442845106125,
            1.5725682973861694,
            0.0672171413898468,
            0.12825584411621094,
            0.04163309186697006,
            0.12389148026704788,
            0.0192699171602726,
            0.9833396077156067,
            0.13161611557006836
          ],
          "projection": {
            "corners_camera_m": [
              [
                -0.14131576955453543,
                0.10060374775105295,
                1.6137928579075096
              ],
              [
                -0.12459703422727948,
                0.11768173579198439,
                1.5509679399994565
              ],
              [
                -0.14109571723483208,
                0.14076351682791066,
                1.624768233211964
              ],
              [
                -0.12437698190757612,
                0.1578415048688421,
                1.5619433153039108
              ],
              [
                -0.26553914005211016,
                0.10964706415238287,
                1.583193279468428
              ],
              [
                -0.2488204047248542,
                0.1267250521933143,
                1.520368361560375
              ],
              [
                -0.2653190877324068,
                0.1498068332292406,
                1.5941686547728824
              ],
              [
                -0.24860035240515085,
                0.166884821270172,
                1.5313437368648293
              ]
            ],
            "projected_corners_px": [
              [
                232.77543088943457,
                699.6299243630715
              ],
              [
                255.17668400809026,
                742.2172128837494
              ],
              [
                235.0270529916359,
                776.0688235416279
              ],
              [
                257.3614636163844,
                821.4314087383685
              ],
              [
                -15.494311004854012,
                721.3916363521107
              ],
              [
                -2.901244920766544,
                765.7352958368001
              ],
              [
                -11.490206646275965,
                799.147933867773
              ],
              [
                1.1768754137075348,
                846.3638059048467
              ]
            ],
            "edges_in_front": 12,
            "edges_skipped_near_plane": 0
          },
          "complete_measured_visible_3d": true
        }
      ]
    },
    {
      "step": 6,
      "source_frame": 160,
      "timestamp_s": 6.666666666666667,
      "depth_stats": {
        "available": true,
        "valid_patches": 3024,
        "total_patches": 5184,
        "mean_coverage": 0.5585317611694336,
        "min_m": 1.5056036710739136,
        "median_m": 2.117737054824829,
        "max_m": 2.650869607925415,
        "fraction_above_display_max": 0.0,
        "fraction_below_display_min": 0.0
      },
      "camera_valid": true,
      "intrinsics": [
        [
          3185.355224609375,
          0.0,
          504.0
        ],
        [
          0.0,
          3247.138671875,
          503.5
        ],
        [
          0.0,
          0.0,
          1.0
        ]
      ],
      "objects": [
        {
          "object_id": 0,
          "visibility_known": true,
          "visible": true,
          "box2d_valid": true,
          "box2d_xyxy_px": [
            529.0,
            557.0,
            841.0,
            785.0
          ],
          "valid3d_components": {
            "center": true,
            "depth": true,
            "size": true,
            "rotation": true
          },
          "has_measurement": true,
          "interpolated": false,
          "segment_id": 0,
          "drawn_3d": true,
          "box3d_camera_wlh_wxyz": [
            0.10330197215080261,
            0.12611502408981323,
            1.8879759311676025,
            0.13477079570293427,
            0.2143789529800415,
            0.17260079085826874,
            0.9845120310783386,
            0.09465407580137253,
            0.14730247855186462,
            0.008868038654327393
          ],
          "projection": {
            "corners_camera_m": [
              [
                -0.019776387099589857,
                0.048896868243217914,
                1.8393219708261008
              ],
              [
                0.01953907313492255,
                0.02413090360728952,
                1.965829318267277
              ],
              [
                -0.017977165647915253,
                0.21837771470471898,
                1.8719415736710276
              ],
              [
                0.021338294586597154,
                0.19361175006879058,
                1.9984489211122038
              ],
              [
                0.18526564971500808,
                0.05861829811083588,
                1.7775029412230012
              ],
              [
                0.22458110994952046,
                0.03385233347490749,
                1.9040102886641774
              ],
              [
                0.1870648711666827,
                0.22809914457233693,
                1.810122544067928
              ],
              [
                0.22638033140119507,
                0.20333317993640854,
                1.9366298915091043
              ]
            ],
            "projected_corners_px": [
              [
                469.7510653541082,
                589.8225222796738
              ],
              [
                535.660372605089,
                543.3592032189156
              ],
              [
                473.40948407489213,
                882.3060121464002
              ],
              [
                538.011401256052,
                818.0860743980803
              ],
              [
                836.0033354511982,
                610.5837849327152
              ],
              [
                879.7178289347216,
                561.232472252921
              ],
              [
                833.1865883138304,
                912.6819947714251
              ],
              [
                876.3487768825489,
                844.4278327994484
              ]
            ],
            "edges_in_front": 12,
            "edges_skipped_near_plane": 0
          },
          "complete_measured_visible_3d": true
        },
        {
          "object_id": 1,
          "visibility_known": true,
          "visible": true,
          "box2d_valid": true,
          "box2d_xyxy_px": [
            14.0,
            734.0,
            220.0,
            785.0
          ],
          "valid3d_components": {
            "center": true,
            "depth": true,
            "size": true,
            "rotation": true
          },
          "has_measurement": true,
          "interpolated": false,
          "segment_id": 0,
          "drawn_3d": true,
          "box3d_camera_wlh_wxyz": [
            -0.18939685821533203,
            0.13072840869426727,
            1.5551124811172485,
            0.04801119491457939,
            0.11846577376127243,
            0.029489871114492416,
            0.12694554030895233,
            0.020522234961390495,
            0.9848447442054749,
            0.11638063192367554
          ],
          "projection": {
            "corners_camera_m": [
              [
                -0.13840041203932954,
                0.10687295296958607,
                1.5887650654410248
              ],
              [
                -0.1261661950583522,
                0.11762857954320191,
                1.5436018584136555
              ],
              [
                -0.1380797266010358,
                0.13553913575512722,
                1.5956787926344413
              ],
              [
                -0.12584550962005844,
                0.14629476232874303,
                1.550515585607072
              ],
              [
                -0.2529482068106056,
                0.11516205505979152,
                1.559709376627425
              ],
              [
                -0.24071398982962827,
                0.12591768163340733,
                1.5145461696000557
              ],
              [
                -0.25262752137231187,
                0.14382823784533263,
                1.5666231038208416
              ],
              [
                -0.24039330439133452,
                0.15458386441894847,
                1.5214598967934723
              ]
            ],
            "projected_corners_px": [
              [
                226.51751680152165,
                721.9283290926269
              ],
              [
                243.6452029338575,
                750.94483654936
              ],
              [
                228.35995228395188,
                779.3163931829708
              ],
              [
                245.46493251473305,
                809.8751081640573
              ],
              [
                -12.589759729452226,
                743.2543850930977
              ],
              [
                -2.263579500419951,
                773.4634925045907
              ],
              [
                -9.65793924576019,
                801.612693522886
              ],
              [
                0.7083458999689469,
                833.4168418835993
              ]
            ],
            "edges_in_front": 12,
            "edges_skipped_near_plane": 0
          },
          "complete_measured_visible_3d": true
        }
      ]
    },
    {
      "step": 7,
      "source_frame": 172,
      "timestamp_s": 7.166666666666667,
      "depth_stats": {
        "available": true,
        "valid_patches": 3024,
        "total_patches": 5184,
        "mean_coverage": 0.5585317611694336,
        "min_m": 1.5133898258209229,
        "median_m": 2.092686176300049,
        "max_m": 2.6244490146636963,
        "fraction_above_display_max": 0.0,
        "fraction_below_display_min": 0.0
      },
      "camera_valid": true,
      "intrinsics": [
        [
          3139.90771484375,
          0.0,
          504.0
        ],
        [
          0.0,
          3191.174560546875,
          503.5
        ],
        [
          0.0,
          0.0,
          1.0
        ]
      ],
      "objects": [
        {
          "object_id": 0,
          "visibility_known": true,
          "visible": true,
          "box2d_valid": true,
          "box2d_xyxy_px": [
            540.0,
            557.0,
            852.0,
            785.0
          ],
          "valid3d_components": {
            "center": true,
            "depth": true,
            "size": true,
            "rotation": true
          },
          "has_measurement": true,
          "interpolated": false,
          "segment_id": 0,
          "drawn_3d": true,
          "box3d_camera_wlh_wxyz": [
            0.10999974608421326,
            0.12163487821817398,
            1.8784170150756836,
            0.13051819801330566,
            0.22177135944366455,
            0.17079253494739532,
            0.9835832715034485,
            0.07652264833450317,
            0.1631569266319275,
            0.009386301040649414
          ],
          "projection": {
            "corners_camera_m": [
              [
                -0.016557487987916564,
                0.04206122465280418,
                1.8397103408289488
              ],
              [
                0.025520712339772114,
                0.022813718299263902,
                1.9617511478116698
              ],
              [
                -0.015446314740127504,
                0.21082344009954251,
                1.865943333896445
              ],
              [
                0.026631885587561174,
                0.19157593374600224,
                1.9879841408791663
              ],
              [
                0.19336760658086533,
                0.05169382269034571,
                1.7688498892722009
              ],
              [
                0.23544580690855402,
                0.032446316336805434,
                1.8908906962549221
              ],
              [
                0.1944787798286544,
                0.22045603813708406,
                1.7950828823396974
              ],
              [
                0.23655698015634308,
                0.20120853178354378,
                1.9171236893224184
              ]
            ],
            "projected_corners_px": [
              [
                475.74066856184197,
                576.4596975777154
              ],
              [
                544.8475262794399,
                540.6110054143742
              ],
              [
                478.0077836569914,
                864.0545712943795
              ],
              [
                546.0635463320339,
                811.0237038424721
              ],
              [
                847.2492736587991,
                596.760605610082
              ],
              [
                894.9681860532642,
                558.2582467260238
              ],
              [
                844.176727863106,
                895.4115421038721
              ],
              [
                891.4382707437946,
                838.4244243179588
              ]
            ],
            "edges_in_front": 12,
            "edges_skipped_near_plane": 0
          },
          "complete_measured_visible_3d": true
        },
        {
          "object_id": 1,
          "visibility_known": true,
          "visible": true,
          "box2d_valid": true,
          "box2d_xyxy_px": [
            17.0,
            736.0,
            226.0,
            785.0
          ],
          "valid3d_components": {
            "center": true,
            "depth": true,
            "size": true,
            "rotation": true
          },
          "has_measurement": true,
          "interpolated": false,
          "segment_id": 0,
          "drawn_3d": true,
          "box3d_camera_wlh_wxyz": [
            -0.1855887472629547,
            0.1273171454668045,
            1.5478289127349854,
            0.048847928643226624,
            0.12253672629594803,
            0.029535282403230667,
            0.13417111337184906,
            0.017875539138913155,
            0.9866356253623962,
            0.09071256220340729
          ],
          "projection": {
            "corners_camera_m": [
              [
                -0.1332724597779834,
                0.10489470378996985,
                1.5842797804299236
              ],
              [
                -0.12018126084089711,
                0.11340419470362988,
                1.5379944781460049
              ],
              [
                -0.13294960145411977,
                0.13392503308178533,
                1.5897082839391845
              ],
              [
                -0.11985840251703347,
                0.14243452399544537,
                1.5434229816552658
              ],
              [
                -0.2513190920088759,
                0.11219976693816364,
                1.552234843814705
              ],
              [
                -0.23822789307178965,
                0.12070925785182367,
                1.5059495415307862
              ],
              [
                -0.25099623368501234,
                0.14123009622997915,
                1.5576633473239658
              ],
              [
                -0.23790503474792601,
                0.14973958714363916,
                1.5113780450400471
              ]
            ],
            "projected_corners_px": [
              [
                239.86532517663278,
                714.7867401361485
              ],
              [
                258.64276793186343,
                738.8016128079838
              ],
              [
                241.4049795747543,
                772.3406186901028
              ],
              [
                260.1625508851338,
                797.9969946154345
              ],
              [
                -4.375880770007541,
                734.1667985061013
              ],
              [
                7.2943809081848485,
                759.2883264054622
              ],
              [
                -1.953363991162405,
                792.837160720237
              ],
              [
                9.749169470441757,
                819.6652127789853
              ]
            ],
            "edges_in_front": 12,
            "edges_skipped_near_plane": 0
          },
          "complete_measured_visible_3d": true
        }
      ]
    }
  ],
  "input_shapes": {
    "images": [
      8,
      3,
      1008,
      1008
    ],
    "initial_boxes": [
      2,
      4
    ],
    "depth_patches": [
      8,
      1,
      72,
      72
    ],
    "depth_coverage": [
      8,
      1,
      72,
      72
    ],
    "intrinsics": [
      8,
      3,
      3
    ],
    "camera_valid": [
      8
    ],
    "source_frame_indices": [
      8
    ],
    "timestamps_s": [
      8
    ]
  },
  "provenance": {
    "schema_version": "wildtrack_video_clip_v1",
    "video_id": "sav_002698",
    "dataset": "sa-v",
    "manifest_sha256": "5937502d137558288ee2a4505d33953c9f60350dac125fb4757c2e22da306c4c",
    "sampling_fps": 2.0,
    "source_frame_stride": 12,
    "hashes": {},
    "epoch": 0,
    "occurrence": 0,
    "annotation_slots": [
      22,
      25,
      28,
      31,
      34,
      37,
      40,
      43
    ],
    "all_manual_object_ids": [
      0,
      1,
      2
    ],
    "camera_source": [
      "exact_cache",
      "exact_cache",
      "exact_cache",
      "exact_cache",
      "exact_cache",
      "exact_cache",
      "exact_cache",
      "exact_cache"
    ],
    "depth_available": [
      true,
      true,
      true,
      true,
      true,
      true,
      true,
      true
    ],
    "depth_dropout_mode": "disabled",
    "depth_dropped": [
      false,
      false,
      false,
      false,
      false,
      false,
      false,
      false
    ],
    "decoder": {
      "decoder": "pyav-14.4.0-sequential-pts-v1",
      "pts_origin_s": 0.0,
      "rotation_degrees": [
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ]
    },
    "photometric": {
      "enabled": false,
      "seed": 7222988544093865281,
      "recipe": [
        {
          "transform": "ColorJitter",
          "consistent_transform": true,
          "brightness": 0.1,
          "contrast": 0.03,
          "saturation": 0.03,
          "hue": null
        },
        {
          "transform": "RandomGrayscale",
          "consistent_transform": true,
          "p": 0.05
        },
        {
          "transform": "ColorJitter",
          "consistent_transform": false,
          "brightness": 0.1,
          "contrast": 0.05,
          "saturation": 0.05,
          "hue": null
        }
      ],
      "source": "third_party/sam3/training/dataset/transforms.py",
      "input_domain": "float_rgb_after_fixed_resize_before_normalization_and_padding"
    },
    "depth_units": "camera_z_meters",
    "target_variant": "smoothed_at_measurement",
    "label_source": "wilddet_depth_rescaled_rts_pseudo",
    "world_frame_id": "sav_002698",
    "source_to_saved_affine": [
      [
        0.5375,
        0.0,
        0.0
      ],
      [
        0.0,
        0.5333333333333333,
        0.0
      ],
      [
        0.0,
        0.0,
        1.0
      ]
    ]
  },
  "preprocessing": {
    "grid": 72,
    "image_size": 1008,
    "interpolation": "nearest",
    "missing_depth": -1.0,
    "padding": [
      0,
      0,
      222,
      223
    ],
    "pooling": "positive_finite_mean",
    "resized_hw": [
      563,
      1008
    ],
    "scale_xy": [
      1.4651162790697674,
      1.4661458333333333
    ],
    "source_hw": [
      384,
      688
    ]
  },
  "record": {
    "bytes": 3420160,
    "format": "sav_metric_patch72_fp32_v1",
    "frames": 245,
    "objects": 3,
    "records": 616,
    "seconds": 63.03831242606975,
    "sha256": "967d9af6f4167645c3e49387ebd47cc604818172abcfd65debf53cc390349926",
    "video_id": "sav_002698",
    "rgb": "extracted/sav_002/sav_train/sav_002/sav_002698.mp4",
    "manual": "extracted/sav_002/sav_train/sav_002/sav_002698_manual.json",
    "container": "videos/sav_002698.tar",
    "rgb_geometry": {
      "source_hw": [
        720,
        1280
      ],
      "crop_xyxy": [
        0,
        0,
        1280,
        720
      ],
      "saved_hw": [
        384,
        688
      ],
      "resize": "PIL_BICUBIC",
      "source_to_saved_affine": [
        [
          0.5375,
          0.0,
          0.0
        ],
        [
          0.0,
          0.5333333333333333,
          0.0
        ],
        [
          0.0,
          0.0,
          1.0
        ]
      ],
      "geometry_only": true
    }
  },
  "file_sha256": {
    "rgb": "1927382199d27a88e79dce5de61bcb0537349160720cc4386eb67c0b8f132d24",
    "manual": "d8ab741f9b2fb4d8e33c45ec14fe0eb20aa9b475c08019ece644721107569c03",
    "container": "967d9af6f4167645c3e49387ebd47cc604818172abcfd65debf53cc390349926"
  },
  "depth_present_frames": 8,
  "depth_median_m": 2.2690067291259766,
  "complete_measured_visible_object_frames": 16,
  "total_object_frames": 16
}
