{
  "video_id": "sav_007078",
  "cohort": "candidate_pool",
  "status": "ok",
  "object_ids": [
    0,
    1,
    2
  ],
  "frames": [
    {
      "step": 0,
      "source_frame": 96,
      "timestamp_s": 4.0,
      "depth_stats": {
        "available": true,
        "valid_patches": 3024,
        "total_patches": 5184,
        "mean_coverage": 0.5585317611694336,
        "min_m": 0.6043213605880737,
        "median_m": 0.9541441202163696,
        "max_m": 1.4524835348129272,
        "fraction_above_display_max": 0.0,
        "fraction_below_display_min": 0.0
      },
      "camera_valid": true,
      "intrinsics": [
        [
          1655.861328125,
          0.0,
          504.0
        ],
        [
          0.0,
          1641.025634765625,
          503.5
        ],
        [
          0.0,
          0.0,
          1.0
        ]
      ],
      "objects": [
        {
          "object_id": 0,
          "visibility_known": true,
          "visible": true,
          "box2d_valid": true,
          "box2d_xyxy_px": [
            415.0,
            712.0,
            521.0,
            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": [
            -0.024514231830835342,
            0.14641894400119781,
            0.8819553256034851,
            0.04331821948289871,
            0.0795888900756836,
            0.05145488306879997,
            0.4700109660625458,
            0.12257765978574753,
            0.867027223110199,
            0.1110324114561081
          ],
          "projection": {
            "corners_camera_m": [
              [
                -0.024523194232301305,
                0.10781247144031417,
                0.9169432711654787
              ],
              [
                0.011961350775469254,
                0.11116142719135083,
                0.8938320052952986
              ],
              [
                -0.018956628245674557,
                0.1564524143547626,
                0.9327791256741437
              ],
              [
                0.017527916762096002,
                0.15980137010579928,
                0.9096678598039636
              ],
              [
                -0.06655638042376669,
                0.13303651789659635,
                0.8542427914030066
              ],
              [
                -0.030071835415996128,
                0.13638547364763304,
                0.8311315255328265
              ],
              [
                -0.06098981443713994,
                0.1816764608110448,
                0.8700786459116716
              ],
              [
                -0.02450526942936938,
                0.18502541656208146,
                0.8469673800414915
              ]
            ],
            "projected_corners_px": [
              [
                459.7148078312933,
                696.4487187970906
              ],
              [
                526.158904653111,
                707.5861711568193
              ],
              [
                470.3483596923671,
                778.744605620419
              ],
              [
                535.9059305175446,
                791.7790042409534
              ],
              [
                374.9873380345587,
                759.0670804897377
              ],
              [
                444.0879550331519,
                772.7859692958159
              ],
              [
                387.9292567280956,
                846.1537713864122
              ],
              [
                456.09103804990843,
                861.9924978417581
              ]
            ],
            "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": [
            524.0,
            396.0,
            597.0,
            460.0
          ],
          "valid3d_components": {
            "center": false,
            "depth": false,
            "size": false,
            "rotation": false
          },
          "has_measurement": false,
          "interpolated": null,
          "segment_id": -1,
          "drawn_3d": false,
          "complete_measured_visible_3d": false
        },
        {
          "object_id": 2,
          "visibility_known": true,
          "visible": true,
          "box2d_valid": true,
          "box2d_xyxy_px": [
            179.0,
            222.0,
            740.0,
            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": [
            -0.026328284293413162,
            0.03245839849114418,
            0.8420863747596741,
            0.22461801767349243,
            0.35159844160079956,
            0.3462333381175995,
            0.7361698746681213,
            0.2038753181695938,
            0.6291981339454651,
            0.14352156221866608
          ],
          "projection": {
            "corners_camera_m": [
              [
                -0.17413787229614985,
                -0.18795765277499735,
                0.8973778808400563
              ],
              [
                0.047091663584992824,
                -0.2148144971938951,
                0.9254751445011798
              ],
              [
                -0.15847308491444662,
                0.1152294731137922,
                1.0638402055734244
              ],
              [
                0.06275645096669606,
                0.08837262869489443,
                1.0919374692345478
              ],
              [
                -0.11541301955352239,
                -0.023455831712606068,
                0.5922352802848003
              ],
              [
                0.10581651632762029,
                -0.050312676131503836,
                0.6203325439459237
              ],
              [
                -0.09974823217181915,
                0.2797312941761835,
                0.7586976050181683
              ],
              [
                0.12148130370932353,
                0.2528744497572857,
                0.7867948686792918
              ]
            ],
            "projected_corners_px": [
              [
                182.6769825135038,
                159.78378742140825
              ],
              [
                588.2564655255985,
                122.59717542498424
              ],
              [
                257.33752993753495,
                681.2471073847456
              ],
              [
                599.1666035592407,
                636.3114046691765
              ],
              [
                181.31075435271237,
                438.5062003961925
              ],
              [
                786.4573351403733,
                370.4030150179324
              ],
              [
                286.29898300760544,
                1108.5450423898315
              ],
              [
                759.6653594349647,
                1030.9226751447036
              ]
            ],
            "edges_in_front": 12,
            "edges_skipped_near_plane": 0
          },
          "complete_measured_visible_3d": true
        }
      ]
    },
    {
      "step": 1,
      "source_frame": 108,
      "timestamp_s": 4.5,
      "depth_stats": {
        "available": true,
        "valid_patches": 3024,
        "total_patches": 5184,
        "mean_coverage": 0.5585317611694336,
        "min_m": 0.4254048764705658,
        "median_m": 0.9407448768615723,
        "max_m": 1.4330344200134277,
        "fraction_above_display_max": 0.0,
        "fraction_below_display_min": 0.0
      },
      "camera_valid": true,
      "intrinsics": [
        [
          1638.530029296875,
          0.0,
          504.0
        ],
        [
          0.0,
          1625.174072265625,
          503.5
        ],
        [
          0.0,
          0.0,
          1.0
        ]
      ],
      "objects": [
        {
          "object_id": 0,
          "visibility_known": true,
          "visible": true,
          "box2d_valid": true,
          "box2d_xyxy_px": [
            424.0,
            698.0,
            666.0,
            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": [
            0.010212085209786892,
            0.13425524532794952,
            0.8222103714942932,
            0.039905134588479996,
            0.07267623394727707,
            0.046210456639528275,
            0.35555440187454224,
            0.12441831827163696,
            0.909674346446991,
            0.1749105155467987
          ],
          "projection": {
            "corners_camera_m": [
              [
                0.020105974137847676,
                0.0959497741504994,
                0.8484251974956646
              ],
              [
                0.0476565433572601,
                0.10511790964876688,
                0.8210512830204479
              ],
              [
                0.024818511966652704,
                0.1379020658223521,
                0.8672189069093382
              ],
              [
                0.052369081186065126,
                0.14707020132061957,
                0.8398449924341216
              ],
              [
                -0.03194491076649134,
                0.12144028933527948,
                0.8045757505544648
              ],
              [
                -0.004394341547078922,
                0.13060842483354695,
                0.7772018360792482
              ],
              [
                -0.027232372937686315,
                0.16339258100713216,
                0.8233694599681385
              ],
              [
                0.00031819628172610574,
                0.17256071650539964,
                0.7959955454929218
              ]
            ],
            "projected_corners_px": [
              [
                542.8298726751312,
                687.2935573453203
              ],
              [
                599.1057248167219,
                711.568490756724
              ],
              [
                550.8922861526999,
                761.9294001212129
              ],
              [
                606.1716065501034,
                788.093800215943
              ],
              [
                438.9437320997635,
                748.7989782753485
              ],
              [
                494.7356618967875,
                776.6097841067
              ],
              [
                449.806757480248,
                826.0057512621704
              ],
              [
                504.6549963322922,
                855.8150398819012
              ]
            ],
            "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": [
            524.0,
            570.0,
            594.0,
            620.0
          ],
          "valid3d_components": {
            "center": false,
            "depth": false,
            "size": false,
            "rotation": false
          },
          "has_measurement": false,
          "interpolated": null,
          "segment_id": -1,
          "drawn_3d": false,
          "complete_measured_visible_3d": false
        },
        {
          "object_id": 2,
          "visibility_known": true,
          "visible": true,
          "box2d_valid": true,
          "box2d_xyxy_px": [
            179.0,
            222.0,
            743.0,
            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": [
            -0.030684668570756912,
            0.024073438718914986,
            0.8512465953826904,
            0.2410452514886856,
            0.34570804238319397,
            0.315110981464386,
            0.7470417618751526,
            0.18957199156284332,
            0.6261786222457886,
            0.11786174774169922
          ],
          "projection": {
            "corners_camera_m": [
              [
                -0.1909873484873007,
                -0.17291013334415958,
                0.9200104795598059
              ],
              [
                0.0452971971579854,
                -0.20560343261244288,
                0.95470305711465
              ],
              [
                -0.1716658264351474,
                0.11079756082292304,
                1.0557733378658753
              ],
              [
                0.06461871921013869,
                0.07810426155463973,
                1.0904659154207192
              ],
              [
                -0.1259880563516525,
                -0.029957384116809753,
                0.6120272753446615
              ],
              [
                0.11029648929363359,
                -0.06265068338509307,
                0.6467198528995055
              ],
              [
                -0.10666653429949922,
                0.2537503100502728,
                0.7477901336507309
              ],
              [
                0.12961801134578688,
                0.22105701078198955,
                0.782482711205575
              ]
            ],
            "projected_corners_px": [
              [
                163.853324864343,
                198.05884276734167
              ],
              [
                581.7423066085636,
                153.50492523778746
              ],
              [
                237.57954635733762,
                674.0530123384906
              ],
              [
                601.0958471816746,
                619.9025569410672
              ],
              [
                166.70259189236936,
                423.95131663107026
              ],
              [
                783.44728930677,
                346.0620215759826
              ],
              [
                270.27624288449476,
                1054.9761510823575
              ],
              [
                775.4219763406597,
                962.6233994958488
              ]
            ],
            "edges_in_front": 12,
            "edges_skipped_near_plane": 0
          },
          "complete_measured_visible_3d": true
        }
      ]
    },
    {
      "step": 2,
      "source_frame": 120,
      "timestamp_s": 5.0,
      "depth_stats": {
        "available": true,
        "valid_patches": 3024,
        "total_patches": 5184,
        "mean_coverage": 0.5585317611694336,
        "min_m": 0.5700889825820923,
        "median_m": 1.02022123336792,
        "max_m": 1.42533278465271,
        "fraction_above_display_max": 0.0,
        "fraction_below_display_min": 0.0
      },
      "camera_valid": true,
      "intrinsics": [
        [
          1634.6978759765625,
          0.0,
          504.0
        ],
        [
          0.0,
          1621.90673828125,
          503.5
        ],
        [
          0.0,
          0.0,
          1.0
        ]
      ],
      "objects": [
        {
          "object_id": 0,
          "visibility_known": true,
          "visible": true,
          "box2d_valid": true,
          "box2d_xyxy_px": [
            547.0,
            778.0,
            579.0,
            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": [
            0.03908506780862808,
            0.16420729458332062,
            0.9081845879554749,
            0.03689010813832283,
            0.06084595248103142,
            0.043058548122644424,
            0.15282677114009857,
            0.07744815200567245,
            0.9754730463027954,
            0.13819600641727448
          ],
          "projection": {
            "corners_camera_m": [
              [
                0.05948399023250945,
                0.13334034954559162,
                0.9271688659911306
              ],
              [
                0.07127269760029659,
                0.14241312661885475,
                0.8934110347036692
              ],
              [
                0.06417121746698845,
                0.17423767275302227,
                0.9397973030183085
              ],
              [
                0.0759599248347756,
                0.1833104498262854,
                0.9060394717308472
              ],
              [
                0.0022102107824805706,
                0.14510413934035585,
                0.9103297041801025
              ],
              [
                0.013998918150267707,
                0.15417691641361897,
                0.8765718728926412
              ],
              [
                0.006897438016959578,
                0.1860014625477865,
                0.9229581412072805
              ],
              [
                0.018686145384746715,
                0.1950742396210496,
                0.8892003099198191
              ]
            ],
            "projected_corners_px": [
              [
                608.8766368829127,
                736.7537462650748
              ],
              [
                634.4095459498875,
                762.0381204290074
              ],
              [
                615.620402139069,
                804.2002197101058
              ],
              [
                641.048695626402,
                831.6451449379465
              ],
              [
                507.968921210624,
                762.0276304485644
              ],
              [
                530.1062469306668,
                788.7710511842993
              ],
              [
                516.2164015599399,
                830.3588378686516
              ],
              [
                538.35244210991,
                859.3165918037087
              ]
            ],
            "edges_in_front": 12,
            "edges_skipped_near_plane": 0
          },
          "complete_measured_visible_3d": true
        },
        {
          "object_id": 1,
          "visibility_known": true,
          "visible": false,
          "box2d_valid": false,
          "box2d_xyxy_px": null,
          "valid3d_components": {
            "center": false,
            "depth": false,
            "size": false,
            "rotation": false
          },
          "has_measurement": false,
          "interpolated": null,
          "segment_id": -1,
          "drawn_3d": false,
          "complete_measured_visible_3d": false
        },
        {
          "object_id": 2,
          "visibility_known": true,
          "visible": true,
          "box2d_valid": true,
          "box2d_xyxy_px": [
            153.0,
            391.0,
            861.0,
            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": [
            -0.01992318220436573,
            0.07879462838172913,
            0.8829653263092041,
            0.28350114822387695,
            0.34916895627975464,
            0.27372607588768005,
            0.8164556622505188,
            0.14780354499816895,
            0.5565500855445862,
            0.04250006005167961
          ],
          "projection": {
            "corners_camera_m": [
              [
                -0.22934452583446083,
                -0.06492708122389604,
                0.9521840191880533
              ],
              [
                0.03186216761857628,
                -0.11993856835741848,
                1.0476706707313244
              ],
              [
                -0.20330733938218595,
                0.19585057793387703,
                1.0311969423507221
              ],
              [
                0.057899354070851144,
                0.1408390908003546,
                1.126683593893993
              ],
              [
                -0.0977457184795826,
                0.016750165963103664,
                0.6392470587244151
              ],
              [
                0.1634609749734545,
                -0.03826132117041878,
                0.7347337102676861
              ],
              [
                -0.07170853202730773,
                0.2775278251208767,
                0.7182599818870838
              ],
              [
                0.18949816142572937,
                0.2225163379873543,
                0.8137466334303549
              ]
            ],
            "projected_corners_px": [
              [
                110.26412364267833,
                392.9061773649937
              ],
              [
                553.7150671343486,
                317.82221247263453
              ],
              [
                181.70843549934546,
                811.5414215766704
              ],
              [
                588.0057950900991,
                706.2435844636894
              ],
              [
                254.04230961465984,
                545.9987595517417
              ],
              [
                867.6818412711887,
                419.0390670733806
              ],
              [
                340.79755527175473,
                1130.1870784607536
              ],
              [
                884.6740688784867,
                947.0050581259898
              ]
            ],
            "edges_in_front": 12,
            "edges_skipped_near_plane": 0
          },
          "complete_measured_visible_3d": true
        }
      ]
    },
    {
      "step": 3,
      "source_frame": 132,
      "timestamp_s": 5.5,
      "depth_stats": {
        "available": true,
        "valid_patches": 3024,
        "total_patches": 5184,
        "mean_coverage": 0.5585317611694336,
        "min_m": 0.5794350504875183,
        "median_m": 0.992835521697998,
        "max_m": 1.4535760879516602,
        "fraction_above_display_max": 0.0,
        "fraction_below_display_min": 0.0
      },
      "camera_valid": true,
      "intrinsics": [
        [
          1651.4276123046875,
          0.0,
          504.0
        ],
        [
          0.0,
          1632.24267578125,
          503.5
        ],
        [
          0.0,
          0.0,
          1.0
        ]
      ],
      "objects": [
        {
          "object_id": 0,
          "visibility_known": true,
          "visible": true,
          "box2d_valid": true,
          "box2d_xyxy_px": [
            480.0,
            775.0,
            516.0,
            785.0
          ],
          "valid3d_components": {
            "center": true,
            "depth": true,
            "size": true,
            "rotation": true
          },
          "has_measurement": true,
          "interpolated": false,
          "segment_id": 1,
          "drawn_3d": true,
          "box3d_camera_wlh_wxyz": [
            0.0058664195239543915,
            0.19106745719909668,
            1.006255030632019,
            0.031533971428871155,
            0.08130574971437454,
            0.030331946909427643,
            0.1397828459739685,
            0.07065153867006302,
            0.9553704261779785,
            0.25047245621681213
          ],
          "projection": {
            "corners_camera_m": [
              [
                0.03877019069141624,
                0.1623866804290803,
                1.0212888495191224
              ],
              [
                0.04830862822116527,
                0.17685560850417456,
                0.9949438370134186
              ],
              [
                0.040740956666588016,
                0.18860997754745387,
                1.036404463070313
              ],
              [
                0.05027939419633705,
                0.20307890562254816,
                1.0100594505646094
              ],
              [
                -0.038546555148428266,
                0.1790560087756452,
                1.0024506106994286
              ],
              [
                -0.029008117618679233,
                0.1935249368507395,
                0.976105598193725
              ],
              [
                -0.03657578917325649,
                0.2052793058940188,
                1.0175662242506194
              ],
              [
                -0.027037351643507457,
                0.21974823396911305,
                0.9912212117449157
              ]
            ],
            "projected_corners_px": [
              [
                566.6915328335073,
                763.0293876943812
              ],
              [
                584.1836240289389,
                793.6382579727281
              ],
              [
                568.9174556732371,
                800.5435437136973
              ],
              [
                586.2058343787278,
                831.6728180680716
              ],
              [
                440.4987712592391,
                795.0483872813971
              ],
              [
                454.9225164724837,
                827.112180219211
              ],
              [
                444.6404548981237,
                832.7814124031368
              ],
              [
                458.95432448516834,
                865.3591300932065
              ]
            ],
            "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": [
            670.0,
            768.0,
            711.0,
            785.0
          ],
          "valid3d_components": {
            "center": false,
            "depth": false,
            "size": false,
            "rotation": false
          },
          "has_measurement": false,
          "interpolated": null,
          "segment_id": -1,
          "drawn_3d": false,
          "complete_measured_visible_3d": false
        },
        {
          "object_id": 2,
          "visibility_known": true,
          "visible": true,
          "box2d_valid": true,
          "box2d_xyxy_px": [
            154.0,
            308.0,
            724.0,
            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": [
            -0.0467950813472271,
            0.06420356780290604,
            0.9148871898651123,
            0.2284075915813446,
            0.39957284927368164,
            0.24359571933746338,
            0.7843941450119019,
            0.20754782855510712,
            0.5747215747833252,
            0.1065121442079544
          ],
          "projection": {
            "corners_camera_m": [
              [
                -0.22678966018411428,
                -0.10218016716182607,
                1.0026951928635355
              ],
              [
                -0.010755089685418717,
                -0.14858549732651452,
                1.0605366794777358
              ],
              [
                -0.20938001417310217,
                0.11490213712973951,
                1.1118329584113587
              ],
              [
                0.0066545563255933915,
                0.06849680696505105,
                1.169674445025559
              ],
              [
                -0.10024471902004758,
                0.059910328640761026,
                0.6600999347046657
              ],
              [
                0.11578985147864798,
                0.01350499847607256,
                0.717941421318866
              ],
              [
                -0.08283507300903548,
                0.27699263293232657,
                0.7692377002524888
              ],
              [
                0.1331994974896601,
                0.23058730276763814,
                0.8270791868666891
              ]
            ],
            "projected_corners_px": [
              [
                130.48000142131377,
                337.1654741669903
              ],
              [
                487.2525810535281,
                274.81616998107864
              ],
              [
                193.00369947274334,
                672.1837670558068
              ],
              [
                513.3953647619288,
                599.0850681004351
              ],
              [
                253.20934198925715,
                651.6415009854245
              ],
              [
                770.3428411822617,
                534.2036677289246
              ],
              [
                326.1666374522531,
                1091.2496594365489
              ],
              [
                769.9592111522797,
                958.5645718658327
              ]
            ],
            "edges_in_front": 12,
            "edges_skipped_near_plane": 0
          },
          "complete_measured_visible_3d": true
        }
      ]
    },
    {
      "step": 4,
      "source_frame": 144,
      "timestamp_s": 6.0,
      "depth_stats": {
        "available": true,
        "valid_patches": 3024,
        "total_patches": 5184,
        "mean_coverage": 0.5585317611694336,
        "min_m": 0.41164305806159973,
        "median_m": 0.8796454668045044,
        "max_m": 1.340219259262085,
        "fraction_above_display_max": 0.0,
        "fraction_below_display_min": 0.0
      },
      "camera_valid": true,
      "intrinsics": [
        [
          1618.653564453125,
          0.0,
          504.0
        ],
        [
          0.0,
          1605.0987548828125,
          503.5
        ],
        [
          0.0,
          0.0,
          1.0
        ]
      ],
      "objects": [
        {
          "object_id": 0,
          "visibility_known": true,
          "visible": true,
          "box2d_valid": true,
          "box2d_xyxy_px": [
            352.0,
            645.0,
            715.0,
            785.0
          ],
          "valid3d_components": {
            "center": true,
            "depth": true,
            "size": true,
            "rotation": true
          },
          "has_measurement": true,
          "interpolated": false,
          "segment_id": 1,
          "drawn_3d": true,
          "box3d_camera_wlh_wxyz": [
            0.012424120679497719,
            0.11923070251941681,
            0.7235435843467712,
            0.031111164018511772,
            0.08030334860086441,
            0.029940694570541382,
            0.21637244522571564,
            0.07134532183408737,
            0.9365200400352478,
            0.2665014863014221
          ],
          "projection": {
            "corners_camera_m": [
              [
                0.04123762113455417,
                0.08925850438112323,
                0.7422436888625652
              ],
              [
                0.055029247524777496,
                0.10382766442247483,
                0.7184648086578811
              ],
              [
                0.04178570023470273,
                0.1146414350546115,
                0.758113522859533
              ],
              [
                0.05557732662492606,
                0.12921059509596308,
                0.7343346426548489
              ],
              [
                -0.03072908526593062,
                0.10925080994287052,
                0.7127525260386935
              ],
              [
                -0.016937458875707294,
                0.12381996998422212,
                0.6889736458340094
              ],
              [
                -0.030181006165782058,
                0.13463374061635877,
                0.7286223600356614
              ],
              [
                -0.01638937977555873,
                0.14920290065771039,
                0.7048434798309773
              ]
            ],
            "projected_corners_px": [
              [
                593.9292556347664,
                696.5211282286441
              ],
              [
                627.9772450672241,
                735.4579927626797
              ],
              [
                593.2169452049246,
                746.221992308044
              ],
              [
                626.5060518988687,
                785.9267755588885
              ],
              [
                434.214567355483,
                749.5297685423011
              ],
              [
                464.2076533003601,
                791.9628183574735
              ],
              [
                436.9521081309749,
                800.0877267586961
              ],
              [
                466.36224246658884,
                843.2710228205898
              ]
            ],
            "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": [
            693.0,
            718.0,
            748.0,
            758.0
          ],
          "valid3d_components": {
            "center": false,
            "depth": false,
            "size": false,
            "rotation": false
          },
          "has_measurement": false,
          "interpolated": null,
          "segment_id": -1,
          "drawn_3d": false,
          "complete_measured_visible_3d": false
        },
        {
          "object_id": 2,
          "visibility_known": true,
          "visible": true,
          "box2d_valid": true,
          "box2d_xyxy_px": [
            156.0,
            222.0,
            822.0,
            761.0
          ],
          "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": [
            -0.06178421154618263,
            -0.028325147926807404,
            0.978426992893219,
            0.27494269609451294,
            0.5714536309242249,
            0.33455565571784973,
            0.7595832347869873,
            0.24471671879291534,
            0.5753065943717957,
            0.17935821413993835
          ],
          "projection": {
            "corners_camera_m": [
              [
                -0.2737273131686272,
                -0.3003751042060847,
                1.076350428619053
              ],
              [
                -0.009295570209328134,
                -0.3458488405134199,
                1.1363627503328297
              ],
              [
                -0.2706830911921976,
                -0.02741491886747846,
                1.2697695504898556
              ],
              [
                -0.006251348232898461,
                -0.07288865517481366,
                1.3297818722036323
              ],
              [
                -0.1173170748594668,
                0.016238359321198846,
                0.6270721135828057
              ],
              [
                0.14711466809983229,
                -0.029235376986136347,
                0.6870844352965825
              ],
              [
                -0.11427285288303712,
                0.2891985446598051,
                0.8204912354536081
              ],
              [
                0.15015889007626196,
                0.2437248083524699,
                0.8805035571673849
              ]
            ],
            "projected_corners_px": [
              [
                92.35925608630157,
                55.56808773463132
              ],
              [
                490.75923876548546,
                14.992661015890462
              ],
              [
                158.94356812508772,
                468.84516667026145
              ],
              [
                496.3906564592803,
                415.5205410288067
              ],
              [
                201.17087193128054,
                545.0648691166908
              ],
              [
                850.5770284846335,
                435.2032015450598
              ],
              [
                278.5641237263235,
                1069.2491559806197
              ],
              [
                780.0411592636658,
                947.7939307129152
              ]
            ],
            "edges_in_front": 12,
            "edges_skipped_near_plane": 0
          },
          "complete_measured_visible_3d": true
        }
      ]
    },
    {
      "step": 5,
      "source_frame": 156,
      "timestamp_s": 6.5,
      "depth_stats": {
        "available": true,
        "valid_patches": 3024,
        "total_patches": 5184,
        "mean_coverage": 0.5585317611694336,
        "min_m": 0.6208387017250061,
        "median_m": 0.8711149096488953,
        "max_m": 1.3488404750823975,
        "fraction_above_display_max": 0.0,
        "fraction_below_display_min": 0.0
      },
      "camera_valid": true,
      "intrinsics": [
        [
          1615.438720703125,
          0.0,
          504.0
        ],
        [
          0.0,
          1601.39404296875,
          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,
            769.0,
            547.0,
            785.0
          ],
          "valid3d_components": {
            "center": true,
            "depth": true,
            "size": true,
            "rotation": true
          },
          "has_measurement": true,
          "interpolated": false,
          "segment_id": 1,
          "drawn_3d": true,
          "box3d_camera_wlh_wxyz": [
            0.013402612879872322,
            0.13769075274467468,
            0.7330776453018188,
            0.028632525354623795,
            0.0738416239619255,
            0.02687065675854683,
            0.09836947917938232,
            0.04776695743203163,
            0.9323770403862,
            0.34455016255378723
          ],
          "projection": {
            "corners_camera_m": [
              [
                0.04605706948820679,
                0.11265159967436043,
                0.7405165336713322
              ],
              [
                0.052251748255395136,
                0.13077895748397697,
                0.7192363465951654
              ],
              [
                0.04662907023144103,
                0.13301974574519837,
                0.7580334864720446
              ],
              [
                0.05282374899862938,
                0.15114710355481492,
                0.7367532993958779
              ],
              [
                -0.026018523238884733,
                0.12423440193453446,
                0.7294019912077598
              ],
              [
                -0.019823844471696384,
                0.142361759744151,
                0.7081218041315931
              ],
              [
                -0.025446522495650492,
                0.1446025480053724,
                0.7469189440084723
              ],
              [
                -0.019251843728462142,
                0.16272990581498892,
                0.7256387569323055
              ]
            ],
            "projected_corners_px": [
              [
                604.4736154161092,
                747.1131976082103
              ],
              [
                621.3598883813204,
                794.6819521523496
              ],
              [
                603.3708152826217,
                784.5126890633535
              ],
              [
                619.8237493813201,
                832.0306919468621
              ],
              [
                446.37563044486336,
                776.2552619651148
              ],
              [
                458.77585103872366,
                825.4464118611802
              ],
              [
                448.9641784072213,
                813.5278294337644
              ],
              [
                461.1409692401743,
                862.6245634214378
              ]
            ],
            "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": [
            673.0,
            677.0,
            735.0,
            714.0
          ],
          "valid3d_components": {
            "center": false,
            "depth": false,
            "size": false,
            "rotation": false
          },
          "has_measurement": false,
          "interpolated": null,
          "segment_id": -1,
          "drawn_3d": false,
          "complete_measured_visible_3d": false
        },
        {
          "object_id": 2,
          "visibility_known": true,
          "visible": true,
          "box2d_valid": true,
          "box2d_xyxy_px": [
            112.0,
            222.0,
            803.0,
            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": [
            -0.08673840761184692,
            -0.057674650102853775,
            0.9479070901870728,
            0.27780821919441223,
            0.5790093541145325,
            0.284923791885376,
            0.7604706287384033,
            0.2611919343471527,
            0.5603654384613037,
            0.19862964749336243
          ],
          "projection": {
            "corners_camera_m": [
              [
                -0.3030469929028031,
                -0.31740421167576616,
                1.0435828565606835
              ],
              [
                -0.03745014747318105,
                -0.36592264377435046,
                1.1090174353130455
              ],
              [
                -0.3057190539621596,
                -0.09383873966795542,
                1.2201979946376924
              ],
              [
                -0.04012220853253752,
                -0.14235717176653973,
                1.2856325733900544
              ],
              [
                -0.13335460669115634,
                0.02700787156083219,
                0.6101816069840911
              ],
              [
                0.13224223873846577,
                -0.021510560537752133,
                0.6756161857364531
              ],
              [
                -0.1360266677505128,
                0.2505733435686429,
                0.7867967450611
              ],
              [
                0.1295701776791093,
                0.2020549114700586,
                0.852231323813462
              ]
            ],
            "projected_corners_px": [
              [
                34.89125271639023,
                16.438325313312134
              ],
              [
                449.4486319170069,
                -24.883344813882672
              ],
              [
                99.25388535502117,
                380.3455616511819
              ],
              [
                453.5851532038603,
                326.1787874239315
              ],
              [
                150.9474124305312,
                574.3809379629652
              ],
              [
                820.1991045814253,
                452.5141233538888
              ],
              [
                224.71218200663378,
                1013.5004063774129
              ],
              [
                749.6054784921655,
                883.1733616089821
              ]
            ],
            "edges_in_front": 12,
            "edges_skipped_near_plane": 0
          },
          "complete_measured_visible_3d": true
        }
      ]
    },
    {
      "step": 6,
      "source_frame": 168,
      "timestamp_s": 7.0,
      "depth_stats": {
        "available": true,
        "valid_patches": 3024,
        "total_patches": 5184,
        "mean_coverage": 0.5585317611694336,
        "min_m": 0.6171690821647644,
        "median_m": 0.8396419286727905,
        "max_m": 1.260727047920227,
        "fraction_above_display_max": 0.0,
        "fraction_below_display_min": 0.0
      },
      "camera_valid": true,
      "intrinsics": [
        [
          1600.8375244140625,
          0.0,
          504.0
        ],
        [
          0.0,
          1588.549560546875,
          503.5
        ],
        [
          0.0,
          0.0,
          1.0
        ]
      ],
      "objects": [
        {
          "object_id": 0,
          "visibility_known": true,
          "visible": false,
          "box2d_valid": false,
          "box2d_xyxy_px": null,
          "valid3d_components": {
            "center": false,
            "depth": false,
            "size": false,
            "rotation": false
          },
          "has_measurement": false,
          "interpolated": null,
          "segment_id": -1,
          "drawn_3d": false,
          "complete_measured_visible_3d": false
        },
        {
          "object_id": 1,
          "visibility_known": true,
          "visible": true,
          "box2d_valid": true,
          "box2d_xyxy_px": [
            619.0,
            618.0,
            683.0,
            659.0
          ],
          "valid3d_components": {
            "center": false,
            "depth": false,
            "size": false,
            "rotation": false
          },
          "has_measurement": false,
          "interpolated": null,
          "segment_id": -1,
          "drawn_3d": false,
          "complete_measured_visible_3d": false
        },
        {
          "object_id": 2,
          "visibility_known": true,
          "visible": true,
          "box2d_valid": true,
          "box2d_xyxy_px": [
            40.0,
            222.0,
            755.0,
            736.0
          ],
          "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": [
            -0.11385089159011841,
            -0.10125524550676346,
            0.9268078804016113,
            0.2912934422492981,
            0.5902454853057861,
            0.2629154920578003,
            0.7600811719894409,
            0.2688910961151123,
            0.5590541958808899,
            0.1934749037027359
          ],
          "projection": {
            "corners_camera_m": [
              [
                -0.3421946827740716,
                -0.35136284339273555,
                1.0311958208151184
              ],
              [
                -0.06432970796633244,
                -0.4074170861963056,
                1.0982841740238394
              ],
              [
                -0.34047623338529687,
                -0.14614939666204851,
                1.195540106315421
              ],
              [
                -0.0626112585775577,
                -0.20220363946561856,
                1.2626284595241417
              ],
              [
                -0.16509052460267912,
                -0.00030685154790835445,
                0.5909873012790808
              ],
              [
                0.11277445020506005,
                -0.0563610943514784,
                0.6580756544878017
              ],
              [
                -0.16337207521390437,
                0.2049065951827787,
                0.7553315867793834
              ],
              [
                0.1144928995938348,
                0.14885235237920863,
                0.8224199399881041
              ]
            ],
            "projected_corners_px": [
              [
                -27.22605598487405,
                -37.77187018933989
              ],
              [
                410.2342762622127,
                -85.78485772970942
              ],
              [
                48.09966868100804,
                309.30696656241196
              ],
              [
                424.61761999288296,
                249.10172456817213
              ],
              [
                56.81085374054459,
                502.67519565897953
              ],
              [
                778.3355880927392,
                367.44817821718766
              ],
              [
                157.7518713351481,
                934.4422344147678
              ],
              [
                726.8600268999235,
                791.0165441170853
              ]
            ],
            "edges_in_front": 12,
            "edges_skipped_near_plane": 0
          },
          "complete_measured_visible_3d": true
        }
      ]
    },
    {
      "step": 7,
      "source_frame": 180,
      "timestamp_s": 7.5,
      "depth_stats": {
        "available": true,
        "valid_patches": 3024,
        "total_patches": 5184,
        "mean_coverage": 0.5585317611694336,
        "min_m": 0.35237985849380493,
        "median_m": 0.8036454916000366,
        "max_m": 1.1419484615325928,
        "fraction_above_display_max": 0.0,
        "fraction_below_display_min": 0.0
      },
      "camera_valid": true,
      "intrinsics": [
        [
          1592.7523193359375,
          0.0,
          504.0
        ],
        [
          0.0,
          1575.29052734375,
          503.5
        ],
        [
          0.0,
          0.0,
          1.0
        ]
      ],
      "objects": [
        {
          "object_id": 0,
          "visibility_known": true,
          "visible": true,
          "box2d_valid": true,
          "box2d_xyxy_px": [
            408.0,
            652.0,
            718.0,
            785.0
          ],
          "valid3d_components": {
            "center": true,
            "depth": true,
            "size": true,
            "rotation": true
          },
          "has_measurement": true,
          "interpolated": false,
          "segment_id": 2,
          "drawn_3d": true,
          "box3d_camera_wlh_wxyz": [
            0.012203858233988285,
            0.07262720912694931,
            0.44213026762008667,
            0.04046446084976196,
            0.07296455651521683,
            0.035570234060287476,
            0.21550105512142181,
            0.08422870188951492,
            0.9158366322517395,
            0.32818901538848877
          ],
          "projection": {
            "corners_camera_m": [
              [
                0.035447019909974925,
                0.036708935600840056,
                0.45717165136010546
              ],
              [
                0.053656570123948796,
                0.05956457120610037,
                0.42918228205770353
              ],
              [
                0.035903361251089685,
                0.06411206533919696,
                0.4798454641013893
              ],
              [
                0.05411291146506356,
                0.08696770094445727,
                0.45185609479898736
              ],
              [
                -0.029705194997086987,
                0.05828671730944135,
                0.432404440441186
              ],
              [
                -0.011495644783113115,
                0.08114235291470166,
                0.40441507113878405
              ],
              [
                -0.029248853655972226,
                0.08568984704779825,
                0.4550782531824698
              ],
              [
                -0.011039303441998355,
                0.10854548265305856,
                0.4270888838800679
              ]
            ],
            "projected_corners_px": [
              [
                627.4948033352325,
                629.9891170500982
              ],
              [
                703.126641721525,
                722.1285611241672
              ],
              [
                623.1741220513989,
                713.9742813530914
              ],
              [
                694.7431729571823,
                806.6925364282475
              ],
              [
                394.5815625305265,
                715.8440581550058
              ],
              [
                458.7254387948314,
                819.5682898215923
              ],
              [
                401.63039834868175,
                800.1224015319114
              ],
              [
                462.8308737952693,
                903.8631961943896
              ]
            ],
            "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": [
            563.0,
            530.0,
            628.0,
            571.0
          ],
          "valid3d_components": {
            "center": false,
            "depth": false,
            "size": false,
            "rotation": false
          },
          "has_measurement": false,
          "interpolated": null,
          "segment_id": -1,
          "drawn_3d": false,
          "complete_measured_visible_3d": false
        },
        {
          "object_id": 2,
          "visibility_known": true,
          "visible": true,
          "box2d_valid": true,
          "box2d_xyxy_px": [
            0.0,
            222.0,
            696.0,
            686.0
          ],
          "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": [
            -0.12369721382856369,
            -0.10946623980998993,
            0.8710790872573853,
            0.28023406863212585,
            0.5625512003898621,
            0.24320653080940247,
            0.7805150151252747,
            0.2796584367752075,
            0.5287691354751587,
            0.18163326382637024
          ],
          "projection": {
            "corners_camera_m": [
              [
                -0.36050229745970175,
                -0.33270909283231154,
                0.9583836213237065
              ],
              [
                -0.10072109118314804,
                -0.4012182230839054,
                1.0380790236991497
              ],
              [
                -0.35753164625240963,
                -0.1435914449373391,
                1.1112728201391318
              ],
              [
                -0.09775043997585586,
                -0.21210057518893294,
                1.190968222514575
              ],
              [
                -0.14964398768127152,
                -0.006831904431046906,
                0.5511899520001954
              ],
              [
                0.11013721859528222,
                -0.07534103468264075,
                0.6308853543756386
              ],
              [
                -0.14667333647397934,
                0.18228574346392556,
                0.7040791508156208
              ],
              [
                0.1131078698025744,
                0.1137766132123317,
                0.783774553191064
              ]
            ],
            "projected_corners_px": [
              [
                -95.12425215678184,
                -43.3723281977359
              ],
              [
                349.4609447589622,
                -105.3508213657351
              ],
              [
                -8.438843535491856,
                299.9512053943046
              ],
              [
                373.2725489695025,
                222.95512850558202
              ],
              [
                71.57954750608519,
                483.97454549036814
              ],
              [
                782.0557658315784,
                315.3770432176261
              ],
              [
                172.1988146033766,
                911.3419373956613
              ],
              [
                733.852859128588,
                732.1770096029744
              ]
            ],
            "edges_in_front": 12,
            "edges_skipped_near_plane": 0
          },
          "complete_measured_visible_3d": true
        }
      ]
    }
  ],
  "input_shapes": {
    "images": [
      8,
      3,
      1008,
      1008
    ],
    "initial_boxes": [
      3,
      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_007078",
    "dataset": "sa-v",
    "manifest_sha256": "5b25d0092968fa1be5a609f8cf7b670d193b765fa64d3292db7a49f3eaae4f62",
    "sampling_fps": 2.0,
    "source_frame_stride": 12,
    "hashes": {},
    "epoch": 0,
    "occurrence": 0,
    "annotation_slots": [
      24,
      27,
      30,
      33,
      36,
      39,
      42,
      45
    ],
    "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": 6986318087056679481,
      "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_007078",
    "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": 3809280,
    "format": "sav_metric_patch72_fp32_v1",
    "frames": 297,
    "objects": 2,
    "records": 508,
    "seconds": 42.573835687944666,
    "sha256": "bd0124c952838dab0fc818879dacfb89e1747d87f3581757032a0d90160f17b0",
    "video_id": "sav_007078",
    "rgb": "extracted/sav_007/sav_train/sav_007/sav_007078.mp4",
    "manual": "extracted/sav_007/sav_train/sav_007/sav_007078_manual.json",
    "container": "videos/sav_007078.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": "8def745afe346aa46cb5e3c8908fd18be66987ded378aece0bbe6a47dacd6962",
    "manual": "60114b97a135c79d6466838a3a59f20f6334cbf77047393f9cc76da39f7e5bd4",
    "container": "bd0124c952838dab0fc818879dacfb89e1747d87f3581757032a0d90160f17b0"
  },
  "depth_present_frames": 8,
  "depth_median_m": 0.8719712495803833,
  "complete_measured_visible_object_frames": 15,
  "total_object_frames": 24
}