{
  "scope": "REFERENCE-ASSISTED motion-only counterfactual,not deployable",
  "source_sha256": {
    "tools/temporal_surface_check.py": "cf72d3df631e3e8881f2cb23df11f144ead70d25deb6c5fc0a5dcd0b32023a22",
    "tools/evaluate_temporal_surface_check.py": "3f5be8b708218ebad0711423ffc09408fe3e35115c4341694379d271dbe4e28b",
    "tests/unit/test_temporal_surface_check.py": "39c4ed325f0f97cda5e7509e45c8e1523cc353c407a5dc1d500b4b3d53cd9c92",
    "tools/known_geometry_joint.py": "8b041f12e956534d9b01c89e8c4618176f5957fd974986341bec4ae15c5a998f",
    "tools/occlusion_geometry.py": "63e69955040061b3bcecb9330ca52e5d2bd9f9a504bf7fc1242f06a4c6ea9533",
    "tools/map_surface_errors.py": "703115280d14d3f6473cbc3f60bd1312c61bd4e7e2718b84beda7a1558c75fee",
    "docs/research/temporal_surface_check_protocol.md": "3de472ce008db830f593e08887d94cd08b685ec4e0ab08cfe8efe71069313cc8",
    "docs/assets/stereo_metric_motion_20261030/evaluation.json": "04f06fdfb96741e32da5dbfe769d8046554a960b2389c92ad48f916cdc53716c",
    "docs/assets/surface_error_maps_20261030/evaluation.json": "9344ccba732246ee4eff3b653cfca2ccbe2d61172d404523f4374311f56f1d3a",
    "tools/diagnose_proxy_temporal_counterfactual.py": "0bdf384ee26be5761abb23192692754555c554920a1de12a240e602838a46866",
    "docs/research/proxy_temporal_counterfactual_protocol.md": "517a3f5a55ebf870d4c976a0f78ed730623a8b9f3ace585ba24c8016d29e76c1",
    "docs/assets/camera_motion_proxy_20261030/evaluation.json": "e6605b98549c114e6104f7860ff585246422f6cc7a1bbf8643d0220337bfa0f2"
  },
  "input_sha256": {
    "/workspace/work/surface-error-maps-20261030/2011_09_26_0005-frame-38.npz": "3aacfa80426987008a577901329e3e7d026cc6ad8467cef948a816c6724ee0ea",
    "/workspace/work/stereo-metric-motion-20261030/2011_09_26_0005-0000000037.npy": "ddb33e02c36bf106653fea6745e3067fa10207e2fdb7517d454e580943ca7b77",
    "/workspace/work/stereo-metric-motion-20261030/2011_09_26_0005-0000000039.npy": "64da5ec521a5a523a67f5d3e1cb4246bcb382af56c9069f667d5b3d7dfc3c15b",
    "/workspace/work/surface-error-maps-20261030/2011_09_26_0005-frame-76.npz": "3404a162964098bee5fe87fa4b322fb65d6e4ddfc63adf43a3769eb18676c4ff",
    "/workspace/work/stereo-metric-motion-20261030/2011_09_26_0005-0000000075.npy": "110dc5617eee96bbc8513a46013ccde9cd2705084a21f9af821d85509534de4f",
    "/workspace/work/stereo-metric-motion-20261030/2011_09_26_0005-0000000077.npy": "58f1ba5d797814bc8cd1b355f3b4130cbb6e6a5c2b5f9d6401d6cad046ed6702",
    "/workspace/work/surface-error-maps-20261030/2011_09_26_0005-frame-114.npz": "520fa693fd192076cb62eaaafa8f758a7fa9498fa5f8fdabfc495cca7f8beea6",
    "/workspace/work/stereo-metric-motion-20261030/2011_09_26_0005-0000000113.npy": "c77c6dfef1875c474f150617811a32254fc88b4486dbbaa442c778e0e756f50d",
    "/workspace/work/stereo-metric-motion-20261030/2011_09_26_0005-0000000115.npy": "c1778545470d584b8820d7375609d5ec1d188fbb310a7ca4ccff854a7e2e4e4b",
    "/workspace/work/surface-error-maps-20261030/2011_09_28_0002-frame-93.npz": "7308e31e16c5700b51d3e42f8db8a55d1e016ace0f019cafb788a7b1b0664aa1",
    "/workspace/work/stereo-metric-motion-20261030/2011_09_28_0002-0000000092.npy": "ae7d529ef273dc3cfa52e89c1a0a8258d25edd4f4d9af820bf7b9d792f7e4b2b",
    "/workspace/work/stereo-metric-motion-20261030/2011_09_28_0002-0000000094.npy": "41f46242b839df3a434970a991440bbe5192caf7aca5578b9e3889acbd4c43e3",
    "/workspace/work/surface-error-maps-20261030/2011_09_28_0002-frame-187.npz": "4eafddbc0fe3bca1c9b0500ecb839e95c31c46162bee03fc4bc2ac944b03947a",
    "/workspace/work/stereo-metric-motion-20261030/2011_09_28_0002-0000000186.npy": "64e8785ffe2598764588ee02c3aca29eed7a9005210d2b26dd27211c5a160d29",
    "/workspace/work/stereo-metric-motion-20261030/2011_09_28_0002-0000000188.npy": "45ec42906050413d32145c6fb9a181c1da0e79aec8056c23b4a210817f6374b9",
    "/workspace/work/surface-error-maps-20261030/2011_09_28_0002-frame-281.npz": "f64f076e60889ec240bfdcda42a1aa2328accfccdf6d35bb4c8387f784903232",
    "/workspace/work/stereo-metric-motion-20261030/2011_09_28_0002-0000000280.npy": "d80c40539e16e88715ac05a23dc760dc648da8b12e87dffbbebff1cb02e31b60",
    "/workspace/work/stereo-metric-motion-20261030/2011_09_28_0002-0000000282.npy": "9cce6a36fd3719d1e8f83954024f77e93dc7cef4ecbe1d5f05181bd16fb84a3e",
    "/workspace/work/surface-error-maps-20261030/2011_09_26_0009-frame-111.npz": "6c07af94aff65f62df0d3649357cab8c9429e88e7cee984ae011468ff569b83f",
    "/workspace/work/stereo-metric-motion-20261030/2011_09_26_0009-0000000110.npy": "110d06f2906bff02c20e6e44f5849fc9040d95d620b89c28c59a01e1a7305f71",
    "/workspace/work/stereo-metric-motion-20261030/2011_09_26_0009-0000000112.npy": "51cb496d17fb7bc19794971c3eeb971a531161d9ec5209825ef074974d38a2d2",
    "/workspace/work/surface-error-maps-20261030/2011_09_26_0009-frame-223.npz": "3b50daf963b872e2524d339bbfc46cfd53099ca3cccbf078a493122f958f085e",
    "/workspace/work/stereo-metric-motion-20261030/2011_09_26_0009-0000000222.npy": "9edc25b6ba6f04594494539242512819dc826b0613bdce290a4a7a6c99bd1c48",
    "/workspace/work/stereo-metric-motion-20261030/2011_09_26_0009-0000000224.npy": "eaa45093c2b00ab34973fe965f93cdc46f7ecd58b9af52290a3b86431e7d13c6",
    "/workspace/work/surface-error-maps-20261030/2011_09_26_0009-frame-334.npz": "aff62ebdb7138559a6984b75879d8977888248440b8fa718a1604da7cc1190d9",
    "/workspace/work/stereo-metric-motion-20261030/2011_09_26_0009-0000000333.npy": "f7eac0a90c93cd65ef05d0fc1b02d2f3b255cb4f80f3ee9e312fdedd9a0f2fde",
    "/workspace/work/stereo-metric-motion-20261030/2011_09_26_0009-0000000335.npy": "519c9afab9d823e7320e5af6641c877f516207be369d50971ff1e46fc2271f8b",
    "/workspace/work/surface-error-maps-20261030/2011_09_26_0011-frame-58.npz": "1a68842807c58ae713c889ed286aa2948bd94f6f41b4e4924fa2fb2e999b874e",
    "/workspace/work/stereo-metric-motion-20261030/2011_09_26_0011-0000000057.npy": "06d37dee67e39dd3ecc79d92fe68a779e5946ceb275805032c6b9bdaa33010f4",
    "/workspace/work/stereo-metric-motion-20261030/2011_09_26_0011-0000000059.npy": "ef7a39c174948b37dfdf5c19fa76815f85a0224910f3c9769d12d6962825e69d",
    "/workspace/work/surface-error-maps-20261030/2011_09_26_0011-frame-116.npz": "ea6e514af1bdeace7581cc6066e1a82fc68084650d689b372f88faad67f0678b",
    "/workspace/work/stereo-metric-motion-20261030/2011_09_26_0011-0000000115.npy": "48d767220dccfc0d174ad530a471a57a4a1c53b721d436acde6545902da2acfe",
    "/workspace/work/stereo-metric-motion-20261030/2011_09_26_0011-0000000117.npy": "84b38498d8fb154c485cabe15f437b24cb702d081e72065819a8c3c48e8db559",
    "/workspace/work/surface-error-maps-20261030/2011_09_26_0011-frame-174.npz": "592dd80121428e19317e9c564b6536ca08a422d07a5a9bf4259cacb63f316731",
    "/workspace/work/stereo-metric-motion-20261030/2011_09_26_0011-0000000173.npy": "642b7861afa43811a53270be47c8716bee533238bea7491f7b6bfc437d036714",
    "/workspace/work/stereo-metric-motion-20261030/2011_09_26_0011-0000000175.npy": "e23d600b90e435364f2b2e76dccf7905b8d4dec7a475072d2360797495b369c2",
    "/workspace/work/surface-error-maps-20261030/2011_09_26_0013-frame-35.npz": "5f0d8a5373f86dda51534bc888a5e00f2e0d11d97cf45646286a5826d6005c03",
    "/workspace/work/stereo-metric-motion-20261030/2011_09_26_0013-0000000034.npy": "6c038de8e46e2ab3826ba25f913b1f02df8d79fb7e3c7abc74efa79196da9a44",
    "/workspace/work/stereo-metric-motion-20261030/2011_09_26_0013-0000000036.npy": "7933472700d27ce0f94dab2726a4bb0ac036159d1029c1cf82d85a74434f7e6a",
    "/workspace/work/surface-error-maps-20261030/2011_09_26_0013-frame-71.npz": "d968817201a89b7178f5da2a16e6fc7b5ef5e876af7d5a94ded99bab7bf1ea6b",
    "/workspace/work/stereo-metric-motion-20261030/2011_09_26_0013-0000000070.npy": "a3d51a300decdccd216c018cc9bcbbe14b6fc7977361934ba6ce440d98a4355e",
    "/workspace/work/stereo-metric-motion-20261030/2011_09_26_0013-0000000072.npy": "4ec982ed4f9c50943639d991b091c332004184e9799d1ebbc29d65cde348a008",
    "/workspace/work/surface-error-maps-20261030/2011_09_26_0013-frame-107.npz": "80fe802b2b68093dd088e33c7076a6eb9ddfe0fb5fd49332080602b7937d12df",
    "/workspace/work/stereo-metric-motion-20261030/2011_09_26_0013-0000000106.npy": "678806c0d10749003c1fc7ff60f85accda5ab9a0d29c2828d97ddff9bae3f45b",
    "/workspace/work/stereo-metric-motion-20261030/2011_09_26_0013-0000000108.npy": "4615cb66fc58c10a72017f89dffa13048a3464ac993262e4c7d81e418b74399c",
    "/workspace/work/surface-error-maps-20261030/2011_09_26_0015-frame-74.npz": "abcef42aa04b59371a00b158a6db6b57351d4ae592554a08f2a46b61f39e210a",
    "/workspace/work/stereo-metric-motion-20261030/2011_09_26_0015-0000000073.npy": "0977e81837f2fc6d07483239e54770c6156611a7b5cd2369734057b7d257d570",
    "/workspace/work/stereo-metric-motion-20261030/2011_09_26_0015-0000000075.npy": "5fa25ff2087757269c3b8311706e2e8245d1fd798906c40d53a7187d18f2e812",
    "/workspace/work/surface-error-maps-20261030/2011_09_26_0015-frame-148.npz": "c34d12b516fc7f59c8674cf6a4267db9958e7a6b35954c0f838ef8c903384dde",
    "/workspace/work/stereo-metric-motion-20261030/2011_09_26_0015-0000000147.npy": "b71d16d57c38dee18093f4956e1243af4c0ff1b6793ff346a640aa2ea93d31bd",
    "/workspace/work/stereo-metric-motion-20261030/2011_09_26_0015-0000000149.npy": "31942b764a1491f5958dbdf26d93b945314097a8260ecced7c2bf7a8ad3c4c86",
    "/workspace/work/surface-error-maps-20261030/2011_09_26_0015-frame-222.npz": "9f0433f63fc155af408d601f35ed1854ecae2328d762da444cc88aeeeb185075",
    "/workspace/work/stereo-metric-motion-20261030/2011_09_26_0015-0000000221.npy": "a245c264b851c9053224b7f80093d1b9a3cf70683e56e68b6b1911f9bfe8da3e",
    "/workspace/work/stereo-metric-motion-20261030/2011_09_26_0015-0000000223.npy": "76aad4bda0c34aa9d2f608d6b1e0f67a500c0b713c4c522cd7f91b350537b488"
  },
  "centers": [
    {
      "drive": "2011_09_26_0005",
      "center": "frame-38",
      "map_path": "/workspace/work/surface-error-maps-20261030/2011_09_26_0005-frame-38.npz",
      "intrinsics": [
        721.5377,
        721.5377,
        609.5593,
        172.854
      ],
      "fb": 384.38148,
      "neighbors": [
        {
          "index": 37,
          "motion_supported": true,
          "transform": [
            [
              0.9998894240373016,
              -0.00029002088749322024,
              -0.01486793818235058,
              -0.0017452865839044814
            ],
            [
              0.00024738972095064075,
              0.9999958535704613,
              -0.0028690839998614295,
              0.01198496678852758
            ],
            [
              0.014868709176157131,
              0.0028650882836921653,
              0.9998853498047752,
              0.40211253987307216
            ],
            [
              0.0,
              0.0,
              0.0,
              1.0
            ]
          ],
          "depth": "/workspace/work/stereo-metric-motion-20261030/2011_09_26_0005-0000000037.npy"
        },
        {
          "index": 39,
          "motion_supported": true,
          "transform": [
            [
              0.9998858176834977,
              -0.00029337673504467165,
              0.015108458106323686,
              -0.002139008631958317
            ],
            [
              0.0002686935559378428,
              0.999998626080281,
              0.00163573920667924,
              -0.010792977698560247
            ],
            [
              -0.015108917790159155,
              -0.0016314927416904604,
              0.9998845227586827,
              -0.41043922147387746
            ],
            [
              0.0,
              0.0,
              0.0,
              1.0
            ]
          ],
          "depth": "/workspace/work/stereo-metric-motion-20261030/2011_09_26_0005-0000000039.npy"
        }
      ]
    },
    {
      "drive": "2011_09_26_0005",
      "center": "frame-76",
      "map_path": "/workspace/work/surface-error-maps-20261030/2011_09_26_0005-frame-76.npz",
      "intrinsics": [
        721.5377,
        721.5377,
        609.5593,
        172.854
      ],
      "fb": 384.38148,
      "neighbors": [
        {
          "index": 75,
          "motion_supported": true,
          "transform": [
            [
              0.9997839741652339,
              0.0018786911958623162,
              0.02069964982332746,
              -0.025240404952930295
            ],
            [
              -0.0018524551044418944,
              0.9999974565520765,
              -0.0012865809941293648,
              -0.0002020161959084261
            ],
            [
              -0.020702015013098683,
              0.0012479576904534573,
              0.9997849114703442,
              0.3770506746805446
            ],
            [
              0.0,
              0.0,
              0.0,
              1.0
            ]
          ],
          "depth": "/workspace/work/stereo-metric-motion-20261030/2011_09_26_0005-0000000075.npy"
        },
        {
          "index": 77,
          "motion_supported": true,
          "transform": [
            [
              0.9997611064610934,
              -0.0032150866018281314,
              -0.02161927851748909,
              0.022218775050734246
            ],
            [
              0.003239986576090368,
              0.9999941276172621,
              0.0011167974555379853,
              -0.001889531889464502
            ],
            [
              0.021615561743657006,
              -0.0011865766400565533,
              0.9997656523055884,
              -0.37831159596369823
            ],
            [
              0.0,
              0.0,
              0.0,
              1.0
            ]
          ],
          "depth": "/workspace/work/stereo-metric-motion-20261030/2011_09_26_0005-0000000077.npy"
        }
      ]
    },
    {
      "drive": "2011_09_26_0005",
      "center": "frame-114",
      "map_path": "/workspace/work/surface-error-maps-20261030/2011_09_26_0005-frame-114.npz",
      "intrinsics": [
        721.5377,
        721.5377,
        609.5593,
        172.854
      ],
      "fb": 384.38148,
      "neighbors": [
        {
          "index": 113,
          "motion_supported": true,
          "transform": [
            [
              0.9998091638419014,
              -0.0001265054961738554,
              0.01953509323152926,
              0.023431614742168906
            ],
            [
              0.00012024790439367466,
              0.9999999410891252,
              0.00032150081714764605,
              0.004620086349811225
            ],
            [
              -0.0195351334636867,
              -0.00031909042402067204,
              0.9998091201663553,
              0.573737548926503
            ],
            [
              0.0,
              0.0,
              0.0,
              1.0
            ]
          ],
          "depth": "/workspace/work/stereo-metric-motion-20261030/2011_09_26_0005-0000000113.npy"
        },
        {
          "index": 115,
          "motion_supported": true,
          "transform": [
            [
              0.9998290351189633,
              0.0006591957417662801,
              -0.018478798564828487,
              -0.011002376860862889
            ],
            [
              -0.0006520059238694567,
              0.9999997093856475,
              0.00039511197415437676,
              -0.0035087635094306346
            ],
            [
              0.018479054321811864,
              -0.0003829960449761925,
              0.9998291743425389,
              -0.5670852150743231
            ],
            [
              0.0,
              0.0,
              0.0,
              1.0
            ]
          ],
          "depth": "/workspace/work/stereo-metric-motion-20261030/2011_09_26_0005-0000000115.npy"
        }
      ]
    },
    {
      "drive": "2011_09_28_0002",
      "center": "frame-93",
      "map_path": "/workspace/work/surface-error-maps-20261030/2011_09_28_0002-frame-93.npz",
      "intrinsics": [
        707.0493,
        707.0493,
        604.0814,
        180.5066
      ],
      "fb": 379.86641,
      "neighbors": [
        {
          "index": 92,
          "motion_supported": true,
          "transform": [
            [
              0.9999999935155027,
              0.00010010548341216097,
              -5.431620654997912e-05,
              -0.001077087510571123
            ],
            [
              -0.00010017847784079966,
              0.9999990902257755,
              -0.0013451813455703046,
              -0.010021831721575353
            ],
            [
              5.418151070755198e-05,
              0.0013451864590510176,
              0.9999990937668052,
              -0.010260394353382609
            ],
            [
              0.0,
              0.0,
              0.0,
              1.0
            ]
          ],
          "depth": "/workspace/work/stereo-metric-motion-20261030/2011_09_28_0002-0000000092.npy"
        },
        {
          "index": 94,
          "motion_supported": true,
          "transform": [
            [
              0.999999999436874,
              -3.3487631254659296e-05,
              2.002672488400554e-06,
              0.0008058886371926088
            ],
            [
              3.3483193920574536e-05,
              0.9999976232361902,
              0.002179999531457353,
              0.0027645704702760066
            ],
            [
              -2.0756973822350566e-06,
              -0.0021799989450820454,
              0.9999976237991764,
              0.003506397895774782
            ],
            [
              0.0,
              0.0,
              0.0,
              1.0
            ]
          ],
          "depth": "/workspace/work/stereo-metric-motion-20261030/2011_09_28_0002-0000000094.npy"
        }
      ]
    },
    {
      "drive": "2011_09_28_0002",
      "center": "frame-187",
      "map_path": "/workspace/work/surface-error-maps-20261030/2011_09_28_0002-frame-187.npz",
      "intrinsics": [
        707.0493,
        707.0493,
        604.0814,
        180.5066
      ],
      "fb": 379.86641,
      "neighbors": [
        {
          "index": 186,
          "motion_supported": true,
          "transform": [
            [
              0.9999999975065266,
              -1.1793711600623313e-05,
              -6.962360128981477e-05,
              0.00012453929597099818
            ],
            [
              1.1797158467258434e-05,
              0.9999999987066772,
              4.947375993543004e-05,
              -0.0002521443935182344
            ],
            [
              6.962301351725666e-05,
              -4.947456854954598e-05,
              0.9999999963525659,
              -0.0009175934640782298
            ],
            [
              0.0,
              0.0,
              0.0,
              1.0
            ]
          ],
          "depth": "/workspace/work/stereo-metric-motion-20261030/2011_09_28_0002-0000000186.npy"
        },
        {
          "index": 188,
          "motion_supported": true,
          "transform": [
            [
              0.9999999992117692,
              -3.957469989339842e-05,
              3.055717117692069e-06,
              -2.8447657236085888e-05
            ],
            [
              3.957456427631802e-05,
              0.9999999981228987,
              4.6785964141730605e-05,
              2.443067998281201e-05
            ],
            [
              -3.05756902483361e-06,
              -4.6785832060824626e-05,
              0.9999999989009177,
              0.0009568709541192266
            ],
            [
              0.0,
              0.0,
              0.0,
              1.0
            ]
          ],
          "depth": "/workspace/work/stereo-metric-motion-20261030/2011_09_28_0002-0000000188.npy"
        }
      ]
    },
    {
      "drive": "2011_09_28_0002",
      "center": "frame-281",
      "map_path": "/workspace/work/surface-error-maps-20261030/2011_09_28_0002-frame-281.npz",
      "intrinsics": [
        707.0493,
        707.0493,
        604.0814,
        180.5066
      ],
      "fb": 379.86641,
      "neighbors": [
        {
          "index": 280,
          "motion_supported": true,
          "transform": [
            [
              0.9999999977008691,
              -3.46227974552742e-05,
              5.829899527359389e-05,
              0.00017792001520764694
            ],
            [
              3.462672793704791e-05,
              0.9999999971355792,
              -6.731145904862876e-05,
              0.0020261310957778674
            ],
            [
              -5.8296660708818954e-05,
              6.731346091362757e-05,
              0.999999996035073,
              0.000575050797445521
            ],
            [
              0.0,
              0.0,
              0.0,
              1.0
            ]
          ],
          "depth": "/workspace/work/stereo-metric-motion-20261030/2011_09_28_0002-0000000280.npy"
        },
        {
          "index": 282,
          "motion_supported": true,
          "transform": [
            [
              0.9999999986233736,
              -4.27530266892487e-05,
              -3.0402770810839932e-05,
              0.0001578228964536077
            ],
            [
              4.2750778721456915e-05,
              0.9999999963342205,
              -7.419667471494692e-05,
              -0.0029435292923468692
            ],
            [
              3.0405942214544292e-05,
              7.41953576479352e-05,
              0.9999999967852068,
              -0.0012055811159967789
            ],
            [
              0.0,
              0.0,
              0.0,
              1.0
            ]
          ],
          "depth": "/workspace/work/stereo-metric-motion-20261030/2011_09_28_0002-0000000282.npy"
        }
      ]
    },
    {
      "drive": "2011_09_26_0009",
      "center": "frame-111",
      "map_path": "/workspace/work/surface-error-maps-20261030/2011_09_26_0009-frame-111.npz",
      "intrinsics": [
        721.5377,
        721.5377,
        609.5593,
        172.854
      ],
      "fb": 384.38148,
      "neighbors": [
        {
          "index": 110,
          "motion_supported": true,
          "transform": [
            [
              0.9999992893218083,
              0.0011920604286931552,
              1.881125454853958e-05,
              -0.006871971372974943
            ],
            [
              -0.0011920787011191081,
              0.9999987964430301,
              0.0009930028843477272,
              -0.009335247904530752
            ],
            [
              -1.7627515830244583e-05,
              -0.0009930244889844475,
              0.9999995067957367,
              1.1295833824671013
            ],
            [
              0.0,
              0.0,
              0.0,
              1.0
            ]
          ],
          "depth": "/workspace/work/stereo-metric-motion-20261030/2011_09_26_0009-0000000110.npy"
        },
        {
          "index": 112,
          "motion_supported": true,
          "transform": [
            [
              0.9999995807732284,
              -0.0009129191375999638,
              7.090161338909518e-05,
              0.0015827776649346426
            ],
            [
              0.0009130214311550683,
              0.9999985255737902,
              -0.0014543890670566347,
              0.008207396364405595
            ],
            [
              -6.957376785331394e-05,
              0.0014544530248375733,
              0.9999989398621476,
              -1.12710327249991
            ],
            [
              0.0,
              0.0,
              0.0,
              1.0
            ]
          ],
          "depth": "/workspace/work/stereo-metric-motion-20261030/2011_09_26_0009-0000000112.npy"
        }
      ]
    },
    {
      "drive": "2011_09_26_0009",
      "center": "frame-223",
      "map_path": "/workspace/work/surface-error-maps-20261030/2011_09_26_0009-frame-223.npz",
      "intrinsics": [
        721.5377,
        721.5377,
        609.5593,
        172.854
      ],
      "fb": 384.38148,
      "neighbors": [
        {
          "index": 222,
          "motion_supported": true,
          "transform": [
            [
              0.9991882909772057,
              -0.0010069039366947577,
              -0.04027089865892871,
              -0.042140116348404234
            ],
            [
              0.0011032847825056349,
              0.999996580187992,
              0.002371156090599215,
              -0.005162201980402093
            ],
            [
              0.04026837487202461,
              -0.0024136612889990574,
              0.999185984818575,
              0.49139650569315224
            ],
            [
              0.0,
              0.0,
              0.0,
              1.0
            ]
          ],
          "depth": "/workspace/work/stereo-metric-motion-20261030/2011_09_26_0009-0000000222.npy"
        },
        {
          "index": 224,
          "motion_supported": true,
          "transform": [
            [
              0.9991328945684127,
              0.003802455631719585,
              0.04146082792616908,
              0.01761451654781615
            ],
            [
              -0.003700937294633494,
              0.9999899635837277,
              -0.002525030441296743,
              0.018233908539702415
            ],
            [
              -0.04147001462672779,
              0.002369396669796345,
              0.9991369395296604,
              -0.5121332190752566
            ],
            [
              0.0,
              0.0,
              0.0,
              1.0
            ]
          ],
          "depth": "/workspace/work/stereo-metric-motion-20261030/2011_09_26_0009-0000000224.npy"
        }
      ]
    },
    {
      "drive": "2011_09_26_0009",
      "center": "frame-334",
      "map_path": "/workspace/work/surface-error-maps-20261030/2011_09_26_0009-frame-334.npz",
      "intrinsics": [
        721.5377,
        721.5377,
        609.5593,
        172.854
      ],
      "fb": 384.38148,
      "neighbors": [
        {
          "index": 333,
          "motion_supported": true,
          "transform": [
            [
              0.9999866223053373,
              -0.001113248599500349,
              0.005051324364743759,
              -0.0004133925506232367
            ],
            [
              0.0011132409435611226,
              0.9999993803406263,
              4.360499280438702e-06,
              0.007042421427249486
            ],
            [
              -0.005051326272584867,
              1.26288636958902e-06,
              0.9999872419712792,
              0.9511680127591368
            ],
            [
              0.0,
              0.0,
              0.0,
              1.0
            ]
          ],
          "depth": "/workspace/work/stereo-metric-motion-20261030/2011_09_26_0009-0000000333.npy"
        },
        {
          "index": 335,
          "motion_supported": true,
          "transform": [
            [
              0.9999862855571682,
              0.0015630425443118245,
              -0.004998560353635277,
              0.0031817096164040715
            ],
            [
              -0.0015627051079350623,
              0.999998776418508,
              7.145879878676126e-05,
              -0.0062103965639013214
            ],
            [
              0.004998666112132038,
              -6.364652203377963e-05,
              0.9999875045639649,
              -0.9466956855564497
            ],
            [
              0.0,
              0.0,
              0.0,
              1.0
            ]
          ],
          "depth": "/workspace/work/stereo-metric-motion-20261030/2011_09_26_0009-0000000335.npy"
        }
      ]
    },
    {
      "drive": "2011_09_26_0011",
      "center": "frame-58",
      "map_path": "/workspace/work/surface-error-maps-20261030/2011_09_26_0011-frame-58.npz",
      "intrinsics": [
        721.5377,
        721.5377,
        609.5593,
        172.854
      ],
      "fb": 384.38148,
      "neighbors": [
        {
          "index": 57,
          "motion_supported": true,
          "transform": [
            [
              0.999981169544347,
              -0.0019379975846221598,
              0.005822774811048757,
              0.02736978171419896
            ],
            [
              0.0019515321095430317,
              0.9999954055327069,
              -0.002319579229960664,
              0.0016375395889389837
            ],
            [
              -0.005818252924860382,
              0.0023308986001251584,
              0.9999803572312308,
              1.133164154225582
            ],
            [
              0.0,
              0.0,
              0.0,
              1.0
            ]
          ],
          "depth": "/workspace/work/stereo-metric-motion-20261030/2011_09_26_0011-0000000057.npy"
        },
        {
          "index": 59,
          "motion_supported": true,
          "transform": [
            [
              0.9999813731788281,
              -0.002113635155670634,
              -0.005725891400900117,
              -0.01313710928121467
            ],
            [
              0.0021167028115401123,
              0.999997619502555,
              0.0005296887645960292,
              -0.004160326715550555
            ],
            [
              0.005724758408627305,
              -0.0005417988320721228,
              0.9999834666597807,
              -1.1195161108978262
            ],
            [
              0.0,
              0.0,
              0.0,
              1.0
            ]
          ],
          "depth": "/workspace/work/stereo-metric-motion-20261030/2011_09_26_0011-0000000059.npy"
        }
      ]
    },
    {
      "drive": "2011_09_26_0011",
      "center": "frame-116",
      "map_path": "/workspace/work/surface-error-maps-20261030/2011_09_26_0011-frame-116.npz",
      "intrinsics": [
        721.5377,
        721.5377,
        609.5593,
        172.854
      ],
      "fb": 384.38148,
      "neighbors": [
        {
          "index": 115,
          "motion_supported": true,
          "transform": [
            [
              0.9999999654529809,
              -0.00025352764159247037,
              6.940017883362176e-05,
              0.0017780319027771601
            ],
            [
              0.00025353087998992145,
              0.9999999667988411,
              -4.610599779219582e-05,
              0.0022292269918330588
            ],
            [
              -6.938848976347365e-05,
              4.61235857398717e-05,
              0.9999999965289434,
              0.23458975567394144
            ],
            [
              0.0,
              0.0,
              0.0,
              1.0
            ]
          ],
          "depth": "/workspace/work/stereo-metric-motion-20261030/2011_09_26_0011-0000000115.npy"
        },
        {
          "index": 117,
          "motion_supported": true,
          "transform": [
            [
              0.9999999897486708,
              -4.4505440868716366e-05,
              -0.00013609471836116657,
              0.004663468092140632
            ],
            [
              4.4449864570041983e-05,
              0.9999999156206693,
              -0.0004083909801058014,
              -0.0015390247956722503
            ],
            [
              0.00013611288852814302,
              0.0004083848800575735,
              0.9999999073474423,
              -0.22469443737573558
            ],
            [
              0.0,
              0.0,
              0.0,
              1.0
            ]
          ],
          "depth": "/workspace/work/stereo-metric-motion-20261030/2011_09_26_0011-0000000117.npy"
        }
      ]
    },
    {
      "drive": "2011_09_26_0011",
      "center": "frame-174",
      "map_path": "/workspace/work/surface-error-maps-20261030/2011_09_26_0011-frame-174.npz",
      "intrinsics": [
        721.5377,
        721.5377,
        609.5593,
        172.854
      ],
      "fb": 384.38148,
      "neighbors": [
        {
          "index": 173,
          "motion_supported": true,
          "transform": [
            [
              0.999999998444932,
              3.5225188664367815e-05,
              4.3237485596348505e-05,
              -0.0024999275595532504
            ],
            [
              -3.5216273168426765e-05,
              0.9999999780992959,
              -0.00020630336591806597,
              0.0006293584582131794
            ],
            [
              -4.324475275742801e-05,
              0.00020630181918202014,
              0.9999999777847168,
              0.0002390904389661163
            ],
            [
              0.0,
              0.0,
              0.0,
              1.0
            ]
          ],
          "depth": "/workspace/work/stereo-metric-motion-20261030/2011_09_26_0011-0000000173.npy"
        },
        {
          "index": 175,
          "motion_supported": true,
          "transform": [
            [
              0.9999999970019006,
              -5.036686268208308e-05,
              -5.881452904479592e-05,
              0.0006385133940143284
            ],
            [
              5.0354503699193804e-05,
              0.9999999766302737,
              -0.0002102479133578156,
              0.00038018547496221355
            ],
            [
              5.882511989570525e-05,
              0.00021024492718934925,
              0.9999999761682977,
              0.0018064510699287162
            ],
            [
              0.0,
              0.0,
              0.0,
              1.0
            ]
          ],
          "depth": "/workspace/work/stereo-metric-motion-20261030/2011_09_26_0011-0000000175.npy"
        }
      ]
    },
    {
      "drive": "2011_09_26_0013",
      "center": "frame-35",
      "map_path": "/workspace/work/surface-error-maps-20261030/2011_09_26_0013-frame-35.npz",
      "intrinsics": [
        721.5377,
        721.5377,
        609.5593,
        172.854
      ],
      "fb": 384.38148,
      "neighbors": [
        {
          "index": 34,
          "motion_supported": true,
          "transform": [
            [
              0.9999940074923657,
              -0.0008678064101779694,
              0.00335140034048747,
              0.04965817720357088
            ],
            [
              0.0008658901717319954,
              0.9999994608286492,
              0.0005732200497824225,
              -0.019876189411806022
            ],
            [
              -0.0033518961008794307,
              -0.0005703146138548213,
              0.9999942197514533,
              1.1278189318237106
            ],
            [
              0.0,
              0.0,
              0.0,
              1.0
            ]
          ],
          "depth": "/workspace/work/stereo-metric-motion-20261030/2011_09_26_0013-0000000034.npy"
        },
        {
          "index": 36,
          "motion_supported": true,
          "transform": [
            [
              0.9999926913388527,
              0.0017077888382315152,
              -0.0034206339168041866,
              -0.03552955468217753
            ],
            [
              -0.0017095429386739134,
              0.999998408744159,
              -0.0005098663100862435,
              0.013891588363445173
            ],
            [
              0.003419757855290559,
              0.0005157102546158819,
              0.9999940196307933,
              -1.1153958473450059
            ],
            [
              0.0,
              0.0,
              0.0,
              1.0
            ]
          ],
          "depth": "/workspace/work/stereo-metric-motion-20261030/2011_09_26_0013-0000000036.npy"
        }
      ]
    },
    {
      "drive": "2011_09_26_0013",
      "center": "frame-71",
      "map_path": "/workspace/work/surface-error-maps-20261030/2011_09_26_0013-frame-71.npz",
      "intrinsics": [
        721.5377,
        721.5377,
        609.5593,
        172.854
      ],
      "fb": 384.38148,
      "neighbors": [
        {
          "index": 70,
          "motion_supported": true,
          "transform": [
            [
              0.9999970042386456,
              0.0007195503190613136,
              -0.0023396080916292116,
              -0.017571354628007987
            ],
            [
              -0.0007205407015080329,
              0.9999996511768439,
              -0.0004224496068388386,
              0.002349816519322645
            ],
            [
              0.0023393033879060515,
              0.0004241340818967947,
              0.9999971738803102,
              1.1602025073415743
            ],
            [
              0.0,
              0.0,
              0.0,
              1.0
            ]
          ],
          "depth": "/workspace/work/stereo-metric-motion-20261030/2011_09_26_0013-0000000070.npy"
        },
        {
          "index": 72,
          "motion_supported": true,
          "transform": [
            [
              0.9999964326177819,
              -0.0008838277447624615,
              0.002520633586031396,
              0.01487471254248518
            ],
            [
              0.0008770394644461189,
              0.9999959893454423,
              0.0026929723118581383,
              -0.006529957125353758
            ],
            [
              -0.0025230036990555376,
              -0.0026907517083302307,
              0.9999931971313931,
              -1.1634741272827123
            ],
            [
              0.0,
              0.0,
              0.0,
              1.0
            ]
          ],
          "depth": "/workspace/work/stereo-metric-motion-20261030/2011_09_26_0013-0000000072.npy"
        }
      ]
    },
    {
      "drive": "2011_09_26_0013",
      "center": "frame-107",
      "map_path": "/workspace/work/surface-error-maps-20261030/2011_09_26_0013-frame-107.npz",
      "intrinsics": [
        721.5377,
        721.5377,
        609.5593,
        172.854
      ],
      "fb": 384.38148,
      "neighbors": [
        {
          "index": 106,
          "motion_supported": false,
          "transform": [
            [
              0.9999998927488997,
              0.00034447995319491684,
              -0.0003095767006869086,
              0.004345843204530796
            ],
            [
              -0.00034453371200753903,
              0.9999999256052229,
              -0.00017344828978542993,
              0.00012310608646179014
            ],
            [
              0.0003095169398800735,
              0.00017355491181833684,
              0.9999999370388652,
              1.227617834454371
            ],
            [
              0.0,
              0.0,
              0.0,
              1.0
            ]
          ],
          "depth": "/workspace/work/stereo-metric-motion-20261030/2011_09_26_0013-0000000106.npy"
        },
        {
          "index": 108,
          "motion_supported": false,
          "transform": [
            [
              0.9999987767233555,
              -0.0014239294409268142,
              0.0006472777780464222,
              -0.0031985099322311417
            ],
            [
              0.0014236246970102371,
              0.9999988755607693,
              0.00047135725225344523,
              -0.002176036006557913
            ],
            [
              -0.0006479482543645975,
              -0.0004704351432384988,
              0.9999996794271045,
              -1.2358733038278142
            ],
            [
              0.0,
              0.0,
              0.0,
              1.0
            ]
          ],
          "depth": "/workspace/work/stereo-metric-motion-20261030/2011_09_26_0013-0000000108.npy"
        }
      ]
    },
    {
      "drive": "2011_09_26_0015",
      "center": "frame-74",
      "map_path": "/workspace/work/surface-error-maps-20261030/2011_09_26_0015-frame-74.npz",
      "intrinsics": [
        721.5377,
        721.5377,
        609.5593,
        172.854
      ],
      "fb": 384.38148,
      "neighbors": [
        {
          "index": 73,
          "motion_supported": true,
          "transform": [
            [
              0.9999993842925279,
              -5.440609174848587e-05,
              -0.0011083568433313503,
              -0.0038185370423211976
            ],
            [
              5.442573560313089e-05,
              0.9999999983626691,
              1.768574936991792e-05,
              -0.005080378839120298
            ],
            [
              0.0011083559195758379,
              -1.774605668134627e-05,
              0.9999993856156113,
              1.0615789126620938
            ],
            [
              0.0,
              0.0,
              0.0,
              1.0
            ]
          ],
          "depth": "/workspace/work/stereo-metric-motion-20261030/2011_09_26_0015-0000000073.npy"
        },
        {
          "index": 75,
          "motion_supported": true,
          "transform": [
            [
              0.9999991673090274,
              4.414610396456452e-05,
              0.0012897409631998811,
              0.002010588503390476
            ],
            [
              -4.355540503638778e-05,
              0.9999998941566886,
              -0.000458027748809643,
              0.0058515051941747664
            ],
            [
              -0.0012897610925397785,
              0.00045797113634301836,
              0.9999990633893133,
              -1.0490292392404257
            ],
            [
              0.0,
              0.0,
              0.0,
              1.0
            ]
          ],
          "depth": "/workspace/work/stereo-metric-motion-20261030/2011_09_26_0015-0000000075.npy"
        }
      ]
    },
    {
      "drive": "2011_09_26_0015",
      "center": "frame-148",
      "map_path": "/workspace/work/surface-error-maps-20261030/2011_09_26_0015-frame-148.npz",
      "intrinsics": [
        721.5377,
        721.5377,
        609.5593,
        172.854
      ],
      "fb": 384.38148,
      "neighbors": [
        {
          "index": 147,
          "motion_supported": true,
          "transform": [
            [
              0.9999999146158507,
              0.00010781409083529893,
              -0.00039893009199743753,
              -0.0005101006422954143
            ],
            [
              -0.00010808284773109257,
              0.9999997672271811,
              -0.0006736937664706342,
              -0.0013070523860533633
            ],
            [
              0.000398857381727807,
              0.0006737367502987726,
              0.999999693495536,
              0.7447363726315812
            ],
            [
              0.0,
              0.0,
              0.0,
              1.0
            ]
          ],
          "depth": "/workspace/work/stereo-metric-motion-20261030/2011_09_26_0015-0000000147.npy"
        },
        {
          "index": 149,
          "motion_supported": true,
          "transform": [
            [
              0.9999997567999362,
              -0.0002047531336093063,
              0.0006666893668848578,
              -0.00032217559086034075
            ],
            [
              0.00020463747110997498,
              0.9999999639942111,
              0.00017359762924187467,
              -0.0007184403838099707
            ],
            [
              -0.0006667249122265532,
              -0.00017346113933074965,
              0.9999997626947615,
              -0.746634486569768
            ],
            [
              0.0,
              0.0,
              0.0,
              1.0
            ]
          ],
          "depth": "/workspace/work/stereo-metric-motion-20261030/2011_09_26_0015-0000000149.npy"
        }
      ]
    },
    {
      "drive": "2011_09_26_0015",
      "center": "frame-222",
      "map_path": "/workspace/work/surface-error-maps-20261030/2011_09_26_0015-frame-222.npz",
      "intrinsics": [
        721.5377,
        721.5377,
        609.5593,
        172.854
      ],
      "fb": 384.38148,
      "neighbors": [
        {
          "index": 221,
          "motion_supported": true,
          "transform": [
            [
              0.9999988364077926,
              -0.0014918203754055396,
              -0.00031882131217054495,
              0.0018927967125641106
            ],
            [
              0.0014922092800899705,
              0.9999981395589921,
              0.0012223739838534938,
              0.003055711731134395
            ],
            [
              0.0003169971650552377,
              -0.0012228481690739414,
              0.9999992020771892,
              1.3630709756444126
            ],
            [
              0.0,
              0.0,
              0.0,
              1.0
            ]
          ],
          "depth": "/workspace/work/stereo-metric-motion-20261030/2011_09_26_0015-0000000221.npy"
        },
        {
          "index": 223,
          "motion_supported": true,
          "transform": [
            [
              0.9999998998203714,
              0.0002816395108450991,
              0.00034790758320830473,
              9.829587986476263e-05
            ],
            [
              -0.0002811659469670913,
              0.9999990348584669,
              -0.0013605979719832216,
              -0.0017620026781508535
            ],
            [
              -0.00034829045468697645,
              0.0013604998591246456,
              0.9999990138663357,
              -1.3682284478873734
            ],
            [
              0.0,
              0.0,
              0.0,
              1.0
            ]
          ],
          "depth": "/workspace/work/stereo-metric-motion-20261030/2011_09_26_0015-0000000223.npy"
        }
      ]
    }
  ]
}
