# Geometry illustrations and attribution

This research visualization was made using the Waymo Open Dataset, provided by Waymo LLC under the Waymo Dataset License Agreement for Non-Commercial Use, available at https://waymo.com/open/terms/, and access and use of this work are governed by the terms and conditions therein.

The public website includes rendered research illustrations and limited video excerpts. Raw point arrays, the TFRecord source, decoded scan sequences and production caches are excluded from the online export. Registered researchers should obtain data through https://waymo.com/open/ under the applicable terms. The local authoring history is not the public website repository.

## Current film

The scene-linked illustration uses Waymo segment `1191788760630624072_3880_000_3900_000`. The 81 displayed source samples match raw frames 0, 2, …, 160, spanning 16.000047 seconds. Original GeoV2V outputs are synchronized to these source samples. See [scene correspondence](main-result/README.md).

- Range-image decoding follows the official sensor calibration, inclinations, azimuth conventions and TOP per-pixel motion compensation.
- CPU float64 transforms remove the first-frame global translation before conversion to float32 local coordinates. This avoids large-coordinate quantization.
- Points are not synthesized, interpolated, densified or accumulated between frames.
- Camera-correspondence RGB and a height palette make measured geometry readable; these are display encodings.
- Virtual cameras use calibrated ideal pinhole projection with depth testing. Original inference target matrices and dense intermediates are unavailable, so the reconstructed projections explain the mechanism without claiming pixel identity to the inference inputs.
- Virtual observer motion and editorial projection/output reveals are presentation effects. The measured samples remain discrete.

Decoder references: Waymo authors' `frame_utils.py` and `range_image_utils.py`, https://github.com/waymo-research/waymo-open-dataset. The retained [Apache-2.0 license](LICENSE-WAYMO-CODE.txt) applies to those code references, not to the dataset.

## Earlier local illustrations

The authoring archive also preserves the official tutorial single scan and an 81-scan sequence from `10231929575853664160_1160_000_1180_000`. These older experiments are not loaded by the current home page and their raw data are not included in the public release.