camera_rig.json

{
  "schema_version": 1,
  "rig_id": "zed_reference_20260908_v1",
  "calibration_status": "approximate_reference_fit_not_metric_calibration",
  "reference_resolution_px": [
    1920,
    1200
  ],
  "coordinate_system": {
    "origin": "Reference mixer base centre on the tabletop; simulation workcell origin XY=(0,0)",
    "axes": "+X right across bench in front view, +Y toward rear wall, +Z up",
    "pose_convention": "Camera-to-world quaternion XYZW; ROS/OpenCV camera +X right, +Y down, +Z forward",
    "translation": "eye_table_m is relative to tabletop height; add generator tabletop Z exactly once"
  },
  "assumptions": {
    "focal_length": "Fixed 1000 px prior; not independently recovered",
    "principal_point": [
      960.0,
      600.0
    ],
    "square_pixels": true,
    "lens_distortion": "Unestimated; zero-distortion pinhole approximation, rectification unknown",
    "scale_reference": "Approximate VTX-001 blue body geometry in simulator metres; not a measured real-world dimension.",
    "synchronization": "Clips have matching FPS/count; timestamp synchronization not independently verified",
    "landmark_rmse_scope": "In-sample proxy landmark fit only; not metric pose accuracy or full-scene agreement",
    "focal_distance_ambiguity": "Inspect focal_sensitivity.json; focal and distance are weakly constrained by these clips"
  },
  "cameras": {
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      "downward_pitch_deg": 25.56758026500303,
      "landmark_rmse_px": 3.8554691485792083,
      "landmark_max_error_px": 4.96733822474792,
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      "optimizer_success": true,
      "source_video": "/home/kc019/\u4e0b\u8f7d/camera-left_zed_x.mp4",
      "source_sha256": "68d02cf920c9b1de01c17327be7d35598dda1bc759dc7dc2467101fe8fa99fd3",
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      "reference_frame_index": 0,
      "landmark_ids": [
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        "D",
        "E",
        "F",
        "G",
        "H",
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      ]
    },
    "front": {
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      "optimizer_success": true,
      "source_video": "/home/kc019/\u4e0b\u8f7d/camera-front_zed_x_mini.mp4",
      "source_sha256": "d54fb5d9e40386aac8fb28676681d912520ec9ceb34384fcac59d41a7c50fef5",
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      "landmark_ids": [
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    },
    "right": {
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      "optimizer_success": true,
      "source_video": "/home/kc019/\u4e0b\u8f7d/camera-right_zed_x.mp4",
      "source_sha256": "75d5d75ffa677aff1eed7178b45c40d440dca797ff47429e10b13ffd8b637683",
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      "landmark_ids": [
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      ]
    }
  }
}