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+      }
+    },
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+        "method": "Source ego_R/ego_T unchanged"
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+}

EgoPressure/shared-v1.1/data/p_012_press_flat_onebyone_low_3x_right/cam-d-rgb/metainfo.json

@@ -0,0 +1,481 @@
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+        "profile": "pt/tensor_bundle/v1"
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+        "kind": "format_conversion",
+        "method": "Source ego_R/ego_T unchanged"
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+        "file": "raw/data/data/p_012/p_012_press_flat_onebyone_low_3x_right/annotation.parquet",
+        "record_key": "frame"
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+      "direction": "T_camera_from_world",
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+    "mano": {
+      "available": true,
+      "schema_id": "mano/axis_angle61/v1",
+      "data_ref": "annotation/mano/mano.pt",
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+      "valid_ref": "annotation/mano/mano.pt",
+      "valid_key": [
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+      "valid_storage": {
+        "profile": "pt/tensor_bundle/v1"
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+        "method": "Standard MANO, no per-vertex refinement; camera root rotation composed; additive translation compensated around shaped root joint"
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+        "numerical_checks": "Finite shapes and geometry checked; failure aborts",
+        "official_qa": "not available; visibility not inferred"
+      }
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+  "source_revision": "cea37de99be44078f0e4b9796fd6f614d9110dc2",
+  "calibration": {
+    "baseline": "config DepthToColor",
+    "offset_rgb_optical_z_mm": -6.84644549381777,
+    "offset_estimation": "100-sequence participant-balanced pad fit",
+    "T_rgb_from_depth_rotation": [
+      [
+        0.999999,
+        0.000952568,
+        0.0010665
+      ],
+      [
+        -0.00105482,
+        0.994948,
+        0.10039
+      ],
+      [
+        -0.000965488,
+        -0.100391,
+        0.994948
+      ]
+    ],
+    "T_rgb_from_depth_translation_m": [
+      -0.0335589,
+      -0.00214962,
+      -0.00945180549381777
+    ],
+    "status": "User-approved empirical offset; not official recalibration"
+  },
+  "registration_sdk": {
+    "sdk": "Microsoft.Azure.Kinect.Sensor",
+    "version": "1.4.1",
+    "dll_sha256": "1c6bf5aabb62d4907aa66da92448aebe5f1b8b59f81f2099bc1d9f989cf44cb6",
+    "interfaces": [
+      "k4a_calibration_get_from_raw",
+      "k4a_transformation_create",
+      "k4a_transformation_depth_image_to_color_camera"
+    ],
+    "depth_mode": "WFOV_2X2BINNED",
+    "color_resolution": "1080P",
+    "calibration_adaptation": "Source RGB is already undistorted: config RGB K, zero color distortion, color metric radius 10; depth factory calibration parsed by SDK; config DepthToColor plus approved optical-Z offset; SDK translations in mm.",
+    "T_rgb_from_depth_mm": [
+      [
+        0.999999,
+        0.000952568,
+        0.0010665,
+        -33.5589
+      ],
+      [
+        -0.00105482,
+        0.994948,
+        0.10039,
+        -2.14962
+      ],
+      [
+        -0.000965488,
+        -0.100391,
+        0.994948,
+        -9.45180549381777
+      ],
+      [
+        0.0,
+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    "native_depth_K": [
+      [
+        252.52279663085938,
+        0.0,
+        257.9237060546875
+      ],
+      [
+        0.0,
+        252.60423278808594,
+        251.84109497070312
+      ],
+      [
+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    "calls": {
+      "depth_to_color": 546,
+      "color_to_depth": 0
+    },
+    "depth_output": "Official uint16 mm, zero invalid; losslessly normalized to float32 metres."
+  },
+  "processing": {
+    "adapter": "egopressure-official-k4a-rgb-only-full/1.0",
+    "contract_repo_revision": "9e89722fc3935d1e16aeb9eeeffa4cd5c9d93383",
+    "scope": "All 1344 selected ego d sequences; original RGB plus official SDK depth-to-RGB",
+    "validation_policy": "All frame IDs, tensor validity and packet counts; deterministic representative decode checks, not full decode or SDK replay"
+  }
+}