ReFrame-Handheld v0.1: 1,651 demonstrations in verified archive shards

.gitattributes

@@ -0,0 +1,2 @@
+data/** filter=lfs diff=lfs merge=lfs -text
+downloads/*.zip filter=lfs diff=lfs merge=lfs -text

README.md

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+---
+pretty_name: ReFrame Handheld Demonstration Dataset
+language:
+- en
+- zh
+tags:
+- robotics
+- imitation-learning
+- video
+- timeseries
+- multi-view
+---
+# ReFrame Handheld Demonstration Dataset
+
+ReFrame-Handheld provides real handheld operation recordings for studying how demonstrations can be reused across camera configurations. It contains **1,651 independent recordings across four manipulation tasks**, with camera images, per-frame timestamps, raw SLAM poses, gripper readings and camera calibration.
+
+The data supports inspecting viewpoint changes, testing geometric reprojection and comparing transformed images with available real reference-camera observations. Videos and structured numerical files can be read without a ROS environment.
+
+**1,651 recordings · 4 tasks · approximately 303 recorded minutes · 67 GB of episode data**
+
+## Observations
+
+- **1,451 recordings** contain main RGB, left and right grayscale cameras, and a real USB reference-camera stream.
+- **200 recordings** contain main RGB without auxiliary images.
+- All recordings retain SLAM pose and gripper samples. Each episode references its applicable calibration profile.
+
+The recordings use the same brand and model of capture device with **three camera-extrinsic configurations**. The [dataset overview](docs/DATASET_OVERVIEW.md) describes the observation types, statistics and counting rules.
+
+## Tasks
+
+| Task | Independent recordings | Approximate episode download size |
+| --- | ---: | ---: |
+| Carrot picking and placing | 696 | 34.49 GB |
+| Button pressing | 500 | 19.69 GB |
+| Drawer opening | 255 | 9.01 GB |
+| Cup hanging | 200 | 4.05 GB |
+| **Total** | **1,651** | **67.25 GB** |
+
+Sizes refer to episode files, excluding the optional starter ZIP and shared documentation. Recorded duration includes recording margins and is counted once per operation, not once per camera.
+
+## Download and try
+
+**[Start with 17 complete examples](downloads/reframe_handheld_starter_17.zip)** — approximately 788 MB, covering all retained acquisition batches and all four tasks. The ZIP includes calibration, reading tools and instructions, and works independently after extraction.
+
+All episode data is distributed as TAR shards, grouped by task and acquisition batch. Each shard contains complete episodes with their original files and paths. The [download tool](docs/QUICKSTART.md) downloads the required shards, verifies SHA256 and extracts the selected episodes with their calibration. Selecting one episode downloads its containing shard; see [the archive index](metadata/shards.jsonl) for exact sizes.
+
+Open an MP4 directly to inspect a recording. For Python access to images, timestamps, poses, gripper readings and calibration, follow the [quickstart](docs/QUICKSTART.md).
+
+## Documentation
+
+- [Dataset overview and statistics](docs/DATASET_OVERVIEW.md)
+- [File format and reading interfaces](docs/FORMAT.md)
+- [Timestamp semantics and optional frame matching](docs/TIME_ALIGNMENT.md)
+- [Camera calibration](docs/CALIBRATION.md)
+- [Selection, task-outcome labels and known limitations](docs/QUALITY.md)
+
+The dataset preserves original operation sequences and quality annotations. See the linked documentation for timestamp interpretation, outcome labels and calibration applicability.
+
+## License and citation
+
+[TO FILL: confirmed dataset license]
+
+[TO FILL: authors and paper citation]
+
+[TO FILL: paper, code repository and contact]
+
+This dataset accompanies ReFrame: Reusing Handheld Demonstrations Across Wrist-Camera Configurations. Licensing and paper citation details are pending owner confirmation.
+
+
+## Additional calibration candidates
+
+Brown5 and fisheye4 intrinsic refits are available for the Alice and David USB cameras. They are optional candidates; episode references continue to use the historical calibration profiles. See [the 2026-10-29 calibration update](docs/USB_INTRINSIC_REFITS_20261029.md).

README_zh.md

@@ -0,0 +1,60 @@
+# ReFrame-Handheld 手持操作数据集
+
+ReFrame-Handheld面向手持示教的视角转换研究，提供**1651条独立操作记录，覆盖四类任务**。数据包含真实相机图像、逐帧时间戳、原始SLAM位姿、夹爪读数及配套内外参。
+
+研究者可以利用这些观测分析视角变化、测试几何重投影，并在有真实参考相机的记录上比较转换结果。独立视频和结构化数值文件无需ROS环境即可读取。
+
+**1651条记录 · 4类任务 · 约303分钟 · episode数据约67GB**
+
+## 观测组成
+
+- **1451条记录**包含主摄彩色图像、左右灰度相机和真实USB参考相机观测。
+- **200条记录**仅包含主摄图像，没有辅助相机视频。
+- 所有记录均保留位姿和夹爪采样，并引用对应的相机标定配置。
+
+数据使用同品牌同型号的采集设备，包含**三组相机外参配置**。观测类型、统计口径和规模详见[数据概况](docs/DATASET_OVERVIEW.md)。
+
+## 任务与规模
+
+| 任务 | 独立记录 | episode下载体积约 |
+| --- | ---: | ---: |
+| 抓萝卜与放置 | 696 | 34.49GB |
+| 按按钮 | 500 | 19.69GB |
+| 开抽屉 | 255 | 9.01GB |
+| 挂杯 | 200 | 4.05GB |
+| **合计** | **1651** | **67.25GB** |
+
+体积不包含额外的体验ZIP和公共说明。记录时长包含采集前后停顿，按独立操作累计，不按相机数量重复计算。
+
+## 下载与体验
+
+**[先下载17条完整样例](downloads/reframe_handheld_starter_17.zip)**：约788MB，覆盖所有保留批次和四类任务，包含标定、读取工具及说明，解压后可独立使用。
+
+正式episode数据统一存放于TAR分片包，按任务和采集批次分组，每条episode保持完整。[下载工具](docs/QUICKSTART.md)支持选择单条、任务或全量，校验分片SHA256后解出所选episode并获取配套标定。选择单条时仍需下载其所在分片；每包大小见[分片索引](metadata/shards.jsonl)。解包后保留原来的任务、批次和episode目录。
+
+直接打开MP4即可查看操作过程；需要用Python读取图像、时间戳、位姿、夹爪或标定时，参见[快速开始](docs/QUICKSTART.md)。
+
+## 详细说明
+
+- [数据概况与统计](docs/DATASET_OVERVIEW.md)
+- [文件格式与读取接口](docs/FORMAT.md)
+- [时间戳与可选配帧](docs/TIME_ALIGNMENT.md)
+- [内外参](docs/CALIBRATION.md)
+- [筛选规则、任务结果标记和已知限制](docs/QUALITY.md)
+
+数据保留原始操作过程和质量标记；时间戳来源、任务结果标注及标定适用范围见详细说明。
+
+## 许可与引用
+
+【待填：数据许可证】
+
+【待填：作者与论文引用信息】
+
+【待填：论文、代码仓库与联系方式】
+
+本数据集配套论文 ReFrame: Reusing Handheld Demonstrations Across Wrist-Camera Configurations。许可证与论文引用信息待补充。
+
+
+## 新增相机标定候选
+
+Alice和David的USB相机现提供Brown5与fisheye4两种重新拟合的内参候选。episode仍引用原有历史标定配置。参数、对比与适用限制见[2026年10月29日标定更新](docs/USB_INTRINSIC_REFITS_20261029.md)。

calibration/rig_1203_0810_0812_v1/extrinsics/left_fisheye_to_main_rgb.json

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+{
+  "source_frame": "left_fisheye",
+  "target_frame": "main_rgb",
+  "R": [
+    [
+      0.9998458932401821,
+      -0.01267232634660912,
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+    [
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+      0.9999015609913222
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+  ],
+  "t_m": [
+    -0.03993,
+    -0.00226,
+    -0.00148
+  ],
+  "convention": "P_target = R @ P_source + t_m",
+  "derived_from_other_extrinsics": false,
+  "effective_source_filename": "extrinsic_left_to_main.yaml",
+  "effective_sha256": "9270524d8d296c2c28c954013da7266a714f2a152940993001ad1e0478b7c4d8"
+}

calibration/rig_1203_0810_0812_v1/extrinsics/left_fisheye_to_right_fisheye.json

@@ -0,0 +1,30 @@
+{
+  "source_frame": "left_fisheye",
+  "target_frame": "right_fisheye",
+  "R": [
+    [
+      0.9994076550377042,
+      -0.026750717544816272,
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+  "t_m": [
+    -0.07977085381663764,
+    -0.0004515703462988796,
+    -0.0004526207982079675
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+  "convention": "P_target = R @ P_source + t_m",
+  "derived_from_other_extrinsics": true,
+  "effective_source_filename": "left_right_extrinsic_1203_0812.yaml",
+  "effective_sha256": "fd1580991b711d3a4cee4232374eff010bb37a21cf43121243d3b95f8786cb15"
+}

calibration/rig_1203_0810_0812_v1/extrinsics/right_fisheye_to_main_rgb.json

@@ -0,0 +1,30 @@
+{
+  "source_frame": "right_fisheye",
+  "target_frame": "main_rgb",
+  "R": [
+    [
+      0.9998556669395067,
+      0.014088200418578216,
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+    [
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+    [
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+      0.007518822305937664,
+      0.9999256289585939
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+  ],
+  "t_m": [
+    0.03984,
+    -0.00293,
+    -0.00179
+  ],
+  "convention": "P_target = R @ P_source + t_m",
+  "derived_from_other_extrinsics": false,
+  "effective_source_filename": "extrinsic_right_to_main.yaml",
+  "effective_sha256": "d0019ea36ea1c3f61c410e996901a8ec909ee365b9b86a1f8822acfbf6ac071f"
+}

calibration/rig_1203_0810_0812_v1/extrinsics/usb_reference_to_main_rgb.json

@@ -0,0 +1,30 @@
+{
+  "source_frame": "usb_reference",
+  "target_frame": "main_rgb",
+  "R": [
+    [
+      -0.9999892236827126,
+      -0.0044500401158266345,
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+  "t_m": [
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+    -0.03646,
+    0.02593
+  ],
+  "convention": "P_target = R @ P_source + t_m",
+  "derived_from_other_extrinsics": false,
+  "effective_source_filename": "extrinsic_umi_color_to_usb_wide_0724.yaml",
+  "effective_sha256": "001a31976eb887af58993805ae7cf54be937b5a91a07b682e94c0ca9b0888693"
+}

calibration/rig_1203_0810_0812_v1/intrinsics/left_fisheye.json

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+{
+  "image_size_wh": [
+    640,
+    480
+  ],
+  "model": "opencv_rational_8",
+  "K": [
+    [
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+  "D_order": [
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+    "k2",
+    "p1",
+    "p2",
+    "k3",
+    "k4",
+    "k5",
+    "k6"
+  ],
+  "coefficient_order_note": "Runtime OpenCV vector order; some legacy labels incorrectly list k3 before p1/p2. Raw bytes retained, vector not reordered.",
+  "calibration_date": "2026-08-12",
+  "camera_role": "left_fisheye",
+  "calibration_id": "rig_1203_0810_0812_v1",
+  "source_filename": "left_fisheye_1203_0812.yaml",
+  "source_sha256": "494ddbd062f435947ba918e3bd9800ee48c9f25604f132fe8a152c5db00456a9",
+  "effective_sha256": "494ddbd062f435947ba918e3bd9800ee48c9f25604f132fe8a152c5db00456a9"
+}

calibration/rig_1203_0810_0812_v1/intrinsics/main_rgb.json

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+{
+  "image_size_wh": [
+    1280,
+    1280
+  ],
+  "model": "opencv_rational_8",
+  "K": [
+    [
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+    -1e-05,
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+  "D_order": [
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+    "k2",
+    "p1",
+    "p2",
+    "k3",
+    "k4",
+    "k5",
+    "k6"
+  ],
+  "coefficient_order_note": "Runtime OpenCV vector order; some legacy labels incorrectly list k3 before p1/p2. Raw bytes retained, vector not reordered.",
+  "calibration_date": "2026-08-12",
+  "camera_role": "main_rgb",
+  "calibration_id": "rig_1203_0810_0812_v1",
+  "source_filename": "color_camera_1203_0812.yaml",
+  "source_sha256": "e0d9519f40fde83752ac7cc4d09e8b6727858790bb9e6947f9b2fb7438d0bb66",
+  "effective_sha256": "e0d9519f40fde83752ac7cc4d09e8b6727858790bb9e6947f9b2fb7438d0bb66"
+}

calibration/rig_1203_0810_0812_v1/intrinsics/right_fisheye.json

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+{
+  "image_size_wh": [
+    640,
+    480
+  ],
+  "model": "opencv_rational_8",
+  "K": [
+    [
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+    "p2",
+    "k3",
+    "k4",
+    "k5",
+    "k6"
+  ],
+  "coefficient_order_note": "Runtime OpenCV vector order; some legacy labels incorrectly list k3 before p1/p2. Raw bytes retained, vector not reordered.",
+  "calibration_date": "2026-08-12",
+  "camera_role": "right_fisheye",
+  "calibration_id": "rig_1203_0810_0812_v1",
+  "source_filename": "right_fisheye_1203_0812.yaml",
+  "source_sha256": "4686995d3dafcb9d1815e46ec127649dda5e67128ae1069b605042890df030d5",
+  "effective_sha256": "eefd8a97d90c7dcb3bd220133dfc4d13f5da03f73c15321eee2204ab337645e7"
+}

calibration/rig_1203_0810_0812_v1/intrinsics/usb_reference.json

@@ -0,0 +1,45 @@
+{
+  "image_size_wh": [
+    1920,
+    1080
+  ],
+  "model": "opencv_brown_5",
+  "K": [
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+    "k2",
+    "p1",
+    "p2",
+    "k3"
+  ],
+  "coefficient_order_note": "Runtime OpenCV vector order; some legacy labels incorrectly list k3 before p1/p2. Raw bytes retained, vector not reordered.",
+  "calibration_date": "2026-08-10 15:41:46",
+  "camera_role": "usb_reference",
+  "calibration_id": "rig_1203_0810_0812_v1",
+  "source_filename": "usb_david_0810.yaml",
+  "source_sha256": "5d185d12b0216b0079d9a3ca8e8bfc9c0c24f58f94405688693a7f62f84eb547",
+  "effective_sha256": "d13fde63c2a04387878e07e72140cb1c28ed4d410342e3c162045fafad972c26"
+}

calibration/rig_1203_0810_0812_v1/manifest.json

@@ -0,0 +1,25 @@
+{
+  "calibration_id": "rig_1203_0810_0812_v1",
+  "rig_id": "1203",
+  "intrinsics": {
+    "main_rgb": "intrinsics/main_rgb.json",
+    "left_fisheye": "intrinsics/left_fisheye.json",
+    "right_fisheye": "intrinsics/right_fisheye.json",
+    "usb_reference": "intrinsics/usb_reference.json"
+  },
+  "extrinsics": {
+    "usb_reference_to_main_rgb": "extrinsics/usb_reference_to_main_rgb.json",
+    "left_fisheye_to_main_rgb": "extrinsics/left_fisheye_to_main_rgb.json",
+    "right_fisheye_to_main_rgb": "extrinsics/right_fisheye_to_main_rgb.json",
+    "left_fisheye_to_right_fisheye": "extrinsics/left_fisheye_to_right_fisheye.json"
+  },
+  "quality_notes": [],
+  "missing_extrinsics": [],
+  "coordinate_axes": "OpenCV camera axes: X right, Y down, Z forward; column vectors",
+  "units": {
+    "translation": "m",
+    "focal_length_and_principal_point": "pixel"
+  },
+  "tracked_body_to_main_optical": null,
+  "tracked_body_to_main_optical_status": "not_verified_in_release_registry"
+}

calibration/rig_1403_0722_0724_v1/extrinsics/left_fisheye_to_right_fisheye.json

@@ -0,0 +1,30 @@
+{
+  "source_frame": "left_fisheye",
+  "target_frame": "right_fisheye",
+  "R": [
+    [
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+      0.007987730426432044,
+      0.0026210990230840984
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+    [
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+      0.9999329187940569
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+  ],
+  "t_m": [
+    -0.08042312946088381,
+    0.000274876422363117,
+    0.0011883514281362806
+  ],
+  "convention": "P_target = R @ P_source + t_m",
+  "derived_from_other_extrinsics": false,
+  "effective_source_filename": "left_right_extrinsic_0722.yaml",
+  "effective_sha256": "234e777300889ac0956b47c3160c27efbe9057bb08e523d550b4975d2db30565"
+}

calibration/rig_1403_0722_0724_v1/extrinsics/usb_reference_to_main_rgb.json

@@ -0,0 +1,30 @@
+{
+  "source_frame": "usb_reference",
+  "target_frame": "main_rgb",
+  "R": [
+    [
+      -0.99997846,
+      0.0034439,
+      0.00558787
+    ],
+    [
+      2.531e-05,
+      -0.84927453,
+      0.52795148
+    ],
+    [
+      0.00656384,
+      0.52794025,
+      0.84925615
+    ]
+  ],
+  "t_m": [
+    -0.00095315,
+    -0.04138727,
+    0.02711765
+  ],
+  "convention": "P_target = R @ P_source + t_m",
+  "derived_from_other_extrinsics": false,
+  "effective_source_filename": "extrinsic_umi_color_to_usb_wide_0724.yaml",
+  "effective_sha256": "8612d81a156cc2ddbd2b3314491e20463dea22ecd2fe326541d0b7ec17a9c3ae"
+}

calibration/rig_1403_0722_0724_v1/intrinsics/left_fisheye.json

@@ -0,0 +1,51 @@
+{
+  "image_size_wh": [
+    640,
+    480
+  ],
+  "model": "opencv_rational_8",
+  "K": [
+    [
+      232.45,
+      0.0,
+      312.21
+    ],
+    [
+      0.0,
+      232.46,
+      230.55
+    ],
+    [
+      0.0,
+      0.0,
+      1.0
+    ]
+  ],
+  "D": [
+    0.1637,
+    -0.0494,
+    -0.0002,
+    -0.0002,
+    -0.0008,
+    0.4744,
+    -0.0609,
+    -0.0074
+  ],
+  "D_order": [
+    "k1",
+    "k2",
+    "p1",
+    "p2",
+    "k3",
+    "k4",
+    "k5",
+    "k6"
+  ],
+  "coefficient_order_note": "Runtime OpenCV vector order; some legacy labels incorrectly list k3 before p1/p2. Raw bytes retained, vector not reordered.",
+  "calibration_date": "2026-07-22",
+  "camera_role": "left_fisheye",
+  "calibration_id": "rig_1403_0722_0724_v1",
+  "source_filename": "left_fisheye_1403_0722.yaml",
+  "source_sha256": "d74d16fc2ea691d44da6af04da0319463b3445b8a02e32cdc8f4d09216e21135",
+  "effective_sha256": "d74d16fc2ea691d44da6af04da0319463b3445b8a02e32cdc8f4d09216e21135"
+}

calibration/rig_1403_0722_0724_v1/intrinsics/main_rgb.json

@@ -0,0 +1,51 @@
+{
+  "image_size_wh": [
+    1280,
+    1280
+  ],
+  "model": "opencv_rational_8",
+  "K": [
+    [
+      391.42,
+      0.0,
+      643.94
+    ],
+    [
+      0.0,
+      392.03,
+      636.51
+    ],
+    [
+      0.0,
+      0.0,
+      1.0
+    ]
+  ],
+  "D": [
+    0.1983,
+    0.0048,
+    0.0001,
+    -0.0001,
+    0.0,
+    0.417,
+    0.0249,
+    0.0002
+  ],
+  "D_order": [
+    "k1",
+    "k2",
+    "p1",
+    "p2",
+    "k3",
+    "k4",
+    "k5",
+    "k6"
+  ],
+  "coefficient_order_note": "Runtime OpenCV vector order; some legacy labels incorrectly list k3 before p1/p2. Raw bytes retained, vector not reordered.",
+  "calibration_date": "2026-07-22 18:01:41",
+  "camera_role": "main_rgb",
+  "calibration_id": "rig_1403_0722_0724_v1",
+  "source_filename": "color_camera_1403_0722.yaml",
+  "source_sha256": "ff13fc4df79f35af6efeaa3fef6c7ca61c58ca6240911da7d8f33442483b0997",
+  "effective_sha256": "ff13fc4df79f35af6efeaa3fef6c7ca61c58ca6240911da7d8f33442483b0997"
+}

calibration/rig_1403_0722_0724_v1/intrinsics/right_fisheye.json

@@ -0,0 +1,51 @@
+{
+  "image_size_wh": [
+    640,
+    480
+  ],
+  "model": "opencv_rational_8",
+  "K": [
+    [
+      231.11,
+      0.0,
+      313.07
+    ],
+    [
+      0.0,
+      231.0,
+      236.0
+    ],
+    [
+      0.0,
+      0.0,
+      1.0
+    ]
+  ],
+  "D": [
+    0.4666,
+    0.0226,
+    -0.0,
+    -0.0,
+    0.0001,
+    0.7843,
+    0.0968,
+    0.0013
+  ],
+  "D_order": [
+    "k1",
+    "k2",
+    "p1",
+    "p2",
+    "k3",
+    "k4",
+    "k5",
+    "k6"
+  ],
+  "coefficient_order_note": "Runtime OpenCV vector order; some legacy labels incorrectly list k3 before p1/p2. Raw bytes retained, vector not reordered.",
+  "calibration_date": "2026-07-22",
+  "camera_role": "right_fisheye",
+  "calibration_id": "rig_1403_0722_0724_v1",
+  "source_filename": "right_fisheye_1403_0722.yaml",
+  "source_sha256": "2784f76a1dfa6f7545ac3127c70d16028b091df583a67cc49aacd7120be2a3a8",
+  "effective_sha256": "2784f76a1dfa6f7545ac3127c70d16028b091df583a67cc49aacd7120be2a3a8"
+}

calibration/rig_1403_0722_0724_v1/intrinsics/usb_reference.json

@@ -0,0 +1,45 @@
+{
+  "image_size_wh": [
+    1920,
+    1080
+  ],
+  "model": "opencv_brown_5",
+  "K": [
+    [
+      1377.57,
+      0.0,
+      918.67
+    ],
+    [
+      0.0,
+      1379.27,
+      501.37
+    ],
+    [
+      0.0,
+      0.0,
+      1.0
+    ]
+  ],
+  "D": [
+    -0.4312,
+    0.218,
+    -0.0005,
+    -0.0011,
+    -0.055
+  ],
+  "D_order": [
+    "k1",
+    "k2",
+    "p1",
+    "p2",
+    "k3"
+  ],
+  "coefficient_order_note": "Runtime OpenCV vector order; some legacy labels incorrectly list k3 before p1/p2. Raw bytes retained, vector not reordered.",
+  "calibration_date": "2026-07-24 15:24:19",
+  "camera_role": "usb_reference",
+  "calibration_id": "rig_1403_0722_0724_v1",
+  "source_filename": "usb_camera_wide_angle_0724.yaml",
+  "source_sha256": "50b21ffef04c8d1dca81c89254c6b4381ddb7169fcc203da4c135ecd717833a9",
+  "effective_sha256": "50b21ffef04c8d1dca81c89254c6b4381ddb7169fcc203da4c135ecd717833a9"
+}

calibration/rig_1403_0722_0724_v1/manifest.json

@@ -0,0 +1,29 @@
+{
+  "calibration_id": "rig_1403_0722_0724_v1",
+  "rig_id": "1403",
+  "intrinsics": {
+    "main_rgb": "intrinsics/main_rgb.json",
+    "left_fisheye": "intrinsics/left_fisheye.json",
+    "right_fisheye": "intrinsics/right_fisheye.json",
+    "usb_reference": "intrinsics/usb_reference.json"
+  },
+  "extrinsics": {
+    "usb_reference_to_main_rgb": "extrinsics/usb_reference_to_main_rgb.json",
+    "left_fisheye_to_right_fisheye": "extrinsics/left_fisheye_to_right_fisheye.json"
+  },
+  "quality_notes": [
+    "Main–USB historical epipolar median 17.9 px, score 3/6; not high-accuracy GT calibration.",
+    "L–R use PnP version; reject old measured version."
+  ],
+  "missing_extrinsics": [
+    "left_to_main",
+    "right_to_main"
+  ],
+  "coordinate_axes": "OpenCV camera axes: X right, Y down, Z forward; column vectors",
+  "units": {
+    "translation": "m",
+    "focal_length_and_principal_point": "pixel"
+  },
+  "tracked_body_to_main_optical": null,
+  "tracked_body_to_main_optical_status": "not_verified_in_release_registry"
+}

calibration/rig_2650_0730_0804_v1/extrinsics/left_fisheye_to_main_rgb.json

@@ -0,0 +1,30 @@
+{
+  "source_frame": "left_fisheye",
+  "target_frame": "main_rgb",
+  "R": [
+    [
+      0.99803743,
+      0.01275136,
+      -0.06130811
+    ],
+    [
+      -0.01183222,
+      0.99981245,
+      0.01533188
+    ],
+    [
+      0.06149211,
+      -0.01457638,
+      0.99800113
+    ]
+  ],
+  "t_m": [
+    -0.04026079,
+    -0.00110819,
+    -0.00193381
+  ],
+  "convention": "P_target = R @ P_source + t_m",
+  "derived_from_other_extrinsics": false,
+  "effective_source_filename": "extrinsic_left_to_main.yaml",
+  "effective_sha256": "a6ec68967e345243384148dae0b2f178ed0f5517062d813b85edfad67b80f0d3"
+}

calibration/rig_2650_0730_0804_v1/extrinsics/left_fisheye_to_right_fisheye.json

@@ -0,0 +1,30 @@
+{
+  "source_frame": "left_fisheye",
+  "target_frame": "right_fisheye",
+  "R": [
+    [
+      0.9978898676901646,
+      0.000810323638665263,
+      -0.06492422765737593
+    ],
+    [
+      0.0022497220630893038,
+      0.998890209349687,
+      0.04704559932637355
+    ],
+    [
+      0.0648902975177723,
+      -0.04709238835458931,
+      0.9967805958419915
+    ]
+  ],
+  "t_m": [
+    -0.08028527127458641,
+    0.0003068418009316648,
+    -0.0005343325539124435
+  ],
+  "convention": "P_target = R @ P_source + t_m",
+  "derived_from_other_extrinsics": true,
+  "effective_source_filename": "left_right_extrinsic_2650_0804.yaml",
+  "effective_sha256": "33e99ee7e60d4a9f2b796828a6312a55823161339b206ca6670e31eab1e79e98"
+}

calibration/rig_2650_0730_0804_v1/extrinsics/right_fisheye_to_main_rgb.json

@@ -0,0 +1,30 @@
+{
+  "source_frame": "right_fisheye",
+  "target_frame": "main_rgb",
+  "R": [
+    [
+      0.99992216,
+      0.01209824,
+      0.00305172
+    ],
+    [
+      -0.01199249,
+      0.99939754,
+      -0.03256883
+    ],
+    [
+      -0.00344391,
+      0.0325297,
+      0.99946484
+    ]
+  ],
+  "t_m": [
+    0.04001615,
+    -0.00239507,
+    -0.00168624
+  ],
+  "convention": "P_target = R @ P_source + t_m",
+  "derived_from_other_extrinsics": false,
+  "effective_source_filename": "extrinsic_right_to_main.yaml",
+  "effective_sha256": "2958b3de8c492d963866c3dc0117209c97f97dd89b39a6abf1c4baa0938fd203"
+}

calibration/rig_2650_0730_0804_v1/extrinsics/usb_reference_to_main_rgb.json

@@ -0,0 +1,30 @@
+{
+  "source_frame": "usb_reference",
+  "target_frame": "main_rgb",
+  "R": [
+    [
+      -0.99997931,
+      -0.00590923,
+      -0.00253997
+    ],
+    [
+      0.00326728,
+      -0.80683141,
+      0.59077271
+    ],
+    [
+      -0.00554034,
+      0.59075219,
+      0.80683403
+    ]
+  ],
+  "t_m": [
+    -0.00833921,
+    -0.03880935,
+    0.02578578
+  ],
+  "convention": "P_target = R @ P_source + t_m",
+  "derived_from_other_extrinsics": false,
+  "effective_source_filename": "extrinsic_umi_color_to_usb_wide_0724.yaml",
+  "effective_sha256": "a71d980764401127f9d5fbf98b53241da3d89c2547f47b887ca09688c9262e3b"
+}

calibration/rig_2650_0730_0804_v1/intrinsics/left_fisheye.json

@@ -0,0 +1,51 @@
+{
+  "image_size_wh": [
+    640,
+    480
+  ],
+  "model": "opencv_rational_8",
+  "K": [
+    [
+      231.5727,
+      0.0,
+      306.2394
+    ],
+    [
+      0.0,
+      231.5162,
+      230.7293
+    ],
+    [
+      0.0,
+      0.0,
+      1.0
+    ]
+  ],
+  "D": [
+    0.54045785,
+    0.03851211,
+    -0.00021709,
+    1.493e-05,
+    0.00010904,
+    0.85834699,
+    0.1345997,
+    0.0026562
+  ],
+  "D_order": [
+    "k1",
+    "k2",
+    "p1",
+    "p2",
+    "k3",
+    "k4",
+    "k5",
+    "k6"
+  ],
+  "coefficient_order_note": "Runtime OpenCV vector order; some legacy labels incorrectly list k3 before p1/p2. Raw bytes retained, vector not reordered.",
+  "calibration_date": "2026-07-30 18:13:05",
+  "camera_role": "left_fisheye",
+  "calibration_id": "rig_2650_0730_0804_v1",
+  "source_filename": "left_fisheye_2650_0730.yaml",
+  "source_sha256": "64dc27d55b23cb54e201f2acfb17245294f3266355dec205f0cf78502c5d0ca2",
+  "effective_sha256": "64dc27d55b23cb54e201f2acfb17245294f3266355dec205f0cf78502c5d0ca2"
+}

calibration/rig_2650_0730_0804_v1/intrinsics/main_rgb.json

@@ -0,0 +1,51 @@
+{
+  "image_size_wh": [
+    1280,
+    1280
+  ],
+  "model": "opencv_rational_8",
+  "K": [
+    [
+      387.8357,
+      0.0,
+      637.7379
+    ],
+    [
+      0.0,
+      387.7785,
+      641.5531
+    ],
+    [
+      0.0,
+      0.0,
+      1.0
+    ]
+  ],
+  "D": [
+    0.35926386,
+    0.01727146,
+    -7.018e-05,
+    2.147e-05,
+    5.126e-05,
+    0.60190036,
+    0.06558828,
+    0.00089595
+  ],
+  "D_order": [
+    "k1",
+    "k2",
+    "p1",
+    "p2",
+    "k3",
+    "k4",
+    "k5",
+    "k6"
+  ],
+  "coefficient_order_note": "Runtime OpenCV vector order; some legacy labels incorrectly list k3 before p1/p2. Raw bytes retained, vector not reordered.",
+  "calibration_date": "2026-07-30 18:13:05",
+  "camera_role": "main_rgb",
+  "calibration_id": "rig_2650_0730_0804_v1",
+  "source_filename": "color_camera_2650_0730.yaml",
+  "source_sha256": "4f51db50b242c08806dd53570b467ed5e079005483fde8c49bc1f526b308ca1b",
+  "effective_sha256": "4f51db50b242c08806dd53570b467ed5e079005483fde8c49bc1f526b308ca1b"
+}

calibration/rig_2650_0730_0804_v1/intrinsics/right_fisheye.json

@@ -0,0 +1,51 @@
+{
+  "image_size_wh": [
+    640,
+    480
+  ],
+  "model": "opencv_rational_8",
+  "K": [
+    [
+      234.96,
+      0.0,
+      319.5
+    ],
+    [
+      0.0,
+      234.93,
+      232.46
+    ],
+    [
+      0.0,
+      0.0,
+      1.0
+    ]
+  ],
+  "D": [
+    0.7557,
+    0.0771,
+    -0.0001,
+    0.0,
+    0.0005,
+    1.0837,
+    0.23,
+    0.0067
+  ],
+  "D_order": [
+    "k1",
+    "k2",
+    "p1",
+    "p2",
+    "k3",
+    "k4",
+    "k5",
+    "k6"
+  ],
+  "coefficient_order_note": "Runtime OpenCV vector order; some legacy labels incorrectly list k3 before p1/p2. Raw bytes retained, vector not reordered.",
+  "calibration_date": "2026-07-30 18:13:05",
+  "camera_role": "right_fisheye",
+  "calibration_id": "rig_2650_0730_0804_v1",
+  "source_filename": "right_fisheye_2650_0730.yaml",
+  "source_sha256": "ad5ffe178b243785b46b8e51e7dcd98c7b6de258f6cb4e1c90e535c19e789ec0",
+  "effective_sha256": "ad5ffe178b243785b46b8e51e7dcd98c7b6de258f6cb4e1c90e535c19e789ec0"
+}

calibration/rig_2650_0730_0804_v1/intrinsics/usb_reference.json

@@ -0,0 +1,45 @@
+{
+  "image_size_wh": [
+    1920,
+    1080
+  ],
+  "model": "opencv_brown_5",
+  "K": [
+    [
+      1362.4507,
+      0.0,
+      1022.9523
+    ],
+    [
+      0.0,
+      1361.0758,
+      563.2031
+    ],
+    [
+      0.0,
+      0.0,
+      1.0
+    ]
+  ],
+  "D": [
+    -0.41729142,
+    0.19696135,
+    -0.00038256,
+    0.00011575,
+    -0.04643723
+  ],
+  "D_order": [
+    "k1",
+    "k2",
+    "p1",
+    "p2",
+    "k3"
+  ],
+  "coefficient_order_note": "Runtime OpenCV vector order; some legacy labels incorrectly list k3 before p1/p2. Raw bytes retained, vector not reordered.",
+  "calibration_date": "2026-07-30 16:32:08",
+  "camera_role": "usb_reference",
+  "calibration_id": "rig_2650_0730_0804_v1",
+  "source_filename": "usb_alice_0730.yaml",
+  "source_sha256": "7288878f64d6be9ac3a2461b5bcec299c6388ad1c39d0e0ee9b941da12233b22",
+  "effective_sha256": "7288878f64d6be9ac3a2461b5bcec299c6388ad1c39d0e0ee9b941da12233b22"
+}

calibration/rig_2650_0730_0804_v1/manifest.json

@@ -0,0 +1,25 @@
+{
+  "calibration_id": "rig_2650_0730_0804_v1",
+  "rig_id": "2650",
+  "intrinsics": {
+    "main_rgb": "intrinsics/main_rgb.json",
+    "left_fisheye": "intrinsics/left_fisheye.json",
+    "right_fisheye": "intrinsics/right_fisheye.json",
+    "usb_reference": "intrinsics/usb_reference.json"
+  },
+  "extrinsics": {
+    "usb_reference_to_main_rgb": "extrinsics/usb_reference_to_main_rgb.json",
+    "left_fisheye_to_main_rgb": "extrinsics/left_fisheye_to_main_rgb.json",
+    "right_fisheye_to_main_rgb": "extrinsics/right_fisheye_to_main_rgb.json",
+    "left_fisheye_to_right_fisheye": "extrinsics/left_fisheye_to_right_fisheye.json"
+  },
+  "quality_notes": [],
+  "missing_extrinsics": [],
+  "coordinate_axes": "OpenCV camera axes: X right, Y down, Z forward; column vectors",
+  "units": {
+    "translation": "m",
+    "focal_length_and_principal_point": "pixel"
+  },
+  "tracked_body_to_main_optical": null,
+  "tracked_body_to_main_optical_status": "not_verified_in_release_registry"
+}

calibration/usb_intrinsic_refits_20261029/README.md

@@ -0,0 +1,23 @@
+# USB intrinsic model refits, 2026-10-29
+
+This add-on publishes independent Brown5 and OpenCV fisheye4 intrinsic candidates for Alice and David while retaining each episode's existing historical Brown calibration as its default. These refits are diagnostic alternatives; they do not change episode calibration references or claim that existing camera-to-camera extrinsics were jointly refitted with the new intrinsics.
+
+The camera is an ICSpring 1920×1080 USB reference camera. Alice uses 100 ChArUco views collected 2026-07-30; all 100 had at least 12 detected corners. David uses 200 views collected 2026-08-10; 199 passed the same corner threshold and one was not detected. David source images were transferred from `/home/ubuntu/captures_david` on the collection host to the calibration workspace; all 200 file sizes and SHA256 values matched.
+
+The board is 12×9 squares, 15 mm squares and 11.25 mm markers with DICT_5X5_250. Brown coefficients are `[k1,k2,p1,p2,k3]`. Fisheye coefficients are `[k1,k2,k3,k4]` and use `cv2.fisheye`. Fits use the same views for both models. The ordered images are split by index: every fifth valid view is held out; other views fit the model. Held-out scoring fixes intrinsics and estimates each board pose independently. Full-fit K/D use all valid views. See each `model_comparison.json`, split and source image hash manifest for details.
+
+## Results
+
+Held-out median and P90 are over per-image corner RMSE, in pixels.
+
+| Camera / view set | Held-out views | Full-fit RMS Brown / fisheye | Held-out median Brown / fisheye | Held-out P90 Brown / fisheye |
+| --- | ---: | ---: | ---: | ---: |
+| Alice, all valid views | 20 | 0.6541 / 0.6275 | 0.4047 / 0.3910 | 0.7097 / 0.6674 |
+| David, all valid views | 40 | 1.1291 / 1.1286 | 0.4943 / 0.4959 | 2.7401 / 2.7880 |
+| David, historical exclusions sensitivity set | 39 | 0.9145 / 0.9130 | 0.4293 / 0.4395 | 1.1429 / 1.1820 |
+
+Alice's fisheye fit is slightly better on the held-out set. David's two fits are effectively tied; the held-out scores do not establish fisheye as more accurate for David. The historical exclusion sensitivity result uses the prior file's seven numeric outlier IDs mapped to the matching `charuco_NNNN.png` suffixes; `charuco_0075.png` already failed detection, leaving 193 valid views. The same set is used for both models.
+
+Both new fisheye models pass a 41×25 full-image pixel round-trip check, with positive radial derivative over sampled rays. Brown refits show large inverse-round-trip errors at some extreme corners under OpenCV's iterative undistortion. This is an edge-domain numerical/inversion warning, not the held-out calibration residual and not a physical ground-truth claim. Fisheye is a useful candidate for edge geometry; broader validation and joint extrinsic refitting are still needed before changing episode defaults.
+
+All files in this add-on are versioned candidates. Historical files under the three `calibration/rig_*` directories remain unchanged. No raw calibration photos are included; their filenames, byte sizes and SHA256 hashes are recorded for provenance.

calibration/usb_intrinsic_refits_20261029/SHA256SUMS

@@ -0,0 +1,19 @@
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calibration/usb_intrinsic_refits_20261029/alice/intrinsics_brown5_candidate.json

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+{
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+}

calibration/usb_intrinsic_refits_20261029/alice/intrinsics_fisheye4_candidate.json

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+{
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+  "model": "opencv_fisheye_4",
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+}

calibration/usb_intrinsic_refits_20261029/alice/model_comparison.json

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+{
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+  "outlier_protocol": "same valid images for both models, >=12 detected corners; no residual-based rejection",
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+  "detected_views": 100,
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+}

calibration/usb_intrinsic_refits_20261029/alice/per_image_diagnostics.json

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+{
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calibration/usb_intrinsic_refits_20261029/alice/projection_checks.json

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calibration/usb_intrinsic_refits_20261029/alice/split.json

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+{
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calibration/usb_intrinsic_refits_20261029/david/intrinsics_brown5_candidate.json

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+{
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+}

calibration/usb_intrinsic_refits_20261029/david/intrinsics_fisheye4_candidate.json

@@ -0,0 +1,101 @@
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+}

calibration/usb_intrinsic_refits_20261029/david/model_comparison.json

@@ -0,0 +1,321 @@
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calibration/usb_intrinsic_refits_20261029/david/per_image_diagnostics.json

@@ -0,0 +1,2795 @@
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calibration/usb_intrinsic_refits_20261029/david/projection_checks.json

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+  }
+]

calibration/usb_intrinsic_refits_20261029/david/split.json

@@ -0,0 +1,205 @@
+{
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+    "charuco_0003.png",
+    "charuco_0004.png",
+    "charuco_0005.png",
+    "charuco_0007.png",
+    "charuco_0008.png",
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+    "charuco_0012.png",
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+    "charuco_0014.png",
+    "charuco_0015.png",
+    "charuco_0017.png",
+    "charuco_0018.png",
+    "charuco_0019.png",
+    "charuco_0020.png",
+    "charuco_0022.png",
+    "charuco_0023.png",
+    "charuco_0024.png",
+    "charuco_0025.png",
+    "charuco_0027.png",
+    "charuco_0028.png",
+    "charuco_0029.png",
+    "charuco_0030.png",
+    "charuco_0032.png",
+    "charuco_0033.png",
+    "charuco_0034.png",
+    "charuco_0035.png",
+    "charuco_0037.png",
+    "charuco_0038.png",
+    "charuco_0039.png",
+    "charuco_0040.png",
+    "charuco_0042.png",
+    "charuco_0043.png",
+    "charuco_0044.png",
+    "charuco_0045.png",
+    "charuco_0047.png",
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+    "charuco_0050.png",
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+    "charuco_0054.png",
+    "charuco_0055.png",
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+    "charuco_0058.png",
+    "charuco_0059.png",
+    "charuco_0060.png",
+    "charuco_0062.png",
+    "charuco_0063.png",
+    "charuco_0064.png",
+    "charuco_0065.png",
+    "charuco_0067.png",
+    "charuco_0068.png",
+    "charuco_0069.png",
+    "charuco_0070.png",
+    "charuco_0072.png",
+    "charuco_0073.png",
+    "charuco_0074.png",
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+    "charuco_0078.png",
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+    "charuco_0080.png",
+    "charuco_0081.png",
+    "charuco_0083.png",
+    "charuco_0084.png",
+    "charuco_0085.png",
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+    "charuco_0088.png",
+    "charuco_0089.png",
+    "charuco_0090.png",
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+    "charuco_0093.png",
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+    "charuco_0095.png",
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+    "charuco_0192.png",
+    "charuco_0197.png"
+  ]
+}

calibration/usb_intrinsic_refits_20261029/david_legacy_exclusions/model_comparison.json

@@ -0,0 +1,321 @@
+{
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+}

calibration/usb_intrinsic_refits_20261029/david_legacy_exclusions/selection.json

@@ -0,0 +1,15 @@
+{
+  "source": "usb_david_0810.yaml outliers_removed",
+  "mapping": "historical numeric IDs mapped to charuco_NNNN.png filename suffix; retained as explicit sensitivity analysis",
+  "excluded_names": [
+    "charuco_0026.png",
+    "charuco_0029.png",
+    "charuco_0040.png",
+    "charuco_0042.png",
+    "charuco_0045.png",
+    "charuco_0046.png",
+    "charuco_0075.png"
+  ],
+  "remaining_detected_views": 193,
+  "note": "Exclusion list predates this refit; no model-specific image selection"
+}

calibration/usb_intrinsic_refits_20261029/david_legacy_exclusions/split.json

@@ -0,0 +1,199 @@
+{
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+    "charuco_0031.png",
+    "charuco_0032.png",
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+    "charuco_0035.png",
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