Add per-task camera extrinsics: motherboard=May-12 (RMSE ~5mm), pushT=June-26 (RMSE ~0.6px). Each data/<task>/calibration/ has T_mocap_to_cam_{left,middle,right}.json + T_gel_to_rigid_{left,right}.json + calibration.json manifest (epoch, applies-to dates, RMSE, projection chain).
96e7fd3 verified | { | |
| "task": "motherboard", | |
| "calibration_id": "may-12", | |
| "created": "2026-05-12", | |
| "method": "PnP (8 points, 3D mocap pts)", | |
| "applies_to_dates": [ | |
| "2026-05-10", | |
| "2026-05-11", | |
| "2026-05-19" | |
| ], | |
| "rmse_unit": "mm", | |
| "cameras": { | |
| "left": { | |
| "camera_serial": "104122062574", | |
| "rmse": 4.747439312142084, | |
| "created_at": "2026-05-12T22:16:20" | |
| }, | |
| "middle": { | |
| "camera_serial": "217222066989", | |
| "rmse": 5.298559912741648, | |
| "created_at": "2026-05-12T20:34:29" | |
| }, | |
| "right": { | |
| "camera_serial": "143322063538", | |
| "rmse": 7.520075033441005, | |
| "created_at": "2026-05-12T22:31:39" | |
| } | |
| }, | |
| "projection_chain": "sensor_pose (mocap mm) -> T_mocap_to_cam -> camera intrinsics -> pixel; gel center via T_gel_to_rigid", | |
| "note": "May-12 calibration. Applies to all motherboard sessions. Left GelSight serial 2BGLKZNT (05-10/05-11) / 2DUPB53G (05-19, swapped); a single shared T_gel_to_rigid_left is provided." | |
| } |