# Known rig layouts on omnifin0 Question: What do the real canvas files say about where each camera, arena, and experimental area sits, and how does a camera pixel land on the canvas? Curated context bundle. Each block is a verbatim excerpt from a source repository at the commit named in its header. Contract precedence rules inside the excerpts still apply. ## Who owns rig, canvas, and arena geometry ### canonical-owners source: agent-contracts @ e648029cc8c4318b17e8c1d97bb7a00d0fe8ca39 path: pancake-orange-citrus/rig_canvas_inventory_contract.md (lines 27-33) url: https://github.com/jmdelahanty/agent-contracts/blob/e648029cc8c4318b17e8c1d97bb7a00d0fe8ca39/pancake-orange-citrus/rig_canvas_inventory_contract.md#L27-L33 ## Canonical Owners | Concern | Canonical location | Stable IDs | Notes | |---|---|---|---| | Static machine and camera inventory | `pancakebatter/system_config.yml` | `host_id`, `camera_serial` | Hardware facts that change when the host is rewired, rebuilt, or different hardware is attached. | | Per-camera runtime capture presets | `~/orange_data/config/local//.json` and `~/orange_data/config/network/...` | `camera_serial` | Startup/runtime camera behavior for Orange. Not a hardware inventory or calibration source of truth. | | Rig/canvas/arena geometry and calibration | `citrus/targets/rigs///` | `rig_id`, `canvas_name`, `arena_id`, `camera_serial` | Canvas JSON, arena geometry, per-camera calibration, calibration artifacts, and arena-level IPC binding. | ### citrus-rig-config-struct source: citrus @ 48ad93e4d2c84782d0d084a6e3f1352c7c5e3162 path: src/core/rig_config.h (lines 33-42) url: https://github.com/JohnsonLabJanelia/citrus/blob/48ad93e4d2c84782d0d084a6e3f1352c7c5e3162/src/core/rig_config.h#L33-L42 ```cpp struct RigConfig { std::string schema_version = "rig_config_v1"; std::string rig_id; int rig_geometry_revision = 0; std::string stimulus_display_output_name; int projector_mount_rotation_deg_about_optical_axis = 0; std::string projector_mount_notes; nlohmann::json display_signal_chain = nlohmann::json::object(); PhotodiodeMarkerConfig photodiode_marker; }; ``` ### omnifin0-rig-config source: local data snapshot omnifin0-rig, sha256 d53ccc76eca0eaf04fcc6b3e62a6eb42f48bd34f0021df14ac65bb6c15a2da9a path: /home/jeremy/citrus/targets/rigs/omnifin0/omnifin0_config.json (lines 1-7) ```json { "schema_version": "rig_config_v1", "rig_id": "omnifin0", "rig_geometry_revision": 3, "stimulus_display_output_name": "DP-3", "projector_mount_rotation_deg_about_optical_axis": 180, "projector_mount_notes": "Projector body is rotated 180 degrees about its optical axis on this rig.", ``` ### citrus-projector-body-frame source: citrus @ 48ad93e4d2c84782d0d084a6e3f1352c7c5e3162 path: docs/coordinate_systems.md (lines 198-210) url: https://github.com/JohnsonLabJanelia/citrus/blob/48ad93e4d2c84782d0d084a6e3f1352c7c5e3162/docs/coordinate_systems.md#L198-L210 ### `projector_body_frame` The physical coordinate frame attached to the projector chassis. - Status: `Manual rig metadata` - Units: degrees about the optical axis - Current field: - `projector_mount_rotation_deg_about_optical_axis` - Evidence: - configured in [`src/core/rig_config.h`](../src/core/rig_config.h) - stored in `/rig_snapshot` This frame is not automatically inferred from homography or `xrandr`. ### citrus-display-output-transform source: citrus @ 48ad93e4d2c84782d0d084a6e3f1352c7c5e3162 path: docs/coordinate_systems.md (lines 183-196) url: https://github.com/JohnsonLabJanelia/citrus/blob/48ad93e4d2c84782d0d084a6e3f1352c7c5e3162/docs/coordinate_systems.md#L183-L196 ### `display_output_transform` The runtime desktop/session transform for the configured stimulus display output. - Status: `Code-defined runtime snapshot` - Source: `xrandr --query` - Examples: - output name such as `DP-3` - transform token such as `normal` or `inverted` - Evidence: - parsed from `xrandr` in [`src/core/display_snapshot.cpp`](../src/core/display_snapshot.cpp) - stored under `/display_snapshot` This is not the same thing as physical projector-body orientation. ## What a canvas file contains ### citrus-canvas-size-loader source: citrus @ 48ad93e4d2c84782d0d084a6e3f1352c7c5e3162 path: src/core/Canvas.cpp (lines 17-22) url: https://github.com/JohnsonLabJanelia/citrus/blob/48ad93e4d2c84782d0d084a6e3f1352c7c5e3162/src/core/Canvas.cpp#L17-L22 ```cpp m_canvas_name = data.value("canvas_name", "Unnamed Canvas"); // Load canvas dimensions with backward compatibility // Try new field names first, fallback to old names m_canvas_width_px = data.value("canvas_width_px", 1920); m_canvas_height_px = data.value("canvas_height_px", 1080); ``` ### citrus-camera-calibration-struct source: citrus @ 48ad93e4d2c84782d0d084a6e3f1352c7c5e3162 path: src/calibration/arena_config.h (lines 110-131) url: https://github.com/JohnsonLabJanelia/citrus/blob/48ad93e4d2c84782d0d084a6e3f1352c7c5e3162/src/calibration/arena_config.h#L110-L131 ```cpp struct CameraCalibration { std::string camera_id = "DefaultCamera"; int native_width_px = 0; int native_height_px = 0; // Arena definition for this camera. // These fields define the active arena placement within the final display // canvas for this camera calibration. int arena_center_x_px = 960; // Was: sub_arena_x_px int arena_center_y_px = 540; // Was: sub_arena_y_px int arena_width_px = 1920; // Was: sub_arena_width_px int arena_height_px = 980; // Was: sub_arena_height_px // Calibration image paths std::string homography_image_path; std::string scale_image_path; // Per-camera rig calibration float real_world_ref_mm = 10.0f; // Reference size in mm for calibration float pixels_per_mm_camera = 0.0f; float pixels_per_mm_projector = 0.0f; // Pixels per mm in display/canvas space ``` ### citrus-arena-origin-accessors source: citrus @ 48ad93e4d2c84782d0d084a6e3f1352c7c5e3162 path: src/calibration/arena_config.h (lines 308-350) url: https://github.com/JohnsonLabJanelia/citrus/blob/48ad93e4d2c84782d0d084a6e3f1352c7c5e3162/src/calibration/arena_config.h#L308-L350 curator note: The accessors below are the rule the diagrams use to place each arena: origin = center − size / 2. ```cpp int GetArenaCenterXInCanvasPx() const { if (const auto* active_cam = GetActiveCameraCalibration()) { if (active_cam->arena_width_px > 0 || active_cam->arena_height_px > 0) { return active_cam->arena_center_x_px + runtime_arena_translation_x_px; } } return sub_arena_x_px + runtime_arena_translation_x_px; } int GetArenaCenterYInCanvasPx() const { if (const auto* active_cam = GetActiveCameraCalibration()) { if (active_cam->arena_width_px > 0 || active_cam->arena_height_px > 0) { return active_cam->arena_center_y_px + runtime_arena_translation_y_px; } } return sub_arena_y_px + runtime_arena_translation_y_px; } int GetArenaWidthPx() const { if (const auto* active_cam = GetActiveCameraCalibration()) { if (active_cam->arena_width_px > 0) { return active_cam->arena_width_px; } } return sub_arena_width_px; } int GetArenaHeightPx() const { if (const auto* active_cam = GetActiveCameraCalibration()) { if (active_cam->arena_height_px > 0) { return active_cam->arena_height_px; } } return sub_arena_height_px; } int GetArenaOriginXInCanvasPx() const { return GetArenaCenterXInCanvasPx() - (GetArenaWidthPx() / 2); } int GetArenaOriginYInCanvasPx() const { return GetArenaCenterYInCanvasPx() - (GetArenaHeightPx() / 2); } ``` ### citrus-homography-sidecar-loader source: citrus @ 48ad93e4d2c84782d0d084a6e3f1352c7c5e3162 path: src/ui/arena_view_ui.cpp (lines 783-798) url: https://github.com/JohnsonLabJanelia/citrus/blob/48ad93e4d2c84782d0d084a6e3f1352c7c5e3162/src/ui/arena_view_ui.cpp#L783-L798 ```cpp const std::string homography_filename = "homography_" + arena.config.config_name + "_" + safe_cam_id + ".yml"; const std::string full_homography_path = FileUtils::resolve_calibration_artifact_path( arena.rig_name, canvas_name, homography_filename); if (!std::filesystem::exists(full_homography_path)) { return; } try { cv::FileStorage fs(full_homography_path, cv::FileStorage::READ); if (fs.isOpened()) { fs["homography_matrix"] >> arena.config.homography_matrix; ``` ### citrus-camera-to-canvas-mapping source: citrus @ 48ad93e4d2c84782d0d084a6e3f1352c7c5e3162 path: docs/coordinate_systems.md (lines 155-181) url: https://github.com/JohnsonLabJanelia/citrus/blob/48ad93e4d2c84782d0d084a6e3f1352c7c5e3162/docs/coordinate_systems.md#L155-L181 ### `camera_view_to_canvas_mapping` The effective mapping from `camera_view_px` into the stimulus canvas, computed from the active homography. - Status: `Calibration-derived` - Nature: - point mapping via homography - local direction mapping via finite differences around the active arena center - Evidence: - camera points are transformed into stimulus coordinates with `cv::perspectiveTransform` in [`src/ipc/ShamanIPCReader.cpp`](../src/ipc/ShamanIPCReader.cpp) - direction basis is derived in [`src/calibration/direction_frame_mapping.h`](../src/calibration/direction_frame_mapping.h) - saved H5 fields live under `/calibration_snapshot/` and `/calibration_snapshot/arena_geometry` The OpenCV sidecar `homography__.yml` and the H5 `/calibration_snapshot//homography_matrix` represent the same direction: ```text camera_view_px -> final_display_canvas_px ``` The homography source points are camera-image pixels from the calibration image. For current Orange/Citrus workflows these should be full raw camera-frame pixels when the source image is the native camera frame. If a future calibration is derived from a crop or downsampled image, that source image shape and crop transform must be documented in the artifact before Orange can consume it safely. ## Canvas casper ### casper-canvas-size source: local data snapshot omnifin0-casper, sha256 0779e3751af9d4a1dce5554cc488488df72f922c44337f7ba96e4d5449f9efb9 path: /home/jeremy/citrus/targets/rigs/omnifin0/casper/casper.json (lines 232-234) ```json "canvas_height_px": 980, "canvas_name": "casper", "canvas_width_px": 1920, ``` ### casper-arena-1 source: local data snapshot omnifin0-casper, sha256 0779e3751af9d4a1dce5554cc488488df72f922c44337f7ba96e4d5449f9efb9 path: /home/jeremy/citrus/targets/rigs/omnifin0/casper/casper.json (lines 3-59) curator note: Arenas 2 to 4 follow the same shape; the diagram reads all four. ```json "arena_1": { "calculated_z_eff_mm": 8.600000381469727, "camera_calibrations": [ { "arena_center_x_px": 233, "arena_center_y_px": 518, "arena_height_px": 358, "arena_width_px": 358, "camera_id": "2010093", "homography_image_path": "Cam2010093_arena1_homography.png", "native_height_px": 4512, "native_width_px": 4512, "pixels_per_mm_camera": 50.13677978515625, "pixels_per_mm_projector": 4.13323974609375, "real_world_ref_mm": 10.0, "scale_image_path": "Cam2010093_arena1_scale.png", "sub_arena_height_px": 358, "sub_arena_width_px": 358, "sub_arena_x_px": 233, "sub_arena_y_px": 518 } ], "config_name": "arena_1", "dot_radius_px": 5.0, "experimental_area_center_x_px": 179.0, "experimental_area_center_y_px": 179.0, "experimental_area_corner_radius_mm": 12.097047805786133, "experimental_area_corner_radius_px": 50.0, "experimental_area_height_mm": 261.2962341308594, "experimental_area_height_px": 1080.0, "experimental_area_radius_mm": 39.0, "experimental_area_radius_px": 161.19635009765625, "experimental_area_shape": "CIRCLE", "experimental_area_width_mm": 464.5266418457031, "experimental_area_width_px": 1920.0, "grid_cols": 10, "grid_rows": 10, "selected_dish_type": 0, "selected_dish_type_name": "alpine", "sub_arena_height_mm": 86.6148681640625, "sub_arena_height_px": 358, "sub_arena_width_mm": 86.6148681640625, "sub_arena_width_px": 358, "sub_arena_x_px": 233, "sub_arena_y_px": 518, "swimmable_area_center_x_px": 179.0, "swimmable_area_center_y_px": 179.0, "swimmable_area_corner_radius_mm": 12.097047805786133, "swimmable_area_corner_radius_px": 50.0, "swimmable_area_height_mm": 261.2962341308594, "swimmable_area_height_px": 1080.0, "swimmable_area_radius_mm": 39.0, "swimmable_area_radius_px": 161.19635009765625, "swimmable_area_shape": "CIRCLE", "swimmable_area_width_mm": 464.5266418457031, "swimmable_area_width_px": 1920.0 }, ``` ### casper-h-2010093 source: local data snapshot omnifin0-casper, sha256 fdcc3fc145a4adfdd1e07f19d8e8909c6c7c6d06fc86b1e78556e3c9126cb449 path: /home/jeremy/citrus/targets/rigs/omnifin0/casper/calibration_artifacts/homography_arena_1_2010093.yml (lines 1-11) ```yaml %YAML:1.0 --- calibration_timestamp_utc: "2025-09-17T20:18:21Z" homography_matrix: !!opencv-matrix rows: 3 cols: 3 dt: d data: [ 0.082207453082140877, -0.00066412810328021418, 47.420417721206299, -8.9454253274016412e-05, 0.083756452591587066, 329.69881415866479, -1.3409654806698208e-06, 7.8935385992712704e-07, 1. ] ``` ### casper-h-2010094 source: local data snapshot omnifin0-casper, sha256 da86a65a8c18779a6180bfcad0d1fbc5085413abc5ad8cb9a013c535a1b1b7be path: /home/jeremy/citrus/targets/rigs/omnifin0/casper/calibration_artifacts/homography_arena_2_2010094.yml (lines 1-11) ```yaml %YAML:1.0 --- calibration_timestamp_utc: "2025-09-17T20:02:13Z" homography_matrix: !!opencv-matrix rows: 3 cols: 3 dt: d data: [ 0.081886033441020245, -0.0020771447404461254, 505.58800694720321, 0.0001926936601442456, 0.081828041416371677, 328.02427490300983, -9.6997948595970616e-07, -2.5839676833045028e-06, 1. ] ``` ### casper-h-2010095 source: local data snapshot omnifin0-casper, sha256 78d940e9c3d301c228317af0269b0c4e1c86d9096ded5cf13fcb88731d0df011 path: /home/jeremy/citrus/targets/rigs/omnifin0/casper/calibration_artifacts/homography_arena_3_2010095.yml (lines 1-11) ```yaml %YAML:1.0 --- calibration_timestamp_utc: "2025-09-17T19:40:14Z" homography_matrix: !!opencv-matrix rows: 3 cols: 3 dt: d data: [ 0.082909630001767279, -0.0002622864390851616, 950.81092323202608, 0.00022825197426609283, 0.083712022286087387, 329.89189456156413, -6.2063443322505952e-07, -5.2083469382779818e-08, 0.99999999999999989 ] ``` ### casper-h-2010096 source: local data snapshot omnifin0-casper, sha256 78287f4af01f3df6468823066e3b0691fae813c1c8df0a50ab102c6d1e697d6b path: /home/jeremy/citrus/targets/rigs/omnifin0/casper/calibration_artifacts/homography_arena_4_2010096.yml (lines 1-11) ```yaml %YAML:1.0 --- calibration_timestamp_utc: "2025-08-07T18:13:24Z" homography_matrix: !!opencv-matrix rows: 3 cols: 3 dt: d data: [ 0.081147981086110682, -0.0020955747136053512, 1408.219892517151, 4.4540080357911953e-06, 0.08250310332982029, 317.8566782440501, -1.1406447654227366e-06, -1.2853170879874564e-06, 0.99999999999999989 ] ``` ## Canvas shadow ### shadow-canvas-size source: local data snapshot omnifin0-shadow, sha256 aa36e307fe2781cd5e441ec66dc5590295ec962ee675824a313b00a4cb16abfe path: /home/jeremy/citrus/targets/rigs/omnifin0/shadow/shadow.json (lines 568-570) ```json "canvas_height_px": 1080, "canvas_name": "shadow", "canvas_width_px": 1920 ``` ### shadow-arena-1 source: local data snapshot omnifin0-shadow, sha256 aa36e307fe2781cd5e441ec66dc5590295ec962ee675824a313b00a4cb16abfe path: /home/jeremy/citrus/targets/rigs/omnifin0/shadow/shadow.json (lines 3-81) ```json "arena_1": { "active_camera_id": "2010093", "recording_context": { "schema_id": "citrus.parent_recording_context", "schema_version": 2, "recording_type": "behavior", "behavior_mode": "free", "recording_intent": "stimulus_experiment", "data_origin": "acquired" }, "arena_region_height_mm": 82.82921600341797, "arena_region_width_mm": 82.82921600341797, "calculated_z_eff_mm": 14.94233512878418, "calibration_pattern_mask_policy": "experimental_area", "calibration_pattern_mode": "circular_rings", "calibration_ring_chirality_marker_radius_scale": 1.2999999523162842, "calibration_ring_count": 4, "calibration_ring_dots_inner": 8, "calibration_ring_dots_outer": 32, "calibration_ring_include_center_dot": true, "calibration_ring_inner_radius_px": 40.0, "calibration_ring_orientation_marker_angle_deg": 0.0, "calibration_ring_orientation_marker_radius_scale": 1.600000023841858, "calibration_ring_outer_radius_px": 140.0, "calibration_ring_show_chirality_marker": false, "calibration_ring_show_orientation_marker": true, "calibration_verification_include_center_dot": true, "calibration_verification_inner_angle_offset_deg": 45.0, "calibration_verification_inner_point_count": 4, "calibration_verification_inner_radius_fraction": 0.3799999952316284, "calibration_verification_outer_angle_offset_deg": 22.5, "calibration_verification_outer_point_count": 8, "calibration_verification_outer_radius_fraction": 0.7799999713897705, "camera_calibrations": [ { "arena_center_x_px": 257, "arena_center_y_px": 330, "arena_height_px": 348, "arena_width_px": 348, "camera_id": "2010093", "homography_detector_strategy": "", "homography_fit_inlier_count": 0, "homography_fit_max_reprojection_error_px": 0.0, "homography_fit_method": "", "homography_fit_point_count": 0, "homography_fit_quality_available": false, "homography_fit_rms_reprojection_error_px": 0.0, "homography_image_path": "Cam2010093_arena1_homography.png", "native_height_px": 4512, "native_width_px": 4512, "pixels_per_mm_camera": 52.731327056884766, "pixels_per_mm_projector": 4.201416015625, "real_world_ref_mm": 5.0, "scale_image_path": "/home/jeremy/orange_data/calibrations/sessions/calsess_2026_07_20T16_16_39Z_shadow/artifacts/Cam2010093_arena_1/scale_observations/calgrp_2026_07_20T16_16_38Z_shadow_projected_surface_scale_calibration_projected_surface_g1/observation.json", "scale_models": [ { "clicked_points_camera_px": [ { "x": -1.0, "y": -1.0 }, { "x": -1.0, "y": -1.0 } ], "kind": "projective_local_jacobian_at_target_origin", "notes": "Loaded from immutable active projected-surface scale pointer", "pixels_per_mm_camera": 52.731327056884766, "pixels_per_mm_projector": 4.201416015625, "real_world_ref_mm": 5.0, "scale_image_path": "/home/jeremy/orange_data/calibrations/sessions/calsess_2026_07_20T16_16_39Z_shadow/artifacts/Cam2010093_arena_1/scale_observations/calgrp_2026_07_20T16_16_38Z_shadow_projected_surface_scale_calibration_projected_surface_g1/observation.json", "status": "accepted", "target_plane": "projected_surface" } ] } ], "config_name": "arena_1", ``` ### shadow-h-2010093 source: local data snapshot omnifin0-shadow, sha256 64389adc05b8d5edd1c94a82a2643294b5d79c34fb2897abfd94dcb8f87828c8 path: /home/jeremy/citrus/targets/rigs/omnifin0/shadow/calibration_artifacts/homography_arena_1_2010093.yml (lines 1-28) ```yaml %YAML:1.0 --- artifact_schema_id: "citrus.calibration.homography_candidate" artifact_schema_version: 1 candidate_id: homography_arena_1_2010093_holder_operational_calgrp_2026_09_14T21_14_03Z_shadow_homography_grid_projected_surface_g4 candidate_set_id: homography_set_holder_operational_calgrp_2026_09_14T21_14_03Z_shadow_homography_grid_projected_surface_g4 homography_direction: camera_native_px_to_final_display_canvas_px target_plane: projected_surface pattern_mode: circular_rings orientation_validation_status: passed orientation_normalization_transform: "" configuration_fingerprint: "sha256:acdf5e997e9534a5aacf1a5918dcdd5c39b82083723a1c97e9f8c797d7b590dd" source_capture_checksum: "fnv1a64:59a824924a20c5b8" fit_quality_schema: "citrus.homography_fit_quality.v2" point_count: 81 inlier_count: 81 rms_reprojection_error_px: 0.15760693143058349 max_reprojection_error_px: 0.55931097552812092 holdout_rms_reprojection_error_px: 0.26288468800299092 holdout_max_reprojection_error_px: 0.8113809254153006 homography_matrix: !!opencv-matrix rows: 3 cols: 3 dt: d data: [ 0.079491864932271408, -0.00030229498036896943, 77.133992465809925, -0.0002757502180579138, -0.080094974712873052, 510.53996688386758, -5.5941326802569046e-07, -1.5604039838712963e-07, 1. ] ``` ### shadow-h-2010094 source: local data snapshot omnifin0-shadow, sha256 9ecc6fd22e9daaf6c24c162109a7cfba7f796534b3daa8e3c6c0591b9bb5e163 path: /home/jeremy/citrus/targets/rigs/omnifin0/shadow/calibration_artifacts/homography_arena_2_2010094.yml (lines 1-28) ```yaml %YAML:1.0 --- artifact_schema_id: "citrus.calibration.homography_candidate" artifact_schema_version: 1 candidate_id: homography_arena_2_2010094_holder_operational_calgrp_2026_09_14T21_14_03Z_shadow_homography_grid_projected_surface_g4 candidate_set_id: homography_set_holder_operational_calgrp_2026_09_14T21_14_03Z_shadow_homography_grid_projected_surface_g4 homography_direction: camera_native_px_to_final_display_canvas_px target_plane: projected_surface pattern_mode: circular_rings orientation_validation_status: passed orientation_normalization_transform: "" configuration_fingerprint: "sha256:d72e9f92a659d5a82300fd5f459901f57b66bb32c3f10e9c0dff90868635445f" source_capture_checksum: "fnv1a64:0ba1ed8aac5fa422" fit_quality_schema: "citrus.homography_fit_quality.v2" point_count: 81 inlier_count: 81 rms_reprojection_error_px: 0.10770023906032811 max_reprojection_error_px: 0.19808838955150102 holdout_rms_reprojection_error_px: 0.097546878939541851 holdout_max_reprojection_error_px: 0.21875675225054581 homography_matrix: !!opencv-matrix rows: 3 cols: 3 dt: d data: [ 0.079749699673856339, -0.00016696639198430951, 534.10987430089563, 9.7135909416466784e-07, -0.080221795348528954, 515.65136969047126, -2.4060414289172904e-08, -2.0730202530434087e-07, 1. ] ``` ### shadow-h-2010095 source: local data snapshot omnifin0-shadow, sha256 5a34ec42fa0f3ff4757ba087f38cdeead495b575ee7eb95ab96a190635fc9fef path: /home/jeremy/citrus/targets/rigs/omnifin0/shadow/calibration_artifacts/homography_arena_3_2010095.yml (lines 1-28) ```yaml %YAML:1.0 --- artifact_schema_id: "citrus.calibration.homography_candidate" artifact_schema_version: 1 candidate_id: homography_arena_3_2010095_holder_operational_calgrp_2026_09_14T21_14_03Z_shadow_homography_grid_projected_surface_g4 candidate_set_id: homography_set_holder_operational_calgrp_2026_09_14T21_14_03Z_shadow_homography_grid_projected_surface_g4 homography_direction: camera_native_px_to_final_display_canvas_px target_plane: projected_surface pattern_mode: circular_rings orientation_validation_status: passed orientation_normalization_transform: "" configuration_fingerprint: "sha256:eb537d7ccafe30c060a47dbb873a30f5e163df957bc999549bbd65e8764efdb9" source_capture_checksum: "fnv1a64:4e6556a50bcffc03" fit_quality_schema: "citrus.homography_fit_quality.v2" point_count: 81 inlier_count: 81 rms_reprojection_error_px: 0.10510913896910379 max_reprojection_error_px: 0.18766646396702313 holdout_rms_reprojection_error_px: 0.089778931591189701 holdout_max_reprojection_error_px: 0.19379527155274262 homography_matrix: !!opencv-matrix rows: 3 cols: 3 dt: d data: [ 0.079776648055879154, -0.00035172875892869603, 992.89076791707544, -0.0001315853717091643, -0.080414900406512849, 508.13242693376446, -8.1480313487639167e-08, -4.1264831497215999e-07, 1. ] ``` ### shadow-h-2010096 source: local data snapshot omnifin0-shadow, sha256 50f5ad5c3b517e2683cdabf3b252e460ff33e234137e45c5b6397a77919233f7 path: /home/jeremy/citrus/targets/rigs/omnifin0/shadow/calibration_artifacts/homography_arena_4_2010096.yml (lines 1-28) ```yaml %YAML:1.0 --- artifact_schema_id: "citrus.calibration.homography_candidate" artifact_schema_version: 1 candidate_id: homography_arena_4_2010096_holder_operational_calgrp_2026_09_14T21_14_03Z_shadow_homography_grid_projected_surface_g4 candidate_set_id: homography_set_holder_operational_calgrp_2026_09_14T21_14_03Z_shadow_homography_grid_projected_surface_g4 homography_direction: camera_native_px_to_final_display_canvas_px target_plane: projected_surface pattern_mode: circular_rings orientation_validation_status: passed orientation_normalization_transform: "" configuration_fingerprint: "sha256:dbf5a368656f5693824d54474d0d44c757d57dbe35e18fd0ed7604f1f021c19a" source_capture_checksum: "fnv1a64:83be12be94f9afe9" fit_quality_schema: "citrus.homography_fit_quality.v2" point_count: 81 inlier_count: 81 rms_reprojection_error_px: 0.10346316182563985 max_reprojection_error_px: 0.18949248947106911 holdout_rms_reprojection_error_px: 0.10203517579609787 holdout_max_reprojection_error_px: 0.18449438895003067 homography_matrix: !!opencv-matrix rows: 3 cols: 3 dt: d data: [ 0.079789382117857285, -0.00050997723109478654, 1471.539452875699, -0.00038137965481465632, -0.080710715149257969, 501.65602085052916, -2.8975815431741569e-07, -4.6056798093723558e-07, 1. ] ``` ## Canvas shadow as Citrus recorded it (session H5, 2026-08-25) ### h5-arena-embedding-contract source: agent-contracts @ e648029cc8c4318b17e8c1d97bb7a00d0fe8ca39 path: citrus-crimson/spatial_overlay_contract.md (lines 77-96) url: https://github.com/jmdelahanty/agent-contracts/blob/e648029cc8c4318b17e8c1d97bb7a00d0fe8ca39/citrus-crimson/spatial_overlay_contract.md#L77-L96 ### Arena embedding into full display canvas Group: - `/calibration_snapshot/arena_geometry` Authoritative attrs: - `arena_region_center_in_canvas_x_px` - `arena_region_center_in_canvas_y_px` - `arena_region_width_px` - `arena_region_height_px` - `arena_origin_in_canvas_x_px` - `arena_origin_in_canvas_y_px` Meaning: - These place the active arena region inside `final_display_canvas_px`. - Overlay consumers should use `arena_origin_in_canvas_x_px` and `arena_origin_in_canvas_y_px` as the authoritative local-to-global embedding. ### h5-per-camera-homography-contract source: agent-contracts @ e648029cc8c4318b17e8c1d97bb7a00d0fe8ca39 path: citrus-crimson/spatial_overlay_contract.md (lines 98-129) url: https://github.com/jmdelahanty/agent-contracts/blob/e648029cc8c4318b17e8c1d97bb7a00d0fe8ca39/citrus-crimson/spatial_overlay_contract.md#L98-L129 ### Per-camera homography Per-camera group: - `/calibration_snapshot/` Authoritative dataset: - `homography_matrix` (`3x3`, float64) Compatibility fallback: - `homography_matrix_yml` Required interpretation for both: - `source_frame="camera_view_px"` - `dest_frame="final_display_canvas_px"` - `coordinate_origin="top_left"` - `axes="x_right_y_down"` - `image_space="raw"` - `camera_id=` when present Meaning: - The stored homography direction is: ```text camera_view_px -> final_display_canvas_px ``` - Consumers that need camera overlay coordinates must invert it. ### citrus-h5-direction-writer source: citrus @ 48ad93e4d2c84782d0d084a6e3f1352c7c5e3162 path: src/logging/session_logger.cpp (lines 5801-5831) url: https://github.com/JohnsonLabJanelia/citrus/blob/48ad93e4d2c84782d0d084a6e3f1352c7c5e3162/src/logging/session_logger.cpp#L5801-L5831 ```cpp const auto direction_mapping = BuildDirectionFrameMapping(cam_calib, arena_config.homography_matrix); if (direction_mapping.has_value()) { writeFloatAttr(camGroup, "direction_mapping_ref_camera_x", direction_mapping->reference_camera_point_px.x); writeFloatAttr(camGroup, "direction_mapping_ref_camera_y", direction_mapping->reference_camera_point_px.y); writeFloatAttr(camGroup, "direction_mapping_ref_canvas_x", direction_mapping->reference_canvas_point_px.x); writeFloatAttr(camGroup, "direction_mapping_ref_canvas_y", direction_mapping->reference_canvas_point_px.y); writeFloatAttr(camGroup, "camera_view_right_in_canvas_x", direction_mapping->camera_view_right_in_canvas.x); writeFloatAttr(camGroup, "camera_view_right_in_canvas_y", direction_mapping->camera_view_right_in_canvas.y); writeFloatAttr(camGroup, "camera_view_right_in_canvas_angle_deg", direction_mapping->camera_view_right_angle_deg); writeFloatAttr(camGroup, "camera_view_down_in_canvas_x", direction_mapping->camera_view_down_in_canvas.x); writeFloatAttr(camGroup, "camera_view_down_in_canvas_y", direction_mapping->camera_view_down_in_canvas.y); writeFloatAttr(camGroup, "camera_view_down_in_canvas_angle_deg", direction_mapping->camera_view_down_angle_deg); writeFloatAttr(camGroup, "direction_mapping_scale_x", direction_mapping->canvas_px_per_camera_px_x); writeFloatAttr(camGroup, "direction_mapping_scale_y", direction_mapping->canvas_px_per_camera_px_y); writeStrAttr(camGroup, "direction_mapping_handedness", direction_mapping->is_mirrored ? "mirrored" : "preserved"); writeStrAttr(camGroup, "direction_mapping_canvas_angle_convention", ``` ### citrus-h5-homography-writer source: citrus @ 48ad93e4d2c84782d0d084a6e3f1352c7c5e3162 path: src/logging/session_logger.cpp (lines 5835-5849) url: https://github.com/JohnsonLabJanelia/citrus/blob/48ad93e4d2c84782d0d084a6e3f1352c7c5e3162/src/logging/session_logger.cpp#L5835-L5849 ```cpp if (!arena_config.homography_matrix.empty() && arena_config.homography_matrix.rows == 3 && arena_config.homography_matrix.cols == 3) { cv::Mat homography_matrix_f64; arena_config.homography_matrix.convertTo(homography_matrix_f64, CV_64F); hsize_t matrix_dims[2] = {3, 3}; H5::DataSpace matrix_dspace(2, matrix_dims); H5::DataSet matrix_dset = camGroup.createDataSet( "homography_matrix", H5::PredType::NATIVE_DOUBLE, matrix_dspace); matrix_dset.write(homography_matrix_f64.ptr(), H5::PredType::NATIVE_DOUBLE); WriteHomographyDatasetAttrs(matrix_dset, cam_calib.camera_id); WriteHomographyProvenanceAttrs(matrix_dset, homography_provenance, ``` ### shadow-session-root-attrs source: local data snapshot omnifin0-shadow-session-2026-08-25, sha256 0209571b3f107f2d5bc46ac0e2a86a3f8b28882bdacf6b664d7bcad1f0ab16c3 path: /home/jeremy/orange_data/exp/unsorted/2026_08_25_23_12_06/citrus/citsess_45fac0f71f098cf00f44065893c773b7847ab224edba618cb2a1c9744731065e_redbat.calibration_snapshot.json (lines 7-52) curator note: Session identity and the canvas size Citrus actually rendered (stimulus_output_width/height). The other three sessions share canvas_name and rig_id. ```json "root_attrs": { "active_ipc_source": "SHAMAN", "arena_id": "arena_1", "artifact_schema_id": "behavior_v1", "behavior_mode": "free", "canvas_name": "shadow", "display_mode_height_reported_px": 1080, "display_mode_observation_source": "xrandr_selected_output_verbose_current_mode", "display_mode_pixel_clock_reported_mhz": 296.7, "display_mode_width_reported_px": 1920, "display_refresh_rate_reported_hz": 119.88, "display_refresh_rate_source": "xrandr_selected_output_current_mode", "display_submission_rate_source": "citrus_frame_rate_limiter_nominal", "display_submission_rate_target_hz": 120.0, "display_swap_interval": 0, "expected_bounding_boxes_rows": 173563, "expected_chaser_states_rows": 180232, "expected_display_frame_submission_rows": 215977, "expected_events_rows": 152, "expected_frame_metadata_rows": 216232, "expected_independent_motion_grid_states_rows": 0, "expected_moving_grating_states_rows": 0, "expected_runtime_trials_rows": 4, "experimental_chamber": "palm1", "hostname": "pancake0.hhmi.org", "ipc_first_nonzero_frame_id": 1008, "ipc_first_nonzero_frame_timestamp_ns_session": 1388876200, "ipc_reader_init_status": "initialized", "ipc_source_name": "/shm_cam_2010093", "loaded_protocol_filepath": "redbat.json", "protocol_name_from_definition": "redbat", "recording_subtype": "free", "recording_type": "behavior", "rig_id": "omnifin0", "session_output_dir": "/home/jeremy/orange_data/exp/unsorted/2026_08_25_23_12_06/citrus", "session_start_iso8601_utc": "2026-08-26T03-12-19Z", "session_start_ns_epoch": 1787713939114183878, "session_status": "COMPLETE", "session_uuid": "citsess_45fac0f71f098cf00f44065893c773b7847ab224edba618cb2a1c9744731065e", "software_version": "", "stimulus_frame_rate_nominal_hz": 120.0, "stimulus_output_height": 1080, "stimulus_output_width": 1920, "tracking_bounding_boxes_rows": 173563, "tracking_chaser_states_rows": 180232 }, ``` ### shadow-session-arena-1-geometry source: local data snapshot omnifin0-shadow-session-2026-08-25, sha256 0209571b3f107f2d5bc46ac0e2a86a3f8b28882bdacf6b664d7bcad1f0ab16c3 path: /home/jeremy/orange_data/exp/unsorted/2026_08_25_23_12_06/citrus/citsess_45fac0f71f098cf00f44065893c773b7847ab224edba618cb2a1c9744731065e_redbat.calibration_snapshot.json (lines 231-254) ```json "attrs": { "arena_geometry_source": "active_camera_calibration", "arena_origin_in_canvas_x_px": 90.0, "arena_origin_in_canvas_y_px": 164.0, "arena_region_center_in_canvas_x_px": 264.0, "arena_region_center_in_canvas_y_px": 338.0, "arena_region_height_px": 348.0, "arena_region_width_px": 348.0, "coordinate_frame": "arena_relative_canvas_px", "coordinate_origin": "top_left_of_active_arena", "experimental_area_center_x_px": 173.0, "experimental_area_center_y_px": 173.0, "experimental_area_corner_radius_mm": 11.99231243133545, "experimental_area_corner_radius_px": 50.1770133972168, "experimental_area_height_mm": 80.0, "experimental_area_height_px": 334.72784423828125, "experimental_area_radius_mm": 40.0, "experimental_area_radius_px": 167.36392211914062, "experimental_area_shape": "CIRCLE", "experimental_area_width_mm": 80.0, "experimental_area_width_px": 334.72784423828125, "x_axis_direction": "right", "y_axis_direction": "down" } ``` ### shadow-session-arena-1-direction source: local data snapshot omnifin0-shadow-session-2026-08-25, sha256 0209571b3f107f2d5bc46ac0e2a86a3f8b28882bdacf6b664d7bcad1f0ab16c3 path: /home/jeremy/orange_data/exp/unsorted/2026_08_25_23_12_06/citrus/citsess_45fac0f71f098cf00f44065893c773b7847ab224edba618cb2a1c9744731065e_redbat.calibration_snapshot.json (lines 61-79) ```json "attrs": { "camera_view_down_in_canvas_angle_deg": -90.35123443603516, "camera_view_down_in_canvas_x": -0.006130152847617865, "camera_view_down_in_canvas_y": -0.999981164932251, "camera_view_right_in_canvas_angle_deg": -0.35421979427337646, "camera_view_right_in_canvas_x": 0.9999808073043823, "camera_view_right_in_canvas_y": -0.0061822617426514626, "direction_mapping_canvas_angle_convention": "0=right,90=down", "direction_mapping_handedness": "mirrored", "direction_mapping_ref_camera_x": 2229.577392578125, "direction_mapping_ref_camera_y": 2245.14892578125, "direction_mapping_ref_canvas_x": 259.0, "direction_mapping_ref_canvas_y": 332.0, "direction_mapping_scale_x": 0.07898100465536118, "direction_mapping_scale_y": 0.07965237647294998, "pixels_per_mm_camera": 52.75507354736328, "pixels_per_mm_projector": 4.184098243713379, "real_world_ref_mm": 5.0 }, ``` ### shadow-session-arena-1-homography source: local data snapshot omnifin0-shadow-session-2026-08-25, sha256 0209571b3f107f2d5bc46ac0e2a86a3f8b28882bdacf6b664d7bcad1f0ab16c3 path: /home/jeremy/orange_data/exp/unsorted/2026_08_25_23_12_06/citrus/citsess_45fac0f71f098cf00f44065893c773b7847ab224edba618cb2a1c9744731065e_redbat.calibration_snapshot.json (lines 132-184) ```json "homography_matrix": { "attrs": { "arena_config_name": "arena_1", "axes": "x_right_y_down", "camera_id": "2010093", "canvas_name": "shadow", "coordinate_origin": "top_left", "dest_frame": "final_display_canvas_px", "homography_artifact_checksum_algorithm": "fnv1a64", "homography_artifact_checksum_fnv1a64": "af351bdb2310837d", "homography_artifact_exists": "true", "homography_artifact_filename": "homography_arena_1_2010093.yml", "homography_artifact_mtime_unix_ns": 1786323758019198158, "homography_artifact_path": "/home/jeremy/citrus/targets/rigs/omnifin0/shadow/calibration_artifacts/homography_arena_1_2010093.yml", "homography_artifact_size_bytes": 1295, "homography_fit_inlier_count": 81, "homography_fit_max_reprojection_error_px": 0.2432277899465086, "homography_fit_point_count": 81, "homography_fit_quality_available": "true", "homography_fit_quality_schema": "citrus.homography_fit_quality.v1", "homography_fit_rms_reprojection_error_px": 0.12110689401871437, "homography_payload_source": "runtime_arena_config.homography_matrix", "homography_provenance_schema": "citrus.homography_provenance.v1", "image_space": "raw", "rig_id": "omnifin0", "runtime_matrix_checksum_algorithm": "sha256", "runtime_matrix_checksum_serialization": "json_row_major_float64_v1", "runtime_matrix_checksum_sha256": "sha256:cfdbbbf45b75226f42cdadeb77831a9cd5fa7b7d31834237f41e18d85c729112", "source_frame": "camera_view_px" }, "dtype": "float64", "shape": [ 3, 3 ], "value": [ [ 0.07874250445494245, -0.0005856985662148073, 84.33456319725997 ], [ -0.0006186948810984491, -0.07962950658326917, 511.62381365417457 ], [ -3.960271677654378e-07, -3.2541264852901244e-07, 1.0 ] ] }, ``` ### shadow-session-arena-2-geometry source: local data snapshot omnifin0-shadow-session-2026-08-25, sha256 75f3378881b9502c1cb7f9fe4b7c13bbd2acdc934d5894cad028d0feae29c925 path: /home/jeremy/orange_data/exp/unsorted/2026_08_25_23_12_06/citrus/citsess_dfa15a4b01f45041f60d8bc571389db77000fa9c8d030d300b76f4636f89d021_redbat.calibration_snapshot.json (lines 231-254) ```json "attrs": { "arena_geometry_source": "active_camera_calibration", "arena_origin_in_canvas_x_px": 551.0, "arena_origin_in_canvas_y_px": 159.0, "arena_region_center_in_canvas_x_px": 726.0, "arena_region_center_in_canvas_y_px": 334.0, "arena_region_height_px": 350.0, "arena_region_width_px": 350.0, "coordinate_frame": "arena_relative_canvas_px", "coordinate_origin": "top_left_of_active_arena", "experimental_area_center_x_px": 174.0, "experimental_area_center_y_px": 174.0, "experimental_area_corner_radius_mm": 11.97751522064209, "experimental_area_corner_radius_px": 50.25548553466797, "experimental_area_height_mm": 80.0, "experimental_area_height_px": 335.66552734375, "experimental_area_radius_mm": 40.0, "experimental_area_radius_px": 167.832763671875, "experimental_area_shape": "CIRCLE", "experimental_area_width_mm": 80.0, "experimental_area_width_px": 335.66552734375, "x_axis_direction": "right", "y_axis_direction": "down" } ``` ### shadow-session-arena-2-direction source: local data snapshot omnifin0-shadow-session-2026-08-25, sha256 75f3378881b9502c1cb7f9fe4b7c13bbd2acdc934d5894cad028d0feae29c925 path: /home/jeremy/orange_data/exp/unsorted/2026_08_25_23_12_06/citrus/citsess_dfa15a4b01f45041f60d8bc571389db77000fa9c8d030d300b76f4636f89d021_redbat.calibration_snapshot.json (lines 61-79) ```json "attrs": { "camera_view_down_in_canvas_angle_deg": -90.131103515625, "camera_view_down_in_canvas_x": -0.002288323361426592, "camera_view_down_in_canvas_y": -0.9999973773956299, "camera_view_right_in_canvas_angle_deg": -0.2858169376850128, "camera_view_right_in_canvas_x": 0.9999875426292419, "camera_view_right_in_canvas_y": -0.004988425876945257, "direction_mapping_canvas_angle_convention": "0=right,90=down", "direction_mapping_handedness": "mirrored", "direction_mapping_ref_camera_x": 2247.4580078125, "direction_mapping_ref_camera_y": 2261.30322265625, "direction_mapping_ref_canvas_x": 721.0, "direction_mapping_ref_canvas_y": 337.0, "direction_mapping_scale_x": 0.07952979952096939, "direction_mapping_scale_y": 0.08001729846000671, "pixels_per_mm_camera": 52.58562088012695, "pixels_per_mm_projector": 4.195818901062012, "real_world_ref_mm": 5.0 }, ``` ### shadow-session-arena-2-homography source: local data snapshot omnifin0-shadow-session-2026-08-25, sha256 75f3378881b9502c1cb7f9fe4b7c13bbd2acdc934d5894cad028d0feae29c925 path: /home/jeremy/orange_data/exp/unsorted/2026_08_25_23_12_06/citrus/citsess_dfa15a4b01f45041f60d8bc571389db77000fa9c8d030d300b76f4636f89d021_redbat.calibration_snapshot.json (lines 132-184) ```json "homography_matrix": { "attrs": { "arena_config_name": "arena_2", "axes": "x_right_y_down", "camera_id": "2010094", "canvas_name": "shadow", "coordinate_origin": "top_left", "dest_frame": "final_display_canvas_px", "homography_artifact_checksum_algorithm": "fnv1a64", "homography_artifact_checksum_fnv1a64": "2106f36756e5fbd8", "homography_artifact_exists": "true", "homography_artifact_filename": "homography_arena_2_2010094.yml", "homography_artifact_mtime_unix_ns": 1786323758055198160, "homography_artifact_path": "/home/jeremy/citrus/targets/rigs/omnifin0/shadow/calibration_artifacts/homography_arena_2_2010094.yml", "homography_artifact_size_bytes": 1295, "homography_fit_inlier_count": 81, "homography_fit_max_reprojection_error_px": 0.2901524344662282, "homography_fit_point_count": 81, "homography_fit_quality_available": "true", "homography_fit_quality_schema": "citrus.homography_fit_quality.v1", "homography_fit_rms_reprojection_error_px": 0.1147780064519357, "homography_payload_source": "runtime_arena_config.homography_matrix", "homography_provenance_schema": "citrus.homography_provenance.v1", "image_space": "raw", "rig_id": "omnifin0", "runtime_matrix_checksum_algorithm": "sha256", "runtime_matrix_checksum_serialization": "json_row_major_float64_v1", "runtime_matrix_checksum_sha256": "sha256:ffdb4429ed3fe0c3a534960ff15e2a92ea8b57e7cf2fda316f306404867264b2", "source_frame": "camera_view_px" }, "dtype": "float64", "shape": [ 3, 3 ], "value": [ [ 0.07906860271482405, -0.00047793029202255766, 542.9984779325481 ], [ -0.0005470654070846848, -0.07998867525696146, 518.4636429271127 ], [ -4.5995586459547647e-07, -3.886052250950324e-07, 1.0 ] ] }, ``` ### shadow-session-arena-3-geometry source: local data snapshot omnifin0-shadow-session-2026-08-25, sha256 36b589f184cb16aafa8f9a708e6b41fb5e45e2577210a74bc2c6ef462551af0c path: /home/jeremy/orange_data/exp/unsorted/2026_08_25_23_12_06/citrus/citsess_8b4b3225db87e46aed185e1358300c839157a13d2d87c6a2ee1d2eb88668221b_redbat.calibration_snapshot.json (lines 231-254) ```json "attrs": { "arena_geometry_source": "active_camera_calibration", "arena_origin_in_canvas_x_px": 1012.0, "arena_origin_in_canvas_y_px": 156.0, "arena_region_center_in_canvas_x_px": 1188.0, "arena_region_center_in_canvas_y_px": 332.0, "arena_region_height_px": 352.0, "arena_region_width_px": 352.0, "coordinate_frame": "arena_relative_canvas_px", "coordinate_origin": "top_left_of_active_arena", "experimental_area_center_x_px": 173.0, "experimental_area_center_y_px": 173.0, "experimental_area_corner_radius_mm": 11.802724838256836, "experimental_area_corner_radius_px": 49.67599868774414, "experimental_area_height_mm": 80.0, "experimental_area_height_px": 336.70867919921875, "experimental_area_radius_mm": 40.0, "experimental_area_radius_px": 168.35433959960938, "experimental_area_shape": "CIRCLE", "experimental_area_width_mm": 80.0, "experimental_area_width_px": 336.70867919921875, "x_axis_direction": "right", "y_axis_direction": "down" } ``` ### shadow-session-arena-3-direction source: local data snapshot omnifin0-shadow-session-2026-08-25, sha256 36b589f184cb16aafa8f9a708e6b41fb5e45e2577210a74bc2c6ef462551af0c path: /home/jeremy/orange_data/exp/unsorted/2026_08_25_23_12_06/citrus/citsess_8b4b3225db87e46aed185e1358300c839157a13d2d87c6a2ee1d2eb88668221b_redbat.calibration_snapshot.json (lines 61-79) ```json "attrs": { "camera_view_down_in_canvas_angle_deg": -90.0, "camera_view_down_in_canvas_x": 0.0, "camera_view_down_in_canvas_y": -1.0, "camera_view_right_in_canvas_angle_deg": -0.37119460105895996, "camera_view_right_in_canvas_x": 0.9999789595603943, "camera_view_right_in_canvas_y": -0.006478522438555956, "direction_mapping_canvas_angle_convention": "0=right,90=down", "direction_mapping_handedness": "mirrored", "direction_mapping_ref_camera_x": 2235.46533203125, "direction_mapping_ref_camera_y": 2230.24267578125, "direction_mapping_ref_canvas_x": 1178.0, "direction_mapping_ref_canvas_y": 335.0, "direction_mapping_scale_x": 0.0800798088312149, "direction_mapping_scale_y": 0.080413818359375, "pixels_per_mm_camera": 52.43170166015625, "pixels_per_mm_projector": 4.208858489990234, "real_world_ref_mm": 5.0 }, ``` ### shadow-session-arena-3-homography source: local data snapshot omnifin0-shadow-session-2026-08-25, sha256 36b589f184cb16aafa8f9a708e6b41fb5e45e2577210a74bc2c6ef462551af0c path: /home/jeremy/orange_data/exp/unsorted/2026_08_25_23_12_06/citrus/citsess_8b4b3225db87e46aed185e1358300c839157a13d2d87c6a2ee1d2eb88668221b_redbat.calibration_snapshot.json (lines 132-184) ```json "homography_matrix": { "attrs": { "arena_config_name": "arena_3", "axes": "x_right_y_down", "camera_id": "2010095", "canvas_name": "shadow", "coordinate_origin": "top_left", "dest_frame": "final_display_canvas_px", "homography_artifact_checksum_algorithm": "fnv1a64", "homography_artifact_checksum_fnv1a64": "e033634141030c5d", "homography_artifact_exists": "true", "homography_artifact_filename": "homography_arena_3_2010095.yml", "homography_artifact_mtime_unix_ns": 1786323758071198160, "homography_artifact_path": "/home/jeremy/citrus/targets/rigs/omnifin0/shadow/calibration_artifacts/homography_arena_3_2010095.yml", "homography_artifact_size_bytes": 1296, "homography_fit_inlier_count": 81, "homography_fit_max_reprojection_error_px": 0.2105458119777816, "homography_fit_point_count": 81, "homography_fit_quality_available": "true", "homography_fit_quality_schema": "citrus.homography_fit_quality.v1", "homography_fit_rms_reprojection_error_px": 0.11368694460021456, "homography_payload_source": "runtime_arena_config.homography_matrix", "homography_provenance_schema": "citrus.homography_provenance.v1", "image_space": "raw", "rig_id": "omnifin0", "runtime_matrix_checksum_algorithm": "sha256", "runtime_matrix_checksum_serialization": "json_row_major_float64_v1", "runtime_matrix_checksum_sha256": "sha256:309025e02d4179828304bb2deb0f18c63cdf71c6839c2048cb7c458298bc187a", "source_frame": "camera_view_px" }, "dtype": "float64", "shape": [ 3, 3 ], "value": [ [ 0.0790050268403753, -0.0006674120271375568, 999.5425773946706 ], [ -0.0007720151510413161, -0.0803815604980243, 515.0483915388191 ], [ -7.216399587149153e-07, -5.452778809885962e-07, 1.0 ] ] }, ``` ### shadow-session-arena-4-geometry source: local data snapshot omnifin0-shadow-session-2026-08-25, sha256 816ed7c105e0fb776daa839fb233bcc9992d1280fa5b802164743a07e298185a path: /home/jeremy/orange_data/exp/unsorted/2026_08_25_23_12_06/citrus/citsess_59e779ca13bc9eaa4c11195d0b79ffe6fb3653e854a0d3bc93f95cd166b55b81_redbat.calibration_snapshot.json (lines 231-254) ```json "attrs": { "arena_geometry_source": "active_camera_calibration", "arena_origin_in_canvas_x_px": 1480.0, "arena_origin_in_canvas_y_px": 152.0, "arena_region_center_in_canvas_x_px": 1657.0, "arena_region_center_in_canvas_y_px": 329.0, "arena_region_height_px": 354.0, "arena_region_width_px": 354.0, "coordinate_frame": "arena_relative_canvas_px", "coordinate_origin": "top_left_of_active_arena", "experimental_area_center_x_px": 175.0, "experimental_area_center_y_px": 175.0, "experimental_area_corner_radius_mm": 11.901163101196289, "experimental_area_corner_radius_px": 50.36293411254883, "experimental_area_height_mm": 80.0, "experimental_area_height_px": 338.541259765625, "experimental_area_radius_mm": 40.0, "experimental_area_radius_px": 169.2706298828125, "experimental_area_shape": "CIRCLE", "experimental_area_width_mm": 80.0, "experimental_area_width_px": 338.541259765625, "x_axis_direction": "right", "y_axis_direction": "down" } ``` ### shadow-session-arena-4-direction source: local data snapshot omnifin0-shadow-session-2026-08-25, sha256 816ed7c105e0fb776daa839fb233bcc9992d1280fa5b802164743a07e298185a path: /home/jeremy/orange_data/exp/unsorted/2026_08_25_23_12_06/citrus/citsess_59e779ca13bc9eaa4c11195d0b79ffe6fb3653e854a0d3bc93f95cd166b55b81_redbat.calibration_snapshot.json (lines 61-79) ```json "attrs": { "camera_view_down_in_canvas_angle_deg": -89.91357421875, "camera_view_down_in_canvas_x": 0.0015082939062267542, "camera_view_down_in_canvas_y": -0.9999988675117493, "camera_view_right_in_canvas_angle_deg": -0.47601136565208435, "camera_view_right_in_canvas_x": 0.9999655485153198, "camera_view_right_in_canvas_y": -0.008307870477437973, "direction_mapping_canvas_angle_convention": "0=right,90=down", "direction_mapping_handedness": "mirrored", "direction_mapping_ref_camera_x": 2251.96240234375, "direction_mapping_ref_camera_y": 2247.328369140625, "direction_mapping_ref_canvas_x": 1654.0, "direction_mapping_ref_canvas_y": 322.0, "direction_mapping_scale_x": 0.08081333339214325, "direction_mapping_scale_y": 0.08093270659446716, "pixels_per_mm_camera": 52.31583786010742, "pixels_per_mm_projector": 4.2317657470703125, "real_world_ref_mm": 5.0 }, ``` ### shadow-session-arena-4-homography source: local data snapshot omnifin0-shadow-session-2026-08-25, sha256 816ed7c105e0fb776daa839fb233bcc9992d1280fa5b802164743a07e298185a path: /home/jeremy/orange_data/exp/unsorted/2026_08_25_23_12_06/citrus/citsess_59e779ca13bc9eaa4c11195d0b79ffe6fb3653e854a0d3bc93f95cd166b55b81_redbat.calibration_snapshot.json (lines 132-184) ```json "homography_matrix": { "attrs": { "arena_config_name": "arena_4", "axes": "x_right_y_down", "camera_id": "2010096", "canvas_name": "shadow", "coordinate_origin": "top_left", "dest_frame": "final_display_canvas_px", "homography_artifact_checksum_algorithm": "fnv1a64", "homography_artifact_checksum_fnv1a64": "f82c955660f61ee8", "homography_artifact_exists": "true", "homography_artifact_filename": "homography_arena_4_2010096.yml", "homography_artifact_mtime_unix_ns": 1786323758083198159, "homography_artifact_path": "/home/jeremy/citrus/targets/rigs/omnifin0/shadow/calibration_artifacts/homography_arena_4_2010096.yml", "homography_artifact_size_bytes": 1296, "homography_fit_inlier_count": 81, "homography_fit_max_reprojection_error_px": 0.26431522471725416, "homography_fit_point_count": 81, "homography_fit_quality_available": "true", "homography_fit_quality_schema": "citrus.homography_fit_quality.v1", "homography_fit_rms_reprojection_error_px": 0.12366124769422783, "homography_payload_source": "runtime_arena_config.homography_matrix", "homography_provenance_schema": "citrus.homography_provenance.v1", "image_space": "raw", "rig_id": "omnifin0", "runtime_matrix_checksum_algorithm": "sha256", "runtime_matrix_checksum_serialization": "json_row_major_float64_v1", "runtime_matrix_checksum_sha256": "sha256:8e4e0b0739547dc6901e0e6f5fe6757f65716e146f2644e660fb72de78e40637", "source_frame": "camera_view_px" }, "dtype": "float64", "shape": [ 3, 3 ], "value": [ [ 0.07941404014474829, -0.00035544630587712374, 1472.08739971268 ], [ -0.0009073157076933863, -0.08084017897724494, 504.9634861168206 ], [ -7.445148038954546e-07, -2.9615715082307834e-07, 1.0 ] ] }, ``` ## Canvas blindfish ### blindfish-canvas-size source: local data snapshot omnifin0-blindfish, sha256 1229038c835f09f053b2441b3e7e1338dea36e29abfb7827f7151cb9ac4fa1b4 path: /home/jeremy/citrus/targets/rigs/omnifin0/blindfish/blindfish.json (lines 536-538) ```json "canvas_height_px": 1080, "canvas_name": "blindfish", "canvas_width_px": 1920, ``` ### blindfish-arena-1 source: local data snapshot omnifin0-blindfish, sha256 1229038c835f09f053b2441b3e7e1338dea36e29abfb7827f7151cb9ac4fa1b4 path: /home/jeremy/citrus/targets/rigs/omnifin0/blindfish/blindfish.json (lines 3-73) ```json "arena_1": { "active_camera_id": "2010093", "arena_region_height_mm": 83.17204284667969, "arena_region_width_mm": 83.17204284667969, "calculated_z_eff_mm": 16.731597900390625, "calibration_pattern_mask_policy": "full_arena_unmasked", "calibration_pattern_mode": "rectangular_grid", "calibration_ring_chirality_marker_radius_scale": 1.2999999523162842, "calibration_ring_count": 4, "calibration_ring_dots_inner": 8, "calibration_ring_dots_outer": 32, "calibration_ring_include_center_dot": true, "calibration_ring_inner_radius_px": 40.0, "calibration_ring_orientation_marker_angle_deg": 0.0, "calibration_ring_orientation_marker_radius_scale": 1.600000023841858, "calibration_ring_outer_radius_px": 140.0, "calibration_ring_show_chirality_marker": false, "calibration_ring_show_orientation_marker": true, "calibration_verification_include_center_dot": true, "calibration_verification_inner_angle_offset_deg": 45.0, "calibration_verification_inner_point_count": 4, "calibration_verification_inner_radius_fraction": 0.3799999952316284, "calibration_verification_outer_angle_offset_deg": 22.5, "calibration_verification_outer_point_count": 8, "calibration_verification_outer_radius_fraction": 0.7799999713897705, "camera_calibrations": [ { "arena_center_x_px": 259, "arena_center_y_px": 332, "arena_height_px": 348, "arena_width_px": 348, "camera_id": "2010093", "homography_detector_strategy": "", "homography_fit_inlier_count": 0, "homography_fit_max_reprojection_error_px": 0.0, "homography_fit_method": "", "homography_fit_point_count": 0, "homography_fit_quality_available": false, "homography_fit_rms_reprojection_error_px": 0.0, "homography_image_path": "Cam2010093_arena1_homography.png", "native_height_px": 4512, "native_width_px": 4512, "pixels_per_mm_camera": 52.75507354736328, "pixels_per_mm_projector": 4.184098243713379, "real_world_ref_mm": 5.0, "scale_image_path": "Cam2010093_arena1_scale.png", "scale_models": [ { "clicked_points_camera_px": [ { "x": -1.0, "y": -1.0 }, { "x": -1.0, "y": -1.0 } ], "kind": "projective_local_jacobian_at_target_origin", "notes": "Loaded from immutable active projected-surface scale pointer", "pixels_per_mm_camera": 52.75507354736328, "pixels_per_mm_projector": 4.184098243713379, "real_world_ref_mm": 5.0, "scale_image_path": "/home/jeremy/orange_data/calibrations/sessions/calsess_2026_08_10T01_53_54Z_shadow/artifacts/Cam2010093_arena_1/scale_observations/calgrp_2026_08_10T01_53_53Z_shadow_projected_surface_scale_calibration_projected_surface_g1/observation.json", "status": "accepted", "target_plane": "projected_surface" } ] } ], "config_name": "arena_1", ``` ### blindfish-h-2010093 source: local data snapshot omnifin0-blindfish, sha256 0b1c0bccd1369faa4efa60fdd728350b9858be81d8f145198b47e91b1206a2ae path: /home/jeremy/citrus/targets/rigs/omnifin0/blindfish/calibration_artifacts/homography_arena_1_2010093.yml (lines 1-11) ```yaml %YAML:1.0 --- calibration_timestamp_utc: "2026-04-20T13:53:09Z" homography_matrix: !!opencv-matrix rows: 3 cols: 3 dt: d data: [ 0.081190495253022743, -5.8629227576639497e-05, 78.016343251990492, -6.615283571743281e-05, 0.08208723961407946, 145.61594704306023, -1.4179512772275522e-06, 8.1150695283403544e-07, 1. ] ``` ### blindfish-h-2010094 source: local data snapshot omnifin0-blindfish, sha256 e00bab2d53140a105d56c6ca332234533e2124d3878ad5fc71d98be3890f6f14 path: /home/jeremy/citrus/targets/rigs/omnifin0/blindfish/calibration_artifacts/homography_arena_2_2010094.yml (lines 1-11) ```yaml %YAML:1.0 --- calibration_timestamp_utc: "2026-04-20T13:41:24Z" homography_matrix: !!opencv-matrix rows: 3 cols: 3 dt: d data: [ 0.080939913970578259, -0.00058851917693874514, 546.50709930182188, 7.4047431215621808e-05, 0.081426285214485819, 150.95990421765154, -5.597081221294883e-07, -6.291259115207835e-07, 1. ] ``` ### blindfish-h-2010095 source: local data snapshot omnifin0-blindfish, sha256 cfaf7a25871a448a62637bfdf748afb9c0151093a4292a4ab2e86956a3c37562 path: /home/jeremy/citrus/targets/rigs/omnifin0/blindfish/calibration_artifacts/homography_arena_3_2010095.yml (lines 1-11) ```yaml %YAML:1.0 --- calibration_timestamp_utc: "2026-04-20T13:31:54Z" homography_matrix: !!opencv-matrix rows: 3 cols: 3 dt: d data: [ 0.081830026421205487, 0.00027137249386961022, 1000.2767635708324, 0.00030792815696202162, 0.08237628931575354, 144.9714247530712, -3.0271908617221341e-07, 3.5077112303254264e-07, 1. ] ``` ### blindfish-h-2010096 source: local data snapshot omnifin0-blindfish, sha256 5965502a4c77b94e7d096a444fb679a6322d1c608682aff0222920437dc51f1a path: /home/jeremy/citrus/targets/rigs/omnifin0/blindfish/calibration_artifacts/homography_arena_4_2010096.yml (lines 1-11) ```yaml %YAML:1.0 --- calibration_timestamp_utc: "2026-04-20T13:22:29Z" homography_matrix: !!opencv-matrix rows: 3 cols: 3 dt: d data: [ 0.082441037531989614, 0.0023408737657269587, 1453.1024204077116, 0.00043275717954872499, 0.083561105698659363, 136.43324401838655, -7.7015124750487782e-07, 1.696994773321424e-06, 1. ] ```