Known rig layouts on omnifin0

Canonical Owners

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;
};

{
    "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.",

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
  • stored in /rig_snapshot

This frame is not automatically inferred from homography or xrandr.

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
  • stored under /display_snapshot

This is not the same thing as physical projector-body orientation.

        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);

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

    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);
    }

        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;

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
  • direction basis is derived in src/calibration/direction_frame_mapping.h
  • saved H5 fields live under /calibration_snapshot/<camera_id> and /calibration_snapshot/arena_geometry

The OpenCV sidecar homography_<arena>_<camera>.yml and the H5 /calibration_snapshot/<camera_id>/homography_matrix represent the same direction:

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_height_px": 980,
    "canvas_name": "casper",
    "canvas_width_px": 1920,

        "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
        },

%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. ]

%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. ]

%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 ]

%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_height_px": 1080,
    "canvas_name": "shadow",
    "canvas_width_px": 1920

        "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",

%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. ]

%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. ]

%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. ]

%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. ]

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.

Per-camera homography

Per-camera group:

• /calibration_snapshot/<camera_id>

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=<camera_id> when present

Meaning:

• The stored homography direction is:

camera_view_px -> final_display_canvas_px

• Consumers that need camera overlay coordinates must invert it.

            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",

            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<double>(), H5::PredType::NATIVE_DOUBLE);
                WriteHomographyDatasetAttrs(matrix_dset, cam_calib.camera_id);
                WriteHomographyProvenanceAttrs(matrix_dset,
                                               homography_provenance,

  "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
  },

        "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"
        }

        "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
        },

          "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",
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            ],
            "value": [
              [
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          },

        "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,
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          "experimental_area_width_px": 335.66552734375,
          "x_axis_direction": "right",
          "y_axis_direction": "down"
        }

        "attrs": {
          "camera_view_down_in_canvas_angle_deg": -90.131103515625,
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          "direction_mapping_canvas_angle_convention": "0=right,90=down",
          "direction_mapping_handedness": "mirrored",
          "direction_mapping_ref_camera_x": 2247.4580078125,
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          "pixels_per_mm_projector": 4.195818901062012,
          "real_world_ref_mm": 5.0
        },

          "homography_matrix": {
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        "attrs": {
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        "attrs": {
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          "homography_matrix": {
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        "attrs": {
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          "homography_matrix": {
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    "canvas_height_px": 1080,
    "canvas_name": "blindfish",
    "canvas_width_px": 1920,

        "arena_1": {
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            "arena_region_width_mm": 83.17204284667969,
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            "calibration_pattern_mode": "rectangular_grid",
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            "calibration_verification_include_center_dot": true,
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            "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",

%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. ]

%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. ]

%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. ]

%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. ]