Calibration Bootstrap v1

PASS / FROZEN. Project DB v22 implements the immutable selected-execution snapshot, explicit cross-task mappings, representation cursor and calibration-scope attachment described below. The bounded artifact validator/importer produces explicit immutable IMPORTED_TRUSTED calibrations for the existing known-calibration Sparse SfM contract. It is not self-calibration inside Sparse SfM and never makes EXIF a scientific calibration source. Solver execution remains outside this importer and is not claimed as implemented by this stage.

Boundary and identity

Sparse SfM continues to consume an explicit Track Set and immutable calibration scope. Bootstrap artifacts can support a Lardon3DSparseCalibration; external poses, tracks, matches and points are diagnostics only and never become Lardon3D scientific reconstruction results. Each artifact identifies a calibration evidence run, not a Capture, Asset, image_id, path, basename, Task ID or external reconstruction. It records ordered representation hashes/dimensions, solver executable identity/model/configuration, initialization evidence, optimized parameters and validation diagnostics. Its SHA-256 is the immutable IMPORTED_TRUSTED provenance fingerprint.

Artifact format v1

The import API borrows at most 600000 artifact bytes and requires their SHA-256 to equal an independently supplied expected digest before parsing. The format is fixed-width little-endian; binary64 uses IEEE-754 bits, rejects non-finite values and canonicalizes negative zero before calibration publication. Native structs, padding, locale text and trailing bytes are never accepted.

magic                          8 bytes = ASCII "L3DCALB1"
format_version                 u32 = 1
model_kind                     u32 = PINHOLE(1)
model_version                  u32 = 1
entry_count                    u32, 1..4096 and equal to selected item_count
solver_executable_sha256       32 bytes, nonzero
solver_configuration_sha256    32 bytes, nonzero
initialization_evidence_sha256 32 bytes, nonzero
validation_evidence_sha256     32 bytes, nonzero
for each selected item in immutable item_index order:
    image_id                   u64
    representation_sha256      32 bytes
    width, height              u32, u32
    fx, fy, cx, cy             f64, f64, f64, f64
    k1, k2, p1, p2             f64, f64, f64, f64
    support_images             u32, nonzero
    support_observations       u32, nonzero
    reprojection_rmse_px       finite nonnegative f64
    maximum_parameter_delta    finite nonnegative f64
    validation_flags           u32 = 0x0f

The four v1 validation bits attest convergence, non-degenerate support, deterministic stability, and representative-coordinate equivalence to Lardon3D respectively. The importer requires all four; it does not silently derive missing evidence or invent a calibration threshold. image_id and representation SHA-256 must exactly match the durable selected item and its image asset. Width/height are artifact-owned geometry evidence and also enter calibration scientific identity. The artifact contains no external pose, point, track or match field, so those diagnostics cannot cross the import boundary.

Exact model requirement

Bootstrap v1 accepts only an exact equivalent of Lardon3D's OpenCV-style pinhole model with binary64 fx, fy, cx, cy, k1, k2, p1, p2:

x_d = x * (1 + k1*r2 + k2*r2*r2) + 2*p1*x*y + p2*(r2 + 2*x*x)
y_d = y * (1 + k1*r2 + k2*r2*r2) + p1*(r2 + 2*y*y) + 2*p2*x*y
u = fx*x_d + cx; v = fy*y_d + cy

The imported geometry is exactly the downstream Feature Store geometry. Models with active extra coefficients are rejected, never truncated. Representative coordinates must validate origin, axes, pixel convention and projection against the Lardon3D implementation before import.

Metadata, representations and failure state

Metadata is initialization/grouping evidence only. Orientation does not identify a physical camera, though coordinates must match downstream decoding. A6000 calibrates deterministic RAW-derived PNG geometry, never camera-JPEG geometry without a separately proven exact transform. Candidate A6000 groups use RAW geometry, lens evidence and exact EXIF focal only as solver inputs; zoom groups remain separate unless optimization proves equivalence. S21 uses its selected source JPEG geometry and solver-supported module grouping.

Bootstrap requires convergence, finite values, positive focal lengths, valid principal points, non-degenerate support, model compatibility and deterministic stability evidence. Unstable groups are expanded or partitioned; metadata interpolation and guessed calibration are prohibited. An affected selected image is CALIBRATION_UNAVAILABLE, not a quality rejection or corrupt source.

The real S21 and current A6000 Engine Bay selected campaigns are presently CALIBRATION_UNAVAILABLE because the available evidence is scientifically non-identifiable for the known-calibration contract. This is neither a source or quality failure nor a software failure. No pseudo-calibration, metadata interpolation or inferred import is permitted; real Sparse SfM is consequently BLOCKED_BY_KNOWN_CALIBRATION_DATA. The v22 normal suite passed 53/53, C17 syntax checks and git diff --check passed, targeted ASan/UBSan validation passed, and final review passed. The full ASan/UBSan suite remains qualified by third-party RADV LSan behavior and is not represented as a repository-wide clean sanitizer pass. This bootstrap infrastructure is therefore PASS / FROZEN; that lifecycle state applies to the bounded importer and persistence infrastructure, not to calibration of either real campaign or to real Sparse SfM execution.

A dedicated future physical calibration acquisition, with images and evidence adequate to establish an exact supported model for each relevant representation group, is recommended before attempting real known-calibration Sparse SfM. That acquisition is future field work, not an implemented solver, a change to the scientific contract, or permission to retrofit the present campaigns.

Execution relationship and resources

SCIENTIFIC_EXECUTABLE = QUALITY_SELECTED
                    intersection REPRESENTATION_READY
                    intersection CALIBRATION_ASSIGNED

Quality selection is snapshotted immutably. A durable path must retain explicit quality-group → campaign-group → Capture mappings: equal numeric group values from independent Task requests imply no identity. Source photos remain read-only; RAW bootstrap development processes one image at a time, with no campaign-wide decoded cache. Ticket-owned artifacts retain source/representation hashes, output dimensions, policy fingerprint and solver provenance.

Project DB v22 stores the ordered selected rows and advances representation publication one item at a time. Each row immutably declares either a Capture-owned SOURCE RAW asset_id for S3-B1 or that the representation is a source image and no RAW identity exists. Creation validates capture_source_assets.source_kind as RAW; later execution never resolves it from path, digest, basename, request source index or group number. An image_id is accepted only through the retained Capture's explicit capture_images relation. The calibration scope is attached only after all representations are durable and only when that existing immutable scope contains every selected image. These DB transitions are idempotent exact retries; they do not execute a solver or RAW developer and do not introduce a scheduler, worker pool, sidecar, or parallel resource owner.

Artifact validation completes before any publication. Calibration and scope creation then reuse the existing short Project DB transactions. A crash or final attachment conflict may therefore retain only immutable content-addressed calibration evidence; it cannot make the selected execution READY. An exact retry reuses that evidence and converges through the existing scope attachment. The importer has no Task, Queue or Governor ownership and holds only two arrays bounded by the selected item count; solver execution and one-at-a-time RAW development must be coordinated by the established runtime when invoked. The thin durable raw.develop Task provides that S3-B1 execution boundary for one exact capture_id/source_asset_id pair. It reuses the existing single-active Queue and Governor, never advances the selected-execution cursor itself, and retains its published image_id before terminal generic Task progress can become durable. Its reservation owns one CPU thread, one I/O slot and a conservative 2 GiB working allowance for the bounded 40 MP decoder and publication buffers only for the callback lifetime; this operational admission bound is not a scientific Capture-count limit.

Calibration Tooling v1

PASS / FROZEN. calibration_tooling.h is the bounded production bridge between a completed external CALIBRATION_SCIENCE_V1 evidence bundle and this importer. It does not solve calibration, parse an unbounded user document, own an acquisition session, or add a persistent schema. The caller supplies a borrowed manifest bounded to 4,096 views and 4,096 selected image bindings, with hashes for the target, optical state and four required evidence artifacts. It declares and checks the frozen ChArUco family, 9 x 7 geometry, DICT_5X5_100, 30.000 mm squares, 21.000 mm markers, 270.000 x 210.000 mm active area and at least a 30.000 mm white border; the target hash binds the corresponding immutable physical-evidence record. Each view records an accepted/rejected decision and rejected views retain a nonzero rejection reason; accepted statistics alone are evaluated. Each entry carries the same optical-state manifest hash and remains in the exact selected item order required by the importer (it is not reordered by image id). The validator applies every hard Science v1 acceptance rule before allocating or calling Project DB. The producer writes the exact existing L3DCALB1 v1 little-endian record into caller-owned storage (at most 600,000 bytes), hashes it deterministically, and invokes only lardon3d_calibration_bootstrap_import(...).

Invalid evidence therefore creates no calibration row and never reaches READY. A valid exact retry reuses the frozen importer’s immutable calibrations, scope and selected-execution attachment. Tooling stops at READY; it never creates a Sparse SfM Task, and it cannot retro-calibrate the historical S21 campaign. A higher-level selected-execution coordinator remains separate scope.

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