multi-cam-extrinsics: add inter-camera time-offset repeatability (repeat_dt_ms) for the 2 cross-model rigs

CamCalib/2026-05-09/camcalib-mvis_elp_t265-extr-real.json

@@ -25,13 +25,14 @@
   "verification": {
     "status": "self_reported",
     "method": "re-run-eval",
-    "notes": "Extrinsic repeatability across 5 collections of the same rigid rig: std of the inter-camera translation vector = 1.78 mm, rotation std = 0.1791 deg (mean baseline 88.9 mm). The rig is fixed, so spread = precision. Self-reported (CamCalib benchmark), not Calibench-CI-verified."
+    "notes": "Extrinsic repeatability across 5 collections of the same rigid rig: std of the inter-camera translation vector = 1.78 mm, rotation std = 0.1791 deg (mean baseline 88.9 mm). The rig is fixed, so spread = precision. Self-reported (CamCalib benchmark), not Calibench-CI-verified. Inter-camera time offset (cam\u2192ref): mean -115.924 ms, std 1.2315 ms across 5 collections (temporal-alignment repeatability; the cameras are not hardware-synced)."
   },
   "metrics": {
     "real": {
       "repeat_extr_trans_mm": 1.78,
       "repeat_extr_rot_deg": 0.1791,
-      "reproj_rmse_px": 12.995
+      "reproj_rmse_px": 12.995,
+      "repeat_dt_ms": 1.2315
     }
   },
   "timestamp": "2026-06-13T00:00:00Z",

CamCalib/2026-05-09/camcalib-mvis_elp_t265-extr-real.output.json

@@ -68,5 +68,32 @@
       "baseline_mm": 88.626,
       "used_in_repeatability": true
     }
+  ],
+  "time_offsets_ms": [
+    {
+      "collection": "bag1",
+      "cam": 0,
+      "dt_ms": -114.173
+    },
+    {
+      "collection": "bag2",
+      "cam": 0,
+      "dt_ms": -117.8187
+    },
+    {
+      "collection": "bag3",
+      "cam": 0,
+      "dt_ms": -116.6536
+    },
+    {
+      "collection": "bag4",
+      "cam": 0,
+      "dt_ms": -115.405
+    },
+    {
+      "collection": "bag5",
+      "cam": 0,
+      "dt_ms": -115.5698
+    }
   ]
 }

CamCalib/2026-05-09/camcalib-virig_flir_t265-extr-real.json

@@ -25,13 +25,14 @@
   "verification": {
     "status": "self_reported",
     "method": "re-run-eval",
-    "notes": "Extrinsic repeatability across 5 collections of the same rigid rig: std of the inter-camera translation vector = 5.656 mm, rotation std = 0.202 deg (mean baseline 76.0 mm). The rig is fixed, so spread = precision. Self-reported (CamCalib benchmark), not Calibench-CI-verified."
+    "notes": "Extrinsic repeatability across 5 collections of the same rigid rig: std of the inter-camera translation vector = 5.656 mm, rotation std = 0.202 deg (mean baseline 76.0 mm). The rig is fixed, so spread = precision. Self-reported (CamCalib benchmark), not Calibench-CI-verified. Inter-camera time offset (cam\u2192ref): mean -3.473 ms, std 0.7355 ms across 5 collections (temporal-alignment repeatability; the cameras are not hardware-synced)."
   },
   "metrics": {
     "real": {
       "repeat_extr_trans_mm": 5.656,
       "repeat_extr_rot_deg": 0.202,
-      "reproj_rmse_px": 1.153
+      "reproj_rmse_px": 1.153,
+      "repeat_dt_ms": 0.7355
     }
   },
   "timestamp": "2026-06-13T00:00:00Z",

CamCalib/2026-05-09/camcalib-virig_flir_t265-extr-real.output.json

@@ -68,5 +68,32 @@
       "baseline_mm": 77.816,
       "used_in_repeatability": true
     }
+  ],
+  "time_offsets_ms": [
+    {
+      "collection": "bag1",
+      "cam": 1,
+      "dt_ms": -3.9461
+    },
+    {
+      "collection": "bag2",
+      "cam": 1,
+      "dt_ms": -2.3937
+    },
+    {
+      "collection": "bag3",
+      "cam": 1,
+      "dt_ms": -4.2047
+    },
+    {
+      "collection": "bag4",
+      "cam": 1,
+      "dt_ms": -4.0313
+    },
+    {
+      "collection": "bag6",
+      "cam": 1,
+      "dt_ms": -2.7882
+    }
   ]
 }

tracks.json

@@ -470,6 +470,7 @@
           "columns": [
             "repeat_extr_trans_mm",
             "repeat_extr_rot_deg",
+            "repeat_dt_ms",
             "reproj_rmse_px"
           ]
         },