# TrueTrace

> TrueTrace (TrueTrace Data Services) captures and processes stereo egocentric data of real skilled work for robot learning, world models and embodied AI. Real workers are recorded doing their own jobs in operating factories, logistics stations and retail sites with a calibrated head-mounted stereo camera and IMU. Every episode is calibrated, synchronization-checked and annotated with 21-keypoint 3D hand pose and temporal action segments, then delivered as per-episode folders, HDF5 or MCAP with per-episode QC evidence.

## Offerings
- Curated datasets: exclusive or non-exclusive licensing; filter by task family, environment, duration and hand coverage.
- Custom collection: buyer defines tasks, environments, hardware and per-site or per-operator caps; TrueTrace returns a scene-by-scene plan of billable hours before committing, then delivers in batches.

## Data specification (reference stereo rig)
- Stereo RGB: 2 x 1920x1080 at 30 fps, fisheye pair (Kannala-Brandt), 62.18 mm baseline, per-frame sensor timestamps.
- IMU: accelerometer + gyroscope at ~477 Hz, each sample tagged with its camera frame index.
- Calibration: intrinsics, distortion, factory extrinsics, refined stereo extrinsics when drift is detected.
- 3D hand pose: both hands, 21 keypoints, 2D pixels plus metric 3D in the left-camera frame, confidence, per-keypoint reprojection error.
- Temporal annotation: task, action, objects, hands, language description, frame indices, review status, boundary tolerance.
- Stereo depth (add-on), QC metrics, SHA256 manifest.
- Formats: per-episode folders (MP4, CSV, JSON, JSONL), HDF5 (JPEG frames, int64 ns timestamps, per-frame language annotations), MCAP; LeRobot or custom schema on request.

## Quality gates (evaluation sample results)
- Stereo sync: p99 sensor-timestamp difference <= 1 ms (sample: 0.014 ms over 3,750 pairs).
- Dropped frames: none (sample: 0 on both cameras).
- IMU continuity: no gaps (sample: 0 gaps at 477 Hz).
- Calibration: median vertical disparity after rectification <= 1 px (sample: 1.49 px with factory extrinsics, flagged; 0.75 px after a 0.21 degree refinement).
- 3D hands: stereo pairs above 8 px median reprojection error dropped (sample: 90.8% of frames kept, median 3.16 px, p90 6.0 px).
- First buyer delivery: accepted; 98.0% of buyer-scored segments rated valid (some footage uncounted because it exceeded the buyer's platform quotas).

## Consent and privacy
- Written informed consent from every person on camera; written filming agreement with every site.
- Faces de-identified before delivery; no payment, membership or identity information captured; pseudonymous operator IDs.
- Per-batch SHA256 manifest, QC report and capture ledger.

## Contact
- Evaluation package (evaluation-only license): contact@truetracedata.com
- Website: https://truetracedata.com/