Add files using upload-large-folder tool

.gitattributes

@@ -70,3 +70,6 @@ scans/blue_cylinder/raw/20261029_165810_867787/ZED-M_SN12933256.svo2 filter=lfs
 scans/orange_pulley_retake/raw/20261029_153214_197280/ZED-M_SN12933256.svo2 filter=lfs diff=lfs merge=lfs -text
 scans/black_pulley_holder/raw/20261029_170923_824462/ZED-M_SN12933256.svo2 filter=lfs diff=lfs merge=lfs -text
 scans/test_oct11/raw/20261011_155218_806614/ZED-M_SN12933256.svo2 filter=lfs diff=lfs merge=lfs -text
+scans/test_oct11/converted/sessions/session_20261011_155218_806614/videos/zed_12933256_depth_zed_sdk_neural_plus.zdepth filter=lfs diff=lfs merge=lfs -text
+scans/test_oct11/converted/sessions/session_20261011_155218_806614/videos/zed_12933256_right_rgb.mkv filter=lfs diff=lfs merge=lfs -text
+scans/test_oct11/converted/sessions/session_20261011_155218_806614/videos/zed_12933256_left_rgb.mkv filter=lfs diff=lfs merge=lfs -text

scans/test_oct11/converted/sessions/session_20261011_155218_806614/metadata/calibration.json

@@ -0,0 +1,777 @@
+{
+  "camera_frame_conventions": {
+    "zed_12933256_depth_zed_sdk_neural_plus": {
+      "color_camera_frame": null,
+      "depth_camera_frame": "zed_12933256_left_rgb_camera",
+      "depth_frame_convention": "ZED sl.MEASURE.DEPTH depth maps are expressed in the left RGB camera optical frame.",
+      "ir_left_camera_frame": null,
+      "ir_right_camera_frame": null,
+      "left_camera_frame": "zed_12933256_left_rgb_camera",
+      "right_camera_frame": "zed_12933256_right_rgb_camera",
+      "stereo_transform_convention": "zed_12933256_left_rgb_camera_T_zed_12933256_right_rgb_camera maps points from the right RGB optical frame into the left RGB optical frame."
+    },
+    "zed_12933256_left_rgb": {
+      "color_camera_frame": null,
+      "depth_camera_frame": "zed_12933256_left_rgb_camera",
+      "depth_frame_convention": "ZED sl.MEASURE.DEPTH depth maps are expressed in the left RGB camera optical frame.",
+      "ir_left_camera_frame": null,
+      "ir_right_camera_frame": null,
+      "left_camera_frame": "zed_12933256_left_rgb_camera",
+      "right_camera_frame": "zed_12933256_right_rgb_camera",
+      "stereo_transform_convention": "zed_12933256_left_rgb_camera_T_zed_12933256_right_rgb_camera maps points from the right RGB optical frame into the left RGB optical frame."
+    },
+    "zed_12933256_right_rgb": {
+      "color_camera_frame": null,
+      "depth_camera_frame": "zed_12933256_left_rgb_camera",
+      "depth_frame_convention": "ZED sl.MEASURE.DEPTH depth maps are expressed in the left RGB camera optical frame.",
+      "ir_left_camera_frame": null,
+      "ir_right_camera_frame": null,
+      "left_camera_frame": "zed_12933256_left_rgb_camera",
+      "right_camera_frame": "zed_12933256_right_rgb_camera",
+      "stereo_transform_convention": "zed_12933256_left_rgb_camera_T_zed_12933256_right_rgb_camera maps points from the right RGB optical frame into the left RGB optical frame."
+    }
+  },
+  "camera_intrinsics": {
+    "zed_12933256_depth_zed_sdk_neural_plus": {
+      "calibration_transforms": [
+        {
+          "matrix": [
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.06304030865430832
+            ],
+            [
+              0.0,
+              1.0,
+              0.0,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "matrix_storage_order": "row_major",
+          "name": "zed_12933256_left_rgb_camera_T_zed_12933256_right_rgb_camera",
+          "source": "zed_sdk:svo2:stereo_transform",
+          "source_file": "/home/shaunak/Code/grasp/belt_perception/recordings/20261011_155218_806614/ZED-M_SN12933256.svo2",
+          "source_file_sha256": "42122f02cb2531b836062de702942409d954ee48c3073d9c0c2e7a1d6ad42ecc",
+          "transform_convention": "a_T_b maps points from frame b into frame a: p_a = T * p_b",
+          "transform_direction": "p_zed_12933256_left_rgb_camera = T * p_zed_12933256_right_rgb_camera",
+          "units": {
+            "rotation": "unitless_rotation_matrix",
+            "translation": "meters"
+          },
+          "valid_stream_ids": [
+            "zed_12933256_left_rgb",
+            "zed_12933256_right_rgb",
+            "zed_12933256_depth_zed_sdk_neural_plus"
+          ]
+        },
+        {
+          "matrix": [
+            [
+              1.0,
+              0.0,
+              0.0,
+              -0.06304030865430832
+            ],
+            [
+              0.0,
+              1.0,
+              0.0,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "matrix_storage_order": "row_major",
+          "name": "zed_12933256_right_rgb_camera_T_zed_12933256_left_rgb_camera",
+          "source": "zed_sdk:svo2:stereo_transform_inverse",
+          "source_file": "/home/shaunak/Code/grasp/belt_perception/recordings/20261011_155218_806614/ZED-M_SN12933256.svo2",
+          "source_file_sha256": "42122f02cb2531b836062de702942409d954ee48c3073d9c0c2e7a1d6ad42ecc",
+          "transform_convention": "a_T_b maps points from frame b into frame a: p_a = T * p_b",
+          "transform_direction": "p_zed_12933256_right_rgb_camera = T * p_zed_12933256_left_rgb_camera",
+          "units": {
+            "rotation": "unitless_rotation_matrix",
+            "translation": "meters"
+          },
+          "valid_stream_ids": [
+            "zed_12933256_left_rgb",
+            "zed_12933256_right_rgb",
+            "zed_12933256_depth_zed_sdk_neural_plus"
+          ]
+        }
+      ],
+      "depth_camera_frame": "zed_12933256_left_rgb_camera",
+      "depth_frame_convention": "ZED sl.MEASURE.DEPTH depth maps are expressed in the left RGB camera optical frame.",
+      "depth_mode": null,
+      "depth_scale": 1.0,
+      "distortion_coefficients": null,
+      "distortion_model": "zed_sdk",
+      "intrinsics_resolution": [
+        2208,
+        1242
+      ],
+      "left": {
+        "cx": 1172.2921142578125,
+        "cy": 609.015380859375,
+        "fx": 1462.048828125,
+        "fy": 1462.048828125
+      },
+      "left_camera_frame": "zed_12933256_left_rgb_camera",
+      "left_rgb_camera_T_right_rgb_camera": [
+        [
+          1.0,
+          0.0,
+          0.0,
+          0.06304030865430832
+        ],
+        [
+          0.0,
+          1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          0.0,
+          1.0,
+          0.0
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "optical_frames": {
+        "zed_12933256_left_rgb_camera": {
+          "device_serial": "12933256",
+          "role": "depth",
+          "same_as_left_rgb": true,
+          "sensor_type": "zed"
+        },
+        "zed_12933256_right_rgb_camera": {
+          "device_serial": "12933256",
+          "role": "right_rgb",
+          "sensor_type": "zed"
+        }
+      },
+      "right": {
+        "cx": 1172.2921142578125,
+        "cy": 609.015380859375,
+        "fx": 1462.048828125,
+        "fy": 1462.048828125
+      },
+      "right_camera_frame": "zed_12933256_right_rgb_camera",
+      "right_rgb_camera_T_left_rgb_camera": [
+        [
+          1.0,
+          0.0,
+          0.0,
+          -0.06304030865430832
+        ],
+        [
+          0.0,
+          1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          0.0,
+          1.0,
+          0.0
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "sensor_type": "zed",
+      "source_serial": "12933256",
+      "stereo_baseline_m": 0.06304030865430832,
+      "stereo_baseline_units": "meters",
+      "stereo_transform_convention": "zed_12933256_left_rgb_camera_T_zed_12933256_right_rgb_camera maps points from the right RGB optical frame into the left RGB optical frame."
+    },
+    "zed_12933256_left_rgb": {
+      "calibration_transforms": [
+        {
+          "matrix": [
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.06304030865430832
+            ],
+            [
+              0.0,
+              1.0,
+              0.0,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "matrix_storage_order": "row_major",
+          "name": "zed_12933256_left_rgb_camera_T_zed_12933256_right_rgb_camera",
+          "source": "zed_sdk:svo2:stereo_transform",
+          "source_file": "/home/shaunak/Code/grasp/belt_perception/recordings/20261011_155218_806614/ZED-M_SN12933256.svo2",
+          "source_file_sha256": "42122f02cb2531b836062de702942409d954ee48c3073d9c0c2e7a1d6ad42ecc",
+          "transform_convention": "a_T_b maps points from frame b into frame a: p_a = T * p_b",
+          "transform_direction": "p_zed_12933256_left_rgb_camera = T * p_zed_12933256_right_rgb_camera",
+          "units": {
+            "rotation": "unitless_rotation_matrix",
+            "translation": "meters"
+          },
+          "valid_stream_ids": [
+            "zed_12933256_left_rgb",
+            "zed_12933256_right_rgb",
+            "zed_12933256_depth_zed_sdk_neural_plus"
+          ]
+        },
+        {
+          "matrix": [
+            [
+              1.0,
+              0.0,
+              0.0,
+              -0.06304030865430832
+            ],
+            [
+              0.0,
+              1.0,
+              0.0,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "matrix_storage_order": "row_major",
+          "name": "zed_12933256_right_rgb_camera_T_zed_12933256_left_rgb_camera",
+          "source": "zed_sdk:svo2:stereo_transform_inverse",
+          "source_file": "/home/shaunak/Code/grasp/belt_perception/recordings/20261011_155218_806614/ZED-M_SN12933256.svo2",
+          "source_file_sha256": "42122f02cb2531b836062de702942409d954ee48c3073d9c0c2e7a1d6ad42ecc",
+          "transform_convention": "a_T_b maps points from frame b into frame a: p_a = T * p_b",
+          "transform_direction": "p_zed_12933256_right_rgb_camera = T * p_zed_12933256_left_rgb_camera",
+          "units": {
+            "rotation": "unitless_rotation_matrix",
+            "translation": "meters"
+          },
+          "valid_stream_ids": [
+            "zed_12933256_left_rgb",
+            "zed_12933256_right_rgb",
+            "zed_12933256_depth_zed_sdk_neural_plus"
+          ]
+        }
+      ],
+      "depth_camera_frame": "zed_12933256_left_rgb_camera",
+      "depth_frame_convention": "ZED sl.MEASURE.DEPTH depth maps are expressed in the left RGB camera optical frame.",
+      "depth_mode": null,
+      "depth_scale": 1.0,
+      "distortion_coefficients": null,
+      "distortion_model": "zed_sdk",
+      "intrinsics_resolution": [
+        2208,
+        1242
+      ],
+      "left": {
+        "cx": 1172.2921142578125,
+        "cy": 609.015380859375,
+        "fx": 1462.048828125,
+        "fy": 1462.048828125
+      },
+      "left_camera_frame": "zed_12933256_left_rgb_camera",
+      "left_rgb_camera_T_right_rgb_camera": [
+        [
+          1.0,
+          0.0,
+          0.0,
+          0.06304030865430832
+        ],
+        [
+          0.0,
+          1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          0.0,
+          1.0,
+          0.0
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "optical_frames": {
+        "zed_12933256_left_rgb_camera": {
+          "device_serial": "12933256",
+          "role": "depth",
+          "same_as_left_rgb": true,
+          "sensor_type": "zed"
+        },
+        "zed_12933256_right_rgb_camera": {
+          "device_serial": "12933256",
+          "role": "right_rgb",
+          "sensor_type": "zed"
+        }
+      },
+      "right": {
+        "cx": 1172.2921142578125,
+        "cy": 609.015380859375,
+        "fx": 1462.048828125,
+        "fy": 1462.048828125
+      },
+      "right_camera_frame": "zed_12933256_right_rgb_camera",
+      "right_rgb_camera_T_left_rgb_camera": [
+        [
+          1.0,
+          0.0,
+          0.0,
+          -0.06304030865430832
+        ],
+        [
+          0.0,
+          1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          0.0,
+          1.0,
+          0.0
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "sensor_type": "zed",
+      "source_serial": "12933256",
+      "stereo_baseline_m": 0.06304030865430832,
+      "stereo_baseline_units": "meters",
+      "stereo_transform_convention": "zed_12933256_left_rgb_camera_T_zed_12933256_right_rgb_camera maps points from the right RGB optical frame into the left RGB optical frame."
+    },
+    "zed_12933256_right_rgb": {
+      "calibration_transforms": [
+        {
+          "matrix": [
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.06304030865430832
+            ],
+            [
+              0.0,
+              1.0,
+              0.0,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "matrix_storage_order": "row_major",
+          "name": "zed_12933256_left_rgb_camera_T_zed_12933256_right_rgb_camera",
+          "source": "zed_sdk:svo2:stereo_transform",
+          "source_file": "/home/shaunak/Code/grasp/belt_perception/recordings/20261011_155218_806614/ZED-M_SN12933256.svo2",
+          "source_file_sha256": "42122f02cb2531b836062de702942409d954ee48c3073d9c0c2e7a1d6ad42ecc",
+          "transform_convention": "a_T_b maps points from frame b into frame a: p_a = T * p_b",
+          "transform_direction": "p_zed_12933256_left_rgb_camera = T * p_zed_12933256_right_rgb_camera",
+          "units": {
+            "rotation": "unitless_rotation_matrix",
+            "translation": "meters"
+          },
+          "valid_stream_ids": [
+            "zed_12933256_left_rgb",
+            "zed_12933256_right_rgb",
+            "zed_12933256_depth_zed_sdk_neural_plus"
+          ]
+        },
+        {
+          "matrix": [
+            [
+              1.0,
+              0.0,
+              0.0,
+              -0.06304030865430832
+            ],
+            [
+              0.0,
+              1.0,
+              0.0,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "matrix_storage_order": "row_major",
+          "name": "zed_12933256_right_rgb_camera_T_zed_12933256_left_rgb_camera",
+          "source": "zed_sdk:svo2:stereo_transform_inverse",
+          "source_file": "/home/shaunak/Code/grasp/belt_perception/recordings/20261011_155218_806614/ZED-M_SN12933256.svo2",
+          "source_file_sha256": "42122f02cb2531b836062de702942409d954ee48c3073d9c0c2e7a1d6ad42ecc",
+          "transform_convention": "a_T_b maps points from frame b into frame a: p_a = T * p_b",
+          "transform_direction": "p_zed_12933256_right_rgb_camera = T * p_zed_12933256_left_rgb_camera",
+          "units": {
+            "rotation": "unitless_rotation_matrix",
+            "translation": "meters"
+          },
+          "valid_stream_ids": [
+            "zed_12933256_left_rgb",
+            "zed_12933256_right_rgb",
+            "zed_12933256_depth_zed_sdk_neural_plus"
+          ]
+        }
+      ],
+      "depth_camera_frame": "zed_12933256_left_rgb_camera",
+      "depth_frame_convention": "ZED sl.MEASURE.DEPTH depth maps are expressed in the left RGB camera optical frame.",
+      "depth_mode": null,
+      "depth_scale": 1.0,
+      "distortion_coefficients": null,
+      "distortion_model": "zed_sdk",
+      "intrinsics_resolution": [
+        2208,
+        1242
+      ],
+      "left": {
+        "cx": 1172.2921142578125,
+        "cy": 609.015380859375,
+        "fx": 1462.048828125,
+        "fy": 1462.048828125
+      },
+      "left_camera_frame": "zed_12933256_left_rgb_camera",
+      "left_rgb_camera_T_right_rgb_camera": [
+        [
+          1.0,
+          0.0,
+          0.0,
+          0.06304030865430832
+        ],
+        [
+          0.0,
+          1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          0.0,
+          1.0,
+          0.0
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "optical_frames": {
+        "zed_12933256_left_rgb_camera": {
+          "device_serial": "12933256",
+          "role": "depth",
+          "same_as_left_rgb": true,
+          "sensor_type": "zed"
+        },
+        "zed_12933256_right_rgb_camera": {
+          "device_serial": "12933256",
+          "role": "right_rgb",
+          "sensor_type": "zed"
+        }
+      },
+      "right": {
+        "cx": 1172.2921142578125,
+        "cy": 609.015380859375,
+        "fx": 1462.048828125,
+        "fy": 1462.048828125
+      },
+      "right_camera_frame": "zed_12933256_right_rgb_camera",
+      "right_rgb_camera_T_left_rgb_camera": [
+        [
+          1.0,
+          0.0,
+          0.0,
+          -0.06304030865430832
+        ],
+        [
+          0.0,
+          1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          0.0,
+          1.0,
+          0.0
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "sensor_type": "zed",
+      "source_serial": "12933256",
+      "stereo_baseline_m": 0.06304030865430832,
+      "stereo_baseline_units": "meters",
+      "stereo_transform_convention": "zed_12933256_left_rgb_camera_T_zed_12933256_right_rgb_camera maps points from the right RGB optical frame into the left RGB optical frame."
+    }
+  },
+  "coordinate_frame_names": {
+    "calib_board": "calibration board frame",
+    "camera": "camera optical frame for the associated stream",
+    "panda_link0": "Franka base link frame when available",
+    "world": "workspace/world frame when available",
+    "zed_12933256_left_rgb_camera": "zed optical frame (depth)",
+    "zed_12933256_right_rgb_camera": "zed optical frame (right_rgb)"
+  },
+  "depth_scale": {
+    "zed_12933256_depth_zed_sdk_neural_plus": 1.0,
+    "zed_12933256_left_rgb": 1.0,
+    "zed_12933256_right_rgb": 1.0
+  },
+  "distortion_coefficients": {
+    "zed_12933256_depth_zed_sdk_neural_plus": null,
+    "zed_12933256_left_rgb": null,
+    "zed_12933256_right_rgb": null
+  },
+  "distortion_model": {
+    "zed_12933256_depth_zed_sdk_neural_plus": "zed_sdk",
+    "zed_12933256_left_rgb": "zed_sdk",
+    "zed_12933256_right_rgb": "zed_sdk"
+  },
+  "franka_calibration": null,
+  "intrinsics_resolution": {
+    "zed_12933256_depth_zed_sdk_neural_plus": [
+      2208,
+      1242
+    ],
+    "zed_12933256_left_rgb": [
+      2208,
+      1242
+    ],
+    "zed_12933256_right_rgb": [
+      2208,
+      1242
+    ]
+  },
+  "matrix_storage_order": "row_major",
+  "optical_frames": {
+    "zed_12933256_left_rgb_camera": {
+      "device_serial": "12933256",
+      "role": "depth",
+      "same_as_left_rgb": true,
+      "sensor_type": "zed"
+    },
+    "zed_12933256_right_rgb_camera": {
+      "device_serial": "12933256",
+      "role": "right_rgb",
+      "sensor_type": "zed"
+    }
+  },
+  "packaged_calibration": {
+    "converted_relative_package_dir": null,
+    "manifest": null,
+    "missing_recording_serials": [
+      "12933256"
+    ],
+    "packaged_camera_serials": [],
+    "recording_camera_serials": [
+      "12933256"
+    ],
+    "recording_relative_source_dir": "calibration",
+    "source": "packaged-if-present",
+    "status": "missing",
+    "transforms_index": null,
+    "warnings": [
+      "No packaged calibration directory was found."
+    ]
+  },
+  "source_file_hashes": {},
+  "stereo_baseline_m": {
+    "zed_12933256_depth_zed_sdk_neural_plus": 0.06304030865430832,
+    "zed_12933256_left_rgb": 0.06304030865430832,
+    "zed_12933256_right_rgb": 0.06304030865430832
+  },
+  "stereo_baseline_units": "meters",
+  "stream_frame_assignment": {
+    "zed_12933256_depth_zed_sdk_neural_plus": "zed_12933256_left_rgb_camera",
+    "zed_12933256_left_rgb": "zed_12933256_left_rgb_camera",
+    "zed_12933256_right_rgb": "zed_12933256_right_rgb_camera"
+  },
+  "transform_convention": "a_T_b maps points from frame b into frame a: p_a = T * p_b",
+  "transforms": [
+    {
+      "matrix": [
+        [
+          1.0,
+          0.0,
+          0.0,
+          0.06304030865430832
+        ],
+        [
+          0.0,
+          1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          0.0,
+          1.0,
+          0.0
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "matrix_storage_order": "row_major",
+      "name": "zed_12933256_left_rgb_camera_T_zed_12933256_right_rgb_camera",
+      "source": "zed_sdk:svo2:stereo_transform",
+      "source_file": "/home/shaunak/Code/grasp/belt_perception/recordings/20261011_155218_806614/ZED-M_SN12933256.svo2",
+      "source_file_sha256": "42122f02cb2531b836062de702942409d954ee48c3073d9c0c2e7a1d6ad42ecc",
+      "transform_convention": "a_T_b maps points from frame b into frame a: p_a = T * p_b",
+      "transform_direction": "p_zed_12933256_left_rgb_camera = T * p_zed_12933256_right_rgb_camera",
+      "units": {
+        "rotation": "unitless_rotation_matrix",
+        "translation": "meters"
+      },
+      "valid_stream_ids": [
+        "zed_12933256_left_rgb",
+        "zed_12933256_right_rgb",
+        "zed_12933256_depth_zed_sdk_neural_plus"
+      ]
+    },
+    {
+      "matrix": [
+        [
+          1.0,
+          0.0,
+          0.0,
+          -0.06304030865430832
+        ],
+        [
+          0.0,
+          1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          0.0,
+          1.0,
+          0.0
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "matrix_storage_order": "row_major",
+      "name": "zed_12933256_right_rgb_camera_T_zed_12933256_left_rgb_camera",
+      "source": "zed_sdk:svo2:stereo_transform_inverse",
+      "source_file": "/home/shaunak/Code/grasp/belt_perception/recordings/20261011_155218_806614/ZED-M_SN12933256.svo2",
+      "source_file_sha256": "42122f02cb2531b836062de702942409d954ee48c3073d9c0c2e7a1d6ad42ecc",
+      "transform_convention": "a_T_b maps points from frame b into frame a: p_a = T * p_b",
+      "transform_direction": "p_zed_12933256_right_rgb_camera = T * p_zed_12933256_left_rgb_camera",
+      "units": {
+        "rotation": "unitless_rotation_matrix",
+        "translation": "meters"
+      },
+      "valid_stream_ids": [
+        "zed_12933256_left_rgb",
+        "zed_12933256_right_rgb",
+        "zed_12933256_depth_zed_sdk_neural_plus"
+      ]
+    }
+  ],
+  "units": {
+    "depth": "stream-specific, see per-stream depth_scale",
+    "rotation": "unitless",
+    "translation": "meters"
+  },
+  "valid_stream_ids": [
+    "zed_12933256_left_rgb",
+    "zed_12933256_right_rgb",
+    "zed_12933256_depth_zed_sdk_neural_plus"
+  ]
+}

scans/test_oct11/converted/sessions/session_20261011_155218_806614/metadata/camera_settings_propagation.json

@@ -0,0 +1,5 @@
+{
+  "artifact_relpaths": [],
+  "status": "missing",
+  "summary": null
+}

scans/test_oct11/converted/sessions/session_20261011_155218_806614/metadata/conversion_plan.json

@@ -0,0 +1,853 @@
+{
+  "calibration": {
+    "calibration_dir": "calibration",
+    "manifest_path": null,
+    "missing_recording_serials": [
+      "12933256"
+    ],
+    "packaged_camera_serials": [],
+    "recording_camera_serials": [
+      "12933256"
+    ],
+    "source": "packaged-if-present",
+    "status": "missing",
+    "transforms_index": null,
+    "transforms_index_path": null,
+    "warnings": [
+      "No packaged calibration directory was found."
+    ],
+    "world_T_camera_bundle_path": null
+  },
+  "camera_settings": {
+    "artifact_paths": {},
+    "status": "missing",
+    "summary": null
+  },
+  "depth_encoder": "zdepth",
+  "recording_dir": "/home/shaunak/Code/grasp/belt_perception/recordings/20261011_155218_806614",
+  "recording_manifest_path": "recording_manifest.json",
+  "recording_metadata_path": "recording_metadata.json",
+  "streams": [
+    {
+      "actual_profile": {
+        "actual_fps": 15.0,
+        "actual_fps_source": "camera_information.camera_configuration.fps",
+        "depth_mode": "NEURAL_PLUS",
+        "fps": 15.0,
+        "image_format": "rgb8",
+        "requested_fps": 15.0,
+        "resolution": [
+          1242,
+          2208
+        ],
+        "stream_profile_name": "HD2K",
+        "svo_compression_mode": "H265_LOSSLESS",
+        "svo_compression_mode_source": "requested_enum_passed_to_sl.RecordingParameters"
+      },
+      "camera_type": "zed",
+      "depth_encoder": null,
+      "first_official_native_frame_index": 1,
+      "modality": "left_rgb",
+      "native_frame_mapping": {
+        "converter_mapping": "official sidecar row R maps to native decoded frame index 1 + R; native frames [0, 1) were written during post-native priming after enable_recording() and are not listed in the official sidecar.",
+        "first_official_native_frame_index": 1,
+        "native_container_includes_post_native_priming_frames": true,
+        "native_container_includes_preroll_frames": false,
+        "native_frame_index_origin": "zero_based_sequential_grab_after_enable_recording_including_post_native_priming",
+        "official_frame_count": 148,
+        "post_native_priming_frame_count": 1,
+        "preroll_frame_count": 15
+      },
+      "physical_camera_id": "zed_12933256",
+      "realsense_depth_scale_m": null,
+      "realsense_ir_format": null,
+      "recording_path": "ZED-M_SN12933256.svo2",
+      "requested_profile": {
+        "container": "svo2",
+        "depth_mode": "neural_plus",
+        "fps": 15,
+        "resolution_hw": [
+          1242,
+          2208
+        ],
+        "svo_compression_mode": "h265_lossless",
+        "zed_resolution": "hd2k"
+      },
+      "row_count": 148,
+      "serial_number": "12933256",
+      "stream_id": "zed_12933256_left_rgb",
+      "stream_manifest_path": "streams/zed_12933256_left_rgb/stream_manifest.json",
+      "timestamp_summary": {
+        "expected_fps": 15.0,
+        "gap_fail_threshold_ns": 233333334,
+        "large_gap_count": 3,
+        "large_gap_count_total": 3,
+        "max_device_gap_ns": 132934000,
+        "max_gap_ns_total": 132934000,
+        "max_host_gap_ns": 129145260,
+        "max_non_startup_gap_ns": 132934000,
+        "nominal_frame_period_ns": 66666667,
+        "non_startup_large_gap_count": 3,
+        "recorder_gap_report": {
+          "expected_fps": 15.0,
+          "large_gap_count": 3,
+          "large_gaps": [
+            {
+              "from_row": 2,
+              "gap_ns": 132934000,
+              "to_row": 3
+            },
+            {
+              "from_row": 4,
+              "gap_ns": 132897000,
+              "to_row": 5
+            },
+            {
+              "from_row": 8,
+              "gap_ns": 132932000,
+              "to_row": 9
+            }
+          ],
+          "max_gap_ns": 132934000,
+          "median_gap_ns": 66349000.0,
+          "observed_fps": 14.682252093669172,
+          "warnings": [
+            "large_timestamp_gap"
+          ]
+        },
+        "row_count": 148,
+        "startup_excluded_large_gap_count": 0,
+        "startup_gap_excluded_from_warnings": true,
+        "validation_decision": "passed_with_warnings",
+        "validation_metrics": {
+          "expected_fps": 15.0,
+          "gap_policy": "warn",
+          "large_gap_warning_threshold_ns": 100000000,
+          "max_stall_fail_threshold_ns": 233333334,
+          "max_within_stream_inter_frame_gap_multiplier": 1.99400999002995,
+          "max_within_stream_inter_frame_gap_ns": 132934000,
+          "median_period_error_ratio": 0.004780004976099975,
+          "median_within_stream_inter_frame_period_ns": 66348000.0,
+          "nominal_frame_period_ns": 66666667,
+          "observed_fps": 14.778366010729904,
+          "observed_fps_ratio": 0.9852244007153269,
+          "rate_policy": "warn",
+          "recorder_timestamp_summary": {
+            "expected_fps": 15.0,
+            "large_gap_count": 3,
+            "large_gaps": [
+              {
+                "from_row": 2,
+                "gap_ns": 132934000,
+                "to_row": 3
+              },
+              {
+                "from_row": 4,
+                "gap_ns": 132897000,
+                "to_row": 5
+              },
+              {
+                "from_row": 8,
+                "gap_ns": 132932000,
+                "to_row": 9
+              }
+            ],
+            "max_gap_ns": 132934000,
+            "median_gap_ns": 66349000.0,
+            "observed_fps": 14.682252093669172,
+            "warnings": [
+              "large_timestamp_gap"
+            ]
+          },
+          "startup_gap_excluded_from_warnings": true,
+          "timing_column": "device_timestamp_ns",
+          "within_stream_inter_frame_interval_count": 147,
+          "within_stream_large_gap_count": 3,
+          "within_stream_large_gap_rate": 0.02040816326530612
+        },
+        "validation_reasons": [
+          "sparse_within_stream_inter_frame_timestamp_gaps"
+        ],
+        "warnings": [
+          "sparse_within_stream_inter_frame_timestamp_gap"
+        ]
+      },
+      "timestamps_path": "streams/zed_12933256_left_rgb/timestamps.parquet",
+      "zed_depth_mode": null
+    },
+    {
+      "actual_profile": {
+        "actual_fps": 15.0,
+        "actual_fps_source": "camera_information.camera_configuration.fps",
+        "depth_mode": "NEURAL_PLUS",
+        "fps": 15.0,
+        "image_format": "rgb8",
+        "requested_fps": 15.0,
+        "resolution": [
+          1242,
+          2208
+        ],
+        "stream_profile_name": "HD2K",
+        "svo_compression_mode": "H265_LOSSLESS",
+        "svo_compression_mode_source": "requested_enum_passed_to_sl.RecordingParameters"
+      },
+      "camera_type": "zed",
+      "depth_encoder": null,
+      "first_official_native_frame_index": 1,
+      "modality": "right_rgb",
+      "native_frame_mapping": {
+        "converter_mapping": "official sidecar row R maps to native decoded frame index 1 + R; native frames [0, 1) were written during post-native priming after enable_recording() and are not listed in the official sidecar.",
+        "first_official_native_frame_index": 1,
+        "native_container_includes_post_native_priming_frames": true,
+        "native_container_includes_preroll_frames": false,
+        "native_frame_index_origin": "zero_based_sequential_grab_after_enable_recording_including_post_native_priming",
+        "official_frame_count": 148,
+        "post_native_priming_frame_count": 1,
+        "preroll_frame_count": 15
+      },
+      "physical_camera_id": "zed_12933256",
+      "realsense_depth_scale_m": null,
+      "realsense_ir_format": null,
+      "recording_path": "ZED-M_SN12933256.svo2",
+      "requested_profile": {
+        "container": "svo2",
+        "depth_mode": "neural_plus",
+        "fps": 15,
+        "resolution_hw": [
+          1242,
+          2208
+        ],
+        "svo_compression_mode": "h265_lossless",
+        "zed_resolution": "hd2k"
+      },
+      "row_count": 148,
+      "serial_number": "12933256",
+      "stream_id": "zed_12933256_right_rgb",
+      "stream_manifest_path": "streams/zed_12933256_right_rgb/stream_manifest.json",
+      "timestamp_summary": {
+        "expected_fps": 15.0,
+        "gap_fail_threshold_ns": 233333334,
+        "large_gap_count": 3,
+        "large_gap_count_total": 3,
+        "max_device_gap_ns": 132934000,
+        "max_gap_ns_total": 132934000,
+        "max_host_gap_ns": 129145260,
+        "max_non_startup_gap_ns": 132934000,
+        "nominal_frame_period_ns": 66666667,
+        "non_startup_large_gap_count": 3,
+        "recorder_gap_report": {
+          "expected_fps": 15.0,
+          "large_gap_count": 3,
+          "large_gaps": [
+            {
+              "from_row": 2,
+              "gap_ns": 132934000,
+              "to_row": 3
+            },
+            {
+              "from_row": 4,
+              "gap_ns": 132897000,
+              "to_row": 5
+            },
+            {
+              "from_row": 8,
+              "gap_ns": 132932000,
+              "to_row": 9
+            }
+          ],
+          "max_gap_ns": 132934000,
+          "median_gap_ns": 66349000.0,
+          "observed_fps": 14.682252093669172,
+          "warnings": [
+            "large_timestamp_gap"
+          ]
+        },
+        "row_count": 148,
+        "startup_excluded_large_gap_count": 0,
+        "startup_gap_excluded_from_warnings": true,
+        "validation_decision": "passed_with_warnings",
+        "validation_metrics": {
+          "expected_fps": 15.0,
+          "gap_policy": "warn",
+          "large_gap_warning_threshold_ns": 100000000,
+          "max_stall_fail_threshold_ns": 233333334,
+          "max_within_stream_inter_frame_gap_multiplier": 1.99400999002995,
+          "max_within_stream_inter_frame_gap_ns": 132934000,
+          "median_period_error_ratio": 0.004780004976099975,
+          "median_within_stream_inter_frame_period_ns": 66348000.0,
+          "nominal_frame_period_ns": 66666667,
+          "observed_fps": 14.778366010729904,
+          "observed_fps_ratio": 0.9852244007153269,
+          "rate_policy": "warn",
+          "recorder_timestamp_summary": {
+            "expected_fps": 15.0,
+            "large_gap_count": 3,
+            "large_gaps": [
+              {
+                "from_row": 2,
+                "gap_ns": 132934000,
+                "to_row": 3
+              },
+              {
+                "from_row": 4,
+                "gap_ns": 132897000,
+                "to_row": 5
+              },
+              {
+                "from_row": 8,
+                "gap_ns": 132932000,
+                "to_row": 9
+              }
+            ],
+            "max_gap_ns": 132934000,
+            "median_gap_ns": 66349000.0,
+            "observed_fps": 14.682252093669172,
+            "warnings": [
+              "large_timestamp_gap"
+            ]
+          },
+          "startup_gap_excluded_from_warnings": true,
+          "timing_column": "device_timestamp_ns",
+          "within_stream_inter_frame_interval_count": 147,
+          "within_stream_large_gap_count": 3,
+          "within_stream_large_gap_rate": 0.02040816326530612
+        },
+        "validation_reasons": [
+          "sparse_within_stream_inter_frame_timestamp_gaps"
+        ],
+        "warnings": [
+          "sparse_within_stream_inter_frame_timestamp_gap"
+        ]
+      },
+      "timestamps_path": "streams/zed_12933256_right_rgb/timestamps.parquet",
+      "zed_depth_mode": null
+    },
+    {
+      "actual_profile": {
+        "actual_fps": 15.0,
+        "actual_fps_source": "camera_information.camera_configuration.fps",
+        "depth_mode": "NEURAL_PLUS",
+        "fps": 15.0,
+        "image_format": "rgb8",
+        "requested_fps": 15.0,
+        "resolution": [
+          1242,
+          2208
+        ],
+        "stream_profile_name": "HD2K",
+        "svo_compression_mode": "H265_LOSSLESS",
+        "svo_compression_mode_source": "requested_enum_passed_to_sl.RecordingParameters"
+      },
+      "camera_type": "zed",
+      "depth_encoder": "zdepth",
+      "first_official_native_frame_index": 1,
+      "modality": "depth",
+      "native_frame_mapping": {
+        "converter_mapping": "official sidecar row R maps to native decoded frame index 1 + R; native frames [0, 1) were written during post-native priming after enable_recording() and are not listed in the official sidecar.",
+        "first_official_native_frame_index": 1,
+        "native_container_includes_post_native_priming_frames": true,
+        "native_container_includes_preroll_frames": false,
+        "native_frame_index_origin": "zero_based_sequential_grab_after_enable_recording_including_post_native_priming",
+        "official_frame_count": 148,
+        "post_native_priming_frame_count": 1,
+        "preroll_frame_count": 15
+      },
+      "physical_camera_id": "zed_12933256",
+      "realsense_depth_scale_m": null,
+      "realsense_ir_format": null,
+      "recording_path": "ZED-M_SN12933256.svo2",
+      "requested_profile": {
+        "container": "svo2",
+        "depth_mode": "neural_plus",
+        "fps": 15,
+        "resolution_hw": [
+          1242,
+          2208
+        ],
+        "svo_compression_mode": "h265_lossless",
+        "zed_resolution": "hd2k"
+      },
+      "row_count": 148,
+      "serial_number": "12933256",
+      "stream_id": "zed_12933256_depth_zed_sdk_neural_plus",
+      "stream_manifest_path": "streams/zed_12933256_depth_zed_sdk_neural_plus/stream_manifest.json",
+      "timestamp_summary": {
+        "expected_fps": 15.0,
+        "gap_fail_threshold_ns": 233333334,
+        "large_gap_count": 3,
+        "large_gap_count_total": 3,
+        "max_device_gap_ns": 132934000,
+        "max_gap_ns_total": 132934000,
+        "max_host_gap_ns": 129145260,
+        "max_non_startup_gap_ns": 132934000,
+        "nominal_frame_period_ns": 66666667,
+        "non_startup_large_gap_count": 3,
+        "recorder_gap_report": {
+          "expected_fps": 15.0,
+          "large_gap_count": 3,
+          "large_gaps": [
+            {
+              "from_row": 2,
+              "gap_ns": 132934000,
+              "to_row": 3
+            },
+            {
+              "from_row": 4,
+              "gap_ns": 132897000,
+              "to_row": 5
+            },
+            {
+              "from_row": 8,
+              "gap_ns": 132932000,
+              "to_row": 9
+            }
+          ],
+          "max_gap_ns": 132934000,
+          "median_gap_ns": 66349000.0,
+          "observed_fps": 14.682252093669172,
+          "warnings": [
+            "large_timestamp_gap"
+          ]
+        },
+        "row_count": 148,
+        "startup_excluded_large_gap_count": 0,
+        "startup_gap_excluded_from_warnings": true,
+        "validation_decision": "passed_with_warnings",
+        "validation_metrics": {
+          "expected_fps": 15.0,
+          "gap_policy": "warn",
+          "large_gap_warning_threshold_ns": 100000000,
+          "max_stall_fail_threshold_ns": 233333334,
+          "max_within_stream_inter_frame_gap_multiplier": 1.99400999002995,
+          "max_within_stream_inter_frame_gap_ns": 132934000,
+          "median_period_error_ratio": 0.004780004976099975,
+          "median_within_stream_inter_frame_period_ns": 66348000.0,
+          "nominal_frame_period_ns": 66666667,
+          "observed_fps": 14.778366010729904,
+          "observed_fps_ratio": 0.9852244007153269,
+          "rate_policy": "warn",
+          "recorder_timestamp_summary": {
+            "expected_fps": 15.0,
+            "large_gap_count": 3,
+            "large_gaps": [
+              {
+                "from_row": 2,
+                "gap_ns": 132934000,
+                "to_row": 3
+              },
+              {
+                "from_row": 4,
+                "gap_ns": 132897000,
+                "to_row": 5
+              },
+              {
+                "from_row": 8,
+                "gap_ns": 132932000,
+                "to_row": 9
+              }
+            ],
+            "max_gap_ns": 132934000,
+            "median_gap_ns": 66349000.0,
+            "observed_fps": 14.682252093669172,
+            "warnings": [
+              "large_timestamp_gap"
+            ]
+          },
+          "startup_gap_excluded_from_warnings": true,
+          "timing_column": "device_timestamp_ns",
+          "within_stream_inter_frame_interval_count": 147,
+          "within_stream_large_gap_count": 3,
+          "within_stream_large_gap_rate": 0.02040816326530612
+        },
+        "validation_reasons": [
+          "sparse_within_stream_inter_frame_timestamp_gaps"
+        ],
+        "warnings": [
+          "sparse_within_stream_inter_frame_timestamp_gap"
+        ]
+      },
+      "timestamps_path": "streams/zed_12933256_depth_zed_sdk_neural_plus/timestamps.parquet",
+      "zed_depth_mode": "NEURAL_PLUS"
+    }
+  ],
+  "timestamp_policy": {
+    "authoritative_timing_source": "streams/<stream_id>/timestamps.parquet",
+    "container_pts_for_synchronization": false,
+    "large_gap_fail_multiplier": 3.5,
+    "max_large_gap_rate": 0.03,
+    "native_frame_mapping": "native_container_frame_index = first_official_native_frame_index + official_frame_index",
+    "recording_timestamp_gap_warnings": {
+      "status": "passed_with_warnings",
+      "streams": {
+        "zed_12933256_depth_zed_sdk_neural_plus": {
+          "decision": "passed_with_warnings",
+          "plan_warnings": [
+            "sparse_within_stream_inter_frame_timestamp_gap"
+          ],
+          "recorder_timestamp_summary": {
+            "expected_fps": 15.0,
+            "large_gap_count": 3,
+            "large_gaps": [
+              {
+                "from_row": 2,
+                "gap_ns": 132934000,
+                "to_row": 3
+              },
+              {
+                "from_row": 4,
+                "gap_ns": 132897000,
+                "to_row": 5
+              },
+              {
+                "from_row": 8,
+                "gap_ns": 132932000,
+                "to_row": 9
+              }
+            ],
+            "max_gap_ns": 132934000,
+            "median_gap_ns": 66349000.0,
+            "observed_fps": 14.682252093669172,
+            "warnings": [
+              "large_timestamp_gap"
+            ]
+          }
+        },
+        "zed_12933256_left_rgb": {
+          "decision": "passed_with_warnings",
+          "plan_warnings": [
+            "sparse_within_stream_inter_frame_timestamp_gap"
+          ],
+          "recorder_timestamp_summary": {
+            "expected_fps": 15.0,
+            "large_gap_count": 3,
+            "large_gaps": [
+              {
+                "from_row": 2,
+                "gap_ns": 132934000,
+                "to_row": 3
+              },
+              {
+                "from_row": 4,
+                "gap_ns": 132897000,
+                "to_row": 5
+              },
+              {
+                "from_row": 8,
+                "gap_ns": 132932000,
+                "to_row": 9
+              }
+            ],
+            "max_gap_ns": 132934000,
+            "median_gap_ns": 66349000.0,
+            "observed_fps": 14.682252093669172,
+            "warnings": [
+              "large_timestamp_gap"
+            ]
+          }
+        },
+        "zed_12933256_right_rgb": {
+          "decision": "passed_with_warnings",
+          "plan_warnings": [
+            "sparse_within_stream_inter_frame_timestamp_gap"
+          ],
+          "recorder_timestamp_summary": {
+            "expected_fps": 15.0,
+            "large_gap_count": 3,
+            "large_gaps": [
+              {
+                "from_row": 2,
+                "gap_ns": 132934000,
+                "to_row": 3
+              },
+              {
+                "from_row": 4,
+                "gap_ns": 132897000,
+                "to_row": 5
+              },
+              {
+                "from_row": 8,
+                "gap_ns": 132932000,
+                "to_row": 9
+              }
+            ],
+            "max_gap_ns": 132934000,
+            "median_gap_ns": 66349000.0,
+            "observed_fps": 14.682252093669172,
+            "warnings": [
+              "large_timestamp_gap"
+            ]
+          }
+        }
+      },
+      "timestamp_gap_policy": "warn"
+    },
+    "timestamp_gap_policy": "warn",
+    "timestamp_rate_policy": "warn",
+    "within_stream_inter_frame_timestamp_validation": {
+      "cross_camera_sync_note": "Cross-camera synchronization and alignment are evaluated separately (validate_session), not by this within-stream gap policy.",
+      "policy": {
+        "fail_on_duplicate_timestamps": true,
+        "fail_on_missing_timestamps": true,
+        "fail_on_non_monotonic_timestamps": true,
+        "gap_policy": "warn",
+        "large_gap_warning_multiplier": 1.5,
+        "max_gap_fail_multiplier": 3.5,
+        "max_large_gap_count": null,
+        "max_large_gap_rate": 0.03,
+        "median_period_tolerance_ratio": 0.05,
+        "min_observed_fps_ratio": 0.98,
+        "rate_policy": "warn"
+      },
+      "scope": "within_stream_inter_frame_timestamp_validation",
+      "status": "passed_with_warnings",
+      "streams": {
+        "zed_12933256_depth_zed_sdk_neural_plus": {
+          "decision": "passed_with_warnings",
+          "metrics": {
+            "expected_fps": 15.0,
+            "gap_policy": "warn",
+            "large_gap_warning_threshold_ns": 100000000,
+            "max_stall_fail_threshold_ns": 233333334,
+            "max_within_stream_inter_frame_gap_multiplier": 1.99400999002995,
+            "max_within_stream_inter_frame_gap_ns": 132934000,
+            "median_period_error_ratio": 0.004780004976099975,
+            "median_within_stream_inter_frame_period_ns": 66348000.0,
+            "nominal_frame_period_ns": 66666667,
+            "observed_fps": 14.778366010729904,
+            "observed_fps_ratio": 0.9852244007153269,
+            "rate_policy": "warn",
+            "recorder_timestamp_summary": {
+              "expected_fps": 15.0,
+              "large_gap_count": 3,
+              "large_gaps": [
+                {
+                  "from_row": 2,
+                  "gap_ns": 132934000,
+                  "to_row": 3
+                },
+                {
+                  "from_row": 4,
+                  "gap_ns": 132897000,
+                  "to_row": 5
+                },
+                {
+                  "from_row": 8,
+                  "gap_ns": 132932000,
+                  "to_row": 9
+                }
+              ],
+              "max_gap_ns": 132934000,
+              "median_gap_ns": 66349000.0,
+              "observed_fps": 14.682252093669172,
+              "warnings": [
+                "large_timestamp_gap"
+              ]
+            },
+            "startup_gap_excluded_from_warnings": true,
+            "timing_column": "device_timestamp_ns",
+            "within_stream_inter_frame_interval_count": 147,
+            "within_stream_large_gap_count": 3,
+            "within_stream_large_gap_rate": 0.02040816326530612
+          },
+          "reasons": [
+            "sparse_within_stream_inter_frame_timestamp_gaps"
+          ],
+          "recorder_timestamp_summary": {
+            "expected_fps": 15.0,
+            "large_gap_count": 3,
+            "large_gaps": [
+              {
+                "from_row": 2,
+                "gap_ns": 132934000,
+                "to_row": 3
+              },
+              {
+                "from_row": 4,
+                "gap_ns": 132897000,
+                "to_row": 5
+              },
+              {
+                "from_row": 8,
+                "gap_ns": 132932000,
+                "to_row": 9
+              }
+            ],
+            "max_gap_ns": 132934000,
+            "median_gap_ns": 66349000.0,
+            "observed_fps": 14.682252093669172,
+            "warnings": [
+              "large_timestamp_gap"
+            ]
+          },
+          "warnings": [
+            "sparse_within_stream_inter_frame_timestamp_gap"
+          ]
+        },
+        "zed_12933256_left_rgb": {
+          "decision": "passed_with_warnings",
+          "metrics": {
+            "expected_fps": 15.0,
+            "gap_policy": "warn",
+            "large_gap_warning_threshold_ns": 100000000,
+            "max_stall_fail_threshold_ns": 233333334,
+            "max_within_stream_inter_frame_gap_multiplier": 1.99400999002995,
+            "max_within_stream_inter_frame_gap_ns": 132934000,
+            "median_period_error_ratio": 0.004780004976099975,
+            "median_within_stream_inter_frame_period_ns": 66348000.0,
+            "nominal_frame_period_ns": 66666667,
+            "observed_fps": 14.778366010729904,
+            "observed_fps_ratio": 0.9852244007153269,
+            "rate_policy": "warn",
+            "recorder_timestamp_summary": {
+              "expected_fps": 15.0,
+              "large_gap_count": 3,
+              "large_gaps": [
+                {
+                  "from_row": 2,
+                  "gap_ns": 132934000,
+                  "to_row": 3
+                },
+                {
+                  "from_row": 4,
+                  "gap_ns": 132897000,
+                  "to_row": 5
+                },
+                {
+                  "from_row": 8,
+                  "gap_ns": 132932000,
+                  "to_row": 9
+                }
+              ],
+              "max_gap_ns": 132934000,
+              "median_gap_ns": 66349000.0,
+              "observed_fps": 14.682252093669172,
+              "warnings": [
+                "large_timestamp_gap"
+              ]
+            },
+            "startup_gap_excluded_from_warnings": true,
+            "timing_column": "device_timestamp_ns",
+            "within_stream_inter_frame_interval_count": 147,
+            "within_stream_large_gap_count": 3,
+            "within_stream_large_gap_rate": 0.02040816326530612
+          },
+          "reasons": [
+            "sparse_within_stream_inter_frame_timestamp_gaps"
+          ],
+          "recorder_timestamp_summary": {
+            "expected_fps": 15.0,
+            "large_gap_count": 3,
+            "large_gaps": [
+              {
+                "from_row": 2,
+                "gap_ns": 132934000,
+                "to_row": 3
+              },
+              {
+                "from_row": 4,
+                "gap_ns": 132897000,
+                "to_row": 5
+              },
+              {
+                "from_row": 8,
+                "gap_ns": 132932000,
+                "to_row": 9
+              }
+            ],
+            "max_gap_ns": 132934000,
+            "median_gap_ns": 66349000.0,
+            "observed_fps": 14.682252093669172,
+            "warnings": [
+              "large_timestamp_gap"
+            ]
+          },
+          "warnings": [
+            "sparse_within_stream_inter_frame_timestamp_gap"
+          ]
+        },
+        "zed_12933256_right_rgb": {
+          "decision": "passed_with_warnings",
+          "metrics": {
+            "expected_fps": 15.0,
+            "gap_policy": "warn",
+            "large_gap_warning_threshold_ns": 100000000,
+            "max_stall_fail_threshold_ns": 233333334,
+            "max_within_stream_inter_frame_gap_multiplier": 1.99400999002995,
+            "max_within_stream_inter_frame_gap_ns": 132934000,
+            "median_period_error_ratio": 0.004780004976099975,
+            "median_within_stream_inter_frame_period_ns": 66348000.0,
+            "nominal_frame_period_ns": 66666667,
+            "observed_fps": 14.778366010729904,
+            "observed_fps_ratio": 0.9852244007153269,
+            "rate_policy": "warn",
+            "recorder_timestamp_summary": {
+              "expected_fps": 15.0,
+              "large_gap_count": 3,
+              "large_gaps": [
+                {
+                  "from_row": 2,
+                  "gap_ns": 132934000,
+                  "to_row": 3
+                },
+                {
+                  "from_row": 4,
+                  "gap_ns": 132897000,
+                  "to_row": 5
+                },
+                {
+                  "from_row": 8,
+                  "gap_ns": 132932000,
+                  "to_row": 9
+                }
+              ],
+              "max_gap_ns": 132934000,
+              "median_gap_ns": 66349000.0,
+              "observed_fps": 14.682252093669172,
+              "warnings": [
+                "large_timestamp_gap"
+              ]
+            },
+            "startup_gap_excluded_from_warnings": true,
+            "timing_column": "device_timestamp_ns",
+            "within_stream_inter_frame_interval_count": 147,
+            "within_stream_large_gap_count": 3,
+            "within_stream_large_gap_rate": 0.02040816326530612
+          },
+          "reasons": [
+            "sparse_within_stream_inter_frame_timestamp_gaps"
+          ],
+          "recorder_timestamp_summary": {
+            "expected_fps": 15.0,
+            "large_gap_count": 3,
+            "large_gaps": [
+              {
+                "from_row": 2,
+                "gap_ns": 132934000,
+                "to_row": 3
+              },
+              {
+                "from_row": 4,
+                "gap_ns": 132897000,
+                "to_row": 5
+              },
+              {
+                "from_row": 8,
+                "gap_ns": 132932000,
+                "to_row": 9
+              }
+            ],
+            "max_gap_ns": 132934000,
+            "median_gap_ns": 66349000.0,
+            "observed_fps": 14.682252093669172,
+            "warnings": [
+              "large_timestamp_gap"
+            ]
+          },
+          "warnings": [
+            "sparse_within_stream_inter_frame_timestamp_gap"
+          ]
+        }
+      }
+    }
+  }
+}

scans/test_oct11/converted/sessions/session_20261011_155218_806614/metadata/conversion_plan_validation_report.json

@@ -0,0 +1,787 @@
+{
+  "authoritative_timestamps": "streams/<stream_id>/timestamps.parquet",
+  "calibration": {
+    "calibration_dir": "calibration",
+    "manifest_path": null,
+    "missing_recording_serials": [
+      "12933256"
+    ],
+    "packaged_camera_serials": [],
+    "recording_camera_serials": [
+      "12933256"
+    ],
+    "source": "packaged-if-present",
+    "status": "missing",
+    "transforms_index": null,
+    "transforms_index_path": null,
+    "warnings": [
+      "No packaged calibration directory was found."
+    ],
+    "world_T_camera_bundle_path": null
+  },
+  "camera_settings": {
+    "artifact_paths": {},
+    "status": "missing",
+    "summary": null
+  },
+  "container_pts_for_synchronization": false,
+  "recording_timestamp_gap_warnings": {
+    "status": "passed_with_warnings",
+    "streams": {
+      "zed_12933256_depth_zed_sdk_neural_plus": {
+        "decision": "passed_with_warnings",
+        "plan_warnings": [
+          "sparse_within_stream_inter_frame_timestamp_gap"
+        ],
+        "recorder_timestamp_summary": {
+          "expected_fps": 15.0,
+          "large_gap_count": 3,
+          "large_gaps": [
+            {
+              "from_row": 2,
+              "gap_ns": 132934000,
+              "to_row": 3
+            },
+            {
+              "from_row": 4,
+              "gap_ns": 132897000,
+              "to_row": 5
+            },
+            {
+              "from_row": 8,
+              "gap_ns": 132932000,
+              "to_row": 9
+            }
+          ],
+          "max_gap_ns": 132934000,
+          "median_gap_ns": 66349000.0,
+          "observed_fps": 14.682252093669172,
+          "warnings": [
+            "large_timestamp_gap"
+          ]
+        }
+      },
+      "zed_12933256_left_rgb": {
+        "decision": "passed_with_warnings",
+        "plan_warnings": [
+          "sparse_within_stream_inter_frame_timestamp_gap"
+        ],
+        "recorder_timestamp_summary": {
+          "expected_fps": 15.0,
+          "large_gap_count": 3,
+          "large_gaps": [
+            {
+              "from_row": 2,
+              "gap_ns": 132934000,
+              "to_row": 3
+            },
+            {
+              "from_row": 4,
+              "gap_ns": 132897000,
+              "to_row": 5
+            },
+            {
+              "from_row": 8,
+              "gap_ns": 132932000,
+              "to_row": 9
+            }
+          ],
+          "max_gap_ns": 132934000,
+          "median_gap_ns": 66349000.0,
+          "observed_fps": 14.682252093669172,
+          "warnings": [
+            "large_timestamp_gap"
+          ]
+        }
+      },
+      "zed_12933256_right_rgb": {
+        "decision": "passed_with_warnings",
+        "plan_warnings": [
+          "sparse_within_stream_inter_frame_timestamp_gap"
+        ],
+        "recorder_timestamp_summary": {
+          "expected_fps": 15.0,
+          "large_gap_count": 3,
+          "large_gaps": [
+            {
+              "from_row": 2,
+              "gap_ns": 132934000,
+              "to_row": 3
+            },
+            {
+              "from_row": 4,
+              "gap_ns": 132897000,
+              "to_row": 5
+            },
+            {
+              "from_row": 8,
+              "gap_ns": 132932000,
+              "to_row": 9
+            }
+          ],
+          "max_gap_ns": 132934000,
+          "median_gap_ns": 66349000.0,
+          "observed_fps": 14.682252093669172,
+          "warnings": [
+            "large_timestamp_gap"
+          ]
+        }
+      }
+    },
+    "timestamp_gap_policy": "warn"
+  },
+  "status": "passed_with_warnings",
+  "stream_count": 3,
+  "stream_ids": [
+    "zed_12933256_left_rgb",
+    "zed_12933256_right_rgb",
+    "zed_12933256_depth_zed_sdk_neural_plus"
+  ],
+  "timestamp_policy": {
+    "authoritative_timing_source": "streams/<stream_id>/timestamps.parquet",
+    "container_pts_for_synchronization": false,
+    "large_gap_fail_multiplier": 3.5,
+    "max_large_gap_rate": 0.03,
+    "native_frame_mapping": "native_container_frame_index = first_official_native_frame_index + official_frame_index",
+    "recording_timestamp_gap_warnings": {
+      "status": "passed_with_warnings",
+      "streams": {
+        "zed_12933256_depth_zed_sdk_neural_plus": {
+          "decision": "passed_with_warnings",
+          "plan_warnings": [
+            "sparse_within_stream_inter_frame_timestamp_gap"
+          ],
+          "recorder_timestamp_summary": {
+            "expected_fps": 15.0,
+            "large_gap_count": 3,
+            "large_gaps": [
+              {
+                "from_row": 2,
+                "gap_ns": 132934000,
+                "to_row": 3
+              },
+              {
+                "from_row": 4,
+                "gap_ns": 132897000,
+                "to_row": 5
+              },
+              {
+                "from_row": 8,
+                "gap_ns": 132932000,
+                "to_row": 9
+              }
+            ],
+            "max_gap_ns": 132934000,
+            "median_gap_ns": 66349000.0,
+            "observed_fps": 14.682252093669172,
+            "warnings": [
+              "large_timestamp_gap"
+            ]
+          }
+        },
+        "zed_12933256_left_rgb": {
+          "decision": "passed_with_warnings",
+          "plan_warnings": [
+            "sparse_within_stream_inter_frame_timestamp_gap"
+          ],
+          "recorder_timestamp_summary": {
+            "expected_fps": 15.0,
+            "large_gap_count": 3,
+            "large_gaps": [
+              {
+                "from_row": 2,
+                "gap_ns": 132934000,
+                "to_row": 3
+              },
+              {
+                "from_row": 4,
+                "gap_ns": 132897000,
+                "to_row": 5
+              },
+              {
+                "from_row": 8,
+                "gap_ns": 132932000,
+                "to_row": 9
+              }
+            ],
+            "max_gap_ns": 132934000,
+            "median_gap_ns": 66349000.0,
+            "observed_fps": 14.682252093669172,
+            "warnings": [
+              "large_timestamp_gap"
+            ]
+          }
+        },
+        "zed_12933256_right_rgb": {
+          "decision": "passed_with_warnings",
+          "plan_warnings": [
+            "sparse_within_stream_inter_frame_timestamp_gap"
+          ],
+          "recorder_timestamp_summary": {
+            "expected_fps": 15.0,
+            "large_gap_count": 3,
+            "large_gaps": [
+              {
+                "from_row": 2,
+                "gap_ns": 132934000,
+                "to_row": 3
+              },
+              {
+                "from_row": 4,
+                "gap_ns": 132897000,
+                "to_row": 5
+              },
+              {
+                "from_row": 8,
+                "gap_ns": 132932000,
+                "to_row": 9
+              }
+            ],
+            "max_gap_ns": 132934000,
+            "median_gap_ns": 66349000.0,
+            "observed_fps": 14.682252093669172,
+            "warnings": [
+              "large_timestamp_gap"
+            ]
+          }
+        }
+      },
+      "timestamp_gap_policy": "warn"
+    },
+    "timestamp_gap_policy": "warn",
+    "timestamp_rate_policy": "warn",
+    "within_stream_inter_frame_timestamp_validation": {
+      "cross_camera_sync_note": "Cross-camera synchronization and alignment are evaluated separately (validate_session), not by this within-stream gap policy.",
+      "policy": {
+        "fail_on_duplicate_timestamps": true,
+        "fail_on_missing_timestamps": true,
+        "fail_on_non_monotonic_timestamps": true,
+        "gap_policy": "warn",
+        "large_gap_warning_multiplier": 1.5,
+        "max_gap_fail_multiplier": 3.5,
+        "max_large_gap_count": null,
+        "max_large_gap_rate": 0.03,
+        "median_period_tolerance_ratio": 0.05,
+        "min_observed_fps_ratio": 0.98,
+        "rate_policy": "warn"
+      },
+      "scope": "within_stream_inter_frame_timestamp_validation",
+      "status": "passed_with_warnings",
+      "streams": {
+        "zed_12933256_depth_zed_sdk_neural_plus": {
+          "decision": "passed_with_warnings",
+          "metrics": {
+            "expected_fps": 15.0,
+            "gap_policy": "warn",
+            "large_gap_warning_threshold_ns": 100000000,
+            "max_stall_fail_threshold_ns": 233333334,
+            "max_within_stream_inter_frame_gap_multiplier": 1.99400999002995,
+            "max_within_stream_inter_frame_gap_ns": 132934000,
+            "median_period_error_ratio": 0.004780004976099975,
+            "median_within_stream_inter_frame_period_ns": 66348000.0,
+            "nominal_frame_period_ns": 66666667,
+            "observed_fps": 14.778366010729904,
+            "observed_fps_ratio": 0.9852244007153269,
+            "rate_policy": "warn",
+            "recorder_timestamp_summary": {
+              "expected_fps": 15.0,
+              "large_gap_count": 3,
+              "large_gaps": [
+                {
+                  "from_row": 2,
+                  "gap_ns": 132934000,
+                  "to_row": 3
+                },
+                {
+                  "from_row": 4,
+                  "gap_ns": 132897000,
+                  "to_row": 5
+                },
+                {
+                  "from_row": 8,
+                  "gap_ns": 132932000,
+                  "to_row": 9
+                }
+              ],
+              "max_gap_ns": 132934000,
+              "median_gap_ns": 66349000.0,
+              "observed_fps": 14.682252093669172,
+              "warnings": [
+                "large_timestamp_gap"
+              ]
+            },
+            "startup_gap_excluded_from_warnings": true,
+            "timing_column": "device_timestamp_ns",
+            "within_stream_inter_frame_interval_count": 147,
+            "within_stream_large_gap_count": 3,
+            "within_stream_large_gap_rate": 0.02040816326530612
+          },
+          "reasons": [
+            "sparse_within_stream_inter_frame_timestamp_gaps"
+          ],
+          "recorder_timestamp_summary": {
+            "expected_fps": 15.0,
+            "large_gap_count": 3,
+            "large_gaps": [
+              {
+                "from_row": 2,
+                "gap_ns": 132934000,
+                "to_row": 3
+              },
+              {
+                "from_row": 4,
+                "gap_ns": 132897000,
+                "to_row": 5
+              },
+              {
+                "from_row": 8,
+                "gap_ns": 132932000,
+                "to_row": 9
+              }
+            ],
+            "max_gap_ns": 132934000,
+            "median_gap_ns": 66349000.0,
+            "observed_fps": 14.682252093669172,
+            "warnings": [
+              "large_timestamp_gap"
+            ]
+          },
+          "warnings": [
+            "sparse_within_stream_inter_frame_timestamp_gap"
+          ]
+        },
+        "zed_12933256_left_rgb": {
+          "decision": "passed_with_warnings",
+          "metrics": {
+            "expected_fps": 15.0,
+            "gap_policy": "warn",
+            "large_gap_warning_threshold_ns": 100000000,
+            "max_stall_fail_threshold_ns": 233333334,
+            "max_within_stream_inter_frame_gap_multiplier": 1.99400999002995,
+            "max_within_stream_inter_frame_gap_ns": 132934000,
+            "median_period_error_ratio": 0.004780004976099975,
+            "median_within_stream_inter_frame_period_ns": 66348000.0,
+            "nominal_frame_period_ns": 66666667,
+            "observed_fps": 14.778366010729904,
+            "observed_fps_ratio": 0.9852244007153269,
+            "rate_policy": "warn",
+            "recorder_timestamp_summary": {
+              "expected_fps": 15.0,
+              "large_gap_count": 3,
+              "large_gaps": [
+                {
+                  "from_row": 2,
+                  "gap_ns": 132934000,
+                  "to_row": 3
+                },
+                {
+                  "from_row": 4,
+                  "gap_ns": 132897000,
+                  "to_row": 5
+                },
+                {
+                  "from_row": 8,
+                  "gap_ns": 132932000,
+                  "to_row": 9
+                }
+              ],
+              "max_gap_ns": 132934000,
+              "median_gap_ns": 66349000.0,
+              "observed_fps": 14.682252093669172,
+              "warnings": [
+                "large_timestamp_gap"
+              ]
+            },
+            "startup_gap_excluded_from_warnings": true,
+            "timing_column": "device_timestamp_ns",
+            "within_stream_inter_frame_interval_count": 147,
+            "within_stream_large_gap_count": 3,
+            "within_stream_large_gap_rate": 0.02040816326530612
+          },
+          "reasons": [
+            "sparse_within_stream_inter_frame_timestamp_gaps"
+          ],
+          "recorder_timestamp_summary": {
+            "expected_fps": 15.0,
+            "large_gap_count": 3,
+            "large_gaps": [
+              {
+                "from_row": 2,
+                "gap_ns": 132934000,
+                "to_row": 3
+              },
+              {
+                "from_row": 4,
+                "gap_ns": 132897000,
+                "to_row": 5
+              },
+              {
+                "from_row": 8,
+                "gap_ns": 132932000,
+                "to_row": 9
+              }
+            ],
+            "max_gap_ns": 132934000,
+            "median_gap_ns": 66349000.0,
+            "observed_fps": 14.682252093669172,
+            "warnings": [
+              "large_timestamp_gap"
+            ]
+          },
+          "warnings": [
+            "sparse_within_stream_inter_frame_timestamp_gap"
+          ]
+        },
+        "zed_12933256_right_rgb": {
+          "decision": "passed_with_warnings",
+          "metrics": {
+            "expected_fps": 15.0,
+            "gap_policy": "warn",
+            "large_gap_warning_threshold_ns": 100000000,
+            "max_stall_fail_threshold_ns": 233333334,
+            "max_within_stream_inter_frame_gap_multiplier": 1.99400999002995,
+            "max_within_stream_inter_frame_gap_ns": 132934000,
+            "median_period_error_ratio": 0.004780004976099975,
+            "median_within_stream_inter_frame_period_ns": 66348000.0,
+            "nominal_frame_period_ns": 66666667,
+            "observed_fps": 14.778366010729904,
+            "observed_fps_ratio": 0.9852244007153269,
+            "rate_policy": "warn",
+            "recorder_timestamp_summary": {
+              "expected_fps": 15.0,
+              "large_gap_count": 3,
+              "large_gaps": [
+                {
+                  "from_row": 2,
+                  "gap_ns": 132934000,
+                  "to_row": 3
+                },
+                {
+                  "from_row": 4,
+                  "gap_ns": 132897000,
+                  "to_row": 5
+                },
+                {
+                  "from_row": 8,
+                  "gap_ns": 132932000,
+                  "to_row": 9
+                }
+              ],
+              "max_gap_ns": 132934000,
+              "median_gap_ns": 66349000.0,
+              "observed_fps": 14.682252093669172,
+              "warnings": [
+                "large_timestamp_gap"
+              ]
+            },
+            "startup_gap_excluded_from_warnings": true,
+            "timing_column": "device_timestamp_ns",
+            "within_stream_inter_frame_interval_count": 147,
+            "within_stream_large_gap_count": 3,
+            "within_stream_large_gap_rate": 0.02040816326530612
+          },
+          "reasons": [
+            "sparse_within_stream_inter_frame_timestamp_gaps"
+          ],
+          "recorder_timestamp_summary": {
+            "expected_fps": 15.0,
+            "large_gap_count": 3,
+            "large_gaps": [
+              {
+                "from_row": 2,
+                "gap_ns": 132934000,
+                "to_row": 3
+              },
+              {
+                "from_row": 4,
+                "gap_ns": 132897000,
+                "to_row": 5
+              },
+              {
+                "from_row": 8,
+                "gap_ns": 132932000,
+                "to_row": 9
+              }
+            ],
+            "max_gap_ns": 132934000,
+            "median_gap_ns": 66349000.0,
+            "observed_fps": 14.682252093669172,
+            "warnings": [
+              "large_timestamp_gap"
+            ]
+          },
+          "warnings": [
+            "sparse_within_stream_inter_frame_timestamp_gap"
+          ]
+        }
+      }
+    }
+  },
+  "validation_scope": "manifest_conversion_plan",
+  "within_stream_inter_frame_timestamp_validation": {
+    "cross_camera_sync_note": "Cross-camera synchronization and alignment are evaluated separately (validate_session), not by this within-stream gap policy.",
+    "policy": {
+      "fail_on_duplicate_timestamps": true,
+      "fail_on_missing_timestamps": true,
+      "fail_on_non_monotonic_timestamps": true,
+      "gap_policy": "warn",
+      "large_gap_warning_multiplier": 1.5,
+      "max_gap_fail_multiplier": 3.5,
+      "max_large_gap_count": null,
+      "max_large_gap_rate": 0.03,
+      "median_period_tolerance_ratio": 0.05,
+      "min_observed_fps_ratio": 0.98,
+      "rate_policy": "warn"
+    },
+    "scope": "within_stream_inter_frame_timestamp_validation",
+    "status": "passed_with_warnings",
+    "streams": {
+      "zed_12933256_depth_zed_sdk_neural_plus": {
+        "decision": "passed_with_warnings",
+        "metrics": {
+          "expected_fps": 15.0,
+          "gap_policy": "warn",
+          "large_gap_warning_threshold_ns": 100000000,
+          "max_stall_fail_threshold_ns": 233333334,
+          "max_within_stream_inter_frame_gap_multiplier": 1.99400999002995,
+          "max_within_stream_inter_frame_gap_ns": 132934000,
+          "median_period_error_ratio": 0.004780004976099975,
+          "median_within_stream_inter_frame_period_ns": 66348000.0,
+          "nominal_frame_period_ns": 66666667,
+          "observed_fps": 14.778366010729904,
+          "observed_fps_ratio": 0.9852244007153269,
+          "rate_policy": "warn",
+          "recorder_timestamp_summary": {
+            "expected_fps": 15.0,
+            "large_gap_count": 3,
+            "large_gaps": [
+              {
+                "from_row": 2,
+                "gap_ns": 132934000,
+                "to_row": 3
+              },
+              {
+                "from_row": 4,
+                "gap_ns": 132897000,
+                "to_row": 5
+              },
+              {
+                "from_row": 8,
+                "gap_ns": 132932000,
+                "to_row": 9
+              }
+            ],
+            "max_gap_ns": 132934000,
+            "median_gap_ns": 66349000.0,
+            "observed_fps": 14.682252093669172,
+            "warnings": [
+              "large_timestamp_gap"
+            ]
+          },
+          "startup_gap_excluded_from_warnings": true,
+          "timing_column": "device_timestamp_ns",
+          "within_stream_inter_frame_interval_count": 147,
+          "within_stream_large_gap_count": 3,
+          "within_stream_large_gap_rate": 0.02040816326530612
+        },
+        "reasons": [
+          "sparse_within_stream_inter_frame_timestamp_gaps"
+        ],
+        "recorder_timestamp_summary": {
+          "expected_fps": 15.0,
+          "large_gap_count": 3,
+          "large_gaps": [
+            {
+              "from_row": 2,
+              "gap_ns": 132934000,
+              "to_row": 3
+            },
+            {
+              "from_row": 4,
+              "gap_ns": 132897000,
+              "to_row": 5
+            },
+            {
+              "from_row": 8,
+              "gap_ns": 132932000,
+              "to_row": 9
+            }
+          ],
+          "max_gap_ns": 132934000,
+          "median_gap_ns": 66349000.0,
+          "observed_fps": 14.682252093669172,
+          "warnings": [
+            "large_timestamp_gap"
+          ]
+        },
+        "warnings": [
+          "sparse_within_stream_inter_frame_timestamp_gap"
+        ]
+      },
+      "zed_12933256_left_rgb": {
+        "decision": "passed_with_warnings",
+        "metrics": {
+          "expected_fps": 15.0,
+          "gap_policy": "warn",
+          "large_gap_warning_threshold_ns": 100000000,
+          "max_stall_fail_threshold_ns": 233333334,
+          "max_within_stream_inter_frame_gap_multiplier": 1.99400999002995,
+          "max_within_stream_inter_frame_gap_ns": 132934000,
+          "median_period_error_ratio": 0.004780004976099975,
+          "median_within_stream_inter_frame_period_ns": 66348000.0,
+          "nominal_frame_period_ns": 66666667,
+          "observed_fps": 14.778366010729904,
+          "observed_fps_ratio": 0.9852244007153269,
+          "rate_policy": "warn",
+          "recorder_timestamp_summary": {
+            "expected_fps": 15.0,
+            "large_gap_count": 3,
+            "large_gaps": [
+              {
+                "from_row": 2,
+                "gap_ns": 132934000,
+                "to_row": 3
+              },
+              {
+                "from_row": 4,
+                "gap_ns": 132897000,
+                "to_row": 5
+              },
+              {
+                "from_row": 8,
+                "gap_ns": 132932000,
+                "to_row": 9
+              }
+            ],
+            "max_gap_ns": 132934000,
+            "median_gap_ns": 66349000.0,
+            "observed_fps": 14.682252093669172,
+            "warnings": [
+              "large_timestamp_gap"
+            ]
+          },
+          "startup_gap_excluded_from_warnings": true,
+          "timing_column": "device_timestamp_ns",
+          "within_stream_inter_frame_interval_count": 147,
+          "within_stream_large_gap_count": 3,
+          "within_stream_large_gap_rate": 0.02040816326530612
+        },
+        "reasons": [
+          "sparse_within_stream_inter_frame_timestamp_gaps"
+        ],
+        "recorder_timestamp_summary": {
+          "expected_fps": 15.0,
+          "large_gap_count": 3,
+          "large_gaps": [
+            {
+              "from_row": 2,
+              "gap_ns": 132934000,
+              "to_row": 3
+            },
+            {
+              "from_row": 4,
+              "gap_ns": 132897000,
+              "to_row": 5
+            },
+            {
+              "from_row": 8,
+              "gap_ns": 132932000,
+              "to_row": 9
+            }
+          ],
+          "max_gap_ns": 132934000,
+          "median_gap_ns": 66349000.0,
+          "observed_fps": 14.682252093669172,
+          "warnings": [
+            "large_timestamp_gap"
+          ]
+        },
+        "warnings": [
+          "sparse_within_stream_inter_frame_timestamp_gap"
+        ]
+      },
+      "zed_12933256_right_rgb": {
+        "decision": "passed_with_warnings",
+        "metrics": {
+          "expected_fps": 15.0,
+          "gap_policy": "warn",
+          "large_gap_warning_threshold_ns": 100000000,
+          "max_stall_fail_threshold_ns": 233333334,
+          "max_within_stream_inter_frame_gap_multiplier": 1.99400999002995,
+          "max_within_stream_inter_frame_gap_ns": 132934000,
+          "median_period_error_ratio": 0.004780004976099975,
+          "median_within_stream_inter_frame_period_ns": 66348000.0,
+          "nominal_frame_period_ns": 66666667,
+          "observed_fps": 14.778366010729904,
+          "observed_fps_ratio": 0.9852244007153269,
+          "rate_policy": "warn",
+          "recorder_timestamp_summary": {
+            "expected_fps": 15.0,
+            "large_gap_count": 3,
+            "large_gaps": [
+              {
+                "from_row": 2,
+                "gap_ns": 132934000,
+                "to_row": 3
+              },
+              {
+                "from_row": 4,
+                "gap_ns": 132897000,
+                "to_row": 5
+              },
+              {
+                "from_row": 8,
+                "gap_ns": 132932000,
+                "to_row": 9
+              }
+            ],
+            "max_gap_ns": 132934000,
+            "median_gap_ns": 66349000.0,
+            "observed_fps": 14.682252093669172,
+            "warnings": [
+              "large_timestamp_gap"
+            ]
+          },
+          "startup_gap_excluded_from_warnings": true,
+          "timing_column": "device_timestamp_ns",
+          "within_stream_inter_frame_interval_count": 147,
+          "within_stream_large_gap_count": 3,
+          "within_stream_large_gap_rate": 0.02040816326530612
+        },
+        "reasons": [
+          "sparse_within_stream_inter_frame_timestamp_gaps"
+        ],
+        "recorder_timestamp_summary": {
+          "expected_fps": 15.0,
+          "large_gap_count": 3,
+          "large_gaps": [
+            {
+              "from_row": 2,
+              "gap_ns": 132934000,
+              "to_row": 3
+            },
+            {
+              "from_row": 4,
+              "gap_ns": 132897000,
+              "to_row": 5
+            },
+            {
+              "from_row": 8,
+              "gap_ns": 132932000,
+              "to_row": 9
+            }
+          ],
+          "max_gap_ns": 132934000,
+          "median_gap_ns": 66349000.0,
+          "observed_fps": 14.682252093669172,
+          "warnings": [
+            "large_timestamp_gap"
+          ]
+        },
+        "warnings": [
+          "sparse_within_stream_inter_frame_timestamp_gap"
+        ]
+      }
+    }
+  }
+}

scans/test_oct11/converted/sessions/session_20261011_155218_806614/metadata/conversion_timing.json

@@ -0,0 +1,126 @@
+{
+  "conversion_id": "session_20261011_155218_806614",
+  "counts": {
+    "auto_lossless_encoder_probe_cache_miss": 2,
+    "auto_lossless_encoder_probe_run": 2,
+    "auto_lossless_probe_candidates.zed_12933256_left_rgb": 4,
+    "auto_lossless_probe_candidates.zed_12933256_right_rgb": 4,
+    "copy_manifest_source_hash_reused": 1,
+    "encoded_frame_and_hash_frames.zed_12933256_depth_zed_sdk_neural_plus": 148,
+    "encoded_frame_and_hash_frames.zed_12933256_left_rgb": 148,
+    "encoded_frame_and_hash_frames.zed_12933256_right_rgb": 148,
+    "encoder_write_frames.zed_12933256_left_rgb": 148,
+    "encoder_write_frames.zed_12933256_right_rgb": 148,
+    "physical_container_open.ZED-M_SN12933256.svo2": 1,
+    "post_export_device_extrinsics_snapshot_hits": 1,
+    "source_file_hash_cache.miss": 1,
+    "stream_hash_frames.zed_12933256_depth_zed_sdk_neural_plus": 148,
+    "stream_hash_frames.zed_12933256_left_rgb": 148,
+    "stream_hash_frames.zed_12933256_right_rgb": 148,
+    "zdepth_compress_write_frames.zed_12933256_depth_zed_sdk_neural_plus": 148,
+    "zed_svo_probe_cache.equivalence_miss": 1,
+    "zed_svo_probe_cache.intrinsics_miss": 1
+  },
+  "durations_s": {
+    "auto_lossless_encoder_probe.zed_12933256_left_rgb": 2.310515351000504,
+    "auto_lossless_encoder_probe.zed_12933256_right_rgb": 1.8240550300006362,
+    "auto_lossless_probe_encode.zed_12933256_left_rgb": 0.028242001000762684,
+    "auto_lossless_probe_encode.zed_12933256_right_rgb": 0.022927725999579707,
+    "auto_lossless_probe_validate.zed_12933256_left_rgb": 2.266807125000014,
+    "auto_lossless_probe_validate.zed_12933256_right_rgb": 1.786766592001186,
+    "copy_manifest_file_copy": 0.0016029429998525302,
+    "copy_manifest_source_hashing": 4.592700042849174e-05,
+    "dataset_manifest_update": 0.000372986000002129,
+    "encoded_frame_and_hash.zed_12933256_depth_zed_sdk_neural_plus": 4.29596549499729,
+    "encoded_frame_and_hash.zed_12933256_left_rgb": 1.0088273050023417,
+    "encoded_frame_and_hash.zed_12933256_right_rgb": 0.9797703039967018,
+    "encoder_write.zed_12933256_left_rgb": 3.0049422879965277,
+    "encoder_write.zed_12933256_right_rgb": 2.886088704998656,
+    "grouped_zed_export": 31.678013931999885,
+    "inspect_recording_dir": 0.0014183439998305403,
+    "manifest_promotion": 0.0007793149998178706,
+    "overall_conversion": 48.17820589599978,
+    "physical_container_grab_decode.ZED-M_SN12933256.svo2": 7.379012721001345,
+    "physical_container_open.ZED-M_SN12933256.svo2": 0.7650648459994045,
+    "plan_building": 0.10374870099985856,
+    "post_export_build_calibration_json": 4.3402000301284716e-05,
+    "post_export_build_stream_frame_assignment": 2.2340000214171596e-06,
+    "post_export_camera_settings_propagation": 4.193899985693861e-05,
+    "post_export_copy_manifest_calibration_package": 8.676000106788706e-06,
+    "post_export_copy_manifest_camera_settings": 1.4030001693754457e-06,
+    "post_export_copy_manifest_conversion_metadata": 0.002254966999316821,
+    "post_export_copy_manifest_file_copy": 0.00024061600015556905,
+    "post_export_copy_manifest_recording_files": 0.00022366299981513293,
+    "post_export_copy_manifest_source_hashing": 4.592700042849174e-05,
+    "post_export_dataset_manifest_lock": 0.0007774410005367827,
+    "post_export_dataset_manifest_update": 0.000372986000002129,
+    "post_export_enrich_camera_intrinsics": 9.84070002232329e-05,
+    "post_export_enrich_camera_intrinsics_from_snapshot": 5.410001904238015e-07,
+    "post_export_manifest_promotion": 0.0007793149998178706,
+    "post_export_metadata": 0.002266548999614315,
+    "post_export_metadata_json_write": 0.0013583700001618126,
+    "post_export_parquet_manifest_write": 0.0008941220003180206,
+    "post_export_session_manifest_row_build": 6.476300040958449e-05,
+    "post_export_staged_session_rename": 0.00026655400051822653,
+    "post_export_write_calibration_json": 0.00039719100004731445,
+    "pre_export_setup": 0.41806240000005346,
+    "recording_pairing_metadata_load_or_build": 9.814499935600907e-05,
+    "resolve_grouped_rgb_specs.ZED-M_SN12933256.svo2": 4.940000508213416e-06,
+    "session_manifest_row_build": 0.0009677819998614723,
+    "session_validation": 10.489034301999709,
+    "source_file_hash.ZED-M_SN12933256.svo2": 0.19743268900037947,
+    "source_file_hashing": 0.19799262800006545,
+    "source_frame_hash.zed_12933256_depth_zed_sdk_neural_plus": 0.4485383239980365,
+    "source_frame_hash.zed_12933256_left_rgb": 0.6328387580060735,
+    "source_frame_hash.zed_12933256_right_rgb": 0.6152456980034913,
+    "staging_session_metadata_write": 0.41565515599995706,
+    "stream_encode.zed_12933256_depth_zed_sdk_neural_plus": 7.065169133999007,
+    "stream_encode.zed_12933256_left_rgb": 3.3787050639912195,
+    "stream_encode.zed_12933256_right_rgb": 3.248494102001132,
+    "stream_export.zed_12933256_depth_zed_sdk_neural_plus": 7.562632074002067,
+    "stream_export.zed_12933256_left_rgb": 4.036452466988521,
+    "stream_export.zed_12933256_right_rgb": 3.88988657200116,
+    "stream_export_sink_close.zed_12933256_depth_zed_sdk_neural_plus": 0.09064841299914406,
+    "stream_export_sink_close.zed_12933256_left_rgb": 0.25083055600043735,
+    "stream_export_sink_close.zed_12933256_right_rgb": 0.22820834899994225,
+    "stream_export_sink_open.zed_12933256_depth_zed_sdk_neural_plus": 8.772599994699704e-05,
+    "stream_export_sink_open.zed_12933256_left_rgb": 0.000159963000442076,
+    "stream_export_sink_open.zed_12933256_right_rgb": 0.00016148599934240337,
+    "stream_hash.zed_12933256_depth_zed_sdk_neural_plus": 0.4485383239980365,
+    "stream_hash.zed_12933256_left_rgb": 0.6328387580060735,
+    "stream_hash.zed_12933256_right_rgb": 0.6152456980034913,
+    "stream_preparation": 36.95210853300068,
+    "table_writing": 0.012752611999530927,
+    "zdepth_compress_write.zed_12933256_depth_zed_sdk_neural_plus": 3.2358892079955694,
+    "zdepth_fidelity_metrics.zed_12933256_depth_zed_sdk_neural_plus": 2.9468673470091744,
+    "zdepth_finalize.zed_12933256_depth_zed_sdk_neural_plus": 0.06531939399974362,
+    "zdepth_quantize.zed_12933256_depth_zed_sdk_neural_plus": 3.829279926003437,
+    "zed_container_export.ZED-M_SN12933256.svo2": 36.92661698600023,
+    "zed_equivalence_probe.ZED-M_SN12933256.svo2": 3.8155387249998967,
+    "zed_frame_loop.ZED-M_SN12933256.svo2": 30.866554653000094,
+    "zed_intrinsics_probe.ZED-M_SN12933256.svo2": 0.8630096750002849,
+    "zed_sink_close.ZED-M_SN12933256.svo2": 0.5697724800002106
+  },
+  "metadata": {
+    "auto_lossless_probe_cache_hits": 0,
+    "auto_lossless_probe_cache_misses": 2,
+    "auto_lossless_probe_cache_path": "/home/shaunak/.cache/belt_perception/auto_lossless_probe_cache.json",
+    "auto_lossless_probe_cache_policy": "auto",
+    "auto_lossless_probe_cache_refreshes": 0,
+    "grouped_zed_container_provenance_json": "{\"/home/shaunak/Code/grasp/belt_perception/recordings/20261011_155218_806614/ZED-M_SN12933256.svo2\": {\"export_mode\": \"one_pass\", \"first_native_container_frame_index\": 1, \"grouped_zed_export\": true, \"native_index_grab_plan_seek_count\": 1, \"probe_depth_mode_none\": \"NONE\", \"probe_depth_mode_target\": \"NEURAL_PLUS\", \"recording_path\": \"/home/shaunak/Code/grasp/belt_perception/recordings/20261011_155218_806614/ZED-M_SN12933256.svo2\", \"rgb_equivalence_left_equal\": true, \"rgb_equivalence_passed\": true, \"rgb_equivalence_right_equal\": true, \"stream_ids\": [\"zed_12933256_left_rgb\", \"zed_12933256_right_rgb\", \"zed_12933256_depth_zed_sdk_neural_plus\"]}}",
+    "grouped_zed_export": true,
+    "recording_pairing_validation_skipped_reason": "no_realsense_streams",
+    "source_hash_cache_hits": 0,
+    "source_hash_cache_misses": 1,
+    "source_hash_cache_path": "/home/shaunak/.cache/belt_perception/source_hash_cache.json",
+    "source_hash_cache_policy": "auto",
+    "source_hash_worker_count": 1,
+    "zed_svo_probe_cache_equivalence_hits": 0,
+    "zed_svo_probe_cache_equivalence_misses": 1,
+    "zed_svo_probe_cache_intrinsics_hits": 0,
+    "zed_svo_probe_cache_intrinsics_misses": 1,
+    "zed_svo_probe_cache_path": "/home/shaunak/.cache/belt_perception/zed_svo_probe_cache.json",
+    "zed_svo_probe_cache_policy": "auto"
+  },
+  "overall_elapsed_s": 48.17822705599974
+}

scans/test_oct11/converted/sessions/session_20261011_155218_806614/metadata/discovery_report.json

@@ -0,0 +1,730 @@
+{
+  "clock_policy": {
+    "auxiliary_timestamps": "ZED/RealSense/device/robot timestamps are preserved but not assumed to share a domain",
+    "default_sync_time": "streams/<stream_id>/timestamps.parquet for manifest recordings",
+    "old_robot_state_domain": "lcm_utime_or_robot_clock"
+  },
+  "known_recording_code_findings": {
+    "new_record_multi_camera": [
+      "ZED sidecar device_timestamp_ns comes from sl.TIME_REFERENCE.IMAGE after grab().",
+      "RealSense sidecar device_timestamp_ns comes from color_frame.get_timestamp() ms converted to ns.",
+      "host_timestamp_ns is time.time_ns() sampled immediately after recorder.record_frame()."
+    ],
+    "old_zed_robot_state_recording": [
+      "PandaStatus and PandaGripperStatus are stored as ZED SVOData custom keys.",
+      "SVOData timestamp is set from payload timestamp_us via set_microseconds().",
+      "No independent host receive timestamp is present for old embedded robot states."
+    ]
+  },
+  "legacy_timestamp_sidecars": {
+    "authoritative": false,
+    "files": [
+      "timestamps_zed_SN12933256.csv"
+    ],
+    "semantics": "compatibility/debug artifacts only; manifest Parquet sidecars are authoritative"
+  },
+  "recording_dir": "recordings/20261011_155218_806614",
+  "recording_manifest": {
+    "authoritative_timestamp_source": "streams/<stream_id>/timestamps.parquet",
+    "container_pts_for_synchronization": false,
+    "manifest_timestamp_sidecars": [
+      {
+        "authoritative": true,
+        "path": "recordings/20261011_155218_806614/streams/zed_12933256_left_rgb/timestamps.parquet",
+        "recording_relative_path": "streams/zed_12933256_left_rgb/timestamps.parquet",
+        "stream_id": "zed_12933256_left_rgb"
+      },
+      {
+        "authoritative": true,
+        "path": "recordings/20261011_155218_806614/streams/zed_12933256_right_rgb/timestamps.parquet",
+        "recording_relative_path": "streams/zed_12933256_right_rgb/timestamps.parquet",
+        "stream_id": "zed_12933256_right_rgb"
+      },
+      {
+        "authoritative": true,
+        "path": "recordings/20261011_155218_806614/streams/zed_12933256_depth_zed_sdk_neural_plus/timestamps.parquet",
+        "recording_relative_path": "streams/zed_12933256_depth_zed_sdk_neural_plus/timestamps.parquet",
+        "stream_id": "zed_12933256_depth_zed_sdk_neural_plus"
+      }
+    ],
+    "path": "recordings/20261011_155218_806614/recording_manifest.json",
+    "present": true,
+    "stream_count": 3
+  },
+  "recording_metadata": {
+    "calibration": {
+      "packaged": false,
+      "reason": "calibration_run_dir was not provided"
+    },
+    "camera_close_reports": [
+      {
+        "camera_lock_acquired_for_close": true,
+        "camera_type": "zed",
+        "close_warning_messages": [],
+        "read_thread_alive_after_stop": false,
+        "read_thread_alive_before_close": false,
+        "recording_enabled_after_disable": false,
+        "recording_enabled_before_close": true,
+        "recording_stop_reason": "duration_sec_limit",
+        "sdk_close_attempted": true,
+        "sdk_close_exception": null,
+        "sdk_close_retry_count": 0,
+        "sdk_is_opened_after_close": false,
+        "sdk_is_opened_before_close": true,
+        "serial_number": "12933256"
+      }
+    ],
+    "camera_image_controls": {
+      "auto_controls_frozen_during_recording": false,
+      "errors": [],
+      "established_before_warmup": true,
+      "mode": "native_auto_defaults",
+      "per_camera": {
+        "12933256": {
+          "auto_exposure_gain_enabled": true,
+          "auto_white_balance_enabled": true,
+          "camera_type": "zed",
+          "controls": {
+            "AEC_AGC": {
+              "after": 1,
+              "before": 1,
+              "status": "enabled"
+            },
+            "BRIGHTNESS": {
+              "after": 4,
+              "before": 4,
+              "status": "reset_to_sdk_default"
+            },
+            "CONTRAST": {
+              "after": 4,
+              "before": 4,
+              "status": "reset_to_sdk_default"
+            },
+            "EXPOSURE": {
+              "after": 45,
+              "before": 45,
+              "status": "reset_to_sdk_default"
+            },
+            "GAIN": {
+              "after": 1,
+              "before": 1,
+              "status": "reset_to_sdk_default"
+            },
+            "GAMMA": {
+              "after": 5,
+              "before": 5,
+              "status": "reset_to_sdk_default"
+            },
+            "HUE": {
+              "after": 0,
+              "before": 0,
+              "status": "reset_to_sdk_default"
+            },
+            "SATURATION": {
+              "after": 4,
+              "before": 4,
+              "status": "reset_to_sdk_default"
+            },
+            "SHARPNESS": {
+              "after": 3,
+              "before": 3,
+              "status": "reset_to_sdk_default"
+            },
+            "WHITEBALANCE_AUTO": {
+              "after": 1,
+              "before": 1,
+              "status": "enabled"
+            },
+            "WHITEBALANCE_TEMPERATURE": {
+              "after": 4700,
+              "before": 4700,
+              "status": "reset_to_sdk_default"
+            }
+          },
+          "errors": [],
+          "initial_auto_exposure_gain": true,
+          "initial_auto_white_balance": true,
+          "mechanism": "sl.Camera.set_camera_settings(setting, VIDEO_SETTINGS_VALUE_AUTO=-1) for ISP + exposure/gain/white-balance, then AEC_AGC=1 and WHITEBALANCE_AUTO=1 with mode readback",
+          "status": "established",
+          "unsupported_controls": []
+        }
+      },
+      "policy_replay": false,
+      "readback_semantics": "Per-control 'before'/'after' values are single startup readbacks taken while establishing native auto control; exposure, gain and white balance keep changing under the cameras' own automatic control for the whole recording and are never frozen into manual settings.",
+      "status": "established",
+      "unmanaged_cameras": []
+    },
+    "camera_rig_profile_name": "single-zed-right-of-ur10",
+    "cameras": [
+      {
+        "actual_opened_profile": {
+          "actual_fps": 15.0,
+          "actual_fps_source": "camera_information.camera_configuration.fps",
+          "depth_mode": "NEURAL_PLUS",
+          "fps": 15.0,
+          "image_format": "rgb8",
+          "requested_fps": 15.0,
+          "resolution": [
+            1242,
+            2208
+          ],
+          "stream_profile_name": "HD2K",
+          "svo_compression_mode": "H265_LOSSLESS",
+          "svo_compression_mode_source": "requested_enum_passed_to_sl.RecordingParameters"
+        },
+        "camera_metadata": {
+          "camera_id": "right-of-ur10",
+          "camera_type": "zed",
+          "capabilities": [
+            "right_color",
+            "depth",
+            "raw_depth",
+            "color",
+            "aligned_depth_to_color",
+            "stereo_color"
+          ],
+          "color_T_depth": null,
+          "color_T_ir_left": null,
+          "color_T_ir_right": null,
+          "color_camera_frame": null,
+          "color_intrinsics": [
+            [
+              1461.6546630859375,
+              0.0,
+              1172.291015625
+            ],
+            [
+              0.0,
+              1461.6546630859375,
+              608.998046875
+            ],
+            [
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "depth_T_color": null,
+          "depth_camera_frame": "zed_12933256_left_rgb_camera",
+          "depth_frame_convention": "ZED sl.MEASURE.DEPTH depth maps are expressed in the left RGB camera optical frame.",
+          "depth_intrinsics": [
+            [
+              1461.6546630859375,
+              0.0,
+              1172.291015625
+            ],
+            [
+              0.0,
+              1461.6546630859375,
+              608.998046875
+            ],
+            [
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "depth_scale_m": null,
+          "fps": 15.0,
+          "ir_left_T_color": null,
+          "ir_left_camera_frame": null,
+          "ir_right_T_color": null,
+          "ir_right_camera_frame": null,
+          "left_camera_frame": "zed_12933256_left_rgb_camera",
+          "left_rgb_camera_T_right_rgb_camera": [
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.06304030865430832
+            ],
+            [
+              0.0,
+              1.0,
+              0.0,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "metadata": {
+            "aligned_depth_target": "left_color",
+            "color_distortion_coefficients": null,
+            "color_distortion_model": null,
+            "color_image_geometry": "zed_rectified_rgb",
+            "color_is_rectified": true,
+            "color_projection_model_used": "rectified_pinhole",
+            "color_rectification_source": "zed_sdk_rectified_view",
+            "depth_units": "metres",
+            "input_type": "INPUT_TYPE.USB",
+            "invalid_depth_convention": "ZED SDK values are preserved, including non-finite invalid depth.",
+            "offline_recording": false,
+            "usb": {
+              "bus": "8",
+              "input_type_raw": "INPUT_TYPE.USB",
+              "is_usb3": true,
+              "note": null,
+              "pci_controller_path": "/sys/devices/pci0000:00",
+              "port_path": "1",
+              "product": "ZED-M",
+              "speed_mbps": 5000.0,
+              "sysfs_path": "/sys/devices/pci0000:00/0000:00:08.3/0000:66:00.4/usb8/8-1",
+              "usb_type_descriptor": "3.00",
+              "usb_validation_source": "linux_sysfs_video_device",
+              "video_device_path": "/dev/video2"
+            },
+            "usb_product": "ZED-M",
+            "usb_speed_mbps": 5000.0,
+            "usb_type_descriptor": "3.00"
+          },
+          "model": "ZED-M",
+          "resolution_hw": [
+            1242,
+            2208
+          ],
+          "right_camera_frame": "zed_12933256_right_rgb_camera",
+          "right_rgb_camera_T_left_rgb_camera": [
+            [
+              1.0,
+              0.0,
+              0.0,
+              -0.06304030865430832
+            ],
+            [
+              0.0,
+              1.0,
+              0.0,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "serial_number": "12933256",
+          "stereo_baseline_m": 0.06304030865430832,
+          "transform_convention": "a_T_b maps points from frame b into frame a: p_a = T * p_b"
+        },
+        "camera_type": "zed",
+        "converter_mapping": "official sidecar row R maps to native decoded frame index 1 + R; native frames [0, 1) were written during post-native priming after enable_recording() and are not listed in the official sidecar.",
+        "dropped_non_monotonic_timestamp_count": 0,
+        "dropped_stale_preofficial_timestamp_count": 0,
+        "first_official_native_frame_index": 1,
+        "frame_count": 148,
+        "name": "right-of-ur10",
+        "native_container_includes_post_native_priming_frames": true,
+        "native_container_includes_preroll_frames": false,
+        "native_frame_index_origin": "zero_based_sequential_grab_after_enable_recording_including_post_native_priming",
+        "official_frame_count": 148,
+        "post_native_discarded_frame_count": 0,
+        "post_native_priming_frame_count": 1,
+        "preroll_frame_count": 15,
+        "recording_path": "ZED-M_SN12933256.svo2",
+        "serial_number": "12933256",
+        "stream_summaries": {
+          "zed_12933256_depth_zed_sdk_neural_plus": {
+            "camera_type": "zed",
+            "default_nearest_neighbor_tolerance_ns": 66666667,
+            "duplicate_timestamp_count": 0,
+            "expected_fps": 15.0,
+            "first_inter_frame_gap_ns": 132782000,
+            "host_timestamp_max_ns": 1791748576571529820,
+            "host_timestamp_min_ns": 1791748566566105592,
+            "host_timestamp_source": "time.time_ns_after_record_frame",
+            "large_gap_count": 3,
+            "large_gaps": [
+              {
+                "from_row": 2,
+                "gap_ns": 132934000,
+                "to_row": 3
+              },
+              {
+                "from_row": 4,
+                "gap_ns": 132897000,
+                "to_row": 5
+              },
+              {
+                "from_row": 8,
+                "gap_ns": 132932000,
+                "to_row": 9
+              }
+            ],
+            "max_gap_ns": 132934000,
+            "median_gap_ns": 66349000.0,
+            "modality": "depth",
+            "nominal_frame_period_ns": 66666667,
+            "non_monotonic_timestamp_count": 0,
+            "observed_fps": 14.682252093669172,
+            "official_frame_count": 148,
+            "physical_camera_id": "zed_12933256",
+            "preroll_frame_count": 15,
+            "row_count": 148,
+            "sdk_frame_number_gap_count": 0,
+            "sdk_frame_number_gaps": [],
+            "sdk_frame_number_reportable": false,
+            "serial_number": "12933256",
+            "startup_gap_excluded_from_warnings": true,
+            "stream_id": "zed_12933256_depth_zed_sdk_neural_plus",
+            "strict_alignment_warning_tolerance_ns": 33333334,
+            "timestamp_domain": "zed_image",
+            "timestamp_gap_warning_threshold_ns": 100000000,
+            "timestamp_max_ns": 1791748576485040971,
+            "timestamp_min_ns": 1791748566472952971,
+            "timestamp_source": "sl.TIME_REFERENCE.IMAGE",
+            "warnings": [
+              "large_timestamp_gap"
+            ]
+          },
+          "zed_12933256_left_rgb": {
+            "camera_type": "zed",
+            "default_nearest_neighbor_tolerance_ns": 66666667,
+            "duplicate_timestamp_count": 0,
+            "expected_fps": 15.0,
+            "first_inter_frame_gap_ns": 132782000,
+            "host_timestamp_max_ns": 1791748576571529820,
+            "host_timestamp_min_ns": 1791748566566105592,
+            "host_timestamp_source": "time.time_ns_after_record_frame",
+            "large_gap_count": 3,
+            "large_gaps": [
+              {
+                "from_row": 2,
+                "gap_ns": 132934000,
+                "to_row": 3
+              },
+              {
+                "from_row": 4,
+                "gap_ns": 132897000,
+                "to_row": 5
+              },
+              {
+                "from_row": 8,
+                "gap_ns": 132932000,
+                "to_row": 9
+              }
+            ],
+            "max_gap_ns": 132934000,
+            "median_gap_ns": 66349000.0,
+            "modality": "left_rgb",
+            "nominal_frame_period_ns": 66666667,
+            "non_monotonic_timestamp_count": 0,
+            "observed_fps": 14.682252093669172,
+            "official_frame_count": 148,
+            "physical_camera_id": "zed_12933256",
+            "preroll_frame_count": 15,
+            "row_count": 148,
+            "sdk_frame_number_gap_count": 0,
+            "sdk_frame_number_gaps": [],
+            "sdk_frame_number_reportable": false,
+            "serial_number": "12933256",
+            "startup_gap_excluded_from_warnings": true,
+            "stream_id": "zed_12933256_left_rgb",
+            "strict_alignment_warning_tolerance_ns": 33333334,
+            "timestamp_domain": "zed_image",
+            "timestamp_gap_warning_threshold_ns": 100000000,
+            "timestamp_max_ns": 1791748576485040971,
+            "timestamp_min_ns": 1791748566472952971,
+            "timestamp_source": "sl.TIME_REFERENCE.IMAGE",
+            "warnings": [
+              "large_timestamp_gap"
+            ]
+          },
+          "zed_12933256_right_rgb": {
+            "camera_type": "zed",
+            "default_nearest_neighbor_tolerance_ns": 66666667,
+            "duplicate_timestamp_count": 0,
+            "expected_fps": 15.0,
+            "first_inter_frame_gap_ns": 132782000,
+            "host_timestamp_max_ns": 1791748576571529820,
+            "host_timestamp_min_ns": 1791748566566105592,
+            "host_timestamp_source": "time.time_ns_after_record_frame",
+            "large_gap_count": 3,
+            "large_gaps": [
+              {
+                "from_row": 2,
+                "gap_ns": 132934000,
+                "to_row": 3
+              },
+              {
+                "from_row": 4,
+                "gap_ns": 132897000,
+                "to_row": 5
+              },
+              {
+                "from_row": 8,
+                "gap_ns": 132932000,
+                "to_row": 9
+              }
+            ],
+            "max_gap_ns": 132934000,
+            "median_gap_ns": 66349000.0,
+            "modality": "right_rgb",
+            "nominal_frame_period_ns": 66666667,
+            "non_monotonic_timestamp_count": 0,
+            "observed_fps": 14.682252093669172,
+            "official_frame_count": 148,
+            "physical_camera_id": "zed_12933256",
+            "preroll_frame_count": 15,
+            "row_count": 148,
+            "sdk_frame_number_gap_count": 0,
+            "sdk_frame_number_gaps": [],
+            "sdk_frame_number_reportable": false,
+            "serial_number": "12933256",
+            "startup_gap_excluded_from_warnings": true,
+            "stream_id": "zed_12933256_right_rgb",
+            "strict_alignment_warning_tolerance_ns": 33333334,
+            "timestamp_domain": "zed_image",
+            "timestamp_gap_warning_threshold_ns": 100000000,
+            "timestamp_max_ns": 1791748576485040971,
+            "timestamp_min_ns": 1791748566472952971,
+            "timestamp_source": "sl.TIME_REFERENCE.IMAGE",
+            "warnings": [
+              "large_timestamp_gap"
+            ]
+          }
+        },
+        "streams": [
+          {
+            "expected_fps": 15.0,
+            "modality": "left_rgb",
+            "requested_profile": {
+              "container": "svo2",
+              "depth_mode": "neural_plus",
+              "fps": 15,
+              "resolution_hw": [
+                1242,
+                2208
+              ],
+              "svo_compression_mode": "h265_lossless",
+              "zed_resolution": "hd2k"
+            },
+            "stream_id": "zed_12933256_left_rgb"
+          },
+          {
+            "expected_fps": 15.0,
+            "modality": "right_rgb",
+            "requested_profile": {
+              "container": "svo2",
+              "depth_mode": "neural_plus",
+              "fps": 15,
+              "resolution_hw": [
+                1242,
+                2208
+              ],
+              "svo_compression_mode": "h265_lossless",
+              "zed_resolution": "hd2k"
+            },
+            "stream_id": "zed_12933256_right_rgb"
+          },
+          {
+            "expected_fps": 15.0,
+            "modality": "depth",
+            "requested_profile": {
+              "container": "svo2",
+              "depth_mode": "neural_plus",
+              "fps": 15,
+              "resolution_hw": [
+                1242,
+                2208
+              ],
+              "svo_compression_mode": "h265_lossless",
+              "zed_resolution": "hd2k"
+            },
+            "stream_id": "zed_12933256_depth_zed_sdk_neural_plus"
+          }
+        ],
+        "timestamp_path": "timestamps_zed_SN12933256.csv"
+      }
+    ],
+    "config": {
+      "alignment_warning_frame_periods": 0.5,
+      "allow_extra_calibrated_cameras": true,
+      "calibration_pose_source": "phase_05_final",
+      "calibration_run_dir": null,
+      "camera_rig_profile_name": "single-zed-right-of-ur10",
+      "capture": {
+        "overrides_by_serial": {},
+        "realsense": {
+          "duplicate_frame_policy": null,
+          "duplicate_max_count": null,
+          "duplicate_timeout_s": null,
+          "rectify_color": null
+        },
+        "shared": {
+          "fps": null,
+          "image_format": null,
+          "require_stereo_frames": null,
+          "resolution_hw": null,
+          "retain_gpu_images": null,
+          "return_pointmap_instead_of_depth": null,
+          "warmup_frames": null
+        },
+        "zed": {
+          "allow_depth_mode_fallback": null,
+          "coordinate_units": null,
+          "depth_maximum_distance_m": null,
+          "depth_minimum_distance_m": null,
+          "depth_mode_name": null,
+          "depth_stabilization": null,
+          "open_timeout_sec": null
+        }
+      },
+      "capture_profile_name": "zed-hd2k15",
+      "copy_calibration_depth_snapshots": false,
+      "copy_calibration_rerun_rrd": false,
+      "copy_full_calibration_run": false,
+      "depth_mode": "neural_plus",
+      "duration_sec": 10.0,
+      "fail_on_timestamp_gaps": false,
+      "max_frames": null,
+      "max_frames_no_progress_timeout_sec": 10.0,
+      "native_recording_starts_after_warmup": true,
+      "nearest_neighbor_alignment_tolerance_frame_periods": 1.0,
+      "no_frame_poll_sleep_sec": 0.001,
+      "output_datetime": "20261011_155218_806614",
+      "pairing_validation_failure_policy": "fail",
+      "post_native_priming_max_discard_frames": 30,
+      "post_native_priming_timeout_sec": 5.0,
+      "post_record_quality_policy": "warn",
+      "post_record_validate_pairing": true,
+      "realsense_color_format": null,
+      "realsense_fps": null,
+      "realsense_height": null,
+      "realsense_official_start_consecutive_framesets": 2,
+      "realsense_streams": "color,depth",
+      "realsense_width": null,
+      "recording_profile": "dynamic-validation-safe",
+      "recording_stop_policy": "duration_or_all_max_frames",
+      "require_calibration": false,
+      "stream_settle_sec": 0.0,
+      "stream_warmup_frames": 15,
+      "stream_warmup_no_frame_timeout_sec": 10.0,
+      "timestamp_gap_warning_frame_periods": 1.5,
+      "zed_fps": null,
+      "zed_resolution": null,
+      "zed_svo_compression_mode": "h265_lossless"
+    },
+    "duration_sec": 10.0,
+    "max_frames": null,
+    "recording_active_elapsed_sec": 10.01467330000014,
+    "recording_attempt_started_at_unix_time_ns": 1791748338806609865,
+    "recording_datetime": "20261011_155218_806614",
+    "recording_elapsed_sec": 238.91263127326965,
+    "recording_manifest_path": "recording_manifest.json",
+    "recording_metadata_schema_version": 1,
+    "recording_started_at_unix_time_ns": 1791748566504119963,
+    "recording_status": "completed",
+    "recording_stop_policy": "duration_or_all_max_frames",
+    "recording_stop_reason": "duration_sec_limit",
+    "recording_timing": {
+      "attempt_elapsed_sec": 238.9126284122467,
+      "official_active_elapsed_sec": 10.01467330000014,
+      "official_started_at_unix_time_ns": 1791748566504119963,
+      "official_stopped_at_unix_time_ns": 1791748576518499399,
+      "preroll_elapsed_sec": 1.0049024879999706,
+      "recording_started_at_unix_time_ns": 1791748566504119963,
+      "stream_preroll": {
+        "first_official_native_frame_index": 1,
+        "native_container_includes_post_native_priming_frames": true,
+        "native_container_includes_preroll_frames": false,
+        "native_recording_starts_after_warmup": true,
+        "per_camera_preroll_frame_count": {
+          "12933256": 15
+        },
+        "post_native_priming": {
+          "per_camera_discarded_frame_count": {
+            "12933256": 0
+          },
+          "per_camera_first_official_native_frame_index": {
+            "12933256": 1
+          },
+          "per_camera_post_native_priming_frame_count": {
+            "12933256": 1
+          },
+          "post_native_priming_applied": true,
+          "post_native_priming_elapsed_sec": 0.0329478570001811
+        },
+        "preroll_elapsed_sec": 1.0049024879999706,
+        "stream_settle_sec": 0.0,
+        "stream_warmup_frames": 15
+      },
+      "wind_down_elapsed_sec": 1.2007163690004745
+    },
+    "stream_preroll": {
+      "first_official_native_frame_index": 1,
+      "native_container_includes_post_native_priming_frames": true,
+      "native_container_includes_preroll_frames": false,
+      "native_recording_starts_after_warmup": true,
+      "per_camera_preroll_frame_count": {
+        "12933256": 15
+      },
+      "post_native_priming": {
+        "per_camera_discarded_frame_count": {
+          "12933256": 0
+        },
+        "per_camera_first_official_native_frame_index": {
+          "12933256": 1
+        },
+        "per_camera_post_native_priming_frame_count": {
+          "12933256": 1
+        },
+        "post_native_priming_applied": true,
+        "post_native_priming_elapsed_sec": 0.0329478570001811
+      },
+      "preroll_elapsed_sec": 1.0049024879999706,
+      "stream_settle_sec": 0.0,
+      "stream_warmup_frames": 15
+    },
+    "stream_settle_sec": 0.0,
+    "stream_warmup_frames": 15,
+    "timestamp_validation_policy": {
+      "alignment_warning_frame_periods": 0.5,
+      "fail_on_timestamp_gaps": false,
+      "nearest_neighbor_alignment_tolerance_frame_periods": 1.0,
+      "timestamp_gap_warning_frame_periods": 1.5
+    }
+  },
+  "source_files": [
+    {
+      "name": "ZED-M_SN12933256.svo2",
+      "path": "recordings/20261011_155218_806614/ZED-M_SN12933256.svo2",
+      "sha256": null,
+      "size_bytes": 343846873,
+      "suffix": ".svo2"
+    }
+  ],
+  "timestamp_sidecars": [
+    {
+      "device_duplicate_timestamp_count": 0,
+      "device_non_monotonic_timestamp_count": 0,
+      "device_timestamp_max_ns": 1791748576485040971,
+      "device_timestamp_min_ns": 1791748566472952971,
+      "frame_index_gap_count": 0,
+      "frame_index_max": 147,
+      "frame_index_min": 0,
+      "host_duplicate_timestamp_count": 0,
+      "host_non_monotonic_timestamp_count": 0,
+      "host_timestamp_max_ns": 1791748576571529820,
+      "host_timestamp_min_ns": 1791748566566105592,
+      "path": "recordings/20261011_155218_806614/timestamps_zed_SN12933256.csv",
+      "row_count": 148
+    }
+  ]
+}

scans/test_oct11/converted/sessions/session_20261011_155218_806614/metadata/discovery_report.md

@@ -0,0 +1,42 @@
+# Recording Discovery Report
+
+Recording directory: `recordings/20261011_155218_806614`
+
+## Clock Policy
+
+- Do not assume camera/device/robot timestamps share a clock domain.
+- Use manifest Parquet timestamp sidecars as authoritative when `recording_manifest.json` is present.
+- For explicit legacy conversion, use joined, trustworthy host timestamps as default synchronization time when available.
+- Preserve acquisition/device timestamps as auxiliary columns.
+- Mark old embedded robot states as `lcm_utime_or_robot_clock` when no host receive time exists.
+
+## Source Files
+
+- `ZED-M_SN12933256.svo2`: 343846873 bytes
+
+## Timestamp Sources
+
+- Authoritative timestamp source: `streams/<stream_id>/timestamps.parquet`.
+- Native video/container PTS is not used for cross-stream synchronization.
+- Legacy CSV timestamp sidecars, when present, are compatibility/debug artifacts only.
+
+### Manifest Parquet Sidecars
+- `zed_12933256_left_rgb`: `streams/zed_12933256_left_rgb/timestamps.parquet`
+- `zed_12933256_right_rgb`: `streams/zed_12933256_right_rgb/timestamps.parquet`
+- `zed_12933256_depth_zed_sdk_neural_plus`: `streams/zed_12933256_depth_zed_sdk_neural_plus/timestamps.parquet`
+
+## Legacy CSV Timestamp Sidecars
+
+- `timestamps_zed_SN12933256.csv`: rows=148, frame gaps=0, device duplicate timestamps=0, device non-monotonic=0
+
+## Recording Code Findings
+
+### new_record_multi_camera
+- ZED sidecar device_timestamp_ns comes from sl.TIME_REFERENCE.IMAGE after grab().
+- RealSense sidecar device_timestamp_ns comes from color_frame.get_timestamp() ms converted to ns.
+- host_timestamp_ns is time.time_ns() sampled immediately after recorder.record_frame().
+
+### old_zed_robot_state_recording
+- PandaStatus and PandaGripperStatus are stored as ZED SVOData custom keys.
+- SVOData timestamp is set from payload timestamp_us via set_microseconds().
+- No independent host receive timestamp is present for old embedded robot states.

scans/test_oct11/converted/sessions/session_20261011_155218_806614/metadata/grouped_zed_export_provenance.json

@@ -0,0 +1,19 @@
+{
+  "/home/shaunak/Code/grasp/belt_perception/recordings/20261011_155218_806614/ZED-M_SN12933256.svo2": {
+    "export_mode": "one_pass",
+    "first_native_container_frame_index": 1,
+    "grouped_zed_export": true,
+    "native_index_grab_plan_seek_count": 1,
+    "probe_depth_mode_none": "NONE",
+    "probe_depth_mode_target": "NEURAL_PLUS",
+    "recording_path": "/home/shaunak/Code/grasp/belt_perception/recordings/20261011_155218_806614/ZED-M_SN12933256.svo2",
+    "rgb_equivalence_left_equal": true,
+    "rgb_equivalence_passed": true,
+    "rgb_equivalence_right_equal": true,
+    "stream_ids": [
+      "zed_12933256_left_rgb",
+      "zed_12933256_right_rgb",
+      "zed_12933256_depth_zed_sdk_neural_plus"
+    ]
+  }
+}

scans/test_oct11/converted/sessions/session_20261011_155218_806614/metadata/raw_stream_summary.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a026a32846ec473e7d36eabfc47004254c3b6a4635af1f278a46cbe4e0c64b9
+size 24894

scans/test_oct11/converted/sessions/session_20261011_155218_806614/metadata/realsense_bag_pairing.json

@@ -0,0 +1,19 @@
+{
+  "bag_index_artifact": null,
+  "depth_aligned_to_color_pairing_policy": null,
+  "frame_number_offset_median": null,
+  "frame_number_offset_p95": null,
+  "frame_number_offset_unit": "frames",
+  "legacy_native_index_pairing_detected_bad": false,
+  "per_stream_legacy_audit": [],
+  "raw_pairing_validation": {
+    "recording_dir": "recordings/20261011_155218_806614",
+    "status": "skipped_no_realsense_streams"
+  },
+  "raw_pairing_validator_status": "skipped_no_realsense_streams",
+  "realsense_bag_pairing_policy": "sdk_frame_number",
+  "recording_pairing_validation_artifact": null,
+  "recording_pairing_validation_skipped_reason": "no_realsense_streams",
+  "safe_for_dynamic_multiview_tracking": false,
+  "temporal_pixel_sync_status": "not_applicable"
+}

scans/test_oct11/converted/sessions/session_20261011_155218_806614/metadata/recording_manifest.json

@@ -0,0 +1,480 @@
+{
+  "recording_manifest_schema_version": 1,
+  "recording_datetime": "20261011_155218_806614",
+  "recording_status": "completed",
+  "recording_stop_reason": "duration_sec_limit",
+  "camera_rig_profile_name": "single-zed-right-of-ur10",
+  "capture_profile_name": "zed-hd2k15",
+  "raw_container_policy": {
+    "zed": "svo2",
+    "realsense": "bag",
+    "direct_mkv_parquet_payload_recording": false,
+    "posthoc_conversion_required_for_ml_formats": true
+  },
+  "requested_acquisition": {
+    "capture_profile_name": "zed-hd2k15",
+    "camera_rig_profile_name": "single-zed-right-of-ur10",
+    "enabled_rgb_stream_ids": [
+      "zed_12933256_left_rgb",
+      "zed_12933256_right_rgb"
+    ],
+    "fps": null,
+    "zed_stream_profile_name": "HD2K",
+    "realsense_resolution_hw": null,
+    "realsense_image_format": null,
+    "per_camera": {
+      "zed_12933256": {
+        "camera_type": "zed",
+        "serial_number": "12933256",
+        "resolution": [
+          1242,
+          2208
+        ],
+        "fps": 15.0,
+        "stream_profile_name": "HD2K",
+        "image_format": "rgb8"
+      }
+    },
+    "zed_depth_mode": "NEURAL_PLUS",
+    "realsense_streams": [
+      "color",
+      "depth"
+    ],
+    "zed_svo_compression_mode": "H265_LOSSLESS"
+  },
+  "actual_acquisition": {
+    "camera_rig_profile_name": "single-zed-right-of-ur10",
+    "enabled_rgb_stream_ids": [
+      "zed_12933256_left_rgb",
+      "zed_12933256_right_rgb"
+    ],
+    "per_camera": {
+      "zed_12933256": {
+        "resolution": [
+          1242,
+          2208
+        ],
+        "requested_fps": 15.0,
+        "fps": 15.0,
+        "actual_fps": 15.0,
+        "actual_fps_source": "camera_information.camera_configuration.fps",
+        "stream_profile_name": "HD2K",
+        "image_format": "rgb8",
+        "depth_mode": "NEURAL_PLUS",
+        "svo_compression_mode": "H265_LOSSLESS",
+        "svo_compression_mode_source": "requested_enum_passed_to_sl.RecordingParameters",
+        "camera_type": "zed",
+        "serial_number": "12933256",
+        "camera_name": "right-of-ur10"
+      }
+    }
+  },
+  "recording_profile": "dynamic-validation-safe",
+  "realsense_pairing_audit": {
+    "post_record_validate_pairing": true,
+    "pairing_validation_failure_policy": "fail",
+    "realsense_color_format": null
+  },
+  "timestamp_alignment_policy": {
+    "nearest_neighbor_alignment_tolerance_frame_periods": 1.0,
+    "alignment_warning_frame_periods": 0.5,
+    "timestamp_gap_warning_frame_periods": 1.5,
+    "fail_on_timestamp_gaps": false,
+    "nominal_frame_period_ns": 66666667,
+    "default_nearest_neighbor_tolerance": "one nominal frame period per stream",
+    "strict_alignment_warning": "half a nominal frame period per stream",
+    "gap_warning": "per-stream timestamp gaps greater than timestamp_gap_warning_frame_periods"
+  },
+  "calibration": {
+    "packaged": false,
+    "reason": "calibration_run_dir was not provided"
+  },
+  "camera_image_controls": {
+    "mode": "native_auto_defaults",
+    "status": "established",
+    "policy_replay": false,
+    "established_before_warmup": true,
+    "auto_controls_frozen_during_recording": false,
+    "readback_semantics": "Per-control 'before'/'after' values are single startup readbacks taken while establishing native auto control; exposure, gain and white balance keep changing under the cameras' own automatic control for the whole recording and are never frozen into manual settings.",
+    "unmanaged_cameras": [],
+    "per_camera": {
+      "12933256": {
+        "camera_type": "zed",
+        "status": "established",
+        "mechanism": "sl.Camera.set_camera_settings(setting, VIDEO_SETTINGS_VALUE_AUTO=-1) for ISP + exposure/gain/white-balance, then AEC_AGC=1 and WHITEBALANCE_AUTO=1 with mode readback",
+        "controls": {
+          "BRIGHTNESS": {
+            "status": "reset_to_sdk_default",
+            "before": 4,
+            "after": 4
+          },
+          "CONTRAST": {
+            "status": "reset_to_sdk_default",
+            "before": 4,
+            "after": 4
+          },
+          "HUE": {
+            "status": "reset_to_sdk_default",
+            "before": 0,
+            "after": 0
+          },
+          "SATURATION": {
+            "status": "reset_to_sdk_default",
+            "before": 4,
+            "after": 4
+          },
+          "SHARPNESS": {
+            "status": "reset_to_sdk_default",
+            "before": 3,
+            "after": 3
+          },
+          "GAMMA": {
+            "status": "reset_to_sdk_default",
+            "before": 5,
+            "after": 5
+          },
+          "EXPOSURE": {
+            "status": "reset_to_sdk_default",
+            "before": 45,
+            "after": 45
+          },
+          "GAIN": {
+            "status": "reset_to_sdk_default",
+            "before": 1,
+            "after": 1
+          },
+          "WHITEBALANCE_TEMPERATURE": {
+            "status": "reset_to_sdk_default",
+            "before": 4700,
+            "after": 4700
+          },
+          "AEC_AGC": {
+            "status": "enabled",
+            "before": 1,
+            "after": 1
+          },
+          "WHITEBALANCE_AUTO": {
+            "status": "enabled",
+            "before": 1,
+            "after": 1
+          }
+        },
+        "unsupported_controls": [],
+        "initial_auto_exposure_gain": true,
+        "initial_auto_white_balance": true,
+        "auto_exposure_gain_enabled": true,
+        "auto_white_balance_enabled": true,
+        "errors": []
+      }
+    },
+    "errors": []
+  },
+  "streams": [
+    {
+      "stream_id": "zed_12933256_left_rgb",
+      "modality": "left_rgb",
+      "physical_camera_id": "zed_12933256",
+      "serial_number": "12933256",
+      "camera_type": "zed",
+      "camera_name": "right-of-ur10",
+      "recording_path": "ZED-M_SN12933256.svo2",
+      "timestamps_path": "streams/zed_12933256_left_rgb/timestamps.parquet",
+      "stream_manifest_path": "streams/zed_12933256_left_rgb/stream_manifest.json",
+      "requested_profile": {
+        "zed_resolution": "hd2k",
+        "resolution_hw": [
+          1242,
+          2208
+        ],
+        "fps": 15,
+        "depth_mode": "neural_plus",
+        "svo_compression_mode": "h265_lossless",
+        "container": "svo2"
+      },
+      "actual_opened_profile": {
+        "resolution": [
+          1242,
+          2208
+        ],
+        "requested_fps": 15.0,
+        "fps": 15.0,
+        "actual_fps": 15.0,
+        "actual_fps_source": "camera_information.camera_configuration.fps",
+        "stream_profile_name": "HD2K",
+        "image_format": "rgb8",
+        "depth_mode": "NEURAL_PLUS",
+        "svo_compression_mode": "H265_LOSSLESS",
+        "svo_compression_mode_source": "requested_enum_passed_to_sl.RecordingParameters"
+      },
+      "timestamp_summary": {
+        "stream_id": "zed_12933256_left_rgb",
+        "modality": "left_rgb",
+        "physical_camera_id": "zed_12933256",
+        "serial_number": "12933256",
+        "camera_type": "zed",
+        "row_count": 148,
+        "expected_fps": 15.0,
+        "observed_fps": 14.682252093669172,
+        "nominal_frame_period_ns": 66666667,
+        "default_nearest_neighbor_tolerance_ns": 66666667,
+        "strict_alignment_warning_tolerance_ns": 33333334,
+        "timestamp_gap_warning_threshold_ns": 100000000,
+        "timestamp_min_ns": 1791748566472952971,
+        "timestamp_max_ns": 1791748576485040971,
+        "median_gap_ns": 66349000.0,
+        "max_gap_ns": 132934000,
+        "large_gap_count": 3,
+        "large_gaps": [
+          {
+            "from_row": 2,
+            "to_row": 3,
+            "gap_ns": 132934000
+          },
+          {
+            "from_row": 4,
+            "to_row": 5,
+            "gap_ns": 132897000
+          },
+          {
+            "from_row": 8,
+            "to_row": 9,
+            "gap_ns": 132932000
+          }
+        ],
+        "first_inter_frame_gap_ns": 132782000,
+        "startup_gap_excluded_from_warnings": true,
+        "preroll_frame_count": 15,
+        "official_frame_count": 148,
+        "duplicate_timestamp_count": 0,
+        "non_monotonic_timestamp_count": 0,
+        "sdk_frame_number_gap_count": 0,
+        "sdk_frame_number_gaps": [],
+        "sdk_frame_number_reportable": false,
+        "host_timestamp_min_ns": 1791748566566105592,
+        "host_timestamp_max_ns": 1791748576571529820,
+        "timestamp_domain": "zed_image",
+        "timestamp_source": "sl.TIME_REFERENCE.IMAGE",
+        "host_timestamp_source": "time.time_ns_after_record_frame",
+        "warnings": [
+          "large_timestamp_gap"
+        ]
+      },
+      "native_frame_mapping": {
+        "native_container_includes_preroll_frames": false,
+        "native_container_includes_post_native_priming_frames": true,
+        "preroll_frame_count": 15,
+        "post_native_priming_frame_count": 1,
+        "official_frame_count": 148,
+        "first_official_native_frame_index": 1,
+        "native_frame_index_origin": "zero_based_sequential_grab_after_enable_recording_including_post_native_priming",
+        "converter_mapping": "official sidecar row R maps to native decoded frame index 1 + R; native frames [0, 1) were written during post-native priming after enable_recording() and are not listed in the official sidecar."
+      }
+    },
+    {
+      "stream_id": "zed_12933256_right_rgb",
+      "modality": "right_rgb",
+      "physical_camera_id": "zed_12933256",
+      "serial_number": "12933256",
+      "camera_type": "zed",
+      "camera_name": "right-of-ur10",
+      "recording_path": "ZED-M_SN12933256.svo2",
+      "timestamps_path": "streams/zed_12933256_right_rgb/timestamps.parquet",
+      "stream_manifest_path": "streams/zed_12933256_right_rgb/stream_manifest.json",
+      "requested_profile": {
+        "zed_resolution": "hd2k",
+        "resolution_hw": [
+          1242,
+          2208
+        ],
+        "fps": 15,
+        "depth_mode": "neural_plus",
+        "svo_compression_mode": "h265_lossless",
+        "container": "svo2"
+      },
+      "actual_opened_profile": {
+        "resolution": [
+          1242,
+          2208
+        ],
+        "requested_fps": 15.0,
+        "fps": 15.0,
+        "actual_fps": 15.0,
+        "actual_fps_source": "camera_information.camera_configuration.fps",
+        "stream_profile_name": "HD2K",
+        "image_format": "rgb8",
+        "depth_mode": "NEURAL_PLUS",
+        "svo_compression_mode": "H265_LOSSLESS",
+        "svo_compression_mode_source": "requested_enum_passed_to_sl.RecordingParameters"
+      },
+      "timestamp_summary": {
+        "stream_id": "zed_12933256_right_rgb",
+        "modality": "right_rgb",
+        "physical_camera_id": "zed_12933256",
+        "serial_number": "12933256",
+        "camera_type": "zed",
+        "row_count": 148,
+        "expected_fps": 15.0,
+        "observed_fps": 14.682252093669172,
+        "nominal_frame_period_ns": 66666667,
+        "default_nearest_neighbor_tolerance_ns": 66666667,
+        "strict_alignment_warning_tolerance_ns": 33333334,
+        "timestamp_gap_warning_threshold_ns": 100000000,
+        "timestamp_min_ns": 1791748566472952971,
+        "timestamp_max_ns": 1791748576485040971,
+        "median_gap_ns": 66349000.0,
+        "max_gap_ns": 132934000,
+        "large_gap_count": 3,
+        "large_gaps": [
+          {
+            "from_row": 2,
+            "to_row": 3,
+            "gap_ns": 132934000
+          },
+          {
+            "from_row": 4,
+            "to_row": 5,
+            "gap_ns": 132897000
+          },
+          {
+            "from_row": 8,
+            "to_row": 9,
+            "gap_ns": 132932000
+          }
+        ],
+        "first_inter_frame_gap_ns": 132782000,
+        "startup_gap_excluded_from_warnings": true,
+        "preroll_frame_count": 15,
+        "official_frame_count": 148,
+        "duplicate_timestamp_count": 0,
+        "non_monotonic_timestamp_count": 0,
+        "sdk_frame_number_gap_count": 0,
+        "sdk_frame_number_gaps": [],
+        "sdk_frame_number_reportable": false,
+        "host_timestamp_min_ns": 1791748566566105592,
+        "host_timestamp_max_ns": 1791748576571529820,
+        "timestamp_domain": "zed_image",
+        "timestamp_source": "sl.TIME_REFERENCE.IMAGE",
+        "host_timestamp_source": "time.time_ns_after_record_frame",
+        "warnings": [
+          "large_timestamp_gap"
+        ]
+      },
+      "native_frame_mapping": {
+        "native_container_includes_preroll_frames": false,
+        "native_container_includes_post_native_priming_frames": true,
+        "preroll_frame_count": 15,
+        "post_native_priming_frame_count": 1,
+        "official_frame_count": 148,
+        "first_official_native_frame_index": 1,
+        "native_frame_index_origin": "zero_based_sequential_grab_after_enable_recording_including_post_native_priming",
+        "converter_mapping": "official sidecar row R maps to native decoded frame index 1 + R; native frames [0, 1) were written during post-native priming after enable_recording() and are not listed in the official sidecar."
+      }
+    },
+    {
+      "stream_id": "zed_12933256_depth_zed_sdk_neural_plus",
+      "modality": "depth",
+      "physical_camera_id": "zed_12933256",
+      "serial_number": "12933256",
+      "camera_type": "zed",
+      "camera_name": "right-of-ur10",
+      "recording_path": "ZED-M_SN12933256.svo2",
+      "timestamps_path": "streams/zed_12933256_depth_zed_sdk_neural_plus/timestamps.parquet",
+      "stream_manifest_path": "streams/zed_12933256_depth_zed_sdk_neural_plus/stream_manifest.json",
+      "requested_profile": {
+        "zed_resolution": "hd2k",
+        "resolution_hw": [
+          1242,
+          2208
+        ],
+        "fps": 15,
+        "depth_mode": "neural_plus",
+        "svo_compression_mode": "h265_lossless",
+        "container": "svo2"
+      },
+      "actual_opened_profile": {
+        "resolution": [
+          1242,
+          2208
+        ],
+        "requested_fps": 15.0,
+        "fps": 15.0,
+        "actual_fps": 15.0,
+        "actual_fps_source": "camera_information.camera_configuration.fps",
+        "stream_profile_name": "HD2K",
+        "image_format": "rgb8",
+        "depth_mode": "NEURAL_PLUS",
+        "svo_compression_mode": "H265_LOSSLESS",
+        "svo_compression_mode_source": "requested_enum_passed_to_sl.RecordingParameters"
+      },
+      "timestamp_summary": {
+        "stream_id": "zed_12933256_depth_zed_sdk_neural_plus",
+        "modality": "depth",
+        "physical_camera_id": "zed_12933256",
+        "serial_number": "12933256",
+        "camera_type": "zed",
+        "row_count": 148,
+        "expected_fps": 15.0,
+        "observed_fps": 14.682252093669172,
+        "nominal_frame_period_ns": 66666667,
+        "default_nearest_neighbor_tolerance_ns": 66666667,
+        "strict_alignment_warning_tolerance_ns": 33333334,
+        "timestamp_gap_warning_threshold_ns": 100000000,
+        "timestamp_min_ns": 1791748566472952971,
+        "timestamp_max_ns": 1791748576485040971,
+        "median_gap_ns": 66349000.0,
+        "max_gap_ns": 132934000,
+        "large_gap_count": 3,
+        "large_gaps": [
+          {
+            "from_row": 2,
+            "to_row": 3,
+            "gap_ns": 132934000
+          },
+          {
+            "from_row": 4,
+            "to_row": 5,
+            "gap_ns": 132897000
+          },
+          {
+            "from_row": 8,
+            "to_row": 9,
+            "gap_ns": 132932000
+          }
+        ],
+        "first_inter_frame_gap_ns": 132782000,
+        "startup_gap_excluded_from_warnings": true,
+        "preroll_frame_count": 15,
+        "official_frame_count": 148,
+        "duplicate_timestamp_count": 0,
+        "non_monotonic_timestamp_count": 0,
+        "sdk_frame_number_gap_count": 0,
+        "sdk_frame_number_gaps": [],
+        "sdk_frame_number_reportable": false,
+        "host_timestamp_min_ns": 1791748566566105592,
+        "host_timestamp_max_ns": 1791748576571529820,
+        "timestamp_domain": "zed_image",
+        "timestamp_source": "sl.TIME_REFERENCE.IMAGE",
+        "host_timestamp_source": "time.time_ns_after_record_frame",
+        "warnings": [
+          "large_timestamp_gap"
+        ]
+      },
+      "native_frame_mapping": {
+        "native_container_includes_preroll_frames": false,
+        "native_container_includes_post_native_priming_frames": true,
+        "preroll_frame_count": 15,
+        "post_native_priming_frame_count": 1,
+        "official_frame_count": 148,
+        "first_official_native_frame_index": 1,
+        "native_frame_index_origin": "zero_based_sequential_grab_after_enable_recording_including_post_native_priming",
+        "converter_mapping": "official sidecar row R maps to native decoded frame index 1 + R; native frames [0, 1) were written during post-native priming after enable_recording() and are not listed in the official sidecar."
+      }
+    }
+  ],
+  "legacy_timestamp_csvs": [
+    "timestamps_zed_SN12933256.csv"
+  ],
+  "known_converter_gaps": [
+    "Post-hoc converter currently exports RealSense color/depth from BAG; RealSense IR BAG export remains follow-up work."
+  ]
+}

scans/test_oct11/converted/sessions/session_20261011_155218_806614/metadata/recording_metadata.json

@@ -0,0 +1,650 @@
+{
+  "recording_metadata_schema_version": 1,
+  "recording_datetime": "20261011_155218_806614",
+  "recording_status": "completed",
+  "recording_attempt_started_at_unix_time_ns": 1791748338806609865,
+  "recording_started_at_unix_time_ns": 1791748566504119963,
+  "camera_rig_profile_name": "single-zed-right-of-ur10",
+  "duration_sec": 10.0,
+  "max_frames": null,
+  "stream_warmup_frames": 15,
+  "stream_settle_sec": 0.0,
+  "recording_stop_policy": "duration_or_all_max_frames",
+  "timestamp_validation_policy": {
+    "nearest_neighbor_alignment_tolerance_frame_periods": 1.0,
+    "alignment_warning_frame_periods": 0.5,
+    "timestamp_gap_warning_frame_periods": 1.5,
+    "fail_on_timestamp_gaps": false
+  },
+  "recording_manifest_path": "recording_manifest.json",
+  "config": {
+    "camera_rig_profile_name": "single-zed-right-of-ur10",
+    "capture_profile_name": "zed-hd2k15",
+    "capture": {
+      "shared": {
+        "resolution_hw": null,
+        "fps": null,
+        "image_format": null,
+        "warmup_frames": null,
+        "retain_gpu_images": null,
+        "return_pointmap_instead_of_depth": null,
+        "require_stereo_frames": null
+      },
+      "zed": {
+        "depth_mode_name": null,
+        "allow_depth_mode_fallback": null,
+        "coordinate_units": null,
+        "depth_stabilization": null,
+        "depth_minimum_distance_m": null,
+        "depth_maximum_distance_m": null,
+        "open_timeout_sec": null
+      },
+      "realsense": {
+        "rectify_color": null,
+        "duplicate_frame_policy": null,
+        "duplicate_timeout_s": null,
+        "duplicate_max_count": null
+      },
+      "overrides_by_serial": {}
+    },
+    "output_datetime": "20261011_155218_806614",
+    "duration_sec": 10.0,
+    "max_frames": null,
+    "zed_resolution": null,
+    "zed_fps": null,
+    "zed_svo_compression_mode": "h265_lossless",
+    "realsense_fps": null,
+    "realsense_width": null,
+    "realsense_height": null,
+    "realsense_color_format": null,
+    "realsense_streams": "color,depth",
+    "depth_mode": "neural_plus",
+    "calibration_run_dir": null,
+    "calibration_pose_source": "phase_05_final",
+    "require_calibration": false,
+    "copy_calibration_rerun_rrd": false,
+    "copy_calibration_depth_snapshots": false,
+    "copy_full_calibration_run": false,
+    "allow_extra_calibrated_cameras": true,
+    "nearest_neighbor_alignment_tolerance_frame_periods": 1.0,
+    "alignment_warning_frame_periods": 0.5,
+    "timestamp_gap_warning_frame_periods": 1.5,
+    "fail_on_timestamp_gaps": false,
+    "max_frames_no_progress_timeout_sec": 10.0,
+    "no_frame_poll_sleep_sec": 0.001,
+    "stream_warmup_frames": 15,
+    "stream_settle_sec": 0.0,
+    "stream_warmup_no_frame_timeout_sec": 10.0,
+    "native_recording_starts_after_warmup": true,
+    "post_native_priming_timeout_sec": 5.0,
+    "post_native_priming_max_discard_frames": 30,
+    "realsense_official_start_consecutive_framesets": 2,
+    "recording_stop_policy": "duration_or_all_max_frames",
+    "recording_profile": "dynamic-validation-safe",
+    "post_record_validate_pairing": true,
+    "pairing_validation_failure_policy": "fail",
+    "post_record_quality_policy": "warn"
+  },
+  "calibration": {
+    "packaged": false,
+    "reason": "calibration_run_dir was not provided"
+  },
+  "cameras": [
+    {
+      "name": "right-of-ur10",
+      "serial_number": "12933256",
+      "camera_type": "zed",
+      "recording_path": "ZED-M_SN12933256.svo2",
+      "timestamp_path": "timestamps_zed_SN12933256.csv",
+      "frame_count": 148,
+      "dropped_non_monotonic_timestamp_count": 0,
+      "streams": [
+        {
+          "stream_id": "zed_12933256_left_rgb",
+          "modality": "left_rgb",
+          "requested_profile": {
+            "zed_resolution": "hd2k",
+            "resolution_hw": [
+              1242,
+              2208
+            ],
+            "fps": 15,
+            "depth_mode": "neural_plus",
+            "svo_compression_mode": "h265_lossless",
+            "container": "svo2"
+          },
+          "expected_fps": 15.0
+        },
+        {
+          "stream_id": "zed_12933256_right_rgb",
+          "modality": "right_rgb",
+          "requested_profile": {
+            "zed_resolution": "hd2k",
+            "resolution_hw": [
+              1242,
+              2208
+            ],
+            "fps": 15,
+            "depth_mode": "neural_plus",
+            "svo_compression_mode": "h265_lossless",
+            "container": "svo2"
+          },
+          "expected_fps": 15.0
+        },
+        {
+          "stream_id": "zed_12933256_depth_zed_sdk_neural_plus",
+          "modality": "depth",
+          "requested_profile": {
+            "zed_resolution": "hd2k",
+            "resolution_hw": [
+              1242,
+              2208
+            ],
+            "fps": 15,
+            "depth_mode": "neural_plus",
+            "svo_compression_mode": "h265_lossless",
+            "container": "svo2"
+          },
+          "expected_fps": 15.0
+        }
+      ],
+      "official_frame_count": 148,
+      "native_container_includes_preroll_frames": false,
+      "native_container_includes_post_native_priming_frames": true,
+      "preroll_frame_count": 15,
+      "post_native_priming_frame_count": 1,
+      "first_official_native_frame_index": 1,
+      "native_frame_index_origin": "zero_based_sequential_grab_after_enable_recording_including_post_native_priming",
+      "converter_mapping": "official sidecar row R maps to native decoded frame index 1 + R; native frames [0, 1) were written during post-native priming after enable_recording() and are not listed in the official sidecar.",
+      "dropped_stale_preofficial_timestamp_count": 0,
+      "post_native_discarded_frame_count": 0,
+      "actual_opened_profile": {
+        "resolution": [
+          1242,
+          2208
+        ],
+        "requested_fps": 15.0,
+        "fps": 15.0,
+        "actual_fps": 15.0,
+        "actual_fps_source": "camera_information.camera_configuration.fps",
+        "stream_profile_name": "HD2K",
+        "image_format": "rgb8",
+        "depth_mode": "NEURAL_PLUS",
+        "svo_compression_mode": "H265_LOSSLESS",
+        "svo_compression_mode_source": "requested_enum_passed_to_sl.RecordingParameters"
+      },
+      "camera_metadata": {
+        "camera_id": "right-of-ur10",
+        "serial_number": "12933256",
+        "camera_type": "zed",
+        "model": "ZED-M",
+        "resolution_hw": [
+          1242,
+          2208
+        ],
+        "fps": 15.0,
+        "color_intrinsics": [
+          [
+            1461.6546630859375,
+            0.0,
+            1172.291015625
+          ],
+          [
+            0.0,
+            1461.6546630859375,
+            608.998046875
+          ],
+          [
+            0.0,
+            0.0,
+            1.0
+          ]
+        ],
+        "depth_intrinsics": [
+          [
+            1461.6546630859375,
+            0.0,
+            1172.291015625
+          ],
+          [
+            0.0,
+            1461.6546630859375,
+            608.998046875
+          ],
+          [
+            0.0,
+            0.0,
+            1.0
+          ]
+        ],
+        "color_T_depth": null,
+        "depth_T_color": null,
+        "color_T_ir_left": null,
+        "ir_left_T_color": null,
+        "color_T_ir_right": null,
+        "ir_right_T_color": null,
+        "left_rgb_camera_T_right_rgb_camera": [
+          [
+            1.0,
+            0.0,
+            0.0,
+            0.06304030865430832
+          ],
+          [
+            0.0,
+            1.0,
+            0.0,
+            0.0
+          ],
+          [
+            0.0,
+            0.0,
+            1.0,
+            0.0
+          ],
+          [
+            0.0,
+            0.0,
+            0.0,
+            1.0
+          ]
+        ],
+        "right_rgb_camera_T_left_rgb_camera": [
+          [
+            1.0,
+            0.0,
+            0.0,
+            -0.06304030865430832
+          ],
+          [
+            0.0,
+            1.0,
+            0.0,
+            0.0
+          ],
+          [
+            0.0,
+            0.0,
+            1.0,
+            0.0
+          ],
+          [
+            0.0,
+            0.0,
+            0.0,
+            1.0
+          ]
+        ],
+        "left_camera_frame": "zed_12933256_left_rgb_camera",
+        "right_camera_frame": "zed_12933256_right_rgb_camera",
+        "depth_camera_frame": "zed_12933256_left_rgb_camera",
+        "color_camera_frame": null,
+        "ir_left_camera_frame": null,
+        "ir_right_camera_frame": null,
+        "stereo_baseline_m": 0.06304030865430832,
+        "depth_frame_convention": "ZED sl.MEASURE.DEPTH depth maps are expressed in the left RGB camera optical frame.",
+        "transform_convention": "a_T_b maps points from frame b into frame a: p_a = T * p_b",
+        "depth_scale_m": null,
+        "capabilities": [
+          "right_color",
+          "depth",
+          "raw_depth",
+          "color",
+          "aligned_depth_to_color",
+          "stereo_color"
+        ],
+        "metadata": {
+          "color_image_geometry": "zed_rectified_rgb",
+          "color_distortion_coefficients": null,
+          "color_distortion_model": null,
+          "color_is_rectified": true,
+          "color_projection_model_used": "rectified_pinhole",
+          "color_rectification_source": "zed_sdk_rectified_view",
+          "depth_units": "metres",
+          "aligned_depth_target": "left_color",
+          "invalid_depth_convention": "ZED SDK values are preserved, including non-finite invalid depth.",
+          "offline_recording": false,
+          "input_type": "INPUT_TYPE.USB",
+          "usb": {
+            "video_device_path": "/dev/video2",
+            "sysfs_path": "/sys/devices/pci0000:00/0000:00:08.3/0000:66:00.4/usb8/8-1",
+            "bus": "8",
+            "port_path": "1",
+            "pci_controller_path": "/sys/devices/pci0000:00",
+            "usb_type_descriptor": "3.00",
+            "speed_mbps": 5000.0,
+            "product": "ZED-M",
+            "is_usb3": true,
+            "input_type_raw": "INPUT_TYPE.USB",
+            "usb_validation_source": "linux_sysfs_video_device",
+            "note": null
+          },
+          "usb_type_descriptor": "3.00",
+          "usb_speed_mbps": 5000.0,
+          "usb_product": "ZED-M"
+        }
+      },
+      "stream_summaries": {
+        "zed_12933256_left_rgb": {
+          "stream_id": "zed_12933256_left_rgb",
+          "modality": "left_rgb",
+          "physical_camera_id": "zed_12933256",
+          "serial_number": "12933256",
+          "camera_type": "zed",
+          "row_count": 148,
+          "expected_fps": 15.0,
+          "observed_fps": 14.682252093669172,
+          "nominal_frame_period_ns": 66666667,
+          "default_nearest_neighbor_tolerance_ns": 66666667,
+          "strict_alignment_warning_tolerance_ns": 33333334,
+          "timestamp_gap_warning_threshold_ns": 100000000,
+          "timestamp_min_ns": 1791748566472952971,
+          "timestamp_max_ns": 1791748576485040971,
+          "median_gap_ns": 66349000.0,
+          "max_gap_ns": 132934000,
+          "large_gap_count": 3,
+          "large_gaps": [
+            {
+              "from_row": 2,
+              "to_row": 3,
+              "gap_ns": 132934000
+            },
+            {
+              "from_row": 4,
+              "to_row": 5,
+              "gap_ns": 132897000
+            },
+            {
+              "from_row": 8,
+              "to_row": 9,
+              "gap_ns": 132932000
+            }
+          ],
+          "first_inter_frame_gap_ns": 132782000,
+          "startup_gap_excluded_from_warnings": true,
+          "preroll_frame_count": 15,
+          "official_frame_count": 148,
+          "duplicate_timestamp_count": 0,
+          "non_monotonic_timestamp_count": 0,
+          "sdk_frame_number_gap_count": 0,
+          "sdk_frame_number_gaps": [],
+          "sdk_frame_number_reportable": false,
+          "host_timestamp_min_ns": 1791748566566105592,
+          "host_timestamp_max_ns": 1791748576571529820,
+          "timestamp_domain": "zed_image",
+          "timestamp_source": "sl.TIME_REFERENCE.IMAGE",
+          "host_timestamp_source": "time.time_ns_after_record_frame",
+          "warnings": [
+            "large_timestamp_gap"
+          ]
+        },
+        "zed_12933256_right_rgb": {
+          "stream_id": "zed_12933256_right_rgb",
+          "modality": "right_rgb",
+          "physical_camera_id": "zed_12933256",
+          "serial_number": "12933256",
+          "camera_type": "zed",
+          "row_count": 148,
+          "expected_fps": 15.0,
+          "observed_fps": 14.682252093669172,
+          "nominal_frame_period_ns": 66666667,
+          "default_nearest_neighbor_tolerance_ns": 66666667,
+          "strict_alignment_warning_tolerance_ns": 33333334,
+          "timestamp_gap_warning_threshold_ns": 100000000,
+          "timestamp_min_ns": 1791748566472952971,
+          "timestamp_max_ns": 1791748576485040971,
+          "median_gap_ns": 66349000.0,
+          "max_gap_ns": 132934000,
+          "large_gap_count": 3,
+          "large_gaps": [
+            {
+              "from_row": 2,
+              "to_row": 3,
+              "gap_ns": 132934000
+            },
+            {
+              "from_row": 4,
+              "to_row": 5,
+              "gap_ns": 132897000
+            },
+            {
+              "from_row": 8,
+              "to_row": 9,
+              "gap_ns": 132932000
+            }
+          ],
+          "first_inter_frame_gap_ns": 132782000,
+          "startup_gap_excluded_from_warnings": true,
+          "preroll_frame_count": 15,
+          "official_frame_count": 148,
+          "duplicate_timestamp_count": 0,
+          "non_monotonic_timestamp_count": 0,
+          "sdk_frame_number_gap_count": 0,
+          "sdk_frame_number_gaps": [],
+          "sdk_frame_number_reportable": false,
+          "host_timestamp_min_ns": 1791748566566105592,
+          "host_timestamp_max_ns": 1791748576571529820,
+          "timestamp_domain": "zed_image",
+          "timestamp_source": "sl.TIME_REFERENCE.IMAGE",
+          "host_timestamp_source": "time.time_ns_after_record_frame",
+          "warnings": [
+            "large_timestamp_gap"
+          ]
+        },
+        "zed_12933256_depth_zed_sdk_neural_plus": {
+          "stream_id": "zed_12933256_depth_zed_sdk_neural_plus",
+          "modality": "depth",
+          "physical_camera_id": "zed_12933256",
+          "serial_number": "12933256",
+          "camera_type": "zed",
+          "row_count": 148,
+          "expected_fps": 15.0,
+          "observed_fps": 14.682252093669172,
+          "nominal_frame_period_ns": 66666667,
+          "default_nearest_neighbor_tolerance_ns": 66666667,
+          "strict_alignment_warning_tolerance_ns": 33333334,
+          "timestamp_gap_warning_threshold_ns": 100000000,
+          "timestamp_min_ns": 1791748566472952971,
+          "timestamp_max_ns": 1791748576485040971,
+          "median_gap_ns": 66349000.0,
+          "max_gap_ns": 132934000,
+          "large_gap_count": 3,
+          "large_gaps": [
+            {
+              "from_row": 2,
+              "to_row": 3,
+              "gap_ns": 132934000
+            },
+            {
+              "from_row": 4,
+              "to_row": 5,
+              "gap_ns": 132897000
+            },
+            {
+              "from_row": 8,
+              "to_row": 9,
+              "gap_ns": 132932000
+            }
+          ],
+          "first_inter_frame_gap_ns": 132782000,
+          "startup_gap_excluded_from_warnings": true,
+          "preroll_frame_count": 15,
+          "official_frame_count": 148,
+          "duplicate_timestamp_count": 0,
+          "non_monotonic_timestamp_count": 0,
+          "sdk_frame_number_gap_count": 0,
+          "sdk_frame_number_gaps": [],
+          "sdk_frame_number_reportable": false,
+          "host_timestamp_min_ns": 1791748566566105592,
+          "host_timestamp_max_ns": 1791748576571529820,
+          "timestamp_domain": "zed_image",
+          "timestamp_source": "sl.TIME_REFERENCE.IMAGE",
+          "host_timestamp_source": "time.time_ns_after_record_frame",
+          "warnings": [
+            "large_timestamp_gap"
+          ]
+        }
+      }
+    }
+  ],
+  "camera_image_controls": {
+    "mode": "native_auto_defaults",
+    "status": "established",
+    "policy_replay": false,
+    "established_before_warmup": true,
+    "auto_controls_frozen_during_recording": false,
+    "readback_semantics": "Per-control 'before'/'after' values are single startup readbacks taken while establishing native auto control; exposure, gain and white balance keep changing under the cameras' own automatic control for the whole recording and are never frozen into manual settings.",
+    "unmanaged_cameras": [],
+    "per_camera": {
+      "12933256": {
+        "camera_type": "zed",
+        "status": "established",
+        "mechanism": "sl.Camera.set_camera_settings(setting, VIDEO_SETTINGS_VALUE_AUTO=-1) for ISP + exposure/gain/white-balance, then AEC_AGC=1 and WHITEBALANCE_AUTO=1 with mode readback",
+        "controls": {
+          "BRIGHTNESS": {
+            "status": "reset_to_sdk_default",
+            "before": 4,
+            "after": 4
+          },
+          "CONTRAST": {
+            "status": "reset_to_sdk_default",
+            "before": 4,
+            "after": 4
+          },
+          "HUE": {
+            "status": "reset_to_sdk_default",
+            "before": 0,
+            "after": 0
+          },
+          "SATURATION": {
+            "status": "reset_to_sdk_default",
+            "before": 4,
+            "after": 4
+          },
+          "SHARPNESS": {
+            "status": "reset_to_sdk_default",
+            "before": 3,
+            "after": 3
+          },
+          "GAMMA": {
+            "status": "reset_to_sdk_default",
+            "before": 5,
+            "after": 5
+          },
+          "EXPOSURE": {
+            "status": "reset_to_sdk_default",
+            "before": 45,
+            "after": 45
+          },
+          "GAIN": {
+            "status": "reset_to_sdk_default",
+            "before": 1,
+            "after": 1
+          },
+          "WHITEBALANCE_TEMPERATURE": {
+            "status": "reset_to_sdk_default",
+            "before": 4700,
+            "after": 4700
+          },
+          "AEC_AGC": {
+            "status": "enabled",
+            "before": 1,
+            "after": 1
+          },
+          "WHITEBALANCE_AUTO": {
+            "status": "enabled",
+            "before": 1,
+            "after": 1
+          }
+        },
+        "unsupported_controls": [],
+        "initial_auto_exposure_gain": true,
+        "initial_auto_white_balance": true,
+        "auto_exposure_gain_enabled": true,
+        "auto_white_balance_enabled": true,
+        "errors": []
+      }
+    },
+    "errors": []
+  },
+  "stream_preroll": {
+    "stream_warmup_frames": 15,
+    "stream_settle_sec": 0.0,
+    "preroll_elapsed_sec": 1.0049024879999706,
+    "native_recording_starts_after_warmup": true,
+    "native_container_includes_preroll_frames": false,
+    "native_container_includes_post_native_priming_frames": true,
+    "first_official_native_frame_index": 1,
+    "per_camera_preroll_frame_count": {
+      "12933256": 15
+    },
+    "post_native_priming": {
+      "post_native_priming_applied": true,
+      "post_native_priming_elapsed_sec": 0.0329478570001811,
+      "per_camera_discarded_frame_count": {
+        "12933256": 0
+      },
+      "per_camera_post_native_priming_frame_count": {
+        "12933256": 1
+      },
+      "per_camera_first_official_native_frame_index": {
+        "12933256": 1
+      }
+    }
+  },
+  "camera_close_reports": [
+    {
+      "camera_type": "zed",
+      "serial_number": "12933256",
+      "recording_enabled_before_close": true,
+      "recording_enabled_after_disable": false,
+      "read_thread_alive_before_close": false,
+      "read_thread_alive_after_stop": false,
+      "camera_lock_acquired_for_close": true,
+      "sdk_close_attempted": true,
+      "sdk_is_opened_before_close": true,
+      "sdk_is_opened_after_close": false,
+      "sdk_close_retry_count": 0,
+      "sdk_close_exception": null,
+      "close_warning_messages": [],
+      "recording_stop_reason": "duration_sec_limit"
+    }
+  ],
+  "recording_elapsed_sec": 238.91263127326965,
+  "recording_active_elapsed_sec": 10.01467330000014,
+  "recording_timing": {
+    "attempt_elapsed_sec": 238.9126284122467,
+    "official_active_elapsed_sec": 10.01467330000014,
+    "preroll_elapsed_sec": 1.0049024879999706,
+    "wind_down_elapsed_sec": 1.2007163690004745,
+    "recording_started_at_unix_time_ns": 1791748566504119963,
+    "official_started_at_unix_time_ns": 1791748566504119963,
+    "official_stopped_at_unix_time_ns": 1791748576518499399,
+    "stream_preroll": {
+      "stream_warmup_frames": 15,
+      "stream_settle_sec": 0.0,
+      "preroll_elapsed_sec": 1.0049024879999706,
+      "native_recording_starts_after_warmup": true,
+      "native_container_includes_preroll_frames": false,
+      "native_container_includes_post_native_priming_frames": true,
+      "first_official_native_frame_index": 1,
+      "per_camera_preroll_frame_count": {
+        "12933256": 15
+      },
+      "post_native_priming": {
+        "post_native_priming_applied": true,
+        "post_native_priming_elapsed_sec": 0.0329478570001811,
+        "per_camera_discarded_frame_count": {
+          "12933256": 0
+        },
+        "per_camera_post_native_priming_frame_count": {
+          "12933256": 1
+        },
+        "per_camera_first_official_native_frame_index": {
+          "12933256": 1
+        }
+      }
+    }
+  },
+  "recording_stop_reason": "duration_sec_limit"
+}

scans/test_oct11/converted/sessions/session_20261011_155218_806614/metadata/session.json

@@ -0,0 +1,45 @@
+{
+  "conversion_time": "2026-10-11T20:08:37.558555+00:00",
+  "converter_command": [
+    "/home/shaunak/Code/grasp/belt_perception/.venv/bin/python",
+    "-m",
+    "dataset_converter.convert_session",
+    "--recording-dir",
+    "recordings/20261011_155218_806614",
+    "--output-root",
+    "converted_datasets",
+    "--input-format",
+    "manifest",
+    "--zed-streams",
+    "all",
+    "--depth-encoder",
+    "zdepth",
+    "--calibration-source",
+    "packaged-if-present",
+    "--zdepth-over-max-behavior",
+    "clamp",
+    "--timestamp-gap-policy",
+    "warn",
+    "--timestamp-rate-policy",
+    "warn",
+    "--large-gap-fail-multiplier",
+    "3.5",
+    "--max-large-gap-rate",
+    "0.03",
+    "--validate"
+  ],
+  "converter_git_commit": "46f912eefa2dce720b79df547085b8bbdb858ad2",
+  "dataset_format_version": "0.1.0",
+  "ffmpeg_version": "ffmpeg version 4.4.2-0ubuntu0.22.04.1 Copyright (c) 2000-2021 the FFmpeg developers",
+  "pyav_version": "17.0.1",
+  "realsense_sdk_version": "2.58.2",
+  "session_description": "",
+  "session_description_editing_note": "Edit metadata/session_description.md after conversion to update the human-readable session purpose/contents note.",
+  "session_description_path": "metadata/session_description.md",
+  "session_description_source": "editable_template",
+  "session_id": "session_20261011_155218_806614",
+  "source_file_hashes": {
+    "/home/shaunak/Code/grasp/belt_perception/recordings/20261011_155218_806614/ZED-M_SN12933256.svo2": "42122f02cb2531b836062de702942409d954ee48c3073d9c0c2e7a1d6ad42ecc"
+  },
+  "zed_sdk_version": "5.5.0"
+}

scans/test_oct11/converted/sessions/session_20261011_155218_806614/metadata/session_description.md

@@ -0,0 +1,7 @@
+# Session Description
+
+Purpose:
+
+Data / motion / observations:
+
+Notes:

scans/test_oct11/converted/sessions/session_20261011_155218_806614/metadata/session_manifest.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6888c292da903746d1971e5b9a48f750b35499152f88ec3ce8e500771c27bbb5
+size 7181

scans/test_oct11/converted/sessions/session_20261011_155218_806614/metadata/streams.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2e6bdd1674db3d76515b3428dbbf3aae5be7215cacbccb60d5669b86fa9b06b
+size 33668

scans/test_oct11/converted/sessions/session_20261011_155218_806614/metadata/validation_report.json

@@ -0,0 +1,2089 @@
+{
+  "cross_camera_visual_lag": {
+    "decision": "inconclusive_due_to_low_motion_or_low_confidence",
+    "rs_stream_id": null,
+    "status": "skipped_missing_streams",
+    "zed_stream_id": "zed_12933256_left_rgb"
+  },
+  "errors": [],
+  "session_path": "converted_datasets/sessions/.session_20261011_155218_806614.tmp.15162",
+  "status": "passed",
+  "streams": {
+    "zed_12933256_depth_zed_sdk_neural_plus": {
+      "clock_diagnostics": {
+        "duplicate_acquisition_timestamp_count": 0,
+        "host_acquisition_drift_slope_ns_per_ns": 2.6627464870986196e-05,
+        "host_acquisition_drift_slope_ns_per_s": 26627.464870986194,
+        "host_acquisition_drift_slope_units": "ns offset drift per second of host time",
+        "host_acquisition_offset_max_ns": 93152621,
+        "host_acquisition_offset_median_ns": 84469717.5,
+        "host_acquisition_offset_min_ns": 81254419,
+        "large_gap_count": 3,
+        "large_gap_count_semantics": "non_startup_large_gap_count_legacy_name",
+        "large_gap_count_total": 4,
+        "max_gap_ns": 132934000,
+        "max_gap_ns_total": 132934000,
+        "max_non_startup_gap_ns": 132934000,
+        "median_gap_ns": 66349000.0,
+        "non_monotonic_acquisition_timestamp_count": 0,
+        "non_startup_large_gap_count": 3,
+        "startup_excluded_large_gap_count": 1,
+        "startup_gap_excluded_from_warnings": true
+      },
+      "converted_video_frame_index_range": [
+        0,
+        147
+      ],
+      "decoded_frame_count": 148,
+      "decoded_validation": "passed",
+      "frames_table_count": 148,
+      "index_invariant_status": "passed",
+      "native_container_frame_index_range": [
+        1,
+        148
+      ],
+      "non_monotonic_sync_timestamp_count": 0,
+      "official_frame_index_range": [
+        0,
+        147
+      ],
+      "raw_stream_summary": {
+        "converted_frame_ids": [
+          0,
+          1,
+          2,
+          3,
+          4,
+          5,
+          6,
+          7,
+          8,
+          9,
+          10,
+          11,
+          12,
+          13,
+          14,
+          15,
+          16,
+          17,
+          18,
+          19,
+          20,
+          21,
+          22,
+          23,
+          24,
+          25,
+          26,
+          27,
+          28,
+          29,
+          30,
+          31,
+          32,
+          33,
+          34,
+          35,
+          36,
+          37,
+          38,
+          39,
+          40,
+          41,
+          42,
+          43,
+          44,
+          45,
+          46,
+          47,
+          48,
+          49,
+          50,
+          51,
+          52,
+          53,
+          54,
+          55,
+          56,
+          57,
+          58,
+          59,
+          60,
+          61,
+          62,
+          63,
+          64,
+          65,
+          66,
+          67,
+          68,
+          69,
+          70,
+          71,
+          72,
+          73,
+          74,
+          75,
+          76,
+          77,
+          78,
+          79,
+          80,
+          81,
+          82,
+          83,
+          84,
+          85,
+          86,
+          87,
+          88,
+          89,
+          90,
+          91,
+          92,
+          93,
+          94,
+          95,
+          96,
+          97,
+          98,
+          99,
+          100,
+          101,
+          102,
+          103,
+          104,
+          105,
+          106,
+          107,
+          108,
+          109,
+          110,
+          111,
+          112,
+          113,
+          114,
+          115,
+          116,
+          117,
+          118,
+          119,
+          120,
+          121,
+          122,
+          123,
+          124,
+          125,
+          126,
+          127,
+          128,
+          129,
+          130,
+          131,
+          132,
+          133,
+          134,
+          135,
+          136,
+          137,
+          138,
+          139,
+          140,
+          141,
+          142,
+          143,
+          144,
+          145,
+          146,
+          147
+        ],
+        "duplicate_timestamp_count": 0,
+        "frame_counter_gap_count": 0,
+        "host_acquisition_drift_slope_ns_per_ns": 2.6627464870986196e-05,
+        "host_acquisition_drift_slope_ns_per_s": 26627.464870986194,
+        "host_acquisition_drift_slope_units": "ns offset drift per second of host time",
+        "host_acquisition_offset_max_ns": 93152621,
+        "host_acquisition_offset_median_ns": 84469717.5,
+        "host_acquisition_offset_min_ns": 81254419,
+        "large_gap_count": 3,
+        "large_gap_count_semantics": "non_startup_large_gap_count_legacy_name",
+        "large_gap_count_total": 4,
+        "max_gap_ns": 132934000,
+        "max_gap_ns_total": 132934000,
+        "max_non_startup_gap_ns": 132934000,
+        "median_gap_ns": 66349000.0,
+        "modality": "depth",
+        "native_container_frame_ids": [
+          1,
+          2,
+          3,
+          4,
+          5,
+          6,
+          7,
+          8,
+          9,
+          10,
+          11,
+          12,
+          13,
+          14,
+          15,
+          16,
+          17,
+          18,
+          19,
+          20,
+          21,
+          22,
+          23,
+          24,
+          25,
+          26,
+          27,
+          28,
+          29,
+          30,
+          31,
+          32,
+          33,
+          34,
+          35,
+          36,
+          37,
+          38,
+          39,
+          40,
+          41,
+          42,
+          43,
+          44,
+          45,
+          46,
+          47,
+          48,
+          49,
+          50,
+          51,
+          52,
+          53,
+          54,
+          55,
+          56,
+          57,
+          58,
+          59,
+          60,
+          61,
+          62,
+          63,
+          64,
+          65,
+          66,
+          67,
+          68,
+          69,
+          70,
+          71,
+          72,
+          73,
+          74,
+          75,
+          76,
+          77,
+          78,
+          79,
+          80,
+          81,
+          82,
+          83,
+          84,
+          85,
+          86,
+          87,
+          88,
+          89,
+          90,
+          91,
+          92,
+          93,
+          94,
+          95,
+          96,
+          97,
+          98,
+          99,
+          100,
+          101,
+          102,
+          103,
+          104,
+          105,
+          106,
+          107,
+          108,
+          109,
+          110,
+          111,
+          112,
+          113,
+          114,
+          115,
+          116,
+          117,
+          118,
+          119,
+          120,
+          121,
+          122,
+          123,
+          124,
+          125,
+          126,
+          127,
+          128,
+          129,
+          130,
+          131,
+          132,
+          133,
+          134,
+          135,
+          136,
+          137,
+          138,
+          139,
+          140,
+          141,
+          142,
+          143,
+          144,
+          145,
+          146,
+          147,
+          148
+        ],
+        "native_frame_mapping_json": "{\"converter_mapping\": \"official sidecar row R maps to native decoded frame index 1 + R; native frames [0, 1) were written during post-native priming after enable_recording() and are not listed in the official sidecar.\", \"first_official_native_frame_index\": 1, \"native_container_includes_post_native_priming_frames\": true, \"native_container_includes_preroll_frames\": false, \"native_frame_index_origin\": \"zero_based_sequential_grab_after_enable_recording_including_post_native_priming\", \"official_frame_count\": 148, \"post_native_priming_frame_count\": 1, \"preroll_frame_count\": 15}",
+        "non_monotonic_timestamp_count": 0,
+        "non_startup_large_gap_count": 3,
+        "official_frame_ids": [
+          0,
+          1,
+          2,
+          3,
+          4,
+          5,
+          6,
+          7,
+          8,
+          9,
+          10,
+          11,
+          12,
+          13,
+          14,
+          15,
+          16,
+          17,
+          18,
+          19,
+          20,
+          21,
+          22,
+          23,
+          24,
+          25,
+          26,
+          27,
+          28,
+          29,
+          30,
+          31,
+          32,
+          33,
+          34,
+          35,
+          36,
+          37,
+          38,
+          39,
+          40,
+          41,
+          42,
+          43,
+          44,
+          45,
+          46,
+          47,
+          48,
+          49,
+          50,
+          51,
+          52,
+          53,
+          54,
+          55,
+          56,
+          57,
+          58,
+          59,
+          60,
+          61,
+          62,
+          63,
+          64,
+          65,
+          66,
+          67,
+          68,
+          69,
+          70,
+          71,
+          72,
+          73,
+          74,
+          75,
+          76,
+          77,
+          78,
+          79,
+          80,
+          81,
+          82,
+          83,
+          84,
+          85,
+          86,
+          87,
+          88,
+          89,
+          90,
+          91,
+          92,
+          93,
+          94,
+          95,
+          96,
+          97,
+          98,
+          99,
+          100,
+          101,
+          102,
+          103,
+          104,
+          105,
+          106,
+          107,
+          108,
+          109,
+          110,
+          111,
+          112,
+          113,
+          114,
+          115,
+          116,
+          117,
+          118,
+          119,
+          120,
+          121,
+          122,
+          123,
+          124,
+          125,
+          126,
+          127,
+          128,
+          129,
+          130,
+          131,
+          132,
+          133,
+          134,
+          135,
+          136,
+          137,
+          138,
+          139,
+          140,
+          141,
+          142,
+          143,
+          144,
+          145,
+          146,
+          147
+        ],
+        "payload_algorithm": "zed_sdk_neural_plus",
+        "payload_algorithm_parameters_json": "{\"coordinate_units\": \"meter\", \"input_recording_format\": \"svo2\", \"recorded_depth_mode_replay_required\": true, \"zed_depth_mode\": \"NEURAL_PLUS\", \"zed_measure\": \"sl.MEASURE.DEPTH\"}",
+        "payload_algorithm_version": null,
+        "payload_input_stream_ids": [],
+        "payload_origin": "derived_depth",
+        "payload_reference_frame": "zed_12933256_left_rgb_camera",
+        "recording_stream_id": "zed_12933256_depth_zed_sdk_neural_plus",
+        "sensor_type": "zed",
+        "session_id": "session_20261011_155218_806614",
+        "sidecar_join_status": "manifest_parquet_authoritative",
+        "sidecar_match_rate": 1.0,
+        "source_file": "/home/shaunak/Code/grasp/belt_perception/recordings/20261011_155218_806614/ZED-M_SN12933256.svo2",
+        "source_frame_count": 148,
+        "source_frame_ids": [
+          0,
+          1,
+          2,
+          3,
+          4,
+          5,
+          6,
+          7,
+          8,
+          9,
+          10,
+          11,
+          12,
+          13,
+          14,
+          15,
+          16,
+          17,
+          18,
+          19,
+          20,
+          21,
+          22,
+          23,
+          24,
+          25,
+          26,
+          27,
+          28,
+          29,
+          30,
+          31,
+          32,
+          33,
+          34,
+          35,
+          36,
+          37,
+          38,
+          39,
+          40,
+          41,
+          42,
+          43,
+          44,
+          45,
+          46,
+          47,
+          48,
+          49,
+          50,
+          51,
+          52,
+          53,
+          54,
+          55,
+          56,
+          57,
+          58,
+          59,
+          60,
+          61,
+          62,
+          63,
+          64,
+          65,
+          66,
+          67,
+          68,
+          69,
+          70,
+          71,
+          72,
+          73,
+          74,
+          75,
+          76,
+          77,
+          78,
+          79,
+          80,
+          81,
+          82,
+          83,
+          84,
+          85,
+          86,
+          87,
+          88,
+          89,
+          90,
+          91,
+          92,
+          93,
+          94,
+          95,
+          96,
+          97,
+          98,
+          99,
+          100,
+          101,
+          102,
+          103,
+          104,
+          105,
+          106,
+          107,
+          108,
+          109,
+          110,
+          111,
+          112,
+          113,
+          114,
+          115,
+          116,
+          117,
+          118,
+          119,
+          120,
+          121,
+          122,
+          123,
+          124,
+          125,
+          126,
+          127,
+          128,
+          129,
+          130,
+          131,
+          132,
+          133,
+          134,
+          135,
+          136,
+          137,
+          138,
+          139,
+          140,
+          141,
+          142,
+          143,
+          144,
+          145,
+          146,
+          147
+        ],
+        "source_frame_ids_semantics": "official_frame_ids_legacy_name",
+        "startup_excluded_large_gap_count": 1,
+        "startup_gap_excluded_from_warnings": true,
+        "stream_id": "zed_12933256_depth_zed_sdk_neural_plus",
+        "stream_manifest_path": "/home/shaunak/Code/grasp/belt_perception/recordings/20261011_155218_806614/streams/zed_12933256_depth_zed_sdk_neural_plus/stream_manifest.json",
+        "timestamp_max_ns": 1791748576485040971,
+        "timestamp_min_ns": 1791748566472952971,
+        "timestamp_sidecar_path": "/home/shaunak/Code/grasp/belt_perception/recordings/20261011_155218_806614/streams/zed_12933256_depth_zed_sdk_neural_plus/timestamps.parquet",
+        "warnings": []
+      },
+      "rgb_similarity_metrics": {},
+      "sidecar_row_index_range": [
+        0,
+        147
+      ],
+      "source_frame_hash_algo": "sha256",
+      "timestamp_max_ns": 1791748576571529820,
+      "timestamp_min_ns": 1791748566566105592,
+      "warnings": []
+    },
+    "zed_12933256_left_rgb": {
+      "clock_diagnostics": {
+        "duplicate_acquisition_timestamp_count": 0,
+        "host_acquisition_drift_slope_ns_per_ns": 2.6627464870986196e-05,
+        "host_acquisition_drift_slope_ns_per_s": 26627.464870986194,
+        "host_acquisition_drift_slope_units": "ns offset drift per second of host time",
+        "host_acquisition_offset_max_ns": 93152621,
+        "host_acquisition_offset_median_ns": 84469717.5,
+        "host_acquisition_offset_min_ns": 81254419,
+        "large_gap_count": 3,
+        "large_gap_count_semantics": "non_startup_large_gap_count_legacy_name",
+        "large_gap_count_total": 4,
+        "max_gap_ns": 132934000,
+        "max_gap_ns_total": 132934000,
+        "max_non_startup_gap_ns": 132934000,
+        "median_gap_ns": 66349000.0,
+        "non_monotonic_acquisition_timestamp_count": 0,
+        "non_startup_large_gap_count": 3,
+        "startup_excluded_large_gap_count": 1,
+        "startup_gap_excluded_from_warnings": true
+      },
+      "converted_video_frame_index_range": [
+        0,
+        147
+      ],
+      "decoded_frame_count": 148,
+      "decoded_validation": "passed",
+      "frames_table_count": 148,
+      "index_invariant_status": "passed",
+      "native_container_frame_index_range": [
+        1,
+        148
+      ],
+      "non_monotonic_sync_timestamp_count": 0,
+      "official_frame_index_range": [
+        0,
+        147
+      ],
+      "raw_stream_summary": {
+        "converted_frame_ids": [
+          0,
+          1,
+          2,
+          3,
+          4,
+          5,
+          6,
+          7,
+          8,
+          9,
+          10,
+          11,
+          12,
+          13,
+          14,
+          15,
+          16,
+          17,
+          18,
+          19,
+          20,
+          21,
+          22,
+          23,
+          24,
+          25,
+          26,
+          27,
+          28,
+          29,
+          30,
+          31,
+          32,
+          33,
+          34,
+          35,
+          36,
+          37,
+          38,
+          39,
+          40,
+          41,
+          42,
+          43,
+          44,
+          45,
+          46,
+          47,
+          48,
+          49,
+          50,
+          51,
+          52,
+          53,
+          54,
+          55,
+          56,
+          57,
+          58,
+          59,
+          60,
+          61,
+          62,
+          63,
+          64,
+          65,
+          66,
+          67,
+          68,
+          69,
+          70,
+          71,
+          72,
+          73,
+          74,
+          75,
+          76,
+          77,
+          78,
+          79,
+          80,
+          81,
+          82,
+          83,
+          84,
+          85,
+          86,
+          87,
+          88,
+          89,
+          90,
+          91,
+          92,
+          93,
+          94,
+          95,
+          96,
+          97,
+          98,
+          99,
+          100,
+          101,
+          102,
+          103,
+          104,
+          105,
+          106,
+          107,
+          108,
+          109,
+          110,
+          111,
+          112,
+          113,
+          114,
+          115,
+          116,
+          117,
+          118,
+          119,
+          120,
+          121,
+          122,
+          123,
+          124,
+          125,
+          126,
+          127,
+          128,
+          129,
+          130,
+          131,
+          132,
+          133,
+          134,
+          135,
+          136,
+          137,
+          138,
+          139,
+          140,
+          141,
+          142,
+          143,
+          144,
+          145,
+          146,
+          147
+        ],
+        "duplicate_timestamp_count": 0,
+        "frame_counter_gap_count": 0,
+        "host_acquisition_drift_slope_ns_per_ns": 2.6627464870986196e-05,
+        "host_acquisition_drift_slope_ns_per_s": 26627.464870986194,
+        "host_acquisition_drift_slope_units": "ns offset drift per second of host time",
+        "host_acquisition_offset_max_ns": 93152621,
+        "host_acquisition_offset_median_ns": 84469717.5,
+        "host_acquisition_offset_min_ns": 81254419,
+        "large_gap_count": 3,
+        "large_gap_count_semantics": "non_startup_large_gap_count_legacy_name",
+        "large_gap_count_total": 4,
+        "max_gap_ns": 132934000,
+        "max_gap_ns_total": 132934000,
+        "max_non_startup_gap_ns": 132934000,
+        "median_gap_ns": 66349000.0,
+        "modality": "left_rgb",
+        "native_container_frame_ids": [
+          1,
+          2,
+          3,
+          4,
+          5,
+          6,
+          7,
+          8,
+          9,
+          10,
+          11,
+          12,
+          13,
+          14,
+          15,
+          16,
+          17,
+          18,
+          19,
+          20,
+          21,
+          22,
+          23,
+          24,
+          25,
+          26,
+          27,
+          28,
+          29,
+          30,
+          31,
+          32,
+          33,
+          34,
+          35,
+          36,
+          37,
+          38,
+          39,
+          40,
+          41,
+          42,
+          43,
+          44,
+          45,
+          46,
+          47,
+          48,
+          49,
+          50,
+          51,
+          52,
+          53,
+          54,
+          55,
+          56,
+          57,
+          58,
+          59,
+          60,
+          61,
+          62,
+          63,
+          64,
+          65,
+          66,
+          67,
+          68,
+          69,
+          70,
+          71,
+          72,
+          73,
+          74,
+          75,
+          76,
+          77,
+          78,
+          79,
+          80,
+          81,
+          82,
+          83,
+          84,
+          85,
+          86,
+          87,
+          88,
+          89,
+          90,
+          91,
+          92,
+          93,
+          94,
+          95,
+          96,
+          97,
+          98,
+          99,
+          100,
+          101,
+          102,
+          103,
+          104,
+          105,
+          106,
+          107,
+          108,
+          109,
+          110,
+          111,
+          112,
+          113,
+          114,
+          115,
+          116,
+          117,
+          118,
+          119,
+          120,
+          121,
+          122,
+          123,
+          124,
+          125,
+          126,
+          127,
+          128,
+          129,
+          130,
+          131,
+          132,
+          133,
+          134,
+          135,
+          136,
+          137,
+          138,
+          139,
+          140,
+          141,
+          142,
+          143,
+          144,
+          145,
+          146,
+          147,
+          148
+        ],
+        "native_frame_mapping_json": "{\"converter_mapping\": \"official sidecar row R maps to native decoded frame index 1 + R; native frames [0, 1) were written during post-native priming after enable_recording() and are not listed in the official sidecar.\", \"first_official_native_frame_index\": 1, \"native_container_includes_post_native_priming_frames\": true, \"native_container_includes_preroll_frames\": false, \"native_frame_index_origin\": \"zero_based_sequential_grab_after_enable_recording_including_post_native_priming\", \"official_frame_count\": 148, \"post_native_priming_frame_count\": 1, \"preroll_frame_count\": 15}",
+        "non_monotonic_timestamp_count": 0,
+        "non_startup_large_gap_count": 3,
+        "official_frame_ids": [
+          0,
+          1,
+          2,
+          3,
+          4,
+          5,
+          6,
+          7,
+          8,
+          9,
+          10,
+          11,
+          12,
+          13,
+          14,
+          15,
+          16,
+          17,
+          18,
+          19,
+          20,
+          21,
+          22,
+          23,
+          24,
+          25,
+          26,
+          27,
+          28,
+          29,
+          30,
+          31,
+          32,
+          33,
+          34,
+          35,
+          36,
+          37,
+          38,
+          39,
+          40,
+          41,
+          42,
+          43,
+          44,
+          45,
+          46,
+          47,
+          48,
+          49,
+          50,
+          51,
+          52,
+          53,
+          54,
+          55,
+          56,
+          57,
+          58,
+          59,
+          60,
+          61,
+          62,
+          63,
+          64,
+          65,
+          66,
+          67,
+          68,
+          69,
+          70,
+          71,
+          72,
+          73,
+          74,
+          75,
+          76,
+          77,
+          78,
+          79,
+          80,
+          81,
+          82,
+          83,
+          84,
+          85,
+          86,
+          87,
+          88,
+          89,
+          90,
+          91,
+          92,
+          93,
+          94,
+          95,
+          96,
+          97,
+          98,
+          99,
+          100,
+          101,
+          102,
+          103,
+          104,
+          105,
+          106,
+          107,
+          108,
+          109,
+          110,
+          111,
+          112,
+          113,
+          114,
+          115,
+          116,
+          117,
+          118,
+          119,
+          120,
+          121,
+          122,
+          123,
+          124,
+          125,
+          126,
+          127,
+          128,
+          129,
+          130,
+          131,
+          132,
+          133,
+          134,
+          135,
+          136,
+          137,
+          138,
+          139,
+          140,
+          141,
+          142,
+          143,
+          144,
+          145,
+          146,
+          147
+        ],
+        "payload_algorithm": "zed_left_rgb",
+        "payload_algorithm_parameters_json": null,
+        "payload_algorithm_version": null,
+        "payload_input_stream_ids": [],
+        "payload_origin": "zed_native_recording",
+        "payload_reference_frame": null,
+        "recording_stream_id": "zed_12933256_left_rgb",
+        "sensor_type": "zed",
+        "session_id": "session_20261011_155218_806614",
+        "sidecar_join_status": "manifest_parquet_authoritative",
+        "sidecar_match_rate": 1.0,
+        "source_file": "/home/shaunak/Code/grasp/belt_perception/recordings/20261011_155218_806614/ZED-M_SN12933256.svo2",
+        "source_frame_count": 148,
+        "source_frame_ids": [
+          0,
+          1,
+          2,
+          3,
+          4,
+          5,
+          6,
+          7,
+          8,
+          9,
+          10,
+          11,
+          12,
+          13,
+          14,
+          15,
+          16,
+          17,
+          18,
+          19,
+          20,
+          21,
+          22,
+          23,
+          24,
+          25,
+          26,
+          27,
+          28,
+          29,
+          30,
+          31,
+          32,
+          33,
+          34,
+          35,
+          36,
+          37,
+          38,
+          39,
+          40,
+          41,
+          42,
+          43,
+          44,
+          45,
+          46,
+          47,
+          48,
+          49,
+          50,
+          51,
+          52,
+          53,
+          54,
+          55,
+          56,
+          57,
+          58,
+          59,
+          60,
+          61,
+          62,
+          63,
+          64,
+          65,
+          66,
+          67,
+          68,
+          69,
+          70,
+          71,
+          72,
+          73,
+          74,
+          75,
+          76,
+          77,
+          78,
+          79,
+          80,
+          81,
+          82,
+          83,
+          84,
+          85,
+          86,
+          87,
+          88,
+          89,
+          90,
+          91,
+          92,
+          93,
+          94,
+          95,
+          96,
+          97,
+          98,
+          99,
+          100,
+          101,
+          102,
+          103,
+          104,
+          105,
+          106,
+          107,
+          108,
+          109,
+          110,
+          111,
+          112,
+          113,
+          114,
+          115,
+          116,
+          117,
+          118,
+          119,
+          120,
+          121,
+          122,
+          123,
+          124,
+          125,
+          126,
+          127,
+          128,
+          129,
+          130,
+          131,
+          132,
+          133,
+          134,
+          135,
+          136,
+          137,
+          138,
+          139,
+          140,
+          141,
+          142,
+          143,
+          144,
+          145,
+          146,
+          147
+        ],
+        "source_frame_ids_semantics": "official_frame_ids_legacy_name",
+        "startup_excluded_large_gap_count": 1,
+        "startup_gap_excluded_from_warnings": true,
+        "stream_id": "zed_12933256_left_rgb",
+        "stream_manifest_path": "/home/shaunak/Code/grasp/belt_perception/recordings/20261011_155218_806614/streams/zed_12933256_left_rgb/stream_manifest.json",
+        "timestamp_max_ns": 1791748576485040971,
+        "timestamp_min_ns": 1791748566472952971,
+        "timestamp_sidecar_path": "/home/shaunak/Code/grasp/belt_perception/recordings/20261011_155218_806614/streams/zed_12933256_left_rgb/timestamps.parquet",
+        "warnings": []
+      },
+      "rgb_similarity_metrics": {},
+      "sidecar_row_index_range": [
+        0,
+        147
+      ],
+      "source_frame_hash_algo": "sha256",
+      "timestamp_max_ns": 1791748576571529820,
+      "timestamp_min_ns": 1791748566566105592,
+      "warnings": []
+    },
+    "zed_12933256_right_rgb": {
+      "clock_diagnostics": {
+        "duplicate_acquisition_timestamp_count": 0,
+        "host_acquisition_drift_slope_ns_per_ns": 2.6627464870986196e-05,
+        "host_acquisition_drift_slope_ns_per_s": 26627.464870986194,
+        "host_acquisition_drift_slope_units": "ns offset drift per second of host time",
+        "host_acquisition_offset_max_ns": 93152621,
+        "host_acquisition_offset_median_ns": 84469717.5,
+        "host_acquisition_offset_min_ns": 81254419,
+        "large_gap_count": 3,
+        "large_gap_count_semantics": "non_startup_large_gap_count_legacy_name",
+        "large_gap_count_total": 4,
+        "max_gap_ns": 132934000,
+        "max_gap_ns_total": 132934000,
+        "max_non_startup_gap_ns": 132934000,
+        "median_gap_ns": 66349000.0,
+        "non_monotonic_acquisition_timestamp_count": 0,
+        "non_startup_large_gap_count": 3,
+        "startup_excluded_large_gap_count": 1,
+        "startup_gap_excluded_from_warnings": true
+      },
+      "converted_video_frame_index_range": [
+        0,
+        147
+      ],
+      "decoded_frame_count": 148,
+      "decoded_validation": "passed",
+      "frames_table_count": 148,
+      "index_invariant_status": "passed",
+      "native_container_frame_index_range": [
+        1,
+        148
+      ],
+      "non_monotonic_sync_timestamp_count": 0,
+      "official_frame_index_range": [
+        0,
+        147
+      ],
+      "raw_stream_summary": {
+        "converted_frame_ids": [
+          0,
+          1,
+          2,
+          3,
+          4,
+          5,
+          6,
+          7,
+          8,
+          9,
+          10,
+          11,
+          12,
+          13,
+          14,
+          15,
+          16,
+          17,
+          18,
+          19,
+          20,
+          21,
+          22,
+          23,
+          24,
+          25,
+          26,
+          27,
+          28,
+          29,
+          30,
+          31,
+          32,
+          33,
+          34,
+          35,
+          36,
+          37,
+          38,
+          39,
+          40,
+          41,
+          42,
+          43,
+          44,
+          45,
+          46,
+          47,
+          48,
+          49,
+          50,
+          51,
+          52,
+          53,
+          54,
+          55,
+          56,
+          57,
+          58,
+          59,
+          60,
+          61,
+          62,
+          63,
+          64,
+          65,
+          66,
+          67,
+          68,
+          69,
+          70,
+          71,
+          72,
+          73,
+          74,
+          75,
+          76,
+          77,
+          78,
+          79,
+          80,
+          81,
+          82,
+          83,
+          84,
+          85,
+          86,
+          87,
+          88,
+          89,
+          90,
+          91,
+          92,
+          93,
+          94,
+          95,
+          96,
+          97,
+          98,
+          99,
+          100,
+          101,
+          102,
+          103,
+          104,
+          105,
+          106,
+          107,
+          108,
+          109,
+          110,
+          111,
+          112,
+          113,
+          114,
+          115,
+          116,
+          117,
+          118,
+          119,
+          120,
+          121,
+          122,
+          123,
+          124,
+          125,
+          126,
+          127,
+          128,
+          129,
+          130,
+          131,
+          132,
+          133,
+          134,
+          135,
+          136,
+          137,
+          138,
+          139,
+          140,
+          141,
+          142,
+          143,
+          144,
+          145,
+          146,
+          147
+        ],
+        "duplicate_timestamp_count": 0,
+        "frame_counter_gap_count": 0,
+        "host_acquisition_drift_slope_ns_per_ns": 2.6627464870986196e-05,
+        "host_acquisition_drift_slope_ns_per_s": 26627.464870986194,
+        "host_acquisition_drift_slope_units": "ns offset drift per second of host time",
+        "host_acquisition_offset_max_ns": 93152621,
+        "host_acquisition_offset_median_ns": 84469717.5,
+        "host_acquisition_offset_min_ns": 81254419,
+        "large_gap_count": 3,
+        "large_gap_count_semantics": "non_startup_large_gap_count_legacy_name",
+        "large_gap_count_total": 4,
+        "max_gap_ns": 132934000,
+        "max_gap_ns_total": 132934000,
+        "max_non_startup_gap_ns": 132934000,
+        "median_gap_ns": 66349000.0,
+        "modality": "right_rgb",
+        "native_container_frame_ids": [
+          1,
+          2,
+          3,
+          4,
+          5,
+          6,
+          7,
+          8,
+          9,
+          10,
+          11,
+          12,
+          13,
+          14,
+          15,
+          16,
+          17,
+          18,
+          19,
+          20,
+          21,
+          22,
+          23,
+          24,
+          25,
+          26,
+          27,
+          28,
+          29,
+          30,
+          31,
+          32,
+          33,
+          34,
+          35,
+          36,
+          37,
+          38,
+          39,
+          40,
+          41,
+          42,
+          43,
+          44,
+          45,
+          46,
+          47,
+          48,
+          49,
+          50,
+          51,
+          52,
+          53,
+          54,
+          55,
+          56,
+          57,
+          58,
+          59,
+          60,
+          61,
+          62,
+          63,
+          64,
+          65,
+          66,
+          67,
+          68,
+          69,
+          70,
+          71,
+          72,
+          73,
+          74,
+          75,
+          76,
+          77,
+          78,
+          79,
+          80,
+          81,
+          82,
+          83,
+          84,
+          85,
+          86,
+          87,
+          88,
+          89,
+          90,
+          91,
+          92,
+          93,
+          94,
+          95,
+          96,
+          97,
+          98,
+          99,
+          100,
+          101,
+          102,
+          103,
+          104,
+          105,
+          106,
+          107,
+          108,
+          109,
+          110,
+          111,
+          112,
+          113,
+          114,
+          115,
+          116,
+          117,
+          118,
+          119,
+          120,
+          121,
+          122,
+          123,
+          124,
+          125,
+          126,
+          127,
+          128,
+          129,
+          130,
+          131,
+          132,
+          133,
+          134,
+          135,
+          136,
+          137,
+          138,
+          139,
+          140,
+          141,
+          142,
+          143,
+          144,
+          145,
+          146,
+          147,
+          148
+        ],
+        "native_frame_mapping_json": "{\"converter_mapping\": \"official sidecar row R maps to native decoded frame index 1 + R; native frames [0, 1) were written during post-native priming after enable_recording() and are not listed in the official sidecar.\", \"first_official_native_frame_index\": 1, \"native_container_includes_post_native_priming_frames\": true, \"native_container_includes_preroll_frames\": false, \"native_frame_index_origin\": \"zero_based_sequential_grab_after_enable_recording_including_post_native_priming\", \"official_frame_count\": 148, \"post_native_priming_frame_count\": 1, \"preroll_frame_count\": 15}",
+        "non_monotonic_timestamp_count": 0,
+        "non_startup_large_gap_count": 3,
+        "official_frame_ids": [
+          0,
+          1,
+          2,
+          3,
+          4,
+          5,
+          6,
+          7,
+          8,
+          9,
+          10,
+          11,
+          12,
+          13,
+          14,
+          15,
+          16,
+          17,
+          18,
+          19,
+          20,
+          21,
+          22,
+          23,
+          24,
+          25,
+          26,
+          27,
+          28,
+          29,
+          30,
+          31,
+          32,
+          33,
+          34,
+          35,
+          36,
+          37,
+          38,
+          39,
+          40,
+          41,
+          42,
+          43,
+          44,
+          45,
+          46,
+          47,
+          48,
+          49,
+          50,
+          51,
+          52,
+          53,
+          54,
+          55,
+          56,
+          57,
+          58,
+          59,
+          60,
+          61,
+          62,
+          63,
+          64,
+          65,
+          66,
+          67,
+          68,
+          69,
+          70,
+          71,
+          72,
+          73,
+          74,
+          75,
+          76,
+          77,
+          78,
+          79,
+          80,
+          81,
+          82,
+          83,
+          84,
+          85,
+          86,
+          87,
+          88,
+          89,
+          90,
+          91,
+          92,
+          93,
+          94,
+          95,
+          96,
+          97,
+          98,
+          99,
+          100,
+          101,
+          102,
+          103,
+          104,
+          105,
+          106,
+          107,
+          108,
+          109,
+          110,
+          111,
+          112,
+          113,
+          114,
+          115,
+          116,
+          117,
+          118,
+          119,
+          120,
+          121,
+          122,
+          123,
+          124,
+          125,
+          126,
+          127,
+          128,
+          129,
+          130,
+          131,
+          132,
+          133,
+          134,
+          135,
+          136,
+          137,
+          138,
+          139,
+          140,
+          141,
+          142,
+          143,
+          144,
+          145,
+          146,
+          147
+        ],
+        "payload_algorithm": "zed_right_rgb",
+        "payload_algorithm_parameters_json": null,
+        "payload_algorithm_version": null,
+        "payload_input_stream_ids": [],
+        "payload_origin": "zed_native_recording",
+        "payload_reference_frame": null,
+        "recording_stream_id": "zed_12933256_right_rgb",
+        "sensor_type": "zed",
+        "session_id": "session_20261011_155218_806614",
+        "sidecar_join_status": "manifest_parquet_authoritative",
+        "sidecar_match_rate": 1.0,
+        "source_file": "/home/shaunak/Code/grasp/belt_perception/recordings/20261011_155218_806614/ZED-M_SN12933256.svo2",
+        "source_frame_count": 148,
+        "source_frame_ids": [
+          0,
+          1,
+          2,
+          3,
+          4,
+          5,
+          6,
+          7,
+          8,
+          9,
+          10,
+          11,
+          12,
+          13,
+          14,
+          15,
+          16,
+          17,
+          18,
+          19,
+          20,
+          21,
+          22,
+          23,
+          24,
+          25,
+          26,
+          27,
+          28,
+          29,
+          30,
+          31,
+          32,
+          33,
+          34,
+          35,
+          36,
+          37,
+          38,
+          39,
+          40,
+          41,
+          42,
+          43,
+          44,
+          45,
+          46,
+          47,
+          48,
+          49,
+          50,
+          51,
+          52,
+          53,
+          54,
+          55,
+          56,
+          57,
+          58,
+          59,
+          60,
+          61,
+          62,
+          63,
+          64,
+          65,
+          66,
+          67,
+          68,
+          69,
+          70,
+          71,
+          72,
+          73,
+          74,
+          75,
+          76,
+          77,
+          78,
+          79,
+          80,
+          81,
+          82,
+          83,
+          84,
+          85,
+          86,
+          87,
+          88,
+          89,
+          90,
+          91,
+          92,
+          93,
+          94,
+          95,
+          96,
+          97,
+          98,
+          99,
+          100,
+          101,
+          102,
+          103,
+          104,
+          105,
+          106,
+          107,
+          108,
+          109,
+          110,
+          111,
+          112,
+          113,
+          114,
+          115,
+          116,
+          117,
+          118,
+          119,
+          120,
+          121,
+          122,
+          123,
+          124,
+          125,
+          126,
+          127,
+          128,
+          129,
+          130,
+          131,
+          132,
+          133,
+          134,
+          135,
+          136,
+          137,
+          138,
+          139,
+          140,
+          141,
+          142,
+          143,
+          144,
+          145,
+          146,
+          147
+        ],
+        "source_frame_ids_semantics": "official_frame_ids_legacy_name",
+        "startup_excluded_large_gap_count": 1,
+        "startup_gap_excluded_from_warnings": true,
+        "stream_id": "zed_12933256_right_rgb",
+        "stream_manifest_path": "/home/shaunak/Code/grasp/belt_perception/recordings/20261011_155218_806614/streams/zed_12933256_right_rgb/stream_manifest.json",
+        "timestamp_max_ns": 1791748576485040971,
+        "timestamp_min_ns": 1791748566472952971,
+        "timestamp_sidecar_path": "/home/shaunak/Code/grasp/belt_perception/recordings/20261011_155218_806614/streams/zed_12933256_right_rgb/timestamps.parquet",
+        "warnings": []
+      },
+      "rgb_similarity_metrics": {},
+      "sidecar_row_index_range": [
+        0,
+        147
+      ],
+      "source_frame_hash_algo": "sha256",
+      "timestamp_max_ns": 1791748576571529820,
+      "timestamp_min_ns": 1791748566566105592,
+      "warnings": []
+    }
+  },
+  "warnings": [
+    "RealSense vs ZED visual lag inconclusive (None vs zed_12933256_left_rgb): reason=None (offset_frames=None, lag_ms=None, best_corr=None, corr_at_zero=None, margin=None, rs_motion_std=None, zed_motion_std=None)"
+  ]
+}

scans/test_oct11/converted/sessions/session_20261011_155218_806614/metadata/videos.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aed8e034efb6386f0b4bd816e15ccdd918a5f17c12704c2bba5a7f990e8371bf
+size 13579

scans/test_oct11/converted/sessions/session_20261011_155218_806614/metadata/zed_12933256_depth_zed_sdk_neural_plus_zdepth_clamped_report.json

@@ -0,0 +1,748 @@
+{
+  "stream_id": "zed_12933256_depth_zed_sdk_neural_plus",
+  "session_id": "session_20261011_155218_806614",
+  "zdepth_max_depth_m": 8.191,
+  "total_frames_with_clamping": 148,
+  "clamped_frames": [
+    {
+      "video_frame_idx": 0,
+      "frame_index": 0,
+      "clamped_pixel_count": 26
+    },
+    {
+      "video_frame_idx": 1,
+      "frame_index": 1,
+      "clamped_pixel_count": 18
+    },
+    {
+      "video_frame_idx": 2,
+      "frame_index": 2,
+      "clamped_pixel_count": 32
+    },
+    {
+      "video_frame_idx": 3,
+      "frame_index": 3,
+      "clamped_pixel_count": 22
+    },
+    {
+      "video_frame_idx": 4,
+      "frame_index": 4,
+      "clamped_pixel_count": 16
+    },
+    {
+      "video_frame_idx": 5,
+      "frame_index": 5,
+      "clamped_pixel_count": 24
+    },
+    {
+      "video_frame_idx": 6,
+      "frame_index": 6,
+      "clamped_pixel_count": 29
+    },
+    {
+      "video_frame_idx": 7,
+      "frame_index": 7,
+      "clamped_pixel_count": 23
+    },
+    {
+      "video_frame_idx": 8,
+      "frame_index": 8,
+      "clamped_pixel_count": 22
+    },
+    {
+      "video_frame_idx": 9,
+      "frame_index": 9,
+      "clamped_pixel_count": 31
+    },
+    {
+      "video_frame_idx": 10,
+      "frame_index": 10,
+      "clamped_pixel_count": 25
+    },
+    {
+      "video_frame_idx": 11,
+      "frame_index": 11,
+      "clamped_pixel_count": 25
+    },
+    {
+      "video_frame_idx": 12,
+      "frame_index": 12,
+      "clamped_pixel_count": 23
+    },
+    {
+      "video_frame_idx": 13,
+      "frame_index": 13,
+      "clamped_pixel_count": 25
+    },
+    {
+      "video_frame_idx": 14,
+      "frame_index": 14,
+      "clamped_pixel_count": 24
+    },
+    {
+      "video_frame_idx": 15,
+      "frame_index": 15,
+      "clamped_pixel_count": 21
+    },
+    {
+      "video_frame_idx": 16,
+      "frame_index": 16,
+      "clamped_pixel_count": 17
+    },
+    {
+      "video_frame_idx": 17,
+      "frame_index": 17,
+      "clamped_pixel_count": 10
+    },
+    {
+      "video_frame_idx": 18,
+      "frame_index": 18,
+      "clamped_pixel_count": 16
+    },
+    {
+      "video_frame_idx": 19,
+      "frame_index": 19,
+      "clamped_pixel_count": 23
+    },
+    {
+      "video_frame_idx": 20,
+      "frame_index": 20,
+      "clamped_pixel_count": 19
+    },
+    {
+      "video_frame_idx": 21,
+      "frame_index": 21,
+      "clamped_pixel_count": 25
+    },
+    {
+      "video_frame_idx": 22,
+      "frame_index": 22,
+      "clamped_pixel_count": 23
+    },
+    {
+      "video_frame_idx": 23,
+      "frame_index": 23,
+      "clamped_pixel_count": 31
+    },
+    {
+      "video_frame_idx": 24,
+      "frame_index": 24,
+      "clamped_pixel_count": 13
+    },
+    {
+      "video_frame_idx": 25,
+      "frame_index": 25,
+      "clamped_pixel_count": 14
+    },
+    {
+      "video_frame_idx": 26,
+      "frame_index": 26,
+      "clamped_pixel_count": 24
+    },
+    {
+      "video_frame_idx": 27,
+      "frame_index": 27,
+      "clamped_pixel_count": 17
+    },
+    {
+      "video_frame_idx": 28,
+      "frame_index": 28,
+      "clamped_pixel_count": 22
+    },
+    {
+      "video_frame_idx": 29,
+      "frame_index": 29,
+      "clamped_pixel_count": 15
+    },
+    {
+      "video_frame_idx": 30,
+      "frame_index": 30,
+      "clamped_pixel_count": 17
+    },
+    {
+      "video_frame_idx": 31,
+      "frame_index": 31,
+      "clamped_pixel_count": 24
+    },
+    {
+      "video_frame_idx": 32,
+      "frame_index": 32,
+      "clamped_pixel_count": 17
+    },
+    {
+      "video_frame_idx": 33,
+      "frame_index": 33,
+      "clamped_pixel_count": 18
+    },
+    {
+      "video_frame_idx": 34,
+      "frame_index": 34,
+      "clamped_pixel_count": 21
+    },
+    {
+      "video_frame_idx": 35,
+      "frame_index": 35,
+      "clamped_pixel_count": 19
+    },
+    {
+      "video_frame_idx": 36,
+      "frame_index": 36,
+      "clamped_pixel_count": 33
+    },
+    {
+      "video_frame_idx": 37,
+      "frame_index": 37,
+      "clamped_pixel_count": 23
+    },
+    {
+      "video_frame_idx": 38,
+      "frame_index": 38,
+      "clamped_pixel_count": 16
+    },
+    {
+      "video_frame_idx": 39,
+      "frame_index": 39,
+      "clamped_pixel_count": 25
+    },
+    {
+      "video_frame_idx": 40,
+      "frame_index": 40,
+      "clamped_pixel_count": 19
+    },
+    {
+      "video_frame_idx": 41,
+      "frame_index": 41,
+      "clamped_pixel_count": 20
+    },
+    {
+      "video_frame_idx": 42,
+      "frame_index": 42,
+      "clamped_pixel_count": 26
+    },
+    {
+      "video_frame_idx": 43,
+      "frame_index": 43,
+      "clamped_pixel_count": 25
+    },
+    {
+      "video_frame_idx": 44,
+      "frame_index": 44,
+      "clamped_pixel_count": 18
+    },
+    {
+      "video_frame_idx": 45,
+      "frame_index": 45,
+      "clamped_pixel_count": 18
+    },
+    {
+      "video_frame_idx": 46,
+      "frame_index": 46,
+      "clamped_pixel_count": 15
+    },
+    {
+      "video_frame_idx": 47,
+      "frame_index": 47,
+      "clamped_pixel_count": 24
+    },
+    {
+      "video_frame_idx": 48,
+      "frame_index": 48,
+      "clamped_pixel_count": 22
+    },
+    {
+      "video_frame_idx": 49,
+      "frame_index": 49,
+      "clamped_pixel_count": 15
+    },
+    {
+      "video_frame_idx": 50,
+      "frame_index": 50,
+      "clamped_pixel_count": 19
+    },
+    {
+      "video_frame_idx": 51,
+      "frame_index": 51,
+      "clamped_pixel_count": 25
+    },
+    {
+      "video_frame_idx": 52,
+      "frame_index": 52,
+      "clamped_pixel_count": 28
+    },
+    {
+      "video_frame_idx": 53,
+      "frame_index": 53,
+      "clamped_pixel_count": 20
+    },
+    {
+      "video_frame_idx": 54,
+      "frame_index": 54,
+      "clamped_pixel_count": 20
+    },
+    {
+      "video_frame_idx": 55,
+      "frame_index": 55,
+      "clamped_pixel_count": 12
+    },
+    {
+      "video_frame_idx": 56,
+      "frame_index": 56,
+      "clamped_pixel_count": 21
+    },
+    {
+      "video_frame_idx": 57,
+      "frame_index": 57,
+      "clamped_pixel_count": 18
+    },
+    {
+      "video_frame_idx": 58,
+      "frame_index": 58,
+      "clamped_pixel_count": 15
+    },
+    {
+      "video_frame_idx": 59,
+      "frame_index": 59,
+      "clamped_pixel_count": 19
+    },
+    {
+      "video_frame_idx": 60,
+      "frame_index": 60,
+      "clamped_pixel_count": 16
+    },
+    {
+      "video_frame_idx": 61,
+      "frame_index": 61,
+      "clamped_pixel_count": 24
+    },
+    {
+      "video_frame_idx": 62,
+      "frame_index": 62,
+      "clamped_pixel_count": 20
+    },
+    {
+      "video_frame_idx": 63,
+      "frame_index": 63,
+      "clamped_pixel_count": 18
+    },
+    {
+      "video_frame_idx": 64,
+      "frame_index": 64,
+      "clamped_pixel_count": 24
+    },
+    {
+      "video_frame_idx": 65,
+      "frame_index": 65,
+      "clamped_pixel_count": 21
+    },
+    {
+      "video_frame_idx": 66,
+      "frame_index": 66,
+      "clamped_pixel_count": 22
+    },
+    {
+      "video_frame_idx": 67,
+      "frame_index": 67,
+      "clamped_pixel_count": 21
+    },
+    {
+      "video_frame_idx": 68,
+      "frame_index": 68,
+      "clamped_pixel_count": 12
+    },
+    {
+      "video_frame_idx": 69,
+      "frame_index": 69,
+      "clamped_pixel_count": 21
+    },
+    {
+      "video_frame_idx": 70,
+      "frame_index": 70,
+      "clamped_pixel_count": 25
+    },
+    {
+      "video_frame_idx": 71,
+      "frame_index": 71,
+      "clamped_pixel_count": 26
+    },
+    {
+      "video_frame_idx": 72,
+      "frame_index": 72,
+      "clamped_pixel_count": 17
+    },
+    {
+      "video_frame_idx": 73,
+      "frame_index": 73,
+      "clamped_pixel_count": 18
+    },
+    {
+      "video_frame_idx": 74,
+      "frame_index": 74,
+      "clamped_pixel_count": 21
+    },
+    {
+      "video_frame_idx": 75,
+      "frame_index": 75,
+      "clamped_pixel_count": 24
+    },
+    {
+      "video_frame_idx": 76,
+      "frame_index": 76,
+      "clamped_pixel_count": 22
+    },
+    {
+      "video_frame_idx": 77,
+      "frame_index": 77,
+      "clamped_pixel_count": 17
+    },
+    {
+      "video_frame_idx": 78,
+      "frame_index": 78,
+      "clamped_pixel_count": 19
+    },
+    {
+      "video_frame_idx": 79,
+      "frame_index": 79,
+      "clamped_pixel_count": 22
+    },
+    {
+      "video_frame_idx": 80,
+      "frame_index": 80,
+      "clamped_pixel_count": 17
+    },
+    {
+      "video_frame_idx": 81,
+      "frame_index": 81,
+      "clamped_pixel_count": 28
+    },
+    {
+      "video_frame_idx": 82,
+      "frame_index": 82,
+      "clamped_pixel_count": 21
+    },
+    {
+      "video_frame_idx": 83,
+      "frame_index": 83,
+      "clamped_pixel_count": 16
+    },
+    {
+      "video_frame_idx": 84,
+      "frame_index": 84,
+      "clamped_pixel_count": 21
+    },
+    {
+      "video_frame_idx": 85,
+      "frame_index": 85,
+      "clamped_pixel_count": 23
+    },
+    {
+      "video_frame_idx": 86,
+      "frame_index": 86,
+      "clamped_pixel_count": 20
+    },
+    {
+      "video_frame_idx": 87,
+      "frame_index": 87,
+      "clamped_pixel_count": 19
+    },
+    {
+      "video_frame_idx": 88,
+      "frame_index": 88,
+      "clamped_pixel_count": 13
+    },
+    {
+      "video_frame_idx": 89,
+      "frame_index": 89,
+      "clamped_pixel_count": 22
+    },
+    {
+      "video_frame_idx": 90,
+      "frame_index": 90,
+      "clamped_pixel_count": 29
+    },
+    {
+      "video_frame_idx": 91,
+      "frame_index": 91,
+      "clamped_pixel_count": 19
+    },
+    {
+      "video_frame_idx": 92,
+      "frame_index": 92,
+      "clamped_pixel_count": 18
+    },
+    {
+      "video_frame_idx": 93,
+      "frame_index": 93,
+      "clamped_pixel_count": 19
+    },
+    {
+      "video_frame_idx": 94,
+      "frame_index": 94,
+      "clamped_pixel_count": 15
+    },
+    {
+      "video_frame_idx": 95,
+      "frame_index": 95,
+      "clamped_pixel_count": 25
+    },
+    {
+      "video_frame_idx": 96,
+      "frame_index": 96,
+      "clamped_pixel_count": 19
+    },
+    {
+      "video_frame_idx": 97,
+      "frame_index": 97,
+      "clamped_pixel_count": 16
+    },
+    {
+      "video_frame_idx": 98,
+      "frame_index": 98,
+      "clamped_pixel_count": 17
+    },
+    {
+      "video_frame_idx": 99,
+      "frame_index": 99,
+      "clamped_pixel_count": 19
+    },
+    {
+      "video_frame_idx": 100,
+      "frame_index": 100,
+      "clamped_pixel_count": 26
+    },
+    {
+      "video_frame_idx": 101,
+      "frame_index": 101,
+      "clamped_pixel_count": 27
+    },
+    {
+      "video_frame_idx": 102,
+      "frame_index": 102,
+      "clamped_pixel_count": 22
+    },
+    {
+      "video_frame_idx": 103,
+      "frame_index": 103,
+      "clamped_pixel_count": 15
+    },
+    {
+      "video_frame_idx": 104,
+      "frame_index": 104,
+      "clamped_pixel_count": 19
+    },
+    {
+      "video_frame_idx": 105,
+      "frame_index": 105,
+      "clamped_pixel_count": 9
+    },
+    {
+      "video_frame_idx": 106,
+      "frame_index": 106,
+      "clamped_pixel_count": 16
+    },
+    {
+      "video_frame_idx": 107,
+      "frame_index": 107,
+      "clamped_pixel_count": 12
+    },
+    {
+      "video_frame_idx": 108,
+      "frame_index": 108,
+      "clamped_pixel_count": 12
+    },
+    {
+      "video_frame_idx": 109,
+      "frame_index": 109,
+      "clamped_pixel_count": 20
+    },
+    {
+      "video_frame_idx": 110,
+      "frame_index": 110,
+      "clamped_pixel_count": 25
+    },
+    {
+      "video_frame_idx": 111,
+      "frame_index": 111,
+      "clamped_pixel_count": 22
+    },
+    {
+      "video_frame_idx": 112,
+      "frame_index": 112,
+      "clamped_pixel_count": 17
+    },
+    {
+      "video_frame_idx": 113,
+      "frame_index": 113,
+      "clamped_pixel_count": 16
+    },
+    {
+      "video_frame_idx": 114,
+      "frame_index": 114,
+      "clamped_pixel_count": 15
+    },
+    {
+      "video_frame_idx": 115,
+      "frame_index": 115,
+      "clamped_pixel_count": 21
+    },
+    {
+      "video_frame_idx": 116,
+      "frame_index": 116,
+      "clamped_pixel_count": 17
+    },
+    {
+      "video_frame_idx": 117,
+      "frame_index": 117,
+      "clamped_pixel_count": 21
+    },
+    {
+      "video_frame_idx": 118,
+      "frame_index": 118,
+      "clamped_pixel_count": 25
+    },
+    {
+      "video_frame_idx": 119,
+      "frame_index": 119,
+      "clamped_pixel_count": 20
+    },
+    {
+      "video_frame_idx": 120,
+      "frame_index": 120,
+      "clamped_pixel_count": 16
+    },
+    {
+      "video_frame_idx": 121,
+      "frame_index": 121,
+      "clamped_pixel_count": 26
+    },
+    {
+      "video_frame_idx": 122,
+      "frame_index": 122,
+      "clamped_pixel_count": 13
+    },
+    {
+      "video_frame_idx": 123,
+      "frame_index": 123,
+      "clamped_pixel_count": 27
+    },
+    {
+      "video_frame_idx": 124,
+      "frame_index": 124,
+      "clamped_pixel_count": 13
+    },
+    {
+      "video_frame_idx": 125,
+      "frame_index": 125,
+      "clamped_pixel_count": 26
+    },
+    {
+      "video_frame_idx": 126,
+      "frame_index": 126,
+      "clamped_pixel_count": 15
+    },
+    {
+      "video_frame_idx": 127,
+      "frame_index": 127,
+      "clamped_pixel_count": 22
+    },
+    {
+      "video_frame_idx": 128,
+      "frame_index": 128,
+      "clamped_pixel_count": 21
+    },
+    {
+      "video_frame_idx": 129,
+      "frame_index": 129,
+      "clamped_pixel_count": 17
+    },
+    {
+      "video_frame_idx": 130,
+      "frame_index": 130,
+      "clamped_pixel_count": 17
+    },
+    {
+      "video_frame_idx": 131,
+      "frame_index": 131,
+      "clamped_pixel_count": 12
+    },
+    {
+      "video_frame_idx": 132,
+      "frame_index": 132,
+      "clamped_pixel_count": 16
+    },
+    {
+      "video_frame_idx": 133,
+      "frame_index": 133,
+      "clamped_pixel_count": 22
+    },
+    {
+      "video_frame_idx": 134,
+      "frame_index": 134,
+      "clamped_pixel_count": 16
+    },
+    {
+      "video_frame_idx": 135,
+      "frame_index": 135,
+      "clamped_pixel_count": 17
+    },
+    {
+      "video_frame_idx": 136,
+      "frame_index": 136,
+      "clamped_pixel_count": 15
+    },
+    {
+      "video_frame_idx": 137,
+      "frame_index": 137,
+      "clamped_pixel_count": 14
+    },
+    {
+      "video_frame_idx": 138,
+      "frame_index": 138,
+      "clamped_pixel_count": 15
+    },
+    {
+      "video_frame_idx": 139,
+      "frame_index": 139,
+      "clamped_pixel_count": 21
+    },
+    {
+      "video_frame_idx": 140,
+      "frame_index": 140,
+      "clamped_pixel_count": 19
+    },
+    {
+      "video_frame_idx": 141,
+      "frame_index": 141,
+      "clamped_pixel_count": 22
+    },
+    {
+      "video_frame_idx": 142,
+      "frame_index": 142,
+      "clamped_pixel_count": 18
+    },
+    {
+      "video_frame_idx": 143,
+      "frame_index": 143,
+      "clamped_pixel_count": 15
+    },
+    {
+      "video_frame_idx": 144,
+      "frame_index": 144,
+      "clamped_pixel_count": 15
+    },
+    {
+      "video_frame_idx": 145,
+      "frame_index": 145,
+      "clamped_pixel_count": 17
+    },
+    {
+      "video_frame_idx": 146,
+      "frame_index": 146,
+      "clamped_pixel_count": 14
+    },
+    {
+      "video_frame_idx": 147,
+      "frame_index": 147,
+      "clamped_pixel_count": 18
+    }
+  ]
+}

scans/test_oct11/converted/sessions/session_20261011_155218_806614/tables/events.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b72b67331fa1d51ad28b0e96e099b33380600277d663243799431588ae8b1ba9
+size 1177

scans/test_oct11/converted/sessions/session_20261011_155218_806614/tables/frames.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da0f62477c10a75b2adf8ed25567c4006cbe0467ffff77b89ffab5c78fdda1ec
+size 267175

scans/test_oct11/converted/sessions/session_20261011_155218_806614/tables/robot_states.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33e159471ba1a5f4884d948bcd5682df27a26d6611619788277d19bd843903f1
+size 6072

scans/test_oct11/converted/sessions/session_20261011_155218_806614/videos/zed_12933256_depth_zed_sdk_neural_plus.zdepth

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:725e2127fa7f18238960457ddbafe2dbd786f06f4c18ebf07b78613de9e1160f
+size 46611321

scans/test_oct11/converted/sessions/session_20261011_155218_806614/videos/zed_12933256_left_rgb.mkv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:196965f3da8b5c04273132b094ff056d555aa03681b6ca4bb0509e359133b030
+size 443925915

scans/test_oct11/converted/sessions/session_20261011_155218_806614/videos/zed_12933256_right_rgb.mkv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:976320a6d08e7dfd6e82ad595f5e298253b1eeaff0b116ed7de1695854af5d03
+size 422073133