Add files using upload-large-folder tool
Browse files- .gitattributes +1 -0
- scans/table/raw/20261011_161849_867460/ZED-M_SN12933256.svo2 +3 -0
- scans/table/raw/20261011_161849_867460/recording_manifest.json +465 -0
- scans/table/raw/20261011_161849_867460/recording_metadata.json +635 -0
- scans/table/raw/20261011_161849_867460/recording_quality_report.json +199 -0
- scans/table/raw/20261011_161849_867460/streams/zed_12933256_depth_zed_sdk_neural_plus/stream_manifest.json +246 -0
- scans/table/raw/20261011_161849_867460/streams/zed_12933256_depth_zed_sdk_neural_plus/timestamps.parquet +3 -0
- scans/table/raw/20261011_161849_867460/streams/zed_12933256_left_rgb/stream_manifest.json +246 -0
- scans/table/raw/20261011_161849_867460/streams/zed_12933256_left_rgb/timestamps.parquet +3 -0
- scans/table/raw/20261011_161849_867460/streams/zed_12933256_right_rgb/stream_manifest.json +246 -0
- scans/table/raw/20261011_161849_867460/streams/zed_12933256_right_rgb/timestamps.parquet +3 -0
- scans/table/raw/20261011_161849_867460/timestamps_zed_SN12933256.csv +1810 -0
- scans/table/takes.csv +1 -0
.gitattributes
CHANGED
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@@ -73,3 +73,4 @@ scans/test_oct11/raw/20261011_155218_806614/ZED-M_SN12933256.svo2 filter=lfs dif
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| 73 |
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
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| 74 |
scans/test_oct11/converted/sessions/session_20261011_155218_806614/videos/zed_12933256_right_rgb.mkv filter=lfs diff=lfs merge=lfs -text
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| 75 |
scans/test_oct11/converted/sessions/session_20261011_155218_806614/videos/zed_12933256_left_rgb.mkv filter=lfs diff=lfs merge=lfs -text
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| 73 |
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
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| 74 |
scans/test_oct11/converted/sessions/session_20261011_155218_806614/videos/zed_12933256_right_rgb.mkv filter=lfs diff=lfs merge=lfs -text
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| 75 |
scans/test_oct11/converted/sessions/session_20261011_155218_806614/videos/zed_12933256_left_rgb.mkv filter=lfs diff=lfs merge=lfs -text
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| 76 |
+
scans/table/raw/20261011_161849_867460/ZED-M_SN12933256.svo2 filter=lfs diff=lfs merge=lfs -text
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scans/table/raw/20261011_161849_867460/ZED-M_SN12933256.svo2
ADDED
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@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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oid sha256:1d5d0f8c7c43480fcb2e1a86c03875e68fbafc9a242504e569a5d7fe58e5ca69
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+
size 4697034827
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scans/table/raw/20261011_161849_867460/recording_manifest.json
ADDED
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@@ -0,0 +1,465 @@
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|
| 1 |
+
{
|
| 2 |
+
"recording_manifest_schema_version": 1,
|
| 3 |
+
"recording_datetime": "20261011_161849_867460",
|
| 4 |
+
"recording_status": "completed",
|
| 5 |
+
"recording_stop_reason": "duration_sec_limit",
|
| 6 |
+
"camera_rig_profile_name": "single-zed-right-of-ur10",
|
| 7 |
+
"capture_profile_name": "zed-hd2k15",
|
| 8 |
+
"raw_container_policy": {
|
| 9 |
+
"zed": "svo2",
|
| 10 |
+
"realsense": "bag",
|
| 11 |
+
"direct_mkv_parquet_payload_recording": false,
|
| 12 |
+
"posthoc_conversion_required_for_ml_formats": true
|
| 13 |
+
},
|
| 14 |
+
"requested_acquisition": {
|
| 15 |
+
"capture_profile_name": "zed-hd2k15",
|
| 16 |
+
"camera_rig_profile_name": "single-zed-right-of-ur10",
|
| 17 |
+
"enabled_rgb_stream_ids": [
|
| 18 |
+
"zed_12933256_left_rgb",
|
| 19 |
+
"zed_12933256_right_rgb"
|
| 20 |
+
],
|
| 21 |
+
"fps": null,
|
| 22 |
+
"zed_stream_profile_name": "HD2K",
|
| 23 |
+
"realsense_resolution_hw": null,
|
| 24 |
+
"realsense_image_format": null,
|
| 25 |
+
"per_camera": {
|
| 26 |
+
"zed_12933256": {
|
| 27 |
+
"camera_type": "zed",
|
| 28 |
+
"serial_number": "12933256",
|
| 29 |
+
"resolution": [
|
| 30 |
+
1242,
|
| 31 |
+
2208
|
| 32 |
+
],
|
| 33 |
+
"fps": 15.0,
|
| 34 |
+
"stream_profile_name": "HD2K",
|
| 35 |
+
"image_format": "rgb8"
|
| 36 |
+
}
|
| 37 |
+
},
|
| 38 |
+
"zed_depth_mode": "NEURAL_PLUS",
|
| 39 |
+
"realsense_streams": [
|
| 40 |
+
"color",
|
| 41 |
+
"depth"
|
| 42 |
+
],
|
| 43 |
+
"zed_svo_compression_mode": "H265_LOSSLESS"
|
| 44 |
+
},
|
| 45 |
+
"actual_acquisition": {
|
| 46 |
+
"camera_rig_profile_name": "single-zed-right-of-ur10",
|
| 47 |
+
"enabled_rgb_stream_ids": [
|
| 48 |
+
"zed_12933256_left_rgb",
|
| 49 |
+
"zed_12933256_right_rgb"
|
| 50 |
+
],
|
| 51 |
+
"per_camera": {
|
| 52 |
+
"zed_12933256": {
|
| 53 |
+
"resolution": [
|
| 54 |
+
1242,
|
| 55 |
+
2208
|
| 56 |
+
],
|
| 57 |
+
"requested_fps": 15.0,
|
| 58 |
+
"fps": 15.0,
|
| 59 |
+
"actual_fps": 15.0,
|
| 60 |
+
"actual_fps_source": "camera_information.camera_configuration.fps",
|
| 61 |
+
"stream_profile_name": "HD2K",
|
| 62 |
+
"image_format": "rgb8",
|
| 63 |
+
"depth_mode": "NEURAL_PLUS",
|
| 64 |
+
"svo_compression_mode": "H265_LOSSLESS",
|
| 65 |
+
"svo_compression_mode_source": "requested_enum_passed_to_sl.RecordingParameters",
|
| 66 |
+
"camera_type": "zed",
|
| 67 |
+
"serial_number": "12933256",
|
| 68 |
+
"camera_name": "right-of-ur10"
|
| 69 |
+
}
|
| 70 |
+
}
|
| 71 |
+
},
|
| 72 |
+
"recording_profile": "dynamic-validation-safe",
|
| 73 |
+
"realsense_pairing_audit": {
|
| 74 |
+
"post_record_validate_pairing": true,
|
| 75 |
+
"pairing_validation_failure_policy": "fail",
|
| 76 |
+
"realsense_color_format": null
|
| 77 |
+
},
|
| 78 |
+
"timestamp_alignment_policy": {
|
| 79 |
+
"nearest_neighbor_alignment_tolerance_frame_periods": 1.0,
|
| 80 |
+
"alignment_warning_frame_periods": 0.5,
|
| 81 |
+
"timestamp_gap_warning_frame_periods": 1.5,
|
| 82 |
+
"fail_on_timestamp_gaps": false,
|
| 83 |
+
"nominal_frame_period_ns": 66666667,
|
| 84 |
+
"default_nearest_neighbor_tolerance": "one nominal frame period per stream",
|
| 85 |
+
"strict_alignment_warning": "half a nominal frame period per stream",
|
| 86 |
+
"gap_warning": "per-stream timestamp gaps greater than timestamp_gap_warning_frame_periods"
|
| 87 |
+
},
|
| 88 |
+
"calibration": {
|
| 89 |
+
"packaged": false,
|
| 90 |
+
"reason": "calibration_run_dir was not provided"
|
| 91 |
+
},
|
| 92 |
+
"camera_image_controls": {
|
| 93 |
+
"mode": "native_auto_defaults",
|
| 94 |
+
"status": "established",
|
| 95 |
+
"policy_replay": false,
|
| 96 |
+
"established_before_warmup": true,
|
| 97 |
+
"auto_controls_frozen_during_recording": false,
|
| 98 |
+
"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.",
|
| 99 |
+
"unmanaged_cameras": [],
|
| 100 |
+
"per_camera": {
|
| 101 |
+
"12933256": {
|
| 102 |
+
"camera_type": "zed",
|
| 103 |
+
"status": "established",
|
| 104 |
+
"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",
|
| 105 |
+
"controls": {
|
| 106 |
+
"BRIGHTNESS": {
|
| 107 |
+
"status": "reset_to_sdk_default",
|
| 108 |
+
"before": 4,
|
| 109 |
+
"after": 4
|
| 110 |
+
},
|
| 111 |
+
"CONTRAST": {
|
| 112 |
+
"status": "reset_to_sdk_default",
|
| 113 |
+
"before": 4,
|
| 114 |
+
"after": 4
|
| 115 |
+
},
|
| 116 |
+
"HUE": {
|
| 117 |
+
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|
| 118 |
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|
| 119 |
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|
| 120 |
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},
|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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},
|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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|
| 130 |
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},
|
| 131 |
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|
| 132 |
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|
| 133 |
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"before": 5,
|
| 134 |
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|
| 135 |
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},
|
| 136 |
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"EXPOSURE": {
|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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},
|
| 141 |
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|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
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|
| 151 |
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|
| 152 |
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|
| 153 |
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|
| 154 |
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|
| 155 |
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},
|
| 156 |
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|
| 157 |
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"status": "enabled",
|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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},
|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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|
| 167 |
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|
| 168 |
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}
|
| 169 |
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},
|
| 170 |
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"errors": []
|
| 171 |
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|
| 172 |
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|
| 173 |
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{
|
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|
| 175 |
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"modality": "left_rgb",
|
| 176 |
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"physical_camera_id": "zed_12933256",
|
| 177 |
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"serial_number": "12933256",
|
| 178 |
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"camera_type": "zed",
|
| 179 |
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"camera_name": "right-of-ur10",
|
| 180 |
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"recording_path": "ZED-M_SN12933256.svo2",
|
| 181 |
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"timestamps_path": "streams/zed_12933256_left_rgb/timestamps.parquet",
|
| 182 |
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"stream_manifest_path": "streams/zed_12933256_left_rgb/stream_manifest.json",
|
| 183 |
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"requested_profile": {
|
| 184 |
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|
| 185 |
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|
| 186 |
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1242,
|
| 187 |
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|
| 188 |
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|
| 189 |
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"fps": 15,
|
| 190 |
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"depth_mode": "neural_plus",
|
| 191 |
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|
| 192 |
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"container": "svo2"
|
| 193 |
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},
|
| 194 |
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|
| 195 |
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|
| 196 |
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1242,
|
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2208
|
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|
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|
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|
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|
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"actual_fps_source": "camera_information.camera_configuration.fps",
|
| 203 |
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"stream_profile_name": "HD2K",
|
| 204 |
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"image_format": "rgb8",
|
| 205 |
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|
| 206 |
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"svo_compression_mode": "H265_LOSSLESS",
|
| 207 |
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|
| 208 |
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},
|
| 209 |
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|
| 210 |
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"stream_id": "zed_12933256_left_rgb",
|
| 211 |
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|
| 212 |
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"physical_camera_id": "zed_12933256",
|
| 213 |
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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{
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|
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|
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|
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{
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|
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|
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|
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|
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|
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|
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|
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|
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|
| 243 |
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|
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|
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|
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|
| 247 |
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|
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|
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|
| 250 |
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"timestamp_domain": "zed_image",
|
| 251 |
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"timestamp_source": "sl.TIME_REFERENCE.IMAGE",
|
| 252 |
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"host_timestamp_source": "time.time_ns_after_record_frame",
|
| 253 |
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"warnings": [
|
| 254 |
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"large_timestamp_gap"
|
| 255 |
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]
|
| 256 |
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},
|
| 257 |
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|
| 258 |
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|
| 259 |
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|
| 260 |
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|
| 261 |
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|
| 262 |
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|
| 263 |
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|
| 264 |
+
"native_frame_index_origin": "zero_based_sequential_grab_after_enable_recording_including_post_native_priming",
|
| 265 |
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"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."
|
| 266 |
+
}
|
| 267 |
+
},
|
| 268 |
+
{
|
| 269 |
+
"stream_id": "zed_12933256_right_rgb",
|
| 270 |
+
"modality": "right_rgb",
|
| 271 |
+
"physical_camera_id": "zed_12933256",
|
| 272 |
+
"serial_number": "12933256",
|
| 273 |
+
"camera_type": "zed",
|
| 274 |
+
"camera_name": "right-of-ur10",
|
| 275 |
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"recording_path": "ZED-M_SN12933256.svo2",
|
| 276 |
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"timestamps_path": "streams/zed_12933256_right_rgb/timestamps.parquet",
|
| 277 |
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"stream_manifest_path": "streams/zed_12933256_right_rgb/stream_manifest.json",
|
| 278 |
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"requested_profile": {
|
| 279 |
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"zed_resolution": "hd2k",
|
| 280 |
+
"resolution_hw": [
|
| 281 |
+
1242,
|
| 282 |
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2208
|
| 283 |
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],
|
| 284 |
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"fps": 15,
|
| 285 |
+
"depth_mode": "neural_plus",
|
| 286 |
+
"svo_compression_mode": "h265_lossless",
|
| 287 |
+
"container": "svo2"
|
| 288 |
+
},
|
| 289 |
+
"actual_opened_profile": {
|
| 290 |
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|
| 291 |
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1242,
|
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2208
|
| 293 |
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],
|
| 294 |
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|
| 295 |
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"fps": 15.0,
|
| 296 |
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"actual_fps": 15.0,
|
| 297 |
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"actual_fps_source": "camera_information.camera_configuration.fps",
|
| 298 |
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"stream_profile_name": "HD2K",
|
| 299 |
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"image_format": "rgb8",
|
| 300 |
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"depth_mode": "NEURAL_PLUS",
|
| 301 |
+
"svo_compression_mode": "H265_LOSSLESS",
|
| 302 |
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"svo_compression_mode_source": "requested_enum_passed_to_sl.RecordingParameters"
|
| 303 |
+
},
|
| 304 |
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"timestamp_summary": {
|
| 305 |
+
"stream_id": "zed_12933256_right_rgb",
|
| 306 |
+
"modality": "right_rgb",
|
| 307 |
+
"physical_camera_id": "zed_12933256",
|
| 308 |
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"serial_number": "12933256",
|
| 309 |
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"camera_type": "zed",
|
| 310 |
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|
| 311 |
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|
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|
| 313 |
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|
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|
| 315 |
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|
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|
| 317 |
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|
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|
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|
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|
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|
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|
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{
|
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|
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|
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|
| 327 |
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},
|
| 328 |
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{
|
| 329 |
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|
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|
| 331 |
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|
| 332 |
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}
|
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],
|
| 334 |
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|
| 335 |
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|
| 336 |
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|
| 337 |
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|
| 338 |
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"duplicate_timestamp_count": 0,
|
| 339 |
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"non_monotonic_timestamp_count": 0,
|
| 340 |
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"sdk_frame_number_gap_count": 0,
|
| 341 |
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"sdk_frame_number_gaps": [],
|
| 342 |
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"sdk_frame_number_reportable": false,
|
| 343 |
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|
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"host_timestamp_max_ns": 1791750055941798865,
|
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"timestamp_domain": "zed_image",
|
| 346 |
+
"timestamp_source": "sl.TIME_REFERENCE.IMAGE",
|
| 347 |
+
"host_timestamp_source": "time.time_ns_after_record_frame",
|
| 348 |
+
"warnings": [
|
| 349 |
+
"large_timestamp_gap"
|
| 350 |
+
]
|
| 351 |
+
},
|
| 352 |
+
"native_frame_mapping": {
|
| 353 |
+
"native_container_includes_preroll_frames": false,
|
| 354 |
+
"native_container_includes_post_native_priming_frames": true,
|
| 355 |
+
"preroll_frame_count": 15,
|
| 356 |
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"post_native_priming_frame_count": 1,
|
| 357 |
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"official_frame_count": 1809,
|
| 358 |
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"first_official_native_frame_index": 1,
|
| 359 |
+
"native_frame_index_origin": "zero_based_sequential_grab_after_enable_recording_including_post_native_priming",
|
| 360 |
+
"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."
|
| 361 |
+
}
|
| 362 |
+
},
|
| 363 |
+
{
|
| 364 |
+
"stream_id": "zed_12933256_depth_zed_sdk_neural_plus",
|
| 365 |
+
"modality": "depth",
|
| 366 |
+
"physical_camera_id": "zed_12933256",
|
| 367 |
+
"serial_number": "12933256",
|
| 368 |
+
"camera_type": "zed",
|
| 369 |
+
"camera_name": "right-of-ur10",
|
| 370 |
+
"recording_path": "ZED-M_SN12933256.svo2",
|
| 371 |
+
"timestamps_path": "streams/zed_12933256_depth_zed_sdk_neural_plus/timestamps.parquet",
|
| 372 |
+
"stream_manifest_path": "streams/zed_12933256_depth_zed_sdk_neural_plus/stream_manifest.json",
|
| 373 |
+
"requested_profile": {
|
| 374 |
+
"zed_resolution": "hd2k",
|
| 375 |
+
"resolution_hw": [
|
| 376 |
+
1242,
|
| 377 |
+
2208
|
| 378 |
+
],
|
| 379 |
+
"fps": 15,
|
| 380 |
+
"depth_mode": "neural_plus",
|
| 381 |
+
"svo_compression_mode": "h265_lossless",
|
| 382 |
+
"container": "svo2"
|
| 383 |
+
},
|
| 384 |
+
"actual_opened_profile": {
|
| 385 |
+
"resolution": [
|
| 386 |
+
1242,
|
| 387 |
+
2208
|
| 388 |
+
],
|
| 389 |
+
"requested_fps": 15.0,
|
| 390 |
+
"fps": 15.0,
|
| 391 |
+
"actual_fps": 15.0,
|
| 392 |
+
"actual_fps_source": "camera_information.camera_configuration.fps",
|
| 393 |
+
"stream_profile_name": "HD2K",
|
| 394 |
+
"image_format": "rgb8",
|
| 395 |
+
"depth_mode": "NEURAL_PLUS",
|
| 396 |
+
"svo_compression_mode": "H265_LOSSLESS",
|
| 397 |
+
"svo_compression_mode_source": "requested_enum_passed_to_sl.RecordingParameters"
|
| 398 |
+
},
|
| 399 |
+
"timestamp_summary": {
|
| 400 |
+
"stream_id": "zed_12933256_depth_zed_sdk_neural_plus",
|
| 401 |
+
"modality": "depth",
|
| 402 |
+
"physical_camera_id": "zed_12933256",
|
| 403 |
+
"serial_number": "12933256",
|
| 404 |
+
"camera_type": "zed",
|
| 405 |
+
"row_count": 1809,
|
| 406 |
+
"expected_fps": 15.0,
|
| 407 |
+
"observed_fps": 15.0661378452283,
|
| 408 |
+
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|
| 409 |
+
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|
| 410 |
+
"strict_alignment_warning_tolerance_ns": 33333334,
|
| 411 |
+
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|
| 412 |
+
"timestamp_min_ns": 1791749935856074876,
|
| 413 |
+
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|
| 414 |
+
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|
| 415 |
+
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|
| 416 |
+
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|
| 417 |
+
"large_gaps": [
|
| 418 |
+
{
|
| 419 |
+
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|
| 420 |
+
"to_row": 418,
|
| 421 |
+
"gap_ns": 132896000
|
| 422 |
+
},
|
| 423 |
+
{
|
| 424 |
+
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|
| 425 |
+
"to_row": 680,
|
| 426 |
+
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|
| 427 |
+
}
|
| 428 |
+
],
|
| 429 |
+
"first_inter_frame_gap_ns": 66396000,
|
| 430 |
+
"startup_gap_excluded_from_warnings": false,
|
| 431 |
+
"preroll_frame_count": 15,
|
| 432 |
+
"official_frame_count": 1809,
|
| 433 |
+
"duplicate_timestamp_count": 0,
|
| 434 |
+
"non_monotonic_timestamp_count": 0,
|
| 435 |
+
"sdk_frame_number_gap_count": 0,
|
| 436 |
+
"sdk_frame_number_gaps": [],
|
| 437 |
+
"sdk_frame_number_reportable": false,
|
| 438 |
+
"host_timestamp_min_ns": 1791749935938383148,
|
| 439 |
+
"host_timestamp_max_ns": 1791750055941798865,
|
| 440 |
+
"timestamp_domain": "zed_image",
|
| 441 |
+
"timestamp_source": "sl.TIME_REFERENCE.IMAGE",
|
| 442 |
+
"host_timestamp_source": "time.time_ns_after_record_frame",
|
| 443 |
+
"warnings": [
|
| 444 |
+
"large_timestamp_gap"
|
| 445 |
+
]
|
| 446 |
+
},
|
| 447 |
+
"native_frame_mapping": {
|
| 448 |
+
"native_container_includes_preroll_frames": false,
|
| 449 |
+
"native_container_includes_post_native_priming_frames": true,
|
| 450 |
+
"preroll_frame_count": 15,
|
| 451 |
+
"post_native_priming_frame_count": 1,
|
| 452 |
+
"official_frame_count": 1809,
|
| 453 |
+
"first_official_native_frame_index": 1,
|
| 454 |
+
"native_frame_index_origin": "zero_based_sequential_grab_after_enable_recording_including_post_native_priming",
|
| 455 |
+
"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."
|
| 456 |
+
}
|
| 457 |
+
}
|
| 458 |
+
],
|
| 459 |
+
"legacy_timestamp_csvs": [
|
| 460 |
+
"timestamps_zed_SN12933256.csv"
|
| 461 |
+
],
|
| 462 |
+
"known_converter_gaps": [
|
| 463 |
+
"Post-hoc converter currently exports RealSense color/depth from BAG; RealSense IR BAG export remains follow-up work."
|
| 464 |
+
]
|
| 465 |
+
}
|
scans/table/raw/20261011_161849_867460/recording_metadata.json
ADDED
|
@@ -0,0 +1,635 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
| 1 |
+
{
|
| 2 |
+
"recording_metadata_schema_version": 1,
|
| 3 |
+
"recording_datetime": "20261011_161849_867460",
|
| 4 |
+
"recording_status": "completed",
|
| 5 |
+
"recording_attempt_started_at_unix_time_ns": 1791749929867457401,
|
| 6 |
+
"recording_started_at_unix_time_ns": 1791749935878126366,
|
| 7 |
+
"camera_rig_profile_name": "single-zed-right-of-ur10",
|
| 8 |
+
"duration_sec": 120.0,
|
| 9 |
+
"max_frames": null,
|
| 10 |
+
"stream_warmup_frames": 15,
|
| 11 |
+
"stream_settle_sec": 0.0,
|
| 12 |
+
"recording_stop_policy": "duration_or_all_max_frames",
|
| 13 |
+
"timestamp_validation_policy": {
|
| 14 |
+
"nearest_neighbor_alignment_tolerance_frame_periods": 1.0,
|
| 15 |
+
"alignment_warning_frame_periods": 0.5,
|
| 16 |
+
"timestamp_gap_warning_frame_periods": 1.5,
|
| 17 |
+
"fail_on_timestamp_gaps": false
|
| 18 |
+
},
|
| 19 |
+
"recording_manifest_path": "recording_manifest.json",
|
| 20 |
+
"config": {
|
| 21 |
+
"camera_rig_profile_name": "single-zed-right-of-ur10",
|
| 22 |
+
"capture_profile_name": "zed-hd2k15",
|
| 23 |
+
"capture": {
|
| 24 |
+
"shared": {
|
| 25 |
+
"resolution_hw": null,
|
| 26 |
+
"fps": null,
|
| 27 |
+
"image_format": null,
|
| 28 |
+
"warmup_frames": null,
|
| 29 |
+
"retain_gpu_images": null,
|
| 30 |
+
"return_pointmap_instead_of_depth": null,
|
| 31 |
+
"require_stereo_frames": null
|
| 32 |
+
},
|
| 33 |
+
"zed": {
|
| 34 |
+
"depth_mode_name": null,
|
| 35 |
+
"allow_depth_mode_fallback": null,
|
| 36 |
+
"coordinate_units": null,
|
| 37 |
+
"depth_stabilization": null,
|
| 38 |
+
"depth_minimum_distance_m": null,
|
| 39 |
+
"depth_maximum_distance_m": null,
|
| 40 |
+
"open_timeout_sec": null
|
| 41 |
+
},
|
| 42 |
+
"realsense": {
|
| 43 |
+
"rectify_color": null,
|
| 44 |
+
"duplicate_frame_policy": null,
|
| 45 |
+
"duplicate_timeout_s": null,
|
| 46 |
+
"duplicate_max_count": null
|
| 47 |
+
},
|
| 48 |
+
"overrides_by_serial": {}
|
| 49 |
+
},
|
| 50 |
+
"output_datetime": "20261011_161849_867460",
|
| 51 |
+
"duration_sec": 120.0,
|
| 52 |
+
"max_frames": null,
|
| 53 |
+
"zed_resolution": null,
|
| 54 |
+
"zed_fps": null,
|
| 55 |
+
"zed_svo_compression_mode": "h265_lossless",
|
| 56 |
+
"realsense_fps": null,
|
| 57 |
+
"realsense_width": null,
|
| 58 |
+
"realsense_height": null,
|
| 59 |
+
"realsense_color_format": null,
|
| 60 |
+
"realsense_streams": "color,depth",
|
| 61 |
+
"depth_mode": "neural_plus",
|
| 62 |
+
"calibration_run_dir": null,
|
| 63 |
+
"calibration_pose_source": "phase_05_final",
|
| 64 |
+
"require_calibration": false,
|
| 65 |
+
"copy_calibration_rerun_rrd": false,
|
| 66 |
+
"copy_calibration_depth_snapshots": false,
|
| 67 |
+
"copy_full_calibration_run": false,
|
| 68 |
+
"allow_extra_calibrated_cameras": true,
|
| 69 |
+
"nearest_neighbor_alignment_tolerance_frame_periods": 1.0,
|
| 70 |
+
"alignment_warning_frame_periods": 0.5,
|
| 71 |
+
"timestamp_gap_warning_frame_periods": 1.5,
|
| 72 |
+
"fail_on_timestamp_gaps": false,
|
| 73 |
+
"max_frames_no_progress_timeout_sec": 10.0,
|
| 74 |
+
"no_frame_poll_sleep_sec": 0.001,
|
| 75 |
+
"stream_warmup_frames": 15,
|
| 76 |
+
"stream_settle_sec": 0.0,
|
| 77 |
+
"stream_warmup_no_frame_timeout_sec": 10.0,
|
| 78 |
+
"native_recording_starts_after_warmup": true,
|
| 79 |
+
"post_native_priming_timeout_sec": 5.0,
|
| 80 |
+
"post_native_priming_max_discard_frames": 30,
|
| 81 |
+
"realsense_official_start_consecutive_framesets": 2,
|
| 82 |
+
"recording_stop_policy": "duration_or_all_max_frames",
|
| 83 |
+
"recording_profile": "dynamic-validation-safe",
|
| 84 |
+
"post_record_validate_pairing": true,
|
| 85 |
+
"pairing_validation_failure_policy": "fail",
|
| 86 |
+
"post_record_quality_policy": "warn"
|
| 87 |
+
},
|
| 88 |
+
"calibration": {
|
| 89 |
+
"packaged": false,
|
| 90 |
+
"reason": "calibration_run_dir was not provided"
|
| 91 |
+
},
|
| 92 |
+
"cameras": [
|
| 93 |
+
{
|
| 94 |
+
"name": "right-of-ur10",
|
| 95 |
+
"serial_number": "12933256",
|
| 96 |
+
"camera_type": "zed",
|
| 97 |
+
"recording_path": "ZED-M_SN12933256.svo2",
|
| 98 |
+
"timestamp_path": "timestamps_zed_SN12933256.csv",
|
| 99 |
+
"frame_count": 1809,
|
| 100 |
+
"dropped_non_monotonic_timestamp_count": 0,
|
| 101 |
+
"streams": [
|
| 102 |
+
{
|
| 103 |
+
"stream_id": "zed_12933256_left_rgb",
|
| 104 |
+
"modality": "left_rgb",
|
| 105 |
+
"requested_profile": {
|
| 106 |
+
"zed_resolution": "hd2k",
|
| 107 |
+
"resolution_hw": [
|
| 108 |
+
1242,
|
| 109 |
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| 114 |
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"container": "svo2"
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| 115 |
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},
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| 116 |
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| 117 |
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},
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{
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| 119 |
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| 122 |
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[
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| 292 |
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| 303 |
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| 304 |
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| 305 |
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| 306 |
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| 307 |
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"usb": {
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"video_device_path": "/dev/video2",
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},
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}
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},
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{
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}
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],
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]
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},
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"stream_id": "zed_12933256_depth_zed_sdk_neural_plus",
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"modality": "depth",
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{
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},
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{
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}
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],
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]
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}
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}
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}
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"established_before_warmup": true,
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| 481 |
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"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.",
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| 635 |
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|
scans/table/raw/20261011_161849_867460/recording_quality_report.json
ADDED
|
@@ -0,0 +1,199 @@
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| 1 |
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{
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| 121 |
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| 126 |
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| 184 |
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| 187 |
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| 189 |
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|
| 190 |
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|
| 192 |
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| 193 |
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| 199 |
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}
|
scans/table/raw/20261011_161849_867460/streams/zed_12933256_depth_zed_sdk_neural_plus/stream_manifest.json
ADDED
|
@@ -0,0 +1,246 @@
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| 1 |
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{
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| 5 |
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| 6 |
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| 7 |
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| 8 |
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| 9 |
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| 10 |
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| 195 |
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"expected_fps": 15.0,
|
| 196 |
+
"observed_fps": 15.0661378452283,
|
| 197 |
+
"nominal_frame_period_ns": 66666667,
|
| 198 |
+
"default_nearest_neighbor_tolerance_ns": 66666667,
|
| 199 |
+
"strict_alignment_warning_tolerance_ns": 33333334,
|
| 200 |
+
"timestamp_gap_warning_threshold_ns": 100000000,
|
| 201 |
+
"timestamp_min_ns": 1791749935856074876,
|
| 202 |
+
"timestamp_max_ns": 1791750055860286876,
|
| 203 |
+
"median_gap_ns": 66349000.0,
|
| 204 |
+
"max_gap_ns": 132896000,
|
| 205 |
+
"large_gap_count": 2,
|
| 206 |
+
"large_gaps": [
|
| 207 |
+
{
|
| 208 |
+
"from_row": 417,
|
| 209 |
+
"to_row": 418,
|
| 210 |
+
"gap_ns": 132896000
|
| 211 |
+
},
|
| 212 |
+
{
|
| 213 |
+
"from_row": 679,
|
| 214 |
+
"to_row": 680,
|
| 215 |
+
"gap_ns": 132528000
|
| 216 |
+
}
|
| 217 |
+
],
|
| 218 |
+
"first_inter_frame_gap_ns": 66396000,
|
| 219 |
+
"startup_gap_excluded_from_warnings": false,
|
| 220 |
+
"preroll_frame_count": 15,
|
| 221 |
+
"official_frame_count": 1809,
|
| 222 |
+
"duplicate_timestamp_count": 0,
|
| 223 |
+
"non_monotonic_timestamp_count": 0,
|
| 224 |
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"sdk_frame_number_gap_count": 0,
|
| 225 |
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"sdk_frame_number_gaps": [],
|
| 226 |
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"sdk_frame_number_reportable": false,
|
| 227 |
+
"host_timestamp_min_ns": 1791749935938383148,
|
| 228 |
+
"host_timestamp_max_ns": 1791750055941798865,
|
| 229 |
+
"timestamp_domain": "zed_image",
|
| 230 |
+
"timestamp_source": "sl.TIME_REFERENCE.IMAGE",
|
| 231 |
+
"host_timestamp_source": "time.time_ns_after_record_frame",
|
| 232 |
+
"warnings": [
|
| 233 |
+
"large_timestamp_gap"
|
| 234 |
+
]
|
| 235 |
+
},
|
| 236 |
+
"native_frame_mapping": {
|
| 237 |
+
"native_container_includes_preroll_frames": false,
|
| 238 |
+
"native_container_includes_post_native_priming_frames": true,
|
| 239 |
+
"preroll_frame_count": 15,
|
| 240 |
+
"post_native_priming_frame_count": 1,
|
| 241 |
+
"official_frame_count": 1809,
|
| 242 |
+
"first_official_native_frame_index": 1,
|
| 243 |
+
"native_frame_index_origin": "zero_based_sequential_grab_after_enable_recording_including_post_native_priming",
|
| 244 |
+
"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."
|
| 245 |
+
}
|
| 246 |
+
}
|
scans/table/raw/20261011_161849_867460/streams/zed_12933256_depth_zed_sdk_neural_plus/timestamps.parquet
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|
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version https://git-lfs.github.com/spec/v1
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| 3 |
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size 75870
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scans/table/raw/20261011_161849_867460/streams/zed_12933256_left_rgb/stream_manifest.json
ADDED
|
@@ -0,0 +1,246 @@
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|
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|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
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|
| 1 |
+
{
|
| 2 |
+
"stream_manifest_schema_version": 1,
|
| 3 |
+
"stream_id": "zed_12933256_left_rgb",
|
| 4 |
+
"physical_camera_id": "zed_12933256",
|
| 5 |
+
"camera_name": "right-of-ur10",
|
| 6 |
+
"serial_number": "12933256",
|
| 7 |
+
"camera_type": "zed",
|
| 8 |
+
"modality": "left_rgb",
|
| 9 |
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"recording_path": "ZED-M_SN12933256.svo2",
|
| 10 |
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"timestamps_path": "streams/zed_12933256_left_rgb/timestamps.parquet",
|
| 11 |
+
"requested_profile": {
|
| 12 |
+
"zed_resolution": "hd2k",
|
| 13 |
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"resolution_hw": [
|
| 14 |
+
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|
| 15 |
+
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|
| 16 |
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],
|
| 17 |
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"fps": 15,
|
| 18 |
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"depth_mode": "neural_plus",
|
| 19 |
+
"svo_compression_mode": "h265_lossless",
|
| 20 |
+
"container": "svo2"
|
| 21 |
+
},
|
| 22 |
+
"actual_opened_profile": {
|
| 23 |
+
"resolution": [
|
| 24 |
+
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|
| 25 |
+
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|
| 26 |
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],
|
| 27 |
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"requested_fps": 15.0,
|
| 28 |
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"fps": 15.0,
|
| 29 |
+
"actual_fps": 15.0,
|
| 30 |
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"actual_fps_source": "camera_information.camera_configuration.fps",
|
| 31 |
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"stream_profile_name": "HD2K",
|
| 32 |
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"image_format": "rgb8",
|
| 33 |
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"depth_mode": "NEURAL_PLUS",
|
| 34 |
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"svo_compression_mode": "H265_LOSSLESS",
|
| 35 |
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"svo_compression_mode_source": "requested_enum_passed_to_sl.RecordingParameters"
|
| 36 |
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},
|
| 37 |
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"camera_metadata": {
|
| 38 |
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"camera_id": "right-of-ur10",
|
| 39 |
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"serial_number": "12933256",
|
| 40 |
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"camera_type": "zed",
|
| 41 |
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"model": "ZED-M",
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| 42 |
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| 43 |
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| 46 |
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"fps": 15.0,
|
| 47 |
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"color_intrinsics": [
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| 48 |
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[
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],
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|
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]
|
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],
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"depth_intrinsics": [
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| 65 |
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|
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|
| 79 |
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]
|
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],
|
| 81 |
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"color_T_depth": null,
|
| 82 |
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"depth_T_color": null,
|
| 83 |
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"color_T_ir_left": null,
|
| 84 |
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"ir_left_T_color": null,
|
| 85 |
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|
| 86 |
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|
| 87 |
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"left_rgb_camera_T_right_rgb_camera": [
|
| 88 |
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[
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|
| 90 |
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|
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[
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[
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[
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|
| 110 |
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|
| 111 |
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]
|
| 112 |
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],
|
| 113 |
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"right_rgb_camera_T_left_rgb_camera": [
|
| 114 |
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[
|
| 115 |
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|
| 116 |
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|
| 126 |
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[
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|
| 128 |
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| 129 |
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|
| 130 |
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|
| 132 |
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[
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| 133 |
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|
| 134 |
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| 135 |
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|
| 136 |
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| 137 |
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]
|
| 138 |
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],
|
| 139 |
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"left_camera_frame": "zed_12933256_left_rgb_camera",
|
| 140 |
+
"right_camera_frame": "zed_12933256_right_rgb_camera",
|
| 141 |
+
"depth_camera_frame": "zed_12933256_left_rgb_camera",
|
| 142 |
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"color_camera_frame": null,
|
| 143 |
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"ir_left_camera_frame": null,
|
| 144 |
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"ir_right_camera_frame": null,
|
| 145 |
+
"stereo_baseline_m": 0.06304030865430832,
|
| 146 |
+
"depth_frame_convention": "ZED sl.MEASURE.DEPTH depth maps are expressed in the left RGB camera optical frame.",
|
| 147 |
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"transform_convention": "a_T_b maps points from frame b into frame a: p_a = T * p_b",
|
| 148 |
+
"depth_scale_m": null,
|
| 149 |
+
"capabilities": [
|
| 150 |
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"color",
|
| 151 |
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"raw_depth",
|
| 152 |
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|
| 153 |
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"depth",
|
| 154 |
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|
| 155 |
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"right_color"
|
| 156 |
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],
|
| 157 |
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"metadata": {
|
| 158 |
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"color_image_geometry": "zed_rectified_rgb",
|
| 159 |
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|
| 160 |
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|
| 161 |
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"color_is_rectified": true,
|
| 162 |
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"color_projection_model_used": "rectified_pinhole",
|
| 163 |
+
"color_rectification_source": "zed_sdk_rectified_view",
|
| 164 |
+
"depth_units": "metres",
|
| 165 |
+
"aligned_depth_target": "left_color",
|
| 166 |
+
"invalid_depth_convention": "ZED SDK values are preserved, including non-finite invalid depth.",
|
| 167 |
+
"offline_recording": false,
|
| 168 |
+
"input_type": "INPUT_TYPE.USB",
|
| 169 |
+
"usb": {
|
| 170 |
+
"video_device_path": "/dev/video2",
|
| 171 |
+
"sysfs_path": "/sys/devices/pci0000:00/0000:00:08.3/0000:66:00.4/usb8/8-1",
|
| 172 |
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"bus": "8",
|
| 173 |
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"port_path": "1",
|
| 174 |
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"pci_controller_path": "/sys/devices/pci0000:00",
|
| 175 |
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"usb_type_descriptor": "3.00",
|
| 176 |
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"speed_mbps": 5000.0,
|
| 177 |
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"product": "ZED-M",
|
| 178 |
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"is_usb3": true,
|
| 179 |
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"input_type_raw": "INPUT_TYPE.USB",
|
| 180 |
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"usb_validation_source": "linux_sysfs_video_device",
|
| 181 |
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"note": null
|
| 182 |
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},
|
| 183 |
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"usb_type_descriptor": "3.00",
|
| 184 |
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"usb_speed_mbps": 5000.0,
|
| 185 |
+
"usb_product": "ZED-M"
|
| 186 |
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}
|
| 187 |
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},
|
| 188 |
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"timestamp_summary": {
|
| 189 |
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"stream_id": "zed_12933256_left_rgb",
|
| 190 |
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"modality": "left_rgb",
|
| 191 |
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"physical_camera_id": "zed_12933256",
|
| 192 |
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"serial_number": "12933256",
|
| 193 |
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"camera_type": "zed",
|
| 194 |
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"row_count": 1809,
|
| 195 |
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|
| 196 |
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"observed_fps": 15.0661378452283,
|
| 197 |
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|
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|
| 199 |
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| 201 |
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|
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|
| 215 |
+
"gap_ns": 132528000
|
| 216 |
+
}
|
| 217 |
+
],
|
| 218 |
+
"first_inter_frame_gap_ns": 66396000,
|
| 219 |
+
"startup_gap_excluded_from_warnings": false,
|
| 220 |
+
"preroll_frame_count": 15,
|
| 221 |
+
"official_frame_count": 1809,
|
| 222 |
+
"duplicate_timestamp_count": 0,
|
| 223 |
+
"non_monotonic_timestamp_count": 0,
|
| 224 |
+
"sdk_frame_number_gap_count": 0,
|
| 225 |
+
"sdk_frame_number_gaps": [],
|
| 226 |
+
"sdk_frame_number_reportable": false,
|
| 227 |
+
"host_timestamp_min_ns": 1791749935938383148,
|
| 228 |
+
"host_timestamp_max_ns": 1791750055941798865,
|
| 229 |
+
"timestamp_domain": "zed_image",
|
| 230 |
+
"timestamp_source": "sl.TIME_REFERENCE.IMAGE",
|
| 231 |
+
"host_timestamp_source": "time.time_ns_after_record_frame",
|
| 232 |
+
"warnings": [
|
| 233 |
+
"large_timestamp_gap"
|
| 234 |
+
]
|
| 235 |
+
},
|
| 236 |
+
"native_frame_mapping": {
|
| 237 |
+
"native_container_includes_preroll_frames": false,
|
| 238 |
+
"native_container_includes_post_native_priming_frames": true,
|
| 239 |
+
"preroll_frame_count": 15,
|
| 240 |
+
"post_native_priming_frame_count": 1,
|
| 241 |
+
"official_frame_count": 1809,
|
| 242 |
+
"first_official_native_frame_index": 1,
|
| 243 |
+
"native_frame_index_origin": "zero_based_sequential_grab_after_enable_recording_including_post_native_priming",
|
| 244 |
+
"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."
|
| 245 |
+
}
|
| 246 |
+
}
|
scans/table/raw/20261011_161849_867460/streams/zed_12933256_left_rgb/timestamps.parquet
ADDED
|
@@ -0,0 +1,3 @@
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|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:bf5c6852d8588958e2e886356ab92f6a3024ae2b6c51ef7dd8b7a5272f84ba80
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| 3 |
+
size 75801
|
scans/table/raw/20261011_161849_867460/streams/zed_12933256_right_rgb/stream_manifest.json
ADDED
|
@@ -0,0 +1,246 @@
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
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|
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|
|
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|
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|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
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|
|
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|
|
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|
|
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|
|
|
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|
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|
|
|
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|
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|
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|
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|
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|
| 1 |
+
{
|
| 2 |
+
"stream_manifest_schema_version": 1,
|
| 3 |
+
"stream_id": "zed_12933256_right_rgb",
|
| 4 |
+
"physical_camera_id": "zed_12933256",
|
| 5 |
+
"camera_name": "right-of-ur10",
|
| 6 |
+
"serial_number": "12933256",
|
| 7 |
+
"camera_type": "zed",
|
| 8 |
+
"modality": "right_rgb",
|
| 9 |
+
"recording_path": "ZED-M_SN12933256.svo2",
|
| 10 |
+
"timestamps_path": "streams/zed_12933256_right_rgb/timestamps.parquet",
|
| 11 |
+
"requested_profile": {
|
| 12 |
+
"zed_resolution": "hd2k",
|
| 13 |
+
"resolution_hw": [
|
| 14 |
+
1242,
|
| 15 |
+
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|
| 16 |
+
],
|
| 17 |
+
"fps": 15,
|
| 18 |
+
"depth_mode": "neural_plus",
|
| 19 |
+
"svo_compression_mode": "h265_lossless",
|
| 20 |
+
"container": "svo2"
|
| 21 |
+
},
|
| 22 |
+
"actual_opened_profile": {
|
| 23 |
+
"resolution": [
|
| 24 |
+
1242,
|
| 25 |
+
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|
| 26 |
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],
|
| 27 |
+
"requested_fps": 15.0,
|
| 28 |
+
"fps": 15.0,
|
| 29 |
+
"actual_fps": 15.0,
|
| 30 |
+
"actual_fps_source": "camera_information.camera_configuration.fps",
|
| 31 |
+
"stream_profile_name": "HD2K",
|
| 32 |
+
"image_format": "rgb8",
|
| 33 |
+
"depth_mode": "NEURAL_PLUS",
|
| 34 |
+
"svo_compression_mode": "H265_LOSSLESS",
|
| 35 |
+
"svo_compression_mode_source": "requested_enum_passed_to_sl.RecordingParameters"
|
| 36 |
+
},
|
| 37 |
+
"camera_metadata": {
|
| 38 |
+
"camera_id": "right-of-ur10",
|
| 39 |
+
"serial_number": "12933256",
|
| 40 |
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"camera_type": "zed",
|
| 41 |
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"model": "ZED-M",
|
| 42 |
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"resolution_hw": [
|
| 43 |
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| 44 |
+
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| 45 |
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],
|
| 46 |
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"fps": 15.0,
|
| 47 |
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"color_intrinsics": [
|
| 48 |
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[
|
| 49 |
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|
| 50 |
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| 51 |
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],
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],
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[
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|
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|
| 62 |
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]
|
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],
|
| 64 |
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"depth_intrinsics": [
|
| 65 |
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[
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| 66 |
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|
| 67 |
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|
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],
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[
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| 78 |
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|
| 79 |
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]
|
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],
|
| 81 |
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"color_T_depth": null,
|
| 82 |
+
"depth_T_color": null,
|
| 83 |
+
"color_T_ir_left": null,
|
| 84 |
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"ir_left_T_color": null,
|
| 85 |
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"color_T_ir_right": null,
|
| 86 |
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"ir_right_T_color": null,
|
| 87 |
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"left_rgb_camera_T_right_rgb_camera": [
|
| 88 |
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[
|
| 89 |
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|
| 90 |
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|
| 91 |
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[
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[
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],
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[
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| 109 |
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|
| 110 |
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|
| 111 |
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]
|
| 112 |
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],
|
| 113 |
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"right_rgb_camera_T_left_rgb_camera": [
|
| 114 |
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[
|
| 115 |
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|
| 116 |
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|
| 117 |
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| 118 |
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],
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[
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| 123 |
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| 124 |
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],
|
| 126 |
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[
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| 127 |
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|
| 128 |
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|
| 129 |
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|
| 130 |
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| 131 |
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],
|
| 132 |
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[
|
| 133 |
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|
| 134 |
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| 135 |
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|
| 136 |
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1.0
|
| 137 |
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]
|
| 138 |
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],
|
| 139 |
+
"left_camera_frame": "zed_12933256_left_rgb_camera",
|
| 140 |
+
"right_camera_frame": "zed_12933256_right_rgb_camera",
|
| 141 |
+
"depth_camera_frame": "zed_12933256_left_rgb_camera",
|
| 142 |
+
"color_camera_frame": null,
|
| 143 |
+
"ir_left_camera_frame": null,
|
| 144 |
+
"ir_right_camera_frame": null,
|
| 145 |
+
"stereo_baseline_m": 0.06304030865430832,
|
| 146 |
+
"depth_frame_convention": "ZED sl.MEASURE.DEPTH depth maps are expressed in the left RGB camera optical frame.",
|
| 147 |
+
"transform_convention": "a_T_b maps points from frame b into frame a: p_a = T * p_b",
|
| 148 |
+
"depth_scale_m": null,
|
| 149 |
+
"capabilities": [
|
| 150 |
+
"color",
|
| 151 |
+
"raw_depth",
|
| 152 |
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"aligned_depth_to_color",
|
| 153 |
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"depth",
|
| 154 |
+
"stereo_color",
|
| 155 |
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"right_color"
|
| 156 |
+
],
|
| 157 |
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"metadata": {
|
| 158 |
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"color_image_geometry": "zed_rectified_rgb",
|
| 159 |
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"color_distortion_coefficients": null,
|
| 160 |
+
"color_distortion_model": null,
|
| 161 |
+
"color_is_rectified": true,
|
| 162 |
+
"color_projection_model_used": "rectified_pinhole",
|
| 163 |
+
"color_rectification_source": "zed_sdk_rectified_view",
|
| 164 |
+
"depth_units": "metres",
|
| 165 |
+
"aligned_depth_target": "left_color",
|
| 166 |
+
"invalid_depth_convention": "ZED SDK values are preserved, including non-finite invalid depth.",
|
| 167 |
+
"offline_recording": false,
|
| 168 |
+
"input_type": "INPUT_TYPE.USB",
|
| 169 |
+
"usb": {
|
| 170 |
+
"video_device_path": "/dev/video2",
|
| 171 |
+
"sysfs_path": "/sys/devices/pci0000:00/0000:00:08.3/0000:66:00.4/usb8/8-1",
|
| 172 |
+
"bus": "8",
|
| 173 |
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"port_path": "1",
|
| 174 |
+
"pci_controller_path": "/sys/devices/pci0000:00",
|
| 175 |
+
"usb_type_descriptor": "3.00",
|
| 176 |
+
"speed_mbps": 5000.0,
|
| 177 |
+
"product": "ZED-M",
|
| 178 |
+
"is_usb3": true,
|
| 179 |
+
"input_type_raw": "INPUT_TYPE.USB",
|
| 180 |
+
"usb_validation_source": "linux_sysfs_video_device",
|
| 181 |
+
"note": null
|
| 182 |
+
},
|
| 183 |
+
"usb_type_descriptor": "3.00",
|
| 184 |
+
"usb_speed_mbps": 5000.0,
|
| 185 |
+
"usb_product": "ZED-M"
|
| 186 |
+
}
|
| 187 |
+
},
|
| 188 |
+
"timestamp_summary": {
|
| 189 |
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"stream_id": "zed_12933256_right_rgb",
|
| 190 |
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"modality": "right_rgb",
|
| 191 |
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"physical_camera_id": "zed_12933256",
|
| 192 |
+
"serial_number": "12933256",
|
| 193 |
+
"camera_type": "zed",
|
| 194 |
+
"row_count": 1809,
|
| 195 |
+
"expected_fps": 15.0,
|
| 196 |
+
"observed_fps": 15.0661378452283,
|
| 197 |
+
"nominal_frame_period_ns": 66666667,
|
| 198 |
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"default_nearest_neighbor_tolerance_ns": 66666667,
|
| 199 |
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|
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|
| 201 |
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|
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|
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|
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|
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|
| 206 |
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|
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{
|
| 208 |
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|
| 209 |
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|
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|
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|
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{
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|
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|
| 215 |
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|
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}
|
| 217 |
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],
|
| 218 |
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|
| 219 |
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"startup_gap_excluded_from_warnings": false,
|
| 220 |
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"preroll_frame_count": 15,
|
| 221 |
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|
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"timestamp_source": "sl.TIME_REFERENCE.IMAGE",
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|
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"warnings": [
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| 233 |
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|
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]
|
| 235 |
+
},
|
| 236 |
+
"native_frame_mapping": {
|
| 237 |
+
"native_container_includes_preroll_frames": false,
|
| 238 |
+
"native_container_includes_post_native_priming_frames": true,
|
| 239 |
+
"preroll_frame_count": 15,
|
| 240 |
+
"post_native_priming_frame_count": 1,
|
| 241 |
+
"official_frame_count": 1809,
|
| 242 |
+
"first_official_native_frame_index": 1,
|
| 243 |
+
"native_frame_index_origin": "zero_based_sequential_grab_after_enable_recording_including_post_native_priming",
|
| 244 |
+
"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."
|
| 245 |
+
}
|
| 246 |
+
}
|
scans/table/raw/20261011_161849_867460/streams/zed_12933256_right_rgb/timestamps.parquet
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:b307136bad0d9e43591b9c365a72583648432b84c316d48a3369278ff17b9dad
|
| 3 |
+
size 75811
|
scans/table/raw/20261011_161849_867460/timestamps_zed_SN12933256.csv
ADDED
|
@@ -0,0 +1,1810 @@
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1759,1791750052611687876,1791750052704103552
|
| 1762 |
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1760,1791750052677967876,1791750052759064140
|
| 1763 |
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1761,1791750052744320876,1791750052836905673
|
| 1764 |
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1762,1791750052810806876,1791750052891442885
|
| 1765 |
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1763,1791750052876943876,1791750052970262711
|
| 1766 |
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1764,1791750052943107876,1791750053024715440
|
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1765,1791750053009955876,1791750053103033734
|
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1766,1791750053075868876,1791750053156799146
|
| 1769 |
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1767,1791750053142042876,1791750053234800510
|
| 1770 |
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1768,1791750053208393876,1791750053289515993
|
| 1771 |
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1769,1791750053274564876,1791750053367823337
|
| 1772 |
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1770,1791750053341088876,1791750053421687671
|
| 1773 |
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1771,1791750053407175876,1791750053500751291
|
| 1774 |
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1772,1791750053473574876,1791750053555189476
|
| 1775 |
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1773,1791750053539928876,1791750053631631011
|
| 1776 |
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1774,1791750053606175876,1791750053687924576
|
| 1777 |
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1775,1791750053672495876,1791750053755111312
|
| 1778 |
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1776,1791750053738671876,1791750053820842241
|
| 1779 |
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1777,1791750053806055876,1791750053888004452
|
| 1780 |
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1778,1791750053871259876,1791750053952846562
|
| 1781 |
+
1779,1791750053937654876,1791750054021535843
|
| 1782 |
+
1780,1791750054004053876,1791750054086214500
|
| 1783 |
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1781,1791750054070265876,1791750054154674295
|
| 1784 |
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1782,1791750054136889876,1791750054219860421
|
| 1785 |
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1783,1791750054202791876,1791750054291645420
|
| 1786 |
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1784,1791750054269268876,1791750054352405635
|
| 1787 |
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1785,1791750054335384876,1791750054417698687
|
| 1788 |
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1786,1791750054401766876,1791750054482510147
|
| 1789 |
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1787,1791750054468080876,1791750054551140024
|
| 1790 |
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1788,1791750054534762876,1791750054615936737
|
| 1791 |
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1789,1791750054601230876,1791750054683140621
|
| 1792 |
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1790,1791750054666900876,1791750054748330023
|
| 1793 |
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1791,1791750054733375876,1791750054816052617
|
| 1794 |
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1792,1791750054799478876,1791750054881071557
|
| 1795 |
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1793,1791750054865871876,1791750054953842001
|
| 1796 |
+
1794,1791750054932854876,1791750055014338114
|
| 1797 |
+
1795,1791750054998489876,1791750055080838325
|
| 1798 |
+
1796,1791750055064828876,1791750055145906380
|
| 1799 |
+
1797,1791750055130955876,1791750055214019275
|
| 1800 |
+
1798,1791750055197440876,1791750055278778455
|
| 1801 |
+
1799,1791750055263561876,1791750055347099952
|
| 1802 |
+
1800,1791750055329949876,1791750055411493883
|
| 1803 |
+
1801,1791750055396308876,1791750055479113043
|
| 1804 |
+
1802,1791750055462550876,1791750055544094178
|
| 1805 |
+
1803,1791750055528965876,1791750055611903207
|
| 1806 |
+
1804,1791750055595046876,1791750055676810699
|
| 1807 |
+
1805,1791750055661539876,1791750055743989874
|
| 1808 |
+
1806,1791750055727668876,1791750055809885275
|
| 1809 |
+
1807,1791750055794157876,1791750055876949860
|
| 1810 |
+
1808,1791750055860286876,1791750055941798865
|
scans/table/takes.csv
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
table,20261011_161849_867460
|