diff --git a/.gitattributes b/.gitattributes index bed0738c7eeb449bca98b5d2f33c89a1ee56349a..3937971e6f8ca7fe3460ff22ccd9a33ae14e89fb 100644 --- a/.gitattributes +++ b/.gitattributes @@ -58,3 +58,15 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text # Video files - compressed *.mp4 filter=lfs diff=lfs merge=lfs -text *.webm filter=lfs diff=lfs merge=lfs -text +sessions/session_20260624_095554_523212/videos/zed_12540311_depth_fast_foundation_stereo_slowest_zdepth.zdepth filter=lfs diff=lfs merge=lfs -text +sessions/session_20260624_095554_523212/videos/zed_12540311_depth_zed_sdk_neural_plus.zdepth filter=lfs diff=lfs merge=lfs -text +sessions/session_20260624_095554_523212/videos/zed_12540311_left_rgb.mkv filter=lfs diff=lfs merge=lfs -text +sessions/session_20260624_095554_523212/videos/zed_12540311_right_rgb.mkv filter=lfs diff=lfs merge=lfs -text +sessions/session_20260624_095554_523212/videos/zed_17736741_depth_fast_foundation_stereo_slowest_zdepth.zdepth filter=lfs diff=lfs merge=lfs -text +sessions/session_20260624_095554_523212/videos/zed_17736741_depth_zed_sdk_neural_plus.zdepth filter=lfs diff=lfs merge=lfs -text +sessions/session_20260624_095554_523212/videos/zed_17736741_left_rgb.mkv filter=lfs diff=lfs merge=lfs -text +sessions/session_20260624_095554_523212/videos/zed_17736741_right_rgb.mkv filter=lfs diff=lfs merge=lfs -text +sessions/session_20260624_095554_523212/videos/zed_23007103_depth_fast_foundation_stereo_slowest_zdepth.zdepth filter=lfs diff=lfs merge=lfs -text +sessions/session_20260624_095554_523212/videos/zed_23007103_depth_zed_sdk_neural_plus.zdepth filter=lfs diff=lfs merge=lfs -text +sessions/session_20260624_095554_523212/videos/zed_23007103_left_rgb.mkv filter=lfs diff=lfs merge=lfs -text +sessions/session_20260624_095554_523212/videos/zed_23007103_right_rgb.mkv filter=lfs diff=lfs merge=lfs -text diff --git a/README.md b/README.md new file mode 100644 index 0000000000000000000000000000000000000000..90e61b81100ad0780fa5b4c30f6abc8ae17c313a --- /dev/null +++ b/README.md @@ -0,0 +1,26 @@ +# Converted Robotics Dataset + +This dataset stores authoritative timestamps and metadata in Parquet tables and +stores frame payloads in video containers. Video presentation timestamps are not +used for synchronization; use `tables/frames.parquet` and `video_frame_idx`. + +Core loading rule: + +```text +decoded video frame k == frames.parquet row where video_frame_idx == k +``` + +Useful files: + +- `dataset_manifest.parquet`: converted sessions in this dataset root +- `sessions//metadata/streams.parquet`: stream IDs and modalities +- `sessions//metadata/videos.parquet`: stream-to-video mapping +- `sessions//tables/frames.parquet`: authoritative timestamps, + frame indices, clock domains, and hashes +- `sessions//tables/robot_states.parquet`: robot states, if present +- `sessions//metadata/calibration.json`: calibration and transform + conventions +- `sessions//metadata/validation_report.json`: validation status + +Downstream reading requires Python, NumPy, PyArrow, and PyAV/FFmpeg-compatible +decoders. Camera SDKs are conversion-only dependencies. diff --git a/dataset_manifest.parquet b/dataset_manifest.parquet new file mode 100644 index 0000000000000000000000000000000000000000..a9a8eaf3a6fe4fed43de52df0d5c518c0dd23c37 --- /dev/null +++ b/dataset_manifest.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:444169d55243475899395346a97023a30515c2753ed63cd134cd224ce65a5a61 +size 8050 diff --git a/sessions/session_20260624_095554_523212/metadata/calibration.json b/sessions/session_20260624_095554_523212/metadata/calibration.json new file mode 100644 index 0000000000000000000000000000000000000000..a1f85be348a4c08aee13c2cab9de13e2d3a7bd42 --- /dev/null +++ b/sessions/session_20260624_095554_523212/metadata/calibration.json @@ -0,0 +1,2476 @@ +{ + "camera_frame_conventions": { + "zed_12540311_depth_zed_sdk_neural_plus": { + "color_camera_frame": null, + "depth_camera_frame": "zed_12540311_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_12540311_left_rgb_camera", + "right_camera_frame": "zed_12540311_right_rgb_camera", + "stereo_transform_convention": "zed_12540311_left_rgb_camera_T_zed_12540311_right_rgb_camera maps points from the right RGB optical frame into the left RGB optical frame." + }, + "zed_12540311_left_rgb": { + "color_camera_frame": null, + "depth_camera_frame": "zed_12540311_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_12540311_left_rgb_camera", + "right_camera_frame": "zed_12540311_right_rgb_camera", + "stereo_transform_convention": "zed_12540311_left_rgb_camera_T_zed_12540311_right_rgb_camera maps points from the right RGB optical frame into the left RGB optical frame." + }, + "zed_12540311_right_rgb": { + "color_camera_frame": null, + "depth_camera_frame": "zed_12540311_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_12540311_left_rgb_camera", + "right_camera_frame": "zed_12540311_right_rgb_camera", + "stereo_transform_convention": "zed_12540311_left_rgb_camera_T_zed_12540311_right_rgb_camera maps points from the right RGB optical frame into the left RGB optical frame." + }, + "zed_17736741_depth_zed_sdk_neural_plus": { + "color_camera_frame": null, + "depth_camera_frame": "zed_17736741_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_17736741_left_rgb_camera", + "right_camera_frame": "zed_17736741_right_rgb_camera", + "stereo_transform_convention": "zed_17736741_left_rgb_camera_T_zed_17736741_right_rgb_camera maps points from the right RGB optical frame into the left RGB optical frame." + }, + "zed_17736741_left_rgb": { + "color_camera_frame": null, + "depth_camera_frame": "zed_17736741_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_17736741_left_rgb_camera", + "right_camera_frame": "zed_17736741_right_rgb_camera", + "stereo_transform_convention": "zed_17736741_left_rgb_camera_T_zed_17736741_right_rgb_camera maps points from the right RGB optical frame into the left RGB optical frame." + }, + "zed_17736741_right_rgb": { + "color_camera_frame": null, + "depth_camera_frame": "zed_17736741_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_17736741_left_rgb_camera", + "right_camera_frame": "zed_17736741_right_rgb_camera", + "stereo_transform_convention": "zed_17736741_left_rgb_camera_T_zed_17736741_right_rgb_camera maps points from the right RGB optical frame into the left RGB optical frame." + }, + "zed_23007103_depth_zed_sdk_neural_plus": { + "color_camera_frame": null, + "depth_camera_frame": "zed_23007103_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_23007103_left_rgb_camera", + "right_camera_frame": "zed_23007103_right_rgb_camera", + "stereo_transform_convention": "zed_23007103_left_rgb_camera_T_zed_23007103_right_rgb_camera maps points from the right RGB optical frame into the left RGB optical frame." + }, + "zed_23007103_left_rgb": { + "color_camera_frame": null, + "depth_camera_frame": "zed_23007103_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_23007103_left_rgb_camera", + "right_camera_frame": "zed_23007103_right_rgb_camera", + "stereo_transform_convention": "zed_23007103_left_rgb_camera_T_zed_23007103_right_rgb_camera maps points from the right RGB optical frame into the left RGB optical frame." + }, + "zed_23007103_right_rgb": { + "color_camera_frame": null, + "depth_camera_frame": "zed_23007103_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_23007103_left_rgb_camera", + "right_camera_frame": "zed_23007103_right_rgb_camera", + "stereo_transform_convention": "zed_23007103_left_rgb_camera_T_zed_23007103_right_rgb_camera maps points from the right RGB optical frame into the left RGB optical frame." + } + }, + "camera_intrinsics": { + "zed_12540311_depth_zed_sdk_neural_plus": { + "calibration_transforms": [ + { + "matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.06312009692192078 + ], + [ + 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_12540311_left_rgb_camera_T_zed_12540311_right_rgb_camera", + "source": "zed_sdk:svo2:stereo_transform", + "source_file": "/mnt/data2/magna/belt_perception/recordings/20260624_095554_523212/ZED-M_SN12540311.svo2", + "source_file_sha256": "8f50ed6e0f158ac0d156baece95ceb3eff95f6edd012adbf00fd9547cf7f8e4d", + "transform_convention": "a_T_b maps points from frame b into frame a: p_a = T * p_b", + "transform_direction": "p_zed_12540311_left_rgb_camera = T * p_zed_12540311_right_rgb_camera", + "units": { + "rotation": "unitless_rotation_matrix", + "translation": "meters" + }, + "valid_stream_ids": [ + "zed_12540311_left_rgb", + "zed_12540311_right_rgb", + "zed_12540311_depth_zed_sdk_neural_plus" + ] + }, + { + "matrix": [ + [ + 1.0, + 0.0, + 0.0, + -0.06312009692192078 + ], + [ + 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_12540311_right_rgb_camera_T_zed_12540311_left_rgb_camera", + "source": "zed_sdk:svo2:stereo_transform_inverse", + "source_file": "/mnt/data2/magna/belt_perception/recordings/20260624_095554_523212/ZED-M_SN12540311.svo2", + "source_file_sha256": "8f50ed6e0f158ac0d156baece95ceb3eff95f6edd012adbf00fd9547cf7f8e4d", + "transform_convention": "a_T_b maps points from frame b into frame a: p_a = T * p_b", + "transform_direction": "p_zed_12540311_right_rgb_camera = T * p_zed_12540311_left_rgb_camera", + "units": { + "rotation": "unitless_rotation_matrix", + "translation": "meters" + }, + "valid_stream_ids": [ + "zed_12540311_left_rgb", + "zed_12540311_right_rgb", + "zed_12540311_depth_zed_sdk_neural_plus" + ] + } + ], + "depth_camera_frame": "zed_12540311_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": [ + 1920, + 1080 + ], + "left": { + "cx": 975.803955078125, + "cy": 520.246337890625, + "fx": 1505.68359375, + "fy": 1505.68359375 + }, + "left_camera_frame": "zed_12540311_left_rgb_camera", + "left_rgb_camera_T_right_rgb_camera": [ + [ + 1.0, + 0.0, + 0.0, + 0.06312009692192078 + ], + [ + 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_12540311_left_rgb_camera": { + "device_serial": 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"camera_rig_profile_name": "round-belt-three-zed", + "capture_profile_name": "zed-1080p30", + "enabled_rgb_stream_ids": [], + "resolution": null, + "fps": 30, + "stream_profile_name": null, + "image_format": null, + "zed_stream_profile_name": null, + "realsense_resolution_hw": null, + "realsense_image_format": null, + "realsense_rectify_color": true, + "preflight_probe_timeout_s": 5.0, + "realsense_duplicate_frame_policy": "wait_for_new", + "realsense_duplicate_timeout_s": 2.0, + "realsense_duplicate_max_count": null, + "enable_zed_depth_for_occlusion": false, + "zed_depth_occlusion_policy": "disabled", + "zed_depth_mode_for_occlusion": "NEURAL_PLUS", + "allow_stereo_pair_left_depth_as_group_occlusion_check": true, + "depth_min_valid_fraction": 0.25, + "foreground_margin_m": 0.05, + "depth_statistic": "adaptive", + "depth_unknown_policy": "allow_with_warning", + "exclude_patch_ids": [], + "patch_visibility_override": null + }, + "actual_acquisition": { + "per_camera": { + "newerr": { + "resolution": [ + 1080, + 1920 + ], + "fps": 30.0, + "stream_profile_name": "HD1080", + "image_format": "rgb8", + "camera_id": "newerr", + "camera_type": "zed", + "serial_number": "12540311" + }, + "amazonbasics": { + "resolution": [ + 1080, + 1920 + ], + "fps": 30.0, + "stream_profile_name": "HD1080", + "image_format": "rgb8", + "camera_id": "amazonbasics", + "camera_type": "zed", + "serial_number": "17736741" + }, + "zed-23007103": { + "resolution": [ + 1080, + 1920 + ], + "fps": 30.0, + "stream_profile_name": "HD1080", + "image_format": "rgb8", + "camera_id": "zed-23007103", + "camera_type": "zed", + "serial_number": "23007103" + } + }, + "enabled_rgb_stream_ids": [ + "zed_12540311_left_rgb", + "zed_12540311_right_rgb", + "zed_17736741_left_rgb", + "zed_17736741_right_rgb", + "zed_23007103_left_rgb", + "zed_23007103_right_rgb" + ], + "resolution": [ + 1080, + 1920 + ], + "fps": 30.0, + "stream_profile_name": "HD1080", + "image_format": "rgb8" + }, + "settings_groups": [ + { + "settings_group_id": "zed_12540311_stereo", + "settings_scope": "zed_stereo_pair", + "camera_id": "newerr", + "serial_number": "12540311", + "member_rgb_stream_ids": [ + "zed_12540311_left_rgb", + "zed_12540311_right_rgb" + ], + "values": { + "auto_exposure": false, + "auto_white_balance": true, + "exposure": 90.0, + "gain": 37.0, + "white_balance": 6500.0, + "brightness": 4.0, + "contrast": 4.0, + "hue": 0.0, + "saturation": 4.0, + "gamma": 5.0, + "sharpness": 3.0 + } + }, + { + "settings_group_id": "zed_17736741_stereo", + "settings_scope": "zed_stereo_pair", + "camera_id": "amazonbasics", + "serial_number": "17736741", + "member_rgb_stream_ids": [ + "zed_17736741_left_rgb", + "zed_17736741_right_rgb" + ], + "values": { + "auto_exposure": true, + "auto_white_balance": true, + "exposure": 90.0, + "gain": 40.0, + "white_balance": 6500.0, + "brightness": 4.0, + "contrast": 4.0, + "hue": 0.0, + "saturation": 4.0, + "gamma": 5.0, + "sharpness": 3.0 + } + }, + { + "settings_group_id": "zed_23007103_stereo", + "settings_scope": "zed_stereo_pair", + "camera_id": "zed-23007103", + "serial_number": "23007103", + "member_rgb_stream_ids": [ + "zed_23007103_left_rgb", + "zed_23007103_right_rgb" + ], + "values": { + "auto_exposure": false, + "auto_white_balance": true, + "exposure": 90.0, + "gain": 46.0, + "white_balance": 6500.0, + "brightness": 4.0, + "contrast": 4.0, + "hue": 0.0, + "saturation": 4.0, + "gamma": 5.0, + "sharpness": 4.0 + } + } + ] +} \ No newline at end of file diff --git a/sessions/session_20260624_095554_523212/metadata/camera_settings/camera_settings_recording_summary.json b/sessions/session_20260624_095554_523212/metadata/camera_settings/camera_settings_recording_summary.json new file mode 100644 index 0000000000000000000000000000000000000000..75a282500f1efc8b6fea54fe296dd210d5d942e3 --- /dev/null +++ b/sessions/session_20260624_095554_523212/metadata/camera_settings/camera_settings_recording_summary.json @@ -0,0 +1,152 @@ +{ + "artifact_type": "camera_settings_recording_summary", + "policy_artifact_type": "minimal_auto_recording_policy", + "recording_mode": "partial_auto", + "selected_policy_ids": { + "zed_12540311_stereo": "zed_exposure_gain_replay_keep_awb_auto", + "zed_17736741_stereo": "zed_keep_all_auto", + "zed_23007103_stereo": "zed_exposure_gain_replay_keep_awb_auto" + }, + "applied_groups": { + "zed_12540311_stereo": { + "selected_policy_id": "zed_exposure_gain_replay_keep_awb_auto", + "recording_readiness": "partial_auto_recording_policy", + "recording_mode": "partial_auto", + "auto_controls_remaining_enabled": [ + "auto_white_balance" + ], + "auto_controls_disabled": [ + "auto_exposure" + ], + "controls_allowed_to_drift_during_recording": [ + "white_balance" + ], + "manual_controls_written": [ + "exposure", + "gain" + ], + "expected_recording_behavior": "Exposure/gain fixed; white balance may continue adapting during recording.", + "reconstruction_priority_class": "exposure_gain_locked_awb_auto", + "exposure_gain_status": "manual_locked", + "white_balance_status": "auto_remaining_enabled", + "expected_reconstruction_risk": "Brightness scale is validated as fixed for reconstruction; white balance remains auto and may drift chromaticity during recording.", + "brightness_scale_locked": true, + "color_balance_locked": false, + "warning": "One or more RGB auto controls remain enabled and the listed controls may drift during recording.", + "readback_controls": { + "auto_exposure": false, + "auto_white_balance": true, + "exposure": 90.0, + "gain": 37.0, + "white_balance": 6500.0 + }, + "readback_success": true, + "readback_reasons": [] + }, + "zed_17736741_stereo": { + "selected_policy_id": "zed_keep_all_auto", + "recording_readiness": "partial_auto_recording_policy", + "recording_mode": "partial_auto", + "auto_controls_remaining_enabled": [ + "auto_exposure", + "auto_white_balance" + ], + "auto_controls_disabled": [], + "controls_allowed_to_drift_during_recording": [ + "exposure", + "gain", + "white_balance" + ], + "manual_controls_written": [], + "expected_recording_behavior": "Exposure/gain and white balance remain auto and may adapt during recording.", + "reconstruction_priority_class": "all_auto", + "exposure_gain_status": "auto_remaining_enabled", + "white_balance_status": "auto_remaining_enabled", + "expected_reconstruction_risk": "Exposure/gain and white balance remain auto. Brightness scale and color balance may drift during recording.", + "brightness_scale_locked": false, + "color_balance_locked": false, + "warning": "One or more RGB auto controls remain enabled and the listed controls may drift during recording. Selected keep-all-auto fallback passed with relaxed candidate verification; brightness and color balance may drift during recording.", + "readback_controls": { + "auto_exposure": true, + "auto_white_balance": true, + "exposure": 90.0, + "gain": 40.0, + "white_balance": 6500.0 + }, + "readback_success": true, + "readback_reasons": [] + }, + "zed_23007103_stereo": { + "selected_policy_id": "zed_exposure_gain_replay_keep_awb_auto", + "recording_readiness": "partial_auto_recording_policy", + "recording_mode": "partial_auto", + "auto_controls_remaining_enabled": [ + "auto_white_balance" + ], + "auto_controls_disabled": [ + "auto_exposure" + ], + "controls_allowed_to_drift_during_recording": [ + "white_balance" + ], + "manual_controls_written": [ + "exposure", + "gain" + ], + "expected_recording_behavior": "Exposure/gain fixed; white balance may continue adapting during recording.", + "reconstruction_priority_class": "exposure_gain_locked_awb_auto", + "exposure_gain_status": "manual_locked", + "white_balance_status": "auto_remaining_enabled", + "expected_reconstruction_risk": "Brightness scale is validated as fixed for reconstruction; white balance remains auto and may drift chromaticity during recording.", + "brightness_scale_locked": true, + "color_balance_locked": false, + "warning": "One or more RGB auto controls remain enabled and the listed controls may drift during recording.", + "readback_controls": { + "auto_exposure": false, + "auto_white_balance": true, + "exposure": 90.0, + "gain": 46.0, + "white_balance": 6500.0 + }, + "readback_success": true, + "readback_reasons": [] + } + }, + "warnings": [ + "zed_12540311_stereo: policy was validated with lower-confidence generic full-frame metrics", + "zed_17736741_stereo: policy was validated with lower-confidence generic full-frame metrics", + "zed_23007103_stereo: policy was validated with lower-confidence generic full-frame metrics" + ], + "diagnostic_image_paths": { + "zed_12540311_left_rgb": { + "baseline_auto": "diagnostic_images/baseline_auto/zed_12540311_left_rgb.webp", + "post_minimal_auto": "diagnostic_images/post_minimal_auto/zed_12540311_left_rgb.webp", + "side_by_side": "diagnostic_images/side_by_side/zed_12540311_left_rgb.webp" + }, + "zed_12540311_right_rgb": { + "baseline_auto": "diagnostic_images/baseline_auto/zed_12540311_right_rgb.webp", + "post_minimal_auto": "diagnostic_images/post_minimal_auto/zed_12540311_right_rgb.webp", + "side_by_side": "diagnostic_images/side_by_side/zed_12540311_right_rgb.webp" + }, + "zed_17736741_left_rgb": { + "baseline_auto": "diagnostic_images/baseline_auto/zed_17736741_left_rgb.webp", + "post_minimal_auto": "diagnostic_images/post_minimal_auto/zed_17736741_left_rgb.webp", + "side_by_side": "diagnostic_images/side_by_side/zed_17736741_left_rgb.webp" + }, + "zed_17736741_right_rgb": { + "baseline_auto": "diagnostic_images/baseline_auto/zed_17736741_right_rgb.webp", + "post_minimal_auto": "diagnostic_images/post_minimal_auto/zed_17736741_right_rgb.webp", + "side_by_side": "diagnostic_images/side_by_side/zed_17736741_right_rgb.webp" + }, + "zed_23007103_left_rgb": { + "baseline_auto": "diagnostic_images/baseline_auto/zed_23007103_left_rgb.webp", + "post_minimal_auto": "diagnostic_images/post_minimal_auto/zed_23007103_left_rgb.webp", + "side_by_side": "diagnostic_images/side_by_side/zed_23007103_left_rgb.webp" + }, + "zed_23007103_right_rgb": { + "baseline_auto": "diagnostic_images/baseline_auto/zed_23007103_right_rgb.webp", + "post_minimal_auto": "diagnostic_images/post_minimal_auto/zed_23007103_right_rgb.webp", + "side_by_side": "diagnostic_images/side_by_side/zed_23007103_right_rgb.webp" + } + } +} \ No newline at end of file diff --git a/sessions/session_20260624_095554_523212/metadata/camera_settings_propagation.json b/sessions/session_20260624_095554_523212/metadata/camera_settings_propagation.json new file mode 100644 index 0000000000000000000000000000000000000000..5b7f9b75e83d3742db27ab32c340e6cabf0bb9f5 --- /dev/null +++ b/sessions/session_20260624_095554_523212/metadata/camera_settings_propagation.json @@ -0,0 +1,163 @@ +{ + "artifact_relpaths": [ + "metadata/camera_settings/camera_settings_application_log.json", + "metadata/camera_settings/camera_settings_policy_applied.json", + "metadata/camera_settings/camera_settings_policy_source.json", + "metadata/camera_settings/camera_settings_readback_after_apply.json", + "metadata/camera_settings/camera_settings_readback_before_recording.json", + "metadata/camera_settings/camera_settings_recording_summary.json" + ], + "status": "present", + "summary": { + "applied_groups": { + "zed_12540311_stereo": { + "auto_controls_disabled": [ + "auto_exposure" + ], + "auto_controls_remaining_enabled": [ + "auto_white_balance" + ], + "brightness_scale_locked": true, + "color_balance_locked": false, + "controls_allowed_to_drift_during_recording": [ + "white_balance" + ], + "expected_reconstruction_risk": "Brightness scale is validated as fixed for reconstruction; white balance remains auto and may drift chromaticity during recording.", + "expected_recording_behavior": "Exposure/gain fixed; white balance may continue adapting during recording.", + "exposure_gain_status": "manual_locked", + "manual_controls_written": [ + "exposure", + "gain" + ], + "readback_controls": { + "auto_exposure": false, + "auto_white_balance": true, + "exposure": 90.0, + "gain": 37.0, + "white_balance": 6500.0 + }, + "readback_reasons": [], + "readback_success": true, + "reconstruction_priority_class": "exposure_gain_locked_awb_auto", + "recording_mode": "partial_auto", + "recording_readiness": "partial_auto_recording_policy", + "selected_policy_id": "zed_exposure_gain_replay_keep_awb_auto", + "warning": "One or more RGB auto controls remain enabled and the listed controls may drift during recording.", + "white_balance_status": "auto_remaining_enabled" + }, + "zed_17736741_stereo": { + "auto_controls_disabled": [], + "auto_controls_remaining_enabled": [ + "auto_exposure", + "auto_white_balance" + ], + "brightness_scale_locked": false, + "color_balance_locked": false, + "controls_allowed_to_drift_during_recording": [ + "exposure", + "gain", + "white_balance" + ], + "expected_reconstruction_risk": "Exposure/gain and white balance remain auto. Brightness scale and color balance may drift during recording.", + "expected_recording_behavior": "Exposure/gain and white balance remain auto and may adapt during recording.", + "exposure_gain_status": "auto_remaining_enabled", + "manual_controls_written": [], + "readback_controls": { + "auto_exposure": true, + "auto_white_balance": true, + "exposure": 90.0, + "gain": 40.0, + "white_balance": 6500.0 + }, + "readback_reasons": [], + "readback_success": true, + "reconstruction_priority_class": "all_auto", + "recording_mode": "partial_auto", + "recording_readiness": "partial_auto_recording_policy", + "selected_policy_id": "zed_keep_all_auto", + "warning": "One or more RGB auto controls remain enabled and the listed controls may drift during recording. Selected keep-all-auto fallback passed with relaxed candidate verification; brightness and color balance may drift during recording.", + "white_balance_status": "auto_remaining_enabled" + }, + "zed_23007103_stereo": { + "auto_controls_disabled": [ + "auto_exposure" + ], + "auto_controls_remaining_enabled": [ + "auto_white_balance" + ], + "brightness_scale_locked": true, + "color_balance_locked": false, + "controls_allowed_to_drift_during_recording": [ + "white_balance" + ], + "expected_reconstruction_risk": "Brightness scale is validated as fixed for reconstruction; white balance remains auto and may drift chromaticity during recording.", + "expected_recording_behavior": "Exposure/gain fixed; white balance may continue adapting during recording.", + "exposure_gain_status": "manual_locked", + "manual_controls_written": [ + "exposure", + "gain" + ], + "readback_controls": { + "auto_exposure": false, + "auto_white_balance": true, + "exposure": 90.0, + "gain": 46.0, + "white_balance": 6500.0 + }, + "readback_reasons": [], + "readback_success": true, + "reconstruction_priority_class": "exposure_gain_locked_awb_auto", + "recording_mode": "partial_auto", + "recording_readiness": "partial_auto_recording_policy", + "selected_policy_id": "zed_exposure_gain_replay_keep_awb_auto", + "warning": "One or more RGB auto controls remain enabled and the listed controls may drift during recording.", + "white_balance_status": "auto_remaining_enabled" + } + }, + "artifact_type": "camera_settings_recording_summary", + "diagnostic_image_paths": { + "zed_12540311_left_rgb": { + "baseline_auto": "diagnostic_images/baseline_auto/zed_12540311_left_rgb.webp", + "post_minimal_auto": "diagnostic_images/post_minimal_auto/zed_12540311_left_rgb.webp", + "side_by_side": "diagnostic_images/side_by_side/zed_12540311_left_rgb.webp" + }, + "zed_12540311_right_rgb": { + "baseline_auto": "diagnostic_images/baseline_auto/zed_12540311_right_rgb.webp", + "post_minimal_auto": "diagnostic_images/post_minimal_auto/zed_12540311_right_rgb.webp", + "side_by_side": "diagnostic_images/side_by_side/zed_12540311_right_rgb.webp" + }, + "zed_17736741_left_rgb": { + "baseline_auto": "diagnostic_images/baseline_auto/zed_17736741_left_rgb.webp", + "post_minimal_auto": "diagnostic_images/post_minimal_auto/zed_17736741_left_rgb.webp", + "side_by_side": "diagnostic_images/side_by_side/zed_17736741_left_rgb.webp" + }, + "zed_17736741_right_rgb": { + "baseline_auto": "diagnostic_images/baseline_auto/zed_17736741_right_rgb.webp", + "post_minimal_auto": "diagnostic_images/post_minimal_auto/zed_17736741_right_rgb.webp", + "side_by_side": "diagnostic_images/side_by_side/zed_17736741_right_rgb.webp" + }, + "zed_23007103_left_rgb": { + "baseline_auto": "diagnostic_images/baseline_auto/zed_23007103_left_rgb.webp", + "post_minimal_auto": "diagnostic_images/post_minimal_auto/zed_23007103_left_rgb.webp", + "side_by_side": "diagnostic_images/side_by_side/zed_23007103_left_rgb.webp" + }, + "zed_23007103_right_rgb": { + "baseline_auto": "diagnostic_images/baseline_auto/zed_23007103_right_rgb.webp", + "post_minimal_auto": "diagnostic_images/post_minimal_auto/zed_23007103_right_rgb.webp", + "side_by_side": "diagnostic_images/side_by_side/zed_23007103_right_rgb.webp" + } + }, + "policy_artifact_type": "minimal_auto_recording_policy", + "recording_mode": "partial_auto", + "selected_policy_ids": { + "zed_12540311_stereo": "zed_exposure_gain_replay_keep_awb_auto", + "zed_17736741_stereo": "zed_keep_all_auto", + "zed_23007103_stereo": "zed_exposure_gain_replay_keep_awb_auto" + }, + "warnings": [ + "zed_12540311_stereo: policy was validated with lower-confidence generic full-frame metrics", + "zed_17736741_stereo: policy was validated with lower-confidence generic full-frame metrics", + "zed_23007103_stereo: policy was validated with lower-confidence generic full-frame metrics" + ] + } +} \ No newline at end of file diff --git a/sessions/session_20260624_095554_523212/metadata/conversion_plan.json b/sessions/session_20260624_095554_523212/metadata/conversion_plan.json new file mode 100644 index 0000000000000000000000000000000000000000..569fef25862b8a70dde44c2c2c65fbfe2d17d322 --- /dev/null +++ b/sessions/session_20260624_095554_523212/metadata/conversion_plan.json @@ -0,0 +1,1872 @@ +{ + "calibration": { + "calibration_dir": "calibration", + "manifest_path": "calibration/calibration_package_manifest.json", + "missing_recording_serials": [], + "packaged_camera_serials": [ + "12540311", + "17736741", + "23007103" + ], + "recording_camera_serials": [ + "12540311", + "17736741", + "23007103" + ], + "source": "packaged-required", + "status": "present", + "transforms_index": { + "format": "npz", + "path": "world_T_camera_by_serial.npz", + "serials": [ + "12540311", + "17736741", + "23007103" + ], + "transform_convention": "a_T_b maps points from frame b into frame a; world_T_camera maps camera-frame points into the world frame (for table-fixed-AprilGrid runs, usually the table frame)", + "transform_name": "world_T_camera" + }, + "transforms_index_path": "calibration/transforms_index.json", + "warnings": [], + "world_T_camera_bundle_path": "calibration/world_T_camera_by_serial.npz" + }, + "camera_settings": { + "artifact_paths": { + "camera_settings_application_log.json": "camera_settings_application_log.json", + "camera_settings_policy_applied.json": "camera_settings_policy_applied.json", + "camera_settings_policy_source.json": "camera_settings_policy_source.json", + "camera_settings_readback_after_apply.json": "camera_settings_readback_after_apply.json", + "camera_settings_readback_before_recording.json": "camera_settings_readback_before_recording.json", + "camera_settings_recording_summary.json": "camera_settings_recording_summary.json" + }, + "status": "present", + "summary": { + "applied_groups": { + "zed_12540311_stereo": { + "auto_controls_disabled": [ + "auto_exposure" + ], + "auto_controls_remaining_enabled": [ + "auto_white_balance" + ], + "brightness_scale_locked": true, + "color_balance_locked": false, + "controls_allowed_to_drift_during_recording": [ + "white_balance" + ], + "expected_reconstruction_risk": "Brightness scale is validated as fixed for reconstruction; white balance remains auto and may drift chromaticity during recording.", + "expected_recording_behavior": "Exposure/gain fixed; white balance may continue adapting during recording.", + "exposure_gain_status": "manual_locked", + "manual_controls_written": [ + "exposure", + "gain" + ], + "readback_controls": { + "auto_exposure": false, + "auto_white_balance": true, + "exposure": 90.0, + "gain": 37.0, + "white_balance": 6500.0 + }, + "readback_reasons": [], + "readback_success": true, + "reconstruction_priority_class": "exposure_gain_locked_awb_auto", + "recording_mode": "partial_auto", + "recording_readiness": "partial_auto_recording_policy", + "selected_policy_id": "zed_exposure_gain_replay_keep_awb_auto", + "warning": "One or more RGB auto controls remain enabled and the listed controls may drift during recording.", + "white_balance_status": "auto_remaining_enabled" + }, + "zed_17736741_stereo": { + "auto_controls_disabled": [], + "auto_controls_remaining_enabled": [ + "auto_exposure", + "auto_white_balance" + ], + "brightness_scale_locked": false, + "color_balance_locked": false, + "controls_allowed_to_drift_during_recording": [ + "exposure", + "gain", + "white_balance" + ], + "expected_reconstruction_risk": "Exposure/gain and white balance remain auto. Brightness scale and color balance may drift during recording.", + "expected_recording_behavior": "Exposure/gain and white balance remain auto and may adapt during recording.", + "exposure_gain_status": "auto_remaining_enabled", + "manual_controls_written": [], + "readback_controls": { + "auto_exposure": true, + "auto_white_balance": true, + "exposure": 90.0, + "gain": 40.0, + "white_balance": 6500.0 + }, + "readback_reasons": [], + "readback_success": true, + "reconstruction_priority_class": "all_auto", + "recording_mode": "partial_auto", + "recording_readiness": "partial_auto_recording_policy", + "selected_policy_id": "zed_keep_all_auto", + "warning": "One or more RGB auto controls remain enabled and the listed controls may drift during recording. Selected keep-all-auto fallback passed with relaxed candidate verification; brightness and color balance may drift during recording.", + "white_balance_status": "auto_remaining_enabled" + }, + "zed_23007103_stereo": { + "auto_controls_disabled": [ + "auto_exposure" + ], + "auto_controls_remaining_enabled": [ + "auto_white_balance" + ], + "brightness_scale_locked": true, + "color_balance_locked": false, + "controls_allowed_to_drift_during_recording": [ + "white_balance" + ], + "expected_reconstruction_risk": "Brightness scale is validated as fixed for reconstruction; white balance remains auto and may drift chromaticity during recording.", + "expected_recording_behavior": "Exposure/gain fixed; white balance may continue adapting during recording.", + "exposure_gain_status": "manual_locked", + "manual_controls_written": [ + "exposure", + "gain" + ], + "readback_controls": { + "auto_exposure": false, + "auto_white_balance": true, + "exposure": 90.0, + "gain": 46.0, + "white_balance": 6500.0 + }, + "readback_reasons": [], + "readback_success": true, + "reconstruction_priority_class": "exposure_gain_locked_awb_auto", + "recording_mode": "partial_auto", + "recording_readiness": "partial_auto_recording_policy", + "selected_policy_id": "zed_exposure_gain_replay_keep_awb_auto", + "warning": "One or more RGB auto controls remain enabled and the listed controls may drift during recording.", + "white_balance_status": "auto_remaining_enabled" + } + }, + "artifact_type": "camera_settings_recording_summary", + "diagnostic_image_paths": { + "zed_12540311_left_rgb": { + "baseline_auto": "diagnostic_images/baseline_auto/zed_12540311_left_rgb.webp", + "post_minimal_auto": "diagnostic_images/post_minimal_auto/zed_12540311_left_rgb.webp", + "side_by_side": "diagnostic_images/side_by_side/zed_12540311_left_rgb.webp" + }, + "zed_12540311_right_rgb": { + "baseline_auto": "diagnostic_images/baseline_auto/zed_12540311_right_rgb.webp", + "post_minimal_auto": "diagnostic_images/post_minimal_auto/zed_12540311_right_rgb.webp", + "side_by_side": "diagnostic_images/side_by_side/zed_12540311_right_rgb.webp" + }, + "zed_17736741_left_rgb": { + "baseline_auto": "diagnostic_images/baseline_auto/zed_17736741_left_rgb.webp", + "post_minimal_auto": "diagnostic_images/post_minimal_auto/zed_17736741_left_rgb.webp", + "side_by_side": "diagnostic_images/side_by_side/zed_17736741_left_rgb.webp" + }, + "zed_17736741_right_rgb": { + "baseline_auto": "diagnostic_images/baseline_auto/zed_17736741_right_rgb.webp", + "post_minimal_auto": "diagnostic_images/post_minimal_auto/zed_17736741_right_rgb.webp", + "side_by_side": "diagnostic_images/side_by_side/zed_17736741_right_rgb.webp" + }, + "zed_23007103_left_rgb": { + "baseline_auto": "diagnostic_images/baseline_auto/zed_23007103_left_rgb.webp", + "post_minimal_auto": "diagnostic_images/post_minimal_auto/zed_23007103_left_rgb.webp", + "side_by_side": "diagnostic_images/side_by_side/zed_23007103_left_rgb.webp" + }, + "zed_23007103_right_rgb": { + "baseline_auto": "diagnostic_images/baseline_auto/zed_23007103_right_rgb.webp", + "post_minimal_auto": "diagnostic_images/post_minimal_auto/zed_23007103_right_rgb.webp", + "side_by_side": "diagnostic_images/side_by_side/zed_23007103_right_rgb.webp" + } + }, + "policy_artifact_type": "minimal_auto_recording_policy", + "recording_mode": "partial_auto", + "selected_policy_ids": { + "zed_12540311_stereo": "zed_exposure_gain_replay_keep_awb_auto", + "zed_17736741_stereo": "zed_keep_all_auto", + "zed_23007103_stereo": "zed_exposure_gain_replay_keep_awb_auto" + }, + "warnings": [ + "zed_12540311_stereo: policy was validated with lower-confidence generic full-frame metrics", + "zed_17736741_stereo: policy was validated with lower-confidence generic full-frame metrics", + "zed_23007103_stereo: policy was validated with lower-confidence generic full-frame metrics" + ] + } + }, + "depth_encoder": "zdepth", + "recording_dir": 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"to_row": 398 + } + ], + "max_gap_ns": 66865000, + "median_gap_ns": 33494000.0, + "observed_fps": 29.796188965389582, + "warnings": [ + "large_timestamp_gap" + ] + }, + "warnings": [ + "sparse_within_stream_inter_frame_timestamp_gap" + ] + } + } + } + } +} \ No newline at end of file diff --git a/sessions/session_20260624_095554_523212/metadata/conversion_plan_validation_report.json b/sessions/session_20260624_095554_523212/metadata/conversion_plan_validation_report.json new file mode 100644 index 0000000000000000000000000000000000000000..20bb0e548e0ae1eb626eefe2e276444f82ffe496 --- /dev/null +++ b/sessions/session_20260624_095554_523212/metadata/conversion_plan_validation_report.json @@ -0,0 +1,1511 @@ +{ + "authoritative_timestamps": "streams//timestamps.parquet", + "calibration": { + "calibration_dir": "calibration", + "manifest_path": "calibration/calibration_package_manifest.json", + "missing_recording_serials": [], + "packaged_camera_serials": [ + "12540311", + "17736741", + "23007103" + ], + "recording_camera_serials": [ + "12540311", + "17736741", + "23007103" + ], + "source": "packaged-required", + "status": "present", + "transforms_index": { + "format": "npz", + "path": "world_T_camera_by_serial.npz", + "serials": [ + "12540311", + "17736741", + "23007103" + ], + "transform_convention": "a_T_b maps points from frame b into frame a; world_T_camera maps camera-frame points into the world frame (for table-fixed-AprilGrid runs, usually the table frame)", + "transform_name": "world_T_camera" + }, + "transforms_index_path": "calibration/transforms_index.json", + "warnings": [], + "world_T_camera_bundle_path": "calibration/world_T_camera_by_serial.npz" + }, + "camera_settings": { + "artifact_paths": { + "camera_settings_application_log.json": "camera_settings_application_log.json", + "camera_settings_policy_applied.json": "camera_settings_policy_applied.json", + "camera_settings_policy_source.json": "camera_settings_policy_source.json", + "camera_settings_readback_after_apply.json": "camera_settings_readback_after_apply.json", + "camera_settings_readback_before_recording.json": "camera_settings_readback_before_recording.json", + "camera_settings_recording_summary.json": "camera_settings_recording_summary.json" + }, + "status": "present", + "summary": { + "applied_groups": { + "zed_12540311_stereo": { + "auto_controls_disabled": [ + "auto_exposure" + ], + "auto_controls_remaining_enabled": [ + "auto_white_balance" + ], + "brightness_scale_locked": true, + "color_balance_locked": false, + "controls_allowed_to_drift_during_recording": [ + "white_balance" + ], + "expected_reconstruction_risk": "Brightness scale is validated as fixed for reconstruction; white balance remains auto and may drift chromaticity during recording.", + "expected_recording_behavior": "Exposure/gain fixed; white balance may continue adapting during recording.", + "exposure_gain_status": "manual_locked", + "manual_controls_written": [ + "exposure", + "gain" + ], + "readback_controls": { + "auto_exposure": false, + "auto_white_balance": true, + "exposure": 90.0, + "gain": 37.0, + "white_balance": 6500.0 + }, + "readback_reasons": [], + "readback_success": true, + "reconstruction_priority_class": "exposure_gain_locked_awb_auto", + "recording_mode": "partial_auto", + "recording_readiness": "partial_auto_recording_policy", + "selected_policy_id": "zed_exposure_gain_replay_keep_awb_auto", + "warning": "One or more RGB auto controls remain enabled and the listed controls may drift during recording.", + "white_balance_status": "auto_remaining_enabled" + }, + "zed_17736741_stereo": { + "auto_controls_disabled": [], + "auto_controls_remaining_enabled": [ + "auto_exposure", + "auto_white_balance" + ], + "brightness_scale_locked": false, + "color_balance_locked": false, + "controls_allowed_to_drift_during_recording": [ + "exposure", + "gain", + "white_balance" + ], + "expected_reconstruction_risk": "Exposure/gain and white balance remain auto. Brightness scale and color balance may drift during recording.", + "expected_recording_behavior": "Exposure/gain and white balance remain auto and may adapt during recording.", + "exposure_gain_status": "auto_remaining_enabled", + "manual_controls_written": [], + "readback_controls": { + "auto_exposure": true, + "auto_white_balance": true, + "exposure": 90.0, + "gain": 40.0, + "white_balance": 6500.0 + }, + "readback_reasons": [], + "readback_success": true, + "reconstruction_priority_class": "all_auto", + "recording_mode": "partial_auto", + "recording_readiness": "partial_auto_recording_policy", + "selected_policy_id": "zed_keep_all_auto", + "warning": "One or more RGB auto controls remain enabled and the listed controls may drift during recording. Selected keep-all-auto fallback passed with relaxed candidate verification; brightness and color balance may drift during recording.", + "white_balance_status": "auto_remaining_enabled" + }, + "zed_23007103_stereo": { + "auto_controls_disabled": [ + "auto_exposure" + ], + "auto_controls_remaining_enabled": [ + "auto_white_balance" + ], + "brightness_scale_locked": true, + "color_balance_locked": false, + "controls_allowed_to_drift_during_recording": [ + "white_balance" + ], + "expected_reconstruction_risk": "Brightness scale is validated as fixed for reconstruction; white balance remains auto and may drift chromaticity during recording.", + "expected_recording_behavior": "Exposure/gain fixed; white balance may continue adapting during recording.", + "exposure_gain_status": "manual_locked", + "manual_controls_written": [ + "exposure", + "gain" + ], + "readback_controls": { + "auto_exposure": false, + "auto_white_balance": true, + "exposure": 90.0, + "gain": 46.0, + "white_balance": 6500.0 + }, + "readback_reasons": [], + "readback_success": true, + "reconstruction_priority_class": "exposure_gain_locked_awb_auto", + "recording_mode": "partial_auto", + "recording_readiness": "partial_auto_recording_policy", + "selected_policy_id": "zed_exposure_gain_replay_keep_awb_auto", + "warning": "One or more RGB auto controls remain enabled and the listed controls may drift during recording.", + "white_balance_status": "auto_remaining_enabled" + } + }, + "artifact_type": "camera_settings_recording_summary", + "diagnostic_image_paths": { + "zed_12540311_left_rgb": { + "baseline_auto": "diagnostic_images/baseline_auto/zed_12540311_left_rgb.webp", + "post_minimal_auto": "diagnostic_images/post_minimal_auto/zed_12540311_left_rgb.webp", + "side_by_side": "diagnostic_images/side_by_side/zed_12540311_left_rgb.webp" + }, + "zed_12540311_right_rgb": { + "baseline_auto": "diagnostic_images/baseline_auto/zed_12540311_right_rgb.webp", + "post_minimal_auto": "diagnostic_images/post_minimal_auto/zed_12540311_right_rgb.webp", + "side_by_side": "diagnostic_images/side_by_side/zed_12540311_right_rgb.webp" + }, + "zed_17736741_left_rgb": { + "baseline_auto": "diagnostic_images/baseline_auto/zed_17736741_left_rgb.webp", + "post_minimal_auto": "diagnostic_images/post_minimal_auto/zed_17736741_left_rgb.webp", + "side_by_side": "diagnostic_images/side_by_side/zed_17736741_left_rgb.webp" + }, + "zed_17736741_right_rgb": { + "baseline_auto": "diagnostic_images/baseline_auto/zed_17736741_right_rgb.webp", + "post_minimal_auto": "diagnostic_images/post_minimal_auto/zed_17736741_right_rgb.webp", + "side_by_side": "diagnostic_images/side_by_side/zed_17736741_right_rgb.webp" + }, + "zed_23007103_left_rgb": { + "baseline_auto": "diagnostic_images/baseline_auto/zed_23007103_left_rgb.webp", + "post_minimal_auto": "diagnostic_images/post_minimal_auto/zed_23007103_left_rgb.webp", + "side_by_side": "diagnostic_images/side_by_side/zed_23007103_left_rgb.webp" + }, + "zed_23007103_right_rgb": { + "baseline_auto": "diagnostic_images/baseline_auto/zed_23007103_right_rgb.webp", + "post_minimal_auto": "diagnostic_images/post_minimal_auto/zed_23007103_right_rgb.webp", + "side_by_side": "diagnostic_images/side_by_side/zed_23007103_right_rgb.webp" + } + }, + "policy_artifact_type": "minimal_auto_recording_policy", + "recording_mode": "partial_auto", + "selected_policy_ids": { + "zed_12540311_stereo": "zed_exposure_gain_replay_keep_awb_auto", + "zed_17736741_stereo": "zed_keep_all_auto", + "zed_23007103_stereo": "zed_exposure_gain_replay_keep_awb_auto" + }, + "warnings": [ + "zed_12540311_stereo: policy was validated with lower-confidence generic full-frame metrics", + "zed_17736741_stereo: policy was validated with lower-confidence generic full-frame metrics", + "zed_23007103_stereo: policy was validated with lower-confidence generic full-frame metrics" + ] + } + }, + "container_pts_for_synchronization": false, + "recording_timestamp_gap_warnings": { + "status": "passed_with_warnings", + "streams": { + "zed_12540311_depth_zed_sdk_neural_plus": { + "decision": "passed", + "plan_warnings": [], + "recorder_timestamp_summary": { + "expected_fps": 30.0, + "large_gap_count": 0, + "large_gaps": [], + "max_gap_ns": 33676000, + "median_gap_ns": 33495000.0, + "observed_fps": 29.894898007127537, + "warnings": [] + } + }, + "zed_12540311_left_rgb": { + "decision": "passed", + "plan_warnings": [], + "recorder_timestamp_summary": { + "expected_fps": 30.0, + "large_gap_count": 0, + "large_gaps": [], + "max_gap_ns": 33676000, + "median_gap_ns": 33495000.0, + "observed_fps": 29.894898007127537, + "warnings": [] + } + }, + "zed_12540311_right_rgb": { + "decision": "passed", + "plan_warnings": [], + "recorder_timestamp_summary": { + "expected_fps": 30.0, + "large_gap_count": 0, + "large_gaps": [], + "max_gap_ns": 33676000, + "median_gap_ns": 33495000.0, + "observed_fps": 29.894898007127537, + "warnings": [] + } + }, + "zed_17736741_depth_zed_sdk_neural_plus": { + "decision": "passed", + "plan_warnings": [], + "recorder_timestamp_summary": { + "expected_fps": 30.0, + "large_gap_count": 0, + "large_gaps": [], + "max_gap_ns": 33716000, + "median_gap_ns": 33495000.0, + "observed_fps": 29.899879793298968, + "warnings": [] + } + }, + "zed_17736741_left_rgb": { + "decision": "passed", + "plan_warnings": [], + "recorder_timestamp_summary": { + "expected_fps": 30.0, + "large_gap_count": 0, + "large_gaps": [], + "max_gap_ns": 33716000, + "median_gap_ns": 33495000.0, + "observed_fps": 29.899879793298968, + "warnings": [] + } + }, + "zed_17736741_right_rgb": { + "decision": "passed", + "plan_warnings": [], + "recorder_timestamp_summary": { + "expected_fps": 30.0, + "large_gap_count": 0, + "large_gaps": [], + "max_gap_ns": 33716000, + "median_gap_ns": 33495000.0, + "observed_fps": 29.899879793298968, + "warnings": [] + } + }, + "zed_23007103_depth_zed_sdk_neural_plus": { + "decision": "passed_with_warnings", + "plan_warnings": [ + "sparse_within_stream_inter_frame_timestamp_gap" + ], + "recorder_timestamp_summary": { + "expected_fps": 30.0, + "large_gap_count": 2, + "large_gaps": [ + { + "from_row": 393, + "gap_ns": 66825000, + "to_row": 394 + }, + { + "from_row": 397, + "gap_ns": 66865000, + "to_row": 398 + } + ], + "max_gap_ns": 66865000, + "median_gap_ns": 33494000.0, + "observed_fps": 29.796188965389582, + "warnings": [ + "large_timestamp_gap" + ] + } + }, + "zed_23007103_left_rgb": { + "decision": "passed_with_warnings", + "plan_warnings": [ + "sparse_within_stream_inter_frame_timestamp_gap" + ], + "recorder_timestamp_summary": { + "expected_fps": 30.0, + "large_gap_count": 2, + "large_gaps": [ + { + "from_row": 393, + "gap_ns": 66825000, + "to_row": 394 + }, + { + "from_row": 397, + "gap_ns": 66865000, + "to_row": 398 + } + ], + "max_gap_ns": 66865000, + "median_gap_ns": 33494000.0, + "observed_fps": 29.796188965389582, + "warnings": [ + "large_timestamp_gap" + ] + } + }, + "zed_23007103_right_rgb": { + "decision": "passed_with_warnings", + "plan_warnings": [ + "sparse_within_stream_inter_frame_timestamp_gap" + ], + "recorder_timestamp_summary": { + "expected_fps": 30.0, + "large_gap_count": 2, + "large_gaps": [ + { + "from_row": 393, + "gap_ns": 66825000, + "to_row": 394 + }, + { + "from_row": 397, + "gap_ns": 66865000, + "to_row": 398 + } + ], + "max_gap_ns": 66865000, + "median_gap_ns": 33494000.0, + "observed_fps": 29.796188965389582, + "warnings": [ + "large_timestamp_gap" + ] + } + } + }, + "timestamp_gap_policy": "warn" + }, + "status": "passed_with_warnings", + "stream_count": 9, + "stream_ids": [ + "zed_12540311_left_rgb", + "zed_12540311_right_rgb", + "zed_12540311_depth_zed_sdk_neural_plus", + "zed_17736741_left_rgb", + "zed_17736741_right_rgb", + "zed_17736741_depth_zed_sdk_neural_plus", + "zed_23007103_left_rgb", + "zed_23007103_right_rgb", + "zed_23007103_depth_zed_sdk_neural_plus" + ], + "timestamp_policy": { + "authoritative_timing_source": "streams//timestamps.parquet", + "container_pts_for_synchronization": false, + "large_gap_fail_multiplier": 3.5, + "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_12540311_depth_zed_sdk_neural_plus": { + "decision": "passed", + "plan_warnings": [], + "recorder_timestamp_summary": { + "expected_fps": 30.0, + "large_gap_count": 0, + "large_gaps": [], + "max_gap_ns": 33676000, + "median_gap_ns": 33495000.0, + "observed_fps": 29.894898007127537, + "warnings": [] + } + }, + "zed_12540311_left_rgb": { + "decision": "passed", + "plan_warnings": [], + "recorder_timestamp_summary": { + "expected_fps": 30.0, + "large_gap_count": 0, + "large_gaps": [], + "max_gap_ns": 33676000, + "median_gap_ns": 33495000.0, + "observed_fps": 29.894898007127537, + "warnings": [] + } + }, + "zed_12540311_right_rgb": { + "decision": "passed", + "plan_warnings": [], + "recorder_timestamp_summary": { + "expected_fps": 30.0, + "large_gap_count": 0, + "large_gaps": [], + "max_gap_ns": 33676000, + "median_gap_ns": 33495000.0, + "observed_fps": 29.894898007127537, + "warnings": [] + } + }, + "zed_17736741_depth_zed_sdk_neural_plus": { + "decision": "passed", + "plan_warnings": [], + "recorder_timestamp_summary": { + "expected_fps": 30.0, + "large_gap_count": 0, + "large_gaps": [], + "max_gap_ns": 33716000, + "median_gap_ns": 33495000.0, + "observed_fps": 29.899879793298968, + "warnings": [] + } + }, + "zed_17736741_left_rgb": { + "decision": "passed", + "plan_warnings": [], + "recorder_timestamp_summary": { + "expected_fps": 30.0, + "large_gap_count": 0, + "large_gaps": [], + "max_gap_ns": 33716000, + "median_gap_ns": 33495000.0, + "observed_fps": 29.899879793298968, + "warnings": [] + } + }, + "zed_17736741_right_rgb": { + "decision": "passed", + "plan_warnings": [], + "recorder_timestamp_summary": { + "expected_fps": 30.0, + "large_gap_count": 0, + "large_gaps": [], + "max_gap_ns": 33716000, + "median_gap_ns": 33495000.0, + "observed_fps": 29.899879793298968, + "warnings": [] + } + }, + "zed_23007103_depth_zed_sdk_neural_plus": { + "decision": "passed_with_warnings", + "plan_warnings": [ + "sparse_within_stream_inter_frame_timestamp_gap" + ], + "recorder_timestamp_summary": { + "expected_fps": 30.0, + "large_gap_count": 2, + "large_gaps": [ + { + "from_row": 393, + "gap_ns": 66825000, + "to_row": 394 + }, + { + "from_row": 397, + "gap_ns": 66865000, + "to_row": 398 + } + ], + "max_gap_ns": 66865000, + "median_gap_ns": 33494000.0, + "observed_fps": 29.796188965389582, + "warnings": [ + "large_timestamp_gap" + ] + } + }, + "zed_23007103_left_rgb": { + "decision": "passed_with_warnings", + "plan_warnings": [ + "sparse_within_stream_inter_frame_timestamp_gap" + ], + "recorder_timestamp_summary": { + "expected_fps": 30.0, + "large_gap_count": 2, + "large_gaps": [ + { + "from_row": 393, + 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b/sessions/session_20260624_095554_523212/metadata/discovery_report.json @@ -0,0 +1,2135 @@ +{ + "clock_policy": { + "auxiliary_timestamps": "ZED/RealSense/device/robot timestamps are preserved but not assumed to share a domain", + "default_sync_time": "streams//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_SN12540311.csv", + "timestamps_zed_SN17736741.csv", + "timestamps_zed_SN23007103.csv" + ], + "semantics": "compatibility/debug artifacts only; manifest Parquet sidecars are authoritative" + }, + "recording_dir": "recordings/20260624_095554_523212", + "recording_manifest": { + "authoritative_timestamp_source": "streams//timestamps.parquet", + "container_pts_for_synchronization": false, + "manifest_timestamp_sidecars": [ + { + "authoritative": true, + "path": "recordings/20260624_095554_523212/streams/zed_12540311_left_rgb/timestamps.parquet", + "recording_relative_path": "streams/zed_12540311_left_rgb/timestamps.parquet", + "stream_id": "zed_12540311_left_rgb" + }, + { + "authoritative": true, + "path": "recordings/20260624_095554_523212/streams/zed_12540311_right_rgb/timestamps.parquet", + "recording_relative_path": "streams/zed_12540311_right_rgb/timestamps.parquet", + "stream_id": "zed_12540311_right_rgb" + }, + { + "authoritative": true, + "path": "recordings/20260624_095554_523212/streams/zed_12540311_depth_zed_sdk_neural_plus/timestamps.parquet", + "recording_relative_path": "streams/zed_12540311_depth_zed_sdk_neural_plus/timestamps.parquet", + "stream_id": "zed_12540311_depth_zed_sdk_neural_plus" + }, + { + "authoritative": true, + "path": "recordings/20260624_095554_523212/streams/zed_17736741_left_rgb/timestamps.parquet", + "recording_relative_path": "streams/zed_17736741_left_rgb/timestamps.parquet", + "stream_id": "zed_17736741_left_rgb" + }, + { + "authoritative": true, + "path": "recordings/20260624_095554_523212/streams/zed_17736741_right_rgb/timestamps.parquet", + "recording_relative_path": "streams/zed_17736741_right_rgb/timestamps.parquet", + "stream_id": "zed_17736741_right_rgb" + }, + { + "authoritative": true, + "path": "recordings/20260624_095554_523212/streams/zed_17736741_depth_zed_sdk_neural_plus/timestamps.parquet", + "recording_relative_path": "streams/zed_17736741_depth_zed_sdk_neural_plus/timestamps.parquet", + "stream_id": "zed_17736741_depth_zed_sdk_neural_plus" + }, + { + "authoritative": true, + "path": "recordings/20260624_095554_523212/streams/zed_23007103_left_rgb/timestamps.parquet", + "recording_relative_path": "streams/zed_23007103_left_rgb/timestamps.parquet", + "stream_id": "zed_23007103_left_rgb" + }, + { + "authoritative": true, + "path": "recordings/20260624_095554_523212/streams/zed_23007103_right_rgb/timestamps.parquet", + "recording_relative_path": "streams/zed_23007103_right_rgb/timestamps.parquet", + "stream_id": "zed_23007103_right_rgb" + }, + { + "authoritative": true, + "path": "recordings/20260624_095554_523212/streams/zed_23007103_depth_zed_sdk_neural_plus/timestamps.parquet", + "recording_relative_path": "streams/zed_23007103_depth_zed_sdk_neural_plus/timestamps.parquet", + "stream_id": "zed_23007103_depth_zed_sdk_neural_plus" + } + ], + "path": "recordings/20260624_095554_523212/recording_manifest.json", + "present": true, + "stream_count": 9 + }, + "recording_metadata": { + "calibration": { + "calibration_package_dir": "calibration", + "calibration_package_manifest": "calibration/calibration_package_manifest.json", + "camera_serials": [ + "12540311", + "17736741", + "23007103" + ], + "extra_calibrated_serials": [], + "final_transform_source": "combined_fixed_movable_ba", + "ignored_invalid_extra_calibrated_serials": [], + "ignored_invalid_extra_errors_by_serial": {}, + "invalid_optional_files": {}, + "missing_calibrated_serials": [], + "missing_optional_files": [], + "packaged": true, + "packaged_camera_serials": [ + "12540311", + "17736741", + "23007103" + ], + "pose_source": "phase_05_final", + "source_calibration_run_dir": "calibration_results/multicam/20260623_165552", + "source_recording_camera_metadata_mismatches": {}, + "transform_convention": "a_T_b maps points from frame b into frame a; world_T_camera maps camera-frame points into the world frame (for table-fixed-AprilGrid runs, usually the table frame)", + "world_T_camera_bundle": "calibration/world_T_camera_by_serial.npz", + "world_T_camera_bundle_sha256": "cf9641ab7781a8e04f7d56125320957faeeeb2eb1def012e684b7d40655df6f4", + "world_frame": "table" + }, + "camera_rig_profile_name": "round-belt-three-zed", + "camera_settings_policy": { + "applied_groups": { + "zed_12540311_stereo": { + "auto_controls_disabled": [ + "auto_exposure" + ], + "auto_controls_remaining_enabled": [ + "auto_white_balance" + ], + "brightness_scale_locked": true, + "color_balance_locked": false, + "controls_allowed_to_drift_during_recording": [ + "white_balance" + ], + "expected_reconstruction_risk": "Brightness scale is validated as fixed for reconstruction; white balance remains auto and may drift chromaticity during recording.", + "expected_recording_behavior": "Exposure/gain fixed; white balance may continue adapting during recording.", + "exposure_gain_status": "manual_locked", + "manual_controls_written": [ + "exposure", + "gain" + ], + "readback_controls": { + "auto_exposure": false, + "auto_white_balance": true, + "exposure": 90.0, + "gain": 37.0, + "white_balance": 6500.0 + }, + "readback_reasons": [], + "readback_success": true, + "reconstruction_priority_class": "exposure_gain_locked_awb_auto", + "recording_mode": "partial_auto", + "recording_readiness": "partial_auto_recording_policy", + "selected_policy_id": "zed_exposure_gain_replay_keep_awb_auto", + "warning": "One or more RGB auto controls remain enabled and the listed controls may drift during recording.", + "white_balance_status": "auto_remaining_enabled" + }, + "zed_17736741_stereo": { + "auto_controls_disabled": [], + "auto_controls_remaining_enabled": [ + "auto_exposure", + "auto_white_balance" + ], + "brightness_scale_locked": false, + "color_balance_locked": false, + "controls_allowed_to_drift_during_recording": [ + "exposure", + "gain", + "white_balance" + ], + "expected_reconstruction_risk": "Exposure/gain and white balance remain auto. Brightness scale and color balance may drift during recording.", + "expected_recording_behavior": "Exposure/gain and white balance remain auto and may adapt during recording.", + "exposure_gain_status": "auto_remaining_enabled", + "manual_controls_written": [], + "readback_controls": { + "auto_exposure": true, + "auto_white_balance": true, + "exposure": 90.0, + "gain": 40.0, + "white_balance": 6500.0 + }, + "readback_reasons": [], + "readback_success": true, + "reconstruction_priority_class": "all_auto", + "recording_mode": "partial_auto", + "recording_readiness": "partial_auto_recording_policy", + "selected_policy_id": "zed_keep_all_auto", + "warning": "One or more RGB auto controls remain enabled and the listed controls may drift during recording. Selected keep-all-auto fallback passed with relaxed candidate verification; brightness and color balance may drift during recording.", + "white_balance_status": "auto_remaining_enabled" + }, + "zed_23007103_stereo": { + "auto_controls_disabled": [ + "auto_exposure" + ], + "auto_controls_remaining_enabled": [ + "auto_white_balance" + ], + "brightness_scale_locked": true, + "color_balance_locked": false, + "controls_allowed_to_drift_during_recording": [ + "white_balance" + ], + "expected_reconstruction_risk": "Brightness scale is validated as fixed for reconstruction; white balance remains auto and may drift chromaticity during recording.", + "expected_recording_behavior": "Exposure/gain fixed; white balance may continue adapting during recording.", + "exposure_gain_status": "manual_locked", + "manual_controls_written": [ + "exposure", + "gain" + ], + "readback_controls": { + "auto_exposure": false, + "auto_white_balance": true, + "exposure": 90.0, + "gain": 46.0, + "white_balance": 6500.0 + }, + "readback_reasons": [], + "readback_success": true, + "reconstruction_priority_class": "exposure_gain_locked_awb_auto", + "recording_mode": "partial_auto", + "recording_readiness": "partial_auto_recording_policy", + "selected_policy_id": "zed_exposure_gain_replay_keep_awb_auto", + "warning": "One or more RGB auto controls remain enabled and the listed controls may drift during recording.", + "white_balance_status": "auto_remaining_enabled" + } + }, + "artifact_type": "camera_settings_recording_summary", + "camera_control_acquisition_signature_policy": { + "camera_rig_profile_name": "round-belt-three-zed", + "controlled_cameras": { + "zed_12540311_stereo": { + "camera_type": "zed", + "serial_number": "12540311", + "settings_group_id": "zed_12540311_stereo" + }, + "zed_17736741_stereo": { + "camera_type": "zed", + "serial_number": "17736741", + "settings_group_id": "zed_17736741_stereo" + }, + "zed_23007103_stereo": { + "camera_type": "zed", + "serial_number": "23007103", + "settings_group_id": "zed_23007103_stereo" + } + }, + "fps": 30, + "realsense_fps": 30, + "realsense_resolution_hw": [ + 720, + 1280 + ], + "schema_version": 1, + "zed_fps": 30, + "zed_stream_profile_name": "HD1080" + }, + "camera_control_acquisition_signature_recorder": { + "camera_rig_profile_name": "round-belt-three-zed", + "controlled_cameras": { + "zed_12540311_stereo": { + "camera_type": "zed", + "serial_number": "12540311", + "settings_group_id": "zed_12540311_stereo" + }, + "zed_17736741_stereo": { + "camera_type": "zed", + "serial_number": "17736741", + "settings_group_id": "zed_17736741_stereo" + }, + "zed_23007103_stereo": { + "camera_type": "zed", + "serial_number": "23007103", + "settings_group_id": "zed_23007103_stereo" + } + }, + "fps": null, + "policy_rgb_stream_ids": [ + "zed_12540311_left_rgb", + "zed_12540311_right_rgb", + "zed_17736741_left_rgb", + "zed_17736741_right_rgb", + "zed_23007103_left_rgb", + "zed_23007103_right_rgb" + ], + "realsense_fps": 0, + "realsense_resolution_hw": [], + "schema_version": 1, + "zed_fps": 30, + "zed_stream_profile_name": "HD1080" + }, + "diagnostic_image_paths": { + "zed_12540311_left_rgb": { + "baseline_auto": "diagnostic_images/baseline_auto/zed_12540311_left_rgb.webp", + "post_minimal_auto": "diagnostic_images/post_minimal_auto/zed_12540311_left_rgb.webp", + "side_by_side": "diagnostic_images/side_by_side/zed_12540311_left_rgb.webp" + }, + "zed_12540311_right_rgb": { + "baseline_auto": "diagnostic_images/baseline_auto/zed_12540311_right_rgb.webp", + "post_minimal_auto": "diagnostic_images/post_minimal_auto/zed_12540311_right_rgb.webp", + "side_by_side": "diagnostic_images/side_by_side/zed_12540311_right_rgb.webp" + }, + "zed_17736741_left_rgb": { + "baseline_auto": "diagnostic_images/baseline_auto/zed_17736741_left_rgb.webp", + "post_minimal_auto": "diagnostic_images/post_minimal_auto/zed_17736741_left_rgb.webp", + "side_by_side": "diagnostic_images/side_by_side/zed_17736741_left_rgb.webp" + }, + "zed_17736741_right_rgb": { + "baseline_auto": "diagnostic_images/baseline_auto/zed_17736741_right_rgb.webp", + "post_minimal_auto": "diagnostic_images/post_minimal_auto/zed_17736741_right_rgb.webp", + "side_by_side": "diagnostic_images/side_by_side/zed_17736741_right_rgb.webp" + }, + "zed_23007103_left_rgb": { + "baseline_auto": "diagnostic_images/baseline_auto/zed_23007103_left_rgb.webp", + "post_minimal_auto": "diagnostic_images/post_minimal_auto/zed_23007103_left_rgb.webp", + "side_by_side": "diagnostic_images/side_by_side/zed_23007103_left_rgb.webp" + }, + "zed_23007103_right_rgb": { + "baseline_auto": "diagnostic_images/baseline_auto/zed_23007103_right_rgb.webp", + "post_minimal_auto": "diagnostic_images/post_minimal_auto/zed_23007103_right_rgb.webp", + "side_by_side": "diagnostic_images/side_by_side/zed_23007103_right_rgb.webp" + } + }, + "policy_artifact_type": "minimal_auto_recording_policy", + "policy_compatibility": { + "artifact_type": "camera_settings_policy_compatibility", + "camera_control_acquisition_signature_policy": { + "camera_rig_profile_name": "round-belt-three-zed", + "controlled_cameras": { + "zed_12540311_stereo": { + "camera_type": "zed", + "serial_number": "12540311", + "settings_group_id": "zed_12540311_stereo" + }, + "zed_17736741_stereo": { + "camera_type": "zed", + "serial_number": "17736741", + "settings_group_id": "zed_17736741_stereo" + }, + "zed_23007103_stereo": { + "camera_type": "zed", + "serial_number": "23007103", + "settings_group_id": "zed_23007103_stereo" + } + }, + "fps": 30, + "realsense_fps": 30, + "realsense_resolution_hw": [ + 720, + 1280 + ], + "schema_version": 1, + "zed_fps": 30, + "zed_stream_profile_name": "HD1080" + }, + "camera_control_acquisition_signature_recorder": { + "camera_rig_profile_name": "round-belt-three-zed", + "controlled_cameras": { + "zed_12540311_stereo": { + "camera_type": "zed", + "serial_number": "12540311", + "settings_group_id": "zed_12540311_stereo" + }, + "zed_17736741_stereo": { + "camera_type": "zed", + "serial_number": "17736741", + "settings_group_id": "zed_17736741_stereo" + }, + "zed_23007103_stereo": { + "camera_type": "zed", + "serial_number": "23007103", + "settings_group_id": "zed_23007103_stereo" + } + }, + "fps": null, + "policy_rgb_stream_ids": [ + "zed_12540311_left_rgb", + "zed_12540311_right_rgb", + "zed_17736741_left_rgb", + "zed_17736741_right_rgb", + "zed_23007103_left_rgb", + "zed_23007103_right_rgb" + ], + "realsense_fps": 0, + "realsense_resolution_hw": [], + "schema_version": 1, + "zed_fps": 30, + "zed_stream_profile_name": "HD1080" + }, + "errors": [], + "exact_match_fields": [ + "controlled_cameras", + "camera_rig_profile_name", + "zed_fps", + "zed_stream_profile_name" + ], + "field_comparisons": { + "camera_rig_profile_name": { + "match": true, + "policy": "round-belt-three-zed", + "recorder": "round-belt-three-zed" + }, + "realsense_fps": { + "match": true, + "policy": 30, + "reason": "Recorder session has no realsense cameras; policy value ignored.", + "recorder": 0, + "skipped": true + }, + "realsense_resolution_hw": { + "match": true, + "policy": [ + 720, + 1280 + ], + "reason": "Recorder session has no RealSense cameras; policy value ignored.", + "recorder": [], + "skipped": true + }, + "zed_fps": { + "match": true, + "policy": 30, + "recorder": 30 + }, + "zed_stream_profile_name": { + "match": true, + "policy": "HD1080", + "recorder": "HD1080" + } + }, + "policy_artifact_path": "calibration_results/camera_auto_reset/20260623_175433/minimal_auto_recording_policy_artifact.json", + "policy_artifact_schema_version": 1, + "policy_artifact_type": "minimal_auto_recording_policy", + "schema_version": 1, + "status": "compatible", + "tolerated_differences": [ + { + "field": "realsense_fps", + "policy": 30, + "reason": "Policy includes realsense FPS but this recorder session has no realsense cameras.", + "recorder": 0 + }, + { + "field": "realsense_resolution_hw", + "policy": [ + 720, + 1280 + ], + "reason": "Policy includes RealSense resolution but this recorder session has no RealSense cameras.", + "recorder": [] + }, + { + "field": "enabled_rgb_stream_ids", + "policy": [], + "reason": "Policy was generated with an empty enabled_rgb_stream_ids list (infer-all live semantics). Recorder stream list is informational only.", + "recorder": [ + "zed_12540311_left_rgb", + "zed_12540311_right_rgb", + "zed_17736741_left_rgb", + "zed_17736741_right_rgb", + "zed_23007103_left_rgb", + "zed_23007103_right_rgb" + ] + }, + { + "field": "realsense_streams", + "policy": null, + "reason": "Recorder enables additional RealSense substreams (depth/IR) not used during RGB-only policy generation.", + "recorder": [ + "color", + "depth" + ] + }, + { + "field": "zed_depth_mode", + "policy": null, + "reason": "ZED depth mode is a native recording payload concern, not RGB camera-control state.", + "recorder": "NEURAL_PLUS" + }, + { + "field": "zed_svo_compression_mode", + "policy": null, + "reason": "SVO compression is a container concern, not RGB camera-control state.", + "recorder": "H265_LOSSLESS" + } + ], + "warnings": [ + "Policy artifact did not pin enabled_rgb_stream_ids; recorder has explicit RGB streams.", + "realsense_streams: policy=None recorder=['color', 'depth'] (tolerated).", + "zed_depth_mode: policy=None recorder='NEURAL_PLUS' (tolerated).", + "zed_svo_compression_mode: policy=None recorder='H265_LOSSLESS' (tolerated)." + ] + }, + "recording_mode": "partial_auto", + "selected_policy_ids": { + "zed_12540311_stereo": "zed_exposure_gain_replay_keep_awb_auto", + "zed_17736741_stereo": "zed_keep_all_auto", + "zed_23007103_stereo": "zed_exposure_gain_replay_keep_awb_auto" + }, + "warnings": [ + "zed_12540311_stereo: policy was validated with lower-confidence generic full-frame metrics", + "zed_17736741_stereo: policy was validated with lower-confidence generic full-frame metrics", + "zed_23007103_stereo: policy was validated with lower-confidence generic full-frame metrics" + ] + }, + "camera_settings_policy_acquisition_validation": { + "actual_opened_acquisition": { + "camera_rig_profile_name": "round-belt-three-zed", + "enabled_rgb_stream_ids": [ + "zed_12540311_left_rgb", + "zed_12540311_right_rgb", + "zed_17736741_left_rgb", + "zed_17736741_right_rgb", + "zed_23007103_left_rgb", + "zed_23007103_right_rgb" + ], + "per_camera": { + "zed_12540311": { + "camera_name": "newerr", + "camera_type": "zed", + "depth_mode": "NEURAL_PLUS", + "fps": 30.0, + "image_format": "rgb8", + "resolution": [ + 1080, + 1920 + ], + "serial_number": "12540311", + "stream_profile_name": "HD1080", + "svo_compression_mode": "H265_LOSSLESS", + "svo_compression_mode_source": "requested_enum_passed_to_sl.RecordingParameters" + }, + "zed_17736741": { + "camera_name": "amazonbasics", + "camera_type": "zed", + "depth_mode": "NEURAL_PLUS", + "fps": 30.0, + "image_format": "rgb8", + "resolution": [ + 1080, + 1920 + ], + "serial_number": "17736741", + "stream_profile_name": "HD1080", + "svo_compression_mode": "H265_LOSSLESS", + "svo_compression_mode_source": "requested_enum_passed_to_sl.RecordingParameters" + }, + "zed_23007103": { + "camera_name": "zed-23007103", + "camera_type": "zed", + "depth_mode": "NEURAL_PLUS", + "fps": 30.0, + "image_format": "rgb8", + "resolution": [ + 1080, + 1920 + ], + "serial_number": "23007103", + "stream_profile_name": "HD1080", + "svo_compression_mode": "H265_LOSSLESS", + "svo_compression_mode_source": "requested_enum_passed_to_sl.RecordingParameters" + } + } + }, + "camera_control_acquisition_signature_policy": { + "camera_rig_profile_name": "round-belt-three-zed", + "controlled_cameras": { + "zed_12540311_stereo": { + "camera_type": "zed", + "serial_number": "12540311", + "settings_group_id": "zed_12540311_stereo" + }, + "zed_17736741_stereo": { + "camera_type": "zed", + "serial_number": "17736741", + "settings_group_id": "zed_17736741_stereo" + }, + "zed_23007103_stereo": { + "camera_type": "zed", + "serial_number": "23007103", + "settings_group_id": "zed_23007103_stereo" + } + }, + "fps": 30, + "realsense_fps": 30, + "realsense_resolution_hw": [ + 720, + 1280 + ], + "schema_version": 1, + "zed_fps": 30, + "zed_stream_profile_name": "HD1080" + }, + "camera_control_acquisition_signature_recorder": { + "camera_rig_profile_name": "round-belt-three-zed", + "controlled_cameras": { + "zed_12540311_stereo": { + "camera_type": "zed", + "serial_number": "12540311", + "settings_group_id": "zed_12540311_stereo" + }, + "zed_17736741_stereo": { + "camera_type": "zed", + "serial_number": "17736741", + "settings_group_id": "zed_17736741_stereo" + }, + "zed_23007103_stereo": { + "camera_type": "zed", + "serial_number": "23007103", + "settings_group_id": "zed_23007103_stereo" + } + }, + "fps": null, + "policy_rgb_stream_ids": [ + "zed_12540311_left_rgb", + "zed_12540311_right_rgb", + "zed_17736741_left_rgb", + "zed_17736741_right_rgb", + "zed_23007103_left_rgb", + "zed_23007103_right_rgb" + ], + "realsense_fps": 0, + "realsense_resolution_hw": [], + "schema_version": 1, + "zed_fps": 30, + "zed_stream_profile_name": "HD1080" + }, + "compatibility": { + "artifact_type": "camera_settings_policy_compatibility", + "camera_control_acquisition_signature_policy": { + "camera_rig_profile_name": "round-belt-three-zed", + "controlled_cameras": { + "zed_12540311_stereo": { + "camera_type": "zed", + "serial_number": "12540311", + "settings_group_id": "zed_12540311_stereo" + }, + "zed_17736741_stereo": { + "camera_type": "zed", + "serial_number": "17736741", + "settings_group_id": "zed_17736741_stereo" + }, + "zed_23007103_stereo": { + "camera_type": "zed", + "serial_number": "23007103", + "settings_group_id": "zed_23007103_stereo" + } + }, + "fps": 30, + "realsense_fps": 30, + "realsense_resolution_hw": [ + 720, + 1280 + ], + "schema_version": 1, + "zed_fps": 30, + "zed_stream_profile_name": "HD1080" + }, + "camera_control_acquisition_signature_recorder": { + "camera_rig_profile_name": "round-belt-three-zed", + "controlled_cameras": { + "zed_12540311_stereo": { + "camera_type": "zed", + "serial_number": "12540311", + "settings_group_id": "zed_12540311_stereo" + }, + "zed_17736741_stereo": { + "camera_type": "zed", + "serial_number": "17736741", + "settings_group_id": "zed_17736741_stereo" + }, + "zed_23007103_stereo": { + "camera_type": "zed", + "serial_number": "23007103", + "settings_group_id": "zed_23007103_stereo" + } + }, + "fps": null, + "policy_rgb_stream_ids": [ + "zed_12540311_left_rgb", + "zed_12540311_right_rgb", + "zed_17736741_left_rgb", + "zed_17736741_right_rgb", + "zed_23007103_left_rgb", + "zed_23007103_right_rgb" + ], + "realsense_fps": 0, + "realsense_resolution_hw": [], + "schema_version": 1, + "zed_fps": 30, + "zed_stream_profile_name": "HD1080" + }, + "errors": [], + "exact_match_fields": [ + "controlled_cameras", + "camera_rig_profile_name", + "zed_fps", + "zed_stream_profile_name" + ], + "field_comparisons": { + "camera_rig_profile_name": { + "match": true, + "policy": "round-belt-three-zed", + "recorder": "round-belt-three-zed" + }, + "realsense_fps": { + "match": true, + "policy": 30, + "reason": "Recorder session has no realsense cameras; policy value ignored.", + "recorder": 0, + "skipped": true + }, + "realsense_resolution_hw": { + "match": true, + "policy": [ + 720, + 1280 + ], + "reason": "Recorder session has no RealSense cameras; policy value ignored.", + "recorder": [], + "skipped": true + }, + "zed_fps": { + "match": true, + "policy": 30, + "recorder": 30 + }, + "zed_stream_profile_name": { + "match": true, + "policy": "HD1080", + "recorder": "HD1080" + } + }, + "policy_artifact_path": "calibration_results/camera_auto_reset/20260623_175433/minimal_auto_recording_policy_artifact.json", + "policy_artifact_schema_version": 1, + "policy_artifact_type": "minimal_auto_recording_policy", + "schema_version": 1, + "status": "compatible", + "tolerated_differences": [ + { + "field": "realsense_fps", + "policy": 30, + "reason": "Policy includes realsense FPS but this recorder session has no realsense cameras.", + "recorder": 0 + }, + { + "field": "realsense_resolution_hw", + "policy": [ + 720, + 1280 + ], + "reason": "Policy 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Recorder stream list is informational only.", + "recorder": [ + "zed_12540311_left_rgb", + "zed_12540311_right_rgb", + "zed_17736741_left_rgb", + "zed_17736741_right_rgb", + "zed_23007103_left_rgb", + "zed_23007103_right_rgb" + ] + }, + { + "field": "realsense_streams", + "policy": null, + "reason": "Recorder enables additional RealSense substreams (depth/IR) not used during RGB-only policy generation.", + "recorder": [ + "color", + "depth" + ] + }, + { + "field": "zed_depth_mode", + "policy": null, + "reason": "ZED depth mode is a native recording payload concern, not RGB camera-control state.", + "recorder": "NEURAL_PLUS" + }, + { + "field": "zed_svo_compression_mode", + "policy": null, + "reason": "SVO compression is a container concern, not RGB camera-control state.", + "recorder": "H265_LOSSLESS" + } + ], + "warnings": [ + "Policy artifact did not pin enabled_rgb_stream_ids; recorder has explicit RGB streams.", + "realsense_streams: policy=None recorder=['color', 'depth'] 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"rgb8", + "resolution": [ + 1080, + 1920 + ], + "serial_number": "23007103", + "stream_profile_name": "HD1080" + } + }, + "realsense_image_format": null, + "realsense_resolution_hw": null, + "realsense_streams": [ + "color", + "depth" + ], + "zed_depth_mode": "NEURAL_PLUS", + "zed_stream_profile_name": "HD1080", + "zed_svo_compression_mode": "H265_LOSSLESS" + }, + "requested_acquisition": { + "allow_stereo_pair_left_depth_as_group_occlusion_check": true, + "camera_rig_profile_name": "round-belt-three-zed", + "capture_profile_name": "zed-1080p30", + "depth_min_valid_fraction": 0.25, + "depth_statistic": "adaptive", + "depth_unknown_policy": "allow_with_warning", + "enable_zed_depth_for_occlusion": false, + "enabled_rgb_stream_ids": [], + "exclude_patch_ids": [], + "foreground_margin_m": 0.05, + "fps": 30, + "image_format": null, + "patch_visibility_override": null, + "preflight_probe_timeout_s": 5.0, + "realsense_duplicate_frame_policy": "wait_for_new", + 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"host_duplicate_timestamp_count": 0, + "host_non_monotonic_timestamp_count": 0, + "host_timestamp_max_ns": 1782309401962758291, + "host_timestamp_min_ns": 1782309382366372962, + "path": "recordings/20260624_095554_523212/timestamps_zed_SN17736741.csv", + "row_count": 587 + }, + { + "device_duplicate_timestamp_count": 0, + "device_non_monotonic_timestamp_count": 0, + "device_timestamp_max_ns": 1782309401930600158, + "device_timestamp_min_ns": 1782309382330778158, + "frame_index_gap_count": 0, + "frame_index_max": 584, + "frame_index_min": 0, + "host_duplicate_timestamp_count": 0, + "host_non_monotonic_timestamp_count": 0, + "host_timestamp_max_ns": 1782309401969942122, + "host_timestamp_min_ns": 1782309382370176533, + "path": "recordings/20260624_095554_523212/timestamps_zed_SN23007103.csv", + "row_count": 585 + } + ] +} \ No newline at end of file diff --git a/sessions/session_20260624_095554_523212/metadata/discovery_report.md b/sessions/session_20260624_095554_523212/metadata/discovery_report.md new file mode 100644 index 0000000000000000000000000000000000000000..00bbb37a6e46b35dfa9c45e21b8af0c4f00ac31d --- /dev/null +++ b/sessions/session_20260624_095554_523212/metadata/discovery_report.md @@ -0,0 +1,52 @@ +# Recording Discovery Report + +Recording directory: `recordings/20260624_095554_523212` + +## 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_SN12540311.svo2`: 1225995751 bytes +- `ZED-M_SN17736741.svo2`: 1281834241 bytes +- `ZED-M_SN23007103.svo2`: 1238297023 bytes + +## Timestamp Sources + +- Authoritative timestamp source: `streams//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_12540311_left_rgb`: `streams/zed_12540311_left_rgb/timestamps.parquet` +- `zed_12540311_right_rgb`: `streams/zed_12540311_right_rgb/timestamps.parquet` +- `zed_12540311_depth_zed_sdk_neural_plus`: `streams/zed_12540311_depth_zed_sdk_neural_plus/timestamps.parquet` +- `zed_17736741_left_rgb`: `streams/zed_17736741_left_rgb/timestamps.parquet` +- `zed_17736741_right_rgb`: `streams/zed_17736741_right_rgb/timestamps.parquet` +- `zed_17736741_depth_zed_sdk_neural_plus`: `streams/zed_17736741_depth_zed_sdk_neural_plus/timestamps.parquet` +- `zed_23007103_left_rgb`: `streams/zed_23007103_left_rgb/timestamps.parquet` +- `zed_23007103_right_rgb`: `streams/zed_23007103_right_rgb/timestamps.parquet` +- `zed_23007103_depth_zed_sdk_neural_plus`: `streams/zed_23007103_depth_zed_sdk_neural_plus/timestamps.parquet` + +## Legacy CSV Timestamp Sidecars + +- `timestamps_zed_SN12540311.csv`: rows=587, frame gaps=0, device duplicate timestamps=0, device non-monotonic=0 +- `timestamps_zed_SN17736741.csv`: rows=587, frame gaps=0, device duplicate timestamps=0, device non-monotonic=0 +- `timestamps_zed_SN23007103.csv`: rows=585, 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. diff --git a/sessions/session_20260624_095554_523212/metadata/grouped_zed_export_provenance.json b/sessions/session_20260624_095554_523212/metadata/grouped_zed_export_provenance.json new file mode 100644 index 0000000000000000000000000000000000000000..a544bc7c6cabcfc1df927bb73f8736fc6e7df71b --- /dev/null +++ b/sessions/session_20260624_095554_523212/metadata/grouped_zed_export_provenance.json @@ -0,0 +1,53 @@ +{ + "/mnt/data2/magna/belt_perception/recordings/20260624_095554_523212/ZED-M_SN12540311.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": "/mnt/data2/magna/belt_perception/recordings/20260624_095554_523212/ZED-M_SN12540311.svo2", + "rgb_equivalence_left_equal": true, + "rgb_equivalence_passed": true, + "rgb_equivalence_right_equal": true, + "stream_ids": [ + "zed_12540311_left_rgb", + "zed_12540311_right_rgb", + "zed_12540311_depth_zed_sdk_neural_plus" + ] + }, + "/mnt/data2/magna/belt_perception/recordings/20260624_095554_523212/ZED-M_SN17736741.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": "/mnt/data2/magna/belt_perception/recordings/20260624_095554_523212/ZED-M_SN17736741.svo2", + "rgb_equivalence_left_equal": true, + "rgb_equivalence_passed": true, + "rgb_equivalence_right_equal": true, + "stream_ids": [ + "zed_17736741_left_rgb", + "zed_17736741_right_rgb", + "zed_17736741_depth_zed_sdk_neural_plus" + ] + }, + "/mnt/data2/magna/belt_perception/recordings/20260624_095554_523212/ZED-M_SN23007103.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": "/mnt/data2/magna/belt_perception/recordings/20260624_095554_523212/ZED-M_SN23007103.svo2", + "rgb_equivalence_left_equal": true, + "rgb_equivalence_passed": true, + "rgb_equivalence_right_equal": true, + "stream_ids": [ + "zed_23007103_left_rgb", + "zed_23007103_right_rgb", + "zed_23007103_depth_zed_sdk_neural_plus" + ] + } +} \ No newline at end of file diff --git a/sessions/session_20260624_095554_523212/metadata/phystwin_window.yaml b/sessions/session_20260624_095554_523212/metadata/phystwin_window.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c46605aabb96ef04feb756209ef65a1e8a090469 --- /dev/null +++ b/sessions/session_20260624_095554_523212/metadata/phystwin_window.yaml @@ -0,0 +1,73 @@ +schema_version: 1 +kind: phystwin_interaction_window +session: + path: /mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260624_095554_523212 + session_id: session_20260624_095554_523212 +annotation_interface: + method: rerun + rerun_timeline: sync_time_ns + rerun_launch_command: uv run --no-sync python -m dataset_converter.visualize_rerun + --session-path /mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260624_095554_523212 + --sensor-types zed + timestamp_copy_instructions: Scrub the sync_time_ns timeline in Rerun. Copy the + current integer-nanosecond timestamp at the desired start/end moments. + notes: '' +timebase: + policy: native_anchor_overlap + sync_policy: AnchorStreamSyncPolicy + overlap: true + anchor_serial: '12540311' + anchor_stream_id: zed_12540311_left_rgb + timestamp_unit: ns + timestamp_reference: sync_time_ns + period_ns_estimate: 33456959 + fps_estimate: 29.889148 +manual_annotation: + start_global_timestamp_ns: 1782309391920000000 + end_global_timestamp_ns: 1782309394860000000 + start_condition: hand_or_forearm_visible_and_in_contact_with_object + end_condition: before_release_or_contact_break + expected_visible_hands_or_arms: 1 + object_description: soft plush toy + controller_description: single visible hand or forearm + annotator_notes: 'manual PhysTwin trim: hand/forearm visible and already in contact + with plush at start; end before release/contact break' +resolved_window: + start_sync_index: 285 + end_sync_index_exclusive: 374 + start_anchor_timestamp_ns: 1782309391920434565 + end_anchor_timestamp_ns: 1782309394864116982 + frame_count: 89 + duration_s: 2.943682 +per_camera_resolution: + '12540311': + start_source_frame_index: 286 + end_source_frame_index_exclusive: 375 + start_source_timestamp_ns: 1782309391920434565 + end_source_timestamp_ns: 1782309394864116982 + start_delta_ns: 0 + end_delta_ns: 0 + '17736741': + start_source_frame_index: 286 + end_source_frame_index_exclusive: 375 + start_source_timestamp_ns: 1782309391927353106 + end_source_timestamp_ns: 1782309394871037151 + start_delta_ns: 6918541 + end_delta_ns: 6920169 + '23007103': + start_source_frame_index: 286 + end_source_frame_index_exclusive: 375 + start_source_timestamp_ns: 1782309391931733070 + end_source_timestamp_ns: 1782309394875391814 + start_delta_ns: 11298505 + end_delta_ns: 11274832 +validation: + within_all_camera_overlap: true + start_before_end: true + min_abs_camera_delta_ns: 0 + max_abs_camera_delta_ns: 11298505 + warnings: [] +created_by: manual +created_at: '2026-06-25T20:53:43+00:00' +updated_at: '2026-06-25T20:53:43+00:00' + diff --git a/sessions/session_20260624_095554_523212/metadata/raw_stream_summary.parquet b/sessions/session_20260624_095554_523212/metadata/raw_stream_summary.parquet new file mode 100644 index 0000000000000000000000000000000000000000..44cb3c244eee3a81e9d828753e3844ec82e222a2 --- /dev/null +++ b/sessions/session_20260624_095554_523212/metadata/raw_stream_summary.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:308b03004c13c5173b5b9fbf9060dbc166b03563a4f7a94477a36aa6778b7e60 +size 46954 diff --git a/sessions/session_20260624_095554_523212/metadata/realsense_bag_pairing.json b/sessions/session_20260624_095554_523212/metadata/realsense_bag_pairing.json new file mode 100644 index 0000000000000000000000000000000000000000..69a0d3857e3d1fb73ed9c6eb34e0f34ce142c9f3 --- /dev/null +++ b/sessions/session_20260624_095554_523212/metadata/realsense_bag_pairing.json @@ -0,0 +1,18 @@ +{ + "bag_index_artifact": null, + "depth_aligned_to_color_pairing_policy": "Each depth_aligned_to_color frame is decoded from the BAG frameset selected by the paired color stream sdk_frame_number for the same official_frame_index, then rs.align(depth_to_color) is applied during conversion.", + "frame_number_offset_median": null, + "frame_number_offset_p95": null, + "frame_number_offset_unit": "frames", + "legacy_native_index_pairing_detected_bad": true, + "per_stream_legacy_audit": [], + "raw_pairing_validation": { + "recording_dir": "/mnt/data2/magna/belt_perception/recordings/20260624_095554_523212", + "status": "failed" + }, + "raw_pairing_validator_status": "unavailable", + "realsense_bag_pairing_policy": "sdk_frame_number", + "recording_pairing_validation_artifact": null, + "safe_for_dynamic_multiview_tracking": false, + "temporal_pixel_sync_status": "repaired_by_sdk_frame_number" +} \ No newline at end of file diff --git a/sessions/session_20260624_095554_523212/metadata/recording_manifest.json b/sessions/session_20260624_095554_523212/metadata/recording_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..9568e4995a8748beb82fa2d798eb29ac43f27b75 --- /dev/null +++ b/sessions/session_20260624_095554_523212/metadata/recording_manifest.json @@ -0,0 +1,1487 @@ +{ + "recording_manifest_schema_version": 1, + "recording_datetime": "20260624_095554_523212", + "recording_status": "stopped", + "recording_stop_reason": "signal_sigint", + "camera_rig_profile_name": "round-belt-three-zed", + "capture_profile_name": "zed-1080p30", + "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-1080p30", + "camera_rig_profile_name": "round-belt-three-zed", + "enabled_rgb_stream_ids": [ + "zed_12540311_left_rgb", + "zed_12540311_right_rgb", + "zed_17736741_left_rgb", + "zed_17736741_right_rgb", + "zed_23007103_left_rgb", + "zed_23007103_right_rgb" + ], + "fps": null, + "zed_stream_profile_name": "HD1080", + "realsense_resolution_hw": null, + "realsense_image_format": null, + "per_camera": { + "zed_12540311": { + "camera_type": "zed", + "serial_number": "12540311", + "resolution": [ + 1080, + 1920 + ], + "fps": 30.0, + "stream_profile_name": "HD1080", + "image_format": "rgb8" + }, + "zed_17736741": { + "camera_type": "zed", + "serial_number": "17736741", + "resolution": [ + 1080, + 1920 + ], + "fps": 30.0, + "stream_profile_name": "HD1080", + "image_format": "rgb8" + }, + "zed_23007103": { + "camera_type": "zed", + "serial_number": "23007103", + "resolution": [ + 1080, + 1920 + ], + "fps": 30.0, + "stream_profile_name": "HD1080", + "image_format": "rgb8" + } + }, + "zed_depth_mode": "NEURAL_PLUS", + "realsense_streams": [ + "color", + "depth" + ], + "zed_svo_compression_mode": "H265_LOSSLESS" + }, + "actual_acquisition": { + "camera_rig_profile_name": "round-belt-three-zed", + "enabled_rgb_stream_ids": [ + "zed_12540311_left_rgb", + "zed_12540311_right_rgb", + "zed_17736741_left_rgb", + "zed_17736741_right_rgb", + "zed_23007103_left_rgb", + "zed_23007103_right_rgb" + ], + "per_camera": { + "zed_12540311": { + "resolution": [ + 1080, + 1920 + ], + "fps": 30.0, + "stream_profile_name": "HD1080", + "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": "12540311", + "camera_name": "newerr" + }, + "zed_17736741": { + "resolution": [ + 1080, + 1920 + ], + "fps": 30.0, + "stream_profile_name": "HD1080", + "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": "17736741", + "camera_name": "amazonbasics" + }, + "zed_23007103": { + "resolution": [ + 1080, + 1920 + ], + "fps": 30.0, + "stream_profile_name": "HD1080", + "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": "23007103", + "camera_name": "zed-23007103" + } + } + }, + "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": 33333333, + "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": true, + "source_calibration_run_dir": "calibration_results/multicam/20260623_165552", + "pose_source": "phase_05_final", + "world_frame": "table", + "final_transform_source": "combined_fixed_movable_ba", + "calibration_package_dir": "calibration", + "camera_serials": [ + "12540311", + "17736741", + "23007103" + ], + "packaged_camera_serials": [ + "12540311", + "17736741", + "23007103" + ], + "extra_calibrated_serials": [], + "missing_calibrated_serials": [], + "missing_optional_files": [], + "invalid_optional_files": {}, + "ignored_invalid_extra_calibrated_serials": [], + "ignored_invalid_extra_errors_by_serial": {}, + "source_recording_camera_metadata_mismatches": {}, + "transform_convention": "a_T_b maps points from frame b into frame a; world_T_camera maps camera-frame points into the world frame (for table-fixed-AprilGrid runs, usually the table frame)", + "calibration_package_manifest": "calibration/calibration_package_manifest.json", + "world_T_camera_bundle": "calibration/world_T_camera_by_serial.npz", + "world_T_camera_bundle_sha256": "cf9641ab7781a8e04f7d56125320957faeeeb2eb1def012e684b7d40655df6f4" + }, + "camera_settings_policy": { + "artifact_type": "camera_settings_recording_summary", + "policy_artifact_type": "minimal_auto_recording_policy", + "recording_mode": "partial_auto", + "selected_policy_ids": { + "zed_12540311_stereo": "zed_exposure_gain_replay_keep_awb_auto", + "zed_17736741_stereo": "zed_keep_all_auto", + "zed_23007103_stereo": "zed_exposure_gain_replay_keep_awb_auto" + }, + "applied_groups": { + "zed_12540311_stereo": { + "selected_policy_id": "zed_exposure_gain_replay_keep_awb_auto", + "recording_readiness": "partial_auto_recording_policy", + "recording_mode": "partial_auto", + "auto_controls_remaining_enabled": [ + "auto_white_balance" + ], + "auto_controls_disabled": [ + "auto_exposure" + ], + "controls_allowed_to_drift_during_recording": [ + "white_balance" + ], + "manual_controls_written": [ + "exposure", + "gain" + ], + "expected_recording_behavior": "Exposure/gain fixed; white balance may continue adapting during recording.", + "reconstruction_priority_class": "exposure_gain_locked_awb_auto", + "exposure_gain_status": "manual_locked", + "white_balance_status": "auto_remaining_enabled", + "expected_reconstruction_risk": "Brightness scale is validated as fixed for reconstruction; white balance remains auto and may drift chromaticity during recording.", + "brightness_scale_locked": true, + "color_balance_locked": false, + "warning": "One or more RGB auto controls remain enabled and the listed controls may drift during recording.", + "readback_controls": { + "auto_exposure": false, + "auto_white_balance": true, + "exposure": 90.0, + "gain": 37.0, + "white_balance": 6500.0 + }, + "readback_success": true, + "readback_reasons": [] + }, + "zed_17736741_stereo": { + "selected_policy_id": "zed_keep_all_auto", + "recording_readiness": "partial_auto_recording_policy", + "recording_mode": "partial_auto", + "auto_controls_remaining_enabled": [ + "auto_exposure", + "auto_white_balance" + ], + "auto_controls_disabled": [], + "controls_allowed_to_drift_during_recording": [ + "exposure", + "gain", + "white_balance" + ], + "manual_controls_written": [], + "expected_recording_behavior": "Exposure/gain and white balance remain auto and may adapt during recording.", + "reconstruction_priority_class": "all_auto", + "exposure_gain_status": "auto_remaining_enabled", + "white_balance_status": "auto_remaining_enabled", + "expected_reconstruction_risk": "Exposure/gain and white balance remain auto. Brightness scale and color balance may drift during recording.", + "brightness_scale_locked": false, + "color_balance_locked": false, + "warning": "One or more RGB auto controls remain enabled and the listed controls may drift during recording. Selected keep-all-auto fallback passed with relaxed candidate verification; brightness and color balance may drift during recording.", + "readback_controls": { + "auto_exposure": true, + "auto_white_balance": true, + "exposure": 90.0, + "gain": 40.0, + "white_balance": 6500.0 + }, + "readback_success": true, + "readback_reasons": [] + }, + "zed_23007103_stereo": { + "selected_policy_id": "zed_exposure_gain_replay_keep_awb_auto", + "recording_readiness": "partial_auto_recording_policy", + "recording_mode": "partial_auto", + "auto_controls_remaining_enabled": [ + "auto_white_balance" + ], + "auto_controls_disabled": [ + "auto_exposure" + ], + "controls_allowed_to_drift_during_recording": [ + "white_balance" + ], + "manual_controls_written": [ + "exposure", + "gain" + ], + "expected_recording_behavior": "Exposure/gain fixed; white balance may continue adapting during recording.", + "reconstruction_priority_class": "exposure_gain_locked_awb_auto", + "exposure_gain_status": "manual_locked", + "white_balance_status": "auto_remaining_enabled", + "expected_reconstruction_risk": "Brightness scale is validated as fixed for reconstruction; white balance remains auto and may drift chromaticity during recording.", + "brightness_scale_locked": true, + "color_balance_locked": false, + "warning": "One or more RGB auto controls remain enabled and the listed controls may drift during recording.", + "readback_controls": { + "auto_exposure": false, + "auto_white_balance": true, + "exposure": 90.0, + "gain": 46.0, + "white_balance": 6500.0 + }, + "readback_success": true, + "readback_reasons": [] + } + }, + "warnings": [ + "zed_12540311_stereo: policy was validated with lower-confidence generic full-frame metrics", + "zed_17736741_stereo: policy was validated with lower-confidence generic full-frame metrics", + "zed_23007103_stereo: policy was validated with lower-confidence generic full-frame metrics" + ], + "diagnostic_image_paths": { + "zed_12540311_left_rgb": { + "baseline_auto": "diagnostic_images/baseline_auto/zed_12540311_left_rgb.webp", + "post_minimal_auto": "diagnostic_images/post_minimal_auto/zed_12540311_left_rgb.webp", + "side_by_side": "diagnostic_images/side_by_side/zed_12540311_left_rgb.webp" + }, + "zed_12540311_right_rgb": { + "baseline_auto": "diagnostic_images/baseline_auto/zed_12540311_right_rgb.webp", + "post_minimal_auto": "diagnostic_images/post_minimal_auto/zed_12540311_right_rgb.webp", + "side_by_side": "diagnostic_images/side_by_side/zed_12540311_right_rgb.webp" + }, + "zed_17736741_left_rgb": { + "baseline_auto": "diagnostic_images/baseline_auto/zed_17736741_left_rgb.webp", + "post_minimal_auto": "diagnostic_images/post_minimal_auto/zed_17736741_left_rgb.webp", + "side_by_side": "diagnostic_images/side_by_side/zed_17736741_left_rgb.webp" + }, + "zed_17736741_right_rgb": { + "baseline_auto": "diagnostic_images/baseline_auto/zed_17736741_right_rgb.webp", + "post_minimal_auto": "diagnostic_images/post_minimal_auto/zed_17736741_right_rgb.webp", + "side_by_side": "diagnostic_images/side_by_side/zed_17736741_right_rgb.webp" + }, + "zed_23007103_left_rgb": { + "baseline_auto": "diagnostic_images/baseline_auto/zed_23007103_left_rgb.webp", + "post_minimal_auto": "diagnostic_images/post_minimal_auto/zed_23007103_left_rgb.webp", + "side_by_side": "diagnostic_images/side_by_side/zed_23007103_left_rgb.webp" + }, + "zed_23007103_right_rgb": { + "baseline_auto": "diagnostic_images/baseline_auto/zed_23007103_right_rgb.webp", + "post_minimal_auto": "diagnostic_images/post_minimal_auto/zed_23007103_right_rgb.webp", + "side_by_side": "diagnostic_images/side_by_side/zed_23007103_right_rgb.webp" + } + }, + "policy_compatibility": { + "schema_version": 1, + "artifact_type": "camera_settings_policy_compatibility", + "status": "compatible", + "policy_artifact_path": "calibration_results/camera_auto_reset/20260623_175433/minimal_auto_recording_policy_artifact.json", + "policy_artifact_type": "minimal_auto_recording_policy", + "policy_artifact_schema_version": 1, + "camera_control_acquisition_signature_policy": { + "schema_version": 1, + "camera_rig_profile_name": "round-belt-three-zed", + "fps": 30, + "zed_fps": 30, + "realsense_fps": 30, + "zed_stream_profile_name": "HD1080", + "realsense_resolution_hw": [ + 720, + 1280 + ], + "controlled_cameras": { + "zed_12540311_stereo": { + "camera_type": "zed", + "serial_number": "12540311", + "settings_group_id": "zed_12540311_stereo" + }, + "zed_17736741_stereo": { + "camera_type": "zed", + "serial_number": "17736741", + "settings_group_id": "zed_17736741_stereo" + }, + "zed_23007103_stereo": { + "camera_type": "zed", + "serial_number": "23007103", + "settings_group_id": "zed_23007103_stereo" + } + } + }, + "camera_control_acquisition_signature_recorder": { + "schema_version": 1, + "camera_rig_profile_name": "round-belt-three-zed", + "fps": null, + "zed_fps": 30, + "realsense_fps": 0, + "zed_stream_profile_name": "HD1080", + "realsense_resolution_hw": [], + "controlled_cameras": { + "zed_12540311_stereo": { + "camera_type": "zed", + "serial_number": "12540311", + "settings_group_id": "zed_12540311_stereo" + }, + "zed_17736741_stereo": { + "camera_type": "zed", + "serial_number": "17736741", + "settings_group_id": "zed_17736741_stereo" + }, + "zed_23007103_stereo": { + "camera_type": "zed", + "serial_number": "23007103", + "settings_group_id": "zed_23007103_stereo" + } + }, + "policy_rgb_stream_ids": [ + "zed_12540311_left_rgb", + "zed_12540311_right_rgb", + "zed_17736741_left_rgb", + "zed_17736741_right_rgb", + "zed_23007103_left_rgb", + "zed_23007103_right_rgb" + ] + }, + "exact_match_fields": [ + "controlled_cameras", + "camera_rig_profile_name", + "zed_fps", + "zed_stream_profile_name" + ], + "field_comparisons": { + "camera_rig_profile_name": { + "policy": "round-belt-three-zed", + "recorder": "round-belt-three-zed", + "match": true + }, + "zed_fps": { + "policy": 30, + "recorder": 30, + "match": true + }, + "realsense_fps": { + "policy": 30, + "recorder": 0, + "match": true, + "skipped": true, + "reason": "Recorder session has no realsense cameras; policy value ignored." + }, + "zed_stream_profile_name": { + "policy": "HD1080", + "recorder": "HD1080", + "match": true + }, + "realsense_resolution_hw": { + "policy": [ + 720, + 1280 + ], + "recorder": [], + "match": true, + "skipped": true, + "reason": "Recorder session has no RealSense cameras; policy value ignored." + } + }, + "tolerated_differences": [ + { + "field": "realsense_fps", + "policy": 30, + "recorder": 0, + "reason": "Policy includes realsense FPS but this recorder session has no realsense cameras." + }, + { + "field": "realsense_resolution_hw", + "policy": [ + 720, + 1280 + ], + "recorder": [], + "reason": "Policy includes RealSense resolution but this recorder session has no RealSense cameras." + }, + { + "field": "enabled_rgb_stream_ids", + "policy": [], + "recorder": [ + "zed_12540311_left_rgb", + "zed_12540311_right_rgb", + "zed_17736741_left_rgb", + "zed_17736741_right_rgb", + "zed_23007103_left_rgb", + "zed_23007103_right_rgb" + ], + "reason": "Policy was generated with an empty enabled_rgb_stream_ids list (infer-all live semantics). Recorder stream list is informational only." + }, + { + "field": "realsense_streams", + "policy": null, + "recorder": [ + "color", + "depth" + ], + "reason": "Recorder enables additional RealSense substreams (depth/IR) not used during RGB-only policy generation." + }, + { + "field": "zed_depth_mode", + "policy": null, + "recorder": "NEURAL_PLUS", + "reason": "ZED depth mode is a native recording payload concern, not RGB camera-control state." + }, + { + "field": "zed_svo_compression_mode", + "policy": null, + "recorder": "H265_LOSSLESS", + "reason": "SVO compression is a container concern, not RGB camera-control state." + } + ], + "warnings": [ + "Policy artifact did not pin enabled_rgb_stream_ids; recorder has explicit RGB streams.", + "realsense_streams: policy=None recorder=['color', 'depth'] (tolerated).", + "zed_depth_mode: policy=None recorder='NEURAL_PLUS' (tolerated).", + "zed_svo_compression_mode: policy=None recorder='H265_LOSSLESS' (tolerated)." + ], + "errors": [] + }, + "camera_control_acquisition_signature_policy": { + "schema_version": 1, + "camera_rig_profile_name": "round-belt-three-zed", + "fps": 30, + "zed_fps": 30, + "realsense_fps": 30, + "zed_stream_profile_name": "HD1080", + "realsense_resolution_hw": [ + 720, + 1280 + ], + "controlled_cameras": { + "zed_12540311_stereo": { + "camera_type": "zed", + "serial_number": "12540311", + "settings_group_id": "zed_12540311_stereo" + }, + "zed_17736741_stereo": { + "camera_type": "zed", + "serial_number": "17736741", + "settings_group_id": "zed_17736741_stereo" + }, + "zed_23007103_stereo": { + "camera_type": "zed", + "serial_number": "23007103", + "settings_group_id": "zed_23007103_stereo" + } + } + }, + "camera_control_acquisition_signature_recorder": { + "schema_version": 1, + "camera_rig_profile_name": "round-belt-three-zed", + "fps": null, + "zed_fps": 30, + "realsense_fps": 0, + "zed_stream_profile_name": "HD1080", + "realsense_resolution_hw": [], + "controlled_cameras": { + "zed_12540311_stereo": { + "camera_type": "zed", + "serial_number": "12540311", + "settings_group_id": "zed_12540311_stereo" + }, + "zed_17736741_stereo": { + "camera_type": "zed", + "serial_number": "17736741", + "settings_group_id": "zed_17736741_stereo" + }, + "zed_23007103_stereo": { + "camera_type": "zed", + "serial_number": "23007103", + "settings_group_id": "zed_23007103_stereo" + } + }, + "policy_rgb_stream_ids": [ + "zed_12540311_left_rgb", + "zed_12540311_right_rgb", + "zed_17736741_left_rgb", + "zed_17736741_right_rgb", + "zed_23007103_left_rgb", + "zed_23007103_right_rgb" + ] + } + }, + "camera_settings_policy_compatibility": { + "schema_version": 1, + "artifact_type": "camera_settings_policy_compatibility", + "status": "compatible", + "policy_artifact_path": "calibration_results/camera_auto_reset/20260623_175433/minimal_auto_recording_policy_artifact.json", + "policy_artifact_type": "minimal_auto_recording_policy", + "policy_artifact_schema_version": 1, + "camera_control_acquisition_signature_policy": { + "schema_version": 1, + "camera_rig_profile_name": "round-belt-three-zed", + "fps": 30, + "zed_fps": 30, + "realsense_fps": 30, + "zed_stream_profile_name": "HD1080", + "realsense_resolution_hw": [ + 720, + 1280 + ], + "controlled_cameras": { + "zed_12540311_stereo": { + "camera_type": "zed", + "serial_number": "12540311", + "settings_group_id": "zed_12540311_stereo" + }, + "zed_17736741_stereo": { + "camera_type": "zed", + "serial_number": "17736741", + "settings_group_id": "zed_17736741_stereo" + }, + "zed_23007103_stereo": { + "camera_type": "zed", + "serial_number": "23007103", + "settings_group_id": "zed_23007103_stereo" + } + } + }, + "camera_control_acquisition_signature_recorder": { + "schema_version": 1, + "camera_rig_profile_name": "round-belt-three-zed", + "fps": null, + "zed_fps": 30, + "realsense_fps": 0, + "zed_stream_profile_name": "HD1080", + "realsense_resolution_hw": [], + "controlled_cameras": { + "zed_12540311_stereo": { + "camera_type": "zed", + "serial_number": "12540311", + "settings_group_id": "zed_12540311_stereo" + }, + "zed_17736741_stereo": { + "camera_type": "zed", + "serial_number": "17736741", + "settings_group_id": "zed_17736741_stereo" + }, + "zed_23007103_stereo": { + "camera_type": "zed", + "serial_number": "23007103", + "settings_group_id": "zed_23007103_stereo" + } + }, + "policy_rgb_stream_ids": [ + "zed_12540311_left_rgb", + "zed_12540311_right_rgb", + "zed_17736741_left_rgb", + "zed_17736741_right_rgb", + "zed_23007103_left_rgb", + "zed_23007103_right_rgb" + ] + }, + "exact_match_fields": [ + "controlled_cameras", + "camera_rig_profile_name", + "zed_fps", + "zed_stream_profile_name" + ], + "field_comparisons": { + "camera_rig_profile_name": { + "policy": "round-belt-three-zed", + "recorder": "round-belt-three-zed", + "match": true + }, + "zed_fps": { + "policy": 30, + "recorder": 30, + "match": true + }, + "realsense_fps": { + "policy": 30, + "recorder": 0, + "match": true, + "skipped": true, + "reason": "Recorder session has no realsense cameras; policy value ignored." + }, + "zed_stream_profile_name": { + "policy": "HD1080", + "recorder": "HD1080", + "match": true + }, + "realsense_resolution_hw": { + "policy": [ + 720, + 1280 + ], + "recorder": [], + "match": true, + "skipped": true, + "reason": "Recorder session has no RealSense cameras; policy value ignored." + } + }, + "tolerated_differences": [ + { + "field": "realsense_fps", + "policy": 30, + "recorder": 0, + "reason": "Policy includes realsense FPS but this recorder session has no realsense cameras." + }, + { + "field": "realsense_resolution_hw", + "policy": [ + 720, + 1280 + ], + "recorder": [], + "reason": "Policy includes RealSense resolution but this recorder session has no RealSense cameras." + }, + { + "field": "enabled_rgb_stream_ids", + "policy": [], + "recorder": [ + "zed_12540311_left_rgb", + "zed_12540311_right_rgb", + "zed_17736741_left_rgb", + "zed_17736741_right_rgb", + "zed_23007103_left_rgb", + "zed_23007103_right_rgb" + ], + "reason": "Policy was generated with an empty enabled_rgb_stream_ids list (infer-all live semantics). Recorder stream list is informational only." + }, + { + "field": "realsense_streams", + "policy": null, + "recorder": [ + "color", + "depth" + ], + "reason": "Recorder enables additional RealSense substreams (depth/IR) not used during RGB-only policy generation." + }, + { + "field": "zed_depth_mode", + "policy": null, + "recorder": "NEURAL_PLUS", + "reason": "ZED depth mode is a native recording payload concern, not RGB camera-control state." + }, + { + "field": "zed_svo_compression_mode", + "policy": null, + "recorder": "H265_LOSSLESS", + "reason": "SVO compression is a container concern, not RGB camera-control state." + } + ], + "warnings": [ + "Policy artifact did not pin enabled_rgb_stream_ids; recorder has explicit RGB streams.", + "realsense_streams: policy=None recorder=['color', 'depth'] (tolerated).", + "zed_depth_mode: policy=None recorder='NEURAL_PLUS' (tolerated).", + "zed_svo_compression_mode: policy=None recorder='H265_LOSSLESS' (tolerated)." + ], + "errors": [] + }, + "streams": [ + { + "stream_id": "zed_12540311_left_rgb", + "modality": "left_rgb", + "physical_camera_id": "zed_12540311", + "serial_number": "12540311", + "camera_type": "zed", + "camera_name": "newerr", + "recording_path": "ZED-M_SN12540311.svo2", + "timestamps_path": "streams/zed_12540311_left_rgb/timestamps.parquet", + "stream_manifest_path": "streams/zed_12540311_left_rgb/stream_manifest.json", + "requested_profile": { + "zed_resolution": "hd1080", + "resolution_hw": [ + 1080, + 1920 + ], + "fps": 30, + "depth_mode": "neural_plus", + "svo_compression_mode": "h265_lossless", + "container": "svo2" + }, + "actual_opened_profile": { + "resolution": [ + 1080, + 1920 + ], + "fps": 30.0, + "stream_profile_name": "HD1080", + "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_12540311_left_rgb", + "modality": "left_rgb", + "physical_camera_id": "zed_12540311", + "serial_number": "12540311", + "camera_type": "zed", + "row_count": 587, + "expected_fps": 30.0, + "observed_fps": 29.894898007127537, + "nominal_frame_period_ns": 33333333, + "default_nearest_neighbor_tolerance_ns": 33333333, + "strict_alignment_warning_tolerance_ns": 16666666, + "timestamp_gap_warning_threshold_ns": 50000000, + "timestamp_min_ns": 1782309382317465039, + "timestamp_max_ns": 1782309401919472039, + "median_gap_ns": 33495000.0, + "max_gap_ns": 33676000, + "large_gap_count": 0, + "large_gaps": [], + "first_inter_frame_gap_ns": 33249000, + "startup_gap_excluded_from_warnings": false, + "preroll_frame_count": 15, + "official_frame_count": 587, + "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": 1782309382366977338, + "host_timestamp_max_ns": 1782309401955643675, + "timestamp_domain": "zed_image", + "timestamp_source": "sl.TIME_REFERENCE.IMAGE", + "host_timestamp_source": "time.time_ns_after_record_frame", + "warnings": [] + }, + "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": 587, + "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_12540311_right_rgb", + "modality": "right_rgb", + "physical_camera_id": "zed_12540311", + "serial_number": "12540311", + "camera_type": "zed", + "camera_name": "newerr", + "recording_path": "ZED-M_SN12540311.svo2", + "timestamps_path": "streams/zed_12540311_right_rgb/timestamps.parquet", + "stream_manifest_path": "streams/zed_12540311_right_rgb/stream_manifest.json", + "requested_profile": { + "zed_resolution": "hd1080", + "resolution_hw": [ + 1080, + 1920 + ], + "fps": 30, + "depth_mode": "neural_plus", + "svo_compression_mode": "h265_lossless", + "container": "svo2" + }, + "actual_opened_profile": { + "resolution": [ + 1080, + 1920 + ], + "fps": 30.0, + "stream_profile_name": "HD1080", + "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_12540311_right_rgb", + "modality": "right_rgb", + "physical_camera_id": "zed_12540311", + "serial_number": "12540311", + "camera_type": "zed", + "row_count": 587, + "expected_fps": 30.0, + "observed_fps": 29.894898007127537, + "nominal_frame_period_ns": 33333333, + "default_nearest_neighbor_tolerance_ns": 33333333, + "strict_alignment_warning_tolerance_ns": 16666666, + "timestamp_gap_warning_threshold_ns": 50000000, + "timestamp_min_ns": 1782309382317465039, + "timestamp_max_ns": 1782309401919472039, + "median_gap_ns": 33495000.0, + "max_gap_ns": 33676000, + "large_gap_count": 0, + "large_gaps": [], + "first_inter_frame_gap_ns": 33249000, + "startup_gap_excluded_from_warnings": false, + "preroll_frame_count": 15, + "official_frame_count": 587, + "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": 1782309382366977338, + "host_timestamp_max_ns": 1782309401955643675, + "timestamp_domain": "zed_image", + "timestamp_source": "sl.TIME_REFERENCE.IMAGE", + "host_timestamp_source": "time.time_ns_after_record_frame", + "warnings": [] + }, + "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": 587, + "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_12540311_depth_zed_sdk_neural_plus", + "modality": "depth", + "physical_camera_id": "zed_12540311", + "serial_number": "12540311", + "camera_type": "zed", + "camera_name": "newerr", + "recording_path": "ZED-M_SN12540311.svo2", + "timestamps_path": "streams/zed_12540311_depth_zed_sdk_neural_plus/timestamps.parquet", + "stream_manifest_path": 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"default_nearest_neighbor_tolerance_ns": 33333333, + "strict_alignment_warning_tolerance_ns": 16666666, + "timestamp_gap_warning_threshold_ns": 50000000, + "timestamp_min_ns": 1782309382327579382, + "timestamp_max_ns": 1782309401926320382, + "median_gap_ns": 33495000.0, + "max_gap_ns": 33716000, + "large_gap_count": 0, + "large_gaps": [], + "first_inter_frame_gap_ns": 30156000, + "startup_gap_excluded_from_warnings": false, + "preroll_frame_count": 15, + "official_frame_count": 587, + "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": 1782309382366372962, + "host_timestamp_max_ns": 1782309401962758291, + "timestamp_domain": "zed_image", + "timestamp_source": "sl.TIME_REFERENCE.IMAGE", + "host_timestamp_source": "time.time_ns_after_record_frame", + "warnings": [] + } + } + }, + { + "name": "zed-23007103", + "serial_number": "23007103", + "camera_type": "zed", + "recording_path": "ZED-M_SN23007103.svo2", + "timestamp_path": "timestamps_zed_SN23007103.csv", + "frame_count": 585, + "dropped_non_monotonic_timestamp_count": 1, + "streams": [ + { + "stream_id": "zed_23007103_left_rgb", + "modality": "left_rgb", + "requested_profile": { + "zed_resolution": "hd1080", + "resolution_hw": [ + 1080, + 1920 + ], + "fps": 30, + "depth_mode": "neural_plus", + "svo_compression_mode": "h265_lossless", + "container": "svo2" + }, + "expected_fps": 30.0 + }, + { + "stream_id": "zed_23007103_right_rgb", + "modality": "right_rgb", + "requested_profile": { + "zed_resolution": "hd1080", + "resolution_hw": [ + 1080, + 1920 + ], + "fps": 30, + "depth_mode": "neural_plus", + "svo_compression_mode": "h265_lossless", + "container": "svo2" + }, + "expected_fps": 30.0 + }, + { + "stream_id": "zed_23007103_depth_zed_sdk_neural_plus", + "modality": "depth", + "requested_profile": { + "zed_resolution": "hd1080", + "resolution_hw": [ + 1080, + 1920 + ], + "fps": 30, + "depth_mode": "neural_plus", + "svo_compression_mode": "h265_lossless", + "container": "svo2" + }, + "expected_fps": 30.0 + } + ], + "official_frame_count": 585, + "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": [ + 1080, + 1920 + ], + "fps": 30.0, + "stream_profile_name": "HD1080", + "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": "zed-23007103", + "serial_number": "23007103", + "camera_type": "zed", + "model": "ZED 2", + "resolution_hw": [ + 1080, + 1920 + ], + "fps": 30.0, + "color_intrinsics": [ + [ + 1054.421630859375, + 0.0, + 969.4031982421875 + ], + [ + 0.0, + 1054.421630859375, + 516.3903198242188 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "depth_intrinsics": [ + [ + 1054.421630859375, + 0.0, + 969.4031982421875 + ], + [ + 0.0, + 1054.421630859375, + 516.3903198242188 + ], + [ + 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, + 0.12004520744085312 + ], + [ + 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, + -0.12004520744085312 + ], + [ + 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_23007103_left_rgb_camera", + "right_camera_frame": "zed_23007103_right_rgb_camera", + "depth_camera_frame": "zed_23007103_left_rgb_camera", + "color_camera_frame": null, + "ir_left_camera_frame": null, + "ir_right_camera_frame": null, + "stereo_baseline_m": 0.12004520744085312, + "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": [ + "aligned_depth_to_color", + "stereo_color", + "depth", + "raw_depth", + "color", + "right_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_type_descriptor": null, + "usb_speed_mbps": null, + "usb_product": null + } + }, + "stream_summaries": { + "zed_23007103_left_rgb": { + "stream_id": "zed_23007103_left_rgb", + "modality": "left_rgb", + "physical_camera_id": "zed_23007103", + "serial_number": "23007103", + "camera_type": "zed", + "row_count": 585, + "expected_fps": 30.0, + "observed_fps": 29.796188965389582, + "nominal_frame_period_ns": 33333333, + "default_nearest_neighbor_tolerance_ns": 33333333, + "strict_alignment_warning_tolerance_ns": 16666666, + "timestamp_gap_warning_threshold_ns": 50000000, + "timestamp_min_ns": 1782309382330778158, + "timestamp_max_ns": 1782309401930600158, + "median_gap_ns": 33494000.0, + "max_gap_ns": 66865000, + "large_gap_count": 2, + "large_gaps": [ + { + "from_row": 393, + "to_row": 394, + "gap_ns": 66825000 + }, + { + "from_row": 397, + "to_row": 398, + "gap_ns": 66865000 + } + ], + "first_inter_frame_gap_ns": 31294000, + "startup_gap_excluded_from_warnings": false, + "preroll_frame_count": 15, + "official_frame_count": 585, + "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": 1782309382370176533, + "host_timestamp_max_ns": 1782309401969942122, + "timestamp_domain": "zed_image", + "timestamp_source": "sl.TIME_REFERENCE.IMAGE", + "host_timestamp_source": "time.time_ns_after_record_frame", + "warnings": [ + "large_timestamp_gap" + ] + }, + "zed_23007103_right_rgb": { + "stream_id": "zed_23007103_right_rgb", + "modality": "right_rgb", + "physical_camera_id": "zed_23007103", + "serial_number": "23007103", + "camera_type": "zed", + "row_count": 585, + "expected_fps": 30.0, + "observed_fps": 29.796188965389582, + "nominal_frame_period_ns": 33333333, + "default_nearest_neighbor_tolerance_ns": 33333333, + "strict_alignment_warning_tolerance_ns": 16666666, + "timestamp_gap_warning_threshold_ns": 50000000, + "timestamp_min_ns": 1782309382330778158, + "timestamp_max_ns": 1782309401930600158, + "median_gap_ns": 33494000.0, + "max_gap_ns": 66865000, + "large_gap_count": 2, + "large_gaps": [ + { + "from_row": 393, + "to_row": 394, + "gap_ns": 66825000 + }, + { + "from_row": 397, + "to_row": 398, + "gap_ns": 66865000 + } + ], + "first_inter_frame_gap_ns": 31294000, + "startup_gap_excluded_from_warnings": false, + "preroll_frame_count": 15, + "official_frame_count": 585, + "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": 1782309382370176533, + "host_timestamp_max_ns": 1782309401969942122, + "timestamp_domain": "zed_image", + "timestamp_source": "sl.TIME_REFERENCE.IMAGE", + "host_timestamp_source": "time.time_ns_after_record_frame", + "warnings": [ + "large_timestamp_gap" + ] + }, + "zed_23007103_depth_zed_sdk_neural_plus": { + "stream_id": "zed_23007103_depth_zed_sdk_neural_plus", + "modality": "depth", + "physical_camera_id": "zed_23007103", + "serial_number": "23007103", + "camera_type": "zed", + "row_count": 585, + "expected_fps": 30.0, + "observed_fps": 29.796188965389582, + "nominal_frame_period_ns": 33333333, + "default_nearest_neighbor_tolerance_ns": 33333333, + "strict_alignment_warning_tolerance_ns": 16666666, + "timestamp_gap_warning_threshold_ns": 50000000, + "timestamp_min_ns": 1782309382330778158, + "timestamp_max_ns": 1782309401930600158, + "median_gap_ns": 33494000.0, + "max_gap_ns": 66865000, + "large_gap_count": 2, + "large_gaps": [ + { + "from_row": 393, + "to_row": 394, + "gap_ns": 66825000 + }, + { + "from_row": 397, + "to_row": 398, + "gap_ns": 66865000 + } + ], + "first_inter_frame_gap_ns": 31294000, + "startup_gap_excluded_from_warnings": false, + "preroll_frame_count": 15, + "official_frame_count": 585, + "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": 1782309382370176533, + "host_timestamp_max_ns": 1782309401969942122, + "timestamp_domain": "zed_image", + "timestamp_source": "sl.TIME_REFERENCE.IMAGE", + "host_timestamp_source": "time.time_ns_after_record_frame", + "warnings": [ + "large_timestamp_gap" + ] + } + } + } + ], + "stream_preroll": { + "stream_warmup_frames": 15, + "stream_settle_sec": 0.0, + "preroll_elapsed_sec": 0.8796788749750704, + "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": { + "12540311": 15, + "17736741": 15, + "23007103": 15 + }, + "post_native_priming": { + "post_native_priming_applied": true, + "post_native_priming_elapsed_sec": 0.024173306010197848, + "per_camera_discarded_frame_count": { + "12540311": 0, + "17736741": 0, + "23007103": 0 + }, + "per_camera_post_native_priming_frame_count": { + "12540311": 1, + "17736741": 1, + "23007103": 1 + }, + "per_camera_first_official_native_frame_index": { + "12540311": 1, + "17736741": 1, + "23007103": 1 + } + } + }, + "camera_settings_policy": { + "artifact_type": "camera_settings_recording_summary", + "policy_artifact_type": "minimal_auto_recording_policy", + "recording_mode": "partial_auto", + "selected_policy_ids": { + "zed_12540311_stereo": "zed_exposure_gain_replay_keep_awb_auto", + "zed_17736741_stereo": "zed_keep_all_auto", + "zed_23007103_stereo": "zed_exposure_gain_replay_keep_awb_auto" + }, + "applied_groups": { + "zed_12540311_stereo": { + "selected_policy_id": "zed_exposure_gain_replay_keep_awb_auto", + "recording_readiness": "partial_auto_recording_policy", + "recording_mode": "partial_auto", + "auto_controls_remaining_enabled": [ + "auto_white_balance" + ], + "auto_controls_disabled": [ + "auto_exposure" + ], + "controls_allowed_to_drift_during_recording": [ + "white_balance" + ], + "manual_controls_written": [ + "exposure", + "gain" + ], + "expected_recording_behavior": "Exposure/gain fixed; white balance may continue adapting during recording.", + "reconstruction_priority_class": "exposure_gain_locked_awb_auto", + "exposure_gain_status": "manual_locked", + "white_balance_status": "auto_remaining_enabled", + "expected_reconstruction_risk": "Brightness scale is validated as fixed for reconstruction; white balance remains auto and may drift chromaticity during recording.", + "brightness_scale_locked": true, + "color_balance_locked": false, + "warning": "One or more RGB auto controls remain enabled and the listed controls may drift during recording.", + "readback_controls": { + "auto_exposure": false, + "auto_white_balance": true, + "exposure": 90.0, + "gain": 37.0, + "white_balance": 6500.0 + }, + "readback_success": true, + "readback_reasons": [] + }, + "zed_17736741_stereo": { + "selected_policy_id": "zed_keep_all_auto", + "recording_readiness": "partial_auto_recording_policy", + "recording_mode": "partial_auto", + "auto_controls_remaining_enabled": [ + "auto_exposure", + "auto_white_balance" + ], + "auto_controls_disabled": [], + "controls_allowed_to_drift_during_recording": [ + "exposure", + "gain", + "white_balance" + ], + "manual_controls_written": [], + "expected_recording_behavior": "Exposure/gain and white balance remain auto and may adapt during recording.", + "reconstruction_priority_class": "all_auto", + "exposure_gain_status": "auto_remaining_enabled", + "white_balance_status": "auto_remaining_enabled", + "expected_reconstruction_risk": "Exposure/gain and white balance remain auto. Brightness scale and color balance may drift during recording.", + "brightness_scale_locked": false, + "color_balance_locked": false, + "warning": "One or more RGB auto controls remain enabled and the listed controls may drift during recording. Selected keep-all-auto fallback passed with relaxed candidate verification; brightness and color balance may drift during recording.", + "readback_controls": { + "auto_exposure": true, + "auto_white_balance": true, + "exposure": 90.0, + "gain": 40.0, + "white_balance": 6500.0 + }, + "readback_success": true, + "readback_reasons": [] + }, + "zed_23007103_stereo": { + "selected_policy_id": "zed_exposure_gain_replay_keep_awb_auto", + "recording_readiness": "partial_auto_recording_policy", + "recording_mode": "partial_auto", + "auto_controls_remaining_enabled": [ + "auto_white_balance" + ], + "auto_controls_disabled": [ + "auto_exposure" + ], + "controls_allowed_to_drift_during_recording": [ + "white_balance" + ], + "manual_controls_written": [ + "exposure", + "gain" + ], + "expected_recording_behavior": "Exposure/gain fixed; white balance may continue adapting during recording.", + "reconstruction_priority_class": "exposure_gain_locked_awb_auto", + "exposure_gain_status": "manual_locked", + "white_balance_status": "auto_remaining_enabled", + "expected_reconstruction_risk": "Brightness scale is validated as fixed for reconstruction; white balance remains auto and may drift chromaticity during recording.", + "brightness_scale_locked": true, + "color_balance_locked": false, + "warning": "One or more RGB auto controls remain enabled and the listed controls may drift during recording.", + "readback_controls": { + "auto_exposure": false, + "auto_white_balance": true, + "exposure": 90.0, + "gain": 46.0, + "white_balance": 6500.0 + }, + "readback_success": true, + "readback_reasons": [] + } + }, + "warnings": [ + "zed_12540311_stereo: policy was validated with lower-confidence generic full-frame metrics", + "zed_17736741_stereo: policy was validated with lower-confidence generic full-frame metrics", + "zed_23007103_stereo: policy was validated with lower-confidence generic full-frame metrics" + ], + "diagnostic_image_paths": { + "zed_12540311_left_rgb": { + "baseline_auto": "diagnostic_images/baseline_auto/zed_12540311_left_rgb.webp", + "post_minimal_auto": "diagnostic_images/post_minimal_auto/zed_12540311_left_rgb.webp", + "side_by_side": "diagnostic_images/side_by_side/zed_12540311_left_rgb.webp" + }, + "zed_12540311_right_rgb": { + "baseline_auto": "diagnostic_images/baseline_auto/zed_12540311_right_rgb.webp", + "post_minimal_auto": "diagnostic_images/post_minimal_auto/zed_12540311_right_rgb.webp", + "side_by_side": "diagnostic_images/side_by_side/zed_12540311_right_rgb.webp" + }, + "zed_17736741_left_rgb": { + "baseline_auto": "diagnostic_images/baseline_auto/zed_17736741_left_rgb.webp", + "post_minimal_auto": "diagnostic_images/post_minimal_auto/zed_17736741_left_rgb.webp", + "side_by_side": "diagnostic_images/side_by_side/zed_17736741_left_rgb.webp" + }, + "zed_17736741_right_rgb": { + "baseline_auto": "diagnostic_images/baseline_auto/zed_17736741_right_rgb.webp", + "post_minimal_auto": "diagnostic_images/post_minimal_auto/zed_17736741_right_rgb.webp", + "side_by_side": "diagnostic_images/side_by_side/zed_17736741_right_rgb.webp" + }, + "zed_23007103_left_rgb": { + "baseline_auto": "diagnostic_images/baseline_auto/zed_23007103_left_rgb.webp", + "post_minimal_auto": "diagnostic_images/post_minimal_auto/zed_23007103_left_rgb.webp", + "side_by_side": "diagnostic_images/side_by_side/zed_23007103_left_rgb.webp" + }, + "zed_23007103_right_rgb": { + "baseline_auto": "diagnostic_images/baseline_auto/zed_23007103_right_rgb.webp", + "post_minimal_auto": "diagnostic_images/post_minimal_auto/zed_23007103_right_rgb.webp", + "side_by_side": "diagnostic_images/side_by_side/zed_23007103_right_rgb.webp" + } + }, + "policy_compatibility": { + "schema_version": 1, + "artifact_type": "camera_settings_policy_compatibility", + "status": "compatible", + "policy_artifact_path": "calibration_results/camera_auto_reset/20260623_175433/minimal_auto_recording_policy_artifact.json", + "policy_artifact_type": "minimal_auto_recording_policy", + "policy_artifact_schema_version": 1, + "camera_control_acquisition_signature_policy": { + "schema_version": 1, + "camera_rig_profile_name": "round-belt-three-zed", + "fps": 30, + "zed_fps": 30, + "realsense_fps": 30, + "zed_stream_profile_name": "HD1080", + "realsense_resolution_hw": [ + 720, + 1280 + ], + "controlled_cameras": { + "zed_12540311_stereo": { + "camera_type": "zed", + "serial_number": "12540311", + "settings_group_id": "zed_12540311_stereo" + }, + "zed_17736741_stereo": { + "camera_type": "zed", + "serial_number": "17736741", + "settings_group_id": "zed_17736741_stereo" + }, + "zed_23007103_stereo": { + "camera_type": "zed", + "serial_number": "23007103", + "settings_group_id": "zed_23007103_stereo" + } + } + }, + "camera_control_acquisition_signature_recorder": { + "schema_version": 1, + "camera_rig_profile_name": "round-belt-three-zed", + "fps": null, + "zed_fps": 30, + "realsense_fps": 0, + "zed_stream_profile_name": "HD1080", + "realsense_resolution_hw": [], + "controlled_cameras": { + "zed_12540311_stereo": { + "camera_type": "zed", + "serial_number": "12540311", + "settings_group_id": "zed_12540311_stereo" + }, + "zed_17736741_stereo": { + "camera_type": "zed", + "serial_number": "17736741", + "settings_group_id": "zed_17736741_stereo" + }, + "zed_23007103_stereo": { + "camera_type": "zed", + "serial_number": "23007103", + "settings_group_id": "zed_23007103_stereo" + } + }, + "policy_rgb_stream_ids": [ + "zed_12540311_left_rgb", + "zed_12540311_right_rgb", + "zed_17736741_left_rgb", + "zed_17736741_right_rgb", + "zed_23007103_left_rgb", + "zed_23007103_right_rgb" + ] + }, + "exact_match_fields": [ + "controlled_cameras", + "camera_rig_profile_name", + "zed_fps", + "zed_stream_profile_name" + ], + "field_comparisons": { + "camera_rig_profile_name": { + "policy": "round-belt-three-zed", + "recorder": "round-belt-three-zed", + "match": true + }, + "zed_fps": { + "policy": 30, + "recorder": 30, + "match": true + }, + "realsense_fps": { + "policy": 30, + "recorder": 0, + "match": true, + "skipped": true, + "reason": "Recorder session has no realsense cameras; policy value ignored." + }, + "zed_stream_profile_name": { + "policy": "HD1080", + "recorder": "HD1080", + "match": true + }, + "realsense_resolution_hw": { + "policy": [ + 720, + 1280 + ], + "recorder": [], + "match": true, + "skipped": true, + "reason": "Recorder session has no RealSense cameras; policy value ignored." + } + }, + "tolerated_differences": [ + { + "field": "realsense_fps", + "policy": 30, + "recorder": 0, + "reason": "Policy includes realsense FPS but this recorder session has no realsense cameras." + }, + { + "field": "realsense_resolution_hw", + "policy": [ + 720, + 1280 + ], + "recorder": [], + "reason": "Policy includes RealSense resolution but this recorder session has no RealSense cameras." + }, + { + "field": "enabled_rgb_stream_ids", + "policy": [], + "recorder": [ + "zed_12540311_left_rgb", + "zed_12540311_right_rgb", + "zed_17736741_left_rgb", + "zed_17736741_right_rgb", + "zed_23007103_left_rgb", + "zed_23007103_right_rgb" + ], + "reason": "Policy was generated with an empty enabled_rgb_stream_ids list (infer-all live semantics). Recorder stream list is informational only." + }, + { + "field": "realsense_streams", + "policy": null, + "recorder": [ + "color", + "depth" + ], + "reason": "Recorder enables additional RealSense substreams (depth/IR) not used during RGB-only policy generation." + }, + { + "field": "zed_depth_mode", + "policy": null, + "recorder": "NEURAL_PLUS", + "reason": "ZED depth mode is a native recording payload concern, not RGB camera-control state." + }, + { + "field": "zed_svo_compression_mode", + "policy": null, + "recorder": "H265_LOSSLESS", + "reason": "SVO compression is a container concern, not RGB camera-control state." + } + ], + "warnings": [ + "Policy artifact did not pin enabled_rgb_stream_ids; recorder has explicit RGB streams.", + "realsense_streams: policy=None recorder=['color', 'depth'] (tolerated).", + "zed_depth_mode: policy=None recorder='NEURAL_PLUS' (tolerated).", + "zed_svo_compression_mode: policy=None recorder='H265_LOSSLESS' (tolerated)." + ], + "errors": [] + }, + "camera_control_acquisition_signature_policy": { + "schema_version": 1, + "camera_rig_profile_name": "round-belt-three-zed", + "fps": 30, + "zed_fps": 30, + "realsense_fps": 30, + "zed_stream_profile_name": "HD1080", + "realsense_resolution_hw": [ + 720, + 1280 + ], + "controlled_cameras": { + "zed_12540311_stereo": { + "camera_type": "zed", + "serial_number": "12540311", + "settings_group_id": "zed_12540311_stereo" + }, + "zed_17736741_stereo": { + "camera_type": "zed", + "serial_number": "17736741", + "settings_group_id": "zed_17736741_stereo" + }, + "zed_23007103_stereo": { + "camera_type": "zed", + "serial_number": "23007103", + "settings_group_id": "zed_23007103_stereo" + } + } + }, + "camera_control_acquisition_signature_recorder": { + "schema_version": 1, + "camera_rig_profile_name": "round-belt-three-zed", + "fps": null, + "zed_fps": 30, + "realsense_fps": 0, + "zed_stream_profile_name": "HD1080", + "realsense_resolution_hw": [], + "controlled_cameras": { + "zed_12540311_stereo": { + "camera_type": "zed", + "serial_number": "12540311", + "settings_group_id": "zed_12540311_stereo" + }, + "zed_17736741_stereo": { + "camera_type": "zed", + "serial_number": "17736741", + "settings_group_id": "zed_17736741_stereo" + }, + "zed_23007103_stereo": { + "camera_type": "zed", + "serial_number": "23007103", + "settings_group_id": "zed_23007103_stereo" + } + }, + "policy_rgb_stream_ids": [ + "zed_12540311_left_rgb", + "zed_12540311_right_rgb", + "zed_17736741_left_rgb", + "zed_17736741_right_rgb", + "zed_23007103_left_rgb", + "zed_23007103_right_rgb" + ] + } + }, + "camera_settings_policy_acquisition_validation": { + "status": "compatible", + "compatibility": { + "schema_version": 1, + "artifact_type": "camera_settings_policy_compatibility", + "status": "compatible", + "policy_artifact_path": "calibration_results/camera_auto_reset/20260623_175433/minimal_auto_recording_policy_artifact.json", + "policy_artifact_type": "minimal_auto_recording_policy", + "policy_artifact_schema_version": 1, + "camera_control_acquisition_signature_policy": { + "schema_version": 1, + "camera_rig_profile_name": "round-belt-three-zed", + "fps": 30, + "zed_fps": 30, + "realsense_fps": 30, + "zed_stream_profile_name": "HD1080", + "realsense_resolution_hw": [ + 720, + 1280 + ], + "controlled_cameras": { + "zed_12540311_stereo": { + "camera_type": "zed", + "serial_number": "12540311", + "settings_group_id": "zed_12540311_stereo" + }, + "zed_17736741_stereo": { + "camera_type": "zed", + "serial_number": "17736741", + "settings_group_id": "zed_17736741_stereo" + }, + "zed_23007103_stereo": { + "camera_type": "zed", + "serial_number": "23007103", + "settings_group_id": "zed_23007103_stereo" + } + } + }, + "camera_control_acquisition_signature_recorder": { + "schema_version": 1, + "camera_rig_profile_name": "round-belt-three-zed", + "fps": null, + "zed_fps": 30, + "realsense_fps": 0, + "zed_stream_profile_name": "HD1080", + "realsense_resolution_hw": [], + "controlled_cameras": { + "zed_12540311_stereo": { + "camera_type": "zed", + "serial_number": "12540311", + "settings_group_id": "zed_12540311_stereo" + }, + "zed_17736741_stereo": { + "camera_type": "zed", + "serial_number": "17736741", + "settings_group_id": "zed_17736741_stereo" + }, + "zed_23007103_stereo": { + "camera_type": "zed", + "serial_number": "23007103", + "settings_group_id": "zed_23007103_stereo" + } + }, + "policy_rgb_stream_ids": [ + "zed_12540311_left_rgb", + "zed_12540311_right_rgb", + "zed_17736741_left_rgb", + "zed_17736741_right_rgb", + "zed_23007103_left_rgb", + "zed_23007103_right_rgb" + ] + }, + "exact_match_fields": [ + "controlled_cameras", + "camera_rig_profile_name", + "zed_fps", + "zed_stream_profile_name" + ], + "field_comparisons": { + "camera_rig_profile_name": { + "policy": "round-belt-three-zed", + "recorder": "round-belt-three-zed", + "match": true + }, + "zed_fps": { + "policy": 30, + "recorder": 30, + "match": true + }, + "realsense_fps": { + "policy": 30, + "recorder": 0, + "match": true, + "skipped": true, + "reason": "Recorder session has no realsense cameras; policy value ignored." + }, + "zed_stream_profile_name": { + "policy": "HD1080", + "recorder": "HD1080", + "match": true + }, + "realsense_resolution_hw": { + "policy": [ + 720, + 1280 + ], + "recorder": [], + "match": true, + "skipped": true, + "reason": "Recorder session has no RealSense cameras; policy value ignored." + } + }, + "tolerated_differences": [ + { + "field": "realsense_fps", + "policy": 30, + "recorder": 0, + "reason": "Policy includes realsense FPS but this recorder session has no realsense cameras." + }, + { + "field": "realsense_resolution_hw", + "policy": [ + 720, + 1280 + ], + "recorder": [], + "reason": "Policy includes RealSense resolution but this recorder session has no RealSense cameras." + }, + { + "field": "enabled_rgb_stream_ids", + "policy": [], + "recorder": [ + "zed_12540311_left_rgb", + "zed_12540311_right_rgb", + "zed_17736741_left_rgb", + "zed_17736741_right_rgb", + "zed_23007103_left_rgb", + "zed_23007103_right_rgb" + ], + "reason": "Policy was generated with an empty enabled_rgb_stream_ids list (infer-all live semantics). Recorder stream list is informational only." + }, + { + "field": "realsense_streams", + "policy": null, + "recorder": [ + "color", + "depth" + ], + "reason": "Recorder enables additional RealSense substreams (depth/IR) not used during RGB-only policy generation." + }, + { + "field": "zed_depth_mode", + "policy": null, + "recorder": "NEURAL_PLUS", + "reason": "ZED depth mode is a native recording payload concern, not RGB camera-control state." + }, + { + "field": "zed_svo_compression_mode", + "policy": null, + "recorder": "H265_LOSSLESS", + "reason": "SVO compression is a container concern, not RGB camera-control state." + } + ], + "warnings": [ + "Policy artifact did not pin enabled_rgb_stream_ids; recorder has explicit RGB streams.", + "realsense_streams: policy=None recorder=['color', 'depth'] (tolerated).", + "zed_depth_mode: policy=None recorder='NEURAL_PLUS' (tolerated).", + "zed_svo_compression_mode: policy=None recorder='H265_LOSSLESS' (tolerated)." + ], + "errors": [] + }, + "camera_control_acquisition_signature_policy": { + "schema_version": 1, + "camera_rig_profile_name": "round-belt-three-zed", + "fps": 30, + "zed_fps": 30, + "realsense_fps": 30, + "zed_stream_profile_name": "HD1080", + "realsense_resolution_hw": [ + 720, + 1280 + ], + "controlled_cameras": { + "zed_12540311_stereo": { + "camera_type": "zed", + "serial_number": "12540311", + "settings_group_id": "zed_12540311_stereo" + }, + "zed_17736741_stereo": { + "camera_type": "zed", + "serial_number": "17736741", + "settings_group_id": "zed_17736741_stereo" + }, + "zed_23007103_stereo": { + "camera_type": "zed", + "serial_number": "23007103", + "settings_group_id": "zed_23007103_stereo" + } + } + }, + "camera_control_acquisition_signature_recorder": { + "schema_version": 1, + "camera_rig_profile_name": "round-belt-three-zed", + "fps": null, + "zed_fps": 30, + "realsense_fps": 0, + "zed_stream_profile_name": "HD1080", + "realsense_resolution_hw": [], + "controlled_cameras": { + "zed_12540311_stereo": { + "camera_type": "zed", + "serial_number": "12540311", + "settings_group_id": "zed_12540311_stereo" + }, + "zed_17736741_stereo": { + "camera_type": "zed", + "serial_number": "17736741", + "settings_group_id": "zed_17736741_stereo" + }, + "zed_23007103_stereo": { + "camera_type": "zed", + "serial_number": "23007103", + "settings_group_id": "zed_23007103_stereo" + } + }, + "policy_rgb_stream_ids": [ + "zed_12540311_left_rgb", + "zed_12540311_right_rgb", + "zed_17736741_left_rgb", + "zed_17736741_right_rgb", + "zed_23007103_left_rgb", + "zed_23007103_right_rgb" + ] + }, + "requested_acquisition": { + "camera_rig_profile_name": "round-belt-three-zed", + "capture_profile_name": "zed-1080p30", + "enabled_rgb_stream_ids": [], + "resolution": null, + "fps": 30, + "stream_profile_name": null, + "image_format": null, + "zed_stream_profile_name": null, + "realsense_resolution_hw": null, + "realsense_image_format": null, + "realsense_rectify_color": true, + "preflight_probe_timeout_s": 5.0, + "realsense_duplicate_frame_policy": "wait_for_new", + "realsense_duplicate_timeout_s": 2.0, + "realsense_duplicate_max_count": null, + "enable_zed_depth_for_occlusion": false, + "zed_depth_occlusion_policy": "disabled", + "zed_depth_mode_for_occlusion": "NEURAL_PLUS", + "allow_stereo_pair_left_depth_as_group_occlusion_check": true, + "depth_min_valid_fraction": 0.25, + "foreground_margin_m": 0.05, + "depth_statistic": "adaptive", + "depth_unknown_policy": "allow_with_warning", + "exclude_patch_ids": [], + "patch_visibility_override": null + }, + "recording_config_acquisition": { + "capture_profile_name": "zed-1080p30", + "camera_rig_profile_name": "round-belt-three-zed", + "enabled_rgb_stream_ids": [ + "zed_12540311_left_rgb", + "zed_12540311_right_rgb", + "zed_17736741_left_rgb", + "zed_17736741_right_rgb", + "zed_23007103_left_rgb", + "zed_23007103_right_rgb" + ], + "fps": null, + "zed_stream_profile_name": "HD1080", + "realsense_resolution_hw": null, + "realsense_image_format": null, + "per_camera": { + "zed_12540311": { + "camera_type": "zed", + "serial_number": "12540311", + "resolution": [ + 1080, + 1920 + ], + "fps": 30.0, + "stream_profile_name": "HD1080", + "image_format": "rgb8" + }, + "zed_17736741": { + "camera_type": "zed", + "serial_number": "17736741", + "resolution": [ + 1080, + 1920 + ], + "fps": 30.0, + "stream_profile_name": "HD1080", + "image_format": "rgb8" + }, + "zed_23007103": { + "camera_type": "zed", + "serial_number": "23007103", + "resolution": [ + 1080, + 1920 + ], + "fps": 30.0, + "stream_profile_name": "HD1080", + "image_format": "rgb8" + } + }, + "zed_depth_mode": "NEURAL_PLUS", + "realsense_streams": [ + "color", + "depth" + ], + "zed_svo_compression_mode": "H265_LOSSLESS" + }, + "actual_opened_acquisition": { + "camera_rig_profile_name": "round-belt-three-zed", + "enabled_rgb_stream_ids": [ + "zed_12540311_left_rgb", + "zed_12540311_right_rgb", + "zed_17736741_left_rgb", + "zed_17736741_right_rgb", + "zed_23007103_left_rgb", + "zed_23007103_right_rgb" + ], + "per_camera": { + "zed_12540311": { + "resolution": [ + 1080, + 1920 + ], + "fps": 30.0, + "stream_profile_name": "HD1080", + "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": "12540311", + "camera_name": "newerr" + }, + "zed_17736741": { + "resolution": [ + 1080, + 1920 + ], + "fps": 30.0, + "stream_profile_name": "HD1080", + "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": "17736741", + "camera_name": "amazonbasics" + }, + "zed_23007103": { + "resolution": [ + 1080, + 1920 + ], + "fps": 30.0, + "stream_profile_name": "HD1080", + "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": "23007103", + "camera_name": "zed-23007103" + } + } + } + }, + "recording_elapsed_sec": 49.83592081069946, + "recording_active_elapsed_sec": 22.000945609, + "recording_timing": { + "attempt_elapsed_sec": 49.835917472839355, + "official_active_elapsed_sec": 22.000945609, + "preroll_elapsed_sec": 0.8796788749750704, + "wind_down_elapsed_sec": 2.384199253981933, + "recording_started_at_unix_time_ns": 1782309382358171379, + "official_started_at_unix_time_ns": 1782309382358171379, + "official_stopped_at_unix_time_ns": 1782309404359116988, + "stream_preroll": { + "stream_warmup_frames": 15, + "stream_settle_sec": 0.0, + "preroll_elapsed_sec": 0.8796788749750704, + "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": { + "12540311": 15, + "17736741": 15, + "23007103": 15 + }, + "post_native_priming": { + "post_native_priming_applied": true, + "post_native_priming_elapsed_sec": 0.024173306010197848, + "per_camera_discarded_frame_count": { + "12540311": 0, + "17736741": 0, + "23007103": 0 + }, + "per_camera_post_native_priming_frame_count": { + "12540311": 1, + "17736741": 1, + "23007103": 1 + }, + "per_camera_first_official_native_frame_index": { + "12540311": 1, + "17736741": 1, + "23007103": 1 + } + } + } + }, + "recording_stop_reason": "signal_sigint" +} \ No newline at end of file diff --git a/sessions/session_20260624_095554_523212/metadata/session.json b/sessions/session_20260624_095554_523212/metadata/session.json new file mode 100644 index 0000000000000000000000000000000000000000..54f30c3ec3267ca1bffd6836ab73d596e3ca230a --- /dev/null +++ b/sessions/session_20260624_095554_523212/metadata/session.json @@ -0,0 +1,46 @@ +{ + "conversion_time": "2026-06-24T14:02:58.626617+00:00", + "converter_command": [ + "/mnt/data0/magna/belt_perception/.venv/bin/python3", + "-m", + "dataset_converter.convert_session", + "--recording-dir", + "recordings/20260624_095554_523212", + "--output-root", + "converted_datasets", + "--no-require-recording-pairing-validation", + "--session-description", + "three zed nuko plush poke spin", + "--input-format", + "manifest", + "--zed-streams", + "all", + "--depth-encoder", + "zdepth", + "--calibration-source", + "packaged-required", + "--zdepth-over-max-behavior", + "clamp", + "--timestamp-gap-policy", + "warn", + "--large-gap-fail-multiplier", + "3.5", + "--validate" + ], + "converter_git_commit": "c841051d5ad29634d03924410f4896068cc97b17", + "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": 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