Upload 1 converted dataset session

.gitattributes

@@ -110,3 +110,7 @@ sessions/session_20260629_151837_231020/videos/zed_17736741_right_rgb.mkv filter
 sessions/session_20260629_151837_231020/videos/zed_23007103_depth_zed_sdk_neural_plus.zdepth filter=lfs diff=lfs merge=lfs -text
 sessions/session_20260629_151837_231020/videos/zed_23007103_left_rgb.mkv filter=lfs diff=lfs merge=lfs -text
 sessions/session_20260629_151837_231020/videos/zed_23007103_right_rgb.mkv filter=lfs diff=lfs merge=lfs -text
+sessions/session_20260707_174549_045171/videos/zed_12540311_left_rgb.mkv filter=lfs diff=lfs merge=lfs -text
+sessions/session_20260707_174549_045171/videos/zed_12933256_left_rgb.mkv filter=lfs diff=lfs merge=lfs -text
+sessions/session_20260707_174549_045171/videos/zed_17736741_left_rgb.mkv filter=lfs diff=lfs merge=lfs -text
+sessions/session_20260707_174549_045171/videos/zed_23007103_left_rgb.mkv filter=lfs diff=lfs merge=lfs -text

sessions/session_20260707_174549_045171/metadata/calibration_package/calibration_package_manifest.json

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sessions/session_20260707_174549_045171/metadata/calibration_package/transforms_index.json

@@ -0,0 +1,12 @@
+{
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+  "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)"
+}

sessions/session_20260707_174549_045171/metadata/calibration_package/world_T_camera_by_serial.npz

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+version https://git-lfs.github.com/spec/v1
+oid sha256:9472ee8eb50af9230acc4cedce9ac44b72c8af18aed27a8657788663d8b40efb
+size 1526

sessions/session_20260707_174549_045171/metadata/camera_settings/camera_settings_application_log.json

@@ -0,0 +1,271 @@
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sessions/session_20260707_174549_045171/metadata/camera_settings/camera_settings_policy_applied.json

@@ -0,0 +1,141 @@
+{
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+        "exposure": 90.0,
+        "gain": 40.0,
+        "white_balance": 4700.0
+      },
+      "readback_success": true,
+      "readback_reasons": []
+    },
+    "zed_12933256_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": 36.0,
+        "white_balance": 4700.0
+      },
+      "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": 38.0,
+        "white_balance": 4700.0
+      },
+      "readback_success": true,
+      "readback_reasons": []
+    },
+    "zed_23007103_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": 54.0,
+        "white_balance": 4700.0
+      },
+      "readback_success": true,
+      "readback_reasons": []
+    }
+  }
+}

sessions/session_20260707_174549_045171/metadata/camera_settings/camera_settings_policy_source.json

@@ -0,0 +1,1309 @@
+{
+  "artifact_type": "camera_settings_policy_source",
+  "policy_artifact_type": "minimal_auto_recording_policy",
+  "policy_artifact": {
+    "schema_version": 1,
+    "artifact_type": "minimal_auto_recording_policy",
+    "overall_success": true,
+    "metric_mode": "generic_full_frame_metrics",
+    "confidence": "lower",
+    "confidence_reason": "No board pose / patch extraction available for candidate scoring.",
+    "can_be_consumed_by_recording_script": true,
+    "can_be_consumed_by_live_tuning": false,
+    "recording_application_required": true,
+    "created_from_run_dir": "calibration_results/camera_auto_reset/20260629_142441",
+    "requested_acquisition": {
+      "camera_rig_profile_name": "four-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"
+        },
+        "zed-12933256": {
+          "resolution": [
+            1080,
+            1920
+          ],
+          "fps": 30.0,
+          "stream_profile_name": "HD1080",
+          "image_format": "rgb8",
+          "camera_id": "zed-12933256",
+          "camera_type": "zed",
+          "serial_number": "12933256"
+        }
+      },
+      "enabled_rgb_stream_ids": [
+        "zed_12540311_left_rgb",
+        "zed_12540311_right_rgb",
+        "zed_12933256_left_rgb",
+        "zed_12933256_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"
+    },
+    "selected_policy_ids": {
+      "zed_12540311_stereo": "zed_exposure_gain_replay_keep_awb_auto",
+      "zed_12933256_stereo": "zed_exposure_gain_replay_keep_awb_auto",
+      "zed_17736741_stereo": "zed_keep_all_auto",
+      "zed_23007103_stereo": "zed_keep_all_auto"
+    },
+    "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_12933256_left_rgb": {
+        "baseline_auto": "diagnostic_images/baseline_auto/zed_12933256_left_rgb.webp",
+        "post_minimal_auto": "diagnostic_images/post_minimal_auto/zed_12933256_left_rgb.webp",
+        "side_by_side": "diagnostic_images/side_by_side/zed_12933256_left_rgb.webp"
+      },
+      "zed_12933256_right_rgb": {
+        "baseline_auto": "diagnostic_images/baseline_auto/zed_12933256_right_rgb.webp",
+        "post_minimal_auto": "diagnostic_images/post_minimal_auto/zed_12933256_right_rgb.webp",
+        "side_by_side": "diagnostic_images/side_by_side/zed_12933256_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"
+      }
+    },
+    "settings_groups": {
+      "zed_12540311_stereo": {
+        "settings_group_id": "zed_12540311_stereo",
+        "settings_scope": "zed_stereo_pair",
+        "camera_id": "newerr",
+        "camera_type": "zed",
+        "serial_number": "12540311",
+        "member_rgb_stream_ids": [
+          "zed_12540311_left_rgb",
+          "zed_12540311_right_rgb"
+        ],
+        "selected_policy_id": "zed_exposure_gain_replay_keep_awb_auto",
+        "execution_model": "action_sequence_required",
+        "static_replayable": true,
+        "action_sequence_required": true,
+        "session_continuity_required": false,
+        "requires_auto_warmup_before_actions": false,
+        "required_warmup_frames": 0,
+        "can_be_applied_after_camera_reopen": true,
+        "non_replayable_manual_controls": [],
+        "recording_readiness": "partial_auto_recording_policy",
+        "requires_same_camera_session": false,
+        "auto_controls_remaining_enabled": [
+          "auto_white_balance"
+        ],
+        "auto_controls_disabled": [
+          "auto_exposure"
+        ],
+        "manual_controls_written": [
+          "exposure",
+          "gain"
+        ],
+        "controls_allowed_to_drift_during_recording": [
+          "white_balance"
+        ],
+        "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,
+        "metric_mode": "generic_full_frame_metrics",
+        "confidence": "lower",
+        "confidence_reason": "No board pose / patch extraction available for candidate scoring.",
+        "controls_replayed": [
+          "exposure",
+          "gain"
+        ],
+        "controls_kept_auto": [
+          "auto_white_balance"
+        ],
+        "controls_disabled_auto": [
+          "auto_exposure"
+        ],
+        "baseline_unavailable_manual_controls": [],
+        "image_equivalence_success": true,
+        "image_equivalence_reasons": [],
+        "control_verification_success": true,
+        "control_verification_reasons": [],
+        "ordered_initialization_actions": [
+          {
+            "order": 1,
+            "control": "auto_exposure",
+            "action": "set",
+            "value": false
+          },
+          {
+            "order": 2,
+            "control": "exposure",
+            "action": "set",
+            "value": 90.0
+          },
+          {
+            "order": 3,
+            "control": "gain",
+            "action": "set",
+            "value": 40.0
+          },
+          {
+            "order": 4,
+            "control": "auto_white_balance",
+            "action": "set",
+            "value": true
+          }
+        ],
+        "replayable_scalar_controls": {
+          "exposure": 90.0,
+          "gain": 40.0
+        },
+        "final_expected_readback_state": {
+          "auto_exposure": false,
+          "exposure": 90.0,
+          "gain": 40.0,
+          "auto_white_balance": true
+        },
+        "final_observed_readback_state": {
+          "auto_exposure": false,
+          "auto_white_balance": true,
+          "exposure": 90.0,
+          "gain": 40.0,
+          "white_balance": 6500.0
+        },
+        "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"
+          }
+        },
+        "verification_metrics": {
+          "baseline": {
+            "zed_12540311_left_rgb": {
+              "color_space": "srgb_gamma",
+              "mean_luma": 0.41170404851436615,
+              "median_luma": 0.5215686559677124,
+              "p95_luma": 0.7163398861885071,
+              "saturation_fraction": 0.0006548996913580247,
+              "channel_clipped_fraction": 0.06533540702160494,
+              "rg_ratio": 1.0764960050582886,
+              "bg_ratio": 0.9624015688896179,
+              "warm_cast_score": 0.11213451280452737,
+              "cool_cast_score": 0.0
+            },
+            "zed_12540311_right_rgb": {
+              "color_space": "srgb_gamma",
+              "mean_luma": 0.402103066444397,
+              "median_luma": 0.5084967613220215,
+              "p95_luma": 0.7163398861885071,
+              "saturation_fraction": 0.0005459104938271605,
+              "channel_clipped_fraction": 0.0709886188271605,
+              "rg_ratio": 1.0986650586128235,
+              "bg_ratio": 0.9502564072608948,
+              "warm_cast_score": 0.14517252287665966,
+              "cool_cast_score": 0.0
+            }
+          },
+          "post_initialization": {
+            "zed_12540311_left_rgb": {
+              "color_space": "srgb_gamma",
+              "mean_luma": 0.4117082506418228,
+              "median_luma": 0.5215686559677124,
+              "p95_luma": 0.7163398861885071,
+              "saturation_fraction": 0.0006486304012345679,
+              "channel_clipped_fraction": 0.06546947337962963,
+              "rg_ratio": 1.0757319331169128,
+              "bg_ratio": 0.9620907306671143,
+              "warm_cast_score": 0.1117184676799349,
+              "cool_cast_score": 0.0
+            },
+            "zed_12540311_right_rgb": {
+              "color_space": "srgb_gamma",
+              "mean_luma": 0.4021523594856262,
+              "median_luma": 0.5084967613220215,
+              "p95_luma": 0.7163398861885071,
+              "saturation_fraction": 0.0005430169753086419,
+              "channel_clipped_fraction": 0.07100212191358024,
+              "rg_ratio": 1.0976914167404175,
+              "bg_ratio": 0.9505270719528198,
+              "warm_cast_score": 0.14389905417043947,
+              "cool_cast_score": 0.0
+            }
+          },
+          "deltas": {
+            "zed_12540311_left_rgb": {
+              "mean_luma": {
+                "baseline": 0.41170404851436615,
+                "post": 0.4117082506418228,
+                "delta": 4.202127456665039e-06,
+                "abs_delta": 4.202127456665039e-06
+              },
+              "median_luma": {
+                "baseline": 0.5215686559677124,
+                "post": 0.5215686559677124,
+                "delta": 0.0,
+                "abs_delta": 0.0
+              },
+              "p95_luma": {
+                "baseline": 0.7163398861885071,
+                "post": 0.7163398861885071,
+                "delta": 0.0,
+                "abs_delta": 0.0
+              },
+              "saturation_fraction": {
+                "baseline": 0.0006548996913580247,
+                "post": 0.0006486304012345679,
+                "delta": -6.26929012345677e-06,
+                "abs_delta": 6.26929012345677e-06
+              },
+              "channel_clipped_fraction": {
+                "baseline": 0.06533540702160494,
+                "post": 0.06546947337962963,
+                "delta": 0.00013406635802469535,
+                "abs_delta": 0.00013406635802469535
+              },
+              "rg_ratio": {
+                "baseline": 1.0764960050582886,
+                "post": 1.0757319331169128,
+                "delta": -0.0007640719413757324,
+                "abs_delta": 0.0007640719413757324
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+              "bg_ratio": {
+                "baseline": 0.9624015688896179,
+                "post": 0.9620907306671143,
+                "delta": -0.0003108382225036621,
+                "abs_delta": 0.0003108382225036621
+              },
+              "warm_cast_score": {
+                "baseline": 0.11213451280452737,
+                "post": 0.1117184676799349,
+                "delta": -0.0004160451245924651,
+                "abs_delta": 0.0004160451245924651
+              },
+              "cool_cast_score": {
+                "baseline": 0.0,
+                "post": 0.0,
+                "delta": 0.0,
+                "abs_delta": 0.0
+              }
+            },
+            "zed_12540311_right_rgb": {
+              "mean_luma": {
+                "baseline": 0.402103066444397,
+                "post": 0.4021523594856262,
+                "delta": 4.929304122924805e-05,
+                "abs_delta": 4.929304122924805e-05
+              },
+              "median_luma": {
+                "baseline": 0.5084967613220215,
+                "post": 0.5084967613220215,
+                "delta": 0.0,
+                "abs_delta": 0.0
+              },
+              "p95_luma": {
+                "baseline": 0.7163398861885071,
+                "post": 0.7163398861885071,
+                "delta": 0.0,
+                "abs_delta": 0.0
+              },
+              "saturation_fraction": {
+                "baseline": 0.0005459104938271605,
+                "post": 0.0005430169753086419,
+                "delta": -2.8935185185186094e-06,
+                "abs_delta": 2.8935185185186094e-06
+              },
+              "channel_clipped_fraction": {
+                "baseline": 0.0709886188271605,
+                "post": 0.07100212191358024,
+                "delta": 1.3503086419744403e-05,
+                "abs_delta": 1.3503086419744403e-05
+              },
+              "rg_ratio": {
+                "baseline": 1.0986650586128235,
+                "post": 1.0976914167404175,
+                "delta": -0.0009736418724060059,
+                "abs_delta": 0.0009736418724060059
+              },
+              "bg_ratio": {
+                "baseline": 0.9502564072608948,
+                "post": 0.9505270719528198,
+                "delta": 0.00027066469192504883,
+                "abs_delta": 0.00027066469192504883
+              },
+              "warm_cast_score": {
+                "baseline": 0.14517252287665966,
+                "post": 0.14389905417043947,
+                "delta": -0.0012734687062201933,
+                "abs_delta": 0.0012734687062201933
+              },
+              "cool_cast_score": {
+                "baseline": 0.0,
+                "post": 0.0,
+                "delta": 0.0,
+                "abs_delta": 0.0
+              }
+            }
+          },
+          "image_equivalence_success": true,
+          "image_equivalence_reasons": []
+        },
+        "recording_mode": "partial_auto",
+        "recording_consumable_after_reopen": true,
+        "warning": "One or more RGB auto controls remain enabled and the listed controls may drift during recording."
+      },
+      "zed_12933256_stereo": {
+        "settings_group_id": "zed_12933256_stereo",
+        "settings_scope": "zed_stereo_pair",
+        "camera_id": "zed-12933256",
+        "camera_type": "zed",
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+        "recording_readiness": "partial_auto_recording_policy",
+        "requires_same_camera_session": false,
+        "auto_controls_remaining_enabled": [
+          "auto_exposure",
+          "auto_white_balance"
+        ],
+        "auto_controls_disabled": [],
+        "manual_controls_written": [],
+        "controls_allowed_to_drift_during_recording": [
+          "exposure",
+          "gain",
+          "white_balance"
+        ],
+        "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,
+        "metric_mode": "generic_full_frame_metrics",
+        "confidence": "lower",
+        "confidence_reason": "No board pose / patch extraction available for candidate scoring.",
+        "controls_replayed": [],
+        "controls_kept_auto": [
+          "auto_exposure",
+          "auto_white_balance"
+        ],
+        "controls_disabled_auto": [],
+        "baseline_unavailable_manual_controls": [],
+        "image_equivalence_success": true,
+        "image_equivalence_reasons": [],
+        "control_verification_success": true,
+        "control_verification_reasons": [],
+        "ordered_initialization_actions": [
+          {
+            "order": 1,
+            "control": "auto_exposure",
+            "action": "set",
+            "value": true
+          },
+          {
+            "order": 2,
+            "control": "auto_white_balance",
+            "action": "set",
+            "value": true
+          }
+        ],
+        "replayable_scalar_controls": {},
+        "final_expected_readback_state": {
+          "auto_exposure": true,
+          "auto_white_balance": true
+        },
+        "final_observed_readback_state": {
+          "auto_exposure": true,
+          "auto_white_balance": true,
+          "exposure": 90.0,
+          "gain": 52.0,
+          "white_balance": 6500.0
+        },
+        "diagnostic_image_paths": {
+          "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"
+          }
+        },
+        "verification_metrics": {
+          "baseline": {
+            "zed_23007103_left_rgb": {
+              "color_space": "srgb_gamma",
+              "mean_luma": 0.44313059747219086,
+              "median_luma": 0.5039215981960297,
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+              "saturation_fraction": 0.003611111111111111,
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+              "rg_ratio": 1.0550625324249268,
+              "bg_ratio": 0.9656378626823425,
+              "warm_cast_score": 0.08853124271354132,
+              "cool_cast_score": 0.0
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+            "zed_23007103_right_rgb": {
+              "color_space": "srgb_gamma",
+              "mean_luma": 0.40824665129184723,
+              "median_luma": 0.4261437952518463,
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+              "rg_ratio": 1.1403431296348572,
+              "bg_ratio": 0.8867565095424652,
+              "warm_cast_score": 0.2512924215225283,
+              "cool_cast_score": 0.0
+            }
+          },
+          "post_initialization": {
+            "zed_23007103_left_rgb": {
+              "color_space": "srgb_gamma",
+              "mean_luma": 0.44366705417633057,
+              "median_luma": 0.5045751929283142,
+              "p95_luma": 0.7398692965507507,
+              "saturation_fraction": 0.0036067708333333334,
+              "channel_clipped_fraction": 0.02724464699074074,
+              "rg_ratio": 1.0543938279151917,
+              "bg_ratio": 0.9683626592159271,
+              "warm_cast_score": 0.08533815553216702,
+              "cool_cast_score": 0.0
+            },
+            "zed_23007103_right_rgb": {
+              "color_space": "srgb_gamma",
+              "mean_luma": 0.408437579870224,
+              "median_luma": 0.4261437952518463,
+              "p95_luma": 0.7254902720451355,
+              "saturation_fraction": 0.003083526234567901,
+              "channel_clipped_fraction": 0.03339964313271605,
+              "rg_ratio": 1.1394192576408386,
+              "bg_ratio": 0.8869825303554535,
+              "warm_cast_score": 0.2501985758821294,
+              "cool_cast_score": 0.0
+            }
+          },
+          "deltas": {
+            "zed_23007103_left_rgb": {
+              "mean_luma": {
+                "baseline": 0.44313059747219086,
+                "post": 0.44366705417633057,
+                "delta": 0.0005364567041397095,
+                "abs_delta": 0.0005364567041397095
+              },
+              "median_luma": {
+                "baseline": 0.5039215981960297,
+                "post": 0.5045751929283142,
+                "delta": 0.0006535947322845459,
+                "abs_delta": 0.0006535947322845459
+              },
+              "p95_luma": {
+                "baseline": 0.7398692965507507,
+                "post": 0.7398692965507507,
+                "delta": 0.0,
+                "abs_delta": 0.0
+              },
+              "saturation_fraction": {
+                "baseline": 0.003611111111111111,
+                "post": 0.0036067708333333334,
+                "delta": -4.340277777777589e-06,
+                "abs_delta": 4.340277777777589e-06
+              },
+              "channel_clipped_fraction": {
+                "baseline": 0.02724175347222222,
+                "post": 0.02724464699074074,
+                "delta": 2.8935185185201273e-06,
+                "abs_delta": 2.8935185185201273e-06
+              },
+              "rg_ratio": {
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+                "post": 1.0543938279151917,
+                "delta": -0.0006687045097351074,
+                "abs_delta": 0.0006687045097351074
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+              "bg_ratio": {
+                "baseline": 0.9656378626823425,
+                "post": 0.9683626592159271,
+                "delta": 0.0027247965335845947,
+                "abs_delta": 0.0027247965335845947
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+              "warm_cast_score": {
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+                "post": 0.08533815553216702,
+                "delta": -0.0031930871813743017,
+                "abs_delta": 0.0031930871813743017
+              },
+              "cool_cast_score": {
+                "baseline": 0.0,
+                "post": 0.0,
+                "delta": 0.0,
+                "abs_delta": 0.0
+              }
+            },
+            "zed_23007103_right_rgb": {
+              "mean_luma": {
+                "baseline": 0.40824665129184723,
+                "post": 0.408437579870224,
+                "delta": 0.00019092857837677002,
+                "abs_delta": 0.00019092857837677002
+              },
+              "median_luma": {
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+                "post": 0.4261437952518463,
+                "delta": 0.0,
+                "abs_delta": 0.0
+              },
+              "p95_luma": {
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+                "delta": 0.0,
+                "abs_delta": 0.0
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+              "saturation_fraction": {
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+                "post": 0.003083526234567901,
+                "delta": -4.340277777777589e-06,
+                "abs_delta": 4.340277777777589e-06
+              },
+              "channel_clipped_fraction": {
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+                "post": 0.03339964313271605,
+                "delta": -0.00013430748456789987,
+                "abs_delta": 0.00013430748456789987
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+              "rg_ratio": {
+                "baseline": 1.1403431296348572,
+                "post": 1.1394192576408386,
+                "delta": -0.0009238719940185547,
+                "abs_delta": 0.0009238719940185547
+              },
+              "bg_ratio": {
+                "baseline": 0.8867565095424652,
+                "post": 0.8869825303554535,
+                "delta": 0.00022602081298828125,
+                "abs_delta": 0.00022602081298828125
+              },
+              "warm_cast_score": {
+                "baseline": 0.2512924215225283,
+                "post": 0.2501985758821294,
+                "delta": -0.0010938456403988828,
+                "abs_delta": 0.0010938456403988828
+              },
+              "cool_cast_score": {
+                "baseline": 0.0,
+                "post": 0.0,
+                "delta": 0.0,
+                "abs_delta": 0.0
+              }
+            }
+          },
+          "image_equivalence_success": true,
+          "image_equivalence_reasons": []
+        },
+        "recording_mode": "partial_auto",
+        "recording_consumable_after_reopen": true,
+        "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.",
+        "keep_all_auto_relaxed_verification": true,
+        "candidate_verification_warnings": [
+          "keep_all_auto: skipped initial-baseline image recovery gate; exposure/gain/WB may drift during recording."
+        ]
+      }
+    },
+    "camera_control_acquisition_signature": {
+      "schema_version": 1,
+      "camera_rig_profile_name": "four-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_12933256_stereo": {
+          "camera_type": "zed",
+          "serial_number": "12933256",
+          "settings_group_id": "zed_12933256_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"
+        }
+      }
+    }
+  },
+  "source_path": "calibration_results/camera_auto_reset/20260629_142441/minimal_auto_recording_policy_artifact.json",
+  "source_sha256": "97917c76c0395e3c9a2f8cca5cefb05bd552db5fbc5822bbc1f2c2d5885d925d"
+}

sessions/session_20260707_174549_045171/metadata/camera_settings/camera_settings_readback_after_apply.json

@@ -0,0 +1,193 @@
+{
+  "schema_version": 1,
+  "requested_acquisition": {
+    "camera_rig_profile_name": "four-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"
+      },
+      "zed-12933256": {
+        "resolution": [
+          1080,
+          1920
+        ],
+        "fps": 30.0,
+        "stream_profile_name": "HD1080",
+        "image_format": "rgb8",
+        "camera_id": "zed-12933256",
+        "camera_type": "zed",
+        "serial_number": "12933256"
+      }
+    },
+    "enabled_rgb_stream_ids": [
+      "zed_12540311_left_rgb",
+      "zed_12540311_right_rgb",
+      "zed_12933256_left_rgb",
+      "zed_12933256_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": 40.0,
+        "white_balance": 4700.0,
+        "brightness": 4.0,
+        "contrast": 4.0,
+        "hue": 0.0,
+        "saturation": 4.0,
+        "gamma": 5.0,
+        "sharpness": 3.0
+      }
+    },
+    {
+      "settings_group_id": "zed_12933256_stereo",
+      "settings_scope": "zed_stereo_pair",
+      "camera_id": "zed-12933256",
+      "serial_number": "12933256",
+      "member_rgb_stream_ids": [
+        "zed_12933256_left_rgb",
+        "zed_12933256_right_rgb"
+      ],
+      "values": {
+        "auto_exposure": false,
+        "auto_white_balance": true,
+        "exposure": 90.0,
+        "gain": 36.0,
+        "white_balance": 4700.0,
+        "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": 38.0,
+        "white_balance": 4700.0,
+        "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": true,
+        "auto_white_balance": true,
+        "exposure": 90.0,
+        "gain": 54.0,
+        "white_balance": 4700.0,
+        "brightness": 4.0,
+        "contrast": 4.0,
+        "hue": 0.0,
+        "saturation": 4.0,
+        "gamma": 5.0,
+        "sharpness": 4.0
+      }
+    }
+  ]
+}

sessions/session_20260707_174549_045171/metadata/camera_settings/camera_settings_readback_before_recording.json

@@ -0,0 +1,193 @@
+{
+  "schema_version": 1,
+  "requested_acquisition": {
+    "camera_rig_profile_name": "four-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"
+      },
+      "zed-12933256": {
+        "resolution": [
+          1080,
+          1920
+        ],
+        "fps": 30.0,
+        "stream_profile_name": "HD1080",
+        "image_format": "rgb8",
+        "camera_id": "zed-12933256",
+        "camera_type": "zed",
+        "serial_number": "12933256"
+      }
+    },
+    "enabled_rgb_stream_ids": [
+      "zed_12540311_left_rgb",
+      "zed_12540311_right_rgb",
+      "zed_12933256_left_rgb",
+      "zed_12933256_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": 40.0,
+        "white_balance": 4700.0,
+        "brightness": 4.0,
+        "contrast": 4.0,
+        "hue": 0.0,
+        "saturation": 4.0,
+        "gamma": 5.0,
+        "sharpness": 3.0
+      }
+    },
+    {
+      "settings_group_id": "zed_12933256_stereo",
+      "settings_scope": "zed_stereo_pair",
+      "camera_id": "zed-12933256",
+      "serial_number": "12933256",
+      "member_rgb_stream_ids": [
+        "zed_12933256_left_rgb",
+        "zed_12933256_right_rgb"
+      ],
+      "values": {
+        "auto_exposure": false,
+        "auto_white_balance": true,
+        "exposure": 89.0,
+        "gain": 36.0,
+        "white_balance": 4700.0,
+        "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": 38.0,
+        "white_balance": 4700.0,
+        "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": true,
+        "auto_white_balance": true,
+        "exposure": 90.0,
+        "gain": 54.0,
+        "white_balance": 4700.0,
+        "brightness": 4.0,
+        "contrast": 4.0,
+        "hue": 0.0,
+        "saturation": 4.0,
+        "gamma": 5.0,
+        "sharpness": 4.0
+      }
+    }
+  ]
+}

sessions/session_20260707_174549_045171/metadata/camera_settings/camera_settings_recording_summary.json

@@ -0,0 +1,197 @@
+{
+  "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_12933256_stereo": "zed_exposure_gain_replay_keep_awb_auto",
+    "zed_17736741_stereo": "zed_keep_all_auto",
+    "zed_23007103_stereo": "zed_keep_all_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": 40.0,
+        "white_balance": 4700.0
+      },
+      "readback_success": true,
+      "readback_reasons": []
+    },
+    "zed_12933256_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": 36.0,
+        "white_balance": 4700.0
+      },
+      "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": 38.0,
+        "white_balance": 4700.0
+      },
+      "readback_success": true,
+      "readback_reasons": []
+    },
+    "zed_23007103_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": 54.0,
+        "white_balance": 4700.0
+      },
+      "readback_success": true,
+      "readback_reasons": []
+    }
+  },
+  "warnings": [
+    "zed_12540311_stereo: policy was validated with lower-confidence generic full-frame metrics",
+    "zed_12933256_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_12933256_left_rgb": {
+      "baseline_auto": "diagnostic_images/baseline_auto/zed_12933256_left_rgb.webp",
+      "post_minimal_auto": "diagnostic_images/post_minimal_auto/zed_12933256_left_rgb.webp",
+      "side_by_side": "diagnostic_images/side_by_side/zed_12933256_left_rgb.webp"
+    },
+    "zed_12933256_right_rgb": {
+      "baseline_auto": "diagnostic_images/baseline_auto/zed_12933256_right_rgb.webp",
+      "post_minimal_auto": "diagnostic_images/post_minimal_auto/zed_12933256_right_rgb.webp",
+      "side_by_side": "diagnostic_images/side_by_side/zed_12933256_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"
+    }
+  }
+}

sessions/session_20260707_174549_045171/metadata/camera_settings_propagation.json

@@ -0,0 +1,208 @@
+{
+  "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": 40.0,
+          "white_balance": 4700.0
+        },
+        "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_12933256_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": 36.0,
+          "white_balance": 4700.0
+        },
+        "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": 38.0,
+          "white_balance": 4700.0
+        },
+        "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_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": 54.0,
+          "white_balance": 4700.0
+        },
+        "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"
+      }
+    },
+    "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_12933256_left_rgb": {
+        "baseline_auto": "diagnostic_images/baseline_auto/zed_12933256_left_rgb.webp",
+        "post_minimal_auto": "diagnostic_images/post_minimal_auto/zed_12933256_left_rgb.webp",
+        "side_by_side": "diagnostic_images/side_by_side/zed_12933256_left_rgb.webp"
+      },
+      "zed_12933256_right_rgb": {
+        "baseline_auto": "diagnostic_images/baseline_auto/zed_12933256_right_rgb.webp",
+        "post_minimal_auto": "diagnostic_images/post_minimal_auto/zed_12933256_right_rgb.webp",
+        "side_by_side": "diagnostic_images/side_by_side/zed_12933256_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_12933256_stereo": "zed_exposure_gain_replay_keep_awb_auto",
+      "zed_17736741_stereo": "zed_keep_all_auto",
+      "zed_23007103_stereo": "zed_keep_all_auto"
+    },
+    "warnings": [
+      "zed_12540311_stereo: policy was validated with lower-confidence generic full-frame metrics",
+      "zed_12933256_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"
+    ]
+  }
+}

sessions/session_20260707_174549_045171/metadata/conversion_timing.json

@@ -0,0 +1,287 @@
+{
+  "conversion_id": "session_20260707_174549_045171",
+  "counts": {
+    "auto_lossless_encoder_probe_cache_miss": 8,
+    "auto_lossless_encoder_probe_run": 8,
+    "auto_lossless_probe_candidates.zed_12540311_left_rgb": 4,
+    "auto_lossless_probe_candidates.zed_12540311_right_rgb": 4,
+    "auto_lossless_probe_candidates.zed_12933256_left_rgb": 4,
+    "auto_lossless_probe_candidates.zed_12933256_right_rgb": 4,
+    "auto_lossless_probe_candidates.zed_17736741_left_rgb": 4,
+    "auto_lossless_probe_candidates.zed_17736741_right_rgb": 4,
+    "auto_lossless_probe_candidates.zed_23007103_left_rgb": 4,
+    "auto_lossless_probe_candidates.zed_23007103_right_rgb": 4,
+    "copy_manifest_source_hash_reused": 4,
+    "encoded_frame_and_hash_frames.zed_12540311_depth_zed_sdk_neural_plus": 5294,
+    "encoded_frame_and_hash_frames.zed_12540311_left_rgb": 5294,
+    "encoded_frame_and_hash_frames.zed_12540311_right_rgb": 5294,
+    "encoded_frame_and_hash_frames.zed_12933256_depth_zed_sdk_neural_plus": 5704,
+    "encoded_frame_and_hash_frames.zed_12933256_left_rgb": 5704,
+    "encoded_frame_and_hash_frames.zed_12933256_right_rgb": 5704,
+    "encoded_frame_and_hash_frames.zed_17736741_depth_zed_sdk_neural_plus": 5643,
+    "encoded_frame_and_hash_frames.zed_17736741_left_rgb": 5643,
+    "encoded_frame_and_hash_frames.zed_17736741_right_rgb": 5643,
+    "encoded_frame_and_hash_frames.zed_23007103_depth_zed_sdk_neural_plus": 5834,
+    "encoded_frame_and_hash_frames.zed_23007103_left_rgb": 5834,
+    "encoded_frame_and_hash_frames.zed_23007103_right_rgb": 5834,
+    "encoder_write_frames.zed_12540311_left_rgb": 5294,
+    "encoder_write_frames.zed_12540311_right_rgb": 5294,
+    "encoder_write_frames.zed_12933256_left_rgb": 5704,
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+    "grouped_zed_container_provenance_json": "{\"/mnt/data2/magna/belt_perception/recordings/20260707_174549_045171/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/20260707_174549_045171/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/20260707_174549_045171/ZED-M_SN12933256.svo2\": {\"export_mode\": \"one_pass\", \"first_native_container_frame_index\": 1, \"grouped_zed_export\": true, \"native_index_grab_plan_seek_count\": 1, \"probe_depth_mode_none\": \"NONE\", \"probe_depth_mode_target\": \"NEURAL_PLUS\", \"recording_path\": \"/mnt/data2/magna/belt_perception/recordings/20260707_174549_045171/ZED-M_SN12933256.svo2\", \"rgb_equivalence_left_equal\": true, \"rgb_equivalence_passed\": true, \"rgb_equivalence_right_equal\": true, \"stream_ids\": [\"zed_12933256_left_rgb\", \"zed_12933256_right_rgb\", \"zed_12933256_depth_zed_sdk_neural_plus\"]}, \"/mnt/data2/magna/belt_perception/recordings/20260707_174549_045171/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/20260707_174549_045171/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/20260707_174549_045171/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/20260707_174549_045171/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\"]}}",
+    "grouped_zed_export": true,
+    "recording_pairing_validation_skipped_reason": "no_realsense_streams",
+    "source_hash_cache_hits": 0,
+    "source_hash_cache_misses": 4,
+    "source_hash_cache_path": "/home/magna/.cache/belt_perception/source_hash_cache.json",
+    "source_hash_cache_policy": "auto",
+    "source_hash_worker_count": 4,
+    "zed_svo_probe_cache_equivalence_hits": 0,
+    "zed_svo_probe_cache_equivalence_misses": 4,
+    "zed_svo_probe_cache_intrinsics_hits": 0,
+    "zed_svo_probe_cache_intrinsics_misses": 4,
+    "zed_svo_probe_cache_path": "/home/magna/.cache/belt_perception/zed_svo_probe_cache.json",
+    "zed_svo_probe_cache_policy": "auto"
+  },
+  "overall_elapsed_s": 2843.9798044411
+}

sessions/session_20260707_174549_045171/metadata/discovery_report.md

@@ -0,0 +1,57 @@
+# Recording Discovery Report
+
+Recording directory: `recordings/20260707_174549_045171`
+
+## 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`: 11537333797 bytes
+- `ZED-M_SN12933256.svo2`: 12130307690 bytes
+- `ZED-M_SN17736741.svo2`: 12374923477 bytes
+- `ZED-M_SN23007103.svo2`: 13306131988 bytes
+
+## Timestamp Sources
+
+- Authoritative timestamp source: `streams/<stream_id>/timestamps.parquet`.
+- Native video/container PTS is not used for cross-stream synchronization.
+- Legacy CSV timestamp sidecars, when present, are compatibility/debug artifacts only.
+
+### Manifest Parquet Sidecars
+- `zed_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`
+- `zed_12933256_left_rgb`: `streams/zed_12933256_left_rgb/timestamps.parquet`
+- `zed_12933256_right_rgb`: `streams/zed_12933256_right_rgb/timestamps.parquet`
+- `zed_12933256_depth_zed_sdk_neural_plus`: `streams/zed_12933256_depth_zed_sdk_neural_plus/timestamps.parquet`
+
+## Legacy CSV Timestamp Sidecars
+
+- `timestamps_zed_SN12540311.csv`: rows=5294, frame gaps=0, device duplicate timestamps=0, device non-monotonic=0
+- `timestamps_zed_SN12933256.csv`: rows=5704, frame gaps=0, device duplicate timestamps=0, device non-monotonic=0
+- `timestamps_zed_SN17736741.csv`: rows=5643, frame gaps=0, device duplicate timestamps=0, device non-monotonic=0
+- `timestamps_zed_SN23007103.csv`: rows=5834, 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.

sessions/session_20260707_174549_045171/metadata/grouped_zed_export_provenance.json

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+{
+  "/mnt/data2/magna/belt_perception/recordings/20260707_174549_045171/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/20260707_174549_045171/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/20260707_174549_045171/ZED-M_SN12933256.svo2": {
+    "export_mode": "one_pass",
+    "first_native_container_frame_index": 1,
+    "grouped_zed_export": true,
+    "native_index_grab_plan_seek_count": 1,
+    "probe_depth_mode_none": "NONE",
+    "probe_depth_mode_target": "NEURAL_PLUS",
+    "recording_path": "/mnt/data2/magna/belt_perception/recordings/20260707_174549_045171/ZED-M_SN12933256.svo2",
+    "rgb_equivalence_left_equal": true,
+    "rgb_equivalence_passed": true,
+    "rgb_equivalence_right_equal": true,
+    "stream_ids": [
+      "zed_12933256_left_rgb",
+      "zed_12933256_right_rgb",
+      "zed_12933256_depth_zed_sdk_neural_plus"
+    ]
+  },
+  "/mnt/data2/magna/belt_perception/recordings/20260707_174549_045171/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/20260707_174549_045171/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/20260707_174549_045171/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/20260707_174549_045171/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"
+    ]
+  }
+}

sessions/session_20260707_174549_045171/metadata/raw_stream_summary.parquet

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+version https://git-lfs.github.com/spec/v1
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+size 554992

sessions/session_20260707_174549_045171/metadata/realsense_bag_pairing.json

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+{
+  "bag_index_artifact": null,
+  "depth_aligned_to_color_pairing_policy": null,
+  "frame_number_offset_median": null,
+  "frame_number_offset_p95": null,
+  "frame_number_offset_unit": "frames",
+  "legacy_native_index_pairing_detected_bad": false,
+  "per_stream_legacy_audit": [],
+  "raw_pairing_validation": {
+    "recording_dir": "recordings/20260707_174549_045171",
+    "status": "skipped_no_realsense_streams"
+  },
+  "raw_pairing_validator_status": "skipped_no_realsense_streams",
+  "realsense_bag_pairing_policy": "sdk_frame_number",
+  "recording_pairing_validation_artifact": null,
+  "recording_pairing_validation_skipped_reason": "no_realsense_streams",
+  "safe_for_dynamic_multiview_tracking": false,
+  "temporal_pixel_sync_status": "not_applicable"
+}

sessions/session_20260707_174549_045171/metadata/session.json

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+{
+  "conversion_time": "2026-07-07T22:02:36.287944+00:00",
+  "converter_command": [
+    "/mnt/data0/magna/belt_perception/.venv/bin/python3",
+    "-m",
+    "dataset_converter.convert_session",
+    "--recording-dir",
+    "recordings/20260707_174549_045171",
+    "--output-root",
+    "converted_datasets",
+    "--no-require-recording-pairing-validation",
+    "--session-description",
+    "task board components background matting test",
+    "--input-format",
+    "manifest",
+    "--zed-streams",
+    "all",
+    "--depth-encoder",
+    "zdepth",
+    "--calibration-source",
+    "packaged-required",
+    "--zdepth-over-max-behavior",
+    "clamp",
+    "--timestamp-gap-policy",
+    "warn",
+    "--timestamp-rate-policy",
+    "warn",
+    "--large-gap-fail-multiplier",
+    "10.0",
+    "--max-large-gap-rate",
+    "0.231"
+  ],
+  "converter_git_commit": "80e11ba97b538630cbf64df4877c265d8a9f1eed",
+  "dataset_format_version": "0.1.0",
+  "ffmpeg_version": "ffmpeg version 4.4.2-0ubuntu0.22.04.1 Copyright (c) 2000-2021 the FFmpeg developers",
+  "pyav_version": "17.0.1",
+  "realsense_sdk_version": "2.58.2",
+  "session_description": "task board components background matting test",
+  "session_description_editing_note": "Edit metadata/session_description.md after conversion to update the human-readable session purpose/contents note.",
+  "session_description_path": "metadata/session_description.md",
+  "session_description_source": "cli",
+  "session_id": "session_20260707_174549_045171",
+  "source_file_hashes": {
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+  },
+  "zed_sdk_version": "5.3.0"
+}

sessions/session_20260707_174549_045171/metadata/session_description.md

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+task board components background matting test

sessions/session_20260707_174549_045171/metadata/session_manifest.parquet

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sessions/session_20260707_174549_045171/metadata/streams.parquet

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sessions/session_20260707_174549_045171/metadata/videos.parquet

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sessions/session_20260707_174549_045171/metadata/zed_12540311_depth_zed_sdk_neural_plus_zdepth_clamped_report.json

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+  "session_id": "session_20260707_174549_045171",
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+      "frame_index": 2606,
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+}

sessions/session_20260707_174549_045171/metadata/zed_12933256_depth_zed_sdk_neural_plus_zdepth_clamped_report.json

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sessions/session_20260707_174549_045171/metadata/zed_23007103_depth_zed_sdk_neural_plus_zdepth_clamped_report.json

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