diff --git a/.gitattributes b/.gitattributes index 0bb360d4d27f4cdb6411cd0c583581dc00e01a37..65dcbc451d3862566eb296274d3806e4ec31d466 100644 --- a/.gitattributes +++ b/.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 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"transform_store_table_frame_populated": true, + "rgb_only_initialization": true, + "depth_required": false, + "foundation_stereo_required": false, + "successful_camera_serials": [ + "12540311", + "12933256", + "17736741", + "23007103" + ], + "fixed_target_reprojection_refinement_ran": true, + "combined_fixed_movable_ba_selected": true, + "combined_ba_observation_dir": "calibration_results/multicam/20260628_143914/phase_02_observations", + "combined_ba_output_dir": "/mnt/data0/magna/belt_perception/calibration_results/multicam/20260628_150030/phase_03_joint_refinement/combined_fixed_aprilgrid_charuco_ba", + "combined_ba_config_name": "fixed020_movable1", + "not_true_joint_ba": false + } +} \ No newline at end of file diff --git a/sessions/session_20260707_174549_045171/metadata/calibration_package/transforms_index.json b/sessions/session_20260707_174549_045171/metadata/calibration_package/transforms_index.json new file mode 100644 index 0000000000000000000000000000000000000000..3eb97b7dc92ae7823fb0807afc6f5240f1d215f6 --- /dev/null +++ b/sessions/session_20260707_174549_045171/metadata/calibration_package/transforms_index.json @@ -0,0 +1,12 @@ +{ + "format": "npz", + "path": "world_T_camera_by_serial.npz", + "serials": [ + "12540311", + "17736741", + "23007103", + "12933256" + ], + "transform_name": "world_T_camera", + "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)" +} diff --git a/sessions/session_20260707_174549_045171/metadata/calibration_package/world_T_camera_by_serial.npz b/sessions/session_20260707_174549_045171/metadata/calibration_package/world_T_camera_by_serial.npz new file mode 100644 index 0000000000000000000000000000000000000000..8079083fc5ae09c7b0763d4cf1516898d2a8ae88 --- /dev/null +++ b/sessions/session_20260707_174549_045171/metadata/calibration_package/world_T_camera_by_serial.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9472ee8eb50af9230acc4cedce9ac44b72c8af18aed27a8657788663d8b40efb +size 1526 diff --git a/sessions/session_20260707_174549_045171/metadata/camera_settings/camera_settings_application_log.json b/sessions/session_20260707_174549_045171/metadata/camera_settings/camera_settings_application_log.json new file mode 100644 index 0000000000000000000000000000000000000000..81fa277770434776276817985753fea86e5d778f --- /dev/null +++ b/sessions/session_20260707_174549_045171/metadata/camera_settings/camera_settings_application_log.json @@ -0,0 +1,271 @@ +{ + "artifact_type": "camera_settings_application_log", + "actions": [ + { + "settings_group_id": "zed_12540311_stereo", + "settings_scope": "zed_stereo_pair", + "camera_id": "newerr", + "serial_number": "12540311", + "control": "auto_exposure", + "stage": "apply_minimal_auto_recording_policy", + "requested_value": false, + "status": "applied", + "reason": null, + "readback": { + "name": "auto_exposure", + "requested_value": false, + "readback_value": false, + "success": true, + "clamped": false, + "quantized": false, + "warning": null, + "error": null, + "applied_value": false + } + }, + { + "settings_group_id": "zed_12540311_stereo", + "settings_scope": "zed_stereo_pair", + "camera_id": "newerr", + "serial_number": "12540311", + "control": "exposure", + "stage": "apply_minimal_auto_recording_policy", + "requested_value": 90.0, + "status": "applied", + "reason": null, + "readback": { + "name": "exposure", + "requested_value": 90.0, + "readback_value": 90.0, + "success": true, + "clamped": false, + "quantized": false, + "warning": null, + "error": null, + "applied_value": 90 + } + }, + { + "settings_group_id": "zed_12540311_stereo", + "settings_scope": "zed_stereo_pair", + "camera_id": "newerr", + "serial_number": "12540311", + "control": "gain", + "stage": "apply_minimal_auto_recording_policy", + "requested_value": 40.0, + "status": "applied", + "reason": null, + "readback": { + "name": "gain", + "requested_value": 40.0, + "readback_value": 40.0, + "success": true, + "clamped": false, + "quantized": false, + "warning": null, + "error": null, + "applied_value": 40 + } + }, + { + "settings_group_id": "zed_12540311_stereo", + "settings_scope": "zed_stereo_pair", + "camera_id": "newerr", + "serial_number": "12540311", + "control": "auto_white_balance", + "stage": "apply_minimal_auto_recording_policy", + "requested_value": true, + "status": "applied", + "reason": null, + "readback": { + "name": "auto_white_balance", + "requested_value": true, + "readback_value": true, + "success": true, + "clamped": false, + "quantized": false, + "warning": null, + "error": null, + "applied_value": true + } + }, + { + "settings_group_id": "zed_12933256_stereo", + "settings_scope": "zed_stereo_pair", + "camera_id": "zed-12933256", + "serial_number": "12933256", + "control": "auto_exposure", + "stage": "apply_minimal_auto_recording_policy", + "requested_value": false, + "status": "applied", + "reason": null, + "readback": { + "name": "auto_exposure", + "requested_value": false, + "readback_value": false, + "success": true, + "clamped": false, + "quantized": false, + "warning": null, + "error": null, + "applied_value": false + } + }, + { + "settings_group_id": "zed_12933256_stereo", + "settings_scope": "zed_stereo_pair", + "camera_id": "zed-12933256", + "serial_number": "12933256", + "control": "exposure", + "stage": "apply_minimal_auto_recording_policy", + "requested_value": 90.0, + "status": "applied", + "reason": null, + "readback": { + "name": "exposure", + "requested_value": 90.0, + "readback_value": 90.0, + "success": true, + "clamped": false, + "quantized": false, + "warning": null, + "error": null, + "applied_value": 90 + } + }, + { + "settings_group_id": "zed_12933256_stereo", + "settings_scope": "zed_stereo_pair", + "camera_id": "zed-12933256", + "serial_number": "12933256", + "control": "gain", + "stage": "apply_minimal_auto_recording_policy", + "requested_value": 36.0, + "status": "applied", + "reason": null, + "readback": { + "name": "gain", + "requested_value": 36.0, + "readback_value": 36.0, + "success": true, + "clamped": false, + "quantized": false, + "warning": null, + "error": null, + "applied_value": 36 + } + }, + { + "settings_group_id": "zed_12933256_stereo", + "settings_scope": "zed_stereo_pair", + "camera_id": "zed-12933256", + "serial_number": "12933256", + "control": "auto_white_balance", + "stage": "apply_minimal_auto_recording_policy", + "requested_value": true, + "status": "applied", + "reason": null, + "readback": { + "name": "auto_white_balance", + "requested_value": true, + "readback_value": true, + "success": true, + "clamped": false, + "quantized": false, + "warning": null, + "error": null, + "applied_value": true + } + }, + { + "settings_group_id": "zed_17736741_stereo", + "settings_scope": "zed_stereo_pair", + "camera_id": "amazonbasics", + "serial_number": "17736741", + "control": "auto_exposure", + "stage": "apply_minimal_auto_recording_policy", + "requested_value": true, + "status": "applied", + "reason": null, + "readback": { + "name": "auto_exposure", + "requested_value": true, + "readback_value": true, + "success": true, + "clamped": false, + "quantized": false, + "warning": null, + "error": null, + "applied_value": true + } + }, + { + "settings_group_id": "zed_17736741_stereo", + "settings_scope": "zed_stereo_pair", + "camera_id": "amazonbasics", + "serial_number": "17736741", + "control": "auto_white_balance", + "stage": "apply_minimal_auto_recording_policy", + "requested_value": true, + "status": "applied", + "reason": null, + "readback": { + "name": "auto_white_balance", + "requested_value": true, + "readback_value": true, + "success": true, + "clamped": false, + "quantized": false, + "warning": null, + "error": null, + "applied_value": true + } + }, + { + "settings_group_id": "zed_23007103_stereo", + "settings_scope": "zed_stereo_pair", + "camera_id": "zed-23007103", + "serial_number": "23007103", + "control": "auto_exposure", + "stage": "apply_minimal_auto_recording_policy", + "requested_value": true, + "status": "applied", + "reason": null, + "readback": { + "name": "auto_exposure", + "requested_value": true, + "readback_value": true, + "success": true, + "clamped": false, + "quantized": false, + "warning": null, + "error": null, + "applied_value": true + } + }, + { + "settings_group_id": "zed_23007103_stereo", + "settings_scope": "zed_stereo_pair", + "camera_id": "zed-23007103", + "serial_number": "23007103", + "control": "auto_white_balance", + "stage": "apply_minimal_auto_recording_policy", + "requested_value": true, + "status": "applied", + "reason": null, + "readback": { + "name": "auto_white_balance", + "requested_value": true, + "readback_value": true, + "success": true, + "clamped": false, + "quantized": false, + "warning": null, + "error": null, + "applied_value": true + } + } + ], + "errors": [], + "readback_failures": [] +} \ No newline at end of file diff --git a/sessions/session_20260707_174549_045171/metadata/camera_settings/camera_settings_policy_applied.json b/sessions/session_20260707_174549_045171/metadata/camera_settings/camera_settings_policy_applied.json new file mode 100644 index 0000000000000000000000000000000000000000..82a647f040abad6d910af031a84e691a78c9413d --- /dev/null +++ b/sessions/session_20260707_174549_045171/metadata/camera_settings/camera_settings_policy_applied.json @@ -0,0 +1,141 @@ +{ + "artifact_type": "camera_settings_policy_applied", + "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": [] + } + } +} \ No newline at end of file diff --git a/sessions/session_20260707_174549_045171/metadata/camera_settings/camera_settings_policy_source.json b/sessions/session_20260707_174549_045171/metadata/camera_settings/camera_settings_policy_source.json new file mode 100644 index 0000000000000000000000000000000000000000..ceb3eb8d7384db5bc61405fbac9b379143f670fe --- /dev/null +++ b/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, + 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], + "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 + } + } + ] +} \ No newline at end of file diff --git a/sessions/session_20260707_174549_045171/metadata/camera_settings/camera_settings_recording_summary.json b/sessions/session_20260707_174549_045171/metadata/camera_settings/camera_settings_recording_summary.json new file mode 100644 index 0000000000000000000000000000000000000000..1d5dd63f69bf643408ace213be26c75593d6654d --- /dev/null +++ b/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" + } + } +} \ No newline at end of file diff --git a/sessions/session_20260707_174549_045171/metadata/camera_settings_propagation.json b/sessions/session_20260707_174549_045171/metadata/camera_settings_propagation.json new file mode 100644 index 0000000000000000000000000000000000000000..163268b5fbecddaf9b5966d8978d105cc7083089 --- /dev/null +++ b/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" + ] + } +} \ No newline at end of file diff --git a/sessions/session_20260707_174549_045171/metadata/conversion_plan.json b/sessions/session_20260707_174549_045171/metadata/conversion_plan.json new file mode 100644 index 0000000000000000000000000000000000000000..2591389326a574aba81c1664df8650e2f2a727d2 --- /dev/null +++ b/sessions/session_20260707_174549_045171/metadata/conversion_plan.json @@ -0,0 +1,8574 @@ +{ + "calibration": { + "calibration_dir": "calibration", + "manifest_path": "calibration/calibration_package_manifest.json", + "missing_recording_serials": [], + "packaged_camera_serials": [ + "12540311", + "12933256", + "17736741", + "23007103" + ], + "recording_camera_serials": [ + "12540311", + "12933256", + "17736741", + "23007103" + ], + "source": "packaged-required", + "status": "present", + "transforms_index": { + "format": "npz", + "path": "world_T_camera_by_serial.npz", + "serials": [ + "12540311", + "17736741", + "23007103", + "12933256" + ], + "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": 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" + ] + } + }, + "depth_encoder": "zdepth", + "recording_dir": "/mnt/data2/magna/belt_perception/recordings/20260707_174549_045171", + "recording_manifest_path": "recording_manifest.json", + "recording_metadata_path": "recording_metadata.json", + "streams": [ + { + "actual_profile": { + "actual_fps": 30.0, + "actual_fps_source": "camera_information.camera_configuration.fps", + "depth_mode": "NEURAL_PLUS", + "fps": 30.0, + "image_format": "rgb8", + "requested_fps": 30.0, + "resolution": [ + 1080, + 1920 + ], + "stream_profile_name": "HD1080", + "svo_compression_mode": "H265_LOSSLESS", + "svo_compression_mode_source": "requested_enum_passed_to_sl.RecordingParameters" + }, + "camera_type": "zed", + "depth_encoder": null, + "first_official_native_frame_index": 1, + "modality": "left_rgb", + "native_frame_mapping": { + "converter_mapping": "official sidecar row R maps to native decoded frame index 1 + R; native frames [0, 1) were written during post-native priming after enable_recording() and are not listed in the official sidecar.", + "first_official_native_frame_index": 1, + "native_container_includes_post_native_priming_frames": true, + "native_container_includes_preroll_frames": false, + "native_frame_index_origin": "zero_based_sequential_grab_after_enable_recording_including_post_native_priming", + "official_frame_count": 5294, + "post_native_priming_frame_count": 1, + "preroll_frame_count": 15 + }, + "physical_camera_id": "zed_12540311", + "realsense_depth_scale_m": null, + "realsense_ir_format": null, + "recording_path": "ZED-M_SN12540311.svo2", + "requested_profile": { + "container": "svo2", + "depth_mode": "neural_plus", + "fps": 30, + "resolution_hw": [ + 1080, + 1920 + ], + "svo_compression_mode": "h265_lossless", + "zed_resolution": "hd1080" + }, + "row_count": 5294, + "serial_number": "12540311", + "stream_id": "zed_12540311_left_rgb", + "stream_manifest_path": "streams/zed_12540311_left_rgb/stream_manifest.json", + "timestamp_summary": { + "expected_fps": 30.0, + "gap_fail_threshold_ns": 333333330, + "large_gap_count": 583, + "large_gap_count_total": 583, + "max_device_gap_ns": 133879000, + "max_gap_ns_total": 133879000, + "max_host_gap_ns": 133413646, + "max_non_startup_gap_ns": 133879000, + "nominal_frame_period_ns": 33333333, + "non_startup_large_gap_count": 583, + "recorder_gap_report": { + "expected_fps": 30.0, + "large_gap_count": 583, + "large_gaps": [ + { + "from_row": 43, + "gap_ns": 66879000, + "to_row": 44 + }, + { + "from_row": 44, + "gap_ns": 66843000, + "to_row": 45 + }, + { + "from_row": 45, + "gap_ns": 66922000, + "to_row": 46 + }, + { + "from_row": 46, 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"to_row": 110 + }, + { + "from_row": 110, + "gap_ns": 66859000, + "to_row": 111 + } + ], + "max_gap_ns": 133879000, + "median_gap_ns": 33496000.0, + "observed_fps": 26.86482448141258, + "warnings": [ + "large_timestamp_gap" + ] + }, + "row_count": 5294, + "startup_excluded_large_gap_count": 0, + "startup_gap_excluded_from_warnings": false, + "validation_decision": "passed_with_warnings", + "validation_metrics": { + "expected_fps": 30.0, + "gap_policy": "warn", + "large_gap_warning_threshold_ns": 50000000, + "max_stall_fail_threshold_ns": 333333330, + "max_within_stream_inter_frame_gap_multiplier": 4.0163700401637, + "max_within_stream_inter_frame_gap_ns": 133879000, + "median_period_error_ratio": 0.004880010048800101, + "median_within_stream_inter_frame_period_ns": 33496000.0, + "nominal_frame_period_ns": 33333333, + "observed_fps": 26.86482448141258, + "observed_fps_ratio": 0.8954941493804193, + "rate_policy": "warn", + "recorder_timestamp_summary": { + "expected_fps": 30.0, + 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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": 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"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", + "12933256" + ], + "pose_source": "phase_05_final", + "source_calibration_run_dir": "calibration_results/multicam/20260628_150030", + "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": "9472ee8eb50af9230acc4cedce9ac44b72c8af18aed27a8657788663d8b40efb", + "world_frame": "table" + }, + "camera_close_reports": [ + { + "camera_lock_acquired_for_close": true, + "camera_type": "zed", + "close_warning_messages": [], + "read_thread_alive_after_stop": false, + "read_thread_alive_before_close": false, + "recording_enabled_after_disable": false, + "recording_enabled_before_close": true, + "recording_stop_reason": "signal_sigint", + "sdk_close_attempted": true, + "sdk_close_exception": null, + "sdk_close_retry_count": 0, + "sdk_is_opened_after_close": false, + "sdk_is_opened_before_close": true, + "serial_number": "12540311" + }, + { + "camera_lock_acquired_for_close": true, + "camera_type": "zed", + "close_warning_messages": [], + "read_thread_alive_after_stop": false, + "read_thread_alive_before_close": false, + "recording_enabled_after_disable": false, + "recording_enabled_before_close": true, + "recording_stop_reason": "signal_sigint", + "sdk_close_attempted": true, + "sdk_close_exception": null, + "sdk_close_retry_count": 0, + "sdk_is_opened_after_close": false, + "sdk_is_opened_before_close": true, + "serial_number": "17736741" + }, + { + "camera_lock_acquired_for_close": true, + "camera_type": "zed", + "close_warning_messages": [], + "read_thread_alive_after_stop": false, + "read_thread_alive_before_close": false, + "recording_enabled_after_disable": false, + "recording_enabled_before_close": true, + "recording_stop_reason": "signal_sigint", + "sdk_close_attempted": true, + "sdk_close_exception": null, + "sdk_close_retry_count": 0, + "sdk_is_opened_after_close": false, + "sdk_is_opened_before_close": true, + "serial_number": "23007103" + }, + { + "camera_lock_acquired_for_close": true, + "camera_type": "zed", + "close_warning_messages": [], + "read_thread_alive_after_stop": false, + "read_thread_alive_before_close": false, + "recording_enabled_after_disable": false, + "recording_enabled_before_close": true, + "recording_stop_reason": "signal_sigint", + "sdk_close_attempted": true, + "sdk_close_exception": null, + "sdk_close_retry_count": 0, + "sdk_is_opened_after_close": false, + "sdk_is_opened_before_close": true, + "serial_number": "12933256" + } + ], + "camera_rig_profile_name": "four-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": 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", + "camera_control_acquisition_signature_policy": { + "camera_rig_profile_name": "four-zed", + "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" + } + }, + "fps": null, + "realsense_fps": 0, + "realsense_resolution_hw": [], + "schema_version": 1, + "zed_fps": 30, + "zed_stream_profile_name": "HD1080" + }, + "camera_control_acquisition_signature_recorder": { + "camera_rig_profile_name": "four-zed", + "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" + } + }, + "fps": null, + "policy_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" + ], + "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_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", + "policy_compatibility": { + "artifact_type": "camera_settings_policy_compatibility", + "camera_control_acquisition_signature_policy": { + "camera_rig_profile_name": "four-zed", + "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" + } + }, + "fps": null, + "realsense_fps": 0, + "realsense_resolution_hw": [], + "schema_version": 1, + "zed_fps": 30, + "zed_stream_profile_name": "HD1080" + }, + "camera_control_acquisition_signature_recorder": { + "camera_rig_profile_name": "four-zed", + "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" + } + }, + "fps": null, + "policy_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" + ], + "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": "four-zed", + "recorder": "four-zed" + }, + "realsense_fps": { + "match": true, + "policy": 0, + "reason": "Recorder session has no realsense cameras; policy value ignored.", + "recorder": 0, + "skipped": true + }, + "realsense_resolution_hw": { + "match": true, + "policy": [], + "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/20260629_142441/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": 0, + "reason": "Policy includes realsense FPS but this recorder session has no realsense cameras.", + "recorder": 0 + }, + { + "field": "realsense_resolution_hw", + "policy": [], + "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_12933256_left_rgb", + "zed_12933256_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_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" + ] + }, + "camera_settings_policy_acquisition_validation": { + "actual_opened_acquisition": { + "camera_rig_profile_name": "four-zed", + "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" + ], + "per_camera": { + "zed_12540311": { + "actual_fps": 30.0, + "actual_fps_source": "camera_information.camera_configuration.fps", + "camera_name": "newerr", + "camera_type": "zed", + "depth_mode": "NEURAL_PLUS", + "fps": 30.0, + "image_format": "rgb8", + "requested_fps": 30.0, + "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_12933256": { + "actual_fps": 30.0, + "actual_fps_source": "camera_information.camera_configuration.fps", + "camera_name": "zed-12933256", + "camera_type": "zed", + "depth_mode": "NEURAL_PLUS", + "fps": 30.0, + "image_format": "rgb8", + "requested_fps": 30.0, + "resolution": [ + 1080, + 1920 + ], + "serial_number": "12933256", + "stream_profile_name": "HD1080", + "svo_compression_mode": "H265_LOSSLESS", + "svo_compression_mode_source": "requested_enum_passed_to_sl.RecordingParameters" + }, + "zed_17736741": { + "actual_fps": 30.0, + "actual_fps_source": "camera_information.camera_configuration.fps", + "camera_name": "amazonbasics", + "camera_type": "zed", + "depth_mode": "NEURAL_PLUS", + "fps": 30.0, + "image_format": "rgb8", + "requested_fps": 30.0, + "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": { + "actual_fps": 30.0, + "actual_fps_source": "camera_information.camera_configuration.fps", + "camera_name": "zed-23007103", + "camera_type": "zed", + "depth_mode": "NEURAL_PLUS", + "fps": 30.0, + "image_format": "rgb8", + "requested_fps": 30.0, + "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": "four-zed", + "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" + } + }, + "fps": null, + "realsense_fps": 0, + "realsense_resolution_hw": [], + "schema_version": 1, + "zed_fps": 30, + "zed_stream_profile_name": "HD1080" + }, + "camera_control_acquisition_signature_recorder": { + "camera_rig_profile_name": "four-zed", + "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" + } + }, + "fps": null, + "policy_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" + ], + "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": "four-zed", + "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" + } + }, + "fps": null, + "realsense_fps": 0, + "realsense_resolution_hw": [], + "schema_version": 1, + "zed_fps": 30, + "zed_stream_profile_name": "HD1080" + }, + "camera_control_acquisition_signature_recorder": { + "camera_rig_profile_name": "four-zed", + "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" + } + }, + "fps": null, + "policy_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" + ], + "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": "four-zed", + "recorder": "four-zed" + }, + "realsense_fps": { + "match": true, + "policy": 0, + "reason": "Recorder session has no realsense cameras; policy value ignored.", + "recorder": 0, + "skipped": true + }, + "realsense_resolution_hw": { + "match": true, + "policy": [], + "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/20260629_142441/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": 0, + "reason": "Policy includes realsense FPS but this recorder session has no realsense cameras.", + "recorder": 0 + }, + { + "field": "realsense_resolution_hw", + "policy": [], + "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_12933256_left_rgb", + "zed_12933256_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_config_acquisition": { + "camera_rig_profile_name": "four-zed", + "capture_profile_name": "zed-1080p30", + "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", + "zed_12933256_left_rgb", + "zed_12933256_right_rgb" + ], + "fps": null, + "per_camera": { + "zed_12540311": { + "camera_type": "zed", + "fps": 30.0, + "image_format": "rgb8", + "resolution": [ + 1080, + 1920 + ], + "serial_number": "12540311", + "stream_profile_name": "HD1080" + }, + "zed_12933256": { + "camera_type": "zed", + "fps": 30.0, + "image_format": "rgb8", + "resolution": [ + 1080, + 1920 + ], + "serial_number": "12933256", + "stream_profile_name": "HD1080" + }, + "zed_17736741": { + "camera_type": "zed", + "fps": 30.0, + "image_format": "rgb8", + "resolution": [ + 1080, + 1920 + ], + "serial_number": "17736741", + "stream_profile_name": "HD1080" + }, + "zed_23007103": { + "camera_type": "zed", + "fps": 30.0, + "image_format": "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": "four-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", + "realsense_duplicate_max_count": null, + "realsense_duplicate_timeout_s": 2.0, + "realsense_image_format": null, + "realsense_rectify_color": true, + "realsense_resolution_hw": null, + "resolution": null, + "stream_profile_name": null, + "zed_depth_mode_for_occlusion": "NEURAL_PLUS", + "zed_depth_occlusion_policy": "disabled", + "zed_stream_profile_name": null + }, + "status": "compatible" + }, + "cameras": [ + { + "actual_opened_profile": { + "actual_fps": 30.0, + "actual_fps_source": "camera_information.camera_configuration.fps", + "depth_mode": "NEURAL_PLUS", + "fps": 30.0, + "image_format": "rgb8", + "requested_fps": 30.0, + "resolution": [ + 1080, + 1920 + ], + "stream_profile_name": "HD1080", + "svo_compression_mode": "H265_LOSSLESS", + "svo_compression_mode_source": "requested_enum_passed_to_sl.RecordingParameters" + }, + "camera_metadata": { + "camera_id": "newerr", + "camera_type": "zed", + "capabilities": [ + "right_color", + "depth", + "raw_depth", + "color", + "stereo_color", + "aligned_depth_to_color" + ], + "color_T_depth": null, + "color_T_ir_left": null, + "color_T_ir_right": null, + "color_camera_frame": null, + "color_intrinsics": [ + [ + 1505.6851806640625, + 0.0, + 975.804443359375 + ], + [ + 0.0, + 1505.6851806640625, + 520.24658203125 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "depth_T_color": 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.", + "depth_intrinsics": [ + [ + 1505.6851806640625, + 0.0, + 975.804443359375 + ], + [ + 0.0, + 1505.6851806640625, + 520.24658203125 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "depth_scale_m": null, + "fps": 30.0, + "ir_left_T_color": null, + "ir_left_camera_frame": null, + "ir_right_T_color": null, + "ir_right_camera_frame": null, + "left_camera_frame": "zed_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 + ] + ], + "metadata": { + "aligned_depth_target": "left_color", + "color_distortion_coefficients": null, + "color_distortion_model": null, + "color_image_geometry": "zed_rectified_rgb", + "color_is_rectified": true, + "color_projection_model_used": "rectified_pinhole", + "color_rectification_source": "zed_sdk_rectified_view", + "depth_units": "metres", + "input_type": "INPUT_TYPE.USB", + "invalid_depth_convention": "ZED SDK values are preserved, including non-finite invalid depth.", + "offline_recording": false, + "usb": { + "bus": "4", + "input_type_raw": "INPUT_TYPE.LAST", + "is_usb3": true, + "note": null, + "pci_controller_path": "/sys/devices/pci0000:00", + "port_path": "1", + "product": "ZED-M", + "speed_mbps": 5000.0, + "sysfs_path": "/sys/devices/pci0000:00/0000:00:1c.4/0000:08:00.0/0000:09:00.0/0000:0a:00.0/usb4/4-1", + "usb_type_descriptor": "3.00", + "usb_validation_source": "linux_sysfs_video_device", + "video_device_path": "/dev/video2" + }, + "usb_product": "ZED-M", + "usb_speed_mbps": 5000.0, + "usb_type_descriptor": "3.00" + }, + "model": "ZED-M", + "resolution_hw": [ + 1080, + 1920 + ], + "right_camera_frame": "zed_12540311_right_rgb_camera", + "right_rgb_camera_T_left_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 + ] + ], + "serial_number": "12540311", + "stereo_baseline_m": 0.06312009692192078, + "transform_convention": "a_T_b maps points from frame b into frame a: p_a = T * p_b" + }, + "camera_type": "zed", + "converter_mapping": "official sidecar row R maps to native decoded frame index 1 + R; native frames [0, 1) were written during post-native priming after enable_recording() and are not listed in the official sidecar.", + "dropped_non_monotonic_timestamp_count": 0, + "dropped_stale_preofficial_timestamp_count": 0, + "first_official_native_frame_index": 1, + "frame_count": 5294, + "name": "newerr", + "native_container_includes_post_native_priming_frames": true, + "native_container_includes_preroll_frames": false, + "native_frame_index_origin": "zero_based_sequential_grab_after_enable_recording_including_post_native_priming", + "official_frame_count": 5294, + "post_native_discarded_frame_count": 0, + "post_native_priming_frame_count": 1, + "preroll_frame_count": 15, + "recording_path": "ZED-M_SN12540311.svo2", + "serial_number": "12540311", + "stream_summaries": { + "zed_12540311_depth_zed_sdk_neural_plus": { + "camera_type": "zed", + "default_nearest_neighbor_tolerance_ns": 33333333, + "duplicate_timestamp_count": 0, + "expected_fps": 30.0, + "first_inter_frame_gap_ns": 33256000, + "host_timestamp_max_ns": 1783460987799752984, + "host_timestamp_min_ns": 1783460790796915355, + "host_timestamp_source": "time.time_ns_after_record_frame", + "large_gap_count": 583, + "large_gaps": [ + { + "from_row": 43, + "gap_ns": 66879000, + "to_row": 44 + }, + { + "from_row": 44, + "gap_ns": 66843000, + "to_row": 45 + }, + { + "from_row": 45, + "gap_ns": 66922000, + "to_row": 46 + }, + { + "from_row": 46, + "gap_ns": 66983000, + "to_row": 47 + }, + { + "from_row": 86, + "gap_ns": 67011000, + "to_row": 87 + }, + { + "from_row": 87, + "gap_ns": 66738000, + "to_row": 88 + }, + { + "from_row": 88, + "gap_ns": 67002000, + "to_row": 89 + }, + { + "from_row": 91, + "gap_ns": 67038000, + "to_row": 92 + }, + { + "from_row": 92, + "gap_ns": 67008000, + "to_row": 93 + }, + { + "from_row": 93, + "gap_ns": 66708000, + "to_row": 94 + }, + { + "from_row": 94, + "gap_ns": 67048000, + "to_row": 95 + }, + { + "from_row": 99, + "gap_ns": 67011000, + "to_row": 100 + }, + { + "from_row": 100, + "gap_ns": 66910000, + "to_row": 101 + }, + { + "from_row": 101, + "gap_ns": 66877000, + "to_row": 102 + }, + { + "from_row": 102, + "gap_ns": 66867000, + "to_row": 103 + }, + { + "from_row": 104, + "gap_ns": 66883000, + "to_row": 105 + }, + { + "from_row": 105, + "gap_ns": 66881000, + "to_row": 106 + }, + { + "from_row": 108, + "gap_ns": 66770000, + "to_row": 109 + }, + { + "from_row": 109, + "gap_ns": 66979000, + "to_row": 110 + }, + { + "from_row": 110, + "gap_ns": 66859000, + "to_row": 111 + } + ], + "max_gap_ns": 133879000, + "median_gap_ns": 33496000.0, + "modality": "depth", + "nominal_frame_period_ns": 33333333, + "non_monotonic_timestamp_count": 0, + "observed_fps": 26.86482448141258, + "official_frame_count": 5294, + "physical_camera_id": "zed_12540311", + "preroll_frame_count": 15, + "row_count": 5294, + "sdk_frame_number_gap_count": 0, + "sdk_frame_number_gaps": [], + "sdk_frame_number_reportable": false, + "serial_number": "12540311", + "startup_gap_excluded_from_warnings": false, + "stream_id": "zed_12540311_depth_zed_sdk_neural_plus", + "strict_alignment_warning_tolerance_ns": 16666666, + "timestamp_domain": "zed_image", + "timestamp_gap_warning_threshold_ns": 50000000, + "timestamp_max_ns": 1783460987755820845, + "timestamp_min_ns": 1783460790732385845, + "timestamp_source": "sl.TIME_REFERENCE.IMAGE", + "warnings": [ + "large_timestamp_gap" + ] + }, + "zed_12540311_left_rgb": { + "camera_type": "zed", + "default_nearest_neighbor_tolerance_ns": 33333333, + "duplicate_timestamp_count": 0, + "expected_fps": 30.0, + "first_inter_frame_gap_ns": 33256000, + "host_timestamp_max_ns": 1783460987799752984, + "host_timestamp_min_ns": 1783460790796915355, + "host_timestamp_source": "time.time_ns_after_record_frame", + "large_gap_count": 583, + "large_gaps": [ + { + "from_row": 43, + "gap_ns": 66879000, + "to_row": 44 + }, + { + "from_row": 44, + "gap_ns": 66843000, + "to_row": 45 + }, + { + "from_row": 45, + "gap_ns": 66922000, + "to_row": 46 + }, + { + "from_row": 46, + "gap_ns": 66983000, + "to_row": 47 + }, + { + "from_row": 86, + "gap_ns": 67011000, + "to_row": 87 + }, + { + "from_row": 87, + "gap_ns": 66738000, + "to_row": 88 + }, + { + "from_row": 88, + "gap_ns": 67002000, + "to_row": 89 + }, + { + "from_row": 91, + "gap_ns": 67038000, + "to_row": 92 + }, + { + "from_row": 92, + "gap_ns": 67008000, + "to_row": 93 + }, + { + "from_row": 93, + "gap_ns": 66708000, + "to_row": 94 + }, + { + "from_row": 94, + "gap_ns": 67048000, + "to_row": 95 + }, + { + "from_row": 99, + "gap_ns": 67011000, + "to_row": 100 + }, + { + "from_row": 100, + "gap_ns": 66910000, + "to_row": 101 + }, + { + "from_row": 101, + "gap_ns": 66877000, + "to_row": 102 + }, + { + "from_row": 102, + "gap_ns": 66867000, + "to_row": 103 + }, + { + "from_row": 104, + "gap_ns": 66883000, + "to_row": 105 + }, + { + "from_row": 105, + "gap_ns": 66881000, + "to_row": 106 + }, + { + "from_row": 108, + "gap_ns": 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66837000, + "to_row": 27 + }, + { + "from_row": 69, + "gap_ns": 66800000, + "to_row": 70 + }, + { + "from_row": 70, + "gap_ns": 66980000, + "to_row": 71 + }, + { + "from_row": 72, + "gap_ns": 66842000, + "to_row": 73 + }, + { + "from_row": 73, + "gap_ns": 66871000, + "to_row": 74 + }, + { + "from_row": 75, + "gap_ns": 66909000, + "to_row": 76 + }, + { + "from_row": 78, + "gap_ns": 67022000, + "to_row": 79 + }, + { + "from_row": 81, + "gap_ns": 66755000, + "to_row": 82 + }, + { + "from_row": 87, + "gap_ns": 66869000, + "to_row": 88 + }, + { + "from_row": 93, + "gap_ns": 66996000, + "to_row": 94 + }, + { + "from_row": 190, + "gap_ns": 100331000, + "to_row": 191 + }, + { + "from_row": 217, + "gap_ns": 100125000, + "to_row": 218 + }, + { + "from_row": 225, + "gap_ns": 66708000, + "to_row": 226 + }, + { + "from_row": 227, + "gap_ns": 66963000, + "to_row": 228 + }, + { + "from_row": 228, + "gap_ns": 66938000, + "to_row": 229 + }, + { + "from_row": 230, + "gap_ns": 66743000, + "to_row": 231 + }, + { + "from_row": 231, + "gap_ns": 66970000, + "to_row": 232 + }, + { + "from_row": 232, + "gap_ns": 66877000, + "to_row": 233 + }, + { + "from_row": 233, + "gap_ns": 66901000, + "to_row": 234 + }, + { + "from_row": 235, + "gap_ns": 66881000, + "to_row": 236 + } + ], + "max_gap_ns": 167207000, + "median_gap_ns": 33491000.0, + "modality": "left_rgb", + "nominal_frame_period_ns": 33333333, + "non_monotonic_timestamp_count": 0, + "observed_fps": 28.945858525230893, + "official_frame_count": 5704, + "physical_camera_id": "zed_12933256", + "preroll_frame_count": 15, + "row_count": 5704, + "sdk_frame_number_gap_count": 0, + "sdk_frame_number_gaps": [], + "sdk_frame_number_reportable": false, + "serial_number": "12933256", + "startup_gap_excluded_from_warnings": false, + "stream_id": "zed_12933256_left_rgb", + "strict_alignment_warning_tolerance_ns": 16666666, + "timestamp_domain": "zed_image", + "timestamp_gap_warning_threshold_ns": 50000000, + "timestamp_max_ns": 1783460987754495915, + "timestamp_min_ns": 1783460790731491915, + "timestamp_source": "sl.TIME_REFERENCE.IMAGE", + "warnings": [ + "large_timestamp_gap" + ] + }, + "zed_12933256_right_rgb": { + "camera_type": "zed", + "default_nearest_neighbor_tolerance_ns": 33333333, + "duplicate_timestamp_count": 0, + "expected_fps": 30.0, + "first_inter_frame_gap_ns": 31864000, + "host_timestamp_max_ns": 1783460987799927181, + "host_timestamp_min_ns": 1783460790797750652, + "host_timestamp_source": "time.time_ns_after_record_frame", + "large_gap_count": 171, + "large_gaps": [ + { + "from_row": 26, + "gap_ns": 66837000, + "to_row": 27 + }, + { + "from_row": 69, + "gap_ns": 66800000, + "to_row": 70 + }, + { + "from_row": 70, + "gap_ns": 66980000, + "to_row": 71 + }, + { + "from_row": 72, + "gap_ns": 66842000, + "to_row": 73 + }, + { + "from_row": 73, + "gap_ns": 66871000, + "to_row": 74 + }, + { + "from_row": 75, + "gap_ns": 66909000, + "to_row": 76 + }, + { + "from_row": 78, + "gap_ns": 67022000, + "to_row": 79 + }, + { + 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"non_monotonic_timestamp_count": 0, + "observed_fps": 28.945858525230893, + "official_frame_count": 5704, + "physical_camera_id": "zed_12933256", + "preroll_frame_count": 15, + "row_count": 5704, + "sdk_frame_number_gap_count": 0, + "sdk_frame_number_gaps": [], + "sdk_frame_number_reportable": false, + "serial_number": "12933256", + "startup_gap_excluded_from_warnings": false, + "stream_id": "zed_12933256_right_rgb", + "strict_alignment_warning_tolerance_ns": 16666666, + "timestamp_domain": "zed_image", + "timestamp_gap_warning_threshold_ns": 50000000, + "timestamp_max_ns": 1783460987754495915, + "timestamp_min_ns": 1783460790731491915, + "timestamp_source": "sl.TIME_REFERENCE.IMAGE", + "warnings": [ + "large_timestamp_gap" + ] + } + }, + "streams": [ + { + "expected_fps": 30.0, + "modality": "left_rgb", + "requested_profile": { + "container": "svo2", + "depth_mode": "neural_plus", + "fps": 30, + "resolution_hw": [ + 1080, + 1920 + ], + "svo_compression_mode": "h265_lossless", + "zed_resolution": "hd1080" + }, + "stream_id": "zed_12933256_left_rgb" + }, + { + "expected_fps": 30.0, + "modality": "right_rgb", + "requested_profile": { + "container": "svo2", + "depth_mode": "neural_plus", + "fps": 30, + "resolution_hw": [ + 1080, + 1920 + ], + "svo_compression_mode": "h265_lossless", + "zed_resolution": "hd1080" + }, + "stream_id": "zed_12933256_right_rgb" + }, + { + "expected_fps": 30.0, + "modality": "depth", + "requested_profile": { + "container": "svo2", + "depth_mode": "neural_plus", + "fps": 30, + "resolution_hw": [ + 1080, + 1920 + ], + "svo_compression_mode": "h265_lossless", + "zed_resolution": "hd1080" + }, + "stream_id": "zed_12933256_depth_zed_sdk_neural_plus" + } + ], + "timestamp_path": "timestamps_zed_SN12933256.csv" + } + ], + "config": { + "alignment_warning_frame_periods": 0.5, + "allow_extra_calibrated_cameras": true, + "allow_session_continuity_camera_settings_policy": false, + "calibration_pose_source": "phase_05_final", + "calibration_run_dir": "calibration_results/multicam/20260628_150030", + "camera_rig_profile_name": "four-zed", + "camera_settings_policy_artifact": "calibration_results/camera_auto_reset/20260629_142441/minimal_auto_recording_policy_artifact.json", + "capture": { + "overrides_by_serial": {}, + "realsense": { + "duplicate_frame_policy": null, + "duplicate_max_count": null, + "duplicate_timeout_s": null, + "rectify_color": null + }, + "shared": { + "fps": null, + "image_format": null, + "require_stereo_frames": null, + "resolution_hw": null, + "retain_gpu_images": null, + "return_pointmap_instead_of_depth": null, + "warmup_frames": null + }, + "zed": { + "allow_depth_mode_fallback": null, + "coordinate_units": null, + "depth_maximum_distance_m": null, + "depth_minimum_distance_m": null, + "depth_mode_name": null, + "depth_stabilization": null, + "open_timeout_sec": null + } + }, + "capture_profile_name": "zed-1080p30", + "copy_calibration_depth_snapshots": false, + "copy_calibration_rerun_rrd": false, + "copy_full_calibration_run": false, + "depth_mode": "neural_plus", + "duration_sec": null, + "fail_on_timestamp_gaps": false, + "max_frames": null, + "max_frames_no_progress_timeout_sec": 10.0, + "native_recording_starts_after_warmup": true, + "nearest_neighbor_alignment_tolerance_frame_periods": 1.0, + "no_frame_poll_sleep_sec": 0.001, + "output_datetime": "20260707_174549_045171", + "pairing_validation_failure_policy": "fail", + "post_native_priming_max_discard_frames": 30, + "post_native_priming_timeout_sec": 5.0, + "post_record_quality_policy": "warn", + "post_record_validate_pairing": true, + "realsense_color_format": null, + "realsense_fps": null, + "realsense_height": null, + "realsense_official_start_consecutive_framesets": 2, + "realsense_streams": "color,depth", + "realsense_width": null, + "recording_profile": "dynamic-validation-safe", + "recording_stop_policy": "duration_or_all_max_frames", + "require_calibration": true, + "stream_settle_sec": 0.0, + "stream_warmup_frames": 15, + "stream_warmup_no_frame_timeout_sec": 10.0, + "timestamp_gap_warning_frame_periods": 1.5, + "zed_fps": null, + "zed_resolution": null, + "zed_svo_compression_mode": "h265_lossless" + }, + "duration_sec": null, + "max_frames": null, + "recording_active_elapsed_sec": 200.597877313, + "recording_attempt_started_at_unix_time_ns": 1783460749045167938, + "recording_datetime": "20260707_174549_045171", + "recording_elapsed_sec": 242.33853006362915, + "recording_manifest_path": "recording_manifest.json", + "recording_metadata_schema_version": 1, + "recording_started_at_unix_time_ns": 1783460790785810987, + "recording_status": "stopped", + "recording_stop_policy": "duration_or_all_max_frames", + "recording_stop_reason": "signal_sigint", + "recording_timing": { + "attempt_elapsed_sec": 242.3385272026062, + "official_active_elapsed_sec": 200.597877313, + "official_started_at_unix_time_ns": 1783460790785810987, + "official_stopped_at_unix_time_ns": 1783460991383688300, + "preroll_elapsed_sec": 0.896868993062526, + "recording_started_at_unix_time_ns": 1783460790785810987, + "stream_preroll": { + "first_official_native_frame_index": 1, + "native_container_includes_post_native_priming_frames": true, + "native_container_includes_preroll_frames": false, + "native_recording_starts_after_warmup": true, + "per_camera_preroll_frame_count": { + "12540311": 15, + "12933256": 15, + "17736741": 15, + "23007103": 15 + }, + "post_native_priming": { + "per_camera_discarded_frame_count": { + "12540311": 0, + "12933256": 0, + "17736741": 0, + "23007103": 0 + }, + "per_camera_first_official_native_frame_index": { + "12540311": 1, + "12933256": 1, + "17736741": 1, + "23007103": 1 + }, + "per_camera_post_native_priming_frame_count": { + "12540311": 1, + "12933256": 1, + "17736741": 1, + "23007103": 1 + }, + "post_native_priming_applied": true, + "post_native_priming_elapsed_sec": 0.03380859503522515 + }, + "preroll_elapsed_sec": 0.896868993062526, + "stream_settle_sec": 0.0, + "stream_warmup_frames": 15 + }, + "wind_down_elapsed_sec": 3.606043827952817 + }, + "stream_preroll": { + "first_official_native_frame_index": 1, + "native_container_includes_post_native_priming_frames": true, + "native_container_includes_preroll_frames": false, + "native_recording_starts_after_warmup": true, + "per_camera_preroll_frame_count": { + "12540311": 15, + "12933256": 15, + "17736741": 15, + "23007103": 15 + }, + "post_native_priming": { + "per_camera_discarded_frame_count": { + "12540311": 0, + "12933256": 0, + "17736741": 0, + "23007103": 0 + }, + "per_camera_first_official_native_frame_index": { + "12540311": 1, + "12933256": 1, + "17736741": 1, + "23007103": 1 + }, + "per_camera_post_native_priming_frame_count": { + "12540311": 1, + "12933256": 1, + "17736741": 1, + "23007103": 1 + }, + "post_native_priming_applied": true, + "post_native_priming_elapsed_sec": 0.03380859503522515 + }, + "preroll_elapsed_sec": 0.896868993062526, + "stream_settle_sec": 0.0, + "stream_warmup_frames": 15 + }, + "stream_settle_sec": 0.0, + "stream_warmup_frames": 15, + "timestamp_validation_policy": { + "alignment_warning_frame_periods": 0.5, + "fail_on_timestamp_gaps": false, + "nearest_neighbor_alignment_tolerance_frame_periods": 1.0, + "timestamp_gap_warning_frame_periods": 1.5 + } + }, + "source_files": [ + { + "name": "ZED-M_SN12540311.svo2", + "path": "recordings/20260707_174549_045171/ZED-M_SN12540311.svo2", + "sha256": null, + "size_bytes": 11537333797, + "suffix": ".svo2" + }, + { + "name": "ZED-M_SN12933256.svo2", + "path": "recordings/20260707_174549_045171/ZED-M_SN12933256.svo2", + "sha256": null, + "size_bytes": 12130307690, + "suffix": ".svo2" + }, + { + "name": "ZED-M_SN17736741.svo2", + "path": "recordings/20260707_174549_045171/ZED-M_SN17736741.svo2", + "sha256": null, + "size_bytes": 12374923477, + "suffix": ".svo2" + }, + { + "name": "ZED-M_SN23007103.svo2", + "path": "recordings/20260707_174549_045171/ZED-M_SN23007103.svo2", + "sha256": null, + "size_bytes": 13306131988, + "suffix": ".svo2" + } + ], + "timestamp_sidecars": [ + { + "device_duplicate_timestamp_count": 0, + "device_non_monotonic_timestamp_count": 0, + "device_timestamp_max_ns": 1783460987755820845, + "device_timestamp_min_ns": 1783460790732385845, + "frame_index_gap_count": 0, + "frame_index_max": 5293, + "frame_index_min": 0, + "host_duplicate_timestamp_count": 0, + "host_non_monotonic_timestamp_count": 0, + "host_timestamp_max_ns": 1783460987799752984, + "host_timestamp_min_ns": 1783460790796915355, + "path": "recordings/20260707_174549_045171/timestamps_zed_SN12540311.csv", + "row_count": 5294 + }, + { + "device_duplicate_timestamp_count": 0, + "device_non_monotonic_timestamp_count": 0, + "device_timestamp_max_ns": 1783460987754495915, + "device_timestamp_min_ns": 1783460790731491915, + "frame_index_gap_count": 0, + "frame_index_max": 5703, + "frame_index_min": 0, + "host_duplicate_timestamp_count": 0, + "host_non_monotonic_timestamp_count": 0, + "host_timestamp_max_ns": 1783460987799927181, + "host_timestamp_min_ns": 1783460790797750652, + "path": "recordings/20260707_174549_045171/timestamps_zed_SN12933256.csv", + "row_count": 5704 + }, + { + "device_duplicate_timestamp_count": 0, + "device_non_monotonic_timestamp_count": 0, + "device_timestamp_max_ns": 1783460987728574234, + "device_timestamp_min_ns": 1783460790738460234, + "frame_index_gap_count": 0, + "frame_index_max": 5642, + "frame_index_min": 0, + "host_duplicate_timestamp_count": 0, + "host_non_monotonic_timestamp_count": 0, + "host_timestamp_max_ns": 1783460987768692258, + "host_timestamp_min_ns": 1783460790797688437, + "path": "recordings/20260707_174549_045171/timestamps_zed_SN17736741.csv", + "row_count": 5643 + }, + { + "device_duplicate_timestamp_count": 0, + "device_non_monotonic_timestamp_count": 0, + "device_timestamp_max_ns": 1783460987749257103, + "device_timestamp_min_ns": 1783460790726613103, + "frame_index_gap_count": 0, + "frame_index_max": 5833, + "frame_index_min": 0, + "host_duplicate_timestamp_count": 0, + "host_non_monotonic_timestamp_count": 0, + "host_timestamp_max_ns": 1783460987792605015, + "host_timestamp_min_ns": 1783460790815015198, + "path": "recordings/20260707_174549_045171/timestamps_zed_SN23007103.csv", + "row_count": 5834 + } + ] +} \ No newline at end of file diff --git a/sessions/session_20260707_174549_045171/metadata/discovery_report.md b/sessions/session_20260707_174549_045171/metadata/discovery_report.md new file mode 100644 index 0000000000000000000000000000000000000000..c221c7a3cce6e8e6f079d1a91cfc5e00901e68e9 --- /dev/null +++ b/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//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. diff --git a/sessions/session_20260707_174549_045171/metadata/grouped_zed_export_provenance.json b/sessions/session_20260707_174549_045171/metadata/grouped_zed_export_provenance.json new file mode 100644 index 0000000000000000000000000000000000000000..9baa28d5a75e2dca8de250eefceb62ed0332f7f7 --- /dev/null +++ b/sessions/session_20260707_174549_045171/metadata/grouped_zed_export_provenance.json @@ -0,0 +1,70 @@ +{ + "/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" + ] + } +} \ No newline at end of file diff --git a/sessions/session_20260707_174549_045171/metadata/raw_stream_summary.parquet b/sessions/session_20260707_174549_045171/metadata/raw_stream_summary.parquet new file mode 100644 index 0000000000000000000000000000000000000000..fb2784375b46086736192ead343a4583d1c49ef1 --- /dev/null +++ b/sessions/session_20260707_174549_045171/metadata/raw_stream_summary.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7a340672d7e72a9ff6de33660ecf6e8452b01ce1325481d6443abd68427e5980 +size 554992 diff --git a/sessions/session_20260707_174549_045171/metadata/realsense_bag_pairing.json b/sessions/session_20260707_174549_045171/metadata/realsense_bag_pairing.json new file mode 100644 index 0000000000000000000000000000000000000000..00b55069cc350c37410dedf5bd96e2ddc87a0bcd --- /dev/null +++ b/sessions/session_20260707_174549_045171/metadata/realsense_bag_pairing.json @@ -0,0 +1,19 @@ +{ + "bag_index_artifact": null, + "depth_aligned_to_color_pairing_policy": null, + "frame_number_offset_median": null, + "frame_number_offset_p95": null, + "frame_number_offset_unit": "frames", + "legacy_native_index_pairing_detected_bad": false, + "per_stream_legacy_audit": [], + "raw_pairing_validation": { + "recording_dir": "recordings/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" +} \ No newline at end of file diff --git a/sessions/session_20260707_174549_045171/metadata/recording_manifest.json b/sessions/session_20260707_174549_045171/metadata/recording_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..200838af9feeb3d3b537e2f60fa64fe294be4306 --- /dev/null +++ b/sessions/session_20260707_174549_045171/metadata/recording_manifest.json @@ -0,0 +1,3066 @@ +{ + "recording_manifest_schema_version": 1, + "recording_datetime": "20260707_174549_045171", + "recording_status": "stopped", + "recording_stop_reason": "signal_sigint", + "camera_rig_profile_name": "four-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": "four-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", + "zed_12933256_left_rgb", + "zed_12933256_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_12933256": { + "camera_type": "zed", + "serial_number": "12933256", + "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": "four-zed", + "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" + ], + "per_camera": { + "zed_12540311": { + "resolution": [ + 1080, + 1920 + ], + "requested_fps": 30.0, + "fps": 30.0, + "actual_fps": 30.0, + "actual_fps_source": "camera_information.camera_configuration.fps", + "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 + ], + "requested_fps": 30.0, + "fps": 30.0, + "actual_fps": 30.0, + "actual_fps_source": "camera_information.camera_configuration.fps", + "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 + ], + "requested_fps": 30.0, + "fps": 30.0, + "actual_fps": 30.0, + "actual_fps_source": "camera_information.camera_configuration.fps", + "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" + }, + "zed_12933256": { + "resolution": [ + 1080, + 1920 + ], + "requested_fps": 30.0, + "fps": 30.0, + "actual_fps": 30.0, + "actual_fps_source": "camera_information.camera_configuration.fps", + "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": "12933256", + "camera_name": "zed-12933256" + } + } + }, + "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/20260628_150030", + "pose_source": "phase_05_final", + "world_frame": "table", + "final_transform_source": "combined_fixed_movable_ba", + "calibration_package_dir": "calibration", + "camera_serials": [ + "12540311", + "17736741", + "23007103", + "12933256" + ], + "packaged_camera_serials": [ + "12540311", + "17736741", + "23007103", + "12933256" + ], + "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": "9472ee8eb50af9230acc4cedce9ac44b72c8af18aed27a8657788663d8b40efb" + }, + "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_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" + } + }, + "policy_compatibility": { + "schema_version": 1, + "artifact_type": "camera_settings_policy_compatibility", + "status": "compatible", + "policy_artifact_path": "calibration_results/camera_auto_reset/20260629_142441/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": "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" + } + } + }, + "camera_control_acquisition_signature_recorder": { + "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_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" + }, + "zed_12933256_stereo": { + "camera_type": "zed", + "serial_number": "12933256", + "settings_group_id": "zed_12933256_stereo" + } + }, + "policy_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" + ] + }, + "exact_match_fields": [ + "controlled_cameras", + "camera_rig_profile_name", + "zed_fps", + "zed_stream_profile_name" + ], + "field_comparisons": { + "camera_rig_profile_name": { + "policy": "four-zed", + "recorder": "four-zed", + "match": true + }, + "zed_fps": { + "policy": 30, + "recorder": 30, + "match": true + }, + "realsense_fps": { + "policy": 0, + "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": [], + "recorder": [], + "match": true, + "skipped": true, + "reason": "Recorder session has no RealSense cameras; policy value ignored." + } + }, + "tolerated_differences": [ + { + "field": "realsense_fps", + "policy": 0, + "recorder": 0, + "reason": "Policy includes realsense FPS but this recorder session has no realsense cameras." + }, + { + "field": "realsense_resolution_hw", + "policy": [], + "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_12933256_left_rgb", + "zed_12933256_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": "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" + } + } + }, + "camera_control_acquisition_signature_recorder": { + "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_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" + }, + "zed_12933256_stereo": { + "camera_type": "zed", + "serial_number": "12933256", + "settings_group_id": "zed_12933256_stereo" + } + }, + "policy_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" + ] + } + }, + "camera_settings_policy_compatibility": { + "schema_version": 1, + "artifact_type": "camera_settings_policy_compatibility", + "status": "compatible", + "policy_artifact_path": "calibration_results/camera_auto_reset/20260629_142441/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": "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" + } + } + }, + "camera_control_acquisition_signature_recorder": { + "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_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" + }, + "zed_12933256_stereo": { + "camera_type": "zed", + "serial_number": "12933256", + "settings_group_id": "zed_12933256_stereo" + } + }, + "policy_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" + ] + }, + "exact_match_fields": [ + "controlled_cameras", + "camera_rig_profile_name", + "zed_fps", + "zed_stream_profile_name" + ], + "field_comparisons": { + "camera_rig_profile_name": { + "policy": "four-zed", + "recorder": "four-zed", + "match": true + }, + "zed_fps": { + "policy": 30, + "recorder": 30, + "match": true + }, + "realsense_fps": { + "policy": 0, + "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": [], + "recorder": [], + "match": true, + "skipped": true, + "reason": "Recorder session has no RealSense cameras; policy value ignored." + } + }, + "tolerated_differences": [ + { + "field": "realsense_fps", + "policy": 0, + "recorder": 0, + "reason": "Policy includes realsense FPS but this recorder session has no realsense cameras." + }, + { + "field": "realsense_resolution_hw", + "policy": [], + "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_12933256_left_rgb", + "zed_12933256_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 + ], + "requested_fps": 30.0, + "fps": 30.0, + "actual_fps": 30.0, + "actual_fps_source": "camera_information.camera_configuration.fps", + "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": 5294, + "expected_fps": 30.0, + "observed_fps": 26.86482448141258, + "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": 1783460790732385845, + "timestamp_max_ns": 1783460987755820845, + "median_gap_ns": 33496000.0, + "max_gap_ns": 133879000, + "large_gap_count": 583, + "large_gaps": [ + { + "from_row": 43, + "to_row": 44, + "gap_ns": 66879000 + }, + { + "from_row": 44, + "to_row": 45, + "gap_ns": 66843000 + }, + { + "from_row": 45, + "to_row": 46, + "gap_ns": 66922000 + }, + { + "from_row": 46, + "to_row": 47, + "gap_ns": 66983000 + }, + { + "from_row": 86, + "to_row": 87, + "gap_ns": 67011000 + }, + { + "from_row": 87, + "to_row": 88, + "gap_ns": 66738000 + }, + { + "from_row": 88, + "to_row": 89, + "gap_ns": 67002000 + }, + { + "from_row": 91, + "to_row": 92, + "gap_ns": 67038000 + }, + { + "from_row": 92, + "to_row": 93, + "gap_ns": 67008000 + }, + { + "from_row": 93, + "to_row": 94, + "gap_ns": 66708000 + }, + { + "from_row": 94, + "to_row": 95, + "gap_ns": 67048000 + }, + { + "from_row": 99, + "to_row": 100, + "gap_ns": 67011000 + }, + { + "from_row": 100, + "to_row": 101, + "gap_ns": 66910000 + }, + { + "from_row": 101, + "to_row": 102, + "gap_ns": 66877000 + }, + { + "from_row": 102, + "to_row": 103, + "gap_ns": 66867000 + }, + { + "from_row": 104, + "to_row": 105, + "gap_ns": 66883000 + }, + { + "from_row": 105, + "to_row": 106, + "gap_ns": 66881000 + }, + { + "from_row": 108, + "to_row": 109, + "gap_ns": 66770000 + }, + { + "from_row": 109, + "to_row": 110, + "gap_ns": 66979000 + }, + { + "from_row": 110, + "to_row": 111, + "gap_ns": 66859000 + } + ], + "first_inter_frame_gap_ns": 33256000, + "startup_gap_excluded_from_warnings": false, + "preroll_frame_count": 15, + "official_frame_count": 5294, + "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": 1783460790796915355, + "host_timestamp_max_ns": 1783460987799752984, + "timestamp_domain": "zed_image", + "timestamp_source": "sl.TIME_REFERENCE.IMAGE", + "host_timestamp_source": "time.time_ns_after_record_frame", + "warnings": [ + "large_timestamp_gap" + ] + }, + "native_frame_mapping": { + "native_container_includes_preroll_frames": false, + "native_container_includes_post_native_priming_frames": true, + "preroll_frame_count": 15, + "post_native_priming_frame_count": 1, + "official_frame_count": 5294, + "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 + ], + "requested_fps": 30.0, + "fps": 30.0, + "actual_fps": 30.0, + "actual_fps_source": "camera_information.camera_configuration.fps", + "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": 5294, + "expected_fps": 30.0, + "observed_fps": 26.86482448141258, + "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": 1783460790732385845, + "timestamp_max_ns": 1783460987755820845, + "median_gap_ns": 33496000.0, + "max_gap_ns": 133879000, + "large_gap_count": 583, + "large_gaps": [ + { + "from_row": 43, + "to_row": 44, + "gap_ns": 66879000 + }, + { + "from_row": 44, + "to_row": 45, + "gap_ns": 66843000 + }, + { + "from_row": 45, + "to_row": 46, + "gap_ns": 66922000 + }, + { + "from_row": 46, + "to_row": 47, + "gap_ns": 66983000 + }, + { + "from_row": 86, + "to_row": 87, + "gap_ns": 67011000 + }, + { + "from_row": 87, + "to_row": 88, + "gap_ns": 66738000 + }, + { + "from_row": 88, + "to_row": 89, + "gap_ns": 67002000 + }, + { + "from_row": 91, + "to_row": 92, + "gap_ns": 67038000 + }, + { + "from_row": 92, + "to_row": 93, + "gap_ns": 67008000 + }, + { + "from_row": 93, + "to_row": 94, + "gap_ns": 66708000 + }, + { + "from_row": 94, + "to_row": 95, + "gap_ns": 67048000 + }, + { + "from_row": 99, + "to_row": 100, + "gap_ns": 67011000 + }, + { + "from_row": 100, + "to_row": 101, + "gap_ns": 66910000 + }, + { + "from_row": 101, + "to_row": 102, + "gap_ns": 66877000 + }, + { + "from_row": 102, + "to_row": 103, + "gap_ns": 66867000 + }, + { + "from_row": 104, + "to_row": 105, + "gap_ns": 66883000 + }, + { + "from_row": 105, + "to_row": 106, + "gap_ns": 66881000 + }, + { + "from_row": 108, + "to_row": 109, + "gap_ns": 66770000 + }, + { + "from_row": 109, + "to_row": 110, + "gap_ns": 66979000 + }, + { + "from_row": 110, + "to_row": 111, + "gap_ns": 66859000 + } + ], + "first_inter_frame_gap_ns": 33256000, + "startup_gap_excluded_from_warnings": false, + "preroll_frame_count": 15, + "official_frame_count": 5294, + "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": 1783460790796915355, + "host_timestamp_max_ns": 1783460987799752984, + "timestamp_domain": "zed_image", + "timestamp_source": "sl.TIME_REFERENCE.IMAGE", + "host_timestamp_source": "time.time_ns_after_record_frame", + "warnings": [ + "large_timestamp_gap" + ] + }, + "native_frame_mapping": { + 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"timestamps_zed_SN12540311.csv", + "timestamps_zed_SN17736741.csv", + "timestamps_zed_SN23007103.csv", + "timestamps_zed_SN12933256.csv" + ], + "known_converter_gaps": [ + "Post-hoc converter currently exports RealSense color/depth from BAG; RealSense IR BAG export remains follow-up work." + ] +} \ No newline at end of file diff --git a/sessions/session_20260707_174549_045171/metadata/recording_metadata.json b/sessions/session_20260707_174549_045171/metadata/recording_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..69081def4f462627c2ff9c8c8fdabe8e0a4e8d61 --- /dev/null +++ b/sessions/session_20260707_174549_045171/metadata/recording_metadata.json @@ -0,0 +1,3755 @@ +{ + "recording_metadata_schema_version": 1, + "recording_datetime": "20260707_174549_045171", + "recording_status": "stopped", + "recording_attempt_started_at_unix_time_ns": 1783460749045167938, + "recording_started_at_unix_time_ns": 1783460790785810987, + "camera_rig_profile_name": 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+ }, + { + "from_row": 227, + "to_row": 228, + "gap_ns": 66963000 + }, + { + "from_row": 228, + "to_row": 229, + "gap_ns": 66938000 + }, + { + "from_row": 230, + "to_row": 231, + "gap_ns": 66743000 + }, + { + "from_row": 231, + "to_row": 232, + "gap_ns": 66970000 + }, + { + "from_row": 232, + "to_row": 233, + "gap_ns": 66877000 + }, + { + "from_row": 233, + "to_row": 234, + "gap_ns": 66901000 + }, + { + "from_row": 235, + "to_row": 236, + "gap_ns": 66881000 + } + ], + "first_inter_frame_gap_ns": 31864000, + "startup_gap_excluded_from_warnings": false, + "preroll_frame_count": 15, + "official_frame_count": 5704, + "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": 1783460790797750652, + "host_timestamp_max_ns": 1783460987799927181, + "timestamp_domain": "zed_image", + "timestamp_source": "sl.TIME_REFERENCE.IMAGE", + "host_timestamp_source": "time.time_ns_after_record_frame", + "warnings": [ + "large_timestamp_gap" + ] + }, + "zed_12933256_right_rgb": { + "stream_id": "zed_12933256_right_rgb", + "modality": "right_rgb", + "physical_camera_id": "zed_12933256", + "serial_number": "12933256", + "camera_type": "zed", + "row_count": 5704, + "expected_fps": 30.0, + "observed_fps": 28.945858525230893, + "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": 1783460790731491915, + "timestamp_max_ns": 1783460987754495915, + "median_gap_ns": 33491000.0, + "max_gap_ns": 167207000, + "large_gap_count": 171, + "large_gaps": [ + { + "from_row": 26, + "to_row": 27, + "gap_ns": 66837000 + }, + { + "from_row": 69, + "to_row": 70, + "gap_ns": 66800000 + }, + { + "from_row": 70, + "to_row": 71, + "gap_ns": 66980000 + }, + { + "from_row": 72, + "to_row": 73, + "gap_ns": 66842000 + }, + { + "from_row": 73, + "to_row": 74, + "gap_ns": 66871000 + }, + { + "from_row": 75, + "to_row": 76, + "gap_ns": 66909000 + }, + { + "from_row": 78, + "to_row": 79, + "gap_ns": 67022000 + }, + { + "from_row": 81, + "to_row": 82, + "gap_ns": 66755000 + }, + { + "from_row": 87, + "to_row": 88, + "gap_ns": 66869000 + }, + { + "from_row": 93, + "to_row": 94, + "gap_ns": 66996000 + }, + { + "from_row": 190, + "to_row": 191, + "gap_ns": 100331000 + }, + { + "from_row": 217, + "to_row": 218, + "gap_ns": 100125000 + }, + { + "from_row": 225, + "to_row": 226, + "gap_ns": 66708000 + }, + { + "from_row": 227, + "to_row": 228, + "gap_ns": 66963000 + }, + { + "from_row": 228, + "to_row": 229, + "gap_ns": 66938000 + }, + { + "from_row": 230, + "to_row": 231, + "gap_ns": 66743000 + }, + { + "from_row": 231, + "to_row": 232, + "gap_ns": 66970000 + }, + { + "from_row": 232, + "to_row": 233, + "gap_ns": 66877000 + }, + { + "from_row": 233, + "to_row": 234, + "gap_ns": 66901000 + }, + { + "from_row": 235, + "to_row": 236, + "gap_ns": 66881000 + } + ], + "first_inter_frame_gap_ns": 31864000, + "startup_gap_excluded_from_warnings": false, + "preroll_frame_count": 15, + "official_frame_count": 5704, + "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": 1783460790797750652, + "host_timestamp_max_ns": 1783460987799927181, + "timestamp_domain": "zed_image", + "timestamp_source": "sl.TIME_REFERENCE.IMAGE", + "host_timestamp_source": "time.time_ns_after_record_frame", + "warnings": [ + "large_timestamp_gap" + ] + }, + "zed_12933256_depth_zed_sdk_neural_plus": { + "stream_id": "zed_12933256_depth_zed_sdk_neural_plus", + "modality": "depth", + "physical_camera_id": "zed_12933256", + "serial_number": "12933256", + "camera_type": "zed", + "row_count": 5704, + "expected_fps": 30.0, + "observed_fps": 28.945858525230893, + "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": 1783460790731491915, + "timestamp_max_ns": 1783460987754495915, + "median_gap_ns": 33491000.0, + "max_gap_ns": 167207000, + "large_gap_count": 171, + "large_gaps": [ + { + "from_row": 26, + "to_row": 27, + "gap_ns": 66837000 + }, + { + "from_row": 69, + "to_row": 70, + "gap_ns": 66800000 + }, + { + "from_row": 70, + "to_row": 71, + "gap_ns": 66980000 + }, + { + "from_row": 72, + "to_row": 73, + "gap_ns": 66842000 + }, + { + "from_row": 73, + "to_row": 74, + "gap_ns": 66871000 + }, + { + "from_row": 75, + "to_row": 76, + "gap_ns": 66909000 + }, + { + "from_row": 78, + "to_row": 79, + "gap_ns": 67022000 + }, + { + "from_row": 81, + "to_row": 82, + "gap_ns": 66755000 + }, + { + "from_row": 87, + "to_row": 88, + "gap_ns": 66869000 + }, + { + "from_row": 93, + "to_row": 94, + "gap_ns": 66996000 + }, + { + "from_row": 190, + "to_row": 191, + "gap_ns": 100331000 + }, + { + "from_row": 217, + "to_row": 218, + "gap_ns": 100125000 + }, + { + "from_row": 225, + "to_row": 226, + "gap_ns": 66708000 + }, + { + "from_row": 227, + "to_row": 228, + "gap_ns": 66963000 + }, + { + "from_row": 228, + "to_row": 229, + "gap_ns": 66938000 + }, + { + "from_row": 230, + "to_row": 231, + "gap_ns": 66743000 + }, + { + "from_row": 231, + "to_row": 232, + "gap_ns": 66970000 + }, + { + "from_row": 232, + "to_row": 233, + "gap_ns": 66877000 + }, + { + "from_row": 233, + "to_row": 234, + "gap_ns": 66901000 + }, + { + "from_row": 235, + "to_row": 236, + "gap_ns": 66881000 + } + ], + "first_inter_frame_gap_ns": 31864000, + "startup_gap_excluded_from_warnings": false, + "preroll_frame_count": 15, + "official_frame_count": 5704, + "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": 1783460790797750652, + "host_timestamp_max_ns": 1783460987799927181, + "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": 0.896868993062526, + "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, + "12933256": 15 + }, + "post_native_priming": { + "post_native_priming_applied": true, + "post_native_priming_elapsed_sec": 0.03380859503522515, + "per_camera_discarded_frame_count": { + "12540311": 0, + "17736741": 0, + "23007103": 0, + "12933256": 0 + }, + "per_camera_post_native_priming_frame_count": { + "12540311": 1, + "17736741": 1, + "23007103": 1, + "12933256": 1 + }, + "per_camera_first_official_native_frame_index": { + "12540311": 1, + "17736741": 1, + "23007103": 1, + "12933256": 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_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" + } + }, + "policy_compatibility": { + "schema_version": 1, + "artifact_type": "camera_settings_policy_compatibility", + "status": "compatible", + "policy_artifact_path": "calibration_results/camera_auto_reset/20260629_142441/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": "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" + } + } + }, + "camera_control_acquisition_signature_recorder": { + "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_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" + }, + "zed_12933256_stereo": { + "camera_type": "zed", + "serial_number": "12933256", + "settings_group_id": "zed_12933256_stereo" + } + }, + "policy_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" + ] + }, + "exact_match_fields": [ + "controlled_cameras", + "camera_rig_profile_name", + "zed_fps", + "zed_stream_profile_name" + ], + "field_comparisons": { + "camera_rig_profile_name": { + "policy": "four-zed", + "recorder": "four-zed", + "match": true + }, + "zed_fps": { + "policy": 30, + "recorder": 30, + "match": true + }, + "realsense_fps": { + "policy": 0, + "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": [], + "recorder": [], + "match": true, + "skipped": true, + "reason": "Recorder session has no RealSense cameras; policy value ignored." + } + }, + "tolerated_differences": [ + { + "field": "realsense_fps", + "policy": 0, + "recorder": 0, + "reason": "Policy includes realsense FPS but this recorder session has no realsense cameras." + }, + { + "field": "realsense_resolution_hw", + "policy": [], + "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_12933256_left_rgb", + "zed_12933256_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": "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" + } + } + }, + "camera_control_acquisition_signature_recorder": { + "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_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" + }, + "zed_12933256_stereo": { + "camera_type": "zed", + "serial_number": "12933256", + "settings_group_id": "zed_12933256_stereo" + } + }, + "policy_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" + ] + } + }, + "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/20260629_142441/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": "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" + } + } + }, + "camera_control_acquisition_signature_recorder": { + "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_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" + }, + "zed_12933256_stereo": { + "camera_type": "zed", + "serial_number": "12933256", + "settings_group_id": "zed_12933256_stereo" + } + }, + "policy_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" + ] + }, + "exact_match_fields": [ + "controlled_cameras", + "camera_rig_profile_name", + "zed_fps", + "zed_stream_profile_name" + ], + "field_comparisons": { + "camera_rig_profile_name": { + "policy": "four-zed", + "recorder": "four-zed", + "match": true + }, + "zed_fps": { + "policy": 30, + "recorder": 30, + "match": true + }, + "realsense_fps": { + "policy": 0, + "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": [], + "recorder": [], + "match": true, + "skipped": true, + "reason": "Recorder session has no RealSense cameras; policy value ignored." + } + }, + "tolerated_differences": [ + { + "field": "realsense_fps", + "policy": 0, + "recorder": 0, + "reason": "Policy includes realsense FPS but this recorder session has no realsense cameras." + }, + { + "field": "realsense_resolution_hw", + "policy": [], + "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_12933256_left_rgb", + "zed_12933256_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": "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" + } + } + }, + "camera_control_acquisition_signature_recorder": { + "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_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" + }, + "zed_12933256_stereo": { + "camera_type": "zed", + "serial_number": "12933256", + "settings_group_id": "zed_12933256_stereo" + } + }, + "policy_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" + ] + }, + "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 + }, + "recording_config_acquisition": { + "capture_profile_name": "zed-1080p30", + "camera_rig_profile_name": "four-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", + "zed_12933256_left_rgb", + "zed_12933256_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_12933256": { + "camera_type": "zed", + "serial_number": "12933256", + "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": "four-zed", + "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" + ], + "per_camera": { + "zed_12540311": { + "resolution": [ + 1080, + 1920 + ], + "requested_fps": 30.0, + "fps": 30.0, + "actual_fps": 30.0, + "actual_fps_source": "camera_information.camera_configuration.fps", + "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 + ], + "requested_fps": 30.0, + "fps": 30.0, + "actual_fps": 30.0, + "actual_fps_source": "camera_information.camera_configuration.fps", + "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 + ], + "requested_fps": 30.0, + "fps": 30.0, + "actual_fps": 30.0, + "actual_fps_source": "camera_information.camera_configuration.fps", + "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" + }, + "zed_12933256": { + "resolution": [ + 1080, + 1920 + ], + "requested_fps": 30.0, + "fps": 30.0, + "actual_fps": 30.0, + "actual_fps_source": "camera_information.camera_configuration.fps", + "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": "12933256", + "camera_name": "zed-12933256" + } + } + } + }, + "camera_close_reports": [ + { + "camera_type": "zed", + "serial_number": "12540311", + "recording_enabled_before_close": true, + "recording_enabled_after_disable": false, + "read_thread_alive_before_close": false, + "read_thread_alive_after_stop": false, + "camera_lock_acquired_for_close": true, + "sdk_close_attempted": true, + "sdk_is_opened_before_close": true, + "sdk_is_opened_after_close": false, + "sdk_close_retry_count": 0, + "sdk_close_exception": null, + "close_warning_messages": [], + "recording_stop_reason": "signal_sigint" + }, + { + "camera_type": "zed", + "serial_number": "17736741", + "recording_enabled_before_close": true, + "recording_enabled_after_disable": false, + "read_thread_alive_before_close": false, + "read_thread_alive_after_stop": false, + "camera_lock_acquired_for_close": true, + "sdk_close_attempted": true, + "sdk_is_opened_before_close": true, + "sdk_is_opened_after_close": false, + "sdk_close_retry_count": 0, + "sdk_close_exception": null, + "close_warning_messages": [], + "recording_stop_reason": "signal_sigint" + }, + { + "camera_type": "zed", + "serial_number": "23007103", + "recording_enabled_before_close": true, + "recording_enabled_after_disable": false, + "read_thread_alive_before_close": false, + "read_thread_alive_after_stop": false, + "camera_lock_acquired_for_close": true, + "sdk_close_attempted": true, + "sdk_is_opened_before_close": true, + "sdk_is_opened_after_close": false, + "sdk_close_retry_count": 0, + "sdk_close_exception": null, + "close_warning_messages": [], + "recording_stop_reason": "signal_sigint" + }, + { + "camera_type": "zed", + "serial_number": "12933256", + "recording_enabled_before_close": true, + "recording_enabled_after_disable": false, + "read_thread_alive_before_close": false, + "read_thread_alive_after_stop": false, + "camera_lock_acquired_for_close": true, + "sdk_close_attempted": true, + "sdk_is_opened_before_close": true, + "sdk_is_opened_after_close": false, + "sdk_close_retry_count": 0, + "sdk_close_exception": null, + "close_warning_messages": [], + "recording_stop_reason": "signal_sigint" + } + ], + "recording_elapsed_sec": 242.33853006362915, + "recording_active_elapsed_sec": 200.597877313, + "recording_timing": { + "attempt_elapsed_sec": 242.3385272026062, + "official_active_elapsed_sec": 200.597877313, + "preroll_elapsed_sec": 0.896868993062526, + "wind_down_elapsed_sec": 3.606043827952817, + "recording_started_at_unix_time_ns": 1783460790785810987, + "official_started_at_unix_time_ns": 1783460790785810987, + "official_stopped_at_unix_time_ns": 1783460991383688300, + "stream_preroll": { + "stream_warmup_frames": 15, + "stream_settle_sec": 0.0, + "preroll_elapsed_sec": 0.896868993062526, + "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, + "12933256": 15 + }, + "post_native_priming": { + "post_native_priming_applied": true, + "post_native_priming_elapsed_sec": 0.03380859503522515, + "per_camera_discarded_frame_count": { + "12540311": 0, + "17736741": 0, + "23007103": 0, + "12933256": 0 + }, + "per_camera_post_native_priming_frame_count": { + 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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": 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