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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_20260629_151837_231020/metadata/calibration_package/transforms_index.json b/sessions/session_20260629_151837_231020/metadata/calibration_package/transforms_index.json new file mode 100644 index 0000000000000000000000000000000000000000..3eb97b7dc92ae7823fb0807afc6f5240f1d215f6 --- /dev/null +++ b/sessions/session_20260629_151837_231020/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_20260629_151837_231020/metadata/calibration_package/world_T_camera_by_serial.npz b/sessions/session_20260629_151837_231020/metadata/calibration_package/world_T_camera_by_serial.npz new file mode 100644 index 0000000000000000000000000000000000000000..8079083fc5ae09c7b0763d4cf1516898d2a8ae88 --- /dev/null +++ b/sessions/session_20260629_151837_231020/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_20260629_151837_231020/metadata/camera_settings/camera_settings_application_log.json b/sessions/session_20260629_151837_231020/metadata/camera_settings/camera_settings_application_log.json new file mode 100644 index 0000000000000000000000000000000000000000..81fa277770434776276817985753fea86e5d778f --- /dev/null +++ b/sessions/session_20260629_151837_231020/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", + 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+ "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": 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"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_20260629_151837_231020/metadata/camera_settings/camera_settings_policy_applied.json b/sessions/session_20260629_151837_231020/metadata/camera_settings/camera_settings_policy_applied.json new file mode 100644 index 0000000000000000000000000000000000000000..524fa1b163e823022f8602a5a38569b66744989f --- /dev/null +++ b/sessions/session_20260629_151837_231020/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": 6500.0 + }, + "readback_success": true, + "readback_reasons": [] + }, + 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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": 6500.0 + }, + "readback_success": true, + "readback_reasons": [] + }, + "zed_17736741_stereo": { + "selected_policy_id": "zed_keep_all_auto", + "recording_readiness": "partial_auto_recording_policy", + "recording_mode": "partial_auto", + "auto_controls_remaining_enabled": [ + "auto_exposure", + "auto_white_balance" + ], + "auto_controls_disabled": [], + "controls_allowed_to_drift_during_recording": [ + "exposure", + "gain", + "white_balance" + ], + "manual_controls_written": [], + "expected_recording_behavior": "Exposure/gain and white balance remain auto and may adapt during recording.", + "reconstruction_priority_class": "all_auto", + "exposure_gain_status": "auto_remaining_enabled", + "white_balance_status": "auto_remaining_enabled", + "expected_reconstruction_risk": "Exposure/gain and white balance remain auto. Brightness scale and color balance may drift during recording.", + "brightness_scale_locked": false, + "color_balance_locked": false, + "warning": "One or more RGB auto controls remain enabled and the listed controls may drift during recording. Selected keep-all-auto fallback passed with relaxed candidate verification; brightness and color balance may drift during recording.", + "readback_controls": { + "auto_exposure": true, + "auto_white_balance": true, + "exposure": 100.0, + "gain": 42.0, + "white_balance": 6500.0 + }, + "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": 52.0, + "white_balance": 6500.0 + }, + "readback_success": true, + "readback_reasons": [] + } + } +} \ No newline at end of file diff --git a/sessions/session_20260629_151837_231020/metadata/camera_settings/camera_settings_policy_source.json b/sessions/session_20260629_151837_231020/metadata/camera_settings/camera_settings_policy_source.json new file mode 100644 index 0000000000000000000000000000000000000000..ceb3eb8d7384db5bc61405fbac9b379143f670fe --- /dev/null +++ b/sessions/session_20260629_151837_231020/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, + 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"image_format": "rgb8", + "camera_id": "newerr", + "camera_type": "zed", + "serial_number": "12540311" + }, + "amazonbasics": { + "resolution": [ + 1080, + 1920 + ], + "fps": 30.0, + "stream_profile_name": "HD1080", + "image_format": "rgb8", + "camera_id": "amazonbasics", + "camera_type": "zed", + "serial_number": "17736741" + }, + "zed-23007103": { + "resolution": [ + 1080, + 1920 + ], + "fps": 30.0, + "stream_profile_name": "HD1080", + "image_format": "rgb8", + "camera_id": "zed-23007103", + "camera_type": "zed", + "serial_number": "23007103" + }, + "zed-12933256": { + "resolution": [ + 1080, + 1920 + ], + "fps": 30.0, + "stream_profile_name": "HD1080", + "image_format": "rgb8", + "camera_id": "zed-12933256", + "camera_type": "zed", + "serial_number": "12933256" + } + }, + "enabled_rgb_stream_ids": [ + "zed_12540311_left_rgb", + "zed_12540311_right_rgb", + "zed_12933256_left_rgb", + "zed_12933256_right_rgb", + "zed_17736741_left_rgb", + "zed_17736741_right_rgb", + "zed_23007103_left_rgb", + "zed_23007103_right_rgb" + ], + "resolution": [ + 1080, + 1920 + ], + "fps": 30.0, + "stream_profile_name": "HD1080", + "image_format": "rgb8" + }, + "settings_groups": [ + { + "settings_group_id": "zed_12540311_stereo", + "settings_scope": "zed_stereo_pair", + "camera_id": "newerr", + "serial_number": "12540311", + "member_rgb_stream_ids": [ + "zed_12540311_left_rgb", + "zed_12540311_right_rgb" + ], + "values": { + "auto_exposure": false, + "auto_white_balance": true, + "exposure": 90.0, + "gain": 40.0, + "white_balance": 6500.0, + "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, + 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"gain": 52.0, + "white_balance": 6500.0, + "brightness": 4.0, + "contrast": 4.0, + "hue": 0.0, + "saturation": 4.0, + "gamma": 5.0, + "sharpness": 4.0 + } + } + ] +} \ No newline at end of file diff --git a/sessions/session_20260629_151837_231020/metadata/camera_settings/camera_settings_readback_before_recording.json b/sessions/session_20260629_151837_231020/metadata/camera_settings/camera_settings_readback_before_recording.json new file mode 100644 index 0000000000000000000000000000000000000000..6e21c03b22be8bf0af6eb01744b85ebc359ea2b9 --- /dev/null +++ b/sessions/session_20260629_151837_231020/metadata/camera_settings/camera_settings_readback_before_recording.json @@ -0,0 +1,193 @@ +{ + "schema_version": 1, + "requested_acquisition": { + "camera_rig_profile_name": "four-zed", + "capture_profile_name": "zed-1080p30", + "enabled_rgb_stream_ids": [], + "resolution": null, + "fps": 30, + "stream_profile_name": null, + "image_format": null, + "zed_stream_profile_name": null, + 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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": 6500.0, + "brightness": 4.0, + "contrast": 4.0, + "hue": 0.0, + "saturation": 4.0, + "gamma": 5.0, + "sharpness": 3.0 + } + }, + { + "settings_group_id": "zed_12933256_stereo", + "settings_scope": "zed_stereo_pair", + "camera_id": "zed-12933256", + "serial_number": "12933256", + "member_rgb_stream_ids": [ + "zed_12933256_left_rgb", + "zed_12933256_right_rgb" + ], + "values": { + "auto_exposure": false, + "auto_white_balance": true, + "exposure": 90.0, + "gain": 36.0, + "white_balance": 6500.0, + "brightness": 4.0, + "contrast": 4.0, + "hue": 0.0, + "saturation": 4.0, + "gamma": 5.0, + "sharpness": 3.0 + } + }, + { + "settings_group_id": "zed_17736741_stereo", + "settings_scope": "zed_stereo_pair", + "camera_id": "amazonbasics", + "serial_number": "17736741", + "member_rgb_stream_ids": [ + "zed_17736741_left_rgb", + "zed_17736741_right_rgb" + ], + "values": { + "auto_exposure": true, + "auto_white_balance": true, + "exposure": 100.0, + "gain": 42.0, + "white_balance": 6500.0, + "brightness": 4.0, + "contrast": 4.0, + "hue": 0.0, + "saturation": 4.0, + "gamma": 5.0, + "sharpness": 3.0 + } + }, + { + "settings_group_id": "zed_23007103_stereo", + "settings_scope": "zed_stereo_pair", + "camera_id": "zed-23007103", + "serial_number": "23007103", + "member_rgb_stream_ids": [ + "zed_23007103_left_rgb", + "zed_23007103_right_rgb" + ], + "values": { + "auto_exposure": true, + "auto_white_balance": true, + "exposure": 90.0, + "gain": 52.0, + "white_balance": 6500.0, + "brightness": 4.0, + "contrast": 4.0, + "hue": 0.0, + "saturation": 4.0, + "gamma": 5.0, + "sharpness": 4.0 + } + } + ] +} \ No newline at end of file diff --git a/sessions/session_20260629_151837_231020/metadata/camera_settings/camera_settings_recording_summary.json b/sessions/session_20260629_151837_231020/metadata/camera_settings/camera_settings_recording_summary.json new file mode 100644 index 0000000000000000000000000000000000000000..2086be8c8acee96515a830e9ec28720246e07737 --- /dev/null +++ b/sessions/session_20260629_151837_231020/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": 6500.0 + }, + "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": 6500.0 + }, + "readback_success": true, + "readback_reasons": [] + }, + "zed_17736741_stereo": { + "selected_policy_id": "zed_keep_all_auto", + "recording_readiness": "partial_auto_recording_policy", + "recording_mode": "partial_auto", + "auto_controls_remaining_enabled": [ + "auto_exposure", + "auto_white_balance" + ], + "auto_controls_disabled": [], + "controls_allowed_to_drift_during_recording": [ + "exposure", + "gain", + "white_balance" + ], + "manual_controls_written": [], + "expected_recording_behavior": "Exposure/gain and white balance remain auto and may adapt during recording.", + "reconstruction_priority_class": "all_auto", + "exposure_gain_status": "auto_remaining_enabled", + "white_balance_status": "auto_remaining_enabled", + "expected_reconstruction_risk": "Exposure/gain and white balance remain auto. Brightness scale and color balance may drift during recording.", + "brightness_scale_locked": false, + "color_balance_locked": false, + "warning": "One or more RGB auto controls remain enabled and the listed controls may drift during recording. Selected keep-all-auto fallback passed with relaxed candidate verification; brightness and color balance may drift during recording.", + "readback_controls": { + "auto_exposure": true, + "auto_white_balance": true, + "exposure": 100.0, + "gain": 42.0, + "white_balance": 6500.0 + }, + "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": 52.0, + "white_balance": 6500.0 + }, + "readback_success": true, + "readback_reasons": [] + } + }, + "warnings": [ + "zed_12540311_stereo: policy was validated with lower-confidence generic full-frame metrics", + "zed_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_20260629_151837_231020/metadata/camera_settings_propagation.json b/sessions/session_20260629_151837_231020/metadata/camera_settings_propagation.json new file mode 100644 index 0000000000000000000000000000000000000000..38441d7b865a03162a616ab54d920ec515a5b071 --- /dev/null +++ b/sessions/session_20260629_151837_231020/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": 6500.0 + }, + "readback_reasons": [], + "readback_success": true, + "reconstruction_priority_class": "exposure_gain_locked_awb_auto", + "recording_mode": "partial_auto", + "recording_readiness": "partial_auto_recording_policy", + "selected_policy_id": "zed_exposure_gain_replay_keep_awb_auto", + "warning": "One or more RGB auto controls remain enabled and the listed controls may drift during recording.", + "white_balance_status": "auto_remaining_enabled" + }, + "zed_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": 6500.0 + }, + "readback_reasons": [], + "readback_success": true, + "reconstruction_priority_class": "exposure_gain_locked_awb_auto", + "recording_mode": "partial_auto", + "recording_readiness": "partial_auto_recording_policy", + "selected_policy_id": "zed_exposure_gain_replay_keep_awb_auto", + "warning": "One or more RGB auto controls remain enabled and the listed controls may drift during recording.", + "white_balance_status": "auto_remaining_enabled" + }, + "zed_17736741_stereo": { + "auto_controls_disabled": [], + "auto_controls_remaining_enabled": [ + "auto_exposure", + "auto_white_balance" + ], + "brightness_scale_locked": false, + "color_balance_locked": false, + "controls_allowed_to_drift_during_recording": [ + "exposure", + "gain", + "white_balance" + ], + "expected_reconstruction_risk": "Exposure/gain and white balance remain auto. Brightness scale and color balance may drift during recording.", + "expected_recording_behavior": "Exposure/gain and white balance remain auto and may adapt during recording.", + "exposure_gain_status": "auto_remaining_enabled", + "manual_controls_written": [], + "readback_controls": { + "auto_exposure": true, + "auto_white_balance": true, + "exposure": 100.0, + "gain": 42.0, + "white_balance": 6500.0 + }, + "readback_reasons": [], + "readback_success": true, + "reconstruction_priority_class": "all_auto", + "recording_mode": "partial_auto", + "recording_readiness": "partial_auto_recording_policy", + "selected_policy_id": "zed_keep_all_auto", + "warning": "One or more RGB auto controls remain enabled and the listed controls may drift during recording. Selected keep-all-auto fallback passed with relaxed candidate verification; brightness and color balance may drift during recording.", + "white_balance_status": "auto_remaining_enabled" + }, + "zed_23007103_stereo": { + "auto_controls_disabled": [], + "auto_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": 52.0, + "white_balance": 6500.0 + }, + "readback_reasons": [], + "readback_success": true, + "reconstruction_priority_class": "all_auto", + "recording_mode": "partial_auto", + "recording_readiness": "partial_auto_recording_policy", + "selected_policy_id": "zed_keep_all_auto", + "warning": "One or more RGB auto controls remain enabled and the listed controls may drift during recording. Selected keep-all-auto fallback passed with relaxed candidate verification; brightness and color balance may drift during recording.", + "white_balance_status": "auto_remaining_enabled" + } + }, + "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_20260629_151837_231020/metadata/conversion_plan.json b/sessions/session_20260629_151837_231020/metadata/conversion_plan.json new file mode 100644 index 0000000000000000000000000000000000000000..c796cf3ed0d24c1ed10c0a234f3e4bd4ea8f6e56 --- /dev/null +++ b/sessions/session_20260629_151837_231020/metadata/conversion_plan.json @@ -0,0 +1,6960 @@ +{ + "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": 6500.0 + }, + "readback_reasons": [], + "readback_success": true, + "reconstruction_priority_class": "exposure_gain_locked_awb_auto", + "recording_mode": "partial_auto", + "recording_readiness": "partial_auto_recording_policy", + "selected_policy_id": "zed_exposure_gain_replay_keep_awb_auto", + "warning": "One or more RGB auto controls remain enabled and the listed controls may drift during recording.", + "white_balance_status": "auto_remaining_enabled" + }, + "zed_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": 6500.0 + }, + "readback_reasons": [], + "readback_success": true, + "reconstruction_priority_class": "exposure_gain_locked_awb_auto", + "recording_mode": "partial_auto", + "recording_readiness": "partial_auto_recording_policy", + "selected_policy_id": "zed_exposure_gain_replay_keep_awb_auto", + "warning": "One or more RGB auto controls remain enabled and the listed controls may drift during recording.", + "white_balance_status": "auto_remaining_enabled" + }, + "zed_17736741_stereo": { + "auto_controls_disabled": [], + "auto_controls_remaining_enabled": [ + "auto_exposure", + "auto_white_balance" + ], + "brightness_scale_locked": false, + "color_balance_locked": false, + "controls_allowed_to_drift_during_recording": [ + "exposure", + "gain", + "white_balance" + ], + "expected_reconstruction_risk": "Exposure/gain and white balance remain auto. Brightness scale and color balance may drift during recording.", + "expected_recording_behavior": "Exposure/gain and white balance remain auto and may adapt during recording.", + "exposure_gain_status": "auto_remaining_enabled", + "manual_controls_written": [], + "readback_controls": { + "auto_exposure": true, + "auto_white_balance": true, + "exposure": 100.0, + "gain": 42.0, + "white_balance": 6500.0 + }, + "readback_reasons": [], + "readback_success": true, + "reconstruction_priority_class": "all_auto", + "recording_mode": "partial_auto", + "recording_readiness": "partial_auto_recording_policy", + "selected_policy_id": "zed_keep_all_auto", + "warning": "One or more RGB auto controls remain enabled and the listed controls may drift during recording. Selected keep-all-auto fallback passed with relaxed candidate verification; brightness and color balance may drift during recording.", + "white_balance_status": "auto_remaining_enabled" + }, + "zed_23007103_stereo": { + "auto_controls_disabled": [], + "auto_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": 52.0, + "white_balance": 6500.0 + }, + "readback_reasons": [], + "readback_success": true, + "reconstruction_priority_class": "all_auto", + "recording_mode": "partial_auto", + "recording_readiness": "partial_auto_recording_policy", + "selected_policy_id": "zed_keep_all_auto", + "warning": "One or more RGB auto controls remain enabled and the listed controls may drift during recording. Selected keep-all-auto fallback passed with relaxed candidate verification; brightness and color balance may drift during recording.", + "white_balance_status": "auto_remaining_enabled" + } + }, + "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 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[ + "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": 6500.0 + }, + "readback_reasons": [], + "readback_success": true, + "reconstruction_priority_class": "exposure_gain_locked_awb_auto", + "recording_mode": "partial_auto", + "recording_readiness": "partial_auto_recording_policy", + "selected_policy_id": "zed_exposure_gain_replay_keep_awb_auto", + "warning": "One or more RGB auto controls remain enabled and the listed controls may drift during recording.", + "white_balance_status": "auto_remaining_enabled" + }, + "zed_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" + ], + 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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": 100.0, + "gain": 42.0, + "white_balance": 6500.0 + }, + "readback_reasons": [], + "readback_success": true, + "reconstruction_priority_class": "all_auto", + "recording_mode": "partial_auto", + "recording_readiness": "partial_auto_recording_policy", + "selected_policy_id": "zed_keep_all_auto", + "warning": "One or more RGB auto controls remain enabled and the listed controls may drift during recording. Selected keep-all-auto fallback passed with relaxed candidate verification; brightness and color balance may drift during recording.", + "white_balance_status": "auto_remaining_enabled" + }, + "zed_23007103_stereo": { + "auto_controls_disabled": [], + "auto_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. 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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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}, + "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" + ] + } + }, + "container_pts_for_synchronization": false, + "recording_timestamp_gap_warnings": { + "status": "passed_with_warnings", + "streams": { + "zed_12540311_depth_zed_sdk_neural_plus": { + "decision": "passed_with_warnings", + "plan_warnings": [ + "sustained_observed_fps_below_expected", + "sparse_within_stream_inter_frame_timestamp_gap" + ], + "recorder_timestamp_summary": { + "expected_fps": 30.0, + "large_gap_count": 26, + "large_gaps": [ + { + "from_row": 187, + "gap_ns": 66759000, + "to_row": 188 + }, + { + "from_row": 188, + "gap_ns": 67004000, + "to_row": 189 + }, + { + "from_row": 189, + "gap_ns": 66866000, + "to_row": 190 + }, + { + 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"recordings/20260629_151837_231020/streams/zed_23007103_right_rgb/timestamps.parquet", + "recording_relative_path": "streams/zed_23007103_right_rgb/timestamps.parquet", + "stream_id": "zed_23007103_right_rgb" + }, + { + "authoritative": true, + "path": "recordings/20260629_151837_231020/streams/zed_23007103_depth_zed_sdk_neural_plus/timestamps.parquet", + "recording_relative_path": "streams/zed_23007103_depth_zed_sdk_neural_plus/timestamps.parquet", + "stream_id": "zed_23007103_depth_zed_sdk_neural_plus" + }, + { + "authoritative": true, + "path": "recordings/20260629_151837_231020/streams/zed_12933256_left_rgb/timestamps.parquet", + "recording_relative_path": "streams/zed_12933256_left_rgb/timestamps.parquet", + "stream_id": "zed_12933256_left_rgb" + }, + { + "authoritative": true, + "path": "recordings/20260629_151837_231020/streams/zed_12933256_right_rgb/timestamps.parquet", + "recording_relative_path": "streams/zed_12933256_right_rgb/timestamps.parquet", + "stream_id": "zed_12933256_right_rgb" + }, + { + "authoritative": true, + "path": "recordings/20260629_151837_231020/streams/zed_12933256_depth_zed_sdk_neural_plus/timestamps.parquet", + "recording_relative_path": "streams/zed_12933256_depth_zed_sdk_neural_plus/timestamps.parquet", + "stream_id": "zed_12933256_depth_zed_sdk_neural_plus" + } + ], + "path": "recordings/20260629_151837_231020/recording_manifest.json", + "present": true, + "stream_count": 12 + }, + "recording_metadata": { + "calibration": { + "calibration_package_dir": "calibration", + "calibration_package_manifest": "calibration/calibration_package_manifest.json", + "camera_serials": [ + "12540311", + "17736741", + "23007103", + "12933256" + ], + "extra_calibrated_serials": [], + "final_transform_source": "combined_fixed_movable_ba", + "ignored_invalid_extra_calibrated_serials": [], + "ignored_invalid_extra_errors_by_serial": {}, + "invalid_optional_files": {}, + "missing_calibrated_serials": [], + "missing_optional_files": [], + 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"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": 6500.0 + }, + "readback_reasons": [], + "readback_success": true, + "reconstruction_priority_class": "exposure_gain_locked_awb_auto", + "recording_mode": "partial_auto", + "recording_readiness": "partial_auto_recording_policy", + "selected_policy_id": "zed_exposure_gain_replay_keep_awb_auto", + "warning": "One or more RGB auto controls remain enabled and the listed controls may drift during recording.", + "white_balance_status": "auto_remaining_enabled" + }, + "zed_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": 6500.0 + }, + "readback_reasons": [], + "readback_success": true, + "reconstruction_priority_class": "exposure_gain_locked_awb_auto", + "recording_mode": "partial_auto", + "recording_readiness": "partial_auto_recording_policy", + "selected_policy_id": "zed_exposure_gain_replay_keep_awb_auto", + "warning": "One or more RGB auto controls remain enabled and the listed controls may drift during recording.", + "white_balance_status": "auto_remaining_enabled" + }, + "zed_17736741_stereo": { + "auto_controls_disabled": [], + "auto_controls_remaining_enabled": [ + "auto_exposure", + "auto_white_balance" + ], + "brightness_scale_locked": false, + "color_balance_locked": false, + "controls_allowed_to_drift_during_recording": [ + "exposure", + "gain", + "white_balance" + ], + "expected_reconstruction_risk": "Exposure/gain and white balance remain auto. Brightness scale and color balance may drift during recording.", + "expected_recording_behavior": "Exposure/gain and white balance remain auto and may adapt during recording.", + "exposure_gain_status": "auto_remaining_enabled", + "manual_controls_written": [], + "readback_controls": { + "auto_exposure": true, + "auto_white_balance": true, + "exposure": 100.0, + "gain": 42.0, + "white_balance": 6500.0 + }, + "readback_reasons": [], + "readback_success": true, + "reconstruction_priority_class": "all_auto", + "recording_mode": "partial_auto", + "recording_readiness": "partial_auto_recording_policy", + "selected_policy_id": "zed_keep_all_auto", + "warning": "One or more RGB auto controls remain enabled and the listed controls may drift during recording. Selected keep-all-auto fallback passed with relaxed candidate verification; brightness and color balance may drift during recording.", + "white_balance_status": "auto_remaining_enabled" + }, + "zed_23007103_stereo": { + "auto_controls_disabled": [], + "auto_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": 52.0, + "white_balance": 6500.0 + }, + "readback_reasons": [], + "readback_success": true, + "reconstruction_priority_class": "all_auto", + "recording_mode": "partial_auto", + "recording_readiness": "partial_auto_recording_policy", + "selected_policy_id": "zed_keep_all_auto", + "warning": "One or more RGB auto controls remain enabled and the listed controls may drift during recording. Selected keep-all-auto fallback passed with relaxed candidate verification; brightness and color balance may drift during recording.", + "white_balance_status": "auto_remaining_enabled" + } + }, + "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": { + "camera_name": "newerr", + "camera_type": "zed", + "depth_mode": "NEURAL_PLUS", + "fps": 30.0, + "image_format": "rgb8", + "resolution": [ + 1080, + 1920 + ], + "serial_number": "12540311", + "stream_profile_name": "HD1080", + "svo_compression_mode": "H265_LOSSLESS", + "svo_compression_mode_source": "requested_enum_passed_to_sl.RecordingParameters" + }, + "zed_12933256": { + "camera_name": "zed-12933256", + "camera_type": "zed", + "depth_mode": "NEURAL_PLUS", + "fps": 30.0, + "image_format": "rgb8", + "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": { + "camera_name": "amazonbasics", + "camera_type": "zed", + "depth_mode": "NEURAL_PLUS", + "fps": 30.0, + "image_format": "rgb8", + "resolution": [ + 1080, + 1920 + ], + "serial_number": "17736741", + "stream_profile_name": "HD1080", + "svo_compression_mode": "H265_LOSSLESS", + "svo_compression_mode_source": "requested_enum_passed_to_sl.RecordingParameters" + }, + "zed_23007103": { + "camera_name": "zed-23007103", + "camera_type": "zed", + "depth_mode": "NEURAL_PLUS", + "fps": 30.0, + "image_format": "rgb8", + "resolution": [ + 1080, + 1920 + ], + "serial_number": "23007103", + "stream_profile_name": "HD1080", + "svo_compression_mode": "H265_LOSSLESS", + "svo_compression_mode_source": "requested_enum_passed_to_sl.RecordingParameters" + } + } + }, + "camera_control_acquisition_signature_policy": { + "camera_rig_profile_name": "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": { + "depth_mode": "NEURAL_PLUS", + "fps": 30.0, + "image_format": "rgb8", + "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": [ + "color", + "depth", + "right_color", + "raw_depth", + "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": [ + [ + 1505.6656494140625, + 0.0, + 975.812255859375 + ], + [ + 0.0, + 1505.6656494140625, + 520.2508544921875 + ], + [ + 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": [ + [ + 1505.6656494140625, + 0.0, + 975.812255859375 + ], + [ + 0.0, + 1505.6656494140625, + 520.2508544921875 + ], + [ + 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_product": null, + "usb_speed_mbps": null, + "usb_type_descriptor": null + }, + "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": 684, + "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": 684, + "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": 33500000, + "host_timestamp_max_ns": 1782760771140193270, + "host_timestamp_min_ns": 1782760747439188887, + "host_timestamp_source": "time.time_ns_after_record_frame", + "large_gap_count": 26, + "large_gaps": [ + { + "from_row": 187, + "gap_ns": 66759000, + "to_row": 188 + }, + { + "from_row": 188, + "gap_ns": 67004000, + "to_row": 189 + }, + { + "from_row": 189, + "gap_ns": 66866000, + "to_row": 190 + }, + { + "from_row": 191, + "gap_ns": 66874000, + "to_row": 192 + }, + { + "from_row": 192, + "gap_ns": 66876000, + "to_row": 193 + }, + { + "from_row": 193, + "gap_ns": 66873000, + "to_row": 194 + }, + { + "from_row": 194, + "gap_ns": 67002000, + "to_row": 195 + }, + { + "from_row": 195, + "gap_ns": 66873000, + "to_row": 196 + }, + { + "from_row": 196, + "gap_ns": 66871000, + "to_row": 197 + }, + { + "from_row": 197, + "gap_ns": 66872000, + "to_row": 198 + }, + { + "from_row": 198, + "gap_ns": 67003000, + "to_row": 199 + }, + { + "from_row": 199, + "gap_ns": 66747000, + "to_row": 200 + }, + { + "from_row": 200, + "gap_ns": 67010000, + "to_row": 201 + }, + { + "from_row": 201, + "gap_ns": 66892000, + "to_row": 202 + }, + { + "from_row": 202, + "gap_ns": 66871000, + "to_row": 203 + }, + { + "from_row": 203, + "gap_ns": 67011000, + "to_row": 204 + }, + { + "from_row": 204, + "gap_ns": 66750000, + "to_row": 205 + }, + { + "from_row": 205, + "gap_ns": 66988000, + "to_row": 206 + }, + { + "from_row": 240, + "gap_ns": 66844000, + "to_row": 241 + }, + { + "from_row": 400, + "gap_ns": 66799000, + "to_row": 401 + } + ], + "max_gap_ns": 67011000, + "median_gap_ns": 33494000.0, + "modality": "depth", + "nominal_frame_period_ns": 33333333, + "non_monotonic_timestamp_count": 0, + "observed_fps": 28.79853522975834, + "official_frame_count": 684, + "physical_camera_id": "zed_12540311", + "preroll_frame_count": 15, + "row_count": 684, + "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": 1782760771095874714, + "timestamp_min_ns": 1782760747379390714, + "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": 33500000, + "host_timestamp_max_ns": 1782760771140193270, + "host_timestamp_min_ns": 1782760747439188887, + "host_timestamp_source": "time.time_ns_after_record_frame", + "large_gap_count": 26, + "large_gaps": [ + { + "from_row": 187, + "gap_ns": 66759000, + "to_row": 188 + }, + { + "from_row": 188, + "gap_ns": 67004000, + "to_row": 189 + }, + { + "from_row": 189, + "gap_ns": 66866000, + "to_row": 190 + }, + { + "from_row": 191, + "gap_ns": 66874000, + "to_row": 192 + }, + { + "from_row": 192, + "gap_ns": 66876000, + "to_row": 193 + }, + { + "from_row": 193, + "gap_ns": 66873000, + "to_row": 194 + }, + { + "from_row": 194, + "gap_ns": 67002000, + "to_row": 195 + }, + { + "from_row": 195, + "gap_ns": 66873000, + "to_row": 196 + }, + { + "from_row": 196, + "gap_ns": 66871000, + "to_row": 197 + }, + { + "from_row": 197, + "gap_ns": 66872000, + "to_row": 198 + }, + { + "from_row": 198, + "gap_ns": 67003000, + "to_row": 199 + }, + { + "from_row": 199, + "gap_ns": 66747000, + "to_row": 200 + }, + { + "from_row": 200, + "gap_ns": 67010000, + "to_row": 201 + }, + { + "from_row": 201, + "gap_ns": 66892000, + "to_row": 202 + }, + { + "from_row": 202, + "gap_ns": 66871000, + "to_row": 203 + }, + { + "from_row": 203, + "gap_ns": 67011000, + "to_row": 204 + }, + { + "from_row": 204, + "gap_ns": 66750000, + "to_row": 205 + }, + { + "from_row": 205, + "gap_ns": 66988000, + "to_row": 206 + }, + { + "from_row": 240, + "gap_ns": 66844000, + "to_row": 241 + }, + { + "from_row": 400, + "gap_ns": 66799000, + "to_row": 401 + } + ], + "max_gap_ns": 67011000, + "median_gap_ns": 33494000.0, + "modality": "left_rgb", + "nominal_frame_period_ns": 33333333, + "non_monotonic_timestamp_count": 0, + "observed_fps": 28.79853522975834, + "official_frame_count": 684, + "physical_camera_id": "zed_12540311", + "preroll_frame_count": 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"no_frame_poll_sleep_sec": 0.001, + "output_datetime": "20260629_151837_231020", + "pairing_validation_failure_policy": "fail", + "post_native_priming_max_discard_frames": 30, + "post_native_priming_timeout_sec": 5.0, + "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": 30.0, + "max_frames": null, + "recording_active_elapsed_sec": 28.593357492, + "recording_attempt_started_at_unix_time_ns": 1782760717231018085, + "recording_datetime": "20260629_151837_231020", + "recording_elapsed_sec": 58.79005241394043, + "recording_manifest_path": "recording_manifest.json", + "recording_metadata_schema_version": 1, + "recording_started_at_unix_time_ns": 1782760747427701079, + "recording_status": "stopped", + "recording_stop_policy": "duration_or_all_max_frames", + "recording_stop_reason": "signal_sigint", + "recording_timing": { + "attempt_elapsed_sec": 58.7900493144989, + "official_active_elapsed_sec": 28.593357492, + "official_started_at_unix_time_ns": 1782760747427701079, + "official_stopped_at_unix_time_ns": 1782760776021058571, + "preroll_elapsed_sec": 0.8821009639650583, + "recording_started_at_unix_time_ns": 1782760747427701079, + "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": 0.03186742798425257 + }, + "preroll_elapsed_sec": 0.8821009639650583, + "stream_settle_sec": 0.0, + "stream_warmup_frames": 15 + }, + "wind_down_elapsed_sec": 4.87053332105279 + }, + "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": 0.03186742798425257 + }, + "preroll_elapsed_sec": 0.8821009639650583, + "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/20260629_151837_231020/ZED-M_SN12540311.svo2", + "sha256": null, + "size_bytes": 1498062723, + "suffix": ".svo2" + }, + { + "name": "ZED-M_SN12933256.svo2", + "path": "recordings/20260629_151837_231020/ZED-M_SN12933256.svo2", + "sha256": null, + "size_bytes": 1465549504, + "suffix": ".svo2" + }, + { + "name": "ZED-M_SN17736741.svo2", + "path": "recordings/20260629_151837_231020/ZED-M_SN17736741.svo2", + "sha256": null, + "size_bytes": 1268655433, + "suffix": ".svo2" + }, + { + "name": "ZED-M_SN23007103.svo2", + "path": "recordings/20260629_151837_231020/ZED-M_SN23007103.svo2", + "sha256": null, + "size_bytes": 1600133279, + "suffix": ".svo2" + } + ], + "timestamp_sidecars": [ + { + "device_duplicate_timestamp_count": 0, + "device_non_monotonic_timestamp_count": 0, + "device_timestamp_max_ns": 1782760771095874714, + "device_timestamp_min_ns": 1782760747379390714, + "frame_index_gap_count": 0, + "frame_index_max": 683, + "frame_index_min": 0, + "host_duplicate_timestamp_count": 0, + "host_non_monotonic_timestamp_count": 0, + "host_timestamp_max_ns": 1782760771140193270, + "host_timestamp_min_ns": 1782760747439188887, + "path": "recordings/20260629_151837_231020/timestamps_zed_SN12540311.csv", + "row_count": 684 + }, + { + "device_duplicate_timestamp_count": 0, + "device_non_monotonic_timestamp_count": 0, + "device_timestamp_max_ns": 1782760771096548055, + "device_timestamp_min_ns": 1782760747380177055, + "frame_index_gap_count": 0, + "frame_index_max": 678, + "frame_index_min": 0, + "host_duplicate_timestamp_count": 0, + "host_non_monotonic_timestamp_count": 0, + "host_timestamp_max_ns": 1782760771140602757, + "host_timestamp_min_ns": 1782760747441049625, + "path": "recordings/20260629_151837_231020/timestamps_zed_SN12933256.csv", + "row_count": 679 + }, + { + "device_duplicate_timestamp_count": 0, + "device_non_monotonic_timestamp_count": 0, + "device_timestamp_max_ns": 1782760771102129690, + "device_timestamp_min_ns": 1782760747385683690, + "frame_index_gap_count": 0, + "frame_index_max": 576, + "frame_index_min": 0, + "host_duplicate_timestamp_count": 0, + "host_non_monotonic_timestamp_count": 0, + "host_timestamp_max_ns": 1782760771141344453, + "host_timestamp_min_ns": 1782760747439105590, + "path": "recordings/20260629_151837_231020/timestamps_zed_SN17736741.csv", + "row_count": 577 + }, + { + "device_duplicate_timestamp_count": 0, + "device_non_monotonic_timestamp_count": 0, + "device_timestamp_max_ns": 1782760771095556797, + "device_timestamp_min_ns": 1782760747379854797, + "frame_index_gap_count": 0, + "frame_index_max": 709, + "frame_index_min": 0, + "host_duplicate_timestamp_count": 0, + "host_non_monotonic_timestamp_count": 0, + "host_timestamp_max_ns": 1782760771140306721, + "host_timestamp_min_ns": 1782760747441163258, + "path": "recordings/20260629_151837_231020/timestamps_zed_SN23007103.csv", + "row_count": 710 + } + ] +} \ No newline at end of file diff --git a/sessions/session_20260629_151837_231020/metadata/discovery_report.md b/sessions/session_20260629_151837_231020/metadata/discovery_report.md new file mode 100644 index 0000000000000000000000000000000000000000..b9cb3f216775803d842e83c571b0a7c0dafc7887 --- /dev/null +++ b/sessions/session_20260629_151837_231020/metadata/discovery_report.md @@ -0,0 +1,57 @@ +# Recording Discovery Report + +Recording directory: `recordings/20260629_151837_231020` + +## 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`: 1498062723 bytes +- `ZED-M_SN12933256.svo2`: 1465549504 bytes +- `ZED-M_SN17736741.svo2`: 1268655433 bytes +- `ZED-M_SN23007103.svo2`: 1600133279 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=684, frame gaps=0, device duplicate timestamps=0, device non-monotonic=0 +- `timestamps_zed_SN12933256.csv`: rows=679, frame gaps=0, device duplicate timestamps=0, device non-monotonic=0 +- `timestamps_zed_SN17736741.csv`: rows=577, frame gaps=0, device duplicate timestamps=0, device non-monotonic=0 +- `timestamps_zed_SN23007103.csv`: rows=710, 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_20260629_151837_231020/metadata/grouped_zed_export_provenance.json b/sessions/session_20260629_151837_231020/metadata/grouped_zed_export_provenance.json new file mode 100644 index 0000000000000000000000000000000000000000..1d4893bdbd111a6a3d23605035513b604444d600 --- /dev/null +++ b/sessions/session_20260629_151837_231020/metadata/grouped_zed_export_provenance.json @@ -0,0 +1,70 @@ +{ + "/mnt/data2/magna/belt_perception/recordings/20260629_151837_231020/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/20260629_151837_231020/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/20260629_151837_231020/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/20260629_151837_231020/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/20260629_151837_231020/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/20260629_151837_231020/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/20260629_151837_231020/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/20260629_151837_231020/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_20260629_151837_231020/metadata/raw_stream_summary.parquet b/sessions/session_20260629_151837_231020/metadata/raw_stream_summary.parquet new file mode 100644 index 0000000000000000000000000000000000000000..345fd1511b5d27ec82790600bf91f0a9e9db79dc --- /dev/null +++ b/sessions/session_20260629_151837_231020/metadata/raw_stream_summary.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8dbcf8a071604feff8ff8b92087cab553c41563f17607d2ddc2dd74d2c593c7b +size 52307 diff --git a/sessions/session_20260629_151837_231020/metadata/realsense_bag_pairing.json b/sessions/session_20260629_151837_231020/metadata/realsense_bag_pairing.json new file mode 100644 index 0000000000000000000000000000000000000000..82172cbd870f1ca54786f3b2a28ce74e91bd45a4 --- /dev/null +++ b/sessions/session_20260629_151837_231020/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/20260629_151837_231020", + "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_20260629_151837_231020/metadata/recording_manifest.json b/sessions/session_20260629_151837_231020/metadata/recording_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..6d9005db1ed563e39d1ba01b25bf4f97a877b2b5 --- /dev/null +++ b/sessions/session_20260629_151837_231020/metadata/recording_manifest.json @@ -0,0 +1,2709 @@ +{ + "recording_manifest_schema_version": 1, + "recording_datetime": "20260629_151837_231020", + "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 + ], + "fps": 30.0, + "stream_profile_name": "HD1080", + "image_format": "rgb8", + "depth_mode": "NEURAL_PLUS", + "svo_compression_mode": "H265_LOSSLESS", + "svo_compression_mode_source": "requested_enum_passed_to_sl.RecordingParameters", + "camera_type": "zed", + "serial_number": "12540311", + "camera_name": "newerr" + }, + "zed_17736741": { + "resolution": [ + 1080, + 1920 + ], + "fps": 30.0, + "stream_profile_name": "HD1080", + "image_format": "rgb8", + "depth_mode": "NEURAL_PLUS", + "svo_compression_mode": "H265_LOSSLESS", + "svo_compression_mode_source": "requested_enum_passed_to_sl.RecordingParameters", + "camera_type": "zed", + "serial_number": "17736741", + "camera_name": "amazonbasics" + }, + "zed_23007103": { + "resolution": [ + 1080, + 1920 + ], + "fps": 30.0, + "stream_profile_name": "HD1080", + "image_format": "rgb8", + "depth_mode": "NEURAL_PLUS", + "svo_compression_mode": "H265_LOSSLESS", + "svo_compression_mode_source": "requested_enum_passed_to_sl.RecordingParameters", + "camera_type": "zed", + "serial_number": "23007103", + "camera_name": "zed-23007103" + }, + "zed_12933256": { + "resolution": [ + 1080, + 1920 + ], + "fps": 30.0, + "stream_profile_name": "HD1080", + "image_format": "rgb8", + "depth_mode": "NEURAL_PLUS", + "svo_compression_mode": "H265_LOSSLESS", + "svo_compression_mode_source": "requested_enum_passed_to_sl.RecordingParameters", + "camera_type": "zed", + "serial_number": "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": 6500.0 + }, + "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": 6500.0 + }, + "readback_success": true, + "readback_reasons": [] + }, + "zed_17736741_stereo": { + "selected_policy_id": "zed_keep_all_auto", + "recording_readiness": "partial_auto_recording_policy", + "recording_mode": "partial_auto", + "auto_controls_remaining_enabled": [ + "auto_exposure", + "auto_white_balance" + ], + "auto_controls_disabled": [], + "controls_allowed_to_drift_during_recording": [ + "exposure", + "gain", + "white_balance" + ], + "manual_controls_written": [], + "expected_recording_behavior": "Exposure/gain and white balance remain auto and may adapt during recording.", + "reconstruction_priority_class": "all_auto", + "exposure_gain_status": "auto_remaining_enabled", + "white_balance_status": "auto_remaining_enabled", + "expected_reconstruction_risk": "Exposure/gain and white balance remain auto. Brightness scale and color balance may drift during recording.", + "brightness_scale_locked": false, + "color_balance_locked": false, + "warning": "One or more RGB auto controls remain enabled and the listed controls may drift during recording. Selected keep-all-auto fallback passed with relaxed candidate verification; brightness and color balance may drift during recording.", + "readback_controls": { + "auto_exposure": true, + "auto_white_balance": true, + "exposure": 100.0, + "gain": 42.0, + "white_balance": 6500.0 + }, + "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": 52.0, + "white_balance": 6500.0 + }, + "readback_success": true, + "readback_reasons": [] + } + }, + "warnings": [ + "zed_12540311_stereo: policy was validated with lower-confidence generic full-frame metrics", + "zed_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": [] + }, + 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frame index 1 + R; native frames [0, 1) were written during post-native priming after enable_recording() and are not listed in the official sidecar." + } + }, + { + "stream_id": "zed_12540311_right_rgb", + "modality": "right_rgb", + "physical_camera_id": "zed_12540311", + "serial_number": "12540311", + "camera_type": "zed", + "camera_name": "newerr", + "recording_path": "ZED-M_SN12540311.svo2", + "timestamps_path": "streams/zed_12540311_right_rgb/timestamps.parquet", + "stream_manifest_path": "streams/zed_12540311_right_rgb/stream_manifest.json", + "requested_profile": { + "zed_resolution": "hd1080", + "resolution_hw": [ + 1080, + 1920 + ], + "fps": 30, + "depth_mode": "neural_plus", + "svo_compression_mode": "h265_lossless", + "container": "svo2" + }, + "actual_opened_profile": { + "resolution": [ + 1080, + 1920 + ], + "fps": 30.0, + "stream_profile_name": "HD1080", + "image_format": "rgb8", + "depth_mode": "NEURAL_PLUS", + "svo_compression_mode": "H265_LOSSLESS", + 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official sidecar." + } + } + ], + "legacy_timestamp_csvs": [ + "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_20260629_151837_231020/metadata/recording_metadata.json b/sessions/session_20260629_151837_231020/metadata/recording_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..01791f5be26f1bdacc45f1b45504873517f8d9c2 --- /dev/null +++ b/sessions/session_20260629_151837_231020/metadata/recording_metadata.json @@ -0,0 +1,3299 @@ +{ + "recording_metadata_schema_version": 1, + "recording_datetime": "20260629_151837_231020", + "recording_status": "stopped", + "recording_attempt_started_at_unix_time_ns": 1782760717231018085, + "recording_started_at_unix_time_ns": 1782760747427701079, + "camera_rig_profile_name": "four-zed", + "duration_sec": 30.0, + "max_frames": null, + "stream_warmup_frames": 15, + "stream_settle_sec": 0.0, + "recording_stop_policy": "duration_or_all_max_frames", + "timestamp_validation_policy": { + "nearest_neighbor_alignment_tolerance_frame_periods": 1.0, + "alignment_warning_frame_periods": 0.5, + "timestamp_gap_warning_frame_periods": 1.5, + "fail_on_timestamp_gaps": false + }, + "recording_manifest_path": "recording_manifest.json", + "config": { + "camera_rig_profile_name": "four-zed", + "capture_profile_name": "zed-1080p30", + "capture": { + "shared": { + "resolution_hw": null, + "fps": null, + "image_format": null, + "warmup_frames": null, + "retain_gpu_images": null, + "return_pointmap_instead_of_depth": null, + "require_stereo_frames": null + }, + "zed": { + "depth_mode_name": null, + "allow_depth_mode_fallback": null, + "coordinate_units": null, + "depth_stabilization": null, + "depth_minimum_distance_m": null, + "depth_maximum_distance_m": null, + "open_timeout_sec": null + }, + "realsense": { + "rectify_color": null, + "duplicate_frame_policy": null, + "duplicate_timeout_s": null, + "duplicate_max_count": null + }, + "overrides_by_serial": {} + }, + "output_datetime": "20260629_151837_231020", + "duration_sec": 30.0, + "max_frames": null, + "zed_resolution": null, + "zed_fps": null, + "zed_svo_compression_mode": "h265_lossless", + "realsense_fps": null, + "realsense_width": null, + "realsense_height": null, + "realsense_color_format": null, + "realsense_streams": "color,depth", + "depth_mode": "neural_plus", + "calibration_run_dir": "calibration_results/multicam/20260628_150030", + "calibration_pose_source": "phase_05_final", + "require_calibration": true, + "copy_calibration_rerun_rrd": false, + "copy_calibration_depth_snapshots": false, + "copy_full_calibration_run": false, + "allow_extra_calibrated_cameras": true, + "camera_settings_policy_artifact": "calibration_results/camera_auto_reset/20260629_142441/minimal_auto_recording_policy_artifact.json", + "allow_session_continuity_camera_settings_policy": false, + "nearest_neighbor_alignment_tolerance_frame_periods": 1.0, + "alignment_warning_frame_periods": 0.5, + "timestamp_gap_warning_frame_periods": 1.5, + "fail_on_timestamp_gaps": false, + "max_frames_no_progress_timeout_sec": 10.0, + "no_frame_poll_sleep_sec": 0.001, + "stream_warmup_frames": 15, + "stream_settle_sec": 0.0, + "stream_warmup_no_frame_timeout_sec": 10.0, + "native_recording_starts_after_warmup": true, + "post_native_priming_timeout_sec": 5.0, + "post_native_priming_max_discard_frames": 30, + "realsense_official_start_consecutive_framesets": 2, + "recording_stop_policy": "duration_or_all_max_frames", + "recording_profile": "dynamic-validation-safe", + "post_record_validate_pairing": true, + "pairing_validation_failure_policy": "fail" + }, + "calibration": { + "packaged": true, + "source_calibration_run_dir": 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"container": "svo2" + }, + "expected_fps": 30.0 + }, + { + "stream_id": "zed_12540311_depth_zed_sdk_neural_plus", + "modality": "depth", + "requested_profile": { + "zed_resolution": "hd1080", + "resolution_hw": [ + 1080, + 1920 + ], + "fps": 30, + "depth_mode": "neural_plus", + "svo_compression_mode": "h265_lossless", + "container": "svo2" + }, + "expected_fps": 30.0 + } + ], + "official_frame_count": 684, + "native_container_includes_preroll_frames": false, + "native_container_includes_post_native_priming_frames": true, + "preroll_frame_count": 15, + "post_native_priming_frame_count": 1, + "first_official_native_frame_index": 1, + "native_frame_index_origin": "zero_based_sequential_grab_after_enable_recording_including_post_native_priming", + "converter_mapping": "official sidecar row R maps to native decoded frame index 1 + R; native frames [0, 1) were written during post-native priming after enable_recording() and are not listed in the official sidecar.", + 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"startup_gap_excluded_from_warnings": true, + "preroll_frame_count": 15, + "official_frame_count": 679, + "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": 1782760747441049625, + "host_timestamp_max_ns": 1782760771140602757, + "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": 679, + "expected_fps": 30.0, + "observed_fps": 28.587847609568936, + "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": 1782760747380177055, + "timestamp_max_ns": 1782760771096548055, + "median_gap_ns": 33497000.0, + "max_gap_ns": 67718000, + "large_gap_count": 30, + "large_gaps": [ + { + "from_row": 191, + "to_row": 192, + "gap_ns": 66877000 + }, + { + "from_row": 192, + "to_row": 193, + "gap_ns": 66883000 + }, + { + "from_row": 193, + "to_row": 194, + "gap_ns": 66876000 + }, + { + "from_row": 194, + "to_row": 195, + "gap_ns": 67002000 + }, + { + "from_row": 202, + "to_row": 203, + "gap_ns": 66891000 + }, + { + "from_row": 203, + "to_row": 204, + "gap_ns": 66860000 + }, + { + "from_row": 204, + "to_row": 205, + "gap_ns": 66960000 + }, + { + "from_row": 205, + "to_row": 206, + "gap_ns": 66799000 + }, + { + "from_row": 206, + "to_row": 207, + "gap_ns": 66981000 + }, + { + "from_row": 207, + "to_row": 208, + "gap_ns": 66893000 + }, + { + "from_row": 208, + "to_row": 209, + "gap_ns": 66869000 + }, + { + "from_row": 248, + "to_row": 249, + "gap_ns": 66929000 + }, + { + "from_row": 249, + "to_row": 250, + "gap_ns": 66876000 + }, + { + "from_row": 251, + "to_row": 252, + "gap_ns": 66903000 + }, + { + "from_row": 252, + "to_row": 253, + "gap_ns": 66842000 + }, + { + "from_row": 256, + "to_row": 257, + "gap_ns": 66870000 + }, + { + "from_row": 257, + "to_row": 258, + "gap_ns": 66880000 + }, + { + "from_row": 259, + "to_row": 260, + "gap_ns": 66887000 + }, + { + "from_row": 260, + "to_row": 261, + "gap_ns": 66863000 + }, + { + "from_row": 283, + "to_row": 284, + "gap_ns": 66746000 + } + ], + "first_inter_frame_gap_ns": 67718000, + "startup_gap_excluded_from_warnings": true, + "preroll_frame_count": 15, + "official_frame_count": 679, + "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": 1782760747441049625, + "host_timestamp_max_ns": 1782760771140602757, + "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": 679, + "expected_fps": 30.0, + "observed_fps": 28.587847609568936, + "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": 1782760747380177055, + "timestamp_max_ns": 1782760771096548055, + "median_gap_ns": 33497000.0, + "max_gap_ns": 67718000, + "large_gap_count": 30, + "large_gaps": [ + { + "from_row": 191, + "to_row": 192, + "gap_ns": 66877000 + }, + { + "from_row": 192, + "to_row": 193, + "gap_ns": 66883000 + }, + { + "from_row": 193, + "to_row": 194, + "gap_ns": 66876000 + }, + { + "from_row": 194, + "to_row": 195, + "gap_ns": 67002000 + }, + { + "from_row": 202, + "to_row": 203, + "gap_ns": 66891000 + }, + { + "from_row": 203, + "to_row": 204, + "gap_ns": 66860000 + }, + { + "from_row": 204, + "to_row": 205, + "gap_ns": 66960000 + }, + { + "from_row": 205, + "to_row": 206, + "gap_ns": 66799000 + }, + { + "from_row": 206, + "to_row": 207, + "gap_ns": 66981000 + }, + { + "from_row": 207, + "to_row": 208, + "gap_ns": 66893000 + }, + { + "from_row": 208, + "to_row": 209, + "gap_ns": 66869000 + }, + { + "from_row": 248, + "to_row": 249, + "gap_ns": 66929000 + }, + { + "from_row": 249, + "to_row": 250, + "gap_ns": 66876000 + }, + { + "from_row": 251, + "to_row": 252, + "gap_ns": 66903000 + }, + { + "from_row": 252, + "to_row": 253, + "gap_ns": 66842000 + }, + { + "from_row": 256, + "to_row": 257, + "gap_ns": 66870000 + }, + { + "from_row": 257, + "to_row": 258, + "gap_ns": 66880000 + }, + { + "from_row": 259, + "to_row": 260, + "gap_ns": 66887000 + }, + { + "from_row": 260, + "to_row": 261, + "gap_ns": 66863000 + }, + { + "from_row": 283, + "to_row": 284, + "gap_ns": 66746000 + } + ], + "first_inter_frame_gap_ns": 67718000, + "startup_gap_excluded_from_warnings": true, + "preroll_frame_count": 15, + "official_frame_count": 679, + "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": 1782760747441049625, + "host_timestamp_max_ns": 1782760771140602757, + "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": 0.8821009639650583, + "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": 0.03186742798425257, + "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": 6500.0 + }, + "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": 6500.0 + }, + "readback_success": true, + "readback_reasons": [] + }, + "zed_17736741_stereo": { + "selected_policy_id": "zed_keep_all_auto", + "recording_readiness": "partial_auto_recording_policy", + "recording_mode": "partial_auto", + "auto_controls_remaining_enabled": [ + "auto_exposure", + "auto_white_balance" + ], + "auto_controls_disabled": [], + "controls_allowed_to_drift_during_recording": [ + "exposure", + "gain", + "white_balance" + ], + "manual_controls_written": [], + "expected_recording_behavior": "Exposure/gain and white balance remain auto and may adapt during recording.", + "reconstruction_priority_class": "all_auto", + "exposure_gain_status": "auto_remaining_enabled", + "white_balance_status": "auto_remaining_enabled", + "expected_reconstruction_risk": "Exposure/gain and white balance remain auto. Brightness scale and color balance may drift during recording.", + "brightness_scale_locked": false, + "color_balance_locked": false, + "warning": "One or more RGB auto controls remain enabled and the listed controls may drift during recording. Selected keep-all-auto fallback passed with relaxed candidate verification; brightness and color balance may drift during recording.", + "readback_controls": { + "auto_exposure": true, + "auto_white_balance": true, + "exposure": 100.0, + "gain": 42.0, + "white_balance": 6500.0 + }, + "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": 52.0, + "white_balance": 6500.0 + }, + "readback_success": true, + "readback_reasons": [] + } + }, + "warnings": [ + "zed_12540311_stereo: policy was validated with lower-confidence generic full-frame metrics", + "zed_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": [] + }, + 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"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", + 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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": [] + }, + 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