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"clock_policy": { + "auxiliary_timestamps": "ZED/RealSense/device/robot timestamps are preserved but not assumed to share a domain", + "default_sync_time": "streams//timestamps.parquet for manifest recordings", + "old_robot_state_domain": "lcm_utime_or_robot_clock" + }, + "known_recording_code_findings": { + "new_record_multi_camera": [ + "ZED sidecar device_timestamp_ns comes from sl.TIME_REFERENCE.IMAGE after grab().", + "RealSense sidecar device_timestamp_ns comes from color_frame.get_timestamp() ms converted to ns.", + "host_timestamp_ns is time.time_ns() sampled immediately after recorder.record_frame()." + ], + "old_zed_robot_state_recording": [ + "PandaStatus and PandaGripperStatus are stored as ZED SVOData custom keys.", + "SVOData timestamp is set from payload timestamp_us via set_microseconds().", + "No independent host receive timestamp is present for old embedded robot states." + ] + }, + "legacy_timestamp_sidecars": { + "authoritative": false, + "files": [ + "timestamps_zed_SN12933256.csv" + ], + "semantics": "compatibility/debug artifacts only; manifest Parquet sidecars are authoritative" + }, + "recording_dir": "/home/shaunak/reconstruction/scans/task_board/raw/20261105_171606_062386", + "recording_manifest": { + "authoritative_timestamp_source": "streams//timestamps.parquet", + "container_pts_for_synchronization": false, + "manifest_timestamp_sidecars": [ + { + "authoritative": true, + "path": "/home/shaunak/reconstruction/scans/task_board/raw/20261105_171606_062386/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": "/home/shaunak/reconstruction/scans/task_board/raw/20261105_171606_062386/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": "/home/shaunak/reconstruction/scans/task_board/raw/20261105_171606_062386/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": "/home/shaunak/reconstruction/scans/task_board/raw/20261105_171606_062386/recording_manifest.json", + "present": true, + "stream_count": 3 + }, + "recording_metadata": { + "calibration": { + "packaged": false, + "reason": "calibration_run_dir was not provided" + }, + "camera_close_reports": [ + { + "camera_lock_acquired_for_close": true, + "camera_type": "zed", + "close_warning_messages": [], + "read_thread_alive_after_stop": false, + "read_thread_alive_before_close": false, + "recording_enabled_after_disable": false, + "recording_enabled_before_close": true, + "recording_stop_reason": "signal_sigint", + "sdk_close_attempted": true, + "sdk_close_exception": null, + "sdk_close_retry_count": 0, + "sdk_is_opened_after_close": false, + "sdk_is_opened_before_close": true, + "serial_number": "12933256" + } + ], + "camera_image_controls": { + "auto_controls_frozen_during_recording": false, + "errors": [], + "established_before_warmup": true, + "mode": "native_auto_defaults", + "per_camera": { + "12933256": { + "auto_exposure_gain_enabled": true, + "auto_white_balance_enabled": true, + "camera_type": "zed", + "controls": { + "AEC_AGC": { + "after": 1, + "before": 1, + "status": "enabled" + }, + "BRIGHTNESS": { + "after": 4, + "before": 4, + "status": "reset_to_sdk_default" + }, + "CONTRAST": { + "after": 4, + "before": 4, + "status": "reset_to_sdk_default" + }, + "EXPOSURE": { + "after": 91, + "before": 91, + "status": "reset_to_sdk_default" + }, + "GAIN": { + "after": 35, + "before": -1, + "status": "reset_to_sdk_default" + }, + "GAMMA": { + "after": 5, + "before": 5, + "status": "reset_to_sdk_default" + }, + "HUE": { + "after": 0, + "before": 0, + "status": "reset_to_sdk_default" + }, + "SATURATION": { + "after": 4, + "before": 4, + "status": "reset_to_sdk_default" + }, + "SHARPNESS": { + "after": 3, + "before": 3, + "status": "reset_to_sdk_default" + }, + "WHITEBALANCE_AUTO": { + "after": 1, + "before": 1, + "status": "enabled" + }, + "WHITEBALANCE_TEMPERATURE": { + "after": 4700, + "before": 4700, + "status": "reset_to_sdk_default" + } + }, + "errors": [], + "initial_auto_exposure_gain": true, + "initial_auto_white_balance": true, + "mechanism": "sl.Camera.set_camera_settings(setting, VIDEO_SETTINGS_VALUE_AUTO=-1) for ISP + exposure/gain/white-balance, then AEC_AGC=1 and WHITEBALANCE_AUTO=1 with mode readback", + "status": "established", + "unsupported_controls": [] + } + }, + "policy_replay": false, + "readback_semantics": "Per-control 'before'/'after' values are single startup readbacks taken while establishing native auto control; exposure, gain and white balance keep changing under the cameras' own automatic control for the whole recording and are never frozen into manual settings.", + "status": "established", + "unmanaged_cameras": [] + }, + "camera_rig_profile_name": "single-zed-right-of-ur10", + "cameras": [ + { + "actual_opened_profile": { + "actual_fps": 15.0, + "actual_fps_source": "camera_information.camera_configuration.fps", + "depth_mode": "NEURAL_PLUS", + "fps": 15.0, + "image_format": "rgb8", + "requested_fps": 15.0, + "resolution": [ + 1242, + 2208 + ], + "stream_profile_name": "HD2K", + "svo_compression_mode": "H265_LOSSLESS", + "svo_compression_mode_source": "requested_enum_passed_to_sl.RecordingParameters" + }, + "camera_metadata": { + "camera_id": "right-of-ur10", + "camera_type": "zed", + "capabilities": [ + "raw_depth", + "color", + "depth", + "stereo_color", + "right_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": [ + [ + 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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_SN12933256.svo2", + "path": "/home/shaunak/reconstruction/scans/task_board/raw/20261105_171606_062386/ZED-M_SN12933256.svo2", + "sha256": null, + "size_bytes": 19845825905, + "suffix": ".svo2" + } + ], + "timestamp_sidecars": [ + { + "device_duplicate_timestamp_count": 0, + "device_non_monotonic_timestamp_count": 0, + "device_timestamp_max_ns": 1793917486060636294, + "device_timestamp_min_ns": 1793916971941024294, + "frame_index_gap_count": 0, + "frame_index_max": 7749, + "frame_index_min": 0, + "host_duplicate_timestamp_count": 0, + "host_non_monotonic_timestamp_count": 0, + "host_timestamp_max_ns": 1793917486144291307, + "host_timestamp_min_ns": 1793916972023944669, + "path": "/home/shaunak/reconstruction/scans/task_board/raw/20261105_171606_062386/timestamps_zed_SN12933256.csv", + "row_count": 7750 + } + ] +} \ No newline at end of file diff --git a/scans/task_board/converted/sessions/session_20261105_171606_062386/metadata/discovery_report.md b/scans/task_board/converted/sessions/session_20261105_171606_062386/metadata/discovery_report.md new file mode 100644 index 0000000000000000000000000000000000000000..289178cf5d2e63dc6dd0d03b4a58ae3d9b6c51ff --- /dev/null +++ b/scans/task_board/converted/sessions/session_20261105_171606_062386/metadata/discovery_report.md @@ -0,0 +1,42 @@ +# Recording Discovery Report + +Recording directory: `/home/shaunak/reconstruction/scans/task_board/raw/20261105_171606_062386` + +## 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_SN12933256.svo2`: 19845825905 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_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_SN12933256.csv`: rows=7750, 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/scans/task_board/converted/sessions/session_20261105_171606_062386/metadata/grouped_zed_export_provenance.json b/scans/task_board/converted/sessions/session_20261105_171606_062386/metadata/grouped_zed_export_provenance.json new file mode 100644 index 0000000000000000000000000000000000000000..9c29be08d34568638cb67c94a1b4302e93977872 --- /dev/null +++ b/scans/task_board/converted/sessions/session_20261105_171606_062386/metadata/grouped_zed_export_provenance.json @@ -0,0 +1,19 @@ +{ + "/home/shaunak/reconstruction/scans/task_board/raw/20261105_171606_062386/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": "/home/shaunak/reconstruction/scans/task_board/raw/20261105_171606_062386/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" + ] + } +} \ No newline at end of file diff --git a/scans/task_board/converted/sessions/session_20261105_171606_062386/metadata/realsense_bag_pairing.json b/scans/task_board/converted/sessions/session_20261105_171606_062386/metadata/realsense_bag_pairing.json new file mode 100644 index 0000000000000000000000000000000000000000..4c4634ab1354b46fddb29f7988a0e16b95c237a1 --- /dev/null +++ b/scans/task_board/converted/sessions/session_20261105_171606_062386/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": "/home/shaunak/reconstruction/scans/task_board/raw/20261105_171606_062386", + "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/scans/task_board/converted/sessions/session_20261105_171606_062386/metadata/recording_manifest.json b/scans/task_board/converted/sessions/session_20261105_171606_062386/metadata/recording_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..992140ae89c00914f08fcee32e85858d37140ed7 --- /dev/null +++ b/scans/task_board/converted/sessions/session_20261105_171606_062386/metadata/recording_manifest.json @@ -0,0 +1,510 @@ +{ + "recording_manifest_schema_version": 1, + "recording_datetime": "20261105_171606_062386", + "recording_status": "stopped", + "recording_stop_reason": "signal_sigint", + "camera_rig_profile_name": "single-zed-right-of-ur10", + "capture_profile_name": "zed-hd2k15", + "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-hd2k15", + "camera_rig_profile_name": "single-zed-right-of-ur10", + "enabled_rgb_stream_ids": [ + "zed_12933256_left_rgb", + "zed_12933256_right_rgb" + ], + "fps": null, + "zed_stream_profile_name": "HD2K", + "realsense_resolution_hw": null, + "realsense_image_format": null, + "per_camera": { + "zed_12933256": { + "camera_type": "zed", + "serial_number": "12933256", + "resolution": [ + 1242, + 2208 + ], + "fps": 15.0, + "stream_profile_name": "HD2K", + "image_format": "rgb8" + } + }, + "zed_depth_mode": "NEURAL_PLUS", + "realsense_streams": [ + "color", + "depth" + ], + "zed_svo_compression_mode": "H265_LOSSLESS" + }, + "actual_acquisition": { + "camera_rig_profile_name": "single-zed-right-of-ur10", + "enabled_rgb_stream_ids": [ + "zed_12933256_left_rgb", + "zed_12933256_right_rgb" + ], + "per_camera": { + "zed_12933256": { + "resolution": [ + 1242, + 2208 + ], + "requested_fps": 15.0, + "fps": 15.0, + "actual_fps": 15.0, + "actual_fps_source": "camera_information.camera_configuration.fps", + "stream_profile_name": "HD2K", + "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": "right-of-ur10" + } + } + }, + "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": 66666667, + "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": false, + "reason": "calibration_run_dir was not provided" + }, + "camera_image_controls": { + "mode": "native_auto_defaults", + "status": "established", + "policy_replay": false, + "established_before_warmup": true, + "auto_controls_frozen_during_recording": false, + "readback_semantics": "Per-control 'before'/'after' values are single startup readbacks taken while establishing native auto control; exposure, gain and white balance keep changing under the cameras' own automatic control for the whole recording and are never frozen into manual settings.", + "unmanaged_cameras": [], + "per_camera": { + "12933256": { + "camera_type": "zed", + "status": "established", + "mechanism": "sl.Camera.set_camera_settings(setting, VIDEO_SETTINGS_VALUE_AUTO=-1) for ISP + exposure/gain/white-balance, then AEC_AGC=1 and WHITEBALANCE_AUTO=1 with mode readback", + "controls": { + "BRIGHTNESS": { + "status": "reset_to_sdk_default", + "before": 4, + "after": 4 + }, + "CONTRAST": { + "status": "reset_to_sdk_default", + "before": 4, + "after": 4 + }, + "HUE": { + "status": "reset_to_sdk_default", + "before": 0, + "after": 0 + }, + "SATURATION": { + "status": "reset_to_sdk_default", + "before": 4, + "after": 4 + }, + "SHARPNESS": { + "status": "reset_to_sdk_default", + "before": 3, + "after": 3 + }, + "GAMMA": { + "status": "reset_to_sdk_default", + "before": 5, + "after": 5 + }, + "EXPOSURE": { + "status": "reset_to_sdk_default", + "before": 91, + "after": 91 + }, + "GAIN": { + "status": "reset_to_sdk_default", + "before": -1, + "after": 35 + }, + "WHITEBALANCE_TEMPERATURE": { + "status": "reset_to_sdk_default", + "before": 4700, + "after": 4700 + }, + "AEC_AGC": { + "status": "enabled", + "before": 1, + "after": 1 + }, + "WHITEBALANCE_AUTO": { + "status": "enabled", + "before": 1, + "after": 1 + } + }, + "unsupported_controls": [], + "initial_auto_exposure_gain": true, + "initial_auto_white_balance": true, + "auto_exposure_gain_enabled": true, + "auto_white_balance_enabled": true, + "errors": [] + } + }, + "errors": [] + }, + "streams": [ + { + "stream_id": "zed_12933256_left_rgb", + "modality": "left_rgb", + "physical_camera_id": "zed_12933256", + "serial_number": "12933256", + "camera_type": "zed", + "camera_name": "right-of-ur10", + "recording_path": "ZED-M_SN12933256.svo2", + "timestamps_path": "streams/zed_12933256_left_rgb/timestamps.parquet", + "stream_manifest_path": "streams/zed_12933256_left_rgb/stream_manifest.json", + "requested_profile": { + "zed_resolution": "hd2k", + "resolution_hw": [ + 1242, + 2208 + ], + "fps": 15, + "depth_mode": "neural_plus", + "svo_compression_mode": "h265_lossless", + "container": "svo2" + }, + "actual_opened_profile": { + "resolution": [ + 1242, + 2208 + ], + "requested_fps": 15.0, + "fps": 15.0, + "actual_fps": 15.0, + "actual_fps_source": "camera_information.camera_configuration.fps", + "stream_profile_name": "HD2K", + "image_format": "rgb8", + "depth_mode": "NEURAL_PLUS", + "svo_compression_mode": "H265_LOSSLESS", + "svo_compression_mode_source": "requested_enum_passed_to_sl.RecordingParameters" + }, + "timestamp_summary": { + "stream_id": "zed_12933256_left_rgb", + "modality": "left_rgb", + "physical_camera_id": "zed_12933256", + "serial_number": "12933256", + "camera_type": "zed", + "row_count": 7750, + "expected_fps": 15.0, + "observed_fps": 15.0723680231829, + "nominal_frame_period_ns": 66666667, + "default_nearest_neighbor_tolerance_ns": 66666667, + "strict_alignment_warning_tolerance_ns": 33333334, + "timestamp_gap_warning_threshold_ns": 100000000, + "timestamp_min_ns": 1793916971941024294, + "timestamp_max_ns": 1793917486060636294, + "median_gap_ns": 66353000.0, + "max_gap_ns": 133035000, + "large_gap_count": 5, + "large_gaps": [ + { + "from_row": 1485, + "to_row": 1486, + "gap_ns": 132770000 + }, + { + "from_row": 3594, + "to_row": 3595, + "gap_ns": 132743000 + }, + { + "from_row": 4184, + "to_row": 4185, + "gap_ns": 133035000 + }, + { + "from_row": 4532, + "to_row": 4533, + "gap_ns": 132664000 + }, + { + "from_row": 4894, + "to_row": 4895, + "gap_ns": 132344000 + } + ], + "first_inter_frame_gap_ns": 66307000, + "startup_gap_excluded_from_warnings": false, + "preroll_frame_count": 15, + "official_frame_count": 7750, + "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": 1793916972023944669, + "host_timestamp_max_ns": 1793917486144291307, + "timestamp_domain": "zed_image", + "timestamp_source": "sl.TIME_REFERENCE.IMAGE", + "host_timestamp_source": "time.time_ns_after_record_frame", + "warnings": [ + "large_timestamp_gap" + ] + }, + "native_frame_mapping": { + "native_container_includes_preroll_frames": false, + "native_container_includes_post_native_priming_frames": true, + "preroll_frame_count": 15, + "post_native_priming_frame_count": 1, + "official_frame_count": 7750, + "first_official_native_frame_index": 1, + "native_frame_index_origin": "zero_based_sequential_grab_after_enable_recording_including_post_native_priming", + "converter_mapping": "official sidecar row R maps to native decoded frame index 1 + R; native frames [0, 1) were written during post-native priming after enable_recording() and are not listed in the official sidecar." + } + }, + { + "stream_id": "zed_12933256_right_rgb", + "modality": "right_rgb", + "physical_camera_id": "zed_12933256", + "serial_number": "12933256", + "camera_type": "zed", + "camera_name": "right-of-ur10", + "recording_path": "ZED-M_SN12933256.svo2", + "timestamps_path": "streams/zed_12933256_right_rgb/timestamps.parquet", + "stream_manifest_path": "streams/zed_12933256_right_rgb/stream_manifest.json", + "requested_profile": { + "zed_resolution": "hd2k", + "resolution_hw": [ + 1242, + 2208 + ], + "fps": 15, + "depth_mode": "neural_plus", + "svo_compression_mode": "h265_lossless", + "container": "svo2" + }, + "actual_opened_profile": { + "resolution": [ + 1242, + 2208 + ], + "requested_fps": 15.0, + "fps": 15.0, + "actual_fps": 15.0, + "actual_fps_source": "camera_information.camera_configuration.fps", + "stream_profile_name": "HD2K", + "image_format": "rgb8", + "depth_mode": "NEURAL_PLUS", + "svo_compression_mode": "H265_LOSSLESS", + "svo_compression_mode_source": "requested_enum_passed_to_sl.RecordingParameters" + }, + "timestamp_summary": { + "stream_id": "zed_12933256_right_rgb", + "modality": "right_rgb", + "physical_camera_id": "zed_12933256", + "serial_number": "12933256", + "camera_type": "zed", + "row_count": 7750, + "expected_fps": 15.0, + "observed_fps": 15.0723680231829, + "nominal_frame_period_ns": 66666667, + "default_nearest_neighbor_tolerance_ns": 66666667, + "strict_alignment_warning_tolerance_ns": 33333334, + "timestamp_gap_warning_threshold_ns": 100000000, + "timestamp_min_ns": 1793916971941024294, + "timestamp_max_ns": 1793917486060636294, + "median_gap_ns": 66353000.0, + "max_gap_ns": 133035000, + "large_gap_count": 5, + "large_gaps": [ + { + "from_row": 1485, + "to_row": 1486, + "gap_ns": 132770000 + }, + { + "from_row": 3594, + "to_row": 3595, + "gap_ns": 132743000 + }, + { + "from_row": 4184, + "to_row": 4185, + "gap_ns": 133035000 + }, + { + "from_row": 4532, + "to_row": 4533, + "gap_ns": 132664000 + }, + { + "from_row": 4894, + "to_row": 4895, + "gap_ns": 132344000 + } + ], + "first_inter_frame_gap_ns": 66307000, + "startup_gap_excluded_from_warnings": false, + "preroll_frame_count": 15, + "official_frame_count": 7750, + "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": 1793916972023944669, + "host_timestamp_max_ns": 1793917486144291307, + "timestamp_domain": "zed_image", + "timestamp_source": "sl.TIME_REFERENCE.IMAGE", + "host_timestamp_source": "time.time_ns_after_record_frame", + "warnings": [ + "large_timestamp_gap" + ] + }, + "native_frame_mapping": { + "native_container_includes_preroll_frames": false, + "native_container_includes_post_native_priming_frames": true, + "preroll_frame_count": 15, + "post_native_priming_frame_count": 1, + "official_frame_count": 7750, + "first_official_native_frame_index": 1, + "native_frame_index_origin": "zero_based_sequential_grab_after_enable_recording_including_post_native_priming", + "converter_mapping": "official sidecar row R maps to native decoded frame index 1 + R; native frames [0, 1) were written during post-native priming after enable_recording() and are not listed in the official sidecar." + } + }, + { + "stream_id": "zed_12933256_depth_zed_sdk_neural_plus", + "modality": "depth", + "physical_camera_id": "zed_12933256", + "serial_number": "12933256", + "camera_type": "zed", + "camera_name": "right-of-ur10", + "recording_path": "ZED-M_SN12933256.svo2", + "timestamps_path": "streams/zed_12933256_depth_zed_sdk_neural_plus/timestamps.parquet", + "stream_manifest_path": "streams/zed_12933256_depth_zed_sdk_neural_plus/stream_manifest.json", + "requested_profile": { + "zed_resolution": "hd2k", + "resolution_hw": [ + 1242, + 2208 + ], + "fps": 15, + "depth_mode": "neural_plus", + "svo_compression_mode": "h265_lossless", + "container": "svo2" + }, + "actual_opened_profile": { + "resolution": [ + 1242, + 2208 + ], + "requested_fps": 15.0, + "fps": 15.0, + "actual_fps": 15.0, + "actual_fps_source": "camera_information.camera_configuration.fps", + "stream_profile_name": "HD2K", + "image_format": "rgb8", + "depth_mode": "NEURAL_PLUS", + "svo_compression_mode": "H265_LOSSLESS", + "svo_compression_mode_source": "requested_enum_passed_to_sl.RecordingParameters" + }, + "timestamp_summary": { + "stream_id": "zed_12933256_depth_zed_sdk_neural_plus", + "modality": "depth", + "physical_camera_id": "zed_12933256", + "serial_number": "12933256", + "camera_type": "zed", + "row_count": 7750, + "expected_fps": 15.0, + "observed_fps": 15.0723680231829, + "nominal_frame_period_ns": 66666667, + "default_nearest_neighbor_tolerance_ns": 66666667, + "strict_alignment_warning_tolerance_ns": 33333334, + "timestamp_gap_warning_threshold_ns": 100000000, + "timestamp_min_ns": 1793916971941024294, + "timestamp_max_ns": 1793917486060636294, + "median_gap_ns": 66353000.0, + "max_gap_ns": 133035000, + "large_gap_count": 5, + "large_gaps": [ + { + "from_row": 1485, + "to_row": 1486, + "gap_ns": 132770000 + }, + { + "from_row": 3594, + "to_row": 3595, + "gap_ns": 132743000 + }, + { + "from_row": 4184, + "to_row": 4185, + "gap_ns": 133035000 + }, + { + "from_row": 4532, + "to_row": 4533, + "gap_ns": 132664000 + }, + { + "from_row": 4894, + "to_row": 4895, + "gap_ns": 132344000 + } + ], + "first_inter_frame_gap_ns": 66307000, + "startup_gap_excluded_from_warnings": false, + "preroll_frame_count": 15, + "official_frame_count": 7750, + "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": 1793916972023944669, + "host_timestamp_max_ns": 1793917486144291307, + "timestamp_domain": "zed_image", + "timestamp_source": "sl.TIME_REFERENCE.IMAGE", + "host_timestamp_source": "time.time_ns_after_record_frame", + "warnings": [ + "large_timestamp_gap" + ] + }, + "native_frame_mapping": { + "native_container_includes_preroll_frames": false, + "native_container_includes_post_native_priming_frames": true, + "preroll_frame_count": 15, + "post_native_priming_frame_count": 1, + "official_frame_count": 7750, + "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." + } + } + ], + "legacy_timestamp_csvs": [ + "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/scans/task_board/converted/sessions/session_20261105_171606_062386/metadata/recording_metadata.json b/scans/task_board/converted/sessions/session_20261105_171606_062386/metadata/recording_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..23abc161f1e06419cbe9f229db0882208270c86f --- /dev/null +++ b/scans/task_board/converted/sessions/session_20261105_171606_062386/metadata/recording_metadata.json @@ -0,0 +1,680 @@ +{ + "recording_metadata_schema_version": 1, + "recording_datetime": "20261105_171606_062386", + "recording_status": "stopped", + "recording_attempt_started_at_unix_time_ns": 1793916966062382799, + "recording_started_at_unix_time_ns": 1793916971963275922, + "camera_rig_profile_name": "single-zed-right-of-ur10", + "duration_sec": null, + "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": "single-zed-right-of-ur10", + "capture_profile_name": "zed-hd2k15", + "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": "20261105_171606_062386", + "duration_sec": null, + "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": null, + "calibration_pose_source": "phase_05_final", + "require_calibration": false, + "copy_calibration_rerun_rrd": false, + "copy_calibration_depth_snapshots": false, + "copy_full_calibration_run": false, + "allow_extra_calibrated_cameras": true, + "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", + "post_record_quality_policy": "warn" + }, + "calibration": { + "packaged": false, + "reason": "calibration_run_dir was not provided" + }, + "cameras": [ + { + "name": "right-of-ur10", + "serial_number": "12933256", + "camera_type": "zed", + "recording_path": "ZED-M_SN12933256.svo2", + "timestamp_path": "timestamps_zed_SN12933256.csv", + "frame_count": 7750, + "dropped_non_monotonic_timestamp_count": 0, + "streams": [ + { + "stream_id": "zed_12933256_left_rgb", + "modality": "left_rgb", + "requested_profile": { + "zed_resolution": "hd2k", + "resolution_hw": [ + 1242, + 2208 + ], + "fps": 15, + "depth_mode": "neural_plus", + "svo_compression_mode": "h265_lossless", + "container": "svo2" + }, + "expected_fps": 15.0 + }, + { + "stream_id": "zed_12933256_right_rgb", + "modality": "right_rgb", + "requested_profile": { + "zed_resolution": "hd2k", + "resolution_hw": [ + 1242, + 2208 + ], + "fps": 15, + "depth_mode": "neural_plus", + "svo_compression_mode": "h265_lossless", + "container": "svo2" + }, + "expected_fps": 15.0 + }, + { + "stream_id": "zed_12933256_depth_zed_sdk_neural_plus", + "modality": "depth", + "requested_profile": { + "zed_resolution": "hd2k", + "resolution_hw": [ + 1242, + 2208 + ], + "fps": 15, + "depth_mode": "neural_plus", + "svo_compression_mode": "h265_lossless", + "container": "svo2" + }, + "expected_fps": 15.0 + } + ], + "official_frame_count": 7750, + "native_container_includes_preroll_frames": false, + "native_container_includes_post_native_priming_frames": true, + "preroll_frame_count": 15, + "post_native_priming_frame_count": 1, + "first_official_native_frame_index": 1, + "native_frame_index_origin": "zero_based_sequential_grab_after_enable_recording_including_post_native_priming", + "converter_mapping": "official sidecar row R maps to native decoded frame index 1 + R; native frames [0, 1) were written during post-native priming after enable_recording() and are not listed in the official sidecar.", + "dropped_stale_preofficial_timestamp_count": 0, + "post_native_discarded_frame_count": 0, + "actual_opened_profile": { + "resolution": [ + 1242, + 2208 + ], + "requested_fps": 15.0, + "fps": 15.0, + "actual_fps": 15.0, + "actual_fps_source": "camera_information.camera_configuration.fps", + "stream_profile_name": "HD2K", + "image_format": "rgb8", + "depth_mode": "NEURAL_PLUS", + "svo_compression_mode": "H265_LOSSLESS", + "svo_compression_mode_source": "requested_enum_passed_to_sl.RecordingParameters" + }, + "camera_metadata": { + "camera_id": "right-of-ur10", + "serial_number": "12933256", + "camera_type": "zed", + "model": "ZED-M", + "resolution_hw": [ + 1242, + 2208 + ], + "fps": 15.0, + "color_intrinsics": [ + [ + 1465.6390380859375, + 0.0, + 1172.2928466796875 + ], + [ + 0.0, + 1465.6390380859375, + 609.0409545898438 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "depth_intrinsics": [ + [ + 1465.6390380859375, + 0.0, + 1172.2928466796875 + ], + [ + 0.0, + 1465.6390380859375, + 609.0409545898438 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "color_T_depth": null, + "depth_T_color": null, + "color_T_ir_left": null, + "ir_left_T_color": null, + "color_T_ir_right": null, + "ir_right_T_color": null, + "left_rgb_camera_T_right_rgb_camera": [ + [ + 1.0, + 0.0, + 0.0, + 0.06304030865430832 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "right_rgb_camera_T_left_rgb_camera": [ + [ + 1.0, + 0.0, + 0.0, + -0.06304030865430832 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "left_camera_frame": "zed_12933256_left_rgb_camera", + "right_camera_frame": "zed_12933256_right_rgb_camera", + "depth_camera_frame": "zed_12933256_left_rgb_camera", + "color_camera_frame": null, + "ir_left_camera_frame": null, + "ir_right_camera_frame": null, + "stereo_baseline_m": 0.06304030865430832, + "depth_frame_convention": "ZED sl.MEASURE.DEPTH depth maps are expressed in the left RGB camera optical frame.", + "transform_convention": "a_T_b maps points from frame b into frame a: p_a = T * p_b", + "depth_scale_m": null, + "capabilities": [ + "raw_depth", + "color", + "depth", + "stereo_color", + "right_color", + "aligned_depth_to_color" + ], + "metadata": { + "color_image_geometry": "zed_rectified_rgb", + "color_distortion_coefficients": null, + "color_distortion_model": null, + "color_is_rectified": true, + "color_projection_model_used": "rectified_pinhole", + "color_rectification_source": "zed_sdk_rectified_view", + "depth_units": "metres", + "aligned_depth_target": "left_color", + "invalid_depth_convention": "ZED SDK values are preserved, including non-finite invalid depth.", + "offline_recording": false, + "input_type": "INPUT_TYPE.USB", + "usb": { + "video_device_path": "/dev/video2", + "sysfs_path": "/sys/devices/pci0000:00/0000:00:08.3/0000:66:00.4/usb8/8-1", + "bus": "8", + "port_path": "1", + "pci_controller_path": "/sys/devices/pci0000:00", + "usb_type_descriptor": "3.00", + "speed_mbps": 5000.0, + "product": "ZED-M", + "is_usb3": true, + "input_type_raw": "INPUT_TYPE.USB", + "usb_validation_source": "linux_sysfs_video_device", + "note": null + }, + "usb_type_descriptor": "3.00", + "usb_speed_mbps": 5000.0, + "usb_product": "ZED-M" + } + }, + "stream_summaries": { + "zed_12933256_left_rgb": { + "stream_id": "zed_12933256_left_rgb", + "modality": "left_rgb", + "physical_camera_id": "zed_12933256", + "serial_number": "12933256", + "camera_type": "zed", + "row_count": 7750, + "expected_fps": 15.0, + "observed_fps": 15.0723680231829, + "nominal_frame_period_ns": 66666667, + "default_nearest_neighbor_tolerance_ns": 66666667, + "strict_alignment_warning_tolerance_ns": 33333334, + "timestamp_gap_warning_threshold_ns": 100000000, + "timestamp_min_ns": 1793916971941024294, + "timestamp_max_ns": 1793917486060636294, + "median_gap_ns": 66353000.0, + "max_gap_ns": 133035000, + 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+ }, + "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": 7750, + "expected_fps": 15.0, + "observed_fps": 15.0723680231829, + "nominal_frame_period_ns": 66666667, + "default_nearest_neighbor_tolerance_ns": 66666667, + "strict_alignment_warning_tolerance_ns": 33333334, + "timestamp_gap_warning_threshold_ns": 100000000, + "timestamp_min_ns": 1793916971941024294, + "timestamp_max_ns": 1793917486060636294, + "median_gap_ns": 66353000.0, + "max_gap_ns": 133035000, + "large_gap_count": 5, + "large_gaps": [ + { + "from_row": 1485, + "to_row": 1486, + "gap_ns": 132770000 + }, + { + "from_row": 3594, + "to_row": 3595, + "gap_ns": 132743000 + }, + { + "from_row": 4184, + "to_row": 4185, + "gap_ns": 133035000 + }, + { + "from_row": 4532, + "to_row": 4533, + "gap_ns": 132664000 + }, + { + "from_row": 4894, + "to_row": 4895, + "gap_ns": 132344000 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"sl.Camera.set_camera_settings(setting, VIDEO_SETTINGS_VALUE_AUTO=-1) for ISP + exposure/gain/white-balance, then AEC_AGC=1 and WHITEBALANCE_AUTO=1 with mode readback", + "controls": { + "BRIGHTNESS": { + "status": "reset_to_sdk_default", + "before": 4, + "after": 4 + }, + "CONTRAST": { + "status": "reset_to_sdk_default", + "before": 4, + "after": 4 + }, + "HUE": { + "status": "reset_to_sdk_default", + "before": 0, + "after": 0 + }, + "SATURATION": { + "status": "reset_to_sdk_default", + "before": 4, + "after": 4 + }, + "SHARPNESS": { + "status": "reset_to_sdk_default", + "before": 3, + "after": 3 + }, + "GAMMA": { + "status": "reset_to_sdk_default", + "before": 5, + "after": 5 + }, + "EXPOSURE": { + "status": "reset_to_sdk_default", + "before": 91, + "after": 91 + }, + "GAIN": { + "status": "reset_to_sdk_default", + "before": -1, + "after": 35 + }, + "WHITEBALANCE_TEMPERATURE": { + "status": "reset_to_sdk_default", + "before": 4700, + "after": 4700 + }, + "AEC_AGC": { + "status": 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}, + "per_camera_first_official_native_frame_index": { + "12933256": 1 + } + } + }, + "camera_close_reports": [ + { + "camera_type": "zed", + "serial_number": "12933256", + "recording_enabled_before_close": true, + "recording_enabled_after_disable": false, + "read_thread_alive_before_close": false, + "read_thread_alive_after_stop": false, + "camera_lock_acquired_for_close": true, + "sdk_close_attempted": true, + "sdk_is_opened_before_close": true, + "sdk_is_opened_after_close": false, + "sdk_close_retry_count": 0, + "sdk_close_exception": null, + "close_warning_messages": [], + "recording_stop_reason": "signal_sigint" + } + ], + "recording_elapsed_sec": 521.0936009883881, + "recording_active_elapsed_sec": 515.192696716, + "recording_timing": { + "attempt_elapsed_sec": 521.0935981273651, + "official_active_elapsed_sec": 515.192696716, + "preroll_elapsed_sec": 0.9945479060115758, + "wind_down_elapsed_sec": 0.9584366689960007, + "recording_started_at_unix_time_ns": 1793916971963275922, + 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a/scans/task_board/converted/sessions/session_20261105_171606_062386/metadata/session.json b/scans/task_board/converted/sessions/session_20261105_171606_062386/metadata/session.json new file mode 100644 index 0000000000000000000000000000000000000000..a93526739ef8c4e8d786fcc419b69aeea0e8f73b --- /dev/null +++ b/scans/task_board/converted/sessions/session_20261105_171606_062386/metadata/session.json @@ -0,0 +1,43 @@ +{ + "conversion_time": "2026-11-07T14:58:22.490380+00:00", + "converter_command": [ + "/home/shaunak/Code/grasp/belt_perception/.venv/bin/python", + "-m", + "dataset_converter.convert_session", + "--recording-dir", + "/home/shaunak/reconstruction/scans/task_board/raw/20261105_171606_062386", + "--output-root", + "/home/shaunak/reconstruction/scans/task_board/converted", + "--input-format", + "manifest", + "--zed-streams", + "all", + "--depth-encoder", + "zdepth", + "--calibration-source", + "packaged-if-present", + "--zdepth-over-max-behavior", + "clamp", + "--timestamp-gap-policy", + "warn", + "--timestamp-rate-policy", + "warn", + "--large-gap-fail-multiplier", + "3.5", + "--validate" + ], + "converter_git_commit": "46f912eefa2dce720b79df547085b8bbdb858ad2", + "dataset_format_version": "0.1.0", + "ffmpeg_version": "ffmpeg version 4.4.2-0ubuntu0.22.04.1 Copyright (c) 2000-2021 the FFmpeg developers", + "pyav_version": "17.0.1", + "realsense_sdk_version": "2.58.2", + "session_description": "", + "session_description_editing_note": "Edit metadata/session_description.md after conversion to update the human-readable session purpose/contents note.", + "session_description_path": "metadata/session_description.md", + "session_description_source": "editable_template", + "session_id": "session_20261105_171606_062386", + "source_file_hashes": { + "/home/shaunak/reconstruction/scans/task_board/raw/20261105_171606_062386/ZED-M_SN12933256.svo2": "a552f15c490700dd956caab9f96abaae0a94541267d5e75a457e7d46ba07c4e5" + }, + "zed_sdk_version": "5.5.0" +} \ No newline at end of file diff --git a/scans/task_board/converted/sessions/session_20261105_171606_062386/metadata/session_description.md b/scans/task_board/converted/sessions/session_20261105_171606_062386/metadata/session_description.md new file mode 100644 index 0000000000000000000000000000000000000000..b4bc721f5eca210ede367ea5b218ddeff14d91c0 --- /dev/null +++ b/scans/task_board/converted/sessions/session_20261105_171606_062386/metadata/session_description.md @@ -0,0 +1,7 @@ +# Session Description + +Purpose: + +Data / motion / observations: + +Notes: diff --git a/scans/task_board/converted/sessions/session_20261105_171606_062386/metadata/validation_report.json b/scans/task_board/converted/sessions/session_20261105_171606_062386/metadata/validation_report.json new file mode 100644 index 0000000000000000000000000000000000000000..8691f404618797ad78ef4d0d4d836d79c5257031 --- /dev/null +++ b/scans/task_board/converted/sessions/session_20261105_171606_062386/metadata/validation_report.json @@ -0,0 +1,93313 @@ +{ + "cross_camera_visual_lag": { + "decision": "inconclusive_due_to_low_motion_or_low_confidence", + "rs_stream_id": null, + "status": "skipped_missing_streams", + "zed_stream_id": "zed_12933256_left_rgb" + }, + "errors": [], + "session_path": "/home/shaunak/reconstruction/scans/task_board/converted/sessions/.session_20261105_171606_062386.tmp.182159", + "status": "passed", + "streams": { + "zed_12933256_depth_zed_sdk_neural_plus": { + "clock_diagnostics": { + "duplicate_acquisition_timestamp_count": 0, + "host_acquisition_drift_slope_ns_per_ns": -1.1535009752711298e-06, + "host_acquisition_drift_slope_ns_per_s": -1153.5009752711298, + "host_acquisition_drift_slope_units": "ns offset drift per second of host time", + "host_acquisition_offset_max_ns": 95846052, + "host_acquisition_offset_median_ns": 82360531.0, + "host_acquisition_offset_min_ns": 79392541, + 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