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b/scans/big_silver_sprocket/converted/sessions/session_20261105_160421_076800/metadata/discovery_report.json @@ -0,0 +1,700 @@ +{ + "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 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"svo_compression_mode": "h265_lossless", + "zed_resolution": "hd2k" + }, + "stream_id": "zed_12933256_left_rgb" + }, + { + "expected_fps": 15.0, + "modality": "right_rgb", + "requested_profile": { + "container": "svo2", + "depth_mode": "neural_plus", + "fps": 15, + "resolution_hw": [ + 1242, + 2208 + ], + "svo_compression_mode": "h265_lossless", + "zed_resolution": "hd2k" + }, + "stream_id": "zed_12933256_right_rgb" + }, + { + "expected_fps": 15.0, + "modality": "depth", + "requested_profile": { + "container": "svo2", + "depth_mode": "neural_plus", + "fps": 15, + "resolution_hw": [ + 1242, + 2208 + ], + "svo_compression_mode": "h265_lossless", + "zed_resolution": "hd2k" + }, + "stream_id": "zed_12933256_depth_zed_sdk_neural_plus" + } + ], + "timestamp_path": "timestamps_zed_SN12933256.csv" + } + ], + "config": { + "alignment_warning_frame_periods": 0.5, + "allow_extra_calibrated_cameras": true, + "calibration_pose_source": "phase_05_final", + "calibration_run_dir": null, + "camera_rig_profile_name": "single-zed-right-of-ur10", + "capture": { + "overrides_by_serial": {}, + "realsense": { + "duplicate_frame_policy": null, + "duplicate_max_count": null, + "duplicate_timeout_s": null, + "rectify_color": null + }, + "shared": { + "fps": null, + "image_format": null, + "require_stereo_frames": null, + "resolution_hw": null, + "retain_gpu_images": null, + "return_pointmap_instead_of_depth": null, + "warmup_frames": null + }, + "zed": { + "allow_depth_mode_fallback": null, + "coordinate_units": null, + "depth_maximum_distance_m": null, + "depth_minimum_distance_m": null, + "depth_mode_name": null, + "depth_stabilization": null, + "open_timeout_sec": null + } + }, + "capture_profile_name": "zed-hd2k15", + "copy_calibration_depth_snapshots": false, + "copy_calibration_rerun_rrd": false, + "copy_full_calibration_run": false, + "depth_mode": "neural_plus", + "duration_sec": null, + "fail_on_timestamp_gaps": false, + "max_frames": null, + 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"zed_svo_compression_mode": "h265_lossless" + }, + "duration_sec": null, + "max_frames": null, + "recording_active_elapsed_sec": 458.371963566, + "recording_attempt_started_at_unix_time_ns": 1793912661076796337, + "recording_datetime": "20261105_160421_076800", + "recording_elapsed_sec": 465.3526713848114, + "recording_manifest_path": "recording_manifest.json", + "recording_metadata_schema_version": 1, + "recording_started_at_unix_time_ns": 1793912668057484021, + "recording_status": "stopped", + "recording_stop_policy": "duration_or_all_max_frames", + "recording_stop_reason": "signal_sigint", + "recording_timing": { + "attempt_elapsed_sec": 465.35266637802124, + "official_active_elapsed_sec": 458.371963566, + "official_started_at_unix_time_ns": 1793912668057484021, + "official_stopped_at_unix_time_ns": 1793913126429447587, + "preroll_elapsed_sec": 0.982004766992759, + "recording_started_at_unix_time_ns": 1793912668057484021, + "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": { + "12933256": 15 + }, + "post_native_priming": { + "per_camera_discarded_frame_count": { + "12933256": 0 + }, + "per_camera_first_official_native_frame_index": { + "12933256": 1 + }, + "per_camera_post_native_priming_frame_count": { + "12933256": 1 + }, + "post_native_priming_applied": true, + "post_native_priming_elapsed_sec": 0.0413928939960897 + }, + "preroll_elapsed_sec": 0.982004766992759, + "stream_settle_sec": 0.0, + "stream_warmup_frames": 15 + }, + "wind_down_elapsed_sec": 0.9042021330096759 + }, + "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": { + "12933256": 15 + }, + "post_native_priming": { + "per_camera_discarded_frame_count": { + "12933256": 0 + }, + "per_camera_first_official_native_frame_index": { + "12933256": 1 + }, + "per_camera_post_native_priming_frame_count": { + "12933256": 1 + }, + "post_native_priming_applied": true, + "post_native_priming_elapsed_sec": 0.0413928939960897 + }, + "preroll_elapsed_sec": 0.982004766992759, + "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_SN12933256.svo2", + "path": "/home/shaunak/reconstruction/scans/big_silver_sprocket/raw/20261105_160421_076800/ZED-M_SN12933256.svo2", + "sha256": null, + "size_bytes": 17941662774, + "suffix": ".svo2" + } + ], + "timestamp_sidecars": [ + { + "device_duplicate_timestamp_count": 0, + "device_non_monotonic_timestamp_count": 0, + "device_timestamp_max_ns": 1793913125397972433, + "device_timestamp_min_ns": 1793912668030417433, + "frame_index_gap_count": 0, + "frame_index_max": 6897, + "frame_index_min": 0, + "host_duplicate_timestamp_count": 0, + "host_non_monotonic_timestamp_count": 0, + "host_timestamp_max_ns": 1793913125483414222, + "host_timestamp_min_ns": 1793912668123511501, + "path": "/home/shaunak/reconstruction/scans/big_silver_sprocket/raw/20261105_160421_076800/timestamps_zed_SN12933256.csv", + "row_count": 6898 + } + ] +} \ No newline at end of file diff --git a/scans/big_silver_sprocket/converted/sessions/session_20261105_160421_076800/metadata/discovery_report.md b/scans/big_silver_sprocket/converted/sessions/session_20261105_160421_076800/metadata/discovery_report.md new file mode 100644 index 0000000000000000000000000000000000000000..43396b48504f790f2c78ca7c574015052266031f --- /dev/null +++ b/scans/big_silver_sprocket/converted/sessions/session_20261105_160421_076800/metadata/discovery_report.md @@ -0,0 +1,42 @@ +# Recording Discovery Report + +Recording directory: `/home/shaunak/reconstruction/scans/big_silver_sprocket/raw/20261105_160421_076800` + +## 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`: 17941662774 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=6898, 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/big_silver_sprocket/converted/sessions/session_20261105_160421_076800/metadata/grouped_zed_export_provenance.json b/scans/big_silver_sprocket/converted/sessions/session_20261105_160421_076800/metadata/grouped_zed_export_provenance.json new file mode 100644 index 0000000000000000000000000000000000000000..3a247ba89c0ac1525db4f794f2a8c95e938cac0a --- /dev/null +++ b/scans/big_silver_sprocket/converted/sessions/session_20261105_160421_076800/metadata/grouped_zed_export_provenance.json @@ -0,0 +1,19 @@ +{ + "/home/shaunak/reconstruction/scans/big_silver_sprocket/raw/20261105_160421_076800/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/big_silver_sprocket/raw/20261105_160421_076800/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/big_silver_sprocket/converted/sessions/session_20261105_160421_076800/metadata/realsense_bag_pairing.json b/scans/big_silver_sprocket/converted/sessions/session_20261105_160421_076800/metadata/realsense_bag_pairing.json new file mode 100644 index 0000000000000000000000000000000000000000..c8984d4c4973fc73ebe23cdb97a1ba4d6df2a68c --- /dev/null +++ b/scans/big_silver_sprocket/converted/sessions/session_20261105_160421_076800/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/big_silver_sprocket/raw/20261105_160421_076800", + "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/big_silver_sprocket/converted/sessions/session_20261105_160421_076800/metadata/recording_manifest.json b/scans/big_silver_sprocket/converted/sessions/session_20261105_160421_076800/metadata/recording_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..0948b07d940af24ab0c048492789c15652686975 --- /dev/null +++ b/scans/big_silver_sprocket/converted/sessions/session_20261105_160421_076800/metadata/recording_manifest.json @@ -0,0 +1,450 @@ +{ + "recording_manifest_schema_version": 1, + "recording_datetime": "20261105_160421_076800", + "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": 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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/big_silver_sprocket/converted/sessions/session_20261105_160421_076800/metadata/recording_metadata.json b/scans/big_silver_sprocket/converted/sessions/session_20261105_160421_076800/metadata/recording_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..a49a4e64a572c5a806ebdc7378251af36d73a120 --- /dev/null +++ b/scans/big_silver_sprocket/converted/sessions/session_20261105_160421_076800/metadata/recording_metadata.json @@ -0,0 +1,620 @@ +{ + "recording_metadata_schema_version": 1, + "recording_datetime": "20261105_160421_076800", + "recording_status": "stopped", + "recording_attempt_started_at_unix_time_ns": 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0000000000000000000000000000000000000000..eaf6883c9abb9b80f5f9b7e5ab7ac6d1bbd93739 --- /dev/null +++ b/scans/big_silver_sprocket/converted/sessions/session_20261105_160421_076800/metadata/session.json @@ -0,0 +1,43 @@ +{ + "conversion_time": "2026-11-07T09:14:10.452678+00:00", + "converter_command": [ + "/home/shaunak/Code/grasp/belt_perception/.venv/bin/python", + "-m", + "dataset_converter.convert_session", + "--recording-dir", + "/home/shaunak/reconstruction/scans/big_silver_sprocket/raw/20261105_160421_076800", + "--output-root", + "/home/shaunak/reconstruction/scans/big_silver_sprocket/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": 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b/scans/big_silver_sprocket/converted/sessions/session_20261105_160421_076800/metadata/session_description.md new file mode 100644 index 0000000000000000000000000000000000000000..b4bc721f5eca210ede367ea5b218ddeff14d91c0 --- /dev/null +++ b/scans/big_silver_sprocket/converted/sessions/session_20261105_160421_076800/metadata/session_description.md @@ -0,0 +1,7 @@ +# Session Description + +Purpose: + +Data / motion / observations: + +Notes: diff --git a/scans/big_silver_sprocket/converted/sessions/session_20261105_160421_076800/metadata/validation_report.json b/scans/big_silver_sprocket/converted/sessions/session_20261105_160421_076800/metadata/validation_report.json new file mode 100644 index 0000000000000000000000000000000000000000..6df657d3d2ac67eff17a889673c57a7fdf00db5e --- /dev/null +++ b/scans/big_silver_sprocket/converted/sessions/session_20261105_160421_076800/metadata/validation_report.json @@ -0,0 +1,83089 @@ +{ + "cross_camera_visual_lag": { + "decision": 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