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.gitattributes

@@ -130,3 +130,4 @@ scans/blue_cylinder_holder/raw/20261105_135141_317823/ZED-M_SN12933256.svo2 filt
 scans/big_silver_sprocket/raw/20261105_160421_076800/ZED-M_SN12933256.svo2 filter=lfs diff=lfs merge=lfs -text
 scans/black_sprocket/raw/20261105_153317_177224/ZED-M_SN12933256.svo2 filter=lfs diff=lfs merge=lfs -text
 scans/black_sprocket_holder/raw/20261105_161952_762459/ZED-M_SN12933256.svo2 filter=lfs diff=lfs merge=lfs -text
+scans/small_black_base/raw/20261105_150454_172689/ZED-M_SN12933256.svo2 filter=lfs diff=lfs merge=lfs -text

scans/small_black_base/raw/20261105_150454_172689/ZED-M_SN12933256.svo2

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fac990ce2ea7938f1de490d35c2731319064f6a5dc5ab227fea5f4d02333fe30
+size 23512008057

scans/small_black_base/raw/20261105_150454_172689/recording_manifest.json

@@ -0,0 +1,570 @@
+{
+  "recording_manifest_schema_version": 1,
+  "recording_datetime": "20261105_150454_172689",
+  "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": {
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+          2208
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+        "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
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+          "HUE": {
+            "status": "reset_to_sdk_default",
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+            "after": 0
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+            "after": 4
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+          "SHARPNESS": {
+            "status": "reset_to_sdk_default",
+            "before": 3,
+            "after": 3
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+          "GAMMA": {
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+            "after": 5
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+          "EXPOSURE": {
+            "status": "reset_to_sdk_default",
+            "before": 91,
+            "after": 91
+          },
+          "GAIN": {
+            "status": "reset_to_sdk_default",
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+            "after": 34
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+            "status": "reset_to_sdk_default",
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+          "AEC_AGC": {
+            "status": "enabled",
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+            "after": 1
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+          "WHITEBALANCE_AUTO": {
+            "status": "enabled",
+            "before": 1,
+            "after": 1
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+        "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": [
+    {
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+      "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": {
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+        "depth_mode": "neural_plus",
+        "svo_compression_mode": "h265_lossless",
+        "container": "svo2"
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+          2208
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+        "requested_fps": 15.0,
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+        "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",
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+        "expected_fps": 15.0,
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+        "default_nearest_neighbor_tolerance_ns": 66666667,
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+        "timestamp_gap_warning_threshold_ns": 100000000,
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+        "median_gap_ns": 66336000.0,
+        "max_gap_ns": 133566000,
+        "large_gap_count": 9,
+        "large_gaps": [
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+            "gap_ns": 132561000
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+            "gap_ns": 132720000
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+            "gap_ns": 133566000
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+            "to_row": 3620,
+            "gap_ns": 132971000
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+          {
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+            "to_row": 4038,
+            "gap_ns": 132353000
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+            "to_row": 8227,
+            "gap_ns": 132688000
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+          {
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+            "gap_ns": 132573000
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+        "first_inter_frame_gap_ns": 66092000,
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+        "preroll_frame_count": 15,
+        "official_frame_count": 9120,
+        "duplicate_timestamp_count": 0,
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+        "host_timestamp_min_ns": 1793909098395757646,
+        "host_timestamp_max_ns": 1793909703624472390,
+        "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": 9120,
+        "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": {
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+        "depth_mode": "neural_plus",
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+          2208
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+        "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": 9120,
+        "expected_fps": 15.0,
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+        "timestamp_gap_warning_threshold_ns": 100000000,
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+        "timestamp_max_ns": 1793909703543347865,
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+        "large_gaps": [
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+            "gap_ns": 132561000
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+        "host_timestamp_max_ns": 1793909703624472390,
+        "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": 9120,
+        "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": {
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+        "depth_mode": "neural_plus",
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+        "container": "svo2"
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+          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"
+      },
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+        "stream_id": "zed_12933256_depth_zed_sdk_neural_plus",
+        "modality": "depth",
+        "physical_camera_id": "zed_12933256",
+        "serial_number": "12933256",
+        "camera_type": "zed",
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+            "to_row": 601,
+            "gap_ns": 132561000
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+            "to_row": 715,
+            "gap_ns": 133363000
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+            "to_row": 1284,
+            "gap_ns": 132720000
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+          {
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+            "to_row": 3048,
+            "gap_ns": 133566000
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+          {
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+            "to_row": 3620,
+            "gap_ns": 132971000
+          },
+          {
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+            "to_row": 4038,
+            "gap_ns": 132353000
+          },
+          {
+            "from_row": 5755,
+            "to_row": 5756,
+            "gap_ns": 133407000
+          },
+          {
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+            "to_row": 8227,
+            "gap_ns": 132688000
+          },
+          {
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+            "to_row": 8616,
+            "gap_ns": 132573000
+          }
+        ],
+        "first_inter_frame_gap_ns": 66092000,
+        "startup_gap_excluded_from_warnings": false,
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+        "official_frame_count": 9120,
+        "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": 1793909098395757646,
+        "host_timestamp_max_ns": 1793909703624472390,
+        "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": 9120,
+        "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."
+  ]
+}

scans/small_black_base/raw/20261105_150454_172689/recording_metadata.json

@@ -0,0 +1,740 @@
+{
+  "recording_metadata_schema_version": 1,
+  "recording_datetime": "20261105_150454_172689",
+  "recording_status": "stopped",
+  "recording_attempt_started_at_unix_time_ns": 1793909094172684725,
+  "recording_started_at_unix_time_ns": 1793909098330560349,
+  "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_150454_172689",
+    "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": 9120,
+      "dropped_non_monotonic_timestamp_count": 0,
+      "streams": [
+        {
+          "stream_id": "zed_12933256_left_rgb",
+          "modality": "left_rgb",
+          "requested_profile": {
+            "zed_resolution": "hd2k",
+            "resolution_hw": [
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+              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": 9120,
+      "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": [
+          [
+            1462.09033203125,
+            0.0,
+            1172.2919921875
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+          [
+            0.0,
+            1462.09033203125,
+            609.0130615234375
+          ],
+          [
+            0.0,
+            0.0,
+            1.0
+          ]
+        ],
+        "depth_intrinsics": [
+          [
+            1462.09033203125,
+            0.0,
+            1172.2919921875
+          ],
+          [
+            0.0,
+            1462.09033203125,
+            609.0130615234375
+          ],
+          [
+            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
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+          [
+            0.0,
+            1.0,
+            0.0,
+            0.0
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+          [
+            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": [
+          "color",
+          "stereo_color",
+          "right_color",
+          "depth",
+          "raw_depth",
+          "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": {
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+          "stream_id": "zed_12933256_left_rgb",
+          "modality": "left_rgb",
+          "physical_camera_id": "zed_12933256",
+          "serial_number": "12933256",
+          "camera_type": "zed",
+          "row_count": 9120,
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+          "default_nearest_neighbor_tolerance_ns": 66666667,
+          "strict_alignment_warning_tolerance_ns": 33333334,
+          "timestamp_gap_warning_threshold_ns": 100000000,
+          "timestamp_min_ns": 1793909098304513865,
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+          "max_gap_ns": 133566000,
+          "large_gap_count": 9,
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+              "gap_ns": 132561000
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+            },
+            {
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+            },
+            {
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+              "to_row": 5756,
+              "gap_ns": 133407000
+            },
+            {
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+              "to_row": 8227,
+              "gap_ns": 132688000
+            },
+            {
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+              "to_row": 8616,
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+            }
+          ],
+          "first_inter_frame_gap_ns": 66092000,
+          "startup_gap_excluded_from_warnings": false,
+          "preroll_frame_count": 15,
+          "official_frame_count": 9120,
+          "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": 1793909098395757646,
+          "host_timestamp_max_ns": 1793909703624472390,
+          "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": 9120,
+          "expected_fps": 15.0,
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+          "strict_alignment_warning_tolerance_ns": 33333334,
+          "timestamp_gap_warning_threshold_ns": 100000000,
+          "timestamp_min_ns": 1793909098304513865,
+          "timestamp_max_ns": 1793909703543347865,
+          "median_gap_ns": 66336000.0,
+          "max_gap_ns": 133566000,
+          "large_gap_count": 9,
+          "large_gaps": [
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+              "gap_ns": 132561000
+            },
+            {
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+            {
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+            },
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+            {
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+            },
+            {
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+              "gap_ns": 132688000
+            },
+            {
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+          "first_inter_frame_gap_ns": 66092000,
+          "startup_gap_excluded_from_warnings": false,
+          "preroll_frame_count": 15,
+          "official_frame_count": 9120,
+          "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": 1793909098395757646,
+          "host_timestamp_max_ns": 1793909703624472390,
+          "timestamp_domain": "zed_image",
+          "timestamp_source": "sl.TIME_REFERENCE.IMAGE",
+          "host_timestamp_source": "time.time_ns_after_record_frame",
+          "warnings": [
+            "large_timestamp_gap"
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+        },
+        "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",
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+          "expected_fps": 15.0,
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+          "default_nearest_neighbor_tolerance_ns": 66666667,
+          "strict_alignment_warning_tolerance_ns": 33333334,
+          "timestamp_gap_warning_threshold_ns": 100000000,
+          "timestamp_min_ns": 1793909098304513865,
+          "timestamp_max_ns": 1793909703543347865,
+          "median_gap_ns": 66336000.0,
+          "max_gap_ns": 133566000,
+          "large_gap_count": 9,
+          "large_gaps": [
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+              "to_row": 601,
+              "gap_ns": 132561000
+            },
+            {
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+              "gap_ns": 133363000
+            },
+            {
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+            },
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+            },
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+          ],
+          "first_inter_frame_gap_ns": 66092000,
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+          "preroll_frame_count": 15,
+          "official_frame_count": 9120,
+          "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": 1793909098395757646,
+          "host_timestamp_max_ns": 1793909703624472390,
+          "timestamp_domain": "zed_image",
+          "timestamp_source": "sl.TIME_REFERENCE.IMAGE",
+          "host_timestamp_source": "time.time_ns_after_record_frame",
+          "warnings": [
+            "large_timestamp_gap"
+          ]
+        }
+      }
+    }
+  ],
+  "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": 34,
+            "after": 34
+          },
+          "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": []
+  },
+  "stream_preroll": {
+    "stream_warmup_frames": 15,
+    "stream_settle_sec": 0.0,
+    "preroll_elapsed_sec": 1.0212905319931451,
+    "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": {
+      "12933256": 15
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+    "post_native_priming": {
+      "post_native_priming_applied": true,
+      "post_native_priming_elapsed_sec": 0.03823974297847599,
+      "per_camera_discarded_frame_count": {
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+      },
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scans/small_black_base/raw/20261105_150454_172689/streams/zed_12933256_depth_zed_sdk_neural_plus/stream_manifest.json

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