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test/TC01/TC01_001/TC01_001.mp4

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test/TC01/TC01_001/mps/eye_gaze/summary.json

@@ -0,0 +1,7 @@
+{
+  "GazeInference": {
+    "status": "SUCCESS",
+    "message": ""
+  },
+  "version": "3.1.0"
+}

test/TC01/TC01_001/mps/hand_tracking/hand_tracking_results.csv

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+  "Aligner": {
+    "status": "SUCCESS",
+    "info": [
+      "componentsAfter: [1]",
+      "componentsBefore: [1]",
+      "connected: {'accepted': 0, 'candidates': 0, 'componentsAfter': 1, 'componentsBefore': 1, 'durationMs': 0, 'matches': 0, 'rejected': 0}",
+      "disconnected: {'accepted': 0, 'candidates': 0, 'componentsAfter': 1, 'componentsBefore': 1, 'durationMs': 0, 'matches': 0, 'rejected': 0}"
+    ],
+    "warnings": [],
+    "errors": []
+  },
+  "Optimization": {
+    "status": "SUCCESS",
+    "info": [
+      "Largest nullity over windows of 100 rigs: 0",
+      "Max variation speed of bias of accel: 0, of gyro: 0 (5+ unconstrained dofs)",
+      "Max variation speed of bias of accel: 0, of gyro: 0 (15+ unconstrained dofs)",
+      "Max variation speed of bias of accel: 0, of gyro: 0 (50+ unconstrained dofs)"
+    ],
+    "warnings": [],
+    "errors": []
+  },
+  "Recompute Trajectory": {
+    "status": "SUCCESS",
+    "info": [
+      "Total Translational Correction (mm): p50: 0.546; p90: 1.174, p99: 1.610",
+      "Total Rotational Correction (deg): p50: 0.007; p90: 0.015, p99: 0.030"
+    ],
+    "warnings": [],
+    "errors": []
+  },
+  "VI-PGO": {
+    "status": "SUCCESS",
+    "info": [],
+    "warnings": [],
+    "errors": []
+  },
+  "SemiDense Tracker": {
+    "status": "WARNING",
+    "info": [
+      "percentage_linesearch_success p50: 73.57898",
+      "percentage_linesearch_fail_depth_limits p50: 15.40822",
+      "median_track_length_us p50: 2800000.0",
+      "median_inv_dist_std p50: 0.014",
+      "median_dist_std p50: 0.084"
+    ],
+    "warnings": [
+      "Median of per-frame median inv-dist is above 0.01"
+    ],
+    "errors": []
+  },
+  "Compute Global Pointcloud": {
+    "status": "SUCCESS",
+    "info": [],
+    "warnings": [],
+    "errors": []
+  }
+}

test/TC01/TC01_001/mps/vrs_health_check.json

@@ -0,0 +1,1244 @@
+{
+    "AriaGen1_Default": {
+        "thresholds_version": "thresholds_v1.0",
+        "final_result": "pass",
+        "failed_checks": [],
+        "warn_checks": [],
+        "performed_checks_with_details": {
+            "Barometer Data Class #1": {
+                "ratio_dropped_over_expected": {
+                    "check_type": "LE",
+                    "fail_threshold": 0.05,
+                    "result": "pass",
+                    "value": 0.0
+                }
+            },
+            "Camera Data (SLAM) #1": {
+                "bad": {
+                    "check_type": "LE",
+                    "fail_threshold": 0.0,
+                    "result": "pass",
+                    "value": 0.0
+                },
+                "exposure_overlapping": {
+                    "check_type": "LE",
+                    "fail_threshold": 0.0,
+                    "result": "pass",
+                    "value": 0.0
+                },
+                "longest_frame_drop_us": {
+                    "check_type": "LE",
+                    "fail_threshold": 300000.0,
+                    "result": "pass",
+                    "value": 100000.0
+                },
+                "ratio_dropped_over_expected": {
+                    "check_type": "LE",
+                    "fail_threshold": 0.05,
+                    "result": "pass",
+                    "value": 0.0
+                }
+            },
+            "Camera Data (SLAM) #2": {
+                "bad": {
+                    "check_type": "LE",
+                    "fail_threshold": 0.0,
+                    "result": "pass",
+                    "value": 0.0
+                },
+                "exposure_overlapping": {
+                    "check_type": "LE",
+                    "fail_threshold": 0.0,
+                    "result": "pass",
+                    "value": 0.0
+                },
+                "longest_frame_drop_us": {
+                    "check_type": "LE",
+                    "fail_threshold": 300000.0,
+                    "result": "pass",
+                    "value": 100000.0
+                },
+                "ratio_dropped_over_expected": {
+                    "check_type": "LE",
+                    "fail_threshold": 0.05,
+                    "result": "pass",
+                    "value": 0.0
+                }
+            },
+            "Eye Camera Class #1": {
+                "bad": {
+                    "check_type": "LE",
+                    "fail_threshold": 0.0,
+                    "result": "pass",
+                    "value": 0.0
+                },
+                "exposure_overlapping": {
+                    "check_type": "LE",
+                    "fail_threshold": 0.0,
+                    "result": "pass",
+                    "value": 0.0
+                },
+                "longest_frame_drop_us": {
+                    "check_type": "LE",
+                    "fail_threshold": 300000.0,
+                    "result": "pass",
+                    "value": 100000.0
+                },
+                "ratio_dropped_over_expected": {
+                    "check_type": "LE",
+                    "fail_threshold": 0.05,
+                    "result": "pass",
+                    "value": 0.0
+                }
+            },
+            "IMU Data (SLAM) #1": {
+                "longest_imu_skip_us": {
+                    "check_type": "LE",
+                    "fail_threshold": 20000.0,
+                    "result": "pass",
+                    "value": 1073.0
+                },
+                "non_physical_rotation_accel": {
+                    "check_type": "LE",
+                    "fail_threshold": 500.0,
+                    "result": "pass",
+                    "value": 0.0
+                },
+                "ratio_dropped_over_expected": {
+                    "check_type": "LE",
+                    "fail_threshold": 0.05,
+                    "result": "pass",
+                    "value": 0.0
+                }
+            },
+            "IMU Data (SLAM) #2": {
+                "longest_imu_skip_us": {
+                    "check_type": "LE",
+                    "fail_threshold": 20000.0,
+                    "result": "pass",
+                    "value": 1237.0
+                },
+                "non_physical_rotation_accel": {
+                    "check_type": "LE",
+                    "fail_threshold": 500.0,
+                    "result": "pass",
+                    "value": 0.0
+                },
+                "ratio_dropped_over_expected": {
+                    "check_type": "LE",
+                    "fail_threshold": 0.05,
+                    "result": "pass",
+                    "value": 0.0
+                }
+            },
+            "Magnetometer Data (SLAM) #1": {
+                "ratio_dropped_over_expected": {
+                    "check_type": "LE",
+                    "fail_threshold": 0.05,
+                    "result": "pass",
+                    "value": 0.0
+                }
+            },
+            "RGB Camera Class #1": {
+                "bad": {
+                    "check_type": "LE",
+                    "fail_threshold": 0.0,
+                    "result": "pass",
+                    "value": 0.0
+                },
+                "exposure_overlapping": {
+                    "check_type": "LE",
+                    "fail_threshold": 0.0,
+                    "result": "pass",
+                    "value": 0.0
+                },
+                "longest_frame_drop_us": {
+                    "check_type": "LE",
+                    "fail_threshold": 300000.0,
+                    "result": "pass",
+                    "value": 100041.0
+                },
+                "ratio_dropped_over_expected": {
+                    "check_type": "LE",
+                    "fail_threshold": 0.05,
+                    "result": "pass",
+                    "value": 0.0
+                }
+            },
+            "Stereo Audio Class #1": {
+                "ratio_dropped_over_expected": {
+                    "check_type": "LE",
+                    "fail_threshold": 0.01,
+                    "result": "pass",
+                    "value": 0.0
+                }
+            },
+            "misalignment of Camera Data (SLAM) #1-Camera Data (SLAM) #2": {
+                "ratio_misalignment_over_total": {
+                    "check_type": "LE",
+                    "fail_threshold": 0.01,
+                    "result": "pass",
+                    "value": 0.0
+                }
+            }
+        },
+        "unperformed_checks": {
+            "Barometer Data Class #1": {
+                "bad": 0,
+                "dropped": 0,
+                "end_offset_from_file_us": 6145,
+                "expected": 559,
+                "largest_deviation_from_period_us": 177,
+                "longest_repeated_pressure": 2,
+                "non_monotonic": 0,
+                "processed": 563,
+                "start_offset_from_file_us": 0,
+                "time_error": 0,
+                "total": 563
+            },
+            "Camera Data (SLAM) #1": {
+                "calibration_consistent": true,
+                "dropped": 0,
+                "end_offset_from_file_us": 97492,
+                "expected": 111,
+                "exposure_out_of_range": 0,
+                "frames_with_large_deviation": 0,
+                "gain_out_of_range": 0,
+                "largest_deviation_from_period_us": 0,
+                "non_monotonic": 0,
+                "non_monotonic_frame_number": 0,
+                "processed": 111,
+                "ratio_large_deviation_over_total": 0.0,
+                "start_offset_from_file_us": 71069,
+                "temperature_out_of_range": 0,
+                "time_error": 0,
+                "total": 111,
+                "total_frames": 111
+            },
+            "Camera Data (SLAM) #2": {
+                "calibration_consistent": true,
+                "dropped": 0,
+                "end_offset_from_file_us": 97492,
+                "expected": 111,
+                "exposure_out_of_range": 0,
+                "frames_with_large_deviation": 0,
+                "gain_out_of_range": 0,
+                "largest_deviation_from_period_us": 0,
+                "non_monotonic": 0,
+                "non_monotonic_frame_number": 0,
+                "processed": 111,
+                "ratio_large_deviation_over_total": 0.0,
+                "start_offset_from_file_us": 71069,
+                "temperature_out_of_range": 0,
+                "time_error": 0,
+                "total": 111,
+                "total_frames": 111
+            },
+            "Eye Camera Class #1": {
+                "calibration_consistent": true,
+                "dropped": 0,
+                "end_offset_from_file_us": 97481,
+                "expected": 111,
+                "exposure_out_of_range": 0,
+                "frames_with_large_deviation": 0,
+                "gain_out_of_range": 0,
+                "largest_deviation_from_period_us": 0,
+                "non_monotonic": 0,
+                "non_monotonic_frame_number": 0,
+                "processed": 111,
+                "ratio_large_deviation_over_total": 0.0,
+                "start_offset_from_file_us": 71081,
+                "temperature_out_of_range": 0,
+                "time_error": 0,
+                "total": 111,
+                "total_frames": 111
+            },
+            "IMU Data (SLAM) #1": {
+                "bad": 0,
+                "dropped": 0,
+                "end_offset_from_file_us": 0,
+                "expected": 11162,
+                "largest_deviation_from_period_us": 74,
+                "longest_repeated_accel": 7,
+                "longest_repeated_gyro": 6,
+                "max_rotation_accel_rad_sec2": 12.2813138961792,
+                "non_monotonic": 0,
+                "processed": 11164,
+                "ratio_total_repeated_accel_over_expected": 0.06593800394194589,
+                "ratio_total_repeated_gyro_over_expected": 0.07615122737860598,
+                "start_offset_from_file_us": 8026,
+                "time_error": 0,
+                "total": 11164,
+                "total_repeated_accel": 736,
+                "total_repeated_gyro": 850,
+                "zero_accel": 0,
+                "zero_gyro": 107
+            },
+            "IMU Data (SLAM) #2": {
+                "bad": 0,
+                "dropped": 0,
+                "end_offset_from_file_us": 576,
+                "expected": 8929,
+                "largest_deviation_from_period_us": 13,
+                "longest_repeated_accel": 3,
+                "longest_repeated_gyro": 3,
+                "max_rotation_accel_rad_sec2": 11.402502059936523,
+                "non_monotonic": 0,
+                "processed": 9021,
+                "ratio_total_repeated_accel_over_expected": 0.016911188262963377,
+                "ratio_total_repeated_gyro_over_expected": 0.033598387277410685,
+                "start_offset_from_file_us": 7913,
+                "time_error": 0,
+                "total": 9021,
+                "total_repeated_accel": 151,
+                "total_repeated_gyro": 300,
+                "zero_accel": 18,
+                "zero_gyro": 48
+            },
+            "Magnetometer Data (SLAM) #1": {
+                "bad": 0,
+                "dropped": 0,
+                "end_offset_from_file_us": 3772,
+                "expected": 112,
+                "largest_deviation_from_period_us": 372,
+                "longest_repeated_mag": 0,
+                "non_monotonic": 0,
+                "processed": 112,
+                "start_offset_from_file_us": 26462,
+                "time_error": 0,
+                "total": 112
+            },
+            "RGB Camera Class #1": {
+                "calibration_consistent": true,
+                "dropped": 0,
+                "end_offset_from_file_us": 97579,
+                "expected": 111,
+                "exposure_out_of_range": 0,
+                "frames_with_large_deviation": 0,
+                "gain_out_of_range": 0,
+                "largest_deviation_from_period_us": 44,
+                "non_monotonic": 0,
+                "non_monotonic_frame_number": 0,
+                "processed": 111,
+                "ratio_large_deviation_over_total": 0.0,
+                "start_offset_from_file_us": 70984,
+                "temperature_out_of_range": 0,
+                "time_error": 0,
+                "total": 111,
+                "total_frames": 111
+            },
+            "Stereo Audio Class #1": {
+                "bad": 0,
+                "dropped": 0,
+                "end_offset_from_file_us": 6143,
+                "expected": 530431,
+                "largest_deviation_from_period_us": 1,
+                "non_monotonic": 0,
+                "processed": 530432,
+                "start_offset_from_file_us": 117086,
+                "time_error": 0,
+                "total": 530432
+            },
+            "Time Domain Mapping Class #1": {
+                "bad": 0,
+                "processed": 12,
+                "total": 12
+            },
+            "file_level_checks": {
+                "all_tags_present": false,
+                "calib_json_tag_correct": false,
+                "metadata_tag_correct": false,
+                "slam_imu_streams_present": true,
+                "streams_match_profile": false
+            },
+            "misalignment of Camera Data (SLAM) #1-Camera Data (SLAM) #2": {
+                "max_misaligned_us": 0,
+                "misaligned": 0,
+                "total": 111
+            }
+        }
+    },
+    "AriaGen1_Location": {
+        "thresholds_version": "thresholds_v1.0",
+        "final_result": "pass",
+        "failed_checks": [],
+        "warn_checks": [],
+        "performed_checks_with_details": {
+            "Camera Data (SLAM) #1": {
+                "bad": {
+                    "check_type": "LE",
+                    "fail_threshold": 0.0,
+                    "result": "pass",
+                    "value": 0.0
+                },
+                "calibration_consistent": {
+                    "check_type": "EQ_TRUE",
+                    "fail_if_mismatch": true,
+                    "result": "pass",
+                    "value": 1.0
+                },
+                "exposure_out_of_range": {
+                    "check_type": "LE",
+                    "fail_threshold": 0.0,
+                    "result": "pass",
+                    "value": 0.0
+                },
+                "exposure_overlapping": {
+                    "check_type": "LE",
+                    "fail_threshold": 0.0,
+                    "result": "pass",
+                    "value": 0.0
+                },
+                "gain_out_of_range": {
+                    "check_type": "LE",
+                    "fail_threshold": 0.0,
+                    "result": "pass",
+                    "value": 0.0
+                },
+                "largest_deviation_from_period_us": {
+                    "check_type": "LE",
+                    "fail_threshold": 500.0,
+                    "result": "pass",
+                    "value": 0.0,
+                    "warn_threshold": 250.0
+                },
+                "longest_frame_drop_us": {
+                    "check_type": "LE",
+                    "fail_threshold": 210000.0,
+                    "result": "pass",
+                    "value": 100000.0,
+                    "warn_threshold": 160000.0
+                },
+                "non_monotonic": {
+                    "check_type": "LE",
+                    "fail_threshold": 0.0,
+                    "result": "pass",
+                    "value": 0.0
+                },
+                "processed": {
+                    "check_type": "GE",
+                    "fail_threshold": 3.0,
+                    "result": "pass",
+                    "value": 111.0
+                },
+                "ratio_dropped_over_expected": {
+                    "check_type": "LE",
+                    "fail_threshold": 0.002,
+                    "result": "pass",
+                    "value": 0.0,
+                    "warn_threshold": 0.001
+                },
+                "time_error": {
+                    "check_type": "LE",
+                    "fail_threshold": 0.0,
+                    "result": "pass",
+                    "value": 0.0
+                }
+            },
+            "Camera Data (SLAM) #2": {
+                "bad": {
+                    "check_type": "LE",
+                    "fail_threshold": 0.0,
+                    "result": "pass",
+                    "value": 0.0
+                },
+                "calibration_consistent": {
+                    "check_type": "EQ_TRUE",
+                    "fail_if_mismatch": true,
+                    "result": "pass",
+                    "value": 1.0
+                },
+                "exposure_out_of_range": {
+                    "check_type": "LE",
+                    "fail_threshold": 0.0,
+                    "result": "pass",
+                    "value": 0.0
+                },
+                "exposure_overlapping": {
+                    "check_type": "LE",
+                    "fail_threshold": 0.0,
+                    "result": "pass",
+                    "value": 0.0
+                },
+                "gain_out_of_range": {
+                    "check_type": "LE",
+                    "fail_threshold": 0.0,
+                    "result": "pass",
+                    "value": 0.0
+                },
+                "largest_deviation_from_period_us": {
+                    "check_type": "LE",
+                    "fail_threshold": 500.0,
+                    "result": "pass",
+                    "value": 0.0,
+                    "warn_threshold": 250.0
+                },
+                "longest_frame_drop_us": {
+                    "check_type": "LE",
+                    "fail_threshold": 210000.0,
+                    "result": "pass",
+                    "value": 100000.0,
+                    "warn_threshold": 160000.0
+                },
+                "non_monotonic": {
+                    "check_type": "LE",
+                    "fail_threshold": 0.0,
+                    "result": "pass",
+                    "value": 0.0
+                },
+                "processed": {
+                    "check_type": "GE",
+                    "fail_threshold": 3.0,
+                    "result": "pass",
+                    "value": 111.0
+                },
+                "ratio_dropped_over_expected": {
+                    "check_type": "LE",
+                    "fail_threshold": 0.002,
+                    "result": "pass",
+                    "value": 0.0,
+                    "warn_threshold": 0.001
+                },
+                "time_error": {
+                    "check_type": "LE",
+                    "fail_threshold": 0.0,
+                    "result": "pass",
+                    "value": 0.0
+                }
+            },
+            "IMU Data (SLAM) #1": {
+                "largest_deviation_from_period_us": {
+                    "check_type": "LE",
+                    "fail_threshold": 200.0,
+                    "result": "pass",
+                    "value": 74.0,
+                    "warn_threshold": 100.0
+                },
+                "longest_imu_skip_us": {
+                    "check_type": "LE",
+                    "fail_threshold": 15000.0,
+                    "result": "pass",
+                    "value": 1073.0,
+                    "warn_threshold": 10000.0
+                },
+                "longest_repeated_accel": {
+                    "check_type": "LE",
+                    "fail_threshold": 50.0,
+                    "result": "pass",
+                    "value": 7.0,
+                    "warn_threshold": 10.0
+                },
+                "longest_repeated_gyro": {
+                    "check_type": "LE",
+                    "fail_threshold": 50.0,
+                    "result": "pass",
+                    "value": 6.0,
+                    "warn_threshold": 10.0
+                },
+                "max_rotation_accel_rad_sec2": {
+                    "check_type": "LE",
+                    "fail_threshold": 25000.0,
+                    "result": "pass",
+                    "value": 12.2813138961792,
+                    "warn_threshold": 15000.0
+                },
+                "non_monotonic": {
+                    "check_type": "LE",
+                    "fail_threshold": 0.0,
+                    "result": "pass",
+                    "value": 0.0
+                },
+                "non_physical_rotation_accel": {
+                    "check_type": "LE",
+                    "fail_threshold": 500.0,
+                    "result": "pass",
+                    "value": 0.0,
+                    "warn_threshold": 250.0
+                },
+                "processed": {
+                    "check_type": "GE",
+                    "fail_threshold": 100.0,
+                    "result": "pass",
+                    "value": 11164.0
+                },
+                "ratio_dropped_over_expected": {
+                    "check_type": "LE",
+                    "fail_threshold": 0.01,
+                    "result": "pass",
+                    "value": 0.0,
+                    "warn_threshold": 0.001
+                },
+                "ratio_total_repeated_accel_over_expected": {
+                    "check_type": "LE",
+                    "fail_threshold": 0.5,
+                    "result": "pass",
+                    "value": 0.06593800394194589,
+                    "warn_threshold": 0.1
+                },
+                "time_error": {
+                    "check_type": "LE",
+                    "fail_threshold": 0.0,
+                    "result": "pass",
+                    "value": 0.0
+                }
+            },
+            "IMU Data (SLAM) #2": {
+                "largest_deviation_from_period_us": {
+                    "check_type": "LE",
+                    "fail_threshold": 200.0,
+                    "result": "pass",
+                    "value": 13.0,
+                    "warn_threshold": 100.0
+                },
+                "longest_imu_skip_us": {
+                    "check_type": "LE",
+                    "fail_threshold": 15000.0,
+                    "result": "pass",
+                    "value": 1237.0,
+                    "warn_threshold": 10000.0
+                },
+                "longest_repeated_accel": {
+                    "check_type": "LE",
+                    "fail_threshold": 50.0,
+                    "result": "pass",
+                    "value": 3.0,
+                    "warn_threshold": 10.0
+                },
+                "longest_repeated_gyro": {
+                    "check_type": "LE",
+                    "fail_threshold": 50.0,
+                    "result": "pass",
+                    "value": 3.0,
+                    "warn_threshold": 10.0
+                },
+                "max_rotation_accel_rad_sec2": {
+                    "check_type": "LE",
+                    "fail_threshold": 25000.0,
+                    "result": "pass",
+                    "value": 11.402502059936523,
+                    "warn_threshold": 15000.0
+                },
+                "non_monotonic": {
+                    "check_type": "LE",
+                    "fail_threshold": 0.0,
+                    "result": "pass",
+                    "value": 0.0
+                },
+                "non_physical_rotation_accel": {
+                    "check_type": "LE",
+                    "fail_threshold": 500.0,
+                    "result": "pass",
+                    "value": 0.0,
+                    "warn_threshold": 250.0
+                },
+                "processed": {
+                    "check_type": "GE",
+                    "fail_threshold": 100.0,
+                    "result": "pass",
+                    "value": 9021.0
+                },
+                "ratio_dropped_over_expected": {
+                    "check_type": "LE",
+                    "fail_threshold": 0.01,
+                    "result": "pass",
+                    "value": 0.0,
+                    "warn_threshold": 0.001
+                },
+                "ratio_total_repeated_accel_over_expected": {
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+                    "fail_threshold": 0.5,
+                    "result": "pass",
+                    "value": 0.016911188262963377,
+                    "warn_threshold": 0.1
+                },
+                "time_error": {
+                    "check_type": "LE",
+                    "fail_threshold": 0.0,
+                    "result": "pass",
+                    "value": 0.0
+                }
+            },
+            "file_level_checks": {
+                "slam_imu_streams_present": {
+                    "check_type": "EQ_TRUE",
+                    "fail_if_mismatch": true,
+                    "result": "pass",
+                    "value": 1.0
+                }
+            },
+            "misalignment of Camera Data (SLAM) #1-Camera Data (SLAM) #2": {
+                "ratio_misalignment_over_total": {
+                    "check_type": "LE",
+                    "fail_threshold": 0.005,
+                    "result": "pass",
+                    "value": 0.0,
+                    "warn_threshold": 0.001
+                }
+            }
+        },
+        "unperformed_checks": {
+            "Barometer Data Class #1": {
+                "bad": 0,
+                "dropped": 0,
+                "end_offset_from_file_us": 6145,
+                "expected": 559,
+                "largest_deviation_from_period_us": 177,
+                "longest_repeated_pressure": 2,
+                "non_monotonic": 0,
+                "processed": 563,
+                "ratio_dropped_over_expected": 0.0,
+                "start_offset_from_file_us": 0,
+                "time_error": 0,
+                "total": 563
+            },
+            "Camera Data (SLAM) #1": {
+                "dropped": 0,
+                "end_offset_from_file_us": 97492,
+                "expected": 111,
+                "frames_with_large_deviation": 0,
+                "non_monotonic_frame_number": 0,
+                "ratio_large_deviation_over_total": 0.0,
+                "start_offset_from_file_us": 71069,
+                "temperature_out_of_range": 0,
+                "total": 111,
+                "total_frames": 111
+            },
+            "Camera Data (SLAM) #2": {
+                "dropped": 0,
+                "end_offset_from_file_us": 97492,
+                "expected": 111,
+                "frames_with_large_deviation": 0,
+                "non_monotonic_frame_number": 0,
+                "ratio_large_deviation_over_total": 0.0,
+                "start_offset_from_file_us": 71069,
+                "temperature_out_of_range": 0,
+                "total": 111,
+                "total_frames": 111
+            },
+            "Eye Camera Class #1": {
+                "bad": 0,
+                "calibration_consistent": true,
+                "dropped": 0,
+                "end_offset_from_file_us": 97481,
+                "expected": 111,
+                "exposure_out_of_range": 0,
+                "exposure_overlapping": 0,
+                "frames_with_large_deviation": 0,
+                "gain_out_of_range": 0,
+                "largest_deviation_from_period_us": 0,
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+                "non_monotonic": 0,
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+                "ratio_dropped_over_expected": 0.0,
+                "ratio_large_deviation_over_total": 0.0,
+                "start_offset_from_file_us": 71081,
+                "temperature_out_of_range": 0,
+                "time_error": 0,
+                "total": 111,
+                "total_frames": 111
+            },
+            "IMU Data (SLAM) #1": {
+                "bad": 0,
+                "dropped": 0,
+                "end_offset_from_file_us": 0,
+                "expected": 11162,
+                "ratio_total_repeated_gyro_over_expected": 0.07615122737860598,
+                "start_offset_from_file_us": 8026,
+                "total": 11164,
+                "total_repeated_accel": 736,
+                "total_repeated_gyro": 850,
+                "zero_accel": 0,
+                "zero_gyro": 107
+            },
+            "IMU Data (SLAM) #2": {
+                "bad": 0,
+                "dropped": 0,
+                "end_offset_from_file_us": 576,
+                "expected": 8929,
+                "ratio_total_repeated_gyro_over_expected": 0.033598387277410685,
+                "start_offset_from_file_us": 7913,
+                "total": 9021,
+                "total_repeated_accel": 151,
+                "total_repeated_gyro": 300,
+                "zero_accel": 18,
+                "zero_gyro": 48
+            },
+            "Magnetometer Data (SLAM) #1": {
+                "bad": 0,
+                "dropped": 0,
+                "end_offset_from_file_us": 3772,
+                "expected": 112,
+                "largest_deviation_from_period_us": 372,
+                "longest_repeated_mag": 0,
+                "non_monotonic": 0,
+                "processed": 112,
+                "ratio_dropped_over_expected": 0.0,
+                "start_offset_from_file_us": 26462,
+                "time_error": 0,
+                "total": 112
+            },
+            "RGB Camera Class #1": {
+                "bad": 0,
+                "calibration_consistent": true,
+                "dropped": 0,
+                "end_offset_from_file_us": 97579,
+                "expected": 111,
+                "exposure_out_of_range": 0,
+                "exposure_overlapping": 0,
+                "frames_with_large_deviation": 0,
+                "gain_out_of_range": 0,
+                "largest_deviation_from_period_us": 44,
+                "longest_frame_drop_us": 100041,
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+                "non_monotonic_frame_number": 0,
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+                "ratio_large_deviation_over_total": 0.0,
+                "start_offset_from_file_us": 70984,
+                "temperature_out_of_range": 0,
+                "time_error": 0,
+                "total": 111,
+                "total_frames": 111
+            },
+            "Stereo Audio Class #1": {
+                "bad": 0,
+                "dropped": 0,
+                "end_offset_from_file_us": 6143,
+                "expected": 530431,
+                "largest_deviation_from_period_us": 1,
+                "non_monotonic": 0,
+                "processed": 530432,
+                "ratio_dropped_over_expected": 0.0,
+                "start_offset_from_file_us": 117086,
+                "time_error": 0,
+                "total": 530432
+            },
+            "Time Domain Mapping Class #1": {
+                "bad": 0,
+                "processed": 12,
+                "total": 12
+            },
+            "file_level_checks": {
+                "all_tags_present": false,
+                "calib_json_tag_correct": false,
+                "metadata_tag_correct": false,
+                "streams_match_profile": false
+            },
+            "misalignment of Camera Data (SLAM) #1-Camera Data (SLAM) #2": {
+                "max_misaligned_us": 0,
+                "misaligned": 0,
+                "total": 111
+            }
+        }
+    },
+    "AriaGen1_Handtracking": {
+        "thresholds_version": "thresholds_v2.0",
+        "final_result": "pass",
+        "failed_checks": [],
+        "warn_checks": [],
+        "performed_checks_with_details": {
+            "Camera Data (SLAM) #1": {
+                "bad": {
+                    "check_type": "LE",
+                    "fail_threshold": 0.0,
+                    "result": "pass",
+                    "value": 0.0
+                },
+                "exposure_overlapping": {
+                    "check_type": "LE",
+                    "fail_threshold": 0.0,
+                    "result": "pass",
+                    "value": 0.0
+                },
+                "largest_deviation_from_period_us": {
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+                    "fail_threshold": 500.0,
+                    "result": "pass",
+                    "value": 0.0,
+                    "warn_threshold": 250.0
+                },
+                "longest_frame_drop_us": {
+                    "check_type": "LE",
+                    "fail_threshold": 210000.0,
+                    "result": "pass",
+                    "value": 100000.0,
+                    "warn_threshold": 160000.0
+                },
+                "non_monotonic": {
+                    "check_type": "LE",
+                    "fail_threshold": 0.0,
+                    "result": "pass",
+                    "value": 0.0
+                },
+                "processed": {
+                    "check_type": "GE",
+                    "fail_threshold": 3.0,
+                    "result": "pass",
+                    "value": 111.0
+                },
+                "ratio_dropped_over_expected": {
+                    "check_type": "LE",
+                    "fail_threshold": 0.002,
+                    "result": "pass",
+                    "value": 0.0,
+                    "warn_threshold": 0.001
+                },
+                "time_error": {
+                    "check_type": "LE",
+                    "fail_threshold": 0.0,
+                    "result": "pass",
+                    "value": 0.0
+                }
+            },
+            "Camera Data (SLAM) #2": {
+                "bad": {
+                    "check_type": "LE",
+                    "fail_threshold": 0.0,
+                    "result": "pass",
+                    "value": 0.0
+                },
+                "exposure_overlapping": {
+                    "check_type": "LE",
+                    "fail_threshold": 0.0,
+                    "result": "pass",
+                    "value": 0.0
+                },
+                "largest_deviation_from_period_us": {
+                    "check_type": "LE",
+                    "fail_threshold": 500.0,
+                    "result": "pass",
+                    "value": 0.0,
+                    "warn_threshold": 250.0
+                },
+                "longest_frame_drop_us": {
+                    "check_type": "LE",
+                    "fail_threshold": 210000.0,
+                    "result": "pass",
+                    "value": 100000.0,
+                    "warn_threshold": 160000.0
+                },
+                "non_monotonic": {
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+                    "fail_threshold": 0.0,
+                    "result": "pass",
+                    "value": 0.0
+                },
+                "processed": {
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+                    "fail_threshold": 3.0,
+                    "result": "pass",
+                    "value": 111.0
+                },
+                "ratio_dropped_over_expected": {
+                    "check_type": "LE",
+                    "fail_threshold": 0.002,
+                    "result": "pass",
+                    "value": 0.0,
+                    "warn_threshold": 0.001
+                },
+                "time_error": {
+                    "check_type": "LE",
+                    "fail_threshold": 0.0,
+                    "result": "pass",
+                    "value": 0.0
+                }
+            },
+            "IMU Data (SLAM) #1": {
+                "largest_deviation_from_period_us": {
+                    "check_type": "LE",
+                    "fail_threshold": 200.0,
+                    "result": "pass",
+                    "value": 74.0,
+                    "warn_threshold": 100.0
+                },
+                "longest_imu_skip_us": {
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+                    "fail_threshold": 15000.0,
+                    "result": "pass",
+                    "value": 1073.0,
+                    "warn_threshold": 10000.0
+                },
+                "non_monotonic": {
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+                    "fail_threshold": 0.0,
+                    "result": "pass",
+                    "value": 0.0
+                },
+                "non_physical_rotation_accel": {
+                    "check_type": "LE",
+                    "fail_threshold": 500.0,
+                    "result": "pass",
+                    "value": 0.0
+                },
+                "processed": {
+                    "check_type": "GE",
+                    "fail_threshold": 100.0,
+                    "result": "pass",
+                    "value": 11164.0
+                },
+                "ratio_dropped_over_expected": {
+                    "check_type": "LE",
+                    "fail_threshold": 0.01,
+                    "result": "pass",
+                    "value": 0.0,
+                    "warn_threshold": 0.001
+                },
+                "time_error": {
+                    "check_type": "LE",
+                    "fail_threshold": 0.0,
+                    "result": "pass",
+                    "value": 0.0
+                }
+            },
+            "IMU Data (SLAM) #2": {
+                "largest_deviation_from_period_us": {
+                    "check_type": "LE",
+                    "fail_threshold": 200.0,
+                    "result": "pass",
+                    "value": 13.0,
+                    "warn_threshold": 100.0
+                },
+                "longest_imu_skip_us": {
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+                    "fail_threshold": 15000.0,
+                    "result": "pass",
+                    "value": 1237.0,
+                    "warn_threshold": 10000.0
+                },
+                "non_monotonic": {
+                    "check_type": "LE",
+                    "fail_threshold": 0.0,
+                    "result": "pass",
+                    "value": 0.0
+                },
+                "non_physical_rotation_accel": {
+                    "check_type": "LE",
+                    "fail_threshold": 500.0,
+                    "result": "pass",
+                    "value": 0.0
+                },
+                "processed": {
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+                    "fail_threshold": 100.0,
+                    "result": "pass",
+                    "value": 9021.0
+                },
+                "ratio_dropped_over_expected": {
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+                    "fail_threshold": 0.01,
+                    "result": "pass",
+                    "value": 0.0,
+                    "warn_threshold": 0.001
+                },
+                "time_error": {
+                    "check_type": "LE",
+                    "fail_threshold": 0.0,
+                    "result": "pass",
+                    "value": 0.0
+                }
+            },
+            "RGB Camera Class #1": {
+                "bad": {
+                    "check_type": "LE",
+                    "fail_threshold": 0.0,
+                    "result": "pass",
+                    "value": 0.0
+                },
+                "exposure_overlapping": {
+                    "check_type": "LE",
+                    "fail_threshold": 0.0,
+                    "result": "pass",
+                    "value": 0.0
+                },
+                "longest_frame_drop_us": {
+                    "check_type": "LE",
+                    "fail_threshold": 1000000.0,
+                    "result": "pass",
+                    "value": 100041.0
+                },
+                "ratio_dropped_over_expected": {
+                    "check_type": "LE",
+                    "fail_threshold": 0.05,
+                    "result": "pass",
+                    "value": 0.0
+                }
+            },
+            "misalignment of Camera Data (SLAM) #1-Camera Data (SLAM) #2": {
+                "ratio_misalignment_over_total": {
+                    "check_type": "LE",
+                    "fail_threshold": 0.005,
+                    "result": "pass",
+                    "value": 0.0,
+                    "warn_threshold": 0.001
+                }
+            }
+        },
+        "unperformed_checks": {
+            "Barometer Data Class #1": {
+                "bad": 0,
+                "dropped": 0,
+                "end_offset_from_file_us": 6145,
+                "expected": 559,
+                "largest_deviation_from_period_us": 177,
+                "longest_repeated_pressure": 2,
+                "non_monotonic": 0,
+                "processed": 563,
+                "ratio_dropped_over_expected": 0.0,
+                "start_offset_from_file_us": 0,
+                "time_error": 0,
+                "total": 563
+            },
+            "Camera Data (SLAM) #1": {
+                "calibration_consistent": true,
+                "dropped": 0,
+                "end_offset_from_file_us": 97492,
+                "expected": 111,
+                "exposure_out_of_range": 0,
+                "frames_with_large_deviation": 0,
+                "gain_out_of_range": 0,
+                "non_monotonic_frame_number": 0,
+                "ratio_large_deviation_over_total": 0.0,
+                "start_offset_from_file_us": 71069,
+                "temperature_out_of_range": 0,
+                "total": 111,
+                "total_frames": 111
+            },
+            "Camera Data (SLAM) #2": {
+                "calibration_consistent": true,
+                "dropped": 0,
+                "end_offset_from_file_us": 97492,
+                "expected": 111,
+                "exposure_out_of_range": 0,
+                "frames_with_large_deviation": 0,
+                "gain_out_of_range": 0,
+                "non_monotonic_frame_number": 0,
+                "ratio_large_deviation_over_total": 0.0,
+                "start_offset_from_file_us": 71069,
+                "temperature_out_of_range": 0,
+                "total": 111,
+                "total_frames": 111
+            },
+            "Eye Camera Class #1": {
+                "bad": 0,
+                "calibration_consistent": true,
+                "dropped": 0,
+                "end_offset_from_file_us": 97481,
+                "expected": 111,
+                "exposure_out_of_range": 0,
+                "exposure_overlapping": 0,
+                "frames_with_large_deviation": 0,
+                "gain_out_of_range": 0,
+                "largest_deviation_from_period_us": 0,
+                "longest_frame_drop_us": 100000,
+                "non_monotonic": 0,
+                "non_monotonic_frame_number": 0,
+                "processed": 111,
+                "ratio_dropped_over_expected": 0.0,
+                "ratio_large_deviation_over_total": 0.0,
+                "start_offset_from_file_us": 71081,
+                "temperature_out_of_range": 0,
+                "time_error": 0,
+                "total": 111,
+                "total_frames": 111
+            },
+            "IMU Data (SLAM) #1": {
+                "bad": 0,
+                "dropped": 0,
+                "end_offset_from_file_us": 0,
+                "expected": 11162,
+                "longest_repeated_accel": 7,
+                "longest_repeated_gyro": 6,
+                "max_rotation_accel_rad_sec2": 12.2813138961792,
+                "ratio_total_repeated_accel_over_expected": 0.06593800394194589,
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+                "total": 11164,
+                "total_repeated_accel": 736,
+                "total_repeated_gyro": 850,
+                "zero_accel": 0,
+                "zero_gyro": 107
+            },
+            "IMU Data (SLAM) #2": {
+                "bad": 0,
+                "dropped": 0,
+                "end_offset_from_file_us": 576,
+                "expected": 8929,
+                "longest_repeated_accel": 3,
+                "longest_repeated_gyro": 3,
+                "max_rotation_accel_rad_sec2": 11.402502059936523,
+                "ratio_total_repeated_accel_over_expected": 0.016911188262963377,
+                "ratio_total_repeated_gyro_over_expected": 0.033598387277410685,
+                "start_offset_from_file_us": 7913,
+                "total": 9021,
+                "total_repeated_accel": 151,
+                "total_repeated_gyro": 300,
+                "zero_accel": 18,
+                "zero_gyro": 48
+            },
+            "Magnetometer Data (SLAM) #1": {
+                "bad": 0,
+                "dropped": 0,
+                "end_offset_from_file_us": 3772,
+                "expected": 112,
+                "largest_deviation_from_period_us": 372,
+                "longest_repeated_mag": 0,
+                "non_monotonic": 0,
+                "processed": 112,
+                "ratio_dropped_over_expected": 0.0,
+                "start_offset_from_file_us": 26462,
+                "time_error": 0,
+                "total": 112
+            },
+            "RGB Camera Class #1": {
+                "calibration_consistent": true,
+                "dropped": 0,
+                "end_offset_from_file_us": 97579,
+                "expected": 111,
+                "exposure_out_of_range": 0,
+                "frames_with_large_deviation": 0,
+                "gain_out_of_range": 0,
+                "largest_deviation_from_period_us": 44,
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+                "ratio_large_deviation_over_total": 0.0,
+                "start_offset_from_file_us": 70984,
+                "temperature_out_of_range": 0,
+                "time_error": 0,
+                "total": 111,
+                "total_frames": 111
+            },
+            "Stereo Audio Class #1": {
+                "bad": 0,
+                "dropped": 0,
+                "end_offset_from_file_us": 6143,
+                "expected": 530431,
+                "largest_deviation_from_period_us": 1,
+                "non_monotonic": 0,
+                "processed": 530432,
+                "ratio_dropped_over_expected": 0.0,
+                "start_offset_from_file_us": 117086,
+                "time_error": 0,
+                "total": 530432
+            },
+            "Time Domain Mapping Class #1": {
+                "bad": 0,
+                "processed": 12,
+                "total": 12
+            },
+            "file_level_checks": {
+                "all_tags_present": false,
+                "calib_json_tag_correct": false,
+                "metadata_tag_correct": false,
+                "slam_imu_streams_present": true,
+                "streams_match_profile": false
+            },
+            "misalignment of Camera Data (SLAM) #1-Camera Data (SLAM) #2": {
+                "max_misaligned_us": 0,
+                "misaligned": 0,
+                "total": 111
+            }
+        }
+    }
+}

test/TC01/TC01_001/vrs/barometer.csv

@@ -0,0 +1,564 @@
+capture_timestamp_ns,temperature,pressure,altitude
+18533329683775,30.131677956786007,100602.20821251639,0.0
+18533349554637,30.13608606904745,100611.57888660608,0.0
+18533369440175,30.13608606904745,100603.22255224251,0.0
+18533389294987,30.13608606904745,100603.22255224251,0.0
+18533409159800,30.12726983986795,100601.19373278615,0.0
+18533429014100,30.13608606904745,100603.22255224251,0.0
+18533448861662,30.13608606904745,100603.22255224251,0.0
+18533468723237,30.140494176652282,100600.05749408378,0.0
+18533488591862,30.140494176652282,100604.23569490397,0.0
+18533508472237,30.131677956786007,100593.85196923387,0.0
+18533528350950,30.13608606904745,100603.22255224251,0.0
+18533548234900,30.131677956786007,100602.20821251639,0.0
+18533568098750,30.149310377892107,100606.26464830282,0.0
+18533587953812,30.140494176652282,100604.23569490397,0.0
+18533607813937,30.140494176652282,100612.59210679377,0.0
+18533627678112,30.149310377892107,100602.08637000812,0.0
+18533647544050,30.1449022796005,100605.2501716445,0.0
+18533667416600,30.140494176652282,100608.41389914058,0.0
+18533687265487,30.140494176652282,100591.70110269208,0.0
+18533707119375,30.140494176652282,100604.23569490397,0.0
+18533726958937,30.1449022796005,100605.2501716445,0.0
+18533746801325,30.140494176652282,100595.87929667988,0.0
+18533766659700,30.149310377892107,100606.26464830282,0.0
+18533786509187,30.140494176652282,100604.23569490397,0.0
+18533806356650,30.149310377892107,100606.26464830282,0.0
+18533826179012,30.140494176652282,100600.05749408378,0.0
+18533846007525,30.149310377892107,100597.9080951298,0.0
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test/TC01/TC01_003/mps/eye_gaze/summary.json

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test/TC01/TC01_003/mps/hand_tracking/summary.json

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+            }
+        }
+    }
+}

test/TC01/TC01_003/vrs/barometer.csv

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test/TC01/TC01_003/vrs/eye.mp4

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test/TC01/TC01_003/vrs/magnetometer.csv

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test/TC01/TC01_003/vrs/rgb_timestamps.csv

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test/TC01/TC01_003/vrs/slam_left.mp4

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test/TC01/TC01_003/vrs/slam_right.mp4

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+version https://git-lfs.github.com/spec/v1
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+size 312451

test/TC01/TC01_003/vrs/time_domain_mapping.csv

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test/TC01/TC01_005/TC01_005.mp4

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