Upload folder using huggingface_hub (part 24)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +2 -0
- test/TC07/TC07_041/vrs/magnetometer.csv +182 -0
- test/TC07/TC07_041/vrs/rgb_timestamps.csv +183 -0
- test/TC07/TC07_041/vrs/slam_left.mp4 +3 -0
- test/TC07/TC07_041/vrs/slam_right.mp4 +3 -0
- test/TC07/TC07_041/vrs/time_domain_mapping.csv +21 -0
- test/TC07/TC07_043/TC07_043.mp4 +3 -0
- test/TC07/TC07_043/generated-audio/g1.wav +3 -0
- test/TC07/TC07_043/generated-audio/g2.wav +3 -0
- test/TC07/TC07_043/generated-audio/g3.wav +3 -0
- test/TC07/TC07_043/generated-audio/q1.wav +3 -0
- test/TC07/TC07_043/generated-audio/q2.wav +3 -0
- test/TC07/TC07_043/generated-audio/scene-discription-prompt.wav +3 -0
- test/TC07/TC07_043/mps/eye_gaze/general_eye_gaze.csv +0 -0
- test/TC07/TC07_043/mps/eye_gaze/summary.json +7 -0
- test/TC07/TC07_043/mps/hand_tracking/hand_tracking_results.csv +0 -0
- test/TC07/TC07_043/mps/hand_tracking/summary.json +8 -0
- test/TC07/TC07_043/mps/slam/closed_loop_trajectory.csv +3 -0
- test/TC07/TC07_043/mps/slam/online_calibration.jsonl +0 -0
- test/TC07/TC07_043/mps/slam/open_loop_trajectory.csv +3 -0
- test/TC07/TC07_043/mps/slam/semidense_observations.csv.gz +3 -0
- test/TC07/TC07_043/mps/slam/semidense_points.csv.gz +3 -0
- test/TC07/TC07_043/mps/slam/summary.json +74 -0
- test/TC07/TC07_043/mps/vrs_health_check.json +1244 -0
- test/TC07/TC07_043/vrs/barometer.csv +0 -0
- test/TC07/TC07_043/vrs/eye.mp4 +3 -0
- test/TC07/TC07_043/vrs/imu_left.csv +0 -0
- test/TC07/TC07_043/vrs/imu_right.csv +0 -0
- test/TC07/TC07_043/vrs/magnetometer.csv +550 -0
- test/TC07/TC07_043/vrs/rgb_timestamps.csv +557 -0
- test/TC07/TC07_043/vrs/slam_left.mp4 +3 -0
- test/TC07/TC07_043/vrs/slam_right.mp4 +3 -0
- test/TC07/TC07_043/vrs/time_domain_mapping.csv +61 -0
- test/TC07/TC07_046/TC07_046.mp4 +3 -0
- test/TC07/TC07_046/generated-audio/g1.wav +3 -0
- test/TC07/TC07_046/generated-audio/q1.wav +3 -0
- test/TC07/TC07_046/generated-audio/scene-discription-prompt.wav +3 -0
- test/TC07/TC07_046/mps/eye_gaze/general_eye_gaze.csv +83 -0
- test/TC07/TC07_046/mps/eye_gaze/summary.json +7 -0
- test/TC07/TC07_046/mps/hand_tracking/hand_tracking_results.csv +75 -0
- test/TC07/TC07_046/mps/hand_tracking/summary.json +8 -0
- test/TC07/TC07_046/mps/slam/closed_loop_trajectory.csv +0 -0
- test/TC07/TC07_046/mps/slam/online_calibration.jsonl +0 -0
- test/TC07/TC07_046/mps/slam/open_loop_trajectory.csv +0 -0
- test/TC07/TC07_046/mps/slam/semidense_observations.csv.gz +3 -0
- test/TC07/TC07_046/mps/slam/semidense_points.csv.gz +3 -0
- test/TC07/TC07_046/mps/slam/summary.json +74 -0
- test/TC07/TC07_046/mps/vrs_health_check.json +1244 -0
- test/TC07/TC07_046/vrs/barometer.csv +412 -0
- test/TC07/TC07_046/vrs/eye.mp4 +3 -0
.gitattributes
CHANGED
|
@@ -62,3 +62,5 @@ test/TC05/TC05_045/mps/TC05_047.vrs.enc filter=lfs diff=lfs merge=lfs -text
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| 62 |
test/TC07/TC07_018/mps/slam/closed_loop_trajectory.csv filter=lfs diff=lfs merge=lfs -text
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| 63 |
test/TC07/TC07_030/mps/slam/closed_loop_trajectory.csv filter=lfs diff=lfs merge=lfs -text
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| 64 |
test/TC07/TC07_030/mps/slam/open_loop_trajectory.csv filter=lfs diff=lfs merge=lfs -text
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| 62 |
test/TC07/TC07_018/mps/slam/closed_loop_trajectory.csv filter=lfs diff=lfs merge=lfs -text
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| 63 |
test/TC07/TC07_030/mps/slam/closed_loop_trajectory.csv filter=lfs diff=lfs merge=lfs -text
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| 64 |
test/TC07/TC07_030/mps/slam/open_loop_trajectory.csv filter=lfs diff=lfs merge=lfs -text
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| 65 |
+
test/TC07/TC07_043/mps/slam/closed_loop_trajectory.csv filter=lfs diff=lfs merge=lfs -text
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| 66 |
+
test/TC07/TC07_043/mps/slam/open_loop_trajectory.csv filter=lfs diff=lfs merge=lfs -text
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test/TC07/TC07_041/vrs/magnetometer.csv
ADDED
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@@ -0,0 +1,182 @@
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| 1 |
+
capture_timestamp_ns,mag_x,mag_y,mag_z,valid
|
| 2 |
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
+
651757987987,-15.908610343933105,-20.6088809967041,2.25923752784729,True
|
test/TC07/TC07_041/vrs/rgb_timestamps.csv
ADDED
|
@@ -0,0 +1,183 @@
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|
|
| 1 |
+
frame_index,capture_timestamp_ns,timestamp_source
|
| 2 |
+
0,633561767987,vrs
|
| 3 |
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1,633661768612,vrs
|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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test/TC07/TC07_041/vrs/slam_left.mp4
ADDED
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size 888099
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test/TC07/TC07_041/vrs/slam_right.mp4
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size 680771
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test/TC07/TC07_041/vrs/time_domain_mapping.csv
ADDED
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test/TC07/TC07_043/TC07_043.mp4
ADDED
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size 60385639
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size 127244
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size 254444
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size 1401644
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ADDED
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See raw diff
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|
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test/TC07/TC07_043/mps/eye_gaze/summary.json
ADDED
|
@@ -0,0 +1,7 @@
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|
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|
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|
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ADDED
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See raw diff
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|
|
test/TC07/TC07_043/mps/hand_tracking/summary.json
ADDED
|
@@ -0,0 +1,8 @@
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|
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|
| 8 |
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|
test/TC07/TC07_043/mps/slam/closed_loop_trajectory.csv
ADDED
|
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| 3 |
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size 17209627
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test/TC07/TC07_043/mps/slam/online_calibration.jsonl
ADDED
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The diff for this file is too large to render.
See raw diff
|
|
|
test/TC07/TC07_043/mps/slam/open_loop_trajectory.csv
ADDED
|
@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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|
| 3 |
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size 12341878
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test/TC07/TC07_043/mps/slam/semidense_observations.csv.gz
ADDED
|
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version https://git-lfs.github.com/spec/v1
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| 3 |
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size 33726636
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test/TC07/TC07_043/mps/slam/semidense_points.csv.gz
ADDED
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size 2401549
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test/TC07/TC07_043/mps/slam/summary.json
ADDED
|
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| 1 |
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{
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|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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},
|
| 9 |
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"SLAM": {
|
| 10 |
+
"status": "SUCCESS",
|
| 11 |
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"info": [
|
| 12 |
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"Recording total time: 0:00:59.104111; Trajectory total length: 8.83m",
|
| 13 |
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"Total Vision Translational Correction (mm): p50: 0.267; p99: 2.578",
|
| 14 |
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|
| 15 |
+
],
|
| 16 |
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|
| 17 |
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|
| 18 |
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},
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| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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"connected: {'accepted': 0, 'candidates': 0, 'componentsAfter': 1, 'componentsBefore': 1, 'durationMs': 0, 'matches': 0, 'rejected': 0}",
|
| 25 |
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"disconnected: {'accepted': 0, 'candidates': 0, 'componentsAfter': 1, 'componentsBefore': 1, 'durationMs': 0, 'matches': 0, 'rejected': 0}"
|
| 26 |
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],
|
| 27 |
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|
| 28 |
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|
| 29 |
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},
|
| 30 |
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"Optimization": {
|
| 31 |
+
"status": "SUCCESS",
|
| 32 |
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"info": [
|
| 33 |
+
"Largest nullity over windows of 100 rigs: 0",
|
| 34 |
+
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|
| 35 |
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"Max variation speed of bias of accel: 0, of gyro: 0 (15+ unconstrained dofs)",
|
| 36 |
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|
| 37 |
+
],
|
| 38 |
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"warnings": [],
|
| 39 |
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|
| 40 |
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},
|
| 41 |
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"Recompute Trajectory": {
|
| 42 |
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"status": "SUCCESS",
|
| 43 |
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"info": [
|
| 44 |
+
"Total Translational Correction (mm): p50: 0.284; p90: 1.406, p99: 4.952",
|
| 45 |
+
"Total Rotational Correction (deg): p50: 0.006; p90: 0.017, p99: 0.042"
|
| 46 |
+
],
|
| 47 |
+
"warnings": [],
|
| 48 |
+
"errors": []
|
| 49 |
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},
|
| 50 |
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"VI-PGO": {
|
| 51 |
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"status": "SUCCESS",
|
| 52 |
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"info": [],
|
| 53 |
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|
| 54 |
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"errors": []
|
| 55 |
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},
|
| 56 |
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"SemiDense Tracker": {
|
| 57 |
+
"status": "SUCCESS",
|
| 58 |
+
"info": [
|
| 59 |
+
"percentage_linesearch_success p50: 85.1491",
|
| 60 |
+
"percentage_linesearch_fail_depth_limits p50: 5.72391",
|
| 61 |
+
"median_track_length_us p50: 5500000.0",
|
| 62 |
+
"median_inv_dist_std p50: 0.001",
|
| 63 |
+
"median_dist_std p50: 0.002"
|
| 64 |
+
],
|
| 65 |
+
"warnings": [],
|
| 66 |
+
"errors": []
|
| 67 |
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},
|
| 68 |
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|
| 69 |
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"status": "SUCCESS",
|
| 70 |
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"info": [],
|
| 71 |
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"warnings": [],
|
| 72 |
+
"errors": []
|
| 73 |
+
}
|
| 74 |
+
}
|
test/TC07/TC07_043/mps/vrs_health_check.json
ADDED
|
@@ -0,0 +1,1244 @@
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|
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| 1 |
+
{
|
| 2 |
+
"AriaGen1_Default": {
|
| 3 |
+
"thresholds_version": "thresholds_v1.0",
|
| 4 |
+
"final_result": "pass",
|
| 5 |
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"failed_checks": [],
|
| 6 |
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"warn_checks": [],
|
| 7 |
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"performed_checks_with_details": {
|
| 8 |
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"Barometer Data Class #1": {
|
| 9 |
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"ratio_dropped_over_expected": {
|
| 10 |
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"check_type": "LE",
|
| 11 |
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"fail_threshold": 0.05,
|
| 12 |
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"result": "pass",
|
| 13 |
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"value": 0.0
|
| 14 |
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}
|
| 15 |
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},
|
| 16 |
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"Camera Data (SLAM) #1": {
|
| 17 |
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"bad": {
|
| 18 |
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"check_type": "LE",
|
| 19 |
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"fail_threshold": 0.0,
|
| 20 |
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"result": "pass",
|
| 21 |
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"value": 0.0
|
| 22 |
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},
|
| 23 |
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"exposure_overlapping": {
|
| 24 |
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"check_type": "LE",
|
| 25 |
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"fail_threshold": 0.0,
|
| 26 |
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"result": "pass",
|
| 27 |
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"value": 0.0
|
| 28 |
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},
|
| 29 |
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"longest_frame_drop_us": {
|
| 30 |
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"check_type": "LE",
|
| 31 |
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"fail_threshold": 300000.0,
|
| 32 |
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"result": "pass",
|
| 33 |
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"value": 100000.0
|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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"fail_threshold": 0.05,
|
| 38 |
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"result": "pass",
|
| 39 |
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"value": 0.0
|
| 40 |
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}
|
| 41 |
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},
|
| 42 |
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"Camera Data (SLAM) #2": {
|
| 43 |
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"bad": {
|
| 44 |
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"check_type": "LE",
|
| 45 |
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"fail_threshold": 0.0,
|
| 46 |
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"result": "pass",
|
| 47 |
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"value": 0.0
|
| 48 |
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},
|
| 49 |
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"exposure_overlapping": {
|
| 50 |
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"check_type": "LE",
|
| 51 |
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"fail_threshold": 0.0,
|
| 52 |
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"result": "pass",
|
| 53 |
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"value": 0.0
|
| 54 |
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|
| 55 |
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"longest_frame_drop_us": {
|
| 56 |
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"check_type": "LE",
|
| 57 |
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"fail_threshold": 300000.0,
|
| 58 |
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"result": "pass",
|
| 59 |
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"value": 100000.0
|
| 60 |
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},
|
| 61 |
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"ratio_dropped_over_expected": {
|
| 62 |
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"check_type": "LE",
|
| 63 |
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"fail_threshold": 0.05,
|
| 64 |
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"result": "pass",
|
| 65 |
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"value": 0.0
|
| 66 |
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}
|
| 67 |
+
},
|
| 68 |
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"Eye Camera Class #1": {
|
| 69 |
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"bad": {
|
| 70 |
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"check_type": "LE",
|
| 71 |
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"fail_threshold": 0.0,
|
| 72 |
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"result": "pass",
|
| 73 |
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"value": 0.0
|
| 74 |
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},
|
| 75 |
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|
| 76 |
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|
| 77 |
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"fail_threshold": 0.0,
|
| 78 |
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"result": "pass",
|
| 79 |
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"value": 0.0
|
| 80 |
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},
|
| 81 |
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"longest_frame_drop_us": {
|
| 82 |
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|
| 83 |
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"fail_threshold": 300000.0,
|
| 84 |
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"result": "pass",
|
| 85 |
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"value": 100000.0
|
| 86 |
+
},
|
| 87 |
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"ratio_dropped_over_expected": {
|
| 88 |
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"check_type": "LE",
|
| 89 |
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"fail_threshold": 0.05,
|
| 90 |
+
"result": "pass",
|
| 91 |
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"value": 0.0
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"IMU Data (SLAM) #1": {
|
| 95 |
+
"longest_imu_skip_us": {
|
| 96 |
+
"check_type": "LE",
|
| 97 |
+
"fail_threshold": 20000.0,
|
| 98 |
+
"result": "pass",
|
| 99 |
+
"value": 1077.0
|
| 100 |
+
},
|
| 101 |
+
"non_physical_rotation_accel": {
|
| 102 |
+
"check_type": "LE",
|
| 103 |
+
"fail_threshold": 500.0,
|
| 104 |
+
"result": "pass",
|
| 105 |
+
"value": 0.0
|
| 106 |
+
},
|
| 107 |
+
"ratio_dropped_over_expected": {
|
| 108 |
+
"check_type": "LE",
|
| 109 |
+
"fail_threshold": 0.05,
|
| 110 |
+
"result": "pass",
|
| 111 |
+
"value": 0.0
|
| 112 |
+
}
|
| 113 |
+
},
|
| 114 |
+
"IMU Data (SLAM) #2": {
|
| 115 |
+
"longest_imu_skip_us": {
|
| 116 |
+
"check_type": "LE",
|
| 117 |
+
"fail_threshold": 20000.0,
|
| 118 |
+
"result": "pass",
|
| 119 |
+
"value": 1246.0
|
| 120 |
+
},
|
| 121 |
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"non_physical_rotation_accel": {
|
| 122 |
+
"check_type": "LE",
|
| 123 |
+
"fail_threshold": 500.0,
|
| 124 |
+
"result": "pass",
|
| 125 |
+
"value": 0.0
|
| 126 |
+
},
|
| 127 |
+
"ratio_dropped_over_expected": {
|
| 128 |
+
"check_type": "LE",
|
| 129 |
+
"fail_threshold": 0.05,
|
| 130 |
+
"result": "pass",
|
| 131 |
+
"value": 0.0
|
| 132 |
+
}
|
| 133 |
+
},
|
| 134 |
+
"Magnetometer Data (SLAM) #1": {
|
| 135 |
+
"ratio_dropped_over_expected": {
|
| 136 |
+
"check_type": "LE",
|
| 137 |
+
"fail_threshold": 0.05,
|
| 138 |
+
"result": "pass",
|
| 139 |
+
"value": 0.0
|
| 140 |
+
}
|
| 141 |
+
},
|
| 142 |
+
"RGB Camera Class #1": {
|
| 143 |
+
"bad": {
|
| 144 |
+
"check_type": "LE",
|
| 145 |
+
"fail_threshold": 0.0,
|
| 146 |
+
"result": "pass",
|
| 147 |
+
"value": 0.0
|
| 148 |
+
},
|
| 149 |
+
"exposure_overlapping": {
|
| 150 |
+
"check_type": "LE",
|
| 151 |
+
"fail_threshold": 0.0,
|
| 152 |
+
"result": "pass",
|
| 153 |
+
"value": 0.0
|
| 154 |
+
},
|
| 155 |
+
"longest_frame_drop_us": {
|
| 156 |
+
"check_type": "LE",
|
| 157 |
+
"fail_threshold": 300000.0,
|
| 158 |
+
"result": "pass",
|
| 159 |
+
"value": 100038.0
|
| 160 |
+
},
|
| 161 |
+
"ratio_dropped_over_expected": {
|
| 162 |
+
"check_type": "LE",
|
| 163 |
+
"fail_threshold": 0.05,
|
| 164 |
+
"result": "pass",
|
| 165 |
+
"value": 0.0
|
| 166 |
+
}
|
| 167 |
+
},
|
| 168 |
+
"Stereo Audio Class #1": {
|
| 169 |
+
"ratio_dropped_over_expected": {
|
| 170 |
+
"check_type": "LE",
|
| 171 |
+
"fail_threshold": 0.01,
|
| 172 |
+
"result": "pass",
|
| 173 |
+
"value": 0.0
|
| 174 |
+
}
|
| 175 |
+
},
|
| 176 |
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"misalignment of Camera Data (SLAM) #1-Camera Data (SLAM) #2": {
|
| 177 |
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"ratio_misalignment_over_total": {
|
| 178 |
+
"check_type": "LE",
|
| 179 |
+
"fail_threshold": 0.01,
|
| 180 |
+
"result": "pass",
|
| 181 |
+
"value": 0.0
|
| 182 |
+
}
|
| 183 |
+
}
|
| 184 |
+
},
|
| 185 |
+
"unperformed_checks": {
|
| 186 |
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"Barometer Data Class #1": {
|
| 187 |
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"bad": 0,
|
| 188 |
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"dropped": 0,
|
| 189 |
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"end_offset_from_file_us": 13453,
|
| 190 |
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"expected": 2956,
|
| 191 |
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"largest_deviation_from_period_us": 41,
|
| 192 |
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"longest_repeated_pressure": 3,
|
| 193 |
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"non_monotonic": 0,
|
| 194 |
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"processed": 2955,
|
| 195 |
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"start_offset_from_file_us": 0,
|
| 196 |
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"time_error": 0,
|
| 197 |
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"total": 2955
|
| 198 |
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},
|
| 199 |
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"Camera Data (SLAM) #1": {
|
| 200 |
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"calibration_consistent": true,
|
| 201 |
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"dropped": 0,
|
| 202 |
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"end_offset_from_file_us": 18848,
|
| 203 |
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"expected": 591,
|
| 204 |
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"exposure_out_of_range": 0,
|
| 205 |
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"frames_with_large_deviation": 0,
|
| 206 |
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"gain_out_of_range": 0,
|
| 207 |
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"largest_deviation_from_period_us": 0,
|
| 208 |
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"non_monotonic": 0,
|
| 209 |
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"non_monotonic_frame_number": 0,
|
| 210 |
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"processed": 591,
|
| 211 |
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"ratio_large_deviation_over_total": 0.0,
|
| 212 |
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"start_offset_from_file_us": 85262,
|
| 213 |
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"temperature_out_of_range": 0,
|
| 214 |
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"time_error": 0,
|
| 215 |
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"total": 591,
|
| 216 |
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"total_frames": 591
|
| 217 |
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},
|
| 218 |
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"Camera Data (SLAM) #2": {
|
| 219 |
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"calibration_consistent": true,
|
| 220 |
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"dropped": 0,
|
| 221 |
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"end_offset_from_file_us": 18848,
|
| 222 |
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"expected": 591,
|
| 223 |
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"exposure_out_of_range": 0,
|
| 224 |
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"frames_with_large_deviation": 0,
|
| 225 |
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"gain_out_of_range": 0,
|
| 226 |
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"largest_deviation_from_period_us": 0,
|
| 227 |
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|
| 228 |
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|
| 229 |
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"processed": 591,
|
| 230 |
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"ratio_large_deviation_over_total": 0.0,
|
| 231 |
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"start_offset_from_file_us": 85262,
|
| 232 |
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"temperature_out_of_range": 0,
|
| 233 |
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|
| 234 |
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"total": 591,
|
| 235 |
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"total_frames": 591
|
| 236 |
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},
|
| 237 |
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"Eye Camera Class #1": {
|
| 238 |
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"calibration_consistent": true,
|
| 239 |
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"dropped": 0,
|
| 240 |
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"end_offset_from_file_us": 18837,
|
| 241 |
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"expected": 591,
|
| 242 |
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| 243 |
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|
| 244 |
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|
| 245 |
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| 246 |
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|
| 247 |
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| 248 |
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| 249 |
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|
| 250 |
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|
| 251 |
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| 252 |
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| 253 |
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"total": 591,
|
| 254 |
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|
| 255 |
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|
| 256 |
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"IMU Data (SLAM) #1": {
|
| 257 |
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"bad": 0,
|
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| 658 |
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"value": 0.0
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| 660 |
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},
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"slam_imu_streams_present": {
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"check_type": "EQ_TRUE",
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"fail_if_mismatch": true,
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"result": "pass",
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| 666 |
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"value": 1.0
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| 667 |
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}
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| 668 |
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| 669 |
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| 675 |
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}
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| 677 |
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}
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| 678 |
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},
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| 680 |
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| 708 |
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| 712 |
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},
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| 718 |
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| 719 |
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| 720 |
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| 740 |
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},
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| 742 |
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| 743 |
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| 756 |
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| 769 |
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| 776 |
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| 777 |
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"total": 583
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| 780 |
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| 785 |
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| 797 |
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| 799 |
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| 800 |
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"total": 591,
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| 802 |
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| 803 |
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},
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| 804 |
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| 805 |
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| 806 |
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| 807 |
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| 808 |
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| 809 |
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| 810 |
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| 811 |
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| 812 |
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| 813 |
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| 814 |
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| 815 |
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| 816 |
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| 817 |
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| 818 |
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| 819 |
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| 821 |
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| 826 |
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| 827 |
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},
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| 828 |
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| 829 |
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| 830 |
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| 831 |
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| 832 |
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}
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| 833 |
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}
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| 834 |
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},
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| 846 |
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"value": 0.0
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},
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| 848 |
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| 850 |
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| 852 |
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| 853 |
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| 860 |
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},
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| 861 |
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| 863 |
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| 865 |
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"value": 100000.0,
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| 866 |
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},
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| 868 |
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| 869 |
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| 870 |
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| 871 |
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| 872 |
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| 873 |
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},
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| 878 |
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"value": 591.0
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| 879 |
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| 880 |
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| 882 |
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| 883 |
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| 885 |
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| 886 |
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},
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| 887 |
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| 888 |
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| 889 |
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| 890 |
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| 891 |
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"value": 0.0
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| 892 |
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}
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| 893 |
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},
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| 894 |
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| 897 |
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| 898 |
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| 899 |
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"value": 0.0
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| 900 |
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},
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| 901 |
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| 902 |
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| 903 |
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| 904 |
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| 905 |
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"value": 0.0
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| 906 |
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},
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| 907 |
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| 908 |
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| 909 |
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| 911 |
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| 912 |
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| 913 |
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},
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| 914 |
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"result": "pass",
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| 918 |
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"value": 100000.0,
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| 919 |
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| 920 |
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},
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| 921 |
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| 923 |
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| 924 |
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| 925 |
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"value": 0.0
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| 926 |
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},
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| 927 |
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"processed": {
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| 930 |
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| 931 |
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"value": 591.0
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| 932 |
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},
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| 933 |
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| 934 |
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| 935 |
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| 937 |
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| 945 |
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}
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},
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| 950 |
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| 953 |
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},
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| 959 |
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| 960 |
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},
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| 962 |
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| 964 |
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| 966 |
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"value": 0.0
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| 967 |
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},
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| 968 |
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| 970 |
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| 971 |
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| 972 |
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| 973 |
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},
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| 974 |
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| 975 |
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| 976 |
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| 977 |
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| 978 |
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| 979 |
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},
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| 980 |
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| 981 |
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| 982 |
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| 983 |
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| 984 |
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| 985 |
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| 986 |
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},
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| 987 |
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| 988 |
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| 989 |
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| 990 |
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| 991 |
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| 992 |
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}
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| 993 |
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},
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| 994 |
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| 995 |
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| 996 |
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| 997 |
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| 998 |
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| 999 |
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| 1000 |
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| 1001 |
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},
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| 1002 |
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| 1003 |
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| 1004 |
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| 1005 |
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| 1006 |
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| 1007 |
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| 1008 |
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},
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| 1009 |
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| 1010 |
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| 1011 |
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| 1012 |
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| 1013 |
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| 1014 |
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},
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| 1015 |
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| 1016 |
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| 1017 |
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| 1018 |
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| 1019 |
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| 1020 |
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},
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| 1021 |
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| 1022 |
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| 1023 |
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| 1024 |
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| 1025 |
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| 1026 |
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| 1027 |
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| 1028 |
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| 1029 |
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"fail_threshold": 0.01,
|
| 1030 |
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"result": "pass",
|
| 1031 |
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"value": 0.0,
|
| 1032 |
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"warn_threshold": 0.001
|
| 1033 |
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},
|
| 1034 |
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"time_error": {
|
| 1035 |
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"check_type": "LE",
|
| 1036 |
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"fail_threshold": 0.0,
|
| 1037 |
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"result": "pass",
|
| 1038 |
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"value": 0.0
|
| 1039 |
+
}
|
| 1040 |
+
},
|
| 1041 |
+
"RGB Camera Class #1": {
|
| 1042 |
+
"bad": {
|
| 1043 |
+
"check_type": "LE",
|
| 1044 |
+
"fail_threshold": 0.0,
|
| 1045 |
+
"result": "pass",
|
| 1046 |
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"value": 0.0
|
| 1047 |
+
},
|
| 1048 |
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"exposure_overlapping": {
|
| 1049 |
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"check_type": "LE",
|
| 1050 |
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"fail_threshold": 0.0,
|
| 1051 |
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"result": "pass",
|
| 1052 |
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"value": 0.0
|
| 1053 |
+
},
|
| 1054 |
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"longest_frame_drop_us": {
|
| 1055 |
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"check_type": "LE",
|
| 1056 |
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"fail_threshold": 1000000.0,
|
| 1057 |
+
"result": "pass",
|
| 1058 |
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"value": 100038.0
|
| 1059 |
+
},
|
| 1060 |
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"ratio_dropped_over_expected": {
|
| 1061 |
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"check_type": "LE",
|
| 1062 |
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"fail_threshold": 0.05,
|
| 1063 |
+
"result": "pass",
|
| 1064 |
+
"value": 0.0
|
| 1065 |
+
}
|
| 1066 |
+
},
|
| 1067 |
+
"misalignment of Camera Data (SLAM) #1-Camera Data (SLAM) #2": {
|
| 1068 |
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"ratio_misalignment_over_total": {
|
| 1069 |
+
"check_type": "LE",
|
| 1070 |
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"fail_threshold": 0.005,
|
| 1071 |
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"result": "pass",
|
| 1072 |
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"value": 0.0,
|
| 1073 |
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"warn_threshold": 0.001
|
| 1074 |
+
}
|
| 1075 |
+
}
|
| 1076 |
+
},
|
| 1077 |
+
"unperformed_checks": {
|
| 1078 |
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"Barometer Data Class #1": {
|
| 1079 |
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"bad": 0,
|
| 1080 |
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"dropped": 0,
|
| 1081 |
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"end_offset_from_file_us": 13453,
|
| 1082 |
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"expected": 2956,
|
| 1083 |
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"largest_deviation_from_period_us": 41,
|
| 1084 |
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"longest_repeated_pressure": 3,
|
| 1085 |
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|
| 1086 |
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"processed": 2955,
|
| 1087 |
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|
| 1088 |
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"start_offset_from_file_us": 0,
|
| 1089 |
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"time_error": 0,
|
| 1090 |
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"total": 2955
|
| 1091 |
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},
|
| 1092 |
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"Camera Data (SLAM) #1": {
|
| 1093 |
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"calibration_consistent": true,
|
| 1094 |
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"dropped": 0,
|
| 1095 |
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"end_offset_from_file_us": 18848,
|
| 1096 |
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"expected": 591,
|
| 1097 |
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|
| 1098 |
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"frames_with_large_deviation": 0,
|
| 1099 |
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|
| 1100 |
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|
| 1101 |
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|
| 1102 |
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|
| 1103 |
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|
| 1104 |
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"total": 591,
|
| 1105 |
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"total_frames": 591
|
| 1106 |
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},
|
| 1107 |
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"Camera Data (SLAM) #2": {
|
| 1108 |
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"calibration_consistent": true,
|
| 1109 |
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"dropped": 0,
|
| 1110 |
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|
| 1111 |
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"expected": 591,
|
| 1112 |
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|
| 1113 |
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"frames_with_large_deviation": 0,
|
| 1114 |
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|
| 1115 |
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| 1116 |
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| 1117 |
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|
| 1118 |
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|
| 1119 |
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"total": 591,
|
| 1120 |
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"total_frames": 591
|
| 1121 |
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},
|
| 1122 |
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"Eye Camera Class #1": {
|
| 1123 |
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"bad": 0,
|
| 1124 |
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"calibration_consistent": true,
|
| 1125 |
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"dropped": 0,
|
| 1126 |
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"end_offset_from_file_us": 18837,
|
| 1127 |
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"expected": 591,
|
| 1128 |
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|
| 1129 |
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|
| 1130 |
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|
| 1131 |
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"gain_out_of_range": 0,
|
| 1132 |
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|
| 1133 |
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|
| 1134 |
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|
| 1135 |
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|
| 1136 |
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"processed": 591,
|
| 1137 |
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|
| 1138 |
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|
| 1139 |
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|
| 1140 |
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|
| 1141 |
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|
| 1142 |
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"total": 591,
|
| 1143 |
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"total_frames": 591
|
| 1144 |
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},
|
| 1145 |
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"IMU Data (SLAM) #1": {
|
| 1146 |
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"bad": 0,
|
| 1147 |
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"dropped": 0,
|
| 1148 |
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"end_offset_from_file_us": 0,
|
| 1149 |
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|
| 1150 |
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|
| 1151 |
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"longest_repeated_gyro": 6,
|
| 1152 |
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|
| 1153 |
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| 1154 |
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| 1155 |
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| 1156 |
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"total": 59021,
|
| 1157 |
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"total_repeated_accel": 3605,
|
| 1158 |
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"total_repeated_gyro": 3786,
|
| 1159 |
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"zero_accel": 18,
|
| 1160 |
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"zero_gyro": 157
|
| 1161 |
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},
|
| 1162 |
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"IMU Data (SLAM) #2": {
|
| 1163 |
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"bad": 0,
|
| 1164 |
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|
| 1165 |
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"end_offset_from_file_us": 1125,
|
| 1166 |
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"expected": 47280,
|
| 1167 |
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"longest_repeated_accel": 4,
|
| 1168 |
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"longest_repeated_gyro": 4,
|
| 1169 |
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| 1170 |
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| 1171 |
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| 1172 |
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| 1173 |
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"total": 47416,
|
| 1174 |
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|
| 1175 |
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|
| 1176 |
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|
| 1177 |
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"zero_gyro": 58
|
| 1178 |
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},
|
| 1179 |
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"Magnetometer Data (SLAM) #1": {
|
| 1180 |
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"bad": 0,
|
| 1181 |
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"dropped": 0,
|
| 1182 |
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"end_offset_from_file_us": 29759,
|
| 1183 |
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"expected": 591,
|
| 1184 |
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|
| 1185 |
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|
| 1186 |
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|
| 1187 |
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"processed": 583,
|
| 1188 |
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|
| 1189 |
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|
| 1190 |
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"time_error": 0,
|
| 1191 |
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"total": 583
|
| 1192 |
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},
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| 1193 |
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"RGB Camera Class #1": {
|
| 1194 |
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"calibration_consistent": true,
|
| 1195 |
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"dropped": 0,
|
| 1196 |
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"end_offset_from_file_us": 18937,
|
| 1197 |
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"expected": 591,
|
| 1198 |
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"exposure_out_of_range": 0,
|
| 1199 |
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"frames_with_large_deviation": 0,
|
| 1200 |
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"gain_out_of_range": 0,
|
| 1201 |
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"largest_deviation_from_period_us": 38,
|
| 1202 |
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"non_monotonic": 0,
|
| 1203 |
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|
| 1204 |
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"processed": 591,
|
| 1205 |
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"ratio_large_deviation_over_total": 0.0,
|
| 1206 |
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"start_offset_from_file_us": 85177,
|
| 1207 |
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"temperature_out_of_range": 0,
|
| 1208 |
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|
| 1209 |
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"total": 591,
|
| 1210 |
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"total_frames": 591
|
| 1211 |
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},
|
| 1212 |
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"Stereo Audio Class #1": {
|
| 1213 |
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"bad": 0,
|
| 1214 |
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"dropped": 0,
|
| 1215 |
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"end_offset_from_file_us": 6080,
|
| 1216 |
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"expected": 2830335,
|
| 1217 |
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"largest_deviation_from_period_us": 1,
|
| 1218 |
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"non_monotonic": 0,
|
| 1219 |
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"processed": 2830336,
|
| 1220 |
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"ratio_dropped_over_expected": 0.0,
|
| 1221 |
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"start_offset_from_file_us": 138030,
|
| 1222 |
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"time_error": 0,
|
| 1223 |
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"total": 2830336
|
| 1224 |
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},
|
| 1225 |
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"Time Domain Mapping Class #1": {
|
| 1226 |
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"bad": 0,
|
| 1227 |
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"processed": 60,
|
| 1228 |
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"total": 60
|
| 1229 |
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},
|
| 1230 |
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"file_level_checks": {
|
| 1231 |
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"all_tags_present": false,
|
| 1232 |
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"calib_json_tag_correct": false,
|
| 1233 |
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"metadata_tag_correct": false,
|
| 1234 |
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"slam_imu_streams_present": true,
|
| 1235 |
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"streams_match_profile": false
|
| 1236 |
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},
|
| 1237 |
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"misalignment of Camera Data (SLAM) #1-Camera Data (SLAM) #2": {
|
| 1238 |
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"max_misaligned_us": 0,
|
| 1239 |
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"misaligned": 0,
|
| 1240 |
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"total": 591
|
| 1241 |
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}
|
| 1242 |
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}
|
| 1243 |
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}
|
| 1244 |
+
}
|
test/TC07/TC07_043/vrs/barometer.csv
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
test/TC07/TC07_043/vrs/eye.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:8eaa9ecabdb07b427d86798990a318fae72d98bccdec117dd547a3599bc6d406
|
| 3 |
+
size 1928017
|
test/TC07/TC07_043/vrs/imu_left.csv
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
test/TC07/TC07_043/vrs/imu_right.csv
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
test/TC07/TC07_043/vrs/magnetometer.csv
ADDED
|
@@ -0,0 +1,550 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
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|
|
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|
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|
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|
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|
|
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|
|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
capture_timestamp_ns,mag_x,mag_y,mag_z,valid
|
| 2 |
+
69515950712,-30.345468521118164,-1.0837666988372803,17.584186553955078,True
|
| 3 |
+
69617355862,-31.068498611450195,-0.36126160621643066,17.212255477905273,True
|
| 4 |
+
69718760125,-29.98421287536621,0.36125558614730835,17.584186553955078,True
|
| 5 |
+
69820168450,-30.708778381347656,-0.36127975583076477,17.59318733215332,True
|
| 6 |
+
69921583612,-30.348005294799805,-0.3612857758998871,18.344181060791016,True
|
| 7 |
+
70022982450,-30.708778381347656,-0.7225595116615295,17.218862533569336,True
|
| 8 |
+
70124396725,-30.34749984741211,-0.7225595116615295,17.967510223388672,True
|
| 9 |
+
70225824625,-30.70980453491211,0.0,16.848852157592773,True
|
| 10 |
+
70327268025,-29.626426696777344,-0.3612978756427765,17.974411010742188,True
|
| 11 |
+
70428681475,-30.350038528442383,0.7226199507713318,18.35357666015625,True
|
| 12 |
+
70530106725,-30.71031951904297,0.3612978756427765,17.599943161010742,True
|
| 13 |
+
70631523162,-30.712890625,1.083984375,17.236509323120117,True
|
| 14 |
+
70732940012,-30.3515625,0.72265625,16.86180305480957,True
|
| 15 |
+
70834351837,-30.713918685913086,3.2520620822906494,18.36533546447754,True
|
| 16 |
+
70935734075,-30.714435577392578,2.890770435333252,18.36768913269043,True
|
| 17 |
+
71037120875,-30.353090286254883,3.6134629249572754,18.742538452148438,True
|
| 18 |
+
71138501537,-31.799009323120117,2.5294666290283203,18.37004280090332,True
|
| 19 |
+
71239886587,-32.8830680847168,3.252171516418457,14.621054649353027,True
|
| 20 |
+
71341263600,-35.05294418334961,4.697817325592041,10.126161575317383,True
|
| 21 |
+
71442641912,-35.41490936279297,6.143402576446533,8.252004623413086,True
|
| 22 |
+
71544019525,-35.053531646728516,6.866155624389648,8.252004623413086,True
|
| 23 |
+
71645408425,-35.77808380126953,6.505106449127197,9.005651473999023,True
|
| 24 |
+
71746801500,-35.416690826416016,6.143711566925049,10.131357192993164,True
|
| 25 |
+
71848195687,-33.970542907714844,5.782219886779785,12.381181716918945,True
|
| 26 |
+
71949573700,-33.25,5.4211955070495605,14.264436721801758,True
|
| 27 |
+
72050940937,-32.888031005859375,3.9754765033721924,15.763934135437012,True
|
| 28 |
+
72152323712,-31.442405700683594,1.8070347309112549,16.139266967773438,True
|
| 29 |
+
72253700362,-32.52771759033203,2.1685144901275635,15.39255142211914,True
|
| 30 |
+
72355087775,-32.16738510131836,2.5300190448760986,15.020979881286621,True
|
| 31 |
+
72456460075,-32.8902473449707,2.5300190448760986,14.645455360412598,True
|
| 32 |
+
72557842550,-33.61310958862305,3.2528817653656006,15.772028923034668,True
|
| 33 |
+
72659229550,-32.891353607177734,5.060207843780518,15.024837493896484,True
|
| 34 |
+
72760593200,-33.251678466796875,3.9757442474365234,15.396504402160645,True
|
| 35 |
+
72861964562,-33.61367416381836,5.421560287475586,15.022908210754395,True
|
| 36 |
+
72963330187,-33.61367416381836,5.7829976081848145,16.149625778198242,True
|
| 37 |
+
73064715775,-33.61537170410156,4.337467193603516,15.028696060180664,True
|
| 38 |
+
73166096575,-32.89190673828125,5.4217424392700195,16.529443740844727,True
|
| 39 |
+
73267470475,-33.253353118896484,4.3373942375183105,16.529443740844727,True
|
| 40 |
+
73368838825,-33.2539176940918,5.060378551483154,18.034435272216797,True
|
| 41 |
+
73470191525,-32.89301300048828,3.614616870880127,16.909456253051758,True
|
| 42 |
+
73571566900,-31.809167861938477,3.9761459827423096,18.414884567260742,True
|
| 43 |
+
73672939212,-32.17063522338867,2.5302746295928955,18.79069709777832,True
|
| 44 |
+
73774311550,-32.5321044921875,2.891742467880249,18.414884567260742,True
|
| 45 |
+
73875686312,-31.449819564819336,3.253429651260376,19.928382873535156,True
|
| 46 |
+
73977063650,-31.810237884521484,2.5303597450256348,19.171438217163086,True
|
| 47 |
+
74078439425,-32.17171859741211,3.25331974029541,19.171438217163086,True
|
| 48 |
+
74179815387,-31.450349807739258,2.168989658355713,18.802778244018555,True
|
| 49 |
+
74281179812,-30.727872848510742,2.1690263748168945,19.933507919311523,True
|
| 50 |
+
74382527187,-32.17497253417969,2.1690993309020996,18.43383026123047,True
|
| 51 |
+
74483888937,-31.088327407836914,1.807460904121399,19.928382873535156,True
|
| 52 |
+
74585262387,-32.53594207763672,1.8075523376464844,19.18376350402832,True
|
| 53 |
+
74686657237,-33.25783920288086,3.6149826049804688,19.1788330078125,True
|
| 54 |
+
74788044550,-32.53539276123047,2.8920350074768066,19.933507919311523,True
|
| 55 |
+
74889441250,-32.53649139404297,4.6997151374816895,20.31483268737793,True
|
| 56 |
+
74990829912,-34.7061767578125,4.3382720947265625,19.18869972229004,True
|
| 57 |
+
75092206012,-33.6204719543457,5.061146259307861,18.431459426879883,True
|
| 58 |
+
75193601462,-35.06769943237305,6.868930816650391,18.436201095581055,True
|
| 59 |
+
75294978012,-35.790138244628906,7.953364372253418,17.681428909301758,True
|
| 60 |
+
75396352562,-36.875938415527344,8.676691055297852,18.438573837280273,True
|
| 61 |
+
75497718450,-36.15226745605469,6.868930816650391,17.30745506286621,True
|
| 62 |
+
75599091325,-36.87531280517578,5.422840118408203,18.059953689575195,True
|
| 63 |
+
75700474787,-37.96052551269531,5.061403274536133,18.438573837280273,True
|
| 64 |
+
75801878950,-37.598995208740234,3.9768168926239014,18.438573837280273,True
|
| 65 |
+
75903282775,-37.60153579711914,2.892425775527954,19.201047897338867,True
|
| 66 |
+
76004661300,-37.23998260498047,2.892425775527954,17.695083618164062,True
|
| 67 |
+
76106021975,-36.516876220703125,3.9770853519439697,18.824556350708008,True
|
| 68 |
+
76207393912,-36.15654754638672,3.977220058441162,19.95916748046875,True
|
| 69 |
+
76308774112,-35.431617736816406,3.977018356323242,18.82213592529297,True
|
| 70 |
+
76410168300,-35.79498291015625,3.615654706954956,18.452816009521484,True
|
| 71 |
+
76511551412,-35.79316329956055,3.615471124649048,19.198577880859375,True
|
| 72 |
+
76612928175,-35.07125473022461,3.615593433380127,19.580059051513672,True
|
| 73 |
+
76714305325,-33.98715591430664,2.892523765563965,19.95916748046875,True
|
| 74 |
+
76815700162,-34.711456298828125,3.615777015686035,18.834253311157227,True
|
| 75 |
+
76917096287,-34.34813690185547,4.700271129608154,16.94428253173828,True
|
| 76 |
+
77018486450,-32.5419921875,2.8926215171813965,16.950828552246094,True
|
| 77 |
+
77119855887,-33.26402282714844,0.7231309413909912,18.829404830932617,True
|
| 78 |
+
77221212825,-32.54144287109375,0.3615715801715851,19.208465576171875,True
|
| 79 |
+
77322569575,-32.17877960205078,1.446237325668335,19.203519821166992,True
|
| 80 |
+
77423943025,-31.456195831298828,2.1693928241729736,18.829404830932617,True
|
| 81 |
+
77525311025,-30.73410415649414,0.36157768964767456,18.080883026123047,True
|
| 82 |
+
77626686800,-32.180416107177734,0.7231553792953491,16.950828552246094,True
|
| 83 |
+
77728052500,-31.819374084472656,0.0,16.19954490661621,True
|
| 84 |
+
77829406350,-30.373554229736328,-1.4463597536087036,16.578413009643555,True
|
| 85 |
+
77930758187,-29.649871826171875,-2.5310866832733154,16.953012466430664,True
|
| 86 |
+
78032117725,-29.288288116455078,-1.8079190254211426,16.576278686523438,True
|
| 87 |
+
78133471575,-29.649871826171875,-1.4463351964950562,15.446077346801758,True
|
| 88 |
+
78234823787,-28.927194595336914,-3.9774892330169678,15.448067665100098,True
|
| 89 |
+
78336176125,-27.84195327758789,-6.1469244956970215,13.185675621032715,True
|
| 90 |
+
78437538725,-27.4808349609375,-7.2317986488342285,13.564156532287598,True
|
| 91 |
+
78538892875,-26.39561653137207,-8.678010940551758,11.302007675170898,True
|
| 92 |
+
78640258075,-26.03536033630371,-10.486464500427246,12.060134887695312,True
|
| 93 |
+
78741603637,-25.674190521240234,-11.933074951171875,10.17704963684082,True
|
| 94 |
+
78842959825,-25.311725616455078,-13.01745891571045,9.420766830444336,True
|
| 95 |
+
78944329725,-23.865745544433594,-15.548894882202148,8.291342735290527,True
|
| 96 |
+
79045677062,-23.5041446685791,-15.18729305267334,7.5375847816467285,True
|
| 97 |
+
79147024250,-21.33380699157715,-15.548367500305176,6.782078266143799,True
|
| 98 |
+
79248371975,-21.697237014770508,-17.719409942626953,5.655374050140381,True
|
| 99 |
+
79349715250,-20.973995208740234,-18.804271697998047,4.147274494171143,True
|
| 100 |
+
79451040825,-20.249723434448242,-19.526519775390625,2.6381545066833496,True
|
| 101 |
+
79552363200,-19.5268497467041,-20.611675262451172,2.6384942531585693,True
|
| 102 |
+
79653700712,-20.250408172607422,-20.612022399902344,1.8848817348480225,True
|
| 103 |
+
79755031800,-19.88812255859375,-21.69613265991211,3.015033721923828,True
|
| 104 |
+
79856384387,-19.526519775390625,-22.057735443115234,3.015033721923828,True
|
| 105 |
+
79957736525,-18.803951263427734,-22.058481216430664,2.6388344764709473,True
|
| 106 |
+
80059079262,-20.251441955566406,-22.42123794555664,2.262732982635498,True
|
| 107 |
+
80160423125,-19.8887939453125,-22.420095443725586,2.6388344764709473,True
|
| 108 |
+
80261775437,-19.89014434814453,-22.42161750793457,2.2630248069763184,True
|
| 109 |
+
80363134687,-21.335615158081055,-22.7820987701416,2.639174461364746,True
|
| 110 |
+
80464473612,-20.25075340270996,-22.058856964111328,3.0161995887756348,True
|
| 111 |
+
80565818712,-21.335975646972656,-22.782482147216797,3.770735502243042,True
|
| 112 |
+
80667160437,-21.336339950561523,-22.78287124633789,3.394099473953247,True
|
| 113 |
+
80768513262,-20.613075256347656,-22.42123794555664,2.639855146408081,True
|
| 114 |
+
80869861175,-20.251096725463867,-23.86736297607422,1.885367751121521,True
|
| 115 |
+
80971206537,-19.528505325317383,-23.868173599243164,2.640195608139038,True
|
| 116 |
+
81072561162,-19.89014434814453,-24.95309066772461,2.2630248069763184,True
|
| 117 |
+
81173920712,-20.613075256347656,-24.229402542114258,0.754244327545166,True
|
| 118 |
+
81275266862,-19.89014434814453,-24.59145164489746,3.017366409301758,True
|
| 119 |
+
81376604100,-19.528175354003906,-24.591035842895508,1.885610818862915,True
|
| 120 |
+
81477949437,-19.889469146728516,-24.59061622619629,1.5082941055297852,True
|
| 121 |
+
81579284612,-20.252124786376953,-24.95351219177246,1.8860971927642822,True
|
| 122 |
+
81680631487,-20.251441955566406,-23.14450454711914,1.885610818862915,True
|
| 123 |
+
81782002237,-20.252124786376953,-24.591867446899414,1.5088777542114258,True
|
| 124 |
+
81883361437,-19.890819549560547,-24.230634689331055,1.8863402605056763,True
|
| 125 |
+
81984714287,-19.891157150268555,-24.59270477294922,1.5092668533325195,True
|
| 126 |
+
82086075787,-20.61412239074707,-24.592287063598633,2.640876293182373,True
|
| 127 |
+
82187415000,-20.252471923828125,-23.50733184814453,1.13180410861969,True
|
| 128 |
+
82288748925,-21.337060928344727,-23.145286560058594,2.2633166313171387,True
|
| 129 |
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
| 547 |
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|
| 548 |
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|
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|
| 550 |
+
125047221425,-6.519225120544434,5.432687282562256,-27.082937240600586,True
|
test/TC07/TC07_043/vrs/rgb_timestamps.csv
ADDED
|
@@ -0,0 +1,557 @@
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test/TC07/TC07_043/vrs/slam_left.mp4
ADDED
|
@@ -0,0 +1,3 @@
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|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:d50679baf8f3e7bd9b1c979e053ff7014ebc78c35af7ca651c709860d3e7942b
|
| 3 |
+
size 3637011
|
test/TC07/TC07_043/vrs/slam_right.mp4
ADDED
|
@@ -0,0 +1,3 @@
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|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
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oid sha256:04dec47449ecfed97ccb279290818166e41f658efb3a41ccef623af85f45a53f
|
| 3 |
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size 3886989
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test/TC07/TC07_043/vrs/time_domain_mapping.csv
ADDED
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@@ -0,0 +1,61 @@
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|
|
| 1 |
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monotonic_timestamp_ns,real_timestamp_ns
|
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| 61 |
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test/TC07/TC07_046/TC07_046.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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test/TC07/TC07_046/mps/eye_gaze/summary.json
ADDED
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@@ -0,0 +1,7 @@
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{
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| 2 |
+
"GazeInference": {
|
| 3 |
+
"status": "SUCCESS",
|
| 4 |
+
"message": ""
|
| 5 |
+
},
|
| 6 |
+
"version": "3.1.0"
|
| 7 |
+
}
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test/TC07/TC07_046/mps/hand_tracking/hand_tracking_results.csv
ADDED
|
@@ -0,0 +1,75 @@
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| 74 |
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| 75 |
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|
test/TC07/TC07_046/mps/hand_tracking/summary.json
ADDED
|
@@ -0,0 +1,8 @@
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"mean_confidence": 0.9383171796798706,
|
| 3 |
+
"total_frames": 74,
|
| 4 |
+
"valid_frame_fraction": 0.0,
|
| 5 |
+
"valid_pose_frame_fraction_left_hand": 0.0,
|
| 6 |
+
"valid_pose_frame_fraction_right_hand": 0.3513513505458832,
|
| 7 |
+
"version": "3.1.1"
|
| 8 |
+
}
|
test/TC07/TC07_046/mps/slam/closed_loop_trajectory.csv
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
test/TC07/TC07_046/mps/slam/online_calibration.jsonl
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
test/TC07/TC07_046/mps/slam/open_loop_trajectory.csv
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
test/TC07/TC07_046/mps/slam/semidense_observations.csv.gz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:298375da3c3535e8fcae06d712c6d797a3cbfc3e896fbed991fa1664f7c3d801
|
| 3 |
+
size 7526770
|
test/TC07/TC07_046/mps/slam/semidense_points.csv.gz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:bb158122fb2061491f38195e497afa7d1a7570d21ee8d67270cf4b0e9e1a9d46
|
| 3 |
+
size 831468
|
test/TC07/TC07_046/mps/slam/summary.json
ADDED
|
@@ -0,0 +1,74 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"version": "1.1.0",
|
| 3 |
+
"VRS Health Check": {
|
| 4 |
+
"status": "SUCCESS",
|
| 5 |
+
"info": [],
|
| 6 |
+
"warnings": [],
|
| 7 |
+
"errors": []
|
| 8 |
+
},
|
| 9 |
+
"SLAM": {
|
| 10 |
+
"status": "SUCCESS",
|
| 11 |
+
"info": [
|
| 12 |
+
"Recording total time: 0:00:08.234142; Trajectory total length: 0.30m",
|
| 13 |
+
"Total Vision Translational Correction (mm): p50: 0.431; p99: 1.463",
|
| 14 |
+
"Rotational Correction (deg): p50: 0.016; p99: 0.053"
|
| 15 |
+
],
|
| 16 |
+
"warnings": [],
|
| 17 |
+
"errors": []
|
| 18 |
+
},
|
| 19 |
+
"Aligner": {
|
| 20 |
+
"status": "SUCCESS",
|
| 21 |
+
"info": [
|
| 22 |
+
"componentsAfter: [1]",
|
| 23 |
+
"componentsBefore: [1]",
|
| 24 |
+
"connected: {'accepted': 0, 'candidates': 0, 'componentsAfter': 1, 'componentsBefore': 1, 'durationMs': 0, 'matches': 0, 'rejected': 0}",
|
| 25 |
+
"disconnected: {'accepted': 0, 'candidates': 0, 'componentsAfter': 1, 'componentsBefore': 1, 'durationMs': 0, 'matches': 0, 'rejected': 0}"
|
| 26 |
+
],
|
| 27 |
+
"warnings": [],
|
| 28 |
+
"errors": []
|
| 29 |
+
},
|
| 30 |
+
"Optimization": {
|
| 31 |
+
"status": "SUCCESS",
|
| 32 |
+
"info": [
|
| 33 |
+
"Largest nullity over windows of 100 rigs: 0",
|
| 34 |
+
"Max variation speed of bias of accel: 0, of gyro: 0 (5+ unconstrained dofs)",
|
| 35 |
+
"Max variation speed of bias of accel: 0, of gyro: 0 (15+ unconstrained dofs)",
|
| 36 |
+
"Max variation speed of bias of accel: 0, of gyro: 0 (50+ unconstrained dofs)"
|
| 37 |
+
],
|
| 38 |
+
"warnings": [],
|
| 39 |
+
"errors": []
|
| 40 |
+
},
|
| 41 |
+
"Recompute Trajectory": {
|
| 42 |
+
"status": "SUCCESS",
|
| 43 |
+
"info": [
|
| 44 |
+
"Total Translational Correction (mm): p50: 0.430; p90: 0.886, p99: 1.425",
|
| 45 |
+
"Total Rotational Correction (deg): p50: 0.017; p90: 0.042, p99: 0.059"
|
| 46 |
+
],
|
| 47 |
+
"warnings": [],
|
| 48 |
+
"errors": []
|
| 49 |
+
},
|
| 50 |
+
"VI-PGO": {
|
| 51 |
+
"status": "SUCCESS",
|
| 52 |
+
"info": [],
|
| 53 |
+
"warnings": [],
|
| 54 |
+
"errors": []
|
| 55 |
+
},
|
| 56 |
+
"SemiDense Tracker": {
|
| 57 |
+
"status": "SUCCESS",
|
| 58 |
+
"info": [
|
| 59 |
+
"percentage_linesearch_success p50: 75.06846",
|
| 60 |
+
"percentage_linesearch_fail_depth_limits p50: 10.13914",
|
| 61 |
+
"median_track_length_us p50: 2200000.0",
|
| 62 |
+
"median_inv_dist_std p50: 0.004",
|
| 63 |
+
"median_dist_std p50: 0.0285"
|
| 64 |
+
],
|
| 65 |
+
"warnings": [],
|
| 66 |
+
"errors": []
|
| 67 |
+
},
|
| 68 |
+
"Compute Global Pointcloud": {
|
| 69 |
+
"status": "SUCCESS",
|
| 70 |
+
"info": [],
|
| 71 |
+
"warnings": [],
|
| 72 |
+
"errors": []
|
| 73 |
+
}
|
| 74 |
+
}
|
test/TC07/TC07_046/mps/vrs_health_check.json
ADDED
|
@@ -0,0 +1,1244 @@
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
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|
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|
| 1 |
+
{
|
| 2 |
+
"AriaGen1_Default": {
|
| 3 |
+
"thresholds_version": "thresholds_v1.0",
|
| 4 |
+
"final_result": "pass",
|
| 5 |
+
"failed_checks": [],
|
| 6 |
+
"warn_checks": [],
|
| 7 |
+
"performed_checks_with_details": {
|
| 8 |
+
"Barometer Data Class #1": {
|
| 9 |
+
"ratio_dropped_over_expected": {
|
| 10 |
+
"check_type": "LE",
|
| 11 |
+
"fail_threshold": 0.05,
|
| 12 |
+
"result": "pass",
|
| 13 |
+
"value": 0.0
|
| 14 |
+
}
|
| 15 |
+
},
|
| 16 |
+
"Camera Data (SLAM) #1": {
|
| 17 |
+
"bad": {
|
| 18 |
+
"check_type": "LE",
|
| 19 |
+
"fail_threshold": 0.0,
|
| 20 |
+
"result": "pass",
|
| 21 |
+
"value": 0.0
|
| 22 |
+
},
|
| 23 |
+
"exposure_overlapping": {
|
| 24 |
+
"check_type": "LE",
|
| 25 |
+
"fail_threshold": 0.0,
|
| 26 |
+
"result": "pass",
|
| 27 |
+
"value": 0.0
|
| 28 |
+
},
|
| 29 |
+
"longest_frame_drop_us": {
|
| 30 |
+
"check_type": "LE",
|
| 31 |
+
"fail_threshold": 300000.0,
|
| 32 |
+
"result": "pass",
|
| 33 |
+
"value": 100000.0
|
| 34 |
+
},
|
| 35 |
+
"ratio_dropped_over_expected": {
|
| 36 |
+
"check_type": "LE",
|
| 37 |
+
"fail_threshold": 0.05,
|
| 38 |
+
"result": "pass",
|
| 39 |
+
"value": 0.0
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"Camera Data (SLAM) #2": {
|
| 43 |
+
"bad": {
|
| 44 |
+
"check_type": "LE",
|
| 45 |
+
"fail_threshold": 0.0,
|
| 46 |
+
"result": "pass",
|
| 47 |
+
"value": 0.0
|
| 48 |
+
},
|
| 49 |
+
"exposure_overlapping": {
|
| 50 |
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| 51 |
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| 52 |
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| 53 |
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| 54 |
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| 55 |
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| 56 |
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| 57 |
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| 58 |
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| 59 |
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| 60 |
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| 61 |
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| 62 |
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| 63 |
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| 64 |
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| 65 |
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| 66 |
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}
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| 67 |
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},
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| 68 |
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| 69 |
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| 70 |
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| 71 |
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| 72 |
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| 73 |
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| 74 |
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| 75 |
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| 76 |
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| 77 |
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| 78 |
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| 79 |
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| 80 |
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| 81 |
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| 82 |
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| 83 |
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| 84 |
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| 85 |
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| 86 |
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| 87 |
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| 88 |
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| 89 |
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| 90 |
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| 91 |
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| 92 |
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| 93 |
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| 94 |
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| 95 |
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| 96 |
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| 97 |
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| 98 |
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| 99 |
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| 100 |
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| 101 |
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| 102 |
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| 103 |
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| 104 |
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| 105 |
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| 106 |
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| 107 |
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| 109 |
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| 110 |
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| 111 |
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| 112 |
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| 113 |
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| 114 |
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| 123 |
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| 124 |
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| 125 |
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| 127 |
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| 129 |
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| 130 |
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| 131 |
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| 132 |
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| 133 |
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| 134 |
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| 135 |
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| 137 |
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| 138 |
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| 139 |
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| 140 |
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| 141 |
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| 142 |
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| 143 |
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| 144 |
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| 145 |
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| 146 |
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| 147 |
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| 148 |
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| 149 |
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| 150 |
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| 151 |
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| 152 |
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| 153 |
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| 157 |
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| 160 |
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| 163 |
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| 164 |
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| 165 |
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| 166 |
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}
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| 167 |
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| 168 |
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| 169 |
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| 171 |
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| 172 |
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| 173 |
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| 174 |
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| 181 |
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| 182 |
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| 183 |
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| 184 |
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| 185 |
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| 310 |
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| 358 |
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}
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},
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| 467 |
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| 471 |
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| 508 |
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| 509 |
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| 514 |
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| 515 |
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| 517 |
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| 526 |
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| 527 |
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| 529 |
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| 531 |
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| 533 |
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| 535 |
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| 547 |
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| 548 |
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| 549 |
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| 550 |
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| 551 |
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| 552 |
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| 553 |
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| 555 |
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| 568 |
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| 625 |
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| 626 |
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| 717 |
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| 826 |
+
"streams_match_profile": false
|
| 827 |
+
},
|
| 828 |
+
"misalignment of Camera Data (SLAM) #1-Camera Data (SLAM) #2": {
|
| 829 |
+
"max_misaligned_us": 0,
|
| 830 |
+
"misaligned": 0,
|
| 831 |
+
"total": 82
|
| 832 |
+
}
|
| 833 |
+
}
|
| 834 |
+
},
|
| 835 |
+
"AriaGen1_Handtracking": {
|
| 836 |
+
"thresholds_version": "thresholds_v2.0",
|
| 837 |
+
"final_result": "pass",
|
| 838 |
+
"failed_checks": [],
|
| 839 |
+
"warn_checks": [],
|
| 840 |
+
"performed_checks_with_details": {
|
| 841 |
+
"Camera Data (SLAM) #1": {
|
| 842 |
+
"bad": {
|
| 843 |
+
"check_type": "LE",
|
| 844 |
+
"fail_threshold": 0.0,
|
| 845 |
+
"result": "pass",
|
| 846 |
+
"value": 0.0
|
| 847 |
+
},
|
| 848 |
+
"exposure_overlapping": {
|
| 849 |
+
"check_type": "LE",
|
| 850 |
+
"fail_threshold": 0.0,
|
| 851 |
+
"result": "pass",
|
| 852 |
+
"value": 0.0
|
| 853 |
+
},
|
| 854 |
+
"largest_deviation_from_period_us": {
|
| 855 |
+
"check_type": "LE",
|
| 856 |
+
"fail_threshold": 500.0,
|
| 857 |
+
"result": "pass",
|
| 858 |
+
"value": 0.0,
|
| 859 |
+
"warn_threshold": 250.0
|
| 860 |
+
},
|
| 861 |
+
"longest_frame_drop_us": {
|
| 862 |
+
"check_type": "LE",
|
| 863 |
+
"fail_threshold": 210000.0,
|
| 864 |
+
"result": "pass",
|
| 865 |
+
"value": 100000.0,
|
| 866 |
+
"warn_threshold": 160000.0
|
| 867 |
+
},
|
| 868 |
+
"non_monotonic": {
|
| 869 |
+
"check_type": "LE",
|
| 870 |
+
"fail_threshold": 0.0,
|
| 871 |
+
"result": "pass",
|
| 872 |
+
"value": 0.0
|
| 873 |
+
},
|
| 874 |
+
"processed": {
|
| 875 |
+
"check_type": "GE",
|
| 876 |
+
"fail_threshold": 3.0,
|
| 877 |
+
"result": "pass",
|
| 878 |
+
"value": 82.0
|
| 879 |
+
},
|
| 880 |
+
"ratio_dropped_over_expected": {
|
| 881 |
+
"check_type": "LE",
|
| 882 |
+
"fail_threshold": 0.002,
|
| 883 |
+
"result": "pass",
|
| 884 |
+
"value": 0.0,
|
| 885 |
+
"warn_threshold": 0.001
|
| 886 |
+
},
|
| 887 |
+
"time_error": {
|
| 888 |
+
"check_type": "LE",
|
| 889 |
+
"fail_threshold": 0.0,
|
| 890 |
+
"result": "pass",
|
| 891 |
+
"value": 0.0
|
| 892 |
+
}
|
| 893 |
+
},
|
| 894 |
+
"Camera Data (SLAM) #2": {
|
| 895 |
+
"bad": {
|
| 896 |
+
"check_type": "LE",
|
| 897 |
+
"fail_threshold": 0.0,
|
| 898 |
+
"result": "pass",
|
| 899 |
+
"value": 0.0
|
| 900 |
+
},
|
| 901 |
+
"exposure_overlapping": {
|
| 902 |
+
"check_type": "LE",
|
| 903 |
+
"fail_threshold": 0.0,
|
| 904 |
+
"result": "pass",
|
| 905 |
+
"value": 0.0
|
| 906 |
+
},
|
| 907 |
+
"largest_deviation_from_period_us": {
|
| 908 |
+
"check_type": "LE",
|
| 909 |
+
"fail_threshold": 500.0,
|
| 910 |
+
"result": "pass",
|
| 911 |
+
"value": 0.0,
|
| 912 |
+
"warn_threshold": 250.0
|
| 913 |
+
},
|
| 914 |
+
"longest_frame_drop_us": {
|
| 915 |
+
"check_type": "LE",
|
| 916 |
+
"fail_threshold": 210000.0,
|
| 917 |
+
"result": "pass",
|
| 918 |
+
"value": 100000.0,
|
| 919 |
+
"warn_threshold": 160000.0
|
| 920 |
+
},
|
| 921 |
+
"non_monotonic": {
|
| 922 |
+
"check_type": "LE",
|
| 923 |
+
"fail_threshold": 0.0,
|
| 924 |
+
"result": "pass",
|
| 925 |
+
"value": 0.0
|
| 926 |
+
},
|
| 927 |
+
"processed": {
|
| 928 |
+
"check_type": "GE",
|
| 929 |
+
"fail_threshold": 3.0,
|
| 930 |
+
"result": "pass",
|
| 931 |
+
"value": 82.0
|
| 932 |
+
},
|
| 933 |
+
"ratio_dropped_over_expected": {
|
| 934 |
+
"check_type": "LE",
|
| 935 |
+
"fail_threshold": 0.002,
|
| 936 |
+
"result": "pass",
|
| 937 |
+
"value": 0.0,
|
| 938 |
+
"warn_threshold": 0.001
|
| 939 |
+
},
|
| 940 |
+
"time_error": {
|
| 941 |
+
"check_type": "LE",
|
| 942 |
+
"fail_threshold": 0.0,
|
| 943 |
+
"result": "pass",
|
| 944 |
+
"value": 0.0
|
| 945 |
+
}
|
| 946 |
+
},
|
| 947 |
+
"IMU Data (SLAM) #1": {
|
| 948 |
+
"largest_deviation_from_period_us": {
|
| 949 |
+
"check_type": "LE",
|
| 950 |
+
"fail_threshold": 200.0,
|
| 951 |
+
"result": "pass",
|
| 952 |
+
"value": 74.0,
|
| 953 |
+
"warn_threshold": 100.0
|
| 954 |
+
},
|
| 955 |
+
"longest_imu_skip_us": {
|
| 956 |
+
"check_type": "LE",
|
| 957 |
+
"fail_threshold": 15000.0,
|
| 958 |
+
"result": "pass",
|
| 959 |
+
"value": 1073.0,
|
| 960 |
+
"warn_threshold": 10000.0
|
| 961 |
+
},
|
| 962 |
+
"non_monotonic": {
|
| 963 |
+
"check_type": "LE",
|
| 964 |
+
"fail_threshold": 0.0,
|
| 965 |
+
"result": "pass",
|
| 966 |
+
"value": 0.0
|
| 967 |
+
},
|
| 968 |
+
"non_physical_rotation_accel": {
|
| 969 |
+
"check_type": "LE",
|
| 970 |
+
"fail_threshold": 500.0,
|
| 971 |
+
"result": "pass",
|
| 972 |
+
"value": 0.0
|
| 973 |
+
},
|
| 974 |
+
"processed": {
|
| 975 |
+
"check_type": "GE",
|
| 976 |
+
"fail_threshold": 100.0,
|
| 977 |
+
"result": "pass",
|
| 978 |
+
"value": 8234.0
|
| 979 |
+
},
|
| 980 |
+
"ratio_dropped_over_expected": {
|
| 981 |
+
"check_type": "LE",
|
| 982 |
+
"fail_threshold": 0.01,
|
| 983 |
+
"result": "pass",
|
| 984 |
+
"value": 0.0,
|
| 985 |
+
"warn_threshold": 0.001
|
| 986 |
+
},
|
| 987 |
+
"time_error": {
|
| 988 |
+
"check_type": "LE",
|
| 989 |
+
"fail_threshold": 0.0,
|
| 990 |
+
"result": "pass",
|
| 991 |
+
"value": 0.0
|
| 992 |
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}
|
| 993 |
+
},
|
| 994 |
+
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|
| 995 |
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"largest_deviation_from_period_us": {
|
| 996 |
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"check_type": "LE",
|
| 997 |
+
"fail_threshold": 200.0,
|
| 998 |
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"result": "pass",
|
| 999 |
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"value": 14.0,
|
| 1000 |
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"warn_threshold": 100.0
|
| 1001 |
+
},
|
| 1002 |
+
"longest_imu_skip_us": {
|
| 1003 |
+
"check_type": "LE",
|
| 1004 |
+
"fail_threshold": 15000.0,
|
| 1005 |
+
"result": "pass",
|
| 1006 |
+
"value": 1237.0,
|
| 1007 |
+
"warn_threshold": 10000.0
|
| 1008 |
+
},
|
| 1009 |
+
"non_monotonic": {
|
| 1010 |
+
"check_type": "LE",
|
| 1011 |
+
"fail_threshold": 0.0,
|
| 1012 |
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"result": "pass",
|
| 1013 |
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"value": 0.0
|
| 1014 |
+
},
|
| 1015 |
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"non_physical_rotation_accel": {
|
| 1016 |
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"check_type": "LE",
|
| 1017 |
+
"fail_threshold": 500.0,
|
| 1018 |
+
"result": "pass",
|
| 1019 |
+
"value": 0.0
|
| 1020 |
+
},
|
| 1021 |
+
"processed": {
|
| 1022 |
+
"check_type": "GE",
|
| 1023 |
+
"fail_threshold": 100.0,
|
| 1024 |
+
"result": "pass",
|
| 1025 |
+
"value": 6654.0
|
| 1026 |
+
},
|
| 1027 |
+
"ratio_dropped_over_expected": {
|
| 1028 |
+
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|
| 1029 |
+
"fail_threshold": 0.01,
|
| 1030 |
+
"result": "pass",
|
| 1031 |
+
"value": 0.0,
|
| 1032 |
+
"warn_threshold": 0.001
|
| 1033 |
+
},
|
| 1034 |
+
"time_error": {
|
| 1035 |
+
"check_type": "LE",
|
| 1036 |
+
"fail_threshold": 0.0,
|
| 1037 |
+
"result": "pass",
|
| 1038 |
+
"value": 0.0
|
| 1039 |
+
}
|
| 1040 |
+
},
|
| 1041 |
+
"RGB Camera Class #1": {
|
| 1042 |
+
"bad": {
|
| 1043 |
+
"check_type": "LE",
|
| 1044 |
+
"fail_threshold": 0.0,
|
| 1045 |
+
"result": "pass",
|
| 1046 |
+
"value": 0.0
|
| 1047 |
+
},
|
| 1048 |
+
"exposure_overlapping": {
|
| 1049 |
+
"check_type": "LE",
|
| 1050 |
+
"fail_threshold": 0.0,
|
| 1051 |
+
"result": "pass",
|
| 1052 |
+
"value": 0.0
|
| 1053 |
+
},
|
| 1054 |
+
"longest_frame_drop_us": {
|
| 1055 |
+
"check_type": "LE",
|
| 1056 |
+
"fail_threshold": 1000000.0,
|
| 1057 |
+
"result": "pass",
|
| 1058 |
+
"value": 100009.0
|
| 1059 |
+
},
|
| 1060 |
+
"ratio_dropped_over_expected": {
|
| 1061 |
+
"check_type": "LE",
|
| 1062 |
+
"fail_threshold": 0.05,
|
| 1063 |
+
"result": "pass",
|
| 1064 |
+
"value": 0.0
|
| 1065 |
+
}
|
| 1066 |
+
},
|
| 1067 |
+
"misalignment of Camera Data (SLAM) #1-Camera Data (SLAM) #2": {
|
| 1068 |
+
"ratio_misalignment_over_total": {
|
| 1069 |
+
"check_type": "LE",
|
| 1070 |
+
"fail_threshold": 0.005,
|
| 1071 |
+
"result": "pass",
|
| 1072 |
+
"value": 0.0,
|
| 1073 |
+
"warn_threshold": 0.001
|
| 1074 |
+
}
|
| 1075 |
+
}
|
| 1076 |
+
},
|
| 1077 |
+
"unperformed_checks": {
|
| 1078 |
+
"Barometer Data Class #1": {
|
| 1079 |
+
"bad": 0,
|
| 1080 |
+
"dropped": 0,
|
| 1081 |
+
"end_offset_from_file_us": 9370,
|
| 1082 |
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"expected": 412,
|
| 1083 |
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"largest_deviation_from_period_us": 89,
|
| 1084 |
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"longest_repeated_pressure": 2,
|
| 1085 |
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"non_monotonic": 0,
|
| 1086 |
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"processed": 411,
|
| 1087 |
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"ratio_dropped_over_expected": 0.0,
|
| 1088 |
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"start_offset_from_file_us": 0,
|
| 1089 |
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"time_error": 0,
|
| 1090 |
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"total": 411
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| 1091 |
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},
|
| 1092 |
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"Camera Data (SLAM) #1": {
|
| 1093 |
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"calibration_consistent": true,
|
| 1094 |
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"dropped": 0,
|
| 1095 |
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"end_offset_from_file_us": 49705,
|
| 1096 |
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"expected": 82,
|
| 1097 |
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"exposure_out_of_range": 0,
|
| 1098 |
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"frames_with_large_deviation": 0,
|
| 1099 |
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"gain_out_of_range": 0,
|
| 1100 |
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"non_monotonic_frame_number": 0,
|
| 1101 |
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"ratio_large_deviation_over_total": 0.0,
|
| 1102 |
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"start_offset_from_file_us": 84436,
|
| 1103 |
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"temperature_out_of_range": 0,
|
| 1104 |
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"total": 82,
|
| 1105 |
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"total_frames": 82
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| 1106 |
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},
|
| 1107 |
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"Camera Data (SLAM) #2": {
|
| 1108 |
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"calibration_consistent": true,
|
| 1109 |
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"dropped": 0,
|
| 1110 |
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"end_offset_from_file_us": 49705,
|
| 1111 |
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"expected": 82,
|
| 1112 |
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"exposure_out_of_range": 0,
|
| 1113 |
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"frames_with_large_deviation": 0,
|
| 1114 |
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"gain_out_of_range": 0,
|
| 1115 |
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"non_monotonic_frame_number": 0,
|
| 1116 |
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"ratio_large_deviation_over_total": 0.0,
|
| 1117 |
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"start_offset_from_file_us": 84436,
|
| 1118 |
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"temperature_out_of_range": 0,
|
| 1119 |
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"total": 82,
|
| 1120 |
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"total_frames": 82
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| 1121 |
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},
|
| 1122 |
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"Eye Camera Class #1": {
|
| 1123 |
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"bad": 0,
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| 1124 |
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"calibration_consistent": true,
|
| 1125 |
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"dropped": 0,
|
| 1126 |
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|
| 1127 |
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"expected": 82,
|
| 1128 |
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"exposure_out_of_range": 0,
|
| 1129 |
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"exposure_overlapping": 0,
|
| 1130 |
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"frames_with_large_deviation": 0,
|
| 1131 |
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"gain_out_of_range": 0,
|
| 1132 |
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"largest_deviation_from_period_us": 0,
|
| 1133 |
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"longest_frame_drop_us": 100000,
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| 1134 |
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"non_monotonic": 0,
|
| 1135 |
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"non_monotonic_frame_number": 0,
|
| 1136 |
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"processed": 82,
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| 1137 |
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"ratio_dropped_over_expected": 0.0,
|
| 1138 |
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"ratio_large_deviation_over_total": 0.0,
|
| 1139 |
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"start_offset_from_file_us": 84448,
|
| 1140 |
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"temperature_out_of_range": 0,
|
| 1141 |
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"time_error": 0,
|
| 1142 |
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"total": 82,
|
| 1143 |
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"total_frames": 82
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| 1144 |
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},
|
| 1145 |
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"IMU Data (SLAM) #1": {
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| 1146 |
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"bad": 0,
|
| 1147 |
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"dropped": 0,
|
| 1148 |
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"end_offset_from_file_us": 121,
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| 1149 |
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"expected": 8231,
|
| 1150 |
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"longest_repeated_accel": 5,
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| 1151 |
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"longest_repeated_gyro": 5,
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| 1152 |
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"max_rotation_accel_rad_sec2": 31.969526290893555,
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| 1153 |
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"ratio_total_repeated_accel_over_expected": 0.060988944235208356,
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| 1154 |
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"ratio_total_repeated_gyro_over_expected": 0.06718503219535901,
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| 1155 |
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| 1156 |
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"total": 8234,
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| 1157 |
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"total_repeated_accel": 502,
|
| 1158 |
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"total_repeated_gyro": 553,
|
| 1159 |
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"zero_accel": 0,
|
| 1160 |
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"zero_gyro": 27
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| 1161 |
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},
|
| 1162 |
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"IMU Data (SLAM) #2": {
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| 1163 |
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"bad": 0,
|
| 1164 |
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"dropped": 0,
|
| 1165 |
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"end_offset_from_file_us": 0,
|
| 1166 |
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"expected": 6585,
|
| 1167 |
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"longest_repeated_accel": 2,
|
| 1168 |
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"longest_repeated_gyro": 4,
|
| 1169 |
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"max_rotation_accel_rad_sec2": 27.757165908813477,
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| 1170 |
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"ratio_total_repeated_accel_over_expected": 0.015945330296127564,
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"ratio_total_repeated_gyro_over_expected": 0.031131359149582385,
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| 1172 |
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| 1173 |
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"total": 6654,
|
| 1174 |
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"total_repeated_accel": 105,
|
| 1175 |
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"total_repeated_gyro": 205,
|
| 1176 |
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"zero_accel": 0,
|
| 1177 |
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"zero_gyro": 11
|
| 1178 |
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},
|
| 1179 |
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"Magnetometer Data (SLAM) #1": {
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| 1180 |
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"bad": 0,
|
| 1181 |
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"dropped": 0,
|
| 1182 |
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"end_offset_from_file_us": 32781,
|
| 1183 |
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"expected": 82,
|
| 1184 |
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"largest_deviation_from_period_us": 675,
|
| 1185 |
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"longest_repeated_mag": 0,
|
| 1186 |
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"non_monotonic": 0,
|
| 1187 |
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"processed": 82,
|
| 1188 |
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"ratio_dropped_over_expected": 0.0,
|
| 1189 |
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"start_offset_from_file_us": 52166,
|
| 1190 |
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"time_error": 0,
|
| 1191 |
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"total": 82
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| 1192 |
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},
|
| 1193 |
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"RGB Camera Class #1": {
|
| 1194 |
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"calibration_consistent": true,
|
| 1195 |
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"dropped": 0,
|
| 1196 |
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"end_offset_from_file_us": 49789,
|
| 1197 |
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"expected": 82,
|
| 1198 |
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"exposure_out_of_range": 0,
|
| 1199 |
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"frames_with_large_deviation": 0,
|
| 1200 |
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"gain_out_of_range": 0,
|
| 1201 |
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"largest_deviation_from_period_us": 11,
|
| 1202 |
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"non_monotonic": 0,
|
| 1203 |
+
"non_monotonic_frame_number": 0,
|
| 1204 |
+
"processed": 82,
|
| 1205 |
+
"ratio_large_deviation_over_total": 0.0,
|
| 1206 |
+
"start_offset_from_file_us": 84351,
|
| 1207 |
+
"temperature_out_of_range": 0,
|
| 1208 |
+
"time_error": 0,
|
| 1209 |
+
"total": 82,
|
| 1210 |
+
"total_frames": 82
|
| 1211 |
+
},
|
| 1212 |
+
"Stereo Audio Class #1": {
|
| 1213 |
+
"bad": 0,
|
| 1214 |
+
"dropped": 0,
|
| 1215 |
+
"end_offset_from_file_us": 5520,
|
| 1216 |
+
"expected": 389888,
|
| 1217 |
+
"largest_deviation_from_period_us": 1,
|
| 1218 |
+
"non_monotonic": 0,
|
| 1219 |
+
"processed": 389888,
|
| 1220 |
+
"ratio_dropped_over_expected": 0.0,
|
| 1221 |
+
"start_offset_from_file_us": 111288,
|
| 1222 |
+
"time_error": 0,
|
| 1223 |
+
"total": 389888
|
| 1224 |
+
},
|
| 1225 |
+
"Time Domain Mapping Class #1": {
|
| 1226 |
+
"bad": 0,
|
| 1227 |
+
"processed": 9,
|
| 1228 |
+
"total": 9
|
| 1229 |
+
},
|
| 1230 |
+
"file_level_checks": {
|
| 1231 |
+
"all_tags_present": false,
|
| 1232 |
+
"calib_json_tag_correct": false,
|
| 1233 |
+
"metadata_tag_correct": false,
|
| 1234 |
+
"slam_imu_streams_present": true,
|
| 1235 |
+
"streams_match_profile": false
|
| 1236 |
+
},
|
| 1237 |
+
"misalignment of Camera Data (SLAM) #1-Camera Data (SLAM) #2": {
|
| 1238 |
+
"max_misaligned_us": 0,
|
| 1239 |
+
"misaligned": 0,
|
| 1240 |
+
"total": 82
|
| 1241 |
+
}
|
| 1242 |
+
}
|
| 1243 |
+
}
|
| 1244 |
+
}
|
test/TC07/TC07_046/vrs/barometer.csv
ADDED
|
@@ -0,0 +1,412 @@
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| 1 |
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capture_timestamp_ns,temperature,pressure,altitude
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| 2 |
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