[fix] write the edex intrinsics key as size, not resolution

[slepichev]

Intrinsics.resolution is declared with alias="size", but EDEXMetadata.write dumped the models without by_alias, so pydantic serialised the field name. Every file the writer produced carried "resolution" and then failed to load in both readers: EDEX_CAM_SIZE in libs/edex/edex_internal.h, and the key check in dataset_reader.py that raises KeyError: 'size'. This hit every producer going through EDEXMetadata.write, not just the RGB-D path.

The existing round trip test missed it because the model sets populate_by_name, so reading the written file back accepts either spelling. The new test opens the raw json instead.

Summary by CodeRabbit

• Bug Fixes

  • Corrected EDEX output so camera intrinsics use the size field consistently.
  • Removed the legacy resolution field from generated EDEX JSON.

• Tests

  • Added coverage to verify the corrected output format.

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📒 Files selected for processing (2)

• tools/python_tools/cuvslam_tools/common/edex.py
• tools/python_tools/cuvslam_tools/tests/test_edex.py

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📝 Walkthrough

Walkthrough

The EDEX writer now serializes Pydantic models with aliases. Camera intrinsics use the size JSON key instead of resolution. A regression test verifies the output.

Changes

EDEX alias serialization

Layer / File(s)	Summary
Writer alias output and regression coverage tools/python_tools/cuvslam_tools/common/edex.py, tools/python_tools/cuvslam_tools/tests/test_edex.py	The writer enables Pydantic aliases. The regression test verifies that camera intrinsics contain size and omit resolution.

Estimated code review effort: 2 (Simple) | ~5 minutes

Merge Risk: ⚪ Minimal · up to 2fbf8

EDEX metadata now writes camera intrinsics with the required size key, restoring compatibility with EDEX and dataset readers. The raw JSON regression test covers the corrected serialization behavior, with no remaining merge-blocking risk identified.

🚥 Pre-merge checks | ✅ 4 | ❌ 1

❌ Failed checks (1 warning)

Check name	Status	Explanation	Resolution
Docstring Coverage	⚠️ Warning	Docstring coverage is 25.00% which is insufficient. The required threshold is 80.00%. Docstring coverage is scoped to functions touched by this diff. Analyzed 4 functions across 2 files.	Write docstrings for the functions missing them to satisfy the coverage threshold.

✅ Passed checks (4 passed)

Check name	Status	Explanation
Description Check	✅ Passed	Check skipped - CodeRabbit’s high-level summary is enabled.
Title check	✅ Passed	The title clearly and concisely describes the main change: writing the EDEX intrinsics key as "size" instead of "resolution".
Linked Issues check	✅ Passed	Check skipped because no linked issues were found for this pull request.
Out of Scope Changes check	✅ Passed	Check skipped because no linked issues were found for this pull request.

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• Commit unit tests in branch slepichev/fix-ros-bag-conversion-2

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Test Results

Status	Platform	Language	Total	Passed	Failed	Errors	Skipped
✅	Orin	C++	17	17	0	0	0
✅	Orin	Python	74	73	0	0	1
✅	Thor	C++	17	17	0	0	0
✅	Thor	Python	74	73	0	0	1
✅	x86_64	C++	17	17	0	0	0
✅	x86_64	Python	74	73	0	0	1

cuVSLAM Evaluation KPIs

Config	Dataset	ATE, %	ARE, º/m	Kabsch	Losts	diff ATE, %	diff ARE, º/m	diff Kabsch	diff Losts	FPS, Hz
x86_64-cuda12.6.3-ubuntu24.04	EUROC-VIO_ODOM	1.6516	0.1497	0.0943	0	-0.0002	-0.0000	-0.0001	0	121.6
x86_64-cuda12.6.3-ubuntu24.04	EUROC-VIO_SLAM	1.7849	0.1928	0.0595	0	-0.0000	0.0001	-0.0000	0	98.9
x86_64-cuda12.6.3-ubuntu24.04	KITTI-STEREO_ODOM	0.8185	0.0023	2.7484	0	-0.0027	-0.0000	-0.0419	0	244.6
x86_64-cuda12.6.3-ubuntu24.04	KITTI-STEREO_SLAM	0.7288	0.0020	1.9272	0	0.0042	-0.0000	-0.0203	0	170.0

Artifacts

• eval-html-report
• eval-kpis-pr
• test-results-x86_64
• docs-html
• test-results-orin
• test-results-thor