Correct camera 17736741 stereo offset (2026-09-21 sessions); regenerate its WAFT depth in 2 sessions

calibration.json of all 30 sessions of 2026-09-21: camera 17736741 right.cx = left.cx - 1.4586 px (rectified stereo offset measured against the RGB-verified table; recorded poses unchanged). WAFT depth of 17736741 regenerated with the offset for session_20260921_225630_786148 and session_20260921_230724_040591 (same SynLarge DAv2L-5 hierarchical [0.5,1.0] settings). Other sessions' WAFT depth for 17736741, and all ZED SDK / FoundationStereo depth, still predate the correction.

sessions/session_20260921_224805_783273/metadata/calibration.json

@@ -1,4 +1,17 @@
 {
+  "calibration_corrections": [
+    {
+      "camera_serial": "17736741",
+      "change": "right.cx = left.cx - 1.4586064778236398 px (rectified stereo offset, disparity = fx*B/z + cx_left - cx_right)",
+      "date": "2026-10-16",
+      "decided_by": "owner, 2026-10-16",
+      "derived_depth_note": "WAFT depth produced before this date ignores the offset; regenerate it with code that applies cx_left - cx_right. ZED SDK and FoundationStereo depth were not regenerated.",
+      "disparity_offset_px": 1.4586064778236398,
+      "evidence": "/mnt/data0/magna/belt_perception_runs/calibration/cam17736741_extrinsic_diagnosis_20261016",
+      "field": "camera_intrinsics.zed_17736741_*.right.cx",
+      "reason": "Every depth product of this ZED read ~1.8% short against the RGB-verified table/board geometry; the recorded pose and left intrinsics are correct. Fitted on 5 sessions of 2026-09-21 (WAFT, bare table)."
+    }
+  ],
   "camera_frame_conventions": {
     "zed_12540311_depth_zed_sdk_neural_plus": {
       "color_camera_frame": null,
@@ -1386,7 +1399,7 @@
         }
       },
       "right": {
-        "cx": 954.2999267578125,
+        "cx": 952.8413202799888,
         "cy": 518.1405639648438,
         "fx": 1509.059814453125,
         "fy": 1509.059814453125
@@ -1572,7 +1585,7 @@
         }
       },
       "right": {
-        "cx": 954.2999267578125,
+        "cx": 952.8413202799888,
         "cy": 518.1405639648438,
         "fx": 1509.059814453125,
         "fy": 1509.059814453125
@@ -1758,7 +1771,7 @@
         }
       },
       "right": {
-        "cx": 954.2999267578125,
+        "cx": 952.8413202799888,
         "cy": 518.1405639648438,
         "fx": 1509.059814453125,
         "fy": 1509.059814453125

sessions/session_20260921_224908_623989/metadata/calibration.json

@@ -1,4 +1,17 @@
 {
+  "calibration_corrections": [
+    {
+      "camera_serial": "17736741",
+      "change": "right.cx = left.cx - 1.4586064778236398 px (rectified stereo offset, disparity = fx*B/z + cx_left - cx_right)",
+      "date": "2026-10-16",
+      "decided_by": "owner, 2026-10-16",
+      "derived_depth_note": "WAFT depth produced before this date ignores the offset; regenerate it with code that applies cx_left - cx_right. ZED SDK and FoundationStereo depth were not regenerated.",
+      "disparity_offset_px": 1.4586064778236398,
+      "evidence": "/mnt/data0/magna/belt_perception_runs/calibration/cam17736741_extrinsic_diagnosis_20261016",
+      "field": "camera_intrinsics.zed_17736741_*.right.cx",
+      "reason": "Every depth product of this ZED read ~1.8% short against the RGB-verified table/board geometry; the recorded pose and left intrinsics are correct. Fitted on 5 sessions of 2026-09-21 (WAFT, bare table)."
+    }
+  ],
   "camera_frame_conventions": {
     "zed_12540311_depth_zed_sdk_neural_plus": {
       "color_camera_frame": null,
@@ -1386,7 +1399,7 @@
         }
       },
       "right": {
-        "cx": 954.2996826171875,
+        "cx": 952.8410761393638,
         "cy": 518.140380859375,
         "fx": 1509.0465087890625,
         "fy": 1509.0465087890625
@@ -1572,7 +1585,7 @@
         }
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       "right": {
-        "cx": 954.2996826171875,
+        "cx": 952.8410761393638,
         "cy": 518.140380859375,
         "fx": 1509.0465087890625,
         "fy": 1509.0465087890625
@@ -1758,7 +1771,7 @@
         }
       },
       "right": {
-        "cx": 954.2996826171875,
+        "cx": 952.8410761393638,
         "cy": 518.140380859375,
         "fx": 1509.0465087890625,
         "fy": 1509.0465087890625

sessions/session_20260921_225021_012417/metadata/calibration.json

@@ -1,4 +1,17 @@
 {
+  "calibration_corrections": [
+    {
+      "camera_serial": "17736741",
+      "change": "right.cx = left.cx - 1.4586064778236398 px (rectified stereo offset, disparity = fx*B/z + cx_left - cx_right)",
+      "date": "2026-10-16",
+      "decided_by": "owner, 2026-10-16",
+      "derived_depth_note": "WAFT depth produced before this date ignores the offset; regenerate it with code that applies cx_left - cx_right. ZED SDK and FoundationStereo depth were not regenerated.",
+      "disparity_offset_px": 1.4586064778236398,
+      "evidence": "/mnt/data0/magna/belt_perception_runs/calibration/cam17736741_extrinsic_diagnosis_20261016",
+      "field": "camera_intrinsics.zed_17736741_*.right.cx",
+      "reason": "Every depth product of this ZED read ~1.8% short against the RGB-verified table/board geometry; the recorded pose and left intrinsics are correct. Fitted on 5 sessions of 2026-09-21 (WAFT, bare table)."
+    }
+  ],
   "camera_frame_conventions": {
     "zed_12540311_depth_zed_sdk_neural_plus": {
       "color_camera_frame": null,
@@ -1386,7 +1399,7 @@
         }
       },
       "right": {
-        "cx": 954.300048828125,
+        "cx": 952.8414423503013,
         "cy": 518.1400756835938,
         "fx": 1509.0423583984375,
         "fy": 1509.0423583984375
@@ -1572,7 +1585,7 @@
         }
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         "cy": 518.1400756835938,
         "fx": 1509.0423583984375,
         "fy": 1509.0423583984375
@@ -1758,7 +1771,7 @@
         }
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       "right": {
-        "cx": 954.300048828125,
+        "cx": 952.8414423503013,
         "cy": 518.1400756835938,
         "fx": 1509.0423583984375,
         "fy": 1509.0423583984375

sessions/session_20260921_225524_803572/metadata/calibration.json

@@ -1,4 +1,17 @@
 {
+  "calibration_corrections": [
+    {
+      "camera_serial": "17736741",
+      "change": "right.cx = left.cx - 1.4586064778236398 px (rectified stereo offset, disparity = fx*B/z + cx_left - cx_right)",
+      "date": "2026-10-16",
+      "decided_by": "owner, 2026-10-16",
+      "derived_depth_note": "WAFT depth produced before this date ignores the offset; regenerate it with code that applies cx_left - cx_right. ZED SDK and FoundationStereo depth were not regenerated.",
+      "disparity_offset_px": 1.4586064778236398,
+      "evidence": "/mnt/data0/magna/belt_perception_runs/calibration/cam17736741_extrinsic_diagnosis_20261016",
+      "field": "camera_intrinsics.zed_17736741_*.right.cx",
+      "reason": "Every depth product of this ZED read ~1.8% short against the RGB-verified table/board geometry; the recorded pose and left intrinsics are correct. Fitted on 5 sessions of 2026-09-21 (WAFT, bare table)."
+    }
+  ],
   "camera_frame_conventions": {
     "zed_12540311_depth_zed_sdk_neural_plus": {
       "color_camera_frame": null,
@@ -1386,7 +1399,7 @@
         }
       },
       "right": {
-        "cx": 954.3002319335938,
+        "cx": 952.8416254557701,
         "cy": 518.1400756835938,
         "fx": 1509.048583984375,
         "fy": 1509.048583984375
@@ -1572,7 +1585,7 @@
         }
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       "right": {
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         "cy": 518.1400756835938,
         "fx": 1509.048583984375,
         "fy": 1509.048583984375
@@ -1758,7 +1771,7 @@
         }
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       "right": {
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+        "cx": 952.8416254557701,
         "cy": 518.1400756835938,
         "fx": 1509.048583984375,
         "fy": 1509.048583984375

sessions/session_20260921_225630_786148/metadata/calibration.json

@@ -1,4 +1,17 @@
 {
+  "calibration_corrections": [
+    {
+      "camera_serial": "17736741",
+      "change": "right.cx = left.cx - 1.4586064778236398 px (rectified stereo offset, disparity = fx*B/z + cx_left - cx_right)",
+      "date": "2026-10-16",
+      "decided_by": "owner, 2026-10-16",
+      "derived_depth_note": "WAFT depth produced before this date ignores the offset; regenerate it with code that applies cx_left - cx_right. ZED SDK and FoundationStereo depth were not regenerated.",
+      "disparity_offset_px": 1.4586064778236398,
+      "evidence": "/mnt/data0/magna/belt_perception_runs/calibration/cam17736741_extrinsic_diagnosis_20261016",
+      "field": "camera_intrinsics.zed_17736741_*.right.cx",
+      "reason": "Every depth product of this ZED read ~1.8% short against the RGB-verified table/board geometry; the recorded pose and left intrinsics are correct. Fitted on 5 sessions of 2026-09-21 (WAFT, bare table)."
+    }
+  ],
   "camera_frame_conventions": {
     "zed_12540311_depth_zed_sdk_neural_plus": {
       "color_camera_frame": null,
@@ -1386,7 +1399,7 @@
         }
       },
       "right": {
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         "cy": 518.1402587890625,
         "fx": 1509.0406494140625,
         "fy": 1509.0406494140625
@@ -1572,7 +1585,7 @@
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@@ -1758,7 +1771,7 @@
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+        "cx": 952.8410761393638,
         "cy": 518.1402587890625,
         "fx": 1509.0406494140625,
         "fy": 1509.0406494140625

sessions/session_20260921_225630_786148/metadata/raw_stream_summary.parquet

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sessions/session_20260921_225630_786148/metadata/streams.parquet

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sessions/session_20260921_225630_786148/metadata/videos.parquet

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sessions/session_20260921_225630_786148/tables/frames.parquet

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+size 15186032

sessions/session_20260921_225630_786148/videos/zed_17736741_depth_waft_stereo_synlarge_dav2l5_zdepth.zdepth

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+size 609309902

sessions/session_20260921_225744_574043/metadata/calibration.json

@@ -1,4 +1,17 @@
 {
+  "calibration_corrections": [
+    {
+      "camera_serial": "17736741",
+      "change": "right.cx = left.cx - 1.4586064778236398 px (rectified stereo offset, disparity = fx*B/z + cx_left - cx_right)",
+      "date": "2026-10-16",
+      "decided_by": "owner, 2026-10-16",
+      "derived_depth_note": "WAFT depth produced before this date ignores the offset; regenerate it with code that applies cx_left - cx_right. ZED SDK and FoundationStereo depth were not regenerated.",
+      "disparity_offset_px": 1.4586064778236398,
+      "evidence": "/mnt/data0/magna/belt_perception_runs/calibration/cam17736741_extrinsic_diagnosis_20261016",
+      "field": "camera_intrinsics.zed_17736741_*.right.cx",
+      "reason": "Every depth product of this ZED read ~1.8% short against the RGB-verified table/board geometry; the recorded pose and left intrinsics are correct. Fitted on 5 sessions of 2026-09-21 (WAFT, bare table)."
+    }
+  ],
   "camera_frame_conventions": {
     "zed_12540311_depth_zed_sdk_neural_plus": {
       "color_camera_frame": null,
@@ -1386,7 +1399,7 @@
         }
       },
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@@ -1572,7 +1585,7 @@
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@@ -1758,7 +1771,7 @@
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         "fy": 1509.0499267578125

sessions/session_20260921_225908_522335/metadata/calibration.json

@@ -1,4 +1,17 @@
 {
+  "calibration_corrections": [
+    {
+      "camera_serial": "17736741",
+      "change": "right.cx = left.cx - 1.4586064778236398 px (rectified stereo offset, disparity = fx*B/z + cx_left - cx_right)",
+      "date": "2026-10-16",
+      "decided_by": "owner, 2026-10-16",
+      "derived_depth_note": "WAFT depth produced before this date ignores the offset; regenerate it with code that applies cx_left - cx_right. ZED SDK and FoundationStereo depth were not regenerated.",
+      "disparity_offset_px": 1.4586064778236398,
+      "evidence": "/mnt/data0/magna/belt_perception_runs/calibration/cam17736741_extrinsic_diagnosis_20261016",
+      "field": "camera_intrinsics.zed_17736741_*.right.cx",
+      "reason": "Every depth product of this ZED read ~1.8% short against the RGB-verified table/board geometry; the recorded pose and left intrinsics are correct. Fitted on 5 sessions of 2026-09-21 (WAFT, bare table)."
+    }
+  ],
   "camera_frame_conventions": {
     "zed_12540311_depth_zed_sdk_neural_plus": {
       "color_camera_frame": null,
@@ -1386,7 +1399,7 @@
         }
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@@ -1572,7 +1585,7 @@
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@@ -1758,7 +1771,7 @@
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sessions/session_20260921_230338_900969/metadata/calibration.json

@@ -1,4 +1,17 @@
 {
+  "calibration_corrections": [
+    {
+      "camera_serial": "17736741",
+      "change": "right.cx = left.cx - 1.4586064778236398 px (rectified stereo offset, disparity = fx*B/z + cx_left - cx_right)",
+      "date": "2026-10-16",
+      "decided_by": "owner, 2026-10-16",
+      "derived_depth_note": "WAFT depth produced before this date ignores the offset; regenerate it with code that applies cx_left - cx_right. ZED SDK and FoundationStereo depth were not regenerated.",
+      "disparity_offset_px": 1.4586064778236398,
+      "evidence": "/mnt/data0/magna/belt_perception_runs/calibration/cam17736741_extrinsic_diagnosis_20261016",
+      "field": "camera_intrinsics.zed_17736741_*.right.cx",
+      "reason": "Every depth product of this ZED read ~1.8% short against the RGB-verified table/board geometry; the recorded pose and left intrinsics are correct. Fitted on 5 sessions of 2026-09-21 (WAFT, bare table)."
+    }
+  ],
   "camera_frame_conventions": {
     "zed_12540311_depth_zed_sdk_neural_plus": {
       "color_camera_frame": null,
@@ -1386,7 +1399,7 @@
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@@ -1572,7 +1585,7 @@
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@@ -1758,7 +1771,7 @@
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         "fy": 1509.0537109375

sessions/session_20260921_230446_039759/metadata/calibration.json

@@ -1,4 +1,17 @@
 {
+  "calibration_corrections": [
+    {
+      "camera_serial": "17736741",
+      "change": "right.cx = left.cx - 1.4586064778236398 px (rectified stereo offset, disparity = fx*B/z + cx_left - cx_right)",
+      "date": "2026-10-16",
+      "decided_by": "owner, 2026-10-16",
+      "derived_depth_note": "WAFT depth produced before this date ignores the offset; regenerate it with code that applies cx_left - cx_right. ZED SDK and FoundationStereo depth were not regenerated.",
+      "disparity_offset_px": 1.4586064778236398,
+      "evidence": "/mnt/data0/magna/belt_perception_runs/calibration/cam17736741_extrinsic_diagnosis_20261016",
+      "field": "camera_intrinsics.zed_17736741_*.right.cx",
+      "reason": "Every depth product of this ZED read ~1.8% short against the RGB-verified table/board geometry; the recorded pose and left intrinsics are correct. Fitted on 5 sessions of 2026-09-21 (WAFT, bare table)."
+    }
+  ],
   "camera_frame_conventions": {
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       "color_camera_frame": null,
@@ -1386,7 +1399,7 @@
         }
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@@ -1572,7 +1585,7 @@
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@@ -1758,7 +1771,7 @@
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sessions/session_20260921_230550_636767/metadata/calibration.json

@@ -1,4 +1,17 @@
 {
+  "calibration_corrections": [
+    {
+      "camera_serial": "17736741",
+      "change": "right.cx = left.cx - 1.4586064778236398 px (rectified stereo offset, disparity = fx*B/z + cx_left - cx_right)",
+      "date": "2026-10-16",
+      "decided_by": "owner, 2026-10-16",
+      "derived_depth_note": "WAFT depth produced before this date ignores the offset; regenerate it with code that applies cx_left - cx_right. ZED SDK and FoundationStereo depth were not regenerated.",
+      "disparity_offset_px": 1.4586064778236398,
+      "evidence": "/mnt/data0/magna/belt_perception_runs/calibration/cam17736741_extrinsic_diagnosis_20261016",
+      "field": "camera_intrinsics.zed_17736741_*.right.cx",
+      "reason": "Every depth product of this ZED read ~1.8% short against the RGB-verified table/board geometry; the recorded pose and left intrinsics are correct. Fitted on 5 sessions of 2026-09-21 (WAFT, bare table)."
+    }
+  ],
   "camera_frame_conventions": {
     "zed_12540311_depth_zed_sdk_neural_plus": {
       "color_camera_frame": null,
@@ -1386,7 +1399,7 @@
         }
       },
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@@ -1572,7 +1585,7 @@
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       "right": {
-        "cx": 954.2990112304688,
+        "cx": 952.8404047526451,
         "cy": 518.1409912109375,
         "fx": 1509.0538330078125,
         "fy": 1509.0538330078125

sessions/session_20260921_232344_289067/metadata/calibration.json

@@ -1,4 +1,17 @@
 {
+  "calibration_corrections": [
+    {
+      "camera_serial": "17736741",
+      "change": "right.cx = left.cx - 1.4586064778236398 px (rectified stereo offset, disparity = fx*B/z + cx_left - cx_right)",
+      "date": "2026-10-16",
+      "decided_by": "owner, 2026-10-16",
+      "derived_depth_note": "WAFT depth produced before this date ignores the offset; regenerate it with code that applies cx_left - cx_right. ZED SDK and FoundationStereo depth were not regenerated.",
+      "disparity_offset_px": 1.4586064778236398,
+      "evidence": "/mnt/data0/magna/belt_perception_runs/calibration/cam17736741_extrinsic_diagnosis_20261016",
+      "field": "camera_intrinsics.zed_17736741_*.right.cx",
+      "reason": "Every depth product of this ZED read ~1.8% short against the RGB-verified table/board geometry; the recorded pose and left intrinsics are correct. Fitted on 5 sessions of 2026-09-21 (WAFT, bare table)."
+    }
+  ],
   "camera_frame_conventions": {
     "zed_12540311_depth_zed_sdk_neural_plus": {
       "color_camera_frame": null,
@@ -1386,7 +1399,7 @@
         }
       },
       "right": {
-        "cx": 954.29833984375,
+        "cx": 952.8397333659263,
         "cy": 518.1412353515625,
         "fx": 1509.0447998046875,
         "fy": 1509.0447998046875
@@ -1572,7 +1585,7 @@
         }
       },
       "right": {
-        "cx": 954.29833984375,
+        "cx": 952.8397333659263,
         "cy": 518.1412353515625,
         "fx": 1509.0447998046875,
         "fy": 1509.0447998046875
@@ -1758,7 +1771,7 @@
         }
       },
       "right": {
-        "cx": 954.29833984375,
+        "cx": 952.8397333659263,
         "cy": 518.1412353515625,
         "fx": 1509.0447998046875,
         "fy": 1509.0447998046875

sessions/session_20260921_232447_904863/metadata/calibration.json

@@ -1,4 +1,17 @@
 {
+  "calibration_corrections": [
+    {
+      "camera_serial": "17736741",
+      "change": "right.cx = left.cx - 1.4586064778236398 px (rectified stereo offset, disparity = fx*B/z + cx_left - cx_right)",
+      "date": "2026-10-16",
+      "decided_by": "owner, 2026-10-16",
+      "derived_depth_note": "WAFT depth produced before this date ignores the offset; regenerate it with code that applies cx_left - cx_right. ZED SDK and FoundationStereo depth were not regenerated.",
+      "disparity_offset_px": 1.4586064778236398,
+      "evidence": "/mnt/data0/magna/belt_perception_runs/calibration/cam17736741_extrinsic_diagnosis_20261016",
+      "field": "camera_intrinsics.zed_17736741_*.right.cx",
+      "reason": "Every depth product of this ZED read ~1.8% short against the RGB-verified table/board geometry; the recorded pose and left intrinsics are correct. Fitted on 5 sessions of 2026-09-21 (WAFT, bare table)."
+    }
+  ],
   "camera_frame_conventions": {
     "zed_12540311_depth_zed_sdk_neural_plus": {
       "color_camera_frame": null,
@@ -1386,7 +1399,7 @@
         }
       },
       "right": {
-        "cx": 954.3023071289062,
+        "cx": 952.8437006510826,
         "cy": 518.1390380859375,
         "fx": 1509.061279296875,
         "fy": 1509.061279296875
@@ -1572,7 +1585,7 @@
         }
       },
       "right": {
-        "cx": 954.3023071289062,
+        "cx": 952.8437006510826,
         "cy": 518.1390380859375,
         "fx": 1509.061279296875,
         "fy": 1509.061279296875
@@ -1758,7 +1771,7 @@
         }
       },
       "right": {
-        "cx": 954.3023071289062,
+        "cx": 952.8437006510826,
         "cy": 518.1390380859375,
         "fx": 1509.061279296875,
         "fy": 1509.061279296875

sessions/session_20260921_232616_062985/metadata/calibration.json

@@ -1,4 +1,17 @@
 {
+  "calibration_corrections": [
+    {
+      "camera_serial": "17736741",
+      "change": "right.cx = left.cx - 1.4586064778236398 px (rectified stereo offset, disparity = fx*B/z + cx_left - cx_right)",
+      "date": "2026-10-16",
+      "decided_by": "owner, 2026-10-16",
+      "derived_depth_note": "WAFT depth produced before this date ignores the offset; regenerate it with code that applies cx_left - cx_right. ZED SDK and FoundationStereo depth were not regenerated.",
+      "disparity_offset_px": 1.4586064778236398,
+      "evidence": "/mnt/data0/magna/belt_perception_runs/calibration/cam17736741_extrinsic_diagnosis_20261016",
+      "field": "camera_intrinsics.zed_17736741_*.right.cx",
+      "reason": "Every depth product of this ZED read ~1.8% short against the RGB-verified table/board geometry; the recorded pose and left intrinsics are correct. Fitted on 5 sessions of 2026-09-21 (WAFT, bare table)."
+    }
+  ],
   "camera_frame_conventions": {
     "zed_12540311_depth_zed_sdk_neural_plus": {
       "color_camera_frame": null,
@@ -1386,7 +1399,7 @@
         }
       },
       "right": {
-        "cx": 954.299072265625,
+        "cx": 952.8404657878013,
         "cy": 518.1408081054688,
         "fx": 1509.048828125,
         "fy": 1509.048828125
@@ -1572,7 +1585,7 @@
         }
       },
       "right": {
-        "cx": 954.299072265625,
+        "cx": 952.8404657878013,
         "cy": 518.1408081054688,
         "fx": 1509.048828125,
         "fy": 1509.048828125
@@ -1758,7 +1771,7 @@
         }
       },
       "right": {
-        "cx": 954.299072265625,
+        "cx": 952.8404657878013,
         "cy": 518.1408081054688,
         "fx": 1509.048828125,
         "fy": 1509.048828125

sessions/session_20260921_232717_273624/metadata/calibration.json

@@ -1,4 +1,17 @@
 {
+  "calibration_corrections": [
+    {
+      "camera_serial": "17736741",
+      "change": "right.cx = left.cx - 1.4586064778236398 px (rectified stereo offset, disparity = fx*B/z + cx_left - cx_right)",
+      "date": "2026-10-16",
+      "decided_by": "owner, 2026-10-16",
+      "derived_depth_note": "WAFT depth produced before this date ignores the offset; regenerate it with code that applies cx_left - cx_right. ZED SDK and FoundationStereo depth were not regenerated.",
+      "disparity_offset_px": 1.4586064778236398,
+      "evidence": "/mnt/data0/magna/belt_perception_runs/calibration/cam17736741_extrinsic_diagnosis_20261016",
+      "field": "camera_intrinsics.zed_17736741_*.right.cx",
+      "reason": "Every depth product of this ZED read ~1.8% short against the RGB-verified table/board geometry; the recorded pose and left intrinsics are correct. Fitted on 5 sessions of 2026-09-21 (WAFT, bare table)."
+    }
+  ],
   "camera_frame_conventions": {
     "zed_12540311_depth_zed_sdk_neural_plus": {
       "color_camera_frame": null,
@@ -1386,7 +1399,7 @@
         }
       },
       "right": {
-        "cx": 954.300048828125,
+        "cx": 952.8414423503013,
         "cy": 518.140380859375,
         "fx": 1509.0567626953125,
         "fy": 1509.0567626953125
@@ -1572,7 +1585,7 @@
         }
       },
       "right": {
-        "cx": 954.300048828125,
+        "cx": 952.8414423503013,
         "cy": 518.140380859375,
         "fx": 1509.0567626953125,
         "fy": 1509.0567626953125
@@ -1758,7 +1771,7 @@
         }
       },
       "right": {
-        "cx": 954.300048828125,
+        "cx": 952.8414423503013,
         "cy": 518.140380859375,
         "fx": 1509.0567626953125,
         "fy": 1509.0567626953125

sessions/session_20260921_232822_920324/metadata/calibration.json

@@ -1,4 +1,17 @@
 {
+  "calibration_corrections": [
+    {
+      "camera_serial": "17736741",
+      "change": "right.cx = left.cx - 1.4586064778236398 px (rectified stereo offset, disparity = fx*B/z + cx_left - cx_right)",
+      "date": "2026-10-16",
+      "decided_by": "owner, 2026-10-16",
+      "derived_depth_note": "WAFT depth produced before this date ignores the offset; regenerate it with code that applies cx_left - cx_right. ZED SDK and FoundationStereo depth were not regenerated.",
+      "disparity_offset_px": 1.4586064778236398,
+      "evidence": "/mnt/data0/magna/belt_perception_runs/calibration/cam17736741_extrinsic_diagnosis_20261016",
+      "field": "camera_intrinsics.zed_17736741_*.right.cx",
+      "reason": "Every depth product of this ZED read ~1.8% short against the RGB-verified table/board geometry; the recorded pose and left intrinsics are correct. Fitted on 5 sessions of 2026-09-21 (WAFT, bare table)."
+    }
+  ],
   "camera_frame_conventions": {
     "zed_12540311_depth_zed_sdk_neural_plus": {
       "color_camera_frame": null,
@@ -1386,7 +1399,7 @@
         }
       },
       "right": {
-        "cx": 954.2955322265625,
+        "cx": 952.8369257487388,
         "cy": 518.1434936523438,
         "fx": 1509.0628662109375,
         "fy": 1509.0628662109375
@@ -1572,7 +1585,7 @@
         }
       },
       "right": {
-        "cx": 954.2955322265625,
+        "cx": 952.8369257487388,
         "cy": 518.1434936523438,
         "fx": 1509.0628662109375,
         "fy": 1509.0628662109375
@@ -1758,7 +1771,7 @@
         }
       },
       "right": {
-        "cx": 954.2955322265625,
+        "cx": 952.8369257487388,
         "cy": 518.1434936523438,
         "fx": 1509.0628662109375,
         "fy": 1509.0628662109375

sessions/session_20260921_232950_841214/metadata/calibration.json

@@ -1,4 +1,17 @@
 {
+  "calibration_corrections": [
+    {
+      "camera_serial": "17736741",
+      "change": "right.cx = left.cx - 1.4586064778236398 px (rectified stereo offset, disparity = fx*B/z + cx_left - cx_right)",
+      "date": "2026-10-16",
+      "decided_by": "owner, 2026-10-16",
+      "derived_depth_note": "WAFT depth produced before this date ignores the offset; regenerate it with code that applies cx_left - cx_right. ZED SDK and FoundationStereo depth were not regenerated.",
+      "disparity_offset_px": 1.4586064778236398,
+      "evidence": "/mnt/data0/magna/belt_perception_runs/calibration/cam17736741_extrinsic_diagnosis_20261016",
+      "field": "camera_intrinsics.zed_17736741_*.right.cx",
+      "reason": "Every depth product of this ZED read ~1.8% short against the RGB-verified table/board geometry; the recorded pose and left intrinsics are correct. Fitted on 5 sessions of 2026-09-21 (WAFT, bare table)."
+    }
+  ],
   "camera_frame_conventions": {
     "zed_12540311_depth_zed_sdk_neural_plus": {
       "color_camera_frame": null,
@@ -1386,7 +1399,7 @@
         }
       },
       "right": {
-        "cx": 954.3037719726562,
+        "cx": 952.8451654948326,
         "cy": 518.137939453125,
         "fx": 1509.05712890625,
         "fy": 1509.05712890625
@@ -1572,7 +1585,7 @@
         }
       },
       "right": {
-        "cx": 954.3037719726562,
+        "cx": 952.8451654948326,
         "cy": 518.137939453125,
         "fx": 1509.05712890625,
         "fy": 1509.05712890625
@@ -1758,7 +1771,7 @@
         }
       },
       "right": {
-        "cx": 954.3037719726562,
+        "cx": 952.8451654948326,
         "cy": 518.137939453125,
         "fx": 1509.05712890625,
         "fy": 1509.05712890625

sessions/session_20260921_233045_819927/metadata/calibration.json

@@ -1,4 +1,17 @@
 {
+  "calibration_corrections": [
+    {
+      "camera_serial": "17736741",
+      "change": "right.cx = left.cx - 1.4586064778236398 px (rectified stereo offset, disparity = fx*B/z + cx_left - cx_right)",
+      "date": "2026-10-16",
+      "decided_by": "owner, 2026-10-16",
+      "derived_depth_note": "WAFT depth produced before this date ignores the offset; regenerate it with code that applies cx_left - cx_right. ZED SDK and FoundationStereo depth were not regenerated.",
+      "disparity_offset_px": 1.4586064778236398,
+      "evidence": "/mnt/data0/magna/belt_perception_runs/calibration/cam17736741_extrinsic_diagnosis_20261016",
+      "field": "camera_intrinsics.zed_17736741_*.right.cx",
+      "reason": "Every depth product of this ZED read ~1.8% short against the RGB-verified table/board geometry; the recorded pose and left intrinsics are correct. Fitted on 5 sessions of 2026-09-21 (WAFT, bare table)."
+    }
+  ],
   "camera_frame_conventions": {
     "zed_12540311_depth_zed_sdk_neural_plus": {
       "color_camera_frame": null,
@@ -1386,7 +1399,7 @@
         }
       },
       "right": {
-        "cx": 954.2996215820312,
+        "cx": 952.8410151042076,
         "cy": 518.1404418945312,
         "fx": 1509.04833984375,
         "fy": 1509.04833984375
@@ -1572,7 +1585,7 @@
         }
       },
       "right": {
-        "cx": 954.2996215820312,
+        "cx": 952.8410151042076,
         "cy": 518.1404418945312,
         "fx": 1509.04833984375,
         "fy": 1509.04833984375
@@ -1758,7 +1771,7 @@
         }
       },
       "right": {
-        "cx": 954.2996215820312,
+        "cx": 952.8410151042076,
         "cy": 518.1404418945312,
         "fx": 1509.04833984375,
         "fy": 1509.04833984375

sessions/session_20260921_233144_367389/metadata/calibration.json

@@ -1,4 +1,17 @@
 {
+  "calibration_corrections": [
+    {
+      "camera_serial": "17736741",
+      "change": "right.cx = left.cx - 1.4586064778236398 px (rectified stereo offset, disparity = fx*B/z + cx_left - cx_right)",
+      "date": "2026-10-16",
+      "decided_by": "owner, 2026-10-16",
+      "derived_depth_note": "WAFT depth produced before this date ignores the offset; regenerate it with code that applies cx_left - cx_right. ZED SDK and FoundationStereo depth were not regenerated.",
+      "disparity_offset_px": 1.4586064778236398,
+      "evidence": "/mnt/data0/magna/belt_perception_runs/calibration/cam17736741_extrinsic_diagnosis_20261016",
+      "field": "camera_intrinsics.zed_17736741_*.right.cx",
+      "reason": "Every depth product of this ZED read ~1.8% short against the RGB-verified table/board geometry; the recorded pose and left intrinsics are correct. Fitted on 5 sessions of 2026-09-21 (WAFT, bare table)."
+    }
+  ],
   "camera_frame_conventions": {
     "zed_12540311_depth_zed_sdk_neural_plus": {
       "color_camera_frame": null,
@@ -1386,7 +1399,7 @@
         }
       },
       "right": {
-        "cx": 954.301513671875,
+        "cx": 952.8429071940513,
         "cy": 518.13916015625,
         "fx": 1509.0452880859375,
         "fy": 1509.0452880859375
@@ -1572,7 +1585,7 @@
         }
       },
       "right": {
-        "cx": 954.301513671875,
+        "cx": 952.8429071940513,
         "cy": 518.13916015625,
         "fx": 1509.0452880859375,
         "fy": 1509.0452880859375
@@ -1758,7 +1771,7 @@
         }
       },
       "right": {
-        "cx": 954.301513671875,
+        "cx": 952.8429071940513,
         "cy": 518.13916015625,
         "fx": 1509.0452880859375,
         "fy": 1509.0452880859375

sessions/session_20260921_233248_177244/metadata/calibration.json

@@ -1,4 +1,17 @@
 {
+  "calibration_corrections": [
+    {
+      "camera_serial": "17736741",
+      "change": "right.cx = left.cx - 1.4586064778236398 px (rectified stereo offset, disparity = fx*B/z + cx_left - cx_right)",
+      "date": "2026-10-16",
+      "decided_by": "owner, 2026-10-16",
+      "derived_depth_note": "WAFT depth produced before this date ignores the offset; regenerate it with code that applies cx_left - cx_right. ZED SDK and FoundationStereo depth were not regenerated.",
+      "disparity_offset_px": 1.4586064778236398,
+      "evidence": "/mnt/data0/magna/belt_perception_runs/calibration/cam17736741_extrinsic_diagnosis_20261016",
+      "field": "camera_intrinsics.zed_17736741_*.right.cx",
+      "reason": "Every depth product of this ZED read ~1.8% short against the RGB-verified table/board geometry; the recorded pose and left intrinsics are correct. Fitted on 5 sessions of 2026-09-21 (WAFT, bare table)."
+    }
+  ],
   "camera_frame_conventions": {
     "zed_12540311_depth_zed_sdk_neural_plus": {
       "color_camera_frame": null,
@@ -1386,7 +1399,7 @@
         }
       },
       "right": {
-        "cx": 954.2969970703125,
+        "cx": 952.8383905924888,
         "cy": 518.1422729492188,
         "fx": 1509.0538330078125,
         "fy": 1509.0538330078125
@@ -1572,7 +1585,7 @@
         }
       },
       "right": {
-        "cx": 954.2969970703125,
+        "cx": 952.8383905924888,
         "cy": 518.1422729492188,
         "fx": 1509.0538330078125,
         "fy": 1509.0538330078125
@@ -1758,7 +1771,7 @@
         }
       },
       "right": {
-        "cx": 954.2969970703125,
+        "cx": 952.8383905924888,
         "cy": 518.1422729492188,
         "fx": 1509.0538330078125,
         "fy": 1509.0538330078125

sessions/session_20260921_233350_440979/metadata/calibration.json

@@ -1,4 +1,17 @@
 {
+  "calibration_corrections": [
+    {
+      "camera_serial": "17736741",
+      "change": "right.cx = left.cx - 1.4586064778236398 px (rectified stereo offset, disparity = fx*B/z + cx_left - cx_right)",
+      "date": "2026-10-16",
+      "decided_by": "owner, 2026-10-16",
+      "derived_depth_note": "WAFT depth produced before this date ignores the offset; regenerate it with code that applies cx_left - cx_right. ZED SDK and FoundationStereo depth were not regenerated.",
+      "disparity_offset_px": 1.4586064778236398,
+      "evidence": "/mnt/data0/magna/belt_perception_runs/calibration/cam17736741_extrinsic_diagnosis_20261016",
+      "field": "camera_intrinsics.zed_17736741_*.right.cx",
+      "reason": "Every depth product of this ZED read ~1.8% short against the RGB-verified table/board geometry; the recorded pose and left intrinsics are correct. Fitted on 5 sessions of 2026-09-21 (WAFT, bare table)."
+    }
+  ],
   "camera_frame_conventions": {
     "zed_12540311_depth_zed_sdk_neural_plus": {
       "color_camera_frame": null,
@@ -1386,7 +1399,7 @@
         }
       },
       "right": {
-        "cx": 954.3021240234375,
+        "cx": 952.8435175456138,
         "cy": 518.1389770507812,
         "fx": 1509.0543212890625,
         "fy": 1509.0543212890625
@@ -1572,7 +1585,7 @@
         }
       },
       "right": {
-        "cx": 954.3021240234375,
+        "cx": 952.8435175456138,
         "cy": 518.1389770507812,
         "fx": 1509.0543212890625,
         "fy": 1509.0543212890625
@@ -1758,7 +1771,7 @@
         }
       },
       "right": {
-        "cx": 954.3021240234375,
+        "cx": 952.8435175456138,
         "cy": 518.1389770507812,
         "fx": 1509.0543212890625,
         "fy": 1509.0543212890625