diff --git a/sessions/session_20260921_224805_783273/metadata/calibration.json b/sessions/session_20260921_224805_783273/metadata/calibration.json index d11cd625e46ebbf10c9bd5a4f781b6905cc5c5ec..1bc2e9f3db30d966a4d32779b3ff9777d1faf938 100644 --- a/sessions/session_20260921_224805_783273/metadata/calibration.json +++ b/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 diff --git a/sessions/session_20260921_224908_623989/metadata/calibration.json b/sessions/session_20260921_224908_623989/metadata/calibration.json index a701edd6143ae5f5ad2358ab90abf73697e6ebb8..1ab595cf7ec885755b44f60c719dfce036d842dc 100644 --- a/sessions/session_20260921_224908_623989/metadata/calibration.json +++ b/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 @@ } }, "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 diff --git a/sessions/session_20260921_225021_012417/metadata/calibration.json b/sessions/session_20260921_225021_012417/metadata/calibration.json index 210113513b097c0ac2af880a74bd76353e6c42d3..f41d26eb5318e5b20a1f4c17af5a0d619f687d3b 100644 --- a/sessions/session_20260921_225021_012417/metadata/calibration.json +++ b/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 @@ } }, "right": { - "cx": 954.300048828125, + "cx": 952.8414423503013, "cy": 518.1400756835938, "fx": 1509.0423583984375, "fy": 1509.0423583984375 @@ -1758,7 +1771,7 @@ } }, "right": { - "cx": 954.300048828125, + "cx": 952.8414423503013, "cy": 518.1400756835938, "fx": 1509.0423583984375, "fy": 1509.0423583984375 diff --git a/sessions/session_20260921_225524_803572/metadata/calibration.json b/sessions/session_20260921_225524_803572/metadata/calibration.json index bd3d66dea24cebb8d559ee364b0aefe96bc93661..33dbbd4bbf7e9805e9bd76765e614c2d48b052d7 100644 --- a/sessions/session_20260921_225524_803572/metadata/calibration.json +++ b/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 @@ } }, "right": { - "cx": 954.3002319335938, + "cx": 952.8416254557701, "cy": 518.1400756835938, "fx": 1509.048583984375, "fy": 1509.048583984375 @@ -1758,7 +1771,7 @@ } }, "right": { - "cx": 954.3002319335938, + "cx": 952.8416254557701, "cy": 518.1400756835938, "fx": 1509.048583984375, "fy": 1509.048583984375 diff --git a/sessions/session_20260921_225630_786148/metadata/calibration.json b/sessions/session_20260921_225630_786148/metadata/calibration.json index a565662aa56e85c91e47147ccebb208ac1e839fb..085956a5cc8c5364e7fd8682f5f17b4822d77c0f 100644 --- a/sessions/session_20260921_225630_786148/metadata/calibration.json +++ b/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": { - "cx": 954.2996826171875, + "cx": 952.8410761393638, "cy": 518.1402587890625, "fx": 1509.0406494140625, "fy": 1509.0406494140625 @@ -1572,7 +1585,7 @@ } }, "right": { - "cx": 954.2996826171875, + "cx": 952.8410761393638, "cy": 518.1402587890625, "fx": 1509.0406494140625, "fy": 1509.0406494140625 @@ -1758,7 +1771,7 @@ } }, "right": { - "cx": 954.2996826171875, + "cx": 952.8410761393638, "cy": 518.1402587890625, "fx": 1509.0406494140625, "fy": 1509.0406494140625 diff --git a/sessions/session_20260921_225630_786148/metadata/raw_stream_summary.parquet b/sessions/session_20260921_225630_786148/metadata/raw_stream_summary.parquet index 1adc125c513a2550673e7fcebfdb86fa6a02cb46..b7ea31aaaf8674f569e950ce5391ee7da9d555b6 100644 --- a/sessions/session_20260921_225630_786148/metadata/raw_stream_summary.parquet +++ b/sessions/session_20260921_225630_786148/metadata/raw_stream_summary.parquet @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:209f7f19eb28c0844df8474fd1d847a02ba023bfb5d6b7735339b7ff5b163a74 -size 114128 +oid sha256:6f0f0863c073cce1f6fd0371e4fc81c45f31980a805af65d9bd73864f0a6ac87 +size 114383 diff --git a/sessions/session_20260921_225630_786148/metadata/streams.parquet b/sessions/session_20260921_225630_786148/metadata/streams.parquet index 64f5ae155665edf1b8bf3a140c4aab00221018f4..39e57d440c16b1c4fc7f4fad7d63def9b5c21ed9 100644 --- a/sessions/session_20260921_225630_786148/metadata/streams.parquet +++ b/sessions/session_20260921_225630_786148/metadata/streams.parquet @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:ca6e6fde280ee8cf0bc3c997bc9d5255827867919cbe7d751f05a29cbb2c931f -size 40472 +oid sha256:ca8cbeab76d7ee230cbc368cb63afff728b7bf19b4a8b2ff22c2845ad08afa8a +size 40658 diff --git a/sessions/session_20260921_225630_786148/metadata/videos.parquet b/sessions/session_20260921_225630_786148/metadata/videos.parquet index 3a3757c0eec5c0c1076a5d4fbe2d390eb0a0f30c..5b38a430dcb4a9722663818775bf4a4bcf582c50 100644 --- a/sessions/session_20260921_225630_786148/metadata/videos.parquet +++ b/sessions/session_20260921_225630_786148/metadata/videos.parquet @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:b26a5a816963c0bb86c5bbeb998569d3605299c33e2da53c745109af0dd73f86 -size 16454 +oid sha256:fb5d36cf3f0eb1c38ab51e2122e36d44fdfb8c42d5e2e058cbcb945dd498847c +size 16453 diff --git a/sessions/session_20260921_225630_786148/metadata/zed_17736741_depth_waft_stereo_synlarge_dav2l5_zdepth_derived_depth_validation_report.json b/sessions/session_20260921_225630_786148/metadata/zed_17736741_depth_waft_stereo_synlarge_dav2l5_zdepth_derived_depth_validation_report.json index 8063a6ad0a42706d279d1249b662ce16cbfccc61..f46491d96db4c00238277719d59a6321d506d0a0 100644 --- a/sessions/session_20260921_225630_786148/metadata/zed_17736741_depth_waft_stereo_synlarge_dav2l5_zdepth_derived_depth_validation_report.json +++ b/sessions/session_20260921_225630_786148/metadata/zed_17736741_depth_waft_stereo_synlarge_dav2l5_zdepth_derived_depth_validation_report.json @@ -4,14 +4,1197 @@ "mean_valid_fraction": 0.9631027583733184, "min_valid_fraction": 0.956112075617284 }, + "anchor_source_frame_indices": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79, + 80, + 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15186032 diff --git a/sessions/session_20260921_225630_786148/videos/zed_17736741_depth_waft_stereo_synlarge_dav2l5_zdepth.zdepth b/sessions/session_20260921_225630_786148/videos/zed_17736741_depth_waft_stereo_synlarge_dav2l5_zdepth.zdepth index cc9d621db67e2719b46394a87ebcb6e39a1ca852..89a8a432fc2a30ad71fec1e70dd477a2b595f54a 100644 --- a/sessions/session_20260921_225630_786148/videos/zed_17736741_depth_waft_stereo_synlarge_dav2l5_zdepth.zdepth +++ b/sessions/session_20260921_225630_786148/videos/zed_17736741_depth_waft_stereo_synlarge_dav2l5_zdepth.zdepth @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:ba88326f42636f90de011602feb308a1e7051dd90f6a053c40a29a9e4cd45f4e -size 595454598 +oid sha256:a1d25bde77574146466ed40833940326229fdb6f130158baddb4d3a10095149d +size 609309902 diff --git a/sessions/session_20260921_225744_574043/metadata/calibration.json b/sessions/session_20260921_225744_574043/metadata/calibration.json index e1b71d71004e7f5648d2a3f599a7e4783a39dfcf..b7dcfccf721e8e73f973844320b139445470b7e5 100644 --- a/sessions/session_20260921_225744_574043/metadata/calibration.json +++ b/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 @@ } }, "right": { - "cx": 954.2998046875, + "cx": 952.8411982096763, "cy": 518.140380859375, "fx": 1509.0499267578125, "fy": 1509.0499267578125 @@ -1572,7 +1585,7 @@ } }, "right": { - "cx": 954.2998046875, + "cx": 952.8411982096763, "cy": 518.140380859375, "fx": 1509.0499267578125, "fy": 1509.0499267578125 @@ -1758,7 +1771,7 @@ } }, "right": { - "cx": 954.2998046875, + "cx": 952.8411982096763, "cy": 518.140380859375, "fx": 1509.0499267578125, "fy": 1509.0499267578125 diff --git a/sessions/session_20260921_225908_522335/metadata/calibration.json b/sessions/session_20260921_225908_522335/metadata/calibration.json index 8c53b6e4b0289e2331f154a4fc096d4fae88c00c..2b17f724977b782ff719a827bf8494e67fda04ca 100644 --- a/sessions/session_20260921_225908_522335/metadata/calibration.json +++ b/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 @@ } }, "right": { - "cx": 954.29931640625, + "cx": 952.8407099284263, "cy": 518.140380859375, "fx": 1509.0382080078125, "fy": 1509.0382080078125 @@ -1572,7 +1585,7 @@ } }, "right": { - "cx": 954.29931640625, + "cx": 952.8407099284263, "cy": 518.140380859375, "fx": 1509.0382080078125, "fy": 1509.0382080078125 @@ -1758,7 +1771,7 @@ } }, "right": { - "cx": 954.29931640625, + "cx": 952.8407099284263, "cy": 518.140380859375, "fx": 1509.0382080078125, "fy": 1509.0382080078125 diff --git a/sessions/session_20260921_230338_900969/metadata/calibration.json b/sessions/session_20260921_230338_900969/metadata/calibration.json index 70cadda567c832dcf8c7745d26122a0254d6acbd..08a1c04d8ed028af226cf61f8ed1f4ac70c709c0 100644 --- a/sessions/session_20260921_230338_900969/metadata/calibration.json +++ b/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 @@ } }, "right": { - "cx": 954.2963256835938, + "cx": 952.8377192057701, "cy": 518.1427001953125, "fx": 1509.0537109375, "fy": 1509.0537109375 @@ -1572,7 +1585,7 @@ } }, "right": { - "cx": 954.2963256835938, + "cx": 952.8377192057701, "cy": 518.1427001953125, "fx": 1509.0537109375, "fy": 1509.0537109375 @@ -1758,7 +1771,7 @@ } }, "right": { - "cx": 954.2963256835938, + "cx": 952.8377192057701, "cy": 518.1427001953125, "fx": 1509.0537109375, "fy": 1509.0537109375 diff --git a/sessions/session_20260921_230446_039759/metadata/calibration.json b/sessions/session_20260921_230446_039759/metadata/calibration.json index 770f60ae2c57f7b3997407f90ed4b57c9b103b18..1189714d5743921c6cf38ef0106bdac773a97099 100644 --- a/sessions/session_20260921_230446_039759/metadata/calibration.json +++ b/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": { "zed_12540311_depth_zed_sdk_neural_plus": { "color_camera_frame": null, @@ -1386,7 +1399,7 @@ } }, "right": { - "cx": 954.2992553710938, + "cx": 952.8406488932701, "cy": 518.1406860351562, "fx": 1509.04736328125, "fy": 1509.04736328125 @@ -1572,7 +1585,7 @@ } }, "right": { - "cx": 954.2992553710938, + "cx": 952.8406488932701, "cy": 518.1406860351562, "fx": 1509.04736328125, "fy": 1509.04736328125 @@ -1758,7 +1771,7 @@ } }, "right": { - "cx": 954.2992553710938, + "cx": 952.8406488932701, "cy": 518.1406860351562, "fx": 1509.04736328125, "fy": 1509.04736328125 diff --git a/sessions/session_20260921_230550_636767/metadata/calibration.json b/sessions/session_20260921_230550_636767/metadata/calibration.json index a06412dc9ca15471d64565a312129f754f7ac5af..8bde89e514c8bfabb56420d1172b99474643cce6 100644 --- a/sessions/session_20260921_230550_636767/metadata/calibration.json +++ b/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 @@ } }, "right": { - "cx": 954.2996826171875, + "cx": 952.8410761393638, "cy": 518.1405029296875, "fx": 1509.0516357421875, "fy": 1509.0516357421875 @@ -1572,7 +1585,7 @@ } }, "right": { - "cx": 954.2996826171875, + "cx": 952.8410761393638, "cy": 518.1405029296875, "fx": 1509.0516357421875, "fy": 1509.0516357421875 @@ -1758,7 +1771,7 @@ } }, "right": { - "cx": 954.2996826171875, + "cx": 952.8410761393638, "cy": 518.1405029296875, "fx": 1509.0516357421875, "fy": 1509.0516357421875 diff --git a/sessions/session_20260921_230724_040591/metadata/calibration.json b/sessions/session_20260921_230724_040591/metadata/calibration.json index ccf98117b91d29274c6a5fb6ab5e50a5bcfba986..7788d7b6af4f9a2d0be4a123d556c5071ed91ca2 100644 --- a/sessions/session_20260921_230724_040591/metadata/calibration.json +++ b/sessions/session_20260921_230724_040591/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": 954.2998046875, + "cx": 952.8411982096763, "cy": 518.1403198242188, "fx": 1509.0467529296875, "fy": 1509.0467529296875 @@ -1572,7 +1585,7 @@ } }, "right": { - "cx": 954.2998046875, + "cx": 952.8411982096763, "cy": 518.1403198242188, "fx": 1509.0467529296875, "fy": 1509.0467529296875 @@ -1758,7 +1771,7 @@ } }, "right": { - "cx": 954.2998046875, + "cx": 952.8411982096763, "cy": 518.1403198242188, "fx": 1509.0467529296875, "fy": 1509.0467529296875 diff --git a/sessions/session_20260921_230724_040591/metadata/raw_stream_summary.parquet b/sessions/session_20260921_230724_040591/metadata/raw_stream_summary.parquet index 52b26ae977db6515f50524ff7db13744c07732e0..9cd488c023441faf157db0b3034bc1f570fb10f7 100644 --- a/sessions/session_20260921_230724_040591/metadata/raw_stream_summary.parquet +++ b/sessions/session_20260921_230724_040591/metadata/raw_stream_summary.parquet @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:042fe3dc146be12c6932c6ba341cc852062327fb5db9b595a7ad9dd1f4820bd1 -size 65786 +oid sha256:6d7f52362d32acaf4eb94247337c203f6ef17ade6c5d129ead5bcc696a9ac7a9 +size 69249 diff --git a/sessions/session_20260921_230724_040591/metadata/streams.parquet b/sessions/session_20260921_230724_040591/metadata/streams.parquet index 5647f8c0f6e387fdfce2fe5d2400d49e558720c3..731ebad21a618d9bfd3bc960267d07ab7c4f01c2 100644 --- a/sessions/session_20260921_230724_040591/metadata/streams.parquet +++ b/sessions/session_20260921_230724_040591/metadata/streams.parquet @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:f13e6184ae66600a1d0eae81579cc010b7b2dcefbf256ff1767e61f1c09a6e9e -size 39231 +oid sha256:fa9282fbf21a68ba49fb372f302d190f677cdf33ce7ce659489331f7f2878dba +size 39509 diff --git a/sessions/session_20260921_230724_040591/metadata/videos.parquet b/sessions/session_20260921_230724_040591/metadata/videos.parquet index 25c45a59e90b9602a0fdd4e34a9e5057967c08ed..b488343b48a510cd181ecc49a69967c0fd1b93aa 100644 --- a/sessions/session_20260921_230724_040591/metadata/videos.parquet +++ b/sessions/session_20260921_230724_040591/metadata/videos.parquet @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:b4086a77d6f63280569a2101f8d578f7a1ed2aadb976b0ecfe5ebf3a448de00b -size 16420 +oid sha256:7ddeb960a05547c9fa72ed9bb37648b072a8a9cf2c0687ff2ac3c7054fe5b19c +size 16419 diff --git a/sessions/session_20260921_230724_040591/metadata/zed_17736741_depth_waft_stereo_synlarge_dav2l5_zdepth_derived_depth_validation_report.json b/sessions/session_20260921_230724_040591/metadata/zed_17736741_depth_waft_stereo_synlarge_dav2l5_zdepth_derived_depth_validation_report.json index 7e4893d68fbb0f6c0965e1577ed0aa7789cb968f..d3e7a691f40c913e9f2454a375b14db3cdc04a30 100644 --- a/sessions/session_20260921_230724_040591/metadata/zed_17736741_depth_waft_stereo_synlarge_dav2l5_zdepth_derived_depth_validation_report.json +++ b/sessions/session_20260921_230724_040591/metadata/zed_17736741_depth_waft_stereo_synlarge_dav2l5_zdepth_derived_depth_validation_report.json @@ -1,17 +1,895 @@ { "aggregate": { - "max_valid_fraction": 0.9716454475308642, - "mean_valid_fraction": 0.9644372205574581, - "min_valid_fraction": 0.9568344907407408 + "max_valid_fraction": 0.9716054205246913, + "mean_valid_fraction": 0.9644380254136367, + "min_valid_fraction": 0.9568311149691358 }, + "anchor_source_frame_indices": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 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912a2382e2ea1bf6b0d1c1f636699db1c07e6cb2..912f68ea6be3654962468cc5c6892a68f681ea37 100644 --- a/sessions/session_20260921_230724_040591/videos/zed_17736741_depth_waft_stereo_synlarge_dav2l5_zdepth.zdepth +++ b/sessions/session_20260921_230724_040591/videos/zed_17736741_depth_waft_stereo_synlarge_dav2l5_zdepth.zdepth @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:ff7987b9ef3a9146ca702d1d386afaa53b33ce07060cc2a0c460a3a1d19effda -size 444736039 +oid sha256:61b56e8d1bfa5c10e1019fbc78957c217f228bdaaf3e78540b5590118ca9549e +size 455241052 diff --git a/sessions/session_20260921_230830_350739/metadata/calibration.json b/sessions/session_20260921_230830_350739/metadata/calibration.json index 63ac457511dded7f867eed58ff3aa84d2ed6bbad..7c1ed1ccf58f7e831cacd6e9d9cbf8df18aa93e3 100644 --- a/sessions/session_20260921_230830_350739/metadata/calibration.json +++ b/sessions/session_20260921_230830_350739/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": 1509.04736328125, "fy": 1509.04736328125 @@ -1572,7 +1585,7 @@ } }, "right": { - "cx": 954.3002319335938, + "cx": 952.8416254557701, "cy": 518.1400756835938, "fx": 1509.04736328125, "fy": 1509.04736328125 @@ -1758,7 +1771,7 @@ } }, "right": { - "cx": 954.3002319335938, + "cx": 952.8416254557701, "cy": 518.1400756835938, "fx": 1509.04736328125, "fy": 1509.04736328125 diff --git a/sessions/session_20260921_230937_970271/metadata/calibration.json b/sessions/session_20260921_230937_970271/metadata/calibration.json index 115a0e53e97eda14e1fd7369ba3655029161060b..167a71b8022990a89efa88c2a423c437acac1546 100644 --- a/sessions/session_20260921_230937_970271/metadata/calibration.json +++ b/sessions/session_20260921_230937_970271/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": 954.30029296875, + "cx": 952.8416864909263, "cy": 518.1400146484375, "fx": 1509.0484619140625, "fy": 1509.0484619140625 @@ -1572,7 +1585,7 @@ } }, "right": { - "cx": 954.30029296875, + "cx": 952.8416864909263, "cy": 518.1400146484375, "fx": 1509.0484619140625, "fy": 1509.0484619140625 @@ -1758,7 +1771,7 @@ } }, "right": { - "cx": 954.30029296875, + "cx": 952.8416864909263, "cy": 518.1400146484375, "fx": 1509.0484619140625, "fy": 1509.0484619140625 diff --git a/sessions/session_20260921_231046_597606/metadata/calibration.json b/sessions/session_20260921_231046_597606/metadata/calibration.json index 8c607955d1c1976e75daf47b37eb2b62704ee157..46d2b53d6ae682f099cbee8a60377925415f5631 100644 --- a/sessions/session_20260921_231046_597606/metadata/calibration.json +++ b/sessions/session_20260921_231046_597606/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": 954.302001953125, + "cx": 952.8433954753013, "cy": 518.1390991210938, "fx": 1509.0557861328125, "fy": 1509.0557861328125 @@ -1572,7 +1585,7 @@ } }, "right": { - "cx": 954.302001953125, + "cx": 952.8433954753013, "cy": 518.1390991210938, "fx": 1509.0557861328125, "fy": 1509.0557861328125 @@ -1758,7 +1771,7 @@ } }, "right": { - "cx": 954.302001953125, + "cx": 952.8433954753013, "cy": 518.1390991210938, "fx": 1509.0557861328125, "fy": 1509.0557861328125 diff --git a/sessions/session_20260921_231338_338604/metadata/calibration.json b/sessions/session_20260921_231338_338604/metadata/calibration.json index bd5c027c1fb234b4bb41056bd92bd9ec7641ee13..bbfdc339bbbe40992294bea37791596ca0a81bac 100644 --- a/sessions/session_20260921_231338_338604/metadata/calibration.json +++ b/sessions/session_20260921_231338_338604/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": 954.2982788085938, + "cx": 952.8396723307701, "cy": 518.1415405273438, "fx": 1509.0565185546875, "fy": 1509.0565185546875 @@ -1572,7 +1585,7 @@ } }, "right": { - "cx": 954.2982788085938, + "cx": 952.8396723307701, "cy": 518.1415405273438, "fx": 1509.0565185546875, "fy": 1509.0565185546875 @@ -1758,7 +1771,7 @@ } }, "right": { - "cx": 954.2982788085938, + "cx": 952.8396723307701, "cy": 518.1415405273438, "fx": 1509.0565185546875, "fy": 1509.0565185546875 diff --git a/sessions/session_20260921_231542_932061/metadata/calibration.json b/sessions/session_20260921_231542_932061/metadata/calibration.json index 443b8819fe16c793c1f948b53673d3a08ce3816f..4cb898b69eed57f1033b537ee43931196b626c78 100644 --- a/sessions/session_20260921_231542_932061/metadata/calibration.json +++ b/sessions/session_20260921_231542_932061/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": 954.3009033203125, + "cx": 952.8422968424888, "cy": 518.1395263671875, "fx": 1509.044189453125, "fy": 1509.044189453125 @@ -1572,7 +1585,7 @@ } }, "right": { - "cx": 954.3009033203125, + "cx": 952.8422968424888, "cy": 518.1395263671875, "fx": 1509.044189453125, "fy": 1509.044189453125 @@ -1758,7 +1771,7 @@ } }, "right": { - "cx": 954.3009033203125, + "cx": 952.8422968424888, "cy": 518.1395263671875, "fx": 1509.044189453125, "fy": 1509.044189453125 diff --git a/sessions/session_20260921_231645_698175/metadata/calibration.json b/sessions/session_20260921_231645_698175/metadata/calibration.json index 2df2b9e658c43d38b31c1eab4eebf9b3a67c334b..65c36c08c2012610ddf8bed15fbaa7beb08cfd41 100644 --- a/sessions/session_20260921_231645_698175/metadata/calibration.json +++ b/sessions/session_20260921_231645_698175/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": 518.1406860351562, "fx": 1509.058349609375, "fy": 1509.058349609375 @@ -1572,7 +1585,7 @@ } }, "right": { - "cx": 954.2996826171875, + "cx": 952.8410761393638, "cy": 518.1406860351562, "fx": 1509.058349609375, "fy": 1509.058349609375 @@ -1758,7 +1771,7 @@ } }, "right": { - "cx": 954.2996826171875, + "cx": 952.8410761393638, "cy": 518.1406860351562, "fx": 1509.058349609375, "fy": 1509.058349609375 diff --git a/sessions/session_20260921_231749_377038/metadata/calibration.json b/sessions/session_20260921_231749_377038/metadata/calibration.json index 02fd4291eda737ce8476084cd05e26d4297ac34f..c1866256c858ea213f2fce0f5677880aa658e888 100644 --- a/sessions/session_20260921_231749_377038/metadata/calibration.json +++ b/sessions/session_20260921_231749_377038/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": 954.2982788085938, + "cx": 952.8396723307701, "cy": 518.1415405273438, "fx": 1509.0556640625, "fy": 1509.0556640625 @@ -1572,7 +1585,7 @@ } }, "right": { - "cx": 954.2982788085938, + "cx": 952.8396723307701, "cy": 518.1415405273438, "fx": 1509.0556640625, "fy": 1509.0556640625 @@ -1758,7 +1771,7 @@ } }, "right": { - "cx": 954.2982788085938, + "cx": 952.8396723307701, "cy": 518.1415405273438, "fx": 1509.0556640625, "fy": 1509.0556640625 diff --git a/sessions/session_20260921_232051_069484/metadata/calibration.json b/sessions/session_20260921_232051_069484/metadata/calibration.json index 9c05bfeb4b277309b4ad4293b1db62b84b9f7855..66126d6a1f4c27ab1684220e1e0a8c219175d72b 100644 --- a/sessions/session_20260921_232051_069484/metadata/calibration.json +++ b/sessions/session_20260921_232051_069484/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": 954.2982177734375, + "cx": 952.8396112956138, "cy": 518.141357421875, "fx": 1509.0484619140625, "fy": 1509.0484619140625 @@ -1572,7 +1585,7 @@ } }, "right": { - "cx": 954.2982177734375, + "cx": 952.8396112956138, "cy": 518.141357421875, "fx": 1509.0484619140625, "fy": 1509.0484619140625 @@ -1758,7 +1771,7 @@ } }, "right": { - "cx": 954.2982177734375, + "cx": 952.8396112956138, "cy": 518.141357421875, "fx": 1509.0484619140625, "fy": 1509.0484619140625 diff --git a/sessions/session_20260921_232242_960732/metadata/calibration.json b/sessions/session_20260921_232242_960732/metadata/calibration.json index 4989e3f1ed0bfa824e4681b1527e21410914294b..f642c293b96e11fdfb1316b46814f5154f346d20 100644 --- a/sessions/session_20260921_232242_960732/metadata/calibration.json +++ b/sessions/session_20260921_232242_960732/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": 954.2990112304688, + "cx": 952.8404047526451, "cy": 518.1409912109375, "fx": 1509.0538330078125, "fy": 1509.0538330078125 @@ -1572,7 +1585,7 @@ } }, "right": { - "cx": 954.2990112304688, + "cx": 952.8404047526451, "cy": 518.1409912109375, "fx": 1509.0538330078125, "fy": 1509.0538330078125 @@ -1758,7 +1771,7 @@ } }, "right": { - "cx": 954.2990112304688, + "cx": 952.8404047526451, "cy": 518.1409912109375, "fx": 1509.0538330078125, "fy": 1509.0538330078125 diff --git a/sessions/session_20260921_232344_289067/metadata/calibration.json b/sessions/session_20260921_232344_289067/metadata/calibration.json index ddfb0cbd7a2f8fa892743efefd641617d3827c19..ee83e3d125f24e4f0d0ac82bc0d2749084aeb175 100644 --- a/sessions/session_20260921_232344_289067/metadata/calibration.json +++ b/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 diff --git a/sessions/session_20260921_232447_904863/metadata/calibration.json b/sessions/session_20260921_232447_904863/metadata/calibration.json index 5ea617de6d6b26ca0533ab36f9d8455c44a5e11a..b4cfb6d230772cdbbeb1d223dff874c87052a0cf 100644 --- a/sessions/session_20260921_232447_904863/metadata/calibration.json +++ b/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 diff --git a/sessions/session_20260921_232616_062985/metadata/calibration.json b/sessions/session_20260921_232616_062985/metadata/calibration.json index aadda85d3f5813f6cc473494c407215ab3f22597..087b1d024c01e3e35092996dfa59cbf5ff7e65e9 100644 --- a/sessions/session_20260921_232616_062985/metadata/calibration.json +++ b/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 diff --git a/sessions/session_20260921_232717_273624/metadata/calibration.json b/sessions/session_20260921_232717_273624/metadata/calibration.json index da078e5811e39562a1a2d990c4bf7a2f9a1420e9..413f34b142d23d26938801b811bbfb5455192d62 100644 --- a/sessions/session_20260921_232717_273624/metadata/calibration.json +++ b/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 diff --git a/sessions/session_20260921_232822_920324/metadata/calibration.json b/sessions/session_20260921_232822_920324/metadata/calibration.json index 741fe7e1a2a57ad835eaf2e78ad9c7bdbaa7b627..2148882cf835d9298a713fd843d38e80097d82a2 100644 --- a/sessions/session_20260921_232822_920324/metadata/calibration.json +++ b/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 diff --git a/sessions/session_20260921_232950_841214/metadata/calibration.json b/sessions/session_20260921_232950_841214/metadata/calibration.json index 5723e267b24e4ee3dd5b324f946af1cedcdd1716..771f58f32a568d5cb62df4264e4dfd69ea0a3509 100644 --- a/sessions/session_20260921_232950_841214/metadata/calibration.json +++ b/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 diff --git a/sessions/session_20260921_233045_819927/metadata/calibration.json b/sessions/session_20260921_233045_819927/metadata/calibration.json index d967c6b2ec34faad075c17d40bba053b18495e8f..1318bbab391a532e998f7c5adf8068d8576a88c7 100644 --- a/sessions/session_20260921_233045_819927/metadata/calibration.json +++ b/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 diff --git a/sessions/session_20260921_233144_367389/metadata/calibration.json b/sessions/session_20260921_233144_367389/metadata/calibration.json index 77cbb894877b53982ff93a2a2b81d3689e70815b..578b6ae2b27c5178cec7a0549535b990803da27f 100644 --- a/sessions/session_20260921_233144_367389/metadata/calibration.json +++ b/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 diff --git a/sessions/session_20260921_233248_177244/metadata/calibration.json b/sessions/session_20260921_233248_177244/metadata/calibration.json index 669e0d89e96f38f13853bbcd2e1c1d47035f45cf..03cfe73ee6ce79497c6091c1b215dd0c8febd033 100644 --- a/sessions/session_20260921_233248_177244/metadata/calibration.json +++ b/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 diff --git a/sessions/session_20260921_233350_440979/metadata/calibration.json b/sessions/session_20260921_233350_440979/metadata/calibration.json index 85d1f65f41eb443c196b263ff69156c94b156b0c..b03b6098e88c48a211965f26eb6a006e41c344ce 100644 --- a/sessions/session_20260921_233350_440979/metadata/calibration.json +++ b/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