Stereo offsets for all four ZEDs; regenerate every 2026-09-21 WAFT depth

Follow-up to 6ce5a647 and b61531e2. calibration.json of all 30 sessions of 2026-09-21 now also carries the stereo offsets of ZEDs 12540311 (0.4921 px), 12933256 (0.7176 px) and 23007103 (0.5064 px) as right.cx = left.cx - offset (17736741's 1.4586 px was added in 6ce5a647). Every WAFT depth stream of these sessions is regenerated with the offsets (same SynLarge DAv2L-5 hierarchical [0.5,1.0] settings), with the session tables and validation reports that the append rewrote. ZED SDK and FoundationStereo depth unchanged.

sessions/session_20260921_224805_783273/metadata/calibration.json

@@ -10,6 +10,39 @@
       "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_serial": "12540311",
+      "change": "right.cx = left.cx - 0.4920534909352895 px (rectified stereo offset, disparity = fx*B/z + cx_left - cx_right)",
+      "date": "2026-10-17",
+      "decided_by": "owner, 2026-10-17",
+      "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": 0.4920534909352895,
+      "evidence": "/mnt/data0/magna/belt_perception_runs/calibration/zed_stereo_offsets_20261017/fit_offsets.json",
+      "field": "camera_intrinsics.zed_12540311_*.right.cx",
+      "reason": "Same correction as camera 17736741 (2026-10-16): this ZED's depth puts the bare table above the RGB-verified geometry; a constant disparity offset fitted on 5 sessions of 2026-09-21 (WAFT, bare table) removes it."
+    },
+    {
+      "camera_serial": "12933256",
+      "change": "right.cx = left.cx - 0.7175709060814733 px (rectified stereo offset, disparity = fx*B/z + cx_left - cx_right)",
+      "date": "2026-10-17",
+      "decided_by": "owner, 2026-10-17",
+      "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": 0.7175709060814733,
+      "evidence": "/mnt/data0/magna/belt_perception_runs/calibration/zed_stereo_offsets_20261017/fit_offsets.json",
+      "field": "camera_intrinsics.zed_12933256_*.right.cx",
+      "reason": "Same correction as camera 17736741 (2026-10-16): this ZED's depth puts the bare table above the RGB-verified geometry; a constant disparity offset fitted on 5 sessions of 2026-09-21 (WAFT, bare table) removes it."
+    },
+    {
+      "camera_serial": "23007103",
+      "change": "right.cx = left.cx - 0.5064404776722609 px (rectified stereo offset, disparity = fx*B/z + cx_left - cx_right)",
+      "date": "2026-10-17",
+      "decided_by": "owner, 2026-10-17",
+      "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": 0.5064404776722609,
+      "evidence": "/mnt/data0/magna/belt_perception_runs/calibration/zed_stereo_offsets_20261017/fit_offsets.json",
+      "field": "camera_intrinsics.zed_23007103_*.right.cx",
+      "reason": "Same correction as camera 17736741 (2026-10-16): this ZED's depth puts the bare table above the RGB-verified geometry; a constant disparity offset fitted on 5 sessions of 2026-09-21 (WAFT, bare table) removes it."
     }
   ],
   "camera_frame_conventions": {
@@ -283,7 +316,7 @@
         }
       },
       "right": {
-        "cx": 975.8056640625,
+        "cx": 975.3136105715647,
         "cy": 520.2472534179688,
         "fx": 1505.6802978515625,
         "fy": 1505.6802978515625
@@ -469,7 +502,7 @@
         }
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       "right": {
-        "cx": 975.8056640625,
+        "cx": 975.3136105715647,
         "cy": 520.2472534179688,
         "fx": 1505.6802978515625,
         "fy": 1505.6802978515625
@@ -655,7 +688,7 @@
         }
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       "right": {
-        "cx": 975.8056640625,
+        "cx": 975.3136105715647,
         "cy": 520.2472534179688,
         "fx": 1505.6802978515625,
         "fy": 1505.6802978515625
@@ -841,7 +874,7 @@
         }
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       "right": {
-        "cx": 1016.4960327148438,
+        "cx": 1015.7784618087622,
         "cy": 529.3988037109375,
         "fx": 1485.0943603515625,
         "fy": 1485.0943603515625
@@ -1027,7 +1060,7 @@
         }
       },
       "right": {
-        "cx": 1016.4960327148438,
+        "cx": 1015.7784618087622,
         "cy": 529.3988037109375,
         "fx": 1485.0943603515625,
         "fy": 1485.0943603515625
@@ -1213,7 +1246,7 @@
         }
       },
       "right": {
-        "cx": 1016.4960327148438,
+        "cx": 1015.7784618087622,
         "cy": 529.3988037109375,
         "fx": 1485.0943603515625,
         "fy": 1485.0943603515625
@@ -1957,7 +1990,7 @@
         }
       },
       "right": {
-        "cx": 969.4047241210938,
+        "cx": 968.8982836434215,
         "cy": 516.3911743164062,
         "fx": 1054.54296875,
         "fy": 1054.54296875
@@ -2143,7 +2176,7 @@
         }
       },
       "right": {
-        "cx": 969.4047241210938,
+        "cx": 968.8982836434215,
         "cy": 516.3911743164062,
         "fx": 1054.54296875,
         "fy": 1054.54296875
@@ -2329,7 +2362,7 @@
         }
       },
       "right": {
-        "cx": 969.4047241210938,
+        "cx": 968.8982836434215,
         "cy": 516.3911743164062,
         "fx": 1054.54296875,
         "fy": 1054.54296875

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sessions/session_20260921_224908_623989/metadata/calibration.json

@@ -10,6 +10,39 @@
       "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_serial": "12540311",
+      "change": "right.cx = left.cx - 0.4920534909352895 px (rectified stereo offset, disparity = fx*B/z + cx_left - cx_right)",
+      "date": "2026-10-17",
+      "decided_by": "owner, 2026-10-17",
+      "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": 0.4920534909352895,
+      "evidence": "/mnt/data0/magna/belt_perception_runs/calibration/zed_stereo_offsets_20261017/fit_offsets.json",
+      "field": "camera_intrinsics.zed_12540311_*.right.cx",
+      "reason": "Same correction as camera 17736741 (2026-10-16): this ZED's depth puts the bare table above the RGB-verified geometry; a constant disparity offset fitted on 5 sessions of 2026-09-21 (WAFT, bare table) removes it."
+    },
+    {
+      "camera_serial": "12933256",
+      "change": "right.cx = left.cx - 0.7175709060814733 px (rectified stereo offset, disparity = fx*B/z + cx_left - cx_right)",
+      "date": "2026-10-17",
+      "decided_by": "owner, 2026-10-17",
+      "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": 0.7175709060814733,
+      "evidence": "/mnt/data0/magna/belt_perception_runs/calibration/zed_stereo_offsets_20261017/fit_offsets.json",
+      "field": "camera_intrinsics.zed_12933256_*.right.cx",
+      "reason": "Same correction as camera 17736741 (2026-10-16): this ZED's depth puts the bare table above the RGB-verified geometry; a constant disparity offset fitted on 5 sessions of 2026-09-21 (WAFT, bare table) removes it."
+    },
+    {
+      "camera_serial": "23007103",
+      "change": "right.cx = left.cx - 0.5064404776722609 px (rectified stereo offset, disparity = fx*B/z + cx_left - cx_right)",
+      "date": "2026-10-17",
+      "decided_by": "owner, 2026-10-17",
+      "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": 0.5064404776722609,
+      "evidence": "/mnt/data0/magna/belt_perception_runs/calibration/zed_stereo_offsets_20261017/fit_offsets.json",
+      "field": "camera_intrinsics.zed_23007103_*.right.cx",
+      "reason": "Same correction as camera 17736741 (2026-10-16): this ZED's depth puts the bare table above the RGB-verified geometry; a constant disparity offset fitted on 5 sessions of 2026-09-21 (WAFT, bare table) removes it."
     }
   ],
   "camera_frame_conventions": {
@@ -283,7 +316,7 @@
         }
       },
       "right": {
-        "cx": 975.8055419921875,
+        "cx": 975.3134885012522,
         "cy": 520.2470092773438,
         "fx": 1505.6884765625,
         "fy": 1505.6884765625
@@ -469,7 +502,7 @@
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+        "cx": 975.3134885012522,
         "cy": 520.2470092773438,
         "fx": 1505.6884765625,
         "fy": 1505.6884765625
@@ -655,7 +688,7 @@
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         "cy": 520.2470092773438,
         "fx": 1505.6884765625,
         "fy": 1505.6884765625
@@ -841,7 +874,7 @@
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         "cy": 529.3907470703125,
         "fx": 1485.0382080078125,
         "fy": 1485.0382080078125
@@ -1027,7 +1060,7 @@
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         "cy": 529.3907470703125,
         "fx": 1485.0382080078125,
         "fy": 1485.0382080078125
@@ -1213,7 +1246,7 @@
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+        "cx": 1015.7777904220435,
         "cy": 529.3907470703125,
         "fx": 1485.0382080078125,
         "fy": 1485.0382080078125
@@ -1957,7 +1990,7 @@
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         "fy": 1054.5673828125
@@ -2143,7 +2176,7 @@
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         "fy": 1054.5673828125
@@ -2329,7 +2362,7 @@
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         "cy": 516.3886108398438,
         "fx": 1054.5673828125,
         "fy": 1054.5673828125

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sessions/session_20260921_225021_012417/metadata/calibration.json

@@ -10,6 +10,39 @@
       "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_serial": "12540311",
+      "change": "right.cx = left.cx - 0.4920534909352895 px (rectified stereo offset, disparity = fx*B/z + cx_left - cx_right)",
+      "date": "2026-10-17",
+      "decided_by": "owner, 2026-10-17",
+      "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": 0.4920534909352895,
+      "evidence": "/mnt/data0/magna/belt_perception_runs/calibration/zed_stereo_offsets_20261017/fit_offsets.json",
+      "field": "camera_intrinsics.zed_12540311_*.right.cx",
+      "reason": "Same correction as camera 17736741 (2026-10-16): this ZED's depth puts the bare table above the RGB-verified geometry; a constant disparity offset fitted on 5 sessions of 2026-09-21 (WAFT, bare table) removes it."
+    },
+    {
+      "camera_serial": "12933256",
+      "change": "right.cx = left.cx - 0.7175709060814733 px (rectified stereo offset, disparity = fx*B/z + cx_left - cx_right)",
+      "date": "2026-10-17",
+      "decided_by": "owner, 2026-10-17",
+      "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": 0.7175709060814733,
+      "evidence": "/mnt/data0/magna/belt_perception_runs/calibration/zed_stereo_offsets_20261017/fit_offsets.json",
+      "field": "camera_intrinsics.zed_12933256_*.right.cx",
+      "reason": "Same correction as camera 17736741 (2026-10-16): this ZED's depth puts the bare table above the RGB-verified geometry; a constant disparity offset fitted on 5 sessions of 2026-09-21 (WAFT, bare table) removes it."
+    },
+    {
+      "camera_serial": "23007103",
+      "change": "right.cx = left.cx - 0.5064404776722609 px (rectified stereo offset, disparity = fx*B/z + cx_left - cx_right)",
+      "date": "2026-10-17",
+      "decided_by": "owner, 2026-10-17",
+      "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": 0.5064404776722609,
+      "evidence": "/mnt/data0/magna/belt_perception_runs/calibration/zed_stereo_offsets_20261017/fit_offsets.json",
+      "field": "camera_intrinsics.zed_23007103_*.right.cx",
+      "reason": "Same correction as camera 17736741 (2026-10-16): this ZED's depth puts the bare table above the RGB-verified geometry; a constant disparity offset fitted on 5 sessions of 2026-09-21 (WAFT, bare table) removes it."
     }
   ],
   "camera_frame_conventions": {
@@ -283,7 +316,7 @@
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