{
  "namespace": "estimate",
  "episode_id": "20260917_133640",
  "t0_s": 40.0,
  "t1_s": 48.0,
  "fps": 4,
  "frames": 32,
  "display_left": "Camera0 original 1600x1200, not rectified, screen and distant people mosaicked",
  "depth_computed_on": "rectified 800x600, then nearest-neighbor up to 1600x1200",
  "source_hz": 30,
  "method": "opencv_stereosgbm_lrcheck_bilateral_after_rectify",
  "not_device_output": true,
  "quat_order_used": "xyzw",
  "fx_rectified_px": 253.21,
  "baseline_m": 0.06604,
  "z_formula": "fx * abs(Tx) / disparity_px",
  "z_median_m_across_frames": 1.338,
  "confidence_median_on_valid": 0.9,
  "valid_pixel_frac_mean": 0.3987,
  "z_clip_m": [
    0.25,
    6
  ],
  "invalid_pixels": "black, low confidence or LR fail, not filled",
  "not_a_depth_camera": true,
  "wls_filter": "unavailable_opencv_no_ximgproc",
  "distortion": "radial k1 k2 k3 only, tangential set to 0, not a checkerboard check",
  "audio": "device 16 kHz stereo, file time = video time - 0.097 s",
  "train_on": "Camera0/video.mp4 and Camera1/video.mp4 at 30 Hz, not this 4 Hz clip",
  "foundation_stereo": {
    "status": "reserved_not_run",
    "reason": "no CUDA GPU on build host; Apple MPS path not wired",
    "paper": "Wen et al., FoundationStereo, CVPR 2025 (third-party)",
    "slot": "estimate.stereo_foundation"
  }
}