{
  "scope": "18 fixed photometric ambiguity diagnoses",
  "source_sha256": {
    "tools/diagnose_stereo_ambiguity.py": "05b5a907a5774f9b53b210d24f9d1c06e0cf40e55a2ebee365be88db174975d9",
    "tests/unit/test_stereo_ambiguity.py": "e922cbeee8998dc09fee35964ad7d5db8b65c535931553fa3d484f52ef56d60a",
    "tools/stereo_rerectification.py": "ca1d48131490b350222cfff298aa27748879c77fa7b9c2ccb9d0bc30b1255758",
    "tools/known_geometry_joint.py": "8b041f12e956534d9b01c89e8c4618176f5957fd974986341bec4ae15c5a998f",
    "src/calibrex/data/kitti.py": "d36065eec311fe7bdeb57696abd21405fae8e8cca5f84352b5394b7ae79e71eb",
    "docs/research/stereo_ambiguity_protocol.md": "4fdeb0a33d5bf63f430c23f86ae34cb8042fb1689af485f4a9c60f2853b584c8",
    "docs/assets/surface_error_maps_20261030/evaluation.json": "9344ccba732246ee4eff3b653cfca2ccbe2d61172d404523f4374311f56f1d3a"
  },
  "input_sha256": {
    "/workspace/work/camera-lidar-recovery-20261027/raw/2011_09_26/2011_09_26_drive_0005_sync/image_02/data/0000000038.png": "93c9f753a71fb23c8a0ad6368b930f967da23546d8f9b5a7bdb3322cce92e2ae",
    "/workspace/work/external-comparison-20261028/preprocessed/matrix-20261028/2011_09_26_0005/0000000038.png": "f3d36500a31e911a78043abcdfc5801722ab8e8f88ebd1e3349e701d84d6a1a5",
    "/workspace/work/joint-learned-stereo-20261029/2011_09_26_0005-positive-frame-38-sgbm.npy": "06c7c1dc925623e811d35ca669599b0c64b571277a0cf50ebfd7266e1cfa2ca5",
    "/workspace/work/camera-lidar-recovery-20261027/calibration/2011_09_26/calib_cam_to_cam.txt": "edc1eae281cb95e41798a98dcc545521449527145477ff852dbf3a4ec48c643c",
    "/workspace/work/surface-error-maps-20261030/2011_09_26_0005-frame-38.npz": "3aacfa80426987008a577901329e3e7d026cc6ad8467cef948a816c6724ee0ea",
    "/workspace/work/camera-lidar-recovery-20261027/raw/2011_09_26/2011_09_26_drive_0005_sync/image_02/data/0000000076.png": "50b584d4d516df740c260d6d7b612e47127cd415c521dc0db950c73595556f11",
    "/workspace/work/external-comparison-20261028/preprocessed/matrix-20261028/2011_09_26_0005/0000000076.png": "17b75b0607887fd5d82c0e7d8ee80432e72a4175e9ec577f9a2e7fae50d045d6",
    "/workspace/work/joint-learned-stereo-20261029/2011_09_26_0005-positive-frame-76-sgbm.npy": "34711fe6fae471d103e9f15a2a75576917b82224891a36615b6569aeaa090d95",
    "/workspace/work/surface-error-maps-20261030/2011_09_26_0005-frame-76.npz": "3404a162964098bee5fe87fa4b322fb65d6e4ddfc63adf43a3769eb18676c4ff",
    "/workspace/work/camera-lidar-recovery-20261027/raw/2011_09_26/2011_09_26_drive_0005_sync/image_02/data/0000000114.png": "eb5143adb7f3b38619c67eff96a22efce9dc88bc93e475e46b6b4851716ac627",
    "/workspace/work/external-comparison-20261028/preprocessed/matrix-20261028/2011_09_26_0005/0000000114.png": "ac859ee129e3ae299988af28877b61386ddb1f083c88ab603788e848b8f03c89",
    "/workspace/work/joint-learned-stereo-20261029/2011_09_26_0005-positive-frame-114-sgbm.npy": "23450c369bd569df9a5b22a0c9bbd3046aa1bdaf7915ce790b9270cb0e887cf6",
    "/workspace/work/surface-error-maps-20261030/2011_09_26_0005-frame-114.npz": "520fa693fd192076cb62eaaafa8f758a7fa9498fa5f8fdabfc495cca7f8beea6",
    "/workspace/work/camera-lidar-recovery-20261027/raw/2011_09_28/2011_09_28_drive_0002_sync/image_02/data/0000000093.png": "88dbb9203664eafd9b526da814ba0442afd4de8fdb443c3a65753d460d0527ac",
    "/workspace/work/external-comparison-20261028/preprocessed/matrix-20261028/2011_09_28_0002/0000000093.png": "dbd684c2f2c61f8021f5a48652e5aa6ff5f4af1ffc3b629fbe853120e9fa2dc8",
    "/workspace/work/joint-learned-stereo-20261029/2011_09_28_0002-positive-frame-93-sgbm.npy": "0891839eaaae766b9d93ed1472be908f7d16c16edd89c343c06b0ca3f7860a34",
    "/workspace/work/camera-lidar-recovery-20261027/calibration/2011_09_28/calib_cam_to_cam.txt": "e2ca2f12fbe7900e762b909f58438f7147e707eed120ad87511e752551a209ab",
    "/workspace/work/surface-error-maps-20261030/2011_09_28_0002-frame-93.npz": "7308e31e16c5700b51d3e42f8db8a55d1e016ace0f019cafb788a7b1b0664aa1",
    "/workspace/work/camera-lidar-recovery-20261027/raw/2011_09_28/2011_09_28_drive_0002_sync/image_02/data/0000000187.png": "207e6e6060e61b4173c82d8fd572a5c9292742841842f56d19e923445fe9cda6",
    "/workspace/work/external-comparison-20261028/preprocessed/matrix-20261028/2011_09_28_0002/0000000187.png": "660e90eb565e22d3f0900c0060f7891883115520801107b513ad0f25a8eb08c4",
    "/workspace/work/joint-learned-stereo-20261029/2011_09_28_0002-positive-frame-187-sgbm.npy": "5be3150adfdf5e49b73f42e542028e46a07ba9165ac67bacfa4e77ccabd57bc3",
    "/workspace/work/surface-error-maps-20261030/2011_09_28_0002-frame-187.npz": "4eafddbc0fe3bca1c9b0500ecb839e95c31c46162bee03fc4bc2ac944b03947a",
    "/workspace/work/camera-lidar-recovery-20261027/raw/2011_09_28/2011_09_28_drive_0002_sync/image_02/data/0000000281.png": "2beb70489fdd94f29fe7c45cec5ec7fc3b56e62f0d2f8871c17f243065619f59",
    "/workspace/work/external-comparison-20261028/preprocessed/matrix-20261028/2011_09_28_0002/0000000281.png": "eba62de6f0b7591a9d343950d9dfbaadcfc4ca901c02449366785b2cd6ae6287",
    "/workspace/work/joint-learned-stereo-20261029/2011_09_28_0002-positive-frame-281-sgbm.npy": "a33f41bf0d7bc2b0e62e9c6da7fe42c55499b8049d54914ce3011cdcc3fb6ff1",
    "/workspace/work/surface-error-maps-20261030/2011_09_28_0002-frame-281.npz": "f64f076e60889ec240bfdcda42a1aa2328accfccdf6d35bb4c8387f784903232",
    "/workspace/work/expanded-joint-20261029/prepared-v2/raw/2011_09_26/2011_09_26_drive_0009_sync/image_02/data/0000000111.png": "55051f9685bf1ecf23e93868e244f7df14bff583471b35df52b73bc9f0f8bac8",
    "/workspace/work/expanded-joint-20261029/prepared-v2/raw/2011_09_26/2011_09_26_drive_0009_sync/image_03/data/0000000111.png": "c2082b2bd548a38ea5e480e563f07258846561dfed6f3e45aa2f6079cd30b1fa",
    "/workspace/work/joint-learned-stereo-20261029/2011_09_26_0009-positive-frame-111-sgbm.npy": "ce224ee63504bb83fb19be2efaa47d40e5c12a452c6983deca970f3d0d06f1e7",
    "/workspace/work/surface-error-maps-20261030/2011_09_26_0009-frame-111.npz": "6c07af94aff65f62df0d3649357cab8c9429e88e7cee984ae011468ff569b83f",
    "/workspace/work/expanded-joint-20261029/prepared-v2/raw/2011_09_26/2011_09_26_drive_0009_sync/image_02/data/0000000223.png": "eb829ae74dbc375d8aff0735f41d1d03ea52acbf4a9393e2805b69ac9ef34816",
    "/workspace/work/expanded-joint-20261029/prepared-v2/raw/2011_09_26/2011_09_26_drive_0009_sync/image_03/data/0000000223.png": "94f98e87c30b0f8760ba08badb56ffb52d9ba69f5415ae6f319a3fc90c08806f",
    "/workspace/work/joint-learned-stereo-20261029/2011_09_26_0009-positive-frame-223-sgbm.npy": "a4a49da8ab010151cfb1b4f52ee76a70a50667797f25923bd6fa57770b164a27",
    "/workspace/work/surface-error-maps-20261030/2011_09_26_0009-frame-223.npz": "3b50daf963b872e2524d339bbfc46cfd53099ca3cccbf078a493122f958f085e",
    "/workspace/work/expanded-joint-20261029/prepared-v2/raw/2011_09_26/2011_09_26_drive_0009_sync/image_02/data/0000000334.png": "f1c17c4055419cca8d6cb9da5ff104a0e41491fcfcf389fdd10b16fe939c37fa",
    "/workspace/work/expanded-joint-20261029/prepared-v2/raw/2011_09_26/2011_09_26_drive_0009_sync/image_03/data/0000000334.png": "25a8a7dae4d42e3ebe4ffa78c60d94b31bf7aeaa0a4e65f730df505590e210fc",
    "/workspace/work/joint-learned-stereo-20261029/2011_09_26_0009-positive-frame-334-sgbm.npy": "45d1a69ecae770bdbc9586c1e02b7db25962f28a7cb95ba6e5e3c0f3075ed755",
    "/workspace/work/surface-error-maps-20261030/2011_09_26_0009-frame-334.npz": "aff62ebdb7138559a6984b75879d8977888248440b8fa718a1604da7cc1190d9",
    "/workspace/work/expanded-joint-20261029/prepared-v2/raw/2011_09_26/2011_09_26_drive_0011_sync/image_02/data/0000000058.png": "d39c188e2c69f53d4ff2c7958b21e561e7ab3a464c6e6a7bbb207f66ff0c4c6d",
    "/workspace/work/expanded-joint-20261029/prepared-v2/raw/2011_09_26/2011_09_26_drive_0011_sync/image_03/data/0000000058.png": "ddd61ce304e9a685226d0ae1c7d9c51cf93ab82ea8c9d0d902392a5fee65d386",
    "/workspace/work/joint-learned-stereo-20261029/2011_09_26_0011-positive-frame-58-sgbm.npy": "b92bd7d3c3395951ca315817aff7c0e5f41854271510d60ebbc6612bce0213ab",
    "/workspace/work/surface-error-maps-20261030/2011_09_26_0011-frame-58.npz": "1a68842807c58ae713c889ed286aa2948bd94f6f41b4e4924fa2fb2e999b874e",
    "/workspace/work/expanded-joint-20261029/prepared-v2/raw/2011_09_26/2011_09_26_drive_0011_sync/image_02/data/0000000116.png": "9f97cda7f84695b48edfcf4413c04382138a860ed127d9c398f5612d7c4556cd",
    "/workspace/work/expanded-joint-20261029/prepared-v2/raw/2011_09_26/2011_09_26_drive_0011_sync/image_03/data/0000000116.png": "26c79c750d2855130ee2ee9ccffd35e597eefad045d524c2801d39145aa9c51c",
    "/workspace/work/joint-learned-stereo-20261029/2011_09_26_0011-positive-frame-116-sgbm.npy": "9a19ac1e453a63643a779cad4f67c370529bf0ada82ed26c32cbecc09c2d1dd6",
    "/workspace/work/surface-error-maps-20261030/2011_09_26_0011-frame-116.npz": "ea6e514af1bdeace7581cc6066e1a82fc68084650d689b372f88faad67f0678b",
    "/workspace/work/expanded-joint-20261029/prepared-v2/raw/2011_09_26/2011_09_26_drive_0011_sync/image_02/data/0000000174.png": "3ebe0e9ea2cfe924914ec199189979b0e82420de4097d026f6c189cfc9d96737",
    "/workspace/work/expanded-joint-20261029/prepared-v2/raw/2011_09_26/2011_09_26_drive_0011_sync/image_03/data/0000000174.png": "b15dadf13098d916435dc73a302743c2c56e04e9996a76e8b187afbd4627998d",
    "/workspace/work/joint-learned-stereo-20261029/2011_09_26_0011-positive-frame-174-sgbm.npy": "47eb4bd8abb506abfd07502cd3ab39a67055763a29b65a5f9d2de6bd1cb909a9",
    "/workspace/work/surface-error-maps-20261030/2011_09_26_0011-frame-174.npz": "592dd80121428e19317e9c564b6536ca08a422d07a5a9bf4259cacb63f316731",
    "/workspace/work/broader-models-inputs-20261029/raw/2011_09_26/2011_09_26_drive_0013_sync/image_02/data/0000000035.png": "be4c629712533d51df93559a19245a739febf109a5cdaf3c80e225abc371e902",
    "/workspace/work/broader-models-inputs-20261029/raw/2011_09_26/2011_09_26_drive_0013_sync/image_03/data/0000000035.png": "dee60356b1aa57c3b206653849479816c548317d7a64f08928b4e45b08fca4a9",
    "/workspace/work/joint-learned-stereo-20261029/2011_09_26_0013-positive-frame-35-sgbm.npy": "95f1bf1fc8638e90208c34587e7b3a274a24b3e831d9da4939cf48edf6023287",
    "/workspace/work/surface-error-maps-20261030/2011_09_26_0013-frame-35.npz": "5f0d8a5373f86dda51534bc888a5e00f2e0d11d97cf45646286a5826d6005c03",
    "/workspace/work/broader-models-inputs-20261029/raw/2011_09_26/2011_09_26_drive_0013_sync/image_02/data/0000000071.png": "6adc4d77805161beba0c0b5c89af43fc8c5411d09466540b2a44dacc5ad77023",
    "/workspace/work/broader-models-inputs-20261029/raw/2011_09_26/2011_09_26_drive_0013_sync/image_03/data/0000000071.png": "007286465664b92254629b43dac5ca86c55a648496568a2073d38b9709e5311d",
    "/workspace/work/joint-learned-stereo-20261029/2011_09_26_0013-positive-frame-71-sgbm.npy": "81b97b1b959dc9ad67b8ed60a82d18cad26eba8b8f140651899d0f1ab7c0f9aa",
    "/workspace/work/surface-error-maps-20261030/2011_09_26_0013-frame-71.npz": "d968817201a89b7178f5da2a16e6fc7b5ef5e876af7d5a94ded99bab7bf1ea6b",
    "/workspace/work/broader-models-inputs-20261029/raw/2011_09_26/2011_09_26_drive_0013_sync/image_02/data/0000000107.png": "094c2ff2cd251e74eb633b15fb7d65bcbcbaad481dba70af75b5097bf5e7f93c",
    "/workspace/work/broader-models-inputs-20261029/raw/2011_09_26/2011_09_26_drive_0013_sync/image_03/data/0000000107.png": "71f70c5bc5954a44075224c126aa6e7a465cad519a00f9351258c468033a60c5",
    "/workspace/work/joint-learned-stereo-20261029/2011_09_26_0013-positive-frame-107-sgbm.npy": "50626b235897f855d98c98187d849bf6ba6bcb02653fd86f76d03a3e4f1cf3fc",
    "/workspace/work/surface-error-maps-20261030/2011_09_26_0013-frame-107.npz": "80fe802b2b68093dd088e33c7076a6eb9ddfe0fb5fd49332080602b7937d12df",
    "/workspace/work/broader-models-inputs-20261029/raw/2011_09_26/2011_09_26_drive_0015_sync/image_02/data/0000000074.png": "76a5e20f47b84deafd83948d6e871a57cb9d3cb8ca5cdcb611c57ae56677f2d1",
    "/workspace/work/broader-models-inputs-20261029/raw/2011_09_26/2011_09_26_drive_0015_sync/image_03/data/0000000074.png": "3070022fa686f1985a7225f83182184ab8834f44311e2e139b5d55f76611e36d",
    "/workspace/work/joint-learned-stereo-20261029/2011_09_26_0015-positive-frame-74-sgbm.npy": "9bc037b907329640d32345d28b54d4e53ae786d77a4bfef061633e236963e254",
    "/workspace/work/surface-error-maps-20261030/2011_09_26_0015-frame-74.npz": "abcef42aa04b59371a00b158a6db6b57351d4ae592554a08f2a46b61f39e210a",
    "/workspace/work/broader-models-inputs-20261029/raw/2011_09_26/2011_09_26_drive_0015_sync/image_02/data/0000000148.png": "56f4e5f295b8ff1cc35032ac5ee4ba1ba0ebae23d5c1abd3f6e4fa984f6ded87",
    "/workspace/work/broader-models-inputs-20261029/raw/2011_09_26/2011_09_26_drive_0015_sync/image_03/data/0000000148.png": "b07a808c941bf63cd35adb8922778e44391972d4aa2dd5b488fe918ebe574087",
    "/workspace/work/joint-learned-stereo-20261029/2011_09_26_0015-positive-frame-148-sgbm.npy": "5eb35a5bc540ce1300310cdf686ec84e1cd2e2f89150404d31ceac70b2cdec32",
    "/workspace/work/surface-error-maps-20261030/2011_09_26_0015-frame-148.npz": "c34d12b516fc7f59c8674cf6a4267db9958e7a6b35954c0f838ef8c903384dde",
    "/workspace/work/broader-models-inputs-20261029/raw/2011_09_26/2011_09_26_drive_0015_sync/image_02/data/0000000222.png": "6ec29938d6282751f933a9bd17530df540140e564013258e1a92598163239924",
    "/workspace/work/broader-models-inputs-20261029/raw/2011_09_26/2011_09_26_drive_0015_sync/image_03/data/0000000222.png": "d8ffa5c55b904d78c3980d51de9dac51c7378caa329cabe12a1ade8a0e947bb4",
    "/workspace/work/joint-learned-stereo-20261029/2011_09_26_0015-positive-frame-222-sgbm.npy": "eab617ec83170d3d5fa670b6d9df742ed0b5963ce698fa24ed46926f07622a59",
    "/workspace/work/surface-error-maps-20261030/2011_09_26_0015-frame-222.npz": "9f0433f63fc155af408d601f35ed1854ecae2328d762da444cc88aeeeb185075"
  },
  "frames": [
    {
      "drive": "2011_09_26_0005",
      "frame": "frame-38",
      "left": "/workspace/work/camera-lidar-recovery-20261027/raw/2011_09_26/2011_09_26_drive_0005_sync/image_02/data/0000000038.png",
      "right": "/workspace/work/external-comparison-20261028/preprocessed/matrix-20261028/2011_09_26_0005/0000000038.png",
      "depth": "/workspace/work/joint-learned-stereo-20261029/2011_09_26_0005-positive-frame-38-sgbm.npy",
      "calibration": "/workspace/work/camera-lidar-recovery-20261027/calibration/2011_09_26/calib_cam_to_cam.txt",
      "settings": {
        "minDisparity": 0,
        "numDisparities": 128,
        "blockSize": 5,
        "P1": 200,
        "P2": 800,
        "disp12MaxDiff": 1,
        "preFilterCap": 31,
        "uniquenessRatio": 10,
        "speckleWindowSize": 100,
        "speckleRange": 2,
        "mode": 2
      },
      "map_path": "/workspace/work/surface-error-maps-20261030/2011_09_26_0005-frame-38.npz"
    },
    {
      "drive": "2011_09_26_0005",
      "frame": "frame-76",
      "left": "/workspace/work/camera-lidar-recovery-20261027/raw/2011_09_26/2011_09_26_drive_0005_sync/image_02/data/0000000076.png",
      "right": "/workspace/work/external-comparison-20261028/preprocessed/matrix-20261028/2011_09_26_0005/0000000076.png",
      "depth": "/workspace/work/joint-learned-stereo-20261029/2011_09_26_0005-positive-frame-76-sgbm.npy",
      "calibration": "/workspace/work/camera-lidar-recovery-20261027/calibration/2011_09_26/calib_cam_to_cam.txt",
      "settings": {
        "minDisparity": 0,
        "numDisparities": 128,
        "blockSize": 5,
        "P1": 200,
        "P2": 800,
        "disp12MaxDiff": 1,
        "preFilterCap": 31,
        "uniquenessRatio": 10,
        "speckleWindowSize": 100,
        "speckleRange": 2,
        "mode": 2
      },
      "map_path": "/workspace/work/surface-error-maps-20261030/2011_09_26_0005-frame-76.npz"
    },
    {
      "drive": "2011_09_26_0005",
      "frame": "frame-114",
      "left": "/workspace/work/camera-lidar-recovery-20261027/raw/2011_09_26/2011_09_26_drive_0005_sync/image_02/data/0000000114.png",
      "right": "/workspace/work/external-comparison-20261028/preprocessed/matrix-20261028/2011_09_26_0005/0000000114.png",
      "depth": "/workspace/work/joint-learned-stereo-20261029/2011_09_26_0005-positive-frame-114-sgbm.npy",
      "calibration": "/workspace/work/camera-lidar-recovery-20261027/calibration/2011_09_26/calib_cam_to_cam.txt",
      "settings": {
        "minDisparity": 0,
        "numDisparities": 128,
        "blockSize": 5,
        "P1": 200,
        "P2": 800,
        "disp12MaxDiff": 1,
        "preFilterCap": 31,
        "uniquenessRatio": 10,
        "speckleWindowSize": 100,
        "speckleRange": 2,
        "mode": 2
      },
      "map_path": "/workspace/work/surface-error-maps-20261030/2011_09_26_0005-frame-114.npz"
    },
    {
      "drive": "2011_09_28_0002",
      "frame": "frame-93",
      "left": "/workspace/work/camera-lidar-recovery-20261027/raw/2011_09_28/2011_09_28_drive_0002_sync/image_02/data/0000000093.png",
      "right": "/workspace/work/external-comparison-20261028/preprocessed/matrix-20261028/2011_09_28_0002/0000000093.png",
      "depth": "/workspace/work/joint-learned-stereo-20261029/2011_09_28_0002-positive-frame-93-sgbm.npy",
      "calibration": "/workspace/work/camera-lidar-recovery-20261027/calibration/2011_09_28/calib_cam_to_cam.txt",
      "settings": {
        "minDisparity": 0,
        "numDisparities": 128,
        "blockSize": 5,
        "P1": 200,
        "P2": 800,
        "disp12MaxDiff": 1,
        "preFilterCap": 31,
        "uniquenessRatio": 10,
        "speckleWindowSize": 100,
        "speckleRange": 2,
        "mode": 2
      },
      "map_path": "/workspace/work/surface-error-maps-20261030/2011_09_28_0002-frame-93.npz"
    },
    {
      "drive": "2011_09_28_0002",
      "frame": "frame-187",
      "left": "/workspace/work/camera-lidar-recovery-20261027/raw/2011_09_28/2011_09_28_drive_0002_sync/image_02/data/0000000187.png",
      "right": "/workspace/work/external-comparison-20261028/preprocessed/matrix-20261028/2011_09_28_0002/0000000187.png",
      "depth": "/workspace/work/joint-learned-stereo-20261029/2011_09_28_0002-positive-frame-187-sgbm.npy",
      "calibration": "/workspace/work/camera-lidar-recovery-20261027/calibration/2011_09_28/calib_cam_to_cam.txt",
      "settings": {
        "minDisparity": 0,
        "numDisparities": 128,
        "blockSize": 5,
        "P1": 200,
        "P2": 800,
        "disp12MaxDiff": 1,
        "preFilterCap": 31,
        "uniquenessRatio": 10,
        "speckleWindowSize": 100,
        "speckleRange": 2,
        "mode": 2
      },
      "map_path": "/workspace/work/surface-error-maps-20261030/2011_09_28_0002-frame-187.npz"
    },
    {
      "drive": "2011_09_28_0002",
      "frame": "frame-281",
      "left": "/workspace/work/camera-lidar-recovery-20261027/raw/2011_09_28/2011_09_28_drive_0002_sync/image_02/data/0000000281.png",
      "right": "/workspace/work/external-comparison-20261028/preprocessed/matrix-20261028/2011_09_28_0002/0000000281.png",
      "depth": "/workspace/work/joint-learned-stereo-20261029/2011_09_28_0002-positive-frame-281-sgbm.npy",
      "calibration": "/workspace/work/camera-lidar-recovery-20261027/calibration/2011_09_28/calib_cam_to_cam.txt",
      "settings": {
        "minDisparity": 0,
        "numDisparities": 128,
        "blockSize": 5,
        "P1": 200,
        "P2": 800,
        "disp12MaxDiff": 1,
        "preFilterCap": 31,
        "uniquenessRatio": 10,
        "speckleWindowSize": 100,
        "speckleRange": 2,
        "mode": 2
      },
      "map_path": "/workspace/work/surface-error-maps-20261030/2011_09_28_0002-frame-281.npz"
    },
    {
      "drive": "2011_09_26_0009",
      "frame": "frame-111",
      "left": "/workspace/work/expanded-joint-20261029/prepared-v2/raw/2011_09_26/2011_09_26_drive_0009_sync/image_02/data/0000000111.png",
      "right": "/workspace/work/expanded-joint-20261029/prepared-v2/raw/2011_09_26/2011_09_26_drive_0009_sync/image_03/data/0000000111.png",
      "depth": "/workspace/work/joint-learned-stereo-20261029/2011_09_26_0009-positive-frame-111-sgbm.npy",
      "calibration": "/workspace/work/camera-lidar-recovery-20261027/calibration/2011_09_26/calib_cam_to_cam.txt",
      "settings": {
        "minDisparity": 0,
        "numDisparities": 128,
        "blockSize": 5,
        "P1": 200,
        "P2": 800,
        "disp12MaxDiff": 1,
        "preFilterCap": 31,
        "uniquenessRatio": 10,
        "speckleWindowSize": 100,
        "speckleRange": 2,
        "mode": 2
      },
      "map_path": "/workspace/work/surface-error-maps-20261030/2011_09_26_0009-frame-111.npz"
    },
    {
      "drive": "2011_09_26_0009",
      "frame": "frame-223",
      "left": "/workspace/work/expanded-joint-20261029/prepared-v2/raw/2011_09_26/2011_09_26_drive_0009_sync/image_02/data/0000000223.png",
      "right": "/workspace/work/expanded-joint-20261029/prepared-v2/raw/2011_09_26/2011_09_26_drive_0009_sync/image_03/data/0000000223.png",
      "depth": "/workspace/work/joint-learned-stereo-20261029/2011_09_26_0009-positive-frame-223-sgbm.npy",
      "calibration": "/workspace/work/camera-lidar-recovery-20261027/calibration/2011_09_26/calib_cam_to_cam.txt",
      "settings": {
        "minDisparity": 0,
        "numDisparities": 128,
        "blockSize": 5,
        "P1": 200,
        "P2": 800,
        "disp12MaxDiff": 1,
        "preFilterCap": 31,
        "uniquenessRatio": 10,
        "speckleWindowSize": 100,
        "speckleRange": 2,
        "mode": 2
      },
      "map_path": "/workspace/work/surface-error-maps-20261030/2011_09_26_0009-frame-223.npz"
    },
    {
      "drive": "2011_09_26_0009",
      "frame": "frame-334",
      "left": "/workspace/work/expanded-joint-20261029/prepared-v2/raw/2011_09_26/2011_09_26_drive_0009_sync/image_02/data/0000000334.png",
      "right": "/workspace/work/expanded-joint-20261029/prepared-v2/raw/2011_09_26/2011_09_26_drive_0009_sync/image_03/data/0000000334.png",
      "depth": "/workspace/work/joint-learned-stereo-20261029/2011_09_26_0009-positive-frame-334-sgbm.npy",
      "calibration": "/workspace/work/camera-lidar-recovery-20261027/calibration/2011_09_26/calib_cam_to_cam.txt",
      "settings": {
        "minDisparity": 0,
        "numDisparities": 128,
        "blockSize": 5,
        "P1": 200,
        "P2": 800,
        "disp12MaxDiff": 1,
        "preFilterCap": 31,
        "uniquenessRatio": 10,
        "speckleWindowSize": 100,
        "speckleRange": 2,
        "mode": 2
      },
      "map_path": "/workspace/work/surface-error-maps-20261030/2011_09_26_0009-frame-334.npz"
    },
    {
      "drive": "2011_09_26_0011",
      "frame": "frame-58",
      "left": "/workspace/work/expanded-joint-20261029/prepared-v2/raw/2011_09_26/2011_09_26_drive_0011_sync/image_02/data/0000000058.png",
      "right": "/workspace/work/expanded-joint-20261029/prepared-v2/raw/2011_09_26/2011_09_26_drive_0011_sync/image_03/data/0000000058.png",
      "depth": "/workspace/work/joint-learned-stereo-20261029/2011_09_26_0011-positive-frame-58-sgbm.npy",
      "calibration": "/workspace/work/camera-lidar-recovery-20261027/calibration/2011_09_26/calib_cam_to_cam.txt",
      "settings": {
        "minDisparity": 0,
        "numDisparities": 128,
        "blockSize": 5,
        "P1": 200,
        "P2": 800,
        "disp12MaxDiff": 1,
        "preFilterCap": 31,
        "uniquenessRatio": 10,
        "speckleWindowSize": 100,
        "speckleRange": 2,
        "mode": 2
      },
      "map_path": "/workspace/work/surface-error-maps-20261030/2011_09_26_0011-frame-58.npz"
    },
    {
      "drive": "2011_09_26_0011",
      "frame": "frame-116",
      "left": "/workspace/work/expanded-joint-20261029/prepared-v2/raw/2011_09_26/2011_09_26_drive_0011_sync/image_02/data/0000000116.png",
      "right": "/workspace/work/expanded-joint-20261029/prepared-v2/raw/2011_09_26/2011_09_26_drive_0011_sync/image_03/data/0000000116.png",
      "depth": "/workspace/work/joint-learned-stereo-20261029/2011_09_26_0011-positive-frame-116-sgbm.npy",
      "calibration": "/workspace/work/camera-lidar-recovery-20261027/calibration/2011_09_26/calib_cam_to_cam.txt",
      "settings": {
        "minDisparity": 0,
        "numDisparities": 128,
        "blockSize": 5,
        "P1": 200,
        "P2": 800,
        "disp12MaxDiff": 1,
        "preFilterCap": 31,
        "uniquenessRatio": 10,
        "speckleWindowSize": 100,
        "speckleRange": 2,
        "mode": 2
      },
      "map_path": "/workspace/work/surface-error-maps-20261030/2011_09_26_0011-frame-116.npz"
    },
    {
      "drive": "2011_09_26_0011",
      "frame": "frame-174",
      "left": "/workspace/work/expanded-joint-20261029/prepared-v2/raw/2011_09_26/2011_09_26_drive_0011_sync/image_02/data/0000000174.png",
      "right": "/workspace/work/expanded-joint-20261029/prepared-v2/raw/2011_09_26/2011_09_26_drive_0011_sync/image_03/data/0000000174.png",
      "depth": "/workspace/work/joint-learned-stereo-20261029/2011_09_26_0011-positive-frame-174-sgbm.npy",
      "calibration": "/workspace/work/camera-lidar-recovery-20261027/calibration/2011_09_26/calib_cam_to_cam.txt",
      "settings": {
        "minDisparity": 0,
        "numDisparities": 128,
        "blockSize": 5,
        "P1": 200,
        "P2": 800,
        "disp12MaxDiff": 1,
        "preFilterCap": 31,
        "uniquenessRatio": 10,
        "speckleWindowSize": 100,
        "speckleRange": 2,
        "mode": 2
      },
      "map_path": "/workspace/work/surface-error-maps-20261030/2011_09_26_0011-frame-174.npz"
    },
    {
      "drive": "2011_09_26_0013",
      "frame": "frame-35",
      "left": "/workspace/work/broader-models-inputs-20261029/raw/2011_09_26/2011_09_26_drive_0013_sync/image_02/data/0000000035.png",
      "right": "/workspace/work/broader-models-inputs-20261029/raw/2011_09_26/2011_09_26_drive_0013_sync/image_03/data/0000000035.png",
      "depth": "/workspace/work/joint-learned-stereo-20261029/2011_09_26_0013-positive-frame-35-sgbm.npy",
      "calibration": "/workspace/work/camera-lidar-recovery-20261027/calibration/2011_09_26/calib_cam_to_cam.txt",
      "settings": {
        "minDisparity": 0,
        "numDisparities": 128,
        "blockSize": 5,
        "P1": 200,
        "P2": 800,
        "disp12MaxDiff": 1,
        "preFilterCap": 31,
        "uniquenessRatio": 10,
        "speckleWindowSize": 100,
        "speckleRange": 2,
        "mode": 2
      },
      "map_path": "/workspace/work/surface-error-maps-20261030/2011_09_26_0013-frame-35.npz"
    },
    {
      "drive": "2011_09_26_0013",
      "frame": "frame-71",
      "left": "/workspace/work/broader-models-inputs-20261029/raw/2011_09_26/2011_09_26_drive_0013_sync/image_02/data/0000000071.png",
      "right": "/workspace/work/broader-models-inputs-20261029/raw/2011_09_26/2011_09_26_drive_0013_sync/image_03/data/0000000071.png",
      "depth": "/workspace/work/joint-learned-stereo-20261029/2011_09_26_0013-positive-frame-71-sgbm.npy",
      "calibration": "/workspace/work/camera-lidar-recovery-20261027/calibration/2011_09_26/calib_cam_to_cam.txt",
      "settings": {
        "minDisparity": 0,
        "numDisparities": 128,
        "blockSize": 5,
        "P1": 200,
        "P2": 800,
        "disp12MaxDiff": 1,
        "preFilterCap": 31,
        "uniquenessRatio": 10,
        "speckleWindowSize": 100,
        "speckleRange": 2,
        "mode": 2
      },
      "map_path": "/workspace/work/surface-error-maps-20261030/2011_09_26_0013-frame-71.npz"
    },
    {
      "drive": "2011_09_26_0013",
      "frame": "frame-107",
      "left": "/workspace/work/broader-models-inputs-20261029/raw/2011_09_26/2011_09_26_drive_0013_sync/image_02/data/0000000107.png",
      "right": "/workspace/work/broader-models-inputs-20261029/raw/2011_09_26/2011_09_26_drive_0013_sync/image_03/data/0000000107.png",
      "depth": "/workspace/work/joint-learned-stereo-20261029/2011_09_26_0013-positive-frame-107-sgbm.npy",
      "calibration": "/workspace/work/camera-lidar-recovery-20261027/calibration/2011_09_26/calib_cam_to_cam.txt",
      "settings": {
        "minDisparity": 0,
        "numDisparities": 128,
        "blockSize": 5,
        "P1": 200,
        "P2": 800,
        "disp12MaxDiff": 1,
        "preFilterCap": 31,
        "uniquenessRatio": 10,
        "speckleWindowSize": 100,
        "speckleRange": 2,
        "mode": 2
      },
      "map_path": "/workspace/work/surface-error-maps-20261030/2011_09_26_0013-frame-107.npz"
    },
    {
      "drive": "2011_09_26_0015",
      "frame": "frame-74",
      "left": "/workspace/work/broader-models-inputs-20261029/raw/2011_09_26/2011_09_26_drive_0015_sync/image_02/data/0000000074.png",
      "right": "/workspace/work/broader-models-inputs-20261029/raw/2011_09_26/2011_09_26_drive_0015_sync/image_03/data/0000000074.png",
      "depth": "/workspace/work/joint-learned-stereo-20261029/2011_09_26_0015-positive-frame-74-sgbm.npy",
      "calibration": "/workspace/work/camera-lidar-recovery-20261027/calibration/2011_09_26/calib_cam_to_cam.txt",
      "settings": {
        "minDisparity": 0,
        "numDisparities": 128,
        "blockSize": 5,
        "P1": 200,
        "P2": 800,
        "disp12MaxDiff": 1,
        "preFilterCap": 31,
        "uniquenessRatio": 10,
        "speckleWindowSize": 100,
        "speckleRange": 2,
        "mode": 2
      },
      "map_path": "/workspace/work/surface-error-maps-20261030/2011_09_26_0015-frame-74.npz"
    },
    {
      "drive": "2011_09_26_0015",
      "frame": "frame-148",
      "left": "/workspace/work/broader-models-inputs-20261029/raw/2011_09_26/2011_09_26_drive_0015_sync/image_02/data/0000000148.png",
      "right": "/workspace/work/broader-models-inputs-20261029/raw/2011_09_26/2011_09_26_drive_0015_sync/image_03/data/0000000148.png",
      "depth": "/workspace/work/joint-learned-stereo-20261029/2011_09_26_0015-positive-frame-148-sgbm.npy",
      "calibration": "/workspace/work/camera-lidar-recovery-20261027/calibration/2011_09_26/calib_cam_to_cam.txt",
      "settings": {
        "minDisparity": 0,
        "numDisparities": 128,
        "blockSize": 5,
        "P1": 200,
        "P2": 800,
        "disp12MaxDiff": 1,
        "preFilterCap": 31,
        "uniquenessRatio": 10,
        "speckleWindowSize": 100,
        "speckleRange": 2,
        "mode": 2
      },
      "map_path": "/workspace/work/surface-error-maps-20261030/2011_09_26_0015-frame-148.npz"
    },
    {
      "drive": "2011_09_26_0015",
      "frame": "frame-222",
      "left": "/workspace/work/broader-models-inputs-20261029/raw/2011_09_26/2011_09_26_drive_0015_sync/image_02/data/0000000222.png",
      "right": "/workspace/work/broader-models-inputs-20261029/raw/2011_09_26/2011_09_26_drive_0015_sync/image_03/data/0000000222.png",
      "depth": "/workspace/work/joint-learned-stereo-20261029/2011_09_26_0015-positive-frame-222-sgbm.npy",
      "calibration": "/workspace/work/camera-lidar-recovery-20261027/calibration/2011_09_26/calib_cam_to_cam.txt",
      "settings": {
        "minDisparity": 0,
        "numDisparities": 128,
        "blockSize": 5,
        "P1": 200,
        "P2": 800,
        "disp12MaxDiff": 1,
        "preFilterCap": 31,
        "uniquenessRatio": 10,
        "speckleWindowSize": 100,
        "speckleRange": 2,
        "mode": 2
      },
      "map_path": "/workspace/work/surface-error-maps-20261030/2011_09_26_0015-frame-222.npz"
    }
  ]
}