text: import numpy as np
  
  def _estimate_sampling_frequency(timestamps: np.ndarray):
      if len(timestamps) <= 1:
          return 0
      deltas = np.diff(timestamps)
      median_delta = np.median(deltas)
      deltas_excluding_outliers = deltas[(median_delta * 0.9 < deltas) & (deltas < median_delta * 1.1)]
      return 1 / float(np.mean(deltas_excluding_outliers))
  