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  1. scans/orange_pulley_oct20/recon/compare_prune/crops.jpg +3 -0
  2. scans/orange_pulley_oct20/recon/compare_prune/traj.jpg +3 -0
  3. scans/orange_pulley_oct20/recon/compare_ring/crops.jpg +3 -0
  4. scans/orange_pulley_oct20/recon/compare_ring/traj.jpg +3 -0
  5. scans/orange_pulley_oct20/recon/compare_ring_leon/crops.jpg +3 -0
  6. scans/orange_pulley_oct20/recon/compare_ring_leon/traj.jpg +3 -0
  7. scans/orange_pulley_oct20/recon/orange_pulley_v2_metric/sparse/0/cameras.txt +4 -0
  8. scans/orange_pulley_oct20/recon/orange_pulley_v2_metric/sparse/0/frames.txt +279 -0
  9. scans/orange_pulley_oct20/recon/orange_pulley_v2_metric/sparse/0/points3D.txt +0 -0
  10. scans/orange_pulley_oct20/recon/orange_pulley_v2_metric/sparse/0/rigs.txt +4 -0
  11. scans/orange_pulley_oct20/recon/orange_pulley_v2_metric_sharp/dropped_frames.txt +28 -0
  12. scans/orange_pulley_oct20/recon/orange_pulley_v2_metric_sharp/sparse/0/cameras.txt +4 -0
  13. scans/orange_pulley_oct20/recon/orange_pulley_v2_metric_sharp/sparse/0/frames.txt +251 -0
  14. scans/orange_pulley_oct20/recon/orange_pulley_v2_metric_sharp/sparse/0/points3D.txt +0 -0
  15. scans/orange_pulley_oct20/recon/orange_pulley_v2_metric_sharp/sparse/0/rigs.txt +4 -0
  16. scans/orange_pulley_oct20/recon/orange_pulley_v2_metric_sharp_obj/dropped_frames.txt +28 -0
  17. scans/orange_pulley_oct20/recon/orange_pulley_v2_metric_sharp_obj/gsplat_masked_2k/RUN_README.md +43 -0
  18. scans/orange_pulley_oct20/recon/orange_pulley_v2_metric_sharp_obj/gsplat_masked_2k/cfg.yml +116 -0
  19. scans/orange_pulley_oct20/recon/orange_pulley_v2_metric_sharp_obj/gsplat_masked_2k/masked_eval/000208.png +3 -0
  20. scans/orange_pulley_oct20/recon/orange_pulley_v2_metric_sharp_obj/gsplat_masked_2k/masked_eval/000300.png +3 -0
  21. scans/orange_pulley_oct20/recon/orange_pulley_v2_metric_sharp_obj/gsplat_masked_2k/masked_eval/001269.png +3 -0
  22. scans/orange_pulley_oct20/recon/orange_pulley_v2_metric_sharp_obj/gsplat_masked_2k/masked_eval/001317.png +3 -0
  23. scans/orange_pulley_oct20/recon/orange_pulley_v2_metric_sharp_obj/gsplat_masked_2k/stats/train_step29999_rank0.json +1 -0
  24. scans/orange_pulley_oct20/recon/orange_pulley_v2_metric_sharp_obj/gsplat_masked_2k/stats/train_step6999_rank0.json +1 -0
  25. scans/orange_pulley_oct20/recon/orange_pulley_v2_metric_sharp_obj/gsplat_masked_2k/stats/val_step29999.json +1 -0
  26. scans/orange_pulley_oct20/recon/orange_pulley_v2_metric_sharp_obj/gsplat_masked_2k/stats/val_step6999.json +1 -0
  27. scans/orange_pulley_oct20/recon/orange_pulley_v2_metric_sharp_obj/gsplat_shrunk3_alpha0.05/RUN_README.md +43 -0
  28. scans/orange_pulley_oct20/recon/orange_pulley_v2_metric_sharp_obj/gsplat_shrunk3_alpha0.05/cfg.yml +116 -0
  29. scans/orange_pulley_oct20/recon/orange_pulley_v2_metric_sharp_obj/gsplat_shrunk3_alpha0.05/stats/train_step29999_rank0.json +1 -0
  30. scans/orange_pulley_oct20/recon/orange_pulley_v2_metric_sharp_obj/gsplat_shrunk3_alpha0.05/stats/train_step6999_rank0.json +1 -0
  31. scans/orange_pulley_oct20/recon/orange_pulley_v2_metric_sharp_obj/gsplat_shrunk3_alpha0.05/stats/val_step29999.json +1 -0
  32. scans/orange_pulley_oct20/recon/orange_pulley_v2_metric_sharp_obj/gsplat_shrunk3_alpha0.05/stats/val_step6999.json +1 -0
  33. scans/orange_pulley_oct20/recon/orange_pulley_v2_metric_sharp_obj/gsplat_shrunk3_alpha0.10/RUN_README.md +43 -0
  34. scans/orange_pulley_oct20/recon/orange_pulley_v2_metric_sharp_obj/gsplat_shrunk3_alpha0.10/cfg.yml +116 -0
  35. scans/orange_pulley_oct20/recon/orange_pulley_v2_metric_sharp_obj/gsplat_shrunk3_alpha0.10/stats/train_step29999_rank0.json +1 -0
  36. scans/orange_pulley_oct20/recon/orange_pulley_v2_metric_sharp_obj/gsplat_shrunk3_alpha0.10/stats/train_step6999_rank0.json +1 -0
  37. scans/orange_pulley_oct20/recon/orange_pulley_v2_metric_sharp_obj/gsplat_shrunk3_alpha0.10/stats/val_step29999.json +1 -0
  38. scans/orange_pulley_oct20/recon/orange_pulley_v2_metric_sharp_obj/gsplat_shrunk3_alpha0.10/stats/val_step6999.json +1 -0
  39. scans/orange_pulley_oct20/recon/orange_pulley_v2_metric_sharp_obj/sharpness_scores.csv +277 -0
  40. scans/orange_pulley_oct20/recon/orange_pulley_v2_metric_sharp_obj/sparse/0/cameras.txt +4 -0
  41. scans/orange_pulley_oct20/recon/orange_pulley_v2_metric_sharp_obj/sparse/0/frames.txt +251 -0
  42. scans/orange_pulley_oct20/recon/orange_pulley_v2_metric_sharp_obj/sparse/0/points3D.txt +0 -0
  43. scans/orange_pulley_oct20/recon/orange_pulley_v2_metric_sharp_obj/sparse/0/rigs.txt +4 -0
  44. scans/orange_pulley_oct20/recon/orange_pulley_v2_seg/gsplat_depth0.1_alpha5/RUN_README.md +43 -0
  45. scans/orange_pulley_oct20/recon/orange_pulley_v2_seg/gsplat_depth0.1_bce5/RUN_README.md +43 -0
  46. scans/orange_pulley_oct20/recon/orange_pulley_v2_seg/gsplat_depth0.1_bce5/cfg.yml +116 -0
  47. scans/orange_pulley_oct20/recon/orange_pulley_v2_seg/sparse/0/cameras.txt +4 -0
  48. scans/orange_pulley_oct20/recon/orange_pulley_v2_seg/sparse/0/frames.txt +251 -0
  49. scans/orange_pulley_oct20/recon/orange_pulley_v2_seg/sparse/0/points3D.txt +496 -0
  50. scans/orange_pulley_oct20/recon/orange_pulley_v2_seg/sparse/0/rigs.txt +4 -0
scans/orange_pulley_oct20/recon/compare_prune/crops.jpg ADDED

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scans/orange_pulley_oct20/recon/compare_prune/traj.jpg ADDED

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scans/orange_pulley_oct20/recon/compare_ring/crops.jpg ADDED

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scans/orange_pulley_oct20/recon/compare_ring/traj.jpg ADDED

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scans/orange_pulley_oct20/recon/compare_ring_leon/crops.jpg ADDED

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scans/orange_pulley_oct20/recon/compare_ring_leon/traj.jpg ADDED

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scans/orange_pulley_oct20/recon/orange_pulley_v2_metric/sparse/0/cameras.txt ADDED
@@ -0,0 +1,4 @@
 
 
 
 
 
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+ # Camera list with one line of data per camera:
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+ # CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[]
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+ # Number of cameras: 1
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+ 1 PINHOLE 2208 1242 1461.6865234375 1461.6865234375 1172.2926025390625 609.01812744140625
scans/orange_pulley_oct20/recon/orange_pulley_v2_metric/sparse/0/frames.txt ADDED
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+ # Frame list with one line of data per frame:
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+ # FRAME_ID, RIG_ID, RIG_FROM_WORLD[QW, QX, QY, QZ, TX, TY, TZ], NUM_DATA_IDS, DATA_IDS[] as (SENSOR_TYPE, SENSOR_ID, DATA_ID)
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+ # Number of frames: 276
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The diff for this file is too large to render. See raw diff
 
scans/orange_pulley_oct20/recon/orange_pulley_v2_metric/sparse/0/rigs.txt ADDED
@@ -0,0 +1,4 @@
 
 
 
 
 
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+ # Rig calib list with one line of data per calib:
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+ # RIG_ID, NUM_SENSORS, REF_SENSOR_TYPE, REF_SENSOR_ID, SENSORS[] as (SENSOR_TYPE, SENSOR_ID, HAS_POSE, [QW, QX, QY, QZ, TX, TY, TZ])
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+ # Number of rigs: 1
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scans/orange_pulley_oct20/recon/orange_pulley_v2_metric_sharp/dropped_frames.txt ADDED
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scans/orange_pulley_oct20/recon/orange_pulley_v2_metric_sharp/sparse/0/cameras.txt ADDED
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+ # Camera list with one line of data per camera:
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+ # CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[]
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+ # Number of cameras: 1
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+ 1 PINHOLE 2208 1242 1461.6865234375 1461.6865234375 1172.2926025390625 609.01812744140625
scans/orange_pulley_oct20/recon/orange_pulley_v2_metric_sharp/sparse/0/frames.txt ADDED
@@ -0,0 +1,251 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ # Frame list with one line of data per frame:
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+ # FRAME_ID, RIG_ID, RIG_FROM_WORLD[QW, QX, QY, QZ, TX, TY, TZ], NUM_DATA_IDS, DATA_IDS[] as (SENSOR_TYPE, SENSOR_ID, DATA_ID)
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+ # Number of frames: 248
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scans/orange_pulley_oct20/recon/orange_pulley_v2_metric_sharp/sparse/0/points3D.txt ADDED
The diff for this file is too large to render. See raw diff
 
scans/orange_pulley_oct20/recon/orange_pulley_v2_metric_sharp/sparse/0/rigs.txt ADDED
@@ -0,0 +1,4 @@
 
 
 
 
 
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scans/orange_pulley_oct20/recon/orange_pulley_v2_metric_sharp_obj/dropped_frames.txt ADDED
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22
+ 000974.png 58.80
23
+ 000980.png 52.13
24
+ 000985.png 83.99
25
+ 000991.png 60.55
26
+ 000996.png 42.31
27
+ 001006.png 76.47
28
+ 001019.png 86.54
scans/orange_pulley_oct20/recon/orange_pulley_v2_metric_sharp_obj/gsplat_masked_2k/RUN_README.md ADDED
@@ -0,0 +1,43 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ # gsplat masked COLMAP training run
2
+
3
+ - generation timestamp: 2026-10-26 00:15:58 UTC
4
+ - repo git commit: 46f912eefa2dce720b79df547085b8bbdb858ad2
5
+ - gsplat version: 1.5.3
6
+ - gsplat examples dir: /home/shaunak/Code/grasp/gsplat/examples
7
+ - masked launcher: belt_perception/gsplat_masked_dataset/_launch_simple_trainer.py
8
+ - dataset path: /home/shaunak/Code/grasp/recon_runs/orange_pulley_v2_metric_sharp_obj
9
+ - mask dir: /home/shaunak/Code/grasp/recon_runs/orange_pulley_v2/masks
10
+ - mask count: 302
11
+ - masks enabled: True
12
+ - apply_mask_to_eval: False
13
+ - mask semantics: 255=foreground/table (supervised), 0=background/ground (ignored)
14
+ - dataset image count: 302
15
+ - camera: PINHOLE 2208x1242 fx=1461.6865234375 fy=1461.6865234375 cx=1172.2926025390625 cy=609.0181274414062
16
+ - registered image count: 248
17
+ - points3D count: 33080
18
+ - resolved init_type: sfm
19
+ - resolved normalize_world_space: True
20
+ - resolved data_factor: 1
21
+ - dry run: False
22
+
23
+ ## Alpha regularization
24
+
25
+ - background_alpha_loss_weight: 0.05
26
+ - foreground_alpha_loss_weight: 0.0
27
+ - alpha_mask_ignore_band_px: 3
28
+ - alpha_loss_type: mse
29
+
30
+ ## Command
31
+
32
+ ```bash
33
+ /home/shaunak/Code/grasp/belt_perception/.venv/bin/python /home/shaunak/Code/grasp/belt_perception/belt_perception/gsplat_masked_dataset/_launch_simple_trainer.py --gsplat-examples-dir /home/shaunak/Code/grasp/gsplat/examples --mask-dir /home/shaunak/Code/grasp/recon_runs/orange_pulley_v2/masks --no-apply-mask-to-eval --trainer-script /home/shaunak/Code/grasp/belt_perception/belt_perception/gsplat_masked_dataset/simple_trainer_alpha.py default --data-dir /home/shaunak/Code/grasp/recon_runs/orange_pulley_v2_metric_sharp_obj --result-dir /home/shaunak/Code/grasp/recon_runs/orange_pulley_v2_metric_sharp_obj/gsplat_masked_2k --data-factor 1 --init-type sfm --init-num-pts 100000 --max-steps 30000 --test-every 8 --normalize-world-space --disable-viewer --no-disable-video --save-ply --background-alpha-loss-weight 0.05 --foreground-alpha-loss-weight 0.0 --alpha-mask-ignore-band-px 3 --alpha-loss-type mse
34
+ ```
35
+
36
+ ## Notes
37
+
38
+ - per-image masks are loaded by the repo-local shadow of gsplat datasets/colmap.py
39
+ - upstream simple_trainer.py is not modified; only datasets.colmap is shadowed
40
+ - eval PSNR/SSIM/LPIPS may not match an unmasked run when masks are training-only
41
+ - background-alpha regularization penalizes rendered alpha on mask background pixels
42
+ - empty points3D requires random init
43
+ - normalize_world_space is disabled for empty points3D exports
scans/orange_pulley_oct20/recon/orange_pulley_v2_metric_sharp_obj/gsplat_masked_2k/cfg.yml ADDED
@@ -0,0 +1,116 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ alpha_loss_type: mse
2
+ alpha_mask_ignore_band_px: 3
3
+ antialiased: false
4
+ app_embed_dim: 16
5
+ app_opt: false
6
+ app_opt_lr: 0.001
7
+ app_opt_reg: 1.0e-06
8
+ background_alpha_loss_weight: 0.05
9
+ batch_size: 1
10
+ bilateral_grid_fused: false
11
+ bilateral_grid_shape: !!python/tuple
12
+ - 16
13
+ - 16
14
+ - 8
15
+ camera_model: pinhole
16
+ ckpt: null
17
+ color_correct_method: affine
18
+ compression: null
19
+ data_dir: /home/shaunak/Code/grasp/recon_runs/orange_pulley_v2_metric_sharp_obj
20
+ data_factor: 1
21
+ data_order_seed: null
22
+ data_type: colmap
23
+ dense_depth_dir: null
24
+ dense_depth_lambda: 0.0
25
+ depth_lambda: 0.01
26
+ depth_loss: false
27
+ disable_video: false
28
+ disable_viewer: true
29
+ eval_steps:
30
+ - 7000
31
+ - 30000
32
+ far_plane: 10000000000.0
33
+ foreground_alpha_loss_weight: 0.0
34
+ global_scale: 1.0
35
+ init_extent: 3.0
36
+ init_num_pts: 100000
37
+ init_opa: 0.1
38
+ init_scale: 1.0
39
+ init_type: sfm
40
+ load_exposure: true
41
+ lpips_net: alex
42
+ lr_schedule_max_steps: null
43
+ max_steps: 30000
44
+ means_lr: 0.00016
45
+ ncore_camera_ids: []
46
+ ncore_duration_sec: null
47
+ ncore_intrinsics_component_group: default
48
+ ncore_lidar_color_generic_data_name: rgb
49
+ ncore_lidar_ids: []
50
+ ncore_masks_component_group: default
51
+ ncore_max_lidar_points: 500000
52
+ ncore_poses_component_group: default
53
+ ncore_seek_offset_sec: null
54
+ near_plane: 0.01
55
+ normalize_world_space: true
56
+ opacities_lr: 0.05
57
+ opacity_reg: 0.0
58
+ packed: false
59
+ patch_size: null
60
+ ply_steps:
61
+ - 7000
62
+ - 30000
63
+ port: 8080
64
+ pose_noise: 0.0
65
+ pose_opt: false
66
+ pose_opt_lr: 1.0e-05
67
+ pose_opt_reg: 1.0e-06
68
+ post_processing: null
69
+ ppisp_controller_activation_num_steps: 25000
70
+ ppisp_controller_distillation: true
71
+ ppisp_use_controller: true
72
+ quats_lr: 0.001
73
+ random_bkgd: false
74
+ render_traj_path: interp
75
+ result_dir: /home/shaunak/Code/grasp/recon_runs/orange_pulley_v2_metric_sharp_obj/gsplat_masked_2k
76
+ resume_training_ckpt: null
77
+ rgb_loss_weight: 0.8
78
+ save_ply: true
79
+ save_steps:
80
+ - 7000
81
+ - 30000
82
+ scale_reg: 0.0
83
+ scales_lr: 0.005
84
+ sh0_lr: 0.0025
85
+ shN_lr: 0.000125
86
+ sh_degree: 3
87
+ sh_degree_interval: 1000
88
+ sh_fp16: false
89
+ shared_appearance_loss: false
90
+ sparse_grad: false
91
+ ssim_lambda: 0.2
92
+ steps_scaler: 1.0
93
+ strategy: !!python/object:gsplat.strategy.default.DefaultStrategy
94
+ absgrad: false
95
+ grow_grad2d: 0.0002
96
+ grow_scale2d: 0.05
97
+ grow_scale3d: 0.01
98
+ key_for_gradient: means2d
99
+ pause_refine_after_reset: 0
100
+ prune_opa: 0.005
101
+ prune_scale2d: 0.15
102
+ prune_scale3d: 0.1
103
+ refine_every: 100
104
+ refine_scale2d_stop_iter: 0
105
+ refine_start_iter: 500
106
+ refine_stop_iter: 15000
107
+ reset_every: 3000
108
+ revised_opacity: false
109
+ verbose: true
110
+ tb_every: 100
111
+ tb_save_image: false
112
+ test_every: 8
113
+ use_color_correction_metric: false
114
+ visible_adam: false
115
+ with_eval3d: false
116
+ with_ut: false
scans/orange_pulley_oct20/recon/orange_pulley_v2_metric_sharp_obj/gsplat_masked_2k/masked_eval/000208.png ADDED

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scans/orange_pulley_oct20/recon/orange_pulley_v2_metric_sharp_obj/gsplat_masked_2k/stats/train_step29999_rank0.json ADDED
@@ -0,0 +1 @@
 
 
1
+ {"mem": 1.4061379432678223, "ellipse_time": 18985.883276700974, "num_GS": 480529, "appearance_loss": {"rgb": 0.0207135658711195, "ssim": 0.0004444122314453125, "background_alpha": 0.001709516393020749, "foreground_alpha": 6.586812872910741e-08, "total": 0.01674520969390869, "foreground_pixels": 7568, "background_pixels": 2720756}, "total_loss": 0.01674520969390869}
scans/orange_pulley_oct20/recon/orange_pulley_v2_metric_sharp_obj/gsplat_masked_2k/stats/train_step6999_rank0.json ADDED
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1
+ {"mem": 1.0799427032470703, "ellipse_time": 4327.741302251816, "num_GS": 233501, "appearance_loss": {"rgb": 0.022339850664138794, "ssim": 0.0042383670806884766, "background_alpha": 0.02558923326432705, "foreground_alpha": 2.7436760419163875e-08, "total": 0.01999901607632637, "foreground_pixels": 59489, "background_pixels": 2645876}, "total_loss": 0.01999901607632637}
scans/orange_pulley_oct20/recon/orange_pulley_v2_metric_sharp_obj/gsplat_masked_2k/stats/val_step29999.json ADDED
@@ -0,0 +1 @@
 
 
1
+ {"psnr": 6.51616907119751, "ssim": 0.026773903518915176, "lpips": 0.9387228488922119, "ellipse_time": 0.01070680925923009, "num_GS": 480529}
scans/orange_pulley_oct20/recon/orange_pulley_v2_metric_sharp_obj/gsplat_masked_2k/stats/val_step6999.json ADDED
@@ -0,0 +1 @@
 
 
1
+ {"psnr": 6.5549750328063965, "ssim": 0.03283236175775528, "lpips": 0.9421117305755615, "ellipse_time": 0.006840067525063792, "num_GS": 233501}
scans/orange_pulley_oct20/recon/orange_pulley_v2_metric_sharp_obj/gsplat_shrunk3_alpha0.05/RUN_README.md ADDED
@@ -0,0 +1,43 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ # gsplat masked COLMAP training run
2
+
3
+ - generation timestamp: 2026-10-26 22:32:34 UTC
4
+ - repo git commit: 46f912eefa2dce720b79df547085b8bbdb858ad2
5
+ - gsplat version: 1.5.3
6
+ - gsplat examples dir: /home/shaunak/Code/grasp/gsplat/examples
7
+ - masked launcher: belt_perception/gsplat_masked_dataset/_launch_simple_trainer.py
8
+ - dataset path: /home/shaunak/Code/grasp/recon_runs/orange_pulley_v2_metric_sharp_obj
9
+ - mask dir: /home/shaunak/Code/grasp/recon_runs/orange_pulley_v2/masks_shrunk3
10
+ - mask count: 302
11
+ - masks enabled: True
12
+ - apply_mask_to_eval: False
13
+ - mask semantics: 255=foreground/table (supervised), 0=background/ground (ignored)
14
+ - dataset image count: 302
15
+ - camera: PINHOLE 2208x1242 fx=1461.6865234375 fy=1461.6865234375 cx=1172.2926025390625 cy=609.0181274414062
16
+ - registered image count: 248
17
+ - points3D count: 33080
18
+ - resolved init_type: sfm
19
+ - resolved normalize_world_space: True
20
+ - resolved data_factor: 1
21
+ - dry run: False
22
+
23
+ ## Alpha regularization
24
+
25
+ - background_alpha_loss_weight: 0.05
26
+ - foreground_alpha_loss_weight: 0.0
27
+ - alpha_mask_ignore_band_px: 3
28
+ - alpha_loss_type: mse
29
+
30
+ ## Command
31
+
32
+ ```bash
33
+ /home/shaunak/Code/grasp/belt_perception/.venv/bin/python /home/shaunak/Code/grasp/belt_perception/belt_perception/gsplat_masked_dataset/_launch_simple_trainer.py --gsplat-examples-dir /home/shaunak/Code/grasp/gsplat/examples --mask-dir /home/shaunak/Code/grasp/recon_runs/orange_pulley_v2/masks_shrunk3 --no-apply-mask-to-eval --trainer-script /home/shaunak/Code/grasp/belt_perception/belt_perception/gsplat_masked_dataset/simple_trainer_alpha.py default --data-dir /home/shaunak/Code/grasp/recon_runs/orange_pulley_v2_metric_sharp_obj --result-dir /home/shaunak/Code/grasp/recon_runs/orange_pulley_v2_metric_sharp_obj/gsplat_shrunk3_alpha0.05 --data-factor 1 --init-type sfm --init-num-pts 100000 --max-steps 30000 --test-every 8 --normalize-world-space --disable-viewer --no-disable-video --save-ply --background-alpha-loss-weight 0.05 --foreground-alpha-loss-weight 0.0 --alpha-mask-ignore-band-px 3 --alpha-loss-type mse
34
+ ```
35
+
36
+ ## Notes
37
+
38
+ - per-image masks are loaded by the repo-local shadow of gsplat datasets/colmap.py
39
+ - upstream simple_trainer.py is not modified; only datasets.colmap is shadowed
40
+ - eval PSNR/SSIM/LPIPS may not match an unmasked run when masks are training-only
41
+ - background-alpha regularization penalizes rendered alpha on mask background pixels
42
+ - empty points3D requires random init
43
+ - normalize_world_space is disabled for empty points3D exports
scans/orange_pulley_oct20/recon/orange_pulley_v2_metric_sharp_obj/gsplat_shrunk3_alpha0.05/cfg.yml ADDED
@@ -0,0 +1,116 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ alpha_loss_type: mse
2
+ alpha_mask_ignore_band_px: 3
3
+ antialiased: false
4
+ app_embed_dim: 16
5
+ app_opt: false
6
+ app_opt_lr: 0.001
7
+ app_opt_reg: 1.0e-06
8
+ background_alpha_loss_weight: 0.05
9
+ batch_size: 1
10
+ bilateral_grid_fused: false
11
+ bilateral_grid_shape: !!python/tuple
12
+ - 16
13
+ - 16
14
+ - 8
15
+ camera_model: pinhole
16
+ ckpt: null
17
+ color_correct_method: affine
18
+ compression: null
19
+ data_dir: /home/shaunak/Code/grasp/recon_runs/orange_pulley_v2_metric_sharp_obj
20
+ data_factor: 1
21
+ data_order_seed: null
22
+ data_type: colmap
23
+ dense_depth_dir: null
24
+ dense_depth_lambda: 0.0
25
+ depth_lambda: 0.01
26
+ depth_loss: false
27
+ disable_video: false
28
+ disable_viewer: true
29
+ eval_steps:
30
+ - 7000
31
+ - 30000
32
+ far_plane: 10000000000.0
33
+ foreground_alpha_loss_weight: 0.0
34
+ global_scale: 1.0
35
+ init_extent: 3.0
36
+ init_num_pts: 100000
37
+ init_opa: 0.1
38
+ init_scale: 1.0
39
+ init_type: sfm
40
+ load_exposure: true
41
+ lpips_net: alex
42
+ lr_schedule_max_steps: null
43
+ max_steps: 30000
44
+ means_lr: 0.00016
45
+ ncore_camera_ids: []
46
+ ncore_duration_sec: null
47
+ ncore_intrinsics_component_group: default
48
+ ncore_lidar_color_generic_data_name: rgb
49
+ ncore_lidar_ids: []
50
+ ncore_masks_component_group: default
51
+ ncore_max_lidar_points: 500000
52
+ ncore_poses_component_group: default
53
+ ncore_seek_offset_sec: null
54
+ near_plane: 0.01
55
+ normalize_world_space: true
56
+ opacities_lr: 0.05
57
+ opacity_reg: 0.0
58
+ packed: false
59
+ patch_size: null
60
+ ply_steps:
61
+ - 7000
62
+ - 30000
63
+ port: 8080
64
+ pose_noise: 0.0
65
+ pose_opt: false
66
+ pose_opt_lr: 1.0e-05
67
+ pose_opt_reg: 1.0e-06
68
+ post_processing: null
69
+ ppisp_controller_activation_num_steps: 25000
70
+ ppisp_controller_distillation: true
71
+ ppisp_use_controller: true
72
+ quats_lr: 0.001
73
+ random_bkgd: false
74
+ render_traj_path: interp
75
+ result_dir: /home/shaunak/Code/grasp/recon_runs/orange_pulley_v2_metric_sharp_obj/gsplat_shrunk3_alpha0.05
76
+ resume_training_ckpt: null
77
+ rgb_loss_weight: 0.8
78
+ save_ply: true
79
+ save_steps:
80
+ - 7000
81
+ - 30000
82
+ scale_reg: 0.0
83
+ scales_lr: 0.005
84
+ sh0_lr: 0.0025
85
+ shN_lr: 0.000125
86
+ sh_degree: 3
87
+ sh_degree_interval: 1000
88
+ sh_fp16: false
89
+ shared_appearance_loss: false
90
+ sparse_grad: false
91
+ ssim_lambda: 0.2
92
+ steps_scaler: 1.0
93
+ strategy: !!python/object:gsplat.strategy.default.DefaultStrategy
94
+ absgrad: false
95
+ grow_grad2d: 0.0002
96
+ grow_scale2d: 0.05
97
+ grow_scale3d: 0.01
98
+ key_for_gradient: means2d
99
+ pause_refine_after_reset: 0
100
+ prune_opa: 0.005
101
+ prune_scale2d: 0.15
102
+ prune_scale3d: 0.1
103
+ refine_every: 100
104
+ refine_scale2d_stop_iter: 0
105
+ refine_start_iter: 500
106
+ refine_stop_iter: 15000
107
+ reset_every: 3000
108
+ revised_opacity: false
109
+ verbose: true
110
+ tb_every: 100
111
+ tb_save_image: false
112
+ test_every: 8
113
+ use_color_correction_metric: false
114
+ visible_adam: false
115
+ with_eval3d: false
116
+ with_ut: false
scans/orange_pulley_oct20/recon/orange_pulley_v2_metric_sharp_obj/gsplat_shrunk3_alpha0.05/stats/train_step29999_rank0.json ADDED
@@ -0,0 +1 @@
 
 
1
+ {"mem": 1.215256690979004, "ellipse_time": 45984.97785782814, "num_GS": 338774, "appearance_loss": {"rgb": 0.017541371285915375, "ssim": 0.0003324151039123535, "background_alpha": 0.0036696966271847486, "foreground_alpha": 8.256701988784698e-08, "total": 0.014283064752817154, "foreground_pixels": 1987, "background_pixels": 2726343}, "total_loss": 0.014283064752817154}
scans/orange_pulley_oct20/recon/orange_pulley_v2_metric_sharp_obj/gsplat_shrunk3_alpha0.05/stats/train_step6999_rank0.json ADDED
@@ -0,0 +1 @@
 
 
1
+ {"mem": 0.9995288848876953, "ellipse_time": 9069.652305603027, "num_GS": 152282, "appearance_loss": {"rgb": 0.022957200184464455, "ssim": 0.0037980079650878906, "background_alpha": 0.03279292955994606, "foreground_alpha": 5.9515283368227756e-08, "total": 0.02076501026749611, "foreground_pixels": 45278, "background_pixels": 2660089}, "total_loss": 0.02076501026749611}
scans/orange_pulley_oct20/recon/orange_pulley_v2_metric_sharp_obj/gsplat_shrunk3_alpha0.05/stats/val_step29999.json ADDED
@@ -0,0 +1 @@
 
 
1
+ {"psnr": 6.511722564697266, "ssim": 0.024139564484357834, "lpips": 0.9414096474647522, "ellipse_time": 0.02624821662902832, "num_GS": 338774}
scans/orange_pulley_oct20/recon/orange_pulley_v2_metric_sharp_obj/gsplat_shrunk3_alpha0.05/stats/val_step6999.json ADDED
@@ -0,0 +1 @@
 
 
1
+ {"psnr": 6.5493693351745605, "ssim": 0.03148961439728737, "lpips": 0.9467226266860962, "ellipse_time": 0.008369768819501322, "num_GS": 152282}
scans/orange_pulley_oct20/recon/orange_pulley_v2_metric_sharp_obj/gsplat_shrunk3_alpha0.10/RUN_README.md ADDED
@@ -0,0 +1,43 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ # gsplat masked COLMAP training run
2
+
3
+ - generation timestamp: 2026-10-26 22:32:51 UTC
4
+ - repo git commit: 46f912eefa2dce720b79df547085b8bbdb858ad2
5
+ - gsplat version: 1.5.3
6
+ - gsplat examples dir: /home/shaunak/Code/grasp/gsplat/examples
7
+ - masked launcher: belt_perception/gsplat_masked_dataset/_launch_simple_trainer.py
8
+ - dataset path: /home/shaunak/Code/grasp/recon_runs/orange_pulley_v2_metric_sharp_obj
9
+ - mask dir: /home/shaunak/Code/grasp/recon_runs/orange_pulley_v2/masks_shrunk3
10
+ - mask count: 302
11
+ - masks enabled: True
12
+ - apply_mask_to_eval: False
13
+ - mask semantics: 255=foreground/table (supervised), 0=background/ground (ignored)
14
+ - dataset image count: 302
15
+ - camera: PINHOLE 2208x1242 fx=1461.6865234375 fy=1461.6865234375 cx=1172.2926025390625 cy=609.0181274414062
16
+ - registered image count: 248
17
+ - points3D count: 33080
18
+ - resolved init_type: sfm
19
+ - resolved normalize_world_space: True
20
+ - resolved data_factor: 1
21
+ - dry run: False
22
+
23
+ ## Alpha regularization
24
+
25
+ - background_alpha_loss_weight: 0.1
26
+ - foreground_alpha_loss_weight: 0.0
27
+ - alpha_mask_ignore_band_px: 3
28
+ - alpha_loss_type: mse
29
+
30
+ ## Command
31
+
32
+ ```bash
33
+ /home/shaunak/Code/grasp/belt_perception/.venv/bin/python /home/shaunak/Code/grasp/belt_perception/belt_perception/gsplat_masked_dataset/_launch_simple_trainer.py --gsplat-examples-dir /home/shaunak/Code/grasp/gsplat/examples --mask-dir /home/shaunak/Code/grasp/recon_runs/orange_pulley_v2/masks_shrunk3 --no-apply-mask-to-eval --trainer-script /home/shaunak/Code/grasp/belt_perception/belt_perception/gsplat_masked_dataset/simple_trainer_alpha.py default --data-dir /home/shaunak/Code/grasp/recon_runs/orange_pulley_v2_metric_sharp_obj --result-dir /home/shaunak/Code/grasp/recon_runs/orange_pulley_v2_metric_sharp_obj/gsplat_shrunk3_alpha0.10 --data-factor 1 --init-type sfm --init-num-pts 100000 --max-steps 30000 --test-every 8 --normalize-world-space --disable-viewer --no-disable-video --save-ply --background-alpha-loss-weight 0.1 --foreground-alpha-loss-weight 0.0 --alpha-mask-ignore-band-px 3 --alpha-loss-type mse
34
+ ```
35
+
36
+ ## Notes
37
+
38
+ - per-image masks are loaded by the repo-local shadow of gsplat datasets/colmap.py
39
+ - upstream simple_trainer.py is not modified; only datasets.colmap is shadowed
40
+ - eval PSNR/SSIM/LPIPS may not match an unmasked run when masks are training-only
41
+ - background-alpha regularization penalizes rendered alpha on mask background pixels
42
+ - empty points3D requires random init
43
+ - normalize_world_space is disabled for empty points3D exports
scans/orange_pulley_oct20/recon/orange_pulley_v2_metric_sharp_obj/gsplat_shrunk3_alpha0.10/cfg.yml ADDED
@@ -0,0 +1,116 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ alpha_loss_type: mse
2
+ alpha_mask_ignore_band_px: 3
3
+ antialiased: false
4
+ app_embed_dim: 16
5
+ app_opt: false
6
+ app_opt_lr: 0.001
7
+ app_opt_reg: 1.0e-06
8
+ background_alpha_loss_weight: 0.1
9
+ batch_size: 1
10
+ bilateral_grid_fused: false
11
+ bilateral_grid_shape: !!python/tuple
12
+ - 16
13
+ - 16
14
+ - 8
15
+ camera_model: pinhole
16
+ ckpt: null
17
+ color_correct_method: affine
18
+ compression: null
19
+ data_dir: /home/shaunak/Code/grasp/recon_runs/orange_pulley_v2_metric_sharp_obj
20
+ data_factor: 1
21
+ data_order_seed: null
22
+ data_type: colmap
23
+ dense_depth_dir: null
24
+ dense_depth_lambda: 0.0
25
+ depth_lambda: 0.01
26
+ depth_loss: false
27
+ disable_video: false
28
+ disable_viewer: true
29
+ eval_steps:
30
+ - 7000
31
+ - 30000
32
+ far_plane: 10000000000.0
33
+ foreground_alpha_loss_weight: 0.0
34
+ global_scale: 1.0
35
+ init_extent: 3.0
36
+ init_num_pts: 100000
37
+ init_opa: 0.1
38
+ init_scale: 1.0
39
+ init_type: sfm
40
+ load_exposure: true
41
+ lpips_net: alex
42
+ lr_schedule_max_steps: null
43
+ max_steps: 30000
44
+ means_lr: 0.00016
45
+ ncore_camera_ids: []
46
+ ncore_duration_sec: null
47
+ ncore_intrinsics_component_group: default
48
+ ncore_lidar_color_generic_data_name: rgb
49
+ ncore_lidar_ids: []
50
+ ncore_masks_component_group: default
51
+ ncore_max_lidar_points: 500000
52
+ ncore_poses_component_group: default
53
+ ncore_seek_offset_sec: null
54
+ near_plane: 0.01
55
+ normalize_world_space: true
56
+ opacities_lr: 0.05
57
+ opacity_reg: 0.0
58
+ packed: false
59
+ patch_size: null
60
+ ply_steps:
61
+ - 7000
62
+ - 30000
63
+ port: 8080
64
+ pose_noise: 0.0
65
+ pose_opt: false
66
+ pose_opt_lr: 1.0e-05
67
+ pose_opt_reg: 1.0e-06
68
+ post_processing: null
69
+ ppisp_controller_activation_num_steps: 25000
70
+ ppisp_controller_distillation: true
71
+ ppisp_use_controller: true
72
+ quats_lr: 0.001
73
+ random_bkgd: false
74
+ render_traj_path: interp
75
+ result_dir: /home/shaunak/Code/grasp/recon_runs/orange_pulley_v2_metric_sharp_obj/gsplat_shrunk3_alpha0.10
76
+ resume_training_ckpt: null
77
+ rgb_loss_weight: 0.8
78
+ save_ply: true
79
+ save_steps:
80
+ - 7000
81
+ - 30000
82
+ scale_reg: 0.0
83
+ scales_lr: 0.005
84
+ sh0_lr: 0.0025
85
+ shN_lr: 0.000125
86
+ sh_degree: 3
87
+ sh_degree_interval: 1000
88
+ sh_fp16: false
89
+ shared_appearance_loss: false
90
+ sparse_grad: false
91
+ ssim_lambda: 0.2
92
+ steps_scaler: 1.0
93
+ strategy: !!python/object:gsplat.strategy.default.DefaultStrategy
94
+ absgrad: false
95
+ grow_grad2d: 0.0002
96
+ grow_scale2d: 0.05
97
+ grow_scale3d: 0.01
98
+ key_for_gradient: means2d
99
+ pause_refine_after_reset: 0
100
+ prune_opa: 0.005
101
+ prune_scale2d: 0.15
102
+ prune_scale3d: 0.1
103
+ refine_every: 100
104
+ refine_scale2d_stop_iter: 0
105
+ refine_start_iter: 500
106
+ refine_stop_iter: 15000
107
+ reset_every: 3000
108
+ revised_opacity: false
109
+ verbose: true
110
+ tb_every: 100
111
+ tb_save_image: false
112
+ test_every: 8
113
+ use_color_correction_metric: false
114
+ visible_adam: false
115
+ with_eval3d: false
116
+ with_ut: false
scans/orange_pulley_oct20/recon/orange_pulley_v2_metric_sharp_obj/gsplat_shrunk3_alpha0.10/stats/train_step29999_rank0.json ADDED
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1
+ {"mem": 1.264542579650879, "ellipse_time": 46056.965749025345, "num_GS": 378152, "appearance_loss": {"rgb": 0.017897235229611397, "ssim": 0.0003376007080078125, "background_alpha": 0.001835074508562684, "foreground_alpha": 1.0559303831314537e-07, "total": 0.014568815939128399, "foreground_pixels": 1987, "background_pixels": 2726343}, "total_loss": 0.014568815939128399}
scans/orange_pulley_oct20/recon/orange_pulley_v2_metric_sharp_obj/gsplat_shrunk3_alpha0.10/stats/train_step6999_rank0.json ADDED
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1
+ {"mem": 0.9930696487426758, "ellipse_time": 9070.252049446106, "num_GS": 167806, "appearance_loss": {"rgb": 0.02317376434803009, "ssim": 0.003747403621673584, "background_alpha": 0.01896754465997219, "foreground_alpha": 4.0419500635380246e-08, "total": 0.021185245364904404, "foreground_pixels": 45278, "background_pixels": 2660089}, "total_loss": 0.021185245364904404}
scans/orange_pulley_oct20/recon/orange_pulley_v2_metric_sharp_obj/gsplat_shrunk3_alpha0.10/stats/val_step29999.json ADDED
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1
+ {"psnr": 6.482274055480957, "ssim": 0.02038559876382351, "lpips": 0.9411900639533997, "ellipse_time": 0.018969320481823336, "num_GS": 378152}
scans/orange_pulley_oct20/recon/orange_pulley_v2_metric_sharp_obj/gsplat_shrunk3_alpha0.10/stats/val_step6999.json ADDED
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1
+ {"psnr": 6.511399745941162, "ssim": 0.025077419355511665, "lpips": 0.9430790543556213, "ellipse_time": 0.006434032993931924, "num_GS": 167806}
scans/orange_pulley_oct20/recon/orange_pulley_v2_metric_sharp_obj/sharpness_scores.csv ADDED
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+ name,sharpness,rank_blurriest_first,dropped
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scans/orange_pulley_oct20/recon/orange_pulley_v2_metric_sharp_obj/sparse/0/cameras.txt ADDED
@@ -0,0 +1,4 @@
 
 
 
 
 
1
+ # Camera list with one line of data per camera:
2
+ # CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[]
3
+ # Number of cameras: 1
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+ 1 PINHOLE 2208 1242 1461.6865234375 1461.6865234375 1172.2926025390625 609.01812744140625
scans/orange_pulley_oct20/recon/orange_pulley_v2_metric_sharp_obj/sparse/0/frames.txt ADDED
@@ -0,0 +1,251 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ # Frame list with one line of data per frame:
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+ # FRAME_ID, RIG_ID, RIG_FROM_WORLD[QW, QX, QY, QZ, TX, TY, TZ], NUM_DATA_IDS, DATA_IDS[] as (SENSOR_TYPE, SENSOR_ID, DATA_ID)
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+ # Number of frames: 248
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scans/orange_pulley_oct20/recon/orange_pulley_v2_metric_sharp_obj/sparse/0/points3D.txt ADDED
The diff for this file is too large to render. See raw diff
 
scans/orange_pulley_oct20/recon/orange_pulley_v2_metric_sharp_obj/sparse/0/rigs.txt ADDED
@@ -0,0 +1,4 @@
 
 
 
 
 
1
+ # Rig calib list with one line of data per calib:
2
+ # RIG_ID, NUM_SENSORS, REF_SENSOR_TYPE, REF_SENSOR_ID, SENSORS[] as (SENSOR_TYPE, SENSOR_ID, HAS_POSE, [QW, QX, QY, QZ, TX, TY, TZ])
3
+ # Number of rigs: 1
4
+ 1 1 CAMERA 1
scans/orange_pulley_oct20/recon/orange_pulley_v2_seg/gsplat_depth0.1_alpha5/RUN_README.md ADDED
@@ -0,0 +1,43 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ # gsplat masked COLMAP training run
2
+
3
+ - generation timestamp: 2026-10-27 15:00:05 UTC
4
+ - repo git commit: 46f912eefa2dce720b79df547085b8bbdb858ad2
5
+ - gsplat version: 1.5.3
6
+ - gsplat examples dir: /home/shaunak/Code/grasp/gsplat/examples
7
+ - masked launcher: belt_perception/gsplat_masked_dataset/_launch_simple_trainer.py
8
+ - dataset path: /home/shaunak/Code/grasp/recon_runs/orange_pulley_v2_seg
9
+ - mask dir: /home/shaunak/Code/grasp/recon_runs/orange_pulley_v2/masks_shrunk3
10
+ - mask count: 302
11
+ - masks enabled: True
12
+ - apply_mask_to_eval: False
13
+ - mask semantics: 255=foreground/table (supervised), 0=background/ground (ignored)
14
+ - dataset image count: 302
15
+ - camera: PINHOLE 2208x1242 fx=1461.6865234375 fy=1461.6865234375 cx=1172.2926025390625 cy=609.0181274414062
16
+ - registered image count: 248
17
+ - points3D count: 493
18
+ - resolved init_type: sfm
19
+ - resolved normalize_world_space: False
20
+ - resolved data_factor: 1
21
+ - dry run: False
22
+
23
+ ## Alpha regularization
24
+
25
+ - background_alpha_loss_weight: 5.0
26
+ - foreground_alpha_loss_weight: 0.0
27
+ - alpha_mask_ignore_band_px: 3
28
+ - alpha_loss_type: mse
29
+
30
+ ## Command
31
+
32
+ ```bash
33
+ /home/shaunak/Code/grasp/belt_perception/.venv/bin/python /home/shaunak/Code/grasp/belt_perception/belt_perception/gsplat_masked_dataset/_launch_simple_trainer.py --gsplat-examples-dir /home/shaunak/Code/grasp/gsplat/examples --mask-dir /home/shaunak/Code/grasp/recon_runs/orange_pulley_v2/masks_shrunk3 --no-apply-mask-to-eval --trainer-script /home/shaunak/Code/grasp/belt_perception/belt_perception/gsplat_masked_dataset/simple_trainer_alpha.py default --data-dir /home/shaunak/Code/grasp/recon_runs/orange_pulley_v2_seg --result-dir /home/shaunak/Code/grasp/recon_runs/orange_pulley_v2_seg/gsplat_depth0.1_alpha5 --data-factor 1 --init-type sfm --init-num-pts 100000 --max-steps 30000 --test-every 8 --no-normalize-world-space --disable-viewer --no-disable-video --save-ply --background-alpha-loss-weight 5.0 --foreground-alpha-loss-weight 0.0 --alpha-mask-ignore-band-px 3 --alpha-loss-type mse --dense-depth-dir /home/shaunak/Code/grasp/recon_runs/orange_pulley_v2/depth_waft_npy --dense-depth-lambda 0.1
34
+ ```
35
+
36
+ ## Notes
37
+
38
+ - per-image masks are loaded by the repo-local shadow of gsplat datasets/colmap.py
39
+ - upstream simple_trainer.py is not modified; only datasets.colmap is shadowed
40
+ - eval PSNR/SSIM/LPIPS may not match an unmasked run when masks are training-only
41
+ - background-alpha regularization penalizes rendered alpha on mask background pixels
42
+ - empty points3D requires random init
43
+ - normalize_world_space is disabled for empty points3D exports
scans/orange_pulley_oct20/recon/orange_pulley_v2_seg/gsplat_depth0.1_bce5/RUN_README.md ADDED
@@ -0,0 +1,43 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ # gsplat masked COLMAP training run
2
+
3
+ - generation timestamp: 2026-10-28 00:32:58 UTC
4
+ - repo git commit: 46f912eefa2dce720b79df547085b8bbdb858ad2
5
+ - gsplat version: 1.5.3
6
+ - gsplat examples dir: /home/shaunak/Code/grasp/gsplat/examples
7
+ - masked launcher: belt_perception/gsplat_masked_dataset/_launch_simple_trainer.py
8
+ - dataset path: /home/shaunak/Code/grasp/recon_runs/orange_pulley_v2_seg
9
+ - mask dir: /home/shaunak/Code/grasp/recon_runs/orange_pulley_v2/masks_shrunk3
10
+ - mask count: 302
11
+ - masks enabled: True
12
+ - apply_mask_to_eval: False
13
+ - mask semantics: 255=foreground/table (supervised), 0=background/ground (ignored)
14
+ - dataset image count: 302
15
+ - camera: PINHOLE 2208x1242 fx=1461.6865234375 fy=1461.6865234375 cx=1172.2926025390625 cy=609.0181274414062
16
+ - registered image count: 248
17
+ - points3D count: 493
18
+ - resolved init_type: sfm
19
+ - resolved normalize_world_space: False
20
+ - resolved data_factor: 1
21
+ - dry run: False
22
+
23
+ ## Alpha regularization
24
+
25
+ - background_alpha_loss_weight: 5.0
26
+ - foreground_alpha_loss_weight: 0.0
27
+ - alpha_mask_ignore_band_px: 3
28
+ - alpha_loss_type: bce
29
+
30
+ ## Command
31
+
32
+ ```bash
33
+ /home/shaunak/Code/grasp/belt_perception/.venv/bin/python /home/shaunak/Code/grasp/belt_perception/belt_perception/gsplat_masked_dataset/_launch_simple_trainer.py --gsplat-examples-dir /home/shaunak/Code/grasp/gsplat/examples --mask-dir /home/shaunak/Code/grasp/recon_runs/orange_pulley_v2/masks_shrunk3 --no-apply-mask-to-eval --trainer-script /home/shaunak/Code/grasp/belt_perception/belt_perception/gsplat_masked_dataset/simple_trainer_alpha.py default --data-dir /home/shaunak/Code/grasp/recon_runs/orange_pulley_v2_seg --result-dir /home/shaunak/Code/grasp/recon_runs/orange_pulley_v2_seg/gsplat_depth0.1_bce5 --data-factor 1 --init-type sfm --init-num-pts 100000 --max-steps 30000 --test-every 8 --no-normalize-world-space --disable-viewer --no-disable-video --save-ply --background-alpha-loss-weight 5.0 --foreground-alpha-loss-weight 0.0 --alpha-mask-ignore-band-px 3 --alpha-loss-type bce --dense-depth-dir /home/shaunak/Code/grasp/recon_runs/orange_pulley_v2/depth_waft_npy --dense-depth-lambda 0.1
34
+ ```
35
+
36
+ ## Notes
37
+
38
+ - per-image masks are loaded by the repo-local shadow of gsplat datasets/colmap.py
39
+ - upstream simple_trainer.py is not modified; only datasets.colmap is shadowed
40
+ - eval PSNR/SSIM/LPIPS may not match an unmasked run when masks are training-only
41
+ - background-alpha regularization penalizes rendered alpha on mask background pixels
42
+ - empty points3D requires random init
43
+ - normalize_world_space is disabled for empty points3D exports
scans/orange_pulley_oct20/recon/orange_pulley_v2_seg/gsplat_depth0.1_bce5/cfg.yml ADDED
@@ -0,0 +1,116 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ alpha_loss_type: bce
2
+ alpha_mask_ignore_band_px: 3
3
+ antialiased: false
4
+ app_embed_dim: 16
5
+ app_opt: false
6
+ app_opt_lr: 0.001
7
+ app_opt_reg: 1.0e-06
8
+ background_alpha_loss_weight: 5.0
9
+ batch_size: 1
10
+ bilateral_grid_fused: false
11
+ bilateral_grid_shape: !!python/tuple
12
+ - 16
13
+ - 16
14
+ - 8
15
+ camera_model: pinhole
16
+ ckpt: null
17
+ color_correct_method: affine
18
+ compression: null
19
+ data_dir: /home/shaunak/Code/grasp/recon_runs/orange_pulley_v2_seg
20
+ data_factor: 1
21
+ data_order_seed: null
22
+ data_type: colmap
23
+ dense_depth_dir: /home/shaunak/Code/grasp/recon_runs/orange_pulley_v2/depth_waft_npy
24
+ dense_depth_lambda: 0.1
25
+ depth_lambda: 0.01
26
+ depth_loss: false
27
+ disable_video: false
28
+ disable_viewer: true
29
+ eval_steps:
30
+ - 7000
31
+ - 30000
32
+ far_plane: 10000000000.0
33
+ foreground_alpha_loss_weight: 0.0
34
+ global_scale: 1.0
35
+ init_extent: 3.0
36
+ init_num_pts: 100000
37
+ init_opa: 0.1
38
+ init_scale: 1.0
39
+ init_type: sfm
40
+ load_exposure: true
41
+ lpips_net: alex
42
+ lr_schedule_max_steps: null
43
+ max_steps: 30000
44
+ means_lr: 0.00016
45
+ ncore_camera_ids: []
46
+ ncore_duration_sec: null
47
+ ncore_intrinsics_component_group: default
48
+ ncore_lidar_color_generic_data_name: rgb
49
+ ncore_lidar_ids: []
50
+ ncore_masks_component_group: default
51
+ ncore_max_lidar_points: 500000
52
+ ncore_poses_component_group: default
53
+ ncore_seek_offset_sec: null
54
+ near_plane: 0.01
55
+ normalize_world_space: false
56
+ opacities_lr: 0.05
57
+ opacity_reg: 0.0
58
+ packed: false
59
+ patch_size: null
60
+ ply_steps:
61
+ - 7000
62
+ - 30000
63
+ port: 8080
64
+ pose_noise: 0.0
65
+ pose_opt: false
66
+ pose_opt_lr: 1.0e-05
67
+ pose_opt_reg: 1.0e-06
68
+ post_processing: null
69
+ ppisp_controller_activation_num_steps: 25000
70
+ ppisp_controller_distillation: true
71
+ ppisp_use_controller: true
72
+ quats_lr: 0.001
73
+ random_bkgd: false
74
+ render_traj_path: interp
75
+ result_dir: /home/shaunak/Code/grasp/recon_runs/orange_pulley_v2_seg/gsplat_depth0.1_bce5
76
+ resume_training_ckpt: null
77
+ rgb_loss_weight: 0.8
78
+ save_ply: true
79
+ save_steps:
80
+ - 7000
81
+ - 30000
82
+ scale_reg: 0.0
83
+ scales_lr: 0.005
84
+ sh0_lr: 0.0025
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+ shN_lr: 0.000125
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+ sh_degree: 3
87
+ sh_degree_interval: 1000
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+ sh_fp16: false
89
+ shared_appearance_loss: false
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+ sparse_grad: false
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+ ssim_lambda: 0.2
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+ steps_scaler: 1.0
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+ strategy: !!python/object:gsplat.strategy.default.DefaultStrategy
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+ absgrad: false
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+ grow_grad2d: 0.0002
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+ grow_scale2d: 0.05
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+ grow_scale3d: 0.01
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+ key_for_gradient: means2d
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+ pause_refine_after_reset: 0
100
+ prune_opa: 0.005
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+ prune_scale2d: 0.15
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+ prune_scale3d: 0.1
103
+ refine_every: 100
104
+ refine_scale2d_stop_iter: 0
105
+ refine_start_iter: 500
106
+ refine_stop_iter: 15000
107
+ reset_every: 3000
108
+ revised_opacity: false
109
+ verbose: true
110
+ tb_every: 100
111
+ tb_save_image: false
112
+ test_every: 8
113
+ use_color_correction_metric: false
114
+ visible_adam: false
115
+ with_eval3d: false
116
+ with_ut: false
scans/orange_pulley_oct20/recon/orange_pulley_v2_seg/sparse/0/cameras.txt ADDED
@@ -0,0 +1,4 @@
 
 
 
 
 
1
+ # Camera list with one line of data per camera:
2
+ # CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[]
3
+ # Number of cameras: 1
4
+ 1 PINHOLE 2208 1242 1461.6865234375 1461.6865234375 1172.2926025390625 609.01812744140625
scans/orange_pulley_oct20/recon/orange_pulley_v2_seg/sparse/0/frames.txt ADDED
@@ -0,0 +1,251 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ # Frame list with one line of data per frame:
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+ # FRAME_ID, RIG_ID, RIG_FROM_WORLD[QW, QX, QY, QZ, TX, TY, TZ], NUM_DATA_IDS, DATA_IDS[] as (SENSOR_TYPE, SENSOR_ID, DATA_ID)
3
+ # Number of frames: 248
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scans/orange_pulley_oct20/recon/orange_pulley_v2_seg/sparse/0/points3D.txt ADDED
@@ -0,0 +1,496 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ # 3D point list with one line of data per point:
2
+ # POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX)
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+ # Number of points: 493, mean track length: 5.6348884381338742
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scans/orange_pulley_oct20/recon/orange_pulley_v2_seg/sparse/0/rigs.txt ADDED
@@ -0,0 +1,4 @@
 
 
 
 
 
1
+ # Rig calib list with one line of data per calib:
2
+ # RIG_ID, NUM_SENSORS, REF_SENSOR_TYPE, REF_SENSOR_ID, SENSORS[] as (SENSOR_TYPE, SENSOR_ID, HAS_POSE, [QW, QX, QY, QZ, TX, TY, TZ])
3
+ # Number of rigs: 1
4
+ 1 1 CAMERA 1