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scans/orange_pulley_oct20/recon/orange_pulley_v2/intrinsics.json

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+  "distortion_model": "zed_sdk",
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+  "pick": "sharpest",
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+}

scans/orange_pulley_oct20/recon/orange_pulley_v2/masks_check.csv

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scans/orange_pulley_oct20/recon/orange_pulley_v2/sam2_prompts.json

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scans/orange_pulley_oct20/recon/orange_pulley_v2_seg/gsplat_depth0.1_alpha0.5/RUN_README.md

@@ -0,0 +1,43 @@
+# gsplat masked COLMAP training run
+
+- generation timestamp: 2026-10-27 05:54:30 UTC
+- repo git commit: 46f912eefa2dce720b79df547085b8bbdb858ad2
+- gsplat version: 1.5.3
+- gsplat examples dir: /home/shaunak/Code/grasp/gsplat/examples
+- masked launcher: belt_perception/gsplat_masked_dataset/_launch_simple_trainer.py
+- dataset path: /home/shaunak/Code/grasp/recon_runs/orange_pulley_v2_seg
+- mask dir: /home/shaunak/Code/grasp/recon_runs/orange_pulley_v2/masks_shrunk3
+- mask count: 302
+- masks enabled: True
+- apply_mask_to_eval: False
+- mask semantics: 255=foreground/table (supervised), 0=background/ground (ignored)
+- dataset image count: 302
+- camera: PINHOLE 2208x1242 fx=1461.6865234375 fy=1461.6865234375 cx=1172.2926025390625 cy=609.0181274414062
+- registered image count: 248
+- points3D count: 493
+- resolved init_type: sfm
+- resolved normalize_world_space: False
+- resolved data_factor: 1
+- dry run: False
+
+## Alpha regularization
+
+- background_alpha_loss_weight: 0.5
+- foreground_alpha_loss_weight: 0.0
+- alpha_mask_ignore_band_px: 3
+- alpha_loss_type: mse
+
+## Command
+
+```bash
+/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_alpha0.5 --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 0.5 --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
+```
+
+## Notes
+
+- per-image masks are loaded by the repo-local shadow of gsplat datasets/colmap.py
+- upstream simple_trainer.py is not modified; only datasets.colmap is shadowed
+- eval PSNR/SSIM/LPIPS may not match an unmasked run when masks are training-only
+- background-alpha regularization penalizes rendered alpha on mask background pixels
+- empty points3D requires random init
+- normalize_world_space is disabled for empty points3D exports

scans/orange_pulley_oct20/recon/orange_pulley_v2_seg/gsplat_depth0.1_alpha0.5/cfg.yml

@@ -0,0 +1,116 @@
+alpha_loss_type: mse
+alpha_mask_ignore_band_px: 3
+antialiased: false
+app_embed_dim: 16
+app_opt: false
+app_opt_lr: 0.001
+app_opt_reg: 1.0e-06
+background_alpha_loss_weight: 0.5
+batch_size: 1
+bilateral_grid_fused: false
+bilateral_grid_shape: !!python/tuple
+- 16
+- 16
+- 8
+camera_model: pinhole
+ckpt: null
+color_correct_method: affine
+compression: null
+data_dir: /home/shaunak/Code/grasp/recon_runs/orange_pulley_v2_seg
+data_factor: 1
+data_order_seed: null
+data_type: colmap
+dense_depth_dir: /home/shaunak/Code/grasp/recon_runs/orange_pulley_v2/depth_waft_npy
+dense_depth_lambda: 0.1
+depth_lambda: 0.01
+depth_loss: false
+disable_video: false
+disable_viewer: true
+eval_steps:
+- 7000
+- 30000
+far_plane: 10000000000.0
+foreground_alpha_loss_weight: 0.0
+global_scale: 1.0
+init_extent: 3.0
+init_num_pts: 100000
+init_opa: 0.1
+init_scale: 1.0
+init_type: sfm
+load_exposure: true
+lpips_net: alex
+lr_schedule_max_steps: null
+max_steps: 30000
+means_lr: 0.00016
+ncore_camera_ids: []
+ncore_duration_sec: null
+ncore_intrinsics_component_group: default
+ncore_lidar_color_generic_data_name: rgb
+ncore_lidar_ids: []
+ncore_masks_component_group: default
+ncore_max_lidar_points: 500000
+ncore_poses_component_group: default
+ncore_seek_offset_sec: null
+near_plane: 0.01
+normalize_world_space: false
+opacities_lr: 0.05
+opacity_reg: 0.0
+packed: false
+patch_size: null
+ply_steps:
+- 7000
+- 30000
+port: 8080
+pose_noise: 0.0
+pose_opt: false
+pose_opt_lr: 1.0e-05
+pose_opt_reg: 1.0e-06
+post_processing: null
+ppisp_controller_activation_num_steps: 25000
+ppisp_controller_distillation: true
+ppisp_use_controller: true
+quats_lr: 0.001
+random_bkgd: false
+render_traj_path: interp
+result_dir: /home/shaunak/Code/grasp/recon_runs/orange_pulley_v2_seg/gsplat_depth0.1_alpha0.5
+resume_training_ckpt: null
+rgb_loss_weight: 0.8
+save_ply: true
+save_steps:
+- 7000
+- 30000
+scale_reg: 0.0
+scales_lr: 0.005
+sh0_lr: 0.0025
+shN_lr: 0.000125
+sh_degree: 3
+sh_degree_interval: 1000
+sh_fp16: false
+shared_appearance_loss: false
+sparse_grad: false
+ssim_lambda: 0.2
+steps_scaler: 1.0
+strategy: !!python/object:gsplat.strategy.default.DefaultStrategy
+  absgrad: false
+  grow_grad2d: 0.0002
+  grow_scale2d: 0.05
+  grow_scale3d: 0.01
+  key_for_gradient: means2d
+  pause_refine_after_reset: 0
+  prune_opa: 0.005
+  prune_scale2d: 0.15
+  prune_scale3d: 0.1
+  refine_every: 100
+  refine_scale2d_stop_iter: 0
+  refine_start_iter: 500
+  refine_stop_iter: 15000
+  reset_every: 3000
+  revised_opacity: false
+  verbose: true
+tb_every: 100
+tb_save_image: false
+test_every: 8
+use_color_correction_metric: false
+visible_adam: false
+with_eval3d: false
+with_ut: false

scans/orange_pulley_oct20/recon/orange_pulley_v2_seg/gsplat_depth0.1_alpha0.5/stats/train_step29999_rank0.json

@@ -0,0 +1 @@
+{"mem": 1.425290584564209, "ellipse_time": 32684.03938627243, "num_GS": 444683, "appearance_loss": {"rgb": 0.019282672554254532, "ssim": 0.002936840057373047, "background_alpha": 0.0014610004145652056, "foreground_alpha": 2.2800942645062605e-07, "total": 0.016744006425142288, "foreground_pixels": 42893, "background_pixels": 2662094}, "total_loss": 0.017027808353304863, "dense_depth_l1_m": 0.0028380185831338167, "dense_depth_weighted": 0.00028380185831338166}

scans/orange_pulley_oct20/recon/orange_pulley_v2_seg/gsplat_depth0.1_alpha0.5/stats/train_step6999_rank0.json

@@ -0,0 +1 @@
+{"mem": 1.076218605041504, "ellipse_time": 14108.696620941162, "num_GS": 192959, "appearance_loss": {"rgb": 0.030220558866858482, "ssim": 0.0027991533279418945, "background_alpha": 0.0035894345492124557, "foreground_alpha": 7.128108450160653e-07, "total": 0.026530995965003967, "foreground_pixels": 26795, "background_pixels": 2688630}, "total_loss": 0.027039192616939545, "dense_depth_l1_m": 0.005081963259726763, "dense_depth_weighted": 0.0005081963259726763}

scans/orange_pulley_oct20/recon/orange_pulley_v2_seg/gsplat_depth0.1_alpha0.5/stats/val_step29999.json

@@ -0,0 +1 @@
+{"psnr": 6.454296112060547, "ssim": 0.01659082993865013, "lpips": 0.9388704299926758, "ellipse_time": 0.010890283892231603, "num_GS": 444683}

scans/orange_pulley_oct20/recon/orange_pulley_v2_seg/gsplat_depth0.1_alpha0.5/stats/val_step6999.json

@@ -0,0 +1 @@
+{"psnr": 6.457611560821533, "ssim": 0.01738985814154148, "lpips": 0.9380726218223572, "ellipse_time": 0.026699089234875094, "num_GS": 192959}

scans/orange_pulley_oct20/recon/orange_pulley_v2_seg/gsplat_depth0.1_alpha5/cfg.yml

@@ -0,0 +1,116 @@
+alpha_loss_type: mse
+alpha_mask_ignore_band_px: 3
+antialiased: false
+app_embed_dim: 16
+app_opt: false
+app_opt_lr: 0.001
+app_opt_reg: 1.0e-06
+background_alpha_loss_weight: 5.0
+batch_size: 1
+bilateral_grid_fused: false
+bilateral_grid_shape: !!python/tuple
+- 16
+- 16
+- 8
+camera_model: pinhole
+ckpt: null
+color_correct_method: affine
+compression: null
+data_dir: /home/shaunak/Code/grasp/recon_runs/orange_pulley_v2_seg
+data_factor: 1
+data_order_seed: null
+data_type: colmap
+dense_depth_dir: /home/shaunak/Code/grasp/recon_runs/orange_pulley_v2/depth_waft_npy
+dense_depth_lambda: 0.1
+depth_lambda: 0.01
+depth_loss: false
+disable_video: false
+disable_viewer: true
+eval_steps:
+- 7000
+- 30000
+far_plane: 10000000000.0
+foreground_alpha_loss_weight: 0.0
+global_scale: 1.0
+init_extent: 3.0
+init_num_pts: 100000
+init_opa: 0.1
+init_scale: 1.0
+init_type: sfm
+load_exposure: true
+lpips_net: alex
+lr_schedule_max_steps: null
+max_steps: 30000
+means_lr: 0.00016
+ncore_camera_ids: []
+ncore_duration_sec: null
+ncore_intrinsics_component_group: default
+ncore_lidar_color_generic_data_name: rgb
+ncore_lidar_ids: []
+ncore_masks_component_group: default
+ncore_max_lidar_points: 500000
+ncore_poses_component_group: default
+ncore_seek_offset_sec: null
+near_plane: 0.01
+normalize_world_space: false
+opacities_lr: 0.05
+opacity_reg: 0.0
+packed: false
+patch_size: null
+ply_steps:
+- 7000
+- 30000
+port: 8080
+pose_noise: 0.0
+pose_opt: false
+pose_opt_lr: 1.0e-05
+pose_opt_reg: 1.0e-06
+post_processing: null
+ppisp_controller_activation_num_steps: 25000
+ppisp_controller_distillation: true
+ppisp_use_controller: true
+quats_lr: 0.001
+random_bkgd: false
+render_traj_path: interp
+result_dir: /home/shaunak/Code/grasp/recon_runs/orange_pulley_v2_seg/gsplat_depth0.1_alpha5
+resume_training_ckpt: null
+rgb_loss_weight: 0.8
+save_ply: true
+save_steps:
+- 7000
+- 30000
+scale_reg: 0.0
+scales_lr: 0.005
+sh0_lr: 0.0025
+shN_lr: 0.000125
+sh_degree: 3
+sh_degree_interval: 1000
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+shared_appearance_loss: false
+sparse_grad: false
+ssim_lambda: 0.2
+steps_scaler: 1.0
+strategy: !!python/object:gsplat.strategy.default.DefaultStrategy
+  absgrad: false
+  grow_grad2d: 0.0002
+  grow_scale2d: 0.05
+  grow_scale3d: 0.01
+  key_for_gradient: means2d
+  pause_refine_after_reset: 0
+  prune_opa: 0.005
+  prune_scale2d: 0.15
+  prune_scale3d: 0.1
+  refine_every: 100
+  refine_scale2d_stop_iter: 0
+  refine_start_iter: 500
+  refine_stop_iter: 15000
+  reset_every: 3000
+  revised_opacity: false
+  verbose: true
+tb_every: 100
+tb_save_image: false
+test_every: 8
+use_color_correction_metric: false
+visible_adam: false
+with_eval3d: false
+with_ut: false

scans/orange_pulley_oct20/recon/orange_pulley_v2_seg/gsplat_depth0.1_alpha5/stats/train_step29999_rank0.json

@@ -0,0 +1 @@
+{"mem": 1.5798559188842773, "ellipse_time": 19436.677119255066, "num_GS": 562284, "appearance_loss": {"rgb": 0.019614679738879204, "ssim": 0.002912282943725586, "background_alpha": 0.0002772172447293997, "foreground_alpha": 1.184735509696111e-07, "total": 0.017660286277532578, "foreground_pixels": 42893, "background_pixels": 2662094}, "total_loss": 0.017945172265172005, "dense_depth_l1_m": 0.0028488521929830313, "dense_depth_weighted": 0.0002848852192983031}

scans/orange_pulley_oct20/recon/orange_pulley_v2_seg/gsplat_depth0.1_alpha5/stats/train_step6999_rank0.json

@@ -0,0 +1 @@
+{"mem": 1.2135968208312988, "ellipse_time": 4420.412543058395, "num_GS": 277308, "appearance_loss": {"rgb": 0.030593717470765114, "ssim": 0.002866685390472412, "background_alpha": 0.0006853301892988384, "foreground_alpha": 0.00016800605226308107, "total": 0.0284749623388052, "foreground_pixels": 26795, "background_pixels": 2688630}, "total_loss": 0.028940631076693535, "dense_depth_l1_m": 0.004656691569834948, "dense_depth_weighted": 0.00046566915698349477}

scans/orange_pulley_oct20/recon/orange_pulley_v2_seg/gsplat_depth0.1_alpha5/stats/val_step29999.json

@@ -0,0 +1 @@
+{"psnr": 6.436394691467285, "ssim": 0.013965735211968422, "lpips": 0.9412859678268433, "ellipse_time": 0.014113910736576203, "num_GS": 562284}

scans/orange_pulley_oct20/recon/orange_pulley_v2_seg/gsplat_depth0.1_alpha5/stats/val_step6999.json

@@ -0,0 +1 @@
+{"psnr": 6.431428909301758, "ssim": 0.013380434364080429, "lpips": 0.9400407075881958, "ellipse_time": 0.008963531063448998, "num_GS": 277308}

scans/orange_pulley_oct20/recon/orange_pulley_v2_seg/gsplat_depth0.1_alpha5_prune0.05/stats/val_step29999.json

@@ -0,0 +1 @@
+{"psnr": 6.430049419403076, "ssim": 0.013002275489270687, "lpips": 0.942764401435852, "ellipse_time": 0.013508504436862084, "num_GS": 204449}

scans/orange_pulley_oct20/recon/orange_pulley_v2_seg/gsplat_depth0.1_alpha5_prune0.1/stats/val_step29999.json

@@ -0,0 +1 @@
+{"psnr": 6.420462131500244, "ssim": 0.01179148256778717, "lpips": 0.9426854848861694, "ellipse_time": 0.011967012959141885, "num_GS": 170416}