sessions/session_20260921_225630_786148/preprocessing/background-surfaces-01: payload batch 1/1
Browse files- sessions/session_20260921_225630_786148/preprocessing/background-surfaces-01/native/12540311.npz +3 -0
- sessions/session_20260921_225630_786148/preprocessing/background-surfaces-01/native/12933256.npz +3 -0
- sessions/session_20260921_225630_786148/preprocessing/background-surfaces-01/native/17736741.npz +3 -0
- sessions/session_20260921_225630_786148/preprocessing/background-surfaces-01/native/23007103.npz +3 -0
- sessions/session_20260921_225630_786148/preprocessing/background-surfaces-01/native/recipe.json +266 -0
sessions/session_20260921_225630_786148/preprocessing/background-surfaces-01/native/12540311.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:1aae70cc9ecda9a91d5ddcfd3e9c603bc7a7e36ca17a55025a9d883ff346098e
|
| 3 |
+
size 2711439
|
sessions/session_20260921_225630_786148/preprocessing/background-surfaces-01/native/12933256.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:386302a14bbf9e211372d58f4f812135683968d2def8d2fb83598e5f01380dcb
|
| 3 |
+
size 2835227
|
sessions/session_20260921_225630_786148/preprocessing/background-surfaces-01/native/17736741.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:4a9e16559a3fb26fb346a8355e7ae8f0cf2d2db45d32715c61f958cbbd9c4622
|
| 3 |
+
size 2679560
|
sessions/session_20260921_225630_786148/preprocessing/background-surfaces-01/native/23007103.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:92fa549f8a1ad41b09157af52ce73ad1280b7dc624b4ff3a15a87ca53db68428
|
| 3 |
+
size 2828235
|
sessions/session_20260921_225630_786148/preprocessing/background-surfaces-01/native/recipe.json
ADDED
|
@@ -0,0 +1,266 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"model": "camera_specific_frozen_metric_depth_surfaces",
|
| 3 |
+
"review_root": "/mnt/data2/magna/belt_perception/results/rpo_obs_20261009/source/objective/background_rgbd_neighbor_review_01",
|
| 4 |
+
"coordinate_frame": "source_table/render_world",
|
| 5 |
+
"camera_selection": "surface keyed by exact camera serial; no inter-view fusion",
|
| 6 |
+
"pixel_convention": "integer native (u,v), z*inv(K)[u,v,1]; camera-z metres",
|
| 7 |
+
"native_pixel_calibration": "source K/w2c; approved donor native-pixel approximation, no warp",
|
| 8 |
+
"recipe": {
|
| 9 |
+
"stride_px": 4,
|
| 10 |
+
"tangent_sigma_px": 3.0,
|
| 11 |
+
"scales_m": "[3*z/fx,3*z/fy,0.0001] in source-camera axes",
|
| 12 |
+
"normal_sigma_m": 0.0001,
|
| 13 |
+
"opacity": 0.99,
|
| 14 |
+
"sh_degree": 3,
|
| 15 |
+
"SH": "DC=(RGB-0.5)/0.28209479177387814; higher coefficients zero",
|
| 16 |
+
"dtype": "float32",
|
| 17 |
+
"training": false
|
| 18 |
+
},
|
| 19 |
+
"fills": "approved neighbor-filled RGB/depth used as renderer approximation; counts and masks unchanged, not observations",
|
| 20 |
+
"views": [
|
| 21 |
+
{
|
| 22 |
+
"serial": "12540311",
|
| 23 |
+
"asset": "12540311.npz",
|
| 24 |
+
"gaussian_count": 129600,
|
| 25 |
+
"width": 1920,
|
| 26 |
+
"height": 1080,
|
| 27 |
+
"K": [
|
| 28 |
+
[
|
| 29 |
+
1505.6763916015625,
|
| 30 |
+
0.0,
|
| 31 |
+
975.8055419921875
|
| 32 |
+
],
|
| 33 |
+
[
|
| 34 |
+
0.0,
|
| 35 |
+
1505.6763916015625,
|
| 36 |
+
520.247314453125
|
| 37 |
+
],
|
| 38 |
+
[
|
| 39 |
+
0.0,
|
| 40 |
+
0.0,
|
| 41 |
+
1.0
|
| 42 |
+
]
|
| 43 |
+
],
|
| 44 |
+
"w2c": [
|
| 45 |
+
[
|
| 46 |
+
-0.9144937167818795,
|
| 47 |
+
0.3077938516881098,
|
| 48 |
+
0.2626103326784023,
|
| 49 |
+
-0.02013232160634059
|
| 50 |
+
],
|
| 51 |
+
[
|
| 52 |
+
0.10007620818449817,
|
| 53 |
+
0.8009690151840931,
|
| 54 |
+
-0.5902824656640555,
|
| 55 |
+
0.2502316386969445
|
| 56 |
+
],
|
| 57 |
+
[
|
| 58 |
+
-0.392028053233281,
|
| 59 |
+
-0.5135285596517704,
|
| 60 |
+
-0.763283973302271,
|
| 61 |
+
1.0766336881280096
|
| 62 |
+
],
|
| 63 |
+
[
|
| 64 |
+
0.0,
|
| 65 |
+
0.0,
|
| 66 |
+
0.0,
|
| 67 |
+
1.0
|
| 68 |
+
]
|
| 69 |
+
],
|
| 70 |
+
"inputs": {
|
| 71 |
+
"rgb": "/mnt/data2/magna/belt_perception/results/rpo_obs_20261009/source/objective/background_rgbd_neighbor_review_01/rgb/12540311_rgb.npy",
|
| 72 |
+
"rgb_evidence": "/mnt/data2/magna/belt_perception/results/rpo_obs_20261009/source/objective/background_rgbd_neighbor_review_01/rgb/12540311_fill.npz",
|
| 73 |
+
"filled_depth": "/mnt/data2/magna/belt_perception/results/rpo_obs_20261009/source/objective/background_rgbd_neighbor_review_01/depth/12540311/filled_depth_m.npy",
|
| 74 |
+
"depth_observed": "/mnt/data2/magna/belt_perception/results/rpo_obs_20261009/source/objective/background_rgbd_neighbor_review_01/depth/12540311/observed.npz",
|
| 75 |
+
"depth_fill": "/mnt/data2/magna/belt_perception/results/rpo_obs_20261009/source/objective/background_rgbd_neighbor_review_01/depth/12540311/fill_neighbors.npz"
|
| 76 |
+
},
|
| 77 |
+
"rgb_filled_native_pixels": 2247,
|
| 78 |
+
"depth_filled_native_pixels": 85476,
|
| 79 |
+
"rgb_filled_splats": 143,
|
| 80 |
+
"depth_filled_splats": 5443
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"serial": "12933256",
|
| 84 |
+
"asset": "12933256.npz",
|
| 85 |
+
"gaussian_count": 129600,
|
| 86 |
+
"width": 1920,
|
| 87 |
+
"height": 1080,
|
| 88 |
+
"K": [
|
| 89 |
+
[
|
| 90 |
+
1485.1876220703125,
|
| 91 |
+
0.0,
|
| 92 |
+
1016.4954833984375
|
| 93 |
+
],
|
| 94 |
+
[
|
| 95 |
+
0.0,
|
| 96 |
+
1485.1876220703125,
|
| 97 |
+
529.3933715820312
|
| 98 |
+
],
|
| 99 |
+
[
|
| 100 |
+
0.0,
|
| 101 |
+
0.0,
|
| 102 |
+
1.0
|
| 103 |
+
]
|
| 104 |
+
],
|
| 105 |
+
"w2c": [
|
| 106 |
+
[
|
| 107 |
+
0.8077573270131928,
|
| 108 |
+
0.5752210198592749,
|
| 109 |
+
-0.12903053502391598,
|
| 110 |
+
-0.006705738936644187
|
| 111 |
+
],
|
| 112 |
+
[
|
| 113 |
+
0.19001448773870208,
|
| 114 |
+
-0.46124026499677956,
|
| 115 |
+
-0.8666902055493066,
|
| 116 |
+
-0.015885347909940218
|
| 117 |
+
],
|
| 118 |
+
[
|
| 119 |
+
-0.5580525021052238,
|
| 120 |
+
0.6755576927678022,
|
| 121 |
+
-0.4818705309897492,
|
| 122 |
+
1.230442680607236
|
| 123 |
+
],
|
| 124 |
+
[
|
| 125 |
+
0.0,
|
| 126 |
+
0.0,
|
| 127 |
+
0.0,
|
| 128 |
+
1.0
|
| 129 |
+
]
|
| 130 |
+
],
|
| 131 |
+
"inputs": {
|
| 132 |
+
"rgb": "/mnt/data2/magna/belt_perception/results/rpo_obs_20261009/source/objective/background_rgbd_neighbor_review_01/rgb/12933256_rgb.npy",
|
| 133 |
+
"rgb_evidence": "/mnt/data2/magna/belt_perception/results/rpo_obs_20261009/source/objective/background_rgbd_neighbor_review_01/rgb/12933256_fill.npz",
|
| 134 |
+
"filled_depth": "/mnt/data2/magna/belt_perception/results/rpo_obs_20261009/source/objective/background_rgbd_neighbor_review_01/depth/12933256/filled_depth_m.npy",
|
| 135 |
+
"depth_observed": "/mnt/data2/magna/belt_perception/results/rpo_obs_20261009/source/objective/background_rgbd_neighbor_review_01/depth/12933256/observed.npz",
|
| 136 |
+
"depth_fill": "/mnt/data2/magna/belt_perception/results/rpo_obs_20261009/source/objective/background_rgbd_neighbor_review_01/depth/12933256/fill_neighbors.npz"
|
| 137 |
+
},
|
| 138 |
+
"rgb_filled_native_pixels": 0,
|
| 139 |
+
"depth_filled_native_pixels": 43628,
|
| 140 |
+
"rgb_filled_splats": 0,
|
| 141 |
+
"depth_filled_splats": 2825
|
| 142 |
+
},
|
| 143 |
+
{
|
| 144 |
+
"serial": "17736741",
|
| 145 |
+
"asset": "17736741.npz",
|
| 146 |
+
"gaussian_count": 129600,
|
| 147 |
+
"width": 1920,
|
| 148 |
+
"height": 1080,
|
| 149 |
+
"K": [
|
| 150 |
+
[
|
| 151 |
+
1509.0406494140625,
|
| 152 |
+
0.0,
|
| 153 |
+
954.2996826171875
|
| 154 |
+
],
|
| 155 |
+
[
|
| 156 |
+
0.0,
|
| 157 |
+
1509.0406494140625,
|
| 158 |
+
518.1402587890625
|
| 159 |
+
],
|
| 160 |
+
[
|
| 161 |
+
0.0,
|
| 162 |
+
0.0,
|
| 163 |
+
1.0
|
| 164 |
+
]
|
| 165 |
+
],
|
| 166 |
+
"w2c": [
|
| 167 |
+
[
|
| 168 |
+
-0.8925121324413579,
|
| 169 |
+
-0.40861629466961763,
|
| 170 |
+
-0.19093144627182806,
|
| 171 |
+
0.03797890707692407
|
| 172 |
+
],
|
| 173 |
+
[
|
| 174 |
+
-0.2291826371789388,
|
| 175 |
+
0.7754814880208666,
|
| 176 |
+
-0.5883058562964075,
|
| 177 |
+
0.21117402955435297
|
| 178 |
+
],
|
| 179 |
+
[
|
| 180 |
+
0.38845516119712786,
|
| 181 |
+
-0.4813119419538795,
|
| 182 |
+
-0.78577439654897,
|
| 183 |
+
1.0634618172526542
|
| 184 |
+
],
|
| 185 |
+
[
|
| 186 |
+
0.0,
|
| 187 |
+
0.0,
|
| 188 |
+
0.0,
|
| 189 |
+
1.0
|
| 190 |
+
]
|
| 191 |
+
],
|
| 192 |
+
"inputs": {
|
| 193 |
+
"rgb": "/mnt/data2/magna/belt_perception/results/rpo_obs_20261009/source/objective/background_rgbd_neighbor_review_01/rgb/17736741_rgb.npy",
|
| 194 |
+
"rgb_evidence": "/mnt/data2/magna/belt_perception/results/rpo_obs_20261009/source/objective/background_rgbd_neighbor_review_01/rgb/17736741_fill.npz",
|
| 195 |
+
"filled_depth": "/mnt/data2/magna/belt_perception/results/rpo_obs_20261009/source/objective/background_rgbd_neighbor_review_01/depth/17736741/filled_depth_m.npy",
|
| 196 |
+
"depth_observed": "/mnt/data2/magna/belt_perception/results/rpo_obs_20261009/source/objective/background_rgbd_neighbor_review_01/depth/17736741/observed.npz",
|
| 197 |
+
"depth_fill": "/mnt/data2/magna/belt_perception/results/rpo_obs_20261009/source/objective/background_rgbd_neighbor_review_01/depth/17736741/fill_neighbors.npz"
|
| 198 |
+
},
|
| 199 |
+
"rgb_filled_native_pixels": 0,
|
| 200 |
+
"depth_filled_native_pixels": 59194,
|
| 201 |
+
"rgb_filled_splats": 0,
|
| 202 |
+
"depth_filled_splats": 3749
|
| 203 |
+
},
|
| 204 |
+
{
|
| 205 |
+
"serial": "23007103",
|
| 206 |
+
"asset": "23007103.npz",
|
| 207 |
+
"gaussian_count": 129600,
|
| 208 |
+
"width": 1920,
|
| 209 |
+
"height": 1080,
|
| 210 |
+
"K": [
|
| 211 |
+
[
|
| 212 |
+
1054.244873046875,
|
| 213 |
+
0.0,
|
| 214 |
+
969.405029296875
|
| 215 |
+
],
|
| 216 |
+
[
|
| 217 |
+
0.0,
|
| 218 |
+
1054.244873046875,
|
| 219 |
+
516.3914794921875
|
| 220 |
+
],
|
| 221 |
+
[
|
| 222 |
+
0.0,
|
| 223 |
+
0.0,
|
| 224 |
+
1.0
|
| 225 |
+
]
|
| 226 |
+
],
|
| 227 |
+
"w2c": [
|
| 228 |
+
[
|
| 229 |
+
0.7419343177393474,
|
| 230 |
+
-0.6582718189581923,
|
| 231 |
+
0.12732509778563786,
|
| 232 |
+
-0.04303285928566375
|
| 233 |
+
],
|
| 234 |
+
[
|
| 235 |
+
-0.2736295392133752,
|
| 236 |
+
-0.470652855616938,
|
| 237 |
+
-0.8388162878541986,
|
| 238 |
+
-0.02591924518474876
|
| 239 |
+
],
|
| 240 |
+
[
|
| 241 |
+
0.6120950444420581,
|
| 242 |
+
0.5875066824003748,
|
| 243 |
+
-0.5293161198229089,
|
| 244 |
+
1.0071758392032062
|
| 245 |
+
],
|
| 246 |
+
[
|
| 247 |
+
0.0,
|
| 248 |
+
0.0,
|
| 249 |
+
0.0,
|
| 250 |
+
1.0
|
| 251 |
+
]
|
| 252 |
+
],
|
| 253 |
+
"inputs": {
|
| 254 |
+
"rgb": "/mnt/data2/magna/belt_perception/results/rpo_obs_20261009/source/objective/background_rgbd_neighbor_review_01/rgb/23007103_rgb.npy",
|
| 255 |
+
"rgb_evidence": "/mnt/data2/magna/belt_perception/results/rpo_obs_20261009/source/objective/background_rgbd_neighbor_review_01/rgb/23007103_fill.npz",
|
| 256 |
+
"filled_depth": "/mnt/data2/magna/belt_perception/results/rpo_obs_20261009/source/objective/background_rgbd_neighbor_review_01/depth/23007103/filled_depth_m.npy",
|
| 257 |
+
"depth_observed": "/mnt/data2/magna/belt_perception/results/rpo_obs_20261009/source/objective/background_rgbd_neighbor_review_01/depth/23007103/observed.npz",
|
| 258 |
+
"depth_fill": "/mnt/data2/magna/belt_perception/results/rpo_obs_20261009/source/objective/background_rgbd_neighbor_review_01/depth/23007103/fill_neighbors.npz"
|
| 259 |
+
},
|
| 260 |
+
"rgb_filled_native_pixels": 0,
|
| 261 |
+
"depth_filled_native_pixels": 164256,
|
| 262 |
+
"rgb_filled_splats": 0,
|
| 263 |
+
"depth_filled_splats": 10350
|
| 264 |
+
}
|
| 265 |
+
]
|
| 266 |
+
}
|