diff --git a/.gitattributes b/.gitattributes index 6e7018496247c42e28b33f9f85cc41c49f751d07..342a810352341d57f14fa07e3f031c1d2be74fa9 100644 --- a/.gitattributes +++ b/.gitattributes @@ -853,3 +853,5 @@ sessions/session_20260921_233248_177244/preprocessing/chain-stronger-reprojectio sessions/session_20260921_233248_177244/preprocessing/chain-stronger-reprojection-v2/native/stronger_reprojection_preparation_v2/appearance_train_v1/input_case/session_20260921_233248_177244/points3D.ply filter=lfs diff=lfs merge=lfs -text sessions/session_20260921_233248_177244/preprocessing/chain-stronger-reprojection-v2/native/stronger_reprojection_preparation_v2/appearance_train_v1/model/point_cloud/iteration_10000/point_cloud.ply filter=lfs diff=lfs merge=lfs -text sessions/session_20260921_233248_177244/preprocessing/chain-stronger-reprojection-v2/native/stronger_reprojection_preparation_v2/appearance_train_v1/model/point_cloud/iteration_7000/point_cloud.ply filter=lfs diff=lfs merge=lfs -text +sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/gaussian_data/session_20260921_233350_440979/observation.ply filter=lfs diff=lfs merge=lfs -text +sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/rerun/appearance_spline_prior.rrd filter=lfs diff=lfs merge=lfs -text diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/colors/color_summary.json b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/colors/color_summary.json new file mode 100644 index 0000000000000000000000000000000000000000..86315ec2c5b2bb8a35a73a14f71f74bd076fa09c --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/colors/color_summary.json @@ -0,0 +1,49 @@ +{ + "rule": "native sRGB/255, cosine weighted over mask/depth/first-hit visible views", + "two_sided": false, + "depth_tolerance_m": 0.025, + "first_hit_tolerance_m": 0.0002, + "per_view": [ + { + "view": 0, + "serial": "12540311", + "observed_vertices": 592, + "projected_inside": 1728, + "first_hit": 927 + }, + { + "view": 1, + "serial": "12933256", + "observed_vertices": 417, + "projected_inside": 1728, + "first_hit": 914 + }, + { + "view": 2, + "serial": "17736741", + "observed_vertices": 617, + "projected_inside": 1728, + "first_hit": 925 + }, + { + "view": 3, + "serial": "23007103", + "observed_vertices": 557, + "projected_inside": 1728, + "first_hit": 917 + } + ], + "observed_vertices": 1037, + "filled_vertices": 691, + "fill_color_rgb": [ + 0.19215686274509805, + 0.14901960784313725, + 0.1404657230738269 + ], + "glb_roundtrip": { + "float32_positions_exact": true, + "vertex_colors_exact": true, + "uv_count": 0, + "vertex_reordered_on_open3d_load": true + } +} \ No newline at end of file diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/colors/vertex_colors.npz b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/colors/vertex_colors.npz new file mode 100644 index 0000000000000000000000000000000000000000..e6c995a6eda1be46699c6116cb4ffed3a4f33755 --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/colors/vertex_colors.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1a7d0ac0910ac34436fe019bb1f96edb608f18c639370de3ffa31877c8f1665d +size 56328 diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/comparison_colors.log b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/comparison_colors.log new file mode 100644 index 0000000000000000000000000000000000000000..17a36a02e4f9e6193e4ba60672b2ba7ef3e8c077 --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/comparison_colors.log @@ -0,0 +1 @@ +colors: ok -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/prior_chain_lower_curvature_v2/steps/colors.json diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/comparison_colors_argv.json b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/comparison_colors_argv.json new file mode 100644 index 0000000000000000000000000000000000000000..af9e5c7b2d1daed593e4b85f93511d07a82d5791 --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/comparison_colors_argv.json @@ -0,0 +1,12 @@ +{ + "argv": [ + "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python", + "-B", + "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/scripts/real_rgbd_appearance_spline_prior.py", + "colors", + "--run", + "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/prior_chain_lower_curvature_v2" + ], + "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026", + "started_utc": "2026-10-28T22:51:50.944832+00:00" +} diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/comparison_colors_result.json b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/comparison_colors_result.json new file mode 100644 index 0000000000000000000000000000000000000000..2ad6796af6b8d8b34c14d654c5a826009b81da81 --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/comparison_colors_result.json @@ -0,0 +1,5 @@ +{ + "returncode": 0, + "elapsed_s_excluding_queue": 2.5773124219995225, + "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026" +} diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/comparison_fit.log b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/comparison_fit.log new file mode 100644 index 0000000000000000000000000000000000000000..2238d6be65f3f4813c22077de4b3da12992a3f8e --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/comparison_fit.log @@ -0,0 +1,43 @@ +compiling! +compiling! +compiling! +compiling! +compiling! +compiling! +compiling! +compiling! +compiling! +compiling! +compiling! +compiling! +compiling! +compiling! +compiling! +compiling! +compiling! +compiling! +compiling! +compiling! +compiling! +compiling! +compiling! +compiling! +compiling! +compiling! +compiling! +compiling! +compiling! +compiling! +compiling! +compiling! +compiling! +compiling! +compiling! +compiling! +compiling! +compiling! +compiling! +compiling! +compiling! +compiling! +fit: ok -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/prior_chain_lower_curvature_v2/steps/fit.json diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/comparison_fit_argv.json b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/comparison_fit_argv.json new file mode 100644 index 0000000000000000000000000000000000000000..67b4c573e4e59a79cfbdafeaf8044b42b5cc76f9 --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/comparison_fit_argv.json @@ -0,0 +1,24 @@ +{ + "argv": [ + "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python", + "-B", + "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/scripts/real_rgbd_appearance_spline_prior.py", + "fit", + "--run", + "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/prior_chain_lower_curvature_v2", + "--outlier-filter", + "statistical:20:2.0", + "--max-rounds", + "400", + "--reprojection-weight", + "4.0", + "--baseline-run", + "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1", + "--chain-curvature-weight", + "5e-10", + "--chain-control-count", + "18" + ], + "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026", + "started_utc": "2026-10-28T22:51:23.807709+00:00" +} diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/comparison_fit_result.json b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/comparison_fit_result.json new file mode 100644 index 0000000000000000000000000000000000000000..0f0bab6aa7ac735b0220cdfdd5911fdd90090b3b --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/comparison_fit_result.json @@ -0,0 +1,5 @@ +{ + "returncode": 0, + "elapsed_s_excluding_queue": 22.1476013000065, + "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026" +} diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/comparison_hybrid.log b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/comparison_hybrid.log new file mode 100644 index 0000000000000000000000000000000000000000..3e0493d07dc02c4edf43f27d62b86d8bfe01cb36 --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/comparison_hybrid.log @@ -0,0 +1 @@ +hybrid: ok -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/prior_chain_lower_curvature_v2/steps/hybrid.json diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/comparison_hybrid_argv.json b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/comparison_hybrid_argv.json new file mode 100644 index 0000000000000000000000000000000000000000..503c6191caebf26c627acf23d6d5ca3c526c2c5c --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/comparison_hybrid_argv.json @@ -0,0 +1,12 @@ +{ + "argv": [ + "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python", + "-B", + "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/scripts/real_rgbd_appearance_spline_prior.py", + "hybrid", + "--run", + "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/prior_chain_lower_curvature_v2" + ], + "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026", + "started_utc": "2026-10-28T22:51:53.522340+00:00" +} diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/comparison_hybrid_result.json b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/comparison_hybrid_result.json new file mode 100644 index 0000000000000000000000000000000000000000..864eaf15f4916d240f71ec5f3165f64d96794ac4 --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/comparison_hybrid_result.json @@ -0,0 +1,5 @@ +{ + "returncode": 0, + "elapsed_s_excluding_queue": 2.2466138129966566, + "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026" +} diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/comparison_manifest.log b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/comparison_manifest.log new file mode 100644 index 0000000000000000000000000000000000000000..7a27665ecb459d3079730d5b446787b261f68031 --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/comparison_manifest.log @@ -0,0 +1 @@ +/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/prior_chain_lower_curvature_v2/manifest.json diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/comparison_manifest_argv.json b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/comparison_manifest_argv.json new file mode 100644 index 0000000000000000000000000000000000000000..2fe403f191dccb3875552594faa6b4bf8d39f764 --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/comparison_manifest_argv.json @@ -0,0 +1,12 @@ +{ + "argv": [ + "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python", + "-B", + "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/scripts/real_rgbd_appearance_spline_prior.py", + "manifest", + "--run", + "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/prior_chain_lower_curvature_v2" + ], + "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026", + "started_utc": "2026-10-28T22:52:08.235557+00:00" +} diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/comparison_manifest_result.json b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/comparison_manifest_result.json new file mode 100644 index 0000000000000000000000000000000000000000..ecb83828d6cc1e244b8a4f840bc4eed3e9678e05 --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/comparison_manifest_result.json @@ -0,0 +1,5 @@ +{ + "returncode": 0, + "elapsed_s_excluding_queue": 1.3317684799985727, + "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026" +} diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/comparison_review.log b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/comparison_review.log new file mode 100644 index 0000000000000000000000000000000000000000..fffe6a5ec856592708fdfc8cec6bb5b3c7203112 --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/comparison_review.log @@ -0,0 +1 @@ +review: ok -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/prior_chain_lower_curvature_v2/steps/review.json diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/comparison_review_argv.json b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/comparison_review_argv.json new file mode 100644 index 0000000000000000000000000000000000000000..d8c05cf9e79b0d071b694b9ea16cf743c235cff3 --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/comparison_review_argv.json @@ -0,0 +1,12 @@ +{ + "argv": [ + "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python", + "-B", + "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/scripts/real_rgbd_appearance_spline_prior.py", + "review", + "--run", + "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/prior_chain_lower_curvature_v2" + ], + "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026", + "started_utc": "2026-10-28T22:51:55.769157+00:00" +} diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/comparison_review_result.json b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/comparison_review_result.json new file mode 100644 index 0000000000000000000000000000000000000000..8b426d41939f3918271d644062ea8261c872787d --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/comparison_review_result.json @@ -0,0 +1,5 @@ +{ + "returncode": 0, + "elapsed_s_excluding_queue": 12.464863779998268, + "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026" +} diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/comparison_tube.log b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/comparison_tube.log new file mode 100644 index 0000000000000000000000000000000000000000..cc0a105b0215b7a9f7e672ae54e60d2e4e503b73 --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/comparison_tube.log @@ -0,0 +1 @@ +tube: ok -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/prior_chain_lower_curvature_v2/steps/tube.json diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/comparison_tube_argv.json b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/comparison_tube_argv.json new file mode 100644 index 0000000000000000000000000000000000000000..4adaceb5348c6daf53a5a9119e4d833fa16a357f --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/comparison_tube_argv.json @@ -0,0 +1,12 @@ +{ + "argv": [ + "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/.venv/bin/python", + "-B", + "/mnt/data0/magna/belt_perception_wt_c6a_lab_input_preparation_20261027/scripts/real_rgbd_appearance_spline_prior.py", + "tube", + "--run", + "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/prior_chain_lower_curvature_v2" + ], + "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026", + "started_utc": "2026-10-28T22:51:45.955598+00:00" +} diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/comparison_tube_result.json b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/comparison_tube_result.json new file mode 100644 index 0000000000000000000000000000000000000000..57eb68078c9830ef89fdad5f55aa6d155fad8eff --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/comparison_tube_result.json @@ -0,0 +1,5 @@ +{ + "returncode": 0, + "elapsed_s_excluding_queue": 4.989028149007936, + "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026" +} diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/full_prior_complete.json b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/full_prior_complete.json new file mode 100644 index 0000000000000000000000000000000000000000..3e4bbe4949b88467ed20ffa3095255e0efd127e6 --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/full_prior_complete.json @@ -0,0 +1,8 @@ +{ + "case_id": "233350", + "candidate": "lower_curvature", + "run": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/prior_chain_lower_curvature_v2", + "failed_stage": null, + "completed_utc": "2026-10-28T22:52:09.567523+00:00", + "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026" +} diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/gaussian_data/session_20260921_233350_440979/camera_meta.pkl b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/gaussian_data/session_20260921_233350_440979/camera_meta.pkl new file mode 100644 index 0000000000000000000000000000000000000000..b4f30235f312dcdef1c2ddc0a9a854efa80067cb --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/gaussian_data/session_20260921_233350_440979/camera_meta.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f9c9256acec117e1352c4a1af2ed20789ebcbb39088276a9f7d9424e0e5592d8 +size 1287 diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/gaussian_data/session_20260921_233350_440979/mask_0.png b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/gaussian_data/session_20260921_233350_440979/mask_0.png new file mode 100644 index 0000000000000000000000000000000000000000..60ec04bbc3632a076d853e357a0e0928d62ea1fe --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/gaussian_data/session_20260921_233350_440979/mask_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7551fc755c7e60d1ce7d3987161d96ed30743af6e4905c101b124ddd2f90c3c6 +size 3466 diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/gaussian_data/session_20260921_233350_440979/mask_1.png b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/gaussian_data/session_20260921_233350_440979/mask_1.png new file mode 100644 index 0000000000000000000000000000000000000000..60703c66cfe87e39bafe81909f9771d069a3fc1c --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/gaussian_data/session_20260921_233350_440979/mask_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:80a458a3bc2c90823e2fecd48dd723ba6d14404053e5099683021f79f726039c +size 3017 diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/gaussian_data/session_20260921_233350_440979/mask_2.png b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/gaussian_data/session_20260921_233350_440979/mask_2.png new file mode 100644 index 0000000000000000000000000000000000000000..689dd6b3b1d366909fb78c3845395f668bc6966a --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/gaussian_data/session_20260921_233350_440979/mask_2.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:867a819d45c54171957a71fe6840f5720d72f83a0c023f1bd33c295ef88d8ad3 +size 3804 diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/gaussian_data/session_20260921_233350_440979/mask_3.png b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/gaussian_data/session_20260921_233350_440979/mask_3.png new file mode 100644 index 0000000000000000000000000000000000000000..2713fde62f8dd4ccb5a6035805d52f4f310dab43 --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/gaussian_data/session_20260921_233350_440979/mask_3.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:27885fc987774c89022dab82e2b49beb3b1bce4045ae19b60144cbbf34bad357 +size 3245 diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/gaussian_data/session_20260921_233350_440979/mask_human_0.png b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/gaussian_data/session_20260921_233350_440979/mask_human_0.png new file mode 100644 index 0000000000000000000000000000000000000000..b25c3c941379f284835a6eee9ce4a54da9c98348 --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/gaussian_data/session_20260921_233350_440979/mask_human_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a9dd588945a4445f8c00fe3528e69f5539d5a7db9f26df4216ab6b897646d277 +size 8083 diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/gaussian_data/session_20260921_233350_440979/mask_human_1.png b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/gaussian_data/session_20260921_233350_440979/mask_human_1.png new file mode 100644 index 0000000000000000000000000000000000000000..cd1d352c58b3ddd9adfb22e3e53df1c2a7e4bf53 --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/gaussian_data/session_20260921_233350_440979/mask_human_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:89bd50582ec33aaad55d50e8ee45b9c3a67a60641943c70bf74bcd2b374bb4c8 +size 6194 diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/gaussian_data/session_20260921_233350_440979/mask_human_2.png b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/gaussian_data/session_20260921_233350_440979/mask_human_2.png new file mode 100644 index 0000000000000000000000000000000000000000..bfe03fe154151108f986aca84a67d9a7dd3ee755 --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/gaussian_data/session_20260921_233350_440979/mask_human_2.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9240380d1c1a46b8058779239824f916f948a957945947c152b0e06ac8742d66 +size 8985 diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/gaussian_data/session_20260921_233350_440979/mask_human_3.png b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/gaussian_data/session_20260921_233350_440979/mask_human_3.png new file mode 100644 index 0000000000000000000000000000000000000000..9c99729c3ebe4a7f826e0b91e067cee505e82e18 --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/gaussian_data/session_20260921_233350_440979/mask_human_3.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:be41d457677b4fae45b36185f0e0e3eef7cef914d32bd761687e4b4f0a378709 +size 6822 diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/gaussian_data/session_20260921_233350_440979/observation.ply b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/gaussian_data/session_20260921_233350_440979/observation.ply new file mode 100644 index 0000000000000000000000000000000000000000..1b5ad16c95f8d814562b5f328a3a4193ad58c86a --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/gaussian_data/session_20260921_233350_440979/observation.ply @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:35b702c3e5fa3185b77730d2f38d4d7aff5969ec64190d8e8c55032054d07a91 +size 605413 diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/gaussian_data/session_20260921_233350_440979/shape_prior.glb b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/gaussian_data/session_20260921_233350_440979/shape_prior.glb new file mode 100644 index 0000000000000000000000000000000000000000..63d39dc68234b3ffd7eec5ded60de07376bb0944 Binary files /dev/null and b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/gaussian_data/session_20260921_233350_440979/shape_prior.glb differ diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/hybrid/populations.npz b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/hybrid/populations.npz new file mode 100644 index 0000000000000000000000000000000000000000..f260b6b38869d0f81dc62a0ceeec918d61980c18 --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/hybrid/populations.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f71dd7333311c9aaa2ff820471a3bb50996767ad10276d47a6922a2d4812b810 +size 4809710 diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/inputs/depth_offset_diagnostic.json b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/inputs/depth_offset_diagnostic.json new file mode 100644 index 0000000000000000000000000000000000000000..69e58dbee0c4ba633bbe9db6e6b7ef90a4b51df1 --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/inputs/depth_offset_diagnostic.json @@ -0,0 +1,90 @@ +{ + "annulus_px": [ + 20, + 80 + ], + "interior_erosion_px": 2, + "correction_applied": false, + "views": [ + { + "view": 0, + "serial": "12540311", + "annulus_count": 62964, + "belt_interior_count": 7620, + "belt_edge_count": 2750, + "table_median_z_m": -7.655212073059969e-05, + "belt_interior_median_z_m": 0.01055925031413879, + "belt_edge_median_z_m": 0.00024912902950402493, + "belt_minus_table_m": 0.01063580243486939, + "edge_minus_table_m": 0.00032568115023462463, + "table_p10_p90_z_m": [ + -0.001958645012908189, + 0.0011031486467430573 + ], + "belt_interior_p10_p90_z_m": [ + 0.00037109482275370374, + 0.015236898731755622 + ] + }, + { + "view": 1, + "serial": "12933256", + "annulus_count": 43337, + "belt_interior_count": 4253, + "belt_edge_count": 1729, + "table_median_z_m": -0.0009368307413537558, + "belt_interior_median_z_m": 0.005894032159887264, + "belt_edge_median_z_m": 0.000950817590460673, + "belt_minus_table_m": 0.006830862901241019, + "edge_minus_table_m": 0.0018876483318144288, + "table_p10_p90_z_m": [ + -0.0016646231352850816, + -0.0003330011544799169 + ], + "belt_interior_p10_p90_z_m": [ + 0.0013929230206320311, + 0.00885023143788315 + ] + }, + { + "view": 2, + "serial": "17736741", + "annulus_count": 64210, + "belt_interior_count": 7178, + "belt_edge_count": 2939, + "table_median_z_m": 0.0013811225349885103, + "belt_interior_median_z_m": 0.011255177064247501, + "belt_edge_median_z_m": 0.001770530286694716, + "belt_minus_table_m": 0.009874054529258991, + "edge_minus_table_m": 0.00038940775170620556, + "table_p10_p90_z_m": [ + 0.00013622346882600223, + 0.0025687680789306944 + ], + "belt_interior_p10_p90_z_m": [ + 0.002513644893010925, + 0.014696697391169756 + ] + }, + { + "view": 3, + "serial": "23007103", + "annulus_count": 42176, + "belt_interior_count": 4322, + "belt_edge_count": 2086, + "table_median_z_m": -3.088470725581827e-05, + "belt_interior_median_z_m": 0.008122605762869106, + "belt_edge_median_z_m": 0.0017639871212786762, + "belt_minus_table_m": 0.008153490470124924, + "edge_minus_table_m": 0.0017948718285344945, + "table_p10_p90_z_m": [ + -0.0006555988662426682, + 0.001863406973073245 + ], + "belt_interior_p10_p90_z_m": [ + 0.0021249908671892802, + 0.010988996893434166 + ] + } + ] +} \ No newline at end of file diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/inputs/observed_cloud.npz b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/inputs/observed_cloud.npz new file mode 100644 index 0000000000000000000000000000000000000000..456eee8fc021bb631ea347705beeb3699f68151b --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/inputs/observed_cloud.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cbd81bca7bb74784f2ec5cd5564f58eb364c489fa97e415a21f18644d2b66458 +size 1615252 diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/inputs/reference_views.json b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/inputs/reference_views.json new file mode 100644 index 0000000000000000000000000000000000000000..1015b0d76e6fb8947c6238d719e5b4a8f17bb6ce --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/inputs/reference_views.json @@ -0,0 +1,100 @@ +{ + "case": "session_20260921_233350_440979", + "grid_sample": 0, + "views": [ + { + "index": 0, + "serial": "12540311", + "native_frame": 0, + "offset_ms": 1.970902, + "object_mask_px": 10370, + "invalid_depth_in_mask_px": 0, + "occlusion_union_px": 353423, + "object_and_union_px": 0, + "lifted_points": 7290, + "lifted_z_min_max_m": [ + -0.00302564008988615, + 0.018761167192242523 + ], + "uneroded_lifted_points": 10370, + "uneroded_lifted_z_min_max_m": [ + -0.003858763419219202, + 0.10390526603097272 + ], + "eroded_lifted_points": 7620, + "erosion_removed_points": 2750, + "outlier_removed_points": 330 + }, + { + "index": 1, + "serial": "12933256", + "native_frame": 0, + "offset_ms": 0.0, + "object_mask_px": 5982, + "invalid_depth_in_mask_px": 0, + "occlusion_union_px": 284237, + "object_and_union_px": 28, + "lifted_points": 4154, + "lifted_z_min_max_m": [ + -0.0014113355968503605, + 0.012225868257994876 + ], + "uneroded_lifted_points": 5982, + "uneroded_lifted_z_min_max_m": [ + -0.0032101245077625906, + 0.11407352285712274 + ], + "eroded_lifted_points": 4253, + "erosion_removed_points": 1729, + "outlier_removed_points": 99 + }, + { + "index": 2, + "serial": "17736741", + "native_frame": 0, + "offset_ms": 6.200584, + "object_mask_px": 10117, + "invalid_depth_in_mask_px": 0, + "occlusion_union_px": 374073, + "object_and_union_px": 0, + "lifted_points": 6985, + "lifted_z_min_max_m": [ + -0.00031823685067589036, + 0.018007819757196564 + ], + "uneroded_lifted_points": 10117, + "uneroded_lifted_z_min_max_m": [ + -0.0010701685214193901, + 0.08861601242826411 + ], + "eroded_lifted_points": 7178, + "erosion_removed_points": 2939, + "outlier_removed_points": 193 + }, + { + "index": 3, + "serial": "23007103", + "native_frame": 0, + "offset_ms": 8.734615, + "object_mask_px": 6408, + "invalid_depth_in_mask_px": 0, + "occlusion_union_px": 174842, + "object_and_union_px": 5, + "lifted_points": 3986, + "lifted_z_min_max_m": [ + -0.0004381281431145023, + 0.0131987562091046 + ], + "uneroded_lifted_points": 6408, + "uneroded_lifted_z_min_max_m": [ + -0.0012160073284875894, + 0.04531334527554337 + ], + "eroded_lifted_points": 4322, + "erosion_removed_points": 2086, + "outlier_removed_points": 336 + } + ], + "observed_points": 22415, + "mask_erosion_px": 2 +} \ No newline at end of file diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/manifest.json b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..71504a3995a7e62a54b4eb62a36ea140ec42568d --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/manifest.json @@ -0,0 +1,887 @@ +{ + "kind": "real_rgbd_appearance_spline_prior_v1", + "code": { + "commit": "98ebffe13629edeb0a9b29df973bebc5730d7026", + "u_pin": "81c718790a37e5e0102eb77af2c6edd34a9db25f" + }, + "steps": { + "colors": { + "status": "ok", + "settings": { + "depth_tolerance_m": 0.025 + }, + "outputs": { + "rule": "native sRGB/255, cosine weighted over mask/depth/first-hit visible views", + "two_sided": false, + "depth_tolerance_m": 0.025, + "first_hit_tolerance_m": 0.0002, + "per_view": [ + { + "view": 0, + "serial": "12540311", + "observed_vertices": 592, + "projected_inside": 1728, + "first_hit": 927 + }, + { + "view": 1, + "serial": "12933256", + "observed_vertices": 417, + "projected_inside": 1728, + "first_hit": 914 + }, + { + "view": 2, + "serial": "17736741", + "observed_vertices": 617, + "projected_inside": 1728, + "first_hit": 925 + }, + { + "view": 3, + "serial": "23007103", + "observed_vertices": 557, + "projected_inside": 1728, + "first_hit": 917 + } + ], + "observed_vertices": 1037, + "filled_vertices": 691, + "fill_color_rgb": [ + 0.19215686274509805, + 0.14901960784313725, + 0.1404657230738269 + ], + "glb_roundtrip": { + "float32_positions_exact": true, + "vertex_colors_exact": true, + "uv_count": 0, + "vertex_reordered_on_open3d_load": true + }, + "files": { + "colors/vertex_colors.npz": "1a7d0ac0910ac34436fe019bb1f96edb608f18c639370de3ffa31877c8f1665d", + "colors/color_summary.json": "40e50752c6385066a0a54be476ec89cea924704d6f681ad3f028eb31be970549", + "tube/shape_prior.glb": "49e2bb8fe884a6b67ba3bfa46b46d6f594f2ac151a4809b09c8db24b8b2ac3f9", + "tube/tube.ply": "c1477520f43c55185f61b23359d1dadec01e46d93ab8f032fcc6ac2499ac9529", + "gaussian_data/session_20260921_233350_440979/shape_prior.glb": "49e2bb8fe884a6b67ba3bfa46b46d6f594f2ac151a4809b09c8db24b8b2ac3f9" + } + }, + "code": { + "commit": "98ebffe13629edeb0a9b29df973bebc5730d7026", + "u_pin": "81c718790a37e5e0102eb77af2c6edd34a9db25f" + }, + "wall_time_s": 1.133122444152832 + }, + "diagnose-depth": { + "status": "ok", + "settings": { + "correction": "none", + "annulus_px": [ + 20, + 80 + ] + }, + "outputs": { + "report": { + "annulus_px": [ + 20, + 80 + ], + "interior_erosion_px": 2, + "correction_applied": false, + "views": [ + { + "view": 0, + "serial": "12540311", + "annulus_count": 62964, + "belt_interior_count": 7620, + "belt_edge_count": 2750, + "table_median_z_m": -7.655212073059969e-05, + "belt_interior_median_z_m": 0.01055925031413879, + "belt_edge_median_z_m": 0.00024912902950402493, + "belt_minus_table_m": 0.01063580243486939, + "edge_minus_table_m": 0.00032568115023462463, + "table_p10_p90_z_m": [ + -0.001958645012908189, + 0.0011031486467430573 + ], + "belt_interior_p10_p90_z_m": [ + 0.00037109482275370374, + 0.015236898731755622 + ] + }, + { + "view": 1, + "serial": "12933256", + "annulus_count": 43337, + "belt_interior_count": 4253, + "belt_edge_count": 1729, + "table_median_z_m": -0.0009368307413537558, + "belt_interior_median_z_m": 0.005894032159887264, + "belt_edge_median_z_m": 0.000950817590460673, + "belt_minus_table_m": 0.006830862901241019, + "edge_minus_table_m": 0.0018876483318144288, + "table_p10_p90_z_m": [ + -0.0016646231352850816, + -0.0003330011544799169 + ], + "belt_interior_p10_p90_z_m": [ + 0.0013929230206320311, + 0.00885023143788315 + ] + }, + { + "view": 2, + "serial": "17736741", + "annulus_count": 64210, + "belt_interior_count": 7178, + "belt_edge_count": 2939, + "table_median_z_m": 0.0013811225349885103, + "belt_interior_median_z_m": 0.011255177064247501, + "belt_edge_median_z_m": 0.001770530286694716, + "belt_minus_table_m": 0.009874054529258991, + "edge_minus_table_m": 0.00038940775170620556, + "table_p10_p90_z_m": [ + 0.00013622346882600223, + 0.0025687680789306944 + ], + "belt_interior_p10_p90_z_m": [ + 0.002513644893010925, + 0.014696697391169756 + ] + }, + { + "view": 3, + "serial": "23007103", + "annulus_count": 42176, + "belt_interior_count": 4322, + "belt_edge_count": 2086, + "table_median_z_m": -3.088470725581827e-05, + "belt_interior_median_z_m": 0.008122605762869106, + "belt_edge_median_z_m": 0.0017639871212786762, + "belt_minus_table_m": 0.008153490470124924, + "edge_minus_table_m": 0.0017948718285344945, + "table_p10_p90_z_m": [ + -0.0006555988662426682, + 0.001863406973073245 + ], + "belt_interior_p10_p90_z_m": [ + 0.0021249908671892802, + 0.010988996893434166 + ] + } + ] + }, + "files": { + "inputs/depth_offset_diagnostic.json": "860e3cfcf72860a1d3fb44c195f0289846db5b6090842caee5adf58d001fef74" + } + }, + "code": { + "commit": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e", + "u_pin": "81c718790a37e5e0102eb77af2c6edd34a9db25f" + }, + "wall_time_s": 0.3075852394104004 + }, + "fit": { + "status": "ok", + "settings": { + "object": { + "name": "bike_chain", + "representation": "tube", + "fitter_source": "scripts/chain_state_estimation.py loss/solver literals", + "dimension_source": "owner approximate 9.5 mm diameter (corpus Q2, 2026-10-25)", + "radius_m": 0.00475, + "ribbon_width_m": null, + "step_t": 0.125, + "step_angle_deg": 30, + "u_resolution": null, + "overlap_rule": "surface_intersection", + "twist_penalty": null + }, + "max_rounds": 400, + "control_count": 18, + "relative_loss_tolerance": 1e-07, + "reprojection": { + "weight": 4.0, + "direction": "visible mask pixels to projected centerline", + "ribbon_twist_stage": null, + "mask": "accepted object outside hand/occluder union", + "view_aggregation": "equal view means", + "distance": "metric image plane using per-view median visible belt depth and fx/fy", + "samples": 360, + "huber_delta_m": 0.005, + "smooth_cap_m": 0.035, + "baseline_run": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1" + }, + "loss_config": { + "eval_distances": true, + "max_saturation_distance": 0.035, + "distance_huber_delta": 0.005, + "eval_curvature_cost": true, + "num_eval_reg_points": 250, + "lambda_curvature_cost": 5e-10, + "max_curvature": 10.0, + "curvature_huber_delta": 30.0, + "max_saturation_curvature": 80.0, + "eval_curvilinear_energy": false, + "lambda_curvilinear_energy": 0.001, + "eval_length_constraint": true, + "lambda_length_constraint": 0.1, + "arclength_bounds": [ + 0.5830000042915344, + 0.5849999785423279 + ] + }, + "solver_config": { + "solver_type": "lbfgs", + "linesearch_type": "zoom", + "max_linesearch_steps": 10, + "grad_norm_tolerance": 0.0001, + "max_iter": 25 + }, + "ribbon_twist_refinement": null + }, + "outputs": { + "filter": { + "method": "Open3D.remove_statistical_outlier", + "nb_neighbors": 20, + "std_ratio": 2.0, + "input_count": 23373, + "kept_count": 22415, + "removed_count": 958, + "per_view": [ + { + "view": 0, + "input": 7620, + "kept": 7290, + "removed": 330, + "live_20_0.05_kept": 5404, + "no_filter_kept": 7620 + }, + { + "view": 1, + "input": 4253, + "kept": 4154, + "removed": 99, + "live_20_0.05_kept": 2921, + "no_filter_kept": 4253 + }, + { + "view": 2, + "input": 7178, + "kept": 6985, + "removed": 193, + "live_20_0.05_kept": 4904, + "no_filter_kept": 7178 + }, + { + "view": 3, + "input": 4322, + "kept": 3986, + "removed": 336, + "live_20_0.05_kept": 1070, + "no_filter_kept": 4322 + } + ] + }, + "rounds": 1, + "stop": "gradient_tolerance", + "final": { + "loss": 5.9031030104961246e-05, + "components": { + "distance": 2.2463513232651167e-05, + "curvature": 4.391957375560196e-08, + "arclength": 4.9960036108132044e-09, + "mask_reprojection_2d": 3.651859879028052e-05 + }, + "grad_norm": 8.475646609440446e-05, + "arclength_m": 0.5852234959602356, + "arclength_bound_active_within_1mm": true, + "max_curvature_per_m": 77.98448944091797, + "curvature_p50_p90_per_m": [ + 11.468396186828613, + 42.086771392822264 + ], + "curvature_above_max_fraction": 0.564, + "mean_distance_m": 0.0070839541500012865, + "max_distance_m": 0.022682657465338707, + "beyond_2delta_fraction": 0.12933303591345083, + "at_cap_fraction": 0.0, + "per_view": [ + { + "view": 0, + "count": 7290, + "median_m": 0.007497706217691302, + "p90_m": 0.011154823936522007, + "max_m": 0.014353872276842594, + "beyond_2delta_fraction": 0.200960219478738, + "at_cap_fraction": 0.0 + }, + { + "view": 1, + "count": 4154, + "median_m": 0.004821250913664699, + "p90_m": 0.007527824584394694, + "max_m": 0.011030963622033596, + "beyond_2delta_fraction": 0.011555127587867116, + "at_cap_fraction": 0.0 + }, + { + "view": 2, + "count": 6985, + "median_m": 0.007063489407300949, + "p90_m": 0.01026284396648407, + "max_m": 0.013585391454398632, + "beyond_2delta_fraction": 0.11882605583392986, + "at_cap_fraction": 0.0 + }, + { + "view": 3, + "count": 3986, + "median_m": 0.007189058931544423, + "p90_m": 0.010692490264773369, + "max_m": 0.022682657465338707, + "beyond_2delta_fraction": 0.13948820873055695, + "at_cap_fraction": 0.0 + } + ], + "round": 1, + "relative_loss_change": 0.9847691103594011 + }, + "deterministic": true, + "partial_view_witness": { + "source": "synthetic rounded trapezoid, four retained RP2 camera centres", + "control_count": 18, + "curvature_weight": 5e-10, + "seed": 5, + "noise_sigma_m": 0.0015, + "points": 288, + "tube_radius_m": 0.00475, + "truth_arclength_m": 0.5839999999999999, + "truth_corner_curvature_per_m": 100.0, + "fit_arclength_m": 0.5844501256942749, + "mean_centerline_distance_to_truth_m": 0.0032533064463410887, + "max_centerline_distance_to_truth_m": 0.005681761175842478, + "corner_truth_to_fit_mean_max_m": [ + 0.00338321064191233, + 0.004025242412806483 + ], + "straight_truth_to_fit_mean_m": 0.0032302843394948245, + "fit_max_curvature_per_m": 127.6394271850586, + "fit_curvature_nearest_corners_p50_max_per_m": [ + 51.747100830078125, + 127.6394271850586 + ], + "rounds": 1, + "stop": "gradient_tolerance" + }, + "files": { + "spline/reprojection_residuals.npz": "366a73c7a2ef236ebbfc2e479b0f0ad7a676661329d317df52fa1a119140cbda", + "spline/residuals.npz": "1f666eca12c5d952c6d8e9fb65712af201a0a2371739aee40c660828f7740d28", + "spline/filtered_cloud.npz": "70d80c1643a2a4f4a6799f2dbfe29cc9a2f9a69530b0dd1aeb77dfed7500d3f1", + "spline/spline_init.json": "a31ae13e76d533b82cddcf408c5f865e7af0b32bd0b3bf028b0f9de3ec462aee", + "spline/determinism.json": "773d1a02e2924f0d7df2d5d0011979c4e408678ebfdb9633a8348b9788132683", + "spline/filter.json": "4d2bee842164b0dd0b8eeab567edd28a02828ab7712e27301104bea7ad1a8cf5", + "spline/witness.json": "a95069a8f0af4cd0832d682da5e861529438273bb67376ccb3058fc06d6987dd", + "spline/filter_removed.npz": "400f4ceb028d0cd46d8e09a54c43ca36d6aceb341fc998fbbde503631071d70f", + "spline/spline_fit.json": "5fade669f69b24a511643c60d04fec2c7a59c58c984d7ff408b62c2a0c32dd11", + "spline/reprojection_comparison.json": "e66e82e792ce06566e4454e6629d2adc55fb70fd25ab34cbe16c0efb7032621e", + "spline/rounds.jsonl": "3f1c85c81982367b46c0693f9163b31798f4dd504699b35972941e2263860753", + "spline/init_ellipse.json": "27d464a292a3d50a9fa0417ec117ee2b28f13a5f58f401f33f6de218ef265d6f", + "spline/reprojection.json": "d8be1d2469019dc6e7d8174852478b092f615a0863eafb480090bb2ec53c9a01" + } + }, + "code": { + "commit": "98ebffe13629edeb0a9b29df973bebc5730d7026", + "u_pin": "81c718790a37e5e0102eb77af2c6edd34a9db25f" + }, + "wall_time_s": 20.087650299072266 + }, + "hybrid": { + "status": "ok", + "settings": { + "u_pin": "81c718790a37e5e0102eb77af2c6edd34a9db25f", + "numpy_seed": 0, + "points_per_triangle": 30 + }, + "outputs": { + "counts": { + "observed": 22415, + "mesh": 103680, + "total": 126095, + "mesh_to_observed": 4.625474012937765 + }, + "files": { + "hybrid/populations.npz": "f71dd7333311c9aaa2ff820471a3bb50996767ad10276d47a6922a2d4812b810" + } + }, + "code": { + "commit": "98ebffe13629edeb0a9b29df973bebc5730d7026", + "u_pin": "81c718790a37e5e0102eb77af2c6edd34a9db25f" + }, + "wall_time_s": 0.8287944793701172 + }, + "inputs": { + "status": "ok", + "settings": { + "object": "bike_chain", + "depth_source": "waft_stereo_dav2l5", + "depth_stream_ids": [ + "zed_12540311_depth_waft_stereo_synlarge_dav2l5_zdepth", + "zed_12933256_depth_waft_stereo_synlarge_dav2l5_zdepth", + "zed_17736741_depth_waft_stereo_synlarge_dav2l5_zdepth", + "zed_23007103_depth_waft_stereo_synlarge_dav2l5_zdepth" + ], + "frames": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/frames_waft/per_camera_inputs.json", + "frames_sha256": "a0942bc36c199bbfd3820a2d364a01ab8ba928a6b19770a5b237ea1facdbb895", + "signed_native_frames_sha256": { + "12540311": "48e042953277766b9b0f888b7b739e9827765283a78f98a2f0e3c8e80fcfefe1", + "12933256": "6118d29b38eb0e2bb4dc4a3e17e0d96010b43b6d49912fc84e28b14697ee1024", + "17736741": "3af1fcdd7716b2267ea52c52e22319436efaf44a1801e24186498c5b27b981c7", + "23007103": "c4ad4b8a67375180f65129c0f24b071dbf60cb5d78b6b7a950c261263f01a94e" + }, + "camera_frames_sha256": { + "12540311": "d2c9b3f290b737635ed209ff9ced770d38ed0832741e91065d79ee8dd4387dc4", + "12933256": "89157707e50b5ff6292b6e07dd06db7388f0cfdee4a2b252deb34b95ba7182a0", + "17736741": "ea83d3c91117acaf658860eb13caefc25b996548a69699be35a288d8b53793bc", + "23007103": "0c8aff30ba22897e806b1847f3a0b7307da29366e75a254a3380d09aa758ab9e" + }, + "mask_erosion_px": 2, + "filter": { + "method": "Open3D.remove_statistical_outlier", + "nb_neighbors": 20, + "std_ratio": 2.0, + "input_count": 23373, + "kept_count": 22415, + "removed_count": 958, + "per_view": [ + { + "view": 0, + "input": 7620, + "kept": 7290, + "removed": 330, + "live_20_0.05_kept": 5404, + "no_filter_kept": 7620 + }, + { + "view": 1, + "input": 4253, + "kept": 4154, + "removed": 99, + "live_20_0.05_kept": 2921, + "no_filter_kept": 4253 + }, + { + "view": 2, + "input": 7178, + "kept": 6985, + "removed": 193, + "live_20_0.05_kept": 4904, + "no_filter_kept": 7178 + }, + { + "view": 3, + "input": 4322, + "kept": 3986, + "removed": 336, + "live_20_0.05_kept": 1070, + "no_filter_kept": 4322 + } + ] + }, + "parent": null, + "unfitted_inputs": true, + "fitting_bundle_sha256": "62048240a6f804b44bf459cdc864c8c299804e37fc50738f45c7f40e22d68b19", + "signoffs": { + "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/native_inputs/cameras/12540311/review_signoff.json": "c230fe6872f6f464fafa3aff039c55b5ae4987410c22f8fa6add62626cfc829a", + "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/native_inputs/cameras/12540311/review_signoff_occluder.json": "f7fb551be1950690c57e66d709fde328baa8a31c98c9c2a42521e55db1e534af", + "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/native_inputs/cameras/12933256/review_signoff.json": "824a892b6b9208de7df64977c3579500385cd21c8e3b6652be4d87212a8688a1", + "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/native_inputs/cameras/12933256/review_signoff_occluder.json": "eda3000d7bc79fd492793c0906f17ac41a91f617f001aaa85801847b967d2e17", + "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/native_inputs/cameras/17736741/review_signoff.json": "19027531f6942720853279918d143a9cf34183acb1444098e277c8810cf7b1e7", + "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/native_inputs/cameras/17736741/review_signoff_occluder.json": "81dda73b732004230a6f5e25c8890c024fdc32fe6afdcf3ba17e3a4e07eaa20f", + "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/native_inputs/cameras/23007103/review_signoff.json": "d153e3e1088351e2557ba6d2b287daff4c4a6fbd9f0c189d0ec32623852ae228", + "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/native_inputs/cameras/23007103/review_signoff_occluder.json": "c69d933fe4f7a06a5af94768a87e8763986896c75768a096e4d3f012768b74e1" + } + }, + "outputs": { + "reference": { + "case": "session_20260921_233350_440979", + "grid_sample": 0, + "views": [ + { + "index": 0, + "serial": "12540311", + "native_frame": 0, + "offset_ms": 1.970902, + "object_mask_px": 10370, + "invalid_depth_in_mask_px": 0, + "occlusion_union_px": 353423, + "object_and_union_px": 0, + "lifted_points": 7290, + "lifted_z_min_max_m": [ + -0.00302564008988615, + 0.018761167192242523 + ], + "uneroded_lifted_points": 10370, + "uneroded_lifted_z_min_max_m": [ + -0.003858763419219202, + 0.10390526603097272 + ], + "eroded_lifted_points": 7620, + "erosion_removed_points": 2750, + "outlier_removed_points": 330 + }, + { + "index": 1, + "serial": "12933256", + "native_frame": 0, + "offset_ms": 0.0, + "object_mask_px": 5982, + "invalid_depth_in_mask_px": 0, + "occlusion_union_px": 284237, + "object_and_union_px": 28, + "lifted_points": 4154, + "lifted_z_min_max_m": [ + -0.0014113355968503605, + 0.012225868257994876 + ], + "uneroded_lifted_points": 5982, + "uneroded_lifted_z_min_max_m": [ + -0.0032101245077625906, + 0.11407352285712274 + ], + "eroded_lifted_points": 4253, + "erosion_removed_points": 1729, + "outlier_removed_points": 99 + }, + { + "index": 2, + "serial": "17736741", + "native_frame": 0, + "offset_ms": 6.200584, + "object_mask_px": 10117, + "invalid_depth_in_mask_px": 0, + "occlusion_union_px": 374073, + "object_and_union_px": 0, + "lifted_points": 6985, + "lifted_z_min_max_m": [ + -0.00031823685067589036, + 0.018007819757196564 + ], + "uneroded_lifted_points": 10117, + "uneroded_lifted_z_min_max_m": [ + -0.0010701685214193901, + 0.08861601242826411 + ], + "eroded_lifted_points": 7178, + "erosion_removed_points": 2939, + "outlier_removed_points": 193 + }, + { + "index": 3, + "serial": "23007103", + "native_frame": 0, + "offset_ms": 8.734615, + "object_mask_px": 6408, + "invalid_depth_in_mask_px": 0, + "occlusion_union_px": 174842, + "object_and_union_px": 5, + "lifted_points": 3986, + "lifted_z_min_max_m": [ + -0.0004381281431145023, + 0.0131987562091046 + ], + "uneroded_lifted_points": 6408, + "uneroded_lifted_z_min_max_m": [ + -0.0012160073284875894, + 0.04531334527554337 + ], + "eroded_lifted_points": 4322, + "erosion_removed_points": 2086, + "outlier_removed_points": 336 + } + ], + "observed_points": 22415, + "mask_erosion_px": 2 + }, + "files": { + "inputs/observed_cloud.npz": "cbd81bca7bb74784f2ec5cd5564f58eb364c489fa97e415a21f18644d2b66458", + "inputs/reference_views.json": "1c1456b9a5eba30e61a6032c34f737ea3f3250160fbc7266c7fc46125bc8042c", + "gaussian_data/session_20260921_233350_440979/0.png": "b71f78e0369364a4d980fd8fc5e8a94d9942b29b59741403ad0192d322387e27", + "gaussian_data/session_20260921_233350_440979/mask_0.png": "7551fc755c7e60d1ce7d3987161d96ed30743af6e4905c101b124ddd2f90c3c6", + "gaussian_data/session_20260921_233350_440979/mask_human_0.png": "a9dd588945a4445f8c00fe3528e69f5539d5a7db9f26df4216ab6b897646d277", + "gaussian_data/session_20260921_233350_440979/0_depth.npy": "df89c575de1d2f5e986fd6bc1fe68c78fc7523d69cc0ca04538f42312d8df49b", + "gaussian_data/session_20260921_233350_440979/1.png": "585dfb360495255fcd89e5b17013562377cc6f38aa137eaa7d29d495c5ff32d4", + "gaussian_data/session_20260921_233350_440979/mask_1.png": "80a458a3bc2c90823e2fecd48dd723ba6d14404053e5099683021f79f726039c", + "gaussian_data/session_20260921_233350_440979/mask_human_1.png": "89bd50582ec33aaad55d50e8ee45b9c3a67a60641943c70bf74bcd2b374bb4c8", + "gaussian_data/session_20260921_233350_440979/1_depth.npy": "ce4c341223068584218d297831dc08ebf10ad96d1ce9b0af32e3c1a7164e2896", + "gaussian_data/session_20260921_233350_440979/2.png": "1bc3c96698e1a5f907faea515dae4447bd842420acfe6edfb569f0b0c28f44e9", + "gaussian_data/session_20260921_233350_440979/mask_2.png": "867a819d45c54171957a71fe6840f5720d72f83a0c023f1bd33c295ef88d8ad3", + "gaussian_data/session_20260921_233350_440979/mask_human_2.png": "9240380d1c1a46b8058779239824f916f948a957945947c152b0e06ac8742d66", + "gaussian_data/session_20260921_233350_440979/2_depth.npy": "632ccc3ed173559a896c14b2f9d51ad969bdaf1fc464471ddc366db255293065", + "gaussian_data/session_20260921_233350_440979/3.png": "d83b8f72dc5e6559b451b9e3af637cf0de6ab13d4e330fab672ea6ecd7a32520", + "gaussian_data/session_20260921_233350_440979/mask_3.png": "27885fc987774c89022dab82e2b49beb3b1bce4045ae19b60144cbbf34bad357", + "gaussian_data/session_20260921_233350_440979/mask_human_3.png": "be41d457677b4fae45b36185f0e0e3eef7cef914d32bd761687e4b4f0a378709", + "gaussian_data/session_20260921_233350_440979/3_depth.npy": "127a8ccbe0cf0d231a5c94aa38d9c98818702450dd4f8a6150b1c7f67953b0ee", + "gaussian_data/session_20260921_233350_440979/camera_meta.pkl": "f9c9256acec117e1352c4a1af2ed20789ebcbb39088276a9f7d9424e0e5592d8", + "gaussian_data/session_20260921_233350_440979/interp_poses.pkl": "b90cc26123c822f0d06446ac699e110db22a86e265c56751819029a46f558b6f", + "gaussian_data/session_20260921_233350_440979/observation.ply": "35b702c3e5fa3185b77730d2f38d4d7aff5969ec64190d8e8c55032054d07a91", + "spline/filter.json": "4d2bee842164b0dd0b8eeab567edd28a02828ab7712e27301104bea7ad1a8cf5", + "spline/filter_removed.npz": "400f4ceb028d0cd46d8e09a54c43ca36d6aceb341fc998fbbde503631071d70f", + "spline/filtered_cloud.npz": "70d80c1643a2a4f4a6799f2dbfe29cc9a2f9a69530b0dd1aeb77dfed7500d3f1" + } + }, + "code": { + "commit": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e", + "u_pin": "81c718790a37e5e0102eb77af2c6edd34a9db25f" + }, + "wall_time_s": 33.40403342247009 + }, + "review": { + "status": "ok", + "settings": { + "historical_prior": null, + "historical_sha256": null, + "baseline_fit": null + }, + "outputs": { + "review_files": 52, + "files": { + "review/hybrid/combined.png": "58e6b83d226f325192804bea0908bd97e27169a7bcc73d2ba47c3496d14cc8f5", + "review/hybrid/mesh.png": "756f3432283679677c1604d4ea7e03450e202bdd4b080cd42a7db4635cedd75d", + "review/hybrid/observed.png": "2d3da767d7b0c3cef312e5348f9ee232989e16d8e1baf4cc9ca8c953d4751723", + "review/tube/tube_profiles.png": "ded7f5a3d54c13a2d8c0b7ed04ceaf59f01d6a4d1df71697f732ae20b2a9e93f", + "review/tube/silhouette_1_unmasked.png": "3a0fdee4dc09635191041d84c6ac84fa5c3e471215dd9280b9c92d12c0aec5d5", + "review/tube/silhouette_0_unmasked.png": "a2a3b0c3965f18fc8af80d1358237f225ed3505e8faf415c0bcd2a652d6f2762", + "review/tube/silhouette_0_with_masks.png": "ed143a920790191a4dfcd0d1ac3f759d1904420784acbfad71f3fe26df54e204", + "review/tube/silhouette_1_with_masks.png": "10a065efcfb6dfb1ebb4a66b0840a65578d4266db1ea1dfd3f856225ea8e70cd", + "review/tube/silhouette_2_unmasked.png": "f7fe9fec352c4a65dfda5b44695185dfed6daf80a2b5e5e754ca99189017d87e", + "review/tube/silhouette_3_with_masks.png": "2bf6915c0ecb5523bdf3ab20fa9260f1dd6bd1dc383876d779450a248c057118", + "review/tube/silhouette_2_with_masks.png": "58833ba6bb695aaf51481768592cf315da576580a2dd15678eb362e167d1c0ac", + "review/tube/check_table.json": "c787ea23ab86637a11f78e09dc42930b00d8f5351781b22f15418d9097a44c0e", + "review/tube/orbit.mp4": "a5585745a3993e3d45b1c751a64868bf04450609212d0c48aab50ec4c48668b5", + "review/tube/silhouette_3_unmasked.png": "fd4a0c6fa1a6fe94a68122ab49807bb219a5478ca3880299a016b9e1f7c314f5", + "review/tube/tube_scale_views.png": "7848ffbbe88db2068940277f3665ad5829fc8fbba1b64de358df4d4df0c73ee5", + "review/inputs/depth_offset_table.json": "860e3cfcf72860a1d3fb44c195f0289846db5b6090842caee5adf58d001fef74", + "review/inputs/depth_offset.png": "cc408105c3bd5c5ee4371679536779804746f3a1cfccaf9495e749fe0ab0f29a", + "review/inputs/view_3_23007103.png": "9f5cd6ab205fcbcb82f447435545f218a23b9432cac23f7dc40666e389a51943", + "review/inputs/view_0_12540311.png": "4127337a800e2c64ec630fd62c97ae7a8195cb1fc082c04ddaf703a5c7acb96e", + "review/inputs/view_1_12933256.png": "9205ca8411072088315531113c0cf06b107d4c5bfbe5907e0d2dc1de50565737", + "review/inputs/cloud_rgb.png": "08b7b8d86cf03def95fe6bf9429919cdb0b3505de64c086ce2cea57a35208edb", + "review/inputs/filter_removed.png": "8c9a33dbe3da0f7b352a972ad5f991ab262a943b0bb429803eedc15bffc8296a", + "review/inputs/cloud_by_view.png": "22c3f0ebbdd62ff2c48792e1a13c3447eb1b3c7783d54760fd6dd2bddc79baaa", + "review/inputs/view_2_17736741.png": "fbea7fed1a53e63e05bd6e4058c375c86e93ccdef2392d69a21a39a12dfdfbc0", + "review/rerun/headless_contact_sheet.png": "2bdd15970a8bcf4c45fe4e59bf70eec0beac07deaee3161d8e9447316a8d2b7a", + "review/spline/centerline_0_with_masks.png": "f387889ccdf9dd39479a74c1ef9648c4a3dace2e102b502e29ef0cd5f4e949a8", + "review/spline/centerline_3_unmasked.png": "3c1265b54399c95d810377a486ba31b598f9b793515962e548c78c5e316b07d8", + "review/spline/per_view_arc_coverage.png": "24af38448ef54fd482287a5e82615464e25c298a74348b5985e34fbc7cedabb5", + "review/spline/fit_projections.png": "da3af9669d01c7acd3f7d71fe41ed451948f9cb9cf0ce625f44dfccad8f3c6b6", + "review/spline/centerline_1_unmasked.png": "0b5133371129471a5660adc83f99c813a3548e17de58af6503a58bcb535f213e", + "review/spline/centerline_2_with_masks.png": "cd004c6f1601e41a8e8e1b3b1fe6685666114c12a67792ed4ddce7b8c978f0a0", + "review/spline/centerline_1_with_masks.png": "0d7b363db74ae9a247c270eea9d423a8f6f3019072d036b39fdb847d24fa9d12", + "review/spline/centerline_2_unmasked.png": "a8fd1f08875c864a511cbd641c53c22e7e653794de9534195932e928f9bbeb27", + "review/spline/round_curves.png": "895f80af67809776d3e644f2067b98b6b5fac111434468d48adf36268327bb1f", + "review/spline/curvature_profile.png": "a215e90b253b30d4ddea6627523f33f4971e962c1c9b3ac0893e9bc26ef2f4d6", + "review/spline/residual_histograms.png": "07172c84bc0ced409c1c250232a84fe8d578faf8bf35344fa62d8428f2fc6cb0", + "review/spline/centerline_3_with_masks.png": "65a7a7d5f370e3b909ee750c232925086c15c853a8a2d94bf104ec64e4dc7935", + "review/spline/fit_3d.png": "dfb0c030d0e4a097ba918654e8581b29d749adb32ac785c8e94c19154b67d1c0", + "review/spline/centerline_0_unmasked.png": "3004ebb6d2793b5ac8ceeb84f137bb32f9527b7b92a0b40e605ce3e638959b5b", + "review/colors/fill_swatch.txt": "1e5b8f278e1df387785824e89b41edcde37025aa5e9798c5ea01ca40c2464191", + "review/colors/view_2_visibility.png": "6b608bcfbc784a72a8ebd030bca4258a6688d689901e063dae679d91ca7ba1e3", + "review/colors/view_1_visibility.png": "9bb9d2d808e52f8d1971e4af3121ba9216dac03bb05f3f0e9e013b33483fccf8", + "review/colors/visibility_and_fill.png": "d9495815d7bb83d69760110594b2f6e7f384b297c00462639372b0129d300fa4", + "review/colors/view_0_visibility.png": "d2166bfa664728dd10653d17d46b6acc2ff98e4be7f222fae809742ad94c61c5", + "review/colors/fill_swatch.png": "76b2ab8ec88baf6349a63543289b41b098e230608eb51d66b8c4a9d4b2705e27", + "review/colors/view_3_visibility.png": "04a8e4fdb1f863e97cdab74845921db26aebbe5f711f39094fc8627cc5122bd7", + "rerun/appearance_spline_prior.rrd": "fd36a7393da0f27f33ec7e4d72445254e3872bf36fea9adba1dd805ac46a888d" + } + }, + "code": { + "commit": "98ebffe13629edeb0a9b29df973bebc5730d7026", + "u_pin": "81c718790a37e5e0102eb77af2c6edd34a9db25f" + }, + "wall_time_s": 10.672214984893799 + }, + "tube": { + "status": "ok", + "settings": { + "radius_m": 0.00475, + "step_t": 0.125, + "step_angle_deg": 30 + }, + "outputs": { + "checks": { + "euler_characteristic": 0, + "watertight": true, + "components": 1, + "winding_consistent": true, + "signed_volume_m3": 3.9564960270954776e-05, + "minimum_outward_normal_dot_m": 0.004553195774262832, + "degenerate_triangles": 0, + "self_intersecting": false, + "maximum_radius_error_m": 7.834360467653956e-09, + "maximum_diameter_error_m": 1.4621262632921739e-08, + "bishop_seam_error": 5.960464477539063e-08, + "minimum_nonadjacent_centerline_distance_m": 0.003962846286791258, + "triangle_area_m2": { + "min": 1.9235560876537427e-06, + "median": 5.111982282511243e-06, + "mean": 4.9931428139748e-06, + "max": 7.568709142656369e-06, + "density_max_over_min": 3.93474835032666 + }, + "bounds_m": [ + [ + -0.041020505130290985, + -0.1838671863079071, + -0.001413506455719471 + ], + [ + 0.1459730565547943, + -0.013492164202034473, + 0.022151600569486618 + ] + ], + "radius_m": 0.00475, + "step_t": 0.125, + "step_angle_deg": 30, + "overlap_rule": "surface_intersection", + "open3d_reported_intersecting_pairs": 0, + "confirmed_intersecting_pairs": [], + "passed": true, + "orientation_flipped": true + }, + "vertex_count": 1728, + "triangle_count": 3456, + "files": { + "tube/tube_checks.json": "c787ea23ab86637a11f78e09dc42930b00d8f5351781b22f15418d9097a44c0e", + "tube/triangle_areas.npz": "b25e86b3a1f817094a375993a07c30fc29ca722bdb68be563bbab359b188e14e", + "tube/geometry.npz": "f0732b976e72d5bdfc863199c7586129b1524aae98b4802a51d1b3c1c8ccaba9" + } + }, + "code": { + "commit": "98ebffe13629edeb0a9b29df973bebc5730d7026", + "u_pin": "81c718790a37e5e0102eb77af2c6edd34a9db25f" + }, + "wall_time_s": 3.2791852951049805 + } + }, + "files": { + "colors/color_summary.json": "40e50752c6385066a0a54be476ec89cea924704d6f681ad3f028eb31be970549", + "colors/vertex_colors.npz": "1a7d0ac0910ac34436fe019bb1f96edb608f18c639370de3ffa31877c8f1665d", + "comparison_colors.log": "63e487960fa832d9a7919cc774c71b1b41b8759208eec30f71bbba83f4411caa", + "comparison_colors_argv.json": "e574064bf74db63089df52e60c773d622ffb07d4cbab0d4dbd93df368d7b76b8", + "comparison_colors_result.json": "e11c1de3bf7e31310a78f31d65cfb6d2c3806e3e6d47f4da62bc5ef9ac20ca6e", + "comparison_fit.log": "ea78db3ed6af8617d8aed2ba95e7fcdc981a399369f92ee7d11b318e3cd1b390", + "comparison_fit_argv.json": "e8ef58cd2752211cfbe2297a0d64ebde2b31ed32842a0dac877a374ee96c6ee8", + "comparison_fit_result.json": "f20e22404e4ebb314c59920cedfef5f2acde233a55aeea497ddcd46e92c83ab2", + "comparison_hybrid.log": "1fcc8f1a2b9ffd01d4f619667d5d21a9d8ab75ebc04e01a70776f383572c5b9a", + "comparison_hybrid_argv.json": "41b7916f16cc2aac9ea5eb117b24a2f0f1fa10a7b0874b20c79a2cb95e8edd15", + "comparison_hybrid_result.json": "0c54ee33cb13971a6f2c4be4b3ecfdc05aed31bf3adacd2b23fdc611c3fb4047", + "comparison_manifest.log": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855", + "comparison_manifest_argv.json": "41308f1eea208d7f1af3673310bb47bbaa0a4d420784f5efbd215dd871d399f7", + "comparison_review.log": "88248d49de763083f7f17b9194783c68a4f25ead2b02f47e4e46413b02ff1225", + "comparison_review_argv.json": "ad48eef76957f9f257ae105f27ed0176bdc3d64a33edc3abc34d6ddf385ff30d", + "comparison_review_result.json": "604359d02ad8b7cd5a3ee536c6f81f46c1d2536683647b0b3057d10e804d36b6", + "comparison_tube.log": "73bc4d37ffac1eef3ee152ec382b72f8c7b21f30fb5c9b1f4676a88de3bedd61", + "comparison_tube_argv.json": "c946738daf7b1133b8962852526e1090f3824a440121441093f1c0a0ec8d971f", + "comparison_tube_result.json": "87a980ba077bb84d9191f1d90352b08ac3a9e557233e3e3c4ed79c0336df72fa", + "gaussian_data/session_20260921_233350_440979/0.png": "b71f78e0369364a4d980fd8fc5e8a94d9942b29b59741403ad0192d322387e27", + "gaussian_data/session_20260921_233350_440979/0_depth.npy": "df89c575de1d2f5e986fd6bc1fe68c78fc7523d69cc0ca04538f42312d8df49b", + "gaussian_data/session_20260921_233350_440979/1.png": "585dfb360495255fcd89e5b17013562377cc6f38aa137eaa7d29d495c5ff32d4", + "gaussian_data/session_20260921_233350_440979/1_depth.npy": "ce4c341223068584218d297831dc08ebf10ad96d1ce9b0af32e3c1a7164e2896", + "gaussian_data/session_20260921_233350_440979/2.png": "1bc3c96698e1a5f907faea515dae4447bd842420acfe6edfb569f0b0c28f44e9", + "gaussian_data/session_20260921_233350_440979/2_depth.npy": "632ccc3ed173559a896c14b2f9d51ad969bdaf1fc464471ddc366db255293065", + "gaussian_data/session_20260921_233350_440979/3.png": "d83b8f72dc5e6559b451b9e3af637cf0de6ab13d4e330fab672ea6ecd7a32520", + "gaussian_data/session_20260921_233350_440979/3_depth.npy": "127a8ccbe0cf0d231a5c94aa38d9c98818702450dd4f8a6150b1c7f67953b0ee", + "gaussian_data/session_20260921_233350_440979/camera_meta.pkl": "f9c9256acec117e1352c4a1af2ed20789ebcbb39088276a9f7d9424e0e5592d8", + "gaussian_data/session_20260921_233350_440979/interp_poses.pkl": "b90cc26123c822f0d06446ac699e110db22a86e265c56751819029a46f558b6f", + "gaussian_data/session_20260921_233350_440979/mask_0.png": "7551fc755c7e60d1ce7d3987161d96ed30743af6e4905c101b124ddd2f90c3c6", + "gaussian_data/session_20260921_233350_440979/mask_1.png": "80a458a3bc2c90823e2fecd48dd723ba6d14404053e5099683021f79f726039c", + "gaussian_data/session_20260921_233350_440979/mask_2.png": "867a819d45c54171957a71fe6840f5720d72f83a0c023f1bd33c295ef88d8ad3", + "gaussian_data/session_20260921_233350_440979/mask_3.png": "27885fc987774c89022dab82e2b49beb3b1bce4045ae19b60144cbbf34bad357", + "gaussian_data/session_20260921_233350_440979/mask_human_0.png": "a9dd588945a4445f8c00fe3528e69f5539d5a7db9f26df4216ab6b897646d277", + "gaussian_data/session_20260921_233350_440979/mask_human_1.png": "89bd50582ec33aaad55d50e8ee45b9c3a67a60641943c70bf74bcd2b374bb4c8", + "gaussian_data/session_20260921_233350_440979/mask_human_2.png": "9240380d1c1a46b8058779239824f916f948a957945947c152b0e06ac8742d66", + "gaussian_data/session_20260921_233350_440979/mask_human_3.png": "be41d457677b4fae45b36185f0e0e3eef7cef914d32bd761687e4b4f0a378709", + "gaussian_data/session_20260921_233350_440979/observation.ply": "35b702c3e5fa3185b77730d2f38d4d7aff5969ec64190d8e8c55032054d07a91", + "gaussian_data/session_20260921_233350_440979/shape_prior.glb": "49e2bb8fe884a6b67ba3bfa46b46d6f594f2ac151a4809b09c8db24b8b2ac3f9", + "hybrid/populations.npz": "f71dd7333311c9aaa2ff820471a3bb50996767ad10276d47a6922a2d4812b810", + "inputs/depth_offset_diagnostic.json": "860e3cfcf72860a1d3fb44c195f0289846db5b6090842caee5adf58d001fef74", + "inputs/observed_cloud.npz": "cbd81bca7bb74784f2ec5cd5564f58eb364c489fa97e415a21f18644d2b66458", + "inputs/reference_views.json": "1c1456b9a5eba30e61a6032c34f737ea3f3250160fbc7266c7fc46125bc8042c", + "rerun/appearance_spline_prior.rrd": "fd36a7393da0f27f33ec7e4d72445254e3872bf36fea9adba1dd805ac46a888d", + "reused_inputs.json": "5d6ac0b8e7af8191dfaa57ae031d8a27f937cf88bbef8569d92c73c0f897ed2a", + "review/colors/fill_swatch.png": "76b2ab8ec88baf6349a63543289b41b098e230608eb51d66b8c4a9d4b2705e27", + "review/colors/fill_swatch.txt": "1e5b8f278e1df387785824e89b41edcde37025aa5e9798c5ea01ca40c2464191", + "review/colors/view_0_visibility.png": "d2166bfa664728dd10653d17d46b6acc2ff98e4be7f222fae809742ad94c61c5", + "review/colors/view_1_visibility.png": "9bb9d2d808e52f8d1971e4af3121ba9216dac03bb05f3f0e9e013b33483fccf8", + "review/colors/view_2_visibility.png": "6b608bcfbc784a72a8ebd030bca4258a6688d689901e063dae679d91ca7ba1e3", + "review/colors/view_3_visibility.png": "04a8e4fdb1f863e97cdab74845921db26aebbe5f711f39094fc8627cc5122bd7", + "review/colors/visibility_and_fill.png": "d9495815d7bb83d69760110594b2f6e7f384b297c00462639372b0129d300fa4", + "review/hybrid/combined.png": "58e6b83d226f325192804bea0908bd97e27169a7bcc73d2ba47c3496d14cc8f5", + "review/hybrid/mesh.png": "756f3432283679677c1604d4ea7e03450e202bdd4b080cd42a7db4635cedd75d", + "review/hybrid/observed.png": "2d3da767d7b0c3cef312e5348f9ee232989e16d8e1baf4cc9ca8c953d4751723", + "review/inputs/cloud_by_view.png": "22c3f0ebbdd62ff2c48792e1a13c3447eb1b3c7783d54760fd6dd2bddc79baaa", + "review/inputs/cloud_rgb.png": "08b7b8d86cf03def95fe6bf9429919cdb0b3505de64c086ce2cea57a35208edb", + "review/inputs/depth_offset.png": "cc408105c3bd5c5ee4371679536779804746f3a1cfccaf9495e749fe0ab0f29a", + "review/inputs/depth_offset_table.json": "860e3cfcf72860a1d3fb44c195f0289846db5b6090842caee5adf58d001fef74", + "review/inputs/filter_removed.png": "8c9a33dbe3da0f7b352a972ad5f991ab262a943b0bb429803eedc15bffc8296a", + "review/inputs/view_0_12540311.png": "4127337a800e2c64ec630fd62c97ae7a8195cb1fc082c04ddaf703a5c7acb96e", + "review/inputs/view_1_12933256.png": "9205ca8411072088315531113c0cf06b107d4c5bfbe5907e0d2dc1de50565737", + "review/inputs/view_2_17736741.png": "fbea7fed1a53e63e05bd6e4058c375c86e93ccdef2392d69a21a39a12dfdfbc0", + "review/inputs/view_3_23007103.png": "9f5cd6ab205fcbcb82f447435545f218a23b9432cac23f7dc40666e389a51943", + "review/rerun/headless_contact_sheet.png": "2bdd15970a8bcf4c45fe4e59bf70eec0beac07deaee3161d8e9447316a8d2b7a", + "review/spline/centerline_0_unmasked.png": "3004ebb6d2793b5ac8ceeb84f137bb32f9527b7b92a0b40e605ce3e638959b5b", + "review/spline/centerline_0_with_masks.png": "f387889ccdf9dd39479a74c1ef9648c4a3dace2e102b502e29ef0cd5f4e949a8", + "review/spline/centerline_1_unmasked.png": "0b5133371129471a5660adc83f99c813a3548e17de58af6503a58bcb535f213e", + "review/spline/centerline_1_with_masks.png": "0d7b363db74ae9a247c270eea9d423a8f6f3019072d036b39fdb847d24fa9d12", + "review/spline/centerline_2_unmasked.png": "a8fd1f08875c864a511cbd641c53c22e7e653794de9534195932e928f9bbeb27", + "review/spline/centerline_2_with_masks.png": "cd004c6f1601e41a8e8e1b3b1fe6685666114c12a67792ed4ddce7b8c978f0a0", + "review/spline/centerline_3_unmasked.png": "3c1265b54399c95d810377a486ba31b598f9b793515962e548c78c5e316b07d8", + "review/spline/centerline_3_with_masks.png": "65a7a7d5f370e3b909ee750c232925086c15c853a8a2d94bf104ec64e4dc7935", + "review/spline/curvature_profile.png": "a215e90b253b30d4ddea6627523f33f4971e962c1c9b3ac0893e9bc26ef2f4d6", + "review/spline/fit_3d.png": "dfb0c030d0e4a097ba918654e8581b29d749adb32ac785c8e94c19154b67d1c0", + "review/spline/fit_projections.png": "da3af9669d01c7acd3f7d71fe41ed451948f9cb9cf0ce625f44dfccad8f3c6b6", + "review/spline/per_view_arc_coverage.png": "24af38448ef54fd482287a5e82615464e25c298a74348b5985e34fbc7cedabb5", + "review/spline/residual_histograms.png": "07172c84bc0ced409c1c250232a84fe8d578faf8bf35344fa62d8428f2fc6cb0", + "review/spline/round_curves.png": "895f80af67809776d3e644f2067b98b6b5fac111434468d48adf36268327bb1f", + "review/tube/check_table.json": "c787ea23ab86637a11f78e09dc42930b00d8f5351781b22f15418d9097a44c0e", + "review/tube/orbit.mp4": "a5585745a3993e3d45b1c751a64868bf04450609212d0c48aab50ec4c48668b5", + "review/tube/silhouette_0_unmasked.png": "a2a3b0c3965f18fc8af80d1358237f225ed3505e8faf415c0bcd2a652d6f2762", + "review/tube/silhouette_0_with_masks.png": "ed143a920790191a4dfcd0d1ac3f759d1904420784acbfad71f3fe26df54e204", + "review/tube/silhouette_1_unmasked.png": "3a0fdee4dc09635191041d84c6ac84fa5c3e471215dd9280b9c92d12c0aec5d5", + "review/tube/silhouette_1_with_masks.png": "10a065efcfb6dfb1ebb4a66b0840a65578d4266db1ea1dfd3f856225ea8e70cd", + "review/tube/silhouette_2_unmasked.png": "f7fe9fec352c4a65dfda5b44695185dfed6daf80a2b5e5e754ca99189017d87e", + "review/tube/silhouette_2_with_masks.png": "58833ba6bb695aaf51481768592cf315da576580a2dd15678eb362e167d1c0ac", + "review/tube/silhouette_3_unmasked.png": "fd4a0c6fa1a6fe94a68122ab49807bb219a5478ca3880299a016b9e1f7c314f5", + "review/tube/silhouette_3_with_masks.png": "2bf6915c0ecb5523bdf3ab20fa9260f1dd6bd1dc383876d779450a248c057118", + "review/tube/tube_profiles.png": "ded7f5a3d54c13a2d8c0b7ed04ceaf59f01d6a4d1df71697f732ae20b2a9e93f", + "review/tube/tube_scale_views.png": "7848ffbbe88db2068940277f3665ad5829fc8fbba1b64de358df4d4df0c73ee5", + "spline/determinism.json": "773d1a02e2924f0d7df2d5d0011979c4e408678ebfdb9633a8348b9788132683", + "spline/filter.json": "4d2bee842164b0dd0b8eeab567edd28a02828ab7712e27301104bea7ad1a8cf5", + "spline/filter_removed.npz": "400f4ceb028d0cd46d8e09a54c43ca36d6aceb341fc998fbbde503631071d70f", + "spline/filtered_cloud.npz": "70d80c1643a2a4f4a6799f2dbfe29cc9a2f9a69530b0dd1aeb77dfed7500d3f1", + "spline/init_ellipse.json": "27d464a292a3d50a9fa0417ec117ee2b28f13a5f58f401f33f6de218ef265d6f", + "spline/reprojection.json": "d8be1d2469019dc6e7d8174852478b092f615a0863eafb480090bb2ec53c9a01", + "spline/reprojection_comparison.json": "e66e82e792ce06566e4454e6629d2adc55fb70fd25ab34cbe16c0efb7032621e", + "spline/reprojection_residuals.npz": "366a73c7a2ef236ebbfc2e479b0f0ad7a676661329d317df52fa1a119140cbda", + "spline/residuals.npz": "1f666eca12c5d952c6d8e9fb65712af201a0a2371739aee40c660828f7740d28", + "spline/rounds.jsonl": "3f1c85c81982367b46c0693f9163b31798f4dd504699b35972941e2263860753", + "spline/spline_fit.json": "5fade669f69b24a511643c60d04fec2c7a59c58c984d7ff408b62c2a0c32dd11", + "spline/spline_init.json": "a31ae13e76d533b82cddcf408c5f865e7af0b32bd0b3bf028b0f9de3ec462aee", + "spline/witness.json": "a95069a8f0af4cd0832d682da5e861529438273bb67376ccb3058fc06d6987dd", + "steps/colors.json": "781260a68cb443dd4a91eee7fe25e014e7e3f2b9a1d04d0be807dea3ad5c4a80", + "steps/diagnose-depth.json": "ab6c5ecac674bbaccdbbe54048d5a4f4ef1c354ac15b070447327d45a60fdd8f", + "steps/fit.json": "b065a480b1c996c8927a08a4b02ae0e4ba8e7c3941ebcb8ad6ecc31a4bad56e7", + "steps/hybrid.json": "6270391ecccf8e0e88580c5c8c2141728e1a8e9ad7fe820908fc5a9a62003ac2", + "steps/inputs.json": "66666452fd054759cc45f891fa974dd0e38abea99a782ffa053dd12b82bbe76b", + "steps/review.json": "1901f55fcfbe2b66ad8661f4f07fbc6290411d9345ff7636b56ddcb224346faa", + "steps/tube.json": "9872dd3202c92003a905c8a7ef6c8bce675c78f25750980223a0ec26c7c3f8e6", + "tube/geometry.npz": "f0732b976e72d5bdfc863199c7586129b1524aae98b4802a51d1b3c1c8ccaba9", + "tube/shape_prior.glb": "49e2bb8fe884a6b67ba3bfa46b46d6f594f2ac151a4809b09c8db24b8b2ac3f9", + "tube/triangle_areas.npz": "b25e86b3a1f817094a375993a07c30fc29ca722bdb68be563bbab359b188e14e", + "tube/tube.ply": "c1477520f43c55185f61b23359d1dadec01e46d93ab8f032fcc6ac2499ac9529", + "tube/tube_checks.json": "c787ea23ab86637a11f78e09dc42930b00d8f5351781b22f15418d9097a44c0e" + } +} \ No newline at end of file diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/rerun/appearance_spline_prior.rrd b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/rerun/appearance_spline_prior.rrd new file mode 100644 index 0000000000000000000000000000000000000000..1afa061d1fe12f97e7b968a30223e90494d9d320 --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/rerun/appearance_spline_prior.rrd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fd36a7393da0f27f33ec7e4d72445254e3872bf36fea9adba1dd805ac46a888d +size 25884187 diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/reused_inputs.json b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/reused_inputs.json new file mode 100644 index 0000000000000000000000000000000000000000..8a97cbe716142bcfbe52bc3622f6872d02b46cc3 --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/reused_inputs.json @@ -0,0 +1,33 @@ +{ + "source_run": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1", + "files": [ + "inputs/reference_views.json", + "inputs/observed_cloud.npz", + "inputs/depth_offset_diagnostic.json", + "spline/filter.json", + "spline/filter_removed.npz", + "spline/filtered_cloud.npz", + "steps/inputs.json", + "steps/diagnose-depth.json", + "gaussian_data/session_20260921_233350_440979/0.png", + "gaussian_data/session_20260921_233350_440979/0_depth.npy", + "gaussian_data/session_20260921_233350_440979/1.png", + "gaussian_data/session_20260921_233350_440979/1_depth.npy", + "gaussian_data/session_20260921_233350_440979/2.png", + "gaussian_data/session_20260921_233350_440979/2_depth.npy", + "gaussian_data/session_20260921_233350_440979/3.png", + "gaussian_data/session_20260921_233350_440979/3_depth.npy", + "gaussian_data/session_20260921_233350_440979/camera_meta.pkl", + "gaussian_data/session_20260921_233350_440979/interp_poses.pkl", + "gaussian_data/session_20260921_233350_440979/mask_0.png", + "gaussian_data/session_20260921_233350_440979/mask_1.png", + "gaussian_data/session_20260921_233350_440979/mask_2.png", + "gaussian_data/session_20260921_233350_440979/mask_3.png", + "gaussian_data/session_20260921_233350_440979/mask_human_0.png", + "gaussian_data/session_20260921_233350_440979/mask_human_1.png", + "gaussian_data/session_20260921_233350_440979/mask_human_2.png", + "gaussian_data/session_20260921_233350_440979/mask_human_3.png", + "gaussian_data/session_20260921_233350_440979/observation.ply" + ], + "action": "Exact observation/filter/step copies; new fit and all derived products are generated separately." +} diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/colors/fill_swatch.png b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/colors/fill_swatch.png new file mode 100644 index 0000000000000000000000000000000000000000..1f4184e5b9ca953d2489fc7dd72a09580cb192e3 --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/colors/fill_swatch.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:76b2ab8ec88baf6349a63543289b41b098e230608eb51d66b8c4a9d4b2705e27 +size 392 diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/colors/fill_swatch.txt b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/colors/fill_swatch.txt new file mode 100644 index 0000000000000000000000000000000000000000..8d5daed78ea700ca6125943becee69f1c2e7cc10 --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/colors/fill_swatch.txt @@ -0,0 +1,2 @@ +Per-channel median of 1037 observed vertex colours (RGB/255): [0.19215686274509805, 0.14901960784313725, 0.1404657230738269] +Filled 691 vertices. diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/colors/view_0_visibility.png b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/colors/view_0_visibility.png new file mode 100644 index 0000000000000000000000000000000000000000..7677cdfddfa25a4ab39c05f5ab954b95dea06a9f --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/colors/view_0_visibility.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d2166bfa664728dd10653d17d46b6acc2ff98e4be7f222fae809742ad94c61c5 +size 138879 diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/colors/view_1_visibility.png b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/colors/view_1_visibility.png new file mode 100644 index 0000000000000000000000000000000000000000..c966020a4e803514a591ad334e06224e13d63fbc --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/colors/view_1_visibility.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9bb9d2d808e52f8d1971e4af3121ba9216dac03bb05f3f0e9e013b33483fccf8 +size 122441 diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/colors/view_2_visibility.png b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/colors/view_2_visibility.png new file mode 100644 index 0000000000000000000000000000000000000000..891d606127b14825cc612258ec330c96f7f9536f --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/colors/view_2_visibility.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6b608bcfbc784a72a8ebd030bca4258a6688d689901e063dae679d91ca7ba1e3 +size 141000 diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/colors/view_3_visibility.png b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/colors/view_3_visibility.png new file mode 100644 index 0000000000000000000000000000000000000000..76141cd9f9a28a90b5881a7168cb4fe858329c38 --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/colors/view_3_visibility.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:04a8e4fdb1f863e97cdab74845921db26aebbe5f711f39094fc8627cc5122bd7 +size 135612 diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/colors/visibility_and_fill.png b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/colors/visibility_and_fill.png new file mode 100644 index 0000000000000000000000000000000000000000..501be4b8adb2b316ed073667750e12cb45305777 --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/colors/visibility_and_fill.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d9495815d7bb83d69760110594b2f6e7f384b297c00462639372b0129d300fa4 +size 168674 diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/hybrid/combined.png b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/hybrid/combined.png new file mode 100644 index 0000000000000000000000000000000000000000..050aa2d9654464dcad3b1b71445e14567740c8e9 --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/hybrid/combined.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:58e6b83d226f325192804bea0908bd97e27169a7bcc73d2ba47c3496d14cc8f5 +size 151332 diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/hybrid/mesh.png b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/hybrid/mesh.png new file mode 100644 index 0000000000000000000000000000000000000000..7b21eed169fc0497f406c4c6fe4de30b6cdc9b49 --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/hybrid/mesh.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:756f3432283679677c1604d4ea7e03450e202bdd4b080cd42a7db4635cedd75d +size 227938 diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/hybrid/observed.png b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/hybrid/observed.png new file mode 100644 index 0000000000000000000000000000000000000000..18556d4c8001d0a4dab3c01d544a3a8a223c956f --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/hybrid/observed.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2d3da767d7b0c3cef312e5348f9ee232989e16d8e1baf4cc9ca8c953d4751723 +size 352068 diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/inputs/cloud_by_view.png b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/inputs/cloud_by_view.png new file mode 100644 index 0000000000000000000000000000000000000000..841b84a5b6e7cfe018f363eae4f2c085691a2a32 --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/inputs/cloud_by_view.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:22c3f0ebbdd62ff2c48792e1a13c3447eb1b3c7783d54760fd6dd2bddc79baaa +size 270859 diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/inputs/cloud_rgb.png b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/inputs/cloud_rgb.png new file mode 100644 index 0000000000000000000000000000000000000000..b8ef2c314ce2134f36a6bcad22ea89be773e0163 --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/inputs/cloud_rgb.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:08b7b8d86cf03def95fe6bf9429919cdb0b3505de64c086ce2cea57a35208edb +size 355382 diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/inputs/depth_offset.png b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/inputs/depth_offset.png new file mode 100644 index 0000000000000000000000000000000000000000..53a1de2dcf4255d1787bd2a52651b645ed984431 --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/inputs/depth_offset.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cc408105c3bd5c5ee4371679536779804746f3a1cfccaf9495e749fe0ab0f29a +size 24481 diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/inputs/filter_removed.png b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/inputs/filter_removed.png new file mode 100644 index 0000000000000000000000000000000000000000..d4b0f49e3ec863d56520d11d5646441750ca9f7c --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/inputs/filter_removed.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8c9a33dbe3da0f7b352a972ad5f991ab262a943b0bb429803eedc15bffc8296a +size 211472 diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/inputs/view_0_12540311.png b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/inputs/view_0_12540311.png new file mode 100644 index 0000000000000000000000000000000000000000..bae2ccf7da955dea5c4305e2f96c0e965b9b1b35 --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/inputs/view_0_12540311.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4127337a800e2c64ec630fd62c97ae7a8195cb1fc082c04ddaf703a5c7acb96e +size 742364 diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/inputs/view_1_12933256.png b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/inputs/view_1_12933256.png new file mode 100644 index 0000000000000000000000000000000000000000..5c52ec144de89629cb91ca998e4a16e1855d9f0a --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/inputs/view_1_12933256.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9205ca8411072088315531113c0cf06b107d4c5bfbe5907e0d2dc1de50565737 +size 532961 diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/inputs/view_2_17736741.png b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/inputs/view_2_17736741.png new file mode 100644 index 0000000000000000000000000000000000000000..2753590b49f7ed0bd231f97506d600b2cc2306b8 --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/inputs/view_2_17736741.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fbea7fed1a53e63e05bd6e4058c375c86e93ccdef2392d69a21a39a12dfdfbc0 +size 809500 diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/inputs/view_3_23007103.png b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/inputs/view_3_23007103.png new file mode 100644 index 0000000000000000000000000000000000000000..f8f196002e14c6c9c89e9b56f0546a18c0a23a8f --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/inputs/view_3_23007103.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9f5cd6ab205fcbcb82f447435545f218a23b9432cac23f7dc40666e389a51943 +size 546136 diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/rerun/headless_contact_sheet.png b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/rerun/headless_contact_sheet.png new file mode 100644 index 0000000000000000000000000000000000000000..ca218d87adcf9835e83fd3745cb687ead6e9675c --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/rerun/headless_contact_sheet.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2bdd15970a8bcf4c45fe4e59bf70eec0beac07deaee3161d8e9447316a8d2b7a +size 1158420 diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/spline/centerline_0_unmasked.png b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/spline/centerline_0_unmasked.png new file mode 100644 index 0000000000000000000000000000000000000000..47a0aef1e4064fbbba2e753de31f1b607e91ee61 --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/spline/centerline_0_unmasked.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3004ebb6d2793b5ac8ceeb84f137bb32f9527b7b92a0b40e605ce3e638959b5b +size 199842 diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/spline/centerline_0_with_masks.png b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/spline/centerline_0_with_masks.png new file mode 100644 index 0000000000000000000000000000000000000000..fb99602ff772819c5cf664437d336d78c5a28205 --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/spline/centerline_0_with_masks.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f387889ccdf9dd39479a74c1ef9648c4a3dace2e102b502e29ef0cd5f4e949a8 +size 194408 diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/spline/centerline_1_unmasked.png b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/spline/centerline_1_unmasked.png new file mode 100644 index 0000000000000000000000000000000000000000..221dac690dd99d79bfc3c40fdbbb42ccf5bf941a --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/spline/centerline_1_unmasked.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0b5133371129471a5660adc83f99c813a3548e17de58af6503a58bcb535f213e +size 145867 diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/spline/centerline_1_with_masks.png b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/spline/centerline_1_with_masks.png new file mode 100644 index 0000000000000000000000000000000000000000..42d0ee6a7e3757b510f4711e6550d9dbe7772129 --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/spline/centerline_1_with_masks.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0d7b363db74ae9a247c270eea9d423a8f6f3019072d036b39fdb847d24fa9d12 +size 140961 diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/spline/centerline_2_unmasked.png b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/spline/centerline_2_unmasked.png new file mode 100644 index 0000000000000000000000000000000000000000..5f8a04bfe1601a80238bee0121d76adabcaf7176 --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/spline/centerline_2_unmasked.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a8fd1f08875c864a511cbd641c53c22e7e653794de9534195932e928f9bbeb27 +size 215751 diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/spline/centerline_2_with_masks.png b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/spline/centerline_2_with_masks.png new file mode 100644 index 0000000000000000000000000000000000000000..373cd2d8488b5a0fef41a26420f8896781985dc1 --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/spline/centerline_2_with_masks.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cd004c6f1601e41a8e8e1b3b1fe6685666114c12a67792ed4ddce7b8c978f0a0 +size 211365 diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/spline/centerline_3_unmasked.png b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/spline/centerline_3_unmasked.png new file mode 100644 index 0000000000000000000000000000000000000000..cb820c83891698c56c42476c890a85705466fcb9 --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/spline/centerline_3_unmasked.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3c1265b54399c95d810377a486ba31b598f9b793515962e548c78c5e316b07d8 +size 142743 diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/spline/centerline_3_with_masks.png b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/spline/centerline_3_with_masks.png new file mode 100644 index 0000000000000000000000000000000000000000..5690fa0f972af54e3c0f4440a5dfb24b66bafd68 --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/spline/centerline_3_with_masks.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:65a7a7d5f370e3b909ee750c232925086c15c853a8a2d94bf104ec64e4dc7935 +size 140592 diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/spline/curvature_profile.png b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/spline/curvature_profile.png new file mode 100644 index 0000000000000000000000000000000000000000..f59f10f3837ebfc235404d37c77080a6930497e7 --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/spline/curvature_profile.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a215e90b253b30d4ddea6627523f33f4971e962c1c9b3ac0893e9bc26ef2f4d6 +size 82430 diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/spline/fit_3d.png b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/spline/fit_3d.png new file mode 100644 index 0000000000000000000000000000000000000000..79dd3069b3212a54643ced1386186d3223f1caf7 --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/spline/fit_3d.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dfb0c030d0e4a097ba918654e8581b29d749adb32ac785c8e94c19154b67d1c0 +size 433851 diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/spline/fit_projections.png b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/spline/fit_projections.png new file mode 100644 index 0000000000000000000000000000000000000000..8d87a2769f21dbcab8e46c2906d4c203322fb6bc --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/spline/fit_projections.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:da3af9669d01c7acd3f7d71fe41ed451948f9cb9cf0ce625f44dfccad8f3c6b6 +size 187964 diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/spline/per_view_arc_coverage.png b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/spline/per_view_arc_coverage.png new file mode 100644 index 0000000000000000000000000000000000000000..733ed577f44742f9ebe1517dbc214401466c8b41 --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/spline/per_view_arc_coverage.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:24af38448ef54fd482287a5e82615464e25c298a74348b5985e34fbc7cedabb5 +size 40552 diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/spline/residual_histograms.png b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/spline/residual_histograms.png new file mode 100644 index 0000000000000000000000000000000000000000..c6f75c92720a1b2c3181bc1dd820f60e71ed4e7a --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/spline/residual_histograms.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:07172c84bc0ced409c1c250232a84fe8d578faf8bf35344fa62d8428f2fc6cb0 +size 55138 diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/spline/round_curves.png b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/spline/round_curves.png new file mode 100644 index 0000000000000000000000000000000000000000..5bdec208afebe37932a96f2c2b2ba586bb216a16 --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/spline/round_curves.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:895f80af67809776d3e644f2067b98b6b5fac111434468d48adf36268327bb1f +size 58818 diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/tube/check_table.json b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/tube/check_table.json new file mode 100644 index 0000000000000000000000000000000000000000..4d1ef10f6944dc2f1f2da653ebf628e4f6799d66 --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/tube/check_table.json @@ -0,0 +1,41 @@ +{ + "euler_characteristic": 0, + "watertight": true, + "components": 1, + "winding_consistent": true, + "signed_volume_m3": 3.9564960270954776e-05, + "minimum_outward_normal_dot_m": 0.004553195774262832, + "degenerate_triangles": 0, + "self_intersecting": false, + "maximum_radius_error_m": 7.834360467653956e-09, + "maximum_diameter_error_m": 1.4621262632921739e-08, + "bishop_seam_error": 5.960464477539063e-08, + "minimum_nonadjacent_centerline_distance_m": 0.003962846286791258, + "triangle_area_m2": { + "min": 1.9235560876537427e-06, + "median": 5.111982282511243e-06, + "mean": 4.9931428139748e-06, + "max": 7.568709142656369e-06, + "density_max_over_min": 3.93474835032666 + }, + "bounds_m": [ + [ + -0.041020505130290985, + -0.1838671863079071, + -0.001413506455719471 + ], + [ + 0.1459730565547943, + -0.013492164202034473, + 0.022151600569486618 + ] + ], + "radius_m": 0.00475, + "step_t": 0.125, + "step_angle_deg": 30, + "overlap_rule": "surface_intersection", + "open3d_reported_intersecting_pairs": 0, + "confirmed_intersecting_pairs": [], + "passed": true, + "orientation_flipped": true +} \ No newline at end of file diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/tube/orbit.mp4 b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/tube/orbit.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..0973ecb8386c9b7c45beee846bcfe115e72bdce3 --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/tube/orbit.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a5585745a3993e3d45b1c751a64868bf04450609212d0c48aab50ec4c48668b5 +size 1146710 diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/tube/silhouette_0_unmasked.png b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/tube/silhouette_0_unmasked.png new file mode 100644 index 0000000000000000000000000000000000000000..11ecf4fc1fc4116711792642630a9cd1a300f1b4 --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/tube/silhouette_0_unmasked.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a2a3b0c3965f18fc8af80d1358237f225ed3505e8faf415c0bcd2a652d6f2762 +size 198940 diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/tube/silhouette_0_with_masks.png b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/tube/silhouette_0_with_masks.png new file mode 100644 index 0000000000000000000000000000000000000000..0242a7fe5cca332f6d506acdf2bc3edfcc7bf573 --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/tube/silhouette_0_with_masks.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ed143a920790191a4dfcd0d1ac3f759d1904420784acbfad71f3fe26df54e204 +size 202977 diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/tube/silhouette_1_unmasked.png b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/tube/silhouette_1_unmasked.png new file mode 100644 index 0000000000000000000000000000000000000000..ecb85896d96969d1424625a432d32e929255e953 --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/tube/silhouette_1_unmasked.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3a0fdee4dc09635191041d84c6ac84fa5c3e471215dd9280b9c92d12c0aec5d5 +size 153625 diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/tube/silhouette_1_with_masks.png b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/tube/silhouette_1_with_masks.png new file mode 100644 index 0000000000000000000000000000000000000000..e47e90e7e6cb8a9a95346942c47738dfa4893161 --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/tube/silhouette_1_with_masks.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:10a065efcfb6dfb1ebb4a66b0840a65578d4266db1ea1dfd3f856225ea8e70cd +size 157325 diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/tube/silhouette_2_unmasked.png b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/tube/silhouette_2_unmasked.png new file mode 100644 index 0000000000000000000000000000000000000000..63027a4a189a39decc96cd5bbcebb7d38328f2bf --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/tube/silhouette_2_unmasked.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f7fe9fec352c4a65dfda5b44695185dfed6daf80a2b5e5e754ca99189017d87e +size 206607 diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/tube/silhouette_2_with_masks.png b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/tube/silhouette_2_with_masks.png new file mode 100644 index 0000000000000000000000000000000000000000..7bcc49a5633579279ec2b772ce6a9b15752c5397 --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/tube/silhouette_2_with_masks.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:58833ba6bb695aaf51481768592cf315da576580a2dd15678eb362e167d1c0ac +size 213035 diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/tube/silhouette_3_unmasked.png b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/tube/silhouette_3_unmasked.png new file mode 100644 index 0000000000000000000000000000000000000000..e8f79ed1cf07b7d4e322b6e423857c5dab2d4e78 --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/tube/silhouette_3_unmasked.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fd4a0c6fa1a6fe94a68122ab49807bb219a5478ca3880299a016b9e1f7c314f5 +size 149523 diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/tube/silhouette_3_with_masks.png b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/tube/silhouette_3_with_masks.png new file mode 100644 index 0000000000000000000000000000000000000000..d808afc34aee2dd9173821cfddad2014402a4d70 --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/tube/silhouette_3_with_masks.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2bf6915c0ecb5523bdf3ab20fa9260f1dd6bd1dc383876d779450a248c057118 +size 154918 diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/tube/tube_profiles.png b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/tube/tube_profiles.png new file mode 100644 index 0000000000000000000000000000000000000000..5ec027a32e7780ba084b7c3b0b05254a68247465 --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/tube/tube_profiles.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ded7f5a3d54c13a2d8c0b7ed04ceaf59f01d6a4d1df71697f732ae20b2a9e93f +size 480060 diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/tube/tube_scale_views.png b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/tube/tube_scale_views.png new file mode 100644 index 0000000000000000000000000000000000000000..4701b028fbbb07f6ae4cff9838ff23f688fd56dd --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/review/tube/tube_scale_views.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7848ffbbe88db2068940277f3665ad5829fc8fbba1b64de358df4d4df0c73ee5 +size 280503 diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/spline/filter.json b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/spline/filter.json new file mode 100644 index 0000000000000000000000000000000000000000..ac632a27d01bd88baaa48ffcbd9d65849fd16573 --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/spline/filter.json @@ -0,0 +1,42 @@ +{ + "method": "Open3D.remove_statistical_outlier", + "nb_neighbors": 20, + "std_ratio": 2.0, + "input_count": 23373, + "kept_count": 22415, + "removed_count": 958, + "per_view": [ + { + "view": 0, + "input": 7620, + "kept": 7290, + "removed": 330, + "live_20_0.05_kept": 5404, + "no_filter_kept": 7620 + }, + { + "view": 1, + "input": 4253, + "kept": 4154, + "removed": 99, + "live_20_0.05_kept": 2921, + "no_filter_kept": 4253 + }, + { + "view": 2, + "input": 7178, + "kept": 6985, + "removed": 193, + "live_20_0.05_kept": 4904, + "no_filter_kept": 7178 + }, + { + "view": 3, + "input": 4322, + "kept": 3986, + "removed": 336, + "live_20_0.05_kept": 1070, + "no_filter_kept": 4322 + } + ] +} \ No newline at end of file diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/spline/filter_removed.npz b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/spline/filter_removed.npz new file mode 100644 index 0000000000000000000000000000000000000000..e831e03caf7ec3e8589dfb939f629d9900bcd131 --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/spline/filter_removed.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:400f4ceb028d0cd46d8e09a54c43ca36d6aceb341fc998fbbde503631071d70f +size 77894 diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/spline/filtered_cloud.npz b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/spline/filtered_cloud.npz new file mode 100644 index 0000000000000000000000000000000000000000..9c7a5643719652508d9ebfe1ba622dfcbce7728b --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/spline/filtered_cloud.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:70d80c1643a2a4f4a6799f2dbfe29cc9a2f9a69530b0dd1aeb77dfed7500d3f1 +size 1614878 diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/spline/init_ellipse.json b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/spline/init_ellipse.json new file mode 100644 index 0000000000000000000000000000000000000000..aa7e2e3f3e1ec758c5335136d3a522ebcacab090 --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/spline/init_ellipse.json @@ -0,0 +1,27 @@ +{ + "center_m": [ + 0.03905637090308431, + -0.10453990568160504, + 0.008481952056124682 + ], + "semi_axes_m": [ + 0.07193405416538948, + 0.05341546467210734 + ], + "directions": [ + [ + 0.9294010019090004, + -0.3689364429773961 + ], + [ + -0.36884138167814434, + -0.9294367228828827 + ], + [ + -0.013031224512828945, + -0.0057688126953640275 + ] + ], + "points_used": 22415, + "ellipse_fit_points": 1000 +} \ No newline at end of file diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/spline/reprojection.json b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/spline/reprojection.json new file mode 100644 index 0000000000000000000000000000000000000000..fd53335ad6146f116b9c1d1c5d63d118cb739c3a --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/spline/reprojection.json @@ -0,0 +1,63 @@ +{ + "samples": 360, + "direction": "visible mask pixels to projected centerline", + "per_view": [ + { + "view": 0, + "serial": "12540311", + "mask_pixels": 10370, + "median_depth_m": 1.111, + "mean_m": 0.0038473531762712215, + "median_m": 0.0035449809578781484, + "p90_m": 0.007366872219650637, + "mean_px": 5.214100944441841, + "median_px": 4.804318400829956, + "p90_px": 9.983920979490525, + "visible_centerline_samples": 270, + "outside_mask_fraction": 0.003703703703703704 + }, + { + "view": 1, + "serial": "12933256", + "mask_pixels": 5954, + "median_depth_m": 1.116, + "mean_m": 0.003809105641018978, + "median_m": 0.0035542235481272316, + "p90_m": 0.007220692683791044, + "mean_px": 5.068261641143988, + "median_px": 4.729124427981107, + "p90_px": 9.60759449694237, + "visible_centerline_samples": 195, + "outside_mask_fraction": 0.03076923076923077 + }, + { + "view": 2, + "serial": "17736741", + "mask_pixels": 10117, + "median_depth_m": 1.125, + "mean_m": 0.0035274836693677566, + "median_m": 0.0033803506362994266, + "p90_m": 0.006385170668205716, + "mean_px": 4.731701546069727, + "median_px": 4.534354249423707, + "p90_px": 8.56493088984051, + "visible_centerline_samples": 283, + "outside_mask_fraction": 0.02120141342756184 + }, + { + "view": 3, + "serial": "23007103", + "mask_pixels": 6403, + "median_depth_m": 0.9430000000000001, + "mean_m": 0.004014823863431257, + "median_m": 0.003765249158065951, + "p90_m": 0.00765105291272932, + "mean_px": 4.4879694643794625, + "median_px": 4.2089968586667865, + "p90_px": 8.552737844066861, + "visible_centerline_samples": 265, + "outside_mask_fraction": 0.011320754716981131 + } + ], + "mean_of_view_means_m": 0.0037996915875223034 +} \ No newline at end of file diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/spline/reprojection_comparison.json b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/spline/reprojection_comparison.json new file mode 100644 index 0000000000000000000000000000000000000000..c60bbf01b42886402e1a51a77a87ac111b785517 --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/spline/reprojection_comparison.json @@ -0,0 +1,144 @@ +{ + "baseline_fit": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1/spline/spline_fit.json", + "baseline_fit_sha256": "69f21731d4ca6e9fd869caf908c5a1b0730a642907af31ed2a95d7604dc0a074", + "baseline_2d": { + "samples": 360, + "direction": "visible mask pixels to projected centerline", + "per_view": [ + { + "view": 0, + "serial": "12540311", + "mask_pixels": 10370, + "median_depth_m": 1.111, + "mean_m": 0.003844704921815472, + "median_m": 0.0035417342106970557, + "p90_m": 0.007379674288908009, + "mean_px": 5.210511910230167, + "median_px": 4.799909304029113, + "p90_px": 10.00124116239806, + "visible_centerline_samples": 269, + "outside_mask_fraction": 0.0 + }, + { + "view": 1, + "serial": "12933256", + "mask_pixels": 5954, + "median_depth_m": 1.116, + "mean_m": 0.0038101257089329416, + "median_m": 0.0035444493214184265, + "p90_m": 0.007228442556042374, + "mean_px": 5.069618944349611, + "median_px": 4.716129126745396, + "p90_px": 9.617918404964243, + "visible_centerline_samples": 193, + "outside_mask_fraction": 0.015544041450777202 + }, + { + "view": 2, + "serial": "17736741", + "mask_pixels": 10117, + "median_depth_m": 1.125, + "mean_m": 0.003525536514360341, + "median_m": 0.0033802527699573846, + "p90_m": 0.006383246967434594, + "mean_px": 4.729089623177235, + "median_px": 4.534240472124178, + "p90_px": 8.56236200857139, + "visible_centerline_samples": 283, + "outside_mask_fraction": 0.0176678445229682 + }, + { + "view": 3, + "serial": "23007103", + "mask_pixels": 6403, + "median_depth_m": 0.9430000000000001, + "mean_m": 0.004012326868299603, + "median_m": 0.003776406050852384, + "p90_m": 0.007641502149421236, + "mean_px": 4.485178180697876, + "median_px": 4.221458458950085, + "p90_px": 8.542064589344292, + "visible_centerline_samples": 263, + "outside_mask_fraction": 0.0076045627376425855 + } + ], + "mean_of_view_means_m": 0.0037981735033520894 + }, + "refit_2d": { + "samples": 360, + "direction": "visible mask pixels to projected centerline", + "per_view": [ + { + "view": 0, + "serial": "12540311", + "mask_pixels": 10370, + "median_depth_m": 1.111, + "mean_m": 0.0038473531762712215, + "median_m": 0.0035449809578781484, + "p90_m": 0.007366872219650637, + "mean_px": 5.214100944441841, + "median_px": 4.804318400829956, + "p90_px": 9.983920979490525, + "visible_centerline_samples": 270, + "outside_mask_fraction": 0.003703703703703704 + }, + { + "view": 1, + "serial": "12933256", + "mask_pixels": 5954, + "median_depth_m": 1.116, + "mean_m": 0.003809105641018978, + "median_m": 0.0035542235481272316, + "p90_m": 0.007220692683791044, + "mean_px": 5.068261641143988, + "median_px": 4.729124427981107, + "p90_px": 9.60759449694237, + "visible_centerline_samples": 195, + "outside_mask_fraction": 0.03076923076923077 + }, + { + "view": 2, + "serial": "17736741", + "mask_pixels": 10117, + "median_depth_m": 1.125, + "mean_m": 0.0035274836693677566, + "median_m": 0.0033803506362994266, + "p90_m": 0.006385170668205716, + "mean_px": 4.731701546069727, + "median_px": 4.534354249423707, + "p90_px": 8.56493088984051, + "visible_centerline_samples": 283, + "outside_mask_fraction": 0.02120141342756184 + }, + { + "view": 3, + "serial": "23007103", + "mask_pixels": 6403, + "median_depth_m": 0.9430000000000001, + "mean_m": 0.004014823863431257, + "median_m": 0.003765249158065951, + "p90_m": 0.00765105291272932, + "mean_px": 4.4879694643794625, + "median_px": 4.2089968586667865, + "p90_px": 8.552737844066861, + "visible_centerline_samples": 265, + "outside_mask_fraction": 0.011320754716981131 + } + ], + "mean_of_view_means_m": 0.0037996915875223034 + }, + "baseline_3d_mean_m": 0.00708040501922369, + "refit_3d_mean_m": 0.0070839541500012865, + "baseline_3d_median_by_view_m": [ + 0.007497213780879974, + 0.004817647859454155, + 0.007075323257595301, + 0.007143991068005562 + ], + "refit_3d_median_by_view_m": [ + 0.007497706217691302, + 0.004821250913664699, + 0.007063489407300949, + 0.007189058931544423 + ] +} \ No newline at end of file diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/spline/reprojection_residuals.npz b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/spline/reprojection_residuals.npz new file mode 100644 index 0000000000000000000000000000000000000000..de91b8485c2de709832fad525b57ec33a6d3d14b --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/spline/reprojection_residuals.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:366a73c7a2ef236ebbfc2e479b0f0ad7a676661329d317df52fa1a119140cbda +size 1052024 diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/spline/residuals.npz b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/spline/residuals.npz new file mode 100644 index 0000000000000000000000000000000000000000..e8cb2a5502adb25ad482151d6a63a303e833622c --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/spline/residuals.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1f666eca12c5d952c6d8e9fb65712af201a0a2371739aee40c660828f7740d28 +size 1256246 diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/spline/rounds.jsonl b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/spline/rounds.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f4888f65616153c1b0547aabd5ddc3fee3850509 --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/spline/rounds.jsonl @@ -0,0 +1 @@ +{"loss": 5.9031030104961246e-05, "components": {"distance": 2.2463513232651167e-05, "curvature": 4.391957375560196e-08, "arclength": 4.9960036108132044e-09, "mask_reprojection_2d": 3.651859879028052e-05}, "grad_norm": 8.475646609440446e-05, "arclength_m": 0.5852234959602356, "arclength_bound_active_within_1mm": true, "max_curvature_per_m": 77.98448944091797, "curvature_p50_p90_per_m": [11.468396186828613, 42.086771392822264], "curvature_above_max_fraction": 0.564, "mean_distance_m": 0.0070839541500012865, "max_distance_m": 0.022682657465338707, "beyond_2delta_fraction": 0.12933303591345083, "at_cap_fraction": 0.0, "per_view": [{"view": 0, "count": 7290, "median_m": 0.007497706217691302, "p90_m": 0.011154823936522007, "max_m": 0.014353872276842594, "beyond_2delta_fraction": 0.200960219478738, "at_cap_fraction": 0.0}, {"view": 1, "count": 4154, "median_m": 0.004821250913664699, "p90_m": 0.007527824584394694, "max_m": 0.011030963622033596, "beyond_2delta_fraction": 0.011555127587867116, "at_cap_fraction": 0.0}, {"view": 2, "count": 6985, "median_m": 0.007063489407300949, "p90_m": 0.01026284396648407, "max_m": 0.013585391454398632, "beyond_2delta_fraction": 0.11882605583392986, "at_cap_fraction": 0.0}, {"view": 3, "count": 3986, "median_m": 0.007189058931544423, "p90_m": 0.010692490264773369, "max_m": 0.022682657465338707, "beyond_2delta_fraction": 0.13948820873055695, "at_cap_fraction": 0.0}], "round": 1, "relative_loss_change": 0.9847691103594011} diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/spline/spline_fit.json b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/spline/spline_fit.json new file mode 100644 index 0000000000000000000000000000000000000000..1ab2d68e2ca899a0a6774ec6bba88c2a2dde483d --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/spline/spline_fit.json @@ -0,0 +1,98 @@ +{ + "version": 1, + "M": 18, + "basis_function": "JaxB3", + "closed": true, + "control_points": [ + [ + 0.13466137647628784, + -0.14728489518165588, + 0.005101154558360577 + ], + [ + 0.12506887316703796, + -0.17157988250255585, + 0.004558403976261616 + ], + [ + 0.08542852848768234, + -0.17388229072093964, + 0.0031874743290245533 + ], + [ + 0.055408548563718796, + -0.18201318383216858, + 0.006986777763813734 + ], + [ + 0.0213092640042305, + -0.17324361205101013, + 0.007286288309842348 + ], + [ + -0.01491300668567419, + -0.18292823433876038, + 0.0037985793314874172 + ], + [ + -0.023479601368308067, + -0.14676302671432495, + 0.0055476948618888855 + ], + [ + -0.025198819115757942, + -0.10431629419326782, + 0.002473480999469757 + ], + [ + -0.033008597791194916, + -0.0872773602604866, + 0.008228778839111328 + ], + [ + -0.03244471549987793, + -0.07296343892812729, + 0.0038481184747070074 + ], + [ + -0.04104601591825485, + -0.03563840687274933, + 0.004944305866956711 + ], + [ + -0.013553114607930183, + -0.02277357317507267, + 0.006781608797609806 + ], + [ + 0.026281025260686874, + -0.023364173248410225, + 0.004900037776678801 + ], + [ + 0.05789890140295029, + -0.014189311303198338, + 0.008183903992176056 + ], + [ + 0.08536197245121002, + -0.030712859705090523, + 0.017203979194164276 + ], + [ + 0.12140992283821106, + -0.03578517585992813, + 0.01865409128367901 + ], + [ + 0.14733661711215973, + -0.052799537777900696, + 0.0025377734564244747 + ], + [ + 0.13390472531318665, + -0.1042589470744133, + 0.0034687768202275038 + ] + ] +} \ No newline at end of file diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/spline/spline_init.json b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/spline/spline_init.json new file mode 100644 index 0000000000000000000000000000000000000000..bc37b8ff8dfffb794ae98cd735176a6903148c03 --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/spline/spline_init.json @@ -0,0 +1,98 @@ +{ + "version": 1, + "M": 18, + "basis_function": "JaxB3", + "closed": true, + "control_points": [ + [ + 0.10720322281122208, + -0.13176144659519196, + 0.007524647284299135 + ], + [ + 0.09632427990436554, + -0.1472383588552475, + 0.007475878577679396 + ], + [ + 0.07833116501569748, + -0.1579158753156662, + 0.007546951528638601 + ], + [ + 0.05569450184702873, + -0.16193409264087677, + 0.007732104044407606 + ], + [ + 0.030992137268185616, + -0.15912935137748718, + 0.008007288910448551 + ], + [ + 0.0072936443611979485, + -0.14966635406017303, + 0.008340150117874146 + ], + [ + -0.012581832706928253, + -0.1347821056842804, + 0.008689983747899532 + ], + [ + -0.026208283379673958, + -0.11622598767280579, + 0.009014765731990337 + ], + [ + -0.031951580196619034, + -0.09626598656177521, + 0.009275105781853199 + ], + [ + -0.029111314564943314, + -0.07730256021022797, + 0.009439612738788128 + ], + [ + -0.018033117055892944, + -0.06163056194782257, + 0.009488384239375591 + ], + [ + -5.642324686050415e-05, + -0.051148392260074615, + 0.00941549614071846 + ], + [ + 0.022650055587291718, + -0.047109298408031464, + 0.009229853749275208 + ], + [ + 0.047333233058452606, + -0.05002972111105919, + 0.008953687734901905 + ], + [ + 0.07102792710065842, + -0.059502337127923965, + 0.008620775304734707 + ], + [ + 0.0908365398645401, + -0.07448473572731018, + 0.008270595222711563 + ], + [ + 0.10442833602428436, + -0.09297409653663635, + 0.007946840487420559 + ], + [ + 0.11004522442817688, + -0.11309435963630676, + 0.007686125114560127 + ] + ] +} \ No newline at end of file diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/steps/colors.json b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/steps/colors.json new file mode 100644 index 0000000000000000000000000000000000000000..a5a3bb6b2bfac06c97cdc9ae2ac2b213f8cdfa6d --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/steps/colors.json @@ -0,0 +1,67 @@ +{ + "status": "ok", + "settings": { + "depth_tolerance_m": 0.025 + }, + "outputs": { + "rule": "native sRGB/255, cosine weighted over mask/depth/first-hit visible views", + "two_sided": false, + "depth_tolerance_m": 0.025, + "first_hit_tolerance_m": 0.0002, + "per_view": [ + { + "view": 0, + "serial": "12540311", + "observed_vertices": 592, + "projected_inside": 1728, + "first_hit": 927 + }, + { + "view": 1, + "serial": "12933256", + "observed_vertices": 417, + "projected_inside": 1728, + "first_hit": 914 + }, + { + "view": 2, + "serial": "17736741", + "observed_vertices": 617, + "projected_inside": 1728, + "first_hit": 925 + }, + { + "view": 3, + "serial": "23007103", + "observed_vertices": 557, + "projected_inside": 1728, + "first_hit": 917 + } + ], + "observed_vertices": 1037, + "filled_vertices": 691, + "fill_color_rgb": [ + 0.19215686274509805, + 0.14901960784313725, + 0.1404657230738269 + ], + "glb_roundtrip": { + "float32_positions_exact": true, + "vertex_colors_exact": true, + "uv_count": 0, + "vertex_reordered_on_open3d_load": true + }, + "files": { + "colors/vertex_colors.npz": "1a7d0ac0910ac34436fe019bb1f96edb608f18c639370de3ffa31877c8f1665d", + "colors/color_summary.json": "40e50752c6385066a0a54be476ec89cea924704d6f681ad3f028eb31be970549", + "tube/shape_prior.glb": "49e2bb8fe884a6b67ba3bfa46b46d6f594f2ac151a4809b09c8db24b8b2ac3f9", + "tube/tube.ply": "c1477520f43c55185f61b23359d1dadec01e46d93ab8f032fcc6ac2499ac9529", + "gaussian_data/session_20260921_233350_440979/shape_prior.glb": "49e2bb8fe884a6b67ba3bfa46b46d6f594f2ac151a4809b09c8db24b8b2ac3f9" + } + }, + "code": { + "commit": "98ebffe13629edeb0a9b29df973bebc5730d7026", + "u_pin": "81c718790a37e5e0102eb77af2c6edd34a9db25f" + }, + "wall_time_s": 1.133122444152832 +} \ No newline at end of file diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/steps/diagnose-depth.json b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/steps/diagnose-depth.json new file mode 100644 index 0000000000000000000000000000000000000000..2fde307275dfcbf1c33849fe24eb51bce4feffaa --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/steps/diagnose-depth.json @@ -0,0 +1,110 @@ +{ + "status": "ok", + "settings": { + "correction": "none", + "annulus_px": [ + 20, + 80 + ] + }, + "outputs": { + "report": { + "annulus_px": [ + 20, + 80 + ], + "interior_erosion_px": 2, + "correction_applied": false, + "views": [ + { + "view": 0, + "serial": "12540311", + "annulus_count": 62964, + "belt_interior_count": 7620, + "belt_edge_count": 2750, + "table_median_z_m": -7.655212073059969e-05, + "belt_interior_median_z_m": 0.01055925031413879, + "belt_edge_median_z_m": 0.00024912902950402493, + "belt_minus_table_m": 0.01063580243486939, + "edge_minus_table_m": 0.00032568115023462463, + "table_p10_p90_z_m": [ + -0.001958645012908189, + 0.0011031486467430573 + ], + "belt_interior_p10_p90_z_m": [ + 0.00037109482275370374, + 0.015236898731755622 + ] + }, + { + "view": 1, + "serial": "12933256", + "annulus_count": 43337, + "belt_interior_count": 4253, + "belt_edge_count": 1729, + "table_median_z_m": -0.0009368307413537558, + "belt_interior_median_z_m": 0.005894032159887264, + "belt_edge_median_z_m": 0.000950817590460673, + "belt_minus_table_m": 0.006830862901241019, + "edge_minus_table_m": 0.0018876483318144288, + "table_p10_p90_z_m": [ + -0.0016646231352850816, + -0.0003330011544799169 + ], + "belt_interior_p10_p90_z_m": [ + 0.0013929230206320311, + 0.00885023143788315 + ] + }, + { + "view": 2, + "serial": "17736741", + "annulus_count": 64210, + "belt_interior_count": 7178, + "belt_edge_count": 2939, + "table_median_z_m": 0.0013811225349885103, + "belt_interior_median_z_m": 0.011255177064247501, + "belt_edge_median_z_m": 0.001770530286694716, + "belt_minus_table_m": 0.009874054529258991, + "edge_minus_table_m": 0.00038940775170620556, + "table_p10_p90_z_m": [ + 0.00013622346882600223, + 0.0025687680789306944 + ], + "belt_interior_p10_p90_z_m": [ + 0.002513644893010925, + 0.014696697391169756 + ] + }, + { + "view": 3, + "serial": "23007103", + "annulus_count": 42176, + "belt_interior_count": 4322, + "belt_edge_count": 2086, + "table_median_z_m": -3.088470725581827e-05, + "belt_interior_median_z_m": 0.008122605762869106, + "belt_edge_median_z_m": 0.0017639871212786762, + "belt_minus_table_m": 0.008153490470124924, + "edge_minus_table_m": 0.0017948718285344945, + "table_p10_p90_z_m": [ + -0.0006555988662426682, + 0.001863406973073245 + ], + "belt_interior_p10_p90_z_m": [ + 0.0021249908671892802, + 0.010988996893434166 + ] + } + ] + }, + "files": { + "inputs/depth_offset_diagnostic.json": "860e3cfcf72860a1d3fb44c195f0289846db5b6090842caee5adf58d001fef74" + } + }, + "code": { + "commit": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e", + "u_pin": "81c718790a37e5e0102eb77af2c6edd34a9db25f" + }, + "wall_time_s": 0.3075852394104004 +} \ No newline at end of file diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/steps/fit.json b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/steps/fit.json new file mode 100644 index 0000000000000000000000000000000000000000..7cf95e54c80a7bbd6538c0d6d10f3182d656e04a --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/steps/fit.json @@ -0,0 +1,215 @@ +{ + "status": "ok", + "settings": { + "object": { + "name": "bike_chain", + "representation": "tube", + "fitter_source": "scripts/chain_state_estimation.py loss/solver literals", + "dimension_source": "owner approximate 9.5 mm diameter (corpus Q2, 2026-10-25)", + "radius_m": 0.00475, + "ribbon_width_m": null, + "step_t": 0.125, + "step_angle_deg": 30, + "u_resolution": null, + "overlap_rule": "surface_intersection", + "twist_penalty": null + }, + "max_rounds": 400, + "control_count": 18, + "relative_loss_tolerance": 1e-07, + "reprojection": { + "weight": 4.0, + "direction": "visible mask pixels to projected centerline", + "ribbon_twist_stage": null, + "mask": "accepted object outside hand/occluder union", + "view_aggregation": "equal view means", + "distance": "metric image plane using per-view median visible belt depth and fx/fy", + "samples": 360, + "huber_delta_m": 0.005, + "smooth_cap_m": 0.035, + "baseline_run": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1" + }, + "loss_config": { + "eval_distances": true, + "max_saturation_distance": 0.035, + "distance_huber_delta": 0.005, + "eval_curvature_cost": true, + "num_eval_reg_points": 250, + "lambda_curvature_cost": 5e-10, + "max_curvature": 10.0, + "curvature_huber_delta": 30.0, + "max_saturation_curvature": 80.0, + "eval_curvilinear_energy": false, + "lambda_curvilinear_energy": 0.001, + "eval_length_constraint": true, + "lambda_length_constraint": 0.1, + "arclength_bounds": [ + 0.5830000042915344, + 0.5849999785423279 + ] + }, + "solver_config": { + "solver_type": "lbfgs", + "linesearch_type": "zoom", + "max_linesearch_steps": 10, + "grad_norm_tolerance": 0.0001, + "max_iter": 25 + }, + "ribbon_twist_refinement": null + }, + "outputs": { + "filter": { + "method": "Open3D.remove_statistical_outlier", + "nb_neighbors": 20, + "std_ratio": 2.0, + "input_count": 23373, + "kept_count": 22415, + "removed_count": 958, + "per_view": [ + { + "view": 0, + "input": 7620, + "kept": 7290, + "removed": 330, + "live_20_0.05_kept": 5404, + "no_filter_kept": 7620 + }, + { + "view": 1, + "input": 4253, + "kept": 4154, + "removed": 99, + "live_20_0.05_kept": 2921, + "no_filter_kept": 4253 + }, + { + "view": 2, + "input": 7178, + "kept": 6985, + "removed": 193, + "live_20_0.05_kept": 4904, + "no_filter_kept": 7178 + }, + { + "view": 3, + "input": 4322, + "kept": 3986, + "removed": 336, + "live_20_0.05_kept": 1070, + "no_filter_kept": 4322 + } + ] + }, + "rounds": 1, + "stop": "gradient_tolerance", + "final": { + "loss": 5.9031030104961246e-05, + "components": { + "distance": 2.2463513232651167e-05, + "curvature": 4.391957375560196e-08, + "arclength": 4.9960036108132044e-09, + "mask_reprojection_2d": 3.651859879028052e-05 + }, + "grad_norm": 8.475646609440446e-05, + "arclength_m": 0.5852234959602356, + "arclength_bound_active_within_1mm": true, + "max_curvature_per_m": 77.98448944091797, + "curvature_p50_p90_per_m": [ + 11.468396186828613, + 42.086771392822264 + ], + "curvature_above_max_fraction": 0.564, + "mean_distance_m": 0.0070839541500012865, + "max_distance_m": 0.022682657465338707, + "beyond_2delta_fraction": 0.12933303591345083, + "at_cap_fraction": 0.0, + "per_view": [ + { + "view": 0, + "count": 7290, + "median_m": 0.007497706217691302, + "p90_m": 0.011154823936522007, + "max_m": 0.014353872276842594, + "beyond_2delta_fraction": 0.200960219478738, + "at_cap_fraction": 0.0 + }, + { + "view": 1, + "count": 4154, + "median_m": 0.004821250913664699, + "p90_m": 0.007527824584394694, + "max_m": 0.011030963622033596, + "beyond_2delta_fraction": 0.011555127587867116, + "at_cap_fraction": 0.0 + }, + { + "view": 2, + "count": 6985, + "median_m": 0.007063489407300949, + "p90_m": 0.01026284396648407, + "max_m": 0.013585391454398632, + "beyond_2delta_fraction": 0.11882605583392986, + "at_cap_fraction": 0.0 + }, + { + "view": 3, + "count": 3986, + "median_m": 0.007189058931544423, + "p90_m": 0.010692490264773369, + "max_m": 0.022682657465338707, + "beyond_2delta_fraction": 0.13948820873055695, + "at_cap_fraction": 0.0 + } + ], + "round": 1, + "relative_loss_change": 0.9847691103594011 + }, + "deterministic": true, + "partial_view_witness": { + "source": "synthetic rounded trapezoid, four retained RP2 camera centres", + "control_count": 18, + "curvature_weight": 5e-10, + "seed": 5, + "noise_sigma_m": 0.0015, + "points": 288, + "tube_radius_m": 0.00475, + "truth_arclength_m": 0.5839999999999999, + "truth_corner_curvature_per_m": 100.0, + "fit_arclength_m": 0.5844501256942749, + "mean_centerline_distance_to_truth_m": 0.0032533064463410887, + "max_centerline_distance_to_truth_m": 0.005681761175842478, + "corner_truth_to_fit_mean_max_m": [ + 0.00338321064191233, + 0.004025242412806483 + ], + "straight_truth_to_fit_mean_m": 0.0032302843394948245, + "fit_max_curvature_per_m": 127.6394271850586, + "fit_curvature_nearest_corners_p50_max_per_m": [ + 51.747100830078125, + 127.6394271850586 + ], + "rounds": 1, + "stop": "gradient_tolerance" + }, + "files": { + "spline/reprojection_residuals.npz": "366a73c7a2ef236ebbfc2e479b0f0ad7a676661329d317df52fa1a119140cbda", + "spline/residuals.npz": "1f666eca12c5d952c6d8e9fb65712af201a0a2371739aee40c660828f7740d28", + "spline/filtered_cloud.npz": "70d80c1643a2a4f4a6799f2dbfe29cc9a2f9a69530b0dd1aeb77dfed7500d3f1", + "spline/spline_init.json": "a31ae13e76d533b82cddcf408c5f865e7af0b32bd0b3bf028b0f9de3ec462aee", + "spline/determinism.json": "773d1a02e2924f0d7df2d5d0011979c4e408678ebfdb9633a8348b9788132683", + "spline/filter.json": "4d2bee842164b0dd0b8eeab567edd28a02828ab7712e27301104bea7ad1a8cf5", + "spline/witness.json": "a95069a8f0af4cd0832d682da5e861529438273bb67376ccb3058fc06d6987dd", + "spline/filter_removed.npz": "400f4ceb028d0cd46d8e09a54c43ca36d6aceb341fc998fbbde503631071d70f", + "spline/spline_fit.json": "5fade669f69b24a511643c60d04fec2c7a59c58c984d7ff408b62c2a0c32dd11", + "spline/reprojection_comparison.json": "e66e82e792ce06566e4454e6629d2adc55fb70fd25ab34cbe16c0efb7032621e", + "spline/rounds.jsonl": "3f1c85c81982367b46c0693f9163b31798f4dd504699b35972941e2263860753", + "spline/init_ellipse.json": "27d464a292a3d50a9fa0417ec117ee2b28f13a5f58f401f33f6de218ef265d6f", + "spline/reprojection.json": "d8be1d2469019dc6e7d8174852478b092f615a0863eafb480090bb2ec53c9a01" + } + }, + "code": { + "commit": "98ebffe13629edeb0a9b29df973bebc5730d7026", + "u_pin": "81c718790a37e5e0102eb77af2c6edd34a9db25f" + }, + "wall_time_s": 20.087650299072266 +} \ No newline at end of file diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/steps/hybrid.json b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/steps/hybrid.json new file mode 100644 index 0000000000000000000000000000000000000000..c68fab554a661f9cbc50ffbb17557a374af32e75 --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/steps/hybrid.json @@ -0,0 +1,24 @@ +{ + "status": "ok", + "settings": { + "u_pin": "81c718790a37e5e0102eb77af2c6edd34a9db25f", + "numpy_seed": 0, + "points_per_triangle": 30 + }, + "outputs": { + "counts": { + "observed": 22415, + "mesh": 103680, + "total": 126095, + "mesh_to_observed": 4.625474012937765 + }, + "files": { + "hybrid/populations.npz": "f71dd7333311c9aaa2ff820471a3bb50996767ad10276d47a6922a2d4812b810" + } + }, + "code": { + "commit": "98ebffe13629edeb0a9b29df973bebc5730d7026", + "u_pin": "81c718790a37e5e0102eb77af2c6edd34a9db25f" + }, + "wall_time_s": 0.8287944793701172 +} \ No newline at end of file diff --git a/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/steps/inputs.json b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/steps/inputs.json new file mode 100644 index 0000000000000000000000000000000000000000..47c8737fc9d3cf901c0ba4e029cff2cc3ef53cfa --- /dev/null +++ b/sessions/session_20260921_233350_440979/preprocessing/chain-prior-lower-curvature-v2/native/steps/inputs.json @@ -0,0 +1,216 @@ +{ + "status": "ok", + "settings": { + "object": "bike_chain", + "depth_source": "waft_stereo_dav2l5", + "depth_stream_ids": [ + "zed_12540311_depth_waft_stereo_synlarge_dav2l5_zdepth", + "zed_12933256_depth_waft_stereo_synlarge_dav2l5_zdepth", + "zed_17736741_depth_waft_stereo_synlarge_dav2l5_zdepth", + "zed_23007103_depth_waft_stereo_synlarge_dav2l5_zdepth" + ], + "frames": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/accepted_input_preparation_c6a_v1/frames_waft/per_camera_inputs.json", + "frames_sha256": "a0942bc36c199bbfd3820a2d364a01ab8ba928a6b19770a5b237ea1facdbb895", + "signed_native_frames_sha256": { + "12540311": "48e042953277766b9b0f888b7b739e9827765283a78f98a2f0e3c8e80fcfefe1", + "12933256": "6118d29b38eb0e2bb4dc4a3e17e0d96010b43b6d49912fc84e28b14697ee1024", + "17736741": "3af1fcdd7716b2267ea52c52e22319436efaf44a1801e24186498c5b27b981c7", + "23007103": "c4ad4b8a67375180f65129c0f24b071dbf60cb5d78b6b7a950c261263f01a94e" + }, + "camera_frames_sha256": { + "12540311": "d2c9b3f290b737635ed209ff9ced770d38ed0832741e91065d79ee8dd4387dc4", + "12933256": "89157707e50b5ff6292b6e07dd06db7388f0cfdee4a2b252deb34b95ba7182a0", + "17736741": "ea83d3c91117acaf658860eb13caefc25b996548a69699be35a288d8b53793bc", + "23007103": "0c8aff30ba22897e806b1847f3a0b7307da29366e75a254a3380d09aa758ab9e" + }, + "mask_erosion_px": 2, + "filter": { + "method": "Open3D.remove_statistical_outlier", + "nb_neighbors": 20, + "std_ratio": 2.0, + "input_count": 23373, + "kept_count": 22415, + "removed_count": 958, + "per_view": [ + { + "view": 0, + "input": 7620, + "kept": 7290, + "removed": 330, + "live_20_0.05_kept": 5404, + "no_filter_kept": 7620 + }, + { + "view": 1, + "input": 4253, + "kept": 4154, + "removed": 99, + "live_20_0.05_kept": 2921, + "no_filter_kept": 4253 + }, + { + "view": 2, + "input": 7178, + "kept": 6985, + "removed": 193, + "live_20_0.05_kept": 4904, + "no_filter_kept": 7178 + }, + { + "view": 3, + "input": 4322, + "kept": 3986, + "removed": 336, + "live_20_0.05_kept": 1070, + "no_filter_kept": 4322 + } + ] + }, + "parent": null, + "unfitted_inputs": true, + "fitting_bundle_sha256": "62048240a6f804b44bf459cdc864c8c299804e37fc50738f45c7f40e22d68b19", + "signoffs": { + "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/native_inputs/cameras/12540311/review_signoff.json": "c230fe6872f6f464fafa3aff039c55b5ae4987410c22f8fa6add62626cfc829a", + "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/native_inputs/cameras/12540311/review_signoff_occluder.json": "f7fb551be1950690c57e66d709fde328baa8a31c98c9c2a42521e55db1e534af", + "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/native_inputs/cameras/12933256/review_signoff.json": "824a892b6b9208de7df64977c3579500385cd21c8e3b6652be4d87212a8688a1", + "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/native_inputs/cameras/12933256/review_signoff_occluder.json": "eda3000d7bc79fd492793c0906f17ac41a91f617f001aaa85801847b967d2e17", + "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/native_inputs/cameras/17736741/review_signoff.json": "19027531f6942720853279918d143a9cf34183acb1444098e277c8810cf7b1e7", + "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/native_inputs/cameras/17736741/review_signoff_occluder.json": "81dda73b732004230a6f5e25c8890c024fdc32fe6afdcf3ba17e3a4e07eaa20f", + "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/native_inputs/cameras/23007103/review_signoff.json": "d153e3e1088351e2557ba6d2b287daff4c4a6fbd9f0c189d0ec32623852ae228", + "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233350_440979/window_anchor0359-0730/native_inputs/cameras/23007103/review_signoff_occluder.json": "c69d933fe4f7a06a5af94768a87e8763986896c75768a096e4d3f012768b74e1" + } + }, + "outputs": { + "reference": { + "case": "session_20260921_233350_440979", + "grid_sample": 0, + "views": [ + { + "index": 0, + "serial": "12540311", + "native_frame": 0, + "offset_ms": 1.970902, + "object_mask_px": 10370, + "invalid_depth_in_mask_px": 0, + "occlusion_union_px": 353423, + "object_and_union_px": 0, + "lifted_points": 7290, + "lifted_z_min_max_m": [ + -0.00302564008988615, + 0.018761167192242523 + ], + "uneroded_lifted_points": 10370, + "uneroded_lifted_z_min_max_m": [ + -0.003858763419219202, + 0.10390526603097272 + ], + "eroded_lifted_points": 7620, + "erosion_removed_points": 2750, + "outlier_removed_points": 330 + }, + { + "index": 1, + "serial": "12933256", + "native_frame": 0, + "offset_ms": 0.0, + "object_mask_px": 5982, + "invalid_depth_in_mask_px": 0, + "occlusion_union_px": 284237, + "object_and_union_px": 28, + "lifted_points": 4154, + "lifted_z_min_max_m": [ + -0.0014113355968503605, + 0.012225868257994876 + ], + "uneroded_lifted_points": 5982, + "uneroded_lifted_z_min_max_m": [ + -0.0032101245077625906, + 0.11407352285712274 + ], + "eroded_lifted_points": 4253, + "erosion_removed_points": 1729, + "outlier_removed_points": 99 + }, + { + "index": 2, + "serial": "17736741", + "native_frame": 0, + "offset_ms": 6.200584, + "object_mask_px": 10117, + "invalid_depth_in_mask_px": 0, + "occlusion_union_px": 374073, + "object_and_union_px": 0, + "lifted_points": 6985, + "lifted_z_min_max_m": [ + -0.00031823685067589036, + 0.018007819757196564 + ], + "uneroded_lifted_points": 10117, + "uneroded_lifted_z_min_max_m": [ + -0.0010701685214193901, + 0.08861601242826411 + ], + "eroded_lifted_points": 7178, + "erosion_removed_points": 2939, + "outlier_removed_points": 193 + }, + { + "index": 3, + "serial": "23007103", + "native_frame": 0, + "offset_ms": 8.734615, + "object_mask_px": 6408, + "invalid_depth_in_mask_px": 0, + "occlusion_union_px": 174842, + "object_and_union_px": 5, + "lifted_points": 3986, + "lifted_z_min_max_m": [ + -0.0004381281431145023, + 0.0131987562091046 + ], + "uneroded_lifted_points": 6408, + "uneroded_lifted_z_min_max_m": [ + -0.0012160073284875894, + 0.04531334527554337 + ], + "eroded_lifted_points": 4322, + "erosion_removed_points": 2086, + "outlier_removed_points": 336 + } + ], + "observed_points": 22415, + "mask_erosion_px": 2 + }, + "files": { + "inputs/observed_cloud.npz": "cbd81bca7bb74784f2ec5cd5564f58eb364c489fa97e415a21f18644d2b66458", + "inputs/reference_views.json": "1c1456b9a5eba30e61a6032c34f737ea3f3250160fbc7266c7fc46125bc8042c", + "gaussian_data/session_20260921_233350_440979/0.png": "b71f78e0369364a4d980fd8fc5e8a94d9942b29b59741403ad0192d322387e27", + "gaussian_data/session_20260921_233350_440979/mask_0.png": "7551fc755c7e60d1ce7d3987161d96ed30743af6e4905c101b124ddd2f90c3c6", + "gaussian_data/session_20260921_233350_440979/mask_human_0.png": "a9dd588945a4445f8c00fe3528e69f5539d5a7db9f26df4216ab6b897646d277", + "gaussian_data/session_20260921_233350_440979/0_depth.npy": "df89c575de1d2f5e986fd6bc1fe68c78fc7523d69cc0ca04538f42312d8df49b", + "gaussian_data/session_20260921_233350_440979/1.png": "585dfb360495255fcd89e5b17013562377cc6f38aa137eaa7d29d495c5ff32d4", + "gaussian_data/session_20260921_233350_440979/mask_1.png": "80a458a3bc2c90823e2fecd48dd723ba6d14404053e5099683021f79f726039c", + "gaussian_data/session_20260921_233350_440979/mask_human_1.png": "89bd50582ec33aaad55d50e8ee45b9c3a67a60641943c70bf74bcd2b374bb4c8", + "gaussian_data/session_20260921_233350_440979/1_depth.npy": "ce4c341223068584218d297831dc08ebf10ad96d1ce9b0af32e3c1a7164e2896", + "gaussian_data/session_20260921_233350_440979/2.png": "1bc3c96698e1a5f907faea515dae4447bd842420acfe6edfb569f0b0c28f44e9", + "gaussian_data/session_20260921_233350_440979/mask_2.png": "867a819d45c54171957a71fe6840f5720d72f83a0c023f1bd33c295ef88d8ad3", + "gaussian_data/session_20260921_233350_440979/mask_human_2.png": "9240380d1c1a46b8058779239824f916f948a957945947c152b0e06ac8742d66", + "gaussian_data/session_20260921_233350_440979/2_depth.npy": "632ccc3ed173559a896c14b2f9d51ad969bdaf1fc464471ddc366db255293065", + "gaussian_data/session_20260921_233350_440979/3.png": "d83b8f72dc5e6559b451b9e3af637cf0de6ab13d4e330fab672ea6ecd7a32520", + "gaussian_data/session_20260921_233350_440979/mask_3.png": "27885fc987774c89022dab82e2b49beb3b1bce4045ae19b60144cbbf34bad357", + "gaussian_data/session_20260921_233350_440979/mask_human_3.png": "be41d457677b4fae45b36185f0e0e3eef7cef914d32bd761687e4b4f0a378709", + "gaussian_data/session_20260921_233350_440979/3_depth.npy": "127a8ccbe0cf0d231a5c94aa38d9c98818702450dd4f8a6150b1c7f67953b0ee", + "gaussian_data/session_20260921_233350_440979/camera_meta.pkl": "f9c9256acec117e1352c4a1af2ed20789ebcbb39088276a9f7d9424e0e5592d8", + "gaussian_data/session_20260921_233350_440979/interp_poses.pkl": "b90cc26123c822f0d06446ac699e110db22a86e265c56751819029a46f558b6f", + "gaussian_data/session_20260921_233350_440979/observation.ply": "35b702c3e5fa3185b77730d2f38d4d7aff5969ec64190d8e8c55032054d07a91", + "spline/filter.json": "4d2bee842164b0dd0b8eeab567edd28a02828ab7712e27301104bea7ad1a8cf5", + "spline/filter_removed.npz": "400f4ceb028d0cd46d8e09a54c43ca36d6aceb341fc998fbbde503631071d70f", + "spline/filtered_cloud.npz": "70d80c1643a2a4f4a6799f2dbfe29cc9a2f9a69530b0dd1aeb77dfed7500d3f1" + } + }, + "code": { + "commit": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e", + "u_pin": "81c718790a37e5e0102eb77af2c6edd34a9db25f" + }, + "wall_time_s": 33.40403342247009 +} \ No newline at end of file