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a/sessions/session_20260921_231046_597606/preprocessing/c6a-input-preparation-v1/native/prior_review_v1/PRIOR_REVIEW_c6a_v1.md b/sessions/session_20260921_231046_597606/preprocessing/c6a-input-preparation-v1/native/prior_review_v1/PRIOR_REVIEW_c6a_v1.md new file mode 100644 index 0000000000000000000000000000000000000000..3539cb595ae06f8bc5583fc03a49bac62209ee85 --- /dev/null +++ b/sessions/session_20260921_231046_597606/preprocessing/c6a-input-preparation-v1/native/prior_review_v1/PRIOR_REVIEW_c6a_v1.md @@ -0,0 +1,53 @@ +# session_20260921_231046_597606 — prior approved by owner + +Saved C2 **orange_round_belt** prior evidence (radius 2.95 mm). **Agent visual and numerical review is complete; owner prior approval remains pending.** The prior is ready for owner review with both inferred hand-hidden arcs and depth/contact uncertainty disclosed below. This packet records no acceptance. + +Initial reference frames are the saved nearest-camera observations of the first 30 Hz sample. The local row, converted frame, native-container frame and capture clock remain distinct in [the metrics JSON](). + +| Camera | Local / converted / native | Centerline / geometry / native input | +|---|---|---| +| 12540311 | 0 / 364 / 365 | [centerline](<../prior_orange_v1/review/spline/centerline_0_with_masks.png>) · [tube](<../prior_orange_v1/review/tube/silhouette_0_unmasked.png>) · [geometry + mask](<../prior_orange_v1/review/tube/silhouette_0_with_masks.png>) · [RGB/depth](<../prior_orange_v1/review/inputs/view_0_12540311.png>) | +| 12933256 | 1 / 364 / 365 | [centerline](<../prior_orange_v1/review/spline/centerline_1_with_masks.png>) · [tube](<../prior_orange_v1/review/tube/silhouette_1_unmasked.png>) · [geometry + mask](<../prior_orange_v1/review/tube/silhouette_1_with_masks.png>) · [RGB/depth](<../prior_orange_v1/review/inputs/view_1_12933256.png>) | +| 17736741 | 0 / 365 / 366 | [centerline](<../prior_orange_v1/review/spline/centerline_2_with_masks.png>) · [tube](<../prior_orange_v1/review/tube/silhouette_2_unmasked.png>) · [geometry + mask](<../prior_orange_v1/review/tube/silhouette_2_with_masks.png>) · [RGB/depth](<../prior_orange_v1/review/inputs/view_2_17736741.png>) | +| 23007103 | 0 / 364 / 365 | [centerline](<../prior_orange_v1/review/spline/centerline_3_with_masks.png>) · [tube](<../prior_orange_v1/review/tube/silhouette_3_unmasked.png>) · [geometry + mask](<../prior_orange_v1/review/tube/silhouette_3_with_masks.png>) · [RGB/depth](<../prior_orange_v1/review/inputs/view_3_23007103.png>) | + +[Full rotation video](<../prior_orange_v1/review/tube/orbit.mp4>) · [Geometry and depth cloud](<../prior_orange_v1/review/tube/tube_scale_views.png>) · [Residual histograms](<../prior_orange_v1/review/spline/residual_histograms.png>) · [Depth offset diagnostic](<../prior_orange_v1/review/inputs/depth_offset.png>) + +Saved fit: **1 stage-1 rounds**, stop `gradient_tolerance`; final length **638.708 mm**, maximum curvature **19.332/m**, final gradient norm **8.22172e-05**. Soft length bounds are 635.000–660.000 mm; distance outside those bounds is 0.000 mm. + +Saved geometry checks report `passed=True`: **864 mesh vertices / 1728 triangles**, 1 component(s), `watertight=True`, `self_intersecting=False`. [Full geometry checks](<../prior_orange_v1/tube/tube_checks.json>). + +The following 3D residuals are lifted-depth point distances to the **centerline**, not measured reconstruction errors. The centerline-in-mask fraction is a separate saved diagnostic; it is not silhouette IoU or a visual quality decision. + +| Camera | Median / p90 3D residual (mm) | Visible centerline inside mask | Native depth and visibility evidence | +|---|---|---|---| +| 12540311 | 4.824 / 8.481 | 99.33% | [Full native video](<../review_v1/12540311/rgb_waft_depth_full_window.mp4>) · [Visibility/certainty](<../review_v1/12540311/12540311_visibility_certainty.png>) · [Support/rejections](<../review_v1/12540311/support_and_rejections.png>) · [Paired depth](<../review_v1/12540311/paired_depth.png>) | +| 12933256 | 6.856 / 8.888 | 99.07% | [Full native video](<../review_v1/12933256/rgb_waft_depth_full_window.mp4>) · [Visibility/certainty](<../review_v1/12933256/12933256_visibility_certainty.png>) · [Support/rejections](<../review_v1/12933256/support_and_rejections.png>) · [Paired depth](<../review_v1/12933256/paired_depth.png>) | +| 17736741 | 7.024 / 9.083 | 99.66% | [Full native video](<../review_v1/17736741/rgb_waft_depth_full_window.mp4>) · [Visibility/certainty](<../review_v1/17736741/17736741_visibility_certainty.png>) · [Support/rejections](<../review_v1/17736741/support_and_rejections.png>) · [Paired depth](<../review_v1/17736741/paired_depth.png>) | +| 23007103 | 6.984 / 9.058 | 98.97% | [Full native video](<../review_v1/23007103/rgb_waft_depth_full_window.mp4>) · [Visibility/certainty](<../review_v1/23007103/23007103_visibility_certainty.png>) · [Support/rejections](<../review_v1/23007103/support_and_rejections.png>) · [Paired depth](<../review_v1/23007103/paired_depth.png>) | + +The saved statistical filter used 20 neighbours / 2 sigma and kept **13304 of 13935** eroded points. The run used `waft_stereo_dav2l5`, 2 px erosion, a 400-round budget and reprojection weight **4**. + +Appearance initialization contains **13304 observed + 51840 mesh-derived = 65144 seeds**. Vertex colors are observed for 551 mesh vertices and median-filled for 313. Mesh vertices and appearance seeds are not mechanical particles. No post-prior mechanical population or unit-mass total is supplied by this prior run; trained appearance and physical fitting are separate stages. + +[Appearance seed populations](<../prior_orange_v1/review/hybrid/combined.png>) · [Observed and filled colors](<../prior_orange_v1/review/colors/visibility_and_fill.png>) · [30 Hz observation coverage](<../review_v1/derived/derived_coverage.png>) + +[Full saved 30 Hz observations](<../review_v1/derived/derived_30hz_xyz.mp4>) + +[Manifest](<../prior_orange_v1/manifest.json>) · [Fit settings and metrics](<../prior_orange_v1/steps/fit.json>) · [Reference observations](<../prior_orange_v1/inputs/reference_views.json>) · [Tracking/lift summary](<../review_v1/summary.json>) + +**Agent findings.** All 21 initial input, centerline, tube, spatial/depth, residual, color and hybrid images were inspected, together with orbit frames 0, 4, 8, 12, 16, 20, 24, 28 and 32 of 36. These were directly selected frame reads; no full-decode or continuous-playback claim is made. [Exact findings and coverage](). + +The visible belt is followed closely in all four camera overlays, with small local contour offsets. Spatial views and the sampled rotation show one smooth, nearly planar oval with slight height variation; no gross wrong-loop displacement, kink or crossing was seen. The orbit displays cross-section rings, so watertightness and intersection results come from the saved numerical checks. **Both hand-hidden arcs remain inferred**, including the substantial foreground-hand/arm and right-side occlusion in camera 12933256. Camera 17736741 retains a small exposed belt patch between the foreground fingers. The 313 median-filled vertex colors lie mainly on the underside and hidden arcs and are not observed texture. + +**Vertical placement and table contact remain uncertain.** Minimum tube z is **−2.258 mm** relative to nominal table z=0. Belt-interior-minus-local-table median heights are **9.868 / 5.885 / 8.765 / 5.220 mm** in camera order. The spatial/hybrid plots retain gaps near the hidden arcs, lateral contour bands and depth spread above and around the tube. No depth correction was applied. + +Visible-centerline-in-mask fractions are **99.33 / 99.07 / 99.66 / 98.97%**. They are not silhouette IoU. Median point-to-centerline residuals range from **4.824 to 7.024 mm**; all views have small tails beyond 10 mm. Camera 17736741 has the largest median/p90 residuals, **7.024 / 9.083 mm**. These distances include cord radius and measurement/model differences rather than measuring ground-truth reconstruction error. + +The length is **638.708 mm**, **3.708 mm** above the lower soft bound; the saved within-1-mm flag is **false**. One fit round stopped at the configured gradient tolerance. Maximum curvature is **19.332/m**, and **48.8%** of samples exceed the soft **10/m** curvature threshold. These soft-loss diagnostics do not establish global optimality. No blocking issue for presenting this saved prior to the owner was identified. + +Owner prior approval remains pending. No prior payload, source settings, case status, owner acceptance or downstream approval was changed. The completed temporal-reference review was not rerun; mechanical populations, trained appearance and physical fitting remain separate. + +## Owner decision, 2026-10-28 + +“Approve 231046’s prior”. Accept this reviewed orange-belt prior for mechanical input preparation and reference static appearance training, retaining hidden-arc and table-contact limitations. Trained appearance acceptance and physical fitting remain separate. diff --git a/sessions/session_20260921_231046_597606/preprocessing/c6a-input-preparation-v1/native/prior_review_v1/agent_findings.json b/sessions/session_20260921_231046_597606/preprocessing/c6a-input-preparation-v1/native/prior_review_v1/agent_findings.json new file mode 100644 index 0000000000000000000000000000000000000000..752213abe18eda760d942201ff2cceccae0013df --- /dev/null +++ b/sessions/session_20260921_231046_597606/preprocessing/c6a-input-preparation-v1/native/prior_review_v1/agent_findings.json @@ -0,0 +1,259 @@ +{ + "case": "session_20260921_231046_597606/window_anchor0364-0711", + "reviewed_at_utc": "2026-10-28T19:14:38.083800+00:00", + "review_kind": "bounded agent review of the completed C2 two-hand orange-round-belt prior", + "readiness": "ready_for_owner_prior_review_with_recorded_two_hidden_arc_and_depth_contact_limitations", + "blocking_findings": [], + "owner_prior_approval": "pending; this record grants no owner acceptance or downstream authorization", + "scope": { + "goal": "Assess saved initial prior geometry and appearance initialization against this case native observations, including both hand-hidden arcs.", + "done_when": "Four input panels, four centerline overlays, eight tube overlays, five diagnostic plots, nine orbit frames and saved numerical reports are inspected and limitations recorded.", + "non_goals": [ + "No prior, mask, tracking, lifting or settings changes or reruns", + "No mechanics, trained appearance or physical fitting", + "No owner acceptance or global case-status writes" + ], + "validation": "All eight saved prior-stage return codes were 0 and packaging succeeded. Actual visual coverage is 21 images and nine directly selected orbit frames, with saved numerical reports and packet links checked." + }, + "image_path_base": "../prior_orange_v1/review", + "inspected_images": [ + "inputs/view_0_12540311.png", + "inputs/view_1_12933256.png", + "inputs/view_2_17736741.png", + "inputs/view_3_23007103.png", + "spline/centerline_0_with_masks.png", + "spline/centerline_1_with_masks.png", + "spline/centerline_2_with_masks.png", + "spline/centerline_3_with_masks.png", + "tube/silhouette_0_with_masks.png", + "tube/silhouette_1_with_masks.png", + "tube/silhouette_2_with_masks.png", + "tube/silhouette_3_with_masks.png", + "tube/silhouette_0_unmasked.png", + "tube/silhouette_1_unmasked.png", + "tube/silhouette_2_unmasked.png", + "tube/silhouette_3_unmasked.png", + "tube/tube_scale_views.png", + "spline/residual_histograms.png", + "inputs/depth_offset.png", + "colors/visibility_and_fill.png", + "hybrid/combined.png" + ], + "inspected_videos": { + "../prior_orange_v1/review/tube/orbit.mp4": { + "reported_frame_count": 36, + "fps": 12.0, + "duration_s": 3.0, + "visually_inspected_frame_indices": [ + 0, + 4, + 8, + 12, + 16, + 20, + 24, + 28, + 32 + ], + "visual_method": "Direct selected-frame reads at 0.333-second intervals; nine actual frames inspected individually. No full-decode or continuous-playback claim. The video displays tube cross-section rings." + } + }, + "inspected_data": [ + "prior_metrics.json", + "../prior_orange_v1/steps/fit.json", + "../prior_orange_v1/tube/tube_checks.json", + "../prior_orange_v1/inputs/depth_offset_diagnostic.json", + "../prior_orange_v1/steps/colors.json", + "../prior_orange_v1/steps/hybrid.json", + "../prior_orange_v1/spline/reprojection.json", + "../prior_orange_v1/inputs/reference_views.json", + "../review_v1/agent_findings.json" + ], + "saved_metrics": { + "radius_mm": 2.9499999999999997, + "reprojection_weight": 4.0, + "fit_rounds": 1, + "fit_stop": "gradient_tolerance", + "gradient_norm": 8.221720054280013e-05, + "length_mm": 638.708233833313, + "soft_length_bounds_mm": [ + 634.9999904632568, + 660.0000262260437 + ], + "distance_above_lower_length_bound_mm": 3.7082433700561523, + "arclength_bound_active_within_1mm": false, + "max_curvature_per_m": 19.331588745117188, + "curvature_soft_threshold_per_m": 10.0, + "fraction_above_curvature_soft_threshold": 0.488, + "statistical_filter": { + "method": "Open3D.remove_statistical_outlier", + "nb_neighbors": 20, + "std_ratio": 2.0, + "input_count": 13935, + "kept_count": 13304, + "removed_count": 631, + "per_view": [ + { + "view": 0, + "input": 4465, + "kept": 4180, + "removed": 285, + "live_20_0.05_kept": 3058, + "no_filter_kept": 4465 + }, + { + "view": 1, + "input": 2217, + "kept": 2141, + "removed": 76, + "live_20_0.05_kept": 1264, + "no_filter_kept": 2217 + }, + { + "view": 2, + "input": 4747, + "kept": 4608, + "removed": 139, + "live_20_0.05_kept": 3415, + "no_filter_kept": 4747 + }, + { + "view": 3, + "input": 2506, + "kept": 2375, + "removed": 131, + "live_20_0.05_kept": 1061, + "no_filter_kept": 2506 + } + ] + }, + "tube_vertices": 864, + "tube_triangles": 1728, + "saved_geometry_checks": { + "euler_characteristic": 0, + "watertight": true, + "components": 1, + "winding_consistent": true, + "signed_volume_m3": 1.6652514101467827e-05, + "minimum_outward_normal_dot_m": 0.0028403203824485922, + "degenerate_triangles": 0, + "self_intersecting": false, + "maximum_radius_error_m": 7.502513805959093e-09, + "maximum_diameter_error_m": 1.499652074916924e-08, + "bishop_seam_error": 7.450580596923828e-09, + "minimum_nonadjacent_centerline_distance_m": 0.012562499798275334, + "triangle_area_m2": { + "min": 4.526136841525479e-06, + "median": 7.0012715501660105e-06, + "mean": 6.767150272092202e-06, + "max": 8.235189297405321e-06, + "density_max_over_min": 1.8194742195708233 + }, + "bounds_m": [ + [ + -0.10920095443725586, + -0.17442503571510315, + -0.002257559448480606 + ], + [ + 0.1390976905822754, + -0.011958876624703407, + 0.00893404707312584 + ] + ], + "radius_m": 0.00295, + "step_t": 0.125, + "step_angle_deg": 30, + "passed": true, + "orientation_flipped": true + }, + "minimum_tube_z_mm": -2.257559448480606, + "depth_belt_minus_local_table_mm_by_serial": { + "12540311": 9.868233722512333, + "12933256": 5.884665654207977, + "17736741": 8.765087767786174, + "23007103": 5.219827721870796 + }, + "depth_correction_applied": false, + "initial_invalid_depth_in_mask_pixels": { + "12540311": 0, + "12933256": 0, + "17736741": 0, + "23007103": 0 + }, + "per_view": { + "12540311": { + "median_centerline_distance_mm": 4.824440460652113, + "p90_centerline_distance_mm": 8.480944763869047, + "visible_centerline_inside_mask_fraction": 0.9932885906040269, + "distance_over_10mm_fraction": 0.03397129186602871, + "selected_window_local_index": 0, + "converted_frame": 364, + "native_container_frame": 365, + "initial_grid_offset_ms": 8.605126 + }, + "12933256": { + "median_centerline_distance_mm": 6.856405641883612, + "p90_centerline_distance_mm": 8.88841226696968, + "visible_centerline_inside_mask_fraction": 0.9907407407407407, + "distance_over_10mm_fraction": 0.019617001401214387, + "selected_window_local_index": 1, + "converted_frame": 364, + "native_container_frame": 365, + "initial_grid_offset_ms": -13.368112 + }, + "17736741": { + "median_centerline_distance_mm": 7.023925660178065, + "p90_centerline_distance_mm": 9.082657378166914, + "visible_centerline_inside_mask_fraction": 0.9966216216216216, + "distance_over_10mm_fraction": 0.025173611111111112, + "selected_window_local_index": 0, + "converted_frame": 365, + "native_container_frame": 366, + "initial_grid_offset_ms": 0.0 + }, + "23007103": { + "median_centerline_distance_mm": 6.984407547861338, + "p90_centerline_distance_mm": 9.058368019759655, + "visible_centerline_inside_mask_fraction": 0.9897260273972602, + "distance_over_10mm_fraction": 0.021473684210526315, + "selected_window_local_index": 0, + "converted_frame": 364, + "native_container_frame": 365, + "initial_grid_offset_ms": 10.34887 + } + }, + "appearance_seeds": { + "observed": 13304, + "mesh": 51840, + "total": 65144, + "mesh_to_observed": 3.8965724594107036 + }, + "vertex_colors": { + "observed_vertices": 551, + "filled_vertices": 313 + }, + "mechanical_population": { + "particle_count": null, + "total_unit_mass": null, + "status": "not produced by the prior run; no post-prior mechanics are evaluated here" + } + }, + "observations": [ + "The four initial native input panels show an orange oval loop with two hand-covered arcs. Visible object masks follow the exposed belt, and no conspicuous invalid-depth patch appears in the displayed belt panels; saved invalid-depth-in-mask counts are zero for all four views.", + "Centerline and tube projections follow the visible belt closely in all four views, with small local contour offsets, including the left arc in view 0 and lower/right arc in view 2. No gross wrong-loop displacement, kink, crossing or detached component was observed.", + "Both hidden arcs remain explicit: upper/lower grips in view 0; the broad foreground hand/arm and upper-right grip in view 1; upper and lower-left grips in view 2; upper-left and right grips in view 3. View 1 hides a substantial lower/right portion of the loop. View 2 retains a small visible belt patch between the foreground fingers.", + "Spatial views and nine orbit frames show one smooth, nearly planar oval with slight height variation. The orbit displays discrete cross-section rings. One watertight component, consistent winding, zero degenerate triangles and no self-intersection are saved numerical geometry-check results, not conclusions established by the ring render.", + "The top-view depth and hybrid plots retain gaps in observed support near both hand-covered arcs and separate lateral contour bands, notably on the left inside arc. Side views show depth observations spread above and around the fitted tube. All four residual histograms have small tails beyond 10 mm; camera 17736741 has the largest median/p90 values, 7.024/9.083 mm.", + "The color plot distinguishes 551 observed-color vertices from 313 median-filled vertices, with fill on the underside and both hidden arcs. Hybrid initialization contains 13,304 observed and 51,840 mesh-derived seeds, total 65,144." + ], + "limitations": [ + "Both hand-hidden arcs and the underside remain inferred. A projection across a hand does not reveal the hidden shape, and median-filled colors are not observed texture.", + "Minimum tube z is -2.257559 mm relative to nominal table z=0. Belt-interior-minus-local-table median heights are 9.868, 5.885, 8.765 and 5.220 mm by camera order. Camera-dependent offsets and depth spread leave vertical placement and table contact uncertain; no correction was applied.", + "The 4.824-7.024 mm per-view median point-to-centerline residuals include cord radius, measurement differences and model differences. They are not ground-truth reconstruction errors. The 98.97-99.66 percent visible-centerline-in-mask fractions are not silhouette IoU.", + "One optimization round stopped at the configured gradient tolerance. Length 638.708 mm lies within the 635-660 mm soft bounds, 3.708 mm above the lower bound; the saved within-1-mm flag is false. Maximum curvature is 19.332/m, and 48.8 percent of samples exceed the soft 10/m curvature threshold. These soft-loss diagnostics do not establish global optimality.", + "The selected initial camera rows are 0, 1, 0 and 0; their saved offsets from the first derived sample are 8.605126, -13.368112, 0 and 10.34887 ms. The packet retains local, converted and native frame identities separately. A common derived sample does not mean simultaneous native capture.", + "This bounded initial-prior review inspected 21 images and nine directly selected orbit frames out of 36. It makes no full-decode or continuous-playback claim and does not repeat the completed temporal-reference review.", + "Mesh vertices and appearance seeds are separate from mechanical particles. No post-prior mechanical population, unit-mass total, trained appearance or physical-fit result is assessed here." + ] +} diff --git a/sessions/session_20260921_231046_597606/preprocessing/c6a-input-preparation-v1/native/prior_review_v1/prior_metrics.json b/sessions/session_20260921_231046_597606/preprocessing/c6a-input-preparation-v1/native/prior_review_v1/prior_metrics.json new file mode 100644 index 0000000000000000000000000000000000000000..0a04bba5e3d8e46230e9bd33c173ec8c48d2626e --- /dev/null +++ b/sessions/session_20260921_231046_597606/preprocessing/c6a-input-preparation-v1/native/prior_review_v1/prior_metrics.json @@ -0,0 +1,491 @@ +{ + "session_id": "session_20260921_231046_597606", + "prior_run": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_231046_597606/window_anchor0364-0711/accepted_input_preparation_c6a_v1/prior_orange_v1", + "owner_prior_approval": "accepted", + "visual_quality_assessment": "not performed by this 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All of them look good except for 232616, occluder mask in view 17736741 the bracelet flickers in and out. Again, if possible try to use at most 5 point prompts as anecdotally SAM2 seems to degrade if too many point prompts are provided. choose them wisely. If it can't be fixed its not a huge issue though." + }, + "12933256": { + "signoff": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_231046_597606/window_anchor0364-0711/native_inputs/cameras/12933256/review_signoff.json", + "signoff_sha256": "bc22ac7d0afae54e53643fdbce56ebd915e35d84a0eea1eaccda449f00353381", + "reviewed_by": "owner", + "decision": "accept", + "date": "2026-10-28T16:29:08Z", + "labelling_as_accepted": "inspected all masks. All of them look good except for 232616, occluder mask in view 17736741 the bracelet flickers in and out. 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If it can't be fixed its not a huge issue though." + }, + "23007103": { + "signoff": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_231046_597606/window_anchor0364-0711/native_inputs/cameras/23007103/review_signoff.json", + "signoff_sha256": "80eb7b02a2ce63b19375d5f0fc88b62aaf2a0f479029bbc1f773fa8f6741cb48", + "reviewed_by": "owner", + "decision": "accept", + "date": "2026-10-28T16:29:16Z", + "labelling_as_accepted": "inspected all masks. All of them look good except for 232616, occluder mask in view 17736741 the bracelet flickers in and out. Again, if possible try to use at most 5 point prompts as anecdotally SAM2 seems to degrade if too many point prompts are provided. choose them wisely. 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