diff --git a/.gitattributes b/.gitattributes
index 1a57ace1d47eafee6eaced54d989c0a306f658d1..e0acf4a5ea5537224000be99423261734629f70e 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -837,3 +837,4 @@ sessions/session_20260921_232822_920324/preprocessing/timing-belt-ribbon-prior-v
 sessions/session_20260921_233144_367389/preprocessing/chain-prior-lower-curvature-v2/native/gaussian_data/session_20260921_233144_367389/observation.ply filter=lfs diff=lfs merge=lfs -text
 sessions/session_20260921_233144_367389/preprocessing/chain-prior-lower-curvature-v2/native/rerun/appearance_spline_prior.rrd filter=lfs diff=lfs merge=lfs -text
 sessions/session_20260921_233144_367389/preprocessing/chain-prior-m18-lowcurvature-v1/native/rerun/appearance_spline_prior.rrd filter=lfs diff=lfs merge=lfs -text
+sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/rerun/appearance_spline_prior.rrd filter=lfs diff=lfs merge=lfs -text
diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/colors/color_summary.json b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/colors/color_summary.json
new file mode 100644
index 0000000000000000000000000000000000000000..ac0fc191fd076aa7f8bb60b7d6f0e3e34d885e7d
--- /dev/null
+++ b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-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": 640,
+      "projected_inside": 1728,
+      "first_hit": 924
+    },
+    {
+      "view": 1,
+      "serial": "12933256",
+      "observed_vertices": 719,
+      "projected_inside": 1728,
+      "first_hit": 899
+    },
+    {
+      "view": 2,
+      "serial": "17736741",
+      "observed_vertices": 643,
+      "projected_inside": 1728,
+      "first_hit": 912
+    },
+    {
+      "view": 3,
+      "serial": "23007103",
+      "observed_vertices": 781,
+      "projected_inside": 1728,
+      "first_hit": 923
+    }
+  ],
+  "observed_vertices": 1149,
+  "filled_vertices": 579,
+  "fill_color_rgb": [
+    0.20322971656294556,
+    0.16635644166967856,
+    0.15421207534277223
+  ],
+  "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_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/colors/vertex_colors.npz b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/colors/vertex_colors.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1b0125cdbf5629b91a928e6ef46388208db7f16c
--- /dev/null
+++ b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/colors/vertex_colors.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:99f5a4ae8aeb921656b630ab44103bbfe70212a250661ffd5dfbf258038ef074
+size 56328
diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_colors.log b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_colors.log
new file mode 100644
index 0000000000000000000000000000000000000000..42e7eff810c1e8d51e7e21651913aff875e7ecdc
--- /dev/null
+++ b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_colors.log
@@ -0,0 +1 @@
+colors: ok -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233144_367389/window_anchor0268-0673/accepted_input_preparation_c6a_v1/prior_chain_stronger_reprojection_v2/steps/colors.json
diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_colors_argv.json b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_colors_argv.json
new file mode 100644
index 0000000000000000000000000000000000000000..53d34ca1ee9368befa7514c1526564c82035ce49
--- /dev/null
+++ b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-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_233144_367389/window_anchor0268-0673/accepted_input_preparation_c6a_v1/prior_chain_stronger_reprojection_v2"
+  ],
+  "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026",
+  "started_utc": "2026-10-28T22:51:05.144159+00:00"
+}
diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_colors_result.json b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_colors_result.json
new file mode 100644
index 0000000000000000000000000000000000000000..dad0731eb2666cc9c2469888169141e22262f75b
--- /dev/null
+++ b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_colors_result.json
@@ -0,0 +1,5 @@
+{
+  "returncode": 0,
+  "elapsed_s_excluding_queue": 2.5460264819994336,
+  "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026"
+}
diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_fit.log b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_fit.log
new file mode 100644
index 0000000000000000000000000000000000000000..ad0afc7058cb28e02d60ff870ccc0a19a825878b
--- /dev/null
+++ b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-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_233144_367389/window_anchor0268-0673/accepted_input_preparation_c6a_v1/prior_chain_stronger_reprojection_v2/steps/fit.json
diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_fit_argv.json b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_fit_argv.json
new file mode 100644
index 0000000000000000000000000000000000000000..a3cfefde0ca007d7e7a29f9e9bf187d81fe4a30d
--- /dev/null
+++ b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-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_233144_367389/window_anchor0268-0673/accepted_input_preparation_c6a_v1/prior_chain_stronger_reprojection_v2",
+    "--outlier-filter",
+    "statistical:20:2.0",
+    "--max-rounds",
+    "400",
+    "--reprojection-weight",
+    "8.0",
+    "--baseline-run",
+    "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233144_367389/window_anchor0268-0673/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1",
+    "--chain-curvature-weight",
+    "5e-09",
+    "--chain-control-count",
+    "18"
+  ],
+  "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026",
+  "started_utc": "2026-10-28T22:50:36.707489+00:00"
+}
diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_fit_result.json b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_fit_result.json
new file mode 100644
index 0000000000000000000000000000000000000000..40ee3716de7cf4748563cd54d8d4191c43e3cd0a
--- /dev/null
+++ b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_fit_result.json
@@ -0,0 +1,5 @@
+{
+  "returncode": 0,
+  "elapsed_s_excluding_queue": 22.655370295004104,
+  "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026"
+}
diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_hybrid.log b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_hybrid.log
new file mode 100644
index 0000000000000000000000000000000000000000..c130ce177dff76df6b17da9542712a8cb91da441
--- /dev/null
+++ b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_hybrid.log
@@ -0,0 +1 @@
+hybrid: ok -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233144_367389/window_anchor0268-0673/accepted_input_preparation_c6a_v1/prior_chain_stronger_reprojection_v2/steps/hybrid.json
diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_hybrid_argv.json b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_hybrid_argv.json
new file mode 100644
index 0000000000000000000000000000000000000000..f7b18ab88ad4a85c94d4275e77c2bd9efd78576d
--- /dev/null
+++ b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-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_233144_367389/window_anchor0268-0673/accepted_input_preparation_c6a_v1/prior_chain_stronger_reprojection_v2"
+  ],
+  "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026",
+  "started_utc": "2026-10-28T22:51:07.690456+00:00"
+}
diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_hybrid_result.json b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_hybrid_result.json
new file mode 100644
index 0000000000000000000000000000000000000000..b2c51178df91e4fec5e0ef713c12fd8763662c5f
--- /dev/null
+++ b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_hybrid_result.json
@@ -0,0 +1,5 @@
+{
+  "returncode": 0,
+  "elapsed_s_excluding_queue": 2.2611869700049283,
+  "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026"
+}
diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_manifest.log b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_manifest.log
new file mode 100644
index 0000000000000000000000000000000000000000..b16616ac31981200fea10746dd24ca94fa1ece22
--- /dev/null
+++ b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_manifest.log
@@ -0,0 +1 @@
+/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233144_367389/window_anchor0268-0673/accepted_input_preparation_c6a_v1/prior_chain_stronger_reprojection_v2/manifest.json
diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_manifest_argv.json b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_manifest_argv.json
new file mode 100644
index 0000000000000000000000000000000000000000..719367b410782652a433e4f3c7e40e0b6eb2e4da
--- /dev/null
+++ b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-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_233144_367389/window_anchor0268-0673/accepted_input_preparation_c6a_v1/prior_chain_stronger_reprojection_v2"
+  ],
+  "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026",
+  "started_utc": "2026-10-28T22:51:22.480481+00:00"
+}
diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_manifest_result.json b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_manifest_result.json
new file mode 100644
index 0000000000000000000000000000000000000000..fbdedf2322a9f28c2fb662dc697d1bb8a1473625
--- /dev/null
+++ b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_manifest_result.json
@@ -0,0 +1,5 @@
+{
+  "returncode": 0,
+  "elapsed_s_excluding_queue": 1.326893513003597,
+  "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026"
+}
diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_review.log b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_review.log
new file mode 100644
index 0000000000000000000000000000000000000000..2c539f0378686c620ebe5b9c80ba6acdc27ca433
--- /dev/null
+++ b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_review.log
@@ -0,0 +1 @@
+review: ok -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233144_367389/window_anchor0268-0673/accepted_input_preparation_c6a_v1/prior_chain_stronger_reprojection_v2/steps/review.json
diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_review_argv.json b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_review_argv.json
new file mode 100644
index 0000000000000000000000000000000000000000..695808aa837a55bd72ee55fff5591a5ac5e77fea
--- /dev/null
+++ b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-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_233144_367389/window_anchor0268-0673/accepted_input_preparation_c6a_v1/prior_chain_stronger_reprojection_v2"
+  ],
+  "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026",
+  "started_utc": "2026-10-28T22:51:09.951885+00:00"
+}
diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_review_result.json b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_review_result.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d01f25732fd275fdbe699d4fe709ae8ea2801b7
--- /dev/null
+++ b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_review_result.json
@@ -0,0 +1,5 @@
+{
+  "returncode": 0,
+  "elapsed_s_excluding_queue": 12.528403839998646,
+  "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026"
+}
diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_tube.log b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_tube.log
new file mode 100644
index 0000000000000000000000000000000000000000..666951cf51cfd7cbb71d2c7f972ba95dd3b867d8
--- /dev/null
+++ b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_tube.log
@@ -0,0 +1 @@
+tube: ok -> /mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233144_367389/window_anchor0268-0673/accepted_input_preparation_c6a_v1/prior_chain_stronger_reprojection_v2/steps/tube.json
diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_tube_argv.json b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_tube_argv.json
new file mode 100644
index 0000000000000000000000000000000000000000..4c4a5d4153c7a396ae9315a3704bdd4414c26728
--- /dev/null
+++ b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-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_233144_367389/window_anchor0268-0673/accepted_input_preparation_c6a_v1/prior_chain_stronger_reprojection_v2"
+  ],
+  "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026",
+  "started_utc": "2026-10-28T22:50:59.363080+00:00"
+}
diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_tube_result.json b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_tube_result.json
new file mode 100644
index 0000000000000000000000000000000000000000..d33c3f64d79f4143b9925e9cdc206c65e6cfb6dc
--- /dev/null
+++ b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/comparison_tube_result.json
@@ -0,0 +1,5 @@
+{
+  "returncode": 0,
+  "elapsed_s_excluding_queue": 4.938233467997634,
+  "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026"
+}
diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/full_prior_complete.json b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/full_prior_complete.json
new file mode 100644
index 0000000000000000000000000000000000000000..83e0a4d70c5c86519dc8bbc449d7b59707c029bc
--- /dev/null
+++ b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/full_prior_complete.json
@@ -0,0 +1,8 @@
+{
+  "case_id": "233144",
+  "candidate": "stronger_reprojection",
+  "run": "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233144_367389/window_anchor0268-0673/accepted_input_preparation_c6a_v1/prior_chain_stronger_reprojection_v2",
+  "failed_stage": null,
+  "completed_utc": "2026-10-28T22:51:23.807545+00:00",
+  "source_commit": "98ebffe13629edeb0a9b29df973bebc5730d7026"
+}
diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/gaussian_data/session_20260921_233144_367389/shape_prior.glb b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/gaussian_data/session_20260921_233144_367389/shape_prior.glb
new file mode 100644
index 0000000000000000000000000000000000000000..f4bdba8a6656bc5865f43abbf0afe2c8308685c3
Binary files /dev/null and b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/gaussian_data/session_20260921_233144_367389/shape_prior.glb differ
diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/hybrid/populations.npz b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/hybrid/populations.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e1f8ac9f8b05070d352b991a23eb6c1befcd81bb
--- /dev/null
+++ b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/hybrid/populations.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e765c4e2f2e7d06a6fcf9b3f0edc6f9dacf9c70970c1bbce8795c3fd7016846
+size 4998062
diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/manifest.json b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..610908155e58d4a54b63406a93c2c8d63d0aa9f3
--- /dev/null
+++ b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-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": 640,
+            "projected_inside": 1728,
+            "first_hit": 924
+          },
+          {
+            "view": 1,
+            "serial": "12933256",
+            "observed_vertices": 719,
+            "projected_inside": 1728,
+            "first_hit": 899
+          },
+          {
+            "view": 2,
+            "serial": "17736741",
+            "observed_vertices": 643,
+            "projected_inside": 1728,
+            "first_hit": 912
+          },
+          {
+            "view": 3,
+            "serial": "23007103",
+            "observed_vertices": 781,
+            "projected_inside": 1728,
+            "first_hit": 923
+          }
+        ],
+        "observed_vertices": 1149,
+        "filled_vertices": 579,
+        "fill_color_rgb": [
+          0.20322971656294556,
+          0.16635644166967856,
+          0.15421207534277223
+        ],
+        "glb_roundtrip": {
+          "float32_positions_exact": true,
+          "vertex_colors_exact": true,
+          "uv_count": 0,
+          "vertex_reordered_on_open3d_load": true
+        },
+        "files": {
+          "colors/vertex_colors.npz": "99f5a4ae8aeb921656b630ab44103bbfe70212a250661ffd5dfbf258038ef074",
+          "colors/color_summary.json": "9460e97f973981f7838580ce1382fb10d6f7bb549c257e979d5256a99fa91818",
+          "tube/shape_prior.glb": "879abae9c573ae63397ef907c6db251aa72b89bf9ff3319fff21b075f2b92463",
+          "tube/tube.ply": "d9ea1aaabc734b639531967a80e4002c985ad1ea0218ba6769e99d21251f1d61",
+          "gaussian_data/session_20260921_233144_367389/shape_prior.glb": "879abae9c573ae63397ef907c6db251aa72b89bf9ff3319fff21b075f2b92463"
+        }
+      },
+      "code": {
+        "commit": "98ebffe13629edeb0a9b29df973bebc5730d7026",
+        "u_pin": "81c718790a37e5e0102eb77af2c6edd34a9db25f"
+      },
+      "wall_time_s": 1.117863416671753
+    },
+    "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": 77473,
+              "belt_interior_count": 8645,
+              "belt_edge_count": 3192,
+              "table_median_z_m": 0.00028765920542661583,
+              "belt_interior_median_z_m": 0.011429249219562454,
+              "belt_edge_median_z_m": 0.0006807872474103305,
+              "belt_minus_table_m": 0.011141590014135838,
+              "edge_minus_table_m": 0.00039312804198371465,
+              "table_p10_p90_z_m": [
+                -0.0012701288033704294,
+                0.001351437340030448
+              ],
+              "belt_interior_p10_p90_z_m": [
+                0.0016216952507591923,
+                0.014562080603049954
+              ]
+            },
+            {
+              "view": 1,
+              "serial": "12933256",
+              "annulus_count": 63183,
+              "belt_interior_count": 6875,
+              "belt_edge_count": 3005,
+              "table_median_z_m": -0.000319538680244591,
+              "belt_interior_median_z_m": 0.008569935074106083,
+              "belt_edge_median_z_m": 0.0015498022713134052,
+              "belt_minus_table_m": 0.008889473754350674,
+              "edge_minus_table_m": 0.0018693409515579962,
+              "table_p10_p90_z_m": [
+                -0.0009054129149907109,
+                0.0005208930786268829
+              ],
+              "belt_interior_p10_p90_z_m": [
+                0.0027174775876716464,
+                0.010509981919895429
+              ]
+            },
+            {
+              "view": 2,
+              "serial": "17736741",
+              "annulus_count": 76626,
+              "belt_interior_count": 6954,
+              "belt_edge_count": 3285,
+              "table_median_z_m": 0.001828788910366863,
+              "belt_interior_median_z_m": 0.013769734733784622,
+              "belt_edge_median_z_m": 0.004199165278715222,
+              "belt_minus_table_m": 0.011940945823417759,
+              "edge_minus_table_m": 0.002370376368348359,
+              "table_p10_p90_z_m": [
+                0.0005559353998176864,
+                0.0030280001379997534
+              ],
+              "belt_interior_p10_p90_z_m": [
+                0.005116030291057994,
+                0.016155329935712594
+              ]
+            },
+            {
+              "view": 3,
+              "serial": "23007103",
+              "annulus_count": 52195,
+              "belt_interior_count": 4765,
+              "belt_edge_count": 2616,
+              "table_median_z_m": 0.0006353921338045909,
+              "belt_interior_median_z_m": 0.010641929163415886,
+              "belt_edge_median_z_m": 0.003659147336598223,
+              "belt_minus_table_m": 0.010006537029611295,
+              "edge_minus_table_m": 0.003023755202793632,
+              "table_p10_p90_z_m": [
+                0.00012205246259771043,
+                0.0018055015935380502
+              ],
+              "belt_interior_p10_p90_z_m": [
+                0.005599419316574372,
+                0.013078836282047514
+              ]
+            }
+          ]
+        },
+        "files": {
+          "inputs/depth_offset_diagnostic.json": "92eb3d5e13b9f3d8c0b3b3b24fd5be29b11685584f54de61cb41d1adba6eeef8"
+        }
+      },
+      "code": {
+        "commit": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e",
+        "u_pin": "81c718790a37e5e0102eb77af2c6edd34a9db25f"
+      },
+      "wall_time_s": 0.30486583709716797
+    },
+    "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": 8.0,
+          "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_233144_367389/window_anchor0268-0673/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-09,
+          "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": 27239,
+          "kept_count": 26339,
+          "removed_count": 900,
+          "per_view": [
+            {
+              "view": 0,
+              "input": 8645,
+              "kept": 8480,
+              "removed": 165,
+              "live_20_0.05_kept": 6121,
+              "no_filter_kept": 8645
+            },
+            {
+              "view": 1,
+              "input": 6875,
+              "kept": 6557,
+              "removed": 318,
+              "live_20_0.05_kept": 3896,
+              "no_filter_kept": 6875
+            },
+            {
+              "view": 2,
+              "input": 6954,
+              "kept": 6783,
+              "removed": 171,
+              "live_20_0.05_kept": 4963,
+              "no_filter_kept": 6954
+            },
+            {
+              "view": 3,
+              "input": 4765,
+              "kept": 4519,
+              "removed": 246,
+              "live_20_0.05_kept": 1189,
+              "no_filter_kept": 4765
+            }
+          ]
+        },
+        "rounds": 1,
+        "stop": "gradient_tolerance",
+        "final": {
+          "loss": 9.294429037254304e-05,
+          "components": {
+            "distance": 2.6436840926180594e-05,
+            "curvature": 1.2765701740136137e-07,
+            "arclength": 2.086917220367468e-06,
+            "mask_reprojection_2d": 6.429287168430164e-05
+          },
+          "grad_norm": 7.992162863956764e-05,
+          "arclength_m": 0.5895682573318481,
+          "arclength_bound_active_within_1mm": true,
+          "max_curvature_per_m": 39.227989196777344,
+          "curvature_p50_p90_per_m": [
+            9.342434406280518,
+            21.996375656127924
+          ],
+          "curvature_above_max_fraction": 0.48,
+          "mean_distance_m": 0.007907245111366833,
+          "max_distance_m": 0.01780632697045803,
+          "beyond_2delta_fraction": 0.2766619841299973,
+          "at_cap_fraction": 0.0,
+          "per_view": [
+            {
+              "view": 0,
+              "count": 8480,
+              "median_m": 0.0074629574082791805,
+              "p90_m": 0.011093903612345458,
+              "max_m": 0.01485209446400404,
+              "beyond_2delta_fraction": 0.1919811320754717,
+              "at_cap_fraction": 0.0
+            },
+            {
+              "view": 1,
+              "count": 6557,
+              "median_m": 0.0061066653579473495,
+              "p90_m": 0.010635773651301864,
+              "max_m": 0.01780632697045803,
+              "beyond_2delta_fraction": 0.11926185755680951,
+              "at_cap_fraction": 0.0
+            },
+            {
+              "view": 2,
+              "count": 6783,
+              "median_m": 0.009259557351469994,
+              "p90_m": 0.012170043773949146,
+              "max_m": 0.015088371001183987,
+              "beyond_2delta_fraction": 0.4017396432257113,
+              "at_cap_fraction": 0.0
+            },
+            {
+              "view": 3,
+              "count": 4519,
+              "median_m": 0.009861292317509651,
+              "p90_m": 0.012667492963373663,
+              "max_m": 0.01604742929339409,
+              "beyond_2delta_fraction": 0.47621155122814784,
+              "at_cap_fraction": 0.0
+            }
+          ],
+          "round": 1,
+          "relative_loss_change": 0.9733169029086446
+        },
+        "deterministic": true,
+        "partial_view_witness": {
+          "source": "synthetic rounded trapezoid, four retained RP2 camera centres",
+          "control_count": 18,
+          "curvature_weight": 5e-09,
+          "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": 0.5848049521446228,
+          "mean_centerline_distance_to_truth_m": 0.003304384713212965,
+          "max_centerline_distance_to_truth_m": 0.0057414166823648,
+          "corner_truth_to_fit_mean_max_m": [
+            0.0034466403731989066,
+            0.004110262860931054
+          ],
+          "straight_truth_to_fit_mean_m": 0.003288980337124959,
+          "fit_max_curvature_per_m": 123.24449920654297,
+          "fit_curvature_nearest_corners_p50_max_per_m": [
+            49.5619010925293,
+            123.24449920654297
+          ],
+          "rounds": 1,
+          "stop": "gradient_tolerance"
+        },
+        "files": {
+          "spline/reprojection_residuals.npz": "89d7f78c6867b1e3d72fa071a831b9f81b2381b4177301708673d8f57cde20e9",
+          "spline/residuals.npz": "67bea5a30b5efeec7c7ae6c26d5722c2379f9c31e6715735555a267ecbb9a0e8",
+          "spline/filtered_cloud.npz": "68e21697a4a03433fbf255ddaae6b84d0556a0027a3e035ff7f3441a61525847",
+          "spline/spline_init.json": "19d1b7bfa714a4afe18a0831dc78c1b42c6d087a91605aaf2ee11fd8ed6af064",
+          "spline/determinism.json": "773d1a02e2924f0d7df2d5d0011979c4e408678ebfdb9633a8348b9788132683",
+          "spline/filter.json": "a64b3b76aed2c7de63cbc747c2aaf37138acf8455e4731761aee615257c0e333",
+          "spline/witness.json": "9021e8d6d6e019fa4adc745ee9b3620ff75852583b523c7918ec6ea9b265ba6a",
+          "spline/filter_removed.npz": "aa8cd5f2c6f83bf06f2d9c22d21e15414e88630bf276b1bf6f00593f36e8c5c2",
+          "spline/spline_fit.json": "251baa62b8905d4b0ecd2e763e8a1bb85b7142ca69fa8ccf2ae59fb87b1294cf",
+          "spline/reprojection_comparison.json": "0650062017a1c91b69e6098bc1dffd79788091f14bd5d7cdd21dcda90c3a1c99",
+          "spline/rounds.jsonl": "f92f83fdbeeefd4bebede093b6ed3735c21450979d8d4757a06f615d640634f0",
+          "spline/init_ellipse.json": "ca18195cdf76514f76c5e7f0c278c3a0d05584929738ac154d92ae7adf5064a9",
+          "spline/reprojection.json": "22d805b7625267859dcce673641b09158a87d2a042226e7eea5a78597bec2a8f"
+        }
+      },
+      "code": {
+        "commit": "98ebffe13629edeb0a9b29df973bebc5730d7026",
+        "u_pin": "81c718790a37e5e0102eb77af2c6edd34a9db25f"
+      },
+      "wall_time_s": 20.597996711730957
+    },
+    "hybrid": {
+      "status": "ok",
+      "settings": {
+        "u_pin": "81c718790a37e5e0102eb77af2c6edd34a9db25f",
+        "numpy_seed": 0,
+        "points_per_triangle": 30
+      },
+      "outputs": {
+        "counts": {
+          "observed": 26339,
+          "mesh": 103680,
+          "total": 130019,
+          "mesh_to_observed": 3.936368123315236
+        },
+        "files": {
+          "hybrid/populations.npz": "8e765c4e2f2e7d06a6fcf9b3f0edc6f9dacf9c70970c1bbce8795c3fd7016846"
+        }
+      },
+      "code": {
+        "commit": "98ebffe13629edeb0a9b29df973bebc5730d7026",
+        "u_pin": "81c718790a37e5e0102eb77af2c6edd34a9db25f"
+      },
+      "wall_time_s": 0.8377082347869873
+    },
+    "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_233144_367389/window_anchor0268-0673/accepted_input_preparation_c6a_v1/frames_waft/per_camera_inputs.json",
+        "frames_sha256": "d6e06f3e5125e5582ca635989671c8941f6c01faaefd9a2d4a79c1af0adf8703",
+        "signed_native_frames_sha256": {
+          "12540311": "3fd1d5d59d7142b35bf6b62556889412344d01fca12239ad7bc7726ab5d6bdbe",
+          "12933256": "09de8a0b07f1bcc209fb32e0feedb7b9a874f2128fb9af6fac1d0f5327589a5e",
+          "17736741": "d519940141bb12948aa0e4cf1e4008b7098a31ad05eb1b03aec8ad8a1485a63c",
+          "23007103": "28ddc51f544d5b8a75f4ba26662e5715d5422b0aabf4ac0928f80924c2c426ff"
+        },
+        "camera_frames_sha256": {
+          "12540311": "3596e6b3c0a6de2203154ec01cb1cdf1ce09021984be1c6a0772f9bd7eaad0e6",
+          "12933256": "36045b98d67d907627df66018bf594592bc0dd5bf42864172da62daab0573614",
+          "17736741": "8e0ac4e8b99751cc361320b6c86d34074e5912036a0dba7c1c96bcc7fba3c712",
+          "23007103": "0737a2adf4a697588ad6b8f2d3fac514f680bd919257a3c0640fee312f6b3d05"
+        },
+        "mask_erosion_px": 2,
+        "filter": {
+          "method": "Open3D.remove_statistical_outlier",
+          "nb_neighbors": 20,
+          "std_ratio": 2.0,
+          "input_count": 27239,
+          "kept_count": 26339,
+          "removed_count": 900,
+          "per_view": [
+            {
+              "view": 0,
+              "input": 8645,
+              "kept": 8480,
+              "removed": 165,
+              "live_20_0.05_kept": 6121,
+              "no_filter_kept": 8645
+            },
+            {
+              "view": 1,
+              "input": 6875,
+              "kept": 6557,
+              "removed": 318,
+              "live_20_0.05_kept": 3896,
+              "no_filter_kept": 6875
+            },
+            {
+              "view": 2,
+              "input": 6954,
+              "kept": 6783,
+              "removed": 171,
+              "live_20_0.05_kept": 4963,
+              "no_filter_kept": 6954
+            },
+            {
+              "view": 3,
+              "input": 4765,
+              "kept": 4519,
+              "removed": 246,
+              "live_20_0.05_kept": 1189,
+              "no_filter_kept": 4765
+            }
+          ]
+        },
+        "parent": null,
+        "unfitted_inputs": true,
+        "fitting_bundle_sha256": "3448216a52b5cdf004d7bb685f201d18eb6946f45d4944090640f810b7bc8844",
+        "signoffs": {
+          "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233144_367389/window_anchor0268-0673/native_inputs/cameras/12540311/review_signoff.json": "ac8f99b635e240a20f07afc3b37bdf5a0df3b9d88c3e801ba320e815716d58fa",
+          "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233144_367389/window_anchor0268-0673/native_inputs/cameras/12540311/review_signoff_occluder.json": "e072f175cda1b9d94bac25c0d25f2ea1b5fb5f3405b30f84f489f7e43c9d591e",
+          "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233144_367389/window_anchor0268-0673/native_inputs/cameras/12933256/review_signoff.json": "d1bf342ab632f2dd7e91d2e88cc088e5adb0eb6480a29186a1ea863e7ebd44fb",
+          "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233144_367389/window_anchor0268-0673/native_inputs/cameras/12933256/review_signoff_occluder.json": "32486126292b8713698624fd9db53d58477edd6d3c15088b193fa8fdbbc89acb",
+          "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233144_367389/window_anchor0268-0673/native_inputs/cameras/17736741/review_signoff.json": "b247724c480bca190800439805d951df23768d249182adb911a1b46190bb9f94",
+          "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233144_367389/window_anchor0268-0673/native_inputs/cameras/17736741/review_signoff_occluder.json": "392a97ae8b78baf50013f98a0cffe64e78f2bee8dff720f0ebd7c69b7a64a420",
+          "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233144_367389/window_anchor0268-0673/native_inputs/cameras/23007103/review_signoff.json": "501219d460bba091bfaf1680409befbb2dde94f31d7421b3e9ccb04bd1402ff2",
+          "/mnt/data2/magna/belt_perception_shared/phystwin_model_corpus_expansion/lab/session_20260921_233144_367389/window_anchor0268-0673/native_inputs/cameras/23007103/review_signoff_occluder.json": "9bbd9fde79b5205b554591047ae293f87513e0e0a3c26b990e43a74d34448cd3"
+        }
+      },
+      "outputs": {
+        "reference": {
+          "case": "session_20260921_233144_367389",
+          "grid_sample": 0,
+          "views": [
+            {
+              "index": 0,
+              "serial": "12540311",
+              "native_frame": 1,
+              "offset_ms": -15.595843,
+              "object_mask_px": 11837,
+              "invalid_depth_in_mask_px": 0,
+              "occlusion_union_px": 152811,
+              "object_and_union_px": 0,
+              "lifted_points": 8480,
+              "lifted_z_min_max_m": [
+                -0.0016041242716798854,
+                0.018831903800379024
+              ],
+              "uneroded_lifted_points": 11837,
+              "uneroded_lifted_z_min_max_m": [
+                -0.003110285045622496,
+                0.11194807001701546
+              ],
+              "eroded_lifted_points": 8645,
+              "erosion_removed_points": 3192,
+              "outlier_removed_points": 165
+            },
+            {
+              "index": 1,
+              "serial": "12933256",
+              "native_frame": 0,
+              "offset_ms": 0.0,
+              "object_mask_px": 9880,
+              "invalid_depth_in_mask_px": 0,
+              "occlusion_union_px": 138440,
+              "object_and_union_px": 0,
+              "lifted_points": 6557,
+              "lifted_z_min_max_m": [
+                -0.0007849232474669288,
+                0.01306835267079387
+              ],
+              "uneroded_lifted_points": 9880,
+              "uneroded_lifted_z_min_max_m": [
+                -0.0028175148855972276,
+                0.018339452318249738
+              ],
+              "eroded_lifted_points": 6875,
+              "erosion_removed_points": 3005,
+              "outlier_removed_points": 318
+            },
+            {
+              "index": 2,
+              "serial": "17736741",
+              "native_frame": 0,
+              "offset_ms": 12.781615,
+              "object_mask_px": 10239,
+              "invalid_depth_in_mask_px": 0,
+              "occlusion_union_px": 216876,
+              "object_and_union_px": 0,
+              "lifted_points": 6783,
+              "lifted_z_min_max_m": [
+                0.000523210650841377,
+                0.019111169567186614
+              ],
+              "uneroded_lifted_points": 10239,
+              "uneroded_lifted_z_min_max_m": [
+                -0.0014273525269234977,
+                0.019111169567186614
+              ],
+              "eroded_lifted_points": 6954,
+              "erosion_removed_points": 3285,
+              "outlier_removed_points": 171
+            },
+            {
+              "index": 3,
+              "serial": "23007103",
+              "native_frame": 1,
+              "offset_ms": -1.188865,
+              "object_mask_px": 7381,
+              "invalid_depth_in_mask_px": 0,
+              "occlusion_union_px": 177736,
+              "object_and_union_px": 0,
+              "lifted_points": 4519,
+              "lifted_z_min_max_m": [
+                0.0013823333585125663,
+                0.015872802260473162
+              ],
+              "uneroded_lifted_points": 7381,
+              "uneroded_lifted_z_min_max_m": [
+                -0.0006082859321902001,
+                0.017512980074692652
+              ],
+              "eroded_lifted_points": 4765,
+              "erosion_removed_points": 2616,
+              "outlier_removed_points": 246
+            }
+          ],
+          "observed_points": 26339,
+          "mask_erosion_px": 2
+        },
+        "files": {
+          "inputs/observed_cloud.npz": "2a5e0bbbb0e717c38f8238636e6e9c289b8a7e2ed49713dd68ed5379d73d6f9e",
+          "inputs/reference_views.json": "87cadcc07eaa3a50d25c51593d0a55e78a0fd61f6751467c8a230f92f40c658b",
+          "gaussian_data/session_20260921_233144_367389/0.png": "bcd5ca01e1c3fdae192e8e5336e1cbb683ecf2e658161c53c7956c0434da7f7a",
+          "gaussian_data/session_20260921_233144_367389/mask_0.png": "75870fba7577a578f6cca3fc9cda5033c10d7760a971e2184c9c04381c73681a",
+          "gaussian_data/session_20260921_233144_367389/mask_human_0.png": "dbb0c780af803d47659af89e7a1c3a57b66775a20d17c4dbe4dde70eba28ae7c",
+          "gaussian_data/session_20260921_233144_367389/0_depth.npy": "1b36a12338807e9d2bcd0dd7f59581ea38f94e2d1a0dd22af2be088722977c1b",
+          "gaussian_data/session_20260921_233144_367389/1.png": "9d7bca6536d4a4f0068d12f5edf4eb96d6de09872701ebdf0da61b35936e7525",
+          "gaussian_data/session_20260921_233144_367389/mask_1.png": "30b1a62bc96ce182a524df3c4f80a72121444f6106eccb866b68d182b89a011e",
+          "gaussian_data/session_20260921_233144_367389/mask_human_1.png": "1f582f5569432159c2a4a21fb8538b248f320da42cdd16ad08fd29ea800c03e2",
+          "gaussian_data/session_20260921_233144_367389/1_depth.npy": "5df97a0a64a8fcb265253cce72049ec8c7cd98268cdda898d6051ff7e5584123",
+          "gaussian_data/session_20260921_233144_367389/2.png": "1ee3ab1ab0b1bb8c6896c778152ae87b24b0606e5682b838afe074fa8057eec4",
+          "gaussian_data/session_20260921_233144_367389/mask_2.png": "d2d160e0840a71f17753b748e9e268cd45bda02b72429ec391f3a9cb4f62e0cd",
+          "gaussian_data/session_20260921_233144_367389/mask_human_2.png": "e2a8dabdd8fa24c6aa14ed4d03d2126f583627e58584282e0c3bc773d7ed9a50",
+          "gaussian_data/session_20260921_233144_367389/2_depth.npy": "76025c9be51a647156b3c8312d19a96c02ac9fb3b357afc42c13ac7f5a57aab7",
+          "gaussian_data/session_20260921_233144_367389/3.png": "3be46f5e646c40c02e93d2fe9153ada6ae94ef3a700e9cfadf6f38b6cba0801a",
+          "gaussian_data/session_20260921_233144_367389/mask_3.png": "a430a39bd2d9d9bdfc5bcf020a34244be7b36d317cafd3e59b05ee1ef365dffb",
+          "gaussian_data/session_20260921_233144_367389/mask_human_3.png": "b64d19e116e21ca9d2781b03286593809b802a77b11a05b53913d4d677a798ad",
+          "gaussian_data/session_20260921_233144_367389/3_depth.npy": "36823aba21e29fb8d31650d4ca707d513bfe2088ea81493cfe3c9d1767c19c1c",
+          "gaussian_data/session_20260921_233144_367389/camera_meta.pkl": "2dae4111b6fac60df93d25f987e510c2ac07d58522e78647ece02df185de760b",
+          "gaussian_data/session_20260921_233144_367389/interp_poses.pkl": "b90cc26123c822f0d06446ac699e110db22a86e265c56751819029a46f558b6f",
+          "gaussian_data/session_20260921_233144_367389/observation.ply": "8328895eb3d93139b8f14cf7afe2cc1b659e26678ad95983e5655c95e2211e40",
+          "spline/filter.json": "a64b3b76aed2c7de63cbc747c2aaf37138acf8455e4731761aee615257c0e333",
+          "spline/filter_removed.npz": "aa8cd5f2c6f83bf06f2d9c22d21e15414e88630bf276b1bf6f00593f36e8c5c2",
+          "spline/filtered_cloud.npz": "68e21697a4a03433fbf255ddaae6b84d0556a0027a3e035ff7f3441a61525847"
+        }
+      },
+      "code": {
+        "commit": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e",
+        "u_pin": "81c718790a37e5e0102eb77af2c6edd34a9db25f"
+      },
+      "wall_time_s": 27.86474847793579
+    },
+    "review": {
+      "status": "ok",
+      "settings": {
+        "historical_prior": null,
+        "historical_sha256": null,
+        "baseline_fit": null
+      },
+      "outputs": {
+        "review_files": 52,
+        "files": {
+          "review/hybrid/combined.png": "13b8a73000a1dc61aaa8e5fe9e8d0f9a8c20b6d772932a3e9abf5bd674fcb2bd",
+          "review/hybrid/mesh.png": "61fefa63602ae76e3c24ca7038b0ff93eebfdd75f416cb46180c9447e9af0f0b",
+          "review/hybrid/observed.png": "38ce3ee603ab904bc7f76ea7e9ed8bba5a9e0884371f917ef9a501d985acaf23",
+          "review/tube/tube_profiles.png": "f7fcd515e1a55d6abf3a24d0b596ece97331b9aa494fbd8da63e795f7ef5d815",
+          "review/tube/silhouette_1_unmasked.png": "c7f3e7d425d8df56658bd605060d55f11a8f43216ab68b7afc159f0d7316b34c",
+          "review/tube/silhouette_0_unmasked.png": "a24389276ee40e8e1f03acee54b0412badb5038c89d4efc4fc3b47c313dd2ae4",
+          "review/tube/silhouette_0_with_masks.png": "01127528ea65f09023ff0ee6f88ca5a3d61d5eff03d730596f8ffb47837525be",
+          "review/tube/silhouette_1_with_masks.png": "5f825001350dedefe2cf4112bed061fe8ecad061451f2be3a2ed755cd8d0a2eb",
+          "review/tube/silhouette_2_unmasked.png": "3d71e5e3cca6d8338cae81b5969ea25dde48ea5726c8999645d3e88fe91b88b1",
+          "review/tube/silhouette_3_with_masks.png": "9cee420bb90eb8a0ace4080f4fe19ba6c99791580493aa45de4253b69cb3341d",
+          "review/tube/silhouette_2_with_masks.png": "9b3213d4801a09c0e5ef895be559834192c83578e0d5414a81fb99cb02f670f1",
+          "review/tube/check_table.json": "841da01ab809bed260d1ea14c53f8633ec6d5ae6b8d43b8f80782069ae3ddf27",
+          "review/tube/orbit.mp4": "6ff8bd206cf09f14a6ccad951586861a3ea34a4ed945b13d28126e37ff9ef82e",
+          "review/tube/silhouette_3_unmasked.png": "3f0b69415b426425da5adefc7ffaad05d321bd0113de730b43504f2d65ed7ee6",
+          "review/tube/tube_scale_views.png": "f2fc8eb424d44ede5dc0bc1a9e9df4ecd2ae37feaf4760234773e58391811e76",
+          "review/inputs/depth_offset_table.json": "92eb3d5e13b9f3d8c0b3b3b24fd5be29b11685584f54de61cb41d1adba6eeef8",
+          "review/inputs/depth_offset.png": "7edb01fd88acec7901cfca283e6cd548231b5faf1bb38bf5ff71588411ef2320",
+          "review/inputs/view_3_23007103.png": "5b05783c4b98698245d2a9adf70722d8ec035ae4feed01108c25174fe932ab25",
+          "review/inputs/view_0_12540311.png": "9c9bfb454d5843d2828357dadb80fa1da1b1f1cc16b669b791a815a73edde1c3",
+          "review/inputs/view_1_12933256.png": "8a79d9d571c8f4414567f9e401c5ec32727221753cddbda22085078147c10d20",
+          "review/inputs/cloud_rgb.png": "c476364cd24964a1b592757895a179de065ad7e98dafb4fca6e992337a64454f",
+          "review/inputs/filter_removed.png": "fe2bcf57386b11208cb8f92ff5bf0d2aee321288c2464ffb3db09c00cd146fb1",
+          "review/inputs/cloud_by_view.png": "78045b0095df98554de05420e3dec53cdf6dddb43f740efa87a30058542500ac",
+          "review/inputs/view_2_17736741.png": "28111f879666363ac677c18fe5fcbd67f6e0c889b77cb222d0fba11c6d86e96d",
+          "review/rerun/headless_contact_sheet.png": "00137b1b6e5a9c731740da324422db585882a70b72745fa8fe9057bc1f70829e",
+          "review/spline/centerline_0_with_masks.png": "477b81cdd6382bc9cd971845f4d98c980efa1a5371ac0f39c6db3f2c11c6bdce",
+          "review/spline/centerline_3_unmasked.png": "f8b2cf93eb482b335261458dd05eccd7dfd41a858d0d566aa91a0c152a761fc3",
+          "review/spline/per_view_arc_coverage.png": "8c1293d144490b64f3344a33bb23c67f2227493b08971d226f3649b1d7fdb87b",
+          "review/spline/fit_projections.png": "c921b9bccf87067424ac93e38516054a42b215012ce385b7ed7bab7b0dfe6608",
+          "review/spline/centerline_1_unmasked.png": "549bb4ef0e9b06d55ec15aaf1a9349250b6216c0458be4ff62282bd195357a28",
+          "review/spline/centerline_2_with_masks.png": "80ae850c7693a1cff54e69e22f3bd0b0380cd927a229345abeb621e6e106dc5e",
+          "review/spline/centerline_1_with_masks.png": "a7f392609818f0e54cd8b329ce5ef09480b9ec350a99b0090df4438a716107e9",
+          "review/spline/centerline_2_unmasked.png": "940aec45af6e013904034c5aceddff8f57d0a5069e20341015eb42b80980ca41",
+          "review/spline/round_curves.png": "ed589d1619dd24c2d7258e7e0c6f387fae6fd7ec8f6e1834283ecd4820f6172b",
+          "review/spline/curvature_profile.png": "f32162507309d9517fdba49c485a904d3ae6c976664eadf87026d34957f26aad",
+          "review/spline/residual_histograms.png": "bc33b9babb4568315c224fe2963689e0523d37b167d8dd926e40eb4f6e10054b",
+          "review/spline/centerline_3_with_masks.png": "cc3627439d54e11788961f7e9e0169e281f0af1a285bd0cd0310b7a3cb27c214",
+          "review/spline/fit_3d.png": "9a34fe556afd4b4e28d39ad39f3c7edb5213f3c52d994ea7d83359b9c3463ddd",
+          "review/spline/centerline_0_unmasked.png": "c35059ca82d2ba0d471b8af0c3e7f1e420ec70b122191a89cb893cd6a5dcca15",
+          "review/colors/fill_swatch.txt": "1bfc49685ebb71a9e354e10de5a30b3751f0ae62044b8c5138383d10f76e0a3a",
+          "review/colors/view_2_visibility.png": "38a0858a3c765db0c0654228a952cb01bb80c1f88d73848a669fc54d53531a9f",
+          "review/colors/view_1_visibility.png": "a604acdb7ec6a96166c7bdb1c6930757c69ddd10e8b66eb11ca35523e88c0311",
+          "review/colors/visibility_and_fill.png": "a8f30ad1ead658ac7b87616988cc581ba6e658e75b653da5a818f8bb0a0035f7",
+          "review/colors/view_0_visibility.png": "ca6e6e62a0aca3400a6af78ca24561adad7d21d0b0c5e813090d79e83509a7d2",
+          "review/colors/fill_swatch.png": "93213bdcb2a7eb9b47445f7d28c601f311e966121c7f0570b4d457952245a091",
+          "review/colors/view_3_visibility.png": "bd2fa0a874f2788ab88383a53a19e190977723a83fd6ea20319797ea81a21df2",
+          "rerun/appearance_spline_prior.rrd": "cedd286f02d9516b30ac860de4efeaccee88c448a99032e6a26a3f3a9d1a0cf5"
+        }
+      },
+      "code": {
+        "commit": "98ebffe13629edeb0a9b29df973bebc5730d7026",
+        "u_pin": "81c718790a37e5e0102eb77af2c6edd34a9db25f"
+      },
+      "wall_time_s": 10.712546348571777
+    },
+    "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": 3.988753950276397e-05,
+          "minimum_outward_normal_dot_m": 0.0045789361996072244,
+          "degenerate_triangles": 0,
+          "self_intersecting": false,
+          "maximum_radius_error_m": 7.36314771567631e-09,
+          "maximum_diameter_error_m": 1.4711541323694788e-08,
+          "bishop_seam_error": 5.960464477539063e-08,
+          "minimum_nonadjacent_centerline_distance_m": 0.006632810951101171,
+          "triangle_area_m2": {
+            "min": 3.3363548276930293e-06,
+            "median": 4.978674734057986e-06,
+            "mean": 5.031806731543179e-06,
+            "max": 6.320388433778611e-06,
+            "density_max_over_min": 1.8943993550437004
+          },
+          "bounds_m": [
+            [
+              -0.03722784295678139,
+              -0.17418868839740753,
+              -0.0011078841052949429
+            ],
+            [
+              0.17201127111911774,
+              -0.0006560203619301319,
+              0.01636137068271637
+            ]
+          ],
+          "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": "841da01ab809bed260d1ea14c53f8633ec6d5ae6b8d43b8f80782069ae3ddf27",
+          "tube/triangle_areas.npz": "ca9df4d146808064f0c4b76abba49e018c55d9ce1a682784a504472b8384f5a1",
+          "tube/geometry.npz": "fd29f6b7504f69687c11ccdf4f691c14161dab690db115a02e22b97a82455750"
+        }
+      },
+      "code": {
+        "commit": "98ebffe13629edeb0a9b29df973bebc5730d7026",
+        "u_pin": "81c718790a37e5e0102eb77af2c6edd34a9db25f"
+      },
+      "wall_time_s": 3.2692925930023193
+    }
+  },
+  "files": {
+    "colors/color_summary.json": "9460e97f973981f7838580ce1382fb10d6f7bb549c257e979d5256a99fa91818",
+    "colors/vertex_colors.npz": "99f5a4ae8aeb921656b630ab44103bbfe70212a250661ffd5dfbf258038ef074",
+    "comparison_colors.log": "9231297e4381d45ad7890b518674ec38f171e363ba614b55a2a3b4e8ebf5e2b8",
+    "comparison_colors_argv.json": "838276a285b2743cff1dd1f4123046593bf678101ca4ae8c72d93a3e1ae35bf6",
+    "comparison_colors_result.json": "8945b6008bda478d4beddb6eeae76b0006ce5b9fd465b3e6af0bbf211d659649",
+    "comparison_fit.log": "7d10e7d43fe860290aeae335fbdd5133bb32a1bd96532ea94071378624a6a5a2",
+    "comparison_fit_argv.json": "a04483229ed4e1552283f85e33457b17bfff6d7ffb2b8f28bb77f4422b060012",
+    "comparison_fit_result.json": "ad94bb68628550ffea711ec6bc7c8b7760648849aeb62f60d5ab2d3ba88a6382",
+    "comparison_hybrid.log": "8f086f663b78d917b48f161615fb530df661d151dc7a9d61df2e0d8923ef77e5",
+    "comparison_hybrid_argv.json": "8bf8ffe34974af3ff0553125e92047646677900155da633e99f2f73a559ea3cb",
+    "comparison_hybrid_result.json": "d7e922abf24ee1ebcd8ba6f5fa0e02261e6a60c93d6ab68dbf2bb2aed5a5a98d",
+    "comparison_manifest.log": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855",
+    "comparison_manifest_argv.json": "eacd52af3c8d8a4b14e9c0310621aebf3f1910e0572b501328fdac244f060cc8",
+    "comparison_review.log": "b63cb280ae14c95f3d6a7e7a37cc70e1e74c6e632d8ef1393e6e691a44d4c016",
+    "comparison_review_argv.json": "1aec3f8ec42081e0e144ae67aa1538b35fabc64448ea5d60f9f8d48c4478efb3",
+    "comparison_review_result.json": "faf89c9afaab77aa36538beff5afc8836881724ffd714153209ee346e5948344",
+    "comparison_tube.log": "8f08ff11471a828739377440f02510aaee4f6665568b2623a69c8b704848f9a0",
+    "comparison_tube_argv.json": "90e71e87a773ba4239210a1914c76dd4fe75f7218fee484dd5b08dda83e6e0b0",
+    "comparison_tube_result.json": "998c6f16baa4150bb749e955440ef8e1fa89b7bb617fcb9601bd412dd2c740fa",
+    "gaussian_data/session_20260921_233144_367389/0.png": "bcd5ca01e1c3fdae192e8e5336e1cbb683ecf2e658161c53c7956c0434da7f7a",
+    "gaussian_data/session_20260921_233144_367389/0_depth.npy": "1b36a12338807e9d2bcd0dd7f59581ea38f94e2d1a0dd22af2be088722977c1b",
+    "gaussian_data/session_20260921_233144_367389/1.png": "9d7bca6536d4a4f0068d12f5edf4eb96d6de09872701ebdf0da61b35936e7525",
+    "gaussian_data/session_20260921_233144_367389/1_depth.npy": "5df97a0a64a8fcb265253cce72049ec8c7cd98268cdda898d6051ff7e5584123",
+    "gaussian_data/session_20260921_233144_367389/2.png": "1ee3ab1ab0b1bb8c6896c778152ae87b24b0606e5682b838afe074fa8057eec4",
+    "gaussian_data/session_20260921_233144_367389/2_depth.npy": "76025c9be51a647156b3c8312d19a96c02ac9fb3b357afc42c13ac7f5a57aab7",
+    "gaussian_data/session_20260921_233144_367389/3.png": "3be46f5e646c40c02e93d2fe9153ada6ae94ef3a700e9cfadf6f38b6cba0801a",
+    "gaussian_data/session_20260921_233144_367389/3_depth.npy": "36823aba21e29fb8d31650d4ca707d513bfe2088ea81493cfe3c9d1767c19c1c",
+    "gaussian_data/session_20260921_233144_367389/camera_meta.pkl": "2dae4111b6fac60df93d25f987e510c2ac07d58522e78647ece02df185de760b",
+    "gaussian_data/session_20260921_233144_367389/interp_poses.pkl": "b90cc26123c822f0d06446ac699e110db22a86e265c56751819029a46f558b6f",
+    "gaussian_data/session_20260921_233144_367389/mask_0.png": "75870fba7577a578f6cca3fc9cda5033c10d7760a971e2184c9c04381c73681a",
+    "gaussian_data/session_20260921_233144_367389/mask_1.png": "30b1a62bc96ce182a524df3c4f80a72121444f6106eccb866b68d182b89a011e",
+    "gaussian_data/session_20260921_233144_367389/mask_2.png": "d2d160e0840a71f17753b748e9e268cd45bda02b72429ec391f3a9cb4f62e0cd",
+    "gaussian_data/session_20260921_233144_367389/mask_3.png": "a430a39bd2d9d9bdfc5bcf020a34244be7b36d317cafd3e59b05ee1ef365dffb",
+    "gaussian_data/session_20260921_233144_367389/mask_human_0.png": "dbb0c780af803d47659af89e7a1c3a57b66775a20d17c4dbe4dde70eba28ae7c",
+    "gaussian_data/session_20260921_233144_367389/mask_human_1.png": "1f582f5569432159c2a4a21fb8538b248f320da42cdd16ad08fd29ea800c03e2",
+    "gaussian_data/session_20260921_233144_367389/mask_human_2.png": "e2a8dabdd8fa24c6aa14ed4d03d2126f583627e58584282e0c3bc773d7ed9a50",
+    "gaussian_data/session_20260921_233144_367389/mask_human_3.png": "b64d19e116e21ca9d2781b03286593809b802a77b11a05b53913d4d677a798ad",
+    "gaussian_data/session_20260921_233144_367389/observation.ply": "8328895eb3d93139b8f14cf7afe2cc1b659e26678ad95983e5655c95e2211e40",
+    "gaussian_data/session_20260921_233144_367389/shape_prior.glb": "879abae9c573ae63397ef907c6db251aa72b89bf9ff3319fff21b075f2b92463",
+    "hybrid/populations.npz": "8e765c4e2f2e7d06a6fcf9b3f0edc6f9dacf9c70970c1bbce8795c3fd7016846",
+    "inputs/depth_offset_diagnostic.json": "92eb3d5e13b9f3d8c0b3b3b24fd5be29b11685584f54de61cb41d1adba6eeef8",
+    "inputs/observed_cloud.npz": "2a5e0bbbb0e717c38f8238636e6e9c289b8a7e2ed49713dd68ed5379d73d6f9e",
+    "inputs/reference_views.json": "87cadcc07eaa3a50d25c51593d0a55e78a0fd61f6751467c8a230f92f40c658b",
+    "rerun/appearance_spline_prior.rrd": "cedd286f02d9516b30ac860de4efeaccee88c448a99032e6a26a3f3a9d1a0cf5",
+    "reused_inputs.json": "8cda9ab7021def957a419788ef8fbd50023233addc72c5bfe699e696d1adc409",
+    "review/colors/fill_swatch.png": "93213bdcb2a7eb9b47445f7d28c601f311e966121c7f0570b4d457952245a091",
+    "review/colors/fill_swatch.txt": "1bfc49685ebb71a9e354e10de5a30b3751f0ae62044b8c5138383d10f76e0a3a",
+    "review/colors/view_0_visibility.png": "ca6e6e62a0aca3400a6af78ca24561adad7d21d0b0c5e813090d79e83509a7d2",
+    "review/colors/view_1_visibility.png": "a604acdb7ec6a96166c7bdb1c6930757c69ddd10e8b66eb11ca35523e88c0311",
+    "review/colors/view_2_visibility.png": "38a0858a3c765db0c0654228a952cb01bb80c1f88d73848a669fc54d53531a9f",
+    "review/colors/view_3_visibility.png": "bd2fa0a874f2788ab88383a53a19e190977723a83fd6ea20319797ea81a21df2",
+    "review/colors/visibility_and_fill.png": "a8f30ad1ead658ac7b87616988cc581ba6e658e75b653da5a818f8bb0a0035f7",
+    "review/hybrid/combined.png": "13b8a73000a1dc61aaa8e5fe9e8d0f9a8c20b6d772932a3e9abf5bd674fcb2bd",
+    "review/hybrid/mesh.png": "61fefa63602ae76e3c24ca7038b0ff93eebfdd75f416cb46180c9447e9af0f0b",
+    "review/hybrid/observed.png": "38ce3ee603ab904bc7f76ea7e9ed8bba5a9e0884371f917ef9a501d985acaf23",
+    "review/inputs/cloud_by_view.png": "78045b0095df98554de05420e3dec53cdf6dddb43f740efa87a30058542500ac",
+    "review/inputs/cloud_rgb.png": "c476364cd24964a1b592757895a179de065ad7e98dafb4fca6e992337a64454f",
+    "review/inputs/depth_offset.png": "7edb01fd88acec7901cfca283e6cd548231b5faf1bb38bf5ff71588411ef2320",
+    "review/inputs/depth_offset_table.json": "92eb3d5e13b9f3d8c0b3b3b24fd5be29b11685584f54de61cb41d1adba6eeef8",
+    "review/inputs/filter_removed.png": "fe2bcf57386b11208cb8f92ff5bf0d2aee321288c2464ffb3db09c00cd146fb1",
+    "review/inputs/view_0_12540311.png": "9c9bfb454d5843d2828357dadb80fa1da1b1f1cc16b669b791a815a73edde1c3",
+    "review/inputs/view_1_12933256.png": "8a79d9d571c8f4414567f9e401c5ec32727221753cddbda22085078147c10d20",
+    "review/inputs/view_2_17736741.png": "28111f879666363ac677c18fe5fcbd67f6e0c889b77cb222d0fba11c6d86e96d",
+    "review/inputs/view_3_23007103.png": "5b05783c4b98698245d2a9adf70722d8ec035ae4feed01108c25174fe932ab25",
+    "review/rerun/headless_contact_sheet.png": "00137b1b6e5a9c731740da324422db585882a70b72745fa8fe9057bc1f70829e",
+    "review/spline/centerline_0_unmasked.png": "c35059ca82d2ba0d471b8af0c3e7f1e420ec70b122191a89cb893cd6a5dcca15",
+    "review/spline/centerline_0_with_masks.png": "477b81cdd6382bc9cd971845f4d98c980efa1a5371ac0f39c6db3f2c11c6bdce",
+    "review/spline/centerline_1_unmasked.png": "549bb4ef0e9b06d55ec15aaf1a9349250b6216c0458be4ff62282bd195357a28",
+    "review/spline/centerline_1_with_masks.png": "a7f392609818f0e54cd8b329ce5ef09480b9ec350a99b0090df4438a716107e9",
+    "review/spline/centerline_2_unmasked.png": "940aec45af6e013904034c5aceddff8f57d0a5069e20341015eb42b80980ca41",
+    "review/spline/centerline_2_with_masks.png": "80ae850c7693a1cff54e69e22f3bd0b0380cd927a229345abeb621e6e106dc5e",
+    "review/spline/centerline_3_unmasked.png": "f8b2cf93eb482b335261458dd05eccd7dfd41a858d0d566aa91a0c152a761fc3",
+    "review/spline/centerline_3_with_masks.png": "cc3627439d54e11788961f7e9e0169e281f0af1a285bd0cd0310b7a3cb27c214",
+    "review/spline/curvature_profile.png": "f32162507309d9517fdba49c485a904d3ae6c976664eadf87026d34957f26aad",
+    "review/spline/fit_3d.png": "9a34fe556afd4b4e28d39ad39f3c7edb5213f3c52d994ea7d83359b9c3463ddd",
+    "review/spline/fit_projections.png": "c921b9bccf87067424ac93e38516054a42b215012ce385b7ed7bab7b0dfe6608",
+    "review/spline/per_view_arc_coverage.png": "8c1293d144490b64f3344a33bb23c67f2227493b08971d226f3649b1d7fdb87b",
+    "review/spline/residual_histograms.png": "bc33b9babb4568315c224fe2963689e0523d37b167d8dd926e40eb4f6e10054b",
+    "review/spline/round_curves.png": "ed589d1619dd24c2d7258e7e0c6f387fae6fd7ec8f6e1834283ecd4820f6172b",
+    "review/tube/check_table.json": "841da01ab809bed260d1ea14c53f8633ec6d5ae6b8d43b8f80782069ae3ddf27",
+    "review/tube/orbit.mp4": "6ff8bd206cf09f14a6ccad951586861a3ea34a4ed945b13d28126e37ff9ef82e",
+    "review/tube/silhouette_0_unmasked.png": "a24389276ee40e8e1f03acee54b0412badb5038c89d4efc4fc3b47c313dd2ae4",
+    "review/tube/silhouette_0_with_masks.png": "01127528ea65f09023ff0ee6f88ca5a3d61d5eff03d730596f8ffb47837525be",
+    "review/tube/silhouette_1_unmasked.png": "c7f3e7d425d8df56658bd605060d55f11a8f43216ab68b7afc159f0d7316b34c",
+    "review/tube/silhouette_1_with_masks.png": "5f825001350dedefe2cf4112bed061fe8ecad061451f2be3a2ed755cd8d0a2eb",
+    "review/tube/silhouette_2_unmasked.png": "3d71e5e3cca6d8338cae81b5969ea25dde48ea5726c8999645d3e88fe91b88b1",
+    "review/tube/silhouette_2_with_masks.png": "9b3213d4801a09c0e5ef895be559834192c83578e0d5414a81fb99cb02f670f1",
+    "review/tube/silhouette_3_unmasked.png": "3f0b69415b426425da5adefc7ffaad05d321bd0113de730b43504f2d65ed7ee6",
+    "review/tube/silhouette_3_with_masks.png": "9cee420bb90eb8a0ace4080f4fe19ba6c99791580493aa45de4253b69cb3341d",
+    "review/tube/tube_profiles.png": "f7fcd515e1a55d6abf3a24d0b596ece97331b9aa494fbd8da63e795f7ef5d815",
+    "review/tube/tube_scale_views.png": "f2fc8eb424d44ede5dc0bc1a9e9df4ecd2ae37feaf4760234773e58391811e76",
+    "spline/determinism.json": "773d1a02e2924f0d7df2d5d0011979c4e408678ebfdb9633a8348b9788132683",
+    "spline/filter.json": "a64b3b76aed2c7de63cbc747c2aaf37138acf8455e4731761aee615257c0e333",
+    "spline/filter_removed.npz": "aa8cd5f2c6f83bf06f2d9c22d21e15414e88630bf276b1bf6f00593f36e8c5c2",
+    "spline/filtered_cloud.npz": "68e21697a4a03433fbf255ddaae6b84d0556a0027a3e035ff7f3441a61525847",
+    "spline/init_ellipse.json": "ca18195cdf76514f76c5e7f0c278c3a0d05584929738ac154d92ae7adf5064a9",
+    "spline/reprojection.json": "22d805b7625267859dcce673641b09158a87d2a042226e7eea5a78597bec2a8f",
+    "spline/reprojection_comparison.json": "0650062017a1c91b69e6098bc1dffd79788091f14bd5d7cdd21dcda90c3a1c99",
+    "spline/reprojection_residuals.npz": "89d7f78c6867b1e3d72fa071a831b9f81b2381b4177301708673d8f57cde20e9",
+    "spline/residuals.npz": "67bea5a30b5efeec7c7ae6c26d5722c2379f9c31e6715735555a267ecbb9a0e8",
+    "spline/rounds.jsonl": "f92f83fdbeeefd4bebede093b6ed3735c21450979d8d4757a06f615d640634f0",
+    "spline/spline_fit.json": "251baa62b8905d4b0ecd2e763e8a1bb85b7142ca69fa8ccf2ae59fb87b1294cf",
+    "spline/spline_init.json": "19d1b7bfa714a4afe18a0831dc78c1b42c6d087a91605aaf2ee11fd8ed6af064",
+    "spline/witness.json": "9021e8d6d6e019fa4adc745ee9b3620ff75852583b523c7918ec6ea9b265ba6a",
+    "steps/colors.json": "3be209c71c5f0ee2580eb1707432c0d1987a844875edfb4795c2c010e7d78cbb",
+    "steps/diagnose-depth.json": "1623cbe7cd56d5931017999562c131d5c9ac9ccd1f0d9276a63c289ff591736e",
+    "steps/fit.json": "4fb76f074bb918d59a384ca348eac6215efb9ca08984dfaf036d9c18766a98b9",
+    "steps/hybrid.json": "eb95b679813ecb7beb0d1db1698544657441bed11a0ae09118bf9175e6fc1d2d",
+    "steps/inputs.json": "a642fd3f354dec88337aa9da882f7415d7f766104fb5c9e635f9eac9abd485fe",
+    "steps/review.json": "64a7369eac4d754ea3f99759403ae731af75fe75540e8acb22e2d4bb85b636af",
+    "steps/tube.json": "2dc6626e7732eaad36da31d242d6374df822f4a27e25334d836d7fef33d3a829",
+    "tube/geometry.npz": "fd29f6b7504f69687c11ccdf4f691c14161dab690db115a02e22b97a82455750",
+    "tube/shape_prior.glb": "879abae9c573ae63397ef907c6db251aa72b89bf9ff3319fff21b075f2b92463",
+    "tube/triangle_areas.npz": "ca9df4d146808064f0c4b76abba49e018c55d9ce1a682784a504472b8384f5a1",
+    "tube/tube.ply": "d9ea1aaabc734b639531967a80e4002c985ad1ea0218ba6769e99d21251f1d61",
+    "tube/tube_checks.json": "841da01ab809bed260d1ea14c53f8633ec6d5ae6b8d43b8f80782069ae3ddf27"
+  }
+}
\ No newline at end of file
diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/rerun/appearance_spline_prior.rrd b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/rerun/appearance_spline_prior.rrd
new file mode 100644
index 0000000000000000000000000000000000000000..a6ea4b45a324993843cba6c1df11be657a00d5f8
--- /dev/null
+++ b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/rerun/appearance_spline_prior.rrd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cedd286f02d9516b30ac860de4efeaccee88c448a99032e6a26a3f3a9d1a0cf5
+size 26225025
diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/review/colors/fill_swatch.txt b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/review/colors/fill_swatch.txt
new file mode 100644
index 0000000000000000000000000000000000000000..73f90b090311309a3851f7bc65c60d4ce8932118
--- /dev/null
+++ b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/review/colors/fill_swatch.txt
@@ -0,0 +1,2 @@
+Per-channel median of 1149 observed vertex colours (RGB/255): [0.20322971656294556, 0.16635644166967856, 0.15421207534277223]
+Filled 579 vertices.
diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/review/colors/view_0_visibility.png b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/review/colors/view_0_visibility.png
new file mode 100644
index 0000000000000000000000000000000000000000..275873133b57258d803f7738d3b8665c61a4e3c0
--- /dev/null
+++ b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/review/colors/view_0_visibility.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca6e6e62a0aca3400a6af78ca24561adad7d21d0b0c5e813090d79e83509a7d2
+size 140478
diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/review/colors/view_1_visibility.png b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/review/colors/view_1_visibility.png
new file mode 100644
index 0000000000000000000000000000000000000000..90dcbf8f9b9ed7b59ad01f27f024c99a23c0fe0c
--- /dev/null
+++ b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/review/colors/view_1_visibility.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a604acdb7ec6a96166c7bdb1c6930757c69ddd10e8b66eb11ca35523e88c0311
+size 149226
diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/review/colors/view_2_visibility.png b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/review/colors/view_2_visibility.png
new file mode 100644
index 0000000000000000000000000000000000000000..cf2448bdecbbf412dbe584daf7f86b153533148c
--- /dev/null
+++ b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/review/colors/view_2_visibility.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:38a0858a3c765db0c0654228a952cb01bb80c1f88d73848a669fc54d53531a9f
+size 141413
diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/review/colors/view_3_visibility.png b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/review/colors/view_3_visibility.png
new file mode 100644
index 0000000000000000000000000000000000000000..e7396163fcb5bedbdab18aeb69cd2b5690b7efd0
--- /dev/null
+++ b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/review/colors/view_3_visibility.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd2fa0a874f2788ab88383a53a19e190977723a83fd6ea20319797ea81a21df2
+size 155376
diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/review/colors/visibility_and_fill.png b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/review/colors/visibility_and_fill.png
new file mode 100644
index 0000000000000000000000000000000000000000..ead383eb0a7cf34d067597dd8501d64434d9d759
--- /dev/null
+++ b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/review/colors/visibility_and_fill.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a8f30ad1ead658ac7b87616988cc581ba6e658e75b653da5a818f8bb0a0035f7
+size 168697
diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/review/hybrid/combined.png b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/review/hybrid/combined.png
new file mode 100644
index 0000000000000000000000000000000000000000..8e1d83431923ce18c527a39298f612c2462bc5a4
--- /dev/null
+++ b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/review/hybrid/combined.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13b8a73000a1dc61aaa8e5fe9e8d0f9a8c20b6d772932a3e9abf5bd674fcb2bd
+size 131926
diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/review/hybrid/mesh.png b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/review/hybrid/mesh.png
new file mode 100644
index 0000000000000000000000000000000000000000..43c1eb9c6da6615bd17d70547df7c01c6d69effa
--- /dev/null
+++ b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/review/hybrid/mesh.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:61fefa63602ae76e3c24ca7038b0ff93eebfdd75f416cb46180c9447e9af0f0b
+size 200608
diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/review/rerun/headless_contact_sheet.png b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/review/rerun/headless_contact_sheet.png
new file mode 100644
index 0000000000000000000000000000000000000000..160f26e224b6cad4cb6027ebef2f7b45656a5a2d
--- /dev/null
+++ b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/review/rerun/headless_contact_sheet.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:00137b1b6e5a9c731740da324422db585882a70b72745fa8fe9057bc1f70829e
+size 1177417
diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/review/spline/centerline_0_unmasked.png b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/review/spline/centerline_0_unmasked.png
new file mode 100644
index 0000000000000000000000000000000000000000..d2e0365e26739eb3bbef4c0da838f1a18b39418e
--- /dev/null
+++ b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/review/spline/centerline_0_unmasked.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c35059ca82d2ba0d471b8af0c3e7f1e420ec70b122191a89cb893cd6a5dcca15
+size 216200
diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/review/spline/centerline_0_with_masks.png b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/review/spline/centerline_0_with_masks.png
new file mode 100644
index 0000000000000000000000000000000000000000..da304aaff18ec0d86331fd8d9e8c53829c4297f1
--- /dev/null
+++ b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/review/spline/centerline_0_with_masks.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:477b81cdd6382bc9cd971845f4d98c980efa1a5371ac0f39c6db3f2c11c6bdce
+size 211440
diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/review/spline/centerline_1_unmasked.png b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/review/spline/centerline_1_unmasked.png
new file mode 100644
index 0000000000000000000000000000000000000000..4003e3592cdc9ff2ad3b0831a94798752eec4b39
--- /dev/null
+++ b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/review/spline/centerline_1_unmasked.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:549bb4ef0e9b06d55ec15aaf1a9349250b6216c0458be4ff62282bd195357a28
+size 171666
diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/review/spline/centerline_1_with_masks.png b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/review/spline/centerline_1_with_masks.png
new file mode 100644
index 0000000000000000000000000000000000000000..73aa8adbc9837776a6d4da943b146545f836cf5b
--- /dev/null
+++ b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/review/spline/centerline_1_with_masks.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7f392609818f0e54cd8b329ce5ef09480b9ec350a99b0090df4438a716107e9
+size 169526
diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/review/spline/centerline_2_unmasked.png b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/review/spline/centerline_2_unmasked.png
new file mode 100644
index 0000000000000000000000000000000000000000..bf70be067414de28894be0929ae869a9067ee4d3
--- /dev/null
+++ b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/review/spline/centerline_2_unmasked.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:940aec45af6e013904034c5aceddff8f57d0a5069e20341015eb42b80980ca41
+size 215586
diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/review/spline/centerline_2_with_masks.png b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/review/spline/centerline_2_with_masks.png
new file mode 100644
index 0000000000000000000000000000000000000000..0fe4f42a08dbad9c9a7a2b7c04c59489e67936eb
--- /dev/null
+++ b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/review/spline/centerline_2_with_masks.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80ae850c7693a1cff54e69e22f3bd0b0380cd927a229345abeb621e6e106dc5e
+size 213375
diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/review/spline/centerline_3_unmasked.png b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/review/spline/centerline_3_unmasked.png
new file mode 100644
index 0000000000000000000000000000000000000000..c5a7beda44a9ef8ba0f28060f3eecf025ed50248
--- /dev/null
+++ b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/review/spline/centerline_3_unmasked.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f8b2cf93eb482b335261458dd05eccd7dfd41a858d0d566aa91a0c152a761fc3
+size 146090
diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/review/spline/centerline_3_with_masks.png b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/review/spline/centerline_3_with_masks.png
new file mode 100644
index 0000000000000000000000000000000000000000..22f8b99c06ce223ce6db3d779e09d8a7ddd271e0
--- /dev/null
+++ b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/review/spline/centerline_3_with_masks.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc3627439d54e11788961f7e9e0169e281f0af1a285bd0cd0310b7a3cb27c214
+size 144727
diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/review/spline/curvature_profile.png b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/review/spline/curvature_profile.png
new file mode 100644
index 0000000000000000000000000000000000000000..dc129c47950605c3927da1b8e29b393bf62a3577
--- /dev/null
+++ b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/review/spline/curvature_profile.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f32162507309d9517fdba49c485a904d3ae6c976664eadf87026d34957f26aad
+size 62768
diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/review/spline/fit_3d.png b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/review/spline/fit_3d.png
new file mode 100644
index 0000000000000000000000000000000000000000..065e4edf5b19038e9c617e929b5620dccdeff122
--- /dev/null
+++ b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/review/spline/fit_3d.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a34fe556afd4b4e28d39ad39f3c7edb5213f3c52d994ea7d83359b9c3463ddd
+size 458058
diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/review/spline/fit_projections.png b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/review/spline/fit_projections.png
new file mode 100644
index 0000000000000000000000000000000000000000..b1635f579c49d66d82afe057a6b1eb5f4caf39a2
--- /dev/null
+++ b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/review/spline/fit_projections.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c921b9bccf87067424ac93e38516054a42b215012ce385b7ed7bab7b0dfe6608
+size 183646
diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/review/spline/per_view_arc_coverage.png b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/review/spline/per_view_arc_coverage.png
new file mode 100644
index 0000000000000000000000000000000000000000..2b019f2198281194d19889aebdd914cca4d89611
--- /dev/null
+++ b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/review/spline/per_view_arc_coverage.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c1293d144490b64f3344a33bb23c67f2227493b08971d226f3649b1d7fdb87b
+size 39655
diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/review/spline/residual_histograms.png b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/review/spline/residual_histograms.png
new file mode 100644
index 0000000000000000000000000000000000000000..04a1ce2e06f900cf9c0dff259b7556f68886995a
--- /dev/null
+++ b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/review/spline/residual_histograms.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc33b9babb4568315c224fe2963689e0523d37b167d8dd926e40eb4f6e10054b
+size 56321
diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/review/spline/round_curves.png b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/review/spline/round_curves.png
new file mode 100644
index 0000000000000000000000000000000000000000..29d4306a178800a3edc4987f93c19dfc5237bd03
--- /dev/null
+++ b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/review/spline/round_curves.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed589d1619dd24c2d7258e7e0c6f387fae6fd7ec8f6e1834283ecd4820f6172b
+size 65684
diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/review/tube/check_table.json b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/review/tube/check_table.json
new file mode 100644
index 0000000000000000000000000000000000000000..956e703c67a04ea28b5faeb6eca745c0e049b7ac
--- /dev/null
+++ b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/review/tube/check_table.json
@@ -0,0 +1,41 @@
+{
+  "euler_characteristic": 0,
+  "watertight": true,
+  "components": 1,
+  "winding_consistent": true,
+  "signed_volume_m3": 3.988753950276397e-05,
+  "minimum_outward_normal_dot_m": 0.0045789361996072244,
+  "degenerate_triangles": 0,
+  "self_intersecting": false,
+  "maximum_radius_error_m": 7.36314771567631e-09,
+  "maximum_diameter_error_m": 1.4711541323694788e-08,
+  "bishop_seam_error": 5.960464477539063e-08,
+  "minimum_nonadjacent_centerline_distance_m": 0.006632810951101171,
+  "triangle_area_m2": {
+    "min": 3.3363548276930293e-06,
+    "median": 4.978674734057986e-06,
+    "mean": 5.031806731543179e-06,
+    "max": 6.320388433778611e-06,
+    "density_max_over_min": 1.8943993550437004
+  },
+  "bounds_m": [
+    [
+      -0.03722784295678139,
+      -0.17418868839740753,
+      -0.0011078841052949429
+    ],
+    [
+      0.17201127111911774,
+      -0.0006560203619301319,
+      0.01636137068271637
+    ]
+  ],
+  "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_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/review/tube/orbit.mp4 b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/review/tube/orbit.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..514e7151cf69b835cbe71ebafb0c125d864b0363
--- /dev/null
+++ b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/review/tube/orbit.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ff8bd206cf09f14a6ccad951586861a3ea34a4ed945b13d28126e37ff9ef82e
+size 1104444
diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/review/tube/silhouette_0_unmasked.png b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/review/tube/silhouette_0_unmasked.png
new file mode 100644
index 0000000000000000000000000000000000000000..7e7b75dc7b98dee309993119e8bdf709ccd0a148
--- /dev/null
+++ b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/review/tube/silhouette_0_unmasked.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a24389276ee40e8e1f03acee54b0412badb5038c89d4efc4fc3b47c313dd2ae4
+size 203904
diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/review/tube/silhouette_0_with_masks.png b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/review/tube/silhouette_0_with_masks.png
new file mode 100644
index 0000000000000000000000000000000000000000..b4e716f76478f11b7651f376508bc7116c0c988d
--- /dev/null
+++ b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/review/tube/silhouette_0_with_masks.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:01127528ea65f09023ff0ee6f88ca5a3d61d5eff03d730596f8ffb47837525be
+size 214007
diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/review/tube/silhouette_1_unmasked.png b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/review/tube/silhouette_1_unmasked.png
new file mode 100644
index 0000000000000000000000000000000000000000..7a7a525b9284ba696b3139b7420a5bee16e0b728
--- /dev/null
+++ b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/review/tube/silhouette_1_unmasked.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c7f3e7d425d8df56658bd605060d55f11a8f43216ab68b7afc159f0d7316b34c
+size 161955
diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/review/tube/silhouette_1_with_masks.png b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/review/tube/silhouette_1_with_masks.png
new file mode 100644
index 0000000000000000000000000000000000000000..a5633eb9b93b9bd993f3bb088eafed830638dc99
--- /dev/null
+++ b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/review/tube/silhouette_1_with_masks.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f825001350dedefe2cf4112bed061fe8ecad061451f2be3a2ed755cd8d0a2eb
+size 169527
diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/review/tube/silhouette_2_unmasked.png b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/review/tube/silhouette_2_unmasked.png
new file mode 100644
index 0000000000000000000000000000000000000000..790b5cc7fa2ccb3f491108dfa77997b8334bbd56
--- /dev/null
+++ b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/review/tube/silhouette_2_unmasked.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d71e5e3cca6d8338cae81b5969ea25dde48ea5726c8999645d3e88fe91b88b1
+size 204294
diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/review/tube/silhouette_2_with_masks.png b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/review/tube/silhouette_2_with_masks.png
new file mode 100644
index 0000000000000000000000000000000000000000..917893a2cc52f3c66ac4e8fb44acea78a3bf563b
--- /dev/null
+++ b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/review/tube/silhouette_2_with_masks.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b3213d4801a09c0e5ef895be559834192c83578e0d5414a81fb99cb02f670f1
+size 212634
diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/review/tube/silhouette_3_unmasked.png b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/review/tube/silhouette_3_unmasked.png
new file mode 100644
index 0000000000000000000000000000000000000000..0e59f1fcd4c48c8b11d3732464d4af248b8b5027
--- /dev/null
+++ b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/review/tube/silhouette_3_unmasked.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f0b69415b426425da5adefc7ffaad05d321bd0113de730b43504f2d65ed7ee6
+size 138106
diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/review/tube/silhouette_3_with_masks.png b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/review/tube/silhouette_3_with_masks.png
new file mode 100644
index 0000000000000000000000000000000000000000..f6b235e345a126b088656bb1961699ce70ad2f1b
--- /dev/null
+++ b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/review/tube/silhouette_3_with_masks.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9cee420bb90eb8a0ace4080f4fe19ba6c99791580493aa45de4253b69cb3341d
+size 144811
diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/review/tube/tube_profiles.png b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/review/tube/tube_profiles.png
new file mode 100644
index 0000000000000000000000000000000000000000..c89365f9be62a6da013824f7771d17fe212a7480
--- /dev/null
+++ b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/review/tube/tube_profiles.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f7fcd515e1a55d6abf3a24d0b596ece97331b9aa494fbd8da63e795f7ef5d815
+size 474535
diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/review/tube/tube_scale_views.png b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/review/tube/tube_scale_views.png
new file mode 100644
index 0000000000000000000000000000000000000000..4ab4e61cd4875a152851f221853a58ca85e444e6
--- /dev/null
+++ b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/review/tube/tube_scale_views.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2fc8eb424d44ede5dc0bc1a9e9df4ecd2ae37feaf4760234773e58391811e76
+size 263502
diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/spline/reprojection.json b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/spline/reprojection.json
new file mode 100644
index 0000000000000000000000000000000000000000..7900fdededf70d1a44973baa74171de4b4aab5e0
--- /dev/null
+++ b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-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": 11837,
+      "median_depth_m": 1.105,
+      "mean_m": 0.003735343751739817,
+      "median_m": 0.0034843788982724835,
+      "p90_m": 0.007020619780299302,
+      "mean_px": 5.0898076146804705,
+      "median_px": 4.747824383417003,
+      "p90_px": 9.566369681664586,
+      "visible_centerline_samples": 302,
+      "outside_mask_fraction": 0.006622516556291391
+    },
+    {
+      "view": 1,
+      "serial": "12933256",
+      "mask_pixels": 9880,
+      "median_depth_m": 1.107,
+      "mean_m": 0.003496376582560866,
+      "median_m": 0.003292924289266766,
+      "p90_m": 0.006470746425658282,
+      "mean_px": 4.6908673953388815,
+      "median_px": 4.417906606366624,
+      "p90_px": 8.68139758293464,
+      "visible_centerline_samples": 360,
+      "outside_mask_fraction": 0.03333333333333333
+    },
+    {
+      "view": 2,
+      "serial": "17736741",
+      "mask_pixels": 10239,
+      "median_depth_m": 1.1320000000000001,
+      "mean_m": 0.0033421591865247695,
+      "median_m": 0.0031183565993408587,
+      "p90_m": 0.006243078441302662,
+      "mean_px": 4.4553616802057565,
+      "median_px": 4.1570361241029845,
+      "p90_px": 8.322514645563242,
+      "visible_centerline_samples": 314,
+      "outside_mask_fraction": 0.006369426751592357
+    },
+    {
+      "view": 3,
+      "serial": "23007103",
+      "mask_pixels": 7381,
+      "median_depth_m": 0.97,
+      "mean_m": 0.003548484175661117,
+      "median_m": 0.0033569563430312604,
+      "p90_m": 0.006596262349886009,
+      "mean_px": 3.8572869587176886,
+      "median_px": 3.6491096692783365,
+      "p90_px": 7.170262760677347,
+      "visible_centerline_samples": 358,
+      "outside_mask_fraction": 0.013966480446927373
+    }
+  ],
+  "mean_of_view_means_m": 0.0035305909241216426
+}
\ No newline at end of file
diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/spline/reprojection_comparison.json b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/spline/reprojection_comparison.json
new file mode 100644
index 0000000000000000000000000000000000000000..2e1560e1c9621582dee1102c80378f6d68d50d21
--- /dev/null
+++ b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-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_233144_367389/window_anchor0268-0673/accepted_input_preparation_c6a_v1/prior_chain_m18_lowcurvature_v1/spline/spline_fit.json",
+  "baseline_fit_sha256": "32e3eed4983d3822010585d2c629079ed88c8a7d7d21425745da289c6e6b0455",
+  "baseline_2d": {
+    "samples": 360,
+    "direction": "visible mask pixels to projected centerline",
+    "per_view": [
+      {
+        "view": 0,
+        "serial": "12540311",
+        "mask_pixels": 11837,
+        "median_depth_m": 1.105,
+        "mean_m": 0.003842165209911372,
+        "median_m": 0.00349229582922375,
+        "p90_m": 0.0073345671138542986,
+        "mean_px": 5.235363121445776,
+        "median_px": 4.758663453441948,
+        "p90_px": 9.994139373105343,
+        "visible_centerline_samples": 304,
+        "outside_mask_fraction": 0.009868421052631578
+      },
+      {
+        "view": 1,
+        "serial": "12933256",
+        "mask_pixels": 9880,
+        "median_depth_m": 1.107,
+        "mean_m": 0.0036983491453539455,
+        "median_m": 0.0033416394930684966,
+        "p90_m": 0.007197773913100923,
+        "mean_px": 4.961841194360668,
+        "median_px": 4.483253156176373,
+        "p90_px": 9.656799498505404,
+        "visible_centerline_samples": 359,
+        "outside_mask_fraction": 0.033426183844011144
+      },
+      {
+        "view": 2,
+        "serial": "17736741",
+        "mask_pixels": 10239,
+        "median_depth_m": 1.1320000000000001,
+        "mean_m": 0.003439528602072274,
+        "median_m": 0.0031496446555812673,
+        "p90_m": 0.00650965861720811,
+        "mean_px": 4.585162566681983,
+        "median_px": 4.198715760870653,
+        "p90_px": 8.677863958516385,
+        "visible_centerline_samples": 315,
+        "outside_mask_fraction": 0.015873015873015872
+      },
+      {
+        "view": 3,
+        "serial": "23007103",
+        "mask_pixels": 7381,
+        "median_depth_m": 0.97,
+        "mean_m": 0.0037258939097665916,
+        "median_m": 0.0033774088660603174,
+        "p90_m": 0.0073275023983299485,
+        "mean_px": 4.050135519176087,
+        "median_px": 3.6713116993234682,
+        "p90_px": 7.965176676108342,
+        "visible_centerline_samples": 358,
+        "outside_mask_fraction": 0.013966480446927373
+      }
+    ],
+    "mean_of_view_means_m": 0.0036764842167760453
+  },
+  "refit_2d": {
+    "samples": 360,
+    "direction": "visible mask pixels to projected centerline",
+    "per_view": [
+      {
+        "view": 0,
+        "serial": "12540311",
+        "mask_pixels": 11837,
+        "median_depth_m": 1.105,
+        "mean_m": 0.003735343751739817,
+        "median_m": 0.0034843788982724835,
+        "p90_m": 0.007020619780299302,
+        "mean_px": 5.0898076146804705,
+        "median_px": 4.747824383417003,
+        "p90_px": 9.566369681664586,
+        "visible_centerline_samples": 302,
+        "outside_mask_fraction": 0.006622516556291391
+      },
+      {
+        "view": 1,
+        "serial": "12933256",
+        "mask_pixels": 9880,
+        "median_depth_m": 1.107,
+        "mean_m": 0.003496376582560866,
+        "median_m": 0.003292924289266766,
+        "p90_m": 0.006470746425658282,
+        "mean_px": 4.6908673953388815,
+        "median_px": 4.417906606366624,
+        "p90_px": 8.68139758293464,
+        "visible_centerline_samples": 360,
+        "outside_mask_fraction": 0.03333333333333333
+      },
+      {
+        "view": 2,
+        "serial": "17736741",
+        "mask_pixels": 10239,
+        "median_depth_m": 1.1320000000000001,
+        "mean_m": 0.0033421591865247695,
+        "median_m": 0.0031183565993408587,
+        "p90_m": 0.006243078441302662,
+        "mean_px": 4.4553616802057565,
+        "median_px": 4.1570361241029845,
+        "p90_px": 8.322514645563242,
+        "visible_centerline_samples": 314,
+        "outside_mask_fraction": 0.006369426751592357
+      },
+      {
+        "view": 3,
+        "serial": "23007103",
+        "mask_pixels": 7381,
+        "median_depth_m": 0.97,
+        "mean_m": 0.003548484175661117,
+        "median_m": 0.0033569563430312604,
+        "p90_m": 0.006596262349886009,
+        "mean_px": 3.8572869587176886,
+        "median_px": 3.6491096692783365,
+        "p90_px": 7.170262760677347,
+        "visible_centerline_samples": 358,
+        "outside_mask_fraction": 0.013966480446927373
+      }
+    ],
+    "mean_of_view_means_m": 0.0035305909241216426
+  },
+  "baseline_3d_mean_m": 0.007389499805867672,
+  "refit_3d_mean_m": 0.007907245111366833,
+  "baseline_3d_median_by_view_m": [
+    0.00687211100012064,
+    0.0058602094650268555,
+    0.008450270630419254,
+    0.009255929850041866
+  ],
+  "refit_3d_median_by_view_m": [
+    0.0074629574082791805,
+    0.0061066653579473495,
+    0.009259557351469994,
+    0.009861292317509651
+  ]
+}
\ No newline at end of file
diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/spline/reprojection_residuals.npz b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/spline/reprojection_residuals.npz
new file mode 100644
index 0000000000000000000000000000000000000000..22141613449562bd5d877f9c84ed1571b14d5346
--- /dev/null
+++ b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/spline/reprojection_residuals.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:89d7f78c6867b1e3d72fa071a831b9f81b2381b4177301708673d8f57cde20e9
+size 1259800
diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/spline/residuals.npz b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/spline/residuals.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7c3ab830b3a66e813eb1521d2f1d5fb5209d08da
--- /dev/null
+++ b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/spline/residuals.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:67bea5a30b5efeec7c7ae6c26d5722c2379f9c31e6715735555a267ecbb9a0e8
+size 1475990
diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/spline/rounds.jsonl b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/spline/rounds.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c5767d06781d39b451f2047542fb6e3aa40f8e36
--- /dev/null
+++ b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/spline/rounds.jsonl
@@ -0,0 +1 @@
+{"loss": 9.294429037254304e-05, "components": {"distance": 2.6436840926180594e-05, "curvature": 1.2765701740136137e-07, "arclength": 2.086917220367468e-06, "mask_reprojection_2d": 6.429287168430164e-05}, "grad_norm": 7.992162863956764e-05, "arclength_m": 0.5895682573318481, "arclength_bound_active_within_1mm": true, "max_curvature_per_m": 39.227989196777344, "curvature_p50_p90_per_m": [9.342434406280518, 21.996375656127924], "curvature_above_max_fraction": 0.48, "mean_distance_m": 0.007907245111366833, "max_distance_m": 0.01780632697045803, "beyond_2delta_fraction": 0.2766619841299973, "at_cap_fraction": 0.0, "per_view": [{"view": 0, "count": 8480, "median_m": 0.0074629574082791805, "p90_m": 0.011093903612345458, "max_m": 0.01485209446400404, "beyond_2delta_fraction": 0.1919811320754717, "at_cap_fraction": 0.0}, {"view": 1, "count": 6557, "median_m": 0.0061066653579473495, "p90_m": 0.010635773651301864, "max_m": 0.01780632697045803, "beyond_2delta_fraction": 0.11926185755680951, "at_cap_fraction": 0.0}, {"view": 2, "count": 6783, "median_m": 0.009259557351469994, "p90_m": 0.012170043773949146, "max_m": 0.015088371001183987, "beyond_2delta_fraction": 0.4017396432257113, "at_cap_fraction": 0.0}, {"view": 3, "count": 4519, "median_m": 0.009861292317509651, "p90_m": 0.012667492963373663, "max_m": 0.01604742929339409, "beyond_2delta_fraction": 0.47621155122814784, "at_cap_fraction": 0.0}], "round": 1, "relative_loss_change": 0.9733169029086446}
diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/spline/spline_fit.json b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/spline/spline_fit.json
new file mode 100644
index 0000000000000000000000000000000000000000..c89db270330c7329e91b26fd133d7c0014747072
--- /dev/null
+++ b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/spline/spline_fit.json
@@ -0,0 +1,98 @@
+{
+  "version": 1,
+  "M": 18,
+  "basis_function": "JaxB3",
+  "closed": true,
+  "control_points": [
+    [
+      0.16474241018295288,
+      -0.14767560362815857,
+      0.004304578062146902
+    ],
+    [
+      0.14803887903690338,
+      -0.17052599787712097,
+      0.004239615984261036
+    ],
+    [
+      0.1153605505824089,
+      -0.16934098303318024,
+      0.004063206259161234
+    ],
+    [
+      0.08486256748437881,
+      -0.16492964327335358,
+      0.004070874769240618
+    ],
+    [
+      0.05553967505693436,
+      -0.15816466510295868,
+      0.004558341111987829
+    ],
+    [
+      0.023633936420083046,
+      -0.15673163533210754,
+      0.004035967867821455
+    ],
+    [
+      -0.009030641056597233,
+      -0.15137694776058197,
+      0.004089672118425369
+    ],
+    [
+      -0.02436528354883194,
+      -0.12472344189882278,
+      0.004378498066216707
+    ],
+    [
+      -0.030277390033006668,
+      -0.09244360774755478,
+      0.003560552839189768
+    ],
+    [
+      -0.03496028110384941,
+      -0.060238733887672424,
+      0.003621391486376524
+    ],
+    [
+      -0.021058347076177597,
+      -0.026352183893322945,
+      0.006162410601973534
+    ],
+    [
+      0.01591794565320015,
+      -0.008330186828970909,
+      0.009033001028001308
+    ],
+    [
+      0.052936967462301254,
+      -0.0023433887399733067,
+      0.009490306489169598
+    ],
+    [
+      0.08288991451263428,
+      -0.017843782901763916,
+      0.012044399045407772
+    ],
+    [
+      0.11074752360582352,
+      -0.031025763601064682,
+      0.011388175189495087
+    ],
+    [
+      0.13861560821533203,
+      -0.05129799619317055,
+      0.006761137396097183
+    ],
+    [
+      0.16399337351322174,
+      -0.074693962931633,
+      0.0046941670589149
+    ],
+    [
+      0.16871607303619385,
+      -0.11202973127365112,
+      0.0035029291175305843
+    ]
+  ]
+}
\ No newline at end of file
diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/steps/colors.json b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/steps/colors.json
new file mode 100644
index 0000000000000000000000000000000000000000..e6846e36b12e339b58b0d7317c41d4fafe428956
--- /dev/null
+++ b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-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": 640,
+        "projected_inside": 1728,
+        "first_hit": 924
+      },
+      {
+        "view": 1,
+        "serial": "12933256",
+        "observed_vertices": 719,
+        "projected_inside": 1728,
+        "first_hit": 899
+      },
+      {
+        "view": 2,
+        "serial": "17736741",
+        "observed_vertices": 643,
+        "projected_inside": 1728,
+        "first_hit": 912
+      },
+      {
+        "view": 3,
+        "serial": "23007103",
+        "observed_vertices": 781,
+        "projected_inside": 1728,
+        "first_hit": 923
+      }
+    ],
+    "observed_vertices": 1149,
+    "filled_vertices": 579,
+    "fill_color_rgb": [
+      0.20322971656294556,
+      0.16635644166967856,
+      0.15421207534277223
+    ],
+    "glb_roundtrip": {
+      "float32_positions_exact": true,
+      "vertex_colors_exact": true,
+      "uv_count": 0,
+      "vertex_reordered_on_open3d_load": true
+    },
+    "files": {
+      "colors/vertex_colors.npz": "99f5a4ae8aeb921656b630ab44103bbfe70212a250661ffd5dfbf258038ef074",
+      "colors/color_summary.json": "9460e97f973981f7838580ce1382fb10d6f7bb549c257e979d5256a99fa91818",
+      "tube/shape_prior.glb": "879abae9c573ae63397ef907c6db251aa72b89bf9ff3319fff21b075f2b92463",
+      "tube/tube.ply": "d9ea1aaabc734b639531967a80e4002c985ad1ea0218ba6769e99d21251f1d61",
+      "gaussian_data/session_20260921_233144_367389/shape_prior.glb": "879abae9c573ae63397ef907c6db251aa72b89bf9ff3319fff21b075f2b92463"
+    }
+  },
+  "code": {
+    "commit": "98ebffe13629edeb0a9b29df973bebc5730d7026",
+    "u_pin": "81c718790a37e5e0102eb77af2c6edd34a9db25f"
+  },
+  "wall_time_s": 1.117863416671753
+}
\ No newline at end of file
diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/steps/fit.json b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/steps/fit.json
new file mode 100644
index 0000000000000000000000000000000000000000..666dc0c7f0c92c7c7101a2a49181d889e576cdd6
--- /dev/null
+++ b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-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": 8.0,
+      "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_233144_367389/window_anchor0268-0673/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-09,
+      "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": 27239,
+      "kept_count": 26339,
+      "removed_count": 900,
+      "per_view": [
+        {
+          "view": 0,
+          "input": 8645,
+          "kept": 8480,
+          "removed": 165,
+          "live_20_0.05_kept": 6121,
+          "no_filter_kept": 8645
+        },
+        {
+          "view": 1,
+          "input": 6875,
+          "kept": 6557,
+          "removed": 318,
+          "live_20_0.05_kept": 3896,
+          "no_filter_kept": 6875
+        },
+        {
+          "view": 2,
+          "input": 6954,
+          "kept": 6783,
+          "removed": 171,
+          "live_20_0.05_kept": 4963,
+          "no_filter_kept": 6954
+        },
+        {
+          "view": 3,
+          "input": 4765,
+          "kept": 4519,
+          "removed": 246,
+          "live_20_0.05_kept": 1189,
+          "no_filter_kept": 4765
+        }
+      ]
+    },
+    "rounds": 1,
+    "stop": "gradient_tolerance",
+    "final": {
+      "loss": 9.294429037254304e-05,
+      "components": {
+        "distance": 2.6436840926180594e-05,
+        "curvature": 1.2765701740136137e-07,
+        "arclength": 2.086917220367468e-06,
+        "mask_reprojection_2d": 6.429287168430164e-05
+      },
+      "grad_norm": 7.992162863956764e-05,
+      "arclength_m": 0.5895682573318481,
+      "arclength_bound_active_within_1mm": true,
+      "max_curvature_per_m": 39.227989196777344,
+      "curvature_p50_p90_per_m": [
+        9.342434406280518,
+        21.996375656127924
+      ],
+      "curvature_above_max_fraction": 0.48,
+      "mean_distance_m": 0.007907245111366833,
+      "max_distance_m": 0.01780632697045803,
+      "beyond_2delta_fraction": 0.2766619841299973,
+      "at_cap_fraction": 0.0,
+      "per_view": [
+        {
+          "view": 0,
+          "count": 8480,
+          "median_m": 0.0074629574082791805,
+          "p90_m": 0.011093903612345458,
+          "max_m": 0.01485209446400404,
+          "beyond_2delta_fraction": 0.1919811320754717,
+          "at_cap_fraction": 0.0
+        },
+        {
+          "view": 1,
+          "count": 6557,
+          "median_m": 0.0061066653579473495,
+          "p90_m": 0.010635773651301864,
+          "max_m": 0.01780632697045803,
+          "beyond_2delta_fraction": 0.11926185755680951,
+          "at_cap_fraction": 0.0
+        },
+        {
+          "view": 2,
+          "count": 6783,
+          "median_m": 0.009259557351469994,
+          "p90_m": 0.012170043773949146,
+          "max_m": 0.015088371001183987,
+          "beyond_2delta_fraction": 0.4017396432257113,
+          "at_cap_fraction": 0.0
+        },
+        {
+          "view": 3,
+          "count": 4519,
+          "median_m": 0.009861292317509651,
+          "p90_m": 0.012667492963373663,
+          "max_m": 0.01604742929339409,
+          "beyond_2delta_fraction": 0.47621155122814784,
+          "at_cap_fraction": 0.0
+        }
+      ],
+      "round": 1,
+      "relative_loss_change": 0.9733169029086446
+    },
+    "deterministic": true,
+    "partial_view_witness": {
+      "source": "synthetic rounded trapezoid, four retained RP2 camera centres",
+      "control_count": 18,
+      "curvature_weight": 5e-09,
+      "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": 0.5848049521446228,
+      "mean_centerline_distance_to_truth_m": 0.003304384713212965,
+      "max_centerline_distance_to_truth_m": 0.0057414166823648,
+      "corner_truth_to_fit_mean_max_m": [
+        0.0034466403731989066,
+        0.004110262860931054
+      ],
+      "straight_truth_to_fit_mean_m": 0.003288980337124959,
+      "fit_max_curvature_per_m": 123.24449920654297,
+      "fit_curvature_nearest_corners_p50_max_per_m": [
+        49.5619010925293,
+        123.24449920654297
+      ],
+      "rounds": 1,
+      "stop": "gradient_tolerance"
+    },
+    "files": {
+      "spline/reprojection_residuals.npz": "89d7f78c6867b1e3d72fa071a831b9f81b2381b4177301708673d8f57cde20e9",
+      "spline/residuals.npz": "67bea5a30b5efeec7c7ae6c26d5722c2379f9c31e6715735555a267ecbb9a0e8",
+      "spline/filtered_cloud.npz": "68e21697a4a03433fbf255ddaae6b84d0556a0027a3e035ff7f3441a61525847",
+      "spline/spline_init.json": "19d1b7bfa714a4afe18a0831dc78c1b42c6d087a91605aaf2ee11fd8ed6af064",
+      "spline/determinism.json": "773d1a02e2924f0d7df2d5d0011979c4e408678ebfdb9633a8348b9788132683",
+      "spline/filter.json": "a64b3b76aed2c7de63cbc747c2aaf37138acf8455e4731761aee615257c0e333",
+      "spline/witness.json": "9021e8d6d6e019fa4adc745ee9b3620ff75852583b523c7918ec6ea9b265ba6a",
+      "spline/filter_removed.npz": "aa8cd5f2c6f83bf06f2d9c22d21e15414e88630bf276b1bf6f00593f36e8c5c2",
+      "spline/spline_fit.json": "251baa62b8905d4b0ecd2e763e8a1bb85b7142ca69fa8ccf2ae59fb87b1294cf",
+      "spline/reprojection_comparison.json": "0650062017a1c91b69e6098bc1dffd79788091f14bd5d7cdd21dcda90c3a1c99",
+      "spline/rounds.jsonl": "f92f83fdbeeefd4bebede093b6ed3735c21450979d8d4757a06f615d640634f0",
+      "spline/init_ellipse.json": "ca18195cdf76514f76c5e7f0c278c3a0d05584929738ac154d92ae7adf5064a9",
+      "spline/reprojection.json": "22d805b7625267859dcce673641b09158a87d2a042226e7eea5a78597bec2a8f"
+    }
+  },
+  "code": {
+    "commit": "98ebffe13629edeb0a9b29df973bebc5730d7026",
+    "u_pin": "81c718790a37e5e0102eb77af2c6edd34a9db25f"
+  },
+  "wall_time_s": 20.597996711730957
+}
\ No newline at end of file
diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/steps/hybrid.json b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/steps/hybrid.json
new file mode 100644
index 0000000000000000000000000000000000000000..19317d74655b3aadcb0f1342df34cc82bf67e77e
--- /dev/null
+++ b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-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": 26339,
+      "mesh": 103680,
+      "total": 130019,
+      "mesh_to_observed": 3.936368123315236
+    },
+    "files": {
+      "hybrid/populations.npz": "8e765c4e2f2e7d06a6fcf9b3f0edc6f9dacf9c70970c1bbce8795c3fd7016846"
+    }
+  },
+  "code": {
+    "commit": "98ebffe13629edeb0a9b29df973bebc5730d7026",
+    "u_pin": "81c718790a37e5e0102eb77af2c6edd34a9db25f"
+  },
+  "wall_time_s": 0.8377082347869873
+}
\ No newline at end of file
diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/steps/review.json b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/steps/review.json
new file mode 100644
index 0000000000000000000000000000000000000000..035df88e1a8a7cc83f8fc1858e774c26bd1b3492
--- /dev/null
+++ b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/steps/review.json
@@ -0,0 +1,65 @@
+{
+  "status": "ok",
+  "settings": {
+    "historical_prior": null,
+    "historical_sha256": null,
+    "baseline_fit": null
+  },
+  "outputs": {
+    "review_files": 52,
+    "files": {
+      "review/hybrid/combined.png": "13b8a73000a1dc61aaa8e5fe9e8d0f9a8c20b6d772932a3e9abf5bd674fcb2bd",
+      "review/hybrid/mesh.png": "61fefa63602ae76e3c24ca7038b0ff93eebfdd75f416cb46180c9447e9af0f0b",
+      "review/hybrid/observed.png": "38ce3ee603ab904bc7f76ea7e9ed8bba5a9e0884371f917ef9a501d985acaf23",
+      "review/tube/tube_profiles.png": "f7fcd515e1a55d6abf3a24d0b596ece97331b9aa494fbd8da63e795f7ef5d815",
+      "review/tube/silhouette_1_unmasked.png": "c7f3e7d425d8df56658bd605060d55f11a8f43216ab68b7afc159f0d7316b34c",
+      "review/tube/silhouette_0_unmasked.png": "a24389276ee40e8e1f03acee54b0412badb5038c89d4efc4fc3b47c313dd2ae4",
+      "review/tube/silhouette_0_with_masks.png": "01127528ea65f09023ff0ee6f88ca5a3d61d5eff03d730596f8ffb47837525be",
+      "review/tube/silhouette_1_with_masks.png": "5f825001350dedefe2cf4112bed061fe8ecad061451f2be3a2ed755cd8d0a2eb",
+      "review/tube/silhouette_2_unmasked.png": "3d71e5e3cca6d8338cae81b5969ea25dde48ea5726c8999645d3e88fe91b88b1",
+      "review/tube/silhouette_3_with_masks.png": "9cee420bb90eb8a0ace4080f4fe19ba6c99791580493aa45de4253b69cb3341d",
+      "review/tube/silhouette_2_with_masks.png": "9b3213d4801a09c0e5ef895be559834192c83578e0d5414a81fb99cb02f670f1",
+      "review/tube/check_table.json": "841da01ab809bed260d1ea14c53f8633ec6d5ae6b8d43b8f80782069ae3ddf27",
+      "review/tube/orbit.mp4": "6ff8bd206cf09f14a6ccad951586861a3ea34a4ed945b13d28126e37ff9ef82e",
+      "review/tube/silhouette_3_unmasked.png": "3f0b69415b426425da5adefc7ffaad05d321bd0113de730b43504f2d65ed7ee6",
+      "review/tube/tube_scale_views.png": "f2fc8eb424d44ede5dc0bc1a9e9df4ecd2ae37feaf4760234773e58391811e76",
+      "review/inputs/depth_offset_table.json": "92eb3d5e13b9f3d8c0b3b3b24fd5be29b11685584f54de61cb41d1adba6eeef8",
+      "review/inputs/depth_offset.png": "7edb01fd88acec7901cfca283e6cd548231b5faf1bb38bf5ff71588411ef2320",
+      "review/inputs/view_3_23007103.png": "5b05783c4b98698245d2a9adf70722d8ec035ae4feed01108c25174fe932ab25",
+      "review/inputs/view_0_12540311.png": "9c9bfb454d5843d2828357dadb80fa1da1b1f1cc16b669b791a815a73edde1c3",
+      "review/inputs/view_1_12933256.png": "8a79d9d571c8f4414567f9e401c5ec32727221753cddbda22085078147c10d20",
+      "review/inputs/cloud_rgb.png": "c476364cd24964a1b592757895a179de065ad7e98dafb4fca6e992337a64454f",
+      "review/inputs/filter_removed.png": "fe2bcf57386b11208cb8f92ff5bf0d2aee321288c2464ffb3db09c00cd146fb1",
+      "review/inputs/cloud_by_view.png": "78045b0095df98554de05420e3dec53cdf6dddb43f740efa87a30058542500ac",
+      "review/inputs/view_2_17736741.png": "28111f879666363ac677c18fe5fcbd67f6e0c889b77cb222d0fba11c6d86e96d",
+      "review/rerun/headless_contact_sheet.png": "00137b1b6e5a9c731740da324422db585882a70b72745fa8fe9057bc1f70829e",
+      "review/spline/centerline_0_with_masks.png": "477b81cdd6382bc9cd971845f4d98c980efa1a5371ac0f39c6db3f2c11c6bdce",
+      "review/spline/centerline_3_unmasked.png": "f8b2cf93eb482b335261458dd05eccd7dfd41a858d0d566aa91a0c152a761fc3",
+      "review/spline/per_view_arc_coverage.png": "8c1293d144490b64f3344a33bb23c67f2227493b08971d226f3649b1d7fdb87b",
+      "review/spline/fit_projections.png": "c921b9bccf87067424ac93e38516054a42b215012ce385b7ed7bab7b0dfe6608",
+      "review/spline/centerline_1_unmasked.png": "549bb4ef0e9b06d55ec15aaf1a9349250b6216c0458be4ff62282bd195357a28",
+      "review/spline/centerline_2_with_masks.png": "80ae850c7693a1cff54e69e22f3bd0b0380cd927a229345abeb621e6e106dc5e",
+      "review/spline/centerline_1_with_masks.png": "a7f392609818f0e54cd8b329ce5ef09480b9ec350a99b0090df4438a716107e9",
+      "review/spline/centerline_2_unmasked.png": "940aec45af6e013904034c5aceddff8f57d0a5069e20341015eb42b80980ca41",
+      "review/spline/round_curves.png": "ed589d1619dd24c2d7258e7e0c6f387fae6fd7ec8f6e1834283ecd4820f6172b",
+      "review/spline/curvature_profile.png": "f32162507309d9517fdba49c485a904d3ae6c976664eadf87026d34957f26aad",
+      "review/spline/residual_histograms.png": "bc33b9babb4568315c224fe2963689e0523d37b167d8dd926e40eb4f6e10054b",
+      "review/spline/centerline_3_with_masks.png": "cc3627439d54e11788961f7e9e0169e281f0af1a285bd0cd0310b7a3cb27c214",
+      "review/spline/fit_3d.png": "9a34fe556afd4b4e28d39ad39f3c7edb5213f3c52d994ea7d83359b9c3463ddd",
+      "review/spline/centerline_0_unmasked.png": "c35059ca82d2ba0d471b8af0c3e7f1e420ec70b122191a89cb893cd6a5dcca15",
+      "review/colors/fill_swatch.txt": "1bfc49685ebb71a9e354e10de5a30b3751f0ae62044b8c5138383d10f76e0a3a",
+      "review/colors/view_2_visibility.png": "38a0858a3c765db0c0654228a952cb01bb80c1f88d73848a669fc54d53531a9f",
+      "review/colors/view_1_visibility.png": "a604acdb7ec6a96166c7bdb1c6930757c69ddd10e8b66eb11ca35523e88c0311",
+      "review/colors/visibility_and_fill.png": "a8f30ad1ead658ac7b87616988cc581ba6e658e75b653da5a818f8bb0a0035f7",
+      "review/colors/view_0_visibility.png": "ca6e6e62a0aca3400a6af78ca24561adad7d21d0b0c5e813090d79e83509a7d2",
+      "review/colors/fill_swatch.png": "93213bdcb2a7eb9b47445f7d28c601f311e966121c7f0570b4d457952245a091",
+      "review/colors/view_3_visibility.png": "bd2fa0a874f2788ab88383a53a19e190977723a83fd6ea20319797ea81a21df2",
+      "rerun/appearance_spline_prior.rrd": "cedd286f02d9516b30ac860de4efeaccee88c448a99032e6a26a3f3a9d1a0cf5"
+    }
+  },
+  "code": {
+    "commit": "98ebffe13629edeb0a9b29df973bebc5730d7026",
+    "u_pin": "81c718790a37e5e0102eb77af2c6edd34a9db25f"
+  },
+  "wall_time_s": 10.712546348571777
+}
\ No newline at end of file
diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/steps/tube.json b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/steps/tube.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd52224c05b20b4457b98d506b997ecb4fc3d53a
--- /dev/null
+++ b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/steps/tube.json
@@ -0,0 +1,63 @@
+{
+  "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": 3.988753950276397e-05,
+      "minimum_outward_normal_dot_m": 0.0045789361996072244,
+      "degenerate_triangles": 0,
+      "self_intersecting": false,
+      "maximum_radius_error_m": 7.36314771567631e-09,
+      "maximum_diameter_error_m": 1.4711541323694788e-08,
+      "bishop_seam_error": 5.960464477539063e-08,
+      "minimum_nonadjacent_centerline_distance_m": 0.006632810951101171,
+      "triangle_area_m2": {
+        "min": 3.3363548276930293e-06,
+        "median": 4.978674734057986e-06,
+        "mean": 5.031806731543179e-06,
+        "max": 6.320388433778611e-06,
+        "density_max_over_min": 1.8943993550437004
+      },
+      "bounds_m": [
+        [
+          -0.03722784295678139,
+          -0.17418868839740753,
+          -0.0011078841052949429
+        ],
+        [
+          0.17201127111911774,
+          -0.0006560203619301319,
+          0.01636137068271637
+        ]
+      ],
+      "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": "841da01ab809bed260d1ea14c53f8633ec6d5ae6b8d43b8f80782069ae3ddf27",
+      "tube/triangle_areas.npz": "ca9df4d146808064f0c4b76abba49e018c55d9ce1a682784a504472b8384f5a1",
+      "tube/geometry.npz": "fd29f6b7504f69687c11ccdf4f691c14161dab690db115a02e22b97a82455750"
+    }
+  },
+  "code": {
+    "commit": "98ebffe13629edeb0a9b29df973bebc5730d7026",
+    "u_pin": "81c718790a37e5e0102eb77af2c6edd34a9db25f"
+  },
+  "wall_time_s": 3.2692925930023193
+}
\ No newline at end of file
diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/tube/geometry.npz b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/tube/geometry.npz
new file mode 100644
index 0000000000000000000000000000000000000000..00f065294c73b47a643088288d05dbac7bf409d0
--- /dev/null
+++ b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/tube/geometry.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd29f6b7504f69687c11ccdf4f691c14161dab690db115a02e22b97a82455750
+size 170348
diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/tube/triangle_areas.npz b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/tube/triangle_areas.npz
new file mode 100644
index 0000000000000000000000000000000000000000..21f5f9d2cacb22c7a7a85aa010c443fa98b9d6b0
--- /dev/null
+++ b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/tube/triangle_areas.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca9df4d146808064f0c4b76abba49e018c55d9ce1a682784a504472b8384f5a1
+size 27916
diff --git a/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/tube/tube.ply b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/tube/tube.ply
new file mode 100644
index 0000000000000000000000000000000000000000..6c2d231677d869a11478157701f8a6282a8ae5c5
Binary files /dev/null and b/sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/tube/tube.ply differ