Datasets:

serialexperimentsleon commited on
Commit
edea465
·
verified ·
1 Parent(s): c6fea75

sessions/session_20260921_233144_367389/preprocessing/chain-prior-v1: payload batch 1/1

Browse files
This view is limited to 50 files because it contains too many changes.   See raw diff
Files changed (50) hide show
  1. .gitattributes +1 -0
  2. sessions/session_20260921_233144_367389/preprocessing/chain-prior-v1/native/colors/color_summary.json +49 -0
  3. sessions/session_20260921_233144_367389/preprocessing/chain-prior-v1/native/colors/vertex_colors.npz +3 -0
  4. sessions/session_20260921_233144_367389/preprocessing/chain-prior-v1/native/gaussian_data/session_20260921_233144_367389/shape_prior.glb +0 -0
  5. sessions/session_20260921_233144_367389/preprocessing/chain-prior-v1/native/hybrid/populations.npz +3 -0
  6. sessions/session_20260921_233144_367389/preprocessing/chain-prior-v1/native/manifest.json +867 -0
  7. sessions/session_20260921_233144_367389/preprocessing/chain-prior-v1/native/rerun/appearance_spline_prior.rrd +3 -0
  8. sessions/session_20260921_233144_367389/preprocessing/chain-prior-v1/native/review/colors/fill_swatch.txt +2 -0
  9. sessions/session_20260921_233144_367389/preprocessing/chain-prior-v1/native/review/colors/view_0_visibility.png +3 -0
  10. sessions/session_20260921_233144_367389/preprocessing/chain-prior-v1/native/review/colors/view_1_visibility.png +3 -0
  11. sessions/session_20260921_233144_367389/preprocessing/chain-prior-v1/native/review/colors/view_2_visibility.png +3 -0
  12. sessions/session_20260921_233144_367389/preprocessing/chain-prior-v1/native/review/colors/view_3_visibility.png +3 -0
  13. sessions/session_20260921_233144_367389/preprocessing/chain-prior-v1/native/review/colors/visibility_and_fill.png +3 -0
  14. sessions/session_20260921_233144_367389/preprocessing/chain-prior-v1/native/review/hybrid/combined.png +3 -0
  15. sessions/session_20260921_233144_367389/preprocessing/chain-prior-v1/native/review/hybrid/mesh.png +3 -0
  16. sessions/session_20260921_233144_367389/preprocessing/chain-prior-v1/native/review/rerun/headless_contact_sheet.png +3 -0
  17. sessions/session_20260921_233144_367389/preprocessing/chain-prior-v1/native/review/spline/centerline_0_unmasked.png +3 -0
  18. sessions/session_20260921_233144_367389/preprocessing/chain-prior-v1/native/review/spline/centerline_0_with_masks.png +3 -0
  19. sessions/session_20260921_233144_367389/preprocessing/chain-prior-v1/native/review/spline/centerline_1_unmasked.png +3 -0
  20. sessions/session_20260921_233144_367389/preprocessing/chain-prior-v1/native/review/spline/centerline_1_with_masks.png +3 -0
  21. sessions/session_20260921_233144_367389/preprocessing/chain-prior-v1/native/review/spline/centerline_2_unmasked.png +3 -0
  22. sessions/session_20260921_233144_367389/preprocessing/chain-prior-v1/native/review/spline/centerline_2_with_masks.png +3 -0
  23. sessions/session_20260921_233144_367389/preprocessing/chain-prior-v1/native/review/spline/centerline_3_unmasked.png +3 -0
  24. sessions/session_20260921_233144_367389/preprocessing/chain-prior-v1/native/review/spline/centerline_3_with_masks.png +3 -0
  25. sessions/session_20260921_233144_367389/preprocessing/chain-prior-v1/native/review/spline/curvature_profile.png +3 -0
  26. sessions/session_20260921_233144_367389/preprocessing/chain-prior-v1/native/review/spline/fit_3d.png +3 -0
  27. sessions/session_20260921_233144_367389/preprocessing/chain-prior-v1/native/review/spline/fit_projections.png +3 -0
  28. sessions/session_20260921_233144_367389/preprocessing/chain-prior-v1/native/review/spline/per_view_arc_coverage.png +3 -0
  29. sessions/session_20260921_233144_367389/preprocessing/chain-prior-v1/native/review/spline/residual_histograms.png +3 -0
  30. sessions/session_20260921_233144_367389/preprocessing/chain-prior-v1/native/review/spline/round_curves.png +3 -0
  31. sessions/session_20260921_233144_367389/preprocessing/chain-prior-v1/native/review/tube/check_table.json +41 -0
  32. sessions/session_20260921_233144_367389/preprocessing/chain-prior-v1/native/review/tube/orbit.mp4 +3 -0
  33. sessions/session_20260921_233144_367389/preprocessing/chain-prior-v1/native/review/tube/silhouette_0_unmasked.png +3 -0
  34. sessions/session_20260921_233144_367389/preprocessing/chain-prior-v1/native/review/tube/silhouette_0_with_masks.png +3 -0
  35. sessions/session_20260921_233144_367389/preprocessing/chain-prior-v1/native/review/tube/silhouette_1_unmasked.png +3 -0
  36. sessions/session_20260921_233144_367389/preprocessing/chain-prior-v1/native/review/tube/silhouette_1_with_masks.png +3 -0
  37. sessions/session_20260921_233144_367389/preprocessing/chain-prior-v1/native/review/tube/silhouette_2_unmasked.png +3 -0
  38. sessions/session_20260921_233144_367389/preprocessing/chain-prior-v1/native/review/tube/silhouette_2_with_masks.png +3 -0
  39. sessions/session_20260921_233144_367389/preprocessing/chain-prior-v1/native/review/tube/silhouette_3_unmasked.png +3 -0
  40. sessions/session_20260921_233144_367389/preprocessing/chain-prior-v1/native/review/tube/silhouette_3_with_masks.png +3 -0
  41. sessions/session_20260921_233144_367389/preprocessing/chain-prior-v1/native/review/tube/tube_profiles.png +3 -0
  42. sessions/session_20260921_233144_367389/preprocessing/chain-prior-v1/native/review/tube/tube_scale_views.png +3 -0
  43. sessions/session_20260921_233144_367389/preprocessing/chain-prior-v1/native/spline/reprojection.json +63 -0
  44. sessions/session_20260921_233144_367389/preprocessing/chain-prior-v1/native/spline/reprojection_residuals.npz +3 -0
  45. sessions/session_20260921_233144_367389/preprocessing/chain-prior-v1/native/spline/residuals.npz +3 -0
  46. sessions/session_20260921_233144_367389/preprocessing/chain-prior-v1/native/spline/rounds.jsonl +1 -0
  47. sessions/session_20260921_233144_367389/preprocessing/chain-prior-v1/native/spline/spline_fit.json +53 -0
  48. sessions/session_20260921_233144_367389/preprocessing/chain-prior-v1/native/spline/spline_init.json +53 -0
  49. sessions/session_20260921_233144_367389/preprocessing/chain-prior-v1/native/steps/colors.json +67 -0
  50. sessions/session_20260921_233144_367389/preprocessing/chain-prior-v1/native/steps/fit.json +214 -0
.gitattributes CHANGED
@@ -838,3 +838,4 @@ sessions/session_20260921_233144_367389/preprocessing/chain-prior-lower-curvatur
838
  sessions/session_20260921_233144_367389/preprocessing/chain-prior-lower-curvature-v2/native/rerun/appearance_spline_prior.rrd filter=lfs diff=lfs merge=lfs -text
839
  sessions/session_20260921_233144_367389/preprocessing/chain-prior-m18-lowcurvature-v1/native/rerun/appearance_spline_prior.rrd filter=lfs diff=lfs merge=lfs -text
840
  sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/rerun/appearance_spline_prior.rrd filter=lfs diff=lfs merge=lfs -text
 
 
838
  sessions/session_20260921_233144_367389/preprocessing/chain-prior-lower-curvature-v2/native/rerun/appearance_spline_prior.rrd filter=lfs diff=lfs merge=lfs -text
839
  sessions/session_20260921_233144_367389/preprocessing/chain-prior-m18-lowcurvature-v1/native/rerun/appearance_spline_prior.rrd filter=lfs diff=lfs merge=lfs -text
840
  sessions/session_20260921_233144_367389/preprocessing/chain-prior-stronger-reprojection-v2/native/rerun/appearance_spline_prior.rrd filter=lfs diff=lfs merge=lfs -text
841
+ sessions/session_20260921_233144_367389/preprocessing/chain-prior-v1/native/rerun/appearance_spline_prior.rrd filter=lfs diff=lfs merge=lfs -text
sessions/session_20260921_233144_367389/preprocessing/chain-prior-v1/native/colors/color_summary.json ADDED
@@ -0,0 +1,49 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "rule": "native sRGB/255, cosine weighted over mask/depth/first-hit visible views",
3
+ "two_sided": false,
4
+ "depth_tolerance_m": 0.025,
5
+ "first_hit_tolerance_m": 0.0002,
6
+ "per_view": [
7
+ {
8
+ "view": 0,
9
+ "serial": "12540311",
10
+ "observed_vertices": 314,
11
+ "projected_inside": 864,
12
+ "first_hit": 464
13
+ },
14
+ {
15
+ "view": 1,
16
+ "serial": "12933256",
17
+ "observed_vertices": 352,
18
+ "projected_inside": 864,
19
+ "first_hit": 462
20
+ },
21
+ {
22
+ "view": 2,
23
+ "serial": "17736741",
24
+ "observed_vertices": 320,
25
+ "projected_inside": 864,
26
+ "first_hit": 457
27
+ },
28
+ {
29
+ "view": 3,
30
+ "serial": "23007103",
31
+ "observed_vertices": 368,
32
+ "projected_inside": 864,
33
+ "first_hit": 460
34
+ }
35
+ ],
36
+ "observed_vertices": 583,
37
+ "filled_vertices": 281,
38
+ "fill_color_rgb": [
39
+ 0.20784313725490197,
40
+ 0.1693642469992647,
41
+ 0.15773760350121907
42
+ ],
43
+ "glb_roundtrip": {
44
+ "float32_positions_exact": true,
45
+ "vertex_colors_exact": true,
46
+ "uv_count": 0,
47
+ "vertex_reordered_on_open3d_load": true
48
+ }
49
+ }
sessions/session_20260921_233144_367389/preprocessing/chain-prior-v1/native/colors/vertex_colors.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:96cc9ff9411bdb993be1d38f7a82c40a6d132b00259edc4f8e5d73a6e7e71091
3
+ size 28680
sessions/session_20260921_233144_367389/preprocessing/chain-prior-v1/native/gaussian_data/session_20260921_233144_367389/shape_prior.glb ADDED
Binary file (35.6 kB). View file
 
sessions/session_20260921_233144_367389/preprocessing/chain-prior-v1/native/hybrid/populations.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1dd564cb09a975a38e1fdd43513500855fbd3dcd4746d805b8dff399b00f1381
3
+ size 3131822
sessions/session_20260921_233144_367389/preprocessing/chain-prior-v1/native/manifest.json ADDED
@@ -0,0 +1,867 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "kind": "real_rgbd_appearance_spline_prior_v1",
3
+ "code": {
4
+ "commit": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e",
5
+ "u_pin": "81c718790a37e5e0102eb77af2c6edd34a9db25f"
6
+ },
7
+ "steps": {
8
+ "colors": {
9
+ "status": "ok",
10
+ "settings": {
11
+ "depth_tolerance_m": 0.025
12
+ },
13
+ "outputs": {
14
+ "rule": "native sRGB/255, cosine weighted over mask/depth/first-hit visible views",
15
+ "two_sided": false,
16
+ "depth_tolerance_m": 0.025,
17
+ "first_hit_tolerance_m": 0.0002,
18
+ "per_view": [
19
+ {
20
+ "view": 0,
21
+ "serial": "12540311",
22
+ "observed_vertices": 314,
23
+ "projected_inside": 864,
24
+ "first_hit": 464
25
+ },
26
+ {
27
+ "view": 1,
28
+ "serial": "12933256",
29
+ "observed_vertices": 352,
30
+ "projected_inside": 864,
31
+ "first_hit": 462
32
+ },
33
+ {
34
+ "view": 2,
35
+ "serial": "17736741",
36
+ "observed_vertices": 320,
37
+ "projected_inside": 864,
38
+ "first_hit": 457
39
+ },
40
+ {
41
+ "view": 3,
42
+ "serial": "23007103",
43
+ "observed_vertices": 368,
44
+ "projected_inside": 864,
45
+ "first_hit": 460
46
+ }
47
+ ],
48
+ "observed_vertices": 583,
49
+ "filled_vertices": 281,
50
+ "fill_color_rgb": [
51
+ 0.20784313725490197,
52
+ 0.1693642469992647,
53
+ 0.15773760350121907
54
+ ],
55
+ "glb_roundtrip": {
56
+ "float32_positions_exact": true,
57
+ "vertex_colors_exact": true,
58
+ "uv_count": 0,
59
+ "vertex_reordered_on_open3d_load": true
60
+ },
61
+ "files": {
62
+ "colors/vertex_colors.npz": "96cc9ff9411bdb993be1d38f7a82c40a6d132b00259edc4f8e5d73a6e7e71091",
63
+ "colors/color_summary.json": "2219b18e5463873def2d481219946f1db9ec3b9ee01f5b3d085ae64460cdc9d3",
64
+ "tube/shape_prior.glb": "d55917d516e82f61ef6bfbee922be047fdc53e8420b31d901edc514977bca8b9",
65
+ "tube/tube.ply": "3ecb7266ca80b73f961edaebcc962af269123c60fe926280dbc527833247e405",
66
+ "gaussian_data/session_20260921_233144_367389/shape_prior.glb": "d55917d516e82f61ef6bfbee922be047fdc53e8420b31d901edc514977bca8b9"
67
+ }
68
+ },
69
+ "code": {
70
+ "commit": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e",
71
+ "u_pin": "81c718790a37e5e0102eb77af2c6edd34a9db25f"
72
+ },
73
+ "wall_time_s": 1.190765619277954
74
+ },
75
+ "diagnose-depth": {
76
+ "status": "ok",
77
+ "settings": {
78
+ "correction": "none",
79
+ "annulus_px": [
80
+ 20,
81
+ 80
82
+ ]
83
+ },
84
+ "outputs": {
85
+ "report": {
86
+ "annulus_px": [
87
+ 20,
88
+ 80
89
+ ],
90
+ "interior_erosion_px": 2,
91
+ "correction_applied": false,
92
+ "views": [
93
+ {
94
+ "view": 0,
95
+ "serial": "12540311",
96
+ "annulus_count": 77473,
97
+ "belt_interior_count": 8645,
98
+ "belt_edge_count": 3192,
99
+ "table_median_z_m": 0.00028765920542661583,
100
+ "belt_interior_median_z_m": 0.011429249219562454,
101
+ "belt_edge_median_z_m": 0.0006807872474103305,
102
+ "belt_minus_table_m": 0.011141590014135838,
103
+ "edge_minus_table_m": 0.00039312804198371465,
104
+ "table_p10_p90_z_m": [
105
+ -0.0012701288033704294,
106
+ 0.001351437340030448
107
+ ],
108
+ "belt_interior_p10_p90_z_m": [
109
+ 0.0016216952507591923,
110
+ 0.014562080603049954
111
+ ]
112
+ },
113
+ {
114
+ "view": 1,
115
+ "serial": "12933256",
116
+ "annulus_count": 63183,
117
+ "belt_interior_count": 6875,
118
+ "belt_edge_count": 3005,
119
+ "table_median_z_m": -0.000319538680244591,
120
+ "belt_interior_median_z_m": 0.008569935074106083,
121
+ "belt_edge_median_z_m": 0.0015498022713134052,
122
+ "belt_minus_table_m": 0.008889473754350674,
123
+ "edge_minus_table_m": 0.0018693409515579962,
124
+ "table_p10_p90_z_m": [
125
+ -0.0009054129149907109,
126
+ 0.0005208930786268829
127
+ ],
128
+ "belt_interior_p10_p90_z_m": [
129
+ 0.0027174775876716464,
130
+ 0.010509981919895429
131
+ ]
132
+ },
133
+ {
134
+ "view": 2,
135
+ "serial": "17736741",
136
+ "annulus_count": 76626,
137
+ "belt_interior_count": 6954,
138
+ "belt_edge_count": 3285,
139
+ "table_median_z_m": 0.001828788910366863,
140
+ "belt_interior_median_z_m": 0.013769734733784622,
141
+ "belt_edge_median_z_m": 0.004199165278715222,
142
+ "belt_minus_table_m": 0.011940945823417759,
143
+ "edge_minus_table_m": 0.002370376368348359,
144
+ "table_p10_p90_z_m": [
145
+ 0.0005559353998176864,
146
+ 0.0030280001379997534
147
+ ],
148
+ "belt_interior_p10_p90_z_m": [
149
+ 0.005116030291057994,
150
+ 0.016155329935712594
151
+ ]
152
+ },
153
+ {
154
+ "view": 3,
155
+ "serial": "23007103",
156
+ "annulus_count": 52195,
157
+ "belt_interior_count": 4765,
158
+ "belt_edge_count": 2616,
159
+ "table_median_z_m": 0.0006353921338045909,
160
+ "belt_interior_median_z_m": 0.010641929163415886,
161
+ "belt_edge_median_z_m": 0.003659147336598223,
162
+ "belt_minus_table_m": 0.010006537029611295,
163
+ "edge_minus_table_m": 0.003023755202793632,
164
+ "table_p10_p90_z_m": [
165
+ 0.00012205246259771043,
166
+ 0.0018055015935380502
167
+ ],
168
+ "belt_interior_p10_p90_z_m": [
169
+ 0.005599419316574372,
170
+ 0.013078836282047514
171
+ ]
172
+ }
173
+ ]
174
+ },
175
+ "files": {
176
+ "inputs/depth_offset_diagnostic.json": "92eb3d5e13b9f3d8c0b3b3b24fd5be29b11685584f54de61cb41d1adba6eeef8"
177
+ }
178
+ },
179
+ "code": {
180
+ "commit": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e",
181
+ "u_pin": "81c718790a37e5e0102eb77af2c6edd34a9db25f"
182
+ },
183
+ "wall_time_s": 0.30486583709716797
184
+ },
185
+ "fit": {
186
+ "status": "ok",
187
+ "settings": {
188
+ "object": {
189
+ "name": "bike_chain",
190
+ "representation": "tube",
191
+ "fitter_source": "scripts/chain_state_estimation.py loss/solver literals",
192
+ "dimension_source": "owner approximate 9.5 mm diameter (corpus Q2, 2026-10-25)",
193
+ "radius_m": 0.00475,
194
+ "ribbon_width_m": null,
195
+ "step_t": 0.125,
196
+ "step_angle_deg": 30,
197
+ "u_resolution": null,
198
+ "overlap_rule": "surface_intersection",
199
+ "twist_penalty": null
200
+ },
201
+ "max_rounds": 400,
202
+ "control_count": 9,
203
+ "relative_loss_tolerance": 1e-07,
204
+ "reprojection": {
205
+ "weight": 4.0,
206
+ "direction": "visible mask pixels to projected centerline",
207
+ "ribbon_twist_stage": null,
208
+ "mask": "accepted object outside hand/occluder union",
209
+ "view_aggregation": "equal view means",
210
+ "distance": "metric image plane using per-view median visible belt depth and fx/fy",
211
+ "samples": 360,
212
+ "huber_delta_m": 0.005,
213
+ "smooth_cap_m": 0.035,
214
+ "baseline_run": null
215
+ },
216
+ "loss_config": {
217
+ "eval_distances": true,
218
+ "max_saturation_distance": 0.035,
219
+ "distance_huber_delta": 0.005,
220
+ "eval_curvature_cost": true,
221
+ "num_eval_reg_points": 250,
222
+ "lambda_curvature_cost": 5e-08,
223
+ "max_curvature": 10.0,
224
+ "curvature_huber_delta": 30.0,
225
+ "max_saturation_curvature": 80.0,
226
+ "eval_curvilinear_energy": false,
227
+ "lambda_curvilinear_energy": 0.001,
228
+ "eval_length_constraint": true,
229
+ "lambda_length_constraint": 0.1,
230
+ "arclength_bounds": [
231
+ 0.5830000042915344,
232
+ 0.5849999785423279
233
+ ]
234
+ },
235
+ "solver_config": {
236
+ "solver_type": "lbfgs",
237
+ "linesearch_type": "zoom",
238
+ "max_linesearch_steps": 10,
239
+ "grad_norm_tolerance": 0.0001,
240
+ "max_iter": 25
241
+ },
242
+ "ribbon_twist_refinement": null
243
+ },
244
+ "outputs": {
245
+ "filter": {
246
+ "method": "Open3D.remove_statistical_outlier",
247
+ "nb_neighbors": 20,
248
+ "std_ratio": 2.0,
249
+ "input_count": 27239,
250
+ "kept_count": 26339,
251
+ "removed_count": 900,
252
+ "per_view": [
253
+ {
254
+ "view": 0,
255
+ "input": 8645,
256
+ "kept": 8480,
257
+ "removed": 165,
258
+ "live_20_0.05_kept": 6121,
259
+ "no_filter_kept": 8645
260
+ },
261
+ {
262
+ "view": 1,
263
+ "input": 6875,
264
+ "kept": 6557,
265
+ "removed": 318,
266
+ "live_20_0.05_kept": 3896,
267
+ "no_filter_kept": 6875
268
+ },
269
+ {
270
+ "view": 2,
271
+ "input": 6954,
272
+ "kept": 6783,
273
+ "removed": 171,
274
+ "live_20_0.05_kept": 4963,
275
+ "no_filter_kept": 6954
276
+ },
277
+ {
278
+ "view": 3,
279
+ "input": 4765,
280
+ "kept": 4519,
281
+ "removed": 246,
282
+ "live_20_0.05_kept": 1189,
283
+ "no_filter_kept": 4765
284
+ }
285
+ ]
286
+ },
287
+ "rounds": 1,
288
+ "stop": "gradient_tolerance",
289
+ "final": {
290
+ "loss": 6.0984086303506047e-05,
291
+ "components": {
292
+ "distance": 2.398061587882694e-05,
293
+ "curvature": 1.0113907364939223e-06,
294
+ "arclength": 7.432801680806733e-07,
295
+ "mask_reprojection_2d": 3.524879866745323e-05
296
+ },
297
+ "grad_norm": 8.26684627099894e-05,
298
+ "arclength_m": 0.5877262949943542,
299
+ "arclength_bound_active_within_1mm": true,
300
+ "max_curvature_per_m": 30.576679229736328,
301
+ "curvature_p50_p90_per_m": [
302
+ 11.315874099731445,
303
+ 22.88189315795898
304
+ ],
305
+ "curvature_above_max_fraction": 0.596,
306
+ "mean_distance_m": 0.0073691726396086865,
307
+ "max_distance_m": 0.01859072595834732,
308
+ "beyond_2delta_fraction": 0.19199665894680892,
309
+ "at_cap_fraction": 0.0,
310
+ "per_view": [
311
+ {
312
+ "view": 0,
313
+ "count": 8480,
314
+ "median_m": 0.006901396904140711,
315
+ "p90_m": 0.010149775166064502,
316
+ "max_m": 0.014187222346663475,
317
+ "beyond_2delta_fraction": 0.11014150943396227,
318
+ "at_cap_fraction": 0.0
319
+ },
320
+ {
321
+ "view": 1,
322
+ "count": 6557,
323
+ "median_m": 0.005649127997457981,
324
+ "p90_m": 0.01055502500385046,
325
+ "max_m": 0.01859072595834732,
326
+ "beyond_2delta_fraction": 0.11056885770931829,
327
+ "at_cap_fraction": 0.0
328
+ },
329
+ {
330
+ "view": 2,
331
+ "count": 6783,
332
+ "median_m": 0.008469968102872372,
333
+ "p90_m": 0.011138298735022546,
334
+ "max_m": 0.013993453234434128,
335
+ "beyond_2delta_fraction": 0.26020934689665337,
336
+ "at_cap_fraction": 0.0
337
+ },
338
+ {
339
+ "view": 3,
340
+ "count": 4519,
341
+ "median_m": 0.00907266978174448,
342
+ "p90_m": 0.012268818728625775,
343
+ "max_m": 0.016254890710115433,
344
+ "beyond_2delta_fraction": 0.36136313343660104,
345
+ "at_cap_fraction": 0.0
346
+ }
347
+ ],
348
+ "round": 1,
349
+ "relative_loss_change": 0.9808226845736205
350
+ },
351
+ "deterministic": true,
352
+ "partial_view_witness": {
353
+ "source": "synthetic rounded trapezoid, four retained RP2 camera centres",
354
+ "control_count": 9,
355
+ "curvature_weight": 5e-08,
356
+ "seed": 5,
357
+ "noise_sigma_m": 0.0015,
358
+ "points": 288,
359
+ "tube_radius_m": 0.00475,
360
+ "truth_arclength_m": 0.5839999999999999,
361
+ "truth_corner_curvature_per_m": 100.0,
362
+ "fit_arclength_m": 0.5824263095855713,
363
+ "mean_centerline_distance_to_truth_m": 0.003666582156588717,
364
+ "max_centerline_distance_to_truth_m": 0.0065246143314547185,
365
+ "corner_truth_to_fit_mean_max_m": [
366
+ 0.004143985746667632,
367
+ 0.00652506213845758
368
+ ],
369
+ "straight_truth_to_fit_mean_m": 0.0035861119631459973,
370
+ "fit_max_curvature_per_m": 104.8658676147461,
371
+ "fit_curvature_nearest_corners_p50_max_per_m": [
372
+ 44.93003845214844,
373
+ 104.8658676147461
374
+ ],
375
+ "rounds": 1,
376
+ "stop": "gradient_tolerance"
377
+ },
378
+ "files": {
379
+ "spline/reprojection_residuals.npz": "6ae821f556bafc3087c9465198c48b7cb71a0900def108c67dd6f77a83bf469c",
380
+ "spline/residuals.npz": "93a21e8964e40e297d636b0bc6f05a996afdfee6aed84aeef4abac28be2c211a",
381
+ "spline/filtered_cloud.npz": "68e21697a4a03433fbf255ddaae6b84d0556a0027a3e035ff7f3441a61525847",
382
+ "spline/spline_init.json": "54fe1bc122eeb141e50b44ab2e31363746cadcfdd4e5233a1b5c1b3aa4a45832",
383
+ "spline/determinism.json": "773d1a02e2924f0d7df2d5d0011979c4e408678ebfdb9633a8348b9788132683",
384
+ "spline/filter.json": "a64b3b76aed2c7de63cbc747c2aaf37138acf8455e4731761aee615257c0e333",
385
+ "spline/witness.json": "da22c7756a7715e3b2fbfbd7ac9dd9f6168f1a9b8d66be670636199e1990ce7f",
386
+ "spline/filter_removed.npz": "aa8cd5f2c6f83bf06f2d9c22d21e15414e88630bf276b1bf6f00593f36e8c5c2",
387
+ "spline/spline_fit.json": "8f912477f655e0d4e5a6d5e154765bb2582aea55a53373728078767228420189",
388
+ "spline/rounds.jsonl": "76ae11e7bab8c081d9a19eaeceaec464720ca0ce6c547579fb5569be2ebf464e",
389
+ "spline/init_ellipse.json": "ca18195cdf76514f76c5e7f0c278c3a0d05584929738ac154d92ae7adf5064a9",
390
+ "spline/reprojection.json": "da0fbbe4aaa65082603b4e4a92b62db1b135dc95ca20d838db25afa46fef6e99"
391
+ }
392
+ },
393
+ "code": {
394
+ "commit": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e",
395
+ "u_pin": "81c718790a37e5e0102eb77af2c6edd34a9db25f"
396
+ },
397
+ "wall_time_s": 20.029406547546387
398
+ },
399
+ "hybrid": {
400
+ "status": "ok",
401
+ "settings": {
402
+ "u_pin": "81c718790a37e5e0102eb77af2c6edd34a9db25f",
403
+ "numpy_seed": 0,
404
+ "points_per_triangle": 30
405
+ },
406
+ "outputs": {
407
+ "counts": {
408
+ "observed": 26339,
409
+ "mesh": 51840,
410
+ "total": 78179,
411
+ "mesh_to_observed": 1.968184061657618
412
+ },
413
+ "files": {
414
+ "hybrid/populations.npz": "1dd564cb09a975a38e1fdd43513500855fbd3dcd4746d805b8dff399b00f1381"
415
+ }
416
+ },
417
+ "code": {
418
+ "commit": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e",
419
+ "u_pin": "81c718790a37e5e0102eb77af2c6edd34a9db25f"
420
+ },
421
+ "wall_time_s": 0.8711850643157959
422
+ },
423
+ "inputs": {
424
+ "status": "ok",
425
+ "settings": {
426
+ "object": "bike_chain",
427
+ "depth_source": "waft_stereo_dav2l5",
428
+ "depth_stream_ids": [
429
+ "zed_12540311_depth_waft_stereo_synlarge_dav2l5_zdepth",
430
+ "zed_12933256_depth_waft_stereo_synlarge_dav2l5_zdepth",
431
+ "zed_17736741_depth_waft_stereo_synlarge_dav2l5_zdepth",
432
+ "zed_23007103_depth_waft_stereo_synlarge_dav2l5_zdepth"
433
+ ],
434
+ "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",
435
+ "frames_sha256": "d6e06f3e5125e5582ca635989671c8941f6c01faaefd9a2d4a79c1af0adf8703",
436
+ "signed_native_frames_sha256": {
437
+ "12540311": "3fd1d5d59d7142b35bf6b62556889412344d01fca12239ad7bc7726ab5d6bdbe",
438
+ "12933256": "09de8a0b07f1bcc209fb32e0feedb7b9a874f2128fb9af6fac1d0f5327589a5e",
439
+ "17736741": "d519940141bb12948aa0e4cf1e4008b7098a31ad05eb1b03aec8ad8a1485a63c",
440
+ "23007103": "28ddc51f544d5b8a75f4ba26662e5715d5422b0aabf4ac0928f80924c2c426ff"
441
+ },
442
+ "camera_frames_sha256": {
443
+ "12540311": "3596e6b3c0a6de2203154ec01cb1cdf1ce09021984be1c6a0772f9bd7eaad0e6",
444
+ "12933256": "36045b98d67d907627df66018bf594592bc0dd5bf42864172da62daab0573614",
445
+ "17736741": "8e0ac4e8b99751cc361320b6c86d34074e5912036a0dba7c1c96bcc7fba3c712",
446
+ "23007103": "0737a2adf4a697588ad6b8f2d3fac514f680bd919257a3c0640fee312f6b3d05"
447
+ },
448
+ "mask_erosion_px": 2,
449
+ "filter": {
450
+ "method": "Open3D.remove_statistical_outlier",
451
+ "nb_neighbors": 20,
452
+ "std_ratio": 2.0,
453
+ "input_count": 27239,
454
+ "kept_count": 26339,
455
+ "removed_count": 900,
456
+ "per_view": [
457
+ {
458
+ "view": 0,
459
+ "input": 8645,
460
+ "kept": 8480,
461
+ "removed": 165,
462
+ "live_20_0.05_kept": 6121,
463
+ "no_filter_kept": 8645
464
+ },
465
+ {
466
+ "view": 1,
467
+ "input": 6875,
468
+ "kept": 6557,
469
+ "removed": 318,
470
+ "live_20_0.05_kept": 3896,
471
+ "no_filter_kept": 6875
472
+ },
473
+ {
474
+ "view": 2,
475
+ "input": 6954,
476
+ "kept": 6783,
477
+ "removed": 171,
478
+ "live_20_0.05_kept": 4963,
479
+ "no_filter_kept": 6954
480
+ },
481
+ {
482
+ "view": 3,
483
+ "input": 4765,
484
+ "kept": 4519,
485
+ "removed": 246,
486
+ "live_20_0.05_kept": 1189,
487
+ "no_filter_kept": 4765
488
+ }
489
+ ]
490
+ },
491
+ "parent": null,
492
+ "unfitted_inputs": true,
493
+ "fitting_bundle_sha256": "3448216a52b5cdf004d7bb685f201d18eb6946f45d4944090640f810b7bc8844",
494
+ "signoffs": {
495
+ "/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",
496
+ "/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",
497
+ "/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",
498
+ "/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",
499
+ "/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",
500
+ "/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",
501
+ "/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",
502
+ "/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"
503
+ }
504
+ },
505
+ "outputs": {
506
+ "reference": {
507
+ "case": "session_20260921_233144_367389",
508
+ "grid_sample": 0,
509
+ "views": [
510
+ {
511
+ "index": 0,
512
+ "serial": "12540311",
513
+ "native_frame": 1,
514
+ "offset_ms": -15.595843,
515
+ "object_mask_px": 11837,
516
+ "invalid_depth_in_mask_px": 0,
517
+ "occlusion_union_px": 152811,
518
+ "object_and_union_px": 0,
519
+ "lifted_points": 8480,
520
+ "lifted_z_min_max_m": [
521
+ -0.0016041242716798854,
522
+ 0.018831903800379024
523
+ ],
524
+ "uneroded_lifted_points": 11837,
525
+ "uneroded_lifted_z_min_max_m": [
526
+ -0.003110285045622496,
527
+ 0.11194807001701546
528
+ ],
529
+ "eroded_lifted_points": 8645,
530
+ "erosion_removed_points": 3192,
531
+ "outlier_removed_points": 165
532
+ },
533
+ {
534
+ "index": 1,
535
+ "serial": "12933256",
536
+ "native_frame": 0,
537
+ "offset_ms": 0.0,
538
+ "object_mask_px": 9880,
539
+ "invalid_depth_in_mask_px": 0,
540
+ "occlusion_union_px": 138440,
541
+ "object_and_union_px": 0,
542
+ "lifted_points": 6557,
543
+ "lifted_z_min_max_m": [
544
+ -0.0007849232474669288,
545
+ 0.01306835267079387
546
+ ],
547
+ "uneroded_lifted_points": 9880,
548
+ "uneroded_lifted_z_min_max_m": [
549
+ -0.0028175148855972276,
550
+ 0.018339452318249738
551
+ ],
552
+ "eroded_lifted_points": 6875,
553
+ "erosion_removed_points": 3005,
554
+ "outlier_removed_points": 318
555
+ },
556
+ {
557
+ "index": 2,
558
+ "serial": "17736741",
559
+ "native_frame": 0,
560
+ "offset_ms": 12.781615,
561
+ "object_mask_px": 10239,
562
+ "invalid_depth_in_mask_px": 0,
563
+ "occlusion_union_px": 216876,
564
+ "object_and_union_px": 0,
565
+ "lifted_points": 6783,
566
+ "lifted_z_min_max_m": [
567
+ 0.000523210650841377,
568
+ 0.019111169567186614
569
+ ],
570
+ "uneroded_lifted_points": 10239,
571
+ "uneroded_lifted_z_min_max_m": [
572
+ -0.0014273525269234977,
573
+ 0.019111169567186614
574
+ ],
575
+ "eroded_lifted_points": 6954,
576
+ "erosion_removed_points": 3285,
577
+ "outlier_removed_points": 171
578
+ },
579
+ {
580
+ "index": 3,
581
+ "serial": "23007103",
582
+ "native_frame": 1,
583
+ "offset_ms": -1.188865,
584
+ "object_mask_px": 7381,
585
+ "invalid_depth_in_mask_px": 0,
586
+ "occlusion_union_px": 177736,
587
+ "object_and_union_px": 0,
588
+ "lifted_points": 4519,
589
+ "lifted_z_min_max_m": [
590
+ 0.0013823333585125663,
591
+ 0.015872802260473162
592
+ ],
593
+ "uneroded_lifted_points": 7381,
594
+ "uneroded_lifted_z_min_max_m": [
595
+ -0.0006082859321902001,
596
+ 0.017512980074692652
597
+ ],
598
+ "eroded_lifted_points": 4765,
599
+ "erosion_removed_points": 2616,
600
+ "outlier_removed_points": 246
601
+ }
602
+ ],
603
+ "observed_points": 26339,
604
+ "mask_erosion_px": 2
605
+ },
606
+ "files": {
607
+ "inputs/observed_cloud.npz": "2a5e0bbbb0e717c38f8238636e6e9c289b8a7e2ed49713dd68ed5379d73d6f9e",
608
+ "inputs/reference_views.json": "87cadcc07eaa3a50d25c51593d0a55e78a0fd61f6751467c8a230f92f40c658b",
609
+ "gaussian_data/session_20260921_233144_367389/0.png": "bcd5ca01e1c3fdae192e8e5336e1cbb683ecf2e658161c53c7956c0434da7f7a",
610
+ "gaussian_data/session_20260921_233144_367389/mask_0.png": "75870fba7577a578f6cca3fc9cda5033c10d7760a971e2184c9c04381c73681a",
611
+ "gaussian_data/session_20260921_233144_367389/mask_human_0.png": "dbb0c780af803d47659af89e7a1c3a57b66775a20d17c4dbe4dde70eba28ae7c",
612
+ "gaussian_data/session_20260921_233144_367389/0_depth.npy": "1b36a12338807e9d2bcd0dd7f59581ea38f94e2d1a0dd22af2be088722977c1b",
613
+ "gaussian_data/session_20260921_233144_367389/1.png": "9d7bca6536d4a4f0068d12f5edf4eb96d6de09872701ebdf0da61b35936e7525",
614
+ "gaussian_data/session_20260921_233144_367389/mask_1.png": "30b1a62bc96ce182a524df3c4f80a72121444f6106eccb866b68d182b89a011e",
615
+ "gaussian_data/session_20260921_233144_367389/mask_human_1.png": "1f582f5569432159c2a4a21fb8538b248f320da42cdd16ad08fd29ea800c03e2",
616
+ "gaussian_data/session_20260921_233144_367389/1_depth.npy": "5df97a0a64a8fcb265253cce72049ec8c7cd98268cdda898d6051ff7e5584123",
617
+ "gaussian_data/session_20260921_233144_367389/2.png": "1ee3ab1ab0b1bb8c6896c778152ae87b24b0606e5682b838afe074fa8057eec4",
618
+ "gaussian_data/session_20260921_233144_367389/mask_2.png": "d2d160e0840a71f17753b748e9e268cd45bda02b72429ec391f3a9cb4f62e0cd",
619
+ "gaussian_data/session_20260921_233144_367389/mask_human_2.png": "e2a8dabdd8fa24c6aa14ed4d03d2126f583627e58584282e0c3bc773d7ed9a50",
620
+ "gaussian_data/session_20260921_233144_367389/2_depth.npy": "76025c9be51a647156b3c8312d19a96c02ac9fb3b357afc42c13ac7f5a57aab7",
621
+ "gaussian_data/session_20260921_233144_367389/3.png": "3be46f5e646c40c02e93d2fe9153ada6ae94ef3a700e9cfadf6f38b6cba0801a",
622
+ "gaussian_data/session_20260921_233144_367389/mask_3.png": "a430a39bd2d9d9bdfc5bcf020a34244be7b36d317cafd3e59b05ee1ef365dffb",
623
+ "gaussian_data/session_20260921_233144_367389/mask_human_3.png": "b64d19e116e21ca9d2781b03286593809b802a77b11a05b53913d4d677a798ad",
624
+ "gaussian_data/session_20260921_233144_367389/3_depth.npy": "36823aba21e29fb8d31650d4ca707d513bfe2088ea81493cfe3c9d1767c19c1c",
625
+ "gaussian_data/session_20260921_233144_367389/camera_meta.pkl": "2dae4111b6fac60df93d25f987e510c2ac07d58522e78647ece02df185de760b",
626
+ "gaussian_data/session_20260921_233144_367389/interp_poses.pkl": "b90cc26123c822f0d06446ac699e110db22a86e265c56751819029a46f558b6f",
627
+ "gaussian_data/session_20260921_233144_367389/observation.ply": "8328895eb3d93139b8f14cf7afe2cc1b659e26678ad95983e5655c95e2211e40",
628
+ "spline/filter.json": "a64b3b76aed2c7de63cbc747c2aaf37138acf8455e4731761aee615257c0e333",
629
+ "spline/filter_removed.npz": "aa8cd5f2c6f83bf06f2d9c22d21e15414e88630bf276b1bf6f00593f36e8c5c2",
630
+ "spline/filtered_cloud.npz": "68e21697a4a03433fbf255ddaae6b84d0556a0027a3e035ff7f3441a61525847"
631
+ }
632
+ },
633
+ "code": {
634
+ "commit": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e",
635
+ "u_pin": "81c718790a37e5e0102eb77af2c6edd34a9db25f"
636
+ },
637
+ "wall_time_s": 27.86474847793579
638
+ },
639
+ "review": {
640
+ "status": "ok",
641
+ "settings": {
642
+ "historical_prior": null,
643
+ "historical_sha256": null,
644
+ "baseline_fit": null
645
+ },
646
+ "outputs": {
647
+ "review_files": 52,
648
+ "files": {
649
+ "review/hybrid/combined.png": "ab2116d8ae5505047318f7ffc96b2d84b4684cccd1e0b4fff812f20aead7a263",
650
+ "review/hybrid/mesh.png": "79be9da711c567b6e093cf679b24592de99f8f1c95c0c3eb97b861b836c8bef4",
651
+ "review/hybrid/observed.png": "38ce3ee603ab904bc7f76ea7e9ed8bba5a9e0884371f917ef9a501d985acaf23",
652
+ "review/tube/tube_profiles.png": "453ef30ee7eccbe4555defd649bad234f73a0f25ea0a05ca1bf85531c08604c2",
653
+ "review/tube/silhouette_1_unmasked.png": "52ea2e42b77ec00acc2896d4b7014b490cf7a5b10b7074fdabce15b33143c25b",
654
+ "review/tube/silhouette_0_unmasked.png": "34116fdeca43a6753d70b82c8c7d7c02d770bd0eebc87a2ef8422bea997ab251",
655
+ "review/tube/silhouette_0_with_masks.png": "b43e7a1e6aadd6b7f595cb59a1fbec92afe64e7f3a5865d2a208778a9c3ee235",
656
+ "review/tube/silhouette_1_with_masks.png": "6368e1993c6b6d7e7c8393fb335145d8e8f973d697987451ea5eada8caf3c473",
657
+ "review/tube/silhouette_2_unmasked.png": "f828394ecd453af538dba5110b6df76074ec40edd40c8ec21005475961b0575e",
658
+ "review/tube/silhouette_3_with_masks.png": "1b9aca72d75f73049a1aa302b65c4267c1968bf17b0e77555061eb21d767c308",
659
+ "review/tube/silhouette_2_with_masks.png": "4e971c4a9e2b8efc82bcfa43318fc52648056e6695b2af8001fffcaa65b1b3ed",
660
+ "review/tube/check_table.json": "5e2dd98e8346fddab091bc37bc35cbe6da0d956b261d9a580d1aca1d5d4ec276",
661
+ "review/tube/orbit.mp4": "490256b85c2b56c41307ae51f60cb17f6d53af9660151f779232074ea43f26e4",
662
+ "review/tube/silhouette_3_unmasked.png": "e9cf05f5f510e7b050f12bb3b403e1595b89f64c4b54bb21d65807fb726264e3",
663
+ "review/tube/tube_scale_views.png": "178aedc95cc3759be8dcf5f11b973276cb952108d2e6a4ab899a355d635be685",
664
+ "review/inputs/depth_offset_table.json": "92eb3d5e13b9f3d8c0b3b3b24fd5be29b11685584f54de61cb41d1adba6eeef8",
665
+ "review/inputs/depth_offset.png": "7edb01fd88acec7901cfca283e6cd548231b5faf1bb38bf5ff71588411ef2320",
666
+ "review/inputs/view_3_23007103.png": "5b05783c4b98698245d2a9adf70722d8ec035ae4feed01108c25174fe932ab25",
667
+ "review/inputs/view_0_12540311.png": "9c9bfb454d5843d2828357dadb80fa1da1b1f1cc16b669b791a815a73edde1c3",
668
+ "review/inputs/view_1_12933256.png": "8a79d9d571c8f4414567f9e401c5ec32727221753cddbda22085078147c10d20",
669
+ "review/inputs/cloud_rgb.png": "c476364cd24964a1b592757895a179de065ad7e98dafb4fca6e992337a64454f",
670
+ "review/inputs/filter_removed.png": "fe2bcf57386b11208cb8f92ff5bf0d2aee321288c2464ffb3db09c00cd146fb1",
671
+ "review/inputs/cloud_by_view.png": "78045b0095df98554de05420e3dec53cdf6dddb43f740efa87a30058542500ac",
672
+ "review/inputs/view_2_17736741.png": "28111f879666363ac677c18fe5fcbd67f6e0c889b77cb222d0fba11c6d86e96d",
673
+ "review/rerun/headless_contact_sheet.png": "65ff780a7ddcaaeef101d1c758ec05581dd3e4fff7ddc817e6a9bcae5f75a4ab",
674
+ "review/spline/centerline_0_with_masks.png": "b354e34bcc7fb79137076497654ddcdf378c10cc28d3ec54443c3dacc6e12b0d",
675
+ "review/spline/centerline_3_unmasked.png": "87d0bb36312e97e7d121b747266c778197c2b835fd1898684101bbf78de72885",
676
+ "review/spline/per_view_arc_coverage.png": "f6278d8db3a4483f6baeb8164fd679d912f828fde782cad2870297c2394384ce",
677
+ "review/spline/fit_projections.png": "a88ea95751d4d335f08f62951216386e6263748e56dd94f2487c7b403a6a522a",
678
+ "review/spline/centerline_1_unmasked.png": "149e6242c06e2310e18e2198f3582ee3c9fa0eb8b38fbc37cafcfe6f9eefcd29",
679
+ "review/spline/centerline_2_with_masks.png": "ded8e2eb9352375d2e4d97cff725b23dfd6576cbb2a2150049d665130b4b05ee",
680
+ "review/spline/centerline_1_with_masks.png": "33093b0298c54374e9c04b299236ab17170cec365ad91282d347bf5968f58715",
681
+ "review/spline/centerline_2_unmasked.png": "c790bc4c3301d6369fbb8fcf91f72959b5e04e6f4f6f403c6344d5c60bfa8ccb",
682
+ "review/spline/round_curves.png": "912a5a3470cdb7f4e9c63169609c1a460c3854467c0cb098f6605697a7f3d491",
683
+ "review/spline/curvature_profile.png": "9fb4c7507cdaf64df56a88dc5abf5aaf9ae57a8be6c7fe213c57c7112805ed83",
684
+ "review/spline/residual_histograms.png": "26dc853a56fce2bee60c0f388d03d96fcc54ca8fbeac13dd713f5d505f2c5413",
685
+ "review/spline/centerline_3_with_masks.png": "1846654f80d220524dcd6d7895cce22b0b3610262fe546a27f31948ce653295c",
686
+ "review/spline/fit_3d.png": "23c7c292f51137ba61245177437e3e7110c10f863d16ef00cc1974770ef8c74a",
687
+ "review/spline/centerline_0_unmasked.png": "699a8904d0dbc1d83c4a5132a8fde97384c53ac1074fbe5b4ae1783d8d0957ef",
688
+ "review/colors/fill_swatch.txt": "f13665f46eadbfa175d99d7cc635e86b3662479e410230acc0b7a1fbddf14af7",
689
+ "review/colors/view_2_visibility.png": "3cccc4c921d2ffe35074f6628cb31b254532e3f9589a03ad166d9c01cc2e8c4d",
690
+ "review/colors/view_1_visibility.png": "8944ffcbcec0fb7671302a4fec5ed3256d03f799e1b76d46670355414623f1b4",
691
+ "review/colors/visibility_and_fill.png": "20b3b6e9c2c12698d1513ba9e5f6b0d4e3ea1ec1d541ccaab3b5244cd47e38df",
692
+ "review/colors/view_0_visibility.png": "7b5fe29514fe7271551d8a3e1be025f0f4e4c3845347ceb56273fb25476cf7e2",
693
+ "review/colors/fill_swatch.png": "ec1f647a623ca5c677b6c66afded00056587fd9865042be4b4cfa1a60b9d717c",
694
+ "review/colors/view_3_visibility.png": "6c27203bc3f1adcffd13828e68cfd2c06a8f43777327cb9d28a793069acc3b40",
695
+ "rerun/appearance_spline_prior.rrd": "ea49d0275474eb3ad23fe9b102232959035f6804355d22e3874e1fb3db7f2d61"
696
+ }
697
+ },
698
+ "code": {
699
+ "commit": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e",
700
+ "u_pin": "81c718790a37e5e0102eb77af2c6edd34a9db25f"
701
+ },
702
+ "wall_time_s": 10.215471982955933
703
+ },
704
+ "tube": {
705
+ "status": "ok",
706
+ "settings": {
707
+ "radius_m": 0.00475,
708
+ "step_t": 0.125,
709
+ "step_angle_deg": 30
710
+ },
711
+ "outputs": {
712
+ "checks": {
713
+ "euler_characteristic": 0,
714
+ "watertight": true,
715
+ "components": 1,
716
+ "winding_consistent": true,
717
+ "signed_volume_m3": 3.9719826858095106e-05,
718
+ "minimum_outward_normal_dot_m": 0.004568361023984254,
719
+ "degenerate_triangles": 0,
720
+ "self_intersecting": false,
721
+ "maximum_radius_error_m": 9.614775572930334e-09,
722
+ "maximum_diameter_error_m": 1.9225657805349572e-08,
723
+ "bishop_seam_error": 1.1920928955078125e-07,
724
+ "minimum_nonadjacent_centerline_distance_m": 0.011442161562936076,
725
+ "triangle_area_m2": {
726
+ "min": 6.017624002219325e-06,
727
+ "median": 1.0300656695404638e-05,
728
+ "mean": 1.0025363362964688e-05,
729
+ "max": 1.1791357703112647e-05,
730
+ "density_max_over_min": 1.9594706646284221
731
+ },
732
+ "bounds_m": [
733
+ [
734
+ -0.03675432875752449,
735
+ -0.17487460374832153,
736
+ 0.00012473855167627335
737
+ ],
738
+ [
739
+ 0.17247842252254486,
740
+ -0.001768721267580986,
741
+ 0.01552670169621706
742
+ ]
743
+ ],
744
+ "radius_m": 0.00475,
745
+ "step_t": 0.125,
746
+ "step_angle_deg": 30,
747
+ "overlap_rule": "surface_intersection",
748
+ "open3d_reported_intersecting_pairs": 0,
749
+ "confirmed_intersecting_pairs": [],
750
+ "passed": true,
751
+ "orientation_flipped": true
752
+ },
753
+ "vertex_count": 864,
754
+ "triangle_count": 1728,
755
+ "files": {
756
+ "tube/tube_checks.json": "5e2dd98e8346fddab091bc37bc35cbe6da0d956b261d9a580d1aca1d5d4ec276",
757
+ "tube/triangle_areas.npz": "0aa9351dfcd6124d9910563f71cb14a28b0c9f9619e99ef5441c99168b39fe29",
758
+ "tube/geometry.npz": "6b4bde18800ab068aa2cf244d52d7dc02fa7145201a1891e02050ce9524a72f0"
759
+ }
760
+ },
761
+ "code": {
762
+ "commit": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e",
763
+ "u_pin": "81c718790a37e5e0102eb77af2c6edd34a9db25f"
764
+ },
765
+ "wall_time_s": 3.272306203842163
766
+ }
767
+ },
768
+ "files": {
769
+ "colors/color_summary.json": "2219b18e5463873def2d481219946f1db9ec3b9ee01f5b3d085ae64460cdc9d3",
770
+ "colors/vertex_colors.npz": "96cc9ff9411bdb993be1d38f7a82c40a6d132b00259edc4f8e5d73a6e7e71091",
771
+ "gaussian_data/session_20260921_233144_367389/0.png": "bcd5ca01e1c3fdae192e8e5336e1cbb683ecf2e658161c53c7956c0434da7f7a",
772
+ "gaussian_data/session_20260921_233144_367389/0_depth.npy": "1b36a12338807e9d2bcd0dd7f59581ea38f94e2d1a0dd22af2be088722977c1b",
773
+ "gaussian_data/session_20260921_233144_367389/1.png": "9d7bca6536d4a4f0068d12f5edf4eb96d6de09872701ebdf0da61b35936e7525",
774
+ "gaussian_data/session_20260921_233144_367389/1_depth.npy": "5df97a0a64a8fcb265253cce72049ec8c7cd98268cdda898d6051ff7e5584123",
775
+ "gaussian_data/session_20260921_233144_367389/2.png": "1ee3ab1ab0b1bb8c6896c778152ae87b24b0606e5682b838afe074fa8057eec4",
776
+ "gaussian_data/session_20260921_233144_367389/2_depth.npy": "76025c9be51a647156b3c8312d19a96c02ac9fb3b357afc42c13ac7f5a57aab7",
777
+ "gaussian_data/session_20260921_233144_367389/3.png": "3be46f5e646c40c02e93d2fe9153ada6ae94ef3a700e9cfadf6f38b6cba0801a",
778
+ "gaussian_data/session_20260921_233144_367389/3_depth.npy": "36823aba21e29fb8d31650d4ca707d513bfe2088ea81493cfe3c9d1767c19c1c",
779
+ "gaussian_data/session_20260921_233144_367389/camera_meta.pkl": "2dae4111b6fac60df93d25f987e510c2ac07d58522e78647ece02df185de760b",
780
+ "gaussian_data/session_20260921_233144_367389/interp_poses.pkl": "b90cc26123c822f0d06446ac699e110db22a86e265c56751819029a46f558b6f",
781
+ "gaussian_data/session_20260921_233144_367389/mask_0.png": "75870fba7577a578f6cca3fc9cda5033c10d7760a971e2184c9c04381c73681a",
782
+ "gaussian_data/session_20260921_233144_367389/mask_1.png": "30b1a62bc96ce182a524df3c4f80a72121444f6106eccb866b68d182b89a011e",
783
+ "gaussian_data/session_20260921_233144_367389/mask_2.png": "d2d160e0840a71f17753b748e9e268cd45bda02b72429ec391f3a9cb4f62e0cd",
784
+ "gaussian_data/session_20260921_233144_367389/mask_3.png": "a430a39bd2d9d9bdfc5bcf020a34244be7b36d317cafd3e59b05ee1ef365dffb",
785
+ "gaussian_data/session_20260921_233144_367389/mask_human_0.png": "dbb0c780af803d47659af89e7a1c3a57b66775a20d17c4dbe4dde70eba28ae7c",
786
+ "gaussian_data/session_20260921_233144_367389/mask_human_1.png": "1f582f5569432159c2a4a21fb8538b248f320da42cdd16ad08fd29ea800c03e2",
787
+ "gaussian_data/session_20260921_233144_367389/mask_human_2.png": "e2a8dabdd8fa24c6aa14ed4d03d2126f583627e58584282e0c3bc773d7ed9a50",
788
+ "gaussian_data/session_20260921_233144_367389/mask_human_3.png": "b64d19e116e21ca9d2781b03286593809b802a77b11a05b53913d4d677a798ad",
789
+ "gaussian_data/session_20260921_233144_367389/observation.ply": "8328895eb3d93139b8f14cf7afe2cc1b659e26678ad95983e5655c95e2211e40",
790
+ "gaussian_data/session_20260921_233144_367389/shape_prior.glb": "d55917d516e82f61ef6bfbee922be047fdc53e8420b31d901edc514977bca8b9",
791
+ "hybrid/populations.npz": "1dd564cb09a975a38e1fdd43513500855fbd3dcd4746d805b8dff399b00f1381",
792
+ "inputs/depth_offset_diagnostic.json": "92eb3d5e13b9f3d8c0b3b3b24fd5be29b11685584f54de61cb41d1adba6eeef8",
793
+ "inputs/observed_cloud.npz": "2a5e0bbbb0e717c38f8238636e6e9c289b8a7e2ed49713dd68ed5379d73d6f9e",
794
+ "inputs/reference_views.json": "87cadcc07eaa3a50d25c51593d0a55e78a0fd61f6751467c8a230f92f40c658b",
795
+ "rerun/appearance_spline_prior.rrd": "ea49d0275474eb3ad23fe9b102232959035f6804355d22e3874e1fb3db7f2d61",
796
+ "review/colors/fill_swatch.png": "ec1f647a623ca5c677b6c66afded00056587fd9865042be4b4cfa1a60b9d717c",
797
+ "review/colors/fill_swatch.txt": "f13665f46eadbfa175d99d7cc635e86b3662479e410230acc0b7a1fbddf14af7",
798
+ "review/colors/view_0_visibility.png": "7b5fe29514fe7271551d8a3e1be025f0f4e4c3845347ceb56273fb25476cf7e2",
799
+ "review/colors/view_1_visibility.png": "8944ffcbcec0fb7671302a4fec5ed3256d03f799e1b76d46670355414623f1b4",
800
+ "review/colors/view_2_visibility.png": "3cccc4c921d2ffe35074f6628cb31b254532e3f9589a03ad166d9c01cc2e8c4d",
801
+ "review/colors/view_3_visibility.png": "6c27203bc3f1adcffd13828e68cfd2c06a8f43777327cb9d28a793069acc3b40",
802
+ "review/colors/visibility_and_fill.png": "20b3b6e9c2c12698d1513ba9e5f6b0d4e3ea1ec1d541ccaab3b5244cd47e38df",
803
+ "review/hybrid/combined.png": "ab2116d8ae5505047318f7ffc96b2d84b4684cccd1e0b4fff812f20aead7a263",
804
+ "review/hybrid/mesh.png": "79be9da711c567b6e093cf679b24592de99f8f1c95c0c3eb97b861b836c8bef4",
805
+ "review/hybrid/observed.png": "38ce3ee603ab904bc7f76ea7e9ed8bba5a9e0884371f917ef9a501d985acaf23",
806
+ "review/inputs/cloud_by_view.png": "78045b0095df98554de05420e3dec53cdf6dddb43f740efa87a30058542500ac",
807
+ "review/inputs/cloud_rgb.png": "c476364cd24964a1b592757895a179de065ad7e98dafb4fca6e992337a64454f",
808
+ "review/inputs/depth_offset.png": "7edb01fd88acec7901cfca283e6cd548231b5faf1bb38bf5ff71588411ef2320",
809
+ "review/inputs/depth_offset_table.json": "92eb3d5e13b9f3d8c0b3b3b24fd5be29b11685584f54de61cb41d1adba6eeef8",
810
+ "review/inputs/filter_removed.png": "fe2bcf57386b11208cb8f92ff5bf0d2aee321288c2464ffb3db09c00cd146fb1",
811
+ "review/inputs/view_0_12540311.png": "9c9bfb454d5843d2828357dadb80fa1da1b1f1cc16b669b791a815a73edde1c3",
812
+ "review/inputs/view_1_12933256.png": "8a79d9d571c8f4414567f9e401c5ec32727221753cddbda22085078147c10d20",
813
+ "review/inputs/view_2_17736741.png": "28111f879666363ac677c18fe5fcbd67f6e0c889b77cb222d0fba11c6d86e96d",
814
+ "review/inputs/view_3_23007103.png": "5b05783c4b98698245d2a9adf70722d8ec035ae4feed01108c25174fe932ab25",
815
+ "review/rerun/headless_contact_sheet.png": "65ff780a7ddcaaeef101d1c758ec05581dd3e4fff7ddc817e6a9bcae5f75a4ab",
816
+ "review/spline/centerline_0_unmasked.png": "699a8904d0dbc1d83c4a5132a8fde97384c53ac1074fbe5b4ae1783d8d0957ef",
817
+ "review/spline/centerline_0_with_masks.png": "b354e34bcc7fb79137076497654ddcdf378c10cc28d3ec54443c3dacc6e12b0d",
818
+ "review/spline/centerline_1_unmasked.png": "149e6242c06e2310e18e2198f3582ee3c9fa0eb8b38fbc37cafcfe6f9eefcd29",
819
+ "review/spline/centerline_1_with_masks.png": "33093b0298c54374e9c04b299236ab17170cec365ad91282d347bf5968f58715",
820
+ "review/spline/centerline_2_unmasked.png": "c790bc4c3301d6369fbb8fcf91f72959b5e04e6f4f6f403c6344d5c60bfa8ccb",
821
+ "review/spline/centerline_2_with_masks.png": "ded8e2eb9352375d2e4d97cff725b23dfd6576cbb2a2150049d665130b4b05ee",
822
+ "review/spline/centerline_3_unmasked.png": "87d0bb36312e97e7d121b747266c778197c2b835fd1898684101bbf78de72885",
823
+ "review/spline/centerline_3_with_masks.png": "1846654f80d220524dcd6d7895cce22b0b3610262fe546a27f31948ce653295c",
824
+ "review/spline/curvature_profile.png": "9fb4c7507cdaf64df56a88dc5abf5aaf9ae57a8be6c7fe213c57c7112805ed83",
825
+ "review/spline/fit_3d.png": "23c7c292f51137ba61245177437e3e7110c10f863d16ef00cc1974770ef8c74a",
826
+ "review/spline/fit_projections.png": "a88ea95751d4d335f08f62951216386e6263748e56dd94f2487c7b403a6a522a",
827
+ "review/spline/per_view_arc_coverage.png": "f6278d8db3a4483f6baeb8164fd679d912f828fde782cad2870297c2394384ce",
828
+ "review/spline/residual_histograms.png": "26dc853a56fce2bee60c0f388d03d96fcc54ca8fbeac13dd713f5d505f2c5413",
829
+ "review/spline/round_curves.png": "912a5a3470cdb7f4e9c63169609c1a460c3854467c0cb098f6605697a7f3d491",
830
+ "review/tube/check_table.json": "5e2dd98e8346fddab091bc37bc35cbe6da0d956b261d9a580d1aca1d5d4ec276",
831
+ "review/tube/orbit.mp4": "490256b85c2b56c41307ae51f60cb17f6d53af9660151f779232074ea43f26e4",
832
+ "review/tube/silhouette_0_unmasked.png": "34116fdeca43a6753d70b82c8c7d7c02d770bd0eebc87a2ef8422bea997ab251",
833
+ "review/tube/silhouette_0_with_masks.png": "b43e7a1e6aadd6b7f595cb59a1fbec92afe64e7f3a5865d2a208778a9c3ee235",
834
+ "review/tube/silhouette_1_unmasked.png": "52ea2e42b77ec00acc2896d4b7014b490cf7a5b10b7074fdabce15b33143c25b",
835
+ "review/tube/silhouette_1_with_masks.png": "6368e1993c6b6d7e7c8393fb335145d8e8f973d697987451ea5eada8caf3c473",
836
+ "review/tube/silhouette_2_unmasked.png": "f828394ecd453af538dba5110b6df76074ec40edd40c8ec21005475961b0575e",
837
+ "review/tube/silhouette_2_with_masks.png": "4e971c4a9e2b8efc82bcfa43318fc52648056e6695b2af8001fffcaa65b1b3ed",
838
+ "review/tube/silhouette_3_unmasked.png": "e9cf05f5f510e7b050f12bb3b403e1595b89f64c4b54bb21d65807fb726264e3",
839
+ "review/tube/silhouette_3_with_masks.png": "1b9aca72d75f73049a1aa302b65c4267c1968bf17b0e77555061eb21d767c308",
840
+ "review/tube/tube_profiles.png": "453ef30ee7eccbe4555defd649bad234f73a0f25ea0a05ca1bf85531c08604c2",
841
+ "review/tube/tube_scale_views.png": "178aedc95cc3759be8dcf5f11b973276cb952108d2e6a4ab899a355d635be685",
842
+ "spline/determinism.json": "773d1a02e2924f0d7df2d5d0011979c4e408678ebfdb9633a8348b9788132683",
843
+ "spline/filter.json": "a64b3b76aed2c7de63cbc747c2aaf37138acf8455e4731761aee615257c0e333",
844
+ "spline/filter_removed.npz": "aa8cd5f2c6f83bf06f2d9c22d21e15414e88630bf276b1bf6f00593f36e8c5c2",
845
+ "spline/filtered_cloud.npz": "68e21697a4a03433fbf255ddaae6b84d0556a0027a3e035ff7f3441a61525847",
846
+ "spline/init_ellipse.json": "ca18195cdf76514f76c5e7f0c278c3a0d05584929738ac154d92ae7adf5064a9",
847
+ "spline/reprojection.json": "da0fbbe4aaa65082603b4e4a92b62db1b135dc95ca20d838db25afa46fef6e99",
848
+ "spline/reprojection_residuals.npz": "6ae821f556bafc3087c9465198c48b7cb71a0900def108c67dd6f77a83bf469c",
849
+ "spline/residuals.npz": "93a21e8964e40e297d636b0bc6f05a996afdfee6aed84aeef4abac28be2c211a",
850
+ "spline/rounds.jsonl": "76ae11e7bab8c081d9a19eaeceaec464720ca0ce6c547579fb5569be2ebf464e",
851
+ "spline/spline_fit.json": "8f912477f655e0d4e5a6d5e154765bb2582aea55a53373728078767228420189",
852
+ "spline/spline_init.json": "54fe1bc122eeb141e50b44ab2e31363746cadcfdd4e5233a1b5c1b3aa4a45832",
853
+ "spline/witness.json": "da22c7756a7715e3b2fbfbd7ac9dd9f6168f1a9b8d66be670636199e1990ce7f",
854
+ "steps/colors.json": "4a3504b172f12115232ed079fffabf7d940d7a7972104c31f702de99f55ba50b",
855
+ "steps/diagnose-depth.json": "1623cbe7cd56d5931017999562c131d5c9ac9ccd1f0d9276a63c289ff591736e",
856
+ "steps/fit.json": "b781dc67e372465e63f360b44aa91206ee1c5060dea7d6573269bdcf5e1f84e5",
857
+ "steps/hybrid.json": "ac4cd0860f6c065a9c2daf656af6baffb9da611a6898b3610f9a0e436cf1ffdb",
858
+ "steps/inputs.json": "a642fd3f354dec88337aa9da882f7415d7f766104fb5c9e635f9eac9abd485fe",
859
+ "steps/review.json": "d7f0c8276d5b06b12e25e68ba654948726aee20224f130f6d9e128951879542f",
860
+ "steps/tube.json": "bf2ebdee89db9c5b1329e13a9764bfd035d768f155b2d508474be8816a68ebec",
861
+ "tube/geometry.npz": "6b4bde18800ab068aa2cf244d52d7dc02fa7145201a1891e02050ce9524a72f0",
862
+ "tube/shape_prior.glb": "d55917d516e82f61ef6bfbee922be047fdc53e8420b31d901edc514977bca8b9",
863
+ "tube/triangle_areas.npz": "0aa9351dfcd6124d9910563f71cb14a28b0c9f9619e99ef5441c99168b39fe29",
864
+ "tube/tube.ply": "3ecb7266ca80b73f961edaebcc962af269123c60fe926280dbc527833247e405",
865
+ "tube/tube_checks.json": "5e2dd98e8346fddab091bc37bc35cbe6da0d956b261d9a580d1aca1d5d4ec276"
866
+ }
867
+ }
sessions/session_20260921_233144_367389/preprocessing/chain-prior-v1/native/rerun/appearance_spline_prior.rrd ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:ea49d0275474eb3ad23fe9b102232959035f6804355d22e3874e1fb3db7f2d61
3
+ size 25459958
sessions/session_20260921_233144_367389/preprocessing/chain-prior-v1/native/review/colors/fill_swatch.txt ADDED
@@ -0,0 +1,2 @@
 
 
 
1
+ Per-channel median of 583 observed vertex colours (RGB/255): [0.20784313725490197, 0.1693642469992647, 0.15773760350121907]
2
+ Filled 281 vertices.
sessions/session_20260921_233144_367389/preprocessing/chain-prior-v1/native/review/colors/view_0_visibility.png ADDED

Git LFS Details

  • SHA256: 7b5fe29514fe7271551d8a3e1be025f0f4e4c3845347ceb56273fb25476cf7e2
  • Pointer size: 131 Bytes
  • Size of remote file: 101 kB
sessions/session_20260921_233144_367389/preprocessing/chain-prior-v1/native/review/colors/view_1_visibility.png ADDED

Git LFS Details

  • SHA256: 8944ffcbcec0fb7671302a4fec5ed3256d03f799e1b76d46670355414623f1b4
  • Pointer size: 131 Bytes
  • Size of remote file: 106 kB
sessions/session_20260921_233144_367389/preprocessing/chain-prior-v1/native/review/colors/view_2_visibility.png ADDED

Git LFS Details

  • SHA256: 3cccc4c921d2ffe35074f6628cb31b254532e3f9589a03ad166d9c01cc2e8c4d
  • Pointer size: 131 Bytes
  • Size of remote file: 102 kB
sessions/session_20260921_233144_367389/preprocessing/chain-prior-v1/native/review/colors/view_3_visibility.png ADDED

Git LFS Details

  • SHA256: 6c27203bc3f1adcffd13828e68cfd2c06a8f43777327cb9d28a793069acc3b40
  • Pointer size: 131 Bytes
  • Size of remote file: 107 kB
sessions/session_20260921_233144_367389/preprocessing/chain-prior-v1/native/review/colors/visibility_and_fill.png ADDED

Git LFS Details

  • SHA256: 20b3b6e9c2c12698d1513ba9e5f6b0d4e3ea1ec1d541ccaab3b5244cd47e38df
  • Pointer size: 131 Bytes
  • Size of remote file: 121 kB
sessions/session_20260921_233144_367389/preprocessing/chain-prior-v1/native/review/hybrid/combined.png ADDED

Git LFS Details

  • SHA256: ab2116d8ae5505047318f7ffc96b2d84b4684cccd1e0b4fff812f20aead7a263
  • Pointer size: 131 Bytes
  • Size of remote file: 170 kB
sessions/session_20260921_233144_367389/preprocessing/chain-prior-v1/native/review/hybrid/mesh.png ADDED

Git LFS Details

  • SHA256: 79be9da711c567b6e093cf679b24592de99f8f1c95c0c3eb97b861b836c8bef4
  • Pointer size: 131 Bytes
  • Size of remote file: 240 kB
sessions/session_20260921_233144_367389/preprocessing/chain-prior-v1/native/review/rerun/headless_contact_sheet.png ADDED

Git LFS Details

  • SHA256: 65ff780a7ddcaaeef101d1c758ec05581dd3e4fff7ddc817e6a9bcae5f75a4ab
  • Pointer size: 132 Bytes
  • Size of remote file: 1.17 MB
sessions/session_20260921_233144_367389/preprocessing/chain-prior-v1/native/review/spline/centerline_0_unmasked.png ADDED

Git LFS Details

  • SHA256: 699a8904d0dbc1d83c4a5132a8fde97384c53ac1074fbe5b4ae1783d8d0957ef
  • Pointer size: 131 Bytes
  • Size of remote file: 216 kB
sessions/session_20260921_233144_367389/preprocessing/chain-prior-v1/native/review/spline/centerline_0_with_masks.png ADDED

Git LFS Details

  • SHA256: b354e34bcc7fb79137076497654ddcdf378c10cc28d3ec54443c3dacc6e12b0d
  • Pointer size: 131 Bytes
  • Size of remote file: 211 kB
sessions/session_20260921_233144_367389/preprocessing/chain-prior-v1/native/review/spline/centerline_1_unmasked.png ADDED

Git LFS Details

  • SHA256: 149e6242c06e2310e18e2198f3582ee3c9fa0eb8b38fbc37cafcfe6f9eefcd29
  • Pointer size: 131 Bytes
  • Size of remote file: 172 kB
sessions/session_20260921_233144_367389/preprocessing/chain-prior-v1/native/review/spline/centerline_1_with_masks.png ADDED

Git LFS Details

  • SHA256: 33093b0298c54374e9c04b299236ab17170cec365ad91282d347bf5968f58715
  • Pointer size: 131 Bytes
  • Size of remote file: 169 kB
sessions/session_20260921_233144_367389/preprocessing/chain-prior-v1/native/review/spline/centerline_2_unmasked.png ADDED

Git LFS Details

  • SHA256: c790bc4c3301d6369fbb8fcf91f72959b5e04e6f4f6f403c6344d5c60bfa8ccb
  • Pointer size: 131 Bytes
  • Size of remote file: 216 kB
sessions/session_20260921_233144_367389/preprocessing/chain-prior-v1/native/review/spline/centerline_2_with_masks.png ADDED

Git LFS Details

  • SHA256: ded8e2eb9352375d2e4d97cff725b23dfd6576cbb2a2150049d665130b4b05ee
  • Pointer size: 131 Bytes
  • Size of remote file: 213 kB
sessions/session_20260921_233144_367389/preprocessing/chain-prior-v1/native/review/spline/centerline_3_unmasked.png ADDED

Git LFS Details

  • SHA256: 87d0bb36312e97e7d121b747266c778197c2b835fd1898684101bbf78de72885
  • Pointer size: 131 Bytes
  • Size of remote file: 146 kB
sessions/session_20260921_233144_367389/preprocessing/chain-prior-v1/native/review/spline/centerline_3_with_masks.png ADDED

Git LFS Details

  • SHA256: 1846654f80d220524dcd6d7895cce22b0b3610262fe546a27f31948ce653295c
  • Pointer size: 131 Bytes
  • Size of remote file: 145 kB
sessions/session_20260921_233144_367389/preprocessing/chain-prior-v1/native/review/spline/curvature_profile.png ADDED

Git LFS Details

  • SHA256: 9fb4c7507cdaf64df56a88dc5abf5aaf9ae57a8be6c7fe213c57c7112805ed83
  • Pointer size: 130 Bytes
  • Size of remote file: 58.5 kB
sessions/session_20260921_233144_367389/preprocessing/chain-prior-v1/native/review/spline/fit_3d.png ADDED

Git LFS Details

  • SHA256: 23c7c292f51137ba61245177437e3e7110c10f863d16ef00cc1974770ef8c74a
  • Pointer size: 131 Bytes
  • Size of remote file: 450 kB
sessions/session_20260921_233144_367389/preprocessing/chain-prior-v1/native/review/spline/fit_projections.png ADDED

Git LFS Details

  • SHA256: a88ea95751d4d335f08f62951216386e6263748e56dd94f2487c7b403a6a522a
  • Pointer size: 131 Bytes
  • Size of remote file: 180 kB
sessions/session_20260921_233144_367389/preprocessing/chain-prior-v1/native/review/spline/per_view_arc_coverage.png ADDED

Git LFS Details

  • SHA256: f6278d8db3a4483f6baeb8164fd679d912f828fde782cad2870297c2394384ce
  • Pointer size: 130 Bytes
  • Size of remote file: 41.1 kB
sessions/session_20260921_233144_367389/preprocessing/chain-prior-v1/native/review/spline/residual_histograms.png ADDED

Git LFS Details

  • SHA256: 26dc853a56fce2bee60c0f388d03d96fcc54ca8fbeac13dd713f5d505f2c5413
  • Pointer size: 130 Bytes
  • Size of remote file: 58.7 kB
sessions/session_20260921_233144_367389/preprocessing/chain-prior-v1/native/review/spline/round_curves.png ADDED

Git LFS Details

  • SHA256: 912a5a3470cdb7f4e9c63169609c1a460c3854467c0cb098f6605697a7f3d491
  • Pointer size: 130 Bytes
  • Size of remote file: 61.6 kB
sessions/session_20260921_233144_367389/preprocessing/chain-prior-v1/native/review/tube/check_table.json ADDED
@@ -0,0 +1,41 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "euler_characteristic": 0,
3
+ "watertight": true,
4
+ "components": 1,
5
+ "winding_consistent": true,
6
+ "signed_volume_m3": 3.9719826858095106e-05,
7
+ "minimum_outward_normal_dot_m": 0.004568361023984254,
8
+ "degenerate_triangles": 0,
9
+ "self_intersecting": false,
10
+ "maximum_radius_error_m": 9.614775572930334e-09,
11
+ "maximum_diameter_error_m": 1.9225657805349572e-08,
12
+ "bishop_seam_error": 1.1920928955078125e-07,
13
+ "minimum_nonadjacent_centerline_distance_m": 0.011442161562936076,
14
+ "triangle_area_m2": {
15
+ "min": 6.017624002219325e-06,
16
+ "median": 1.0300656695404638e-05,
17
+ "mean": 1.0025363362964688e-05,
18
+ "max": 1.1791357703112647e-05,
19
+ "density_max_over_min": 1.9594706646284221
20
+ },
21
+ "bounds_m": [
22
+ [
23
+ -0.03675432875752449,
24
+ -0.17487460374832153,
25
+ 0.00012473855167627335
26
+ ],
27
+ [
28
+ 0.17247842252254486,
29
+ -0.001768721267580986,
30
+ 0.01552670169621706
31
+ ]
32
+ ],
33
+ "radius_m": 0.00475,
34
+ "step_t": 0.125,
35
+ "step_angle_deg": 30,
36
+ "overlap_rule": "surface_intersection",
37
+ "open3d_reported_intersecting_pairs": 0,
38
+ "confirmed_intersecting_pairs": [],
39
+ "passed": true,
40
+ "orientation_flipped": true
41
+ }
sessions/session_20260921_233144_367389/preprocessing/chain-prior-v1/native/review/tube/orbit.mp4 ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:490256b85c2b56c41307ae51f60cb17f6d53af9660151f779232074ea43f26e4
3
+ size 1096471
sessions/session_20260921_233144_367389/preprocessing/chain-prior-v1/native/review/tube/silhouette_0_unmasked.png ADDED

Git LFS Details

  • SHA256: 34116fdeca43a6753d70b82c8c7d7c02d770bd0eebc87a2ef8422bea997ab251
  • Pointer size: 131 Bytes
  • Size of remote file: 203 kB
sessions/session_20260921_233144_367389/preprocessing/chain-prior-v1/native/review/tube/silhouette_0_with_masks.png ADDED

Git LFS Details

  • SHA256: b43e7a1e6aadd6b7f595cb59a1fbec92afe64e7f3a5865d2a208778a9c3ee235
  • Pointer size: 131 Bytes
  • Size of remote file: 214 kB
sessions/session_20260921_233144_367389/preprocessing/chain-prior-v1/native/review/tube/silhouette_1_unmasked.png ADDED

Git LFS Details

  • SHA256: 52ea2e42b77ec00acc2896d4b7014b490cf7a5b10b7074fdabce15b33143c25b
  • Pointer size: 131 Bytes
  • Size of remote file: 160 kB
sessions/session_20260921_233144_367389/preprocessing/chain-prior-v1/native/review/tube/silhouette_1_with_masks.png ADDED

Git LFS Details

  • SHA256: 6368e1993c6b6d7e7c8393fb335145d8e8f973d697987451ea5eada8caf3c473
  • Pointer size: 131 Bytes
  • Size of remote file: 170 kB
sessions/session_20260921_233144_367389/preprocessing/chain-prior-v1/native/review/tube/silhouette_2_unmasked.png ADDED

Git LFS Details

  • SHA256: f828394ecd453af538dba5110b6df76074ec40edd40c8ec21005475961b0575e
  • Pointer size: 131 Bytes
  • Size of remote file: 203 kB
sessions/session_20260921_233144_367389/preprocessing/chain-prior-v1/native/review/tube/silhouette_2_with_masks.png ADDED

Git LFS Details

  • SHA256: 4e971c4a9e2b8efc82bcfa43318fc52648056e6695b2af8001fffcaa65b1b3ed
  • Pointer size: 131 Bytes
  • Size of remote file: 213 kB
sessions/session_20260921_233144_367389/preprocessing/chain-prior-v1/native/review/tube/silhouette_3_unmasked.png ADDED

Git LFS Details

  • SHA256: e9cf05f5f510e7b050f12bb3b403e1595b89f64c4b54bb21d65807fb726264e3
  • Pointer size: 131 Bytes
  • Size of remote file: 136 kB
sessions/session_20260921_233144_367389/preprocessing/chain-prior-v1/native/review/tube/silhouette_3_with_masks.png ADDED

Git LFS Details

  • SHA256: 1b9aca72d75f73049a1aa302b65c4267c1968bf17b0e77555061eb21d767c308
  • Pointer size: 131 Bytes
  • Size of remote file: 145 kB
sessions/session_20260921_233144_367389/preprocessing/chain-prior-v1/native/review/tube/tube_profiles.png ADDED

Git LFS Details

  • SHA256: 453ef30ee7eccbe4555defd649bad234f73a0f25ea0a05ca1bf85531c08604c2
  • Pointer size: 131 Bytes
  • Size of remote file: 347 kB
sessions/session_20260921_233144_367389/preprocessing/chain-prior-v1/native/review/tube/tube_scale_views.png ADDED

Git LFS Details

  • SHA256: 178aedc95cc3759be8dcf5f11b973276cb952108d2e6a4ab899a355d635be685
  • Pointer size: 131 Bytes
  • Size of remote file: 233 kB
sessions/session_20260921_233144_367389/preprocessing/chain-prior-v1/native/spline/reprojection.json ADDED
@@ -0,0 +1,63 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "samples": 360,
3
+ "direction": "visible mask pixels to projected centerline",
4
+ "per_view": [
5
+ {
6
+ "view": 0,
7
+ "serial": "12540311",
8
+ "mask_pixels": 11837,
9
+ "median_depth_m": 1.105,
10
+ "mean_m": 0.0038782176253228844,
11
+ "median_m": 0.0035360368880653676,
12
+ "p90_m": 0.007411071266843253,
13
+ "mean_px": 5.284488088692552,
14
+ "median_px": 4.81823305539025,
15
+ "p90_px": 10.098380909224051,
16
+ "visible_centerline_samples": 308,
17
+ "outside_mask_fraction": 0.00974025974025974
18
+ },
19
+ {
20
+ "view": 1,
21
+ "serial": "12933256",
22
+ "mask_pixels": 9880,
23
+ "median_depth_m": 1.107,
24
+ "mean_m": 0.003690658994126595,
25
+ "median_m": 0.003341640981762435,
26
+ "p90_m": 0.007208772731756934,
27
+ "mean_px": 4.951523610107321,
28
+ "median_px": 4.483287016307301,
29
+ "p90_px": 9.671578458809039,
30
+ "visible_centerline_samples": 360,
31
+ "outside_mask_fraction": 0.027777777777777776
32
+ },
33
+ {
34
+ "view": 2,
35
+ "serial": "17736741",
36
+ "mask_pixels": 10239,
37
+ "median_depth_m": 1.1320000000000001,
38
+ "mean_m": 0.0034740098459744235,
39
+ "median_m": 0.003172999844871685,
40
+ "p90_m": 0.006620598861733719,
41
+ "mean_px": 4.6311289932621325,
42
+ "median_px": 4.229837040540414,
43
+ "p90_px": 8.825757069190692,
44
+ "visible_centerline_samples": 318,
45
+ "outside_mask_fraction": 0.012578616352201259
46
+ },
47
+ {
48
+ "view": 3,
49
+ "serial": "23007103",
50
+ "mask_pixels": 7381,
51
+ "median_depth_m": 0.97,
52
+ "mean_m": 0.003749645740894725,
53
+ "median_m": 0.0034142474435172707,
54
+ "p90_m": 0.007358410903923325,
55
+ "mean_px": 4.075954458002139,
56
+ "median_px": 3.711363536195392,
57
+ "p90_px": 7.998780289021815,
58
+ "visible_centerline_samples": 358,
59
+ "outside_mask_fraction": 0.0111731843575419
60
+ }
61
+ ],
62
+ "mean_of_view_means_m": 0.003698133051579657
63
+ }
sessions/session_20260921_233144_367389/preprocessing/chain-prior-v1/native/spline/reprojection_residuals.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:6ae821f556bafc3087c9465198c48b7cb71a0900def108c67dd6f77a83bf469c
3
+ size 1259800
sessions/session_20260921_233144_367389/preprocessing/chain-prior-v1/native/spline/residuals.npz ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:93a21e8964e40e297d636b0bc6f05a996afdfee6aed84aeef4abac28be2c211a
3
+ size 1475990
sessions/session_20260921_233144_367389/preprocessing/chain-prior-v1/native/spline/rounds.jsonl ADDED
@@ -0,0 +1 @@
 
 
1
+ {"loss": 6.0984086303506047e-05, "components": {"distance": 2.398061587882694e-05, "curvature": 1.0113907364939223e-06, "arclength": 7.432801680806733e-07, "mask_reprojection_2d": 3.524879866745323e-05}, "grad_norm": 8.26684627099894e-05, "arclength_m": 0.5877262949943542, "arclength_bound_active_within_1mm": true, "max_curvature_per_m": 30.576679229736328, "curvature_p50_p90_per_m": [11.315874099731445, 22.88189315795898], "curvature_above_max_fraction": 0.596, "mean_distance_m": 0.0073691726396086865, "max_distance_m": 0.01859072595834732, "beyond_2delta_fraction": 0.19199665894680892, "at_cap_fraction": 0.0, "per_view": [{"view": 0, "count": 8480, "median_m": 0.006901396904140711, "p90_m": 0.010149775166064502, "max_m": 0.014187222346663475, "beyond_2delta_fraction": 0.11014150943396227, "at_cap_fraction": 0.0}, {"view": 1, "count": 6557, "median_m": 0.005649127997457981, "p90_m": 0.01055502500385046, "max_m": 0.01859072595834732, "beyond_2delta_fraction": 0.11056885770931829, "at_cap_fraction": 0.0}, {"view": 2, "count": 6783, "median_m": 0.008469968102872372, "p90_m": 0.011138298735022546, "max_m": 0.013993453234434128, "beyond_2delta_fraction": 0.26020934689665337, "at_cap_fraction": 0.0}, {"view": 3, "count": 4519, "median_m": 0.00907266978174448, "p90_m": 0.012268818728625775, "max_m": 0.016254890710115433, "beyond_2delta_fraction": 0.36136313343660104, "at_cap_fraction": 0.0}], "round": 1, "relative_loss_change": 0.9808226845736205}
sessions/session_20260921_233144_367389/preprocessing/chain-prior-v1/native/spline/spline_fit.json ADDED
@@ -0,0 +1,53 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "version": 1,
3
+ "M": 9,
4
+ "basis_function": "JaxB3",
5
+ "closed": true,
6
+ "control_points": [
7
+ [
8
+ 0.1685766577720642,
9
+ -0.15415625274181366,
10
+ 0.005358146503567696
11
+ ],
12
+ [
13
+ 0.13050676882266998,
14
+ -0.17813235521316528,
15
+ 0.005367773585021496
16
+ ],
17
+ [
18
+ 0.05440312996506691,
19
+ -0.15406252443790436,
20
+ 0.005124703980982304
21
+ ],
22
+ [
23
+ -0.013904452323913574,
24
+ -0.16054846346378326,
25
+ 0.005944279953837395
26
+ ],
27
+ [
28
+ -0.03601635992527008,
29
+ -0.08683446794748306,
30
+ 0.004144447855651379
31
+ ],
32
+ [
33
+ -0.028885601088404655,
34
+ -0.02388780191540718,
35
+ 0.006874308455735445
36
+ ],
37
+ [
38
+ 0.044411126524209976,
39
+ 0.004023696295917034,
40
+ 0.011196276172995567
41
+ ],
42
+ [
43
+ 0.11420895904302597,
44
+ -0.03123488835990429,
45
+ 0.010750834830105305
46
+ ],
47
+ [
48
+ 0.17082618176937103,
49
+ -0.07428772747516632,
50
+ 0.004675146657973528
51
+ ]
52
+ ]
53
+ }
sessions/session_20260921_233144_367389/preprocessing/chain-prior-v1/native/spline/spline_init.json ADDED
@@ -0,0 +1,53 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "version": 1,
3
+ "M": 9,
4
+ "basis_function": "JaxB3",
5
+ "closed": true,
6
+ "control_points": [
7
+ [
8
+ 0.14332081377506256,
9
+ -0.13730263710021973,
10
+ 0.009603449143469334
11
+ ],
12
+ [
13
+ 0.11119294166564941,
14
+ -0.16280047595500946,
15
+ 0.009396912530064583
16
+ ],
17
+ [
18
+ 0.056538909673690796,
19
+ -0.16135643422603607,
20
+ 0.009519695304334164
21
+ ],
22
+ [
23
+ 0.005332496948540211,
24
+ -0.13312530517578125,
25
+ 0.009919064119458199
26
+ ],
27
+ [
28
+ -0.018605012446641922,
29
+ -0.09165845066308975,
30
+ 0.0104047991335392
31
+ ],
32
+ [
33
+ -0.00394422234967351,
34
+ -0.05618812143802643,
35
+ 0.010751201771199703
36
+ ],
37
+ [
38
+ 0.04236694797873497,
39
+ -0.04352353885769844,
40
+ 0.010794074274599552
41
+ ],
42
+ [
43
+ 0.09868969023227692,
44
+ -0.05937637761235237,
45
+ 0.010515590198338032
46
+ ],
47
+ [
48
+ 0.13852380216121674,
49
+ -0.09667586535215378,
50
+ 0.010042651556432247
51
+ ]
52
+ ]
53
+ }
sessions/session_20260921_233144_367389/preprocessing/chain-prior-v1/native/steps/colors.json ADDED
@@ -0,0 +1,67 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "status": "ok",
3
+ "settings": {
4
+ "depth_tolerance_m": 0.025
5
+ },
6
+ "outputs": {
7
+ "rule": "native sRGB/255, cosine weighted over mask/depth/first-hit visible views",
8
+ "two_sided": false,
9
+ "depth_tolerance_m": 0.025,
10
+ "first_hit_tolerance_m": 0.0002,
11
+ "per_view": [
12
+ {
13
+ "view": 0,
14
+ "serial": "12540311",
15
+ "observed_vertices": 314,
16
+ "projected_inside": 864,
17
+ "first_hit": 464
18
+ },
19
+ {
20
+ "view": 1,
21
+ "serial": "12933256",
22
+ "observed_vertices": 352,
23
+ "projected_inside": 864,
24
+ "first_hit": 462
25
+ },
26
+ {
27
+ "view": 2,
28
+ "serial": "17736741",
29
+ "observed_vertices": 320,
30
+ "projected_inside": 864,
31
+ "first_hit": 457
32
+ },
33
+ {
34
+ "view": 3,
35
+ "serial": "23007103",
36
+ "observed_vertices": 368,
37
+ "projected_inside": 864,
38
+ "first_hit": 460
39
+ }
40
+ ],
41
+ "observed_vertices": 583,
42
+ "filled_vertices": 281,
43
+ "fill_color_rgb": [
44
+ 0.20784313725490197,
45
+ 0.1693642469992647,
46
+ 0.15773760350121907
47
+ ],
48
+ "glb_roundtrip": {
49
+ "float32_positions_exact": true,
50
+ "vertex_colors_exact": true,
51
+ "uv_count": 0,
52
+ "vertex_reordered_on_open3d_load": true
53
+ },
54
+ "files": {
55
+ "colors/vertex_colors.npz": "96cc9ff9411bdb993be1d38f7a82c40a6d132b00259edc4f8e5d73a6e7e71091",
56
+ "colors/color_summary.json": "2219b18e5463873def2d481219946f1db9ec3b9ee01f5b3d085ae64460cdc9d3",
57
+ "tube/shape_prior.glb": "d55917d516e82f61ef6bfbee922be047fdc53e8420b31d901edc514977bca8b9",
58
+ "tube/tube.ply": "3ecb7266ca80b73f961edaebcc962af269123c60fe926280dbc527833247e405",
59
+ "gaussian_data/session_20260921_233144_367389/shape_prior.glb": "d55917d516e82f61ef6bfbee922be047fdc53e8420b31d901edc514977bca8b9"
60
+ }
61
+ },
62
+ "code": {
63
+ "commit": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e",
64
+ "u_pin": "81c718790a37e5e0102eb77af2c6edd34a9db25f"
65
+ },
66
+ "wall_time_s": 1.190765619277954
67
+ }
sessions/session_20260921_233144_367389/preprocessing/chain-prior-v1/native/steps/fit.json ADDED
@@ -0,0 +1,214 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "status": "ok",
3
+ "settings": {
4
+ "object": {
5
+ "name": "bike_chain",
6
+ "representation": "tube",
7
+ "fitter_source": "scripts/chain_state_estimation.py loss/solver literals",
8
+ "dimension_source": "owner approximate 9.5 mm diameter (corpus Q2, 2026-10-25)",
9
+ "radius_m": 0.00475,
10
+ "ribbon_width_m": null,
11
+ "step_t": 0.125,
12
+ "step_angle_deg": 30,
13
+ "u_resolution": null,
14
+ "overlap_rule": "surface_intersection",
15
+ "twist_penalty": null
16
+ },
17
+ "max_rounds": 400,
18
+ "control_count": 9,
19
+ "relative_loss_tolerance": 1e-07,
20
+ "reprojection": {
21
+ "weight": 4.0,
22
+ "direction": "visible mask pixels to projected centerline",
23
+ "ribbon_twist_stage": null,
24
+ "mask": "accepted object outside hand/occluder union",
25
+ "view_aggregation": "equal view means",
26
+ "distance": "metric image plane using per-view median visible belt depth and fx/fy",
27
+ "samples": 360,
28
+ "huber_delta_m": 0.005,
29
+ "smooth_cap_m": 0.035,
30
+ "baseline_run": null
31
+ },
32
+ "loss_config": {
33
+ "eval_distances": true,
34
+ "max_saturation_distance": 0.035,
35
+ "distance_huber_delta": 0.005,
36
+ "eval_curvature_cost": true,
37
+ "num_eval_reg_points": 250,
38
+ "lambda_curvature_cost": 5e-08,
39
+ "max_curvature": 10.0,
40
+ "curvature_huber_delta": 30.0,
41
+ "max_saturation_curvature": 80.0,
42
+ "eval_curvilinear_energy": false,
43
+ "lambda_curvilinear_energy": 0.001,
44
+ "eval_length_constraint": true,
45
+ "lambda_length_constraint": 0.1,
46
+ "arclength_bounds": [
47
+ 0.5830000042915344,
48
+ 0.5849999785423279
49
+ ]
50
+ },
51
+ "solver_config": {
52
+ "solver_type": "lbfgs",
53
+ "linesearch_type": "zoom",
54
+ "max_linesearch_steps": 10,
55
+ "grad_norm_tolerance": 0.0001,
56
+ "max_iter": 25
57
+ },
58
+ "ribbon_twist_refinement": null
59
+ },
60
+ "outputs": {
61
+ "filter": {
62
+ "method": "Open3D.remove_statistical_outlier",
63
+ "nb_neighbors": 20,
64
+ "std_ratio": 2.0,
65
+ "input_count": 27239,
66
+ "kept_count": 26339,
67
+ "removed_count": 900,
68
+ "per_view": [
69
+ {
70
+ "view": 0,
71
+ "input": 8645,
72
+ "kept": 8480,
73
+ "removed": 165,
74
+ "live_20_0.05_kept": 6121,
75
+ "no_filter_kept": 8645
76
+ },
77
+ {
78
+ "view": 1,
79
+ "input": 6875,
80
+ "kept": 6557,
81
+ "removed": 318,
82
+ "live_20_0.05_kept": 3896,
83
+ "no_filter_kept": 6875
84
+ },
85
+ {
86
+ "view": 2,
87
+ "input": 6954,
88
+ "kept": 6783,
89
+ "removed": 171,
90
+ "live_20_0.05_kept": 4963,
91
+ "no_filter_kept": 6954
92
+ },
93
+ {
94
+ "view": 3,
95
+ "input": 4765,
96
+ "kept": 4519,
97
+ "removed": 246,
98
+ "live_20_0.05_kept": 1189,
99
+ "no_filter_kept": 4765
100
+ }
101
+ ]
102
+ },
103
+ "rounds": 1,
104
+ "stop": "gradient_tolerance",
105
+ "final": {
106
+ "loss": 6.0984086303506047e-05,
107
+ "components": {
108
+ "distance": 2.398061587882694e-05,
109
+ "curvature": 1.0113907364939223e-06,
110
+ "arclength": 7.432801680806733e-07,
111
+ "mask_reprojection_2d": 3.524879866745323e-05
112
+ },
113
+ "grad_norm": 8.26684627099894e-05,
114
+ "arclength_m": 0.5877262949943542,
115
+ "arclength_bound_active_within_1mm": true,
116
+ "max_curvature_per_m": 30.576679229736328,
117
+ "curvature_p50_p90_per_m": [
118
+ 11.315874099731445,
119
+ 22.88189315795898
120
+ ],
121
+ "curvature_above_max_fraction": 0.596,
122
+ "mean_distance_m": 0.0073691726396086865,
123
+ "max_distance_m": 0.01859072595834732,
124
+ "beyond_2delta_fraction": 0.19199665894680892,
125
+ "at_cap_fraction": 0.0,
126
+ "per_view": [
127
+ {
128
+ "view": 0,
129
+ "count": 8480,
130
+ "median_m": 0.006901396904140711,
131
+ "p90_m": 0.010149775166064502,
132
+ "max_m": 0.014187222346663475,
133
+ "beyond_2delta_fraction": 0.11014150943396227,
134
+ "at_cap_fraction": 0.0
135
+ },
136
+ {
137
+ "view": 1,
138
+ "count": 6557,
139
+ "median_m": 0.005649127997457981,
140
+ "p90_m": 0.01055502500385046,
141
+ "max_m": 0.01859072595834732,
142
+ "beyond_2delta_fraction": 0.11056885770931829,
143
+ "at_cap_fraction": 0.0
144
+ },
145
+ {
146
+ "view": 2,
147
+ "count": 6783,
148
+ "median_m": 0.008469968102872372,
149
+ "p90_m": 0.011138298735022546,
150
+ "max_m": 0.013993453234434128,
151
+ "beyond_2delta_fraction": 0.26020934689665337,
152
+ "at_cap_fraction": 0.0
153
+ },
154
+ {
155
+ "view": 3,
156
+ "count": 4519,
157
+ "median_m": 0.00907266978174448,
158
+ "p90_m": 0.012268818728625775,
159
+ "max_m": 0.016254890710115433,
160
+ "beyond_2delta_fraction": 0.36136313343660104,
161
+ "at_cap_fraction": 0.0
162
+ }
163
+ ],
164
+ "round": 1,
165
+ "relative_loss_change": 0.9808226845736205
166
+ },
167
+ "deterministic": true,
168
+ "partial_view_witness": {
169
+ "source": "synthetic rounded trapezoid, four retained RP2 camera centres",
170
+ "control_count": 9,
171
+ "curvature_weight": 5e-08,
172
+ "seed": 5,
173
+ "noise_sigma_m": 0.0015,
174
+ "points": 288,
175
+ "tube_radius_m": 0.00475,
176
+ "truth_arclength_m": 0.5839999999999999,
177
+ "truth_corner_curvature_per_m": 100.0,
178
+ "fit_arclength_m": 0.5824263095855713,
179
+ "mean_centerline_distance_to_truth_m": 0.003666582156588717,
180
+ "max_centerline_distance_to_truth_m": 0.0065246143314547185,
181
+ "corner_truth_to_fit_mean_max_m": [
182
+ 0.004143985746667632,
183
+ 0.00652506213845758
184
+ ],
185
+ "straight_truth_to_fit_mean_m": 0.0035861119631459973,
186
+ "fit_max_curvature_per_m": 104.8658676147461,
187
+ "fit_curvature_nearest_corners_p50_max_per_m": [
188
+ 44.93003845214844,
189
+ 104.8658676147461
190
+ ],
191
+ "rounds": 1,
192
+ "stop": "gradient_tolerance"
193
+ },
194
+ "files": {
195
+ "spline/reprojection_residuals.npz": "6ae821f556bafc3087c9465198c48b7cb71a0900def108c67dd6f77a83bf469c",
196
+ "spline/residuals.npz": "93a21e8964e40e297d636b0bc6f05a996afdfee6aed84aeef4abac28be2c211a",
197
+ "spline/filtered_cloud.npz": "68e21697a4a03433fbf255ddaae6b84d0556a0027a3e035ff7f3441a61525847",
198
+ "spline/spline_init.json": "54fe1bc122eeb141e50b44ab2e31363746cadcfdd4e5233a1b5c1b3aa4a45832",
199
+ "spline/determinism.json": "773d1a02e2924f0d7df2d5d0011979c4e408678ebfdb9633a8348b9788132683",
200
+ "spline/filter.json": "a64b3b76aed2c7de63cbc747c2aaf37138acf8455e4731761aee615257c0e333",
201
+ "spline/witness.json": "da22c7756a7715e3b2fbfbd7ac9dd9f6168f1a9b8d66be670636199e1990ce7f",
202
+ "spline/filter_removed.npz": "aa8cd5f2c6f83bf06f2d9c22d21e15414e88630bf276b1bf6f00593f36e8c5c2",
203
+ "spline/spline_fit.json": "8f912477f655e0d4e5a6d5e154765bb2582aea55a53373728078767228420189",
204
+ "spline/rounds.jsonl": "76ae11e7bab8c081d9a19eaeceaec464720ca0ce6c547579fb5569be2ebf464e",
205
+ "spline/init_ellipse.json": "ca18195cdf76514f76c5e7f0c278c3a0d05584929738ac154d92ae7adf5064a9",
206
+ "spline/reprojection.json": "da0fbbe4aaa65082603b4e4a92b62db1b135dc95ca20d838db25afa46fef6e99"
207
+ }
208
+ },
209
+ "code": {
210
+ "commit": "d1d2f1381470138dfbb3c58d448e53bfed1e0d7e",
211
+ "u_pin": "81c718790a37e5e0102eb77af2c6edd34a9db25f"
212
+ },
213
+ "wall_time_s": 20.029406547546387
214
+ }