diff --git a/07_frozen_manifest_v0.csv b/07_frozen_manifest_v0.csv
deleted file mode 100644
index 1d991ab49e4583e8cd3134c9a29b45bdabf4ac42..0000000000000000000000000000000000000000
--- a/07_frozen_manifest_v0.csv
+++ /dev/null
@@ -1,307 +0,0 @@
-frozen_manifest_version,scene_manifest_scope,collection,path,step,scene,release_registration_policy,registration_provenance_current,legacy_prior_cyl_member,legacy_source_pool,scene_spot_id,release_decision,release_reason,frozen_quant_gate_pass,prediction_ready_current,prediction_exclusion_reason_current,verdict,annotation_status,fit_ready,has_session_json,has_fit_json,fit_rmse_total_px,fit_rmse_u_px,fit_rmse_v_px,rmse_pass_le_5px,rmse_pass_le_10px,num_picked_pairs,elapsed_seconds_plausible_for_summary,replacement_count,clear_count,distance_agreement_status,distance_agreement_available_current,distance_sampled_points,distance_missing_depth_points,distance_scene_error_count,distance_near_points_0_10m,distance_middle_points_10_100m,distance_far_points_100_inf,distance_max_error_percent_of_picked_range,distance_median_error_percent_of_picked_range,distance_mean_error_percent_of_picked_range,distance_max_error_m,distance_median_error_m,distance_all_points_pass_le_1pct,distance_all_points_pass_le_5pct,candidate_rmse5_distance5_current,has_cleanup_review,cleanup_status,cleanup_region_count,cleanup_region_ids_json,cleanup_regions_json,selection_mode_summary_json,center_x_m,center_y_m,center_z_m,half_extent_m,removed_points,kept_points,source_projection_las,cleaned_las,raw_overlay,cleanup_overlay,updated_at,manual_release_decision,manual_release_reason,fit_json,session_json,projected_depth_label_path_current,exclusion_reason,timing_exclusion_reason,qc_status,qc_majority_verdict,qc_num_reviews,qc_vote_good,qc_vote_usable_with_caution,qc_vote_bad,qc_mean_seconds,qc_notes,sensor_id,sensor_num_bands,original_corresp_path,original_cyl_path,manual_picks_path,benchmark_corresp_path,benchmark_cyl_path,corresp_path,cyl_path,hdr_path,bsq_path,las_path,join_key
-v0,all_306_scenes,IHTest_202009_DistStA,path1,path1_step1,IHTest_202009_DistStA / path1 / path1_step1,ours_only,ours_fit_ready,False,without_prior_cyl,spot_001,defer,does not meet frozen rmse5+distance5 gate,False,True,,good,annotated,True,True,True,4.1762472582486,4.07094991712958,0.9318840776897176,True,True,8.0,235.898256,0.0,0.0,computed_r4p0_frozen,True,8,0,0,0,8,0,5.795105840496924,0.4342737072578023,1.2156194537965457,2.7301993846337567,0.2543327911213389,False,False,False,False,not_reviewed,0,,,,,,,,,,,,,,,,,analysis/annotation_workspace_nocyl/IHTest_202009_DistStA/path1/path1_step1/fit.json,analysis/annotation_workspace_nocyl/IHTest_202009_DistStA/path1/path1_step1/session.json,analysis/depth_labels/platform_sphere_r4p0/IHTest_202009_DistStA/path1/path1_step1/projected_lidar_depth_label.npz,,,,,,,,,,,LWHSI1,256.0,,,analysis/annotation_workspace_nocyl/IHTest_202009_DistStA/path1/path1_step1/picks.json,analysis/annotation_workspace_nocyl/IHTest_202009_DistStA/path1/path1_step1/generated_corresp.txt,analysis/annotation_workspace_nocyl/IHTest_202009_DistStA/path1/path1_step1/fitted.cyl,analysis/annotation_workspace_nocyl/IHTest_202009_DistStA/path1/path1_step1/generated_corresp.txt,analysis/annotation_workspace_nocyl/IHTest_202009_DistStA/path1/path1_step1/fitted.cyl,/disk/IHTest_202009_DistStA/Path1_DistStA/Path1_Step1_DistStA/IHTest_202009_Path1_Step1_LWHSI1__DistStA.hdr,/disk/IHTest_202009_DistStA/Path1_DistStA/Path1_Step1_DistStA/IHTest_202009_Path1_Step1_LWHSI1__DistStA.bsq,/disk/IHTest_202009_DistStA/Path1_DistStA/Path1_Step1_DistStA/IHTest_202009_Path1_Step1_HiResLIDAR_1x_DistStA.las,IHTest_202009_DistStA|path1|path1_step1
-v0,all_306_scenes,IHTest_202009_DistStA,path1,path1_step2,IHTest_202009_DistStA / path1 / path1_step2,ours_only,ours_fit_ready,False,without_prior_cyl,spot_001,include,,True,True,,good,annotated,True,True,True,1.348922105324034,1.216716429584714,0.5824019026500953,True,True,8.0,530.326548,0.0,0.0,computed_r4p0_frozen,True,8,0,0,0,7,1,1.6461296266682164,0.1802186118111315,0.5452980018496169,1.678616884054236,0.1297469223639638,False,True,True,False,not_reviewed,0,,,,,,,,,,,,,,,,,analysis/annotation_workspace_nocyl/IHTest_202009_DistStA/path1/path1_step2/fit.json,analysis/annotation_workspace_nocyl/IHTest_202009_DistStA/path1/path1_step2/session.json,analysis/depth_labels/platform_sphere_r4p0/IHTest_202009_DistStA/path1/path1_step2/projected_lidar_depth_label.npz,,,,,,,,,,,LWHSI1,256.0,,,analysis/annotation_workspace_nocyl/IHTest_202009_DistStA/path1/path1_step2/picks.json,analysis/annotation_workspace_nocyl/IHTest_202009_DistStA/path1/path1_step2/generated_corresp.txt,analysis/annotation_workspace_nocyl/IHTest_202009_DistStA/path1/path1_step2/fitted.cyl,analysis/annotation_workspace_nocyl/IHTest_202009_DistStA/path1/path1_step2/generated_corresp.txt,analysis/annotation_workspace_nocyl/IHTest_202009_DistStA/path1/path1_step2/fitted.cyl,/disk/IHTest_202009_DistStA/Path1_DistStA/Path1_Step2_DistStA/IHTest_202009_Path1_Step2_LWHSI1__DistStA.hdr,/disk/IHTest_202009_DistStA/Path1_DistStA/Path1_Step2_DistStA/IHTest_202009_Path1_Step2_LWHSI1__DistStA.bsq,/disk/IHTest_202009_DistStA/Path1_DistStA/Path1_Step2_DistStA/IHTest_202009_Path1_Step2_HiResLIDAR_1x_DistStA.las,IHTest_202009_DistStA|path1|path1_step2
-v0,all_306_scenes,IHTest_202009_DistStA,path1,path1_step3,IHTest_202009_DistStA / path1 / path1_step3,ours_only,ours_fit_ready,False,without_prior_cyl,spot_001,include,,True,True,,good,annotated,True,True,True,0.4714940642525912,0.4616221638152958,0.0959772394889062,True,True,8.0,187.455074,0.0,0.0,computed_r4p0_frozen,True,8,0,0,0,8,0,1.693937395049823,0.1421718483108891,0.3452855372028318,1.4858640273076702,0.0667540800969881,False,True,True,False,not_reviewed,0,,,,,,,,,,,,,,,,,analysis/annotation_workspace_nocyl/IHTest_202009_DistStA/path1/path1_step3/fit.json,analysis/annotation_workspace_nocyl/IHTest_202009_DistStA/path1/path1_step3/session.json,analysis/depth_labels/platform_sphere_r4p0/IHTest_202009_DistStA/path1/path1_step3/projected_lidar_depth_label.npz,,,,,,,,,,,LWHSI1,256.0,,,analysis/annotation_workspace_nocyl/IHTest_202009_DistStA/path1/path1_step3/picks.json,analysis/annotation_workspace_nocyl/IHTest_202009_DistStA/path1/path1_step3/generated_corresp.txt,analysis/annotation_workspace_nocyl/IHTest_202009_DistStA/path1/path1_step3/fitted.cyl,analysis/annotation_workspace_nocyl/IHTest_202009_DistStA/path1/path1_step3/generated_corresp.txt,analysis/annotation_workspace_nocyl/IHTest_202009_DistStA/path1/path1_step3/fitted.cyl,/disk/IHTest_202009_DistStA/Path1_DistStA/Path1_Step3_DistStA/IHTest_202009_Path1_Step3_LWHSI1__DistStA.hdr,/disk/IHTest_202009_DistStA/Path1_DistStA/Path1_Step3_DistStA/IHTest_202009_Path1_Step3_LWHSI1__DistStA.bsq,/disk/IHTest_202009_DistStA/Path1_DistStA/Path1_Step3_DistStA/IHTest_202009_Path1_Step3_HiResLIDAR_1x_DistStA.las,IHTest_202009_DistStA|path1|path1_step3
-v0,all_306_scenes,IHTest_202009_DistStA,path3,path3_step1,IHTest_202009_DistStA / path3 / path3_step1,ours_only,ours_fit_ready,False,without_prior_cyl,IHTest_202009_DistStA / path3,exclude,qc verdict bad,False,True,,bad,annotated,True,True,True,9.368535167247597,5.989772891929048,7.20361519537703,False,True,15.0,574.475203,14.0,0.0,computed_r4p0_frozen,True,13,2,0,0,13,0,49.19698824968611,0.1370624402286364,5.458746534662107,30.2072872593035,0.050871127801372,False,False,False,False,not_reviewed,0,,,,,,,,,,,,,,,,,analysis/annotation_workspace_nocyl/IHTest_202009_DistStA/path3/path3_step1/fit.json,analysis/annotation_workspace_nocyl/IHTest_202009_DistStA/path3/path3_step1/session.json,analysis/depth_labels/platform_sphere_r4p0/IHTest_202009_DistStA/path3/path3_step1/projected_lidar_depth_label.npz,,,,,,,,,,,LWHSI1,256.0,,,analysis/annotation_workspace_nocyl/IHTest_202009_DistStA/path3/path3_step1/picks.json,analysis/annotation_workspace_nocyl/IHTest_202009_DistStA/path3/path3_step1/generated_corresp.txt,analysis/annotation_workspace_nocyl/IHTest_202009_DistStA/path3/path3_step1/fitted.cyl,analysis/annotation_workspace_nocyl/IHTest_202009_DistStA/path3/path3_step1/generated_corresp.txt,analysis/annotation_workspace_nocyl/IHTest_202009_DistStA/path3/path3_step1/fitted.cyl,/disk/IHTest_202009_DistStA/Path3_DistStA/Path3_Step1_DistStA/IHTest_202009_Path3_Step1_LWHSI1__DistStA.hdr,/disk/IHTest_202009_DistStA/Path3_DistStA/Path3_Step1_DistStA/IHTest_202009_Path3_Step1_LWHSI1__DistStA.bsq,/disk/IHTest_202009_DistStA/Path3_DistStA/Path3_Step1_DistStA/IHTest_202009_Path3_Step1_HiResLIDAR_1x_DistStA.las,IHTest_202009_DistStA|path3|path3_step1
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-v0,all_306_scenes,IHTest_202009_DistStA,path3,path3_step5,IHTest_202009_DistStA / path3 / path3_step5,ours_only,ours_fit_ready,False,without_prior_cyl,IHTest_202009_DistStA / path3,defer,qc verdict usable with caution,False,True,,usable with caution,annotated,True,True,True,16.562666959313663,7.698345250486352,14.664836078506122,False,False,11.0,622.757151,30.0,0.0,computed_r4p0_frozen,True,9,2,0,0,9,0,11.003898611924592,0.0591969368476786,1.7791630361552275,2.891852245068538,0.0271137021430334,False,False,False,False,not_reviewed,0,,,,,,,,,,,,,,,,,analysis/annotation_workspace_nocyl/IHTest_202009_DistStA/path3/path3_step5/fit.json,analysis/annotation_workspace_nocyl/IHTest_202009_DistStA/path3/path3_step5/session.json,analysis/depth_labels/platform_sphere_r4p0/IHTest_202009_DistStA/path3/path3_step5/projected_lidar_depth_label.npz,,,,,,,,,,,LWHSI1,256.0,,,analysis/annotation_workspace_nocyl/IHTest_202009_DistStA/path3/path3_step5/picks.json,analysis/annotation_workspace_nocyl/IHTest_202009_DistStA/path3/path3_step5/generated_corresp.txt,analysis/annotation_workspace_nocyl/IHTest_202009_DistStA/path3/path3_step5/fitted.cyl,analysis/annotation_workspace_nocyl/IHTest_202009_DistStA/path3/path3_step5/generated_corresp.txt,analysis/annotation_workspace_nocyl/IHTest_202009_DistStA/path3/path3_step5/fitted.cyl,/disk/IHTest_202009_DistStA/Path3_DistStA/Path3_Step5_DistStA/IHTest_202009_Path3_Step5_LWHSI1__DistStA.hdr,/disk/IHTest_202009_DistStA/Path3_DistStA/Path3_Step5_DistStA/IHTest_202009_Path3_Step5_LWHSI1__DistStA.bsq,/disk/IHTest_202009_DistStA/Path3_DistStA/Path3_Step5_DistStA/IHTest_202009_Path3_Step5_HiResLIDAR_1x_DistStA.las,IHTest_202009_DistStA|path3|path3_step5
-v0,all_306_scenes,IHTest_202009_DistStA,path3,path3_step6,IHTest_202009_DistStA / path3 / path3_step6,ours_only,ours_fit_ready,False,without_prior_cyl,IHTest_202009_DistStA / path3,include,relaxed qc rule after cleanup: good verdict + rmse<=5 + relaxed distance>=8,False,True,,good,annotated,True,True,True,1.5871155708681748,1.3951114529111428,0.7567032901001374,True,True,9.0,230.050991,2.0,0.0,computed_r4p0_frozen,True,9,0,0,0,9,0,17.0395254477517,0.1184047736291959,2.48017697829813,3.808399746206735,0.0327829141750157,False,False,False,True,previewed,71,"[""legacy_1"", ""legacy_2"", ""legacy_3"", ""legacy_4"", ""legacy_5"", ""legacy_6"", ""legacy_7"", ""legacy_8"", ""legacy_9"", ""legacy_10"", ""legacy_11"", ""legacy_12"", ""legacy_13"", ""legacy_14"", ""legacy_15"", ""legacy_16"", ""legacy_17"", ""legacy_18"", ""legacy_19"", ""legacy_20"", ""legacy_21"", ""legacy_22"", ""legacy_23"", ""legacy_24"", ""legacy_25"", ""legacy_26"", ""legacy_27"", ""legacy_28"", ""legacy_29"", 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-v0,all_306_scenes,IHTest_202009_DistStA,path6,path6_step6,IHTest_202009_DistStA / path6 / path6_step6,ours_only,ours_session_no_fit,False,without_prior_cyl,IHTest_202009_DistStA / path6,defer,missing final qc verdict,False,False,no_fit_ready_missing_projected_depth_label,,no_fit_ready,False,True,False,,,,False,False,0.0,,0.0,0.0,computed_r4p0_frozen,False,0,0,0,0,0,0,,,,,,False,False,False,False,not_reviewed,0,,,,,,,,,,,,,,,,,,analysis/annotation_workspace_nocyl/IHTest_202009_DistStA/path6/path6_step6/session.json,analysis/depth_labels/platform_sphere_r4p0/IHTest_202009_DistStA/path6/path6_step6/projected_lidar_depth_label.npz,,,,,,,,,,,LWHSI1,256.0,,,analysis/annotation_workspace_nocyl/IHTest_202009_DistStA/path6/path6_step6/picks.json,analysis/annotation_workspace_nocyl/IHTest_202009_DistStA/path6/path6_step6/generated_corresp.txt,,analysis/annotation_workspace_nocyl/IHTest_202009_DistStA/path6/path6_step6/generated_corresp.txt,,/disk/IHTest_202009_DistStA/Path6_DistStA/Path6_Step6_DistStA/IHTest_202009_Path6_Step6_LWHSI1__DistStA.hdr,/disk/IHTest_202009_DistStA/Path6_DistStA/Path6_Step6_DistStA/IHTest_202009_Path6_Step6_LWHSI1__DistStA.bsq,/disk/IHTest_202009_DistStA/Path6_DistStA/Path6_Step6_DistStA/IHTest_202009_Path6_Step6_HiResLIDAR_1x_DistStA.las,IHTest_202009_DistStA|path6|path6_step6
-v0,all_306_scenes,IHTest_202009_DistStA,path6,path6_step7,IHTest_202009_DistStA / path6 / path6_step7,ours_only,ours_session_no_fit,False,without_prior_cyl,IHTest_202009_DistStA / path6,defer,missing final qc verdict,False,False,no_fit_ready_missing_projected_depth_label,,no_fit_ready,False,True,False,,,,False,False,0.0,,0.0,0.0,computed_r4p0_frozen,False,0,0,0,0,0,0,,,,,,False,False,False,False,not_reviewed,0,,,,,,,,,,,,,,,,,,analysis/annotation_workspace_nocyl/IHTest_202009_DistStA/path6/path6_step7/session.json,analysis/depth_labels/platform_sphere_r4p0/IHTest_202009_DistStA/path6/path6_step7/projected_lidar_depth_label.npz,,,,,,,,,,,LWHSI1,256.0,,,analysis/annotation_workspace_nocyl/IHTest_202009_DistStA/path6/path6_step7/picks.json,analysis/annotation_workspace_nocyl/IHTest_202009_DistStA/path6/path6_step7/generated_corresp.txt,,analysis/annotation_workspace_nocyl/IHTest_202009_DistStA/path6/path6_step7/generated_corresp.txt,,/disk/IHTest_202009_DistStA/Path6_DistStA/Path6_Step7_DistStA/IHTest_202009_Path6_Step7_LWHSI1__DistStA.hdr,/disk/IHTest_202009_DistStA/Path6_DistStA/Path6_Step7_DistStA/IHTest_202009_Path6_Step7_LWHSI1__DistStA.bsq,/disk/IHTest_202009_DistStA/Path6_DistStA/Path6_Step7_DistStA/IHTest_202009_Path6_Step7_HiResLIDAR_1x_DistStA.las,IHTest_202009_DistStA|path6|path6_step7
-v0,all_306_scenes,IHTest_202009_DistStA,path7,path7_step1,IHTest_202009_DistStA / path7 / path7_step1,ours_only,ours_fit_ready,False,without_prior_cyl,spot_003,exclude,qc verdict bad,False,True,,bad,annotated,True,True,True,16.326813085289107,15.754821501581574,4.283739601711394,False,False,11.0,935.340574,11.0,0.0,computed_r4p0_frozen,True,9,2,0,0,7,2,20.316366470870545,2.716336525717532,4.199111453615019,10.976871289820116,1.3785823151563932,False,False,False,False,not_reviewed,0,,,,,,,,,,,,,,,,,analysis/annotation_workspace_nocyl/IHTest_202009_DistStA/path7/path7_step1/fit.json,analysis/annotation_workspace_nocyl/IHTest_202009_DistStA/path7/path7_step1/session.json,analysis/depth_labels/platform_sphere_r4p0/IHTest_202009_DistStA/path7/path7_step1/projected_lidar_depth_label.npz,,,,,,,,,,,LWHSI1,256.0,,,analysis/annotation_workspace_nocyl/IHTest_202009_DistStA/path7/path7_step1/picks.json,analysis/annotation_workspace_nocyl/IHTest_202009_DistStA/path7/path7_step1/generated_corresp.txt,analysis/annotation_workspace_nocyl/IHTest_202009_DistStA/path7/path7_step1/fitted.cyl,analysis/annotation_workspace_nocyl/IHTest_202009_DistStA/path7/path7_step1/generated_corresp.txt,analysis/annotation_workspace_nocyl/IHTest_202009_DistStA/path7/path7_step1/fitted.cyl,/disk/IHTest_202009_DistStA/Path7_DistStA/Path7_Step1_DistStA/IHTest_202009_Path7_Step1_LWHSI1__DistStA.hdr,/disk/IHTest_202009_DistStA/Path7_DistStA/Path7_Step1_DistStA/IHTest_202009_Path7_Step1_LWHSI1__DistStA.bsq,/disk/IHTest_202009_DistStA/Path7_DistStA/Path7_Step1_DistStA/IHTest_202009_Path7_Step1_HiResLIDAR_2x_DistStA.las,IHTest_202009_DistStA|path7|path7_step1
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-v0,all_306_scenes,IHTest_202104_DistStA,path15,path15_step23,IHTest_202104_DistStA / path15 / path15_step23,ours_only,legacy_prior_pool_no_ours_fit,True,with_prior_cyl,IHTest_202104_DistStA / path15,defer,missing final qc verdict,False,False,no_fit_ready_missing_projected_depth_label,,no_fit_ready,False,False,False,,,,False,False,0.0,,,,computed_r4p0_frozen,False,0,0,0,0,0,0,,,,,,False,False,False,False,not_reviewed,0,,,,,,,,,,,,,,,,,,,analysis/depth_labels/platform_sphere_r4p0/IHTest_202104_DistStA/path15/path15_step23/projected_lidar_depth_label.npz,,,,,,,,,,,LWHSI1,256.0,/disk/IHTest_202104_DistStA/Path15_DistStA/Path15_Step23_DistStA/IHTest_202104_Path15_Step23_LWHSI1_collect0_DistStA_corresp.txt,/disk/IHTest_202104_DistStA/Path15_DistStA/Path15_Step23_DistStA/IHTest_202104_Path15_Step23_LWHSI1_collect0_DistStA.cyl,,,,,,/disk/IHTest_202104_DistStA/Path15_DistStA/Path15_Step23_DistStA/IHTest_202104_Path15_Step23_LWHSI1_collect0_DistStA.hdr,/disk/IHTest_202104_DistStA/Path15_DistStA/Path15_Step23_DistStA/IHTest_202104_Path15_Step23_LWHSI1_collect0_DistStA.bsq,/disk/IHTest_202104_DistStA/Path15_DistStA/Path15_Step23_DistStA/IHTest_202104_Path15_Step23_HiResLIDAR_DistStA.las,IHTest_202104_DistStA|path15|path15_step23
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-v0,all_306_scenes,IHTest_202104_DistStA,path15,path15_step26,IHTest_202104_DistStA / path15 / path15_step26,ours_only,legacy_prior_pool_no_ours_fit,True,with_prior_cyl,IHTest_202104_DistStA / path15,defer,missing final qc verdict,False,False,no_fit_ready_missing_projected_depth_label,,no_fit_ready,False,False,False,,,,False,False,0.0,,,,computed_r4p0_frozen,False,0,0,0,0,0,0,,,,,,False,False,False,False,not_reviewed,0,,,,,,,,,,,,,,,,,,,analysis/depth_labels/platform_sphere_r4p0/IHTest_202104_DistStA/path15/path15_step26/projected_lidar_depth_label.npz,,,,,,,,,,,LWHSI1,256.0,/disk/IHTest_202104_DistStA/Path15_DistStA/Path15_Step26_DistStA/IHTest_202104_Path15_Step26_LWHSI1_collect0_DistStA_corresp.txt,/disk/IHTest_202104_DistStA/Path15_DistStA/Path15_Step26_DistStA/IHTest_202104_Path15_Step26_LWHSI1_collect0_DistStA.cyl,,,,,,/disk/IHTest_202104_DistStA/Path15_DistStA/Path15_Step26_DistStA/IHTest_202104_Path15_Step26_LWHSI1_collect0_DistStA.hdr,/disk/IHTest_202104_DistStA/Path15_DistStA/Path15_Step26_DistStA/IHTest_202104_Path15_Step26_LWHSI1_collect0_DistStA.bsq,/disk/IHTest_202104_DistStA/Path15_DistStA/Path15_Step26_DistStA/IHTest_202104_Path15_Step26_HiResLIDAR_DistStA.las,IHTest_202104_DistStA|path15|path15_step26
-v0,all_306_scenes,IHTest_202104_DistStA,path15,path15_step5,IHTest_202104_DistStA / path15 / path15_step5,ours_only,ours_fit_ready,True,with_prior_cyl,IHTest_202104_DistStA / path15,defer,missing final qc verdict,False,True,,,missing_session_json,True,False,True,0.8511885555566326,0.7926666219804533,0.3101638010933638,True,True,8.0,,,,computed_r4p0_frozen,True,8,0,0,0,8,0,0.9126440633585294,0.3141492155353882,0.3657605403103137,0.1734614481762335,0.1010246419636811,True,True,True,False,not_reviewed,0,,,,,,,,,,,,,,,,,analysis/annotation_workspace_nocyl/IHTest_202104_DistStA/path15/path15_step5/fit.json,,analysis/depth_labels/platform_sphere_r4p0/IHTest_202104_DistStA/path15/path15_step5/projected_lidar_depth_label.npz,,,,,,,,,,,LWHSI1,256.0,/disk/IHTest_202104_DistStA/Path15_DistStA/Path15_Step5_DistStA/IHTest_202104_Path15_Step5_LWHSI1_collect0_DistStA_corresp.txt,/disk/IHTest_202104_DistStA/Path15_DistStA/Path15_Step5_DistStA/IHTest_202104_Path15_Step5_LWHSI1_collect0_DistStA.cyl,analysis/annotation_workspace_nocyl/IHTest_202104_DistStA/path15/path15_step5/picks.json,analysis/annotation_workspace_nocyl/IHTest_202104_DistStA/path15/path15_step5/generated_corresp.txt,analysis/annotation_workspace_nocyl/IHTest_202104_DistStA/path15/path15_step5/fitted.cyl,analysis/annotation_workspace_nocyl/IHTest_202104_DistStA/path15/path15_step5/generated_corresp.txt,analysis/annotation_workspace_nocyl/IHTest_202104_DistStA/path15/path15_step5/fitted.cyl,/disk/IHTest_202104_DistStA/Path15_DistStA/Path15_Step5_DistStA/IHTest_202104_Path15_Step5_LWHSI1_collect0_DistStA.hdr,/disk/IHTest_202104_DistStA/Path15_DistStA/Path15_Step5_DistStA/IHTest_202104_Path15_Step5_LWHSI1_collect0_DistStA.bsq,/disk/IHTest_202104_DistStA/Path15_DistStA/Path15_Step5_DistStA/IHTest_202104_Path15_Step5_HiResLIDAR_DistStA.las,IHTest_202104_DistStA|path15|path15_step5
-v0,all_306_scenes,IHTest_202104_DistStA,path15,path15_step6,IHTest_202104_DistStA / path15 / path15_step6,ours_only,ours_fit_ready,True,with_prior_cyl,IHTest_202104_DistStA / path15,defer,missing final qc verdict,False,True,,,missing_session_json,True,False,True,0.4955491125382136,0.4695380173915042,0.1584391781140843,True,True,8.0,,,,computed_r4p0_frozen,True,8,0,0,0,8,0,4.094764636703735,0.4165674416531318,1.0357255953451676,1.378863505211406,0.1739232603656546,False,True,True,False,not_reviewed,0,,,,,,,,,,,,,,,,,analysis/annotation_workspace_nocyl/IHTest_202104_DistStA/path15/path15_step6/fit.json,,analysis/depth_labels/platform_sphere_r4p0/IHTest_202104_DistStA/path15/path15_step6/projected_lidar_depth_label.npz,,,,,,,,,,,LWHSI1,256.0,/disk/IHTest_202104_DistStA/Path15_DistStA/Path15_Step6_DistStA/IHTest_202104_Path15_Step6_LWHSI1_collect0_DistStA_corresp.txt,/disk/IHTest_202104_DistStA/Path15_DistStA/Path15_Step6_DistStA/IHTest_202104_Path15_Step6_LWHSI1_collect0_DistStA.cyl,analysis/annotation_workspace_nocyl/IHTest_202104_DistStA/path15/path15_step6/picks.json,analysis/annotation_workspace_nocyl/IHTest_202104_DistStA/path15/path15_step6/generated_corresp.txt,analysis/annotation_workspace_nocyl/IHTest_202104_DistStA/path15/path15_step6/fitted.cyl,analysis/annotation_workspace_nocyl/IHTest_202104_DistStA/path15/path15_step6/generated_corresp.txt,analysis/annotation_workspace_nocyl/IHTest_202104_DistStA/path15/path15_step6/fitted.cyl,/disk/IHTest_202104_DistStA/Path15_DistStA/Path15_Step6_DistStA/IHTest_202104_Path15_Step6_LWHSI1_collect0_DistStA.hdr,/disk/IHTest_202104_DistStA/Path15_DistStA/Path15_Step6_DistStA/IHTest_202104_Path15_Step6_LWHSI1_collect0_DistStA.bsq,/disk/IHTest_202104_DistStA/Path15_DistStA/Path15_Step6_DistStA/IHTest_202104_Path15_Step6_HiResLIDAR_DistStA.las,IHTest_202104_DistStA|path15|path15_step6
-v0,all_306_scenes,IHTest_202104_DistStA,path17,path17_step1,IHTest_202104_DistStA / path17 / path17_step1,ours_only,legacy_prior_pool_no_ours_fit,True,with_prior_cyl,IHTest_202104_DistStA / path17,defer,missing final qc verdict,False,False,no_fit_ready_missing_projected_depth_label,,no_fit_ready,False,False,False,,,,False,False,0.0,,,,computed_r4p0_frozen,False,0,0,0,0,0,0,,,,,,False,False,False,False,not_reviewed,0,,,,,,,,,,,,,,,,,,,analysis/depth_labels/platform_sphere_r4p0/IHTest_202104_DistStA/path17/path17_step1/projected_lidar_depth_label.npz,,,,,,,,,,,,,,,,,,,,,,,IHTest_202104_DistStA|path17|path17_step1
-v0,all_306_scenes,IHTest_202104_DistStA,path17,path17_step14,IHTest_202104_DistStA / path17 / path17_step14,ours_only,legacy_prior_pool_no_ours_fit,True,with_prior_cyl,IHTest_202104_DistStA / path17,defer,missing final qc verdict,False,False,no_fit_ready_missing_projected_depth_label,,no_fit_ready,False,False,False,,,,False,False,0.0,,,,computed_r4p0_frozen,False,0,0,0,0,0,0,,,,,,False,False,False,False,not_reviewed,0,,,,,,,,,,,,,,,,,,,analysis/depth_labels/platform_sphere_r4p0/IHTest_202104_DistStA/path17/path17_step14/projected_lidar_depth_label.npz,,,,,,,,,,,,,,,,,,,,,,,IHTest_202104_DistStA|path17|path17_step14
-v0,all_306_scenes,IHTest_202104_DistStA,path17,path17_step23,IHTest_202104_DistStA / path17 / path17_step23,ours_only,legacy_prior_pool_no_ours_fit,True,with_prior_cyl,IHTest_202104_DistStA / path17,defer,missing final qc verdict,False,False,no_fit_ready_missing_projected_depth_label,,no_fit_ready,False,False,False,,,,False,False,0.0,,,,computed_r4p0_frozen,False,0,0,0,0,0,0,,,,,,False,False,False,False,not_reviewed,0,,,,,,,,,,,,,,,,,,,analysis/depth_labels/platform_sphere_r4p0/IHTest_202104_DistStA/path17/path17_step23/projected_lidar_depth_label.npz,,,,,,,,,,,,,,,,,,,,,,,IHTest_202104_DistStA|path17|path17_step23
-v0,all_306_scenes,IHTest_202104_DistStA,path17,path17_step9,IHTest_202104_DistStA / path17 / path17_step9,ours_only,legacy_prior_pool_no_ours_fit,True,with_prior_cyl,IHTest_202104_DistStA / path17,defer,missing final qc verdict,False,False,no_fit_ready_missing_projected_depth_label,,no_fit_ready,False,False,False,,,,False,False,0.0,,,,computed_r4p0_frozen,False,0,0,0,0,0,0,,,,,,False,False,False,False,not_reviewed,0,,,,,,,,,,,,,,,,,,,analysis/depth_labels/platform_sphere_r4p0/IHTest_202104_DistStA/path17/path17_step9/projected_lidar_depth_label.npz,,,,,,,,,,,,,,,,,,,,,,,IHTest_202104_DistStA|path17|path17_step9
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-v0,all_306_scenes,IHTest_202104_DistStA,path19,path19_step14,IHTest_202104_DistStA / path19 / path19_step14,ours_only,ours_fit_ready,True,with_prior_cyl,IHTest_202104_DistStA / path19,defer,missing final qc verdict,False,True,,,missing_session_json,True,False,True,39.11589296278783,38.88456514601551,4.247784796991343,False,False,18.0,,,,computed_r4p0_frozen,True,14,4,0,0,14,0,34.64750804544534,3.6412058109920906,10.17542346448568,17.598400135234435,1.5792815973955037,False,False,False,False,not_reviewed,0,,,,,,,,,,,,,,,,,analysis/annotation_workspace_nocyl/IHTest_202104_DistStA/path19/path19_step14/fit.json,,analysis/depth_labels/platform_sphere_r4p0/IHTest_202104_DistStA/path19/path19_step14/projected_lidar_depth_label.npz,,,,,,,,,,,LWHSI1,256.0,/disk/IHTest_202104_DistStA/Path19_DistStA/Path19_Step14_DistStA/IHTest_202104_Path19_Step14_LWHSI1_collect0_DistStA_corresp.txt,/disk/IHTest_202104_DistStA/Path19_DistStA/Path19_Step14_DistStA/IHTest_202104_Path19_Step14_LWHSI1_collect0_DistStA.cyl,analysis/annotation_workspace_nocyl/IHTest_202104_DistStA/path19/path19_step14/picks.json,analysis/annotation_workspace_nocyl/IHTest_202104_DistStA/path19/path19_step14/generated_corresp.txt,analysis/annotation_workspace_nocyl/IHTest_202104_DistStA/path19/path19_step14/fitted.cyl,analysis/annotation_workspace_nocyl/IHTest_202104_DistStA/path19/path19_step14/generated_corresp.txt,analysis/annotation_workspace_nocyl/IHTest_202104_DistStA/path19/path19_step14/fitted.cyl,/disk/IHTest_202104_DistStA/Path19_DistStA/Path19_Step14_DistStA/IHTest_202104_Path19_Step14_LWHSI1_collect2_DistStA.hdr,/disk/IHTest_202104_DistStA/Path19_DistStA/Path19_Step14_DistStA/IHTest_202104_Path19_Step14_LWHSI1_collect2_DistStA.bsq,/disk/IHTest_202104_DistStA/Path19_DistStA/Path19_Step14_DistStA/IHTest_202104_Path19_Step14_HiResLIDAR_DistStA.las,IHTest_202104_DistStA|path19|path19_step14
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-v0,all_306_scenes,IHTest_202104_DistStA,path2,path2_step2,IHTest_202104_DistStA / path2 / path2_step2,ours_only,ours_fit_ready,True,with_prior_cyl,IHTest_202104_DistStA / path2,defer,missing final qc verdict,False,True,,,missing_session_json,True,False,True,1.4434199433218604,1.1816876517462305,0.8289001305885785,True,True,8.0,,,,computed_r4p0_frozen,True,8,0,0,0,5,3,1.2804130839672223,0.182623021993508,0.4098546921391607,1.380452408235243,0.1505051871700544,False,True,True,False,not_reviewed,0,,,,,,,,,,,,,,,,,analysis/annotation_workspace_nocyl/IHTest_202104_DistStA/path2/path2_step2/fit.json,,analysis/depth_labels/platform_sphere_r4p0/IHTest_202104_DistStA/path2/path2_step2/projected_lidar_depth_label.npz,,,,,,,,,,,LWHSI1,256.0,/disk/IHTest_202104_DistStA/Path2_DistStA/Path2_Step2_DistStA/IHTest_202104_Path2_Step2_LWHSI1_collect0_DistStA_corresp.txt,/disk/IHTest_202104_DistStA/Path2_DistStA/Path2_Step2_DistStA/IHTest_202104_Path2_Step2_LWHSI1_collect0_DistStA.cyl,analysis/annotation_workspace_nocyl/IHTest_202104_DistStA/path2/path2_step2/picks.json,analysis/annotation_workspace_nocyl/IHTest_202104_DistStA/path2/path2_step2/generated_corresp.txt,analysis/annotation_workspace_nocyl/IHTest_202104_DistStA/path2/path2_step2/fitted.cyl,analysis/annotation_workspace_nocyl/IHTest_202104_DistStA/path2/path2_step2/generated_corresp.txt,analysis/annotation_workspace_nocyl/IHTest_202104_DistStA/path2/path2_step2/fitted.cyl,/disk/IHTest_202104_DistStA/Path2_DistStA/Path2_Step2_DistStA/IHTest_202104_Path2_Step2_LWHSI1_collect8_DistStA.hdr,/disk/IHTest_202104_DistStA/Path2_DistStA/Path2_Step2_DistStA/IHTest_202104_Path2_Step2_LWHSI1_collect8_DistStA.bsq,/disk/IHTest_202104_DistStA/Path2_DistStA/Path2_Step2_DistStA/IHTest_202104_Path2_Step2_HiResLIDAR_DistStA.las,IHTest_202104_DistStA|path2|path2_step2
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-v0,all_306_scenes,IHTest_202104_DistStA,path34,path34_step1,IHTest_202104_DistStA / path34 / path34_step1,ours_only,ours_fit_ready,False,without_prior_cyl,IHTest_202104_DistStA / path34,defer,does not meet frozen rmse5+distance5 gate,False,True,,good,annotated,True,True,True,1.6120383621493322,1.291134612267455,0.965214532653788,True,True,9.0,135.531489,1.0,0.0,computed_r4p0_frozen,True,9,0,0,0,8,1,6.035186042551186,0.260729636885934,0.9535473935765836,2.9955466683131604,0.1229273909048913,False,False,False,False,not_reviewed,0,,,,,,,,,,,,,,,,,analysis/annotation_workspace_nocyl/IHTest_202104_DistStA/path34/path34_step1/fit.json,analysis/annotation_workspace_nocyl/IHTest_202104_DistStA/path34/path34_step1/session.json,analysis/depth_labels/platform_sphere_r4p0/IHTest_202104_DistStA/path34/path34_step1/projected_lidar_depth_label.npz,,,,,,,,,,,LWHSI1,256.0,,,analysis/annotation_workspace_nocyl/IHTest_202104_DistStA/path34/path34_step1/picks.json,analysis/annotation_workspace_nocyl/IHTest_202104_DistStA/path34/path34_step1/generated_corresp.txt,analysis/annotation_workspace_nocyl/IHTest_202104_DistStA/path34/path34_step1/fitted.cyl,analysis/annotation_workspace_nocyl/IHTest_202104_DistStA/path34/path34_step1/generated_corresp.txt,analysis/annotation_workspace_nocyl/IHTest_202104_DistStA/path34/path34_step1/fitted.cyl,/disk/IHTest_202104_DistStA/Path34_DistStA/Path34_Step1_DistStA/IHTest_202104_Path34_Step1_LWHSI1_collect4_DistStA.hdr,/disk/IHTest_202104_DistStA/Path34_DistStA/Path34_Step1_DistStA/IHTest_202104_Path34_Step1_LWHSI1_collect4_DistStA.bsq,/disk/IHTest_202104_DistStA/Path34_DistStA/Path34_Step1_DistStA/IHTest_202104_Path34_Step1_HiResLIDAR_DistStA.las,IHTest_202104_DistStA|path34|path34_step1
-v0,all_306_scenes,IHTest_202104_DistStA,path34,path34_step2,IHTest_202104_DistStA / path34 / path34_step2,ours_only,ours_session_no_fit,False,without_prior_cyl,IHTest_202104_DistStA / path34,defer,missing final qc verdict,False,False,no_fit_ready_missing_projected_depth_label,,no_fit_ready,False,True,False,,,,False,False,0.0,,0.0,0.0,computed_r4p0_frozen,False,0,0,0,0,0,0,,,,,,False,False,False,False,not_reviewed,0,,,,,,,,,,,,,,,,,,analysis/annotation_workspace_nocyl/IHTest_202104_DistStA/path34/path34_step2/session.json,analysis/depth_labels/platform_sphere_r4p0/IHTest_202104_DistStA/path34/path34_step2/projected_lidar_depth_label.npz,,,,,,,,,,,LWHSI1,256.0,,,analysis/annotation_workspace_nocyl/IHTest_202104_DistStA/path34/path34_step2/picks.json,analysis/annotation_workspace_nocyl/IHTest_202104_DistStA/path34/path34_step2/generated_corresp.txt,,analysis/annotation_workspace_nocyl/IHTest_202104_DistStA/path34/path34_step2/generated_corresp.txt,,/disk/IHTest_202104_DistStA/Path34_DistStA/Path34_Step2_DistStA/IHTest_202104_Path34_Step2_LWHSI1_collect7_DistStA.hdr,/disk/IHTest_202104_DistStA/Path34_DistStA/Path34_Step2_DistStA/IHTest_202104_Path34_Step2_LWHSI1_collect7_DistStA.bsq,/disk/IHTest_202104_DistStA/Path34_DistStA/Path34_Step2_DistStA/IHTest_202104_Path34_Step2_HiResLIDAR_DistStA.las,IHTest_202104_DistStA|path34|path34_step2
-v0,all_306_scenes,IHTest_202104_DistStA,path35,path35_step1,IHTest_202104_DistStA / path35 / path35_step1,ours_only,ours_session_no_fit,False,without_prior_cyl,IHTest_202104_DistStA / path35,defer,missing final qc verdict,False,False,no_fit_ready_missing_projected_depth_label,,no_fit_ready,False,True,False,,,,False,False,0.0,,0.0,0.0,computed_r4p0_frozen,False,0,0,0,0,0,0,,,,,,False,False,False,False,not_reviewed,0,,,,,,,,,,,,,,,,,,analysis/annotation_workspace_nocyl/IHTest_202104_DistStA/path35/path35_step1/session.json,analysis/depth_labels/platform_sphere_r4p0/IHTest_202104_DistStA/path35/path35_step1/projected_lidar_depth_label.npz,,,,,,,,,,,LWHSI1,256.0,,,analysis/annotation_workspace_nocyl/IHTest_202104_DistStA/path35/path35_step1/picks.json,analysis/annotation_workspace_nocyl/IHTest_202104_DistStA/path35/path35_step1/generated_corresp.txt,,analysis/annotation_workspace_nocyl/IHTest_202104_DistStA/path35/path35_step1/generated_corresp.txt,,/disk/IHTest_202104_DistStA/Path35_DistStA/Path35_Step1_DistStA/IHTest_202104_Path35_Step1_LWHSI1_collect2_DistStA.hdr,/disk/IHTest_202104_DistStA/Path35_DistStA/Path35_Step1_DistStA/IHTest_202104_Path35_Step1_LWHSI1_collect2_DistStA.bsq,/disk/IHTest_202104_DistStA/Path35_DistStA/Path35_Step1_DistStA/IHTest_202104_Path35_Step1_HiResLIDAR_DistStA.las,IHTest_202104_DistStA|path35|path35_step1
-v0,all_306_scenes,IHTest_202104_DistStA,path36,path36_step1,IHTest_202104_DistStA / path36 / path36_step1,ours_only,skipped_before_annotation_lwhsi_artifacts,False,without_prior_cyl,IHTest_202104_DistStA / path36,exclude,qc verdict bad,False,False,skipped_lwhsi_artifacts,bad,skipped_lwhsi_artifacts,False,True,False,,,,False,False,0.0,,0.0,0.0,computed_r4p0_frozen,False,0,0,0,0,0,0,,,,,,False,False,False,False,not_reviewed,0,,,,,,,,,,,,,,,,,,analysis/annotation_workspace_nocyl/IHTest_202104_DistStA/path36/path36_step1/session.json,analysis/depth_labels/platform_sphere_r4p0/IHTest_202104_DistStA/path36/path36_step1/projected_lidar_depth_label.npz,LWHSI image has weird artifacts; scene was skipped before annotation.,,,,,,,,,,LWHSI1,256.0,,,analysis/annotation_workspace_nocyl/IHTest_202104_DistStA/path36/path36_step1/picks.json,analysis/annotation_workspace_nocyl/IHTest_202104_DistStA/path36/path36_step1/generated_corresp.txt,,analysis/annotation_workspace_nocyl/IHTest_202104_DistStA/path36/path36_step1/generated_corresp.txt,,/disk/IHTest_202104_DistStA/Path36_DistStA/Path36_Step1_DistStA/IHTest_202104_Path36_Step1_LWHSI1_collect0_DistStA.hdr,/disk/IHTest_202104_DistStA/Path36_DistStA/Path36_Step1_DistStA/IHTest_202104_Path36_Step1_LWHSI1_collect0_DistStA.bsq,/disk/IHTest_202104_DistStA/Path36_DistStA/Path36_Step1_DistStA/IHTest_202104_Path36_Step1_HiResLIDAR_DistStA.las,IHTest_202104_DistStA|path36|path36_step1
-v0,all_306_scenes,IHTest_202104_DistStA,path36,path36_step11,IHTest_202104_DistStA / path36 / path36_step11,ours_only,ours_fit_ready,False,without_prior_cyl,IHTest_202104_DistStA / path36,defer,missing final qc verdict,False,True,,,impossible_scene_no_verdict_recorded,True,True,True,10.447285421468228,10.209578082379204,2.215916978910699,False,False,9.0,,2.0,0.0,computed_r4p0_frozen,True,9,0,0,0,9,0,49.55444371930374,3.6491272886957935,8.375704102745972,9.09486424752685,1.031229837698973,False,False,False,False,not_reviewed,0,,,,,,,,,,,,,,,,,analysis/annotation_workspace_nocyl/IHTest_202104_DistStA/path36/path36_step11/fit.json,analysis/annotation_workspace_nocyl/IHTest_202104_DistStA/path36/path36_step11/session.json,analysis/depth_labels/platform_sphere_r4p0/IHTest_202104_DistStA/path36/path36_step11/projected_lidar_depth_label.npz,,,,,,,,,,,LWHSI1,256.0,,,analysis/annotation_workspace_nocyl/IHTest_202104_DistStA/path36/path36_step11/picks.json,analysis/annotation_workspace_nocyl/IHTest_202104_DistStA/path36/path36_step11/generated_corresp.txt,analysis/annotation_workspace_nocyl/IHTest_202104_DistStA/path36/path36_step11/fitted.cyl,analysis/annotation_workspace_nocyl/IHTest_202104_DistStA/path36/path36_step11/generated_corresp.txt,analysis/annotation_workspace_nocyl/IHTest_202104_DistStA/path36/path36_step11/fitted.cyl,/disk/IHTest_202104_DistStA/Path36_DistStA/Path36_Step11_DistStA/IHTest_202104_Path36_Step11_LWHSI1_collect2_DistStA.hdr,/disk/IHTest_202104_DistStA/Path36_DistStA/Path36_Step11_DistStA/IHTest_202104_Path36_Step11_LWHSI1_collect2_DistStA.bsq,/disk/IHTest_202104_DistStA/Path36_DistStA/Path36_Step11_DistStA/IHTest_202104_Path36_Step11_HiResLIDAR_DistStA.las,IHTest_202104_DistStA|path36|path36_step11
-v0,all_306_scenes,IHTest_202104_DistStA,path36,path36_step6,IHTest_202104_DistStA / path36 / path36_step6,ours_only,ours_fit_ready,False,without_prior_cyl,IHTest_202104_DistStA / path36,defer,missing final qc verdict,False,True,,,impossible_scene_no_verdict_recorded,True,True,True,18.35759504466316,17.991135794291335,3.649702543387668,False,False,8.0,,0.0,0.0,computed_r4p0_frozen,True,8,0,0,2,6,0,16.43423299402626,2.104065978879978,4.091571325779324,9.179121782006751,0.7143493730441257,False,False,False,False,not_reviewed,0,,,,,,,,,,,,,,,,,analysis/annotation_workspace_nocyl/IHTest_202104_DistStA/path36/path36_step6/fit.json,analysis/annotation_workspace_nocyl/IHTest_202104_DistStA/path36/path36_step6/session.json,analysis/depth_labels/platform_sphere_r4p0/IHTest_202104_DistStA/path36/path36_step6/projected_lidar_depth_label.npz,,,,,,,,,,,LWHSI1,256.0,,,analysis/annotation_workspace_nocyl/IHTest_202104_DistStA/path36/path36_step6/picks.json,analysis/annotation_workspace_nocyl/IHTest_202104_DistStA/path36/path36_step6/generated_corresp.txt,analysis/annotation_workspace_nocyl/IHTest_202104_DistStA/path36/path36_step6/fitted.cyl,analysis/annotation_workspace_nocyl/IHTest_202104_DistStA/path36/path36_step6/generated_corresp.txt,analysis/annotation_workspace_nocyl/IHTest_202104_DistStA/path36/path36_step6/fitted.cyl,/disk/IHTest_202104_DistStA/Path36_DistStA/Path36_Step6_DistStA/IHTest_202104_Path36_Step6_LWHSI1_collect4_DistStA.hdr,/disk/IHTest_202104_DistStA/Path36_DistStA/Path36_Step6_DistStA/IHTest_202104_Path36_Step6_LWHSI1_collect4_DistStA.bsq,/disk/IHTest_202104_DistStA/Path36_DistStA/Path36_Step6_DistStA/IHTest_202104_Path36_Step6_HiResLIDAR_DistStA.las,IHTest_202104_DistStA|path36|path36_step6
-v0,all_306_scenes,IHTest_202104_DistStA,path5,path5_step1,IHTest_202104_DistStA / path5 / path5_step1,ours_only,ours_fit_ready,False,without_prior_cyl,spot_001,include,,True,True,,good,annotated,True,True,True,0.5980739389596423,0.3088547038017814,0.5121535008200332,True,True,8.0,97.43199,0.0,0.0,computed_r4p0_frozen,True,8,0,0,0,5,3,4.186711991287282,1.0057240233265683,1.4695171860843332,4.033522317544353,0.4347986166963551,False,True,True,False,not_reviewed,0,,,,,,,,,,,,,,,,,analysis/annotation_workspace_nocyl/IHTest_202104_DistStA/path5/path5_step1/fit.json,analysis/annotation_workspace_nocyl/IHTest_202104_DistStA/path5/path5_step1/session.json,analysis/depth_labels/platform_sphere_r4p0/IHTest_202104_DistStA/path5/path5_step1/projected_lidar_depth_label.npz,,,,,,,,,,,LWHSI1,256.0,,,analysis/annotation_workspace_nocyl/IHTest_202104_DistStA/path5/path5_step1/picks.json,analysis/annotation_workspace_nocyl/IHTest_202104_DistStA/path5/path5_step1/generated_corresp.txt,analysis/annotation_workspace_nocyl/IHTest_202104_DistStA/path5/path5_step1/fitted.cyl,analysis/annotation_workspace_nocyl/IHTest_202104_DistStA/path5/path5_step1/generated_corresp.txt,analysis/annotation_workspace_nocyl/IHTest_202104_DistStA/path5/path5_step1/fitted.cyl,/disk/IHTest_202104_DistStA/Path5_DistStA/Path5_Step1_DistStA/IHTest_202104_Path5_Step1_LWHSI1_collect1_DistStA.hdr,/disk/IHTest_202104_DistStA/Path5_DistStA/Path5_Step1_DistStA/IHTest_202104_Path5_Step1_LWHSI1_collect1_DistStA.bsq,/disk/IHTest_202104_DistStA/Path5_DistStA/Path5_Step1_DistStA/IHTest_202104_Path5_Step1_HiResLIDAR_DistStA.las,IHTest_202104_DistStA|path5|path5_step1
-v0,all_306_scenes,IHTest_202104_DistStA,path5,path5_step4,IHTest_202104_DistStA / path5 / path5_step4,ours_only,ours_fit_ready,False,without_prior_cyl,spot_001,include,,True,True,,good,annotated,True,True,True,2.386489314099076,1.7432820097161206,1.629815658566698,True,True,8.0,77.97483,0.0,0.0,computed_r4p0_frozen,True,8,0,0,0,5,3,3.8316524702563366,0.2732078004288014,0.8995522804461031,2.719346059166014,0.2840310417040612,False,True,True,False,not_reviewed,0,,,,,,,,,,,,,,,,,analysis/annotation_workspace_nocyl/IHTest_202104_DistStA/path5/path5_step4/fit.json,analysis/annotation_workspace_nocyl/IHTest_202104_DistStA/path5/path5_step4/session.json,analysis/depth_labels/platform_sphere_r4p0/IHTest_202104_DistStA/path5/path5_step4/projected_lidar_depth_label.npz,,,,,,,,,,,LWHSI1,256.0,,,analysis/annotation_workspace_nocyl/IHTest_202104_DistStA/path5/path5_step4/picks.json,analysis/annotation_workspace_nocyl/IHTest_202104_DistStA/path5/path5_step4/generated_corresp.txt,analysis/annotation_workspace_nocyl/IHTest_202104_DistStA/path5/path5_step4/fitted.cyl,analysis/annotation_workspace_nocyl/IHTest_202104_DistStA/path5/path5_step4/generated_corresp.txt,analysis/annotation_workspace_nocyl/IHTest_202104_DistStA/path5/path5_step4/fitted.cyl,/disk/IHTest_202104_DistStA/Path5_DistStA/Path5_Step4_DistStA/IHTest_202104_Path5_Step4_LWHSI1_collect1_DistStA.hdr,/disk/IHTest_202104_DistStA/Path5_DistStA/Path5_Step4_DistStA/IHTest_202104_Path5_Step4_LWHSI1_collect1_DistStA.bsq,/disk/IHTest_202104_DistStA/Path5_DistStA/Path5_Step4_DistStA/IHTest_202104_Path5_Step4_HiResLIDAR_DistStA.las,IHTest_202104_DistStA|path5|path5_step4
-v0,all_306_scenes,IHTest_202104_DistStA,path6,path6_step1,IHTest_202104_DistStA / path6 / path6_step1,ours_only,legacy_prior_pool_no_ours_fit,True,with_prior_cyl,IHTest_202104_DistStA / path6,defer,missing final qc verdict,False,False,no_fit_ready_missing_projected_depth_label,,no_fit_ready,False,False,False,,,,False,False,0.0,,,,computed_r4p0_frozen,False,0,0,0,0,0,0,,,,,,False,False,False,False,not_reviewed,0,,,,,,,,,,,,,,,,,,,analysis/depth_labels/platform_sphere_r4p0/IHTest_202104_DistStA/path6/path6_step1/projected_lidar_depth_label.npz,,,,,,,,,,,,,,,,,,,,,,,IHTest_202104_DistStA|path6|path6_step1
-v0,all_306_scenes,IHTest_202104_DistStA,path6,path6_step9,IHTest_202104_DistStA / path6 / path6_step9,ours_only,legacy_prior_pool_no_ours_fit,True,with_prior_cyl,IHTest_202104_DistStA / path6,defer,missing final qc verdict,False,False,no_fit_ready_missing_projected_depth_label,,no_fit_ready,False,False,False,,,,False,False,0.0,,,,computed_r4p0_frozen,False,0,0,0,0,0,0,,,,,,False,False,False,False,not_reviewed,0,,,,,,,,,,,,,,,,,,,analysis/depth_labels/platform_sphere_r4p0/IHTest_202104_DistStA/path6/path6_step9/projected_lidar_depth_label.npz,,,,,,,,,,,,,,,,,,,,,,,IHTest_202104_DistStA|path6|path6_step9
-v0,all_306_scenes,IHTest_202104_DistStA,path9,path9_step1,IHTest_202104_DistStA / path9 / path9_step1,ours_only,ours_fit_ready,True,with_prior_cyl,IHTest_202104_DistStA / path9,defer,missing final qc verdict,False,True,,,missing_session_json,True,False,True,0.9464568375534936,0.758999793915386,0.565420072325136,True,True,8.0,,,,computed_r4p0_frozen,True,8,0,0,0,5,3,0.9669042572332288,0.1815241750517377,0.2836340860756585,0.6670535826365693,0.1510599902779645,True,True,True,False,not_reviewed,0,,,,,,,,,,,,,,,,,analysis/annotation_workspace_nocyl/IHTest_202104_DistStA/path9/path9_step1/fit.json,,analysis/depth_labels/platform_sphere_r4p0/IHTest_202104_DistStA/path9/path9_step1/projected_lidar_depth_label.npz,,,,,,,,,,,LWHSI1,256.0,/disk/IHTest_202104_DistStA/Path9_DistStA/Path9_Step1_DistStA/IHTest_202104_Path9_Step1_LWHSI1_collect0_DistStA_corresp.txt,/disk/IHTest_202104_DistStA/Path9_DistStA/Path9_Step1_DistStA/IHTest_202104_Path9_Step1_LWHSI1_collect0_DistStA.cyl,analysis/annotation_workspace_nocyl/IHTest_202104_DistStA/path9/path9_step1/picks.json,analysis/annotation_workspace_nocyl/IHTest_202104_DistStA/path9/path9_step1/generated_corresp.txt,analysis/annotation_workspace_nocyl/IHTest_202104_DistStA/path9/path9_step1/fitted.cyl,analysis/annotation_workspace_nocyl/IHTest_202104_DistStA/path9/path9_step1/generated_corresp.txt,analysis/annotation_workspace_nocyl/IHTest_202104_DistStA/path9/path9_step1/fitted.cyl,/disk/IHTest_202104_DistStA/Path9_DistStA/Path9_Step1_DistStA/IHTest_202104_Path9_Step1_LWHSI1_collect0_DistStA.hdr,/disk/IHTest_202104_DistStA/Path9_DistStA/Path9_Step1_DistStA/IHTest_202104_Path9_Step1_LWHSI1_collect0_DistStA.bsq,/disk/IHTest_202104_DistStA/Path9_DistStA/Path9_Step1_DistStA/IHTest_202104_Path9_Step1_HiResLIDAR_DistStA.las,IHTest_202104_DistStA|path9|path9_step1
-v0,all_306_scenes,IHTest_202104_DistStA,path9,path9_step16,IHTest_202104_DistStA / path9 / path9_step16,ours_only,ours_fit_ready,True,with_prior_cyl,IHTest_202104_DistStA / path9,defer,missing final qc verdict,False,True,,,missing_session_json,True,False,True,0.5706823417989847,0.5206790733309495,0.2336057316000548,True,True,9.0,,,,computed_r4p0_frozen,True,9,0,0,0,6,3,2.9650714890929284,0.2235677340300307,0.5740699429484891,1.8496193886391763,0.1052285933095262,False,True,True,False,not_reviewed,0,,,,,,,,,,,,,,,,,analysis/annotation_workspace_nocyl/IHTest_202104_DistStA/path9/path9_step16/fit.json,,analysis/depth_labels/platform_sphere_r4p0/IHTest_202104_DistStA/path9/path9_step16/projected_lidar_depth_label.npz,,,,,,,,,,,LWHSI1,256.0,/disk/IHTest_202104_DistStA/Path9_DistStA/Path9_Step16_DistStA/IHTest_202104_Path9_Step16_LWHSI1_collect0_DistStA_corresp.txt,/disk/IHTest_202104_DistStA/Path9_DistStA/Path9_Step16_DistStA/IHTest_202104_Path9_Step16_LWHSI1_collect0_DistStA.cyl,analysis/annotation_workspace_nocyl/IHTest_202104_DistStA/path9/path9_step16/picks.json,analysis/annotation_workspace_nocyl/IHTest_202104_DistStA/path9/path9_step16/generated_corresp.txt,analysis/annotation_workspace_nocyl/IHTest_202104_DistStA/path9/path9_step16/fitted.cyl,analysis/annotation_workspace_nocyl/IHTest_202104_DistStA/path9/path9_step16/generated_corresp.txt,analysis/annotation_workspace_nocyl/IHTest_202104_DistStA/path9/path9_step16/fitted.cyl,/disk/IHTest_202104_DistStA/Path9_DistStA/Path9_Step16_DistStA/IHTest_202104_Path9_Step16_LWHSI1_collect2_DistStA.hdr,/disk/IHTest_202104_DistStA/Path9_DistStA/Path9_Step16_DistStA/IHTest_202104_Path9_Step16_LWHSI1_collect2_DistStA.bsq,/disk/IHTest_202104_DistStA/Path9_DistStA/Path9_Step16_DistStA/IHTest_202104_Path9_Step16_HiResLIDAR_DistStA.las,IHTest_202104_DistStA|path9|path9_step16
-v0,all_306_scenes,IHTest_202108_DistStA,path1,path1_step4,IHTest_202108_DistStA / path1 / path1_step4,ours_only,ours_session_no_fit,False,without_prior_cyl,IHTest_202108_DistStA / path1,defer,missing final qc verdict,False,False,no_fit_ready_missing_projected_depth_label,,no_fit_ready,False,True,False,,,,False,False,0.0,,0.0,0.0,computed_r4p0_frozen,False,0,0,0,0,0,0,,,,,,False,False,False,False,not_reviewed,0,,,,,,,,,,,,,,,,,,analysis/annotation_workspace_nocyl/IHTest_202108_DistStA/path1/path1_step4/session.json,analysis/depth_labels/platform_sphere_r4p0/IHTest_202108_DistStA/path1/path1_step4/projected_lidar_depth_label.npz,,,,,,,,,,,LWHSI1,256.0,,,analysis/annotation_workspace_nocyl/IHTest_202108_DistStA/path1/path1_step4/picks.json,analysis/annotation_workspace_nocyl/IHTest_202108_DistStA/path1/path1_step4/generated_corresp.txt,,analysis/annotation_workspace_nocyl/IHTest_202108_DistStA/path1/path1_step4/generated_corresp.txt,,/disk/IHTest_202108_DistStA/Path1_DistStA/Path1_Step4/IHTest_202108_Path1_Step4_Collect2LWHSI1_DistStA.hdr,/disk/IHTest_202108_DistStA/Path1_DistStA/Path1_Step4/IHTest_202108_Path1_Step4_Collect2LWHSI1_DistStA.bsq,/disk/IHTest_202108_DistStA/Path1_DistStA/Path1_Step4/IHTest_202108_Path1_Step4_HiResLIDAR_DistStA.las,IHTest_202108_DistStA|path1|path1_step4
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-v0,all_306_scenes,IHTest_202204_DistStA-20221110,path13,path13_step12,IHTest_202204_DistStA-20221110 / path13 / path13_step12,ours_only,ours_fit_ready,False,without_prior_cyl,spot_016,exclude,qc verdict bad,False,True,,bad,annotated,True,True,True,18.426594412057405,18.06129284064037,3.6509016079727528,False,False,8.0,160.23851,0.0,0.0,computed_r4p0_frozen,True,6,2,0,0,5,1,11.094578530893717,2.790266047908628,3.904037761282678,11.465360255697007,1.7164991459453989,False,False,False,False,not_reviewed,0,,,,,,,,,,,,,,,,,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path13/path13_step12/fit.json,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path13/path13_step12/session.json,analysis/depth_labels/platform_sphere_r4p0/IHTest_202204_DistStA-20221110/path13/path13_step12/projected_lidar_depth_label.npz,,,,,,,,,,,LWHSI1,256.0,,,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path13/path13_step12/picks.json,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path13/path13_step12/generated_corresp.txt,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path13/path13_step12/fitted.cyl,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path13/path13_step12/generated_corresp.txt,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path13/path13_step12/fitted.cyl,/disk/IHTest_202204_DistStA-20221110/Path13_DistStA/Path13_Step12/IHTest_202204_Path13_Step12_LWHSI1_DistStA.hdr,/disk/IHTest_202204_DistStA-20221110/Path13_DistStA/Path13_Step12/IHTest_202204_Path13_Step12_LWHSI1_DistStA.bsq,/disk/IHTest_202204_DistStA-20221110/Path13_DistStA/Path13_Step12/IHTest_202204_Path13_Step12_HiResLIDAR_DistStA.las,IHTest_202204_DistStA-20221110|path13|path13_step12
-v0,all_306_scenes,IHTest_202204_DistStA-20221110,path13,path13_step13,IHTest_202204_DistStA-20221110 / path13 / path13_step13,ours_only,ours_fit_ready,False,without_prior_cyl,spot_016,defer,does not meet frozen rmse5+distance5 gate,False,True,,good,annotated,True,True,True,1.866844133396812,1.2872053736291975,1.352112918545715,True,True,10.0,98.333713,1.0,0.0,computed_r4p0_frozen,True,10,0,0,0,9,1,28.197708693250345,0.1595917445131213,3.785848820490143,20.28930691782413,0.0689304297061106,False,False,False,False,not_reviewed,0,,,,,,,,,,,,,,,,,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path13/path13_step13/fit.json,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path13/path13_step13/session.json,analysis/depth_labels/platform_sphere_r4p0/IHTest_202204_DistStA-20221110/path13/path13_step13/projected_lidar_depth_label.npz,,,,,,,,,,,LWHSI1,256.0,,,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path13/path13_step13/picks.json,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path13/path13_step13/generated_corresp.txt,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path13/path13_step13/fitted.cyl,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path13/path13_step13/generated_corresp.txt,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path13/path13_step13/fitted.cyl,/disk/IHTest_202204_DistStA-20221110/Path13_DistStA/Path13_Step13/IHTest_202204_Path13_Step13_LWHSI1_DistStA.hdr,/disk/IHTest_202204_DistStA-20221110/Path13_DistStA/Path13_Step13/IHTest_202204_Path13_Step13_LWHSI1_DistStA.bsq,/disk/IHTest_202204_DistStA-20221110/Path13_DistStA/Path13_Step13/IHTest_202204_Path13_Step13_HiResLIDAR_DistStA.las,IHTest_202204_DistStA-20221110|path13|path13_step13
-v0,all_306_scenes,IHTest_202204_DistStA-20221110,path13,path13_step14,IHTest_202204_DistStA-20221110 / path13 / path13_step14,ours_only,ours_fit_ready,False,without_prior_cyl,spot_016,defer,does not meet frozen rmse5+distance5 gate,False,True,,good,annotated,True,True,True,2.9126537131797647,2.5922451751554907,1.3280875742144975,True,True,10.0,112.103277,0.0,0.0,computed_r4p0_frozen,True,10,0,0,0,8,2,14.272293965459218,0.177069393581877,2.6133262211494603,9.705935613571016,0.056947909120435,False,False,False,False,not_reviewed,0,,,,,,,,,,,,,,,,,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path13/path13_step14/fit.json,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path13/path13_step14/session.json,analysis/depth_labels/platform_sphere_r4p0/IHTest_202204_DistStA-20221110/path13/path13_step14/projected_lidar_depth_label.npz,,,,,,,,,,,LWHSI1,256.0,,,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path13/path13_step14/picks.json,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path13/path13_step14/generated_corresp.txt,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path13/path13_step14/fitted.cyl,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path13/path13_step14/generated_corresp.txt,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path13/path13_step14/fitted.cyl,/disk/IHTest_202204_DistStA-20221110/Path13_DistStA/Path13_Step14/IHTest_202204_Path13_Step14_LWHSI1_DistStA.hdr,/disk/IHTest_202204_DistStA-20221110/Path13_DistStA/Path13_Step14/IHTest_202204_Path13_Step14_LWHSI1_DistStA.bsq,/disk/IHTest_202204_DistStA-20221110/Path13_DistStA/Path13_Step14/IHTest_202204_Path13_Step14_HiResLIDAR_DistStA.las,IHTest_202204_DistStA-20221110|path13|path13_step14
-v0,all_306_scenes,IHTest_202204_DistStA-20221110,path13,path13_step15,IHTest_202204_DistStA-20221110 / path13 / path13_step15,ours_only,ours_fit_ready,False,without_prior_cyl,spot_016,exclude,qc verdict bad,False,True,,bad,annotated,True,True,True,27.06027442596279,26.94751859179565,2.4677304863464418,False,False,10.0,135.091962,2.0,0.0,computed_r4p0_frozen,True,8,2,0,0,7,1,54.2022980236967,17.770400219352688,17.59930815741548,120.10127815570031,6.648629161210527,False,False,False,False,not_reviewed,0,,,,,,,,,,,,,,,,,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path13/path13_step15/fit.json,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path13/path13_step15/session.json,analysis/depth_labels/platform_sphere_r4p0/IHTest_202204_DistStA-20221110/path13/path13_step15/projected_lidar_depth_label.npz,,,,,,,,,,,LWHSI1,256.0,,,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path13/path13_step15/picks.json,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path13/path13_step15/generated_corresp.txt,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path13/path13_step15/fitted.cyl,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path13/path13_step15/generated_corresp.txt,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path13/path13_step15/fitted.cyl,/disk/IHTest_202204_DistStA-20221110/Path13_DistStA/Path13_Step15/IHTest_202204_Path13_Step15_LWHSI1_DistStA.hdr,/disk/IHTest_202204_DistStA-20221110/Path13_DistStA/Path13_Step15/IHTest_202204_Path13_Step15_LWHSI1_DistStA.bsq,/disk/IHTest_202204_DistStA-20221110/Path13_DistStA/Path13_Step15/IHTest_202204_Path13_Step15_HiResLIDAR_DistStA.las,IHTest_202204_DistStA-20221110|path13|path13_step15
-v0,all_306_scenes,IHTest_202204_DistStA-20221110,path13,path13_step16,IHTest_202204_DistStA-20221110 / path13 / path13_step16,ours_only,ours_fit_ready,False,without_prior_cyl,spot_016,defer,qc verdict usable with caution,False,True,,usable with caution,annotated,True,True,True,2.8171636552397272,2.735806942317393,0.6721394459274184,True,True,8.0,167.128707,2.0,0.0,computed_r4p0_frozen,True,8,0,0,0,7,1,19.18690905477576,0.2589656577502669,3.0410861978513246,10.808214222409909,0.0385857291901894,False,False,False,False,not_reviewed,0,,,,,,,,,,,,,,,,,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path13/path13_step16/fit.json,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path13/path13_step16/session.json,analysis/depth_labels/platform_sphere_r4p0/IHTest_202204_DistStA-20221110/path13/path13_step16/projected_lidar_depth_label.npz,,,,,,,,,,,LWHSI1,256.0,,,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path13/path13_step16/picks.json,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path13/path13_step16/generated_corresp.txt,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path13/path13_step16/fitted.cyl,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path13/path13_step16/generated_corresp.txt,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path13/path13_step16/fitted.cyl,/disk/IHTest_202204_DistStA-20221110/Path13_DistStA/Path13_Step16/IHTest_202204_Path13_Step16_LWHSI1_DistStA.hdr,/disk/IHTest_202204_DistStA-20221110/Path13_DistStA/Path13_Step16/IHTest_202204_Path13_Step16_LWHSI1_DistStA.bsq,/disk/IHTest_202204_DistStA-20221110/Path13_DistStA/Path13_Step16/IHTest_202204_Path13_Step16_HiResLIDAR_DistStA.las,IHTest_202204_DistStA-20221110|path13|path13_step16
-v0,all_306_scenes,IHTest_202204_DistStA-20221110,path13,path13_step17,IHTest_202204_DistStA-20221110 / path13 / path13_step17,ours_only,ours_fit_ready,False,without_prior_cyl,spot_016,exclude,qc verdict bad,False,True,,bad,annotated,True,True,True,8.406554090277899,8.177491864460567,1.9490455303684704,False,True,8.0,109.263573,0.0,0.0,computed_r4p0_frozen,True,7,1,0,0,3,4,71.27400539821619,0.0579590796500593,29.29063849750805,31.820949581987264,0.1216932956336052,False,False,False,False,not_reviewed,0,,,,,,,,,,,,,,,,,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path13/path13_step17/fit.json,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path13/path13_step17/session.json,analysis/depth_labels/platform_sphere_r4p0/IHTest_202204_DistStA-20221110/path13/path13_step17/projected_lidar_depth_label.npz,,,,,,,,,,,LWHSI1,256.0,,,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path13/path13_step17/picks.json,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path13/path13_step17/generated_corresp.txt,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path13/path13_step17/fitted.cyl,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path13/path13_step17/generated_corresp.txt,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path13/path13_step17/fitted.cyl,/disk/IHTest_202204_DistStA-20221110/Path13_DistStA/Path13_Step17/IHTest_202204_Path13_Step17_LWHSI1_DistStA.hdr,/disk/IHTest_202204_DistStA-20221110/Path13_DistStA/Path13_Step17/IHTest_202204_Path13_Step17_LWHSI1_DistStA.bsq,/disk/IHTest_202204_DistStA-20221110/Path13_DistStA/Path13_Step17/IHTest_202204_Path13_Step17_HiResLIDAR_DistStA.las,IHTest_202204_DistStA-20221110|path13|path13_step17
-v0,all_306_scenes,IHTest_202204_DistStA-20221110,path13,path13_step2,IHTest_202204_DistStA-20221110 / path13 / path13_step2,ours_only,ours_fit_ready,False,without_prior_cyl,spot_016,defer,does not meet frozen rmse5+distance5 gate,False,True,,good,annotated,True,True,True,5.676248510514109,5.673993611923592,0.1599801392795743,False,True,8.0,162.663558,0.0,0.0,computed_r4p0_frozen,True,8,0,0,0,7,1,15.069239595079347,0.4167926024278569,2.515275753159524,2.364576449392068,0.1268533317098139,False,False,False,False,not_reviewed,0,,,,,,,,,,,,,,,,,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path13/path13_step2/fit.json,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path13/path13_step2/session.json,analysis/depth_labels/platform_sphere_r4p0/IHTest_202204_DistStA-20221110/path13/path13_step2/projected_lidar_depth_label.npz,,,,,,,,,,,LWHSI1,256.0,,,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path13/path13_step2/picks.json,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path13/path13_step2/generated_corresp.txt,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path13/path13_step2/fitted.cyl,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path13/path13_step2/generated_corresp.txt,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path13/path13_step2/fitted.cyl,/disk/IHTest_202204_DistStA-20221110/Path13_DistStA/Path13_Step2/IHTest_202204_Path13_Step2_LWHSI1_DistStA.hdr,/disk/IHTest_202204_DistStA-20221110/Path13_DistStA/Path13_Step2/IHTest_202204_Path13_Step2_LWHSI1_DistStA.bsq,/disk/IHTest_202204_DistStA-20221110/Path13_DistStA/Path13_Step2/IHTest_202204_Path13_Step2_HiResLIDAR_DistStA.las,IHTest_202204_DistStA-20221110|path13|path13_step2
-v0,all_306_scenes,IHTest_202204_DistStA-20221110,path13,path13_step3,IHTest_202204_DistStA-20221110 / path13 / path13_step3,ours_only,ours_fit_ready,False,without_prior_cyl,spot_016,defer,does not meet frozen rmse5+distance5 gate,False,True,,good,annotated,True,True,True,3.213711315593102,3.1783760618626364,0.4752536473818012,True,True,11.0,185.096466,1.0,0.0,computed_r4p0_frozen,True,11,0,0,0,7,4,5.5680244148736,1.1160937429889206,2.024056909189936,4.164631852792425,0.3494953140355576,False,False,False,False,not_reviewed,0,,,,,,,,,,,,,,,,,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path13/path13_step3/fit.json,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path13/path13_step3/session.json,analysis/depth_labels/platform_sphere_r4p0/IHTest_202204_DistStA-20221110/path13/path13_step3/projected_lidar_depth_label.npz,,,,,,,,,,,LWHSI1,256.0,,,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path13/path13_step3/picks.json,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path13/path13_step3/generated_corresp.txt,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path13/path13_step3/fitted.cyl,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path13/path13_step3/generated_corresp.txt,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path13/path13_step3/fitted.cyl,/disk/IHTest_202204_DistStA-20221110/Path13_DistStA/Path13_Step3/IHTest_202204_Path13_Step3_LWHSI1_DistStA.hdr,/disk/IHTest_202204_DistStA-20221110/Path13_DistStA/Path13_Step3/IHTest_202204_Path13_Step3_LWHSI1_DistStA.bsq,/disk/IHTest_202204_DistStA-20221110/Path13_DistStA/Path13_Step3/IHTest_202204_Path13_Step3_HiResLIDAR_DistStA.las,IHTest_202204_DistStA-20221110|path13|path13_step3
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-v0,all_306_scenes,IHTest_202204_DistStA-20221110,path15,path15_step26,IHTest_202204_DistStA-20221110 / path15 / path15_step26,ours_only,ours_fit_ready,False,without_prior_cyl,spot_018,defer,does not meet frozen rmse5+distance5 gate,False,True,,good,annotated,True,True,True,1.3325071606568732,1.076653158254368,0.7851071965169708,True,True,9.0,134.643,1.0,0.0,computed_r4p0_frozen,True,9,0,0,0,9,0,5.524276584814501,0.201425682610313,0.7912105292591973,1.6246593249383778,0.0447180249405434,False,False,False,False,not_reviewed,0,,,,,,,,,,,,,,,,,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path15/path15_step26/fit.json,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path15/path15_step26/session.json,analysis/depth_labels/platform_sphere_r4p0/IHTest_202204_DistStA-20221110/path15/path15_step26/projected_lidar_depth_label.npz,,,,,,,,,,,LWHSI1,256.0,,,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path15/path15_step26/picks.json,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path15/path15_step26/generated_corresp.txt,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path15/path15_step26/fitted.cyl,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path15/path15_step26/generated_corresp.txt,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path15/path15_step26/fitted.cyl,/disk/IHTest_202204_DistStA-20221110/Path15_DistStA/Path15_Step26/IHTest_202204_Path15_Step26_LWHSI1_DistStA.hdr,/disk/IHTest_202204_DistStA-20221110/Path15_DistStA/Path15_Step26/IHTest_202204_Path15_Step26_LWHSI1_DistStA.bsq,/disk/IHTest_202204_DistStA-20221110/Path15_DistStA/Path15_Step26/IHTest_202204_Path15_Step26_HiResLIDAR_DistStA.las,IHTest_202204_DistStA-20221110|path15|path15_step26
-v0,all_306_scenes,IHTest_202204_DistStA-20221110,path15,path15_step31,IHTest_202204_DistStA-20221110 / path15 / path15_step31,ours_only,ours_fit_ready,False,without_prior_cyl,spot_018,include,,True,True,,good,annotated,True,True,True,1.9213047876434608,1.7689143606016022,0.7499027082756189,True,True,9.0,110.266225,1.0,0.0,computed_r4p0_frozen,True,9,0,0,0,9,0,3.165760069203688,0.1618082440237283,0.5047798883750925,0.7610743609549111,0.0369386636106128,False,True,True,False,not_reviewed,0,,,,,,,,,,,,,,,,,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path15/path15_step31/fit.json,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path15/path15_step31/session.json,analysis/depth_labels/platform_sphere_r4p0/IHTest_202204_DistStA-20221110/path15/path15_step31/projected_lidar_depth_label.npz,,,,,,,,,,,LWHSI1,256.0,,,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path15/path15_step31/picks.json,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path15/path15_step31/generated_corresp.txt,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path15/path15_step31/fitted.cyl,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path15/path15_step31/generated_corresp.txt,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path15/path15_step31/fitted.cyl,/disk/IHTest_202204_DistStA-20221110/Path15_DistStA/Path15_Step31/IHTest_202204_Path15_Step31_LWHSI1_DistStA.hdr,/disk/IHTest_202204_DistStA-20221110/Path15_DistStA/Path15_Step31/IHTest_202204_Path15_Step31_LWHSI1_DistStA.bsq,/disk/IHTest_202204_DistStA-20221110/Path15_DistStA/Path15_Step31/IHTest_202204_Path15_Step31_HiResLIDAR_DistStA.las,IHTest_202204_DistStA-20221110|path15|path15_step31
-v0,all_306_scenes,IHTest_202204_DistStA-20221110,path15,path15_step36,IHTest_202204_DistStA-20221110 / path15 / path15_step36,ours_only,ours_fit_ready,False,without_prior_cyl,spot_018,include,,True,True,,good,annotated,True,True,True,2.7019631647204325,2.673886448061667,0.3885050918304916,True,True,8.0,104.083288,0.0,0.0,computed_r4p0_frozen,True,8,0,0,0,8,0,0.3181626903751358,0.2321019875131963,0.2143545898528399,0.0677529547534057,0.0411889985644524,True,True,True,False,not_reviewed,0,,,,,,,,,,,,,,,,,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path15/path15_step36/fit.json,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path15/path15_step36/session.json,analysis/depth_labels/platform_sphere_r4p0/IHTest_202204_DistStA-20221110/path15/path15_step36/projected_lidar_depth_label.npz,,,,,,,,,,,LWHSI1,256.0,,,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path15/path15_step36/picks.json,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path15/path15_step36/generated_corresp.txt,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path15/path15_step36/fitted.cyl,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path15/path15_step36/generated_corresp.txt,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path15/path15_step36/fitted.cyl,/disk/IHTest_202204_DistStA-20221110/Path15_DistStA/Path15_Step36/IHTest_202204_Path15_Step36_LWHSI1_DistStA.hdr,/disk/IHTest_202204_DistStA-20221110/Path15_DistStA/Path15_Step36/IHTest_202204_Path15_Step36_LWHSI1_DistStA.bsq,/disk/IHTest_202204_DistStA-20221110/Path15_DistStA/Path15_Step36/IHTest_202204_Path15_Step36_HiResLIDAR_DistStA.las,IHTest_202204_DistStA-20221110|path15|path15_step36
-v0,all_306_scenes,IHTest_202204_DistStA-20221110,path15,path15_step41,IHTest_202204_DistStA-20221110 / path15 / path15_step41,ours_only,ours_fit_ready,False,without_prior_cyl,spot_018,include,,True,True,,good,annotated,True,True,True,2.983413221598681,2.703419902174225,1.261853907288052,True,True,10.0,162.07293,0.0,0.0,computed_r4p0_frozen,True,10,0,0,0,10,0,4.0312526307871055,0.1735573991497728,1.1882537227452177,0.8431939996095501,0.0316985123864981,False,True,True,False,not_reviewed,0,,,,,,,,,,,,,,,,,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path15/path15_step41/fit.json,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path15/path15_step41/session.json,analysis/depth_labels/platform_sphere_r4p0/IHTest_202204_DistStA-20221110/path15/path15_step41/projected_lidar_depth_label.npz,,,,,,,,,,,LWHSI1,256.0,,,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path15/path15_step41/picks.json,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path15/path15_step41/generated_corresp.txt,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path15/path15_step41/fitted.cyl,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path15/path15_step41/generated_corresp.txt,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path15/path15_step41/fitted.cyl,/disk/IHTest_202204_DistStA-20221110/Path15_DistStA/Path15_Step41/IHTest_202204_Path15_Step41_LWHSI1_DistStA.hdr,/disk/IHTest_202204_DistStA-20221110/Path15_DistStA/Path15_Step41/IHTest_202204_Path15_Step41_LWHSI1_DistStA.bsq,/disk/IHTest_202204_DistStA-20221110/Path15_DistStA/Path15_Step41/IHTest_202204_Path15_Step41_HiResLIDAR_DistStA.las,IHTest_202204_DistStA-20221110|path15|path15_step41
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-v0,all_306_scenes,IHTest_202204_DistStA-20221110,path31,path31_step17,IHTest_202204_DistStA-20221110 / path31 / path31_step17,ours_only,ours_fit_ready,False,without_prior_cyl,spot_027,exclude,qc verdict bad,False,True,,bad,annotated,True,True,True,137.171652323985,137.04148072089222,5.97450944576594,False,False,8.0,194.095682,2.0,0.0,computed_r4p0_frozen,True,5,3,0,2,3,0,47.59819319586185,17.124185425588283,21.69249328069749,5.248219437004849,0.8538832608229745,False,False,False,False,not_reviewed,0,,,,,,,,,,,,,,,,,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path31/path31_step17/fit.json,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path31/path31_step17/session.json,analysis/depth_labels/platform_sphere_r4p0/IHTest_202204_DistStA-20221110/path31/path31_step17/projected_lidar_depth_label.npz,,,,,,,,,,,LWHSI1,256.0,,,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path31/path31_step17/picks.json,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path31/path31_step17/generated_corresp.txt,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path31/path31_step17/fitted.cyl,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path31/path31_step17/generated_corresp.txt,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path31/path31_step17/fitted.cyl,/disk/IHTest_202204_DistStA-20221110/Path31_DistStA/Path31_Step17/IHTest_202204_Path31_Step17_LWHSI1_DistStA.hdr,/disk/IHTest_202204_DistStA-20221110/Path31_DistStA/Path31_Step17/IHTest_202204_Path31_Step17_LWHSI1_DistStA.bsq,/disk/IHTest_202204_DistStA-20221110/Path31_DistStA/Path31_Step17/IHTest_202204_Path31_Step17_HiResLIDAR_DistStA.las,IHTest_202204_DistStA-20221110|path31|path31_step17
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rename from IHTest_202009_DistStA/path1/path1_step2/camera.cyl
rename to IHTest_202009_DistStA/Path1_DistStA/Path1_Step2_DistStA/IHTest_202009_Path1_Step2_LWHSI1__DistStA.cyl
diff --git a/IHTest_202009_DistStA/path1/path1_step2/correspondences.txt b/IHTest_202009_DistStA/Path1_DistStA/Path1_Step2_DistStA/IHTest_202009_Path1_Step2_LWHSI1__DistStA_corresp.txt
similarity index 100%
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rename to IHTest_202009_DistStA/Path1_DistStA/Path1_Step2_DistStA/IHTest_202009_Path1_Step2_LWHSI1__DistStA_corresp.txt
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rename to IHTest_202009_DistStA/Path1_DistStA/Path1_Step3_DistStA/IHTest_202009_Path1_Step3_LWHSI1__DistStA.cyl
diff --git a/IHTest_202009_DistStA/path1/path1_step3/correspondences.txt b/IHTest_202009_DistStA/Path1_DistStA/Path1_Step3_DistStA/IHTest_202009_Path1_Step3_LWHSI1__DistStA_corresp.txt
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similarity index 100%
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diff --git a/IHTest_202009_DistStA/path3/path3_step6/correspondences.txt b/IHTest_202009_DistStA/Path3_DistStA/Path3_Step6_DistStA/IHTest_202009_Path3_Step6_LWHSI1__DistStA_corresp.txt
similarity index 100%
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diff --git a/IHTest_202204_DistStA-20221110/path7/path7_step1/depth_label.npz b/IHTest_202204_DistStA-20221110/path7/path7_step1/depth_label.npz
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diff --git a/README.md b/README.md
index c807b1c11d02eef656ac6a64b82f32af4087b142..2361d3704c8f8bed63493a616392bdb3faf22918 100644
--- a/README.md
+++ b/README.md
@@ -1,92 +1,97 @@
 ---
-pretty_name: "IH-Depth"
-license: "cc-by-4.0"
-task_categories:
-  - depth-estimation
-tags:
-  - mlcroissant
-  - croissant
-  - lwir
-  - lidar
-  - hyperspectral-imagery
-  - metric-depth-estimation
-  - off-road
-size_categories:
-  - n<1K
-configs:
-  - config_name: default
-    data_files:
-      - split: train
-        path: scenes_train.csv
-      - split: test
-        path: scenes_test.csv
+license: cc-by-4.0
 ---
 
-# IH-Depth
+# Dataset Card for IH-Depth
 
-IH-Depth v0 is a curated LWIR/LWHSI-LiDAR benchmark derived from the Invisible Headlights dataset. It contains 51 included off-road scenes with sparse LiDAR-projected metric depth labels, per-scene cylindrical camera geometry, correspondence files, and release manifests.
+IH-Depth is a benchmark for metric depth estimation from long-wave hyperspectral imagery (LWHSI) in off-road scenes. The benchmark is derived from the [Invisible Headlights (IH) dataset](https://registry.opendata.aws/darpa-invisible-headlights/) and pairs raw LWHSI scenes with sparse LiDAR-projected depth labels, cylindrical camera geometry, and point/image correspondence files.
 
-## Repository Status
+IH-Depth contains 51 released scenes split into 41 training scenes and 10 test scenes. The benchmark is distributed as an overlay on top of the raw IH dataset: after unpacking IH-Depth into the raw IH root, each benchmark scene adds depth and geometry artifacts beside the matching raw `.hdr` and `.bsq` LWHSI files.
 
-- Hugging Face repository: `SemilleroCV/ih-depth`
-- Version: `v0` (`0.0.0` for Croissant semver metadata)
-- Published: `2026-05-07`
-- License: CC BY 4.0
-- Total scenes in frozen manifest: `306`
-- Included scenes: `51`
-- Deferred scenes: `202`
-- Excluded scenes: `53`
-- Train scenes: `41`
-- Test scenes: `10`
-- Canonical included-scene triples: `51`
+More details on usage, evaluation, and reference baselines can be found in the [IH-Depth GitHub repository](https://github.com/cvail-research/ih-depth-dataset).
 
-## Files
+## Dataset Contents
 
-Top-level metadata files:
+Each released scene contains three IH-Depth artifacts named with the same stem as the corresponding raw LWHSI file. Here, `<raw_lwhsi_stem>` means the raw LWHSI filename without the `.hdr` or `.bsq` extension. For example, if the raw files are `IHTest_202009_Path3_Step6_LWHSI1__DistStA.hdr` and `IHTest_202009_Path3_Step6_LWHSI1__DistStA.bsq`, then `<raw_lwhsi_stem>` is `IHTest_202009_Path3_Step6_LWHSI1__DistStA`.
 
-- `scenes_manifest.csv`: one row per included scene, with repository-relative paths to the canonical files.
-- `scenes_train.csv`: train split scene manifest used by the Hugging Face dataset viewer.
-- `scenes_test.csv`: test split scene manifest used by the Hugging Face dataset viewer.
-- `frozen_manifest_included_51.csv`: full frozen-manifest rows for the 51 included scenes.
-- `07_frozen_manifest_v0.csv`: frozen release manifest for all 306 candidate scenes.
-- `release_summary.json`: machine-readable release counts and metadata-correction scope.
-- `ih-depth.croissant.json`: Croissant metadata describing this repository layout and RAI metadata.
+```text
+<raw_lwhsi_stem>_depth.png
+<raw_lwhsi_stem>.cyl
+<raw_lwhsi_stem>_corresp.txt
+```
+
+The depth maps are sparse metric labels projected from LiDAR into the LWHSI image. Depth PNGs use a KITTI-style 16-bit encoding:
 
-Canonical per-scene files:
+```text
+dtype: uint16
+stored_value = round(128 * depth_m)
+0 = invalid / unlabeled
+depth_m = stored_value / 128
+```
 
-- `depth_label.npz`: sparse metric depth labels projected from LiDAR into LWHSI image coordinates.
-- `correspondences.txt`: image-to-geometry correspondences used by the registration pipeline.
-- `camera.cyl`: cylindrical camera geometry for the scene.
+The `.cyl` files provide per-scene cylindrical camera geometry. The `_corresp.txt` files provide point/image correspondences used to support the released geometry and labels.
 
-Some scenes also include source or diagnostic assets inherited from release preparation, such as `.bsq`, `.hdr`, `.las`, `.png`, `.npy`, `*_label.npz`, and `*_all.cyl` files. The canonical benchmark interface is the 51 rows in `scenes_manifest.csv`.
+## Dataset Structure
 
-## Minimal Usage
+IH-Depth follows the raw IH folder structure. A released scene has the form:
 
-```python
-from huggingface_hub import hf_hub_download
-import pandas as pd
-import numpy as np
+```text
+<RAW_IH_ROOT>/
+  <collection>/
+    <PathXX_DistStA>/
+      <PathXX_StepYY...>/
+        <raw_lwhsi_stem>.hdr
+        <raw_lwhsi_stem>.bsq
+        <raw_lwhsi_stem>_depth.png
+        <raw_lwhsi_stem>.cyl
+        <raw_lwhsi_stem>_corresp.txt
+```
 
-repo_id = "SemilleroCV/ih-depth"
-manifest_path = hf_hub_download(repo_id, "scenes_manifest.csv", repo_type="dataset")
-scenes = pd.read_csv(manifest_path)
-row = scenes.iloc[0]
+The release root contains:
 
-depth_path = hf_hub_download(repo_id, row.depth_label_path, repo_type="dataset")
-depth_npz = np.load(depth_path)
-print(depth_npz.files)
+```text
+scenes_train.csv
+scenes_test.csv
+scenes_manifest.csv
+release_summary.json
+README.md
 ```
 
-The `depth_label.npz` internal array names should be inspected with `np.load(...).files`, because downstream code should not assume undocumented internal key names.
+The scene CSV files define the IH-Depth benchmark splits and artifact paths. These split files are part of IH-Depth and are not part of the raw IH dataset.
+
+## Getting Started
+
+1. Download and unpack the raw Invisible Headlights dataset.
+2. Download IH-Depth.
+3. Unpack IH-Depth into the same root directory as the raw IH dataset.
+4. Use `scenes_train.csv` and `scenes_test.csv` to identify the official train and test scenes.
+5. Run a depth model using the raw LWHSI `.hdr`/`.bsq` files as input.
+6. Save predicted depth PNGs using the same relative paths and filenames listed in `scenes_test.csv`.
+7. Use the IH-Depth GitHub repository for evaluation code and benchmark instructions.
+
+## Data Stats
+
+IH-Depth contains 51 off-road and mixed-terrain LWHSI scenes:
 
-## Evaluation Scope
+| Split | Scenes |
+|---|---:|
+| Train | 41 |
+| Test | 10 |
+| Total | 51 |
 
-IH-Depth provides sparse LiDAR-projected depth labels, not dense ground-truth depth. Metrics should be computed only at valid projected LiDAR pixels. The dataset is intended for research on monocular metric depth estimation in off-road longwave infrared hyperspectral imagery and should not be treated as a general-purpose RGB, indoor, on-road, aerial, or safety-certification benchmark.
+To characterize scene diversity, RGB visualizations of the released scenes were assigned to six primary scene categories and manually reviewed for consistency:
 
-## Provenance
+| Scene category | Share | Scenes |
+|---|---:|---:|
+| Open fields | 33.3% | 17 |
+| Sandy scrub | 31.4% | 16 |
+| Utility corridors | 13.7% | 7 |
+| Built industrial areas | 13.7% | 7 |
+| Forests | 5.9% | 3 |
+| Water | 2.0% | 1 |
 
-IH-Depth is derived from the Invisible Headlights dataset and from the registration, filtering, cleanup, and validation pipeline documented by the release manifests. Scene inclusion was frozen in `07_frozen_manifest_v0.csv` and the benchmark train/test split was frozen in `scenes_train.csv` and `scenes_test.csv`.
+This diversity reflects the off-road and mixed-terrain nature of IH-Depth: the benchmark is not limited to a single road layout, vegetation pattern, or background structure, but instead evaluates metric depth estimation across varied LWHSI conditions.
 
-## Responsible Use
+## License
 
-The dataset should not be used as the sole basis for safety-critical autonomous navigation, obstacle avoidance, or deployment decisions. Report the sparse-label nature, off-road scope, registration process, and evaluation protocol when using the dataset.
+IH-Depth is released under the CC BY 4.0 license. The raw Invisible Headlights dataset is distributed separately under its own terms.
diff --git a/frozen_manifest_included_51.csv b/frozen_manifest_included_51.csv
deleted file mode 100644
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-v0,all_306_scenes,IHTest_202108_DistStA,path7,path7_step22,IHTest_202108_DistStA / path7 / path7_step22,ours_only,ours_fit_ready,False,without_prior_cyl,spot_014,include,,True,True,,good,annotated,True,True,True,2.1586462190315325,2.033331145747868,0.7247882109077081,True,True,8.0,122.500825,1.0,0.0,computed_r4p0_frozen,True,8,0,0,0,8,0,3.409192717062426,0.1723029910216734,0.6605868208748964,0.9267801600698712,0.0845444279699094,False,True,True,False,not_reviewed,0,,,,,,,,,,,,,,,,,analysis/annotation_workspace_nocyl/IHTest_202108_DistStA/path7/path7_step22/fit.json,analysis/annotation_workspace_nocyl/IHTest_202108_DistStA/path7/path7_step22/session.json,analysis/depth_labels/platform_sphere_r4p0/IHTest_202108_DistStA/path7/path7_step22/projected_lidar_depth_label.npz,,,,,,,,,,,LWHSI1,256.0,,,analysis/annotation_workspace_nocyl/IHTest_202108_DistStA/path7/path7_step22/picks.json,analysis/annotation_workspace_nocyl/IHTest_202108_DistStA/path7/path7_step22/generated_corresp.txt,analysis/annotation_workspace_nocyl/IHTest_202108_DistStA/path7/path7_step22/fitted.cyl,analysis/annotation_workspace_nocyl/IHTest_202108_DistStA/path7/path7_step22/generated_corresp.txt,analysis/annotation_workspace_nocyl/IHTest_202108_DistStA/path7/path7_step22/fitted.cyl,/disk/IHTest_202108_DistStA/Path7_DistStA/Path7_Step22/IHTest_202108_Path7_Step22_LWHSI1_DistStA.hdr,/disk/IHTest_202108_DistStA/Path7_DistStA/Path7_Step22/IHTest_202108_Path7_Step22_LWHSI1_DistStA.bsq,/disk/IHTest_202108_DistStA/Path7_DistStA/Path7_Step22/IHTest_202108_Path7_Step22_HiResLIDAR_DistStA.las,IHTest_202108_DistStA|path7|path7_step22
-v0,all_306_scenes,IHTest_202108_DistStA,path7,path7_step9,IHTest_202108_DistStA / path7 / path7_step9,ours_only,ours_fit_ready,False,without_prior_cyl,spot_014,include,,True,True,,good,annotated,True,True,True,1.5453358827241117,1.4920085282944902,0.4024593668076562,True,True,8.0,122.199616,1.0,0.0,computed_r4p0_frozen,True,8,0,0,0,7,1,0.7672466761844503,0.1801180905020319,0.2436599701886817,0.3904277202021546,0.1133804740332848,True,True,True,False,not_reviewed,0,,,,,,,,,,,,,,,,,analysis/annotation_workspace_nocyl/IHTest_202108_DistStA/path7/path7_step9/fit.json,analysis/annotation_workspace_nocyl/IHTest_202108_DistStA/path7/path7_step9/session.json,analysis/depth_labels/platform_sphere_r4p0/IHTest_202108_DistStA/path7/path7_step9/projected_lidar_depth_label.npz,,,,,,,,,,,LWHSI1,256.0,,,analysis/annotation_workspace_nocyl/IHTest_202108_DistStA/path7/path7_step9/picks.json,analysis/annotation_workspace_nocyl/IHTest_202108_DistStA/path7/path7_step9/generated_corresp.txt,analysis/annotation_workspace_nocyl/IHTest_202108_DistStA/path7/path7_step9/fitted.cyl,analysis/annotation_workspace_nocyl/IHTest_202108_DistStA/path7/path7_step9/generated_corresp.txt,analysis/annotation_workspace_nocyl/IHTest_202108_DistStA/path7/path7_step9/fitted.cyl,/disk/IHTest_202108_DistStA/Path7_DistStA/Path7_Step9/IHTest_202108_Path7_Step9_LWHSI1_DistStA.hdr,/disk/IHTest_202108_DistStA/Path7_DistStA/Path7_Step9/IHTest_202108_Path7_Step9_LWHSI1_DistStA.bsq,/disk/IHTest_202108_DistStA/Path7_DistStA/Path7_Step9/IHTest_202108_Path7_Step9_HiResLIDAR_DistStA.las,IHTest_202108_DistStA|path7|path7_step9
-v0,all_306_scenes,IHTest_202204_DistStA-20221110,path13,path13_step4,IHTest_202204_DistStA-20221110 / path13 / path13_step4,ours_only,ours_fit_ready,False,without_prior_cyl,spot_016,include,,True,True,,good,annotated,True,True,True,2.5348802039414595,2.501678226341173,0.4089299453265516,True,True,11.0,307.630444,0.0,0.0,computed_r4p0_frozen,True,11,0,0,0,6,5,4.320866073487116,1.0844653700818312,1.6445112585061652,3.671711645682095,0.652043839763806,False,True,True,False,not_reviewed,0,,,,,,,,,,,,,,,,,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path13/path13_step4/fit.json,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path13/path13_step4/session.json,analysis/depth_labels/platform_sphere_r4p0/IHTest_202204_DistStA-20221110/path13/path13_step4/projected_lidar_depth_label.npz,,,,,,,,,,,LWHSI1,256.0,,,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path13/path13_step4/picks.json,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path13/path13_step4/generated_corresp.txt,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path13/path13_step4/fitted.cyl,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path13/path13_step4/generated_corresp.txt,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path13/path13_step4/fitted.cyl,/disk/IHTest_202204_DistStA-20221110/Path13_DistStA/Path13_Step4/IHTest_202204_Path13_Step4_LWHSI1_DistStA.hdr,/disk/IHTest_202204_DistStA-20221110/Path13_DistStA/Path13_Step4/IHTest_202204_Path13_Step4_LWHSI1_DistStA.bsq,/disk/IHTest_202204_DistStA-20221110/Path13_DistStA/Path13_Step4/IHTest_202204_Path13_Step4_HiResLIDAR_DistStA.las,IHTest_202204_DistStA-20221110|path13|path13_step4
-v0,all_306_scenes,IHTest_202204_DistStA-20221110,path15,path15_step1,IHTest_202204_DistStA-20221110 / path15 / path15_step1,ours_only,ours_fit_ready,False,without_prior_cyl,spot_018,include,,True,True,,good,annotated,True,True,True,1.630347987634692,1.5377709670909314,0.54156718286535,True,True,8.0,138.342256,0.0,0.0,computed_r4p0_frozen,True,8,0,0,0,8,0,0.7683878926082867,0.2883338178535763,0.3655735834138157,0.3617690690132136,0.1393339228781549,True,True,True,False,not_reviewed,0,,,,,,,,,,,,,,,,,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path15/path15_step1/fit.json,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path15/path15_step1/session.json,analysis/depth_labels/platform_sphere_r4p0/IHTest_202204_DistStA-20221110/path15/path15_step1/projected_lidar_depth_label.npz,,,,,,,,,,,LWHSI1,256.0,,,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path15/path15_step1/picks.json,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path15/path15_step1/generated_corresp.txt,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path15/path15_step1/fitted.cyl,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path15/path15_step1/generated_corresp.txt,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path15/path15_step1/fitted.cyl,/disk/IHTest_202204_DistStA-20221110/Path15_DistStA/Path15_Step1/IHTest_202204_Path15_Step1_LWHSI1_DistStA.hdr,/disk/IHTest_202204_DistStA-20221110/Path15_DistStA/Path15_Step1/IHTest_202204_Path15_Step1_LWHSI1_DistStA.bsq,/disk/IHTest_202204_DistStA-20221110/Path15_DistStA/Path15_Step1/IHTest_202204_Path15_Step1_HiResLIDAR_DistStA.las,IHTest_202204_DistStA-20221110|path15|path15_step1
-v0,all_306_scenes,IHTest_202204_DistStA-20221110,path15,path15_step11,IHTest_202204_DistStA-20221110 / path15 / path15_step11,ours_only,ours_fit_ready,False,without_prior_cyl,spot_018,include,,True,True,,good,annotated,True,True,True,1.774863688273548,1.6783124162060907,0.5774154012151529,True,True,8.0,128.965976,1.0,0.0,computed_r4p0_frozen,True,8,0,0,0,8,0,2.361031398670789,0.2172757954705721,0.5172149441475629,0.5183271408612882,0.1035092073095445,False,True,True,False,not_reviewed,0,,,,,,,,,,,,,,,,,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path15/path15_step11/fit.json,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path15/path15_step11/session.json,analysis/depth_labels/platform_sphere_r4p0/IHTest_202204_DistStA-20221110/path15/path15_step11/projected_lidar_depth_label.npz,,,,,,,,,,,LWHSI1,256.0,,,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path15/path15_step11/picks.json,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path15/path15_step11/generated_corresp.txt,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path15/path15_step11/fitted.cyl,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path15/path15_step11/generated_corresp.txt,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path15/path15_step11/fitted.cyl,/disk/IHTest_202204_DistStA-20221110/Path15_DistStA/Path15_Step11/IHTest_202204_Path15_Step11_LWHSI1_DistStA.hdr,/disk/IHTest_202204_DistStA-20221110/Path15_DistStA/Path15_Step11/IHTest_202204_Path15_Step11_LWHSI1_DistStA.bsq,/disk/IHTest_202204_DistStA-20221110/Path15_DistStA/Path15_Step11/IHTest_202204_Path15_Step11_HiResLIDAR_DistStA.las,IHTest_202204_DistStA-20221110|path15|path15_step11
-v0,all_306_scenes,IHTest_202204_DistStA-20221110,path15,path15_step16,IHTest_202204_DistStA-20221110 / path15 / path15_step16,ours_only,ours_fit_ready,False,without_prior_cyl,spot_018,include,,True,True,,good,annotated,True,True,True,1.5088941692420932,1.458742072489022,0.3857890355145151,True,True,8.0,134.758808,1.0,0.0,computed_r4p0_frozen,True,8,0,0,0,8,0,3.2523456044610435,0.4031883669808992,1.0223371020565548,0.8533802454724331,0.0663273434208173,False,True,True,False,not_reviewed,0,,,,,,,,,,,,,,,,,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path15/path15_step16/fit.json,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path15/path15_step16/session.json,analysis/depth_labels/platform_sphere_r4p0/IHTest_202204_DistStA-20221110/path15/path15_step16/projected_lidar_depth_label.npz,,,,,,,,,,,LWHSI1,256.0,,,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path15/path15_step16/picks.json,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path15/path15_step16/generated_corresp.txt,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path15/path15_step16/fitted.cyl,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path15/path15_step16/generated_corresp.txt,analysis/annotation_workspace_nocyl/IHTest_202204_DistStA-20221110/path15/path15_step16/fitted.cyl,/disk/IHTest_202204_DistStA-20221110/Path15_DistStA/Path15_Step16/IHTest_202204_Path15_Step16_LWHSI1_DistStA.hdr,/disk/IHTest_202204_DistStA-20221110/Path15_DistStA/Path15_Step16/IHTest_202204_Path15_Step16_LWHSI1_DistStA.bsq,/disk/IHTest_202204_DistStA-20221110/Path15_DistStA/Path15_Step16/IHTest_202204_Path15_Step16_HiResLIDAR_DistStA.las,IHTest_202204_DistStA-20221110|path15|path15_step16
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diff --git a/ih-depth.croissant.json b/ih-depth.croissant.json
deleted file mode 100644
index 48d0ec874d99a12647d3ae8249e48bf9028d51b4..0000000000000000000000000000000000000000
--- a/ih-depth.croissant.json
+++ /dev/null
@@ -1,489 +0,0 @@
-{
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-    "fileProperty": "cr:fileProperty",
-    "fileSet": "cr:fileSet",
-    "format": "cr:format",
-    "includes": "cr:includes",
-    "isLiveDataset": "cr:isLiveDataset",
-    "jsonPath": "cr:jsonPath",
-    "key": "cr:key",
-    "md5": "cr:md5",
-    "parentField": "cr:parentField",
-    "path": "cr:path",
-    "personalSensitiveInformation": "cr:personalSensitiveInformation",
-    "recordSet": "cr:recordSet",
-    "references": "cr:references",
-    "regex": "cr:regex",
-    "repeated": "cr:repeated",
-    "replace": "cr:replace",
-    "samplingRate": "cr:samplingRate",
-    "sc": "https://schema.org/",
-    "separator": "cr:separator",
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-  "name": "IH-Depth",
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-  "url": "https://huggingface.co/datasets/SemilleroCV/ih-depth",
-  "identifier": "SemilleroCV/ih-depth",
-  "version": "0.0.0",
-  "datePublished": "2026-05-07",
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-  "license": "https://creativecommons.org/licenses/by/4.0/",
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-  "description": "IH-Depth is a benchmark dataset derived from the Invisible Headlights longwave infrared hyperspectral imagery dataset. It provides 51 included off-road scenes with LiDAR-projected metric depth labels, per-scene cylindrical camera geometry, correspondences, and manifest files for supervised monocular metric depth estimation from longwave infrared hyperspectral imagery.",
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-      "name": "SemilleroCV"
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-  "isBasedOn": {
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-    "name": "Invisible Headlights Dataset",
-    "url": "https://www.kitware.com/ihdataset/"
-  },
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-    "monocular metric depth estimation",
-    "longwave infrared",
-    "hyperspectral imagery",
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-      "contentUrl": "https://huggingface.co/datasets/SemilleroCV/ih-depth",
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-      "@id": "scenes-test-csv",
-      "name": "scenes_test.csv",
-      "description": "Scene-level manifest for the 10 test scenes in the frozen benchmark split.",
-      "contentUrl": "https://huggingface.co/datasets/SemilleroCV/ih-depth/raw/main/scenes_test.csv",
-      "encodingFormat": "text/csv",
-      "sha256": "5575854fbb434343ccec9224e5fe7c19030859e12439190627f7b87f238f5509"
-    },
-    {
-      "@type": "cr:FileObject",
-      "@id": "included-manifest-csv",
-      "name": "frozen_manifest_included_51.csv",
-      "description": "Frozen-manifest rows for the 51 included scenes.",
-      "containedIn": {
-        "@id": "hf-repo"
-      },
-      "contentUrl": "frozen_manifest_included_51.csv",
-      "encodingFormat": "text/csv",
-      "sha256": "515cb038acc89f2e8fb9f5855f3b3320c9f6957df50c185481480aa97a7c9a4c"
-    },
-    {
-      "@type": "cr:FileObject",
-      "@id": "frozen-manifest-csv",
-      "name": "07_frozen_manifest_v0.csv",
-      "description": "Frozen IH-Depth v0 release manifest for all 306 candidate scenes.",
-      "containedIn": {
-        "@id": "hf-repo"
-      },
-      "contentUrl": "07_frozen_manifest_v0.csv",
-      "encodingFormat": "text/csv",
-      "sha256": "9677d3240f078130140d31c4a4981ca66f1fc0ef79a956814d2d60a16ee02bf9"
-    },
-    {
-      "@type": "cr:FileSet",
-      "@id": "canonical-scene-files",
-      "name": "Canonical per-scene files",
-      "description": "Canonical benchmark files for each included scene: sparse depth labels, correspondences, and cylindrical camera geometry.",
-      "containedIn": {
-        "@id": "hf-repo"
-      },
-      "includes": [
-        "**/depth_label.npz",
-        "**/correspondences.txt",
-        "**/camera.cyl"
-      ],
-      "encodingFormat": [
-        "application/x-npz",
-        "text/plain"
-      ]
-    },
-    {
-      "@type": "cr:FileSet",
-      "@id": "auxiliary-scene-files",
-      "name": "Auxiliary source and diagnostic files",
-      "description": "Additional scene-level source or diagnostic assets present in the repository for some scenes.",
-      "containedIn": {
-        "@id": "hf-repo"
-      },
-      "includes": [
-        "**/*.bsq",
-        "**/*.hdr",
-        "**/*.las",
-        "**/*.png",
-        "**/*.npy",
-        "**/*_label.npz",
-        "**/*_all.cyl"
-      ],
-      "encodingFormat": [
-        "application/octet-stream",
-        "image/png",
-        "text/plain",
-        "application/x-npz"
-      ]
-    }
-  ],
-  "recordSet": [
-    {
-      "@type": "cr:RecordSet",
-      "@id": "train-scenes",
-      "name": "IH-Depth train scenes",
-      "description": "Scene-level records for the 41 IH-Depth training scenes.",
-      "key": [
-        {
-          "@id": "train-scenes/collection"
-        },
-        {
-          "@id": "train-scenes/path"
-        },
-        {
-          "@id": "train-scenes/step"
-        }
-      ],
-      "field": [
-        {
-          "@type": "cr:Field",
-          "@id": "train-scenes/scene",
-          "name": "scene",
-          "dataType": "sc:Text",
-          "source": {
-            "fileObject": {
-              "@id": "scenes-train-csv"
-            },
-            "extract": {
-              "column": "scene"
-            }
-          }
-        },
-        {
-          "@type": "cr:Field",
-          "@id": "train-scenes/split",
-          "name": "split",
-          "dataType": "sc:Text",
-          "source": {
-            "fileObject": {
-              "@id": "scenes-train-csv"
-            },
-            "extract": {
-              "column": "split"
-            }
-          }
-        },
-        {
-          "@type": "cr:Field",
-          "@id": "train-scenes/collection",
-          "name": "collection",
-          "dataType": "sc:Text",
-          "source": {
-            "fileObject": {
-              "@id": "scenes-train-csv"
-            },
-            "extract": {
-              "column": "collection"
-            }
-          }
-        },
-        {
-          "@type": "cr:Field",
-          "@id": "train-scenes/path",
-          "name": "path",
-          "dataType": "sc:Text",
-          "source": {
-            "fileObject": {
-              "@id": "scenes-train-csv"
-            },
-            "extract": {
-              "column": "path"
-            }
-          }
-        },
-        {
-          "@type": "cr:Field",
-          "@id": "train-scenes/step",
-          "name": "step",
-          "dataType": "sc:Text",
-          "source": {
-            "fileObject": {
-              "@id": "scenes-train-csv"
-            },
-            "extract": {
-              "column": "step"
-            }
-          }
-        },
-        {
-          "@type": "cr:Field",
-          "@id": "train-scenes/depth_label_path",
-          "name": "depth_label_path",
-          "dataType": "sc:Text",
-          "source": {
-            "fileObject": {
-              "@id": "scenes-train-csv"
-            },
-            "extract": {
-              "column": "depth_label_path"
-            }
-          }
-        },
-        {
-          "@type": "cr:Field",
-          "@id": "train-scenes/correspondences_path",
-          "name": "correspondences_path",
-          "dataType": "sc:Text",
-          "source": {
-            "fileObject": {
-              "@id": "scenes-train-csv"
-            },
-            "extract": {
-              "column": "correspondences_path"
-            }
-          }
-        },
-        {
-          "@type": "cr:Field",
-          "@id": "train-scenes/cyl_path",
-          "name": "cyl_path",
-          "dataType": "sc:Text",
-          "source": {
-            "fileObject": {
-              "@id": "scenes-train-csv"
-            },
-            "extract": {
-              "column": "cyl_path"
-            }
-          }
-        }
-      ]
-    },
-    {
-      "@type": "cr:RecordSet",
-      "@id": "test-scenes",
-      "name": "IH-Depth test scenes",
-      "description": "Scene-level records for the 10 IH-Depth test scenes.",
-      "key": [
-        {
-          "@id": "test-scenes/collection"
-        },
-        {
-          "@id": "test-scenes/path"
-        },
-        {
-          "@id": "test-scenes/step"
-        }
-      ],
-      "field": [
-        {
-          "@type": "cr:Field",
-          "@id": "test-scenes/scene",
-          "name": "scene",
-          "dataType": "sc:Text",
-          "source": {
-            "fileObject": {
-              "@id": "scenes-test-csv"
-            },
-            "extract": {
-              "column": "scene"
-            }
-          }
-        },
-        {
-          "@type": "cr:Field",
-          "@id": "test-scenes/split",
-          "name": "split",
-          "dataType": "sc:Text",
-          "source": {
-            "fileObject": {
-              "@id": "scenes-test-csv"
-            },
-            "extract": {
-              "column": "split"
-            }
-          }
-        },
-        {
-          "@type": "cr:Field",
-          "@id": "test-scenes/collection",
-          "name": "collection",
-          "dataType": "sc:Text",
-          "source": {
-            "fileObject": {
-              "@id": "scenes-test-csv"
-            },
-            "extract": {
-              "column": "collection"
-            }
-          }
-        },
-        {
-          "@type": "cr:Field",
-          "@id": "test-scenes/path",
-          "name": "path",
-          "dataType": "sc:Text",
-          "source": {
-            "fileObject": {
-              "@id": "scenes-test-csv"
-            },
-            "extract": {
-              "column": "path"
-            }
-          }
-        },
-        {
-          "@type": "cr:Field",
-          "@id": "test-scenes/step",
-          "name": "step",
-          "dataType": "sc:Text",
-          "source": {
-            "fileObject": {
-              "@id": "scenes-test-csv"
-            },
-            "extract": {
-              "column": "step"
-            }
-          }
-        },
-        {
-          "@type": "cr:Field",
-          "@id": "test-scenes/depth_label_path",
-          "name": "depth_label_path",
-          "dataType": "sc:Text",
-          "source": {
-            "fileObject": {
-              "@id": "scenes-test-csv"
-            },
-            "extract": {
-              "column": "depth_label_path"
-            }
-          }
-        },
-        {
-          "@type": "cr:Field",
-          "@id": "test-scenes/correspondences_path",
-          "name": "correspondences_path",
-          "dataType": "sc:Text",
-          "source": {
-            "fileObject": {
-              "@id": "scenes-test-csv"
-            },
-            "extract": {
-              "column": "correspondences_path"
-            }
-          }
-        },
-        {
-          "@type": "cr:Field",
-          "@id": "test-scenes/cyl_path",
-          "name": "cyl_path",
-          "dataType": "sc:Text",
-          "source": {
-            "fileObject": {
-              "@id": "scenes-test-csv"
-            },
-            "extract": {
-              "column": "cyl_path"
-            }
-          }
-        }
-      ]
-    }
-  ],
-  "rai:dataLimitations": [
-    "IH-Depth is intended for research on monocular metric depth estimation in off-road longwave infrared hyperspectral imagery. It should not be treated as a general-purpose depth benchmark for on-road RGB, indoor, aerial, or consumer-camera settings.",
-    "The dataset contains sparse LiDAR-projected depth labels rather than dense ground-truth depth. Metrics should therefore be interpreted at valid projected LiDAR pixels only.",
-    "The dataset covers a limited set of physical locations, sensors, seasons, and environmental conditions inherited from the source IH data and from the 51 included IH-Depth scenes. Models trained on this dataset may not generalize to unseen geography, sensor calibration, weather, vegetation, terrain, or vehicle/sensor mounting configurations.",
-    "Depth labels depend on per-scene cylindrical registration, automatic filtering, cleanup, and qualitative validation. Residual calibration errors, occlusion artifacts, LiDAR noise, or projection errors may remain.",
-    "The dataset should not be used as the sole basis for safety-critical autonomous navigation, obstacle avoidance, or deployment decisions without independent validation on the target platform and environment."
-  ],
-  "rai:personalSensitiveInformation": "IH-Depth does not intentionally include personal or sensitive information. The data consists of off-road LWHSI imagery, LiDAR-derived depth labels, camera geometry, correspondences, manifests, and related source or diagnostic files. The source scenes may contain vehicles, objects, infrastructure, or outdoor locations, but the dataset is not designed to identify people and no demographic, biometric, medical, financial, political, religious, or other personal attributes are provided.",
-  "rai:dataBiases": [
-    "The data is biased toward off-road scenes represented in the Invisible Headlights collection and in the 51 included IH-Depth scenes. Terrain, vegetation, structures, weather, season, time of day, and geography are not uniformly sampled.",
-    "The source IH dataset used two different LWHSI sensors with different spectral ranges and spatial resolutions, so performance may be sensor-dependent.",
-    "The valid depth labels are sparse and LiDAR-projection-dependent. Surfaces or regions poorly observed by LiDAR, affected by occlusion, or removed by filtering may be underrepresented in evaluation.",
-    "Scene inclusion reflects registration quality and qualitative validation decisions, which may bias the benchmark toward scenes where LiDAR-to-image alignment is visually reliable."
-  ],
-  "rai:dataUseCases": [
-    "Benchmarking supervised monocular metric depth estimation from longwave infrared hyperspectral imagery under challenging off-road sensing conditions.",
-    "Studying depth estimation under sparse LiDAR-projected supervision and evaluating models at valid projected LiDAR pixels.",
-    "Research on dataset construction, camera/LiDAR registration, cylindrical camera geometry, and label-quality filtering for hyperspectral thermal depth datasets.",
-    "Exploring future hyperspectral learning approaches that leverage spectral features for depth estimation.",
-    "Not recommended for direct safety-critical deployment, human identification, surveillance, demographic inference, or claims of general performance outside the documented off-road LWHSI setting."
-  ],
-  "rai:dataSocialImpact": "Potential positive impacts include improving reproducibility and enabling research on passive sensing for off-road robotics, especially in conditions where RGB or active sensing may be insufficient. Potential negative impacts include overclaiming model robustness, using the benchmark as evidence for real-world autonomous navigation safety without deployment-specific validation, or adapting the data for surveillance or military applications. The dataset should be used with explicit reporting of its sparse-label nature, off-road scope, registration pipeline, and evaluation protocol.",
-  "rai:hasSyntheticData": false,
-  "prov:wasGeneratedBy": [
-    {
-      "@type": "prov:Activity",
-      "name": "IH-Depth label generation",
-      "description": "High-resolution LiDAR was registered and projected into LWHSI image space using per-scene cylindrical camera geometry; inclusion decisions were frozen after automatic filtering, cleanup, and qualitative validation."
-    }
-  ],
-  "prov:wasDerivedFrom": [
-    {
-      "@id": "https://registry.opendata.aws/darpa-invisible-headlights/",
-      "prov:label": "DARPA Invisible Headlights Dataset",
-      "sc:license": "https://creativecommons.org/licenses/by/4.0/",
-      "prov:wasAttributedTo": {
-        "@id": "https://www.kitware.com/",
-        "prov:label": "Kitware"
-      }
-    }
-  ],
-  "citation": [
-    "https://openaccess.thecvf.com/content/WACV2024/html/Yellin_Concurrent_Band_Selection_and_Traversability_Estimation_From_Long-Wave_Hyperspectral_Imagery_WACV_2024_paper.html"
-  ]
-}
diff --git a/release_summary.json b/release_summary.json
index 2f01c35e656a854f43e6f8a2dade41254403b13e..103052437fe9d819a3030c765bb9fb90966712f0 100644
--- a/release_summary.json
+++ b/release_summary.json
@@ -1,16 +1,235 @@
 {
-  "candidate_count": 74,
-  "cleanup_reviewed_count": 9,
-  "defer_count": 203,
-  "exclude_count": 52,
-  "frozen_manifest": "manifests/07_frozen_manifest_v0.csv",
-  "include_count": 51,
-  "scene_count": 306,
-  "repository_file_count": 293,
-  "canonical_scene_count": 51,
-  "canonical_depth_label_count": 51,
-  "canonical_correspondence_count": 51,
-  "canonical_camera_geometry_count": 51,
-  "metadata_corrected_date": "2026-05-13",
-  "metadata_correction_scope": "Documentation, Croissant metadata, and repository-relative scene manifest paths only; dataset files unchanged."
+  "artifact_contract": [
+    "<raw_lwhsi_stem>_depth.png",
+    "<raw_lwhsi_stem>.cyl",
+    "<raw_lwhsi_stem>_corresp.txt"
+  ],
+  "collections": [
+    "IHTest_202009_DistStA",
+    "IHTest_202104_DistStA",
+    "IHTest_202108_DistStA",
+    "IHTest_202204_DistStA-20221110"
+  ],
+  "depth_png_encoding": {
+    "depth_m": "stored_value / 128",
+    "dtype": "uint16",
+    "invalid_value": 0,
+    "stored_value": "round(128 * depth_m)"
+  },
+  "multi_hdr_selection_notes": [
+    {
+      "num_lwhsi_hdr_candidates": 10,
+      "raw_scene_relpath": "IHTest_202104_DistStA/Path1_DistStA/Path1_Step0_DistStA",
+      "selected_hdr": "IHTest_202104_Path1_Step0_LWHSI1_collect0_DistStA.hdr"
+    },
+    {
+      "num_lwhsi_hdr_candidates": 5,
+      "raw_scene_relpath": "IHTest_202104_DistStA/Path10_DistStA/Path10_Step1_DistStA",
+      "selected_hdr": "IHTest_202104_Path10_Step1_LWHSI1_collect0_DistStA.hdr"
+    },
+    {
+      "num_lwhsi_hdr_candidates": 5,
+      "raw_scene_relpath": "IHTest_202104_DistStA/Path5_DistStA/Path5_Step1_DistStA",
+      "selected_hdr": "IHTest_202104_Path5_Step1_LWHSI1_collect0_DistStA.hdr"
+    },
+    {
+      "num_lwhsi_hdr_candidates": 5,
+      "raw_scene_relpath": "IHTest_202104_DistStA/Path5_DistStA/Path5_Step4_DistStA",
+      "selected_hdr": "IHTest_202104_Path5_Step4_LWHSI1_collect0_DistStA.hdr"
+    },
+    {
+      "num_lwhsi_hdr_candidates": 2,
+      "raw_scene_relpath": "IHTest_202204_DistStA-20221110/Path13_DistStA/Path13_Step4",
+      "selected_hdr": "IHTest_202204_Path13_Step4_LWHSI1_DistStA.hdr"
+    },
+    {
+      "num_lwhsi_hdr_candidates": 2,
+      "raw_scene_relpath": "IHTest_202204_DistStA-20221110/Path15_DistStA/Path15_Step1",
+      "selected_hdr": "IHTest_202204_Path15_Step1_LWHSI1_DistStA.hdr"
+    },
+    {
+      "num_lwhsi_hdr_candidates": 2,
+      "raw_scene_relpath": "IHTest_202204_DistStA-20221110/Path15_DistStA/Path15_Step11",
+      "selected_hdr": "IHTest_202204_Path15_Step11_LWHSI1_DistStA.hdr"
+    },
+    {
+      "num_lwhsi_hdr_candidates": 2,
+      "raw_scene_relpath": "IHTest_202204_DistStA-20221110/Path15_DistStA/Path15_Step16",
+      "selected_hdr": "IHTest_202204_Path15_Step16_LWHSI1_DistStA.hdr"
+    },
+    {
+      "num_lwhsi_hdr_candidates": 2,
+      "raw_scene_relpath": "IHTest_202204_DistStA-20221110/Path15_DistStA/Path15_Step21",
+      "selected_hdr": "IHTest_202204_Path15_Step21_LWHSI1_DistStA.hdr"
+    },
+    {
+      "num_lwhsi_hdr_candidates": 2,
+      "raw_scene_relpath": "IHTest_202204_DistStA-20221110/Path15_DistStA/Path15_Step31",
+      "selected_hdr": "IHTest_202204_Path15_Step31_LWHSI1_DistStA.hdr"
+    },
+    {
+      "num_lwhsi_hdr_candidates": 2,
+      "raw_scene_relpath": "IHTest_202204_DistStA-20221110/Path15_DistStA/Path15_Step36",
+      "selected_hdr": "IHTest_202204_Path15_Step36_LWHSI1_DistStA.hdr"
+    },
+    {
+      "num_lwhsi_hdr_candidates": 2,
+      "raw_scene_relpath": "IHTest_202204_DistStA-20221110/Path15_DistStA/Path15_Step41",
+      "selected_hdr": "IHTest_202204_Path15_Step41_LWHSI1_DistStA.hdr"
+    },
+    {
+      "num_lwhsi_hdr_candidates": 2,
+      "raw_scene_relpath": "IHTest_202204_DistStA-20221110/Path19_DistStA/Path19_Step1",
+      "selected_hdr": "IHTest_202204_Path19_Step1_LWHSI1_DistStA.hdr"
+    },
+    {
+      "num_lwhsi_hdr_candidates": 2,
+      "raw_scene_relpath": "IHTest_202204_DistStA-20221110/Path20_DistStA/Path20_Step1",
+      "selected_hdr": "IHTest_202204_Path20_Step1_LWHSI1_DistStA.hdr"
+    },
+    {
+      "num_lwhsi_hdr_candidates": 2,
+      "raw_scene_relpath": "IHTest_202204_DistStA-20221110/Path21_DistStA/Path21_Step15",
+      "selected_hdr": "IHTest_202204_Path21_Step15_LWHSI1_DistStA.hdr"
+    },
+    {
+      "num_lwhsi_hdr_candidates": 2,
+      "raw_scene_relpath": "IHTest_202204_DistStA-20221110/Path28_DistStA/Path28_Step1",
+      "selected_hdr": "IHTest_202204_Path28_Step1_LWHSI1_DistStA.hdr"
+    },
+    {
+      "num_lwhsi_hdr_candidates": 2,
+      "raw_scene_relpath": "IHTest_202204_DistStA-20221110/Path28_DistStA/Path28_Step11",
+      "selected_hdr": "IHTest_202204_Path28_Step11_LWHSI1_DistStA.hdr"
+    },
+    {
+      "num_lwhsi_hdr_candidates": 2,
+      "raw_scene_relpath": "IHTest_202204_DistStA-20221110/Path28_DistStA/Path28_Step2",
+      "selected_hdr": "IHTest_202204_Path28_Step2_LWHSI1_DistStA.hdr"
+    },
+    {
+      "num_lwhsi_hdr_candidates": 2,
+      "raw_scene_relpath": "IHTest_202204_DistStA-20221110/Path28_DistStA/Path28_Step3",
+      "selected_hdr": "IHTest_202204_Path28_Step3_LWHSI1_DistStA.hdr"
+    },
+    {
+      "num_lwhsi_hdr_candidates": 2,
+      "raw_scene_relpath": "IHTest_202204_DistStA-20221110/Path30_DistStA/Path30_Step1",
+      "selected_hdr": "IHTest_202204_Path30_Step1_LWHSI1_DistStA.hdr"
+    },
+    {
+      "num_lwhsi_hdr_candidates": 2,
+      "raw_scene_relpath": "IHTest_202204_DistStA-20221110/Path31_DistStA/Path31_Step11",
+      "selected_hdr": "IHTest_202204_Path31_Step11_LWHSI1_DistStA.hdr"
+    },
+    {
+      "num_lwhsi_hdr_candidates": 2,
+      "raw_scene_relpath": "IHTest_202204_DistStA-20221110/Path31_DistStA/Path31_Step13",
+      "selected_hdr": "IHTest_202204_Path31_Step13_LWHSI1_DistStA.hdr"
+    },
+    {
+      "num_lwhsi_hdr_candidates": 2,
+      "raw_scene_relpath": "IHTest_202204_DistStA-20221110/Path31_DistStA/Path31_Step4",
+      "selected_hdr": "IHTest_202204_Path31_Step4_LWHSI1_DistStA.hdr"
+    },
+    {
+      "num_lwhsi_hdr_candidates": 2,
+      "raw_scene_relpath": "IHTest_202204_DistStA-20221110/Path31_DistStA/Path31_Step9",
+      "selected_hdr": "IHTest_202204_Path31_Step9_LWHSI1_DistStA.hdr"
+    },
+    {
+      "num_lwhsi_hdr_candidates": 2,
+      "raw_scene_relpath": "IHTest_202204_DistStA-20221110/Path33_DistStA/Path33_Step10",
+      "selected_hdr": "IHTest_202204_Path33_Step10_LWHSI1_DistStA.hdr"
+    },
+    {
+      "num_lwhsi_hdr_candidates": 2,
+      "raw_scene_relpath": "IHTest_202204_DistStA-20221110/Path33_DistStA/Path33_Step3",
+      "selected_hdr": "IHTest_202204_Path33_Step3_LWHSI1_DistStA.hdr"
+    },
+    {
+      "num_lwhsi_hdr_candidates": 2,
+      "raw_scene_relpath": "IHTest_202204_DistStA-20221110/Path33_DistStA/Path33_Step4",
+      "selected_hdr": "IHTest_202204_Path33_Step4_LWHSI1_DistStA.hdr"
+    },
+    {
+      "num_lwhsi_hdr_candidates": 2,
+      "raw_scene_relpath": "IHTest_202204_DistStA-20221110/Path33_DistStA/Path33_Step5",
+      "selected_hdr": "IHTest_202204_Path33_Step5_LWHSI1_DistStA.hdr"
+    },
+    {
+      "num_lwhsi_hdr_candidates": 2,
+      "raw_scene_relpath": "IHTest_202204_DistStA-20221110/Path33_DistStA/Path33_Step6",
+      "selected_hdr": "IHTest_202204_Path33_Step6_LWHSI1_DistStA.hdr"
+    },
+    {
+      "num_lwhsi_hdr_candidates": 2,
+      "raw_scene_relpath": "IHTest_202204_DistStA-20221110/Path33_DistStA/Path33_Step7",
+      "selected_hdr": "IHTest_202204_Path33_Step7_LWHSI1_DistStA.hdr"
+    },
+    {
+      "num_lwhsi_hdr_candidates": 2,
+      "raw_scene_relpath": "IHTest_202204_DistStA-20221110/Path33_DistStA/Path33_Step9",
+      "selected_hdr": "IHTest_202204_Path33_Step9_LWHSI1_DistStA.hdr"
+    },
+    {
+      "num_lwhsi_hdr_candidates": 2,
+      "raw_scene_relpath": "IHTest_202204_DistStA-20221110/Path35_DistStA/Path35_Step1",
+      "selected_hdr": "IHTest_202204_Path35_Step1_LWHSI1_DistStA.hdr"
+    },
+    {
+      "num_lwhsi_hdr_candidates": 2,
+      "raw_scene_relpath": "IHTest_202204_DistStA-20221110/Path36_DistStA/Path36_Step11",
+      "selected_hdr": "IHTest_202204_Path36_Step11_LWHSI1_DistStA.hdr"
+    },
+    {
+      "num_lwhsi_hdr_candidates": 2,
+      "raw_scene_relpath": "IHTest_202204_DistStA-20221110/Path36_DistStA/Path36_Step16",
+      "selected_hdr": "IHTest_202204_Path36_Step16_LWHSI1_DistStA.hdr"
+    },
+    {
+      "num_lwhsi_hdr_candidates": 2,
+      "raw_scene_relpath": "IHTest_202204_DistStA-20221110/Path36_DistStA/Path36_Step2",
+      "selected_hdr": "IHTest_202204_Path36_Step2_LWHSI1_DistStA.hdr"
+    },
+    {
+      "num_lwhsi_hdr_candidates": 2,
+      "raw_scene_relpath": "IHTest_202204_DistStA-20221110/Path36_DistStA/Path36_Step6",
+      "selected_hdr": "IHTest_202204_Path36_Step6_LWHSI1_DistStA.hdr"
+    },
+    {
+      "num_lwhsi_hdr_candidates": 2,
+      "raw_scene_relpath": "IHTest_202204_DistStA-20221110/Path38_DistStA/Path38_Step5",
+      "selected_hdr": "IHTest_202204_Path38_Step5_LWHSI1_DistStA.hdr"
+    },
+    {
+      "num_lwhsi_hdr_candidates": 2,
+      "raw_scene_relpath": "IHTest_202204_DistStA-20221110/Path38_DistStA/Path38_Step9",
+      "selected_hdr": "IHTest_202204_Path38_Step9_LWHSI1_DistStA.hdr"
+    },
+    {
+      "num_lwhsi_hdr_candidates": 2,
+      "raw_scene_relpath": "IHTest_202204_DistStA-20221110/Path5_DistStA/Path5_Step21",
+      "selected_hdr": "IHTest_202204_Path5_Step21_LWHSI1_DistStA.hdr"
+    },
+    {
+      "num_lwhsi_hdr_candidates": 2,
+      "raw_scene_relpath": "IHTest_202204_DistStA-20221110/Path7_DistStA/Path7_Step1",
+      "selected_hdr": "IHTest_202204_Path7_Step1_LWHSI1_DistStA.hdr"
+    },
+    {
+      "num_lwhsi_hdr_candidates": 2,
+      "raw_scene_relpath": "IHTest_202204_DistStA-20221110/Path7_DistStA/Path7_Step3",
+      "selected_hdr": "IHTest_202204_Path7_Step3_LWHSI1_DistStA.hdr"
+    }
+  ],
+  "num_scenes": 51,
+  "num_test": 10,
+  "num_train": 41,
+  "overlay_root": "raw Invisible Headlights dataset root",
+  "raw_lwhsi_selection_policy": "prefer LWHSI1_collect0, then LWHSI1 without collect suffix, then any LWHSI1, then collect0, then first sorted LWHSI hdr",
+  "release": "ih-depth-full-overlay",
+  "source_included_manifest": "/disk/ih-depth/frozen_manifest_included_51.csv",
+  "source_test_manifest": "https://huggingface.co/datasets/SemilleroCV/ih-depth/raw/main/scenes_test.csv",
+  "split_policy": "test scenes from https://huggingface.co/datasets/SemilleroCV/ih-depth/raw/main/scenes_test.csv; all other included scenes are train"
 }
diff --git a/scenes_manifest.csv b/scenes_manifest.csv
index 158c460b5ddf7a620d3d9e5b5504b48f19269f4e..c44db5abd472b7df3fb82829094f4ef8eb0e488f 100644
--- a/scenes_manifest.csv
+++ b/scenes_manifest.csv
@@ -1,52 +1,52 @@
-scene,collection,path,step,depth_label_path,correspondences_path,cyl_path
-IHTest_202009_DistStA / path1 / path1_step2,IHTest_202009_DistStA,path1,path1_step2,IHTest_202009_DistStA/path1/path1_step2/depth_label.npz,IHTest_202009_DistStA/path1/path1_step2/correspondences.txt,IHTest_202009_DistStA/path1/path1_step2/camera.cyl
-IHTest_202009_DistStA / path1 / path1_step3,IHTest_202009_DistStA,path1,path1_step3,IHTest_202009_DistStA/path1/path1_step3/depth_label.npz,IHTest_202009_DistStA/path1/path1_step3/correspondences.txt,IHTest_202009_DistStA/path1/path1_step3/camera.cyl
-IHTest_202009_DistStA / path3 / path3_step6,IHTest_202009_DistStA,path3,path3_step6,IHTest_202009_DistStA/path3/path3_step6/depth_label.npz,IHTest_202009_DistStA/path3/path3_step6/correspondences.txt,IHTest_202009_DistStA/path3/path3_step6/camera.cyl
-IHTest_202009_DistStA / path7 / path7_step5,IHTest_202009_DistStA,path7,path7_step5,IHTest_202009_DistStA/path7/path7_step5/depth_label.npz,IHTest_202009_DistStA/path7/path7_step5/correspondences.txt,IHTest_202009_DistStA/path7/path7_step5/camera.cyl
-IHTest_202009_DistStA / path8 / path8_step1,IHTest_202009_DistStA,path8,path8_step1,IHTest_202009_DistStA/path8/path8_step1/depth_label.npz,IHTest_202009_DistStA/path8/path8_step1/correspondences.txt,IHTest_202009_DistStA/path8/path8_step1/camera.cyl
-IHTest_202009_DistStA / path8 / path8_step3,IHTest_202009_DistStA,path8,path8_step3,IHTest_202009_DistStA/path8/path8_step3/depth_label.npz,IHTest_202009_DistStA/path8/path8_step3/correspondences.txt,IHTest_202009_DistStA/path8/path8_step3/camera.cyl
-IHTest_202104_DistStA / path1 / path1_step0,IHTest_202104_DistStA,path1,path1_step0,IHTest_202104_DistStA/path1/path1_step0/depth_label.npz,IHTest_202104_DistStA/path1/path1_step0/correspondences.txt,IHTest_202104_DistStA/path1/path1_step0/camera.cyl
-IHTest_202104_DistStA / path10 / path10_step1,IHTest_202104_DistStA,path10,path10_step1,IHTest_202104_DistStA/path10/path10_step1/depth_label.npz,IHTest_202104_DistStA/path10/path10_step1/correspondences.txt,IHTest_202104_DistStA/path10/path10_step1/camera.cyl
-IHTest_202104_DistStA / path5 / path5_step1,IHTest_202104_DistStA,path5,path5_step1,IHTest_202104_DistStA/path5/path5_step1/depth_label.npz,IHTest_202104_DistStA/path5/path5_step1/correspondences.txt,IHTest_202104_DistStA/path5/path5_step1/camera.cyl
-IHTest_202104_DistStA / path5 / path5_step4,IHTest_202104_DistStA,path5,path5_step4,IHTest_202104_DistStA/path5/path5_step4/depth_label.npz,IHTest_202104_DistStA/path5/path5_step4/correspondences.txt,IHTest_202104_DistStA/path5/path5_step4/camera.cyl
-IHTest_202108_DistStA / path12 / path12_step2,IHTest_202108_DistStA,path12,path12_step2,IHTest_202108_DistStA/path12/path12_step2/depth_label.npz,IHTest_202108_DistStA/path12/path12_step2/correspondences.txt,IHTest_202108_DistStA/path12/path12_step2/camera.cyl
-IHTest_202108_DistStA / path12 / path12_step3,IHTest_202108_DistStA,path12,path12_step3,IHTest_202108_DistStA/path12/path12_step3/depth_label.npz,IHTest_202108_DistStA/path12/path12_step3/correspondences.txt,IHTest_202108_DistStA/path12/path12_step3/camera.cyl
-IHTest_202108_DistStA / path7 / path7_step22,IHTest_202108_DistStA,path7,path7_step22,IHTest_202108_DistStA/path7/path7_step22/depth_label.npz,IHTest_202108_DistStA/path7/path7_step22/correspondences.txt,IHTest_202108_DistStA/path7/path7_step22/camera.cyl
-IHTest_202108_DistStA / path7 / path7_step9,IHTest_202108_DistStA,path7,path7_step9,IHTest_202108_DistStA/path7/path7_step9/depth_label.npz,IHTest_202108_DistStA/path7/path7_step9/correspondences.txt,IHTest_202108_DistStA/path7/path7_step9/camera.cyl
-IHTest_202204_DistStA-20221110 / path13 / path13_step4,IHTest_202204_DistStA-20221110,path13,path13_step4,IHTest_202204_DistStA-20221110/path13/path13_step4/depth_label.npz,IHTest_202204_DistStA-20221110/path13/path13_step4/correspondences.txt,IHTest_202204_DistStA-20221110/path13/path13_step4/camera.cyl
-IHTest_202204_DistStA-20221110 / path15 / path15_step1,IHTest_202204_DistStA-20221110,path15,path15_step1,IHTest_202204_DistStA-20221110/path15/path15_step1/depth_label.npz,IHTest_202204_DistStA-20221110/path15/path15_step1/correspondences.txt,IHTest_202204_DistStA-20221110/path15/path15_step1/camera.cyl
-IHTest_202204_DistStA-20221110 / path15 / path15_step11,IHTest_202204_DistStA-20221110,path15,path15_step11,IHTest_202204_DistStA-20221110/path15/path15_step11/depth_label.npz,IHTest_202204_DistStA-20221110/path15/path15_step11/correspondences.txt,IHTest_202204_DistStA-20221110/path15/path15_step11/camera.cyl
-IHTest_202204_DistStA-20221110 / path15 / path15_step16,IHTest_202204_DistStA-20221110,path15,path15_step16,IHTest_202204_DistStA-20221110/path15/path15_step16/depth_label.npz,IHTest_202204_DistStA-20221110/path15/path15_step16/correspondences.txt,IHTest_202204_DistStA-20221110/path15/path15_step16/camera.cyl
-IHTest_202204_DistStA-20221110 / path15 / path15_step21,IHTest_202204_DistStA-20221110,path15,path15_step21,IHTest_202204_DistStA-20221110/path15/path15_step21/depth_label.npz,IHTest_202204_DistStA-20221110/path15/path15_step21/correspondences.txt,IHTest_202204_DistStA-20221110/path15/path15_step21/camera.cyl
-IHTest_202204_DistStA-20221110 / path15 / path15_step31,IHTest_202204_DistStA-20221110,path15,path15_step31,IHTest_202204_DistStA-20221110/path15/path15_step31/depth_label.npz,IHTest_202204_DistStA-20221110/path15/path15_step31/correspondences.txt,IHTest_202204_DistStA-20221110/path15/path15_step31/camera.cyl
-IHTest_202204_DistStA-20221110 / path15 / path15_step36,IHTest_202204_DistStA-20221110,path15,path15_step36,IHTest_202204_DistStA-20221110/path15/path15_step36/depth_label.npz,IHTest_202204_DistStA-20221110/path15/path15_step36/correspondences.txt,IHTest_202204_DistStA-20221110/path15/path15_step36/camera.cyl
-IHTest_202204_DistStA-20221110 / path15 / path15_step41,IHTest_202204_DistStA-20221110,path15,path15_step41,IHTest_202204_DistStA-20221110/path15/path15_step41/depth_label.npz,IHTest_202204_DistStA-20221110/path15/path15_step41/correspondences.txt,IHTest_202204_DistStA-20221110/path15/path15_step41/camera.cyl
-IHTest_202204_DistStA-20221110 / path19 / path19_step1,IHTest_202204_DistStA-20221110,path19,path19_step1,IHTest_202204_DistStA-20221110/path19/path19_step1/depth_label.npz,IHTest_202204_DistStA-20221110/path19/path19_step1/correspondences.txt,IHTest_202204_DistStA-20221110/path19/path19_step1/camera.cyl
-IHTest_202204_DistStA-20221110 / path20 / path20_step1,IHTest_202204_DistStA-20221110,path20,path20_step1,IHTest_202204_DistStA-20221110/path20/path20_step1/depth_label.npz,IHTest_202204_DistStA-20221110/path20/path20_step1/correspondences.txt,IHTest_202204_DistStA-20221110/path20/path20_step1/camera.cyl
-IHTest_202204_DistStA-20221110 / path21 / path21_step15,IHTest_202204_DistStA-20221110,path21,path21_step15,IHTest_202204_DistStA-20221110/path21/path21_step15/depth_label.npz,IHTest_202204_DistStA-20221110/path21/path21_step15/correspondences.txt,IHTest_202204_DistStA-20221110/path21/path21_step15/camera.cyl
-IHTest_202204_DistStA-20221110 / path28 / path28_step1,IHTest_202204_DistStA-20221110,path28,path28_step1,IHTest_202204_DistStA-20221110/path28/path28_step1/depth_label.npz,IHTest_202204_DistStA-20221110/path28/path28_step1/correspondences.txt,IHTest_202204_DistStA-20221110/path28/path28_step1/camera.cyl
-IHTest_202204_DistStA-20221110 / path28 / path28_step11,IHTest_202204_DistStA-20221110,path28,path28_step11,IHTest_202204_DistStA-20221110/path28/path28_step11/depth_label.npz,IHTest_202204_DistStA-20221110/path28/path28_step11/correspondences.txt,IHTest_202204_DistStA-20221110/path28/path28_step11/camera.cyl
-IHTest_202204_DistStA-20221110 / path28 / path28_step2,IHTest_202204_DistStA-20221110,path28,path28_step2,IHTest_202204_DistStA-20221110/path28/path28_step2/depth_label.npz,IHTest_202204_DistStA-20221110/path28/path28_step2/correspondences.txt,IHTest_202204_DistStA-20221110/path28/path28_step2/camera.cyl
-IHTest_202204_DistStA-20221110 / path28 / path28_step3,IHTest_202204_DistStA-20221110,path28,path28_step3,IHTest_202204_DistStA-20221110/path28/path28_step3/depth_label.npz,IHTest_202204_DistStA-20221110/path28/path28_step3/correspondences.txt,IHTest_202204_DistStA-20221110/path28/path28_step3/camera.cyl
-IHTest_202204_DistStA-20221110 / path30 / path30_step1,IHTest_202204_DistStA-20221110,path30,path30_step1,IHTest_202204_DistStA-20221110/path30/path30_step1/depth_label.npz,IHTest_202204_DistStA-20221110/path30/path30_step1/correspondences.txt,IHTest_202204_DistStA-20221110/path30/path30_step1/camera.cyl
-IHTest_202204_DistStA-20221110 / path31 / path31_step11,IHTest_202204_DistStA-20221110,path31,path31_step11,IHTest_202204_DistStA-20221110/path31/path31_step11/depth_label.npz,IHTest_202204_DistStA-20221110/path31/path31_step11/correspondences.txt,IHTest_202204_DistStA-20221110/path31/path31_step11/camera.cyl
-IHTest_202204_DistStA-20221110 / path31 / path31_step13,IHTest_202204_DistStA-20221110,path31,path31_step13,IHTest_202204_DistStA-20221110/path31/path31_step13/depth_label.npz,IHTest_202204_DistStA-20221110/path31/path31_step13/correspondences.txt,IHTest_202204_DistStA-20221110/path31/path31_step13/camera.cyl
-IHTest_202204_DistStA-20221110 / path31 / path31_step4,IHTest_202204_DistStA-20221110,path31,path31_step4,IHTest_202204_DistStA-20221110/path31/path31_step4/depth_label.npz,IHTest_202204_DistStA-20221110/path31/path31_step4/correspondences.txt,IHTest_202204_DistStA-20221110/path31/path31_step4/camera.cyl
-IHTest_202204_DistStA-20221110 / path31 / path31_step9,IHTest_202204_DistStA-20221110,path31,path31_step9,IHTest_202204_DistStA-20221110/path31/path31_step9/depth_label.npz,IHTest_202204_DistStA-20221110/path31/path31_step9/correspondences.txt,IHTest_202204_DistStA-20221110/path31/path31_step9/camera.cyl
-IHTest_202204_DistStA-20221110 / path33 / path33_step10,IHTest_202204_DistStA-20221110,path33,path33_step10,IHTest_202204_DistStA-20221110/path33/path33_step10/depth_label.npz,IHTest_202204_DistStA-20221110/path33/path33_step10/correspondences.txt,IHTest_202204_DistStA-20221110/path33/path33_step10/camera.cyl
-IHTest_202204_DistStA-20221110 / path33 / path33_step3,IHTest_202204_DistStA-20221110,path33,path33_step3,IHTest_202204_DistStA-20221110/path33/path33_step3/depth_label.npz,IHTest_202204_DistStA-20221110/path33/path33_step3/correspondences.txt,IHTest_202204_DistStA-20221110/path33/path33_step3/camera.cyl
-IHTest_202204_DistStA-20221110 / path33 / path33_step4,IHTest_202204_DistStA-20221110,path33,path33_step4,IHTest_202204_DistStA-20221110/path33/path33_step4/depth_label.npz,IHTest_202204_DistStA-20221110/path33/path33_step4/correspondences.txt,IHTest_202204_DistStA-20221110/path33/path33_step4/camera.cyl
-IHTest_202204_DistStA-20221110 / path33 / path33_step5,IHTest_202204_DistStA-20221110,path33,path33_step5,IHTest_202204_DistStA-20221110/path33/path33_step5/depth_label.npz,IHTest_202204_DistStA-20221110/path33/path33_step5/correspondences.txt,IHTest_202204_DistStA-20221110/path33/path33_step5/camera.cyl
-IHTest_202204_DistStA-20221110 / path33 / path33_step6,IHTest_202204_DistStA-20221110,path33,path33_step6,IHTest_202204_DistStA-20221110/path33/path33_step6/depth_label.npz,IHTest_202204_DistStA-20221110/path33/path33_step6/correspondences.txt,IHTest_202204_DistStA-20221110/path33/path33_step6/camera.cyl
-IHTest_202204_DistStA-20221110 / path33 / path33_step7,IHTest_202204_DistStA-20221110,path33,path33_step7,IHTest_202204_DistStA-20221110/path33/path33_step7/depth_label.npz,IHTest_202204_DistStA-20221110/path33/path33_step7/correspondences.txt,IHTest_202204_DistStA-20221110/path33/path33_step7/camera.cyl
-IHTest_202204_DistStA-20221110 / path33 / path33_step9,IHTest_202204_DistStA-20221110,path33,path33_step9,IHTest_202204_DistStA-20221110/path33/path33_step9/depth_label.npz,IHTest_202204_DistStA-20221110/path33/path33_step9/correspondences.txt,IHTest_202204_DistStA-20221110/path33/path33_step9/camera.cyl
-IHTest_202204_DistStA-20221110 / path35 / path35_step1,IHTest_202204_DistStA-20221110,path35,path35_step1,IHTest_202204_DistStA-20221110/path35/path35_step1/depth_label.npz,IHTest_202204_DistStA-20221110/path35/path35_step1/correspondences.txt,IHTest_202204_DistStA-20221110/path35/path35_step1/camera.cyl
-IHTest_202204_DistStA-20221110 / path36 / path36_step11,IHTest_202204_DistStA-20221110,path36,path36_step11,IHTest_202204_DistStA-20221110/path36/path36_step11/depth_label.npz,IHTest_202204_DistStA-20221110/path36/path36_step11/correspondences.txt,IHTest_202204_DistStA-20221110/path36/path36_step11/camera.cyl
-IHTest_202204_DistStA-20221110 / path36 / path36_step16,IHTest_202204_DistStA-20221110,path36,path36_step16,IHTest_202204_DistStA-20221110/path36/path36_step16/depth_label.npz,IHTest_202204_DistStA-20221110/path36/path36_step16/correspondences.txt,IHTest_202204_DistStA-20221110/path36/path36_step16/camera.cyl
-IHTest_202204_DistStA-20221110 / path36 / path36_step2,IHTest_202204_DistStA-20221110,path36,path36_step2,IHTest_202204_DistStA-20221110/path36/path36_step2/depth_label.npz,IHTest_202204_DistStA-20221110/path36/path36_step2/correspondences.txt,IHTest_202204_DistStA-20221110/path36/path36_step2/camera.cyl
-IHTest_202204_DistStA-20221110 / path36 / path36_step6,IHTest_202204_DistStA-20221110,path36,path36_step6,IHTest_202204_DistStA-20221110/path36/path36_step6/depth_label.npz,IHTest_202204_DistStA-20221110/path36/path36_step6/correspondences.txt,IHTest_202204_DistStA-20221110/path36/path36_step6/camera.cyl
-IHTest_202204_DistStA-20221110 / path38 / path38_step5,IHTest_202204_DistStA-20221110,path38,path38_step5,IHTest_202204_DistStA-20221110/path38/path38_step5/depth_label.npz,IHTest_202204_DistStA-20221110/path38/path38_step5/correspondences.txt,IHTest_202204_DistStA-20221110/path38/path38_step5/camera.cyl
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-IHTest_202204_DistStA-20221110 / path5 / path5_step21,IHTest_202204_DistStA-20221110,path5,path5_step21,IHTest_202204_DistStA-20221110/path5/path5_step21/depth_label.npz,IHTest_202204_DistStA-20221110/path5/path5_step21/correspondences.txt,IHTest_202204_DistStA-20221110/path5/path5_step21/camera.cyl
-IHTest_202204_DistStA-20221110 / path7 / path7_step1,IHTest_202204_DistStA-20221110,path7,path7_step1,IHTest_202204_DistStA-20221110/path7/path7_step1/depth_label.npz,IHTest_202204_DistStA-20221110/path7/path7_step1/correspondences.txt,IHTest_202204_DistStA-20221110/path7/path7_step1/camera.cyl
-IHTest_202204_DistStA-20221110 / path7 / path7_step3,IHTest_202204_DistStA-20221110,path7,path7_step3,IHTest_202204_DistStA-20221110/path7/path7_step3/depth_label.npz,IHTest_202204_DistStA-20221110/path7/path7_step3/correspondences.txt,IHTest_202204_DistStA-20221110/path7/path7_step3/camera.cyl
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+test,IHTest_202204_DistStA-20221110,Path7_DistStA,Path7_Step3,IHTest_202204_DistStA-20221110/Path7_DistStA/Path7_Step3/IHTest_202204_Path7_Step3_LWHSI1_DistStA,IHTest_202204_Path7_Step3_LWHSI1_DistStA,IHTest_202204_DistStA-20221110/Path7_DistStA/Path7_Step3,IHTest_202204_DistStA-20221110/Path7_DistStA/Path7_Step3/IHTest_202204_Path7_Step3_LWHSI1_DistStA_depth.png,IHTest_202204_DistStA-20221110/Path7_DistStA/Path7_Step3/IHTest_202204_Path7_Step3_LWHSI1_DistStA.cyl,IHTest_202204_DistStA-20221110/Path7_DistStA/Path7_Step3/IHTest_202204_Path7_Step3_LWHSI1_DistStA_corresp.txt
diff --git a/scenes_test.csv b/scenes_test.csv
index 759529d4138fd17cedc931bf9e9db04d80255672..a35bf9e656dbdafeea2226f13aa6ac7b72dc684a 100644
--- a/scenes_test.csv
+++ b/scenes_test.csv
@@ -1,11 +1,11 @@
-scene,split,collection,path,step,depth_label_path,correspondences_path,cyl_path
-IHTest_202009_DistStA / path3 / path3_step6,test,IHTest_202009_DistStA,path3,path3_step6,IHTest_202009_DistStA/path3/path3_step6/depth_label.npz,IHTest_202009_DistStA/path3/path3_step6/correspondences.txt,IHTest_202009_DistStA/path3/path3_step6/camera.cyl
-IHTest_202009_DistStA / path7 / path7_step5,test,IHTest_202009_DistStA,path7,path7_step5,IHTest_202009_DistStA/path7/path7_step5/depth_label.npz,IHTest_202009_DistStA/path7/path7_step5/correspondences.txt,IHTest_202009_DistStA/path7/path7_step5/camera.cyl
-IHTest_202009_DistStA / path8 / path8_step1,test,IHTest_202009_DistStA,path8,path8_step1,IHTest_202009_DistStA/path8/path8_step1/depth_label.npz,IHTest_202009_DistStA/path8/path8_step1/correspondences.txt,IHTest_202009_DistStA/path8/path8_step1/camera.cyl
-IHTest_202009_DistStA / path8 / path8_step3,test,IHTest_202009_DistStA,path8,path8_step3,IHTest_202009_DistStA/path8/path8_step3/depth_label.npz,IHTest_202009_DistStA/path8/path8_step3/correspondences.txt,IHTest_202009_DistStA/path8/path8_step3/camera.cyl
-IHTest_202108_DistStA / path7 / path7_step22,test,IHTest_202108_DistStA,path7,path7_step22,IHTest_202108_DistStA/path7/path7_step22/depth_label.npz,IHTest_202108_DistStA/path7/path7_step22/correspondences.txt,IHTest_202108_DistStA/path7/path7_step22/camera.cyl
-IHTest_202108_DistStA / path7 / path7_step9,test,IHTest_202108_DistStA,path7,path7_step9,IHTest_202108_DistStA/path7/path7_step9/depth_label.npz,IHTest_202108_DistStA/path7/path7_step9/correspondences.txt,IHTest_202108_DistStA/path7/path7_step9/camera.cyl
-IHTest_202204_DistStA-20221110 / path20 / path20_step1,test,IHTest_202204_DistStA-20221110,path20,path20_step1,IHTest_202204_DistStA-20221110/path20/path20_step1/depth_label.npz,IHTest_202204_DistStA-20221110/path20/path20_step1/correspondences.txt,IHTest_202204_DistStA-20221110/path20/path20_step1/camera.cyl
-IHTest_202204_DistStA-20221110 / path21 / path21_step15,test,IHTest_202204_DistStA-20221110,path21,path21_step15,IHTest_202204_DistStA-20221110/path21/path21_step15/depth_label.npz,IHTest_202204_DistStA-20221110/path21/path21_step15/correspondences.txt,IHTest_202204_DistStA-20221110/path21/path21_step15/camera.cyl
-IHTest_202204_DistStA-20221110 / path7 / path7_step1,test,IHTest_202204_DistStA-20221110,path7,path7_step1,IHTest_202204_DistStA-20221110/path7/path7_step1/depth_label.npz,IHTest_202204_DistStA-20221110/path7/path7_step1/correspondences.txt,IHTest_202204_DistStA-20221110/path7/path7_step1/camera.cyl
-IHTest_202204_DistStA-20221110 / path7 / path7_step3,test,IHTest_202204_DistStA-20221110,path7,path7_step3,IHTest_202204_DistStA-20221110/path7/path7_step3/depth_label.npz,IHTest_202204_DistStA-20221110/path7/path7_step3/correspondences.txt,IHTest_202204_DistStA-20221110/path7/path7_step3/camera.cyl
+split,collection,path,step,scene,raw_lwhsi_stem,raw_scene_relpath,depth_png_relpath,cyl_relpath,corresp_relpath
+test,IHTest_202009_DistStA,Path3_DistStA,Path3_Step6_DistStA,IHTest_202009_DistStA/Path3_DistStA/Path3_Step6_DistStA/IHTest_202009_Path3_Step6_LWHSI1__DistStA,IHTest_202009_Path3_Step6_LWHSI1__DistStA,IHTest_202009_DistStA/Path3_DistStA/Path3_Step6_DistStA,IHTest_202009_DistStA/Path3_DistStA/Path3_Step6_DistStA/IHTest_202009_Path3_Step6_LWHSI1__DistStA_depth.png,IHTest_202009_DistStA/Path3_DistStA/Path3_Step6_DistStA/IHTest_202009_Path3_Step6_LWHSI1__DistStA.cyl,IHTest_202009_DistStA/Path3_DistStA/Path3_Step6_DistStA/IHTest_202009_Path3_Step6_LWHSI1__DistStA_corresp.txt
+test,IHTest_202009_DistStA,Path7_DistStA,Path7_Step5_DistStA,IHTest_202009_DistStA/Path7_DistStA/Path7_Step5_DistStA/IHTest_202009_Path7_Step5_LWHSI1__DistStA,IHTest_202009_Path7_Step5_LWHSI1__DistStA,IHTest_202009_DistStA/Path7_DistStA/Path7_Step5_DistStA,IHTest_202009_DistStA/Path7_DistStA/Path7_Step5_DistStA/IHTest_202009_Path7_Step5_LWHSI1__DistStA_depth.png,IHTest_202009_DistStA/Path7_DistStA/Path7_Step5_DistStA/IHTest_202009_Path7_Step5_LWHSI1__DistStA.cyl,IHTest_202009_DistStA/Path7_DistStA/Path7_Step5_DistStA/IHTest_202009_Path7_Step5_LWHSI1__DistStA_corresp.txt
+test,IHTest_202009_DistStA,Path8_DistStA,Path8_Step1_DistStA,IHTest_202009_DistStA/Path8_DistStA/Path8_Step1_DistStA/IHTest_202009_Path8_Step1_LWHSI1__DistStA,IHTest_202009_Path8_Step1_LWHSI1__DistStA,IHTest_202009_DistStA/Path8_DistStA/Path8_Step1_DistStA,IHTest_202009_DistStA/Path8_DistStA/Path8_Step1_DistStA/IHTest_202009_Path8_Step1_LWHSI1__DistStA_depth.png,IHTest_202009_DistStA/Path8_DistStA/Path8_Step1_DistStA/IHTest_202009_Path8_Step1_LWHSI1__DistStA.cyl,IHTest_202009_DistStA/Path8_DistStA/Path8_Step1_DistStA/IHTest_202009_Path8_Step1_LWHSI1__DistStA_corresp.txt
+test,IHTest_202009_DistStA,Path8_DistStA,Path8_Step3_DistStA,IHTest_202009_DistStA/Path8_DistStA/Path8_Step3_DistStA/IHTest_202009_Path8_Step3_LWHSI1__DistStA,IHTest_202009_Path8_Step3_LWHSI1__DistStA,IHTest_202009_DistStA/Path8_DistStA/Path8_Step3_DistStA,IHTest_202009_DistStA/Path8_DistStA/Path8_Step3_DistStA/IHTest_202009_Path8_Step3_LWHSI1__DistStA_depth.png,IHTest_202009_DistStA/Path8_DistStA/Path8_Step3_DistStA/IHTest_202009_Path8_Step3_LWHSI1__DistStA.cyl,IHTest_202009_DistStA/Path8_DistStA/Path8_Step3_DistStA/IHTest_202009_Path8_Step3_LWHSI1__DistStA_corresp.txt
+test,IHTest_202108_DistStA,Path7_DistStA,Path7_Step22,IHTest_202108_DistStA/Path7_DistStA/Path7_Step22/IHTest_202108_Path7_Step22_LWHSI1_DistStA,IHTest_202108_Path7_Step22_LWHSI1_DistStA,IHTest_202108_DistStA/Path7_DistStA/Path7_Step22,IHTest_202108_DistStA/Path7_DistStA/Path7_Step22/IHTest_202108_Path7_Step22_LWHSI1_DistStA_depth.png,IHTest_202108_DistStA/Path7_DistStA/Path7_Step22/IHTest_202108_Path7_Step22_LWHSI1_DistStA.cyl,IHTest_202108_DistStA/Path7_DistStA/Path7_Step22/IHTest_202108_Path7_Step22_LWHSI1_DistStA_corresp.txt
+test,IHTest_202108_DistStA,Path7_DistStA,Path7_Step9,IHTest_202108_DistStA/Path7_DistStA/Path7_Step9/IHTest_202108_Path7_Step9_LWHSI1_DistStA,IHTest_202108_Path7_Step9_LWHSI1_DistStA,IHTest_202108_DistStA/Path7_DistStA/Path7_Step9,IHTest_202108_DistStA/Path7_DistStA/Path7_Step9/IHTest_202108_Path7_Step9_LWHSI1_DistStA_depth.png,IHTest_202108_DistStA/Path7_DistStA/Path7_Step9/IHTest_202108_Path7_Step9_LWHSI1_DistStA.cyl,IHTest_202108_DistStA/Path7_DistStA/Path7_Step9/IHTest_202108_Path7_Step9_LWHSI1_DistStA_corresp.txt
+test,IHTest_202204_DistStA-20221110,Path20_DistStA,Path20_Step1,IHTest_202204_DistStA-20221110/Path20_DistStA/Path20_Step1/IHTest_202204_Path20_Step1_LWHSI1_DistStA,IHTest_202204_Path20_Step1_LWHSI1_DistStA,IHTest_202204_DistStA-20221110/Path20_DistStA/Path20_Step1,IHTest_202204_DistStA-20221110/Path20_DistStA/Path20_Step1/IHTest_202204_Path20_Step1_LWHSI1_DistStA_depth.png,IHTest_202204_DistStA-20221110/Path20_DistStA/Path20_Step1/IHTest_202204_Path20_Step1_LWHSI1_DistStA.cyl,IHTest_202204_DistStA-20221110/Path20_DistStA/Path20_Step1/IHTest_202204_Path20_Step1_LWHSI1_DistStA_corresp.txt
+test,IHTest_202204_DistStA-20221110,Path21_DistStA,Path21_Step15,IHTest_202204_DistStA-20221110/Path21_DistStA/Path21_Step15/IHTest_202204_Path21_Step15_LWHSI1_DistStA,IHTest_202204_Path21_Step15_LWHSI1_DistStA,IHTest_202204_DistStA-20221110/Path21_DistStA/Path21_Step15,IHTest_202204_DistStA-20221110/Path21_DistStA/Path21_Step15/IHTest_202204_Path21_Step15_LWHSI1_DistStA_depth.png,IHTest_202204_DistStA-20221110/Path21_DistStA/Path21_Step15/IHTest_202204_Path21_Step15_LWHSI1_DistStA.cyl,IHTest_202204_DistStA-20221110/Path21_DistStA/Path21_Step15/IHTest_202204_Path21_Step15_LWHSI1_DistStA_corresp.txt
+test,IHTest_202204_DistStA-20221110,Path7_DistStA,Path7_Step1,IHTest_202204_DistStA-20221110/Path7_DistStA/Path7_Step1/IHTest_202204_Path7_Step1_LWHSI1_DistStA,IHTest_202204_Path7_Step1_LWHSI1_DistStA,IHTest_202204_DistStA-20221110/Path7_DistStA/Path7_Step1,IHTest_202204_DistStA-20221110/Path7_DistStA/Path7_Step1/IHTest_202204_Path7_Step1_LWHSI1_DistStA_depth.png,IHTest_202204_DistStA-20221110/Path7_DistStA/Path7_Step1/IHTest_202204_Path7_Step1_LWHSI1_DistStA.cyl,IHTest_202204_DistStA-20221110/Path7_DistStA/Path7_Step1/IHTest_202204_Path7_Step1_LWHSI1_DistStA_corresp.txt
+test,IHTest_202204_DistStA-20221110,Path7_DistStA,Path7_Step3,IHTest_202204_DistStA-20221110/Path7_DistStA/Path7_Step3/IHTest_202204_Path7_Step3_LWHSI1_DistStA,IHTest_202204_Path7_Step3_LWHSI1_DistStA,IHTest_202204_DistStA-20221110/Path7_DistStA/Path7_Step3,IHTest_202204_DistStA-20221110/Path7_DistStA/Path7_Step3/IHTest_202204_Path7_Step3_LWHSI1_DistStA_depth.png,IHTest_202204_DistStA-20221110/Path7_DistStA/Path7_Step3/IHTest_202204_Path7_Step3_LWHSI1_DistStA.cyl,IHTest_202204_DistStA-20221110/Path7_DistStA/Path7_Step3/IHTest_202204_Path7_Step3_LWHSI1_DistStA_corresp.txt
diff --git a/scenes_train.csv b/scenes_train.csv
index cb08d962b1148b9742a36d4ef5ef1969d43649c3..69fac9f4234a25c1bc43c99bfef6d96b7816f4d1 100644
--- a/scenes_train.csv
+++ b/scenes_train.csv
@@ -1,42 +1,42 @@
-scene,split,collection,path,step,depth_label_path,correspondences_path,cyl_path
-IHTest_202009_DistStA / path1 / path1_step2,train,IHTest_202009_DistStA,path1,path1_step2,IHTest_202009_DistStA/path1/path1_step2/depth_label.npz,IHTest_202009_DistStA/path1/path1_step2/correspondences.txt,IHTest_202009_DistStA/path1/path1_step2/camera.cyl
-IHTest_202009_DistStA / path1 / path1_step3,train,IHTest_202009_DistStA,path1,path1_step3,IHTest_202009_DistStA/path1/path1_step3/depth_label.npz,IHTest_202009_DistStA/path1/path1_step3/correspondences.txt,IHTest_202009_DistStA/path1/path1_step3/camera.cyl
-IHTest_202104_DistStA / path1 / path1_step0,train,IHTest_202104_DistStA,path1,path1_step0,IHTest_202104_DistStA/path1/path1_step0/depth_label.npz,IHTest_202104_DistStA/path1/path1_step0/correspondences.txt,IHTest_202104_DistStA/path1/path1_step0/camera.cyl
-IHTest_202104_DistStA / path10 / path10_step1,train,IHTest_202104_DistStA,path10,path10_step1,IHTest_202104_DistStA/path10/path10_step1/depth_label.npz,IHTest_202104_DistStA/path10/path10_step1/correspondences.txt,IHTest_202104_DistStA/path10/path10_step1/camera.cyl
-IHTest_202104_DistStA / path5 / path5_step1,train,IHTest_202104_DistStA,path5,path5_step1,IHTest_202104_DistStA/path5/path5_step1/depth_label.npz,IHTest_202104_DistStA/path5/path5_step1/correspondences.txt,IHTest_202104_DistStA/path5/path5_step1/camera.cyl
-IHTest_202104_DistStA / path5 / path5_step4,train,IHTest_202104_DistStA,path5,path5_step4,IHTest_202104_DistStA/path5/path5_step4/depth_label.npz,IHTest_202104_DistStA/path5/path5_step4/correspondences.txt,IHTest_202104_DistStA/path5/path5_step4/camera.cyl
-IHTest_202108_DistStA / path12 / path12_step2,train,IHTest_202108_DistStA,path12,path12_step2,IHTest_202108_DistStA/path12/path12_step2/depth_label.npz,IHTest_202108_DistStA/path12/path12_step2/correspondences.txt,IHTest_202108_DistStA/path12/path12_step2/camera.cyl
-IHTest_202108_DistStA / path12 / path12_step3,train,IHTest_202108_DistStA,path12,path12_step3,IHTest_202108_DistStA/path12/path12_step3/depth_label.npz,IHTest_202108_DistStA/path12/path12_step3/correspondences.txt,IHTest_202108_DistStA/path12/path12_step3/camera.cyl
-IHTest_202204_DistStA-20221110 / path13 / path13_step4,train,IHTest_202204_DistStA-20221110,path13,path13_step4,IHTest_202204_DistStA-20221110/path13/path13_step4/depth_label.npz,IHTest_202204_DistStA-20221110/path13/path13_step4/correspondences.txt,IHTest_202204_DistStA-20221110/path13/path13_step4/camera.cyl
-IHTest_202204_DistStA-20221110 / path15 / path15_step1,train,IHTest_202204_DistStA-20221110,path15,path15_step1,IHTest_202204_DistStA-20221110/path15/path15_step1/depth_label.npz,IHTest_202204_DistStA-20221110/path15/path15_step1/correspondences.txt,IHTest_202204_DistStA-20221110/path15/path15_step1/camera.cyl
-IHTest_202204_DistStA-20221110 / path15 / path15_step11,train,IHTest_202204_DistStA-20221110,path15,path15_step11,IHTest_202204_DistStA-20221110/path15/path15_step11/depth_label.npz,IHTest_202204_DistStA-20221110/path15/path15_step11/correspondences.txt,IHTest_202204_DistStA-20221110/path15/path15_step11/camera.cyl
-IHTest_202204_DistStA-20221110 / path15 / path15_step16,train,IHTest_202204_DistStA-20221110,path15,path15_step16,IHTest_202204_DistStA-20221110/path15/path15_step16/depth_label.npz,IHTest_202204_DistStA-20221110/path15/path15_step16/correspondences.txt,IHTest_202204_DistStA-20221110/path15/path15_step16/camera.cyl
-IHTest_202204_DistStA-20221110 / path15 / path15_step21,train,IHTest_202204_DistStA-20221110,path15,path15_step21,IHTest_202204_DistStA-20221110/path15/path15_step21/depth_label.npz,IHTest_202204_DistStA-20221110/path15/path15_step21/correspondences.txt,IHTest_202204_DistStA-20221110/path15/path15_step21/camera.cyl
-IHTest_202204_DistStA-20221110 / path15 / path15_step31,train,IHTest_202204_DistStA-20221110,path15,path15_step31,IHTest_202204_DistStA-20221110/path15/path15_step31/depth_label.npz,IHTest_202204_DistStA-20221110/path15/path15_step31/correspondences.txt,IHTest_202204_DistStA-20221110/path15/path15_step31/camera.cyl
-IHTest_202204_DistStA-20221110 / path15 / path15_step36,train,IHTest_202204_DistStA-20221110,path15,path15_step36,IHTest_202204_DistStA-20221110/path15/path15_step36/depth_label.npz,IHTest_202204_DistStA-20221110/path15/path15_step36/correspondences.txt,IHTest_202204_DistStA-20221110/path15/path15_step36/camera.cyl
-IHTest_202204_DistStA-20221110 / path15 / path15_step41,train,IHTest_202204_DistStA-20221110,path15,path15_step41,IHTest_202204_DistStA-20221110/path15/path15_step41/depth_label.npz,IHTest_202204_DistStA-20221110/path15/path15_step41/correspondences.txt,IHTest_202204_DistStA-20221110/path15/path15_step41/camera.cyl
-IHTest_202204_DistStA-20221110 / path19 / path19_step1,train,IHTest_202204_DistStA-20221110,path19,path19_step1,IHTest_202204_DistStA-20221110/path19/path19_step1/depth_label.npz,IHTest_202204_DistStA-20221110/path19/path19_step1/correspondences.txt,IHTest_202204_DistStA-20221110/path19/path19_step1/camera.cyl
-IHTest_202204_DistStA-20221110 / path28 / path28_step1,train,IHTest_202204_DistStA-20221110,path28,path28_step1,IHTest_202204_DistStA-20221110/path28/path28_step1/depth_label.npz,IHTest_202204_DistStA-20221110/path28/path28_step1/correspondences.txt,IHTest_202204_DistStA-20221110/path28/path28_step1/camera.cyl
-IHTest_202204_DistStA-20221110 / path28 / path28_step11,train,IHTest_202204_DistStA-20221110,path28,path28_step11,IHTest_202204_DistStA-20221110/path28/path28_step11/depth_label.npz,IHTest_202204_DistStA-20221110/path28/path28_step11/correspondences.txt,IHTest_202204_DistStA-20221110/path28/path28_step11/camera.cyl
-IHTest_202204_DistStA-20221110 / path28 / path28_step2,train,IHTest_202204_DistStA-20221110,path28,path28_step2,IHTest_202204_DistStA-20221110/path28/path28_step2/depth_label.npz,IHTest_202204_DistStA-20221110/path28/path28_step2/correspondences.txt,IHTest_202204_DistStA-20221110/path28/path28_step2/camera.cyl
-IHTest_202204_DistStA-20221110 / path28 / path28_step3,train,IHTest_202204_DistStA-20221110,path28,path28_step3,IHTest_202204_DistStA-20221110/path28/path28_step3/depth_label.npz,IHTest_202204_DistStA-20221110/path28/path28_step3/correspondences.txt,IHTest_202204_DistStA-20221110/path28/path28_step3/camera.cyl
-IHTest_202204_DistStA-20221110 / path30 / path30_step1,train,IHTest_202204_DistStA-20221110,path30,path30_step1,IHTest_202204_DistStA-20221110/path30/path30_step1/depth_label.npz,IHTest_202204_DistStA-20221110/path30/path30_step1/correspondences.txt,IHTest_202204_DistStA-20221110/path30/path30_step1/camera.cyl
-IHTest_202204_DistStA-20221110 / path31 / path31_step11,train,IHTest_202204_DistStA-20221110,path31,path31_step11,IHTest_202204_DistStA-20221110/path31/path31_step11/depth_label.npz,IHTest_202204_DistStA-20221110/path31/path31_step11/correspondences.txt,IHTest_202204_DistStA-20221110/path31/path31_step11/camera.cyl
-IHTest_202204_DistStA-20221110 / path31 / path31_step13,train,IHTest_202204_DistStA-20221110,path31,path31_step13,IHTest_202204_DistStA-20221110/path31/path31_step13/depth_label.npz,IHTest_202204_DistStA-20221110/path31/path31_step13/correspondences.txt,IHTest_202204_DistStA-20221110/path31/path31_step13/camera.cyl
-IHTest_202204_DistStA-20221110 / path31 / path31_step4,train,IHTest_202204_DistStA-20221110,path31,path31_step4,IHTest_202204_DistStA-20221110/path31/path31_step4/depth_label.npz,IHTest_202204_DistStA-20221110/path31/path31_step4/correspondences.txt,IHTest_202204_DistStA-20221110/path31/path31_step4/camera.cyl
-IHTest_202204_DistStA-20221110 / path31 / path31_step9,train,IHTest_202204_DistStA-20221110,path31,path31_step9,IHTest_202204_DistStA-20221110/path31/path31_step9/depth_label.npz,IHTest_202204_DistStA-20221110/path31/path31_step9/correspondences.txt,IHTest_202204_DistStA-20221110/path31/path31_step9/camera.cyl
-IHTest_202204_DistStA-20221110 / path33 / path33_step10,train,IHTest_202204_DistStA-20221110,path33,path33_step10,IHTest_202204_DistStA-20221110/path33/path33_step10/depth_label.npz,IHTest_202204_DistStA-20221110/path33/path33_step10/correspondences.txt,IHTest_202204_DistStA-20221110/path33/path33_step10/camera.cyl
-IHTest_202204_DistStA-20221110 / path33 / path33_step3,train,IHTest_202204_DistStA-20221110,path33,path33_step3,IHTest_202204_DistStA-20221110/path33/path33_step3/depth_label.npz,IHTest_202204_DistStA-20221110/path33/path33_step3/correspondences.txt,IHTest_202204_DistStA-20221110/path33/path33_step3/camera.cyl
-IHTest_202204_DistStA-20221110 / path33 / path33_step4,train,IHTest_202204_DistStA-20221110,path33,path33_step4,IHTest_202204_DistStA-20221110/path33/path33_step4/depth_label.npz,IHTest_202204_DistStA-20221110/path33/path33_step4/correspondences.txt,IHTest_202204_DistStA-20221110/path33/path33_step4/camera.cyl
-IHTest_202204_DistStA-20221110 / path33 / path33_step5,train,IHTest_202204_DistStA-20221110,path33,path33_step5,IHTest_202204_DistStA-20221110/path33/path33_step5/depth_label.npz,IHTest_202204_DistStA-20221110/path33/path33_step5/correspondences.txt,IHTest_202204_DistStA-20221110/path33/path33_step5/camera.cyl
-IHTest_202204_DistStA-20221110 / path33 / path33_step6,train,IHTest_202204_DistStA-20221110,path33,path33_step6,IHTest_202204_DistStA-20221110/path33/path33_step6/depth_label.npz,IHTest_202204_DistStA-20221110/path33/path33_step6/correspondences.txt,IHTest_202204_DistStA-20221110/path33/path33_step6/camera.cyl
-IHTest_202204_DistStA-20221110 / path33 / path33_step7,train,IHTest_202204_DistStA-20221110,path33,path33_step7,IHTest_202204_DistStA-20221110/path33/path33_step7/depth_label.npz,IHTest_202204_DistStA-20221110/path33/path33_step7/correspondences.txt,IHTest_202204_DistStA-20221110/path33/path33_step7/camera.cyl
-IHTest_202204_DistStA-20221110 / path33 / path33_step9,train,IHTest_202204_DistStA-20221110,path33,path33_step9,IHTest_202204_DistStA-20221110/path33/path33_step9/depth_label.npz,IHTest_202204_DistStA-20221110/path33/path33_step9/correspondences.txt,IHTest_202204_DistStA-20221110/path33/path33_step9/camera.cyl
-IHTest_202204_DistStA-20221110 / path35 / path35_step1,train,IHTest_202204_DistStA-20221110,path35,path35_step1,IHTest_202204_DistStA-20221110/path35/path35_step1/depth_label.npz,IHTest_202204_DistStA-20221110/path35/path35_step1/correspondences.txt,IHTest_202204_DistStA-20221110/path35/path35_step1/camera.cyl
-IHTest_202204_DistStA-20221110 / path36 / path36_step11,train,IHTest_202204_DistStA-20221110,path36,path36_step11,IHTest_202204_DistStA-20221110/path36/path36_step11/depth_label.npz,IHTest_202204_DistStA-20221110/path36/path36_step11/correspondences.txt,IHTest_202204_DistStA-20221110/path36/path36_step11/camera.cyl
-IHTest_202204_DistStA-20221110 / path36 / path36_step16,train,IHTest_202204_DistStA-20221110,path36,path36_step16,IHTest_202204_DistStA-20221110/path36/path36_step16/depth_label.npz,IHTest_202204_DistStA-20221110/path36/path36_step16/correspondences.txt,IHTest_202204_DistStA-20221110/path36/path36_step16/camera.cyl
-IHTest_202204_DistStA-20221110 / path36 / path36_step2,train,IHTest_202204_DistStA-20221110,path36,path36_step2,IHTest_202204_DistStA-20221110/path36/path36_step2/depth_label.npz,IHTest_202204_DistStA-20221110/path36/path36_step2/correspondences.txt,IHTest_202204_DistStA-20221110/path36/path36_step2/camera.cyl
-IHTest_202204_DistStA-20221110 / path36 / path36_step6,train,IHTest_202204_DistStA-20221110,path36,path36_step6,IHTest_202204_DistStA-20221110/path36/path36_step6/depth_label.npz,IHTest_202204_DistStA-20221110/path36/path36_step6/correspondences.txt,IHTest_202204_DistStA-20221110/path36/path36_step6/camera.cyl
-IHTest_202204_DistStA-20221110 / path38 / path38_step5,train,IHTest_202204_DistStA-20221110,path38,path38_step5,IHTest_202204_DistStA-20221110/path38/path38_step5/depth_label.npz,IHTest_202204_DistStA-20221110/path38/path38_step5/correspondences.txt,IHTest_202204_DistStA-20221110/path38/path38_step5/camera.cyl
-IHTest_202204_DistStA-20221110 / path38 / path38_step9,train,IHTest_202204_DistStA-20221110,path38,path38_step9,IHTest_202204_DistStA-20221110/path38/path38_step9/depth_label.npz,IHTest_202204_DistStA-20221110/path38/path38_step9/correspondences.txt,IHTest_202204_DistStA-20221110/path38/path38_step9/camera.cyl
-IHTest_202204_DistStA-20221110 / path5 / path5_step21,train,IHTest_202204_DistStA-20221110,path5,path5_step21,IHTest_202204_DistStA-20221110/path5/path5_step21/depth_label.npz,IHTest_202204_DistStA-20221110/path5/path5_step21/correspondences.txt,IHTest_202204_DistStA-20221110/path5/path5_step21/camera.cyl
+split,collection,path,step,scene,raw_lwhsi_stem,raw_scene_relpath,depth_png_relpath,cyl_relpath,corresp_relpath
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