Prepare job build context

app.py

@@ -402,7 +402,14 @@ def gradio_estimate(
 
         if not result.get("success"):
             error = result.get("error", "Unknown error")
-            return f"✗ Estimation failed: {error}", None, None
+            # Still show mask output even on failure
+            mask_vis = None
+            if debug_mask is not None:
+                mask_vis = query_image.copy()
+                mask_overlay = np.zeros_like(query_image)
+                mask_overlay[:, :, 1] = debug_mask
+                mask_vis = cv2.addWeighted(mask_vis, 0.7, mask_overlay, 0.3, 0)
+            return f"✗ Estimation failed: {error}", query_image, mask_vis
 
         poses = result.get("poses", [])
         note = result.get("note", "")

estimator.py

@@ -285,7 +285,7 @@ class FoundationPoseEstimator:
             [fx, 0, cx],
             [0, fy, cy],
             [0, 0, 1]
-        ], dtype=np.float32)
+        ], dtype=np.float64)
 
         return K