2026-05-17: scale_sanity Plan A rollout — 33 clips, 61 oid scale overrides (mask×depth physics check, threshold 1.8×) (31/34)

samples/7OrTlHd-2aw_262.8_266.8/object_pose.bin

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:5b8d11c45bdacc416da992d6ef1c81662c030293c5a6d7fb0aafedebbaffca62
+oid sha256:a7ccaacf7f3d30c2caaff3d964f7fca6e2a9fdd4f39783a36569b93a9fbddd79
 size 3840

samples/7OrTlHd-2aw_262.8_266.8/pose_track.json

@@ -5,26 +5,26 @@
     "anchor_t": 7,
     "smooth_sigma": 2.0,
     "n_observed": 59,
-    "scale_correction": 0.10016843676567078,
+    "scale_correction": 0.04385045825865259,
     "T_seq": [
       [
         [
           0.8605334162712097,
           -0.4626079797744751,
           0.21325130760669708,
-          -0.08120107650756836
+          -0.0810629352927208
         ],
         [
           0.5003055930137634,
           0.8462803959846497,
           -0.18304048478603363,
-          -0.023828139528632164
+          -0.02354130521416664
         ],
         [
           -0.09579440951347351,
           0.264203280210495,
           0.9596979022026062,
-          0.856708824634552
+          0.856434166431427
         ],
         [
           0.0,
@@ -38,19 +38,19 @@
           0.8605334162712097,
           -0.4626079797744751,
           0.21325130760669708,
-          -0.08108006417751312
+          -0.08094192296266556
         ],
         [
           0.5003055930137634,
           0.8462803959846497,
           -0.18304048478603363,
-          -0.02355196513235569
+          -0.023265130817890167
         ],
         [
           -0.09579440951347351,
           0.264203280210495,
           0.9596979022026062,
-          0.8567436337471008
+          0.8564689755439758
         ],
         [
           0.0,
@@ -64,19 +64,19 @@
           0.8605334162712097,
           -0.4626079797744751,
           0.21325130760669708,
-          -0.08096332848072052
+          -0.08082518726587296
         ],
         [
           0.5003055930137634,
           0.8462803959846497,
           -0.18304048478603363,
-          -0.023304888978600502
+          -0.02301805466413498
         ],
         [
           -0.09579440951347351,
           0.264203280210495,
           0.9596979022026062,
-          0.8566968441009521
+          0.8564221858978271
         ],
         [
           0.0,
@@ -90,19 +90,19 @@
           0.8605334162712097,
           -0.4626079797744751,
           0.21325130760669708,
-          -0.08086742460727692
+          -0.08072928339242935
         ],
         [
           0.5003055930137634,
           0.8462803959846497,
           -0.18304048478603363,
-          -0.02313069812953472
+          -0.0228438638150692
         ],
         [
           -0.09579440951347351,
           0.264203280210495,
           0.9596979022026062,
-          0.8565481901168823
+          0.8562735319137573
         ],
         [
           0.0,
@@ -116,19 +116,19 @@
           0.8605334162712097,
           -0.4626079797744751,
           0.21325130760669708,
-          -0.08079297840595245
+          -0.08065483719110489
         ],
         [
           0.5003055930137634,
           0.8462803959846497,
           -0.18304048478603363,
-          -0.023032171651721
+          -0.022745337337255478
         ],
         [
           -0.09579440951347351,
           0.264203280210495,
           0.9596979022026062,
-          0.8563021421432495
+          0.8560274839401245
         ],
         [
           0.0,
@@ -142,19 +142,19 @@
           0.8605334162712097,
           -0.4626079797744751,
           0.21325130760669708,
-          -0.08072669804096222
+          -0.08058855682611465
         ],
         [
           0.5003055930137634,
           0.8462803959846497,
           -0.18304048478603363,
-          -0.022985242307186127
+          -0.022698407992720604
         ],
         [
           -0.09579440951347351,
           0.264203280210495,
           0.9596979022026062,
-          0.8559674024581909
+          0.8556927442550659
         ],
         [
           0.0,
@@ -168,19 +168,19 @@
           0.8605334162712097,
           -0.4626079797744751,
           0.21325130760669708,
-          -0.08064848929643631
+          -0.08051034808158875
         ],
         [
           0.5003055930137634,
           0.8462803959846497,
           -0.18304048478603363,
-          -0.02296457812190056
+          -0.022677743807435036
         ],
         [
           -0.09579440951347351,
           0.264203280210495,
           0.9596979022026062,
-          0.8555590510368347
+          0.8552843928337097
         ],
         [
           0.0,
@@ -194,19 +194,19 @@
           0.8605334162712097,
           -0.4626079797744751,
           0.21325130760669708,
-          -0.08054541051387787
+          -0.0804072692990303
         ],
         [
           0.5003055930137634,
           0.8462803959846497,
           -0.18304048478603363,
-          -0.022955503314733505
+          -0.022668669000267982
         ],
         [
           -0.09579440951347351,
           0.264203280210495,
           0.9596979022026062,
-          0.8551055192947388
+          0.8548308610916138
         ],
         [
           0.0,
@@ -220,19 +220,19 @@
           0.8605334162712097,
           -0.4626079797744751,
           0.21325130760669708,
-          -0.08042312413454056
+          -0.080284982919693
         ],
         [
           0.5003055930137634,
           0.8462803959846497,
           -0.18304048478603363,
-          -0.022953029721975327
+          -0.022666195407509804
         ],
         [
           -0.09579440951347351,
           0.264203280210495,
           0.9596979022026062,
-          0.8546743392944336
+          0.8543996810913086
         ],
         [
           0.0,
@@ -246,19 +246,19 @@
           0.8605334162712097,
           -0.4626079797744751,
           0.21325130760669708,
-          -0.08030535280704498
+          -0.08016721159219742
         ],
         [
           0.5003055930137634,
           0.8462803959846497,
           -0.18304048478603363,
-          -0.02295386604964733
+          -0.02266703173518181
         ],
         [
           -0.09579440951347351,
           0.264203280210495,
           0.9596979022026062,
-          0.8543450832366943
+          0.8540704250335693
         ],
         [
           0.0,
@@ -272,19 +272,19 @@
           0.8605334162712097,
           -0.4626079797744751,
           0.21325130760669708,
-          -0.08021043241024017
+          -0.08007229119539261
         ],
         [
           0.5003055930137634,
           0.8462803959846497,
           -0.18304048478603363,
-          -0.022956114262342453
+          -0.02266927994787693
         ],
         [
           -0.09579440951347351,
           0.264203280210495,
           0.9596979022026062,
-          0.854134738445282
+          0.853860080242157
         ],
         [
           0.0,
@@ -298,19 +298,19 @@
           0.8605334162712097,
           -0.4626079797744751,
           0.21325130760669708,
-          -0.08014117181301117
+          -0.0800030305981636
         ],
         [
           0.5003055930137634,
           0.8462803959846497,
           -0.18304048478603363,
-          -0.02295718528330326
+          -0.022670350968837738
         ],
         [
           -0.09579440951347351,
           0.264203280210495,
           0.9596979022026062,
-          0.8539940118789673
+          0.8537193536758423
         ],
         [
           0.0,
@@ -324,19 +324,19 @@
           0.8605334162712097,
           -0.4626079797744751,
           0.21325130760669708,
-          -0.08009496331214905
+          -0.07995682209730148
         ],
         [
           0.5003055930137634,
           0.8462803959846497,
           -0.18304048478603363,
-          -0.02295561134815216
+          -0.022668777033686638
         ],
         [
           -0.09579440951347351,
           0.264203280210495,
           0.9596979022026062,
-          0.8538810610771179
+          0.8536064028739929
         ],
         [
           0.0,
@@ -350,19 +350,19 @@
           0.8605334162712097,
           -0.4626079797744751,
           0.21325130760669708,
-          -0.08008487522602081
+          -0.07994673401117325
         ],
         [
           0.5003055930137634,
           0.8462803959846497,
           -0.18304048478603363,
-          -0.02295217104256153
+          -0.02266533672809601
         ],
         [
           -0.09579440951347351,
           0.264203280210495,
           0.9596979022026062,
-          0.8538498878479004
+          0.8535752296447754
         ],
         [
           0.0,
@@ -376,19 +376,19 @@
           0.8605334162712097,
           -0.4626079797744751,
           0.21325130760669708,
-          -0.0801306962966919
+          -0.07999255508184433
         ],
         [
           0.5003055930137634,
           0.8462803959846497,
           -0.18304048478603363,
-          -0.022949539124965668
+          -0.022662704810500145
         ],
         [
           -0.09579440951347351,
           0.264203280210495,
           0.9596979022026062,
-          0.854025661945343
+          0.853751003742218
         ],
         [
           0.0,
@@ -402,19 +402,19 @@
           0.8605334162712097,
           -0.4626079797744751,
           0.21325130760669708,
-          -0.08023464679718018
+          -0.08009650558233261
         ],
         [
           0.5003055930137634,
           0.8462803959846497,
           -0.18304048478603363,
-          -0.02294989489018917
+          -0.022663060575723648
         ],
         [
           -0.09579440951347351,
           0.264203280210495,
           0.9596979022026062,
-          0.8544789552688599
+          0.8542042970657349
         ],
         [
           0.0,
@@ -428,19 +428,19 @@
           0.8605334162712097,
           -0.4626079797744751,
           0.21325130760669708,
-          -0.08037588745355606
+          -0.0802377462387085
         ],
         [
           0.5003055930137634,
           0.8462803959846497,
           -0.18304048478603363,
-          -0.022953098639845848
+          -0.022666264325380325
         ],
         [
           -0.09579440951347351,
           0.264203280210495,
           0.9596979022026062,
-          0.8551458716392517
+          0.8548712134361267
         ],
         [
           0.0,
@@ -454,19 +454,19 @@
           0.8605334162712097,
           -0.4626079797744751,
           0.21325130760669708,
-          -0.08052032440900803
+          -0.08038218319416046
         ],
         [
           0.5003055930137634,
           0.8462803959846497,
           -0.18304048478603363,
-          -0.02295728772878647
+          -0.022670453414320946
         ],
         [
           -0.09579440951347351,
           0.264203280210495,
           0.9596979022026062,
-          0.8558502197265625
+          0.8555755615234375
         ],
         [
           0.0,
@@ -480,19 +480,19 @@
           0.8605334162712097,
           -0.4626079797744751,
           0.21325130760669708,
-          -0.08063400536775589
+          -0.08049586415290833
         ],
         [
           0.5003055930137634,
           0.8462803959846497,
           -0.18304048478603363,
-          -0.0229610837996006
+          -0.02267424948513508
         ],
         [
           -0.09579440951347351,
           0.264203280210495,
           0.9596979022026062,
-          0.856410801410675
+          0.85613614320755
         ],
         [
           0.0,
@@ -506,19 +506,19 @@
           0.8605334162712097,
           -0.4626079797744751,
           0.21325130760669708,
-          -0.08068937808275223
+          -0.08055123686790466
         ],
         [
           0.5003055930137634,
           0.8462803959846497,
           -0.18304048478603363,
-          -0.022963838651776314
+          -0.02267700433731079
         ],
         [
           -0.09579440951347351,
           0.264203280210495,
           0.9596979022026062,
-          0.8567023277282715
+          0.8564276695251465
         ],
         [
           0.0,
@@ -532,19 +532,19 @@
           0.8605334162712097,
           -0.4626079797744751,
           0.21325130760669708,
-          -0.08065902441740036
+          -0.0805208832025528
         ],
         [
           0.5003055930137634,
           0.8462803959846497,
           -0.18304048478603363,
-          -0.022964494302868843
+          -0.02267765998840332
         ],
         [
           -0.09579440951347351,
           0.264203280210495,
           0.9596979022026062,
-          0.8566550016403198
+          0.8563803434371948
         ],
         [
           0.0,
@@ -558,19 +558,19 @@
           0.8605334162712097,
           -0.4626079797744751,
           0.21325130760669708,
-          -0.08052914589643478
+          -0.08039100468158722
         ],
         [
           0.5003055930137634,
           0.8462803959846497,
           -0.18304048478603363,
-          -0.02296213060617447
+          -0.022675296291708946
         ],
         [
           -0.09579440951347351,
           0.264203280210495,
           0.9596979022026062,
-          0.8562797904014587
+          0.8560051321983337
         ],
         [
           0.0,
@@ -584,19 +584,19 @@
           0.8605334162712097,
           -0.4626079797744751,
           0.21325130760669708,
-          -0.0803179070353508
+          -0.08017976582050323
         ],
         [
           0.5003055930137634,
           0.8462803959846497,
           -0.18304048478603363,
-          -0.02295922487974167
+          -0.022672390565276146
         ],
         [
           -0.09579440951347351,
           0.264203280210495,
           0.9596979022026062,
-          0.8557659387588501
+          0.8554912805557251
         ],
         [
           0.0,
@@ -610,19 +610,19 @@
           0.8605334162712097,
           -0.4626079797744751,
           0.21325130760669708,
-          -0.08008446544408798
+          -0.07994632422924042
         ],
         [
           0.5003055930137634,
           0.8462803959846497,
           -0.18304048478603363,
-          -0.022962410002946854
+          -0.02267557568848133
         ],
         [
           -0.09579440951347351,
           0.264203280210495,
           0.9596979022026062,
-          0.8554784059524536
+          0.8552037477493286
         ],
         [
           0.0,
@@ -636,19 +636,19 @@
           0.8605334162712097,
           -0.4626079797744751,
           0.21325130760669708,
-          -0.07989334315061569
+          -0.07975520193576813
         ],
         [
           0.5003055930137634,
           0.8462803959846497,
           -0.18304048478603363,
-          -0.02297581173479557
+          -0.022688977420330048
         ],
         [
           -0.09579440951347351,
           0.264203280210495,
           0.9596979022026062,
-          0.8556616902351379
+          0.8553870320320129
         ],
         [
           0.0,
@@ -662,19 +662,19 @@
           0.8605334162712097,
           -0.4626079797744751,
           0.21325130760669708,
-          -0.07977021485567093
+          -0.07963207364082336
         ],
         [
           0.5003055930137634,
           0.8462803959846497,
           -0.18304048478603363,
-          -0.02299492061138153
+          -0.022708086296916008
         ],
         [
           -0.09579440951347351,
           0.264203280210495,
           0.9596979022026062,
-          0.8561602830886841
+          0.8558856248855591
         ],
         [
           0.0,
@@ -688,19 +688,19 @@
           0.8605334162712097,
           -0.4626079797744751,
           0.21325130760669708,
-          -0.07969193160533905
+          -0.07955379039049149
         ],
         [
           0.5003055930137634,
           0.8462803959846497,
           -0.18304048478603363,
-          -0.02300976775586605
+          -0.022722933441400528
         ],
         [
           -0.09579440951347351,
           0.264203280210495,
           0.9596979022026062,
-          0.8565260171890259
+          0.8562513589859009
         ],
         [
           0.0,
@@ -714,19 +714,19 @@
           0.8605334162712097,
           -0.4626079797744751,
           0.21325130760669708,
-          -0.07963309437036514
+          -0.07949495315551758
         ],
         [
           0.5003055930137634,
           0.8462803959846497,
           -0.18304048478603363,
-          -0.023014508187770844
+          -0.02272767387330532
         ],
         [
           -0.09579440951347351,
           0.264203280210495,
           0.9596979022026062,
-          0.856484055519104
+          0.856209397315979
         ],
         [
           0.0,
@@ -740,19 +740,19 @@
           0.8605334162712097,
           -0.4626079797744751,
           0.21325130760669708,
-          -0.07960150390863419
+          -0.07946336269378662
         ],
         [
           0.5003055930137634,
           0.8462803959846497,
           -0.18304048478603363,
-          -0.02301228977739811
+          -0.022725455462932587
         ],
         [
           -0.09579440951347351,
           0.264203280210495,
           0.9596979022026062,
-          0.8562037944793701
+          0.8559291362762451
         ],
         [
           0.0,
@@ -766,19 +766,19 @@
           0.8605334162712097,
           -0.4626079797744751,
           0.21325130760669708,
-          -0.07962612062692642
+          -0.07948797941207886
         ],
         [
           0.5003055930137634,
           0.8462803959846497,
           -0.18304048478603363,
-          -0.02300979010760784
+          -0.02272295579314232
         ],
         [
           -0.09579440951347351,
           0.264203280210495,
           0.9596979022026062,
-          0.8560590744018555
+          0.8557844161987305
         ],
         [
           0.0,
@@ -792,19 +792,19 @@
           0.8605334162712097,
           -0.4626079797744751,
           0.21325130760669708,
-          -0.07971712201833725
+          -0.07957898080348969
         ],
         [
           0.5003055930137634,
           0.8462803959846497,
           -0.18304048478603363,
-          -0.02301011234521866
+          -0.022723278030753136
         ],
         [
           -0.09579440951347351,
           0.264203280210495,
           0.9596979022026062,
-          0.8562206625938416
+          0.8559460043907166
         ],
         [
           0.0,
@@ -818,19 +818,19 @@
           0.8605334162712097,
           -0.4626079797744751,
           0.21325130760669708,
-          -0.07984386384487152
+          -0.07970572263002396
         ],
         [
           0.5003055930137634,
           0.8462803959846497,
           -0.18304048478603363,
-          -0.023011576384305954
+          -0.02272474206984043
         ],
         [
           -0.09579440951347351,
           0.264203280210495,
           0.9596979022026062,
-          0.8565443754196167
+          0.8562697172164917
         ],
         [
           0.0,
@@ -844,19 +844,19 @@
           0.8605334162712097,
           -0.4626079797744751,
           0.21325130760669708,
-          -0.07994802296161652
+          -0.07980988174676895
         ],
         [
           0.5003055930137634,
           0.8462803959846497,
           -0.18304048478603363,
-          -0.02301153913140297
+          -0.022724704816937447
         ],
         [
           -0.09579440951347351,
           0.264203280210495,
           0.9596979022026062,
-          0.8567870259284973
+          0.8565123677253723
         ],
         [
           0.0,
@@ -870,19 +870,19 @@
           0.8605334162712097,
           -0.4626079797744751,
           0.21325130760669708,
-          -0.07998483628034592
+          -0.07984669506549835
         ],
         [
           0.5003055930137634,
           0.8462803959846497,
           -0.18304048478603363,
-          -0.023008262738585472
+          -0.02272142842411995
         ],
         [
           -0.09579440951347351,
           0.264203280210495,
           0.9596979022026062,
-          0.85679692029953
+          0.856522262096405
         ],
         [
           0.0,
@@ -896,19 +896,19 @@
           0.8605334162712097,
           -0.4626079797744751,
           0.21325130760669708,
-          -0.07994616031646729
+          -0.07980801910161972
         ],
         [
           0.5003055930137634,
           0.8462803959846497,
           -0.18304048478603363,
-          -0.023000868037343025
+          -0.022714033722877502
         ],
         [
           -0.09579440951347351,
           0.264203280210495,
           0.9596979022026062,
-          0.856537401676178
+          0.856262743473053
         ],
         [
           0.0,
@@ -922,19 +922,19 @@
           0.8605334162712097,
           -0.4626079797744751,
           0.21325130760669708,
-          -0.07986308634281158
+          -0.07972494512796402
         ],
         [
           0.5003055930137634,
           0.8462803959846497,
           -0.18304048478603363,
-          -0.022988026961684227
+          -0.022701192647218704
         ],
         [
           -0.09579440951347351,
           0.264203280210495,
           0.9596979022026062,
-          0.8560422658920288
+          0.8557676076889038
         ],
         [
           0.0,
@@ -948,19 +948,19 @@
           0.8605334162712097,
           -0.4626079797744751,
           0.21325130760669708,
-          -0.07977800071239471
+          -0.07963985949754715
         ],
         [
           0.5003055930137634,
           0.8462803959846497,
           -0.18304048478603363,
-          -0.022967448458075523
+          -0.02268061414361
         ],
         [
           -0.09579440951347351,
           0.264203280210495,
           0.9596979022026062,
-          0.8553632497787476
+          0.8550885915756226
         ],
         [
           0.0,
@@ -974,19 +974,19 @@
           0.8605334162712097,
           -0.4626079797744751,
           0.21325130760669708,
-          -0.07972032576799393
+          -0.07958218455314636
         ],
         [
           0.5003055930137634,
           0.8462803959846497,
           -0.18304048478603363,
-          -0.022940879687666893
+          -0.02265404537320137
         ],
         [
           -0.09579440951347351,
           0.264203280210495,
           0.9596979022026062,
-          0.8546081781387329
+          0.8543335199356079
         ],
         [
           0.0,
@@ -1000,19 +1000,19 @@
           0.8605334162712097,
           -0.4626079797744751,
           0.21325130760669708,
-          -0.07973314821720123
+          -0.07959500700235367
         ],
         [
           0.5003055930137634,
           0.8462803959846497,
           -0.18304048478603363,
-          -0.022932523861527443
+          -0.02264568954706192
         ],
         [
           -0.09579440951347351,
           0.264203280210495,
           0.9596979022026062,
-          0.8540327548980713
+          0.8537580966949463
         ],
         [
           0.0,
@@ -1026,19 +1026,19 @@
           0.8605334162712097,
           -0.4626079797744751,
           0.21325130760669708,
-          -0.079875148832798
+          -0.07973700761795044
         ],
         [
           0.5003055930137634,
           0.8462803959846497,
           -0.18304048478603363,
-          -0.022993987426161766
+          -0.022707153111696243
         ],
         [
           -0.09579440951347351,
           0.264203280210495,
           0.9596979022026062,
-          0.8541187644004822
+          0.8538441061973572
         ],
         [
           0.0,
@@ -1052,19 +1052,19 @@
           0.8605334162712097,
           -0.4626079797744751,
           0.21325130760669708,
-          -0.08028878271579742
+          -0.08015064150094986
         ],
         [
           0.5003055930137634,
           0.8462803959846497,
           -0.18304048478603363,
-          -0.023241298273205757
+          -0.022954463958740234
         ],
         [
           -0.09579440951347351,
           0.264203280210495,
           0.9596979022026062,
-          0.8555876016616821
+          0.8553129434585571
         ],
         [
           0.0,
@@ -1078,19 +1078,19 @@
           0.8605334162712097,
           -0.4626079797744751,
           0.21325130760669708,
-          -0.0811285674571991
+          -0.08099042624235153
         ],
         [
           0.5003055930137634,
           0.8462803959846497,
           -0.18304048478603363,
-          -0.02379758097231388
+          -0.023510746657848358
         ],
         [
           -0.09579440951347351,
           0.264203280210495,
           0.9596979022026062,
-          0.8589155077934265
+          0.8586408495903015
         ],
         [
           0.0,
@@ -1104,19 +1104,19 @@
           0.8605334162712097,
           -0.4626079797744751,
           0.21325130760669708,
-          -0.08228721469640732
+          -0.08214907348155975
         ],
         [
           0.5003055930137634,
           0.8462803959846497,
           -0.18304048478603363,
-          -0.0245843343436718
+          -0.024297500029206276
         ],
         [
           -0.09579440951347351,
           0.264203280210495,
           0.9596979022026062,
-          0.863612711429596
+          0.863338053226471
         ],
         [
           0.0,
@@ -1130,19 +1130,19 @@
           0.8605334162712097,
           -0.4626079797744751,
           0.21325130760669708,
-          -0.08325735479593277
+          -0.0831192135810852
         ],
         [
           0.5003055930137634,
           0.8462803959846497,
           -0.18304048478603363,
-          -0.025226691737771034
+          -0.02493985742330551
         ],
         [
           -0.09579440951347351,
           0.264203280210495,
           0.9596979022026062,
-          0.8679832816123962
+          0.8677086234092712
         ],
         [
           0.0,
@@ -1156,19 +1156,19 @@
           0.8605334162712097,
           -0.4626079797744751,
           0.21325130760669708,
-          -0.08340465277433395
+          -0.08326651155948639
         ],
         [
           0.5003055930137634,
           0.8462803959846497,
           -0.18304048478603363,
-          -0.025272680446505547
+          -0.024985846132040024
         ],
         [
           -0.09579440951347351,
           0.264203280210495,
           0.9596979022026062,
-          0.8699910640716553
+          0.8697164058685303
         ],
         [
           0.0,
@@ -1182,19 +1182,19 @@
           0.8605334162712097,
           -0.4626079797744751,
           0.21325130760669708,
-          -0.08258628845214844
+          -0.08244814723730087
         ],
         [
           0.5003055930137634,
           0.8462803959846497,
           -0.18304048478603363,
-          -0.024638468399643898
+          -0.024351634085178375
         ],
         [
           -0.09579440951347351,
           0.264203280210495,
           0.9596979022026062,
-          0.8687679767608643
+          0.8684933185577393
         ],
         [
           0.0,
@@ -1208,19 +1208,19 @@
           0.8605334162712097,
           -0.4626079797744751,
           0.21325130760669708,
-          -0.08139648288488388
+          -0.08125834167003632
         ],
         [
           0.5003055930137634,
           0.8462803959846497,
           -0.18304048478603363,
-          -0.02374832145869732
+          -0.023461487144231796
         ],
         [
           -0.09579440951347351,
           0.264203280210495,
           0.9596979022026062,
-          0.8654533624649048
+          0.8651787042617798
         ],
         [
           0.0,
@@ -1234,19 +1234,19 @@
           0.8605334162712097,
           -0.4626079797744751,
           0.21325130760669708,
-          -0.08062084764242172
+          -0.08048270642757416
         ],
         [
           0.5003055930137634,
           0.8462803959846497,
           -0.18304048478603363,
-          -0.023127801716327667
+          -0.022840967401862144
         ],
         [
           -0.09579440951347351,
           0.264203280210495,
           0.9596979022026062,
-          0.8623303771018982
+          0.8620557188987732
         ],
         [
           0.0,
@@ -1260,19 +1260,19 @@
           0.8605334162712097,
           -0.4626079797744751,
           0.21325130760669708,
-          -0.08054335415363312
+          -0.08040521293878555
         ],
         [
           0.5003055930137634,
           0.8462803959846497,
           -0.18304048478603363,
-          -0.022948430851101875
+          -0.022661596536636353
         ],
         [
           -0.09579440951347351,
           0.264203280210495,
           0.9596979022026062,
-          0.8610813021659851
+          0.8608066439628601
         ],
         [
           0.0,
@@ -1286,19 +1286,19 @@
           0.8605334162712097,
           -0.4626079797744751,
           0.21325130760669708,
-          -0.08089126646518707
+          -0.08075312525033951
         ],
         [
           0.5003055930137634,
           0.8462803959846497,
           -0.18304048478603363,
-          -0.023032354190945625
+          -0.022745519876480103
         ],
         [
           -0.09579440951347351,
           0.264203280210495,
           0.9596979022026062,
-          0.8617894649505615
+          0.8615148067474365
         ],
         [
           0.0,
@@ -1312,19 +1312,19 @@
           0.8605334162712097,
           -0.4626079797744751,
           0.21325130760669708,
-          -0.08127087354660034
+          -0.08113273233175278
         ],
         [
           0.5003055930137634,
           0.8462803959846497,
           -0.18304048478603363,
-          -0.02315465547144413
+          -0.022867821156978607
         ],
         [
           -0.09579440951347351,
           0.264203280210495,
           0.9596979022026062,
-          0.8633279204368591
+          0.8630532622337341
         ],
         [
           0.0,
@@ -1338,19 +1338,19 @@
           0.8605334162712097,
           -0.4626079797744751,
           0.21325130760669708,
-          -0.0814831554889679
+          -0.08134501427412033
         ],
         [
           0.5003055930137634,
           0.8462803959846497,
           -0.18304048478603363,
-          -0.023228101432323456
+          -0.022941267117857933
         ],
         [
           -0.09579440951347351,
           0.264203280210495,
           0.9596979022026062,
-          0.8645009398460388
+          0.8642262816429138
         ],
         [
           0.0,
@@ -1364,19 +1364,19 @@
           0.8605334162712097,
           -0.4626079797744751,
           0.21325130760669708,
-          -0.08153627812862396
+          -0.0813981369137764
         ],
         [
           0.5003055930137634,
           0.8462803959846497,
           -0.18304048478603363,
-          -0.023278038948774338
+          -0.022991204634308815
         ],
         [
           -0.09579440951347351,
           0.264203280210495,
           0.9596979022026062,
-          0.8647305965423584
+          0.8644559383392334
         ],
         [
           0.0,
@@ -1390,19 +1390,19 @@
           0.8605334162712097,
           -0.4626079797744751,
           0.21325130760669708,
-          -0.08147946745157242
+          -0.08134132623672485
         ],
         [
           0.5003055930137634,
           0.8462803959846497,
           -0.18304048478603363,
-          -0.023327413946390152
+          -0.02304057963192463
         ],
         [
           -0.09579440951347351,
           0.264203280210495,
           0.9596979022026062,
-          0.8641073107719421
+          0.8638326525688171
         ],
         [
           0.0,
@@ -1416,19 +1416,19 @@
           0.8605334162712097,
           -0.4626079797744751,
           0.21325130760669708,
-          -0.08135610818862915
+          -0.08121796697378159
         ],
         [
           0.5003055930137634,
           0.8462803959846497,
           -0.18304048478603363,
-          -0.02336346171796322
+          -0.023076627403497696
         ],
         [
           -0.09579440951347351,
           0.264203280210495,
           0.9596979022026062,
-          0.8630719780921936
+          0.8627973198890686
         ],
         [
           0.0,
@@ -1442,19 +1442,19 @@
           0.8605334162712097,
           -0.4626079797744751,
           0.21325130760669708,
-          -0.08121834695339203
+          -0.08108020573854446
         ],
         [
           0.5003055930137634,
           0.8462803959846497,
           -0.18304048478603363,
-          -0.02334110252559185
+          -0.023054268211126328
         ],
         [
           -0.09579440951347351,
           0.264203280210495,
           0.9596979022026062,
-          0.8622661828994751
+          0.8619915246963501
         ],
         [
           0.0,
@@ -1468,19 +1468,19 @@
           0.8605334162712097,
           -0.4626079797744751,
           0.21325130760669708,
-          -0.08108514547348022
+          -0.08094700425863266
         ],
         [
           0.5003055930137634,
           0.8462803959846497,
           -0.18304048478603363,
-          -0.02317366749048233
+          -0.022886833176016808
         ],
         [
           -0.09579440951347351,
           0.264203280210495,
           0.9596979022026062,
-          0.8623253107070923
+          0.8620506525039673
         ],
         [
           0.0,
@@ -1494,19 +1494,19 @@
           0.8605334162712097,
           -0.4626079797744751,
           0.21325130760669708,
-          -0.08095566928386688
+          -0.08081752806901932
         ],
         [
           0.5003055930137634,
           0.8462803959846497,
           -0.18304048478603363,
-          -0.022799169644713402
+          -0.02251233533024788
         ],
         [
           -0.09579440951347351,
           0.264203280210495,
           0.9596979022026062,
-          0.8636031746864319
+          0.8633285164833069
         ],
         [
           0.0,
@@ -1520,19 +1520,19 @@
           0.8605334162712097,
           -0.4626079797744751,
           0.21325130760669708,
-          -0.0808294266462326
+          -0.08069128543138504
         ],
         [
           0.5003055930137634,
           0.8462803959846497,
           -0.18304048478603363,
-          -0.02224486880004406
+          -0.021958034485578537
         ],
         [
           -0.09579440951347351,
           0.264203280210495,
           0.9596979022026062,
-          0.8660000562667847
+          0.8657253980636597
         ],
         [
           0.0,
@@ -1546,19 +1546,19 @@
           0.8605334162712097,
           -0.4626079797744751,
           0.21325130760669708,
-          -0.08071806281805038
+          -0.08057992160320282
         ],
         [
           0.5003055930137634,
           0.8462803959846497,
           -0.18304048478603363,
-          -0.021634869277477264
+          -0.02134803496301174
         ],
         [
           -0.09579440951347351,
           0.264203280210495,
           0.9596979022026062,
-          0.8689501285552979
+          0.8686754703521729
         ],
         [
           0.0,
@@ -2313,6 +2313,7 @@
       false,
       false,
       false
-    ]
+    ],
+    "scale_correction_orig_sam3d": 0.10016843676567078
   }
 }

samples/7OrTlHd-2aw_262.8_266.8/recording.viser

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:daec540fd78bd56d7873ced4aa44607d517a3be2202f2adfc943f3beb7436e8e
-size 2494939
+oid sha256:eeffb64afb52f2adab5906d3a3e97b139925d8360bf87b939f8285dad0d8cc39
+size 2494646

samples/7OrTlHd-2aw_262.8_266.8/scene.json

@@ -48,7 +48,7 @@
         "color_hex": "#5a7daa",
         "ply": "objects/obj_2.ply",
         "n_points": 12676,
-        "scale_correction": 0.10016843676567078,
+        "scale_correction": 0.04385045825865259,
         "tracker_ok": true,
         "canonical_translation": [
           0.14003325998783112,