diff --git a/.gitattributes b/.gitattributes
index bed0738c7eeb449bca98b5d2f33c89a1ee56349a..2b14a7d25cc2ff6a6c1edfe03cf20a652649d7d7 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -58,3 +58,9 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 # Video files - compressed
 *.mp4 filter=lfs diff=lfs merge=lfs -text
 *.webm filter=lfs diff=lfs merge=lfs -text
+GSO30/alarm/meshes/model.glb filter=lfs diff=lfs merge=lfs -text
+GSO30/alarm/render_mvs_25/model_norm.glb filter=lfs diff=lfs merge=lfs -text
+GSO30/alarm/render_spiral_100/da3/pcd/0_pcd.ply filter=lfs diff=lfs merge=lfs -text
+GSO30/alarm/render_spiral_100/da3/pcd/1_pcd.ply filter=lfs diff=lfs merge=lfs -text
+GSO30/alarm/render_spiral_100/da3/pcd/2_pcd.ply filter=lfs diff=lfs merge=lfs -text
+GSO30/alarm/render_spiral_100/da3/pcd/combined_pcd.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/GSO30/alarm/materials/textures/texture.png b/GSO30/alarm/materials/textures/texture.png
new file mode 100644
index 0000000000000000000000000000000000000000..0e177687f98a62b0013c76913c3a1cd9cfebb39b
--- /dev/null
+++ b/GSO30/alarm/materials/textures/texture.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef239ad22f49fa3db52aa1765caa77e41b4a5af7b62fe89f05fea169c0f7116e
+size 10130890
diff --git a/GSO30/alarm/meshes/model.glb b/GSO30/alarm/meshes/model.glb
new file mode 100644
index 0000000000000000000000000000000000000000..83e67c1a080d5b2a953e811febfdd6c049b3fc62
--- /dev/null
+++ b/GSO30/alarm/meshes/model.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed3b91aef0d2cd0b795200f55573546c53edc9df1e69eb35e7d6e7eb15a5079c
+size 6808116
diff --git a/GSO30/alarm/meshes/model.mtl b/GSO30/alarm/meshes/model.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6b8ec6d2159b72d8f090a4d79bd65e059ad17164
--- /dev/null
+++ b/GSO30/alarm/meshes/model.mtl
@@ -0,0 +1,12 @@
+# Copyright 2020 Google LLC.
+# 
+# This work is licensed under the Creative Commons Attribution 4.0
+# International License. To view a copy of this license, visit
+# http://creativecommons.org/licenses/by/4.0/ or send a letter
+# to Creative Commons, PO Box 1866, Mountain View, CA 94042, USA.
+newmtl material_0
+# shader_type beckmann
+map_Kd texture.png
+
+# Kd: Diffuse reflectivity.
+Kd 1.000000 1.000000 1.000000
diff --git a/GSO30/alarm/meshes/model.obj b/GSO30/alarm/meshes/model.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f73697ff17c52159b4f76f4705a1c431ea61e91f
--- /dev/null
+++ b/GSO30/alarm/meshes/model.obj
@@ -0,0 +1,26160 @@
+# Copyright 2020 Google LLC.
+# 
+# This work is licensed under the Creative Commons Attribution 4.0
+# International License. To view a copy of this license, visit
+# http://creativecommons.org/licenses/by/4.0/ or send a letter
+# to Creative Commons, PO Box 1866, Mountain View, CA 94042, USA.
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+# Vertices: 5124
+# Faces: 10248
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diff --git a/GSO30/alarm/metadata.pbtxt b/GSO30/alarm/metadata.pbtxt
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+model {
+  file: "model.sdf"
+}
+name: "Crosley_Alarm_Clock_Vintage_Metal"
+description: "Crosley Alarm Clock, Vintage Metal"
+version: 1
+authors {
+  name: "Google"
+  email: "scanned-objects@google.com"
+}
+legal {
+  copyright: "Copyright 2020 Google LLC."
+  license: "Creative Commons Attribution 4.0 International"
+}
+annotations {
+  key: "brand"
+  value: "Crosley"
+}
+annotations {
+  key: "gtin"
+  value: "04897017373496"
+}
+annotations {
+  key: "sku"
+  value: "04897017373496"
+}
+compatibilities {
+  name: "Gazebo"
+  version {
+    major: 11
+  }
+}
+categories {
+  first: "Consumer Goods"
+}
diff --git a/GSO30/alarm/model.config b/GSO30/alarm/model.config
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+<!--
+Copyright 2020 Google LLC.
+
+This work is licensed under the Creative Commons Attribution 4.0
+International License. To view a copy of this license, visit
+http://creativecommons.org/licenses/by/4.0/ or send a letter
+to Creative Commons, PO Box 1866, Mountain View, CA 94042, USA.
+-->
+<model>
+  <name>Crosley_Alarm_Clock_Vintage_Metal</name>
+  <author>
+    <name>Google</name>
+    <email>scanned-objects@google.com</email>
+  </author>
+  <version>1.0</version>
+  <sdf version="1.6">model.sdf</sdf>
+  <description>Crosley Alarm Clock, Vintage Metal</description>
+</model>
diff --git a/GSO30/alarm/model.sdf b/GSO30/alarm/model.sdf
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+<?xml version="1.0" ?>
+<!--
+Copyright 2020 Google LLC.
+
+This work is licensed under the Creative Commons Attribution 4.0
+International License. To view a copy of this license, visit
+http://creativecommons.org/licenses/by/4.0/ or send a letter
+to Creative Commons, PO Box 1866, Mountain View, CA 94042, USA.
+-->
+<sdf version="1.6">
+  <model name="Crosley_Alarm_Clock_Vintage_Metal">
+    <link name="link_0">
+      <visual name="visual">
+        <geometry>
+          <mesh>
+            <uri>meshes/model.obj</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <collision name="collision_0">
+        <geometry>
+          <mesh>
+            <uri>meshes/model.obj</uri>
+          </mesh>
+        </geometry>
+      </collision>
+    </link>
+  </model>
+</sdf>
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diff --git a/GSO30/alarm/render_spiral_100/da3/camera_poses_da3_raw.txt b/GSO30/alarm/render_spiral_100/da3/camera_poses_da3_raw.txt
new file mode 100644
index 0000000000000000000000000000000000000000..04558ce3c92580043b725b5f313ff1e9641fc4d1
--- /dev/null
+++ b/GSO30/alarm/render_spiral_100/da3/camera_poses_da3_raw.txt
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diff --git a/GSO30/alarm/render_spiral_100/da3/gpu_mem_trace.csv b/GSO30/alarm/render_spiral_100/da3/gpu_mem_trace.csv
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index 0000000000000000000000000000000000000000..0dbbf73d0b027181723d7e236c6d75b6f17f8ad1
--- /dev/null
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diff --git a/GSO30/alarm/render_spiral_100/da3/gt_camera_da3_depth_manifest.json b/GSO30/alarm/render_spiral_100/da3/gt_camera_da3_depth_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..daf6cd0a64f459685636c540d086f8e22a0e83d5
--- /dev/null
+++ b/GSO30/alarm/render_spiral_100/da3/gt_camera_da3_depth_manifest.json
@@ -0,0 +1,22 @@
+{
+  "mode": "gso_gt_camera_da3_depth",
+  "source_da3_results_output": "/root/autodl-tmp/data/gso/GSO30/alarm/render_spiral_100/da3/results_output",
+  "source_transforms": "/root/autodl-tmp/data/gso/GSO30/alarm/render_spiral_100/transforms.json",
+  "raw_da3_camera_poses_backup": "/root/autodl-tmp/data/gso/GSO30/alarm/render_spiral_100/da3/camera_poses_da3_raw.txt",
+  "raw_da3_intrinsic_backup": "/root/autodl-tmp/data/gso/GSO30/alarm/render_spiral_100/da3/intrinsic_da3_raw.txt",
+  "sam3d_original_dir": "/root/autodl-tmp/data/gso/GSO30/alarm/render_spiral_100/da3/original",
+  "frame_count": 100,
+  "depth_scale_to_gt_enabled": true,
+  "depth_scale_applied": 1.9095968303633744,
+  "raw_da3_to_gt_scale_audit": {
+    "estimator": "center_only_umeyama",
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+    "center_rms_error": 0.1204199948538034,
+    "center_max_error": 0.3335632546134467,
+    "frame_count": 100
+  },
+  "camera_poses_txt": "GT render_spiral_100 C2W",
+  "intrinsic_txt": "GT render_spiral_100 intrinsics scaled to DA3 depth resolution",
+  "depth_min": 0.9643129110336304,
+  "depth_max": 1.8851141929626465
+}
diff --git a/GSO30/alarm/render_spiral_100/da3/intrinsic.txt b/GSO30/alarm/render_spiral_100/da3/intrinsic.txt
new file mode 100644
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diff --git a/GSO30/alarm/render_spiral_100/da3/intrinsic_da3_raw.txt b/GSO30/alarm/render_spiral_100/da3/intrinsic_da3_raw.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e6f6a9c01c7cb3ccce3428573f71356e90b3dd2c
--- /dev/null
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diff --git a/GSO30/alarm/render_spiral_100/da3/official_da3_streaming_config_resolved.yaml b/GSO30/alarm/render_spiral_100/da3/official_da3_streaming_config_resolved.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..cb62cd68f03cda106860b51679d2bf7fddde7e96
--- /dev/null
+++ b/GSO30/alarm/render_spiral_100/da3/official_da3_streaming_config_resolved.yaml
@@ -0,0 +1,44 @@
+Weights:
+  DA3: /root/autodl-tmp/zeyang/.cache/huggingface/hub/models--depth-anything--DA3NESTED-GIANT-LARGE/blobs/8899faf998dedbc230261ab736fa57015280727399429122d44d4f9e7aac2ddd
+  DA3_CONFIG: /root/autodl-tmp/zeyang/.cache/huggingface/hub/models--depth-anything--DA3NESTED-GIANT-LARGE/blobs/0c9ba5b7641a989502f845180f03b09c632f8f09
+  SALAD: ./weights/dino_salad.ckpt
+Model:
+  chunk_size: 36
+  overlap: 4
+  loop_chunk_size: 20
+  loop_enable: false
+  useDBoW: false
+  delete_temp_files: true
+  align_lib: triton
+  align_method: sim3
+  scale_compute_method: auto
+  align_type: dense
+  ref_view_strategy: saddle_balanced
+  ref_view_strategy_loop: saddle_balanced
+  depth_threshold: 15.0
+  save_depth_conf_result: true
+  save_debug_info: false
+  Sparse_Align:
+    keypoint_select: orb
+    keypoint_num: 5000
+  IRLS:
+    delta: 0.1
+    max_iters: 5
+    tol: 1e-9
+  Pointcloud_Save:
+    sample_ratio: 0.015
+    conf_threshold_coef: 0.75
+Loop:
+  SALAD:
+    image_size:
+    - 336
+    - 336
+    batch_size: 32
+    similarity_threshold: 0.85
+    top_k: 5
+    use_nms: true
+    nms_threshold: 25
+  SIM3_Optimizer:
+    lang_version: cpp
+    max_iterations: 30
+    lambda_init: 1e-6
diff --git a/GSO30/alarm/render_spiral_100/da3/official_da3_streaming_loop_disabled_shim.py b/GSO30/alarm/render_spiral_100/da3/official_da3_streaming_loop_disabled_shim.py
new file mode 100644
index 0000000000000000000000000000000000000000..9b234a3138419dad3f95c7fd424935187b75a6e7
--- /dev/null
+++ b/GSO30/alarm/render_spiral_100/da3/official_da3_streaming_loop_disabled_shim.py
@@ -0,0 +1,19 @@
+import runpy
+import sys
+import types
+DA3_ROOT = '/root/autodl-tmp/zeyang/projects/3d-vision/Depth-Anything-3'
+DA3_STREAMING_ROOT = '/root/autodl-tmp/zeyang/projects/3d-vision/Depth-Anything-3/da3_streaming'
+DA3_STREAMING_SCRIPT = '/root/autodl-tmp/zeyang/projects/3d-vision/Depth-Anything-3/da3_streaming/da3_streaming.py'
+if DA3_STREAMING_ROOT not in sys.path:
+    sys.path.insert(0, DA3_STREAMING_ROOT)
+da3_src = DA3_ROOT + '/src'
+if da3_src not in sys.path:
+    sys.path.insert(0, da3_src)
+stub = types.ModuleType('loop_utils.loop_detector')
+class LoopDetector:
+    def __init__(self, *args, **kwargs):
+        raise RuntimeError('LoopDetector should not be instantiated when loop_enable is disabled.')
+stub.LoopDetector = LoopDetector
+sys.modules['loop_utils.loop_detector'] = stub
+sys.argv[0] = DA3_STREAMING_SCRIPT
+runpy.run_path(DA3_STREAMING_SCRIPT, run_name='__main__')
diff --git a/GSO30/alarm/render_spiral_100/da3/original/frame_0.npz b/GSO30/alarm/render_spiral_100/da3/original/frame_0.npz
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diff --git a/GSO30/alarm/render_spiral_100/per_view_alignment_metrics.csv b/GSO30/alarm/render_spiral_100/per_view_alignment_metrics.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6ec8d9fc0d6a8581f7d26de49e9ef5aadcad06fd
--- /dev/null
+++ b/GSO30/alarm/render_spiral_100/per_view_alignment_metrics.csv
@@ -0,0 +1,101 @@
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diff --git a/GSO30/alarm/render_spiral_100/transforms.json b/GSO30/alarm/render_spiral_100/transforms.json
new file mode 100644
index 0000000000000000000000000000000000000000..d8abd4ab1af61f8521079f0a8481a46b9563e39f
--- /dev/null
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