diff --git a/.gitattributes b/.gitattributes
index 168f599cacbe6ce9e6b78839d6689b920b78cb44..923d29e091fcb970685cd16b965a06516aae167e 100644
--- a/.gitattributes
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diff --git a/GSO30/sofa/materials/textures/texture.png b/GSO30/sofa/materials/textures/texture.png
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diff --git a/GSO30/sofa/meshes/model.mtl b/GSO30/sofa/meshes/model.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..6b8ec6d2159b72d8f090a4d79bd65e059ad17164
--- /dev/null
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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.
+newmtl material_0
+# shader_type beckmann
+map_Kd texture.png
+
+# Kd: Diffuse reflectivity.
+Kd 1.000000 1.000000 1.000000
diff --git a/GSO30/sofa/meshes/model.obj b/GSO30/sofa/meshes/model.obj
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index 0000000000000000000000000000000000000000..fa529efc28ff8b0e72f4b016f13ad9a149eec305
--- /dev/null
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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.
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diff --git a/GSO30/sofa/meshes/texture.png b/GSO30/sofa/meshes/texture.png
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+++ b/GSO30/sofa/meshes/texture.png
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+version https://git-lfs.github.com/spec/v1
+oid sha256:2cdfd41f8f12f9ab4152a546bcae26de2256e7777c1cdb98499f7630957bd54f
+size 14549127
diff --git a/GSO30/sofa/metadata.pbtxt b/GSO30/sofa/metadata.pbtxt
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--- /dev/null
+++ b/GSO30/sofa/metadata.pbtxt
@@ -0,0 +1,35 @@
+model {
+  file: "model.sdf"
+}
+name: "3D_Dollhouse_Sofa"
+description: "3D Dollhouse Sofa"
+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: "3D Dollhouse"
+}
+annotations {
+  key: "mpn"
+  value: "3dsofa"
+}
+annotations {
+  key: "sku"
+  value: "3DSOFA"
+}
+compatibilities {
+  name: "Gazebo"
+  version {
+    major: 11
+  }
+}
+categories {
+  first: "Toys"
+}
diff --git a/GSO30/sofa/model.config b/GSO30/sofa/model.config
new file mode 100644
index 0000000000000000000000000000000000000000..0ab4f8b2c39f99ddeefce7871966cc91e950194a
--- /dev/null
+++ b/GSO30/sofa/model.config
@@ -0,0 +1,18 @@
+<!--
+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>3D_Dollhouse_Sofa</name>
+  <author>
+    <name>Google</name>
+    <email>scanned-objects@google.com</email>
+  </author>
+  <version>1.0</version>
+  <sdf version="1.6">model.sdf</sdf>
+  <description>3D Dollhouse Sofa</description>
+</model>
diff --git a/GSO30/sofa/model.sdf b/GSO30/sofa/model.sdf
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--- /dev/null
+++ b/GSO30/sofa/model.sdf
@@ -0,0 +1,29 @@
+<?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="3D_Dollhouse_Sofa">
+    <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/sofa/render_spiral_100/da3_full100_da3chunk8_overlap2/camera_poses.ply b/GSO30/sofa/render_spiral_100/da3_full100_da3chunk8_overlap2/camera_poses.ply
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diff --git a/GSO30/sofa/render_spiral_100/da3_full100_da3chunk8_overlap2/gpu_mem_trace.csv b/GSO30/sofa/render_spiral_100/da3_full100_da3chunk8_overlap2/gpu_mem_trace.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f4cc59817509e52fd13f85824a39d65ee80556b1
--- /dev/null
+++ b/GSO30/sofa/render_spiral_100/da3_full100_da3chunk8_overlap2/gpu_mem_trace.csv
@@ -0,0 +1,53 @@
+timestamp_utc,gpu_index,memory_used_mb,memory_total_mb
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diff --git a/GSO30/sofa/render_spiral_100/da3_full100_da3chunk8_overlap2/intrinsic.txt b/GSO30/sofa/render_spiral_100/da3_full100_da3chunk8_overlap2/intrinsic.txt
new file mode 100644
index 0000000000000000000000000000000000000000..fd46f0a9c99d85e4392e6c8ae4c6f316a0040c1c
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diff --git a/GSO30/sofa/render_spiral_100/da3_full100_da3chunk8_overlap2/official_da3_streaming_config_resolved.yaml b/GSO30/sofa/render_spiral_100/da3_full100_da3chunk8_overlap2/official_da3_streaming_config_resolved.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..bf8c30d6356f311ac6d0050e440890237ecc6942
--- /dev/null
+++ b/GSO30/sofa/render_spiral_100/da3_full100_da3chunk8_overlap2/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: 8
+  overlap: 2
+  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/sofa/render_spiral_100/da3_full100_da3chunk8_overlap2/official_da3_streaming_loop_disabled_shim.py b/GSO30/sofa/render_spiral_100/da3_full100_da3chunk8_overlap2/official_da3_streaming_loop_disabled_shim.py
new file mode 100644
index 0000000000000000000000000000000000000000..9b234a3138419dad3f95c7fd424935187b75a6e7
--- /dev/null
+++ b/GSO30/sofa/render_spiral_100/da3_full100_da3chunk8_overlap2/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/sofa/render_spiral_100/da3_full100_da3chunk8_overlap2/pcd/0_pcd.ply b/GSO30/sofa/render_spiral_100/da3_full100_da3chunk8_overlap2/pcd/0_pcd.ply
new file mode 100644
index 0000000000000000000000000000000000000000..e6c9628ffe6ffd4a85b12f888a970066697a6e4d
--- /dev/null
+++ b/GSO30/sofa/render_spiral_100/da3_full100_da3chunk8_overlap2/pcd/0_pcd.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a6a9f0c47adba5b08452436d8b578d0aa8522b0646ec89686e7e028a74f6ac2
+size 133243
diff --git a/GSO30/sofa/render_spiral_100/da3_full100_da3chunk8_overlap2/pcd/10_pcd.ply b/GSO30/sofa/render_spiral_100/da3_full100_da3chunk8_overlap2/pcd/10_pcd.ply
new file mode 100644
index 0000000000000000000000000000000000000000..1df27d758ecb125e7fb20fc6bb547021b2fa201c
--- /dev/null
+++ b/GSO30/sofa/render_spiral_100/da3_full100_da3chunk8_overlap2/pcd/10_pcd.ply
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8150745f7407c86a5888b01e82eb110430785cf36a9c144c88ad9f143d0374ca
+size 120118
diff --git a/GSO30/sofa/render_spiral_100/da3_full100_da3chunk8_overlap2/pcd/11_pcd.ply b/GSO30/sofa/render_spiral_100/da3_full100_da3chunk8_overlap2/pcd/11_pcd.ply
new file mode 100644
index 0000000000000000000000000000000000000000..1d9f990322a4607554f00aa33ee11fb70272397a
--- /dev/null
+++ b/GSO30/sofa/render_spiral_100/da3_full100_da3chunk8_overlap2/pcd/11_pcd.ply
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diff --git a/GSO30/sofa/render_spiral_100/per_view_alignment_metrics.csv b/GSO30/sofa/render_spiral_100/per_view_alignment_metrics.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c857155a1a7c34b5baa48279eeadc543c0620d1f
--- /dev/null
+++ b/GSO30/sofa/render_spiral_100/per_view_alignment_metrics.csv
@@ -0,0 +1,101 @@
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diff --git a/GSO30/sofa/render_spiral_100/transforms.json b/GSO30/sofa/render_spiral_100/transforms.json
new file mode 100644
index 0000000000000000000000000000000000000000..67d3a1769de446071f584cbe12cbe7db65efc96b
--- /dev/null
+++ b/GSO30/sofa/render_spiral_100/transforms.json
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