Add M3 and M4 frozen scenes

.gitattributes

@@ -46,3 +46,7 @@ scenes/M1/scene.blend filter=lfs diff=lfs merge=lfs -text
 scenes/M1/scene.glb filter=lfs diff=lfs merge=lfs -text
 scenes/M2/scene.blend filter=lfs diff=lfs merge=lfs -text
 scenes/M2/scene.glb filter=lfs diff=lfs merge=lfs -text
+scenes/M3/scene.blend filter=lfs diff=lfs merge=lfs -text
+scenes/M3/scene.glb filter=lfs diff=lfs merge=lfs -text
+scenes/M4/scene.blend filter=lfs diff=lfs merge=lfs -text
+scenes/M4/scene.glb filter=lfs diff=lfs merge=lfs -text

scenes/M3/manifest.json

@@ -0,0 +1,68 @@
+{
+  "schema_version": 2,
+  "method": "M3",
+  "files": {
+    "glb": {
+      "source": "astra_blender/models/M3/scene.glb",
+      "published": "models/M3/scene.glb",
+      "sha256": "22699f8225a5f90166cdea2e6e2bdad7977fda4a1fe1086da209f0c9afe97a6c",
+      "bytes": 7701488
+    },
+    "blend": {
+      "source": "astra_blender/models/M3/scene.blend",
+      "published": "models/M3/scene.blend",
+      "sha256": "00cd43eef3b4a6b2b2b169e8a7eda787dc57222dc501a3a9be09f39af5f46a9b",
+      "bytes": 2319452
+    }
+  },
+  "table_rows": {
+    "table1": {
+      "method": "M3",
+      "allowed_inputs": "视频、IMU、相机–IMU 标定",
+      "geometry_source": "ORB-SLAM3 单目惯性位姿 → pose-conditioned DA3 深度",
+      "modeling_role": "结合图像、位姿、深度建模"
+    },
+    "table2": {
+      "method": "M3",
+      "ate_m": 0.1205,
+      "rotation_deg": 0.1943,
+      "native_depth_absrel": 0.20379653842953233,
+      "model_depth_absrel": 0.08371810615062714,
+      "alignment": "one global SE(3), scale=1"
+    },
+    "table3": {
+      "method": "M3",
+      "model_to_gt_mean_m": 0.06935983382743138,
+      "observed_gt_to_model_mean_m": 0.09502824761255278,
+      "model_sha256": "00cd43eef3b4a6b2b2b169e8a7eda787dc57222dc501a3a9be09f39af5f46a9b",
+      "alignment": "one SE3 from 180 input camera correspondences; no scale fit",
+      "bidirectional_mean_m": 0.08219404071999209
+    },
+    "table4": {
+      "method": "M3",
+      "psnr_db": 12.052547333787004,
+      "ssim": 0.3958937466144562,
+      "lpips_alex_v01": 0.5791207671165466
+    },
+    "table5": {
+      "method": "M3",
+      "psnr_db": 12.252687193116532,
+      "ssim": 0.3972503730654717,
+      "lpips_alex_v01": 0.5683315402269363
+    },
+    "table6": {
+      "method": "M3",
+      "absrel": 0.09866034984588623,
+      "rmse_m": 1.1816775798797607,
+      "coverage": 0.9984166666666666,
+      "penalized_mae_m": 0.5551674365997314
+    },
+    "table7": {
+      "method": "M3",
+      "absrel": 0.08247262239456177,
+      "rmse_m": 1.0896246433258057,
+      "coverage": 0.9991479166666667,
+      "penalized_mae_m": 0.4945947229862213
+    }
+  }
+}

scenes/M3/scene.blend

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:00cd43eef3b4a6b2b2b169e8a7eda787dc57222dc501a3a9be09f39af5f46a9b
+size 2319452

scenes/M3/scene.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22699f8225a5f90166cdea2e6e2bdad7977fda4a1fe1086da209f0c9afe97a6c
+size 7701488

scenes/M4/manifest.json

@@ -0,0 +1,68 @@
+{
+  "schema_version": 2,
+  "method": "M4",
+  "files": {
+    "glb": {
+      "source": "astra_blender/models/M4/scene.glb",
+      "published": "models/M4/scene.glb",
+      "sha256": "716e4b89b7b11ad8a0cb0e238b366b4f5dc80e3a2c3cddb5eedc469ef4e63774",
+      "bytes": 17202608
+    },
+    "blend": {
+      "source": "astra_blender/models/M4/scene.blend",
+      "published": "models/M4/scene.blend",
+      "sha256": "cc6cb605246a255d94e36b9dc3f8b91d5a292b047470bc0ff75b8a5c404b0cfe",
+      "bytes": 2268620
+    }
+  },
+  "table_rows": {
+    "table1": {
+      "method": "M4",
+      "allowed_inputs": "视频及 GT camera pose",
+      "geometry_source": "GT 位姿 → pose-conditioned DA3 深度",
+      "modeling_role": "与 M3 相同类型的建模流程"
+    },
+    "table2": {
+      "method": "M4",
+      "ate_m": "-",
+      "rotation_deg": "-",
+      "native_depth_absrel": 0.1886706026379072,
+      "model_depth_absrel": 0.07600006461143494,
+      "alignment": "GT coordinates"
+    },
+    "table3": {
+      "method": "M4",
+      "model_to_gt_mean_m": 0.06866006729939131,
+      "observed_gt_to_model_mean_m": 0.07449522976921306,
+      "model_sha256": "cc6cb605246a255d94e36b9dc3f8b91d5a292b047470bc0ff75b8a5c404b0cfe",
+      "alignment": "permitted GT input coordinate frame; astra_blender/models/M4 T_input_model is identity",
+      "bidirectional_mean_m": 0.07157764853430218
+    },
+    "table4": {
+      "method": "M4",
+      "psnr_db": 12.294263798590851,
+      "ssim": 0.34136943221092225,
+      "lpips_alex_v01": 0.531274390220642
+    },
+    "table5": {
+      "method": "M4",
+      "psnr_db": 12.513978931521383,
+      "ssim": 0.33674563601613045,
+      "lpips_alex_v01": 0.5237806642055511
+    },
+    "table6": {
+      "method": "M4",
+      "absrel": 0.08832013607025146,
+      "rmse_m": 1.1883933544158936,
+      "coverage": 0.9985833333333334,
+      "penalized_mae_m": 0.5010335445404053
+    },
+    "table7": {
+      "method": "M4",
+      "absrel": 0.07466284930706024,
+      "rmse_m": 1.1474982500076294,
+      "coverage": 0.998678125,
+      "penalized_mae_m": 0.47199496626853943
+    }
+  }
+}

scenes/M4/scene.blend

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc6cb605246a255d94e36b9dc3f8b91d5a292b047470bc0ff75b8a5c404b0cfe
+size 2268620

scenes/M4/scene.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:716e4b89b7b11ad8a0cb0e238b366b4f5dc80e3a2c3cddb5eedc469ef4e63774
+size 17202608