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\ No newline at end of file
diff --git a/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00001_00002.json b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00001_00002.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f4cf52d7acfe6bc136e8167ab2f0161e87fdc33
--- /dev/null
+++ b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00001_00002.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00002_00003.json b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00002_00003.json
new file mode 100644
index 0000000000000000000000000000000000000000..777e0bd6a2057f18cded4bedba353d0f9f4b02c8
--- /dev/null
+++ b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00002_00003.json
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\ No newline at end of file
diff --git a/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00003_00004.json b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00003_00004.json
new file mode 100644
index 0000000000000000000000000000000000000000..36f623ad2cc179322b7bb553c813d46bcb9872e7
--- /dev/null
+++ b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00003_00004.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00004_00005.json b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00004_00005.json
new file mode 100644
index 0000000000000000000000000000000000000000..ad27b6af37f1a7bc6cef24fa7efeb3b77e9b61b0
--- /dev/null
+++ b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00004_00005.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00005_00006.json b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00005_00006.json
new file mode 100644
index 0000000000000000000000000000000000000000..6db43363f910941c2183945c4e9a4a822b8ffe30
--- /dev/null
+++ b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00005_00006.json
@@ -0,0 +1 @@
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diff --git a/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00006_00007.json b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00006_00007.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b6ad8587a523e46e5d5d9408010cd970aaa9b19
--- /dev/null
+++ b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00006_00007.json
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\ No newline at end of file
diff --git a/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00007_00008.json b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00007_00008.json
new file mode 100644
index 0000000000000000000000000000000000000000..ac163c37c1f308b3cbee0e1608e268fe01f72d50
--- /dev/null
+++ b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00007_00008.json
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diff --git a/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00008_00009.json b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00008_00009.json
new file mode 100644
index 0000000000000000000000000000000000000000..616d47f76d619f723f97c659131cafb000fab670
--- /dev/null
+++ b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00008_00009.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00009_00010.json b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00009_00010.json
new file mode 100644
index 0000000000000000000000000000000000000000..bb3eea61e590710cf1e4013c0be23356db9f1e92
--- /dev/null
+++ b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00009_00010.json
@@ -0,0 +1 @@
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diff --git a/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00010_00011.json b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00010_00011.json
new file mode 100644
index 0000000000000000000000000000000000000000..d9d2e10356f597150e79abcdfdc318b3af508424
--- /dev/null
+++ b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00010_00011.json
@@ -0,0 +1 @@
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diff --git a/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00011_00012.json b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00011_00012.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a138d2878a15163e90c5b0a0276c4557c3924a3
--- /dev/null
+++ b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00011_00012.json
@@ -0,0 +1 @@
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diff --git a/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00012_00013.json b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00012_00013.json
new file mode 100644
index 0000000000000000000000000000000000000000..94a46ad5e36c146b3bf2ffd17ba75dee3c0643e9
--- /dev/null
+++ b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00012_00013.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00013_00014.json b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00013_00014.json
new file mode 100644
index 0000000000000000000000000000000000000000..13dff629bc4aee99d5871afa0ded4599a11dffbd
--- /dev/null
+++ b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00013_00014.json
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diff --git a/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00014_00015.json b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00014_00015.json
new file mode 100644
index 0000000000000000000000000000000000000000..67ec7327d8d0e530ae0593c849becf8b1aa953a9
--- /dev/null
+++ b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00014_00015.json
@@ -0,0 +1 @@
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diff --git a/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00015_00016.json b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00015_00016.json
new file mode 100644
index 0000000000000000000000000000000000000000..398c829665a85c5251a8eea909ce2bfb95690fde
--- /dev/null
+++ b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00015_00016.json
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diff --git a/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00016_00017.json b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00016_00017.json
new file mode 100644
index 0000000000000000000000000000000000000000..d1af64130643f826524107cd65266288c629d6f9
--- /dev/null
+++ b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00016_00017.json
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diff --git a/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00017_00018.json b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00017_00018.json
new file mode 100644
index 0000000000000000000000000000000000000000..660d64a2832683a7b7b8499663dece9680253922
--- /dev/null
+++ b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00017_00018.json
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\ No newline at end of file
diff --git a/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00018_00019.json b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00018_00019.json
new file mode 100644
index 0000000000000000000000000000000000000000..501de53a62d2427a158a08502344882461dcc4b8
--- /dev/null
+++ b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00018_00019.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00019_00020.json b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00019_00020.json
new file mode 100644
index 0000000000000000000000000000000000000000..612b63fd09acb504b2357dd2c9739327041da9d7
--- /dev/null
+++ b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00019_00020.json
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\ No newline at end of file
diff --git a/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00020_00021.json b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00020_00021.json
new file mode 100644
index 0000000000000000000000000000000000000000..4daba27809c6d4896b80fb43018509dbc9aa35af
--- /dev/null
+++ b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00020_00021.json
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\ No newline at end of file
diff --git a/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00021_00022.json b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00021_00022.json
new file mode 100644
index 0000000000000000000000000000000000000000..3cef6f52a3870d1c5bff76869616cabd0b1a6fda
--- /dev/null
+++ b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00021_00022.json
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\ No newline at end of file
diff --git a/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00022_00023.json b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00022_00023.json
new file mode 100644
index 0000000000000000000000000000000000000000..4e20485ab80e1f1a589afac84b8023f137ae66df
--- /dev/null
+++ b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00022_00023.json
@@ -0,0 +1 @@
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diff --git a/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00023_00024.json b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00023_00024.json
new file mode 100644
index 0000000000000000000000000000000000000000..10b60adebd862a749ed064408813ff84080938cb
--- /dev/null
+++ b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00023_00024.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00024_00025.json b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00024_00025.json
new file mode 100644
index 0000000000000000000000000000000000000000..ca458a0e3d14f651748defefcbc7e62dd67271b8
--- /dev/null
+++ b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00024_00025.json
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\ No newline at end of file
diff --git a/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00025_00026.json b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00025_00026.json
new file mode 100644
index 0000000000000000000000000000000000000000..b123fdf29240449b3bef4846c93265effae22d9d
--- /dev/null
+++ b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00025_00026.json
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\ No newline at end of file
diff --git a/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00026_00027.json b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00026_00027.json
new file mode 100644
index 0000000000000000000000000000000000000000..af4e7ad7eb3fd696618c554087d2ea0a5e3351a8
--- /dev/null
+++ b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00026_00027.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00027_00028.json b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00027_00028.json
new file mode 100644
index 0000000000000000000000000000000000000000..68fa39eacf0db7c4a776ab42cff4cc4b22ee05ce
--- /dev/null
+++ b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00027_00028.json
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\ No newline at end of file
diff --git a/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00028_00029.json b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00028_00029.json
new file mode 100644
index 0000000000000000000000000000000000000000..b6108d09d6e478f3821049d75860c3c1e7ec0ec0
--- /dev/null
+++ b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00028_00029.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00029_00030.json b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00029_00030.json
new file mode 100644
index 0000000000000000000000000000000000000000..0efa10076dd4ace65552120da2ded960e76d8629
--- /dev/null
+++ b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00029_00030.json
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\ No newline at end of file
diff --git a/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00030_00031.json b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00030_00031.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ca6f3ec3ae27e9796fb41bf2917a84898961b77
--- /dev/null
+++ b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00030_00031.json
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\ No newline at end of file
diff --git a/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00031_00032.json b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00031_00032.json
new file mode 100644
index 0000000000000000000000000000000000000000..232fc6810d8ad929e16231ab1bdcc595f9345c77
--- /dev/null
+++ b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00031_00032.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00032_00033.json b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00032_00033.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f410fadd252c7d0a11ee7a9a735f2085cdf2217
--- /dev/null
+++ b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00032_00033.json
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\ No newline at end of file
diff --git a/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00033_00034.json b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00033_00034.json
new file mode 100644
index 0000000000000000000000000000000000000000..eacd674176e849f5aeccdbec9be1f0da1888aaca
--- /dev/null
+++ b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00033_00034.json
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\ No newline at end of file
diff --git a/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00034_00035.json b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00034_00035.json
new file mode 100644
index 0000000000000000000000000000000000000000..259c050799d267b82de25c4d5fd56536ceca9034
--- /dev/null
+++ b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00034_00035.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00035_00036.json b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00035_00036.json
new file mode 100644
index 0000000000000000000000000000000000000000..abb8d8e641cfa9ddfed56fe2f0fc77abee2b3ae0
--- /dev/null
+++ b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00035_00036.json
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\ No newline at end of file
diff --git a/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00036_00037.json b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00036_00037.json
new file mode 100644
index 0000000000000000000000000000000000000000..6479e6e8f004dbf457dc6cedfa58f687c7c73fc6
--- /dev/null
+++ b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00036_00037.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00037_00038.json b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00037_00038.json
new file mode 100644
index 0000000000000000000000000000000000000000..630cc50c18c2791d085f793fb1e06a0c1bb811bb
--- /dev/null
+++ b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00037_00038.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00038_00039.json b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00038_00039.json
new file mode 100644
index 0000000000000000000000000000000000000000..a53f0300cbf30fafd300adaeff4b5ac3f5b4996f
--- /dev/null
+++ b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00038_00039.json
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\ No newline at end of file
diff --git a/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00039_00040.json b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00039_00040.json
new file mode 100644
index 0000000000000000000000000000000000000000..b847c251b6925c50922904453559741581badb35
--- /dev/null
+++ b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00039_00040.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00040_00041.json b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00040_00041.json
new file mode 100644
index 0000000000000000000000000000000000000000..2eb531c7ff953e4ed4d67a72e381cdf40290c876
--- /dev/null
+++ b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00040_00041.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00041_00042.json b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00041_00042.json
new file mode 100644
index 0000000000000000000000000000000000000000..ced0007d124568b288219c52032d775cdec02fec
--- /dev/null
+++ b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00041_00042.json
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\ No newline at end of file
diff --git a/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00042_00043.json b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00042_00043.json
new file mode 100644
index 0000000000000000000000000000000000000000..fba22671bb4f7a4b0ebcc5598c025434cfb3be47
--- /dev/null
+++ b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00042_00043.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00043_00044.json b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00043_00044.json
new file mode 100644
index 0000000000000000000000000000000000000000..386a95b0c7cd16e30c179f05fada7238eddbe938
--- /dev/null
+++ b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00043_00044.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00044_00045.json b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00044_00045.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b7d5d2c0e8546d682c94e32fd5a7dac581039d2
--- /dev/null
+++ b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00044_00045.json
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\ No newline at end of file
diff --git a/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00045_00046.json b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00045_00046.json
new file mode 100644
index 0000000000000000000000000000000000000000..d50bf7310e777518abefa044da77dc94baec7b5d
--- /dev/null
+++ b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00045_00046.json
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diff --git a/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00046_00047.json b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00046_00047.json
new file mode 100644
index 0000000000000000000000000000000000000000..72c224043606fa67d195207d027d527bf876d45f
--- /dev/null
+++ b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00046_00047.json
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\ No newline at end of file
diff --git a/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00047_00048.json b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00047_00048.json
new file mode 100644
index 0000000000000000000000000000000000000000..bb2e5f822adc895f008988c2b64a383b37e1bc3c
--- /dev/null
+++ b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/pixel_correspondences/00047_00048.json
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[227, 299, 225, 302], [225, 297, 223, 301], [224, 296, 222, 299], [222, 294, 220, 298], [220, 293, 218, 296], [218, 291, 216, 294], [217, 289, 215, 293], [215, 288, 213, 291], [214, 286, 211, 290], [212, 284, 210, 288], [210, 283, 208, 287], [209, 281, 206, 285], [207, 279, 205, 284], [205, 278, 203, 282], [204, 276, 201, 280], [202, 276, 199, 280], [202, 275, 200, 279], [234, 302, 232, 305], [233, 301, 231, 304], [231, 299, 229, 302], [229, 297, 227, 301], [227, 296, 225, 299], [226, 294, 224, 298], [224, 293, 222, 296], [222, 291, 220, 295], [220, 289, 218, 293], [219, 287, 217, 291], [217, 286, 215, 290], [215, 284, 213, 288], [214, 283, 212, 286], [212, 281, 210, 285], [210, 279, 208, 283], [209, 278, 206, 282], [207, 276, 205, 280], [238, 302, 236, 305], [236, 301, 234, 304], [235, 299, 233, 302], [219, 284, 217, 288], [217, 283, 215, 286], [216, 281, 213, 285], [214, 279, 212, 283], [243, 304, 241, 307], [260, 349, 258, 351], [258, 347, 257, 350], [256, 347, 255, 349], [256, 345, 255, 348], [273, 360, 272, 362], [271, 359, 270, 361], [271, 360, 270, 362], [272, 357, 271, 359], [269, 357, 268, 359], [269, 358, 268, 360], [270, 356, 269, 358], [268, 355, 266, 357], [265, 354, 264, 356], [265, 355, 264, 357], [263, 352, 262, 354], [263, 353, 262, 356], [253, 342, 252, 344], [251, 340, 250, 342], [249, 335, 247, 338], [247, 333, 246, 336], [246, 331, 244, 334], [244, 329, 242, 332], [279, 362, 278, 364], [277, 359, 276, 361], [243, 328, 241, 331], [244, 327, 243, 330], [243, 326, 242, 329], [241, 326, 240, 329], [242, 324, 240, 327], [240, 324, 238, 327], [241, 322, 239, 325], [238, 322, 236, 325], [239, 321, 237, 324], [236, 320, 235, 323], [237, 319, 235, 322], [235, 319, 234, 322], [235, 318, 234, 321], [241, 321, 239, 324], [240, 319, 238, 322], [239, 317, 237, 320], [237, 315, 235, 319], [234, 316, 232, 319], [235, 314, 233, 317], [233, 314, 231, 317], [234, 312, 232, 316], [231, 312, 229, 315], [232, 311, 230, 314], [230, 311, 228, 314], [230, 309, 228, 313], [237, 312, 235, 315], [235, 310, 233, 314], [234, 309, 232, 312], [232, 307, 230, 310], [229, 307, 227, 310], [227, 305, 225, 309], [226, 304, 224, 307], [241, 312, 239, 315], [239, 310, 237, 313], [237, 309, 235, 312], [236, 307, 234, 310], [289, 355, 288, 357], [244, 312, 242, 315], [243, 310, 241, 313], [241, 309, 239, 312], [239, 307, 237, 310], [248, 312, 246, 315], [246, 310, 244, 313], [245, 308, 243, 311], [255, 315, 253, 318], [266, 353, 265, 355], [267, 351, 266, 354], [264, 351, 263, 353], [265, 349, 264, 352], [262, 349, 261, 351], [263, 348, 262, 350], [260, 347, 259, 350], [261, 346, 260, 348], [259, 346, 257, 348], [260, 344, 258, 347], [257, 344, 256, 347], [258, 343, 257, 345], [255, 342, 254, 345], [255, 343, 253, 346], [256, 341, 255, 343], [254, 340, 252, 343], [254, 339, 253, 342], [253, 337, 251, 340], [251, 336, 249, 339], [250, 338, 248, 340], [273, 356, 272, 358], [274, 355, 273, 357], [271, 355, 270, 357], [272, 353, 271, 355], [270, 351, 269, 353], [269, 349, 267, 352], [264, 346, 263, 348], [263, 344, 261, 346], [261, 343, 260, 345], [259, 341, 258, 343], [257, 339, 256, 342], [256, 337, 254, 340], [254, 335, 253, 338], [252, 334, 251, 336], [249, 334, 248, 337], [251, 332, 249, 335], [248, 332, 246, 335], [249, 330, 247, 333], [246, 330, 245, 333], [247, 329, 246, 332], [245, 329, 244, 332], [245, 327, 244, 330], [278, 358, 277, 360], [280, 356, 278, 358], [278, 355, 276, 357], [276, 353, 275, 355], [271, 350, 270, 352], [270, 348, 268, 350], [254, 334, 253, 336], [253, 332, 252, 335], [252, 330, 250, 333], [251, 328, 249, 331], [249, 327, 247, 330], [247, 325, 245, 328], [244, 325, 242, 328], [245, 324, 244, 326], [243, 323, 241, 326], [244, 322, 242, 325], [242, 322, 240, 325], [242, 320, 240, 323], [283, 357, 282, 358], [281, 355, 280, 357], [279, 353, 278, 355], [278, 351, 276, 353], [251, 325, 249, 328], [249, 323, 247, 326], [247, 322, 245, 325], [246, 320, 244, 323], [244, 318, 242, 321], [241, 318, 239, 321], [242, 317, 240, 320], [239, 316, 237, 319], [283, 353, 282, 355], [281, 351, 280, 353], [280, 349, 278, 351], [278, 348, 276, 350], [256, 327, 254, 329], [254, 325, 253, 328], [253, 323, 251, 326], [251, 322, 249, 324], [249, 320, 247, 323], [247, 318, 246, 321], [246, 317, 244, 320], [285, 351, 284, 353], [283, 350, 282, 351], [282, 348, 280, 350], [280, 346, 278, 348], [278, 344, 276, 346], [276, 342, 275, 344], [274, 340, 273, 343], [272, 339, 271, 341], [270, 337, 269, 339], [269, 335, 267, 337], [267, 334, 265, 336], [265, 332, 263, 334], [263, 330, 262, 332], [262, 328, 260, 331], [260, 327, 258, 329], [258, 325, 256, 327], [256, 323, 254, 326], [255, 322, 253, 324], [253, 320, 251, 323], [251, 318, 249, 321], [249, 317, 248, 319], [283, 346, 282, 348], [282, 344, 280, 346], [280, 343, 278, 345], [278, 341, 276, 343], [276, 339, 274, 341], [274, 337, 273, 339], [272, 335, 271, 337], [271, 334, 269, 336], [269, 332, 267, 334], [267, 330, 265, 332], [265, 328, 264, 331], [264, 327, 262, 329], [262, 325, 260, 327], [260, 323, 258, 326], [258, 321, 256, 324], [256, 320, 255, 322], [265, 345, 264, 347], [266, 344, 265, 346], [263, 343, 262, 346], [264, 342, 263, 344], [262, 342, 260, 344], [263, 340, 261, 343], [260, 340, 259, 342], [261, 339, 260, 341], [258, 338, 257, 341], [259, 337, 258, 339], [257, 336, 255, 339], [258, 335, 256, 338], [255, 335, 254, 338], [256, 334, 254, 336], [272, 349, 271, 351], [270, 347, 269, 349], [272, 346, 271, 348], [270, 344, 269, 346], [268, 342, 267, 344], [266, 340, 265, 342], [265, 339, 263, 341], [263, 337, 261, 339], [261, 335, 260, 338], [259, 333, 258, 336], [258, 332, 256, 334], [254, 331, 253, 334]]
\ No newline at end of file
diff --git a/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/plane.ply b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/plane.ply
new file mode 100644
index 0000000000000000000000000000000000000000..8fc87de12eaa50187f47ad87f283f8dbf6fcdefe
Binary files /dev/null and b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/plane.ply differ
diff --git a/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/rendering_20261031_203423.py b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/rendering_20261031_203423.py
new file mode 100644
index 0000000000000000000000000000000000000000..7164975bfc060f83b411107ff70f891dfa108bc1
--- /dev/null
+++ b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/rendering_20261031_203423.py
@@ -0,0 +1,929 @@
+"""Render a sequence of Mitsuba images from per-frame point data.
+
+This module constructs Mitsuba scenes using foreground point clouds (as tiny
+colored spheres) and an optional ground plane mesh, rendering each video frame
+from the provided camera pose.
+"""
+
+import json
+import math
+import shutil
+import time
+from datetime import datetime
+from pathlib import Path
+from typing import Dict, List, Tuple
+
+import cv2
+import numpy as np
+import open3d as o3d
+from PIL import Image
+from rich import print
+
+try:
+    import mitsuba as mi
+
+    mi.set_variant("cuda_ad_rgb")
+except Exception:
+    print("Mitsuba 3 is not installed. Please install mitsuba and try again.")
+    mi = None
+
+from ..constants import (
+    OUT_PERCEPTION_DIR,
+    OUT_RENDERING_DIR,
+    OUT_SIMULATION_DIR,
+    VIPE_EXPORT_DIR,
+)
+from .grid_io import load_grid
+from .interpolate import interpolate_c2ws
+from .make_video import make_video_from_frames_dir
+from .particle_io import ParticleIO
+
+
+def backup_this_script(output_dir: Path, timestamp: str = None):
+    output_dir = Path(output_dir)
+    output_dir.mkdir(parents=True, exist_ok=True)
+    if timestamp is None:
+        timestamp = datetime.now().strftime("%Y%m%d_%H%M%S")
+    script_path = Path(__file__)
+    script_content = script_path.read_text()
+    with open(output_dir / f"rendering_{timestamp}.py", "w") as f:
+        f.write(script_content)
+
+
+def _read_json(path: Path) -> dict:
+    """Read and parse a JSON file at the given path."""
+    with open(path, "r") as f:
+        return json.load(f)
+
+
+def _load_video_info(exported_sample_dir: Path) -> dict:
+    """Load the `video_info.json` for the given video directory."""
+    video_info_dir = exported_sample_dir / "video_info"
+    video_info_json = video_info_dir / "video_info.json"
+    if not video_info_json.exists():
+        raise FileNotFoundError(f"Missing video_info.json at {video_info_json}")
+    return _read_json(video_info_json)
+
+
+def _list_frame_dirs(exported_sample_dir: Path) -> List[Path]:
+    """List and return all `frame_*` subdirectories under `video_dir`."""
+    frame_dirs: List[Path] = []
+    frames_info_dir = exported_sample_dir / "frames_info"
+    for path in sorted(frames_info_dir.glob("*")):
+        if path.is_dir():
+            frame_dirs.append(path)
+    frame_dirs = sorted(frame_dirs, key=lambda x: int(x.name))
+    return frame_dirs
+
+
+def build_ground_mesh(video_info: dict, output_dir: Path) -> dict:
+    ply_path = build_ground_plane_ply(video_info, output_dir)
+    # refl = {"type": "rgb", "value": [0.85, 0.85, 0.85]}
+    refl = {"type": "rgb", "value": [0.3, 0.3, 0.2]}
+    twosided = {"type": "twosided", "bsdf": {"type": "diffuse", "reflectance": refl}}
+    return {"type": "ply", "filename": str(ply_path), "bsdf": twosided}
+
+
+def build_ground_plane_ply(video_info: dict, output_dir: Path) -> str:
+    ply_path = Path(output_dir) / "plane.ply"
+    if ply_path.exists():
+        return str(ply_path)
+    verts = np.asarray(video_info["plane_vertices"], dtype=np.float32)
+    faces = np.asarray(video_info["plane_faces"], dtype=np.int32)
+    assert verts.shape == (4, 3) and faces.shape == (2, 3)
+    mesh = o3d.geometry.TriangleMesh()
+    mesh.vertices = o3d.utility.Vector3dVector(verts.astype(np.float64))
+    mesh.triangles = o3d.utility.Vector3iVector(faces.astype(np.int32))
+    o3d.io.write_triangle_mesh(str(ply_path), mesh, write_vertex_colors=False)
+    return str(ply_path)
+
+
+def _load_frame_infos(frame_dirs: List[Path]) -> list:
+    frame_infos = []
+    for frame_dir in frame_dirs:
+        frame_meta = _read_json(frame_dir / f"{frame_dir.name}.json")
+        frame_infos.append(frame_meta)
+    return frame_infos
+
+
+def load_cam_base_params(frame_meta: dict) -> dict:
+    fov_deg = float(frame_meta["fov"]) * 180.0 / math.pi
+    K = frame_meta["K"]
+    fx, fy, cx, cy = K
+    width, height = int(cx * 2), int(cy * 2)
+    # Original data is RH, Mitsuba is also RH
+    # But original Up is -Y, Mitsuba Up is +Y
+    # So we need to rotate 180 degrees around Z axis
+    C = np.eye(4, dtype=np.float32)
+    C[0, 0] = -1.0
+    C[1, 1] = -1.0
+    return dict(fov_deg=fov_deg, width=width, height=height, C=C)
+
+
+def _load_foreground_points_for_frame(
+    frame_dir: Path,
+) -> Tuple[np.ndarray, np.ndarray, np.ndarray, float, int, int]:
+    """Load foreground points, colors, and camera info for a single frame.
+
+    Returns a tuple: (fg_xyz, fg_col, c2w, fov_deg, width, height)
+    """
+    frame_meta = _read_json(frame_dir / f"{frame_dir.name}.json")
+    c2w = np.array(frame_meta["c2w"], dtype=np.float32)
+    fov_deg = float(frame_meta["fov"]) * 180.0 / math.pi
+
+    rgb_npz = frame_dir / str(frame_meta["full_rgb"])  # (H,W,3) float32 or uint8
+    pcd_npz = frame_dir / str(frame_meta["full_pcd"])  # (H,W,3)
+    fg_npz = frame_dir / str(frame_meta["fg_mask"])  # (H,W)
+
+    rgb, _, _ = load_grid(str(rgb_npz))
+    xyz, _, _ = load_grid(str(pcd_npz))
+    fg_mask, _, _ = load_grid(str(fg_npz))
+
+    assert xyz.ndim == 3 and xyz.shape[-1] == 3
+    height, width, _ = xyz.shape
+    if rgb.ndim == 3 and rgb.shape[:2] == (height, width):
+        cols = rgb.astype(np.float32)
+    else:
+        # Fallback: create white colors
+        cols = np.ones((height, width, 3), dtype=np.float32)
+    if cols.max() > 1.0:
+        cols = cols / 255.0
+
+    fg = (
+        fg_mask.astype(bool)
+        if fg_mask is not None
+        else np.zeros((height, width), dtype=bool)
+    )
+    if fg.shape != (height, width):
+        fg = fg.reshape(height, width)
+
+    pts = xyz.reshape(-1, 3)[fg.reshape(-1)]
+    col = cols.reshape(-1, 3)[fg.reshape(-1)]
+    return pts.astype(np.float32), col.astype(np.float32), c2w, fov_deg, width, height
+
+
+def _build_sphere_shapegroup(
+    group_id: str, positions: np.ndarray, colors: np.ndarray, radius: float
+) -> Dict:
+    """Build a Mitsuba shapegroup containing many small colored spheres."""
+    positions_array = np.asarray(positions, dtype=np.float32).reshape(-1, 3)
+    colors_array = np.asarray(colors, dtype=np.float32).reshape(-1, 3)
+    num_spheres = min(positions_array.shape[0], colors_array.shape[0])
+    positions_array = positions_array[:num_spheres]
+    colors_array = colors_array[:num_spheres]
+    # Build a shapegroup containing many small spheres at the given centers with per-sphere diffuse color
+    children: Dict[str, Dict] = {"type": "shapegroup", "id": group_id}
+    for i in range(num_spheres):
+        color_tuple = tuple(float(x) for x in colors_array[i])
+        children[f"s{i}"] = {
+            "type": "sphere",
+            "center": tuple(float(x) for x in positions_array[i]),
+            "radius": float(radius),
+            "bsdf": {
+                "type": "diffuse",
+                "reflectance": {"type": "rgb", "value": color_tuple},
+            },
+        }
+    return children
+
+
+def get_mesh_path(sample_id: str, obj_name: str, is_primary: bool) -> dict:
+    _suffix = "_0" if is_primary else "_1"
+    obj_name = obj_name.strip()
+    if " " in obj_name:
+        obj_name = obj_name.replace(" ", "_")
+    model_path = (
+        VIPE_EXPORT_DIR
+        / sample_id
+        / "video_info"
+        / f"size_estimate{_suffix}"
+        / f"{obj_name}.obj"
+    )
+    assert model_path.exists(), f"Mesh path {model_path} does not exist"
+    # texture_path = model_path.parent / "ball1.png"
+    # NOTE: !IMPORTANT! Use material_0.png for *_transformed.obj due to trimesh export
+    texture_path = model_path.parent / "material_0.png"
+    assert texture_path.exists(), f"Texture path {texture_path} does not exist"
+    return dict(model_path=model_path, texture_path=texture_path)
+
+
+def load_input_model(
+    model_path,
+    with_metallic=True,
+    with_roughness=True,
+    transform=None,
+    texture_path=None,
+    tex_dim=2048,
+    # starting_values=(0.5, 1, 0),
+    starting_values=(0, 0.9, 0.5),
+):
+    """Load a mesh with optional texture maps and build a Mitsuba shape.
+
+    Args:
+        model_path (str): Path to the triangle mesh file (e.g., OBJ).
+        with_metallic (bool): If True, allocate a metallic texture map.
+        with_roughness (bool): If True, allocate a roughness texture map.
+        transform (np.ndarray|None): Optional 4x4 transform applied before
+            centering/axis adjustments.
+        texture_path (str|None): Optional path to an albedo texture map image.
+        tex_dim (int): Fallback texture resolution when generating defaults.
+        starting_values (tuple): Initial values for (albedo, roughness, metallic)
+            textures when generated procedurally.
+
+    Returns:
+        mi.Shape: Mitsuba mesh with a Principled BSDF assembled from texture maps.
+    """
+    print(f"Loading {model_path}...")
+    albedo_start, roughness_start, metallic_start = starting_values
+
+    # Load the mesh via Open3D (legacy -> tensor) for consistent material handling
+    mesh_old = o3d.io.read_triangle_mesh(str(model_path), False)
+    print(f"Number of vertices in mesh_old: {len(mesh_old.vertices)}")
+    mesh = o3d.t.geometry.TriangleMesh.from_legacy(mesh_old)
+    print(f"Number of vertices in mesh: {mesh.vertex['positions'].shape[0]}")
+
+    mesh.material.material_name = (
+        "defaultLit"  # note: ignored by Mitsuba, just used to visualize in Open3D
+    )
+
+    # Assemble texture maps: albedo (required), optional roughness/metallic.
+    # If a map is not provided/available, create a constant texture image.
+    if texture_path is not None:
+        # albedo_image = np.array(Image.open(tex_map)) / 255.0
+        mesh.material.texture_maps["albedo"] = o3d.t.io.read_image(texture_path)
+        tex_dim = len(np.array(mesh.material.texture_maps["albedo"]))
+        print("Given albedo texture", mesh.material.texture_maps["albedo"])
+    elif "albedo" in mesh.material.texture_maps:
+        tex_dim = len(np.array(mesh.material.texture_maps["albedo"]))
+        print("Loaded albedo texture", mesh.material.texture_maps["albedo"])
+    else:
+        mesh.material.texture_maps["albedo"] = o3d.t.geometry.Image(
+            albedo_start + np.zeros((tex_dim, tex_dim, 3), dtype=np.float32)
+        )
+        print("Default albedo texture", mesh.material.texture_maps["albedo"])
+
+    if with_roughness:
+        mesh.material.texture_maps["roughness"] = o3d.t.geometry.Image(
+            roughness_start + np.zeros((tex_dim, tex_dim, 1), dtype=np.float32)
+        )
+
+    if with_metallic:
+        mesh.material.texture_maps["metallic"] = o3d.t.geometry.Image(
+            metallic_start + np.zeros((tex_dim, tex_dim, 1), dtype=np.float32)
+        )
+
+    # NOTE POTENTIALLY IMPORTANT:
+    # Apply transform to place the mesh at scene center and flip XY axes to
+    # match Mitsuba's coordinate expectations in this setup.
+    if transform is None:
+        transform = np.eye(4)
+    trafo = np.array(
+        [
+            [-1, 0, 0, 0],
+            [0, -1, 0, 0],
+            [0, 0, 1, 0],
+            [0, 0, 0, 1],
+        ]
+    )
+    mesh.transform(trafo @ transform)
+    # # Persist a transformed mesh copy next to the source (primarily for debugging)
+    # o3d.t.io.write_triangle_mesh(f'{model_path.split(".")[0]}_1.obj', mesh)
+
+    # Build a Principled BSDF in Mitsuba, wiring in the texture maps from Open3D.
+    bsdf = mi.load_dict(
+        {
+            "type": "principled",
+            "base_color": {
+                "type": "bitmap",
+                "bitmap": mi.Bitmap(
+                    mesh.material.texture_maps["albedo"].as_tensor().numpy()
+                ),
+                "wrap_mode": "mirror",
+            },
+            "roughness": {
+                "type": "bitmap",
+                "bitmap": mi.Bitmap(
+                    mesh.material.texture_maps["roughness"].as_tensor().numpy()
+                ),
+            },
+            "metallic": {
+                "type": "bitmap",
+                "bitmap": mi.Bitmap(
+                    mesh.material.texture_maps["metallic"].as_tensor().numpy()
+                ),
+            },
+        }
+    )
+    mesh_mitsuba = mesh.to_mitsuba("mesh", bsdf=bsdf)
+    return mesh_mitsuba
+
+
+def _build_sensor(
+    c2w: np.ndarray,
+    fov_deg: float,
+    width: int,
+    height: int,
+    C: np.ndarray | None = None,
+) -> Dict:
+    """Construct a Mitsuba perspective sensor dict.
+
+    If `C` is provided, the final transform is `c2w @ C`; otherwise `c2w`.
+    """
+    to_world = c2w.astype(np.float32) if C is None else (c2w @ C).astype(np.float32)
+    return {
+        "type": "perspective",
+        "to_world": mi.ScalarTransform4f(to_world),
+        "fov_axis": "y",
+        "fov": fov_deg,
+        "near_clip": 1e-3,
+        "far_clip": 100.0,
+        "film": {
+            "type": "hdrfilm",
+            "width": int(width),
+            "height": int(height),
+            # "rfilter": {"type": "box"},
+            "pixel_format": "rgba",
+        },
+        "sampler": {"type": "multijitter", "sample_count": 64},
+    }
+
+
+def _update_mitsuba_mesh_positions(mesh: Dict, points: np.ndarray) -> Dict:
+    mesh_params = mi.traverse(mesh)
+    vertices = np.array(mesh_params["vertex_positions"]).reshape(-1, 3)
+    vertex_num = len(vertices)
+    points = points.reshape(-1, 3)
+    if points.shape[0] < vertex_num:
+        print(
+            f"Warning: number of points ({points.shape[0]}) is less than number of vertices ({vertex_num})"
+        )
+        exit(1)
+    points = points[:vertex_num, :]
+    mesh_params["vertex_positions"] = points.flatten()
+    mesh_params.update()
+    return mesh
+
+
+def add_cam_light_to_scene(scene: dict, position: np.ndarray, intensity: float = 5.0):
+    scene["light_cam"] = {
+        "type": "point",
+        "to_world": mi.ScalarTransform4f.translate(position),
+        "intensity": {"type": "rgb", "value": intensity},
+    }
+
+
+def _build_scene(
+    sensor: dict = None,
+    bg_group: dict = None,
+    fg_group: dict = None,
+    bg_mesh: dict = None,
+    obj_mesh_primary: dict = None,
+    obj_mesh_secondary: dict = None,
+) -> dict:
+    """Assemble the Mitsuba scene with sensor, environment, lights, and objects."""
+    scene: Dict = {
+        "type": "scene",
+        # "integrator": {"type": "direct"},
+        "integrator": {
+            "type": "prb",
+            "hide_emitters": True,
+        },
+    }
+    scene["env"] = {
+        "type": "constant",
+        "radiance": {"type": "rgb", "value": [0.2, 0.2, 0.2]},
+    }
+
+    # Default point lights
+    scene["light_top"] = {
+        "type": "point",
+        "to_world": mi.ScalarTransform4f.translate([1.0, 8.0, 1.0]),
+        "intensity": {"type": "rgb", "value": 35.0},
+    }
+    # scene["light_back"] = {
+    #     "type": "point",
+    #     "to_world": mi.ScalarTransform4f.translate([1.0, 1.0, -2.0]),
+    #     "intensity": {"type": "rgb", "value": 35.0},
+    # }
+
+    if sensor is not None:
+        scene["sensor"] = sensor
+    if obj_mesh_primary is not None:
+        scene["obj_mesh_primary"] = obj_mesh_primary
+    if obj_mesh_secondary is not None:
+        scene["obj_mesh_secondary"] = obj_mesh_secondary
+    if bg_mesh is not None:
+        scene["bg_mesh"] = bg_mesh
+    if bg_group is not None:
+        scene["bg_group"] = bg_group
+        scene["bg"] = {
+            "type": "instance",
+            "child": {"type": "ref", "id": bg_group.get("id", "bg_group")},
+        }
+    if fg_group is not None:
+        scene["fg_group"] = fg_group
+        scene["fg"] = {
+            "type": "instance",
+            "child": {"type": "ref", "id": fg_group.get("id", "fg_group")},
+        }
+    return scene
+
+
+def update_scene_dict_and_render(scene_dict: dict, **kwargs):
+    scene_dict.update(kwargs)
+    for k in list(scene_dict.keys()):
+        if scene_dict[k] is None:
+            del scene_dict[k]
+
+    scene = mi.load_dict(scene_dict)
+    image = mi.render(scene)
+    W, H = scene_dict["sensor"]["film"]["width"], scene_dict["sensor"]["film"]["height"]
+    denoiser = mi.OptixDenoiser(
+        input_size=(W, H), albedo=False, normals=False, temporal=False
+    )
+    image = denoiser(image)
+    return image
+
+
+def check_type_and_shape(target, name: str = ""):
+    if isinstance(target, np.ndarray):
+        print(
+            f"{name:<20} >>> Object type: {type(target)}, shape: {target.shape}, range: {target.min():.2f} to {target.max():.2f}"
+        )
+    else:
+        print(f"{name:<20} >>> Object type: {type(target)}")
+
+
+def save_image(img, save_path: str | Path, verbose: bool = True) -> Path:
+    if isinstance(save_path, Path):
+        save_path = str(save_path)
+
+    if isinstance(img, np.ndarray):
+        arr = np.asarray(img)
+        # Squeeze trailing single-channel dimension for masks (H,W,1) -> (H,W)
+        if arr.ndim == 3 and arr.shape[-1] == 1:
+            arr = arr[..., 0]
+
+        # Normalize dtype and value range to uint8 [0, 255]
+        if arr.dtype == np.bool_:
+            arr = arr.astype(np.uint8) * 255
+        else:
+            max_value = float(arr.max()) if arr.size else 0.0
+            min_value = float(arr.min()) if arr.size else 0.0
+
+            if arr.dtype.kind in {"f", "c"}:  # float/complex (complex unlikely)
+                if 0.0 <= min_value and max_value <= 1.0:
+                    arr = (arr * 255.0).round().astype(np.uint8)
+                elif 0.0 <= min_value and max_value <= 255.01:
+                    arr = np.clip(arr, 0.0, 255.0).round().astype(np.uint8)
+                else:
+                    raise ValueError(
+                        f"Image range is not supported for float array: {min_value} to {max_value}"
+                    )
+            elif arr.dtype.kind in {"u", "i"}:  # unsigned/signed int
+                if min_value < 0 or max_value > 255:
+                    raise ValueError(
+                        f"Integer image values must be within 0..255, got {min_value} to {max_value}"
+                    )
+                arr = arr.astype(np.uint8)
+            else:
+                raise ValueError(f"Unsupported numpy dtype for image: {arr.dtype}")
+
+        # Determine mode and save
+        if arr.ndim == 2:
+            # Grayscale mask or single-channel image
+            Image.fromarray(arr, mode="L").save(save_path)
+        elif arr.ndim == 3:
+            channels = arr.shape[-1]
+            if channels == 3:
+                Image.fromarray(arr, mode="RGB").save(save_path)
+            elif channels == 4:
+                Image.fromarray(arr, mode="RGBA").save(save_path)
+            else:
+                raise ValueError(
+                    f"Unsupported channel count: expected 1, 3, or 4 but got {channels}"
+                )
+        else:
+            raise ValueError(
+                f"Unsupported array shape for image: {arr.shape}. Expected (H,W), (H,W,3) or (H,W,4)."
+            )
+
+    elif isinstance(img, Image.Image):
+        img.save(save_path)
+    elif mi is not None and isinstance(img, mi.TensorXf):
+        mi.util.write_bitmap(save_path, img)
+    else:
+        raise ValueError(f"Image type is not supported: {type(img)}")
+
+    if verbose:
+        print(f"Image saved: [green bold]{save_path}")
+    return Path(save_path).resolve()
+
+
+def post_process_images(
+    img_inpainted_bg, img_ground_only, img_obj_only, img_obj_ground, **kwargs
+) -> np.ndarray:
+    img_inpainted_bg = np.asarray(img_inpainted_bg)
+    img_ground_only = np.asarray(img_ground_only)
+    img_obj_only = np.asarray(img_obj_only)
+    img_obj_ground = np.asarray(img_obj_ground)
+    # Compute per-pixel shadow by comparing composited object-only
+    # result with the object+plane render.
+    # NOTE: important step for shadow mapping
+    object_alpha = img_obj_only[..., 3:4]  # (H,W,1) [0, 1]
+    # check_type_and_shape(object_alpha, "object_alpha")
+    save_image(object_alpha, kwargs["obj_mask_dir"] / f"{kwargs['i']:05d}.png")
+
+    # compose object-only image with ground-only image using object_alpha
+    image_no_shade = img_obj_only[..., :3] * object_alpha + img_ground_only[..., :3] * (
+        1 - object_alpha
+    )  # (H,W,3) [0, 1]
+    # check_type_and_shape(image_no_shade, "image_no_shade")
+    # mi.util.write_bitmap(f"{output_folder}/{f:05d}_2.png", image_no_shade)
+
+    # get image residual between image_all (with shadow) and image_no_shade (without shadow)
+    # the larger the difference, the darker the shadow
+    shadow_difference = image_no_shade - img_obj_ground[..., :3]  # (H,W,3) [-1, 1]
+    # check_type_and_shape(shadow_difference, "shadow_difference")
+    # mi.util.write_bitmap(f"{output_folder}/{f:05d}_3.png", shadow_difference)
+
+    # only to avoid division by zero
+    image_no_shade = np.maximum(image_no_shade, 0.1)
+    # check_type_and_shape(image_no_shade, "image_no_shade")
+
+    shadow_ratio = shadow_difference / image_no_shade
+    # check_type_and_shape(shadow_ratio, "shadow_ratio after division")
+    shadow_ratio = np.clip(shadow_ratio, 0, 1)
+    # check_type_and_shape(shadow_ratio, "shadow_ratio after clipping")
+
+    # Reinsert shadows into the original photographic background and
+    # alpha-composite the rendered object over it.
+    shadow_ratio = cv2.cvtColor(np.array(shadow_ratio), cv2.COLOR_BGR2RGB)
+    # check_type_and_shape(shadow_ratio, "shadow_ratio after color conversion")
+
+    image_shadowed = img_inpainted_bg * (1 - shadow_ratio)
+    # image_shadowed = image_origin - shadow_difference * 255
+    # save_image(image_shadowed, kwargs["misc_dir"] / f"shadowed_{kwargs['i']:05d}.png")
+
+    time.sleep(1)  # wait for the image to be saved
+    img_obj_ground_3 = np.asarray(
+        Image.open(kwargs["obj_ground_dir"] / f"{kwargs['i']:05d}.png")
+    )  # (H,W,3) [0, 255]
+    # check_type_and_shape(img_obj_ground_3, "img_obj_ground_3")
+
+    final_img = img_obj_ground_3 * object_alpha + image_shadowed * (1 - object_alpha)
+    # check_type_and_shape(final_img, "final_img")
+    # print("\n\n")
+    return final_img
+
+
+def check_image_object(img, name: str = ""):
+    if isinstance(img, np.ndarray):
+        _target = img
+        dtype = _target.dtype
+        shape = _target.shape
+        max_value = _target.max()
+        min_value = _target.min()
+        if 0 <= min_value <= max_value <= 1:
+            image_range = "0-1"
+        elif 0 <= min_value <= max_value <= 255 and max_value > 3:
+            # check max_value > 3 just in case
+            image_range = "0-255"
+        else:
+            image_range = f"{min_value}-{max_value}"
+
+        print(f"{name} >>> Image dtype: {dtype}, shape: {shape}, range: {image_range}")
+        return
+
+    elif isinstance(img, Image.Image):
+        print(f"{name} >>> Image type: {type(img)}")
+        return
+    else:
+        print(f"{name} >>> Unknown image type: {type(img)}")
+        return
+
+
+def render_simulation_result(
+    exported_sample_dir: Path,
+    output_dir: Path,
+    simulation_id: str,
+    interpolate_cameras: bool = True,
+):
+    """Render each frame directory under `video_dir` into `output_dir` using Mitsuba."""
+    assert (
+        mi is not None
+    ), "Mitsuba 3 is not installed. Please install mitsuba and try again."
+    # mi.set_variant("cuda_rgb") if mi.has_backend("cuda_ad_rgb") else mi.set_variant("llvm_rgb")
+
+    ### load video info
+    video_info = _load_video_info(exported_sample_dir)
+    sample_id = video_info["sample_id"]
+    print(
+        f"Rendering RGB frames for sample: {sample_id} (interpolate_cameras: {interpolate_cameras})"
+    )
+    video_n_frames = video_info["N_frames"]
+
+    # check objects
+    primary_obj_name = video_info.get("primary_obj_name")
+    secondary_obj_name = video_info.get("secondary_obj_name")
+    if not primary_obj_name:
+        raise ValueError(f"Primary object name not found in video info for {sample_id}")
+    primary_obj_path_dict = get_mesh_path(sample_id, primary_obj_name, is_primary=True)
+    if secondary_obj_name:
+        secondary_obj_path_dict = get_mesh_path(
+            sample_id, secondary_obj_name, is_primary=False
+        )
+
+    # metadata_file
+    metadata_file = OUT_SIMULATION_DIR / sample_id / simulation_id / "metadata.json"
+    assert metadata_file.exists(), f"Metadata file {metadata_file} does not exist"
+    metadata = _read_json(metadata_file)
+    primary_start_index = metadata.get("primary_start_index", None)
+    primary_end_index = metadata.get("primary_end_index", None)
+    secondary_start_index = metadata.get("secondary_start_index", None)
+    secondary_end_index = metadata.get("secondary_end_index", None)
+
+    if secondary_start_index is None:
+        total_simulated_points = primary_end_index
+        N_pts = primary_start_index
+    else:
+        total_simulated_points = secondary_end_index
+        _first_obj_pts = primary_start_index
+        _second_obj_pts = secondary_start_index - primary_end_index
+        N_pts = _first_obj_pts + _second_obj_pts
+
+    if "fps" in simulation_id:
+        _loc = simulation_id.find("fps_x")
+        if _loc == -1:
+            raise ValueError(
+                f"Failed to find fps factor in simulation_id: {simulation_id}"
+            )
+        _factor = int(simulation_id[_loc + 5 : _loc + 6])
+        assert _factor in [1, 2, 3, 4], f"Invalid fps factor: {_factor}"
+        fps_factor = _factor
+    else:
+        fps_factor = 1
+
+    if interpolate_cameras:
+        n_frames_to_render = video_n_frames * fps_factor
+    else:
+        n_frames_to_render = video_n_frames
+
+    ### load all frames' infos
+    frame_dirs = _list_frame_dirs(exported_sample_dir)  # already sorted
+    frame_infos = _load_frame_infos(frame_dirs)
+
+    ### load all camera data
+    cam_base_params = load_cam_base_params(frame_infos[0])
+    if "static" in sample_id:
+        all_c2w = [
+            np.array(frame_infos[0]["c2w"], dtype=np.float32)
+        ] * n_frames_to_render
+    else:
+        # Load all_c2w from video_info
+        all_c2w_path = (
+            exported_sample_dir / "video_info" / video_info.get("all_c2w", "")
+        )
+        assert all_c2w_path.exists(), f"all_c2w path '{all_c2w_path}' does not exist"
+        all_c2w, _, _ = load_grid(str(all_c2w_path))
+        assert all_c2w.shape == (
+            video_n_frames,
+            4,
+            4,
+        ), f"all_c2w shape {all_c2w.shape} does not match expected shape ({video_n_frames}, 4, 4)"
+        all_c2w = [all_c2w[i] for i in range(video_n_frames)]
+
+        ### Interpolate c2w
+        if interpolate_cameras and fps_factor > 1:
+            all_c2w = interpolate_c2ws(
+                all_c2w, factor=fps_factor
+            )  # N -> N * fps_factor - fps_factor + 1
+
+            if len(all_c2w) < n_frames_to_render:
+                less = n_frames_to_render - len(all_c2w)
+                all_c2w = (
+                    all_c2w + [all_c2w[-1]] * less
+                )  # N * fps_factor - fps_factor + 1 -> N * fps_factor
+
+    ### gather all background images from inpainting results
+    perception_sample_dir = OUT_PERCEPTION_DIR / sample_id
+    _frames_dirs = sorted(
+        [
+            x
+            for x in perception_sample_dir.glob("*")
+            if x.is_dir() and x.stem.startswith("0")
+        ]
+    )
+
+    if "static" in sample_id:
+        background_frames = [
+            _frames_dirs[0] / "inpaint" / "inpainted_all.jpg"
+        ] * n_frames_to_render
+    else:
+        background_frames = [
+            _frames_dirs[0] / "inpaint" / "inpainted_all.jpg"
+        ] * n_frames_to_render
+
+    ### gather all simulation results
+    particles_dir = OUT_SIMULATION_DIR / sample_id / simulation_id / "particles"
+    assert particles_dir.exists(), f"Particles directory {particles_dir} does not exist"
+    print(f"Searching for simulation results in {particles_dir}...")
+    particles_files = sorted(particles_dir.glob("*.npz"))
+
+    if len(particles_files) > n_frames_to_render:
+        particles_files = particles_files[:n_frames_to_render]
+    elif len(particles_files) < n_frames_to_render:
+        short_num = n_frames_to_render - len(particles_files)
+        particles_files = particles_files + [particles_files[-1]] * short_num
+        # print(f"Warning: number of particles files ({len(particles_files)}) does not match number of frames ({n_frames_to_render})")
+        # n_frames_to_render = len(particles_files)
+        # background_frames = background_frames[:n_frames_to_render]
+    else:
+        print("OK: number of particles files matches number of frames")
+
+    ### sanity check
+    assert (
+        len(particles_files)
+        == len(all_c2w)
+        == len(background_frames)
+        == n_frames_to_render
+    )
+
+    ### create output directory
+    output_dir.mkdir(parents=True, exist_ok=True)
+
+    ### build ground plane mesh
+    ground_mesh = build_ground_mesh(video_info, output_dir)
+
+    ### build object mesh
+    # mesh_mitsuba = load_input_model(**get_mesh_path(sample_id))
+    mesh_mitsuba_primary = load_input_model(**primary_obj_path_dict)
+    mesh_mitsuba_secondary = (
+        load_input_model(**secondary_obj_path_dict) if secondary_obj_name else None
+    )
+
+    ### build scene
+    scene_dict = _build_scene(
+        bg_mesh=ground_mesh,
+        obj_mesh_primary=mesh_mitsuba_primary,
+        obj_mesh_secondary=mesh_mitsuba_secondary,
+    )
+
+    ### build render output directories
+    def make_sub_output_dir(output_dir: Path, sub_dir_name: str) -> Path:
+        output_dir = Path(output_dir)
+        sub_dir = output_dir / sub_dir_name
+        sub_dir.mkdir(parents=True, exist_ok=True)
+        return sub_dir
+
+    inpainted_bg_dir = make_sub_output_dir(output_dir, "inpainted_bg")
+    ground_only_dir = make_sub_output_dir(output_dir, "ground_only")
+    obj_only_dir = make_sub_output_dir(output_dir, "obj_only")
+    obj_mask_dir = make_sub_output_dir(output_dir, "obj_mask")
+    obj_ground_dir = make_sub_output_dir(output_dir, "obj_ground")
+    # misc_dir = make_sub_output_dir(output_dir, "misc")
+    final_dir = make_sub_output_dir(output_dir, "final")
+    video_out_dir = make_sub_output_dir(output_dir, "video")
+
+    for i in range(n_frames_to_render):
+        print(f"Rendering frame {i}...")
+        print(f"-" * 100)
+        time_start = time.time()
+        # build new sensor for this frame
+        sensor = _build_sensor(c2w=all_c2w[i], **cam_base_params)
+        cam_pos = all_c2w[i][:3, 3].copy().tolist()
+        add_cam_light_to_scene(scene_dict, cam_pos)
+
+        # DEBUG ONLY: render zero image, check mesh loading
+        if i == 0:
+            img_zero = update_scene_dict_and_render(scene_dict, sensor=sensor)
+            save_image(img_zero, output_dir / f"zero.png")
+        # DEBUG end here
+
+        # update mesh vertices position from physics simulation output
+        # mesh_mitsuba = _update_mitsuba_mesh_positions_from_npz(mesh_mitsuba, particles_files[i])
+        # load simulated particles
+        np_x, _, _ = ParticleIO.read_particles_3d(particles_files[i])
+        np_x_primary = np_x[:primary_start_index]
+        mesh_mitsuba_primary = _update_mitsuba_mesh_positions(
+            mesh_mitsuba_primary, np_x_primary
+        )
+        if secondary_obj_name:
+            np_x_secondary = np_x[primary_end_index:secondary_start_index]
+            mesh_mitsuba_secondary = _update_mitsuba_mesh_positions(
+                mesh_mitsuba_secondary, np_x_secondary
+            )
+
+        # get inpainted background image
+        img_inpainted_bg = Image.open(background_frames[i])
+        img_inpainted_bg = np.array(img_inpainted_bg).astype(np.float32)
+        # save_image(img_inpainted_bg, inpainted_bg_dir / f"{i:05d}.png")
+
+        # render new image for this frame
+        img_ground_only = update_scene_dict_and_render(
+            scene_dict, sensor=sensor, obj_mesh_primary=None
+        )
+        img_obj_only = update_scene_dict_and_render(
+            scene_dict,
+            sensor=sensor,
+            obj_mesh_primary=mesh_mitsuba_primary,
+            obj_mesh_secondary=mesh_mitsuba_secondary,
+            bg_mesh=None,
+        )
+        img_obj_ground = update_scene_dict_and_render(
+            scene_dict,
+            sensor=sensor,
+            obj_mesh_primary=mesh_mitsuba_primary,
+            obj_mesh_secondary=mesh_mitsuba_secondary,
+            bg_mesh=ground_mesh,
+        )
+        # save_image(img_ground_only, ground_only_dir / f"{i:05d}.png")
+        save_image(img_obj_only, obj_only_dir / f"{i:05d}.png")
+        save_image(img_obj_ground, obj_ground_dir / f"{i:05d}.png")
+
+        # compose images
+        img_final = post_process_images(
+            img_inpainted_bg,
+            img_ground_only,
+            img_obj_only,
+            img_obj_ground,
+            i=i,
+            obj_ground_dir=obj_ground_dir,
+            obj_mask_dir=obj_mask_dir,
+        )
+        save_image(img_final, final_dir / f"{i:05d}.png")
+
+        time_elapsed = time.time() - time_start
+        print(f"Frame {i} rendered in {time_elapsed:.1f} seconds")
+
+    print(f"-" * 100)
+    time.sleep(2)
+    print("[green bold]Making video from rendered frames...")
+    make_video_from_frames_dir(final_dir, video_out_dir / f"{sample_id}_final.mp4")
+    make_video_from_frames_dir(
+        obj_ground_dir, video_out_dir / f"{sample_id}_obj_ground.mp4"
+    )
+    make_video_from_frames_dir(
+        obj_only_dir, video_out_dir / f"{sample_id}_obj_only.mp4"
+    )
+
+
+def render_RGB_video(sample_id: str, simulation_id: str, overwrite: bool = False):
+    sim_success_file = OUT_SIMULATION_DIR / sample_id / simulation_id / "success.txt"
+    if not sim_success_file.exists():
+        print(f"Simulation results not found for {sample_id} at {sim_success_file}")
+        exit(3)
+
+    root_success_file = (
+        OUT_RENDERING_DIR / sample_id / simulation_id / "success_render.txt"
+    )
+    if root_success_file.exists() and not overwrite:
+        print(
+            f"  [yellow]✔ Skipped[/yellow] {sample_id} ({simulation_id}) because rendering result exists"
+        )
+        return
+
+    success_files = []
+    for interpolate_cameras in [False, True]:
+        _txt = "more_frames" if interpolate_cameras else "original_length"
+        output_dir = OUT_RENDERING_DIR / sample_id / simulation_id / _txt
+        out_video_path = output_dir / "video" / f"{sample_id}_obj_ground.mp4"
+        success_file = output_dir / "success_render.txt"
+        success_files.append(success_file)
+        if success_file.exists() and out_video_path.exists() and not overwrite:
+            print(
+                f"RGB frames are already rendered for {sample_id} at {_txt}, skipping."
+            )
+            continue
+
+        exported_sample_dir = VIPE_EXPORT_DIR / sample_id
+
+        backup_this_script(output_dir)
+
+        render_simulation_result(
+            exported_sample_dir=exported_sample_dir,
+            output_dir=output_dir,
+            simulation_id=simulation_id,
+            interpolate_cameras=interpolate_cameras,
+        )
+
+        success_file.touch()
+
+        if not interpolate_cameras:
+            out_video_copy = (
+                OUT_RENDERING_DIR
+                / "all_videos"
+                / f"{simulation_id}"
+                / out_video_path.name
+            )
+            out_video_copy.parent.mkdir(parents=True, exist_ok=True)
+            # copy to all_videos
+            if not out_video_copy.exists():
+                shutil.copy(out_video_path, out_video_copy)
+
+    if all([success_file.exists() for success_file in success_files]):
+        root_success_file.touch()
+
+
+if __name__ == "__main__":
+    ...
diff --git a/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/success_flow.txt b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/success_flow.txt
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diff --git a/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/success_render.txt b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/success_render.txt
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diff --git a/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/video/0000_final.mp4 b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/more_frames/video/0000_final.mp4
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diff --git a/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/flow_20261031_203600.py b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/flow_20261031_203600.py
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--- /dev/null
+++ b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/flow_20261031_203600.py
@@ -0,0 +1,868 @@
+import json
+import math
+import time
+from datetime import datetime
+from pathlib import Path
+from typing import List
+
+import numpy as np
+from matplotlib import cm
+from PIL import Image
+from psivg.constants import OUT_RENDERING_DIR, OUT_SIMULATION_DIR, VIPE_EXPORT_DIR
+from rich import print
+
+from .grid_io import load_grid
+from .interpolate import interpolate_c2ws
+from .make_video import make_video_from_frames_dir
+from .particle_io import ParticleIO
+from .projection import project
+
+
+def backup_this_script(output_dir: Path, timestamp: str = None):
+    output_dir = Path(output_dir)
+    output_dir.mkdir(parents=True, exist_ok=True)
+    if timestamp is None:
+        timestamp = datetime.now().strftime("%Y%m%d_%H%M%S")
+    script_path = Path(__file__)
+    script_content = script_path.read_text()
+    with open(output_dir / f"flow_{timestamp}.py", "w") as f:
+        f.write(script_content)
+
+
+def _read_json(path: Path) -> dict:
+    """Read and parse a JSON file at the given path."""
+    with open(path, "r") as f:
+        return json.load(f)
+
+
+def _load_video_info(exported_sample_dir: Path) -> dict:
+    """Load the `video_info.json` for the given video directory."""
+    video_info_dir = exported_sample_dir / "video_info"
+    video_info_json = video_info_dir / "video_info.json"
+    if not video_info_json.exists():
+        raise FileNotFoundError(f"Missing video_info.json at {video_info_json}")
+    return _read_json(video_info_json)
+
+
+def _list_frame_dirs(exported_sample_dir: Path) -> List[Path]:
+    """List and return all `frame_*` subdirectories under `video_dir`."""
+    frame_dirs: List[Path] = []
+    frames_info_dir = exported_sample_dir / "frames_info"
+    for path in sorted(frames_info_dir.glob("*")):
+        if path.is_dir():
+            frame_dirs.append(path)
+    frame_dirs = sorted(frame_dirs, key=lambda x: int(x.name))
+    return frame_dirs
+
+
+def _load_frame_infos(frame_dirs: List[Path]) -> list:
+    frame_infos = []
+    for frame_dir in frame_dirs:
+        frame_meta = _read_json(frame_dir / f"{frame_dir.name}.json")
+        frame_infos.append(frame_meta)
+    return frame_infos
+
+
+def load_cam_base_params(frame_meta: dict) -> dict:
+    fov_deg = float(frame_meta["fov"]) * 180.0 / math.pi
+    K = frame_meta["K"]
+    fx, fy, cx, cy = K
+    width, height = int(cx * 2), int(cy * 2)
+    # Original data is RH, Mitsuba is also RH
+    # But original Up is -Y, Mitsuba Up is +Y
+    # So we need to rotate 180 degrees around Z axis
+    C = np.eye(4, dtype=np.float32)
+    C[0, 0] = -1.0
+    C[1, 1] = -1.0
+    return dict(fov_deg=fov_deg, width=width, height=height, C=C)
+
+
+def build_intrinsics(K: list[float]) -> np.ndarray:
+    fx, fy, cx, cy = K
+    intrinsics = np.eye(3, dtype=np.float32)
+    intrinsics[0, 0] = fx
+    intrinsics[1, 1] = fy
+    intrinsics[0, 2] = cx
+    intrinsics[1, 2] = cy
+    return intrinsics
+
+
+def get_rainbow_color(N: int) -> list[tuple[int, int, int]]:
+    colors = []
+    for i in range(int(N)):
+        color = cm.jet(i / N)[:3]  # r,g,b in [0,1]
+        color = tuple((int(c * 255) for c in color))  # r,g,b in [0,255]
+        colors.append(color)
+    return colors
+
+
+def get_unique_colors(N: int) -> list[tuple[int, int, int]]:
+    """
+    Generate N unique colors as long as N is less than 256^3 - 2
+    starting from black (0, 0, 0) to white (255, 255, 254)
+    """
+    assert N <= 256**3 - 2, f"N must be less than 256^3 - 2, got {N}"
+
+    colors = list(range(1, N + 1))
+    colors = [(x // 256**2, (x // 256) % 256, x % 256) for x in colors]
+    return colors
+
+
+def _to_uint8_colors(arr: np.ndarray) -> np.ndarray:
+    """
+    Accept colors in [0,1] float or [0,255] float/int and return uint8.
+    """
+    arr = np.asarray(arr)
+    if arr.dtype.kind == "f" and np.nanmax(arr) <= 1.0:
+        arr = np.clip(arr * 255.0, 0, 255)
+    return np.clip(np.rint(arr), 0, 255).astype(np.uint8)
+
+
+def patchify(image: np.ndarray, patch_size: int = 5) -> np.ndarray:
+    """
+    Patchify an image into a grid of patches, handling arbitrary image sizes.
+    Edge patches that are smaller than patch_size are padded with zeros.
+
+    Args:
+        image: np.ndarray
+            Image to patchify, shape: (H, W) or (H, W, C).
+        patch_size: int
+            Size of the patches.
+    Returns:
+        patches: np.ndarray
+            Patches, shape: (N_patches, patch_size, patch_size) or (N_patches, patch_size, patch_size, C).
+            All patches have consistent size by zero-padding edge patches if needed.
+    """
+    H, W = image.shape[:2]
+    patches = []
+
+    # Determine if we have channels
+    has_channels = len(image.shape) == 3
+    C = image.shape[2] if has_channels else None
+
+    for i in range(0, H, patch_size):
+        for j in range(0, W, patch_size):
+            # Extract the patch
+            patch = image[i : i + patch_size, j : j + patch_size]
+
+            # Get actual patch dimensions
+            patch_h, patch_w = patch.shape[:2]
+
+            # If patch is smaller than patch_size, pad with zeros
+            if patch_h < patch_size or patch_w < patch_size:
+                if has_channels:
+                    padded_patch = np.zeros(
+                        (patch_size, patch_size, C), dtype=image.dtype
+                    )
+                    padded_patch[:patch_h, :patch_w, :] = patch
+                else:
+                    padded_patch = np.zeros((patch_size, patch_size), dtype=image.dtype)
+                    padded_patch[:patch_h, :patch_w] = patch
+                patches.append(padded_patch)
+            else:
+                patches.append(patch)
+
+    return np.array(patches)
+
+
+def unpatchify(patches: np.ndarray, H: int, W: int, patch_size: int = 5) -> np.ndarray:
+    """
+    Unpatchify a grid of patches into an image, handling arbitrary image sizes.
+    Only extracts the valid portion of each patch, ignoring zero-padding.
+
+    Args:
+        patches: np.ndarray
+            Patches, shape: (N_patches, patch_size, patch_size) or (N_patches, patch_size, patch_size, C).
+        H: int
+            Target image height.
+        W: int
+            Target image width.
+        patch_size: int
+            Size of the patches.
+    Returns:
+        image: np.ndarray
+            Image, shape: (H, W) or (H, W, C).
+    """
+    # Determine the number of channels from the patches
+    has_channels = len(patches.shape) == 4
+    if has_channels:
+        C = patches.shape[3]
+        image = np.zeros((H, W, C), dtype=patches.dtype)
+    else:
+        # Handle grayscale case
+        image = np.zeros((H, W), dtype=patches.dtype)
+
+    # Calculate number of patches in each dimension
+    n_patches_h = (H + patch_size - 1) // patch_size  # Ceiling division
+    n_patches_w = (W + patch_size - 1) // patch_size  # Ceiling division
+
+    patch_idx = 0
+    for i in range(0, H, patch_size):
+        for j in range(0, W, patch_size):
+            if patch_idx >= len(patches):
+                break
+
+            # Get the actual region dimensions in the target image
+            target_h = min(patch_size, H - i)
+            target_w = min(patch_size, W - j)
+
+            patch = patches[patch_idx]
+
+            # Copy only the valid portion of the patch (excluding any padding)
+            if has_channels:
+                image[i : i + target_h, j : j + target_w, :] = patch[
+                    :target_h, :target_w, :
+                ]
+            else:
+                image[i : i + target_h, j : j + target_w] = patch[:target_h, :target_w]
+
+            patch_idx += 1
+
+    return image
+
+
+def dynamic_two_clusters(
+    x,
+    gap_ratio: float = 1.5,
+    min_frac: float = 0.05,
+    return_info: bool = False,
+):
+    """
+    Split 1D data into two clusters using either a clear largest gap or the median.
+
+    Parameters
+    ----------
+    x : array-like of shape (N,)
+        1D data (e.g., in [0, 1]).
+    gap_ratio : float, default=5.0
+        How much larger the largest gap must be relative to the typical (median) gap
+        to be considered a "clear" gap.
+    min_frac : float, default=0.05
+        Both clusters must have at least this fraction of points when using the gap rule.
+        Otherwise we fall back to the median split.
+    return_info : bool, default=True
+        If True, also return a dict with details about the split.
+
+    Returns
+    -------
+    labels : ndarray of shape (N,)
+        0 = bigger cluster, 1 = smaller cluster (by number of points).
+    threshold : float
+        The threshold value used for splitting.
+    info : dict (if return_info)
+        Keys: rule ("max_gap" or "median"), gap, med_gap, left_size, right_size
+    """
+    x = np.asarray(x).ravel()
+    x = x[~np.isnan(x)]
+    n = x.size
+    if n == 0:
+        raise ValueError("Empty input after removing NaNs.")
+    if n == 1:
+        # Only one point: everything is one cluster; use that value as threshold.
+        labels = np.array([0], dtype=int)
+        return (
+            (
+                labels,
+                float(x[0]),
+                {
+                    "rule": "degenerate",
+                    "gap": 0.0,
+                    "med_gap": 0.0,
+                    "left_size": 1,
+                    "right_size": 0,
+                },
+            )
+            if return_info
+            else (labels, float(x[0]))
+        )
+
+    s = np.sort(x)
+    diffs = np.diff(s)  # gaps between consecutive sorted values
+
+    if diffs.size == 0:
+        # All values identical
+        threshold = float(s[0])
+        labels = np.zeros(n, dtype=int)
+        return (
+            (
+                labels,
+                threshold,
+                {
+                    "rule": "all_equal",
+                    "gap": 0.0,
+                    "med_gap": 0.0,
+                    "left_size": n,
+                    "right_size": 0,
+                },
+            )
+            if return_info
+            else (labels, threshold)
+        )
+
+    i_max = int(np.argmax(diffs))
+    max_gap = float(diffs[i_max])
+
+    pos_diffs = diffs[diffs > 0]
+    med_gap = float(np.median(pos_diffs)) if pos_diffs.size > 0 else 0.0
+
+    # Heuristic: clear gap if it's much larger than the typical gap
+    clear_gap = max_gap > 0 and (
+        (med_gap == 0.0 and max_gap > 0.0) or (max_gap >= gap_ratio * med_gap)
+    )
+
+    left_size = i_max + 1
+    right_size = n - left_size
+    min_size = max(1, int(np.ceil(min_frac * n)))
+    size_ok = (left_size >= min_size) and (right_size >= min_size)
+
+    if clear_gap and size_ok:
+        threshold = 0.5 * (s[i_max] + s[i_max + 1])
+        rule = "max_gap"
+    else:
+        threshold = float(np.median(s))
+        rule = "median"
+
+    # Assign: <= threshold -> 0, > threshold -> 1 (then we’ll relabel so 1 = smaller cluster)
+    raw_labels = (x > threshold).astype(int)
+
+    # Ensure label 1 is the smaller cluster
+    counts = np.bincount(raw_labels, minlength=2)
+    # counts[0] = num at/below threshold, counts[1] = num above threshold
+    # If label 1 isn't the smaller one, swap labels
+    if counts[1] > counts[0]:
+        labels = 1 - raw_labels
+    else:
+        labels = raw_labels
+
+    if return_info:
+        info = {
+            "rule": rule,
+            "gap": max_gap,
+            "med_gap": med_gap,
+            "left_size": left_size,
+            "right_size": right_size,
+        }
+        return labels, threshold, info
+    else:
+        return labels, threshold
+
+
+def paint_image(
+    W: int,
+    H: int,
+    points: np.ndarray,
+    colors: np.ndarray | None = None,
+    bg_color: np.ndarray = np.array([0.0, 0.0, 0.0]),
+    depth: np.ndarray | None = None,
+    save_path: str | Path | None = None,
+) -> np.ndarray:
+    """
+    Paint points on a canvas of given size and background color.
+
+    Args:
+        W: int
+            Width of the output image.
+        H: int
+            Height of the output image.
+        points: np.ndarray
+            2D Points in pixel coordinates to paint, shape: (N, 2). Pixel coordinates are (x, y), where (0, 0) is the top-left corner.
+            2D points should be in the range of [0, W) and [0, H), if not, points will be discarded.
+        colors: Optional[np.ndarray]
+            Colors of the points, shape: (N, 3). Colors are in RGB format, range: [0, 255] or [0,1] if float.
+            If not provided, rainbow colors will be used.
+        bg_color: np.ndarray
+            Background color of the canvas, shape: (3,). Colors are in RGB format, range: [0, 255] or [0,1] if float.
+        depth: Optional[np.ndarray]
+            Depth of the points, shape: (N,). If provided, for duplicate pixels the *smaller* depth is treated as closer (foreground).
+        save_path: Optional[str | Path]
+            If provided, the image will be saved to this path (PNG/JPG depending on extension).
+
+    Returns:
+        image: np.ndarray
+            Output image array of shape (H, W, 3), dtype=uint8 (RGB in [0, 255]).
+    """
+    if W <= 0 or H <= 0:
+        raise ValueError("W and H must be positive integers.")
+
+    pts = np.asarray(points, dtype=np.float64)
+    if pts.ndim != 2 or pts.shape[1] != 2:
+        raise ValueError("points must have shape (N, 2).")
+    N = pts.shape[0]
+
+    # Colors
+    if colors is None:
+        col_arr = np.array(get_rainbow_color(N), dtype=np.uint8)
+    else:
+        col_arr = _to_uint8_colors(colors)
+        if col_arr.shape != (N, 3):
+            raise ValueError(f"colors must have shape (N,3); got {col_arr.shape}.")
+
+    # Background color
+    bg = _to_uint8_colors(np.asarray(bg_color).reshape(1, 3)).reshape(3)
+
+    # Initialize image
+    image = np.broadcast_to(bg, (H, W, 3)).copy()
+    if depth is not None:
+        image = np.concatenate([image, np.zeros((H, W, 1), dtype=np.uint8)], axis=-1)
+
+    if N == 0:
+        return None
+
+    # Round pixel coordinates to nearest integer positions
+    xy = np.rint(pts).astype(np.int64)
+    x = xy[:, 0]
+    y = xy[:, 1]
+
+    # Keep only points within bounds
+    if depth is not None:
+        # make nan becomes zero
+        depth = np.where(np.isnan(depth), 0.0, depth)
+        # make negative depth becomes zero
+        depth = np.where(depth < 0, 0.0, depth)
+        # normalize depth to [0, 255]
+        depth = (depth / depth.max()) * 255
+        # convert depth to uint8
+        depth = depth.astype(np.uint8)
+
+        inb = (x >= 0) & (x < W) & (y >= 0) & (y < H) & (depth > 0)
+    else:
+        inb = (x >= 0) & (x < W) & (y >= 0) & (y < H)
+
+    if not np.any(inb):
+        return None
+
+    x = x[inb]
+    y = y[inb]
+    col_arr = col_arr[inb]
+
+    if depth is not None:
+        d = np.asarray(depth).reshape(-1)
+        if d.shape[0] != points.shape[0]:
+            raise ValueError("depth must have shape (N,).")
+        d = d[inb]
+
+        # Linearize pixel coordinates and z-buffer with "smaller is closer"
+        lin = y * W + x
+        order = np.argsort(d)  # ascending: closest first
+        lin_sorted = lin[order]
+
+        # Keep the first occurrence per pixel (closest depth)
+        _, first_idx = np.unique(lin_sorted, return_index=True)
+        keep = order[first_idx]
+
+        image[y[keep], x[keep], :3] = col_arr[keep]
+        image[y[keep], x[keep], 3] = d[keep]
+    else:
+        # Respect input order for overdraw: later points overwrite earlier ones
+        # (use a loop to guarantee order with duplicate indices)
+        for xi, yi, ci in zip(x, y, col_arr):
+            image[yi, xi] = ci
+
+    ### Perform patch-wise foreground/background separation
+    PATCH_SIZE = 32
+    patches = patchify(
+        image, patch_size=PATCH_SIZE
+    )  # (N_patches, patch_size, patch_size, C)
+    N_patches, _, _, C = patches.shape
+    patches = patches.reshape(N_patches, PATCH_SIZE * PATCH_SIZE, C)
+
+    for i in range(N_patches):
+        patch_depth = patches[i, :, 3]  # (patch_size*patch_size,)
+        patch_depth = patch_depth[patch_depth > 0]
+        if len(patch_depth) == 0:
+            continue
+        _max = patch_depth.max()
+        # normalize depth to [0, 1]
+        patch_depth = patch_depth.astype(np.float64) / _max
+        # identify foreground/background separation threshold
+        _, threshold = dynamic_two_clusters(patch_depth, return_info=False)
+        background_mask = patches[i, :, 3] > threshold * _max
+        patches[i, background_mask, 3] = 0
+    patches = patches.reshape(N_patches, PATCH_SIZE, PATCH_SIZE, C)
+    image = unpatchify(patches, H, W, patch_size=PATCH_SIZE)
+    # remove background points
+    bg_mask = image[..., 3] == 0
+    image[bg_mask, :3] = bg
+
+    if save_path is not None:
+        try:
+            Image.fromarray(image).save(str(save_path))
+            print(f"Image saved: [green bold]{save_path}")
+        except Exception:
+            print(f"Error saving image: {save_path}")
+            pass
+
+    return image
+
+
+###############################################################################
+### Match Helpers
+###############################################################################
+
+
+def _color_keys(img):
+    if not img.flags["C_CONTIGUOUS"]:
+        img = np.ascontiguousarray(img)
+    H, W, C = img.shape
+    return img.view(np.dtype((np.void, img.dtype.itemsize * C))).reshape(H * W), H, W
+
+
+def _coords(H, W):
+    lin = np.arange(H * W)
+    y, x = np.divmod(lin, W)
+    return x, y
+
+
+def _pack_colors(colors, dtype, C):
+    """Turn a list/array of color tuples into fixed-size keys that match _color_keys."""
+    arr = np.asarray(colors, dtype=dtype).reshape(-1, C)
+    return arr.view(np.dtype((np.void, dtype.itemsize * C))).ravel()
+
+
+def match_pixels_by_color(
+    img1,
+    img2,
+    *,
+    ignore_colors=[(0, 0, 0), (255, 255, 255)],  # e.g., [(0,0,0), (255,255,255)]
+    ignore_predicate=None,  # callable(img)->bool mask of shape (H,W) or (H,W,1)
+    all_pairs=True,
+    max_pairs_per_color=None,
+):
+    k1, H1, W1 = _color_keys(img1)
+    k2, H2, W2 = _color_keys(img2)
+    C = img1.shape[2]
+    x1_all, y1_all = _coords(H1, W1)
+    x2_all, y2_all = _coords(H2, W2)
+
+    keep1 = np.ones(H1 * W1, dtype=bool)
+    keep2 = np.ones(H2 * W2, dtype=bool)
+
+    # Predicate-based ignoring (e.g., transparency, near-white, etc.)
+    if ignore_predicate is not None:
+        m1 = np.asarray(ignore_predicate(img1)).reshape(H1 * W1)
+        m2 = np.asarray(ignore_predicate(img2)).reshape(H2 * W2)
+        keep1 &= ~m1
+        keep2 &= ~m2
+
+    # Exact color ignoring (fast set membership on packed keys)
+    if ignore_colors is not None:
+        ign1 = _pack_colors(ignore_colors, img1.dtype, C)
+        # same palette for both images; if you need different, pass via predicate or adapt below
+        keep1 &= ~np.isin(k1, ign1)
+        keep2 &= ~np.isin(k2, ign1)
+
+    # Filter down to kept pixels
+    idx1_keep = np.flatnonzero(keep1)
+    idx2_keep = np.flatnonzero(keep2)
+    k1f = k1[idx1_keep]
+    k2f = k2[idx2_keep]
+
+    # Group by color on the filtered keys
+    u1, inv1, cnt1 = np.unique(k1f, return_inverse=True, return_counts=True)
+    u2, inv2, cnt2 = np.unique(k2f, return_inverse=True, return_counts=True)
+    shared, i1, i2 = np.intersect1d(u1, u2, assume_unique=True, return_indices=True)
+
+    order1 = np.argsort(inv1)
+    b1 = np.cumsum(cnt1)
+    s1 = np.r_[0, b1[:-1]]
+    order2 = np.argsort(inv2)
+    b2 = np.cumsum(cnt2)
+    s2 = np.r_[0, b2[:-1]]
+
+    for g1, g2, color in zip(i1, i2, shared):
+        # indexes into the FILTERED arrays…
+        a_filt = order1[s1[g1] : b1[g1]]
+        b_filt = order2[s2[g2] : b2[g2]]
+        # …map back to ORIGINAL linear pixel indices
+        a = idx1_keep[a_filt]
+        b = idx2_keep[b_filt]
+
+        if not all_pairs:
+            k = min(len(a), len(b))
+            a, b = a[:k], b[:k]
+            yield (
+                color,
+                np.stack((x1_all[a], y1_all[a]), axis=1),
+                np.stack((x2_all[b], y2_all[b]), axis=1),
+            )
+        else:
+            if max_pairs_per_color is not None:
+                import math
+
+                s = int(math.sqrt(max_pairs_per_color))
+                a = a[: min(len(a), s)]
+                b = b[: min(len(b), s)]
+            A = np.repeat(a, len(b))
+            B = np.tile(b, len(a))
+            yield (
+                color,
+                np.stack((x1_all[A], y1_all[A]), axis=1),
+                np.stack((x2_all[B], y2_all[B]), axis=1),
+            )
+
+
+###############################################################################
+
+
+def calculate_flow_from_simulation(
+    exported_sample_dir: Path,
+    output_dir: Path,
+    simulation_id: str,
+    interpolate_cameras: bool = True,
+    # fps_factor: int = 1,
+):
+    ### load video info
+    video_info = _load_video_info(exported_sample_dir)
+    sample_id = video_info["sample_id"]
+    print(
+        f"Calculating flow for sample: {sample_id} (interpolate_cameras: {interpolate_cameras})"
+    )
+    video_n_frames = video_info["N_frames"]
+
+    # get number of points
+    # N_pts = get_mesh_vertices_count(sample_id)
+
+    # metadata_file
+    metadata_file = OUT_SIMULATION_DIR / sample_id / simulation_id / "metadata.json"
+    assert metadata_file.exists(), f"Metadata file {metadata_file} does not exist"
+    metadata = _read_json(metadata_file)
+    primary_start_index = metadata.get("primary_start_index", None)
+    primary_end_index = metadata.get("primary_end_index", None)
+    secondary_start_index = metadata.get("secondary_start_index", None)
+    secondary_end_index = metadata.get("secondary_end_index", None)
+
+    if secondary_start_index is None:
+        total_simulated_points = primary_end_index
+        N_pts = primary_start_index
+    else:
+        total_simulated_points = secondary_end_index
+        _first_obj_pts = primary_start_index
+        _second_obj_pts = secondary_start_index - primary_end_index
+        N_pts = _first_obj_pts + _second_obj_pts
+
+    if "fps" in simulation_id:
+        _loc = simulation_id.find("fps_x")
+        if _loc == -1:
+            raise ValueError(
+                f"Failed to find fps factor in simulation_id: {simulation_id}"
+            )
+        _factor = int(simulation_id[_loc + 5 : _loc + 6])
+        assert _factor in [1, 2, 3, 4], f"Invalid fps factor: {_factor}"
+        fps_factor = _factor
+    else:
+        fps_factor = 1
+
+    if interpolate_cameras:
+        n_frames_to_render = video_n_frames * fps_factor
+    else:
+        n_frames_to_render = video_n_frames
+
+    ### load all frames' infos
+    frame_dirs = _list_frame_dirs(exported_sample_dir)  # already sorted
+    frame_infos = _load_frame_infos(frame_dirs)
+
+    ### load all camera data
+    cam_base_params = load_cam_base_params(frame_infos[0])
+    W, H = cam_base_params["width"], cam_base_params["height"]
+    all_intrinsics = [build_intrinsics(frame_infos[0]["K"])] * n_frames_to_render
+    if "static" in sample_id:
+        all_c2w = [
+            np.array(frame_infos[0]["c2w"], dtype=np.float32)
+        ] * n_frames_to_render
+    else:
+        # Load all_c2w from video_info
+        all_c2w_path = (
+            exported_sample_dir / "video_info" / video_info.get("all_c2w", "")
+        )
+        assert all_c2w_path.exists(), f"all_c2w path '{all_c2w_path}' does not exist"
+        all_c2w, _, _ = load_grid(str(all_c2w_path))
+        assert all_c2w.shape == (
+            video_n_frames,
+            4,
+            4,
+        ), f"all_c2w shape {all_c2w.shape} does not match expected shape ({video_n_frames}, 4, 4)"
+        all_c2w = [all_c2w[i] for i in range(video_n_frames)]
+
+        ### Interpolate c2w
+        if interpolate_cameras and fps_factor > 1:
+            all_c2w = interpolate_c2ws(
+                all_c2w, factor=fps_factor
+            )  # N -> N * fps_factor - fps_factor + 1
+
+            if len(all_c2w) < n_frames_to_render:
+                less = n_frames_to_render - len(all_c2w)
+                all_c2w = (
+                    all_c2w + [all_c2w[-1]] * less
+                )  # N * fps_factor - fps_factor + 1 -> N * fps_factor
+
+    ### gather all simulation results
+    particles_dir = OUT_SIMULATION_DIR / sample_id / simulation_id / "particles"
+    assert particles_dir.exists(), f"Particles directory {particles_dir} does not exist"
+    print(f"Searching for simulation results in {particles_dir}...")
+    particles_files = sorted(particles_dir.glob("*.npz"))
+    
+    if len(particles_files) > n_frames_to_render:
+        particles_files = particles_files[:n_frames_to_render]
+    elif len(particles_files) < n_frames_to_render:
+        short_num = n_frames_to_render - len(particles_files)
+        particles_files = particles_files + [particles_files[-1]] * short_num
+    else:
+        print("OK: number of particles files matches number of frames")
+
+    ### sanity check
+    assert (
+        len(particles_files)
+        == len(all_c2w)
+        == len(all_intrinsics)
+        == n_frames_to_render
+    )
+
+    ### create output directory
+    output_dir.mkdir(parents=True, exist_ok=True)
+
+    ### build render output directories
+    def make_sub_output_dir(output_dir: Path, sub_dir_name: str) -> Path:
+        output_dir = Path(output_dir)
+        sub_dir = output_dir / sub_dir_name
+        sub_dir.mkdir(parents=True, exist_ok=True)
+        return sub_dir
+
+    flow_vis_dir = make_sub_output_dir(output_dir, "flow_visual")
+    pixel_corr_dir = make_sub_output_dir(output_dir, "pixel_correspondences")
+    video_out_dir = make_sub_output_dir(output_dir, "video")
+    rainbow_points_colors = get_rainbow_color(N_pts)  # [(r,g,b)] * N_pts
+    unique_points_colors = get_unique_colors(N_pts)  # [(r,g,b)] * N_pts
+    # sanity check
+    _unique_count = len(set(tuple(c) for c in unique_points_colors))
+    if _unique_count != N_pts:
+        print(
+            f"Number of unique colors ({_unique_count}) does not match number of points ({N_pts})"
+        )
+        exit(1)
+
+    images = []
+    for i in range(n_frames_to_render):
+        print(f"-" * 100)
+        print(f"Rendering frame {i}...")
+        time_start = time.time()
+        particle_file = particles_files[i]
+        c2w = all_c2w[i]
+        intrinsics = all_intrinsics[i]
+        points_3d, _, _ = ParticleIO.read_particles_3d(particle_file)
+
+        # if len(points_3d) >= N_pts:
+        #     # NOTE: N_pts is the number of vertices of the mesh (surface)
+        #     # points_3d contains extra points for its volume infill tailing after the mesh points
+        #     # so we only need the first N_pts points
+        #     points_3d = points_3d[:N_pts]
+        # else:
+        #     raise ValueError(
+        #         f"Number of points ({len(points_3d)}) does not match number of points ({N_pts})"
+        #     )
+
+        # sanity check
+        assert (
+            len(points_3d) == total_simulated_points
+        ), f"Number of points ({len(points_3d)}) does not match number of total simulated points ({total_simulated_points})"
+        # get rid of the volume points
+        if secondary_start_index is None:
+            points_3d = points_3d[:N_pts]
+        else:
+            points_3d_primary = points_3d[:primary_start_index]
+            points_3d_secondary = points_3d[primary_end_index:secondary_start_index]
+            points_3d = np.concatenate([points_3d_primary, points_3d_secondary], axis=0)
+
+        assert (
+            len(points_3d) == N_pts
+        ), f"Number of points ({len(points_3d)}) does not match number of points ({N_pts})"
+
+        points_2d, z_depth = project(points_3d, c2w, intrinsics)
+
+        paint_image(
+            W=W,
+            H=H,
+            points=points_2d,
+            colors=rainbow_points_colors,
+            depth=z_depth,
+            save_path=flow_vis_dir / f"{i:05d}.png",
+        )
+        image = paint_image(
+            W=W,
+            H=H,
+            points=points_2d,
+            colors=unique_points_colors,
+            depth=z_depth,
+        )
+        images.append(image)
+
+        time_elapsed = time.time() - time_start
+        print(f"Flow for frame {i} calculated in {time_elapsed:.1f} seconds\n")
+
+    # corr_dict = {}
+    for i in range(n_frames_to_render - 1):
+        if images[i] is None or images[i + 1] is None:
+            continue
+        image_i = images[i][..., :3]
+        image_j = images[i + 1][..., :3]
+        key_name = f"{i:05d}_{i+1:05d}"
+        # find pixel correspondences between image_i and image_j
+        matches = [
+            (x[1][0].tolist(), x[2][0].tolist())
+            for x in match_pixels_by_color(image_i, image_j)
+        ]
+        matches = [(x1, y1, x2, y2) for (x1, y1), (x2, y2) in matches]
+        print(f"Frame {i:>2}->{i+1:<2}: {len(matches)} matches")
+        # corr_dict[key_name] = matches
+        with open(pixel_corr_dir / f"{key_name}.json", "w") as f:
+            json.dump(matches, f)
+
+    print(f"-" * 100)
+    time.sleep(2)
+    print("[green bold]Making video from rendered frames...")
+    make_video_from_frames_dir(
+        flow_vis_dir, video_out_dir / f"{sample_id}_flow_visual.mp4"
+    )
+
+
+def calculate_flow(sample_id: str, simulation_id: str, overwrite: bool = False):
+    # Check if simulation results is complete
+    sim_success_file = OUT_SIMULATION_DIR / sample_id / simulation_id / "success.txt"
+    if not sim_success_file.exists():
+        print(
+            f"  [red]✗[/red] Simulation results not found for {sample_id} at {sim_success_file}"
+        )
+        exit(3)  # semantic: 404 failed exit
+
+    root_success_file = (
+        OUT_RENDERING_DIR / sample_id / simulation_id / "success_flow.txt"
+    )
+    if root_success_file.exists() and not overwrite:
+        print(
+            f"  [yellow]✔ Skipped[/yellow] {sample_id} ({simulation_id}) because flow result exists"
+        )
+        return  # semantic: success exit
+
+    success_files = []
+    for interpolate_cameras in [True, False]:
+        _txt = "more_frames" if interpolate_cameras else "original_length"
+        output_dir = OUT_RENDERING_DIR / sample_id / simulation_id / _txt
+        success_file = output_dir / "success_flow.txt"
+        success_files.append(success_file)
+        if success_file.exists() and not overwrite:
+            print(f"Flow already calculated for {sample_id} at {_txt}, skipping.")
+            continue
+
+        exported_sample_dir = VIPE_EXPORT_DIR / sample_id
+
+        backup_this_script(output_dir)
+
+        calculate_flow_from_simulation(
+            exported_sample_dir=exported_sample_dir,
+            output_dir=output_dir,
+            simulation_id=simulation_id,
+            interpolate_cameras=interpolate_cameras,
+        )
+        success_file.touch()
+
+    if all([success_file.exists() for success_file in success_files]):
+        root_success_file.touch()
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\ No newline at end of file
diff --git a/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00001_00002.json b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00001_00002.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f4cf52d7acfe6bc136e8167ab2f0161e87fdc33
--- /dev/null
+++ b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00001_00002.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00002_00003.json b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00002_00003.json
new file mode 100644
index 0000000000000000000000000000000000000000..777e0bd6a2057f18cded4bedba353d0f9f4b02c8
--- /dev/null
+++ b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00002_00003.json
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\ No newline at end of file
diff --git a/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00003_00004.json b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00003_00004.json
new file mode 100644
index 0000000000000000000000000000000000000000..36f623ad2cc179322b7bb553c813d46bcb9872e7
--- /dev/null
+++ b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00003_00004.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00004_00005.json b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00004_00005.json
new file mode 100644
index 0000000000000000000000000000000000000000..ad27b6af37f1a7bc6cef24fa7efeb3b77e9b61b0
--- /dev/null
+++ b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00004_00005.json
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\ No newline at end of file
diff --git a/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00005_00006.json b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00005_00006.json
new file mode 100644
index 0000000000000000000000000000000000000000..6db43363f910941c2183945c4e9a4a822b8ffe30
--- /dev/null
+++ b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00005_00006.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00006_00007.json b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00006_00007.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b6ad8587a523e46e5d5d9408010cd970aaa9b19
--- /dev/null
+++ b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00006_00007.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00007_00008.json b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00007_00008.json
new file mode 100644
index 0000000000000000000000000000000000000000..ac163c37c1f308b3cbee0e1608e268fe01f72d50
--- /dev/null
+++ b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00007_00008.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00008_00009.json b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00008_00009.json
new file mode 100644
index 0000000000000000000000000000000000000000..616d47f76d619f723f97c659131cafb000fab670
--- /dev/null
+++ b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00008_00009.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00009_00010.json b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00009_00010.json
new file mode 100644
index 0000000000000000000000000000000000000000..bb3eea61e590710cf1e4013c0be23356db9f1e92
--- /dev/null
+++ b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00009_00010.json
@@ -0,0 +1 @@
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diff --git a/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00010_00011.json b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00010_00011.json
new file mode 100644
index 0000000000000000000000000000000000000000..d9d2e10356f597150e79abcdfdc318b3af508424
--- /dev/null
+++ b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00010_00011.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00011_00012.json b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00011_00012.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a138d2878a15163e90c5b0a0276c4557c3924a3
--- /dev/null
+++ b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00011_00012.json
@@ -0,0 +1 @@
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diff --git a/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00012_00013.json b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00012_00013.json
new file mode 100644
index 0000000000000000000000000000000000000000..94a46ad5e36c146b3bf2ffd17ba75dee3c0643e9
--- /dev/null
+++ b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00012_00013.json
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diff --git a/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00013_00014.json b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00013_00014.json
new file mode 100644
index 0000000000000000000000000000000000000000..13dff629bc4aee99d5871afa0ded4599a11dffbd
--- /dev/null
+++ b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00013_00014.json
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diff --git a/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00014_00015.json b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00014_00015.json
new file mode 100644
index 0000000000000000000000000000000000000000..67ec7327d8d0e530ae0593c849becf8b1aa953a9
--- /dev/null
+++ b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00014_00015.json
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\ No newline at end of file
diff --git a/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00015_00016.json b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00015_00016.json
new file mode 100644
index 0000000000000000000000000000000000000000..398c829665a85c5251a8eea909ce2bfb95690fde
--- /dev/null
+++ b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00015_00016.json
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\ No newline at end of file
diff --git a/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00016_00017.json b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00016_00017.json
new file mode 100644
index 0000000000000000000000000000000000000000..d1af64130643f826524107cd65266288c629d6f9
--- /dev/null
+++ b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00016_00017.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00017_00018.json b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00017_00018.json
new file mode 100644
index 0000000000000000000000000000000000000000..660d64a2832683a7b7b8499663dece9680253922
--- /dev/null
+++ b/PSIVG/PSIVG/data_root/OUT_Rendering/0000/2026-10-31_run/original_length/pixel_correspondences/00017_00018.json
@@ -0,0 +1 @@
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\ No newline at end of file