diff --git a/.gitattributes b/.gitattributes
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diff --git a/2024-03-13-roq-01/tro-results/2025-01-08_213036/config.yml b/2024-03-13-roq-01/tro-results/2025-01-08_213036/config.yml
new file mode 100644
index 0000000000000000000000000000000000000000..ca94a6ad91467ad09b58042f8ce1791488fa04d2
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+!!python/object:nerfstudio.engine.trainer.TrainerConfig
+_target: !!python/name:nerfstudio.engine.trainer.Trainer ''
+data: &id003 !!python/object/apply:pathlib.PosixPath
+- /
+- home
+- docker_dev
+- silvr_dvc
+- data
+- 2024-03-13-roq-01
+- submap_0.json
+experiment_name: 2024-03-13-roq-01
+gradient_accumulation_steps: {}
+load_checkpoint: null
+load_config: null
+load_dir: null
+load_scheduler: true
+load_step: null
+log_gradients: false
+logging: !!python/object:nerfstudio.configs.base_config.LoggingConfig
+  local_writer: !!python/object:nerfstudio.configs.base_config.LocalWriterConfig
+    _target: !!python/name:nerfstudio.utils.writer.LocalWriter ''
+    enable: true
+    max_log_size: 10
+    stats_to_track: !!python/tuple
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Train Iter (time)
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Train Rays / Sec
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Test PSNR
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Vis Rays / Sec
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Test Rays / Sec
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - ETA (time)
+  max_buffer_size: 20
+  profiler: basic
+  relative_log_dir: !!python/object/apply:pathlib.PosixPath []
+  steps_per_log: 10
+machine: !!python/object:nerfstudio.configs.base_config.MachineConfig
+  device_type: cuda
+  dist_url: auto
+  machine_rank: 0
+  num_devices: 1
+  num_machines: 1
+  seed: 42
+max_num_iterations: 50001
+method_name: bayes-lidar-normal-nerfacto
+mixed_precision: true
+optimizers:
+  camera_opt:
+    optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig
+      _target: &id001 !!python/name:torch.optim.adam.Adam ''
+      eps: 1.0e-15
+      lr: 0.0006
+      max_norm: null
+      weight_decay: 0
+    scheduler: !!python/object:nerfstudio.engine.schedulers.ExponentialDecaySchedulerConfig
+      _target: &id002 !!python/name:nerfstudio.engine.schedulers.ExponentialDecayScheduler ''
+      lr_final: 0.0001
+      lr_pre_warmup: 1.0e-08
+      max_steps: 5000
+      ramp: cosine
+      warmup_steps: 0
+  fields:
+    optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig
+      _target: *id001
+      eps: 1.0e-15
+      lr: 0.01
+      max_norm: null
+      weight_decay: 0
+    scheduler: !!python/object:nerfstudio.engine.schedulers.ExponentialDecaySchedulerConfig
+      _target: *id002
+      lr_final: 0.0001
+      lr_pre_warmup: 1.0e-08
+      max_steps: 200000
+      ramp: cosine
+      warmup_steps: 0
+  proposal_networks:
+    optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig
+      _target: *id001
+      eps: 1.0e-15
+      lr: 0.01
+      max_norm: null
+      weight_decay: 0
+    scheduler: !!python/object:nerfstudio.engine.schedulers.ExponentialDecaySchedulerConfig
+      _target: *id002
+      lr_final: 0.0001
+      lr_pre_warmup: 1.0e-08
+      max_steps: 200000
+      ramp: cosine
+      warmup_steps: 0
+output_dir: !!python/object/apply:pathlib.PosixPath
+- /
+- home
+- docker_dev
+- silvr_dvc
+- tro_results
+pipeline: !!python/object:silvr.silvr_pipeline.SiLVRPipelineConfig
+  _target: !!python/name:silvr.silvr_pipeline.SiLVRPipeline ''
+  datamanager: !!python/object:nerfstudio.data.datamanagers.base_datamanager.VanillaDataManagerConfig
+    _target: !!python/object/apply:_operator.getitem
+    - !!python/name:nerfstudio.data.datamanagers.base_datamanager.VanillaDataManager ''
+    - !!python/name:silvr.lidar_dataset.LidarDepthNormalDataset ''
+    camera_optimizer: null
+    camera_res_scale_factor: 1.0
+    collate_fn: !!python/name:nerfstudio.data.utils.nerfstudio_collate.nerfstudio_collate ''
+    data: *id003
+    dataparser: !!python/object:silvr.silvr_dataparser.LidarDepthNormalDataParserConfig
+      _target: !!python/name:silvr.silvr_dataparser.LidarDepthNormalDataParser ''
+      auto_scale_poses: true
+      center_method: poses
+      data: !!python/object/apply:pathlib.PosixPath []
+      depth_unit_scale_factor: 0.00390625
+      downscale_factor: null
+      eval_interval: 8
+      eval_mode: fraction
+      load_3D_points: false
+      mask_color: null
+      orientation_method: up
+      scale_factor: 1.0
+      scene_scale: 1.0
+      train_split_fraction: 0.9
+    eval_image_indices: !!python/tuple
+    - 0
+    eval_num_images_to_sample_from: 100
+    eval_num_rays_per_batch: 4096
+    eval_num_times_to_repeat_images: -1
+    images_on_gpu: false
+    masks_on_gpu: false
+    patch_size: 1
+    pixel_sampler: !!python/object:nerfstudio.data.pixel_samplers.PairPixelSamplerConfig
+      _target: !!python/name:nerfstudio.data.pixel_samplers.PairPixelSampler ''
+      fisheye_crop_radius: null
+      ignore_mask: false
+      is_equirectangular: false
+      keep_full_image: false
+      max_num_iterations: 100
+      num_rays_per_batch: 4096
+      radius: 2
+      rejection_sample_mask: true
+    train_num_images_to_sample_from: 5000
+    train_num_rays_per_batch: 4096
+    train_num_times_to_repeat_images: -1
+  model: !!python/object:silvr.models.bayes_lidar_normal_nerfacto.BayesLidarNormalNerfactoModelConfig
+    _target: !!python/name:silvr.models.bayes_lidar_normal_nerfacto.BayesLidarNormalNerfactoModel ''
+    appearance_embed_dim: 32
+    average_init_density: 1.0
+    background_color: last_sample
+    base_res: 16
+    camera_optimizer: !!python/object:nerfstudio.cameras.camera_optimizers.CameraOptimizerConfig
+      _target: !!python/name:nerfstudio.cameras.camera_optimizers.CameraOptimizer ''
+      mode: 'off'
+      optimizer: null
+      rot_l2_penalty: 0.001
+      scheduler: null
+      trans_l2_penalty: 0.01
+    collider_params:
+      far_plane: 6.0
+      near_plane: 2.0
+    compute_normals: false
+    dataparser_scale: null
+    depth_encoding: 0.00390625
+    depth_loss_mult: 10.0
+    depth_loss_type: !!python/object/apply:nerfstudio.model_components.losses.DepthLossType
+    - 1
+    depth_sigma: 0.001
+    disable_scene_contraction: false
+    distortion_loss_mult: 0.002
+    enable_collider: true
+    eval_num_rays_per_chunk: 32768
+    far_plane: 1000.0
+    features_per_level: 2
+    filter_out_point: true
+    filter_point_thresh: 0.1
+    hidden_dim: 64
+    hidden_dim_color: 64
+    hidden_dim_transient: 64
+    implementation: tcnn
+    interlevel_loss_mult: 1.0
+    is_euclidean_depth: false
+    lidar_depth_loss_type: !!python/object/apply:silvr.loss.LidarDepthLossType
+    - 3
+    log2_hashmap_size: 19
+    loss_coefficients:
+      rgb_loss_coarse: 1.0
+      rgb_loss_fine: 1.0
+    max_log_uncertainty: 6
+    max_res: 2048
+    min_log_uncertainty: -3
+    near_plane: 0.05
+    normal_loss_mult: 0.001
+    num_levels: 16
+    num_nerf_samples_per_ray: 48
+    num_proposal_iterations: 2
+    num_proposal_samples_per_ray: !!python/tuple
+    - 256
+    - 96
+    orientation_loss_mult: 0.0001
+    pred_normal_loss_mult: 0.001
+    predict_normals: false
+    prompt: null
+    proposal_initial_sampler: piecewise
+    proposal_net_args_list:
+    - hidden_dim: 16
+      log2_hashmap_size: 17
+      max_res: 128
+      num_levels: 5
+      use_linear: false
+    - hidden_dim: 16
+      log2_hashmap_size: 17
+      max_res: 256
+      num_levels: 5
+      use_linear: false
+    proposal_update_every: 5
+    proposal_warmup: 5000
+    proposal_weights_anneal_max_num_iters: 1000
+    proposal_weights_anneal_slope: 10.0
+    ray_num: 4096000
+    save_pcd: false
+    save_pcd_folder: pcd
+    should_decay_sigma: true
+    sigma_decay_rate: 0.99985
+    sky_depth_meter: 250
+    starting_depth_sigma: 0.01
+    use_appearance_embedding: true
+    use_average_appearance_embedding: true
+    use_gradient_scaling: false
+    use_legacy_log_unc: false
+    use_proposal_weight_anneal: true
+    use_same_proposal_network: false
+    use_single_jitter: true
+project_name: nerfstudio-project
+prompt: null
+relative_model_dir: !!python/object/apply:pathlib.PosixPath
+- nerfstudio_models
+save_only_latest_checkpoint: true
+steps_per_eval_all_images: 5000
+steps_per_eval_batch: 500
+steps_per_eval_image: 2000
+steps_per_save: 2000
+timestamp: 2025-01-08_213036
+use_grad_scaler: false
+viewer: !!python/object:nerfstudio.configs.base_config.ViewerConfig
+  camera_frustum_scale: 0.1
+  default_composite_depth: true
+  image_format: jpeg
+  jpeg_quality: 75
+  make_share_url: false
+  max_num_display_images: 512
+  num_rays_per_chunk: 32768
+  quit_on_train_completion: false
+  relative_log_filename: viewer_log_filename.txt
+  websocket_host: 0.0.0.0
+  websocket_port: null
+  websocket_port_default: 7007
+vis: wandb
diff --git a/2024-03-13-roq-01/tro-results/2025-01-08_213036/dataparser_transforms.json b/2024-03-13-roq-01/tro-results/2025-01-08_213036/dataparser_transforms.json
new file mode 100644
index 0000000000000000000000000000000000000000..afcdfd3ed89415f98c667dd79e617876e23d3873
--- /dev/null
+++ b/2024-03-13-roq-01/tro-results/2025-01-08_213036/dataparser_transforms.json
@@ -0,0 +1,23 @@
+{
+    "transform": [
+        [
+            0.9996987581253052,
+            0.00012556888395920396,
+            -0.024542933329939842,
+            -26.486534118652344
+        ],
+        [
+            0.00012556888395920396,
+            0.9999476671218872,
+            0.010230780579149723,
+            -28.203372955322266
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+        [
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+            0.9996464252471924,
+            -0.4228689968585968
+        ]
+    ],
+    "scale": 0.023974204756558166
+}
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+!!python/object:nerfstudio.engine.trainer.TrainerConfig
+_target: !!python/name:nerfstudio.engine.trainer.Trainer ''
+data: &id003 !!python/object/apply:pathlib.PosixPath
+- /
+- home
+- docker_dev
+- silvr_dvc
+- data
+- 2024-03-13-roq-01
+- submap_1.json
+experiment_name: 2024-03-13-roq-01
+gradient_accumulation_steps: {}
+load_checkpoint: null
+load_config: null
+load_dir: null
+load_scheduler: true
+load_step: null
+log_gradients: false
+logging: !!python/object:nerfstudio.configs.base_config.LoggingConfig
+  local_writer: !!python/object:nerfstudio.configs.base_config.LocalWriterConfig
+    _target: !!python/name:nerfstudio.utils.writer.LocalWriter ''
+    enable: true
+    max_log_size: 10
+    stats_to_track: !!python/tuple
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Train Iter (time)
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Train Rays / Sec
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Test PSNR
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Vis Rays / Sec
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Test Rays / Sec
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - ETA (time)
+  max_buffer_size: 20
+  profiler: basic
+  relative_log_dir: !!python/object/apply:pathlib.PosixPath []
+  steps_per_log: 10
+machine: !!python/object:nerfstudio.configs.base_config.MachineConfig
+  device_type: cuda
+  dist_url: auto
+  machine_rank: 0
+  num_devices: 1
+  num_machines: 1
+  seed: 42
+max_num_iterations: 50001
+method_name: bayes-lidar-normal-nerfacto
+mixed_precision: true
+optimizers:
+  camera_opt:
+    optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig
+      _target: &id001 !!python/name:torch.optim.adam.Adam ''
+      eps: 1.0e-15
+      lr: 0.0006
+      max_norm: null
+      weight_decay: 0
+    scheduler: !!python/object:nerfstudio.engine.schedulers.ExponentialDecaySchedulerConfig
+      _target: &id002 !!python/name:nerfstudio.engine.schedulers.ExponentialDecayScheduler ''
+      lr_final: 0.0001
+      lr_pre_warmup: 1.0e-08
+      max_steps: 5000
+      ramp: cosine
+      warmup_steps: 0
+  fields:
+    optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig
+      _target: *id001
+      eps: 1.0e-15
+      lr: 0.01
+      max_norm: null
+      weight_decay: 0
+    scheduler: !!python/object:nerfstudio.engine.schedulers.ExponentialDecaySchedulerConfig
+      _target: *id002
+      lr_final: 0.0001
+      lr_pre_warmup: 1.0e-08
+      max_steps: 200000
+      ramp: cosine
+      warmup_steps: 0
+  proposal_networks:
+    optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig
+      _target: *id001
+      eps: 1.0e-15
+      lr: 0.01
+      max_norm: null
+      weight_decay: 0
+    scheduler: !!python/object:nerfstudio.engine.schedulers.ExponentialDecaySchedulerConfig
+      _target: *id002
+      lr_final: 0.0001
+      lr_pre_warmup: 1.0e-08
+      max_steps: 200000
+      ramp: cosine
+      warmup_steps: 0
+output_dir: !!python/object/apply:pathlib.PosixPath
+- /
+- home
+- docker_dev
+- silvr_dvc
+- tro_results
+pipeline: !!python/object:silvr.silvr_pipeline.SiLVRPipelineConfig
+  _target: !!python/name:silvr.silvr_pipeline.SiLVRPipeline ''
+  datamanager: !!python/object:nerfstudio.data.datamanagers.base_datamanager.VanillaDataManagerConfig
+    _target: !!python/object/apply:_operator.getitem
+    - !!python/name:nerfstudio.data.datamanagers.base_datamanager.VanillaDataManager ''
+    - !!python/name:silvr.lidar_dataset.LidarDepthNormalDataset ''
+    camera_optimizer: null
+    camera_res_scale_factor: 1.0
+    collate_fn: !!python/name:nerfstudio.data.utils.nerfstudio_collate.nerfstudio_collate ''
+    data: *id003
+    dataparser: !!python/object:silvr.silvr_dataparser.LidarDepthNormalDataParserConfig
+      _target: !!python/name:silvr.silvr_dataparser.LidarDepthNormalDataParser ''
+      auto_scale_poses: true
+      center_method: poses
+      data: !!python/object/apply:pathlib.PosixPath
+      - /
+      - home
+      - docker_dev
+      - data
+      - 2024-03-13-roq_01
+      - submap_0.json
+      depth_unit_scale_factor: 0.00390625
+      downscale_factor: null
+      eval_interval: 8
+      eval_mode: fraction
+      load_3D_points: false
+      mask_color: null
+      orientation_method: up
+      scale_factor: 1.0
+      scene_scale: 1.0
+      train_split_fraction: 0.9
+    eval_image_indices: !!python/tuple
+    - 0
+    eval_num_images_to_sample_from: 100
+    eval_num_rays_per_batch: 4096
+    eval_num_times_to_repeat_images: -1
+    images_on_gpu: false
+    masks_on_gpu: false
+    patch_size: 1
+    pixel_sampler: !!python/object:nerfstudio.data.pixel_samplers.PairPixelSamplerConfig
+      _target: !!python/name:nerfstudio.data.pixel_samplers.PairPixelSampler ''
+      fisheye_crop_radius: null
+      ignore_mask: false
+      is_equirectangular: false
+      keep_full_image: false
+      max_num_iterations: 100
+      num_rays_per_batch: 4096
+      radius: 2
+      rejection_sample_mask: true
+    train_num_images_to_sample_from: 5000
+    train_num_rays_per_batch: 4096
+    train_num_times_to_repeat_images: -1
+  model: !!python/object:silvr.models.bayes_lidar_normal_nerfacto.BayesLidarNormalNerfactoModelConfig
+    _target: !!python/name:silvr.models.bayes_lidar_normal_nerfacto.BayesLidarNormalNerfactoModel ''
+    appearance_embed_dim: 32
+    average_init_density: 1.0
+    background_color: last_sample
+    base_res: 16
+    camera_optimizer: !!python/object:nerfstudio.cameras.camera_optimizers.CameraOptimizerConfig
+      _target: !!python/name:nerfstudio.cameras.camera_optimizers.CameraOptimizer ''
+      mode: 'off'
+      optimizer: null
+      rot_l2_penalty: 0.001
+      scheduler: null
+      trans_l2_penalty: 0.01
+    collider_params:
+      far_plane: 6.0
+      near_plane: 2.0
+    compute_normals: false
+    dataparser_scale: null
+    depth_encoding: 0.00390625
+    depth_loss_mult: 10.0
+    depth_loss_type: !!python/object/apply:nerfstudio.model_components.losses.DepthLossType
+    - 1
+    depth_sigma: 0.001
+    disable_scene_contraction: false
+    distortion_loss_mult: 0.002
+    enable_collider: true
+    eval_num_rays_per_chunk: 32768
+    far_plane: 1000.0
+    features_per_level: 2
+    filter_out_point: true
+    filter_point_thresh: 0.1
+    hidden_dim: 64
+    hidden_dim_color: 64
+    hidden_dim_transient: 64
+    implementation: tcnn
+    interlevel_loss_mult: 1.0
+    is_euclidean_depth: false
+    lidar_depth_loss_type: !!python/object/apply:silvr.loss.LidarDepthLossType
+    - 3
+    log2_hashmap_size: 19
+    loss_coefficients:
+      rgb_loss_coarse: 1.0
+      rgb_loss_fine: 1.0
+    max_log_uncertainty: 6
+    max_res: 2048
+    min_log_uncertainty: -3
+    near_plane: 0.05
+    normal_loss_mult: 0.001
+    num_levels: 16
+    num_nerf_samples_per_ray: 48
+    num_proposal_iterations: 2
+    num_proposal_samples_per_ray: !!python/tuple
+    - 256
+    - 96
+    orientation_loss_mult: 0.0001
+    pred_normal_loss_mult: 0.001
+    predict_normals: false
+    prompt: null
+    proposal_initial_sampler: piecewise
+    proposal_net_args_list:
+    - hidden_dim: 16
+      log2_hashmap_size: 17
+      max_res: 128
+      num_levels: 5
+      use_linear: false
+    - hidden_dim: 16
+      log2_hashmap_size: 17
+      max_res: 256
+      num_levels: 5
+      use_linear: false
+    proposal_update_every: 5
+    proposal_warmup: 5000
+    proposal_weights_anneal_max_num_iters: 1000
+    proposal_weights_anneal_slope: 10.0
+    ray_num: 4096000
+    save_pcd: false
+    save_pcd_folder: pcd
+    should_decay_sigma: true
+    sigma_decay_rate: 0.99985
+    sky_depth_meter: 250
+    starting_depth_sigma: 0.01
+    use_appearance_embedding: true
+    use_average_appearance_embedding: true
+    use_gradient_scaling: false
+    use_legacy_log_unc: false
+    use_proposal_weight_anneal: true
+    use_same_proposal_network: false
+    use_single_jitter: true
+project_name: nerfstudio-project
+prompt: null
+relative_model_dir: !!python/object/apply:pathlib.PosixPath
+- nerfstudio_models
+save_only_latest_checkpoint: true
+steps_per_eval_all_images: 5000
+steps_per_eval_batch: 500
+steps_per_eval_image: 2000
+steps_per_save: 2000
+timestamp: 2025-01-08_222152
+use_grad_scaler: false
+viewer: !!python/object:nerfstudio.configs.base_config.ViewerConfig
+  camera_frustum_scale: 0.1
+  default_composite_depth: true
+  image_format: jpeg
+  jpeg_quality: 75
+  make_share_url: false
+  max_num_display_images: 512
+  num_rays_per_chunk: 32768
+  quit_on_train_completion: false
+  relative_log_filename: viewer_log_filename.txt
+  websocket_host: 0.0.0.0
+  websocket_port: null
+  websocket_port_default: 7007
+vis: wandb
diff --git a/2024-03-13-roq-01/tro-results/2025-01-08_222152/dataparser_transforms.json b/2024-03-13-roq-01/tro-results/2025-01-08_222152/dataparser_transforms.json
new file mode 100644
index 0000000000000000000000000000000000000000..392ca5d0939e04f2d0e5baa24033486493bd3573
--- /dev/null
+++ b/2024-03-13-roq-01/tro-results/2025-01-08_222152/dataparser_transforms.json
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+{
+    "transform": [
+        [
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+            0.04459001123905182,
+            -38.44847106933594
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+            0.9979636073112488,
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+    "scale": 0.060252170817147545
+}
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+!!python/object:nerfstudio.engine.trainer.TrainerConfig
+_target: !!python/name:nerfstudio.engine.trainer.Trainer ''
+data: &id003 !!python/object/apply:pathlib.PosixPath
+- /
+- home
+- docker_dev
+- silvr_dvc
+- data
+- 2024-03-13-roq-01
+- submap_2.json
+experiment_name: 2024-03-13-roq-01
+gradient_accumulation_steps: {}
+load_checkpoint: null
+load_config: null
+load_dir: null
+load_scheduler: true
+load_step: null
+log_gradients: false
+logging: !!python/object:nerfstudio.configs.base_config.LoggingConfig
+  local_writer: !!python/object:nerfstudio.configs.base_config.LocalWriterConfig
+    _target: !!python/name:nerfstudio.utils.writer.LocalWriter ''
+    enable: true
+    max_log_size: 10
+    stats_to_track: !!python/tuple
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Train Iter (time)
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Train Rays / Sec
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Test PSNR
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Vis Rays / Sec
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Test Rays / Sec
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - ETA (time)
+  max_buffer_size: 20
+  profiler: basic
+  relative_log_dir: !!python/object/apply:pathlib.PosixPath []
+  steps_per_log: 10
+machine: !!python/object:nerfstudio.configs.base_config.MachineConfig
+  device_type: cuda
+  dist_url: auto
+  machine_rank: 0
+  num_devices: 1
+  num_machines: 1
+  seed: 42
+max_num_iterations: 50001
+method_name: bayes-lidar-normal-nerfacto
+mixed_precision: true
+optimizers:
+  camera_opt:
+    optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig
+      _target: &id001 !!python/name:torch.optim.adam.Adam ''
+      eps: 1.0e-15
+      lr: 0.0006
+      max_norm: null
+      weight_decay: 0
+    scheduler: !!python/object:nerfstudio.engine.schedulers.ExponentialDecaySchedulerConfig
+      _target: &id002 !!python/name:nerfstudio.engine.schedulers.ExponentialDecayScheduler ''
+      lr_final: 0.0001
+      lr_pre_warmup: 1.0e-08
+      max_steps: 5000
+      ramp: cosine
+      warmup_steps: 0
+  fields:
+    optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig
+      _target: *id001
+      eps: 1.0e-15
+      lr: 0.01
+      max_norm: null
+      weight_decay: 0
+    scheduler: !!python/object:nerfstudio.engine.schedulers.ExponentialDecaySchedulerConfig
+      _target: *id002
+      lr_final: 0.0001
+      lr_pre_warmup: 1.0e-08
+      max_steps: 200000
+      ramp: cosine
+      warmup_steps: 0
+  proposal_networks:
+    optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig
+      _target: *id001
+      eps: 1.0e-15
+      lr: 0.01
+      max_norm: null
+      weight_decay: 0
+    scheduler: !!python/object:nerfstudio.engine.schedulers.ExponentialDecaySchedulerConfig
+      _target: *id002
+      lr_final: 0.0001
+      lr_pre_warmup: 1.0e-08
+      max_steps: 200000
+      ramp: cosine
+      warmup_steps: 0
+output_dir: !!python/object/apply:pathlib.PosixPath
+- /
+- home
+- docker_dev
+- silvr_dvc
+- tro_results
+pipeline: !!python/object:silvr.silvr_pipeline.SiLVRPipelineConfig
+  _target: !!python/name:silvr.silvr_pipeline.SiLVRPipeline ''
+  datamanager: !!python/object:nerfstudio.data.datamanagers.base_datamanager.VanillaDataManagerConfig
+    _target: !!python/object/apply:_operator.getitem
+    - !!python/name:nerfstudio.data.datamanagers.base_datamanager.VanillaDataManager ''
+    - !!python/name:silvr.lidar_dataset.LidarDepthNormalDataset ''
+    camera_optimizer: null
+    camera_res_scale_factor: 1.0
+    collate_fn: !!python/name:nerfstudio.data.utils.nerfstudio_collate.nerfstudio_collate ''
+    data: *id003
+    dataparser: !!python/object:silvr.silvr_dataparser.LidarDepthNormalDataParserConfig
+      _target: !!python/name:silvr.silvr_dataparser.LidarDepthNormalDataParser ''
+      auto_scale_poses: true
+      center_method: poses
+      data: !!python/object/apply:pathlib.PosixPath
+      - /
+      - home
+      - docker_dev
+      - data
+      - 2024-03-13-roq_01
+      - submap_1.json
+      depth_unit_scale_factor: 0.00390625
+      downscale_factor: null
+      eval_interval: 8
+      eval_mode: fraction
+      load_3D_points: false
+      mask_color: null
+      orientation_method: up
+      scale_factor: 1.0
+      scene_scale: 1.0
+      train_split_fraction: 0.9
+    eval_image_indices: !!python/tuple
+    - 0
+    eval_num_images_to_sample_from: 100
+    eval_num_rays_per_batch: 4096
+    eval_num_times_to_repeat_images: -1
+    images_on_gpu: false
+    masks_on_gpu: false
+    patch_size: 1
+    pixel_sampler: !!python/object:nerfstudio.data.pixel_samplers.PairPixelSamplerConfig
+      _target: !!python/name:nerfstudio.data.pixel_samplers.PairPixelSampler ''
+      fisheye_crop_radius: null
+      ignore_mask: false
+      is_equirectangular: false
+      keep_full_image: false
+      max_num_iterations: 100
+      num_rays_per_batch: 4096
+      radius: 2
+      rejection_sample_mask: true
+    train_num_images_to_sample_from: 5000
+    train_num_rays_per_batch: 4096
+    train_num_times_to_repeat_images: -1
+  model: !!python/object:silvr.models.bayes_lidar_normal_nerfacto.BayesLidarNormalNerfactoModelConfig
+    _target: !!python/name:silvr.models.bayes_lidar_normal_nerfacto.BayesLidarNormalNerfactoModel ''
+    appearance_embed_dim: 32
+    average_init_density: 1.0
+    background_color: last_sample
+    base_res: 16
+    camera_optimizer: !!python/object:nerfstudio.cameras.camera_optimizers.CameraOptimizerConfig
+      _target: !!python/name:nerfstudio.cameras.camera_optimizers.CameraOptimizer ''
+      mode: 'off'
+      optimizer: null
+      rot_l2_penalty: 0.001
+      scheduler: null
+      trans_l2_penalty: 0.01
+    collider_params:
+      far_plane: 6.0
+      near_plane: 2.0
+    compute_normals: false
+    dataparser_scale: null
+    depth_encoding: 0.00390625
+    depth_loss_mult: 10.0
+    depth_loss_type: !!python/object/apply:nerfstudio.model_components.losses.DepthLossType
+    - 1
+    depth_sigma: 0.001
+    disable_scene_contraction: false
+    distortion_loss_mult: 0.002
+    enable_collider: true
+    eval_num_rays_per_chunk: 32768
+    far_plane: 1000.0
+    features_per_level: 2
+    filter_out_point: true
+    filter_point_thresh: 0.1
+    hidden_dim: 64
+    hidden_dim_color: 64
+    hidden_dim_transient: 64
+    implementation: tcnn
+    interlevel_loss_mult: 1.0
+    is_euclidean_depth: false
+    lidar_depth_loss_type: !!python/object/apply:silvr.loss.LidarDepthLossType
+    - 3
+    log2_hashmap_size: 19
+    loss_coefficients:
+      rgb_loss_coarse: 1.0
+      rgb_loss_fine: 1.0
+    max_log_uncertainty: 6
+    max_res: 2048
+    min_log_uncertainty: -3
+    near_plane: 0.05
+    normal_loss_mult: 0.001
+    num_levels: 16
+    num_nerf_samples_per_ray: 48
+    num_proposal_iterations: 2
+    num_proposal_samples_per_ray: !!python/tuple
+    - 256
+    - 96
+    orientation_loss_mult: 0.0001
+    pred_normal_loss_mult: 0.001
+    predict_normals: false
+    prompt: null
+    proposal_initial_sampler: piecewise
+    proposal_net_args_list:
+    - hidden_dim: 16
+      log2_hashmap_size: 17
+      max_res: 128
+      num_levels: 5
+      use_linear: false
+    - hidden_dim: 16
+      log2_hashmap_size: 17
+      max_res: 256
+      num_levels: 5
+      use_linear: false
+    proposal_update_every: 5
+    proposal_warmup: 5000
+    proposal_weights_anneal_max_num_iters: 1000
+    proposal_weights_anneal_slope: 10.0
+    ray_num: 4096000
+    save_pcd: false
+    save_pcd_folder: pcd
+    should_decay_sigma: true
+    sigma_decay_rate: 0.99985
+    sky_depth_meter: 250
+    starting_depth_sigma: 0.01
+    use_appearance_embedding: true
+    use_average_appearance_embedding: true
+    use_gradient_scaling: false
+    use_legacy_log_unc: false
+    use_proposal_weight_anneal: true
+    use_same_proposal_network: false
+    use_single_jitter: true
+project_name: nerfstudio-project
+prompt: null
+relative_model_dir: !!python/object/apply:pathlib.PosixPath
+- nerfstudio_models
+save_only_latest_checkpoint: true
+steps_per_eval_all_images: 5000
+steps_per_eval_batch: 500
+steps_per_eval_image: 2000
+steps_per_save: 2000
+timestamp: 2025-01-08_225451
+use_grad_scaler: false
+viewer: !!python/object:nerfstudio.configs.base_config.ViewerConfig
+  camera_frustum_scale: 0.1
+  default_composite_depth: true
+  image_format: jpeg
+  jpeg_quality: 75
+  make_share_url: false
+  max_num_display_images: 512
+  num_rays_per_chunk: 32768
+  quit_on_train_completion: false
+  relative_log_filename: viewer_log_filename.txt
+  websocket_host: 0.0.0.0
+  websocket_port: null
+  websocket_port_default: 7007
+vis: wandb
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new file mode 100644
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+++ b/2024-03-13-roq-01/tro-results/2025-01-08_225451/dataparser_transforms.json
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+{
+    "transform": [
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+            -57.58046340942383
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+}
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diff --git a/2024-03-13-roq-01/tro-results/2025-01-08_233027/config.yml b/2024-03-13-roq-01/tro-results/2025-01-08_233027/config.yml
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+!!python/object:nerfstudio.engine.trainer.TrainerConfig
+_target: !!python/name:nerfstudio.engine.trainer.Trainer ''
+data: &id003 !!python/object/apply:pathlib.PosixPath
+- /
+- home
+- docker_dev
+- silvr_dvc
+- data
+- 2024-03-13-roq-01
+- submap_3.json
+experiment_name: 2024-03-13-roq-01
+gradient_accumulation_steps: {}
+load_checkpoint: null
+load_config: null
+load_dir: null
+load_scheduler: true
+load_step: null
+log_gradients: false
+logging: !!python/object:nerfstudio.configs.base_config.LoggingConfig
+  local_writer: !!python/object:nerfstudio.configs.base_config.LocalWriterConfig
+    _target: !!python/name:nerfstudio.utils.writer.LocalWriter ''
+    enable: true
+    max_log_size: 10
+    stats_to_track: !!python/tuple
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Train Iter (time)
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Train Rays / Sec
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Test PSNR
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Vis Rays / Sec
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - Test Rays / Sec
+    - !!python/object/apply:nerfstudio.utils.writer.EventName
+      - ETA (time)
+  max_buffer_size: 20
+  profiler: basic
+  relative_log_dir: !!python/object/apply:pathlib.PosixPath []
+  steps_per_log: 10
+machine: !!python/object:nerfstudio.configs.base_config.MachineConfig
+  device_type: cuda
+  dist_url: auto
+  machine_rank: 0
+  num_devices: 1
+  num_machines: 1
+  seed: 42
+max_num_iterations: 50001
+method_name: bayes-lidar-normal-nerfacto
+mixed_precision: true
+optimizers:
+  camera_opt:
+    optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig
+      _target: &id001 !!python/name:torch.optim.adam.Adam ''
+      eps: 1.0e-15
+      lr: 0.0006
+      max_norm: null
+      weight_decay: 0
+    scheduler: !!python/object:nerfstudio.engine.schedulers.ExponentialDecaySchedulerConfig
+      _target: &id002 !!python/name:nerfstudio.engine.schedulers.ExponentialDecayScheduler ''
+      lr_final: 0.0001
+      lr_pre_warmup: 1.0e-08
+      max_steps: 5000
+      ramp: cosine
+      warmup_steps: 0
+  fields:
+    optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig
+      _target: *id001
+      eps: 1.0e-15
+      lr: 0.01
+      max_norm: null
+      weight_decay: 0
+    scheduler: !!python/object:nerfstudio.engine.schedulers.ExponentialDecaySchedulerConfig
+      _target: *id002
+      lr_final: 0.0001
+      lr_pre_warmup: 1.0e-08
+      max_steps: 200000
+      ramp: cosine
+      warmup_steps: 0
+  proposal_networks:
+    optimizer: !!python/object:nerfstudio.engine.optimizers.AdamOptimizerConfig
+      _target: *id001
+      eps: 1.0e-15
+      lr: 0.01
+      max_norm: null
+      weight_decay: 0
+    scheduler: !!python/object:nerfstudio.engine.schedulers.ExponentialDecaySchedulerConfig
+      _target: *id002
+      lr_final: 0.0001
+      lr_pre_warmup: 1.0e-08
+      max_steps: 200000
+      ramp: cosine
+      warmup_steps: 0
+output_dir: !!python/object/apply:pathlib.PosixPath
+- /
+- home
+- docker_dev
+- silvr_dvc
+- tro_results
+pipeline: !!python/object:silvr.silvr_pipeline.SiLVRPipelineConfig
+  _target: !!python/name:silvr.silvr_pipeline.SiLVRPipeline ''
+  datamanager: !!python/object:nerfstudio.data.datamanagers.base_datamanager.VanillaDataManagerConfig
+    _target: !!python/object/apply:_operator.getitem
+    - !!python/name:nerfstudio.data.datamanagers.base_datamanager.VanillaDataManager ''
+    - !!python/name:silvr.lidar_dataset.LidarDepthNormalDataset ''
+    camera_optimizer: null
+    camera_res_scale_factor: 1.0
+    collate_fn: !!python/name:nerfstudio.data.utils.nerfstudio_collate.nerfstudio_collate ''
+    data: *id003
+    dataparser: !!python/object:silvr.silvr_dataparser.LidarDepthNormalDataParserConfig
+      _target: !!python/name:silvr.silvr_dataparser.LidarDepthNormalDataParser ''
+      auto_scale_poses: true
+      center_method: poses
+      data: !!python/object/apply:pathlib.PosixPath
+      - /
+      - home
+      - docker_dev
+      - data
+      - 2024-03-13-roq_01
+      - submap_2.json
+      depth_unit_scale_factor: 0.00390625
+      downscale_factor: null
+      eval_interval: 8
+      eval_mode: fraction
+      load_3D_points: false
+      mask_color: null
+      orientation_method: up
+      scale_factor: 1.0
+      scene_scale: 1.0
+      train_split_fraction: 0.9
+    eval_image_indices: !!python/tuple
+    - 0
+    eval_num_images_to_sample_from: 100
+    eval_num_rays_per_batch: 4096
+    eval_num_times_to_repeat_images: -1
+    images_on_gpu: false
+    masks_on_gpu: false
+    patch_size: 1
+    pixel_sampler: !!python/object:nerfstudio.data.pixel_samplers.PairPixelSamplerConfig
+      _target: !!python/name:nerfstudio.data.pixel_samplers.PairPixelSampler ''
+      fisheye_crop_radius: null
+      ignore_mask: false
+      is_equirectangular: false
+      keep_full_image: false
+      max_num_iterations: 100
+      num_rays_per_batch: 4096
+      radius: 2
+      rejection_sample_mask: true
+    train_num_images_to_sample_from: 5000
+    train_num_rays_per_batch: 4096
+    train_num_times_to_repeat_images: -1
+  model: !!python/object:silvr.models.bayes_lidar_normal_nerfacto.BayesLidarNormalNerfactoModelConfig
+    _target: !!python/name:silvr.models.bayes_lidar_normal_nerfacto.BayesLidarNormalNerfactoModel ''
+    appearance_embed_dim: 32
+    average_init_density: 1.0
+    background_color: last_sample
+    base_res: 16
+    camera_optimizer: !!python/object:nerfstudio.cameras.camera_optimizers.CameraOptimizerConfig
+      _target: !!python/name:nerfstudio.cameras.camera_optimizers.CameraOptimizer ''
+      mode: 'off'
+      optimizer: null
+      rot_l2_penalty: 0.001
+      scheduler: null
+      trans_l2_penalty: 0.01
+    collider_params:
+      far_plane: 6.0
+      near_plane: 2.0
+    compute_normals: false
+    dataparser_scale: null
+    depth_encoding: 0.00390625
+    depth_loss_mult: 10.0
+    depth_loss_type: !!python/object/apply:nerfstudio.model_components.losses.DepthLossType
+    - 1
+    depth_sigma: 0.001
+    disable_scene_contraction: false
+    distortion_loss_mult: 0.002
+    enable_collider: true
+    eval_num_rays_per_chunk: 32768
+    far_plane: 1000.0
+    features_per_level: 2
+    filter_out_point: true
+    filter_point_thresh: 0.1
+    hidden_dim: 64
+    hidden_dim_color: 64
+    hidden_dim_transient: 64
+    implementation: tcnn
+    interlevel_loss_mult: 1.0
+    is_euclidean_depth: false
+    lidar_depth_loss_type: !!python/object/apply:silvr.loss.LidarDepthLossType
+    - 3
+    log2_hashmap_size: 19
+    loss_coefficients:
+      rgb_loss_coarse: 1.0
+      rgb_loss_fine: 1.0
+    max_log_uncertainty: 6
+    max_res: 2048
+    min_log_uncertainty: -3
+    near_plane: 0.05
+    normal_loss_mult: 0.001
+    num_levels: 16
+    num_nerf_samples_per_ray: 48
+    num_proposal_iterations: 2
+    num_proposal_samples_per_ray: !!python/tuple
+    - 256
+    - 96
+    orientation_loss_mult: 0.0001
+    pred_normal_loss_mult: 0.001
+    predict_normals: false
+    prompt: null
+    proposal_initial_sampler: piecewise
+    proposal_net_args_list:
+    - hidden_dim: 16
+      log2_hashmap_size: 17
+      max_res: 128
+      num_levels: 5
+      use_linear: false
+    - hidden_dim: 16
+      log2_hashmap_size: 17
+      max_res: 256
+      num_levels: 5
+      use_linear: false
+    proposal_update_every: 5
+    proposal_warmup: 5000
+    proposal_weights_anneal_max_num_iters: 1000
+    proposal_weights_anneal_slope: 10.0
+    ray_num: 4096000
+    save_pcd: false
+    save_pcd_folder: pcd
+    should_decay_sigma: true
+    sigma_decay_rate: 0.99985
+    sky_depth_meter: 250
+    starting_depth_sigma: 0.01
+    use_appearance_embedding: true
+    use_average_appearance_embedding: true
+    use_gradient_scaling: false
+    use_legacy_log_unc: false
+    use_proposal_weight_anneal: true
+    use_same_proposal_network: false
+    use_single_jitter: true
+project_name: nerfstudio-project
+prompt: null
+relative_model_dir: !!python/object/apply:pathlib.PosixPath
+- nerfstudio_models
+save_only_latest_checkpoint: true
+steps_per_eval_all_images: 5000
+steps_per_eval_batch: 500
+steps_per_eval_image: 2000
+steps_per_save: 2000
+timestamp: 2025-01-08_233027
+use_grad_scaler: false
+viewer: !!python/object:nerfstudio.configs.base_config.ViewerConfig
+  camera_frustum_scale: 0.1
+  default_composite_depth: true
+  image_format: jpeg
+  jpeg_quality: 75
+  make_share_url: false
+  max_num_display_images: 512
+  num_rays_per_chunk: 32768
+  quit_on_train_completion: false
+  relative_log_filename: viewer_log_filename.txt
+  websocket_host: 0.0.0.0
+  websocket_port: null
+  websocket_port_default: 7007
+vis: wandb
diff --git a/2024-03-13-roq-01/tro-results/2025-01-08_233027/dataparser_transforms.json b/2024-03-13-roq-01/tro-results/2025-01-08_233027/dataparser_transforms.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa17f9d0b183ac3fc524ca55270da110b8b0e334
--- /dev/null
+++ b/2024-03-13-roq-01/tro-results/2025-01-08_233027/dataparser_transforms.json
@@ -0,0 +1,23 @@
+{
+    "transform": [
+        [
+            0.9999961256980896,
+            -1.688647171249613e-05,
+            0.002783365547657013,
+            -19.85931396484375
+        ],
+        [
+            -1.688647171249613e-05,
+            0.9999263882637024,
+            0.012133382260799408,
+            0.4828678071498871
+        ],
+        [
+            -0.002783365547657013,
+            -0.012133382260799408,
+            0.999922513961792,
+            0.2108953297138214
+        ]
+    ],
+    "scale": 0.03140074484295495
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