research: smooth-tunnel merge verification (L127)
Builds, fast tier, walk 21425/21425, seams bit-identical, floor 7.884 mm, 18/18 hashes = v225, captures 23/23. Headless near-ready vs pre-merge: SW +11..14%, other six cells faster. UE start->LOD0-2 2.23-2.73 -> 2.22-2.51 s. 30 m/s UE: near coverage 43.4 -> 40.2%, far holes 3.14 -> 3.46%, p99 11.25 -> 10.80 ms, worst 13.97 -> 13.27 ms. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_016dhxM43dnWvUu2B5Ph1iG1
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<!doctype html><meta charset='utf-8'>
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<title>L119 / L127 tunnel capture comparison</title>
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<style>body{font:14px system-ui;margin:24px;background:#17191d;color:#eee}section{margin:28px 0}h2{font-size:18px}div{display:grid;grid-template-columns:1fr 1fr;gap:12px}img{width:100%;height:auto}p{color:#bbb}</style>
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<h1>L119 / L127 merge: identical views</h1>
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<section>
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<h2>passage/0-1/0 — rock-floor/401.7m</h2>
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<p>rock-floor-close · L119 pass · L127 pass</p>
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<div>
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<figure><figcaption>L119</figcaption><img src='../../Linux119/captures/L119/L115/L115/passage-0-1-0-rock-floor-station-1.png'></figure>
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<figure><figcaption>L127 merge</figcaption><img src='L127/passage-0-1-0-rock-floor-station-1.png'></figure>
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</div>
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</section>
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<section>
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<h2>passage/0-1/0 — rock-floor/792.8m</h2>
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<p>rock-floor-close · L119 pass · L127 pass</p>
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<div>
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<figure><figcaption>L119</figcaption><img src='../../Linux119/captures/L119/L115/L115/passage-0-1-0-rock-floor-station-2.png'></figure>
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<figure><figcaption>L127 merge</figcaption><img src='L127/passage-0-1-0-rock-floor-station-2.png'></figure>
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</div>
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</section>
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<section>
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<h2>passage/0-1/0 — rock-floor/1634.5m</h2>
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<p>rock-floor-close · L119 pass · L127 pass</p>
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<div>
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<figure><figcaption>L119</figcaption><img src='../../Linux119/captures/L119/L115/L115/passage-0-1-0-rock-floor-station-3.png'></figure>
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<figure><figcaption>L127 merge</figcaption><img src='L127/passage-0-1-0-rock-floor-station-3.png'></figure>
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</div>
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</section>
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<section>
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<h2>passage/1-2/0 — rock-floor/27.0m</h2>
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<p>rock-floor-close · L119 pass · L127 pass</p>
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<div>
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<figure><figcaption>L119</figcaption><img src='../../Linux119/captures/L119/L115/L115/passage-1-2-0-rock-floor-station-1.png'></figure>
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<figure><figcaption>L127 merge</figcaption><img src='L127/passage-1-2-0-rock-floor-station-1.png'></figure>
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</div>
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</section>
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<section>
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<h2>passage/1-2/0 — rock-floor/52.9m</h2>
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<p>rock-floor-close · L119 pass · L127 pass</p>
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<div>
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<figure><figcaption>L119</figcaption><img src='../../Linux119/captures/L119/L115/L115/passage-1-2-0-rock-floor-station-2.png'></figure>
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<figure><figcaption>L127 merge</figcaption><img src='L127/passage-1-2-0-rock-floor-station-2.png'></figure>
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</div>
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</section>
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<section>
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<h2>passage/1-2/0 — rock-floor/78.9m</h2>
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<p>rock-floor-close · L119 pass · L127 pass</p>
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<div>
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<figure><figcaption>L119</figcaption><img src='../../Linux119/captures/L119/L115/L115/passage-1-2-0-rock-floor-station-3.png'></figure>
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<figure><figcaption>L127 merge</figcaption><img src='L127/passage-1-2-0-rock-floor-station-3.png'></figure>
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</div>
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</section>
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<section>
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<h2>passage/2-3/0 — rock-floor/323.4m</h2>
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<p>rock-floor-close · L119 low_contrast_geometry_visible · L127 low_contrast_geometry_visible</p>
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<div>
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<figure><figcaption>L119</figcaption><img src='../../Linux119/captures/L119/L115/L115/passage-2-3-0-rock-floor-station-1.png'></figure>
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<figure><figcaption>L127 merge</figcaption><img src='L127/passage-2-3-0-rock-floor-station-1.png'></figure>
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</div>
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</section>
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<section>
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<h2>passage/2-3/0 — rock-floor/333.4m</h2>
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<p>rock-floor-close · L119 pass · L127 pass</p>
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<div>
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<figure><figcaption>L119</figcaption><img src='../../Linux119/captures/L119/L115/L115/passage-2-3-0-rock-floor-station-2.png'></figure>
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<figure><figcaption>L127 merge</figcaption><img src='L127/passage-2-3-0-rock-floor-station-2.png'></figure>
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</div>
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</section>
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<section>
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<h2>passage/2-3/0 — rock-floor/343.4m</h2>
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<p>rock-floor-close · L119 pass · L127 pass</p>
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<div>
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<figure><figcaption>L119</figcaption><img src='../../Linux119/captures/L119/L115/L115/passage-2-3-0-rock-floor-station-3.png'></figure>
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<figure><figcaption>L127 merge</figcaption><img src='L127/passage-2-3-0-rock-floor-station-3.png'></figure>
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</div>
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</section>
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<section>
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<h2>passage/0-1/0 — section-1/4m-outside</h2>
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<p>open-air-close · L119 pass · L127 pass</p>
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<div>
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<figure><figcaption>L119</figcaption><img src='../../Linux119/captures/L119/L115/L115/passage-0-1-0-openair-1-4m-outside.png'></figure>
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<figure><figcaption>L127 merge</figcaption><img src='L127/passage-0-1-0-openair-1-4m-outside.png'></figure>
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</div>
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</section>
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<section>
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<h2>passage/0-1/0 — section-1/4m-interior-wall</h2>
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<p>open-air-close · L119 low_contrast_geometry_visible · L127 low_contrast_geometry_visible</p>
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<div>
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<figure><figcaption>L119</figcaption><img src='../../Linux119/captures/L119/L115/L115/passage-0-1-0-openair-1-4m-interior-wall.png'></figure>
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<figure><figcaption>L127 merge</figcaption><img src='L127/passage-0-1-0-openair-1-4m-interior-wall.png'></figure>
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</div>
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</section>
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<section>
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<h2>passage/0-1/0 — section-2/4m-outside</h2>
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<p>open-air-close · L119 pass · L127 pass</p>
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<div>
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<figure><figcaption>L119</figcaption><img src='../../Linux119/captures/L119/L115/L115/passage-0-1-0-openair-2-4m-outside.png'></figure>
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<figure><figcaption>L127 merge</figcaption><img src='L127/passage-0-1-0-openair-2-4m-outside.png'></figure>
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</div>
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</section>
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<section>
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<h2>passage/0-1/0 — section-2/4m-interior-wall</h2>
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<p>open-air-close · L119 pass · L127 pass</p>
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<div>
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<figure><figcaption>L119</figcaption><img src='../../Linux119/captures/L119/L115/L115/passage-0-1-0-openair-2-4m-interior-wall.png'></figure>
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<figure><figcaption>L127 merge</figcaption><img src='L127/passage-0-1-0-openair-2-4m-interior-wall.png'></figure>
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</div>
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</section>
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<section>
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<h2>passage/0-1/0 — section-3/4m-outside</h2>
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<p>open-air-close · L119 pass · L127 pass</p>
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<div>
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<figure><figcaption>L119</figcaption><img src='../../Linux119/captures/L119/L115/L115/passage-0-1-0-openair-3-4m-outside.png'></figure>
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<figure><figcaption>L127 merge</figcaption><img src='L127/passage-0-1-0-openair-3-4m-outside.png'></figure>
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</div>
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</section>
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<section>
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<h2>passage/0-1/0 — section-3/4m-interior-wall</h2>
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<p>open-air-close · L119 pass · L127 pass</p>
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<div>
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<figure><figcaption>L119</figcaption><img src='../../Linux119/captures/L119/L115/L115/passage-0-1-0-openair-3-4m-interior-wall.png'></figure>
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<figure><figcaption>L127 merge</figcaption><img src='L127/passage-0-1-0-openair-3-4m-interior-wall.png'></figure>
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</div>
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</section>
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<section>
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<h2>passage/1-2/0 — section-1/4m-outside</h2>
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<p>open-air-close · L119 pass · L127 pass</p>
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<div>
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<figure><figcaption>L119</figcaption><img src='../../Linux119/captures/L119/L115/L115/passage-1-2-0-openair-1-4m-outside.png'></figure>
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<figure><figcaption>L127 merge</figcaption><img src='L127/passage-1-2-0-openair-1-4m-outside.png'></figure>
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</div>
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</section>
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<section>
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<h2>passage/1-2/0 — section-1/4m-interior-wall</h2>
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<p>open-air-close · L119 pass · L127 pass</p>
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<div>
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<figure><figcaption>L119</figcaption><img src='../../Linux119/captures/L119/L115/L115/passage-1-2-0-openair-1-4m-interior-wall.png'></figure>
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<figure><figcaption>L127 merge</figcaption><img src='L127/passage-1-2-0-openair-1-4m-interior-wall.png'></figure>
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</div>
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</section>
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<section>
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<h2>passage/1-2/0 — section-2/4m-outside</h2>
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<p>open-air-close · L119 pass · L127 pass</p>
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<div>
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<figure><figcaption>L119</figcaption><img src='../../Linux119/captures/L119/L115/L115/passage-1-2-0-openair-2-4m-outside.png'></figure>
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<figure><figcaption>L127 merge</figcaption><img src='L127/passage-1-2-0-openair-2-4m-outside.png'></figure>
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</div>
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</section>
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<section>
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<h2>passage/1-2/0 — section-2/4m-interior-wall</h2>
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<p>open-air-close · L119 pass · L127 pass</p>
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<div>
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<figure><figcaption>L119</figcaption><img src='../../Linux119/captures/L119/L115/L115/passage-1-2-0-openair-2-4m-interior-wall.png'></figure>
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<figure><figcaption>L127 merge</figcaption><img src='L127/passage-1-2-0-openair-2-4m-interior-wall.png'></figure>
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</div>
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</section>
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<section>
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<h2>passage/2-3/0 — section-1/4m-outside</h2>
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<p>open-air-close · L119 low_contrast_geometry_visible · L127 low_contrast_geometry_visible</p>
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<div>
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<figure><figcaption>L119</figcaption><img src='../../Linux119/captures/L119/L115/L115/passage-2-3-0-openair-1-4m-outside.png'></figure>
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<figure><figcaption>L127 merge</figcaption><img src='L127/passage-2-3-0-openair-1-4m-outside.png'></figure>
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</div>
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</section>
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<section>
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<h2>passage/2-3/0 — section-1/4m-interior-wall</h2>
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<p>open-air-close · L119 low_contrast_geometry_visible · L127 low_contrast_geometry_visible</p>
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<div>
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<figure><figcaption>L119</figcaption><img src='../../Linux119/captures/L119/L115/L115/passage-2-3-0-openair-1-4m-interior-wall.png'></figure>
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<figure><figcaption>L127 merge</figcaption><img src='L127/passage-2-3-0-openair-1-4m-interior-wall.png'></figure>
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</div>
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</section>
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<section>
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<h2>passage/2-3/0 — section-2/4m-outside</h2>
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<p>open-air-close · L119 pass · L127 pass</p>
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<div>
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<figure><figcaption>L119</figcaption><img src='../../Linux119/captures/L119/L115/L115/passage-2-3-0-openair-2-4m-outside.png'></figure>
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<figure><figcaption>L127 merge</figcaption><img src='L127/passage-2-3-0-openair-2-4m-outside.png'></figure>
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</div>
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</section>
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<section>
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<h2>passage/2-3/0 — section-2/4m-interior-wall</h2>
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<p>open-air-close · L119 pass · L127 pass</p>
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<div>
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<figure><figcaption>L119</figcaption><img src='../../Linux119/captures/L119/L115/L115/passage-2-3-0-openair-2-4m-interior-wall.png'></figure>
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<figure><figcaption>L127 merge</figcaption><img src='L127/passage-2-3-0-openair-2-4m-interior-wall.png'></figure>
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</div>
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</section>
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# L127 merge captures
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These are the 23 L125 camera poses, rendered from the merge binary.
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[Open the L119/L127 side-by-side comparison](COMPARE.html).
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- [passage/0-1/0 — rock-floor/401.7m (pass)](L127/passage-0-1-0-rock-floor-station-1.png)
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- [passage/0-1/0 — rock-floor/792.8m (pass)](L127/passage-0-1-0-rock-floor-station-2.png)
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- [passage/0-1/0 — rock-floor/1634.5m (pass)](L127/passage-0-1-0-rock-floor-station-3.png)
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- [passage/1-2/0 — rock-floor/27.0m (pass)](L127/passage-1-2-0-rock-floor-station-1.png)
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- [passage/1-2/0 — rock-floor/52.9m (pass)](L127/passage-1-2-0-rock-floor-station-2.png)
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- [passage/1-2/0 — rock-floor/78.9m (pass)](L127/passage-1-2-0-rock-floor-station-3.png)
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- [passage/2-3/0 — rock-floor/323.4m (low_contrast_geometry_visible)](L127/passage-2-3-0-rock-floor-station-1.png)
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- [passage/2-3/0 — rock-floor/333.4m (pass)](L127/passage-2-3-0-rock-floor-station-2.png)
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- [passage/2-3/0 — rock-floor/343.4m (pass)](L127/passage-2-3-0-rock-floor-station-3.png)
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- [passage/0-1/0 — section-1/4m-outside (pass)](L127/passage-0-1-0-openair-1-4m-outside.png)
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- [passage/0-1/0 — section-1/4m-interior-wall (low_contrast_geometry_visible)](L127/passage-0-1-0-openair-1-4m-interior-wall.png)
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- [passage/0-1/0 — section-2/4m-outside (pass)](L127/passage-0-1-0-openair-2-4m-outside.png)
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- [passage/0-1/0 — section-2/4m-interior-wall (pass)](L127/passage-0-1-0-openair-2-4m-interior-wall.png)
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- [passage/0-1/0 — section-3/4m-outside (pass)](L127/passage-0-1-0-openair-3-4m-outside.png)
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- [passage/0-1/0 — section-3/4m-interior-wall (pass)](L127/passage-0-1-0-openair-3-4m-interior-wall.png)
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- [passage/1-2/0 — section-1/4m-outside (pass)](L127/passage-1-2-0-openair-1-4m-outside.png)
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- [passage/1-2/0 — section-1/4m-interior-wall (pass)](L127/passage-1-2-0-openair-1-4m-interior-wall.png)
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- [passage/1-2/0 — section-2/4m-outside (pass)](L127/passage-1-2-0-openair-2-4m-outside.png)
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- [passage/1-2/0 — section-2/4m-interior-wall (pass)](L127/passage-1-2-0-openair-2-4m-interior-wall.png)
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- [passage/2-3/0 — section-1/4m-outside (low_contrast_geometry_visible)](L127/passage-2-3-0-openair-1-4m-outside.png)
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- [passage/2-3/0 — section-1/4m-interior-wall (low_contrast_geometry_visible)](L127/passage-2-3-0-openair-1-4m-interior-wall.png)
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- [passage/2-3/0 — section-2/4m-outside (pass)](L127/passage-2-3-0-openair-2-4m-outside.png)
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- [passage/2-3/0 — section-2/4m-interior-wall (pass)](L127/passage-2-3-0-openair-2-4m-interior-wall.png)
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