research: cave planner merge evidence (L150, measurement only)

Merges cleanly. UE start: S1 -9%, S3 +11%, S0/S2 ~+1%. 30 m/s: near coverage 44.2 -> 38.5%, far holes +0.06 pp, p99 +2%. L80 near-ready slower in 6/8 cells (up to +7.9%), whole view faster in 7/8. Sweeps 15/16 each (seed 2). Source/: VoxelForgeCoreAdapter.cpp. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_016dhxM43dnWvUu2B5Ph1iG1
2026-11-01 16:17:42 +01:00
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commit 9ac60d5d18
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+# L150 matched owner-world captures
+
+Seed 0, with camera poses from the planner layout resolved against the owner's embedded Core plan and reused for both versions. The plan is imported without a seed override. The two Tunnel Network views sit at the planned route and departure joints; the Vertical Shafts views look down from the access landing and up from a ledge.
+
+- Tunnel Network / tunnel-network-route: [assembler-world](assembler-world-tunnel-network-route.jpg) — FAIL
+- Tunnel Network / tunnel-network-departure: [assembler-world](assembler-world-tunnel-network-departure.jpg) — PASS
+- Vertical Shafts / vertical-shafts-looking-down: [assembler-world](assembler-world-vertical-shafts-looking-down.jpg) — FAIL
+- Vertical Shafts / vertical-shafts-looking-up: [assembler-world](assembler-world-vertical-shafts-looking-up.jpg) — FAIL
+- Tunnel Network / tunnel-network-route: [planner-head](planner-head-tunnel-network-route.jpg) — PASS
+- Tunnel Network / tunnel-network-departure: [planner-head](planner-head-tunnel-network-departure.jpg) — PASS
+- Vertical Shafts / vertical-shafts-looking-down: [planner-head](planner-head-vertical-shafts-looking-down.jpg) — PASS
+- Vertical Shafts / vertical-shafts-looking-up: [planner-head](planner-head-vertical-shafts-looking-up.jpg) — PASS
+
+All eight exports and renders completed. The capture-quality gate passed for all four planner-head images and one assembler/world image. Three assembler/world images have insufficient image variance because no mesh surface is visible from those same viewpoints; those gate failures are recorded as the baseline result.
@@ -0,0 +1,186 @@
+[
+  {
+    "version": "assembler-world",
+    "view": "tunnel-network-route",
+    "layer": "Tunnel Network",
+    "file": "Standalone/Research/WorldAssemblerM3/Linux150/captures/assembler-world-tunnel-network-route.jpg",
+    "camera_m": [
+      17.334593752829058,
+      -13.396520050883792,
+      -751.9240234375
+    ],
+    "target_m": [
+      28.32312498585471,
+      -18.218571620581038,
+      -751.9240234375
+    ],
+    "yaw_deg": 113.69310802290845,
+    "pitch_deg": 0.0,
+    "source_stamp": "4499fb2a8a4ede7d6cbc68d1b794f104658cdaae93ed9cacbc91fe7ff3fc3621",
+    "capture_layout_identity": "resolved-layout-v3-fnv64:0589300eb07dfe06",
+    "pose_layout_identity": "resolved-layout-v3-fnv64:cc87ee727c483039",
+    "quality_status": "FAIL",
+    "quality": "[CaptureQuality] image=/home/jahni/VoxelM/Plugins/VoxelForge/Standalone/Research/WorldAssemblerM3/Linux150/captures/assembler-world-tunnel-network-route.jpg pixels=921600 mean_luma=112.000 stddev_luma=0.000 coverage_luma_gt12=1.00000 thresholds=(stddev>=2.0,coverage>=0.001) status=FAIL"
+  },
+  {
+    "version": "assembler-world",
+    "view": "tunnel-network-departure",
+    "layer": "Tunnel Network",
+    "file": "Standalone/Research/WorldAssemblerM3/Linux150/captures/assembler-world-tunnel-network-departure.jpg",
+    "camera_m": [
+      -22.06185250467782,
+      -5.017471635430169,
+      -810.9455078125
+    ],
+    "target_m": [
+      -10.065737476610899,
+      -5.322798072849153,
+      -810.9455078125
+    ],
+    "yaw_deg": 91.45798369615608,
+    "pitch_deg": 0.0,
+    "source_stamp": "4499fb2a8a4ede7d6cbc68d1b794f104658cdaae93ed9cacbc91fe7ff3fc3621",
+    "capture_layout_identity": "resolved-layout-v3-fnv64:0589300eb07dfe06",
+    "pose_layout_identity": "resolved-layout-v3-fnv64:cc87ee727c483039",
+    "quality_status": "PASS",
+    "quality": "[CaptureQuality] image=/home/jahni/VoxelM/Plugins/VoxelForge/Standalone/Research/WorldAssemblerM3/Linux150/captures/assembler-world-tunnel-network-departure.jpg pixels=921600 mean_luma=106.806 stddev_luma=3.804 coverage_luma_gt12=1.00000 thresholds=(stddev>=2.0,coverage>=0.001) status=PASS"
+  },
+  {
+    "version": "assembler-world",
+    "view": "vertical-shafts-looking-down",
+    "layer": "Vertical Shafts",
+    "file": "Standalone/Research/WorldAssemblerM3/Linux150/captures/assembler-world-vertical-shafts-looking-down.jpg",
+    "camera_m": [
+      -31.001772,
+      -7.103472,
+      -901.9274509999999
+    ],
+    "target_m": [
+      -31.001772,
+      -8.066018,
+      -929.377451
+    ],
+    "yaw_deg": 180.0,
+    "pitch_deg": -87.99172181188044,
+    "source_stamp": "4499fb2a8a4ede7d6cbc68d1b794f104658cdaae93ed9cacbc91fe7ff3fc3621",
+    "capture_layout_identity": "resolved-layout-v3-fnv64:0589300eb07dfe06",
+    "pose_layout_identity": "resolved-layout-v3-fnv64:cc87ee727c483039",
+    "quality_status": "FAIL",
+    "quality": "[CaptureQuality] image=/home/jahni/VoxelM/Plugins/VoxelForge/Standalone/Research/WorldAssemblerM3/Linux150/captures/assembler-world-vertical-shafts-looking-down.jpg pixels=921600 mean_luma=112.000 stddev_luma=0.000 coverage_luma_gt12=1.00000 thresholds=(stddev>=2.0,coverage>=0.001) status=FAIL"
+  },
+  {
+    "version": "assembler-world",
+    "view": "vertical-shafts-looking-up",
+    "layer": "Vertical Shafts",
+    "file": "Standalone/Research/WorldAssemblerM3/Linux150/captures/assembler-world-vertical-shafts-looking-up.jpg",
+    "camera_m": [
+      -31.001772,
+      -8.066018,
+      -945.9274509999999
+    ],
+    "target_m": [
+      -31.001772,
+      -8.066018,
+      -901.377451
+    ],
+    "yaw_deg": 0.0,
+    "pitch_deg": 90.0,
+    "source_stamp": "4499fb2a8a4ede7d6cbc68d1b794f104658cdaae93ed9cacbc91fe7ff3fc3621",
+    "capture_layout_identity": "resolved-layout-v3-fnv64:0589300eb07dfe06",
+    "pose_layout_identity": "resolved-layout-v3-fnv64:cc87ee727c483039",
+    "quality_status": "FAIL",
+    "quality": "[CaptureQuality] image=/home/jahni/VoxelM/Plugins/VoxelForge/Standalone/Research/WorldAssemblerM3/Linux150/captures/assembler-world-vertical-shafts-looking-up.jpg pixels=921600 mean_luma=111.749 stddev_luma=1.375 coverage_luma_gt12=1.00000 thresholds=(stddev>=2.0,coverage>=0.001) status=FAIL"
+  },
+  {
+    "version": "planner-head",
+    "view": "tunnel-network-route",
+    "layer": "Tunnel Network",
+    "file": "Standalone/Research/WorldAssemblerM3/Linux150/captures/planner-head-tunnel-network-route.jpg",
+    "camera_m": [
+      17.334593752829058,
+      -13.396520050883792,
+      -751.9240234375
+    ],
+    "target_m": [
+      28.32312498585471,
+      -18.218571620581038,
+      -751.9240234375
+    ],
+    "yaw_deg": 113.69310802290845,
+    "pitch_deg": 0.0,
+    "source_stamp": "c6b8a100355e271ddc40eb5973569d2ff4e2ba8d9c628c72f8e0af2493f0609f",
+    "capture_layout_identity": "resolved-layout-v3-fnv64:cc87ee727c483039",
+    "pose_layout_identity": "resolved-layout-v3-fnv64:cc87ee727c483039",
+    "quality_status": "PASS",
+    "quality": "[CaptureQuality] image=/home/jahni/VoxelM/Plugins/VoxelForge/Standalone/Research/WorldAssemblerM3/Linux150/captures/planner-head-tunnel-network-route.jpg pixels=921600 mean_luma=133.954 stddev_luma=13.005 coverage_luma_gt12=1.00000 thresholds=(stddev>=2.0,coverage>=0.001) status=PASS"
+  },
+  {
+    "version": "planner-head",
+    "view": "tunnel-network-departure",
+    "layer": "Tunnel Network",
+    "file": "Standalone/Research/WorldAssemblerM3/Linux150/captures/planner-head-tunnel-network-departure.jpg",
+    "camera_m": [
+      -22.06185250467782,
+      -5.017471635430169,
+      -810.9455078125
+    ],
+    "target_m": [
+      -10.065737476610899,
+      -5.322798072849153,
+      -810.9455078125
+    ],
+    "yaw_deg": 91.45798369615608,
+    "pitch_deg": 0.0,
+    "source_stamp": "c6b8a100355e271ddc40eb5973569d2ff4e2ba8d9c628c72f8e0af2493f0609f",
+    "capture_layout_identity": "resolved-layout-v3-fnv64:cc87ee727c483039",
+    "pose_layout_identity": "resolved-layout-v3-fnv64:cc87ee727c483039",
+    "quality_status": "PASS",
+    "quality": "[CaptureQuality] image=/home/jahni/VoxelM/Plugins/VoxelForge/Standalone/Research/WorldAssemblerM3/Linux150/captures/planner-head-tunnel-network-departure.jpg pixels=921600 mean_luma=115.401 stddev_luma=12.660 coverage_luma_gt12=1.00000 thresholds=(stddev>=2.0,coverage>=0.001) status=PASS"
+  },
+  {
+    "version": "planner-head",
+    "view": "vertical-shafts-looking-down",
+    "layer": "Vertical Shafts",
+    "file": "Standalone/Research/WorldAssemblerM3/Linux150/captures/planner-head-vertical-shafts-looking-down.jpg",
+    "camera_m": [
+      -31.001772,
+      -7.103472,
+      -901.9274509999999
+    ],
+    "target_m": [
+      -31.001772,
+      -8.066018,
+      -929.377451
+    ],
+    "yaw_deg": 180.0,
+    "pitch_deg": -87.99172181188044,
+    "source_stamp": "c6b8a100355e271ddc40eb5973569d2ff4e2ba8d9c628c72f8e0af2493f0609f",
+    "capture_layout_identity": "resolved-layout-v3-fnv64:cc87ee727c483039",
+    "pose_layout_identity": "resolved-layout-v3-fnv64:cc87ee727c483039",
+    "quality_status": "PASS",
+    "quality": "[CaptureQuality] image=/home/jahni/VoxelM/Plugins/VoxelForge/Standalone/Research/WorldAssemblerM3/Linux150/captures/planner-head-vertical-shafts-looking-down.jpg pixels=921600 mean_luma=112.234 stddev_luma=3.319 coverage_luma_gt12=1.00000 thresholds=(stddev>=2.0,coverage>=0.001) status=PASS"
+  },
+  {
+    "version": "planner-head",
+    "view": "vertical-shafts-looking-up",
+    "layer": "Vertical Shafts",
+    "file": "Standalone/Research/WorldAssemblerM3/Linux150/captures/planner-head-vertical-shafts-looking-up.jpg",
+    "camera_m": [
+      -31.001772,
+      -8.066018,
+      -945.9274509999999
+    ],
+    "target_m": [
+      -31.001772,
+      -8.066018,
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+    ],
+    "yaw_deg": 0.0,
+    "pitch_deg": 90.0,
+    "source_stamp": "c6b8a100355e271ddc40eb5973569d2ff4e2ba8d9c628c72f8e0af2493f0609f",
+    "capture_layout_identity": "resolved-layout-v3-fnv64:cc87ee727c483039",
+    "pose_layout_identity": "resolved-layout-v3-fnv64:cc87ee727c483039",
+    "quality_status": "PASS",
+    "quality": "[CaptureQuality] image=/home/jahni/VoxelM/Plugins/VoxelForge/Standalone/Research/WorldAssemblerM3/Linux150/captures/planner-head-vertical-shafts-looking-up.jpg pixels=921600 mean_luma=111.590 stddev_luma=2.483 coverage_luma_gt12=1.00000 thresholds=(stddev>=2.0,coverage>=0.001) status=PASS"
+  }
+]