research: flat pad stamp only (L159, one attempt; kept as patch)
Clamp-between-cones pad at each tunnel end, last composition step, chamber cases removed, bounds extended (proof and feature samplers 16/16 clean). Open-ground result looks as intended; but pads pass 8/96 (flatness up to 0.75 m, blend up to 81 deg), interior air fails 16/16 (839-1,588 solid capsule samples), route audits fail, FI band check fails at seed 0. Owner asked for one attempt, no tuning. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_016dhxM43dnWvUu2B5Ph1iG1
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Fr0zkaandClaude Opus 5.5 committed
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#!/usr/bin/env python3
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"""Capture matched L151 eye views and L159 wide views of all six owner pads."""
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from __future__ import annotations
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import json
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import math
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import os
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from pathlib import Path
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import re
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import subprocess
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import sys
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ROOT = Path(__file__).resolve().parents[4]
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DATA = ROOT / "Standalone/data/owner_world.json"
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OUT = ROOT / "Saved/Linux/l159/captures"
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LAYOUT = ROOT / "Saved/Linux/l151/captures/after-resolved-layout.json"
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ARTIFACTS = ROOT / "Standalone/Research/WorldAssemblerM3/Linux159/captures"
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HEADLESS = ROOT / "Saved/Linux/l159/bin/VoxelForgeCoreHeadless-l159-clang"
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RENDERER = ROOT / "Saved/Linux/l159/bin/VoxelForgeOffscreenCapture-l159-clang"
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STAMP = "5b8ab5e84364e26c1a555428fba8bedb23faed14ef0f6b7d397edf654883d640"
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LIMIT = ["taskset", "-c", "0-11", "prlimit", "--as=6442450944", "--"]
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STAMP_RE = re.compile(r"^\[VoxelForgeSourceStamp\] sha256=([0-9a-f]{64})$", re.M)
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def fmt(values) -> str:
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return ",".join(f"{value:.6f}" for value in values)
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def angles(camera, target) -> tuple[float, float]:
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dx, dy, dz = (target[index] - camera[index] for index in range(3))
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return math.degrees(math.atan2(dx, dy)), math.degrees(
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math.atan2(dz, math.hypot(dx, dy)))
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def point_q(layout: dict, values) -> tuple[float, float, float]:
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scale = layout["core_voxel_size_um"] / (256.0 * 1_000_000.0)
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return tuple(value * scale for value in values)
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def chamber_views(layout: dict) -> list[dict]:
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result = []
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for passage in layout["passages"]:
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controls = passage["control_points"]
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for side, endpoint, neighbor in (
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("upper", controls[0], controls[1]),
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("lower", controls[-1], controls[-2])):
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chamber = passage[f"{side}_landing_chamber"]
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center = point_q(layout, chamber["floor_center_q"])
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a = point_q(layout, neighbor["position_q"])
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b = point_q(layout, endpoint["position_q"])
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dx, dy = a[0] - b[0], a[1] - b[1]
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length = math.hypot(dx, dy)
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if length <= 1.0e-9:
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raise ValueError(f"degenerate {side} tunnel tangent: {passage['stable_id']}")
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dx, dy = dx / length, dy / length
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eye_z = center[2] + 1.45
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distance = 9.0
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target = (center[0] + dx * distance, center[1] + dy * distance,
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eye_z + (chamber["floor_gradient_q16"][0] / 65536.0 * dx
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+ chamber["floor_gradient_q16"][1] / 65536.0 * dy)
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* distance)
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camera = (center[0], center[1], eye_z)
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slug = passage["stable_id"].replace("passage/", "").replace("/", "-")
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result.append({"name": f"{slug}-{side}-landing", "passage": passage["stable_id"],
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"side": side, "view_kind": "eye", "camera": camera,
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"target": target, "focus": (center[0], center[1], eye_z, 18.0)})
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wide_camera = (center[0] - dx * 14.0, center[1] - dy * 14.0,
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center[2] + 5.5)
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wide_target = (center[0] + dx * 2.0, center[1] + dy * 2.0,
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center[2] + 1.25)
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result.append({"name": f"{slug}-{side}-wide", "passage": passage["stable_id"],
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"side": side, "view_kind": "wide", "camera": wide_camera,
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"target": wide_target,
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"focus": (center[0], center[1], eye_z, 42.0)})
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return result
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def stamped_run(name: str, command: list[object], log: Path, env: dict[str, str]) -> str:
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probe = subprocess.run([*LIMIT, "timeout", "15s", str(command[0]), "--print-source-stamp"],
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cwd=ROOT, env=env, text=True, stdout=subprocess.PIPE,
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stderr=subprocess.STDOUT, check=False, timeout=20)
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match = STAMP_RE.search(probe.stdout or "")
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if probe.returncode or not match or match.group(1) != STAMP:
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raise RuntimeError(f"{name}: source stamp mismatch for {command[0]}")
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log.parent.mkdir(parents=True, exist_ok=True)
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with log.open("w", encoding="utf-8") as stream:
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result = subprocess.run([*LIMIT, "timeout", "1740s", *map(str, command)],
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cwd=ROOT, env=env, stdout=stream, stderr=subprocess.STDOUT,
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timeout=1745, check=False)
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output = log.read_text(encoding="utf-8", errors="replace")
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emitted = STAMP_RE.search(output)
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if result.returncode or not emitted or emitted.group(1) != STAMP:
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raise RuntimeError(f"{name}: export or render failed; see {log}")
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return output
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def main() -> int:
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if not DATA.is_file() or not HEADLESS.is_file() or not RENDERER.is_file():
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raise SystemExit("missing owner fixture or L159 Clang capture binaries")
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OUT.mkdir(parents=True, exist_ok=True)
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ARTIFACTS.mkdir(parents=True, exist_ok=True)
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env = os.environ.copy()
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env["LP_NUM_THREADS"] = "12"
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env["XDG_CACHE_HOME"] = str(OUT / "xdg-cache")
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layout = json.loads(LAYOUT.read_text(encoding="utf-8"))
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if len(layout.get("passages", [])) != 3:
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raise RuntimeError("owner layout did not resolve the expected three tunnels")
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quality_tool = ROOT / "Standalone/Tools/verify/capture_quality.py"
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manifest = []
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failures = []
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for view in chamber_views(layout):
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camera, target = view["camera"], view["target"]
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yaw, pitch = angles(camera, target)
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mesh_dir = OUT / "meshes"
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mesh_dir.mkdir(parents=True, exist_ok=True)
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mesh = mesh_dir / f"{view['name']}.vfmesh"
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capture_layout = mesh_dir / f"{view['name']}-layout.json"
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export = [HEADLESS, DATA, "--world-assembler-prototype", "--stream-benchmark",
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"--stream-pipeline", "--workers=12", "--clip-radius=6", "--max-clip-level=0",
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"--max-level=0", "--force-generate", "--seed=0", "--recipe=surface-world",
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"--render-distance-chunks=0", f"--camera={fmt((*camera, yaw, pitch))}",
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f"--resolved-layout-output={capture_layout}", f"--mesh-export={mesh}"]
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stamped_run(f"l159-{view['name']}-export", export,
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OUT / f"{view['name']}-export.log", env)
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if not mesh.is_file() or mesh.stat().st_size == 0:
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raise RuntimeError(f"{view['name']}: empty mesh export")
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png = OUT / f"{view['name']}.png"
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jpg = ARTIFACTS / f"after-l159-{view['name']}.jpg"
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render = [RENDERER, mesh, png, "--size=1280x720", "--fov-deg=78.0",
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f"--camera-m={fmt(camera)}", f"--yaw-deg={yaw:.6f}",
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f"--pitch-deg={pitch:.6f}", "--tile-skirts=off", "--shade=readable",
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"--headlamp=on", "--height-tint=on", "--height-center-m=-950",
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"--height-range-m=60", "--tile-edges=off",
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f"--focus-region={fmt(view['focus'])}"]
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stamped_run(f"l159-{view['name']}-render", render,
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OUT / f"{view['name']}-render.log", env)
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subprocess.run([*LIMIT, "timeout", "120s", "ffmpeg", "-nostdin",
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"-hide_banner", "-loglevel", "error", "-y", "-i", png,
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"-frames:v", "1", "-q:v", "4", jpg], cwd=ROOT, env=env,
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check=True, stdout=subprocess.DEVNULL, stderr=subprocess.STDOUT, timeout=125)
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check = subprocess.run([*LIMIT, "timeout", "120s", sys.executable,
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quality_tool, jpg], cwd=ROOT, env=env, text=True, stdout=subprocess.PIPE,
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stderr=subprocess.STDOUT, check=False, timeout=125)
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quality_ok = check.returncode == 0 and "status=PASS" in check.stdout
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if not quality_ok:
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failures.append(view["name"])
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quality_line = (check.stdout.strip().splitlines()[-1]
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if check.stdout.strip() else f"quality exit={check.returncode}")
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manifest.append({"version": "after-l159", "view": view["name"],
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"passage": view["passage"], "side": view["side"],
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"view_kind": view["view_kind"],
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"file": str(jpg.relative_to(ROOT)), "camera_m": camera,
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"target_m": target, "yaw_deg": yaw, "pitch_deg": pitch,
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"source_stamp": STAMP, "pose_layout_identity": layout.get("stable_identity"),
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"quality_status": "PASS" if quality_ok else "FAIL", "quality": quality_line})
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print(f"[L159Capture] view={view['name']} quality={'PASS' if quality_ok else 'FAIL'} "
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f"file={jpg.relative_to(ROOT)}", flush=True)
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(ARTIFACTS / "manifest.json").write_text(
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json.dumps(manifest, indent=2) + "\n", encoding="utf-8")
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with (ARTIFACTS / "INDEX.md").open("w", encoding="utf-8") as index:
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index.write("# L159 owner landing pad captures\n\n"
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"All poses use the seed 0 layout resolved for L151. Eye-height after views "
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"reuse the six L151 cameras; each pad also has one pulled-back wide view.\n\n")
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for view in chamber_views(layout):
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image = f"after-l159-{view['name']}.jpg"
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if view["view_kind"] == "eye":
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before = f"after-l151-{view['name']}.jpg"
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index.write(f"## {view['passage']} / {view['side']} landing\n\n"
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f"- Before: [{before}](../../Linux151/captures/{before})\n"
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f"- After: [eye view]({image})\n")
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else:
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index.write(f"- After: [wide view]({image})\n\n")
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index.write(f"Capture quality failures: {len(failures)}/{len(manifest)}.\n")
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print(f"[L159CaptureSummary] views={len(manifest)} "
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f"quality_failures={len(failures)}", flush=True)
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return 0 if not failures else 1
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if __name__ == "__main__":
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try:
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raise SystemExit(main())
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except Exception as error:
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print(f"[L159CaptureFailure] {error}", file=sys.stderr, flush=True)
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raise SystemExit(1)
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