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VoxelForge/Standalone/Research/WorldAssemblerM3/Linux119/captures/COMPARE.html
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Fr0zkaandClaude Opus 5.5 707bc61553 core: coarser smooth-route tolerance + shell support bound (L119, evaluator v224) 
Chord error 2.5 -> 10 cm, shell work skipped outside the 0-0.75 m band. Sweep pairs -39%, prepare -60%,
near-ready 3-8% faster than L115 but still +13..+22% vs L109. Floor offset 7.88 mm; captures match L115
by eye; fast tier, walk audits, Clang/GCC W1/W8/W12 determinism green. Not for merge yet.

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_016dhxM43dnWvUu2B5Ph1iG1
2026-10-30 05:35:59 +01:00

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<title>L115 / L119 tunnel capture comparison</title>
<style>body{font:16px system-ui,sans-serif;max-width:1400px;margin:2rem auto;padding:0 1rem;color:#202124}h1{margin-bottom:.25rem}article{border-top:1px solid #bbb;padding:1rem 0 1.5rem}.pair{display:grid;grid-template-columns:1fr 1fr;gap:1rem}figure{margin:0}figcaption{font-weight:650;margin:.25rem 0}img{width:100%;height:auto;display:block;background:#eee}p{margin:.25rem 0 .75rem;color:#555}@media(max-width:700px){.pair{grid-template-columns:1fr}}</style>
<h1>L115 and L119 tunnel captures</h1>
<p>The same 23 view names and camera poses are paired side by side. Select an image to open it full size.</p>
<article><h2>passage/0-1/0 · rock-floor/401.7m · rock-floor-close</h2><p>Status: pass</p><div class="pair"><figure><figcaption>L115</figcaption><a href="../../Linux115/captures/L115/L115/passage-0-1-0-rock-floor-station-1.png"><img loading="lazy" src="../../Linux115/captures/L115/L115/passage-0-1-0-rock-floor-station-1.png"></a></figure><figure><figcaption>L119</figcaption><a href="L119/L115/L115/passage-0-1-0-rock-floor-station-1.png"><img loading="lazy" src="L119/L115/L115/passage-0-1-0-rock-floor-station-1.png"></a></figure></div></article>
<article><h2>passage/0-1/0 · rock-floor/792.8m · rock-floor-close</h2><p>Status: pass</p><div class="pair"><figure><figcaption>L115</figcaption><a href="../../Linux115/captures/L115/L115/passage-0-1-0-rock-floor-station-2.png"><img loading="lazy" src="../../Linux115/captures/L115/L115/passage-0-1-0-rock-floor-station-2.png"></a></figure><figure><figcaption>L119</figcaption><a href="L119/L115/L115/passage-0-1-0-rock-floor-station-2.png"><img loading="lazy" src="L119/L115/L115/passage-0-1-0-rock-floor-station-2.png"></a></figure></div></article>
<article><h2>passage/0-1/0 · rock-floor/1634.5m · rock-floor-close</h2><p>Status: pass</p><div class="pair"><figure><figcaption>L115</figcaption><a href="../../Linux115/captures/L115/L115/passage-0-1-0-rock-floor-station-3.png"><img loading="lazy" src="../../Linux115/captures/L115/L115/passage-0-1-0-rock-floor-station-3.png"></a></figure><figure><figcaption>L119</figcaption><a href="L119/L115/L115/passage-0-1-0-rock-floor-station-3.png"><img loading="lazy" src="L119/L115/L115/passage-0-1-0-rock-floor-station-3.png"></a></figure></div></article>
<article><h2>passage/1-2/0 · rock-floor/27.0m · rock-floor-close</h2><p>Status: pass</p><div class="pair"><figure><figcaption>L115</figcaption><a href="../../Linux115/captures/L115/L115/passage-1-2-0-rock-floor-station-1.png"><img loading="lazy" src="../../Linux115/captures/L115/L115/passage-1-2-0-rock-floor-station-1.png"></a></figure><figure><figcaption>L119</figcaption><a href="L119/L115/L115/passage-1-2-0-rock-floor-station-1.png"><img loading="lazy" src="L119/L115/L115/passage-1-2-0-rock-floor-station-1.png"></a></figure></div></article>
<article><h2>passage/1-2/0 · rock-floor/52.9m · rock-floor-close</h2><p>Status: pass</p><div class="pair"><figure><figcaption>L115</figcaption><a href="../../Linux115/captures/L115/L115/passage-1-2-0-rock-floor-station-2.png"><img loading="lazy" src="../../Linux115/captures/L115/L115/passage-1-2-0-rock-floor-station-2.png"></a></figure><figure><figcaption>L119</figcaption><a href="L119/L115/L115/passage-1-2-0-rock-floor-station-2.png"><img loading="lazy" src="L119/L115/L115/passage-1-2-0-rock-floor-station-2.png"></a></figure></div></article>
<article><h2>passage/1-2/0 · rock-floor/78.9m · rock-floor-close</h2><p>Status: pass</p><div class="pair"><figure><figcaption>L115</figcaption><a href="../../Linux115/captures/L115/L115/passage-1-2-0-rock-floor-station-3.png"><img loading="lazy" src="../../Linux115/captures/L115/L115/passage-1-2-0-rock-floor-station-3.png"></a></figure><figure><figcaption>L119</figcaption><a href="L119/L115/L115/passage-1-2-0-rock-floor-station-3.png"><img loading="lazy" src="L119/L115/L115/passage-1-2-0-rock-floor-station-3.png"></a></figure></div></article>
<article><h2>passage/2-3/0 · rock-floor/323.4m · rock-floor-close</h2><p>Status: low_contrast_geometry_visible</p><div class="pair"><figure><figcaption>L115</figcaption><a href="../../Linux115/captures/L115/L115/passage-2-3-0-rock-floor-station-1.png"><img loading="lazy" src="../../Linux115/captures/L115/L115/passage-2-3-0-rock-floor-station-1.png"></a></figure><figure><figcaption>L119</figcaption><a href="L119/L115/L115/passage-2-3-0-rock-floor-station-1.png"><img loading="lazy" src="L119/L115/L115/passage-2-3-0-rock-floor-station-1.png"></a></figure></div></article>
<article><h2>passage/2-3/0 · rock-floor/333.4m · rock-floor-close</h2><p>Status: pass</p><div class="pair"><figure><figcaption>L115</figcaption><a href="../../Linux115/captures/L115/L115/passage-2-3-0-rock-floor-station-2.png"><img loading="lazy" src="../../Linux115/captures/L115/L115/passage-2-3-0-rock-floor-station-2.png"></a></figure><figure><figcaption>L119</figcaption><a href="L119/L115/L115/passage-2-3-0-rock-floor-station-2.png"><img loading="lazy" src="L119/L115/L115/passage-2-3-0-rock-floor-station-2.png"></a></figure></div></article>
<article><h2>passage/2-3/0 · rock-floor/343.4m · rock-floor-close</h2><p>Status: pass</p><div class="pair"><figure><figcaption>L115</figcaption><a href="../../Linux115/captures/L115/L115/passage-2-3-0-rock-floor-station-3.png"><img loading="lazy" src="../../Linux115/captures/L115/L115/passage-2-3-0-rock-floor-station-3.png"></a></figure><figure><figcaption>L119</figcaption><a href="L119/L115/L115/passage-2-3-0-rock-floor-station-3.png"><img loading="lazy" src="L119/L115/L115/passage-2-3-0-rock-floor-station-3.png"></a></figure></div></article>
<article><h2>passage/0-1/0 · section-1/4m-outside · open-air-close</h2><p>Status: pass</p><div class="pair"><figure><figcaption>L115</figcaption><a href="../../Linux115/captures/L115/L115/passage-0-1-0-openair-1-4m-outside.png"><img loading="lazy" src="../../Linux115/captures/L115/L115/passage-0-1-0-openair-1-4m-outside.png"></a></figure><figure><figcaption>L119</figcaption><a href="L119/L115/L115/passage-0-1-0-openair-1-4m-outside.png"><img loading="lazy" src="L119/L115/L115/passage-0-1-0-openair-1-4m-outside.png"></a></figure></div></article>
<article><h2>passage/0-1/0 · section-1/4m-interior-wall · open-air-close</h2><p>Status: low_contrast_geometry_visible</p><div class="pair"><figure><figcaption>L115</figcaption><a href="../../Linux115/captures/L115/L115/passage-0-1-0-openair-1-4m-interior-wall.png"><img loading="lazy" src="../../Linux115/captures/L115/L115/passage-0-1-0-openair-1-4m-interior-wall.png"></a></figure><figure><figcaption>L119</figcaption><a href="L119/L115/L115/passage-0-1-0-openair-1-4m-interior-wall.png"><img loading="lazy" src="L119/L115/L115/passage-0-1-0-openair-1-4m-interior-wall.png"></a></figure></div></article>
<article><h2>passage/0-1/0 · section-2/4m-outside · open-air-close</h2><p>Status: pass</p><div class="pair"><figure><figcaption>L115</figcaption><a href="../../Linux115/captures/L115/L115/passage-0-1-0-openair-2-4m-outside.png"><img loading="lazy" src="../../Linux115/captures/L115/L115/passage-0-1-0-openair-2-4m-outside.png"></a></figure><figure><figcaption>L119</figcaption><a href="L119/L115/L115/passage-0-1-0-openair-2-4m-outside.png"><img loading="lazy" src="L119/L115/L115/passage-0-1-0-openair-2-4m-outside.png"></a></figure></div></article>
<article><h2>passage/0-1/0 · section-2/4m-interior-wall · open-air-close</h2><p>Status: pass</p><div class="pair"><figure><figcaption>L115</figcaption><a href="../../Linux115/captures/L115/L115/passage-0-1-0-openair-2-4m-interior-wall.png"><img loading="lazy" src="../../Linux115/captures/L115/L115/passage-0-1-0-openair-2-4m-interior-wall.png"></a></figure><figure><figcaption>L119</figcaption><a href="L119/L115/L115/passage-0-1-0-openair-2-4m-interior-wall.png"><img loading="lazy" src="L119/L115/L115/passage-0-1-0-openair-2-4m-interior-wall.png"></a></figure></div></article>
<article><h2>passage/0-1/0 · section-3/4m-outside · open-air-close</h2><p>Status: pass</p><div class="pair"><figure><figcaption>L115</figcaption><a href="../../Linux115/captures/L115/L115/passage-0-1-0-openair-3-4m-outside.png"><img loading="lazy" src="../../Linux115/captures/L115/L115/passage-0-1-0-openair-3-4m-outside.png"></a></figure><figure><figcaption>L119</figcaption><a href="L119/L115/L115/passage-0-1-0-openair-3-4m-outside.png"><img loading="lazy" src="L119/L115/L115/passage-0-1-0-openair-3-4m-outside.png"></a></figure></div></article>
<article><h2>passage/0-1/0 · section-3/4m-interior-wall · open-air-close</h2><p>Status: pass</p><div class="pair"><figure><figcaption>L115</figcaption><a href="../../Linux115/captures/L115/L115/passage-0-1-0-openair-3-4m-interior-wall.png"><img loading="lazy" src="../../Linux115/captures/L115/L115/passage-0-1-0-openair-3-4m-interior-wall.png"></a></figure><figure><figcaption>L119</figcaption><a href="L119/L115/L115/passage-0-1-0-openair-3-4m-interior-wall.png"><img loading="lazy" src="L119/L115/L115/passage-0-1-0-openair-3-4m-interior-wall.png"></a></figure></div></article>
<article><h2>passage/1-2/0 · section-1/4m-outside · open-air-close</h2><p>Status: pass</p><div class="pair"><figure><figcaption>L115</figcaption><a href="../../Linux115/captures/L115/L115/passage-1-2-0-openair-1-4m-outside.png"><img loading="lazy" src="../../Linux115/captures/L115/L115/passage-1-2-0-openair-1-4m-outside.png"></a></figure><figure><figcaption>L119</figcaption><a href="L119/L115/L115/passage-1-2-0-openair-1-4m-outside.png"><img loading="lazy" src="L119/L115/L115/passage-1-2-0-openair-1-4m-outside.png"></a></figure></div></article>
<article><h2>passage/1-2/0 · section-1/4m-interior-wall · open-air-close</h2><p>Status: pass</p><div class="pair"><figure><figcaption>L115</figcaption><a href="../../Linux115/captures/L115/L115/passage-1-2-0-openair-1-4m-interior-wall.png"><img loading="lazy" src="../../Linux115/captures/L115/L115/passage-1-2-0-openair-1-4m-interior-wall.png"></a></figure><figure><figcaption>L119</figcaption><a href="L119/L115/L115/passage-1-2-0-openair-1-4m-interior-wall.png"><img loading="lazy" src="L119/L115/L115/passage-1-2-0-openair-1-4m-interior-wall.png"></a></figure></div></article>
<article><h2>passage/1-2/0 · section-2/4m-outside · open-air-close</h2><p>Status: pass</p><div class="pair"><figure><figcaption>L115</figcaption><a href="../../Linux115/captures/L115/L115/passage-1-2-0-openair-2-4m-outside.png"><img loading="lazy" src="../../Linux115/captures/L115/L115/passage-1-2-0-openair-2-4m-outside.png"></a></figure><figure><figcaption>L119</figcaption><a href="L119/L115/L115/passage-1-2-0-openair-2-4m-outside.png"><img loading="lazy" src="L119/L115/L115/passage-1-2-0-openair-2-4m-outside.png"></a></figure></div></article>
<article><h2>passage/1-2/0 · section-2/4m-interior-wall · open-air-close</h2><p>Status: pass</p><div class="pair"><figure><figcaption>L115</figcaption><a href="../../Linux115/captures/L115/L115/passage-1-2-0-openair-2-4m-interior-wall.png"><img loading="lazy" src="../../Linux115/captures/L115/L115/passage-1-2-0-openair-2-4m-interior-wall.png"></a></figure><figure><figcaption>L119</figcaption><a href="L119/L115/L115/passage-1-2-0-openair-2-4m-interior-wall.png"><img loading="lazy" src="L119/L115/L115/passage-1-2-0-openair-2-4m-interior-wall.png"></a></figure></div></article>
<article><h2>passage/2-3/0 · section-1/4m-outside · open-air-close</h2><p>Status: low_contrast_geometry_visible</p><div class="pair"><figure><figcaption>L115</figcaption><a href="../../Linux115/captures/L115/L115/passage-2-3-0-openair-1-4m-outside.png"><img loading="lazy" src="../../Linux115/captures/L115/L115/passage-2-3-0-openair-1-4m-outside.png"></a></figure><figure><figcaption>L119</figcaption><a href="L119/L115/L115/passage-2-3-0-openair-1-4m-outside.png"><img loading="lazy" src="L119/L115/L115/passage-2-3-0-openair-1-4m-outside.png"></a></figure></div></article>
<article><h2>passage/2-3/0 · section-1/4m-interior-wall · open-air-close</h2><p>Status: low_contrast_geometry_visible</p><div class="pair"><figure><figcaption>L115</figcaption><a href="../../Linux115/captures/L115/L115/passage-2-3-0-openair-1-4m-interior-wall.png"><img loading="lazy" src="../../Linux115/captures/L115/L115/passage-2-3-0-openair-1-4m-interior-wall.png"></a></figure><figure><figcaption>L119</figcaption><a href="L119/L115/L115/passage-2-3-0-openair-1-4m-interior-wall.png"><img loading="lazy" src="L119/L115/L115/passage-2-3-0-openair-1-4m-interior-wall.png"></a></figure></div></article>
<article><h2>passage/2-3/0 · section-2/4m-outside · open-air-close</h2><p>Status: pass</p><div class="pair"><figure><figcaption>L115</figcaption><a href="../../Linux115/captures/L115/L115/passage-2-3-0-openair-2-4m-outside.png"><img loading="lazy" src="../../Linux115/captures/L115/L115/passage-2-3-0-openair-2-4m-outside.png"></a></figure><figure><figcaption>L119</figcaption><a href="L119/L115/L115/passage-2-3-0-openair-2-4m-outside.png"><img loading="lazy" src="L119/L115/L115/passage-2-3-0-openair-2-4m-outside.png"></a></figure></div></article>
<article><h2>passage/2-3/0 · section-2/4m-interior-wall · open-air-close</h2><p>Status: pass</p><div class="pair"><figure><figcaption>L115</figcaption><a href="../../Linux115/captures/L115/L115/passage-2-3-0-openair-2-4m-interior-wall.png"><img loading="lazy" src="../../Linux115/captures/L115/L115/passage-2-3-0-openair-2-4m-interior-wall.png"></a></figure><figure><figcaption>L119</figcaption><a href="L119/L115/L115/passage-2-3-0-openair-2-4m-interior-wall.png"><img loading="lazy" src="L119/L115/L115/passage-2-3-0-openair-2-4m-interior-wall.png"></a></figure></div></article>
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