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      "observed_surface_patches": 70377
    },
    {
      "raw_frame": 461,
      "method_frame_indices": {
        "GaussianSLAM": 461,
        "Endo-2DTAM": 461,
        "MonoGS": 461,
        "EndoGSLAM": 404,
        "SplaTAM": 461,
        "KFS4LAM": 461,
        "GT": 461
      },
      "observed_surface_patches": 70545
    },
    {
      "raw_frame": 464,
      "method_frame_indices": {
        "GaussianSLAM": 464,
        "Endo-2DTAM": 464,
        "MonoGS": 464,
        "EndoGSLAM": 406,
        "SplaTAM": 464,
        "KFS4LAM": 464,
        "GT": 464
      },
      "observed_surface_patches": 70650
    }
  ],
  "mesh": "Accumulated local triangle/surfel patches from rendered RGB-D; no hole filling; not GT mesh",
  "trajectory": "Ground truth and estimated world-space camera centers; each estimated path Sim3-aligned to its GT; mesh receives focus trajectory alignment",
  "render": "Native method renderers at exact saved poses; no nearest-frame substitution",
  "replay": "Final-checkpoint rendered observations accumulated in frame order, not intermediate optimization snapshots",
  "mesh_triangles": 70650,
  "mesh_vertices": 211950,
  "comparison_layout": {
    "image_box_width": 288,
    "image_box_height": 230,
    "rgb_y": [
      92,
      322
    ],
    "depth_y": [
      347,
      577
    ],
    "metric_labels_outside_image": true
  },
  "metrics": {
    "trajectory_ate_mean_mm": {
      "SplaTAM": 5.218644147220748,
      "KFS4LAM": 0.550660902024284
    },
    "video_mean": {
      "GaussianSLAM": {
        "psnr": 19.781383422075532,
        "ssim": 0.8092132575956046,
        "lpips": 0.6247518439503277,
        "depth_rmse": 9.571147462900948
      },
      "Endo-2DTAM": {
        "psnr": 28.889608032563153,
        "ssim": 0.8245039924102671,
        "lpips": 0.29316790394631087,
        "depth_rmse": 2.776602242068917
      },
      "MonoGS": {
        "psnr": 32.23680794239044,
        "ssim": 0.8557571684028588,
        "lpips": 0.5176799590973293,
        "depth_rmse": 16.286128067502787
      },
      "EndoGSLAM": {
        "psnr": 22.736666821965983,
        "ssim": 0.7478036012719659,
        "lpips": 0.3123798338952018,
        "depth_rmse": 3.1509227735885217
      },
      "SplaTAM": {
        "psnr": 20.76420766465804,
        "ssim": 0.6500302415122005,
        "lpips": 0.428467758803391,
        "depth_rmse": 5.520761760937817
      },
      "KFS4LAM": {
        "psnr": 27.48955850507699,
        "ssim": 0.8274854637828528,
        "lpips": 0.24955447507547399,
        "depth_rmse": 0.41250042872978193
      }
    },
    "show_psnr": false,
    "show_depth_rmse": true
  },
  "depth_display": {
    "units": "mm",
    "vmin": 12.719920653086136,
    "vmax": 60.105287251087205,
    "colormap": "viridis",
    "white": "invalid",
    "saturation": "clipped to shared sequence range",
    "monogs_scale": 16.458091188940212,
    "gaussianslam_scale": 1000
  }
}