Tracking + SE(3) replay

World-space 3D tracks, per-point SE(3) and rigidity embeddings for the points PDI's CoTracker initialization picks on Link2 and Link5, in every selected video. Pick a view, then open a video for its interactive 3D replay.

    Videos

    Scores

    Means over frames 1…T−1 for the points chosen above. Click a column to sort, a video to open it.

    Rigid fit: RMS distance from one rigid motion of the link, relative to its radius. SE(3) spread: median angle between each point's rotation and the link's mean rotation. Pair MAD: PDI's distance-ratio formula over all visible pairs. Emb. spread: dispersion of the points' rigidity embeddings. These are diagnostics from MoSE3 outputs, not validated deformation detectors.

    Method

    Points

    PDI's unchanged sampler (TrackWrapper.prepare_multi): SIFT, Shi–Tomasi and grid candidates inside each frame-0 mask, spread by farthest-point selection. 256 Link2 and 100 Link5 points per video; no pair graph.

    Tracking

    MoSE3 (pinned c39ef00) sees every original frame in one pass. Its dense fields are read at each point, and each point gets its own SE(3) from the same weighted Horn fit as upstream.

    Coordinates

    3D values are in MoSE3's first-camera frame and scale (x right, y down, z forward), not MegaSAM's. Points touching a MoSE3 depth edge are tracked and drawn, and can be left out of the scores.