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| <title>管线调试 — 从原始图像到力，逐步展示</title> | |
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| <div class="kicker">React force recovery · 管线调试 | |
| <span style="float:right"><a href="debug_pipeline.html">English</a></span></div> | |
| <h1>从原始图像到力，逐步展示</h1> | |
| <p>每行：原图 → 参考帧 → 差分 dI=img−ref → 有效掩码 → |LUT 梯度| → Poisson 深度 → 特征与预测力 vs 真值。同一管线，三个数据集。</p> | |
| <h2>cnc_Mini 为何看起来失效 — 真正的原因</h2> | |
| <p>既不是标签质量差，也不是重建失效：cnc 的按压网格覆盖整块 20×16 mm 凝胶，而裁剪后的相机视野只有约 13×10 mm——三分之二的按压部分在画面外，接触特征被系统性低估。仅取完全在视野内的按压，同一重建管线达到 GlowTact 同级精度。标签质量合格（固定探头/位置/深度下力的变异系数 4.5%）。这也撤回了我们此前的“数据集天花板”论证：视野内 ρ=0.94 超过了该论证依赖的指令深度代理值（0.78–0.88）。</p> | |
| <table><tr><th>作用域（cnc，3351 帧）</th><th>n</th> | |
| <th>per-probe ρ (A–F)</th><th>median ρ</th><th>MAE</th></tr> | |
| <tr><td>全部按压位置</td><td>3351</td><td>0.09–0.16</td> | |
| <td>0.113</td><td>0.74 N</td></tr> | |
| <tr><td>内部 x∈[3.5,14.5]</td><td>1232</td><td>0.79–0.85</td> | |
| <td>0.835</td><td>0.39 N</td></tr> | |
| <tr><td><b>严格视野内 x∈[5,13]</b></td><td>671</td> | |
| <td><b>0.94 0.94 0.93 0.91 0.95 0.95</b></td><td><b>0.941</b></td> | |
| <td><b>0.26 N</b></td></tr></table> | |
| <p class="note">每探头半半分拟合，7 种子，LUT 管线 + z 监督增益场。dot 类型对照：FEATS 按压恒居中，原始管线即得 ρ=0.72，而 GlowTact 原始条件仅 0.46——起决定作用的是增益场与作用域，而非 marker。</p> | |
| <h2>GlowTact — 无 marker，LUT 标定所用传感器（对照）</h2><div class='srow'> | |
| <img src='assets/debug/glowtact_01.png' loading='lazy'> | |
| <img src='assets/debug/glowtact_04.png' loading='lazy'> | |
| <img src='assets/debug/glowtact_08.png' loading='lazy'> | |
| <img src='assets/debug/glowtact_11.png' loading='lazy'> | |
| <img src='assets/debug/glowtact_14.png' loading='lazy'> | |
| <img src='assets/debug/glowtact_17.png' loading='lazy'> | |
| </div> | |
| <h2>FoTa cnc_Mini — 无 marker，外来传感器，按压网格大于视野</h2><div class='srow'> | |
| <img src='assets/debug/cnc_01.png' loading='lazy'> | |
| <img src='assets/debug/cnc_04.png' loading='lazy'> | |
| <img src='assets/debug/cnc_08.png' loading='lazy'> | |
| <img src='assets/debug/cnc_11.png' loading='lazy'> | |
| <img src='assets/debug/cnc_14.png' loading='lazy'> | |
| <img src='assets/debug/cnc_17.png' loading='lazy'> | |
| </div> | |
| <h2>FEATS — dot/marker 类型；差分成像抵消静态 marker</h2><div class='srow'> | |
| <img src='assets/debug/feats_01.png' loading='lazy'> | |
| <img src='assets/debug/feats_04.png' loading='lazy'> | |
| <img src='assets/debug/feats_08.png' loading='lazy'> | |
| <img src='assets/debug/feats_11.png' loading='lazy'> | |
| <img src='assets/debug/feats_14.png' loading='lazy'> | |
| <img src='assets/debug/feats_17.png' loading='lazy'> | |
| </div> | |
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