Previously SAM21 ran on the raw aligned depth and frequently leaked the
mask onto the table around the object: ~88% of segmented points (2136
of 2440 in a sample run) were table pixels filtered away by the post
partition_by_plane step. Open3DModel got a noisy cluster mostly off
the object.
New pipeline: with a calibrated work plane, depth pixels whose 3D
back-projection sits below the plane are zeroed BEFORE SAM21 sees the
depth PNG. SAM21 cannot back-project zero-depth pixels, so only true
above-plane points end up in the cloud regardless of mask outline.
Same sample run after the change: 513 SAM21 -> 513 accepted, 0 excluded.
The post-partition still runs (now a no-op on a calibrated plane), so
the find_model response shape is unchanged.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
