BodyModel::infer_full runs the reference's full mode natively: the body
pass's hand boxes become two 512 crops (the left one cut from the mirrored
image, padding 0.9), each goes through the backbone, its own ray
conditioning and the hand decoder (the body decoder with the *_hand
tensors), the hand-mode rig pre-transform (local_to_world_wrist, wrist and
root offsets, non-hand parameters zeroed) and the hand camera head's
scale factor of 10; the left result is un-mirrored. The fusion gates each
hand (wrist angle, box size, keypoint spread, wrist distance), re-prompts
the body decoder with the trusted wrists and elbows as point prompts (the
decoder now takes N prompt tokens and a previous estimate), and writes the
fused wrist angles, hand parameters and hand scale/shape back before the
final rig pass. pose.rs gains the roma xyz (extrinsic) and XZY (intrinsic)
euler pairs; mhr.rs returns joint global rotations.
Oracle parity on both full-mode fixtures: every hand-decoder stage per
step (tokens 7e-3, heads 4e-4, rig params 1e-4), fusion reports as the
reference (one hand trusted on the standing photo, both on the crop), and
end to end kp3d 1.6 mm / kp2d 0.85 px. 36 tests.
Co-Authored-By: Claude Fable 5.1 <noreply@anthropic.com>
