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    {
      "operation": "triangulation",
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      "submissions": 1,
      "applicationUploadBytes": 1149480,
      "applicationReadbackBytes": 96632
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    {
      "operation": "bundle",
      "tier": "webgpu",
      "dispatches": 2387,
      "submissions": 10,
      "applicationUploadBytes": 2309664,
      "applicationReadbackBytes": 42352
    },
    {
      "operation": "observations",
      "tier": "webgpu",
      "dispatches": 2,
      "submissions": 1,
      "applicationUploadBytes": 984192,
      "applicationReadbackBytes": 20520
    },
    {
      "operation": "triangulation",
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      "submissions": 1,
      "applicationUploadBytes": 832672,
      "applicationReadbackBytes": 96632
    },
    {
      "operation": "bundle",
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      "dispatches": 7453,
      "submissions": 27,
      "applicationUploadBytes": 193024,
      "applicationReadbackBytes": 42352
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    {
      "operation": "observations",
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      "submissions": 1,
      "applicationUploadBytes": 943184,
      "applicationReadbackBytes": 20520
    },
    {
      "operation": "observations",
      "tier": "webgpu",
      "dispatches": 2,
      "submissions": 1,
      "applicationUploadBytes": 983424,
      "applicationReadbackBytes": 20504
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  ],
  "gpuBundleAdjustments": 8,
  "cpuStages": [
    "track graph, result indexing, data packing and mapper control"
  ],
  "actualCalls": {
    "maps": 152,
    "submissions": 300,
    "dispatches": 24918
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  "applicationTransfers": {
    "liveBuffers": 631,
    "liveBytes": 21018044,
    "pooledBytes": 21018044,
    "allocations": 631,
    "reuses": 348,
    "applicationUploadBytes": 22849688,
    "applicationReadbackBytes": 852628
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  "limitations": "Implemented numerical geometry uses TypeShade throughout pair verification, PnP, triangulation, filtering and joint BA. Pair inversion/compaction, H/E and pose checks share one resident plan. Host graph/control, result indexing and packing remain; later stages still repack geometry. Fixed assumed calibration, no ground truth, different accepted observations. Software WebGPU timings do not establish physical-GPU speedup.",
  "comparisonToPrior": {
    "record": "incremental-initialization-software.json",
    "baselineCommit": "7ee291f06660c5438b3f47835908dd0155a82abe",
    "identicalCpuAndGpuModelHashes": true,
    "identicalPairOutcomesExceptParallaxRounding": true,
    "maxMedianParallaxDifferenceDeg": 7.453593298123451e-12,
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      "maps": 348,
      "submissions": 552,
      "dispatches": 24806
    },
    "priorApplicationTransfers": {
      "liveBuffers": 496,
      "liveBytes": 20468748,
      "pooledBytes": 20468748,
      "allocations": 496,
      "reuses": 651,
      "applicationUploadBytes": 22743960,
      "applicationReadbackBytes": 1264148
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    "readbackReductionFraction": 0.3255315042226068,
    "note": "Actual calls include failed geometry. Cold/pool initialization uploads, pooled buffers and dispatches increased. Fewer transfers/submissions are established; these uncontrolled software runs do not establish wall-clock speedup.",
    "priorElapsedMs": {
      "cpu": 7103.8668339999995,
      "gpu": 81854.39999999944
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  },
  "warmPairTransferProbes": {
    "adapter": "SwiftShader software WebGPU",
    "options": {
      "iterations": 256,
      "threshold": 0.001,
      "seed": 71,
      "homographyIterations": 128,
      "refinementIterations": 10
    },
    "cases": [
      {
        "n": 321,
        "invertible": 321,
        "H": 39,
        "expectedH": 39,
        "rowsMatch": true,
        "inliers": 256,
        "positive": 256,
        "expectedPositive": 256,
        "rotationDifference": 8.881784197001252e-16,
        "translationDifference": 3.552713678800501e-15,
        "errorDifference": 4.090949801138777e-12,
        "execution": {
          "backend": "webgpu",
          "report": {
            "tier": "webgpu",
            "dispatches": 134,
            "submissions": 1
          },
          "applicationUploadBytes": 10272,
          "applicationReadbackBytes": 1908,
          "cpuStages": [],
          "hypothesisBatches": 3,
          "hypothesesScored": 96,
          "scoreDispatches": 134,
          "scoreSubmissions": 1,
          "homographyIterations": 128
        },
        "work": {
          "maps": 3,
          "dispatches": 134,
          "submissions": 4,
          "firstMapAfter": 134
        },
        "allocations": 0,
        "upload": 10272,
        "read": 1908,
        "old": {
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            "submissions": 13,
            "firstMapAfter": 1
          },
          "upload": 30816,
          "read": 23920,
          "submissions": 3
        },
        "snapshotPreserved": true
      },
      {
        "n": 197,
        "invertible": 112,
        "H": 30,
        "expectedH": 30,
        "rowsMatch": true,
        "inliers": 90,
        "positive": 90,
        "expectedPositive": 90,
        "rotationDifference": 0,
        "translationDifference": 0,
        "errorDifference": 0,
        "execution": {
          "backend": "webgpu",
          "report": {
            "tier": "webgpu",
            "dispatches": 134,
            "submissions": 1
          },
          "applicationUploadBytes": 6304,
          "applicationReadbackBytes": 1412,
          "cpuStages": [],
          "hypothesisBatches": 2,
          "hypothesesScored": 64,
          "scoreDispatches": 134,
          "scoreSubmissions": 1,
          "homographyIterations": 128
        },
        "work": {
          "maps": 3,
          "dispatches": 134,
          "submissions": 4,
          "firstMapAfter": 134
        },
        "allocations": 0,
        "upload": 6304,
        "read": 1412,
        "old": {
          "work": {
            "maps": 10,
            "dispatches": 130,
            "submissions": 13,
            "firstMapAfter": 1
          },
          "upload": 13472,
          "read": 11932,
          "submissions": 3
        },
        "snapshotPreserved": true
      }
    ],
    "scope": "Borrowed device without timestamp queries; buffers warmed on each path. GPU map/dispatch/submit methods instrumented; first map occurs after all fused compute dispatches. Application bytes exclude runtime uniforms/staging."
  }
}