commit ee7e8641f89075936fcfd1bb859757be5f5adc5a
Author: crosstyan <crosstyan@outlook.com>
Date:   Tue Dec 9 15:54:50 2025 +0800

    init

diff --git a/.DS_Store b/.DS_Store
new file mode 100644
index 0000000..5496de1
Binary files /dev/null and b/.DS_Store differ
diff --git a/README.md b/README.md
new file mode 100644
index 0000000..c107498
--- /dev/null
+++ b/README.md
@@ -0,0 +1,106 @@
+# Homework 01: Survey & Design of 3D Multi-view Human Pose Estimation System
+
+调研现有的多视角单人 (multiple view of single person) 多视角多人 (multi-view multi-person)
+人体姿态估计系统/管线
+
+## 参考答案
+
+AI 生成的架构图, 不代表我此刻的实际想法, which changes every moment.
+
+```mermaid
+flowchart TD
+  %% =========================
+  %% Multi-view 2D stage
+  %% =========================
+  subgraph VIEWS["Per-view input (cameras 1..N)"]
+    direction LR
+    C1["Cam 1\n2D detections: 133×2 (+conf)"] --> T1["2D latest tracking cache\n(view 1)"]
+    C2["Cam 2\n2D detections: 133×2 (+conf)"] --> T2["2D latest tracking cache\n(view 2)"]
+    C3["Cam 3\n2D detections: 133×2 (+conf)"] --> T3["2D latest tracking cache\n(view 3)"]
+    C4["Cam 4\n2D detections: 133×2 (+conf)"] --> T4["2D latest tracking cache\n(view 4)"]
+  end
+
+  %% =========================
+  %% Cross-view association
+  %% =========================
+  subgraph ASSOC["Cross-view data association (epipolar)"]
+    direction TB
+    EPI["Epipolar constraint\n(Sampson / point-to-epiline)"]:::core
+    CYCLE["Cycle consistency / view-graph pruning"]:::core
+    GROUP["Assemble per-target multi-view observation set\n{view_id → 133×2}"]:::core
+    EPI --> CYCLE --> GROUP
+  end
+
+  T1 --> EPI
+  T2 --> EPI
+  T3 --> EPI
+  T4 --> EPI
+
+  %% =========================
+  %% Geometry / lifting
+  %% =========================
+  subgraph GEOM["3D measurement construction"]
+    direction TB
+    RT["Camera models\nK, [R|t], SO(3)/SE(3)"]:::meta
+    DLT["DLT / triangulation (init)"]:::core
+    NN["Optional NN lifting / completion"]:::core
+    BA["Optional reprojection refinement\n(1–5 iters)"]:::core
+    Y["3D measurement y(t)\nJ×3 positions (+quality / R / cov)"]:::out
+    RT --> DLT --> NN --> BA --> Y
+  end
+
+  GROUP --> DLT
+
+  %% =========================
+  %% Tracking filter + lifecycle
+  %% =========================
+  subgraph FILTER["Tracking filter (per target)"]
+    direction TB
+    GATE["Gating\n(Mahalanobis / per-joint + global)"]:::core
+    IMM["IMM (motion model bank)\n(CV/CA or low/med/high Q)"]:::core
+    PRED["Predict\nΔt, self-propagate"]:::core
+    UPD["Update\nKF (linear)\nstate: [p(3J), v(3J)]"]:::core
+    MISS["Miss handling & track lifecycle\n(tentative → confirmed → deleted)"]:::meta
+
+    GATE --> IMM --> PRED --> UPD --> MISS
+  end
+
+  Y --> GATE
+
+  %% Optional inertial fusion
+  IMU["IMU (optional)"]:::meta --> INERT["EKF/UKF branch (optional)\nwhen augmenting state with orientation"]:::meta --> IMM
+
+  %% =========================
+  %% IK + optional feedback
+  %% =========================
+  subgraph IKSTAGE["IK stage (constraint / anatomy)"]
+    direction TB
+    IK["IK optimization target\n(minimize joint position error,\nadd bone length / joint limits)"]:::core
+    FB["Optional feedback to filter\npseudo-measurement z_IK with large R"]:::meta
+    IK --> FB
+  end
+
+  UPD --> IK
+  FB -.-> GATE
+
+  %% =========================
+  %% SMPL / mesh fitting
+  %% =========================
+  subgraph SMPLSTAGE["SMPL / SMPL-X fitting"]
+    direction TB
+    VP["VPoser / pose prior"]:::core
+    SMPL["SMPL(θ, β, root)\nfit to joints / reprojection"]:::core
+    JR["JR: Joint Regressor\nmesh → joints (loop closure)"]:::core
+    OUT["Outputs\nmesh + joints + pose params"]:::out
+    VP --> SMPL --> JR --> OUT
+    JR -. residual / reproject .-> SMPL
+  end
+
+  IK --> SMPL
+
+  classDef core fill:#0b1020,stroke:#5eead4,color:#e5e7eb,stroke-width:1.2px;
+  classDef meta fill:#111827,stroke:#93c5fd,color:#e5e7eb,stroke-dasharray: 4 3;
+  classDef out fill:#052e2b,stroke:#34d399,color:#ecfeff,stroke-width:1.4px;
+```
+
+如果图片不能正确预览, 见 [fig/fig.svg](fig/fig.svg)
diff --git a/build.md b/build.md
new file mode 100644
index 0000000..70758f0
--- /dev/null
+++ b/build.md
@@ -0,0 +1 @@
+mmdc -i fig.mermaid -o fig.svg
\ No newline at end of file
diff --git a/fig.mermaid b/fig.mermaid
new file mode 100644
index 0000000..8783fd8
--- /dev/null
+++ b/fig.mermaid
@@ -0,0 +1,93 @@
+flowchart TD
+  %% =========================
+  %% Multi-view 2D stage
+  %% =========================
+  subgraph VIEWS["Per-view input (cameras 1..N)"]
+    direction LR
+    C1["Cam 1\n2D detections: 133×2 (+conf)"] --> T1["2D latest tracking cache\n(view 1)"]
+    C2["Cam 2\n2D detections: 133×2 (+conf)"] --> T2["2D latest tracking cache\n(view 2)"]
+    C3["Cam 3\n2D detections: 133×2 (+conf)"] --> T3["2D latest tracking cache\n(view 3)"]
+    C4["Cam 4\n2D detections: 133×2 (+conf)"] --> T4["2D latest tracking cache\n(view 4)"]
+  end
+
+  %% =========================
+  %% Cross-view association
+  %% =========================
+  subgraph ASSOC["Cross-view data association (epipolar)"]
+    direction TB
+    EPI["Epipolar constraint\n(Sampson / point-to-epiline)"]:::core
+    CYCLE["Cycle consistency / view-graph pruning"]:::core
+    GROUP["Assemble per-target multi-view observation set\n{view_id → 133×2}"]:::core
+    EPI --> CYCLE --> GROUP
+  end
+
+  T1 --> EPI
+  T2 --> EPI
+  T3 --> EPI
+  T4 --> EPI
+
+  %% =========================
+  %% Geometry / lifting
+  %% =========================
+  subgraph GEOM["3D measurement construction"]
+    direction TB
+    RT["Camera models\nK, [R|t], SO(3)/SE(3)"]:::meta
+    DLT["DLT / triangulation (init)"]:::core
+    NN["Optional NN lifting / completion"]:::core
+    BA["Optional reprojection refinement\n(1–5 iters)"]:::core
+    Y["3D measurement y(t)\nJ×3 positions (+quality / R / cov)"]:::out
+    RT --> DLT --> NN --> BA --> Y
+  end
+
+  GROUP --> DLT
+
+  %% =========================
+  %% Tracking filter + lifecycle
+  %% =========================
+  subgraph FILTER["Tracking filter (per target)"]
+    direction TB
+    GATE["Gating\n(Mahalanobis / per-joint + global)"]:::core
+    IMM["IMM (motion model bank)\n(CV/CA or low/med/high Q)"]:::core
+    PRED["Predict\nΔt, self-propagate"]:::core
+    UPD["Update\nKF (linear)\nstate: [p(3J), v(3J)]"]:::core
+    MISS["Miss handling & track lifecycle\n(tentative → confirmed → deleted)"]:::meta
+
+    GATE --> IMM --> PRED --> UPD --> MISS
+  end
+
+  Y --> GATE
+
+  %% Optional inertial fusion
+  IMU["IMU (optional)"]:::meta --> INERT["EKF/UKF branch (optional)\nwhen augmenting state with orientation"]:::meta --> IMM
+
+  %% =========================
+  %% IK + optional feedback
+  %% =========================
+  subgraph IKSTAGE["IK stage (constraint / anatomy)"]
+    direction TB
+    IK["IK optimization target\n(minimize joint position error,\nadd bone length / joint limits)"]:::core
+    FB["Optional feedback to filter\npseudo-measurement z_IK with large R"]:::meta
+    IK --> FB
+  end
+
+  UPD --> IK
+  FB -.-> GATE
+
+  %% =========================
+  %% SMPL / mesh fitting
+  %% =========================
+  subgraph SMPLSTAGE["SMPL / SMPL-X fitting"]
+    direction TB
+    VP["VPoser / pose prior"]:::core
+    SMPL["SMPL(θ, β, root)\nfit to joints / reprojection"]:::core
+    JR["JR: Joint Regressor\nmesh → joints (loop closure)"]:::core
+    OUT["Outputs\nmesh + joints + pose params"]:::out
+    VP --> SMPL --> JR --> OUT
+    JR -. residual / reproject .-> SMPL
+  end
+
+  IK --> SMPL
+
+  classDef core fill:#0b1020,stroke:#5eead4,color:#e5e7eb,stroke-width:1.2px;
+  classDef meta fill:#111827,stroke:#93c5fd,color:#e5e7eb,stroke-dasharray: 4 3;
+  classDef out fill:#052e2b,stroke:#34d399,color:#ecfeff,stroke-width:1.4px;
\ No newline at end of file
diff --git a/fig/.DS_Store b/fig/.DS_Store
new file mode 100644
index 0000000..5008ddf
Binary files /dev/null and b/fig/.DS_Store differ
diff --git a/fig/fig.svg b/fig/fig.svg
new file mode 100644
index 0000000..a9a2523
--- /dev/null
+++ b/fig/fig.svg
@@ -0,0 +1 @@
+<svg id="my-svg" width="100%" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" class="flowchart" style="max-width: 2312.16px; background-color: white;" viewBox="0 0 2312.1640625 2657" role="graphics-document document" aria-roledescription="flowchart-v2"><style>#my-svg{font-family:"trebuchet ms",verdana,arial,sans-serif;font-size:16px;fill:#333;}@keyframes edge-animation-frame{from{stroke-dashoffset:0;}}@keyframes dash{to{stroke-dashoffset:0;}}#my-svg .edge-animation-slow{stroke-dasharray:9,5!important;stroke-dashoffset:900;animation:dash 50s linear infinite;stroke-linecap:round;}#my-svg .edge-animation-fast{stroke-dasharray:9,5!important;stroke-dashoffset:900;animation:dash 20s linear infinite;stroke-linecap:round;}#my-svg .error-icon{fill:#552222;}#my-svg .error-text{fill:#552222;stroke:#552222;}#my-svg .edge-thickness-normal{stroke-width:1px;}#my-svg .edge-thickness-thick{stroke-width:3.5px;}#my-svg .edge-pattern-solid{stroke-dasharray:0;}#my-svg .edge-thickness-invisible{stroke-width:0;fill:none;}#my-svg .edge-pattern-dashed{stroke-dasharray:3;}#my-svg .edge-pattern-dotted{stroke-dasharray:2;}#my-svg .marker{fill:#333333;stroke:#333333;}#my-svg .marker.cross{stroke:#333333;}#my-svg svg{font-family:"trebuchet ms",verdana,arial,sans-serif;font-size:16px;}#my-svg p{margin:0;}#my-svg .label{font-family:"trebuchet ms",verdana,arial,sans-serif;color:#333;}#my-svg .cluster-label text{fill:#333;}#my-svg .cluster-label span{color:#333;}#my-svg .cluster-label span p{background-color:transparent;}#my-svg .label text,#my-svg span{fill:#333;color:#333;}#my-svg .node rect,#my-svg .node circle,#my-svg .node ellipse,#my-svg .node polygon,#my-svg .node path{fill:#ECECFF;stroke:#9370DB;stroke-width:1px;}#my-svg .rough-node .label text,#my-svg .node .label text,#my-svg .image-shape .label,#my-svg .icon-shape .label{text-anchor:middle;}#my-svg .node .katex path{fill:#000;stroke:#000;stroke-width:1px;}#my-svg .rough-node .label,#my-svg .node .label,#my-svg .image-shape .label,#my-svg .icon-shape .label{text-align:center;}#my-svg .node.clickable{cursor:pointer;}#my-svg .root .anchor path{fill:#333333!important;stroke-width:0;stroke:#333333;}#my-svg .arrowheadPath{fill:#333333;}#my-svg .edgePath .path{stroke:#333333;stroke-width:2.0px;}#my-svg .flowchart-link{stroke:#333333;fill:none;}#my-svg .edgeLabel{background-color:rgba(232,232,232, 0.8);text-align:center;}#my-svg .edgeLabel p{background-color:rgba(232,232,232, 0.8);}#my-svg .edgeLabel rect{opacity:0.5;background-color:rgba(232,232,232, 0.8);fill:rgba(232,232,232, 0.8);}#my-svg .labelBkg{background-color:rgba(232, 232, 232, 0.5);}#my-svg .cluster rect{fill:#ffffde;stroke:#aaaa33;stroke-width:1px;}#my-svg .cluster text{fill:#333;}#my-svg .cluster span{color:#333;}#my-svg div.mermaidTooltip{position:absolute;text-align:center;max-width:200px;padding:2px;font-family:"trebuchet ms",verdana,arial,sans-serif;font-size:12px;background:hsl(80, 100%, 96.2745098039%);border:1px solid #aaaa33;border-radius:2px;pointer-events:none;z-index:100;}#my-svg .flowchartTitleText{text-anchor:middle;font-size:18px;fill:#333;}#my-svg rect.text{fill:none;stroke-width:0;}#my-svg .icon-shape,#my-svg .image-shape{background-color:rgba(232,232,232, 0.8);text-align:center;}#my-svg .icon-shape p,#my-svg .image-shape p{background-color:rgba(232,232,232, 0.8);padding:2px;}#my-svg .icon-shape rect,#my-svg .image-shape rect{opacity:0.5;background-color:rgba(232,232,232, 0.8);fill:rgba(232,232,232, 0.8);}#my-svg .label-icon{display:inline-block;height:1em;overflow:visible;vertical-align:-0.125em;}#my-svg .node .label-icon path{fill:currentColor;stroke:revert;stroke-width:revert;}#my-svg :root{--mermaid-font-family:"trebuchet ms",verdana,arial,sans-serif;}#my-svg .core&gt;*{fill:#0b1020!important;stroke:#5eead4!important;color:#e5e7eb!important;stroke-width:1.2px!important;}#my-svg .core span{fill:#0b1020!important;stroke:#5eead4!important;color:#e5e7eb!important;stroke-width:1.2px!important;}#my-svg .core tspan{fill:#e5e7eb!important;}#my-svg .meta&gt;*{fill:#111827!important;stroke:#93c5fd!important;color:#e5e7eb!important;stroke-dasharray:4 3!important;}#my-svg .meta span{fill:#111827!important;stroke:#93c5fd!important;color:#e5e7eb!important;stroke-dasharray:4 3!important;}#my-svg .meta tspan{fill:#e5e7eb!important;}#my-svg .out&gt;*{fill:#052e2b!important;stroke:#34d399!important;color:#ecfeff!important;stroke-width:1.4px!important;}#my-svg .out span{fill:#052e2b!important;stroke:#34d399!important;color:#ecfeff!important;stroke-width:1.4px!important;}#my-svg .out tspan{fill:#ecfeff!important;}</style><g><marker id="my-svg_flowchart-v2-pointEnd" class="marker flowchart-v2" viewBox="0 0 10 10" refX="5" refY="5" markerUnits="userSpaceOnUse" markerWidth="8" markerHeight="8" orient="auto"><path d="M 0 0 L 10 5 L 0 10 z" class="arrowMarkerPath" style="stroke-width: 1; stroke-dasharray: 1, 0;"/></marker><marker id="my-svg_flowchart-v2-pointStart" class="marker flowchart-v2" viewBox="0 0 10 10" refX="4.5" refY="5" markerUnits="userSpaceOnUse" markerWidth="8" markerHeight="8" orient="auto"><path d="M 0 5 L 10 10 L 10 0 z" class="arrowMarkerPath" style="stroke-width: 1; stroke-dasharray: 1, 0;"/></marker><marker id="my-svg_flowchart-v2-circleEnd" class="marker flowchart-v2" viewBox="0 0 10 10" refX="11" refY="5" markerUnits="userSpaceOnUse" markerWidth="11" markerHeight="11" orient="auto"><circle cx="5" cy="5" r="5" class="arrowMarkerPath" style="stroke-width: 1; stroke-dasharray: 1, 0;"/></marker><marker id="my-svg_flowchart-v2-circleStart" class="marker flowchart-v2" viewBox="0 0 10 10" refX="-1" refY="5" markerUnits="userSpaceOnUse" markerWidth="11" markerHeight="11" orient="auto"><circle cx="5" cy="5" r="5" class="arrowMarkerPath" style="stroke-width: 1; stroke-dasharray: 1, 0;"/></marker><marker id="my-svg_flowchart-v2-crossEnd" class="marker cross flowchart-v2" viewBox="0 0 11 11" refX="12" refY="5.2" markerUnits="userSpaceOnUse" markerWidth="11" markerHeight="11" orient="auto"><path d="M 1,1 l 9,9 M 10,1 l -9,9" class="arrowMarkerPath" style="stroke-width: 2; stroke-dasharray: 1, 0;"/></marker><marker id="my-svg_flowchart-v2-crossStart" class="marker cross flowchart-v2" viewBox="0 0 11 11" refX="-1" refY="5.2" markerUnits="userSpaceOnUse" markerWidth="11" markerHeight="11" orient="auto"><path d="M 1,1 l 9,9 M 10,1 l -9,9" class="arrowMarkerPath" style="stroke-width: 2; stroke-dasharray: 1, 0;"/></marker><g class="root"><g class="clusters"><g class="cluster" id="SMPLSTAGE" data-look="classic"><rect style="" x="8" y="1967" width="338.6640625" height="682"/><g class="cluster-label" transform="translate(100.48828125, 1967)"><foreignObject width="153.6875" height="24"><div xmlns="http://www.w3.org/1999/xhtml" style="display: table-cell; white-space: nowrap; line-height: 1.5; max-width: 200px; text-align: center;"><span class="nodeLabel"><p>SMPL / SMPL-X fitting</p></span></div></foreignObject></g></g><g class="cluster" id="IKSTAGE" data-look="classic"><rect style="" x="366.6640625" y="1967" width="350" height="377"/><g class="cluster-label" transform="translate(441.6640625, 1967)"><foreignObject width="200" height="48"><div xmlns="http://www.w3.org/1999/xhtml" style="display: table; white-space: break-spaces; line-height: 1.5; max-width: 200px; text-align: center; width: 200px;"><span class="nodeLabel"><p>IK stage (constraint / anatomy)</p></span></div></foreignObject></g></g><g class="cluster" id="FILTER" data-look="classic"><rect style="" x="736.6640625" y="1358" width="432.5" height="785"/><g class="cluster-label" transform="translate(857.859375, 1358)"><foreignObject width="190.109375" height="24"><div xmlns="http://www.w3.org/1999/xhtml" style="display: table-cell; white-space: nowrap; line-height: 1.5; max-width: 200px; text-align: center;"><span class="nodeLabel"><p>Tracking filter (per target)</p></span></div></foreignObject></g></g><g class="cluster" id="GEOM" data-look="classic"><rect style="" x="809.1640625" y="619" width="340" height="689"/><g class="cluster-label" transform="translate(879.1640625, 619)"><foreignObject width="200" height="48"><div xmlns="http://www.w3.org/1999/xhtml" style="display: table; white-space: break-spaces; line-height: 1.5; max-width: 200px; text-align: center; width: 200px;"><span class="nodeLabel"><p>3D measurement construction</p></span></div></foreignObject></g></g><g class="cluster" id="ASSOC" data-look="classic"><rect style="" x="1169.1640625" y="314" width="1052.5" height="457"/><g class="cluster-label" transform="translate(1595.4140625, 314)"><foreignObject width="200" height="48"><div xmlns="http://www.w3.org/1999/xhtml" style="display: table; white-space: break-spaces; line-height: 1.5; max-width: 200px; text-align: center; width: 200px;"><span class="nodeLabel"><p>Cross-view data association (epipolar)</p></span></div></foreignObject></g></g><g class="cluster" id="VIEWS" data-look="classic"><rect style="" x="1044.1640625" y="8" width="1260" height="256"/><g class="cluster-label" transform="translate(1574.1640625, 8)"><foreignObject width="200" height="48"><div xmlns="http://www.w3.org/1999/xhtml" style="display: table; white-space: break-spaces; line-height: 1.5; max-width: 200px; text-align: center; width: 200px;"><span class="nodeLabel"><p>Per-view input (cameras 1..N)</p></span></div></foreignObject></g></g></g><g class="edgePaths"><path d="M1209.164,111L1209.164,115.167C1209.164,119.333,1209.164,127.667,1209.164,135.333C1209.164,143,1209.164,150,1209.164,153.5L1209.164,157" id="L_C1_T1_0" class="edge-thickness-normal edge-pattern-solid edge-thickness-normal edge-pattern-solid flowchart-link" style=";" data-edge="true" data-et="edge" data-id="L_C1_T1_0" data-points="W3sieCI6MTIwOS4xNjQwNjI1LCJ5IjoxMTF9LHsieCI6MTIwOS4xNjQwNjI1LCJ5IjoxMzZ9LHsieCI6MTIwOS4xNjQwNjI1LCJ5IjoxNjF9XQ==" marker-end="url(#my-svg_flowchart-v2-pointEnd)"/><path d="M1519.164,111L1519.164,115.167C1519.164,119.333,1519.164,127.667,1519.164,135.333C1519.164,143,1519.164,150,1519.164,153.5L1519.164,157" id="L_C2_T2_0" class="edge-thickness-normal edge-pattern-solid edge-thickness-normal edge-pattern-solid flowchart-link" style=";" data-edge="true" data-et="edge" data-id="L_C2_T2_0" data-points="W3sieCI6MTUxOS4xNjQwNjI1LCJ5IjoxMTF9LHsieCI6MTUxOS4xNjQwNjI1LCJ5IjoxMzZ9LHsieCI6MTUxOS4xNjQwNjI1LCJ5IjoxNjF9XQ==" marker-end="url(#my-svg_flowchart-v2-pointEnd)"/><path d="M1829.164,111L1829.164,115.167C1829.164,119.333,1829.164,127.667,1829.164,135.333C1829.164,143,1829.164,150,1829.164,153.5L1829.164,157" id="L_C3_T3_0" class="edge-thickness-normal edge-pattern-solid edge-thickness-normal edge-pattern-solid flowchart-link" style=";" data-edge="true" data-et="edge" data-id="L_C3_T3_0" data-points="W3sieCI6MTgyOS4xNjQwNjI1LCJ5IjoxMTF9LHsieCI6MTgyOS4xNjQwNjI1LCJ5IjoxMzZ9LHsieCI6MTgyOS4xNjQwNjI1LCJ5IjoxNjF9XQ==" marker-end="url(#my-svg_flowchart-v2-pointEnd)"/><path d="M2139.164,111L2139.164,115.167C2139.164,119.333,2139.164,127.667,2139.164,135.333C2139.164,143,2139.164,150,2139.164,153.5L2139.164,157" id="L_C4_T4_0" class="edge-thickness-normal edge-pattern-solid edge-thickness-normal edge-pattern-solid flowchart-link" style=";" data-edge="true" data-et="edge" data-id="L_C4_T4_0" data-points="W3sieCI6MjEzOS4xNjQwNjI1LCJ5IjoxMTF9LHsieCI6MjEzOS4xNjQwNjI1LCJ5IjoxMzZ9LHsieCI6MjEzOS4xNjQwNjI1LCJ5IjoxNjF9XQ==" marker-end="url(#my-svg_flowchart-v2-pointEnd)"/><path d="M1674.164,441L1674.164,445.167C1674.164,449.333,1674.164,457.667,1674.164,465.333C1674.164,473,1674.164,480,1674.164,483.5L1674.164,487" id="L_EPI_CYCLE_0" class="edge-thickness-normal edge-pattern-solid edge-thickness-normal edge-pattern-solid flowchart-link" style=";" data-edge="true" data-et="edge" data-id="L_EPI_CYCLE_0" data-points="W3sieCI6MTY3NC4xNjQwNjI1LCJ5Ijo0NDF9LHsieCI6MTY3NC4xNjQwNjI1LCJ5Ijo0NjZ9LHsieCI6MTY3NC4xNjQwNjI1LCJ5Ijo0OTF9XQ==" marker-end="url(#my-svg_flowchart-v2-pointEnd)"/><path d="M1674.164,569L1674.164,573.167C1674.164,577.333,1674.164,585.667,1674.164,594C1674.164,602.333,1674.164,610.667,1674.164,618.333C1674.164,626,1674.164,633,1674.164,636.5L1674.164,640" id="L_CYCLE_GROUP_0" class="edge-thickness-normal edge-pattern-solid edge-thickness-normal edge-pattern-solid flowchart-link" style=";" data-edge="true" data-et="edge" data-id="L_CYCLE_GROUP_0" data-points="W3sieCI6MTY3NC4xNjQwNjI1LCJ5Ijo1Njl9LHsieCI6MTY3NC4xNjQwNjI1LCJ5Ijo1OTR9LHsieCI6MTY3NC4xNjQwNjI1LCJ5Ijo2MTl9LHsieCI6MTY3NC4xNjQwNjI1LCJ5Ijo2NDR9XQ==" marker-end="url(#my-svg_flowchart-v2-pointEnd)"/><path d="M1209.164,239L1209.164,243.167C1209.164,247.333,1209.164,255.667,1209.164,264C1209.164,272.333,1209.164,280.667,1209.164,289C1209.164,297.333,1209.164,305.667,1264.339,318.851C1319.515,332.036,1429.866,350.072,1485.041,359.09L1540.216,368.107" id="L_T1_EPI_0" class="edge-thickness-normal edge-pattern-solid edge-thickness-normal edge-pattern-solid flowchart-link" style=";" data-edge="true" data-et="edge" data-id="L_T1_EPI_0" data-points="W3sieCI6MTIwOS4xNjQwNjI1LCJ5IjoyMzl9LHsieCI6MTIwOS4xNjQwNjI1LCJ5IjoyNjR9LHsieCI6MTIwOS4xNjQwNjI1LCJ5IjoyODl9LHsieCI6MTIwOS4xNjQwNjI1LCJ5IjozMTR9LHsieCI6MTU0NC4xNjQwNjI1LCJ5IjozNjguNzUyNjg4MTcyMDQzfV0=" marker-end="url(#my-svg_flowchart-v2-pointEnd)"/><path d="M1519.164,239L1519.164,243.167C1519.164,247.333,1519.164,255.667,1519.164,264C1519.164,272.333,1519.164,280.667,1519.164,289C1519.164,297.333,1519.164,305.667,1527.063,313.707C1534.963,321.746,1550.761,329.493,1558.66,333.366L1566.559,337.239" id="L_T2_EPI_0" class="edge-thickness-normal edge-pattern-solid edge-thickness-normal edge-pattern-solid flowchart-link" style=";" data-edge="true" data-et="edge" data-id="L_T2_EPI_0" data-points="W3sieCI6MTUxOS4xNjQwNjI1LCJ5IjoyMzl9LHsieCI6MTUxOS4xNjQwNjI1LCJ5IjoyNjR9LHsieCI6MTUxOS4xNjQwNjI1LCJ5IjoyODl9LHsieCI6MTUxOS4xNjQwNjI1LCJ5IjozMTR9LHsieCI6MTU3MC4xNTA5MDQ2MDUyNjMxLCJ5IjozMzl9XQ==" marker-end="url(#my-svg_flowchart-v2-pointEnd)"/><path d="M1829.164,239L1829.164,243.167C1829.164,247.333,1829.164,255.667,1829.164,264C1829.164,272.333,1829.164,280.667,1829.164,289C1829.164,297.333,1829.164,305.667,1821.265,313.707C1813.366,321.746,1797.567,329.493,1789.668,333.366L1781.769,337.239" id="L_T3_EPI_0" class="edge-thickness-normal edge-pattern-solid edge-thickness-normal edge-pattern-solid flowchart-link" style=";" data-edge="true" data-et="edge" data-id="L_T3_EPI_0" data-points="W3sieCI6MTgyOS4xNjQwNjI1LCJ5IjoyMzl9LHsieCI6MTgyOS4xNjQwNjI1LCJ5IjoyNjR9LHsieCI6MTgyOS4xNjQwNjI1LCJ5IjoyODl9LHsieCI6MTgyOS4xNjQwNjI1LCJ5IjozMTR9LHsieCI6MTc3OC4xNzcyMjAzOTQ3MzY5LCJ5IjozMzl9XQ==" marker-end="url(#my-svg_flowchart-v2-pointEnd)"/><path d="M2139.164,239L2139.164,243.167C2139.164,247.333,2139.164,255.667,2139.164,264C2139.164,272.333,2139.164,280.667,2139.164,289C2139.164,297.333,2139.164,305.667,2083.989,318.851C2028.813,332.036,1918.462,350.072,1863.287,359.09L1808.112,368.107" id="L_T4_EPI_0" class="edge-thickness-normal edge-pattern-solid edge-thickness-normal edge-pattern-solid flowchart-link" style=";" data-edge="true" data-et="edge" data-id="L_T4_EPI_0" data-points="W3sieCI6MjEzOS4xNjQwNjI1LCJ5IjoyMzl9LHsieCI6MjEzOS4xNjQwNjI1LCJ5IjoyNjR9LHsieCI6MjEzOS4xNjQwNjI1LCJ5IjoyODl9LHsieCI6MjEzOS4xNjQwNjI1LCJ5IjozMTR9LHsieCI6MTgwNC4xNjQwNjI1LCJ5IjozNjguNzUyNjg4MTcyMDQzfV0=" marker-end="url(#my-svg_flowchart-v2-pointEnd)"/><path d="M974.164,734L974.164,740.167C974.164,746.333,974.164,758.667,974.164,769C974.164,779.333,974.164,787.667,974.839,795.345C975.515,803.024,976.866,810.048,977.541,813.56L978.216,817.072" id="L_RT_DLT_0" class="edge-thickness-normal edge-pattern-solid edge-thickness-normal edge-pattern-solid flowchart-link" style=";" data-edge="true" data-et="edge" data-id="L_RT_DLT_0" data-points="W3sieCI6OTc0LjE2NDA2MjUsInkiOjczNH0seyJ4Ijo5NzQuMTY0MDYyNSwieSI6NzcxfSx7IngiOjk3NC4xNjQwNjI1LCJ5Ijo3OTZ9LHsieCI6OTc4Ljk3MTc1NDgwNzY5MjMsInkiOjgyMX1d" marker-end="url(#my-svg_flowchart-v2-pointEnd)"/><path d="M984.164,875L984.164,879.167C984.164,883.333,984.164,891.667,984.164,899.333C984.164,907,984.164,914,984.164,917.5L984.164,921" id="L_DLT_NN_0" class="edge-thickness-normal edge-pattern-solid edge-thickness-normal edge-pattern-solid flowchart-link" style=";" data-edge="true" data-et="edge" data-id="L_DLT_NN_0" data-points="W3sieCI6OTg0LjE2NDA2MjUsInkiOjg3NX0seyJ4Ijo5ODQuMTY0MDYyNSwieSI6OTAwfSx7IngiOjk4NC4xNjQwNjI1LCJ5Ijo5MjV9XQ==" marker-end="url(#my-svg_flowchart-v2-pointEnd)"/><path d="M984.164,1003L984.164,1007.167C984.164,1011.333,984.164,1019.667,984.164,1027.333C984.164,1035,984.164,1042,984.164,1045.5L984.164,1049" id="L_NN_BA_0" class="edge-thickness-normal edge-pattern-solid edge-thickness-normal edge-pattern-solid flowchart-link" style=";" data-edge="true" data-et="edge" data-id="L_NN_BA_0" data-points="W3sieCI6OTg0LjE2NDA2MjUsInkiOjEwMDN9LHsieCI6OTg0LjE2NDA2MjUsInkiOjEwMjh9LHsieCI6OTg0LjE2NDA2MjUsInkiOjEwNTN9XQ==" marker-end="url(#my-svg_flowchart-v2-pointEnd)"/><path d="M984.164,1131L984.164,1135.167C984.164,1139.333,984.164,1147.667,984.164,1155.333C984.164,1163,984.164,1170,984.164,1173.5L984.164,1177" id="L_BA_Y_0" class="edge-thickness-normal edge-pattern-solid edge-thickness-normal edge-pattern-solid flowchart-link" style=";" data-edge="true" data-et="edge" data-id="L_BA_Y_0" data-points="W3sieCI6OTg0LjE2NDA2MjUsInkiOjExMzF9LHsieCI6OTg0LjE2NDA2MjUsInkiOjExNTZ9LHsieCI6OTg0LjE2NDA2MjUsInkiOjExODF9XQ==" marker-end="url(#my-svg_flowchart-v2-pointEnd)"/><path d="M1674.164,746L1674.164,750.167C1674.164,754.333,1674.164,762.667,1571.247,771C1468.331,779.333,1262.497,787.667,1154.313,795.611C1046.129,803.556,1035.594,811.112,1030.326,814.891L1025.059,818.669" id="L_GROUP_DLT_0" class="edge-thickness-normal edge-pattern-solid edge-thickness-normal edge-pattern-solid flowchart-link" style=";" data-edge="true" data-et="edge" data-id="L_GROUP_DLT_0" data-points="W3sieCI6MTY3NC4xNjQwNjI1LCJ5Ijo3NDZ9LHsieCI6MTY3NC4xNjQwNjI1LCJ5Ijo3NzF9LHsieCI6MTA1Ni42NjQwNjI1LCJ5Ijo3OTZ9LHsieCI6MTAyMS44MDgyOTMyNjkyMzA3LCJ5Ijo4MjF9XQ==" marker-end="url(#my-svg_flowchart-v2-pointEnd)"/><path d="M915.471,1485L901.086,1493.167C886.702,1501.333,857.933,1517.667,847.063,1529.518C836.193,1541.369,843.223,1548.737,846.737,1552.421L850.252,1556.106" id="L_GATE_IMM_0" class="edge-thickness-normal edge-pattern-solid edge-thickness-normal edge-pattern-solid flowchart-link" style=";" data-edge="true" data-et="edge" data-id="L_GATE_IMM_0" data-points="W3sieCI6OTE1LjQ3MDg4MDY4MTgxODIsInkiOjE0ODV9LHsieCI6ODI5LjE2NDA2MjUsInkiOjE1MzR9LHsieCI6ODUzLjAxMjc0NjcxMDUyNjQsInkiOjE1NTl9XQ==" marker-end="url(#my-svg_flowchart-v2-pointEnd)"/><path d="M901.664,1661L901.664,1665.167C901.664,1669.333,901.664,1677.667,901.664,1685.333C901.664,1693,901.664,1700,901.664,1703.5L901.664,1707" id="L_IMM_PRED_0" class="edge-thickness-normal edge-pattern-solid edge-thickness-normal edge-pattern-solid flowchart-link" style=";" data-edge="true" data-et="edge" data-id="L_IMM_PRED_0" data-points="W3sieCI6OTAxLjY2NDA2MjUsInkiOjE2NjF9LHsieCI6OTAxLjY2NDA2MjUsInkiOjE2ODZ9LHsieCI6OTAxLjY2NDA2MjUsInkiOjE3MTF9XQ==" marker-end="url(#my-svg_flowchart-v2-pointEnd)"/><path d="M901.664,1765L901.664,1769.167C901.664,1773.333,901.664,1781.667,901.664,1789.333C901.664,1797,901.664,1804,901.664,1807.5L901.664,1811" id="L_PRED_UPD_0" class="edge-thickness-normal edge-pattern-solid edge-thickness-normal edge-pattern-solid flowchart-link" style=";" data-edge="true" data-et="edge" data-id="L_PRED_UPD_0" data-points="W3sieCI6OTAxLjY2NDA2MjUsInkiOjE3NjV9LHsieCI6OTAxLjY2NDA2MjUsInkiOjE3OTB9LHsieCI6OTAxLjY2NDA2MjUsInkiOjE4MTV9XQ==" marker-end="url(#my-svg_flowchart-v2-pointEnd)"/><path d="M908.375,1917L908.923,1921.167C909.471,1925.333,910.568,1933.667,911.116,1942C911.664,1950.333,911.664,1958.667,911.664,1968.333C911.664,1978,911.664,1989,911.664,1994.5L911.664,2000" id="L_UPD_MISS_0" class="edge-thickness-normal edge-pattern-solid edge-thickness-normal edge-pattern-solid flowchart-link" style=";" data-edge="true" data-et="edge" data-id="L_UPD_MISS_0" data-points="W3sieCI6OTA4LjM3NDU4ODgxNTc4OTUsInkiOjE5MTd9LHsieCI6OTExLjY2NDA2MjUsInkiOjE5NDJ9LHsieCI6OTExLjY2NDA2MjUsInkiOjE5Njd9LHsieCI6OTExLjY2NDA2MjUsInkiOjIwMDR9XQ==" marker-end="url(#my-svg_flowchart-v2-pointEnd)"/><path d="M984.164,1283L984.164,1287.167C984.164,1291.333,984.164,1299.667,984.164,1308C984.164,1316.333,984.164,1324.667,984.164,1333C984.164,1341.333,984.164,1349.667,984.164,1361.333C984.164,1373,984.164,1388,984.164,1395.5L984.164,1403" id="L_Y_GATE_0" class="edge-thickness-normal edge-pattern-solid edge-thickness-normal edge-pattern-solid flowchart-link" style=";" data-edge="true" data-et="edge" data-id="L_Y_GATE_0" data-points="W3sieCI6OTg0LjE2NDA2MjUsInkiOjEyODN9LHsieCI6OTg0LjE2NDA2MjUsInkiOjEzMDh9LHsieCI6OTg0LjE2NDA2MjUsInkiOjEzMzN9LHsieCI6OTg0LjE2NDA2MjUsInkiOjEzNTh9LHsieCI6OTg0LjE2NDA2MjUsInkiOjE0MDd9XQ==" marker-end="url(#my-svg_flowchart-v2-pointEnd)"/><path d="M1334.164,1259L1334.164,1267.167C1334.164,1275.333,1334.164,1291.667,1334.164,1304C1334.164,1316.333,1334.164,1324.667,1334.164,1333C1334.164,1341.333,1334.164,1349.667,1334.164,1357.333C1334.164,1365,1334.164,1372,1334.164,1375.5L1334.164,1379" id="L_IMU_INERT_0" class="edge-thickness-normal edge-pattern-solid edge-thickness-normal edge-pattern-solid flowchart-link" style=";" data-edge="true" data-et="edge" data-id="L_IMU_INERT_0" data-points="W3sieCI6MTMzNC4xNjQwNjI1LCJ5IjoxMjU5fSx7IngiOjEzMzQuMTY0MDYyNSwieSI6MTMwOH0seyJ4IjoxMzM0LjE2NDA2MjUsInkiOjEzMzN9LHsieCI6MTMzNC4xNjQwNjI1LCJ5IjoxMzU4fSx7IngiOjEzMzQuMTY0MDYyNSwieSI6MTM4M31d" marker-end="url(#my-svg_flowchart-v2-pointEnd)"/><path d="M1204.164,1478.686L1167.497,1487.905C1130.831,1497.124,1057.497,1515.562,1016.798,1528.496C976.099,1541.43,968.033,1548.86,964.001,1552.575L959.968,1556.29" id="L_INERT_IMM_0" class="edge-thickness-normal edge-pattern-solid edge-thickness-normal edge-pattern-solid flowchart-link" style=";" data-edge="true" data-et="edge" data-id="L_INERT_IMM_0" data-points="W3sieCI6MTIwNC4xNjQwNjI1LCJ5IjoxNDc4LjY4NTcxNDI4NTcxNDN9LHsieCI6OTg0LjE2NDA2MjUsInkiOjE1MzR9LHsieCI6OTU3LjAyNTkwNDYwNTI2MzEsInkiOjE1NTl9XQ==" marker-end="url(#my-svg_flowchart-v2-pointEnd)"/><path d="M538.823,2118L539.297,2122.167C539.77,2126.333,540.717,2134.667,541.191,2143C541.664,2151.333,541.664,2159.667,542.062,2167.338C542.46,2175.009,543.257,2182.017,543.655,2185.521L544.053,2189.026" id="L_IK_FB_0" class="edge-thickness-normal edge-pattern-solid edge-thickness-normal edge-pattern-solid flowchart-link" style=";" data-edge="true" data-et="edge" data-id="L_IK_FB_0" data-points="W3sieCI6NTM4LjgyMzE1MzQwOTA5MDksInkiOjIxMTh9LHsieCI6NTQxLjY2NDA2MjUsInkiOjIxNDN9LHsieCI6NTQxLjY2NDA2MjUsInkiOjIxNjh9LHsieCI6NTQ0LjUwNDk3MTU5MDkwOTEsInkiOjIxOTN9XQ==" marker-end="url(#my-svg_flowchart-v2-pointEnd)"/><path d="M853.013,1917L849.038,1921.167C845.063,1925.333,837.114,1933.667,833.139,1942C829.164,1950.333,829.164,1958.667,801.887,1970.902C774.609,1983.137,720.055,1999.274,692.777,2007.343L665.5,2015.412" id="L_UPD_IK_0" class="edge-thickness-normal edge-pattern-solid edge-thickness-normal edge-pattern-solid flowchart-link" style=";" data-edge="true" data-et="edge" data-id="L_UPD_IK_0" data-points="W3sieCI6ODUzLjAxMjc0NjcxMDUyNjQsInkiOjE5MTd9LHsieCI6ODI5LjE2NDA2MjUsInkiOjE5NDJ9LHsieCI6ODI5LjE2NDA2MjUsInkiOjE5Njd9LHsieCI6NjYxLjY2NDA2MjUsInkiOjIwMTYuNTQ2MjE4NDg3Mzk1fV0=" marker-end="url(#my-svg_flowchart-v2-pointEnd)"/><path d="M603.567,2193L607,2188.833C610.433,2184.667,617.299,2176.333,696.148,2168C774.997,2159.667,925.831,2151.333,1001.247,2132.5C1076.664,2113.667,1076.664,2084.333,1076.664,2055C1076.664,2025.667,1076.664,1996.333,1076.664,1977.5C1076.664,1958.667,1076.664,1950.333,1076.664,1933.5C1076.664,1916.667,1076.664,1891.333,1076.664,1866C1076.664,1840.667,1076.664,1815.333,1076.664,1794C1076.664,1772.667,1076.664,1755.333,1076.664,1738C1076.664,1720.667,1076.664,1703.333,1076.664,1682C1076.664,1660.667,1076.664,1635.333,1076.664,1610C1076.664,1584.667,1076.664,1559.333,1068.563,1538.96C1060.462,1518.586,1044.259,1503.171,1036.158,1495.464L1028.056,1487.757" id="L_FB_GATE_0" class="edge-thickness-normal edge-pattern-dotted edge-thickness-normal edge-pattern-solid flowchart-link" style=";" data-edge="true" data-et="edge" data-id="L_FB_GATE_0" data-points="W3sieCI6NjAzLjU2NzQ3MTU5MDkwOTEsInkiOjIxOTN9LHsieCI6NjI0LjE2NDA2MjUsInkiOjIxNjh9LHsieCI6MTA3Ni42NjQwNjI1LCJ5IjoyMTQzfSx7IngiOjEwNzYuNjY0MDYyNSwieSI6MjA1NX0seyJ4IjoxMDc2LjY2NDA2MjUsInkiOjE5Njd9LHsieCI6MTA3Ni42NjQwNjI1LCJ5IjoxOTQyfSx7IngiOjEwNzYuNjY0MDYyNSwieSI6MTg2Nn0seyJ4IjoxMDc2LjY2NDA2MjUsInkiOjE3OTB9LHsieCI6MTA3Ni42NjQwNjI1LCJ5IjoxNzM4fSx7IngiOjEwNzYuNjY0MDYyNSwieSI6MTY4Nn0seyJ4IjoxMDc2LjY2NDA2MjUsInkiOjE2MTB9LHsieCI6MTA3Ni42NjQwNjI1LCJ5IjoxNTM0fSx7IngiOjEwMjUuMTU4MzgwNjgxODE4MiwieSI6MTQ4NX1d" marker-end="url(#my-svg_flowchart-v2-pointEnd)"/><path d="M173,2082L173,2092.167C173,2102.333,173,2122.667,173,2137C173,2151.333,173,2159.667,173,2171.333C173,2183,173,2198,173,2205.5L173,2213" id="L_VP_SMPL_0" class="edge-thickness-normal edge-pattern-solid edge-thickness-normal edge-pattern-solid flowchart-link" style=";" data-edge="true" data-et="edge" data-id="L_VP_SMPL_0" data-points="W3sieCI6MTczLCJ5IjoyMDgyfSx7IngiOjE3MywieSI6MjE0M30seyJ4IjoxNzMsInkiOjIxNjh9LHsieCI6MTczLCJ5IjoyMjE3fV0=" marker-end="url(#my-svg_flowchart-v2-pointEnd)"/><path d="M140.869,2295L134.141,2303.167C127.413,2311.333,113.956,2327.667,107.228,2342C100.5,2356.333,100.5,2368.667,105.923,2380.518C111.345,2392.369,122.19,2403.737,127.613,2409.421L133.035,2415.106" id="L_SMPL_JR_0" class="edge-thickness-normal edge-pattern-solid edge-thickness-normal edge-pattern-solid flowchart-link" style=";" data-edge="true" data-et="edge" data-id="L_SMPL_JR_0" data-points="W3sieCI6MTQwLjg2OTMxODE4MTgxODIsInkiOjIyOTV9LHsieCI6MTAwLjUsInkiOjIzNDR9LHsieCI6MTAwLjUsInkiOjIzODF9LHsieCI6MTM1Ljc5NjA1MjYzMTU3ODk2LCJ5IjoyNDE4fV0=" marker-end="url(#my-svg_flowchart-v2-pointEnd)"/><path d="M173,2496L173,2500.167C173,2504.333,173,2512.667,173,2520.333C173,2528,173,2535,173,2538.5L173,2542" id="L_JR_OUT_0" class="edge-thickness-normal edge-pattern-solid edge-thickness-normal edge-pattern-solid flowchart-link" style=";" data-edge="true" data-et="edge" data-id="L_JR_OUT_0" data-points="W3sieCI6MTczLCJ5IjoyNDk2fSx7IngiOjE3MywieSI6MjUyMX0seyJ4IjoxNzMsInkiOjI1NDZ9XQ==" marker-end="url(#my-svg_flowchart-v2-pointEnd)"/><path d="M196.391,2418L200.089,2411.833C203.788,2405.667,211.185,2393.333,214.883,2381C218.582,2368.667,218.582,2356.333,214.659,2342.592C210.735,2328.851,202.888,2313.701,198.964,2306.127L195.041,2298.552" id="L_JR_SMPL_0" class="edge-thickness-normal edge-pattern-dotted edge-thickness-normal edge-pattern-solid flowchart-link" style=";" data-edge="true" data-et="edge" data-id="L_JR_SMPL_0" data-points="W3sieCI6MTk2LjM5MDc3OTE5NDA3ODk2LCJ5IjoyNDE4fSx7IngiOjIxOC41ODIwMzEyNSwieSI6MjM4MX0seyJ4IjoyMTguNTgyMDMxMjUsInkiOjIzNDR9LHsieCI6MTkzLjIwMTEyNzQ4NTc5NTQ0LCJ5IjoyMjk1fV0=" marker-end="url(#my-svg_flowchart-v2-pointEnd)"/><path d="M479.761,2118L476.328,2122.167C472.895,2126.333,466.03,2134.667,462.597,2143C459.164,2151.333,459.164,2159.667,433.244,2171.804C407.325,2183.941,355.485,2199.883,329.566,2207.854L303.646,2215.824" id="L_IK_SMPL_0" class="edge-thickness-normal edge-pattern-solid edge-thickness-normal edge-pattern-solid flowchart-link" style=";" data-edge="true" data-et="edge" data-id="L_IK_SMPL_0" data-points="W3sieCI6NDc5Ljc2MDY1MzQwOTA5MDksInkiOjIxMTh9LHsieCI6NDU5LjE2NDA2MjUsInkiOjIxNDN9LHsieCI6NDU5LjE2NDA2MjUsInkiOjIxNjh9LHsieCI6Mjk5LjgyMjcwOTUxNzA0NTQ0LCJ5IjoyMjE3fV0=" marker-end="url(#my-svg_flowchart-v2-pointEnd)"/></g><g class="edgeLabels"><g class="edgeLabel"><g class="label" data-id="L_C1_T1_0" transform="translate(0, 0)"><foreignObject width="0" height="0"><div xmlns="http://www.w3.org/1999/xhtml" class="labelBkg" style="display: table-cell; white-space: nowrap; line-height: 1.5; max-width: 200px; text-align: center;"><span class="edgeLabel"></span></div></foreignObject></g></g><g class="edgeLabel"><g class="label" data-id="L_C2_T2_0" transform="translate(0, 0)"><foreignObject width="0" height="0"><div xmlns="http://www.w3.org/1999/xhtml" class="labelBkg" style="display: table-cell; white-space: nowrap; line-height: 1.5; max-width: 200px; text-align: center;"><span class="edgeLabel"></span></div></foreignObject></g></g><g class="edgeLabel"><g class="label" data-id="L_C3_T3_0" transform="translate(0, 0)"><foreignObject width="0" height="0"><div xmlns="http://www.w3.org/1999/xhtml" class="labelBkg" style="display: table-cell; white-space: nowrap; line-height: 1.5; max-width: 200px; text-align: center;"><span class="edgeLabel"></span></div></foreignObject></g></g><g class="edgeLabel"><g class="label" data-id="L_C4_T4_0" transform="translate(0, 0)"><foreignObject width="0" height="0"><div xmlns="http://www.w3.org/1999/xhtml" class="labelBkg" style="display: table-cell; white-space: nowrap; line-height: 1.5; max-width: 200px; text-align: center;"><span class="edgeLabel"></span></div></foreignObject></g></g><g class="edgeLabel"><g class="label" data-id="L_EPI_CYCLE_0" transform="translate(0, 0)"><foreignObject width="0" height="0"><div xmlns="http://www.w3.org/1999/xhtml" class="labelBkg" style="display: table-cell; white-space: nowrap; line-height: 1.5; max-width: 200px; text-align: center;"><span class="edgeLabel"></span></div></foreignObject></g></g><g class="edgeLabel"><g class="label" data-id="L_CYCLE_GROUP_0" transform="translate(0, 0)"><foreignObject width="0" height="0"><div xmlns="http://www.w3.org/1999/xhtml" class="labelBkg" style="display: table-cell; white-space: nowrap; line-height: 1.5; max-width: 200px; text-align: center;"><span class="edgeLabel"></span></div></foreignObject></g></g><g class="edgeLabel"><g class="label" data-id="L_T1_EPI_0" transform="translate(0, 0)"><foreignObject width="0" height="0"><div xmlns="http://www.w3.org/1999/xhtml" class="labelBkg" style="display: table-cell; white-space: nowrap; line-height: 1.5; max-width: 200px; text-align: center;"><span class="edgeLabel"></span></div></foreignObject></g></g><g class="edgeLabel"><g class="label" data-id="L_T2_EPI_0" transform="translate(0, 0)"><foreignObject width="0" height="0"><div xmlns="http://www.w3.org/1999/xhtml" class="labelBkg" style="display: table-cell; white-space: nowrap; line-height: 1.5; max-width: 200px; text-align: center;"><span class="edgeLabel"></span></div></foreignObject></g></g><g class="edgeLabel"><g class="label" data-id="L_T3_EPI_0" transform="translate(0, 0)"><foreignObject width="0" height="0"><div xmlns="http://www.w3.org/1999/xhtml" class="labelBkg" style="display: table-cell; white-space: nowrap; line-height: 1.5; max-width: 200px; text-align: center;"><span class="edgeLabel"></span></div></foreignObject></g></g><g class="edgeLabel"><g class="label" data-id="L_T4_EPI_0" transform="translate(0, 0)"><foreignObject width="0" height="0"><div xmlns="http://www.w3.org/1999/xhtml" class="labelBkg" style="display: table-cell; white-space: nowrap; line-height: 1.5; max-width: 200px; text-align: center;"><span class="edgeLabel"></span></div></foreignObject></g></g><g class="edgeLabel"><g class="label" data-id="L_RT_DLT_0" transform="translate(0, 0)"><foreignObject width="0" height="0"><div xmlns="http://www.w3.org/1999/xhtml" class="labelBkg" style="display: table-cell; white-space: nowrap; line-height: 1.5; max-width: 200px; text-align: center;"><span class="edgeLabel"></span></div></foreignObject></g></g><g class="edgeLabel"><g class="label" data-id="L_DLT_NN_0" transform="translate(0, 0)"><foreignObject width="0" height="0"><div xmlns="http://www.w3.org/1999/xhtml" class="labelBkg" style="display: table-cell; white-space: nowrap; line-height: 1.5; max-width: 200px; text-align: center;"><span class="edgeLabel"></span></div></foreignObject></g></g><g class="edgeLabel"><g class="label" data-id="L_NN_BA_0" transform="translate(0, 0)"><foreignObject width="0" height="0"><div xmlns="http://www.w3.org/1999/xhtml" class="labelBkg" style="display: table-cell; white-space: nowrap; line-height: 1.5; max-width: 200px; text-align: center;"><span class="edgeLabel"></span></div></foreignObject></g></g><g class="edgeLabel"><g class="label" data-id="L_BA_Y_0" transform="translate(0, 0)"><foreignObject width="0" height="0"><div xmlns="http://www.w3.org/1999/xhtml" class="labelBkg" style="display: table-cell; white-space: nowrap; line-height: 1.5; max-width: 200px; text-align: center;"><span class="edgeLabel"></span></div></foreignObject></g></g><g class="edgeLabel"><g class="label" data-id="L_GROUP_DLT_0" transform="translate(0, 0)"><foreignObject width="0" height="0"><div xmlns="http://www.w3.org/1999/xhtml" class="labelBkg" style="display: table-cell; white-space: nowrap; line-height: 1.5; max-width: 200px; text-align: center;"><span class="edgeLabel"></span></div></foreignObject></g></g><g class="edgeLabel"><g class="label" data-id="L_GATE_IMM_0" transform="translate(0, 0)"><foreignObject width="0" height="0"><div xmlns="http://www.w3.org/1999/xhtml" class="labelBkg" style="display: table-cell; white-space: nowrap; line-height: 1.5; max-width: 200px; text-align: center;"><span class="edgeLabel"></span></div></foreignObject></g></g><g class="edgeLabel"><g class="label" data-id="L_IMM_PRED_0" transform="translate(0, 0)"><foreignObject width="0" height="0"><div xmlns="http://www.w3.org/1999/xhtml" class="labelBkg" style="display: table-cell; white-space: nowrap; line-height: 1.5; max-width: 200px; text-align: center;"><span class="edgeLabel"></span></div></foreignObject></g></g><g class="edgeLabel"><g class="label" data-id="L_PRED_UPD_0" transform="translate(0, 0)"><foreignObject width="0" height="0"><div xmlns="http://www.w3.org/1999/xhtml" class="labelBkg" style="display: table-cell; white-space: nowrap; line-height: 1.5; max-width: 200px; text-align: center;"><span class="edgeLabel"></span></div></foreignObject></g></g><g class="edgeLabel"><g class="label" data-id="L_UPD_MISS_0" transform="translate(0, 0)"><foreignObject width="0" height="0"><div xmlns="http://www.w3.org/1999/xhtml" class="labelBkg" style="display: table-cell; white-space: nowrap; line-height: 1.5; max-width: 200px; text-align: center;"><span class="edgeLabel"></span></div></foreignObject></g></g><g class="edgeLabel"><g class="label" data-id="L_Y_GATE_0" transform="translate(0, 0)"><foreignObject width="0" height="0"><div xmlns="http://www.w3.org/1999/xhtml" class="labelBkg" style="display: table-cell; white-space: nowrap; line-height: 1.5; max-width: 200px; text-align: center;"><span class="edgeLabel"></span></div></foreignObject></g></g><g class="edgeLabel"><g class="label" data-id="L_IMU_INERT_0" transform="translate(0, 0)"><foreignObject width="0" height="0"><div xmlns="http://www.w3.org/1999/xhtml" class="labelBkg" style="display: table-cell; white-space: nowrap; line-height: 1.5; max-width: 200px; text-align: center;"><span class="edgeLabel"></span></div></foreignObject></g></g><g class="edgeLabel"><g class="label" data-id="L_INERT_IMM_0" transform="translate(0, 0)"><foreignObject width="0" height="0"><div xmlns="http://www.w3.org/1999/xhtml" class="labelBkg" style="display: table-cell; white-space: nowrap; line-height: 1.5; max-width: 200px; text-align: center;"><span class="edgeLabel"></span></div></foreignObject></g></g><g class="edgeLabel"><g class="label" data-id="L_IK_FB_0" transform="translate(0, 0)"><foreignObject width="0" height="0"><div xmlns="http://www.w3.org/1999/xhtml" class="labelBkg" style="display: table-cell; white-space: nowrap; line-height: 1.5; max-width: 200px; text-align: center;"><span class="edgeLabel"></span></div></foreignObject></g></g><g class="edgeLabel"><g class="label" data-id="L_UPD_IK_0" transform="translate(0, 0)"><foreignObject width="0" height="0"><div xmlns="http://www.w3.org/1999/xhtml" class="labelBkg" style="display: table-cell; white-space: nowrap; line-height: 1.5; max-width: 200px; text-align: center;"><span class="edgeLabel"></span></div></foreignObject></g></g><g class="edgeLabel"><g class="label" data-id="L_FB_GATE_0" transform="translate(0, 0)"><foreignObject width="0" height="0"><div xmlns="http://www.w3.org/1999/xhtml" class="labelBkg" style="display: table-cell; white-space: nowrap; line-height: 1.5; max-width: 200px; text-align: center;"><span class="edgeLabel"></span></div></foreignObject></g></g><g class="edgeLabel"><g class="label" data-id="L_VP_SMPL_0" transform="translate(0, 0)"><foreignObject width="0" height="0"><div xmlns="http://www.w3.org/1999/xhtml" class="labelBkg" style="display: table-cell; white-space: nowrap; line-height: 1.5; max-width: 200px; text-align: center;"><span class="edgeLabel"></span></div></foreignObject></g></g><g class="edgeLabel"><g class="label" data-id="L_SMPL_JR_0" transform="translate(0, 0)"><foreignObject width="0" height="0"><div xmlns="http://www.w3.org/1999/xhtml" class="labelBkg" style="display: table-cell; white-space: nowrap; line-height: 1.5; max-width: 200px; text-align: center;"><span class="edgeLabel"></span></div></foreignObject></g></g><g class="edgeLabel"><g class="label" data-id="L_JR_OUT_0" transform="translate(0, 0)"><foreignObject width="0" height="0"><div xmlns="http://www.w3.org/1999/xhtml" class="labelBkg" style="display: table-cell; white-space: nowrap; line-height: 1.5; max-width: 200px; text-align: center;"><span class="edgeLabel"></span></div></foreignObject></g></g><g class="edgeLabel" transform="translate(218.58203125, 2381)"><g class="label" data-id="L_JR_SMPL_0" transform="translate(-71.1640625, -12)"><foreignObject width="142.328125" height="24"><div xmlns="http://www.w3.org/1999/xhtml" class="labelBkg" style="display: table-cell; white-space: nowrap; line-height: 1.5; max-width: 200px; text-align: center;"><span class="edgeLabel"><p>residual / reproject</p></span></div></foreignObject></g></g><g class="edgeLabel"><g class="label" data-id="L_IK_SMPL_0" transform="translate(0, 0)"><foreignObject width="0" height="0"><div xmlns="http://www.w3.org/1999/xhtml" class="labelBkg" style="display: table-cell; white-space: nowrap; line-height: 1.5; max-width: 200px; text-align: center;"><span class="edgeLabel"></span></div></foreignObject></g></g></g><g class="nodes"><g class="node default" id="flowchart-C1-0" transform="translate(1209.1640625, 72)"><rect class="basic label-container" style="" x="-130" y="-39" width="260" height="78"/><g class="label" style="" transform="translate(-100, -24)"><rect/><foreignObject width="200" height="48"><div xmlns="http://www.w3.org/1999/xhtml" style="display: table; white-space: break-spaces; line-height: 1.5; max-width: 200px; text-align: center; width: 200px;"><span class="nodeLabel"><p>Cam 1\n2D detections: 133×2 (+conf)</p></span></div></foreignObject></g></g><g class="node default" id="flowchart-T1-1" transform="translate(1209.1640625, 200)"><rect class="basic label-container" style="" x="-130" y="-39" width="260" height="78"/><g class="label" style="" transform="translate(-100, -24)"><rect/><foreignObject width="200" height="48"><div xmlns="http://www.w3.org/1999/xhtml" style="display: table; white-space: break-spaces; line-height: 1.5; max-width: 200px; text-align: center; width: 200px;"><span class="nodeLabel"><p>2D latest tracking cache\n(view 1)</p></span></div></foreignObject></g></g><g class="node default" id="flowchart-C2-2" transform="translate(1519.1640625, 72)"><rect class="basic label-container" style="" x="-130" y="-39" width="260" height="78"/><g class="label" style="" transform="translate(-100, -24)"><rect/><foreignObject width="200" height="48"><div xmlns="http://www.w3.org/1999/xhtml" style="display: table; white-space: break-spaces; line-height: 1.5; max-width: 200px; text-align: center; width: 200px;"><span class="nodeLabel"><p>Cam 2\n2D detections: 133×2 (+conf)</p></span></div></foreignObject></g></g><g class="node default" id="flowchart-T2-3" transform="translate(1519.1640625, 200)"><rect class="basic label-container" style="" x="-130" y="-39" width="260" height="78"/><g class="label" style="" transform="translate(-100, -24)"><rect/><foreignObject width="200" height="48"><div xmlns="http://www.w3.org/1999/xhtml" style="display: table; white-space: break-spaces; line-height: 1.5; max-width: 200px; text-align: center; width: 200px;"><span class="nodeLabel"><p>2D latest tracking cache\n(view 2)</p></span></div></foreignObject></g></g><g class="node default" id="flowchart-C3-4" transform="translate(1829.1640625, 72)"><rect class="basic label-container" style="" x="-130" y="-39" width="260" height="78"/><g class="label" style="" transform="translate(-100, -24)"><rect/><foreignObject width="200" height="48"><div xmlns="http://www.w3.org/1999/xhtml" style="display: table; white-space: break-spaces; line-height: 1.5; max-width: 200px; text-align: center; width: 200px;"><span class="nodeLabel"><p>Cam 3\n2D detections: 133×2 (+conf)</p></span></div></foreignObject></g></g><g class="node default" id="flowchart-T3-5" transform="translate(1829.1640625, 200)"><rect class="basic label-container" style="" x="-130" y="-39" width="260" height="78"/><g class="label" style="" transform="translate(-100, -24)"><rect/><foreignObject width="200" height="48"><div xmlns="http://www.w3.org/1999/xhtml" style="display: table; white-space: break-spaces; line-height: 1.5; max-width: 200px; text-align: center; width: 200px;"><span class="nodeLabel"><p>2D latest tracking cache\n(view 3)</p></span></div></foreignObject></g></g><g class="node default" id="flowchart-C4-6" transform="translate(2139.1640625, 72)"><rect class="basic label-container" style="" x="-130" y="-39" width="260" height="78"/><g class="label" style="" transform="translate(-100, -24)"><rect/><foreignObject width="200" height="48"><div xmlns="http://www.w3.org/1999/xhtml" style="display: table; white-space: break-spaces; line-height: 1.5; max-width: 200px; text-align: center; width: 200px;"><span class="nodeLabel"><p>Cam 4\n2D detections: 133×2 (+conf)</p></span></div></foreignObject></g></g><g class="node default" id="flowchart-T4-7" transform="translate(2139.1640625, 200)"><rect class="basic label-container" style="" x="-130" y="-39" width="260" height="78"/><g class="label" style="" transform="translate(-100, -24)"><rect/><foreignObject width="200" height="48"><div xmlns="http://www.w3.org/1999/xhtml" style="display: table; white-space: break-spaces; line-height: 1.5; max-width: 200px; text-align: center; width: 200px;"><span class="nodeLabel"><p>2D latest tracking cache\n(view 4)</p></span></div></foreignObject></g></g><g class="node default core" id="flowchart-EPI-8" transform="translate(1674.1640625, 390)"><rect class="basic label-container" style="fill:#0b1020 !important;stroke:#5eead4 !important;stroke-width:1.2px !important" x="-130" y="-51" width="260" height="102"/><g class="label" style="color:#e5e7eb !important" transform="translate(-100, -36)"><rect/><foreignObject width="200" height="72"><div style="color: rgb(229, 231, 235) !important; display: table; white-space: break-spaces; line-height: 1.5; max-width: 200px; text-align: center; width: 200px;" xmlns="http://www.w3.org/1999/xhtml"><span style="color:#e5e7eb !important" class="nodeLabel"><p>Epipolar constraint\n(Sampson / point-to-epiline)</p></span></div></foreignObject></g></g><g class="node default core" id="flowchart-CYCLE-9" transform="translate(1674.1640625, 530)"><rect class="basic label-container" style="fill:#0b1020 !important;stroke:#5eead4 !important;stroke-width:1.2px !important" x="-130" y="-39" width="260" height="78"/><g class="label" style="color:#e5e7eb !important" transform="translate(-100, -24)"><rect/><foreignObject width="200" height="48"><div style="color: rgb(229, 231, 235) !important; display: table; white-space: break-spaces; line-height: 1.5; max-width: 200px; text-align: center; width: 200px;" xmlns="http://www.w3.org/1999/xhtml"><span style="color:#e5e7eb !important" class="nodeLabel"><p>Cycle consistency / view-graph pruning</p></span></div></foreignObject></g></g><g class="node default core" id="flowchart-GROUP-10" transform="translate(1674.1640625, 695)"><rect class="basic label-container" style="fill:#0b1020 !important;stroke:#5eead4 !important;stroke-width:1.2px !important" x="-130" y="-51" width="260" height="102"/><g class="label" style="color:#e5e7eb !important" transform="translate(-100, -36)"><rect/><foreignObject width="200" height="72"><div style="color: rgb(229, 231, 235) !important; display: table; white-space: break-spaces; line-height: 1.5; max-width: 200px; text-align: center; width: 200px;" xmlns="http://www.w3.org/1999/xhtml"><span style="color:#e5e7eb !important" class="nodeLabel"><p>Assemble per-target multi-view observation set\n{view_id → 133×2}</p></span></div></foreignObject></g></g><g class="node default meta" id="flowchart-RT-22" transform="translate(974.1640625, 695)"><rect class="basic label-container" style="fill:#111827 !important;stroke:#93c5fd !important;stroke-dasharray:4 3 !important" x="-130" y="-39" width="260" height="78"/><g class="label" style="color:#e5e7eb !important" transform="translate(-100, -24)"><rect/><foreignObject width="200" height="48"><div style="color: rgb(229, 231, 235) !important; display: table; white-space: break-spaces; line-height: 1.5; max-width: 200px; text-align: center; width: 200px;" xmlns="http://www.w3.org/1999/xhtml"><span style="color:#e5e7eb !important" class="nodeLabel"><p>Camera models\nK, [R|t], SO(3)/SE(3)</p></span></div></foreignObject></g></g><g class="node default core" id="flowchart-DLT-23" transform="translate(984.1640625, 848)"><rect class="basic label-container" style="fill:#0b1020 !important;stroke:#5eead4 !important;stroke-width:1.2px !important" x="-118.25" y="-27" width="236.5" height="54"/><g class="label" style="color:#e5e7eb !important" transform="translate(-88.25, -12)"><rect/><foreignObject width="176.5" height="24"><div style="color: rgb(229, 231, 235) !important; display: table-cell; white-space: nowrap; line-height: 1.5; max-width: 200px; text-align: center;" xmlns="http://www.w3.org/1999/xhtml"><span style="color:#e5e7eb !important" class="nodeLabel"><p>DLT / triangulation (init)</p></span></div></foreignObject></g></g><g class="node default core" id="flowchart-NN-24" transform="translate(984.1640625, 964)"><rect class="basic label-container" style="fill:#0b1020 !important;stroke:#5eead4 !important;stroke-width:1.2px !important" x="-130" y="-39" width="260" height="78"/><g class="label" style="color:#e5e7eb !important" transform="translate(-100, -24)"><rect/><foreignObject width="200" height="48"><div style="color: rgb(229, 231, 235) !important; display: table; white-space: break-spaces; line-height: 1.5; max-width: 200px; text-align: center; width: 200px;" xmlns="http://www.w3.org/1999/xhtml"><span style="color:#e5e7eb !important" class="nodeLabel"><p>Optional NN lifting / completion</p></span></div></foreignObject></g></g><g class="node default core" id="flowchart-BA-25" transform="translate(984.1640625, 1092)"><rect class="basic label-container" style="fill:#0b1020 !important;stroke:#5eead4 !important;stroke-width:1.2px !important" x="-130" y="-39" width="260" height="78"/><g class="label" style="color:#e5e7eb !important" transform="translate(-100, -24)"><rect/><foreignObject width="200" height="48"><div style="color: rgb(229, 231, 235) !important; display: table; white-space: break-spaces; line-height: 1.5; max-width: 200px; text-align: center; width: 200px;" xmlns="http://www.w3.org/1999/xhtml"><span style="color:#e5e7eb !important" class="nodeLabel"><p>Optional reprojection refinement\n(1–5 iters)</p></span></div></foreignObject></g></g><g class="node default out" id="flowchart-Y-26" transform="translate(984.1640625, 1232)"><rect class="basic label-container" style="fill:#052e2b !important;stroke:#34d399 !important;stroke-width:1.4px !important" x="-130" y="-51" width="260" height="102"/><g class="label" style="color:#ecfeff !important" transform="translate(-100, -36)"><rect/><foreignObject width="200" height="72"><div style="color: rgb(236, 254, 255) !important; display: table; white-space: break-spaces; line-height: 1.5; max-width: 200px; text-align: center; width: 200px;" xmlns="http://www.w3.org/1999/xhtml"><span style="color:#ecfeff !important" class="nodeLabel"><p>3D measurement y(t)\nJ×3 positions (+quality / R / cov)</p></span></div></foreignObject></g></g><g class="node default core" id="flowchart-GATE-34" transform="translate(984.1640625, 1446)"><rect class="basic label-container" style="fill:#0b1020 !important;stroke:#5eead4 !important;stroke-width:1.2px !important" x="-130" y="-39" width="260" height="78"/><g class="label" style="color:#e5e7eb !important" transform="translate(-100, -24)"><rect/><foreignObject width="200" height="48"><div style="color: rgb(229, 231, 235) !important; display: table; white-space: break-spaces; line-height: 1.5; max-width: 200px; text-align: center; width: 200px;" xmlns="http://www.w3.org/1999/xhtml"><span style="color:#e5e7eb !important" class="nodeLabel"><p>Gating\n(Mahalanobis / per-joint + global)</p></span></div></foreignObject></g></g><g class="node default core" id="flowchart-IMM-35" transform="translate(901.6640625, 1610)"><rect class="basic label-container" style="fill:#0b1020 !important;stroke:#5eead4 !important;stroke-width:1.2px !important" x="-130" y="-51" width="260" height="102"/><g class="label" style="color:#e5e7eb !important" transform="translate(-100, -36)"><rect/><foreignObject width="200" height="72"><div style="color: rgb(229, 231, 235) !important; display: table; white-space: break-spaces; line-height: 1.5; max-width: 200px; text-align: center; width: 200px;" xmlns="http://www.w3.org/1999/xhtml"><span style="color:#e5e7eb !important" class="nodeLabel"><p>IMM (motion model bank)\n(CV/CA or low/med/high Q)</p></span></div></foreignObject></g></g><g class="node default core" id="flowchart-PRED-36" transform="translate(901.6640625, 1738)"><rect class="basic label-container" style="fill:#0b1020 !important;stroke:#5eead4 !important;stroke-width:1.2px !important" x="-127.9765625" y="-27" width="255.953125" height="54"/><g class="label" style="color:#e5e7eb !important" transform="translate(-97.9765625, -12)"><rect/><foreignObject width="195.953125" height="24"><div style="color: rgb(229, 231, 235) !important; display: table-cell; white-space: nowrap; line-height: 1.5; max-width: 200px; text-align: center;" xmlns="http://www.w3.org/1999/xhtml"><span style="color:#e5e7eb !important" class="nodeLabel"><p>Predict\nΔt, self-propagate</p></span></div></foreignObject></g></g><g class="node default core" id="flowchart-UPD-37" transform="translate(901.6640625, 1866)"><rect class="basic label-container" style="fill:#0b1020 !important;stroke:#5eead4 !important;stroke-width:1.2px !important" x="-130" y="-51" width="260" height="102"/><g class="label" style="color:#e5e7eb !important" transform="translate(-100, -36)"><rect/><foreignObject width="200" height="72"><div style="color: rgb(229, 231, 235) !important; display: table; white-space: break-spaces; line-height: 1.5; max-width: 200px; text-align: center; width: 200px;" xmlns="http://www.w3.org/1999/xhtml"><span style="color:#e5e7eb !important" class="nodeLabel"><p>Update\nKF (linear)\nstate: [p(3J), v(3J)]</p></span></div></foreignObject></g></g><g class="node default meta" id="flowchart-MISS-38" transform="translate(911.6640625, 2055)"><rect class="basic label-container" style="fill:#111827 !important;stroke:#93c5fd !important;stroke-dasharray:4 3 !important" x="-130" y="-51" width="260" height="102"/><g class="label" style="color:#e5e7eb !important" transform="translate(-100, -36)"><rect/><foreignObject width="200" height="72"><div style="color: rgb(229, 231, 235) !important; display: table; white-space: break-spaces; line-height: 1.5; max-width: 200px; text-align: center; width: 200px;" xmlns="http://www.w3.org/1999/xhtml"><span style="color:#e5e7eb !important" class="nodeLabel"><p>Miss handling &amp; track lifecycle\n(tentative → confirmed → deleted)</p></span></div></foreignObject></g></g><g class="node default meta" id="flowchart-IMU-46" transform="translate(1334.1640625, 1232)"><rect class="basic label-container" style="fill:#111827 !important;stroke:#93c5fd !important;stroke-dasharray:4 3 !important" x="-80.8046875" y="-27" width="161.609375" height="54"/><g class="label" style="color:#e5e7eb !important" transform="translate(-50.8046875, -12)"><rect/><foreignObject width="101.609375" height="24"><div style="color: rgb(229, 231, 235) !important; display: table-cell; white-space: nowrap; line-height: 1.5; max-width: 200px; text-align: center;" xmlns="http://www.w3.org/1999/xhtml"><span style="color:#e5e7eb !important" class="nodeLabel"><p>IMU (optional)</p></span></div></foreignObject></g></g><g class="node default meta" id="flowchart-INERT-47" transform="translate(1334.1640625, 1446)"><rect class="basic label-container" style="fill:#111827 !important;stroke:#93c5fd !important;stroke-dasharray:4 3 !important" x="-130" y="-63" width="260" height="126"/><g class="label" style="color:#e5e7eb !important" transform="translate(-100, -48)"><rect/><foreignObject width="200" height="96"><div style="color: rgb(229, 231, 235) !important; display: table; white-space: break-spaces; line-height: 1.5; max-width: 200px; text-align: center; width: 200px;" xmlns="http://www.w3.org/1999/xhtml"><span style="color:#e5e7eb !important" class="nodeLabel"><p>EKF/UKF branch (optional)\nwhen augmenting state with orientation</p></span></div></foreignObject></g></g><g class="node default core" id="flowchart-IK-49" transform="translate(531.6640625, 2055)"><rect class="basic label-container" style="fill:#0b1020 !important;stroke:#5eead4 !important;stroke-width:1.2px !important" x="-130" y="-63" width="260" height="126"/><g class="label" style="color:#e5e7eb !important" transform="translate(-100, -48)"><rect/><foreignObject width="200" height="96"><div style="color: rgb(229, 231, 235) !important; display: table; white-space: break-spaces; line-height: 1.5; max-width: 200px; text-align: center; width: 200px;" xmlns="http://www.w3.org/1999/xhtml"><span style="color:#e5e7eb !important" class="nodeLabel"><p>IK optimization target\n(minimize joint position error,\nadd bone length / joint limits)</p></span></div></foreignObject></g></g><g class="node default meta" id="flowchart-FB-50" transform="translate(551.6640625, 2256)"><rect class="basic label-container" style="fill:#111827 !important;stroke:#93c5fd !important;stroke-dasharray:4 3 !important" x="-130" y="-63" width="260" height="126"/><g class="label" style="color:#e5e7eb !important" transform="translate(-100, -48)"><rect/><foreignObject width="200" height="96"><div style="color: rgb(229, 231, 235) !important; display: table; white-space: break-spaces; line-height: 1.5; max-width: 200px; text-align: center; width: 200px;" xmlns="http://www.w3.org/1999/xhtml"><span style="color:#e5e7eb !important" class="nodeLabel"><p>Optional feedback to filter\npseudo-measurement z_IK with large R</p></span></div></foreignObject></g></g><g class="node default core" id="flowchart-VP-57" transform="translate(173, 2055)"><rect class="basic label-container" style="fill:#0b1020 !important;stroke:#5eead4 !important;stroke-width:1.2px !important" x="-98.8203125" y="-27" width="197.640625" height="54"/><g class="label" style="color:#e5e7eb !important" transform="translate(-68.8203125, -12)"><rect/><foreignObject width="137.640625" height="24"><div style="color: rgb(229, 231, 235) !important; display: table-cell; white-space: nowrap; line-height: 1.5; max-width: 200px; text-align: center;" xmlns="http://www.w3.org/1999/xhtml"><span style="color:#e5e7eb !important" class="nodeLabel"><p>VPoser / pose prior</p></span></div></foreignObject></g></g><g class="node default core" id="flowchart-SMPL-58" transform="translate(173, 2256)"><rect class="basic label-container" style="fill:#0b1020 !important;stroke:#5eead4 !important;stroke-width:1.2px !important" x="-130" y="-39" width="260" height="78"/><g class="label" style="color:#e5e7eb !important" transform="translate(-100, -24)"><rect/><foreignObject width="200" height="48"><div style="color: rgb(229, 231, 235) !important; display: table; white-space: break-spaces; line-height: 1.5; max-width: 200px; text-align: center; width: 200px;" xmlns="http://www.w3.org/1999/xhtml"><span style="color:#e5e7eb !important" class="nodeLabel"><p>SMPL(θ, β, root)\nfit to joints / reprojection</p></span></div></foreignObject></g></g><g class="node default core" id="flowchart-JR-59" transform="translate(173, 2457)"><rect class="basic label-container" style="fill:#0b1020 !important;stroke:#5eead4 !important;stroke-width:1.2px !important" x="-130" y="-39" width="260" height="78"/><g class="label" style="color:#e5e7eb !important" transform="translate(-100, -24)"><rect/><foreignObject width="200" height="48"><div style="color: rgb(229, 231, 235) !important; display: table; white-space: break-spaces; line-height: 1.5; max-width: 200px; text-align: center; width: 200px;" xmlns="http://www.w3.org/1999/xhtml"><span style="color:#e5e7eb !important" class="nodeLabel"><p>JR: Joint Regressor\nmesh → joints (loop closure)</p></span></div></foreignObject></g></g><g class="node default out" id="flowchart-OUT-60" transform="translate(173, 2585)"><rect class="basic label-container" style="fill:#052e2b !important;stroke:#34d399 !important;stroke-width:1.4px !important" x="-130" y="-39" width="260" height="78"/><g class="label" style="color:#ecfeff !important" transform="translate(-100, -24)"><rect/><foreignObject width="200" height="48"><div style="color: rgb(236, 254, 255) !important; display: table; white-space: break-spaces; line-height: 1.5; max-width: 200px; text-align: center; width: 200px;" xmlns="http://www.w3.org/1999/xhtml"><span style="color:#ecfeff !important" class="nodeLabel"><p>Outputs\nmesh + joints + pose params</p></span></div></foreignObject></g></g></g></g></g></svg>
\ No newline at end of file