diff --git a/mini-nav/compressors/pipeline.py b/mini-nav/compressors/pipeline.py
index e1f71d0..6920c66 100644
--- a/mini-nav/compressors/pipeline.py
+++ b/mini-nav/compressors/pipeline.py
@@ -1,5 +1,6 @@
 """OWLv2 + SAM + DINO + Hash compression pipeline."""
 
+from dataclasses import dataclass, field
 from typing import Any, Optional, Sequence
 
 import torch
@@ -8,7 +9,12 @@ from PIL import Image
 from utils import get_device
 from utils.image import crop_image_by_bbox, extract_masked_region
 
-from .filter import MaskScoringConfig, select_best_mask
+from .filter import (
+    MaskScoringConfig,
+    compute_mask_features,
+    score_mask,
+    should_reject_mask,
+)
 from .model_loader import (
     get_dino_dim,
     load_dino_model,
@@ -24,14 +30,6 @@ from .proposal.core import DetectionResult
 
 
 def create_pipeline_from_config(config) -> "HashPipeline":
-    """Create HashPipeline from a config object.
-
-    Args:
-        config: Configuration object with model settings.
-
-    Returns:
-        Initialized HashPipeline.
-    """
     return HashPipeline(
         owlv2_model=getattr(
             config.model, "owlv2_model", "google/owlv2-base-patch16-ensemble"
@@ -46,18 +44,40 @@ def create_pipeline_from_config(config) -> "HashPipeline":
     )
 
 
+@dataclass
+class FramePacket:
+    image: Image.Image
+    boxes_xyxy: list[list[float]] = field(default_factory=list)
+    scores: list[float] = field(default_factory=list)
+    labels: list[str] = field(default_factory=list)
+    masks: list[dict[str, Any]] = field(default_factory=list)
+    selected_idx: int | None = None
+    dropped_indices: list[int] = field(default_factory=list)
+    fallback_reason: str | None = None
+    filtered_image: Image.Image | None = None
+    cropped_image: Image.Image | None = None
+
+
+@dataclass
+class PipelineBatchOutput:
+    hash_bits: torch.Tensor
+    cropped_images: list[Image.Image]
+    debug_meta: list[dict[str, Any]]
+
+
 class HashPipeline:
     """Pipeline for OWLv2 detection + SAM segmentation + DINO features + Hash compression.
 
     Pipeline flow:
         Images + Text Labels -> OWLv2 (detections) -> SAM (masks) -> Filter (best mask) ->
-        Crop (OWLv2 box) -> DINO (features) -> Hash (binary codes)
+        Crop (matched OWLv2 box) -> DINO (features) -> Hash (binary codes)
 
     Example:
         pipeline = HashPipeline(dino_model="facebook/dinov2-large", hash_bits=512)
         images = [Image.open("path/to/image.jpg")]
         text_labels = ["object"]
-        hash_bits = pipeline.forward_batch(images, text_labels)  # Returns [N, 512]
+        output = pipeline.process_batch(images, text_labels)
+        hash_bits = output.hash_bits  # [N, 512]
     """
 
     def __init__(
@@ -73,27 +93,16 @@ class HashPipeline:
     ):
         super().__init__()
 
-        # Device for model placement.
         self.device = get_device()
-
-        # OWLv2 detection settings.
         self.owlv2_processor, self.owlv2_model = load_owlv2_model(
             model_name=owlv2_model
         )
         self.score_threshold = score_threshold
         self.postprocess_threshold = postprocess_threshold
-
-        # Mask scoring config for filter step.
         self.mask_scoring_config = mask_scoring_config
-
-        # SAM2 model for segmentation.
         self.sam_processor, self.sam_model = load_sam_model(model_name=sam_model)
-
-        # DINO model for feature extraction.
         self.dino_processor, self.dino = load_dino_model(model_name=dino_model)
         self.dino_dim = get_dino_dim(dino_model)
-
-        # Hash compressor for binarizing DINO features.
         self.hash_compressor = load_hash_compressor(
             input_dim=self.dino_dim,
             hash_bits=hash_bits,
@@ -102,23 +111,13 @@ class HashPipeline:
 
     @property
     def hash_bits(self) -> int:
-        """Number of bits in the hash code."""
         return self.hash_compressor.hash_bits
 
-    def detect_batch(
+    def _detect_batch(
         self,
         images: Sequence[Image.Image],
         text_labels: list[str],
     ) -> list[list[DetectionResult]]:
-        """Detect objects in a batch of images using OWLv2.
-
-        Args:
-            images: Sequence of PIL Images.
-            text_labels: Text labels for all images (same labels used for each image).
-
-        Returns:
-            List of lists of DetectionResult dicts, one inner list per image.
-        """
         image_list = list(images)
         if not image_list:
             return []
@@ -133,20 +132,11 @@ class HashPipeline:
             postprocess_threshold=self.postprocess_threshold,
         )
 
-    def segment_batch(
+    def _segment_batch(
         self,
         images: Sequence[Image.Image],
         bboxes_per_image: list[list[list[float]]],
     ) -> list[list[dict[str, Any]]]:
-        """Segment objects in images using SAM2 with bounding box prompts.
-
-        Args:
-            images: Sequence of PIL Images.
-            bboxes_per_image: Bounding boxes per image as [[[x1,y1,x2,y2], ...], ...].
-
-        Returns:
-            List of lists of mask dictionaries, one inner list per image.
-        """
         image_list = list(images)
         if not image_list:
             return []
@@ -158,77 +148,169 @@ class HashPipeline:
             bboxes_per_image,
         )
 
-    def filter_batch(
+    def _build_frame_packets(self, images: Sequence[Image.Image]) -> list[FramePacket]:
+        return [FramePacket(image=image) for image in images]
+
+    def _attach_detections(
         self,
-        images: Sequence[Image.Image],
-        masks_per_image: list[list[dict[str, Any]]],
-    ) -> list[Image.Image]:
-        """Filter masks and extract best masked region for each image.
-
-        Args:
-            images: Sequence of PIL Images.
-            masks_per_image: Masks per image from segment_batch.
-
-        Returns:
-            List of PIL Images, one per input image (original if no valid masks).
-        """
-        image_list = list(images)
-        if not image_list:
+        packets: list[FramePacket],
+        text_labels: list[str],
+    ) -> list[list[DetectionResult]]:
+        if not packets:
             return []
 
-        filtered_images: list[Image.Image] = []
-        for index, image in enumerate(image_list):
-            masks = masks_per_image[index] if index < len(masks_per_image) else []
-            if not masks:
-                filtered_images.append(image)
-                continue
-
-            best_mask = select_best_mask(
-                masks,
-                image_shape=(image.height, image.width),
-                config=self.mask_scoring_config,
-            )
-            if best_mask is None:
-                filtered_images.append(image)
-                continue
-
-            filtered_images.append(extract_masked_region(image, best_mask["segment"]))
-
-        return filtered_images
-
-    def crop_batch(
-        self,
-        images: Sequence[Image.Image],
-        masks_per_image: list[list[dict[str, Any]]],
-        detections_per_image: list[list[DetectionResult]],
-    ) -> list[Image.Image]:
-        """Crop filtered images using OWLv2 detection boxes.
-
-        Args:
-            images: Sequence of PIL Images after filter_batch.
-            masks_per_image: Masks per image from segment_batch.
-            detections_per_image: Detection results per image from detect_batch.
-
-        Returns:
-            List of cropped PIL Images. Returns original image when no detection exists.
-        """
-        image_list = list(images)
-        if not image_list:
-            return []
-
-        cropped_images: list[Image.Image] = []
-        for index, image in enumerate(image_list):
+        image_list = [packet.image for packet in packets]
+        detections_per_image = self._detect_batch(image_list, text_labels)
+        for index, packet in enumerate(packets):
             detections = (
                 detections_per_image[index] if index < len(detections_per_image) else []
             )
-            if detections:
-                best_detection = max(detections, key=lambda d: d["score"])
-                cropped_images.append(crop_image_by_bbox(image, best_detection["bbox"]))
+            packet.boxes_xyxy = [list(det["bbox"]) for det in detections]
+            packet.scores = [float(det["score"]) for det in detections]
+            packet.labels = [str(det["label"]) for det in detections]
+            if not packet.boxes_xyxy:
+                packet.fallback_reason = "no_detection"
+        return detections_per_image
+
+    def _attach_masks(self, packets: list[FramePacket]) -> None:
+        if not packets:
+            return
+
+        image_list = [packet.image for packet in packets]
+        boxes_per_image = [packet.boxes_xyxy for packet in packets]
+        masks_per_image = self._segment_batch(image_list, boxes_per_image)
+
+        for index, packet in enumerate(packets):
+            packet.masks = (
+                masks_per_image[index] if index < len(masks_per_image) else []
+            )
+            if (
+                packet.boxes_xyxy
+                and not packet.masks
+                and packet.fallback_reason is None
+            ):
+                packet.fallback_reason = "no_mask"
+
+    def _select_candidates(self, packets: list[FramePacket]) -> None:
+        config = self.mask_scoring_config or MaskScoringConfig()
+
+        for packet in packets:
+            if not packet.masks:
+                packet.selected_idx = None
+                packet.dropped_indices = []
+                if packet.fallback_reason is None:
+                    packet.fallback_reason = "no_mask"
                 continue
 
-            cropped_images.append(image)
+            kept: list[tuple[float, int, int]] = []
+            dropped: list[int] = []
+            for index, mask in enumerate(packet.masks):
+                features = compute_mask_features(
+                    mask, image_shape=(packet.image.height, packet.image.width)
+                )
+                if should_reject_mask(features, config):
+                    dropped.append(index)
+                    continue
 
-        return cropped_images
+                mask_score = score_mask(
+                    mask,
+                    image_shape=(packet.image.height, packet.image.width),
+                    config=config,
+                )
+                area = int(mask.get("area", 0))
+                kept.append((float(mask_score), area, index))
+
+            if kept:
+                kept.sort(reverse=True)
+                packet.selected_idx = kept[0][2]
+                packet.dropped_indices = dropped
+                continue
+
+            fallback_index = max(
+                range(len(packet.masks)),
+                key=lambda idx: int(packet.masks[idx].get("area", 0)),
+            )
+            packet.selected_idx = fallback_index
+            packet.dropped_indices = [
+                index for index in range(len(packet.masks)) if index != fallback_index
+            ]
+            if packet.fallback_reason is None:
+                packet.fallback_reason = "all_masks_rejected_fallback_area"
+
+    def _render_filtered_images(self, packets: list[FramePacket]) -> None:
+        for packet in packets:
+            if packet.selected_idx is None:
+                packet.filtered_image = packet.image
+                continue
+
+            if packet.selected_idx >= len(packet.masks):
+                packet.filtered_image = packet.image
+                packet.fallback_reason = (
+                    packet.fallback_reason or "selected_index_out_of_mask_range"
+                )
+                packet.selected_idx = None
+                continue
+
+            selected_mask = packet.masks[packet.selected_idx]
+            packet.filtered_image = extract_masked_region(
+                packet.image, selected_mask["segment"]
+            )
+
+    def _render_cropped_images(
+        self,
+        packets: list[FramePacket],
+        detections_per_image: list[list[DetectionResult]],
+    ) -> None:
+        for index, packet in enumerate(packets):
+            base_image = (
+                packet.filtered_image if packet.filtered_image else packet.image
+            )
+            detections = (
+                detections_per_image[index] if index < len(detections_per_image) else []
+            )
+
+            if packet.selected_idx is None:
+                packet.cropped_image = base_image
+                if packet.fallback_reason is None:
+                    packet.fallback_reason = "no_selected_candidate"
+                continue
+
+            if packet.selected_idx >= len(detections):
+                packet.cropped_image = base_image
+                packet.fallback_reason = (
+                    packet.fallback_reason or "selected_index_out_of_detection_range"
+                )
+                continue
+
+            selected_detection = detections[packet.selected_idx]
+            cropped = crop_image_by_bbox(base_image, selected_detection["bbox"])
+            packet.cropped_image = cropped
+            if cropped.size == base_image.size:
+                packet.fallback_reason = (
+                    packet.fallback_reason or "invalid_or_full_bbox"
+                )
+
+    def _build_debug_meta(
+        self,
+        packets: list[FramePacket],
+        return_debug_details: bool,
+    ) -> list[dict[str, Any]]:
+        debug_meta: list[dict[str, Any]] = []
+        for packet in packets:
+            item: dict[str, Any] = {
+                "selected_idx": packet.selected_idx,
+                "dropped_indices": list(packet.dropped_indices),
+                "fallback_reason": packet.fallback_reason,
+                "num_boxes": len(packet.boxes_xyxy),
+                "num_masks": len(packet.masks),
+            }
+            if return_debug_details:
+                item["boxes_xyxy"] = [list(box) for box in packet.boxes_xyxy]
+                item["scores"] = [float(score) for score in packet.scores]
+                item["labels"] = [str(label) for label in packet.labels]
+                item["masks"] = packet.masks
+            debug_meta.append(item)
+        return debug_meta
 
     def extract_dino_batch(self, images: Sequence[Image.Image]) -> torch.Tensor:
         """Extract DINO tokens from a batch of images.
@@ -265,6 +347,65 @@ class HashPipeline:
         _, _, bits = self.hash_compressor(tokens)
         return bits
 
+    def process_batch(
+        self,
+        images: Sequence[Image.Image],
+        text_labels: list[str],
+        batch_size: int = 32,
+        return_debug_details: bool = False,
+    ) -> PipelineBatchOutput:
+        """Run full pipeline and return cropped images + hashes + debug metadata.
+
+        Args:
+            images: Sequence of PIL Images.
+            text_labels: Text labels for detection (same for all images).
+            batch_size: Batch size for DINO feature extraction.
+            return_debug_details: Include boxes/scores/labels/masks in debug output.
+
+        Returns:
+            PipelineBatchOutput with final cropped images, binary hash bits,
+            and per-image debug metadata.
+        """
+        if batch_size <= 0:
+            raise ValueError("batch_size must be greater than 0")
+
+        image_list = list(images)
+        if not image_list:
+            return PipelineBatchOutput(
+                hash_bits=torch.empty(
+                    (0, self.hash_bits), dtype=torch.int32, device=self.device
+                ),
+                cropped_images=[],
+                debug_meta=[],
+            )
+
+        packets = self._build_frame_packets(image_list)
+        detections_per_image = self._attach_detections(packets, text_labels)
+        self._attach_masks(packets)
+        self._select_candidates(packets)
+        self._render_filtered_images(packets)
+        self._render_cropped_images(packets, detections_per_image)
+
+        cropped_images = [
+            packet.cropped_image if packet.cropped_image is not None else packet.image
+            for packet in packets
+        ]
+
+        all_bits: list[torch.Tensor] = []
+        for index in range(0, len(cropped_images), batch_size):
+            sub_batch = cropped_images[index : index + batch_size]
+            tokens = self.extract_dino_batch(sub_batch)
+            bits = self.compress_batch(tokens)
+            all_bits.append(bits)
+
+        hash_bits = torch.cat(all_bits, dim=0)
+        debug_meta = self._build_debug_meta(packets, return_debug_details)
+        return PipelineBatchOutput(
+            hash_bits=hash_bits,
+            cropped_images=cropped_images,
+            debug_meta=debug_meta,
+        )
+
     def forward_batch(
         self,
         images: Sequence[Image.Image],
@@ -281,29 +422,11 @@ class HashPipeline:
         Returns:
             Binary hash codes of shape [N, hash_bits] as int32.
         """
-        if batch_size <= 0:
-            raise ValueError("batch_size must be greater than 0")
-
-        image_list = list(images)
-        if not image_list:
-            return torch.empty(
-                (0, self.hash_bits), dtype=torch.int32, device=self.device
-            )
-
-        detections = self.detect_batch(image_list, text_labels)
-        bboxes = [[d["bbox"] for d in dets] for dets in detections]
-        masks = self.segment_batch(image_list, bboxes)
-        processed = self.filter_batch(image_list, masks)
-        processed = self.crop_batch(processed, masks, detections)
-
-        all_bits: list[torch.Tensor] = []
-        for i in range(0, len(processed), batch_size):
-            sub_batch = processed[i : i + batch_size]
-            tokens = self.extract_dino_batch(sub_batch)
-            bits = self.compress_batch(tokens)
-            all_bits.append(bits)
-
-        return torch.cat(all_bits, dim=0)
+        return self.process_batch(
+            images=images,
+            text_labels=text_labels,
+            batch_size=batch_size,
+        ).hash_bits
 
     def extract_features_dataset(
         self,
@@ -330,15 +453,15 @@ class HashPipeline:
                 (0, self.dino_dim), dtype=torch.float32, device=self.device
             )
 
-        detections = self.detect_batch(image_list, text_labels)
-        bboxes = [[d["bbox"] for d in dets] for dets in detections]
-        masks = self.segment_batch(image_list, bboxes)
-        processed = self.filter_batch(image_list, masks)
-        processed = self.crop_batch(processed, masks, detections)
+        processed = self.process_batch(
+            images=image_list,
+            text_labels=text_labels,
+            batch_size=batch_size,
+        ).cropped_images
 
         all_features: list[torch.Tensor] = []
-        for i in range(0, len(processed), batch_size):
-            sub_batch = processed[i : i + batch_size]
+        for index in range(0, len(processed), batch_size):
+            sub_batch = processed[index : index + batch_size]
             tokens = self.extract_dino_batch(sub_batch)
             features = tokens.mean(dim=1)
             all_features.append(F.normalize(features, dim=-1))
diff --git a/notebooks/proposal_segament.py b/notebooks/proposal_segament.py
index 188c594..b5f8dcb 100644
--- a/notebooks/proposal_segament.py
+++ b/notebooks/proposal_segament.py
@@ -76,8 +76,7 @@ def _(agent, room_nodes, sim, views_per_room):
 
 @app.cell
 def _(ImageDraw, ImageFont, all_room_views, mo):
-    from compressors.model_loader import load_owlv2_model
-    from compressors.proposal.core import detect_objects_batch
+    from compressors import HashPipeline
     from utils.common import get_device
     from utils.image import numpy_to_pil
 
@@ -96,22 +95,25 @@ def _(ImageDraw, ImageFont, all_room_views, mo):
         "a window",
     ]
 
-    owl_processor, owl_model = load_owlv2_model(
-        model_name="google/owlv2-base-patch16-ensemble"
+    pipeline = HashPipeline(
+        owlv2_model="google/owlv2-base-patch16-ensemble",
+        score_threshold=score_threshold,
+        postprocess_threshold=postprocess_threshold,
     )
 
     image = numpy_to_pil(all_room_views["room_00"][1])
 
-    detection_batch = detect_objects_batch(
-        model=owl_model,
-        processor=owl_processor,
+    output = pipeline.process_batch(
         images=[image],
-        text_labels_per_image=[text_labels],
-        score_threshold=score_threshold,
-        postprocess_threshold=postprocess_threshold,
+        text_labels=text_labels,
+        batch_size=1,
+        return_debug_details=True,
     )
-    detections = detection_batch[0] if detection_batch else []
-    filtered_items = [(det["bbox"], det["score"], det["label"]) for det in detections]
+    meta = output.debug_meta[0] if output.debug_meta else {}
+    boxes = meta.get("boxes_xyxy", [])
+    scores = meta.get("scores", [])
+    labels = meta.get("labels", [])
+    filtered_items = list(zip(boxes, scores, labels, strict=False))
 
     _vis_image = image.copy()
     _draw = ImageDraw.Draw(_vis_image)
@@ -162,32 +164,56 @@ def _(ImageDraw, ImageFont, all_room_views, mo):
             mo.md(detection_text),
         ]
     )
-    return device, filtered_items, image
+    return device, filtered_items, image, meta
 
 
 @app.cell
-def _(Image, ImageDraw, device, filtered_items, image, mo, np):
-    from compressors.model_loader import load_sam_model
-    from compressors.proposal.core import generate_proposals_batch
+def _(meta):
+    proposals = meta.get("masks", [])
+    return (proposals,)
 
-    sam2_processor, sam2_model = load_sam_model(
-        model_name="facebook/sam2.1-hiera-large"
+
+@app.cell
+def _(Image, ImageDraw, filtered_items, image, mo, np, proposals):
+    from compressors.filter import (
+        MaskScoringConfig,
+        compute_mask_features,
+        score_mask,
+        should_reject_mask,
     )
 
-    input_boxes = [[box for box, _score, _text_label in filtered_items]]
-    proposal_batch = generate_proposals_batch(
-        model=sam2_model,
-        processor=sam2_processor,
-        images=[image],
-        bboxes_per_image=input_boxes,
-    )
-    proposals = proposal_batch[0] if proposal_batch else []
+    image_shape = (image.height, image.width)
+    config = MaskScoringConfig()
 
-    base_rgba = image.convert("RGBA")
-    _vis_image = base_rgba.copy()
-    summary_lines = []
+    _kept = []
+    _rejected = []
+    for _idx, proposal in enumerate(proposals):
+        _feat = compute_mask_features(proposal, image_shape)
+        _is_rejected = should_reject_mask(_feat, config)
+        _score = score_mask(proposal, image_shape, config)
+        _owl_label = (
+            filtered_items[_idx][2] if _idx < len(filtered_items) else f"obj_{_idx}"
+        )
+        _owl_score = filtered_items[_idx][1] if _idx < len(filtered_items) else 0.0
+        _owl_bbox = (
+            filtered_items[_idx][0] if _idx < len(filtered_items) else [0, 0, 0, 0]
+        )
 
-    colors = [
+        _entry = {
+            "idx": _idx,
+            "proposal": proposal,
+            "features": _feat,
+            "mask_score": _score,
+            "owl_label": _owl_label,
+            "owl_score": _owl_score,
+            "owl_bbox": _owl_bbox,
+        }
+        if _is_rejected:
+            _rejected.append(_entry)
+        else:
+            _kept.append(_entry)
+
+    _colors = [
         (255, 0, 0, 90),
         (0, 255, 0, 90),
         (0, 0, 255, 90),
@@ -198,54 +224,143 @@ def _(Image, ImageDraw, device, filtered_items, image, mo, np):
         (128, 0, 255, 90),
     ]
 
-    for _idx, ((_box, _score, _text_label), proposal) in enumerate(
-        zip(filtered_items, proposals)
-    ):
-        mask_np = proposal["segment"]
-        color = colors[_idx % len(colors)]
+    def _overlay_masks(base_img, entries, border_color, show_score=False):
+        """Overlay masks on image and draw bounding boxes with labels."""
+        _rgba = base_img.convert("RGBA").copy()
+        for _e in entries:
+            _p = _e["proposal"]
+            _c = _colors[_e["idx"] % len(_colors)]
+            _mask_rgba = np.zeros((base_img.height, base_img.width, 4), dtype=np.uint8)
+            _mask_rgba[_p["segment"]] = _c
+            _rgba = Image.alpha_composite(
+                _rgba, Image.fromarray(_mask_rgba, mode="RGBA")
+            )
 
-        mask_rgba = np.zeros((image.height, image.width, 4), dtype=np.uint8)
-        mask_rgba[mask_np] = color
+        _draw = ImageDraw.Draw(_rgba)
+        for _e in entries:
+            _x1, _y1, _x2, _y2 = [float(v) for v in _e["owl_bbox"]]
+            _mask_area = int(_e["proposal"]["area"])
+            if show_score:
+                _label = f"{_e['owl_label']} | score={_e['mask_score']:.2f} | area={_mask_area}"
+            else:
+                _label = f"{_e['owl_label']} | area={_mask_area}"
+            _draw.rectangle([_x1, _y1, _x2, _y2], outline=border_color, width=3)
 
-        mask_img = Image.fromarray(mask_rgba, mode="RGBA")
-        _vis_image = Image.alpha_composite(_vis_image, mask_img)
+            try:
+                _tb = _draw.textbbox((_x1, _y1), _label)
+            except Exception:
+                _tb = (_x1, _y1, _x1 + 200, _y1 + 20)
+            _draw.rectangle(
+                [_tb[0], max(0, _tb[1] - 2), _tb[2] + 4, _tb[3] + 2],
+                fill=border_color,
+            )
+            _draw.text((_x1 + 2, max(0, _y1)), _label, fill="white")
+        return _rgba
 
-    _draw = ImageDraw.Draw(_vis_image)
-    for (_box, _score, _text_label), proposal in zip(filtered_items, proposals):
-        _x1, _y1, _x2, _y2 = [float(v) for v in _box]
-        mask_area = int(proposal["area"])
-        _label = f"{_text_label} | owl={_score:.3f} | mask_area={mask_area}"
+    _all_entries = _kept + _rejected
+    _all_entries.sort(key=lambda e: e["idx"])
 
-        _draw.rectangle([_x1, _y1, _x2, _y2], outline=(255, 0, 0, 255), width=3)
+    _before_img = _overlay_masks(image, _all_entries, "red", show_score=False)
+    _after_img = _overlay_masks(image, _kept, (0, 180, 0), show_score=True)
 
-        try:
-            _tx1, _ty1, _tx2, _ty2 = _draw.textbbox((_x1, _y1), _label)
-        except Exception:
-            _tx1, _ty1, _tx2, _ty2 = _x1, _y1, _x1 + 220, _y1 + 20
+    _draw_after = ImageDraw.Draw(_after_img)
+    for _e in _rejected:
+        _x1, _y1, _x2, _y2 = [float(v) for v in _e["owl_bbox"]]
+        _feat = _e["features"]
+        _reason_parts = []
+        if _feat.area_ratio < config.min_area_ratio:
+            _reason_parts.append(f"area_ratio={_feat.area_ratio:.4f}<min")
+        if _feat.area_ratio > config.max_area_ratio:
+            _reason_parts.append(f"area_ratio={_feat.area_ratio:.4f}>max")
+        _aspect = max(_feat.aspect_ratio, 1.0 / max(_feat.aspect_ratio, 1e-6))
+        if _aspect > config.max_aspect_ratio:
+            _reason_parts.append(f"aspect={_aspect:.1f}>max")
+        if _feat.fill_ratio < config.min_fill_ratio_hard:
+            _reason_parts.append(f"fill={_feat.fill_ratio:.3f}<min")
+        if (
+            _feat.num_components > config.max_components
+            and _feat.largest_component_ratio < config.min_largest_component_ratio
+        ):
+            _reason_parts.append(f"fragments={_feat.num_components}")
+        if _feat.touch_edge_count >= config.reject_edge_touch_count:
+            _reason_parts.append(f"edge_touch={_feat.touch_edge_count}")
+        if (
+            _feat.touch_edge_count >= config.reject_large_edge_touch_count
+            and _feat.area_ratio > config.reject_large_edge_area_ratio
+        ):
+            _reason_parts.append("edge+large")
 
-        _draw.rectangle(
-            [_tx1, max(0, _ty1 - 2), _tx2 + 4, _ty2 + 2],
-            fill=(255, 0, 0, 220),
-        )
-        _draw.text((_x1 + 2, max(0, _y1)), _label, fill="white")
-        summary_lines.append(
-            f"- {_text_label}: owl_score={_score:.3f}, mask_area={mask_area}"
+        _reason = ", ".join(_reason_parts) if _reason_parts else "unknown"
+        _label = f"X {_e['owl_label']}: {_reason}"
+
+        _dash_len = 8
+        _gap_len = 4
+        for _seg_start in range(int(_x1), int(_x2), _dash_len + _gap_len):
+            _seg_end = min(_seg_start + _dash_len, int(_x2))
+            _draw_after.line([(_seg_start, _y1), (_seg_end, _y1)], fill="red", width=2)
+            _draw_after.line([(_seg_start, _y2), (_seg_end, _y2)], fill="red", width=2)
+        for _seg_start in range(int(_y1), int(_y2), _dash_len + _gap_len):
+            _seg_end = min(_seg_start + _dash_len, int(_y2))
+            _draw_after.line([(_x1, _seg_start), (_x1, _seg_end)], fill="red", width=2)
+            _draw_after.line([(_x2, _seg_start), (_x2, _seg_end)], fill="red", width=2)
+
+        _draw_after.text((_x1 + 2, max(0, _y1 - 18)), _label, fill="red")
+
+    _total = len(proposals)
+    _kept_count = len(_kept)
+    _rej_count = len(_rejected)
+
+    _rej_detail_lines = []
+    for _e in _rejected:
+        _f = _e["features"]
+        _rej_detail_lines.append(
+            f"  - **{_e['owl_label']}** (idx={_e['idx']}): "
+            f"area_ratio={_f.area_ratio:.4f}, fill_ratio={_f.fill_ratio:.3f}, "
+            f"aspect_ratio={_f.aspect_ratio:.1f}, touch_edge={_f.touch_edge_count}, "
+            f"components={_f.num_components}, mask_score={_e['mask_score']:.3f}"
         )
 
-    if not filtered_items:
-        summary_text = (
-            "没有可用于分割的检测框，请先降低 OWLv2 的 score_threshold 或检查检测结果。"
+    _kept_detail_lines = []
+    for _e in _kept:
+        _f = _e["features"]
+        _kept_detail_lines.append(
+            f"  - **{_e['owl_label']}** (idx={_e['idx']}): "
+            f"area_ratio={_f.area_ratio:.4f}, mask_score={_e['mask_score']:.3f}"
         )
-    elif not summary_lines:
-        summary_text = "没有生成任何 mask"
-    else:
-        summary_text = "\n".join(summary_lines)
+
+    _detail_parts = []
+    if _kept_detail_lines:
+        _detail_parts.append("**保留的 mask：**\n" + "\n".join(_kept_detail_lines))
+    if _rej_detail_lines:
+        _detail_parts.append("**过滤掉的 mask：**\n" + "\n".join(_rej_detail_lines))
+
+    _detail_text = "\n\n".join(_detail_parts) if _detail_parts else "无 mask 数据"
 
     mo.vstack(
         [
-            mo.md(f"## SAM2 分割可视化结果\n\ndevice: `{device}`"),
-            mo.image(_vis_image, width=700),
-            mo.md(summary_text),
+            mo.md(
+                "## Mask 过滤对比"
+                f"\n\n共 {_total} 个 mask → 保留 **{_kept_count}** 个，过滤掉 **{_rej_count}** 个"
+            ),
+            mo.hstack(
+                [
+                    mo.vstack(
+                        [
+                            mo.md(f"### 过滤前（{_total} 个）"),
+                            mo.image(_before_img, width=480),
+                        ]
+                    ),
+                    mo.vstack(
+                        [
+                            mo.md(
+                                f"### 过滤后（{_kept_count} 个保留，{_rej_count} 个过滤）"
+                            ),
+                            mo.image(_after_img, width=480),
+                        ]
+                    ),
+                ]
+            ),
+            mo.md(_detail_text),
         ]
     )
     return
diff --git a/notebooks/verification.py b/notebooks/verification.py
index 77583bc..b1e6fe6 100644
--- a/notebooks/verification.py
+++ b/notebooks/verification.py
@@ -160,7 +160,6 @@ def collect_views(
 
 @app.cell
 def build_scene_graph(
-    Image,
     ObjectNode,
     SimpleSceneGraph,
     cfg_manager,
@@ -168,9 +167,7 @@ def build_scene_graph(
     pipeline,
     room_nodes,
     room_view_dataset,
-    torch,
 ):
-    """Build scene graph using step-by-step pipeline to capture cropped images."""
     scene_graph = SimpleSceneGraph(
         rooms={_room.room_id: _room for _room in room_nodes},
         objects={},
@@ -185,36 +182,10 @@ def build_scene_graph(
     _images = [item[2] for item in room_view_dataset]
     _metadata = [(item[0], item[1]) for item in room_view_dataset]
 
-    # Step 1: Detect objects.
     _text_labels = ["object"]
-    _detections = pipeline.detect_batch(_images, _text_labels)
-
-    # Step 2: Segment with SAM.
-    _bboxes_per_image = [[_d["bbox"] for _d in _dets] for _dets in _detections]
-    _masks = pipeline.segment_batch(_images, _bboxes_per_image)
-
-    # Step 3: Filter masks.
-    _filtered = pipeline.filter_batch(_images, _masks)
-
-    # Step 4: Crop images.
-    _cropped_images = pipeline.crop_batch(_filtered, _masks, _detections)
-
-    # Step 5: Extract DINO features and compress to hash.
-    _batch_size = 32
-    _all_bits = []
-    for _i in range(0, len(_cropped_images), _batch_size):
-        _batch = _cropped_images[_i : _i + _batch_size]
-        _tokens = pipeline.extract_dino_batch(_batch)
-        _bits = pipeline.compress_batch(_tokens)
-        _all_bits.append(_bits)
-
-    hash_tensor = (
-        torch.cat(_all_bits, dim=0)
-        if _all_bits
-        else torch.empty(
-            (0, pipeline.hash_bits), dtype=torch.int32, device=pipeline.device
-        )
-    )
+    _output = pipeline.process_batch(_images, _text_labels, batch_size=32)
+    _cropped_images = _output.cropped_images
+    hash_tensor = _output.hash_bits
 
     # Step 6: Create ObjectNodes and save cropped images.
     for _idx, (_cropped, _hash_bits) in enumerate(zip(_cropped_images, hash_tensor)):
@@ -238,8 +209,13 @@ def build_scene_graph(
             last_seen_frame=_view_idx,
         )
 
+    _fallback_count = sum(
+        1 for _meta in _output.debug_meta if _meta["fallback_reason"] is not None
+    )
+
     print(f"Created {len(scene_graph.objects)} objects")
     print(f"Saved cropped images to: {output_dir}")
+    print(f"Fallback frames: {_fallback_count}/{len(_output.debug_meta)}")
 
     return hash_tensor, object_images, output_dir, scene_graph
 
@@ -302,19 +278,12 @@ def query_matching(
     if file_upload.value:
         _query_image = Image.open(io.BytesIO(file_upload.contents())).convert("RGB")
 
-        # Step-by-step processing to get cropped query image.
         _text_labels = ["object"]
-        _detections = pipeline.detect_batch([_query_image], _text_labels)
-        _bboxes = [[_d["bbox"] for _d in _dets] for _dets in _detections]
-        _masks = pipeline.segment_batch([_query_image], _bboxes)
-        _filtered = pipeline.filter_batch([_query_image], _masks)
-        _cropped = pipeline.crop_batch(_filtered, _masks, _detections)
-
-        _tokens = pipeline.extract_dino_batch(_cropped)
-        _query_bits = pipeline.compress_batch(_tokens)
+        _output = pipeline.process_batch([_query_image], _text_labels, batch_size=1)
+        _query_bits = _output.hash_bits
 
         if _query_bits.numel() > 0:
-            query_cropped = _cropped[0]
+            query_cropped = _output.cropped_images[0]
             _query_tensor = _query_bits[0].int()
 
             _obj_ids = list(scene_graph.objects.keys())