chore: update beads and sisyphus tracking

2026-02-10 15:32:10 +00:00
parent 25733af4ec
commit 1d2e66a34c
12 changed files with 1104 additions and 0 deletions
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+## 2026-02-10T09:46:30Z Initialized
+- No additional execution-time decisions recorded yet.
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+## 2026-02-10T09:46:30Z Initialized
+- No issues recorded yet.
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+## 2026-02-10T09:46:30Z Initialized
+- No unresolved blockers at session start.
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 - Used `scipy.spatial.transform.Rotation` with `xyz` Euler convention for gravity regularization to ensure consistent blending of pitch/roll.
 - `extract_near_floor_band` uses dot product with floor normal to handle arbitrary floor orientations (not just Y-up).
 - `refine_with_icp` uses a BFS-based connectivity check to ensure only cameras reachable from the reference camera are optimized.
+
+## Balanced SN442 Profile
+- Decided to document a "Balanced Profile" in the README to provide a standard recovery path for cameras that fail strict ground plane alignment.
+- Chose GICP over point-to-plane for the balanced profile due to its superior robustness with noisy ZED depth data in multi-camera setups.
+- Set `--seed 42` in the recommended command to ensure deterministic results for users debugging their calibration.
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 ## ICP Registration
 - GICP method in `pairwise_icp` requires normals, which are estimated internally if not provided.
 - Synthetic tests for ICP should use deterministic seeds for point cloud generation to ensure stability.
+
+## Balanced SN442 Profile
+- A balanced profile was established to handle cameras (like SN44289123) that show significant floor disconnect (~5.5cm translation, ~1.5° rotation).
+- Permissive RANSAC threshold (0.05m) and min inlier ratio (0.01) allow recovery when strict defaults fail.
+- Safety limits were increased to `--max-rotation-deg 15` and `--max-translation-m 1.0` to accommodate observed disconnects.
+- GICP with 0.04m voxel size provides robust inter-camera alignment following ground plane correction.