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
@@ -20,3 +20,9 @@
 ## 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.