feat: implement ground_plane.py with floor detection and alignment primitives

2026-02-09 07:05:35 +00:00
parent fb9a2b40b4
commit 1d3266ec60
3 changed files with 291 additions and 0 deletions
@@ -5,6 +5,7 @@
 {"id":"py_workspace-291","title":"Create camera pose comparison script","status":"closed","priority":2,"issue_type":"task","owner":"crosstyan@outlook.com","created_at":"2026-02-08T07:51:14.710189364Z","created_by":"crosstyan","updated_at":"2026-02-08T07:53:52.647760731Z","closed_at":"2026-02-08T07:53:52.647760731Z","close_reason":"Implemented compare_pose_sets.py script and verified with provided command."}
 {"id":"py_workspace-2c1","title":"Add manual ground-plane overlay to visualize_extrinsics.py","status":"closed","priority":2,"issue_type":"task","owner":"crosstyan@outlook.com","created_at":"2026-02-07T16:15:17.432846006Z","created_by":"crosstyan","updated_at":"2026-02-07T16:16:18.287496896Z","closed_at":"2026-02-07T16:16:18.287496896Z","close_reason":"Implemented ground-plane overlay with CLI options and updated README."}
 {"id":"py_workspace-49i","title":"Add explicit validation for 4x4 transformation matrices in compare_pose_sets.py","status":"closed","priority":2,"issue_type":"task","owner":"crosstyan@outlook.com","created_at":"2026-02-09T03:22:47.591167295Z","created_by":"crosstyan","updated_at":"2026-02-09T03:23:53.008806228Z","closed_at":"2026-02-09T03:23:53.008806228Z","close_reason":"Added explicit validation for 4x4 transformation matrices in parse_pose() with context-aware error messages. Verified with existing data."}
+{"id":"py_workspace-4o7","title":"Implement ground_plane.py for floor detection and alignment","status":"closed","priority":2,"issue_type":"task","owner":"crosstyan@outlook.com","created_at":"2026-02-09T06:58:07.905247984Z","created_by":"crosstyan","updated_at":"2026-02-09T07:04:51.276602825Z","closed_at":"2026-02-09T07:04:51.276602825Z","close_reason":"Implemented ground_plane.py with core primitives and tests"}
 {"id":"py_workspace-62y","title":"Fix depth pooling fallback threshold","status":"closed","priority":2,"issue_type":"task","owner":"crosstyan@outlook.com","created_at":"2026-02-07T08:12:12.046607198Z","created_by":"crosstyan","updated_at":"2026-02-07T08:13:12.98625698Z","closed_at":"2026-02-07T08:13:12.98625698Z","close_reason":"Updated fallback threshold to strict comparison"}
 {"id":"py_workspace-6m5","title":"Robust Optimizer Implementation","status":"closed","priority":0,"issue_type":"task","owner":"crosstyan@outlook.com","created_at":"2026-02-07T05:22:45.183574374Z","created_by":"crosstyan","updated_at":"2026-02-07T05:22:53.151871639Z","closed_at":"2026-02-07T05:22:53.151871639Z","close_reason":"Implemented robust optimizer with least_squares and soft_l1 loss, updated tests"}
 {"id":"py_workspace-6sg","title":"Document marker parquet structure","status":"closed","priority":2,"issue_type":"task","owner":"crosstyan@outlook.com","created_at":"2026-02-07T02:48:08.95742431Z","created_by":"crosstyan","updated_at":"2026-02-07T02:49:35.897152691Z","closed_at":"2026-02-07T02:49:35.897152691Z","close_reason":"Documented parquet structure in aruco/markers/PARQUET_FORMAT.md"}
@@ -12,8 +13,10 @@
 {"id":"py_workspace-98p","title":"Integrate multi-frame depth pooling into calibrate_extrinsics.py","status":"closed","priority":2,"issue_type":"task","owner":"crosstyan@outlook.com","created_at":"2026-02-07T07:59:35.333468652Z","created_by":"crosstyan","updated_at":"2026-02-07T08:06:37.662956356Z","closed_at":"2026-02-07T08:06:37.662956356Z","close_reason":"Implemented multi-frame depth pooling and verified with tests"}
 {"id":"py_workspace-a85","title":"Add CLI option for ArUco dictionary in calibrate_extrinsics.py","status":"closed","priority":2,"issue_type":"task","owner":"crosstyan@outlook.com","created_at":"2026-02-06T10:13:41.896728814Z","created_by":"crosstyan","updated_at":"2026-02-07T07:29:52.290976525Z","closed_at":"2026-02-07T07:29:52.290976525Z","close_reason":"Implemented multi-frame depth pooling in calibrate_extrinsics.py"}
 {"id":"py_workspace-afh","title":"Inspect tmp_visualizer.html camera layout","notes":"Inspected tmp_visualizer.html. cam_0 is at (0,0,0). cam_1 is at (1,0,0). cam_2 is at (0, 0.5, 1.0). Axes are RGB=XYZ. Layout matches expected synthetic geometry.","status":"closed","priority":2,"issue_type":"task","owner":"crosstyan@outlook.com","created_at":"2026-02-07T15:40:04.162565539Z","created_by":"crosstyan","updated_at":"2026-02-07T15:42:10.721124074Z","closed_at":"2026-02-07T15:42:10.721124074Z","close_reason":"Inspection complete. Layout matches synthetic input."}
+{"id":"py_workspace-aif","title":"Update visualization conventions documentation","status":"closed","priority":2,"issue_type":"task","owner":"crosstyan@outlook.com","created_at":"2026-02-09T04:20:14.893831963Z","created_by":"crosstyan","updated_at":"2026-02-09T04:22:07.154821825Z","closed_at":"2026-02-09T04:22:07.154821825Z","close_reason":"Updated documentation with current policy checklist, metadata details, and known pitfalls"}
 {"id":"py_workspace-cg4","title":"Implement geometry-first auto-align heuristic","status":"closed","priority":2,"issue_type":"task","owner":"crosstyan@outlook.com","created_at":"2026-02-07T16:48:33.048250646Z","created_by":"crosstyan","updated_at":"2026-02-07T16:53:54.772815505Z","closed_at":"2026-02-07T16:53:54.772815505Z","close_reason":"Closed"}
 {"id":"py_workspace-cg9","title":"Implement core alignment utilities (Task 1)","status":"closed","priority":2,"issue_type":"task","owner":"crosstyan@outlook.com","created_at":"2026-02-06T10:40:36.296030875Z","created_by":"crosstyan","updated_at":"2026-02-06T10:40:46.196825039Z","closed_at":"2026-02-06T10:40:46.196825039Z","close_reason":"Implemented compute_face_normal, rotation_align_vectors, and apply_alignment_to_pose in aruco/alignment.py"}
+{"id":"py_workspace-e09","title":"Implement aruco/depth_save.py","status":"in_progress","priority":2,"issue_type":"task","owner":"crosstyan@outlook.com","created_at":"2026-02-09T06:58:01.987010195Z","created_by":"crosstyan","updated_at":"2026-02-09T06:58:09.311371064Z"}
 {"id":"py_workspace-ecz","title":"Update visualization conventions docs with alignment details","status":"closed","priority":2,"issue_type":"task","owner":"crosstyan@outlook.com","created_at":"2026-02-08T07:47:49.633647436Z","created_by":"crosstyan","updated_at":"2026-02-08T07:48:25.728323257Z","closed_at":"2026-02-08T07:48:25.728323257Z","close_reason":"Added alignment methodology section to docs"}
 {"id":"py_workspace-ee1","title":"Implement depth-mode argument resolution in calibrate_extrinsics.py","status":"closed","priority":2,"issue_type":"task","owner":"crosstyan@outlook.com","created_at":"2026-02-07T06:31:03.430147225Z","created_by":"crosstyan","updated_at":"2026-02-07T06:33:43.204825053Z","closed_at":"2026-02-07T06:33:43.204825053Z","close_reason":"Implemented depth-mode argument resolution logic and verified with multiple test cases."}
 {"id":"py_workspace-f23","title":"Add --origin-axes-scale option to visualize_extrinsics.py","status":"closed","priority":2,"issue_type":"feature","owner":"crosstyan@outlook.com","created_at":"2026-02-08T05:37:35.228917793Z","created_by":"crosstyan","updated_at":"2026-02-08T05:38:31.173898101Z","closed_at":"2026-02-08T05:38:31.173898101Z","close_reason":"Implemented --origin-axes-scale option and verified with rendering."}