feat: implement ICP registration for ground plane refinement and add tests

2026-02-10 03:04:43 +00:00
parent 2d42e2cdfa
commit 206c6e58ee
7 changed files with 1068 additions and 15 deletions
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+## Notes
+- 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.