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feat(icp): add hybrid/full point extraction with SOR preprocessing

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crosstyan
2026-02-10 15:31:46 +00:00
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py_workspace/.sisyphus/notepads/full-icp-pipeline/learnings.md
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- Confirmed that empty inputs return 0.0 volume.
- Confirmed that disjoint boxes return 0.0 volume.
- Confirmed that partial and full overlaps return correct hand-calculable volumes.
## Task 2: Point Extraction & Preprocessing
- Implemented `extract_scene_points` with floor, hybrid, and full modes.
- Implemented `preprocess_point_cloud` with statistical outlier removal (SOR).
- Added `region` field to `ICPConfig` dataclass.
- Added comprehensive tests for new extraction modes and preprocessing.
- Verified backward compatibility for floor mode.
- Verified hybrid mode behavior (vertical structure inclusion and fallback).
- Verified full mode behavior.
- Verified SOR preprocessing effectiveness.