Integrate ICP refinement into refine_ground_plane.py CLI

2026-02-10 02:54:10 +00:00
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+## Notes
+- `basedpyright` reports many warnings for `open3d` due to missing type stubs; these are suppressed/ignored as they don't indicate logic errors.
+- Synthetic smoke testing requires mocking `unproject_depth_to_points` or providing valid depth/K pairs that produce overlapping points.
+- Open3D PoseGraph requires careful indexing; ensuring reference camera is at index 0 and fixed helps stabilize global optimization.
+- Gravity constraint regularization is now correctly applied relative to the original extrinsic-derived transform, preserving the RANSAC-leveled orientation.
+
+- [BUG] `build_pose_graph` in `aruco/icp_registration.py` uses `result.transformation` (which is $T_{21}$) as the edge from `idx2` to `idx1` (which expects $T_{12}$). This causes global optimization to move cameras in the wrong direction and likely exceed safety bounds.
+- Pairwise ICP convergence depends on `min_overlap_area` and `min_fitness`; cameras failing these criteria are excluded from global optimization and logged as warnings.