refactor: things

2026-03-06 17:17:59 +08:00
parent 8c6087683f
commit 33ab1a5d9d
171 changed files with 293 additions and 29894 deletions
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+## [2026-02-09] Dependency Update
+- Encountered a TOML parse error during the first `edit` attempt due to incorrect escaping of quotes and newlines in the `newString`. Fixed by providing the literal string in a subsequent `edit` call.
+
+## [2026-02-09] Final Integration
+- No regressions found in the full test suite.
+- basedpyright warnings are mostly related to missing stubs for third-party libraries (h5py, open3d, plotly) and deprecated type hints in older Python patterns, which are acceptable given the project's current state and consistency with existing code.
+
+## Working Tree Cleanup
+- Restored deleted legacy plan files in .sisyphus/plans/
+- Restored unintended modifications to apply_calibration_to_fusion_config.py
+- Restored unintended modifications to ../zed_settings/inside_shared_manual.json
+- Verified that implementation files (aruco/ground_plane.py, calibrate_extrinsics.py, refine_ground_plane.py, tests/test_ground_plane.py) remain intact.
+## Issues Encountered
+- Initial implementation placed `ground_refine` directly under camera nodes, which could break schema-strict consumers like `calibrate_extrinsics.py` output expectations.
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+
+## [2026-02-09] Dependency Update
+- Added `open3d` and `h5py` to `pyproject.toml`.
+- Successfully synced with `uv sync`.
+- Verified imports:
+  - open3d: 0.19.0
+  - h5py: 3.15.1
+
+## [2026-02-09] Ground Plane Detection Implementation
+- Implemented `unproject_depth_to_points` using vectorized NumPy operations for efficiency.
+- Implemented `detect_floor_plane` using Open3D's `segment_plane` (RANSAC) with deterministic seeding.
+- Implemented `compute_consensus_plane` with weighted averaging and normal alignment to handle flipped normals.
+- Implemented `compute_floor_correction` using `rotation_align_vectors` for minimal rotation (preserving yaw) and vertical translation.
+- Added comprehensive tests covering edge cases (outliers, bounds, identity transforms).
+- Refactored to use `FloorPlane` and `FloorCorrection` dataclasses for structured outputs.
+- Fixed test logic for `compute_consensus_plane` to correctly account for normal normalization effects on `d`.
+- Verified type safety with `basedpyright` (0 errors, only expected warnings).
+
+## [2026-02-09] Ground Plane Diagnostic Visualization
+- Implemented `create_ground_diagnostic_plot` using Plotly `go.Figure`.
+- Visualization includes:
+  - World origin axes (RGB triad).
+  - Consensus plane surface (semi-transparent gray).
+  - Per-camera floor points (scatter3d).
+  - Camera positions before (red) and after (green) refinement.
+- Added `save_diagnostic_plot` for HTML export.
+- Verified with smoke tests in `tests/test_ground_plane.py`.
+
+## [2026-02-09] Final Integration
+- Full test suite (90 tests) passed successfully.
+- basedpyright verified on new modules (depth_save.py, ground_plane.py, refine_ground_plane.py).
+- README updated with Ground Plane Refinement workflow.
+
+## [2026-02-09] Documentation Hardening
+- Updated `docs/calibrate-extrinsics-workflow.md` with detailed implementation notes.
+- Documented the HDF5 depth data schema for reproducibility.
+- Clarified the "Consensus-Relative Correction" strategy vs. absolute alignment.
+- Added explicit tuning guidance for `stride`, `ransac-dist-thresh`, and `max-rotation-deg` based on implementation constraints.
+
+## Schema Compatibility Fix
+- Moved per-camera ground refinement diagnostics to `_meta.ground_refined.per_camera` to maintain compatibility with consumers expecting only `pose` in camera nodes.
+- Preserved `<camera_sn>.pose` contract.