chore: checkpoint ground-plane calibration refinement work

2026-02-09 10:02:48 +00:00
parent 915c7973d1
commit 511994e3a8
19 changed files with 4601 additions and 41 deletions
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+
+## Depth Data Saving Integration
+- Integrated `--save-depth` flag into `calibrate_extrinsics.py`.
+- Uses `aruco.depth_save.save_depth_data` to persist HDF5 files.
+- Captures:
+  - Intrinsics and resolution.
+  - Pooled depth and confidence maps.
+  - Pool metadata (RMSE comparison, fallback reasons).
+  - Raw candidate frames (depth, confidence, score, frame index).
+- Logic is guarded: only runs if `verify_depth` or `refine_depth` is enabled.
+- Added integration test `tests/test_depth_save_integration.py` using mocks to verify data flow without writing actual HDF5 files during testing.