feat(aruco): implement core alignment utilities for ground plane alignment

2026-02-06 10:41:15 +00:00
parent 46dcfec648
commit 58d95df311
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+- Alignment is applied via pre-multiplication to the 4x4 pose matrix, consistent with global frame rotation.
+- Chose to raise ValueError for degenerate cases (collinear corners) in compute_face_normal.
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+- Implemented core alignment utilities in aruco/alignment.py.
+- Used Rodrigues' rotation formula for vector alignment with explicit handling for parallel and anti-parallel cases.