feat(aruco): add depth refinement module with bounded optimization

- Add extrinsics_to_params() and params_to_extrinsics() conversions - Add depth_residual_objective() with regularization - Add refine_extrinsics_with_depth() using L-BFGS-B - Add scipy dependency for optimization - Enforce bounds on rotation (±5°) and translation (±5cm)
2026-02-05 03:47:39 +00:00
parent 78ebe9a32e
commit 73782a7c2d
3 changed files with 176 additions and 0 deletions
@@ -19,6 +19,7 @@ dependencies = [
    "jaxtyping>=0.3.7",
    "pyarrow>=23.0.0",
    "pandas>=3.0.0",
+    "scipy>=1.17.0",
 ]

 [tool.uv.sources]