refactor: remove --metrics-json from refine_ground_plane.py

py_workspace/refine_ground_plane.py

@@ -11,7 +11,6 @@ from aruco.ground_plane import (
     refine_ground_from_depth,
     create_ground_diagnostic_plot,
     save_diagnostic_plot,
-    GroundPlaneMetrics,
     Mat44,
 )
 from aruco.depth_save import load_depth_data
@@ -39,11 +38,6 @@ from aruco.depth_save import load_depth_data
     type=click.Path(dir_okay=False),
     help="Output extrinsics JSON file.",
 )
-@click.option(
-    "--metrics-json",
-    type=click.Path(dir_okay=False),
-    help="Optional path to save metrics JSON.",
-)
 @click.option(
     "--plot/--no-plot",
     default=True,
@@ -100,7 +94,6 @@ def main(
     input_extrinsics: str,
     input_depth: str,
     output_extrinsics: str,
-    metrics_json: Optional[str],
     plot: bool,
     plot_output: Optional[str],
     max_rotation_deg: float,
@@ -197,6 +190,8 @@ def main(
         # 5. Save Output Extrinsics
         output_data = extrinsics_data.copy()
 
+        per_camera_diagnostics = {}
+
         for serial, T_new in new_extrinsics.items():
             if serial in output_data:
                 pose_str = " ".join(f"{x:.6f}" for x in T_new.flatten())
@@ -209,13 +204,13 @@ def main(
                     rot_deg = float(np.rad2deg(np.arccos(cos_angle)))
                     trans_m = float(np.linalg.norm(T_corr[:3, 3]))
 
-                    output_data[serial]["ground_refine"] = {
+                    per_camera_diagnostics[serial] = {
                         "corrected": True,
                         "delta_rot_deg": rot_deg,
                         "delta_trans_m": trans_m,
                     }
                 else:
-                    output_data[serial]["ground_refine"] = {
+                    per_camera_diagnostics[serial] = {
                         "corrected": False,
                         "reason": "skipped_or_failed",
                     }
@@ -239,32 +234,14 @@ def main(
                 "max_rotation_deg": metrics.rotation_deg,
                 "max_translation_m": metrics.translation_m,
             },
+            "per_camera": per_camera_diagnostics,
         }
 
         logger.info(f"Saving refined extrinsics to {output_extrinsics}")
         with open(output_extrinsics, "w") as f:
             json.dump(output_data, f, indent=4, sort_keys=True)
 
-        # 6. Save Metrics JSON (Optional)
-        if metrics_json:
-            metrics_data = {
-                "success": metrics.success,
-                "message": metrics.message,
-                "num_cameras_total": metrics.num_cameras_total,
-                "num_cameras_valid": metrics.num_cameras_valid,
-                "skipped_cameras": metrics.skipped_cameras,
-                "max_rotation_deg": metrics.rotation_deg,
-                "max_translation_m": metrics.translation_m,
-                "camera_corrections": {
-                    s: " ".join(f"{x:.6f}" for x in T.flatten())
-                    for s, T in metrics.camera_corrections.items()
-                },
-            }
-            logger.info(f"Saving metrics to {metrics_json}")
-            with open(metrics_json, "w") as f:
-                json.dump(metrics_data, f, indent=4)
-
-        # 7. Generate Plot (Optional)
+        # 6. Generate Plot (Optional)
         if plot:
             if not plot_output:
                 plot_output = str(Path(output_extrinsics).with_suffix(".html"))
@@ -286,4 +263,4 @@ def main(
 
 
 if __name__ == "__main__":
-    main()
+    main()  # pylint: disable=no-value-for-parameter