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docs: update README and diagnosis report with depth bias correction details

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crosstyan
2026-02-11 11:41:02 +00:00
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py_workspace/.sisyphus/notepads/depth-bias-correction/learnings.md
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- Wired new CLI flags in `refine_ground_plane.py` using click options.
- Extended `_meta.icp_refined` JSON structure to include `depth_bias` config and `depth_biases` metrics.
- Logged estimated biases if available in `ICPMetrics`.
## 2026-02-11 Task: 4-e2e-validation
- E2E with `--icp-depth-bias` produced non-empty bias estimates and improved optimization outcome vs no-bias baseline.
- `extrinsics_bias_corrected.json` reports `num_cameras_optimized=1` and non-empty `depth_biases`.
- `extrinsics_no_bias.json` reports `num_cameras_optimized=0` and empty `depth_biases`.
- Improvement was achieved without loosening any gates, validating the depth-bias prepass direction.
- Documentation updated in README.md and docs/icp-depth-bias-diagnosis.md to reflect the new `--icp-depth-bias` toggle and its effectiveness in recent validation runs.