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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/README.md
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@@ -169,14 +169,15 @@ uv run refine_ground_plane.py \
- `--icp-band-height`: Height of the floor band in meters (default: 0.3).
- `--icp-robust-kernel`: Robust kernel for ICP optimization (none, tukey) (default: none).
- `--icp-robust-k`: Parameter k for robust kernel (default: 0.1).
- `--icp-depth-bias/--no-icp-depth-bias`: Enable/disable automatic depth bias estimation and pre-correction (default: enabled). This estimates per-camera depth offsets to improve ICP convergence in multi-camera setups with unit-to-unit inconsistencies.
**Hybrid Mode Example:**
Refine using both floor and vertical structures (walls/pillars) with global initialization:
Refine using both floor and vertical structures (walls/pillars) with global initialization and depth bias correction:
```bash
uv run refine_ground_plane.py \
--input-extrinsics output/extrinsics.json \
--input-depth output/depth_data.h5 \
--output-extrinsics output/extrinsics_refined.json \
--icp --icp-region hybrid --icp-global-init
--icp --icp-region hybrid --icp-global-init --icp-depth-bias
```