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feat: implement refine_ground_plane.py CLI

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crosstyan
2026-02-09 07:50:16 +00:00
parent 0f7d7a9a63
commit 9d9e95de81
4 changed files with 489 additions and 1 deletions
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py_workspace/.beads/issues.jsonl
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@@ -8,7 +8,9 @@
{"id":"py_workspace-4o7","title":"Implement ground_plane.py for floor detection and alignment","status":"closed","priority":2,"issue_type":"task","owner":"crosstyan@outlook.com","created_at":"2026-02-09T06:58:07.905247984Z","created_by":"crosstyan","updated_at":"2026-02-09T07:04:51.276602825Z","closed_at":"2026-02-09T07:04:51.276602825Z","close_reason":"Implemented ground_plane.py with core primitives and tests"}
{"id":"py_workspace-62y","title":"Fix depth pooling fallback threshold","status":"closed","priority":2,"issue_type":"task","owner":"crosstyan@outlook.com","created_at":"2026-02-07T08:12:12.046607198Z","created_by":"crosstyan","updated_at":"2026-02-07T08:13:12.98625698Z","closed_at":"2026-02-07T08:13:12.98625698Z","close_reason":"Updated fallback threshold to strict comparison"}
{"id":"py_workspace-6m5","title":"Robust Optimizer Implementation","status":"closed","priority":0,"issue_type":"task","owner":"crosstyan@outlook.com","created_at":"2026-02-07T05:22:45.183574374Z","created_by":"crosstyan","updated_at":"2026-02-07T05:22:53.151871639Z","closed_at":"2026-02-07T05:22:53.151871639Z","close_reason":"Implemented robust optimizer with least_squares and soft_l1 loss, updated tests"}
{"id":"py_workspace-6o5","title":"Implement refine_ground_plane.py CLI","status":"closed","priority":2,"issue_type":"task","owner":"crosstyan@outlook.com","created_at":"2026-02-09T07:44:20.718900027Z","created_by":"crosstyan","updated_at":"2026-02-09T07:49:44.022114568Z","closed_at":"2026-02-09T07:49:44.022114568Z","close_reason":"Implemented refine_ground_plane.py CLI and tests"}
{"id":"py_workspace-6sg","title":"Document marker parquet structure","status":"closed","priority":2,"issue_type":"task","owner":"crosstyan@outlook.com","created_at":"2026-02-07T02:48:08.95742431Z","created_by":"crosstyan","updated_at":"2026-02-07T02:49:35.897152691Z","closed_at":"2026-02-07T02:49:35.897152691Z","close_reason":"Documented parquet structure in aruco/markers/PARQUET_FORMAT.md"}
{"id":"py_workspace-6zc","title":"Implement ground plane orchestration","status":"closed","priority":2,"issue_type":"task","owner":"crosstyan@outlook.com","created_at":"2026-02-09T07:26:38.678128415Z","created_by":"crosstyan","updated_at":"2026-02-09T07:38:47.610828242Z","closed_at":"2026-02-09T07:38:47.610828242Z","close_reason":"Implemented per-camera ground plane correction"}
{"id":"py_workspace-7ul","title":"Implement global world-basis conversion for Plotly visualization","status":"closed","priority":2,"issue_type":"task","owner":"crosstyan@outlook.com","created_at":"2026-02-07T17:30:41.94482545Z","created_by":"crosstyan","updated_at":"2026-02-07T17:38:39.56245337Z","closed_at":"2026-02-07T17:38:39.56245337Z","close_reason":"Implemented global world-basis conversion"}
{"id":"py_workspace-98p","title":"Integrate multi-frame depth pooling into calibrate_extrinsics.py","status":"closed","priority":2,"issue_type":"task","owner":"crosstyan@outlook.com","created_at":"2026-02-07T07:59:35.333468652Z","created_by":"crosstyan","updated_at":"2026-02-07T08:06:37.662956356Z","closed_at":"2026-02-07T08:06:37.662956356Z","close_reason":"Implemented multi-frame depth pooling and verified with tests"}
{"id":"py_workspace-9be","title":"Complete ground_plane.py implementation and testing","status":"closed","priority":2,"issue_type":"task","owner":"crosstyan@outlook.com","created_at":"2026-02-09T07:15:03.553485145Z","created_by":"crosstyan","updated_at":"2026-02-09T07:17:45.013580044Z","closed_at":"2026-02-09T07:17:45.013580044Z","close_reason":"Completed ground_plane.py implementation and testing with full coverage"}
@@ -23,6 +25,7 @@
{"id":"py_workspace-f23","title":"Add --origin-axes-scale option to visualize_extrinsics.py","status":"closed","priority":2,"issue_type":"feature","owner":"crosstyan@outlook.com","created_at":"2026-02-08T05:37:35.228917793Z","created_by":"crosstyan","updated_at":"2026-02-08T05:38:31.173898101Z","closed_at":"2026-02-08T05:38:31.173898101Z","close_reason":"Implemented --origin-axes-scale option and verified with rendering."}
{"id":"py_workspace-gii","title":"Implement Y-down auto-align and add metadata to extrinsics output","status":"closed","priority":2,"issue_type":"task","owner":"crosstyan@outlook.com","created_at":"2026-02-09T04:10:40.0580733Z","created_by":"crosstyan","updated_at":"2026-02-09T04:11:31.853050842Z","closed_at":"2026-02-09T04:11:31.853050842Z","close_reason":"Implemented Y-down auto-align and added metadata to extrinsics output JSON."}
{"id":"py_workspace-gv2","title":"Create apply_calibration_to_fusion_config.py script","status":"closed","priority":2,"issue_type":"task","owner":"crosstyan@outlook.com","created_at":"2026-02-09T03:20:08.635031083Z","created_by":"crosstyan","updated_at":"2026-02-09T03:21:20.005139771Z","closed_at":"2026-02-09T03:21:20.005139771Z","close_reason":"Script created and verified with smoke test and type checking."}
{"id":"py_workspace-hnw","title":"Integrate --save-depth flag into calibrate_extrinsics.py","status":"closed","priority":2,"issue_type":"task","owner":"crosstyan@outlook.com","created_at":"2026-02-09T07:21:32.541956991Z","created_by":"crosstyan","updated_at":"2026-02-09T07:25:26.398780574Z","closed_at":"2026-02-09T07:25:26.398780574Z","close_reason":"Implemented --save-depth flag and integration tests"}
{"id":"py_workspace-j8b","title":"Research scipy.optimize.least_squares robust optimization for depth residuals","status":"closed","priority":2,"issue_type":"task","owner":"crosstyan@outlook.com","created_at":"2026-02-07T04:54:04.720996955Z","created_by":"crosstyan","updated_at":"2026-02-07T04:55:22.995644Z","closed_at":"2026-02-07T04:55:22.995644Z","close_reason":"Research completed and recommendations provided."}
{"id":"py_workspace-kpa","title":"Unit Hardening (P0)","status":"closed","priority":0,"issue_type":"task","owner":"crosstyan@outlook.com","created_at":"2026-02-07T05:01:46.342605011Z","created_by":"crosstyan","updated_at":"2026-02-07T05:01:51.303022101Z","closed_at":"2026-02-07T05:01:51.303022101Z","close_reason":"Implemented unit hardening in SVOReader: set coordinate_units=METER and guarded manual conversion in _retrieve_depth. Added depth sanity logs."}
{"id":"py_workspace-kuy","title":"Move parquet documentation to docs/","status":"closed","priority":2,"issue_type":"task","owner":"crosstyan@outlook.com","created_at":"2026-02-07T02:52:12.609090777Z","created_by":"crosstyan","updated_at":"2026-02-07T02:52:43.088520272Z","closed_at":"2026-02-07T02:52:43.088520272Z","close_reason":"Moved parquet documentation to docs/marker-parquet-format.md"}