feat: implement refine_ground_plane.py CLI

py_workspace/aruco/ground_plane.py

@@ -43,7 +43,9 @@ class GroundPlaneConfig:
     max_rotation_deg: float = 5.0
     max_translation_m: float = 0.1
     min_inliers: int = 500
+    min_inlier_ratio: float = 0.0
     min_valid_cameras: int = 2
+    seed: Optional[int] = None
 
 
 @dataclass
@@ -344,9 +346,20 @@ def refine_ground_from_depth(
             distance_threshold=config.ransac_dist_thresh,
             ransac_n=config.ransac_n,
             num_iterations=config.ransac_iters,
+            seed=config.seed,
         )
 
-        if plane is not None and plane.num_inliers >= config.min_inliers:
+        if plane is not None:
+            # Check inlier count
+            if plane.num_inliers < config.min_inliers:
+                continue
+
+            # Check inlier ratio if configured
+            if config.min_inlier_ratio > 0:
+                ratio = plane.num_inliers / len(points_world)
+                if ratio < config.min_inlier_ratio:
+                    continue
+
             metrics.camera_planes[serial] = plane
             valid_planes.append(plane)
             valid_serials.append(serial)