feat: implement 3D AABB overlap check for ICP registration

2026-02-10 15:27:52 +00:00
parent 71b146bc72
commit adc38a441d
3 changed files with 49 additions and 19 deletions
@@ -131,6 +131,9 @@ def extract_scene_points(
        vertical_pts = points_world[vertical_mask]

        if len(vertical_pts) == 0:
+            logger.warning(
+                "No vertical structure found in hybrid mode, falling back to floor points"
+            )
            return floor_pts

        # Combine unique points (though sets are disjoint by definition of mask vs band?