fix: implement per-camera ground plane correction

py_workspace/tests/test_ground_plane.py

@@ -466,7 +466,7 @@ def test_refine_ground_from_depth_success():
     # We started with floor at y=-1.0. Target is y=0.0.
     # So we expect translation of +1.0 in Y.
     # T_corr should have ty approx 1.0.
-    T_corr = metrics.correction_transform
+    T_corr = metrics.camera_corrections["cam1"]
     assert abs(T_corr[1, 3] - 1.0) < 0.1  # Allow some slack for RANSAC noise
 
     # Check new extrinsics
@@ -475,3 +475,70 @@ def test_refine_ground_from_depth_success():
     # New T origin y should be -3 + 1 = -2.
     T_new = new_extrinsics["cam1"]
     assert abs(T_new[1, 3] - (-2.0)) < 0.1
+
+    # Verify per-camera corrections
+    assert "cam1" in metrics.camera_corrections
+    assert "cam2" in metrics.camera_corrections
+    assert len(metrics.camera_corrections) == 2
+
+
+def test_refine_ground_from_depth_partial_success():
+    # 2 cameras, but only 1 finds a plane
+    # Should still succeed if min_valid_cameras=1 (or if we relax it)
+    # But config default is 2.
+    # Let's set min_valid_cameras=1
+    config = GroundPlaneConfig(
+        min_valid_cameras=1,
+        min_inliers=10,
+        target_y=0.0,
+    )
+
+    width, height = 20, 20
+    K = np.eye(3)
+    K[0, 2] = 10
+    K[1, 2] = 10
+    K[0, 0] = 20
+    K[1, 1] = 20
+
+    # Cam 1: Valid plane (same as success test)
+    Rx_neg90 = np.array([[1, 0, 0], [0, 0, 1], [0, -1, 0]])
+    t = np.array([0, -3, 0])
+    T_world_cam = np.eye(4)
+    T_world_cam[:3, :3] = Rx_neg90
+    T_world_cam[:3, 3] = t
+    depth_map_valid = np.full((height, width), 2.0, dtype=np.float32)
+
+    # Need to ensure we have enough points for RANSAC
+    config.stride = 1
+
+    # Cam 2: Invalid depth (zeros)
+    depth_map_invalid = np.zeros((height, width), dtype=np.float32)
+
+    camera_data = {
+        "cam1": {"depth": depth_map_valid, "K": K},
+        "cam2": {"depth": depth_map_invalid, "K": K},
+    }
+    extrinsics = {
+        "cam1": T_world_cam,
+        "cam2": T_world_cam,
+    }
+
+    new_extrinsics, metrics = refine_ground_from_depth(camera_data, extrinsics, config)
+
+    assert metrics.success
+    assert metrics.num_cameras_valid == 1
+    assert metrics.correction_applied
+
+    # Cam 1 should be corrected
+    assert "cam1" in metrics.camera_corrections
+    assert "cam1" not in metrics.skipped_cameras
+
+    # Cam 2 should be skipped
+    assert "cam2" not in metrics.camera_corrections
+    assert "cam2" in metrics.skipped_cameras
+
+    # Cam 2 extrinsics should be unchanged
+    np.testing.assert_array_equal(new_extrinsics["cam2"], extrinsics["cam2"])
+
+    # Cam 1 extrinsics should be changed
+    assert not np.array_equal(new_extrinsics["cam1"], extrinsics["cam1"])