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{"id":"py_workspace-0mu","title":"Implement --render-space in visualize_extrinsics.py","status":"closed","priority":2,"issue_type":"task","owner":"crosstyan@outlook.com","created_at":"2026-02-07T16:08:12.543309499Z","created_by":"crosstyan","updated_at":"2026-02-07T16:08:17.303232927Z","closed_at":"2026-02-07T16:08:17.303232927Z","close_reason":"Implemented --render-space with opencv/opengl choices and updated README"}
{"id":"py_workspace-0q7","title":"Fix basedpyright errors in aruco/pose_averaging.py","status":"closed","priority":2,"issue_type":"task","owner":"crosstyan@outlook.com","created_at":"2026-02-07T08:53:33.377735199Z","created_by":"crosstyan","updated_at":"2026-02-07T08:58:49.252312392Z","closed_at":"2026-02-07T08:58:49.252312392Z","close_reason":"Fixed basedpyright errors"}
{"id":"py_workspace-185","title":"Update visualization conventions docs for compare_pose_sets","status":"closed","priority":2,"issue_type":"task","owner":"crosstyan@outlook.com","created_at":"2026-02-09T03:17:36.550951981Z","created_by":"crosstyan","updated_at":"2026-02-09T03:17:42.680340444Z","closed_at":"2026-02-09T03:17:42.680340444Z","close_reason":"Added documentation for compare_pose_sets.py input formats to docs/visualization-conventions.md"}
{"id":"py_workspace-214","title":"Migrate visualize_extrinsics to Plotly with diagnose mode","status":"closed","priority":2,"issue_type":"feature","owner":"crosstyan@outlook.com","created_at":"2026-02-07T15:14:40.547616056Z","created_by":"crosstyan","updated_at":"2026-02-07T15:25:00.354290874Z","closed_at":"2026-02-07T15:25:00.354290874Z","close_reason":"Fixed QA issues: Y-up enforcement, README sync, dependencies"}
{"id":"py_workspace-291","title":"Create camera pose comparison script","status":"closed","priority":2,"issue_type":"task","owner":"crosstyan@outlook.com","created_at":"2026-02-08T07:51:14.710189364Z","created_by":"crosstyan","updated_at":"2026-02-08T07:53:52.647760731Z","closed_at":"2026-02-08T07:53:52.647760731Z","close_reason":"Implemented compare_pose_sets.py script and verified with provided command."}
{"id":"py_workspace-2c1","title":"Add manual ground-plane overlay to visualize_extrinsics.py","status":"closed","priority":2,"issue_type":"task","owner":"crosstyan@outlook.com","created_at":"2026-02-07T16:15:17.432846006Z","created_by":"crosstyan","updated_at":"2026-02-07T16:16:18.287496896Z","closed_at":"2026-02-07T16:16:18.287496896Z","close_reason":"Implemented ground-plane overlay with CLI options and updated README."}
{"id":"py_workspace-49i","title":"Add explicit validation for 4x4 transformation matrices in compare_pose_sets.py","status":"closed","priority":2,"issue_type":"task","owner":"crosstyan@outlook.com","created_at":"2026-02-09T03:22:47.591167295Z","created_by":"crosstyan","updated_at":"2026-02-09T03:23:53.008806228Z","closed_at":"2026-02-09T03:23:53.008806228Z","close_reason":"Added explicit validation for 4x4 transformation matrices in parse_pose() with context-aware error messages. Verified with existing data."}
{"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-8rq","title":"Harden ground plane algorithm","status":"closed","priority":2,"issue_type":"task","owner":"crosstyan@outlook.com","created_at":"2026-02-09T08:39:37.627167354Z","created_by":"crosstyan","updated_at":"2026-02-09T08:45:37.953824041Z","closed_at":"2026-02-09T08:45:37.953824041Z","close_reason":"Implemented robust ground plane algorithm with normal filtering, median consensus, and deviation checks"}
{"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"}
{"id":"py_workspace-a85","title":"Add CLI option for ArUco dictionary in calibrate_extrinsics.py","status":"closed","priority":2,"issue_type":"task","owner":"crosstyan@outlook.com","created_at":"2026-02-06T10:13:41.896728814Z","created_by":"crosstyan","updated_at":"2026-02-07T07:29:52.290976525Z","closed_at":"2026-02-07T07:29:52.290976525Z","close_reason":"Implemented multi-frame depth pooling in calibrate_extrinsics.py"}
{"id":"py_workspace-afh","title":"Inspect tmp_visualizer.html camera layout","notes":"Inspected tmp_visualizer.html. cam_0 is at (0,0,0). cam_1 is at (1,0,0). cam_2 is at (0, 0.5, 1.0). Axes are RGB=XYZ. Layout matches expected synthetic geometry.","status":"closed","priority":2,"issue_type":"task","owner":"crosstyan@outlook.com","created_at":"2026-02-07T15:40:04.162565539Z","created_by":"crosstyan","updated_at":"2026-02-07T15:42:10.721124074Z","closed_at":"2026-02-07T15:42:10.721124074Z","close_reason":"Inspection complete. Layout matches synthetic input."}
{"id":"py_workspace-aif","title":"Update visualization conventions documentation","status":"closed","priority":2,"issue_type":"task","owner":"crosstyan@outlook.com","created_at":"2026-02-09T04:20:14.893831963Z","created_by":"crosstyan","updated_at":"2026-02-09T04:22:07.154821825Z","closed_at":"2026-02-09T04:22:07.154821825Z","close_reason":"Updated documentation with current policy checklist, metadata details, and known pitfalls"}
{"id":"py_workspace-cg4","title":"Implement geometry-first auto-align heuristic","status":"closed","priority":2,"issue_type":"task","owner":"crosstyan@outlook.com","created_at":"2026-02-07T16:48:33.048250646Z","created_by":"crosstyan","updated_at":"2026-02-07T16:53:54.772815505Z","closed_at":"2026-02-07T16:53:54.772815505Z","close_reason":"Closed"}
{"id":"py_workspace-cg9","title":"Implement core alignment utilities (Task 1)","status":"closed","priority":2,"issue_type":"task","owner":"crosstyan@outlook.com","created_at":"2026-02-06T10:40:36.296030875Z","created_by":"crosstyan","updated_at":"2026-02-06T10:40:46.196825039Z","closed_at":"2026-02-06T10:40:46.196825039Z","close_reason":"Implemented compute_face_normal, rotation_align_vectors, and apply_alignment_to_pose in aruco/alignment.py"}
{"id":"py_workspace-e09","title":"Implement aruco/depth_save.py","status":"closed","priority":2,"issue_type":"task","owner":"crosstyan@outlook.com","created_at":"2026-02-09T06:58:01.987010195Z","created_by":"crosstyan","updated_at":"2026-02-09T07:17:05.33050495Z","closed_at":"2026-02-09T07:17:05.33050495Z","close_reason":"Implemented depth_save.py with HDF5 persistence and passed tests/type checks"}
{"id":"py_workspace-ecz","title":"Update visualization conventions docs with alignment details","status":"closed","priority":2,"issue_type":"task","owner":"crosstyan@outlook.com","created_at":"2026-02-08T07:47:49.633647436Z","created_by":"crosstyan","updated_at":"2026-02-08T07:48:25.728323257Z","closed_at":"2026-02-08T07:48:25.728323257Z","close_reason":"Added alignment methodology section to docs"}
{"id":"py_workspace-ee1","title":"Implement depth-mode argument resolution in calibrate_extrinsics.py","status":"closed","priority":2,"issue_type":"task","owner":"crosstyan@outlook.com","created_at":"2026-02-07T06:31:03.430147225Z","created_by":"crosstyan","updated_at":"2026-02-07T06:33:43.204825053Z","closed_at":"2026-02-07T06:33:43.204825053Z","close_reason":"Implemented depth-mode argument resolution logic and verified with multiple test cases."}
{"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-i5y","title":"Remove --metrics-json from refine_ground_plane.py","description":"Remove the --metrics-json flag from refine_ground_plane.py and make _meta.ground_refined the only metrics sink. Update tests and documentation accordingly.","status":"closed","priority":2,"issue_type":"task","owner":"crosstyan@outlook.com","created_at":"2026-02-09T09:56:47.71058499Z","created_by":"crosstyan","updated_at":"2026-02-09T09:58:12.546776193Z","closed_at":"2026-02-09T09:58:12.546776193Z","close_reason":"Removed --metrics-json flag from refine_ground_plane.py, updated tests, and verified CLI help output. Documentation does not mention --metrics-json for refine_ground_plane.py."}
{"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"}
{"id":"py_workspace-kv8","title":"Update compare_pose_sets.py with Plotly visualization","status":"closed","priority":2,"issue_type":"task","owner":"crosstyan@outlook.com","created_at":"2026-02-08T07:55:38.911520186Z","created_by":"crosstyan","updated_at":"2026-02-08T07:57:13.711754402Z","closed_at":"2026-02-08T07:57:13.711754402Z","close_reason":"Added Plotly visualization to compare_pose_sets.py with camera frustums, axes, and ground plane overlay."}
{"id":"py_workspace-ld1","title":"Search for depth unit conversion and scaling patterns","status":"closed","priority":2,"issue_type":"task","owner":"crosstyan@outlook.com","created_at":"2026-02-07T04:53:53.211242053Z","created_by":"crosstyan","updated_at":"2026-02-07T04:54:56.840335809Z","closed_at":"2026-02-07T04:54:56.840335809Z","close_reason":"Exhaustive search completed. Identified manual scaling in svo_sync.py and SDK-level scaling in depth_sensing.py. Documented risks in learnings.md."}
{"id":"py_workspace-lo0","title":"Add --cv-to-opengl option to apply_calibration_to_fusion_config.py","status":"closed","priority":2,"issue_type":"feature","owner":"crosstyan@outlook.com","created_at":"2026-02-09T03:33:40.435844317Z","created_by":"crosstyan","updated_at":"2026-02-09T03:34:37.514923778Z","closed_at":"2026-02-09T03:34:37.514923778Z","close_reason":"Added --cv-to-opengl option with matrix conversion logic and documentation."}
{"id":"py_workspace-myo","title":"Update docs/calibrate-extrinsics-workflow.md with implementation details","status":"closed","priority":2,"issue_type":"task","owner":"crosstyan@outlook.com","created_at":"2026-02-09T09:08:37.688432325Z","created_by":"crosstyan","updated_at":"2026-02-09T09:13:33.810314641Z","closed_at":"2026-02-09T09:13:33.810314641Z","close_reason":"Updated documentation with implementation details"}
{"id":"py_workspace-nlu","title":"Produce A/B visualization comparison for CV world basis","status":"closed","priority":2,"issue_type":"task","owner":"crosstyan@outlook.com","created_at":"2026-02-08T03:50:56.386223999Z","created_by":"crosstyan","updated_at":"2026-02-08T03:52:41.232154353Z","closed_at":"2026-02-08T03:52:41.232154353Z","close_reason":"Generated A/B comparison images and analyzed visual differences. Source files remain unchanged."}
{"id":"py_workspace-nvw","title":"Update documentation for robust depth refinement","status":"closed","priority":2,"issue_type":"task","owner":"crosstyan@outlook.com","created_at":"2026-02-07T05:41:32.963615133Z","created_by":"crosstyan","updated_at":"2026-02-07T05:43:55.707975317Z","closed_at":"2026-02-07T05:43:55.707975317Z","close_reason":"Documentation updated with robust refinement details"}
{"id":"py_workspace-nxy","title":"Remove --cv-to-opengl option from apply_calibration_to_fusion_config.py","status":"closed","priority":2,"issue_type":"task","owner":"crosstyan@outlook.com","created_at":"2026-02-09T04:01:56.334044487Z","created_by":"crosstyan","updated_at":"2026-02-09T04:02:55.01899015Z","closed_at":"2026-02-09T04:02:55.01899015Z","close_reason":"Removed --cv-to-opengl option and associated logic as requested."}
{"id":"py_workspace-q4w","title":"Add type hints and folder-aware --svo input in calibrate_extrinsics.py","status":"closed","priority":2,"issue_type":"task","owner":"crosstyan@outlook.com","created_at":"2026-02-06T10:01:13.943518267Z","created_by":"crosstyan","updated_at":"2026-02-06T10:03:09.855307397Z","closed_at":"2026-02-06T10:03:09.855307397Z","close_reason":"Implemented type hints and directory expansion for --svo"}
{"id":"py_workspace-q8j","title":"Add script to visualize generated camera extrinsics","status":"closed","priority":2,"issue_type":"task","owner":"crosstyan@outlook.com","created_at":"2026-02-07T08:22:35.151648893Z","created_by":"crosstyan","updated_at":"2026-02-07T08:27:27.034717788Z","closed_at":"2026-02-07T08:27:27.034717788Z","close_reason":"Implemented visualize_extrinsics.py utility script and verified with example data."}
{"id":"py_workspace-qf9","title":"Implement RMSE-based fallback for depth pooling","status":"closed","priority":2,"issue_type":"task","owner":"crosstyan@outlook.com","created_at":"2026-02-07T09:03:17.759148159Z","created_by":"crosstyan","updated_at":"2026-02-07T09:06:33.106901615Z","closed_at":"2026-02-07T09:06:33.106901615Z","close_reason":"Implemented RMSE-based fallback and verified with tests"}
{"id":"py_workspace-rb7","title":"Implement Core ICP Registration Module","status":"closed","priority":2,"issue_type":"task","owner":"crosstyan@outlook.com","created_at":"2026-02-09T10:39:08.704944024Z","created_by":"crosstyan","updated_at":"2026-02-10T02:58:23.123709779Z","closed_at":"2026-02-10T02:58:23.123709779Z","close_reason":"Completed ICP module, CLI integration, tests, and verification"}
{"id":"py_workspace-t4e","title":"Add --min-markers CLI and rejection debug logs in calibrate_extrinsics","status":"closed","priority":2,"issue_type":"task","owner":"crosstyan@outlook.com","created_at":"2026-02-06T10:21:51.846079425Z","created_by":"crosstyan","updated_at":"2026-02-06T10:22:39.870440044Z","closed_at":"2026-02-06T10:22:39.870440044Z","close_reason":"Added --min-markers (default 1), rejection debug logs, and clarified accepted-pose summary label"}
{"id":"py_workspace-th3","title":"Implement Best-Frame Selection for depth verification","status":"closed","priority":1,"issue_type":"task","owner":"crosstyan@outlook.com","created_at":"2026-02-07T05:04:11.896109458Z","created_by":"crosstyan","updated_at":"2026-02-07T05:06:07.346747231Z","closed_at":"2026-02-07T05:06:07.346747231Z","close_reason":"Implemented best-frame selection with scoring logic and verified with tests."}
{"id":"py_workspace-tpz","title":"Refactor visualize_extrinsics.py to use true global basis conversion","status":"closed","priority":2,"issue_type":"task","owner":"crosstyan@outlook.com","created_at":"2026-02-07T17:41:09.345966612Z","created_by":"crosstyan","updated_at":"2026-02-07T17:43:35.501465973Z","closed_at":"2026-02-07T17:43:35.501465973Z","close_reason":"Refactored visualize_extrinsics.py to use true global basis conversion"}
{"id":"py_workspace-uq1","title":"Fix ground plane correction to be relative to consensus","status":"closed","priority":2,"issue_type":"task","owner":"crosstyan@outlook.com","created_at":"2026-02-09T08:47:54.277274706Z","created_by":"crosstyan","updated_at":"2026-02-09T08:51:25.807562122Z","closed_at":"2026-02-09T08:51:25.807562122Z","close_reason":"Implemented consensus-relative correction to avoid large absolute shifts"}
{"id":"py_workspace-vls","title":"Refactor ground_plane.py to use dataclasses","status":"closed","priority":2,"issue_type":"task","owner":"crosstyan@outlook.com","created_at":"2026-02-09T07:08:47.899539937Z","created_by":"crosstyan","updated_at":"2026-02-09T07:09:04.091369844Z","closed_at":"2026-02-09T07:09:04.091369844Z","close_reason":"Refactored ground_plane.py to use FloorPlane and FloorCorrection dataclasses"}
{"id":"py_workspace-wsk","title":"Fix basedpyright errors in tests and exclude ogl_viewer","status":"closed","priority":2,"issue_type":"task","owner":"crosstyan@outlook.com","created_at":"2026-02-07T08:54:16.6652971Z","created_by":"crosstyan","updated_at":"2026-02-07T08:58:49.256601506Z","closed_at":"2026-02-07T08:58:49.256601506Z","close_reason":"Fixed basedpyright errors"}
{"id":"py_workspace-xsi","title":"Document ground plane refinement workflow","status":"closed","priority":2,"issue_type":"task","owner":"crosstyan@outlook.com","created_at":"2026-02-09T09:01:27.119232051Z","created_by":"crosstyan","updated_at":"2026-02-09T09:01:34.409182855Z","closed_at":"2026-02-09T09:01:34.409182855Z","close_reason":"Documentation updated with implementation details"}
{"id":"py_workspace-z3r","title":"Add debug logs for successful ArUco detection","status":"closed","priority":2,"issue_type":"task","owner":"crosstyan@outlook.com","created_at":"2026-02-06T10:17:30.195422209Z","created_by":"crosstyan","updated_at":"2026-02-06T10:18:35.263206185Z","closed_at":"2026-02-06T10:18:35.263206185Z","close_reason":"Added loguru debug logs for successful ArUco detections in calibrate_extrinsics loop"}