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chore(metadata): update beads and sisyphus planning artifacts

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crosstyan
2026-02-07 04:16:41 +00:00
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py_workspace/.sisyphus/notepads/ground-plane-alignment/learnings.md
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## Debug Visibility
## Documentation
- Created `docs/calibrate-extrinsics-workflow.md` to document the runtime behavior of the calibration tool, specifically detailing the precedence logic for ground plane alignment and the mathematical basis for depth verification/refinement.
## Type Annotation Hardening
- Integrated `jaxtyping` for shape-aware array annotations (e.g., `Float[np.ndarray, "4 4"]`).
- Used `TYPE_CHECKING` blocks to define these aliases, ensuring they are available for static analysis (like `basedpyright`) while falling back to standard `np.ndarray` at runtime if `jaxtyping` backends are missing.
## Depth Units
- ZED SDK `retrieve_measure(sl.MEASURE.DEPTH)` returns values in the unit defined in `InitParameters.coordinate_units`.
- The default unit is `MILLIMETER`.
- Since our extrinsics and marker geometry are in meters, we must explicitly convert the retrieved depth map to meters (divide by 1000.0) to avoid massive scale mismatches during verification and refinement.