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docs(plan): mark Task 8 as completed

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crosstyan
2026-02-10 16:44:28 +00:00
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py_workspace/.sisyphus/plans/full-icp-pipeline.md
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@@ -247,7 +247,7 @@ Parallel Speedup: ~40% faster than sequential
---
- [ ] 2. Add point extraction functions (hybrid/full/SOR)
- [x] 2. Add point extraction functions (hybrid/full/SOR)
**What to do**:
- Add `extract_scene_points(points_world, floor_y, floor_normal, mode, band_height)` function to `aruco/icp_registration.py`
@@ -340,7 +340,7 @@ Parallel Speedup: ~40% faster than sequential
---
- [ ] 3. Add 3D AABB overlap check
- [x] 3. Add 3D AABB overlap check
**What to do**:
- Add `compute_overlap_3d(points_a, points_b, margin)` function to `aruco/icp_registration.py`
@@ -401,7 +401,7 @@ Parallel Speedup: ~40% faster than sequential
---
- [ ] 4. Add TukeyLoss robust kernel support
- [x] 4. Add TukeyLoss robust kernel support
**What to do**:
- Add `robust_kernel: str = "none"` field to `ICPConfig` (values: "none", "tukey")
@@ -540,7 +540,7 @@ Parallel Speedup: ~40% faster than sequential
---
- [ ] 6. Add FPFH+RANSAC global pre-alignment
- [x] 6. Add FPFH+RANSAC global pre-alignment
**What to do**:
- Add `global_init: bool = False` field to `ICPConfig`
@@ -699,7 +699,7 @@ Parallel Speedup: ~40% faster than sequential
---
- [ ] 8. Relax ICPConfig defaults
- [x] 8. Relax ICPConfig defaults
**What to do**:
- Change `ICPConfig` defaults: