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fix(cli): disable depth unless verify/refine enabled

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- Ensure default extrinsics calibration runs with depth mode NONE
- Depth is only enabled when --verify-depth or --refine-depth is set
- Document opt-in behavior in notepad
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crosstyan
2026-02-05 04:58:17 +00:00
parent 23233c9138
commit e8a8156e0b
2 changed files with 4 additions and 0 deletions
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py_workspace/.sisyphus/notepads/depth-extrinsic-verify/learnings.md
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@@ -79,3 +79,4 @@ The integration needs to:
- Refinement only runs if sufficient valid depth points (>4) exist. - Refinement only runs if sufficient valid depth points (>4) exist.
- Refined pose (`T_refined`) replaces the original RANSAC mean pose in the output JSON if refinement is successful. - Refined pose (`T_refined`) replaces the original RANSAC mean pose in the output JSON if refinement is successful.
- Original RANSAC stats remain in `stats` field, while refinement deltas are in `refine_depth`. - Original RANSAC stats remain in `stats` field, while refinement deltas are in `refine_depth`.
- Opt-in depth behavior: Depth computation is now explicitly disabled in `calibrate_extrinsics.py` unless `--verify-depth` or `--refine-depth` is set. This prevents unnecessary GPU/CPU overhead during standard extrinsic calibration.
py_workspace/calibrate_extrinsics.py
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@@ -89,6 +89,9 @@ def main(
} }
sl_depth_mode = depth_mode_map.get(depth_mode, sl.DEPTH_MODE.NONE) sl_depth_mode = depth_mode_map.get(depth_mode, sl.DEPTH_MODE.NONE)
if not (verify_depth or refine_depth):
sl_depth_mode = sl.DEPTH_MODE.NONE
# 1. Load Marker Geometry # 1. Load Marker Geometry
try: try:
marker_geometry = load_marker_geometry(markers) marker_geometry = load_marker_geometry(markers)