From f6b6db5999c4f96e41ed010f9f1d993a29ca4026 Mon Sep 17 00:00:00 2001
From: crosstyan <crosstyan@outlook.com>
Date: Thu, 5 Feb 2026 03:48:56 +0000
Subject: [PATCH] feat(cli): add depth verification and refinement flags

- Add --verify-depth / --no-verify-depth flag
- Add --refine-depth / --no-refine-depth flag
- Add --depth-mode with choices: NEURAL, ULTRA, PERFORMANCE, NONE
- Add --depth-confidence-threshold flag
- Add --report-csv flag for optional CSV output
---
 py_workspace/calibrate_extrinsics.py | 28 +++++++++++++++++++++++++++-
 1 file changed, 27 insertions(+), 1 deletion(-)

diff --git a/py_workspace/calibrate_extrinsics.py b/py_workspace/calibrate_extrinsics.py
index e81e3ac..7bc5488 100644
--- a/py_workspace/calibrate_extrinsics.py
+++ b/py_workspace/calibrate_extrinsics.py
@@ -40,6 +40,27 @@ from aruco.preview import draw_detected_markers, draw_pose_axes, show_preview
 @click.option(
     "--self-check/--no-self-check", default=False, help="Perform self-check on result."
 )
+@click.option(
+    "--verify-depth/--no-verify-depth", default=False, help="Enable depth verification."
+)
+@click.option(
+    "--refine-depth/--no-refine-depth", default=False, help="Enable depth refinement."
+)
+@click.option(
+    "--depth-mode",
+    default="NEURAL",
+    type=click.Choice(["NEURAL", "ULTRA", "PERFORMANCE", "NONE"]),
+    help="Depth computation mode.",
+)
+@click.option(
+    "--depth-confidence-threshold",
+    default=50,
+    type=int,
+    help="Confidence threshold for depth filtering (lower = more confident).",
+)
+@click.option(
+    "--report-csv", type=click.Path(), help="Optional path for per-frame CSV report."
+)
 def main(
     svo,
     markers,
@@ -49,6 +70,11 @@ def main(
     preview,
     validate_markers,
     self_check,
+    verify_depth,
+    refine_depth,
+    depth_mode,
+    depth_confidence_threshold,
+    report_csv,
 ):
     """
     Calibrate camera extrinsics relative to a global coordinate system defined by ArUco markers.
@@ -240,4 +266,4 @@ def main(
 
 
 if __name__ == "__main__":
-    main()
+    main()  # pylint: disable=no-value-for-parameter