docs(calibration): document auto-align and refine-depth workflows

2026-02-07 03:34:28 +00:00
parent 446c02d42a
commit fca04c47c1
6 changed files with 165 additions and 33 deletions
@@ -26,7 +26,16 @@
 ## Messaging Consistency

 ## Iteration Speed
- Processing full SVO files (thousands of frames) is too slow for verifying simple logic changes. The `--max-samples` option addresses this by allowing early exit after a few successful samples.
+
+## Test Collection Noise
+
+## Debugging Heuristics
+
+## Documentation Gaps
+- Users were unclear on how `--auto-align` made decisions (heuristic vs explicit) and what `--refine-depth` actually did. The new documentation addresses this by explaining the decision flow and the optimization objective function.
+
+
+



@@ -57,7 +57,17 @@

 ## Fast Iteration
 - Added `--max-samples` CLI option to `calibrate_extrinsics.py` to allow processing a limited number of samples (e.g., 1 or 3) instead of the full SVO.
- This significantly speeds up the development loop when testing changes to pose estimation or alignment logic that don't require the full dataset.
+
+## Test Configuration
+- Configured `pytest` in `pyproject.toml` to explicitly target the `tests/` directory and ignore `loguru`, `tmp`, and `libs`.
+
+## 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.
+
+
+