crosstyan/zed-playground
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248510f5bbeb306d94e3638c1f0b9b5ede1bda1d
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17 Commits

Author SHA1 Message Date
crosstyan 248510f5bb fix: implement per-camera ground plane correction 2026-02-09 07:39:30 +00:00
crosstyan bfb3421692 fix: implement per-camera ground plane correction 2026-02-09 07:36:27 +00:00
crosstyan 94d9a27724 feat: implement ground plane orchestration 2026-02-09 07:27:36 +00:00
crosstyan 83a74d293b feat: add HDF5 depth map persistence module 
- Implement aruco/depth_save.py with save_depth_data/load_depth_data
- Add tests/test_depth_save.py covering roundtrip and edge cases
- Ensure type safety with basedpyright
- Support compression and metadata handling
 2026-02-09 07:18:00 +00:00
crosstyan 43a441f2d4 fix: complete ground_plane.py implementation and tests 2026-02-09 07:16:14 +00:00
crosstyan 1d3266ec60 feat: implement ground_plane.py with floor detection and alignment primitives 2026-02-09 07:05:35 +00:00
crosstyan 15989195f1 feat: implement geometry-first auto-align heuristic 2026-02-07 16:54:21 +00:00
crosstyan 0d3e9e67ad feat: ignore boulder.json and update extrinsics visualizer 2026-02-07 15:35:48 +00:00
crosstyan 8dbf892ce8 feat: add RMSE-based fallback for depth pooling 2026-02-07 09:07:23 +00:00
crosstyan 8f6aee7f22 fix: resolve basedpyright errors in aruco and tests 2026-02-07 09:00:07 +00:00
crosstyan 4fc8de4bdc feat(calibrate): integrate multi-frame depth pooling with --depth-pool-size flag 2026-02-07 08:10:01 +00:00
crosstyan dad1f2a69f feat(calibration): robust depth refinement pipeline with diagnostics and benchmarking 2026-02-07 05:51:07 +00:00
crosstyan ead3796cdb feat(refine): replace L-BFGS-B MSE with least_squares soft-L1 robust optimizer 2026-02-07 05:23:28 +00:00
crosstyan 446c02d42a feat(calibration): add data-driven ground alignment with debug and fast iteration flags 2026-02-07 03:20:16 +00:00
crosstyan 553cc457f0 refactor(cli): extract depth postprocess and add tests 
- Extract apply_depth_verify_refine_postprocess() from main() for testability
- Add test_depth_cli_postprocess.py using mocks to validate JSON and CSV behavior
- Keeps CLI behavior unchanged
 2026-02-05 05:07:48 +00:00
crosstyan 6d3c5cc5c1 feat(cli): add depth verify/refine outputs and tests 
- Retrieve depth + confidence measures from SVOReader when depth enabled
- Compute depth residual metrics and attach to output JSON
- Optionally write per-corner residual CSV via --report-csv
- Post-process refinement: optimize final pose and report pre/post metrics
- Add unit tests for depth verification and refinement modules
- Add basedpyright dev dependency for diagnostics
 2026-02-05 04:44:34 +00:00
crosstyan d1e58245a6 test: add pytest suite for pose utilities 
Ultraworked with [Sisyphus](https://github.com/code-yeongyu/oh-my-opencode)

Co-authored-by: Sisyphus <clio-agent@sisyphuslabs.ai>
 2026-02-04 11:55:38 +00:00