crosstyan
25733af4ec
feat(icp): add hybrid/full point extraction with SOR preprocessing
2026-02-10 15:31:46 +00:00
crosstyan
adc38a441d
feat: implement 3D AABB overlap check for ICP registration
2026-02-10 15:27:52 +00:00
crosstyan
71b146bc72
fix(icp): relax success gate to >0 and add per-pair diagnostic logging
2026-02-10 15:21:33 +00:00
crosstyan
206c6e58ee
feat: implement ICP registration for ground plane refinement and add tests
2026-02-10 03:04:43 +00:00
crosstyan
511994e3a8
chore: checkpoint ground-plane calibration refinement work
2026-02-09 10:02:48 +00:00
crosstyan
915c7973d1
refactor: remove --metrics-json from refine_ground_plane.py
2026-02-09 09:59:43 +00:00
crosstyan
ae3c9eba76
docs: update README and finalize ground plane refinement integration
2026-02-09 08:30:50 +00:00
crosstyan
9d9e95de81
feat: implement refine_ground_plane.py CLI
2026-02-09 07:50:16 +00:00
crosstyan
0f7d7a9a63
feat: add Plotly diagnostic visualization for ground plane refinement
2026-02-09 07:41:44 +00:00
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
crosstyan