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
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
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
cdc4f9eec4
chore(metadata): update beads and sisyphus planning artifacts
2026-02-07 04:16:41 +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
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
73782a7c2d
feat(aruco): add depth refinement module with bounded optimization
...
- Add extrinsics_to_params() and params_to_extrinsics() conversions
- Add depth_residual_objective() with regularization
- Add refine_extrinsics_with_depth() using L-BFGS-B
- Add scipy dependency for optimization
- Enforce bounds on rotation (±5°) and translation (±5cm)
2026-02-05 03:47:39 +00:00
crosstyan
78ebe9a32e
feat(aruco): add depth verification module with residual computation
...
- Add DepthVerificationResult dataclass for metrics
- Add project_point_to_pixel() for 3D to 2D projection
- Add compute_depth_residual() with median window sampling
- Add verify_extrinsics_with_depth() for batch verification
- Support confidence-based filtering
2026-02-05 03:45:20 +00:00
crosstyan
bd9ea1c795
feat(aruco): extend SVOReader with depth map support
...
- Add depth_mode parameter to SVOReader.__init__()
- Add enable_depth property
- Add depth_map field to FrameData dataclass
- Add _retrieve_depth(), get_depth_at(), get_depth_window_median() methods
- Update grab_all() and grab_synced() to retrieve depth when enabled
2026-02-05 03:43:21 +00:00
crosstyan
aa08bb9c9f
fix(aruco): add dist parameter and handle single-point case in compute_reprojection_error
...
- Add optional dist parameter to match test expectations
- Handle single-point case where squeeze() removes necessary dimension
- Fixes failing tests in test_pose_math.py
2026-02-05 03:35:09 +00:00
crosstyan
1025bcbd8a
feat(aruco): add pose math utilities for transform operations
2026-02-05 03:19:13 +00:00
crosstyan
43e736faac
Add ArUco detection and pose estimation modules
...
Ultraworked with [Sisyphus](https://github.com/code-yeongyu/oh-my-opencode )
Co-authored-by: Sisyphus <clio-agent@sisyphuslabs.ai >
2026-02-04 11:44:37 +00:00
crosstyan