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Author SHA1 Message Date
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 fbfed24fc3 docs(plan): mark aruco-svo-calibration plan as complete 
All 8 tasks implemented:
- Task 1: pose_math.py - Transform utilities
- Task 2: marker_geometry.py - Parquet loader
- Task 3: detector.py - ArUco detection
- Task 4: svo_sync.py - Multi-SVO sync
- Task 5: pose_averaging.py - Robust averaging
- Task 6: preview.py - Visualization
- Task 7: calibrate_extrinsics.py - Main CLI
- Task 8: Unit tests (all passing)

All Definition of Done criteria met:
- CLI help works
- Marker validation works
- Tests pass (10/10)
- Preview mode functional
 2026-02-05 03:37:27 +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 9c861105f7 feat: add aruco-svo-calibration plan and utils scripts 
- Add comprehensive work plan for ArUco-based multi-camera calibration
- Add recording_multi.py for multi-camera SVO recording
- Add streaming_receiver.py for network streaming
- Add svo_playback.py for synchronized playback
- Add zed_network_utils.py for camera configuration
- Add AGENTS.md with project context
 2026-02-05 03:17:05 +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 69a3d1e8bf Add extrinsic calibration CLI tool 
Ultraworked with [Sisyphus](https://github.com/code-yeongyu/oh-my-opencode)

Co-authored-by: Sisyphus <clio-agent@sisyphuslabs.ai>
 2026-02-04 11:44:49 +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 0c4e906dcf Update dependencies for calibration tool 
Ultraworked with [Sisyphus](https://github.com/code-yeongyu/oh-my-opencode)

Co-authored-by: Sisyphus <clio-agent@sisyphuslabs.ai>
 2026-02-04 11:44:27 +00:00
crosstyan 071cf7f572 chore: update .gitignore and remove tracked pycache 
Ultraworked with [Sisyphus](https://github.com/code-yeongyu/oh-my-opencode)

Co-authored-by: Sisyphus <clio-agent@sisyphuslabs.ai>
 2026-02-04 11:44:19 +00:00
crosstyan a0ad369211 python workspace 2026-02-04 15:42:08 +08:00
crosstyan e7c5176229 Add depth sensing sample and OpenGL tests 
- Implemented a new sample application in main.cpp to capture and display a live 3D point cloud using the ZED SDK and OpenGL.
- Created test_opengl.cpp to demonstrate basic OpenGL rendering with depth testing using two triangles.
- Added test_points.cpp to visualize a grid of colored points in OpenGL, showcasing point rendering capabilities.
 2026-01-20 10:31:35 +08:00
crosstyan 61ad8346af Add .gitignore, update Dockerfile, and enhance README with udev rules and calibration instructions 2026-01-19 16:18:15 +08:00
crosstyan 4e8a4a5579 init 2026-01-19 12:18:03 +08:00