crosstyan
73782a7c2d
feat(aruco): add depth refinement module with bounded optimization
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- 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
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- 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
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- 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
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- 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
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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