crosstyan
dae6d939e4
test: Add comprehensive tests for global ICP init and fallback
2026-02-10 16:38:31 +00:00
crosstyan
2c93c77db8
feat: Implement FPFH+RANSAC global pre-alignment (Task 6)
2026-02-10 16:24:59 +00:00
crosstyan
1d2e66a34c
chore: update beads and sisyphus tracking
2026-02-10 15:32:10 +00:00
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
89482187f1
chore: sync beads
2026-02-10 09:56:07 +00:00
crosstyan
21ceae3d4e
feat: add point extraction functions and ICPConfig region
2026-02-10 09:54:54 +00:00
crosstyan
c92c334f54
docs: beads
2026-02-10 06:34:56 +00:00
crosstyan
21ba476348
chore:icp draft
2026-02-10 06:32:35 +00:00
crosstyan
206c6e58ee
feat: implement ICP registration for ground plane refinement and add tests
2026-02-10 03:04:43 +00:00
crosstyan
2d42e2cdfa
Integrate ICP refinement into refine_ground_plane.py CLI
2026-02-10 02:54:10 +00:00
crosstyan
cfacb790f5
chore: ipc plan
2026-02-09 10:37:16 +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
3b471c2cae
chore: sync beads
2026-02-09 09:02:09 +00:00
crosstyan
61d713395f
docs: update learnings with documentation hardening notes
2026-02-09 09:00:46 +00:00
crosstyan
9061ed3abb
docs: add ground plane refinement and depth data management sections
2026-02-09 08:59:11 +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
6f34cd48fe
fix: complete ground_plane.py implementation and tests
2026-02-09 07:18:21 +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
fb9a2b40b4
chore: add open3d and h5py dependencies
2026-02-09 06:53:16 +00:00
crosstyan
287773e7e7
fix: align calibration convention metadata and remove conversion path
2026-02-09 04:24:09 +00:00
crosstyan
136dadb31d
feat: add --cv-to-opengl option to apply_calibration_to_fusion_config.py
2026-02-09 03:35:15 +00:00
crosstyan
77a93b71f2
feat: add fusion pose updater and improve pose comparison workflow
2026-02-09 03:26:50 +00:00
crosstyan
c497af7783
feat: add explicit 4x4 transformation matrix validation to compare_pose_sets.py
2026-02-09 03:24:36 +00:00
crosstyan
d6c7829b1e
feat: add pose-set comparison visualization and clarify conventions
2026-02-08 08:07:33 +00:00
crosstyan
4bc4b7dfb8
add compare_pose_sets.py for rigid alignment and comparison of camera pose sets
2026-02-08 07:54:26 +00:00
crosstyan
dc2d34dd7c
docs: add visualization conventions and update visualizer defaults
2026-02-08 07:38:23 +00:00
crosstyan
d07c244817
refactor: remove --world-basis and fix visualization to OpenCV convention
2026-02-08 05:45:39 +00:00
crosstyan
6330e0e8f8
fix: restore --world-basis option in visualize_extrinsics.py
2026-02-08 05:43:00 +00:00
crosstyan
351c6bfa67
feat: add --origin-axes-scale to visualize_extrinsics.py
2026-02-08 05:39:07 +00:00
crosstyan
79f2ab04dc
feat: implement global world-basis conversion for Plotly visualization
2026-02-07 17:40:29 +00:00
crosstyan
57f0dffbc5
feat: add world origin triad and explicit render-space mapping to visualization
2026-02-07 17:25:06 +00:00
crosstyan
15989195f1
feat: implement geometry-first auto-align heuristic
2026-02-07 16:54:21 +00:00
crosstyan
18e814217a
feat: add manual ground-plane overlay to visualize_extrinsics.py
2026-02-07 16:16:58 +00:00
crosstyan
ab88a24559
feat: add --render-space option to visualize_extrinsics.py
2026-02-07 16:08:41 +00:00
crosstyan
0d3e9e67ad
feat: ignore boulder.json and update extrinsics visualizer
2026-02-07 15:35:48 +00:00
crosstyan
a8d375191a
fix: enforce Y-up in visualize_extrinsics and sync README
2026-02-07 15:25:24 +00:00
crosstyan
7b9782aa92
feat: rewrite visualize_extrinsics.py with Plotly and Diagnose mode
2026-02-07 15:20:43 +00:00
crosstyan
6113d0e1f3
feat(tooling): add extrinsics visualizer and close depth-pooling plan
...
Finalize multi-frame depth pooling execution tracking with fully verified plan checkboxes and add a Y-up/bird-eye extrinsics visualizer with pose-convention auto detection for calibration sanity checks.
2026-02-07 09:14:34 +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