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  • 091ee1b122 chore: update .gitignore to include .cache directory and remove cached index files feature/ground-plane-alignment crosstyan 2026-03-06 17:19:24 +08:00
  • 33ab1a5d9d refactor: things crosstyan 2026-03-06 17:17:59 +08:00
  • 8c6087683f feat: implement depth bias estimation and correction in ICP pipeline crosstyan 2026-02-11 14:11:40 +00:00
  • 29eec81ea0 test: fix depth bias test configuration and tolerances crosstyan 2026-02-11 12:23:06 +00:00
  • 5798cd8ac1 test: add comprehensive synthetic tests for depth bias estimation crosstyan 2026-02-11 12:05:22 +00:00
  • 8b2131d3a1 chore: sync beads crosstyan 2026-02-11 11:42:24 +00:00
  • 9d4634c718 docs: update README and diagnosis report with depth bias correction details crosstyan 2026-02-11 11:41:02 +00:00
  • 51e7244dba chore: sync beads crosstyan 2026-02-11 11:29:18 +00:00
  • 53e56006cc feat: wire --icp-depth-bias flag in refine_ground_plane.py crosstyan 2026-02-11 11:26:20 +00:00
  • be3e454644 fix(icp): correct pose graph edge direction crosstyan 2026-02-11 04:02:12 +00:00
  • e7a348e3ab test(icp): add comprehensive tests for full-scene ICP pipeline + update docs crosstyan 2026-02-10 17:14:20 +00:00
  • d6abffa05f docs(plan): mark Task 8 as completed crosstyan 2026-02-10 16:44:28 +00:00
  • 7bdc5d6024 chore(icp): relax ICPConfig defaults per Oracle recommendations crosstyan 2026-02-10 16:44:13 +00:00
  • dae6d939e4 test: Add comprehensive tests for global ICP init and fallback crosstyan 2026-02-10 16:38:31 +00:00
  • 2c93c77db8 feat: Implement FPFH+RANSAC global pre-alignment (Task 6) crosstyan 2026-02-10 16:24:59 +00:00
  • 1d2e66a34c chore: update beads and sisyphus tracking crosstyan 2026-02-10 15:32:10 +00:00
  • 25733af4ec feat(icp): add hybrid/full point extraction with SOR preprocessing crosstyan 2026-02-10 15:31:46 +00:00
  • adc38a441d feat: implement 3D AABB overlap check for ICP registration crosstyan 2026-02-10 15:27:52 +00:00
  • 71b146bc72 fix(icp): relax success gate to >0 and add per-pair diagnostic logging crosstyan 2026-02-10 15:21:33 +00:00
  • 89482187f1 chore: sync beads crosstyan 2026-02-10 09:56:07 +00:00
  • 21ceae3d4e feat: add point extraction functions and ICPConfig region crosstyan 2026-02-10 09:54:54 +00:00
  • c92c334f54 docs: beads crosstyan 2026-02-10 06:34:27 +00:00
  • 21ba476348 chore:icp draft crosstyan 2026-02-10 06:32:35 +00:00
  • 206c6e58ee feat: implement ICP registration for ground plane refinement and add tests crosstyan 2026-02-10 03:04:43 +00:00
  • 2d42e2cdfa Integrate ICP refinement into refine_ground_plane.py CLI crosstyan 2026-02-10 02:54:10 +00:00
  • cfacb790f5 chore: ipc plan crosstyan 2026-02-09 10:37:16 +00:00
  • 511994e3a8 chore: checkpoint ground-plane calibration refinement work crosstyan 2026-02-09 10:02:48 +00:00
  • 915c7973d1 refactor: remove --metrics-json from refine_ground_plane.py crosstyan 2026-02-09 09:59:43 +00:00
  • 3b471c2cae chore: sync beads crosstyan 2026-02-09 09:02:09 +00:00
  • 61d713395f docs: update learnings with documentation hardening notes crosstyan 2026-02-09 09:00:46 +00:00
  • 9061ed3abb docs: add ground plane refinement and depth data management sections crosstyan 2026-02-09 08:59:11 +00:00
  • ae3c9eba76 docs: update README and finalize ground plane refinement integration crosstyan 2026-02-09 08:30:50 +00:00
  • 9d9e95de81 feat: implement refine_ground_plane.py CLI crosstyan 2026-02-09 07:50:16 +00:00
  • 0f7d7a9a63 feat: add Plotly diagnostic visualization for ground plane refinement crosstyan 2026-02-09 07:41:44 +00:00
  • 248510f5bb fix: implement per-camera ground plane correction crosstyan 2026-02-09 07:39:30 +00:00
  • bfb3421692 fix: implement per-camera ground plane correction crosstyan 2026-02-09 07:36:27 +00:00
  • 94d9a27724 feat: implement ground plane orchestration crosstyan 2026-02-09 07:27:36 +00:00
  • 6f34cd48fe fix: complete ground_plane.py implementation and tests crosstyan 2026-02-09 07:18:21 +00:00
  • 83a74d293b feat: add HDF5 depth map persistence module crosstyan 2026-02-09 07:18:00 +00:00
  • 43a441f2d4 fix: complete ground_plane.py implementation and tests crosstyan 2026-02-09 07:16:14 +00:00
  • 1d3266ec60 feat: implement ground_plane.py with floor detection and alignment primitives crosstyan 2026-02-09 07:05:35 +00:00
  • fb9a2b40b4 chore: add open3d and h5py dependencies crosstyan 2026-02-09 06:53:16 +00:00
  • 287773e7e7 fix: align calibration convention metadata and remove conversion path crosstyan 2026-02-09 04:24:09 +00:00
  • 136dadb31d feat: add --cv-to-opengl option to apply_calibration_to_fusion_config.py crosstyan 2026-02-09 03:35:15 +00:00
  • 77a93b71f2 feat: add fusion pose updater and improve pose comparison workflow crosstyan 2026-02-09 03:26:50 +00:00
  • c497af7783 feat: add explicit 4x4 transformation matrix validation to compare_pose_sets.py crosstyan 2026-02-09 03:24:36 +00:00
  • d6c7829b1e feat: add pose-set comparison visualization and clarify conventions crosstyan 2026-02-08 08:07:33 +00:00
  • 4bc4b7dfb8 add compare_pose_sets.py for rigid alignment and comparison of camera pose sets crosstyan 2026-02-08 07:54:26 +00:00
  • dc2d34dd7c docs: add visualization conventions and update visualizer defaults crosstyan 2026-02-08 07:38:23 +00:00
  • d07c244817 refactor: remove --world-basis and fix visualization to OpenCV convention crosstyan 2026-02-08 05:45:39 +00:00
  • 6330e0e8f8 fix: restore --world-basis option in visualize_extrinsics.py crosstyan 2026-02-08 05:43:00 +00:00
  • 351c6bfa67 feat: add --origin-axes-scale to visualize_extrinsics.py crosstyan 2026-02-08 05:39:07 +00:00
  • 79f2ab04dc feat: implement global world-basis conversion for Plotly visualization crosstyan 2026-02-07 17:40:29 +00:00
  • 57f0dffbc5 feat: add world origin triad and explicit render-space mapping to visualization crosstyan 2026-02-07 17:25:06 +00:00
  • 15989195f1 feat: implement geometry-first auto-align heuristic crosstyan 2026-02-07 16:54:21 +00:00
  • 18e814217a feat: add manual ground-plane overlay to visualize_extrinsics.py crosstyan 2026-02-07 16:16:58 +00:00
  • ab88a24559 feat: add --render-space option to visualize_extrinsics.py crosstyan 2026-02-07 16:08:37 +00:00
  • 0d3e9e67ad feat: ignore boulder.json and update extrinsics visualizer crosstyan 2026-02-07 15:35:48 +00:00
  • a8d375191a fix: enforce Y-up in visualize_extrinsics and sync README crosstyan 2026-02-07 15:25:24 +00:00
  • 7b9782aa92 feat: rewrite visualize_extrinsics.py with Plotly and Diagnose mode crosstyan 2026-02-07 15:20:43 +00:00
  • 6113d0e1f3 feat(tooling): add extrinsics visualizer and close depth-pooling plan crosstyan 2026-02-07 09:14:34 +00:00
  • 8dbf892ce8 feat: add RMSE-based fallback for depth pooling crosstyan 2026-02-07 09:07:23 +00:00
  • 8f6aee7f22 fix: resolve basedpyright errors in aruco and tests crosstyan 2026-02-07 09:00:07 +00:00
  • 4fc8de4bdc feat(calibrate): integrate multi-frame depth pooling with --depth-pool-size flag crosstyan 2026-02-07 08:10:01 +00:00
  • dad1f2a69f feat(calibration): robust depth refinement pipeline with diagnostics and benchmarking crosstyan 2026-02-07 05:51:07 +00:00
  • ead3796cdb feat(refine): replace L-BFGS-B MSE with least_squares soft-L1 robust optimizer crosstyan 2026-02-07 05:23:28 +00:00
  • b33bb78d54 chore: track .vscode and .gitattributes crosstyan 2026-02-07 04:30:34 +00:00
  • a80fd809a9 chore(config): update dependencies and gitignore crosstyan 2026-02-07 04:17:03 +00:00
  • cdc4f9eec4 chore(metadata): update beads and sisyphus planning artifacts crosstyan 2026-02-07 04:16:41 +00:00
  • ddb7054f96 docs(calibration): update findings summary and troubleshooting for depth refinement crosstyan 2026-02-07 04:13:46 +00:00
  • fca04c47c1 docs(calibration): document auto-align and refine-depth workflows crosstyan 2026-02-07 03:34:28 +00:00
  • 446c02d42a feat(calibration): add data-driven ground alignment with debug and fast iteration flags crosstyan 2026-02-07 03:20:16 +00:00
  • 58d95df311 feat(aruco): implement core alignment utilities for ground plane alignment master crosstyan 2026-02-06 10:41:15 +00:00
  • 46dcfec648 feat: enhance recording_multi.py and svo_playback.py with new CLI options and features crosstyan 2026-02-05 09:55:07 +00:00
  • afc8e9034d chore(sisyphus): clear boulder state after plan completion crosstyan 2026-02-05 05:12:53 +00:00
  • e033657bff docs(plan): mark depth output DoD items complete via unit tests crosstyan 2026-02-05 05:11:54 +00:00
  • 553cc457f0 refactor(cli): extract depth postprocess and add tests crosstyan 2026-02-05 05:07:48 +00:00
  • 15337d2d15 docs(plan): mark non-regression DoD item complete crosstyan 2026-02-05 04:58:46 +00:00
  • e8a8156e0b fix(cli): disable depth unless verify/refine enabled crosstyan 2026-02-05 04:58:17 +00:00
  • 23233c9138 docs(notepad): record missing marker-visible SVO blocker crosstyan 2026-02-05 04:54:47 +00:00
  • 0d71ef9f64 docs(plan): update depth-extrinsic-verify completion checkboxes crosstyan 2026-02-05 04:47:33 +00:00
  • ffdedad7e7 docs(draft): capture depth extrinsic verify notes crosstyan 2026-02-05 04:46:24 +00:00
  • d2674f76d6 chore(sisyphus): update boulder state for depth-extrinsic-verify crosstyan 2026-02-05 04:46:04 +00:00
  • 6d3c5cc5c1 feat(cli): add depth verify/refine outputs and tests crosstyan 2026-02-05 04:44:34 +00:00
  • 882d9348a6 docs(plan): start depth-extrinsic-verify and mark tasks 1-4 complete crosstyan 2026-02-05 04:19:08 +00:00
  • 9f4abc21c7 feat(cli): integrate depth verification into calibration workflow crosstyan 2026-02-05 04:09:09 +00:00
  • f6b6db5999 feat(cli): add depth verification and refinement flags crosstyan 2026-02-05 03:48:56 +00:00
  • 73782a7c2d feat(aruco): add depth refinement module with bounded optimization crosstyan 2026-02-05 03:47:39 +00:00
  • 78ebe9a32e feat(aruco): add depth verification module with residual computation crosstyan 2026-02-05 03:45:20 +00:00
  • bd9ea1c795 feat(aruco): extend SVOReader with depth map support crosstyan 2026-02-05 03:43:21 +00:00
  • fbfed24fc3 docs(plan): mark aruco-svo-calibration plan as complete crosstyan 2026-02-05 03:37:27 +00:00
  • aa08bb9c9f fix(aruco): add dist parameter and handle single-point case in compute_reprojection_error crosstyan 2026-02-05 03:35:09 +00:00
  • 1025bcbd8a feat(aruco): add pose math utilities for transform operations crosstyan 2026-02-05 03:19:13 +00:00
  • 9c861105f7 feat: add aruco-svo-calibration plan and utils scripts crosstyan 2026-02-05 03:17:05 +00:00
  • d1e58245a6 test: add pytest suite for pose utilities crosstyan 2026-02-04 11:55:38 +00:00
  • 69a3d1e8bf Add extrinsic calibration CLI tool crosstyan 2026-02-04 11:44:49 +00:00
  • 43e736faac Add ArUco detection and pose estimation modules crosstyan 2026-02-04 11:44:37 +00:00
  • 0c4e906dcf Update dependencies for calibration tool crosstyan 2026-02-04 11:44:27 +00:00
  • 071cf7f572 chore: update .gitignore and remove tracked pycache crosstyan 2026-02-04 11:44:19 +00:00
  • a0ad369211 python workspace crosstyan 2026-02-04 15:42:08 +08:00