zed-playground/py_workspace/.sisyphus/notepads/icp-registration/decisions.md

Notes

• Used scipy.spatial.transform.Rotation with xyz Euler convention for gravity regularization to ensure consistent blending of pitch/roll.
• extract_near_floor_band uses dot product with floor normal to handle arbitrary floor orientations (not just Y-up).
• refine_with_icp uses a BFS-based connectivity check to ensure only cameras reachable from the reference camera are optimized.

Balanced SN442 Profile

• Decided to document a "Balanced Profile" in the README to provide a standard recovery path for cameras that fail strict ground plane alignment.
• Chose GICP over point-to-plane for the balanced profile due to its superior robustness with noisy ZED depth data in multi-camera setups.
• Set --seed 42 in the recommended command to ensure deterministic results for users debugging their calibration.