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zed-playground/.sisyphus/notepads/aruco-svo-calibration/learnings.md
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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

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ArUco Detector Implementation (2026-02-04)

  • Implemented aruco/detector.py using cv2.aruco.ArucoDetector (modern API).
  • detect_markers returns corners as (N, 4, 2) float32 and ids as (N,) int32.
  • build_camera_matrix_from_zed extracts intrinsics from sl.Camera calibration parameters.
  • estimate_pose_from_detections uses cv2.solvePnP with SOLVEPNP_SQPNP flag for robust pose estimation from multiple markers.
  • Reprojection error is calculated using the utility from aruco/pose_math.py.

Extrinsics Calibration Tool (2026-02-04)

  • Created calibrate_extrinsics.py CLI tool for multi-camera extrinsic calibration.
  • Uses SVOReader for synchronized playback and PoseAccumulator for robust pose averaging.
  • Computes T_world_from_cam by inverting the solvePnP result (T_cam_from_world).
  • Implements RANSAC-based filtering of poses to handle outliers and noise.
  • Outputs deterministic JSON mapping serial numbers to 4x4 transformation matrices and statistics.
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