33 lines
1.7 KiB
Markdown
33 lines
1.7 KiB
Markdown
- Fixed edge cases in `compute_face_normal` to use stable edge definition for quad faces (corners[1]-corners[0] x corners[3]-corners[0]).
|
|
- Fixed edge cases in compute_face_normal to use stable edge definition for quad faces (corners[1]-corners[0] x corners[3]-corners[0]).
|
|
- Added explicit shape validation and zero-norm guards in rotation_align_vectors.
|
|
- Ensured concrete np.ndarray return types with explicit astype(np.float64) to satisfy type checking.
|
|
|
|
## Type Checking Warnings
|
|
- `basedpyright` reports numerous warnings, mostly related to `Any` types from `cv2` and `pyzed.sl` bindings which lack full type stubs.
|
|
- Deprecation warnings for `List`, `Dict`, `Tuple` (Python 3.9+) are present but existing style uses them. Kept consistent with existing code.
|
|
- `reportUnknownVariableType` is common due to dynamic nature of OpenCV/ZED returns.
|
|
|
|
## Parquet Metadata Handling
|
|
- `awkward` library used for parquet reading returns jagged arrays for list columns like `ids`.
|
|
- `ak.to_list()` is necessary to convert these to standard Python lists for dictionary values.
|
|
|
|
## Backward Compatibility
|
|
- While `FACE_MARKER_MAP` constant remains in `aruco/alignment.py` for potential external consumers, it is no longer used by the CLI tool.
|
|
- Users with old parquet files will now see a warning and no alignment, rather than silent fallback to potentially incorrect hardcoded IDs.
|
|
|
|
|
|
|
|
- None encountered during test implementation. API signatures were consistent with the implementation in `aruco/alignment.py`.
|
|
|
|
|
|
## Runtime Errors
|
|
|
|
## Messaging Consistency
|
|
|
|
## Iteration Speed
|
|
- Processing full SVO files (thousands of frames) is too slow for verifying simple logic changes. The `--max-samples` option addresses this by allowing early exit after a few successful samples.
|
|
|
|
|
|
|