1.2 KiB
1.2 KiB
- Corrected success gate logic to
> 0. - Added INFO logging for all attempted ICP pairs.
- Ensured all pairs are stored in
metrics.per_pair_results. - Fixed overlap skip logging to use DEBUG level.
- Fixed syntax and indentation errors in
aruco/icp_registration.pythat were causing unreachable code and malformed control flow. - Relaxed success gate to
metrics.num_cameras_optimized > 0, allowing single-camera optimizations to be considered successful. - Implemented comprehensive per-pair diagnostic logging: INFO for ICP results (fitness, RMSE, convergence) and DEBUG for overlap skips.
- Ensured all attempted ICP results are stored in
metrics.per_pair_resultsfor better downstream diagnostics. - Updated
tests/test_icp_registration.pyto reflect the new success gate logic.
Task 3: 3D AABB Overlap Check
- Implemented
compute_overlap_3dinaruco/icp_registration.py. - Added
overlap_modetoICPConfig(defaulting to "xz"). - Verified 3D overlap logic with new tests in
tests/test_icp_registration.py. - Confirmed that empty inputs return 0.0 volume.
- Confirmed that disjoint boxes return 0.0 volume.
- Confirmed that partial and full overlaps return correct hand-calculable volumes.