zed-playground/py_workspace/.sisyphus/notepads/ground-plane-refinement/learnings.md

[2026-02-09] Dependency Update

• Added open3d and h5py to pyproject.toml.
• Successfully synced with uv sync.
• Verified imports:
  • open3d: 0.19.0
  • h5py: 3.15.1

[2026-02-09] Ground Plane Detection Implementation

• Implemented unproject_depth_to_points using vectorized NumPy operations for efficiency.
• Implemented detect_floor_plane using Open3D's segment_plane (RANSAC) with deterministic seeding.
• Implemented compute_consensus_plane with weighted averaging and normal alignment to handle flipped normals.
• Implemented compute_floor_correction using rotation_align_vectors for minimal rotation (preserving yaw) and vertical translation.
• Added comprehensive tests covering edge cases (outliers, bounds, identity transforms).
• Refactored to use FloorPlane and FloorCorrection dataclasses for structured outputs.
• Fixed test logic for compute_consensus_plane to correctly account for normal normalization effects on d.
• Verified type safety with basedpyright (0 errors, only expected warnings).

[2026-02-09] Ground Plane Diagnostic Visualization

• Implemented create_ground_diagnostic_plot using Plotly go.Figure.
• Visualization includes:
  • World origin axes (RGB triad).
  • Consensus plane surface (semi-transparent gray).
  • Per-camera floor points (scatter3d).
  • Camera positions before (red) and after (green) refinement.
• Added save_diagnostic_plot for HTML export.
• Verified with smoke tests in tests/test_ground_plane.py.

[2026-02-09] Final Integration

• Full test suite (90 tests) passed successfully.
• basedpyright verified on new modules (depth_save.py, ground_plane.py, refine_ground_plane.py).
• README updated with Ground Plane Refinement workflow.