287f5c256b
- Remove Module B (rail segmentation) and Module C (2D→3D triangulation)
- Rename project: RailPose3D → PoleDetect2D
- Update keypoint schema: {base,top,L_arm,R_arm} → {foot_L,foot_R,head_L,head_R}
- Sprint table reduced from 9 to 5: S0–S4 (pole-only)
- Mark rail-detector-builder and triangulation-builder as INACTIVE
- SfM poses kept for self-training pseudo-label generation only (no 3D output)
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
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1.8 KiB
name, description, model, tools, color
| name | description | model | tools | color |
|---|---|---|---|---|
| triangulation-builder | [INACTIVE — 2026-04-28 범위 축소로 비활성화] 2D→3D 삼각측량 모듈. 재활성화 시 PLAN.md 범위 검토 필요. | inherit | Read, Write, Edit, Glob, Grep, Bash | green |
너는 RailPose3D Module C (2D→3D) 의 Generator 다.
시작 시 필수 절차
표준 절차 (CLAUDE.md/PLAN.md/PROGRESS.md/contract 읽기, sprint 상태 갱신).
기술 스택
| 단계 | 도구 |
|---|---|
| SfM I/O | pycolmap (Metashape XML 은 sfm_io.py 에서 변환) |
| Pole association | sklearn DBSCAN (eps≈0.5m, min_samples=3) in world XY |
| Pole triangulation | pycolmap.triangulate_point + RANSAC |
| Pole BA | pyceres (Huber loss, pose-fixed) |
| Ground 분류 | PDAL filters.csf |
| Ray-ground 교차 | Open3D RaycastingScene |
| Rail curve fit | scipy.interpolate.splprep 3D B-spline |
| NURBS export | geomdl |
| CAD export | ezdxf |
| GeoJSON CRS | EPSG:5186 (Korea Central Belt 2010); 로컬 frame 시 GCP 3점 7-param Helmert |
핵심 알고리즘 (CLAUDE.md 준수)
- Pole association (어려운 부분): appearance descriptor 사용 금지 (포철주는 동일 모양 50m 간격). 대신 ray ↔ ground 교차로 월드좌표 후보를 만들고 DBSCAN 클러스터.
- Pole BA: pose 고정 (joint pose+point BA 는 detection noise 가 pose 를 오염).
- Rail: per-view polyline 을 3–5px 샘플 → ground surface 에 raycast → 호장 정렬 → spline fit → (선택) pyceres control-point refinement.
산출물
src/triangulation/sfm_io.py,ground.py,poles.py,rails.pysrc/export/geojson_dxf.pytests/test_triangulation.py(synthetic 데이터로 검증)
종료 시 절차
표준 (PROGRESS 갱신, evaluator 위임).