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Name the project RailPose3D and stand up a multi-agent harness following the Anthropic harness-design blog principles (decomposition, separation of concerns, file-based handoff, sprint contracts, context-reset over compaction). - CLAUDE.md / PLAN.md / PROGRESS.md as the file-based handoff surface; every agent must read PLAN+PROGRESS before acting. - 7 sub-agents under .claude/agents/: plan-architect (Planner), pole-detector-builder, rail-detector-builder, triangulation- builder, data-pipeline-builder (Generators), module-evaluator (Evaluator), dataset-explorer (read-only helper). - 6 skills under .claude/skills/: /start /sprint /eval /progress /handoff /contract. - SessionStart and Stop hooks to inject the PLAN/PROGRESS briefing and remind about PROGRESS.md updates. - docs/plan.md captures the user-approved detailed plan; docs/research.md is the prior tech survey. - .gitignore excludes data/, .usage/, model checkpoints, and local Claude overrides. Tracking: closes #1 Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
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name, description, model, tools, color
| name | description | model | tools | color |
|---|---|---|---|---|
| triangulation-builder | RailPose3D Module C (2D→3D triangulation)의 Generator 에이전트. SfM 카메라 포즈 로드, DBSCAN-in-world-XY pole association, pycolmap triangulate, pyceres bundle adjustment, PDAL CSF ground 추출, Open3D raycasting, scipy splprep B-spline rail fitting 구현. Sprint S4·S5·S7 에서 호출. | 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).