# stereo-spots — Stereo Spot Reconstruction Demo

Generate a synthetic stereo scene with a small set of stereo spots, detect the
spots in both camera views, match them with a near-plane stereo heuristic, and
report the reconstructed 3D points in the first camera frame.

This utility is intended for development and verification of the
`s6.vision.stereo_spots` pipeline. By default it uses the repository's
`configs/calib_031916.sense-core.json` calibration and the `LR`/`LL` camera
pair.

## Usage

```bash
# Run the default interactive demo
conda run -n torch s6 utils stereo_spots

# Run headless and save the generated inputs and overlays
conda run -n torch s6 utils stereo_spots --no-show --save-dir ./temp/stereo-spots
```

## What It Does

- Synthesizes `3 <= n < 10` bright 3D points near a plane, with small normal
  jitter so they are not exactly coplanar.
- Projects and renders those points into both camera images with OpenCV.
- Runs `s6.vision.reconstruct_stereo_spots(...)` on the rendered stereo pair.
- Prints per-point and aggregate 3D reconstruction error in the first camera
  frame.
- Optionally shows or saves overlay images with ground-truth marks, detected
  spots, and matched IDs.

## Key Options

- `--calibration`: calibration JSON to load.
- `--camera0`: first camera key; output 3D points are reported in this frame.
- `--camera1`: second camera key.
- `--num-points`: number of synthetic stereo spots to generate.
- `--seed`: deterministic random seed for the synthetic scene.
- `--spot-radius-px`: rendered spot radius in pixels.
- `--show` / `--no-show`: enable or disable the OpenCV preview window.
- `--save-dir`: optional directory for saved input and overlay PNGs.