feat: add manual ground-plane overlay to visualize_extrinsics.py

2026-02-07 16:16:58 +00:00
parent ab88a24559
commit 18e814217a
3 changed files with 52 additions and 0 deletions
@@ -75,6 +75,17 @@ Use `--birdseye` for a top-down X-Z view (looking down Y axis).
 uv run visualize_extrinsics.py -i output/extrinsics.json --birdseye --show
 ```

+**Ground Plane Overlay:**
+Render a semi-transparent X-Z ground plane to anchor camera poses.
+- `--show-ground/--no-show-ground`: Toggle ground plane (default: show).
+- `--ground-y FLOAT`: Set the Y height of the plane (default: 0.0).
+- `--ground-size FLOAT`: Set the side length of the plane in meters (default: 8.0).
+
+*Example: Ground plane at Y=-1.5 with 10m size*
+```bash
+uv run visualize_extrinsics.py -i output/extrinsics.json --ground-y -1.5 --ground-size 10 --show
+```
+
 **Using ZED Configs for Accurate Frustums:**
 Load intrinsics from ZED calibration files to render accurate frustum shapes.
 - **Directory**: Matches `SN<serial>.conf` files to camera serials in the JSON.