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

py_workspace/visualize_extrinsics.py

@@ -457,6 +457,23 @@ def run_diagnostics(poses: Dict[str, np.ndarray], convention: str):
     is_flag=True,
     help="Run numerical diagnostics on the poses.",
 )
+@click.option(
+    "--show-ground/--no-show-ground",
+    default=True,
+    help="Show a ground plane at Y=ground-y.",
+)
+@click.option(
+    "--ground-y",
+    type=float,
+    default=0.0,
+    help="Y height of the ground plane.",
+)
+@click.option(
+    "--ground-size",
+    type=float,
+    default=8.0,
+    help="Size of the ground plane (side length in meters).",
+)
 def main(
     input: str,
     output: Optional[str],
@@ -471,6 +488,9 @@ def main(
     resolution: str,
     eye: str,
     diagnose: bool,
+    show_ground: bool,
+    ground_y: float,
+    ground_size: float,
 ):
     """Visualize camera extrinsics from JSON using Plotly."""
     try:
@@ -526,6 +546,26 @@ def main(
             intrinsics=cam_intrinsics,
         )
 
+    if show_ground:
+        half_size = ground_size / 2.0
+        x_grid = np.linspace(-half_size, half_size, 2)
+        z_grid = np.linspace(-half_size, half_size, 2)
+        x_mesh, z_mesh = np.meshgrid(x_grid, z_grid)
+        y_mesh = np.full_like(x_mesh, ground_y)
+
+        fig.add_trace(
+            go.Surface(
+                x=x_mesh,
+                y=y_mesh,
+                z=z_mesh,
+                showscale=False,
+                opacity=0.15,
+                colorscale=[[0, "gray"], [1, "gray"]],
+                name="Ground Plane",
+                hoverinfo="skip",
+            )
+        )
+
     # Configure layout
     scene_dict: Dict[str, Any] = dict(
         xaxis_title="X (m)",