fix: align calibration convention metadata and remove conversion path

py_workspace/apply_calibration_to_fusion_config.py

@@ -38,7 +38,6 @@ Usage Example:
 import json
 import click
 import sys
-import numpy as np
 
 
 def validate_pose_string(pose_str: str) -> bool:
@@ -77,25 +76,14 @@ def validate_pose_string(pose_str: str) -> bool:
     default=False,
     help="Fail if a calibration serial is missing in fusion config.",
 )
-@click.option(
-    "--cv-to-opengl",
-    is_flag=True,
-    default=False,
-    help="Convert poses from OpenCV convention (Y-down, Z-forward) to OpenGL convention (Y-up, Z-backward).",
-)
 def main(
     calibration_json: str,
     fusion_config_json: str,
     output_json: str,
     strict: bool,
-    cv_to_opengl: bool,
 ) -> None:
     """
     Apply calibration poses to a ZED Fusion configuration file.
-
-    If --cv-to-opengl is set, the T_world_from_cam matrix is converted from
-    OpenCV convention to OpenGL convention using T_gl = S @ T_cv @ S,
-    where S = diag(1, -1, -1, 1).
     """
     with open(calibration_json, "r") as f:
         calib_data: dict[str, dict[str, str]] = json.load(f)
@@ -126,29 +114,6 @@ def main(
             )
             sys.exit(1)
 
-        if cv_to_opengl:
-            # Convert OpenCV to OpenGL convention
-            # S = diag(1, -1, -1, 1)
-            # T_gl = S @ T_cv @ S
-            try:
-                vals = [float(p) for p in pose_str.split()]
-                t_cv = np.array(vals).reshape((4, 4))
-
-                # Validate it's a proper transform (roughly)
-                det = np.linalg.det(t_cv[:3, :3])
-                if not np.isclose(abs(det), 1.0, atol=1e-3):
-                    click.echo(
-                        f"Warning: Pose for {serial} may not be a valid rotation matrix (det={det:.4f})",
-                        err=True,
-                    )
-
-                s = np.diag([1, -1, -1, 1])
-                t_gl = s @ t_cv @ s
-                pose_str = " ".join(f"{x:.8f}" for x in t_gl.flatten())
-            except Exception as e:
-                click.echo(f"Error converting pose for serial {serial}: {e}", err=True)
-                sys.exit(1)
-
         if serial in fusion_data:
             if "FusionConfiguration" in fusion_data[serial]:
                 fusion_data[serial]["FusionConfiguration"]["pose"] = pose_str