refactor: things

2026-03-06 17:17:59 +08:00
parent 8c6087683f
commit 33ab1a5d9d
171 changed files with 293 additions and 29894 deletions
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+## Decisions
+- Use `--diagnose` in `visualize_extrinsics.py` to verify world-frame orientation.
+- Prefer explicit `--ground-face` over heuristic detection to avoid 90-degree flips.
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+## Ground Plane Orientation Analysis
+- `calibrate_extrinsics.py` uses `--auto-align` to rotate the world frame.
+- Alignment maps a detected face normal to `[0, 1, 0]` (Y-up).
+- Heuristic detection (`detect_ground_face`) depends on camera being roughly upright.
+- `inside_network.json` uses a world frame where the ground is at Y=0 and cameras have specific offsets (e.g., -1.17m Y).