feat: add fusion pose updater and improve pose comparison workflow

py_workspace/README.md

@@ -44,14 +44,15 @@ Arguments:
 ### Camera Extrinsics
 
 ```bash
-uv run calibrate_extrinsics.py \ 
-   -s output/ -m aruco/markers/standard_box_markers_600mm.parquet \ 
-   --aruco-dictionary DICT_APRILTAG_36h11 \ 
-   --verify-depth -refine-depth -no-preview \ 
-   -—max-samples 20 \ 
-   --report-csv output/e2e_refine_depth_smoke.csv \ 
-   --auto-align \ 
-   --output output/e2e_refine_depth_smoke.json
+uv run calibrate_extrinsics.py \
+   -s output/ -m aruco/markers/standard_box_markers_600mm.parquet \
+   --aruco-dictionary DICT_APRILTAG_36h11 \
+   --verify-depth \
+   --refine-depth \
+   --no-preview \
+   --report-csv output/e2e_refine_depth.csv \
+   --auto-align \
+   --output output/e2e_refine_depth.json
 ```
 
 ### Visualize Extrinsics
@@ -60,10 +61,16 @@ Visualize camera poses and frustums from a JSON extrinsics file using Plotly.
 
 ```bash
 uv run visualize_extrinsics.py \
-    --input output/e2e_refine_depth_smoke_rerun.json \
+    --input output/e2e_refine_depth.json \
     --zed-configs ../zed_settings \
     --origin-axes-scale 2 \
-    --output output/e2e_refine_depth_smoke_rerun.html
+    --output output/e2e_refine_depth.html
+
+uv run compare_pose_sets.py \
+    --pose-a-json output/e2e_refine_depth.json \
+    --pose-b-json ../zed_settings/inside_network.json \
+    --report-json output/ab_report.json \
+    --plot-output output/ab_report.html
 ```
 
 **Basic 3D Visualization (Interactive HTML):**