fix: enforce Y-up in visualize_extrinsics and sync README

py_workspace/README.md

@@ -41,6 +41,65 @@ Arguments:
  - Camera live point cloud is retreived
  - An OpenGL windows displays it in 3D
 
-## Support
+### 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
+```
+
+### Visualize Extrinsics
+
+Visualize camera poses and frustums from a JSON extrinsics file using Plotly.
+
+**Basic 3D Visualization (Interactive HTML):**
+```bash
+uv run visualize_extrinsics.py -i output/extrinsics.json --show
+```
+
+**Static Image Export (PNG):**
+Requires `kaleido` (installed by default).
+```bash
+uv run visualize_extrinsics.py -i output/extrinsics.json -o output/viz.png
+```
+
+**Bird-Eye View:**
+Use `--birdseye` for a top-down X-Z view (looking down Y axis).
+```bash
+uv run visualize_extrinsics.py -i output/extrinsics.json --birdseye --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.
+- **Single File**: Applies one config to ALL cameras (useful for homogeneous setups).
+- **Defaults**: Uses `--resolution FHD1200` and `--eye left` unless overridden.
+
+*Example: Load from config directory*
+```bash
+uv run visualize_extrinsics.py -i output/extrinsics.json \
+    --zed-configs /workspaces/zed-playground/zed_settings \
+    --resolution HD1080 --show
+```
+
+**Troubleshooting:**
+- **Cameras bunched up?** Check `--pose-convention`. `world_from_cam` is typical for optimization outputs.
+- **Config not matching?** Ensure JSON keys match the serial numbers in `SN<serial>.conf` filenames.
+
+For full options:
+```bash
+uv run visualize_extrinsics.py --help
+```
+
+**Diagnostics Mode:**
+Run numerical sanity checks on the poses (orthonormality, coplanarity, consistency).
+```bash
+uv run visualize_extrinsics.py -i output/extrinsics.json --diagnose
+```
 
-If you need assistance go to our Community site at https://community.stereolabs.com/