docs: add visualization conventions and update visualizer defaults

2026-02-08 07:38:23 +00:00
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+## 2026-02-08: Visualization Conventions Documentation
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+### Key findings from codebase analysis:
+- `visualize_extrinsics.py` went through 7+ iterations (commits `6113d0e` → `d07c244`)
+- The core confusion was conflating Plotly view transforms with data-frame transforms
+- `world_to_plot()` is now a no-op identity function — all data stays in OpenCV frame
+- Plotly `camera.up = {y:-1}` is the correct way to render Y-down data without transforming it
+- `autorange: "reversed"` was a red herring — it flips tick labels, not data
+- `inside_network.json` uses a different world frame (Fusion/gravity-aligned) than calibrate_extrinsics.py (ArUco marker object frame)
+- README.md has 3 stale references to removed flags: `--pose-convention`, `--world-basis`, `--diagnose`
+
+### Conventions confirmed:
+- Poses are `world_from_cam` (solvePnP result is inverted before saving)
+- RGB = XYZ color convention for axis triads
+- All units are meters
+- `--origin-axes-scale` controls origin triad independently from `--scale`