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docs: add visualization conventions and update visualizer defaults

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crosstyan
2026-02-08 07:38:23 +00:00
parent d07c244817
commit dc2d34dd7c
9 changed files with 392 additions and 7 deletions
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py_workspace/README.md
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@@ -58,6 +58,14 @@ uv run calibrate_extrinsics.py \
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 \
--zed-configs ../zed_settings \
--origin-axes-scale 2 \
--output output/e2e_refine_depth_smoke_rerun.html
```
**Basic 3D Visualization (Interactive HTML):**
```bash
uv run visualize_extrinsics.py -i output/extrinsics.json --show
@@ -102,7 +110,7 @@ uv run visualize_extrinsics.py -i output/extrinsics.json \
**Troubleshooting:**
- **Cameras bunched up?** Check `--pose-convention`. `world_from_cam` is the standard convention for `calibrate_extrinsics.py` outputs. `cam_from_world` is deprecated.
- **Axes flipped?** Use `--world-basis opengl` to match C++ viewer conventions (X right, Y up, Z backward). Default is `cv` (X right, Y down, Z forward).
- **Axes flipped?** Use `--world-basis opengl` to match C++ viewer conventions (X right, Y up, Z backward). Default is `cv` (X right, Y down, Z forward). The Plotly scene axes and labels are explicitly aligned to the selected basis.
- **Config not matching?** Ensure JSON keys match the serial numbers in `SN<serial>.conf` filenames.
For full options: