docs: add visualization conventions and update visualizer defaults

py_workspace/visualize_extrinsics.py

@@ -6,7 +6,7 @@ import json
 import click
 import numpy as np
 import plotly.graph_objects as go
-from typing import Any, Dict, Optional, List
+from typing import Any, Dict, Optional, List, Literal
 import configparser
 from pathlib import Path
 import re
@@ -22,6 +22,10 @@ RESOLUTION_MAP = {
 }
 
 
+ResolutionLiteral = Literal["FHD1200", "FHD", "2K", "HD", "SVGA", "VGA"]
+EyeLiteral = Literal["left", "right"]
+
+
 def parse_pose(pose_str: str) -> np.ndarray:
     """Parses a 16-float pose string into a 4x4 matrix."""
     try:
@@ -48,7 +52,7 @@ def world_to_plot(points: np.ndarray) -> np.ndarray:
 
 
 def load_zed_configs(
-    paths: List[str], resolution: str, eye: str
+    paths: List[str], resolution: ResolutionLiteral, eye: EyeLiteral
 ) -> Dict[str, Dict[str, float]]:
     """
     Loads ZED intrinsics from config files.
@@ -373,8 +377,8 @@ def main(
     frustum_scale: float,
     fov: float,
     zed_configs: List[str],
-    resolution: str,
-    eye: str,
+    resolution: ResolutionLiteral,
+    eye: EyeLiteral,
     show_ground: bool,
     ground_y: float,
     ground_size: float,
@@ -544,7 +548,7 @@ def main(
         )
 
     fig.update_layout(
-        title=f"Camera Extrinsics<br><sup>World Basis: CV (+Y down, +Z fwd)</sup>",
+        title=f"Camera Extrinsics",
         scene=scene_dict,
         margin=dict(l=0, r=0, b=0, t=60),
         legend=dict(x=0, y=1),