docs(calibration): document auto-align and refine-depth workflows

py_workspace/calibrate_extrinsics.py

@@ -156,9 +156,9 @@ def apply_depth_verify_refine_postprocess(
                     }
 
                     improvement = verify_res.rmse - verify_res_post.rmse
-                    results[str(serial)]["refine_depth"][
-                        "improvement_rmse"
-                    ] = improvement
+                    results[str(serial)]["refine_depth"]["improvement_rmse"] = (
+                        improvement
+                    )
 
                     click.echo(
                         f"Camera {serial} refined: RMSE={verify_res_post.rmse:.3f}m "
@@ -563,7 +563,7 @@ def main(
                 if ground_marker_id in ids:
                     target_face = face
                     logger.info(
-                        f"Mapped ground-marker-id {ground_marker_id} to face '{face}'"
+                        f"Mapped ground-marker-id {ground_marker_id} to face '{face}' (markers={ids})"
                     )
                     break
 
@@ -573,7 +573,10 @@ def main(
                 target_face, marker_geometry, face_marker_map=face_marker_map
             )
             if ground_normal is not None:
-                logger.info(f"Using explicit ground face '{target_face}'")
+                ids = mapping_to_use.get(target_face, [])
+                logger.info(
+                    f"Using explicit ground face '{target_face}' (markers={ids})"
+                )
         else:
             # Heuristic detection
             heuristic_res = detect_ground_face(
@@ -581,7 +584,10 @@ def main(
             )
             if heuristic_res:
                 target_face, ground_normal = heuristic_res
-                logger.info(f"Heuristically detected ground face '{target_face}'")
+                ids = mapping_to_use.get(target_face, [])
+                logger.info(
+                    f"Heuristically detected ground face '{target_face}' (markers={ids})"
+                )
 
         if ground_normal is not None:
             R_align = rotation_align_vectors(ground_normal, np.array([0, 1, 0]))