zed-playground/py_workspace/.sisyphus/notepads/ground-plane-analysis/learnings.md

Ground Plane Orientation Analysis

• calibrate_extrinsics.py uses --auto-align to rotate the world frame.
• Alignment maps a detected face normal to [0, 1, 0] (Y-up).
• Heuristic detection (detect_ground_face) depends on camera being roughly upright.
• inside_network.json uses a world frame where the ground is at Y=0 and cameras have specific offsets (e.g., -1.17m Y).