zed-playground/py_workspace/.sisyphus/notepads/visualization-conventions/learnings.md

2026-02-08: Visualization Conventions Documentation

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