param(
    [int]$PairIndex = 0,
    [string]$Frames = "C:\Users\admin\Documents\Codex\2026-07-15\wo\outputs\calibration_data1_20260720\prepared\frames_all",
    [string]$Extrinsic = "",
    [double]$LeftRollDeg = 0.0,
    [double]$LeftPitchDeg = 0.0,
    [double]$LeftYawDeg = 0.0
)
$Repo = Split-Path -Parent $PSScriptRoot
if ([string]::IsNullOrWhiteSpace($Extrinsic)) {
    $Extrinsic = "$Repo\results\small_gicp\extrinsic_batch2_refined.json"
}
python "$Repo\code\visualize_pair_3d.py" `
    --frames $Frames `
    --pairs "$Repo\results\small_gicp\B_batch2_refined.npz" `
    --extrinsic $Extrinsic `
    --pair-index $PairIndex `
    --left-rpy-deg $LeftRollDeg $LeftPitchDeg $LeftYawDeg