Add reusable RGB graph alignment verifier

realtime/gwam_realtime_env_graph.py

@@ -1074,7 +1074,7 @@ def save_realtime_graph_snapshot(snapshot: dict, out_dir: str | Path) -> None:
         view_centroid=snapshot["view_centroid"][None, ...],
         view_area=snapshot["view_area"][None, ...],
         view_bbox=snapshot["view_bbox"][None, ...],
-        cameras=np.asarray(CAMERAS),
+        cameras=np.asarray(list(snapshot.get("rgb_frame_cameras") or CAMERAS)),
     )
     (graph / "graph_static.json").write_text(json.dumps(snapshot["graph_static"], indent=2))
     (graph / "dynamic_edges.jsonl").write_text(json.dumps({"t": 0, "edges": snapshot["dynamic_edges"]}) + "\n")