feat(ncore_vis): Add option to recenter world coordinates near the origin

[janickm]

Some datasets (like waymo) might have large local world offsets that can cause rendering artifacts in WebGL due to floating-point precision issues and requires explicitl initial recentering to the scene in the viewer. This change avoids both issues by allowing to recenter to the first pose (if available) to the viewers origin.

Example of waymo data rendered correctly

This pull request adds a new "recenter world" feature to the visualization tool, allowing users to shift the entire scene so that it is centered near the origin. This helps prevent rendering artifacts caused by large world-frame offsets. The feature is exposed as a CLI option and is implemented throughout the data loading and rendering pipeline to adjust all relevant world-coordinate data.

New feature: World recentering

• Added a --recenter-world/--no-recenter-world CLI option (default: enabled) to control whether the scene is shifted to the origin by subtracting the first rig pose translation. This is reflected in the CLIBaseParams dataclass and passed through the CLI, server, and data loader layers. [1] [2] [3] [4] [5]
• Implemented world_origin_offset, rebase_world_se3, and rebase_world_points methods in DataLoader to compute and apply the translation offset for recentering world coordinates.

Integration into rendering pipeline

• Updated camera, cuboid, lidar, radar, and trajectory components to use the new recentering logic by calling rebase_world_se3 or rebase_world_points before rendering world-coordinate data. This ensures all rendered geometry is consistently shifted. [1] [2] [3] [4] [5] [6] [7]