完善Phase-A会话级联合优化并修正雷达相位中心高度先验

imu_lidar/contracts.py

@@ -25,6 +25,7 @@ class CalibrationStatus(str, Enum):
     NOT_RUN = "not_run"
     BLOCKED = "blocked"
     ROTATION_ONLY_ACCEPTED = "rotation_only_accepted"
+    ROTATION_ONLY_PRIOR_CONSTRAINED = "rotation_only_prior_constrained"
     FULL_SE3_ACCEPTED = "full_se3_accepted"
     FULL_SE3_REJECTED = "full_se3_rejected_due_to_observability"
 
@@ -37,6 +38,9 @@ class SessionInput:
     imu_source: Path
     lidar_source: Path
     board_configuration_id: str | None = None
+    # Optional session-local override. The request-level value remains a
+    # backward-compatible fallback for batches whose timelines are all aligned.
+    fixed_time_offset_s: float | None = None
 
 
 @dataclass(frozen=True)
@@ -50,6 +54,9 @@ class CalibrationRequest:
     max_iterations: int = 2
     min_pair_rotation_deg: float = 3.0
     min_pair_translation_m: float = 0.3
+    min_registration_fitness: float = 0.5
+    max_imu_gap_s: float = 0.05
+    max_lidar_gap_s: float = 1.0
     time_offset_search_s: float = 1.0
     # If set, skip |ω| search and use this constant (host-UTC-bridged sessions: 0).
     fixed_time_offset_s: float | None = None