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/motion_pairs_io.py

@@ -10,9 +10,11 @@ import numpy as np
 
 from .contracts import MotionPair
 
-SCHEMA_VERSION = 1
+SCHEMA_VERSION = 2
 
-# Keep viz-relevant fields; drop large cov / Jacobians.
+# Keep visualization fields plus the compact 3x3 rotation metadata needed to
+# rerun Phase-A without repeating LiDAR registration. Full 9x9 Phase-C matrices
+# remain excluded from this cache.
 _METADATA_KEEP = frozenset(
     {
         "backend",
@@ -23,8 +25,17 @@ _METADATA_KEEP = frozenset(
         "duration_s",
         "mean_gyro_norm",
         "preint_sigma_rad",
+        "cov",
+        "J_bg",
+        "phase_a_metadata_rehydrated",
+        "rehydrated_R_A_error_deg",
         "t_i_imu_s",
         "t_j_imu_s",
+        "gyro_bias0_rad_s",
+        "accel_bias0_m_s2",
+        "time_offset_s",
+        "keyframe_span",
+        "is_consecutive",
         "modeling",
     }
 )
@@ -113,10 +124,11 @@ def save_motion_pairs(path: Path | str, payload: dict[str, Any]) -> Path:
 
 def load_motion_pairs(path: Path | str) -> dict[str, Any]:
     payload = json.loads(Path(path).read_text(encoding="utf-8"))
-    if int(payload.get("schema_version", 0)) != SCHEMA_VERSION:
+    version = int(payload.get("schema_version", 0))
+    if version not in {1, SCHEMA_VERSION}:
         raise ValueError(
-            f"unsupported motion_pairs schema_version={payload.get('schema_version')}; "
-            f"expected {SCHEMA_VERSION}"
+            f"unsupported motion_pairs schema_version={version}; "
+            f"expected 1 or {SCHEMA_VERSION}"
         )
     return payload