支持 HI13/H32 主机 UTC 桥接对齐、多会话联合标定与 CAD 平移先验。

Co-authored-by: Cursor <cursoragent@cursor.com>

imu_lidar/cli.py

@@ -21,10 +21,28 @@ def build_parser() -> argparse.ArgumentParser:
         default=CalibrationMode.ROTATION_ONLY.value,
     )
 
-    run = subcommands.add_parser("run", help="执行 V1 标定流水线")
-    run.add_argument("--session-id", default="session0")
-    run.add_argument("--imu", required=True, help="IMU CSV/NPZ 路径")
-    run.add_argument("--lidar", required=True, help="LiDAR 会话目录（含 frames_index.csv）")
+    run = subcommands.add_parser(
+        "run",
+        help="执行 V1 标定流水线（可重复 --imu/--lidar/--session-id 做多会话联合）",
+    )
+    run.add_argument(
+        "--session-id",
+        action="append",
+        default=None,
+        help="会话 ID（可重复；与 --imu/--lidar 一一对应）",
+    )
+    run.add_argument(
+        "--imu",
+        action="append",
+        required=True,
+        help="IMU CSV/NPZ 路径（可重复）",
+    )
+    run.add_argument(
+        "--lidar",
+        action="append",
+        required=True,
+        help="LiDAR 会话目录（可重复）",
+    )
     run.add_argument("--vehicle-config", required=True, help="车辆配置 YAML")
     run.add_argument("--output", required=True, help="输出目录")
     run.add_argument(
@@ -39,6 +57,25 @@ def build_parser() -> argparse.ArgumentParser:
     return parser
 
 
+def _build_sessions(args: argparse.Namespace) -> tuple[SessionInput, ...]:
+    imus = [Path(p) for p in args.imu]
+    lidars = [Path(p) for p in args.lidar]
+    if len(imus) != len(lidars):
+        raise SystemExit(f"--imu count ({len(imus)}) must match --lidar count ({len(lidars)})")
+    if args.session_id is None:
+        session_ids = [f"session{i}" for i in range(len(imus))]
+    else:
+        session_ids = list(args.session_id)
+        if len(session_ids) != len(imus):
+            raise SystemExit(
+                f"--session-id count ({len(session_ids)}) must match --imu/--lidar ({len(imus)})"
+            )
+    return tuple(
+        SessionInput(session_id=sid, imu_source=imu, lidar_source=lidar)
+        for sid, imu, lidar in zip(session_ids, imus, lidars)
+    )
+
+
 def main(argv: list[str] | None = None) -> int:
     parser = build_parser()
     args = parser.parse_args(argv)
@@ -55,15 +92,10 @@ def main(argv: list[str] | None = None) -> int:
         return 0
 
     if args.command == "run":
+        sessions = _build_sessions(args)
         request = CalibrationRequest(
             vehicle_config=Path(args.vehicle_config),
-            sessions=(
-                SessionInput(
-                    session_id=args.session_id,
-                    imu_source=Path(args.imu),
-                    lidar_source=Path(args.lidar),
-                ),
-            ),
+            sessions=sessions,
             requested_mode=CalibrationMode(args.mode),
             output_directory=Path(args.output),
             max_iterations=args.max_iterations,
@@ -75,7 +107,11 @@ def main(argv: list[str] | None = None) -> int:
         print(f"status: {result.status.value}")
         print(f"message: {result.message}")
         if result.time_offset_s is not None:
-            print(f"time_offset_s (t_imu = t_lidar + dt): {result.time_offset_s:.6f}")
+            print(f"time_offset_s (first session; t_imu = t_lidar + dt): {result.time_offset_s:.6f}")
+        joint = (result.details or {}).get("joint") or {}
+        if joint:
+            print(f"merged_pair_count: {joint.get('merged_pair_count')}")
+            print(f"pair_counts_per_session: {joint.get('pair_counts_per_session')}")
         if result.T_IMU_lidar is not None:
             print("T_IMU_lidar:")
             print(result.T_IMU_lidar)