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>
2026-08-10 13:26:32 +08:00
parent 30f7e66db3
commit 2237be77a4
20 changed files with 1830 additions and 347 deletions
@@ -0,0 +1,125 @@
+#!/usr/bin/env python3
+"""Export priority LiDAR–IMU windows from calibration_usable_20260808.
+
+Does not push anything; writes local V1 sessions under --out-root.
+"""
+
+from __future__ import annotations
+
+import argparse
+import json
+import sys
+from pathlib import Path
+
+ROOT = Path(__file__).resolve().parents[1]
+if str(ROOT) not in sys.path:
+    sys.path.insert(0, str(ROOT))
+
+from tools.export_rscap_to_v1 import export_session
+
+DEFAULT_DATA = Path(r"D:\data\calibration_usable_20260808")
+LIDAR_ZIP = "lidar_dlog/dorec_recovered_20260808_171438_181422.zip"
+IMU_MAIN = "imu_rscap/hi13r4-imu_20260808-092827.638_39783edb-e46e-4b28-a5e8-427b981c2fce.rscap"
+IMU_TAIL = "imu_rscap/hi13r4-imu_20260808-101022.036_87ea5edc-cd3d-4192-809a-469fbc8cac01.rscap"
+
+# From usable-segment chart (local wall clock).
+WINDOWS = [
+    {
+        "name": "priority_174005_174515",
+        "host_start": "2026-08-08T17:40:05",
+        "host_end": "2026-08-08T17:45:15",
+        "imu": [IMU_MAIN],
+        "priority": True,
+    },
+    {
+        "name": "priority_174905_175450",
+        "host_start": "2026-08-08T17:49:05",
+        "host_end": "2026-08-08T17:54:50",
+        "imu": [IMU_MAIN],
+        "priority": True,
+    },
+    {
+        "name": "priority_175910_180530",
+        "host_start": "2026-08-08T17:59:10",
+        "host_end": "2026-08-08T18:05:30",
+        "imu": [IMU_MAIN],
+        "priority": True,
+    },
+    {
+        "name": "usable_181035_181050",
+        "host_start": "2026-08-08T18:10:35",
+        "host_end": "2026-08-08T18:10:50",
+        "imu": [IMU_TAIL],
+        "priority": False,
+    },
+    {
+        "name": "usable_181225_181300",
+        "host_start": "2026-08-08T18:12:25",
+        "host_end": "2026-08-08T18:13:00",
+        "imu": [IMU_TAIL],
+        "priority": False,
+    },
+    {
+        "name": "usable_181350_181410",
+        "host_start": "2026-08-08T18:13:50",
+        "host_end": "2026-08-08T18:14:10",
+        "imu": [IMU_TAIL],
+        "priority": False,
+    },
+]
+
+
+def main() -> int:
+    parser = argparse.ArgumentParser(description=__doc__)
+    parser.add_argument("--data-root", type=Path, default=DEFAULT_DATA)
+    parser.add_argument(
+        "--out-root",
+        type=Path,
+        default=DEFAULT_DATA / "sessions_v1",
+    )
+    parser.add_argument("--priority-only", action="store_true", default=True)
+    parser.add_argument("--all-windows", action="store_true")
+    parser.add_argument("--frame-stride", type=int, default=5)
+    parser.add_argument("--max-points-per-frame", type=int, default=40000)
+    args = parser.parse_args()
+    priority_only = not args.all_windows
+    lidar = args.data_root / LIDAR_ZIP
+    if not lidar.is_file():
+        raise SystemExit(f"missing lidar zip: {lidar}")
+
+    selected = [w for w in WINDOWS if (not priority_only) or w["priority"]]
+    results = []
+    for window in selected:
+        out = args.out_root / window["name"]
+        imu_paths = [args.data_root / rel for rel in window["imu"]]
+        print(f"=== exporting {window['name']} ===", flush=True)
+        summary = export_session(
+            imu_rscap=imu_paths,
+            lidar_dlog=lidar,
+            imu_kind="hi13",
+            require_difop=True,
+            host_start=window["host_start"],
+            host_end=window["host_end"],
+            out=out,
+            frame_stride=args.frame_stride,
+            max_points_per_frame=args.max_points_per_frame,
+        )
+        brief = {
+            "name": window["name"],
+            "imu_samples": summary["imu"]["samples"],
+            "lidar_frames": summary["lidar"]["frames"],
+            "angle_source": summary["lidar"]["angle_source"],
+            "out": str(out),
+        }
+        results.append(brief)
+        print(json.dumps(brief, ensure_ascii=False, indent=2), flush=True)
+
+    manifest = args.out_root / "export_windows_manifest.json"
+    args.out_root.mkdir(parents=True, exist_ok=True)
+    manifest.write_text(json.dumps(results, ensure_ascii=False, indent=2) + "\n", encoding="utf-8")
+    print(f"manifest: {manifest}")
+    return 0
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())