补充data4与data5联合标定流程并显式配置RTK高度

code/README.md

@@ -8,5 +8,6 @@
 | `finalize_direct_rtk_lidar.py` | 将三路求解结果封装为明确方向的`T_RTK_lidar`，选择consensus为最终结果 |
 | `visualize_pair_3d.py` | 交互显示原始、RTK初值、GICP B和`X^-1AX`，并打印增量 |
 | `compare_extrinsics.py` | 计算两套外参的SE(3)平移/旋转差异 |
+| `build_joint_rtk_lidar_inputs.py` | 合并多个独立批次的批内A/B运动对和地面平面，并保留批次索引与汇总信息 |
 
 核心约定：`A=T_Ri_Rj`、`B=T_Li_Lj`、`X=T_RTK_lidar`，满足`A X = X B`。点云配准以i为target、j为source，B将j帧点云变换到i帧。

code/build_joint_rtk_lidar_inputs.py

@@ -0,0 +1,119 @@
+#!/usr/bin/env python3
+"""Combine independent RTK-direct hand-eye batches for a shared extrinsic.
+
+Each batch contributes only its within-batch A/B motion pairs and LiDAR ground
+planes.  No cross-batch motion pair is created, so different ENU origins and
+capture locations are valid as long as every batch uses the same RTK-direct
+frame definition and unchanged physical sensor installation.
+"""
+
+from __future__ import annotations
+
+import argparse
+import csv
+import json
+from pathlib import Path
+
+import numpy as np
+
+
+def parse_args() -> argparse.Namespace:
+    parser = argparse.ArgumentParser(description=__doc__)
+    parser.add_argument("--batch-name", action="append", required=True)
+    parser.add_argument("--pairs", action="append", required=True, type=Path)
+    parser.add_argument("--ground-planes", action="append", required=True, type=Path)
+    parser.add_argument("--output-pairs", required=True, type=Path)
+    parser.add_argument("--output-ground-planes", required=True, type=Path)
+    parser.add_argument("--summary", required=True, type=Path)
+    return parser.parse_args()
+
+
+def load_planes(path: Path, batch_name: str) -> list[dict[str, str]]:
+    with path.open(encoding="utf-8-sig", newline="") as stream:
+        rows = list(csv.DictReader(stream))
+    if not rows:
+        raise ValueError(f"no ground planes in {path}")
+    for row in rows:
+        for key in ("nx", "ny", "nz", "d"):
+            if key not in row or row[key] in (None, ""):
+                raise ValueError(f"missing {key} in {path}")
+        row["source_batch"] = batch_name
+    return rows
+
+
+def main() -> int:
+    args = parse_args()
+    count = len(args.batch_name)
+    if count < 2 or len(args.pairs) != count or len(args.ground_planes) != count:
+        raise ValueError("provide the same number of --batch-name, --pairs, and --ground-planes (at least two)")
+
+    pair_parts: list[dict[str, np.ndarray]] = []
+    plane_rows: list[dict[str, str]] = []
+    batch_summaries: list[dict[str, object]] = []
+    for index, (name, pairs_path, planes_path) in enumerate(zip(args.batch_name, args.pairs, args.ground_planes)):
+        with np.load(pairs_path, allow_pickle=False) as source:
+            required = ("A", "B", "meta", "station_times", "rtk_nearest_dt_s")
+            missing = [key for key in required if key not in source]
+            if missing:
+                raise ValueError(f"{pairs_path} missing {missing}")
+            a = np.asarray(source["A"], float)
+            b = np.asarray(source["B"], float)
+            meta = np.asarray(source["meta"], float)
+            times = np.asarray(source["station_times"], float)
+            rtk_dt = np.asarray(source["rtk_nearest_dt_s"], float)
+        if len(a) == 0 or len(a) != len(b) or len(a) != len(meta):
+            raise ValueError(f"invalid A/B/meta sizes in {pairs_path}")
+        pair_parts.append({"A": a, "B": b, "meta": meta, "station_times": times, "rtk_dt": rtk_dt})
+        rows = load_planes(planes_path, name)
+        plane_rows.extend(rows)
+        batch_summaries.append({
+            "name": name,
+            "pairs_path": str(pairs_path.resolve()),
+            "ground_planes_path": str(planes_path.resolve()),
+            "pairs": len(a),
+            "stations": len(times),
+            "ground_planes": len(rows),
+            "pair_offset": sum(item["A"].shape[0] for item in pair_parts[:-1]),
+        })
+
+    output_pairs = args.output_pairs
+    output_pairs.parent.mkdir(parents=True, exist_ok=True)
+    batch_index = np.concatenate([np.full(len(part["A"]), index, np.int32) for index, part in enumerate(pair_parts)])
+    np.savez_compressed(
+        output_pairs,
+        A=np.concatenate([part["A"] for part in pair_parts]),
+        B=np.concatenate([part["B"] for part in pair_parts]),
+        meta=np.concatenate([part["meta"] for part in pair_parts]),
+        station_times=np.concatenate([part["station_times"] for part in pair_parts]),
+        rtk_nearest_dt_s=np.concatenate([part["rtk_dt"] for part in pair_parts]),
+        batch_index=batch_index,
+        batch_names=np.asarray(args.batch_name),
+        backend=np.asarray("independent_batch_consensus"),
+    )
+
+    output_planes = args.output_ground_planes
+    output_planes.parent.mkdir(parents=True, exist_ok=True)
+    fieldnames = ["nx", "ny", "nz", "d", "source_batch"]
+    with output_planes.open("w", encoding="utf-8", newline="") as stream:
+        writer = csv.DictWriter(stream, fieldnames=fieldnames)
+        writer.writeheader()
+        for row in plane_rows:
+            writer.writerow({key: row[key] for key in fieldnames})
+
+    summary = {
+        "schema_version": 1,
+        "convention": "Shared T_RTK_lidar; only within-batch A_ij and B_ij are combined.",
+        "batches": batch_summaries,
+        "total_pairs": int(len(batch_index)),
+        "total_ground_planes": len(plane_rows),
+        "output_pairs": str(output_pairs.resolve()),
+        "output_ground_planes": str(output_planes.resolve()),
+    }
+    args.summary.parent.mkdir(parents=True, exist_ok=True)
+    args.summary.write_text(json.dumps(summary, ensure_ascii=False, indent=2), encoding="utf-8")
+    print(json.dumps(summary, ensure_ascii=False, indent=2))
+    return 0
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())

code/rigorous_calibration.py

@@ -748,7 +748,11 @@ def build_parser():
     calibrate.add_argument("--rotation-sigma", type=float, default=0.5)
     calibrate.add_argument("--plane-normal-sigma", type=float, default=0.02)
     calibrate.add_argument("--plane-height-sigma", type=float, default=0.03)
-    calibrate.add_argument("--reference-height", "--body-height", dest="reference_height", type=float, default=0.8535)
+    calibrate.add_argument(
+        "--reference-height", "--body-height", dest="reference_height",
+        type=float, required=True,
+        help="measured RTK/GGA reference-origin height above the local ground in metres",
+    )
     calibrate.add_argument("--solver-multistart", type=int, default=12)
     calibrate.add_argument("--start-translation-sigma", type=float, default=1.0)
     calibrate.add_argument("--start-rotation-sigma", type=float, default=20.0)