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改为车头向前整链：主从装反机械初值、双天线 pitch/roll 姿态与默认 HeadingOffsetDeg=-90

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Co-authored-by: Cursor <cursoragent@cursor.com>
This commit is contained in:
lichun.qu
2026-08-11 18:07:54 +08:00
co-authored by Cursor
parent 6242fd1081
commit 5f59bcd795
13 changed files with 698 additions and 199 deletions
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run/README.md
+10 -10
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@@ -6,18 +6,18 @@
|---|---|
| `run_full_pipeline.ps1` | 站目录导出 `combined/` 后跑到 `T_RTK_lidar` |
| `export_multisensor_stations.ps1` | 薄封装：`tools/export_raw_to_combined.py` |
| `prepare_multisensor_dataset.ps1` | 每站一帧 + yaw-only RTK 位姿 |
| `run_direct_rtk_lidar.ps1` | 从 `combined/` 标定并封装最终结果（**默认基线系**） |
| `prepare_multisensor_dataset.ps1` | 每站一帧 + RTK 位姿（默认含双天线 pitch/roll） |
| `run_direct_rtk_lidar.ps1` | 从 `combined/` 标定并封装最终结果（**默认车头向前 -90**） |
| `run_single_dataset.ps1` | 地面、双 GICP、精筛、共识、AX=XB |
| `run_joint_rtk_lidar.ps1` | 多批共识对联合求解 |
| `view_result.ps1` | 3D 运动对对比 |
| `rtk_lidar_mechanical_initial.json` | 仅 AX=XB 初值；**禁止**用于 pair |
## 默认参数（匹配当前约 2 m 车顶雷达 / 基线系）
## 默认参数（匹配当前约 2 m 车顶雷达 / 车头向前）
| 参数 | 默认 |
|---|---|
| `HeadingOffsetDeg` | `0`（基线系） |
| `HeadingOffsetDeg` | `-90`（车头向前；主从装反、基线朝右） |
| `GroundZMin/Max` | `-2.5` / `-1.5` |
| `ExpectedStations` | `27` |
| `MinStations` | `20` |
@@ -53,10 +53,10 @@ python tools\export_g90_h32_windows_to_combined.py `
```powershell
powershell.exe -NoProfile -ExecutionPolicy Bypass -File "$Repo\run\run_direct_rtk_lidar.ps1" `
-CombinedRoot "D:\data\rtk_lidar_run\combined" `
-WorkRoot "D:\data\rtk_lidar_run\prepared_baseline_h19165" `
-OutputRoot "D:\data\rtk_lidar_run\outputs_baseline_h19165" `
-WorkRoot "D:\data\rtk_lidar_run\prepared_vehicle_h19165" `
-OutputRoot "D:\data\rtk_lidar_run\outputs_vehicle_h19165" `
-RtkReferenceHeightAboveGroundM 1.9165 `
-HeadingOffsetDeg 0 `
-HeadingOffsetDeg -90 `
-ExpectedStations 27 `
-GroundZMin -2.5 -GroundZMax -1.5
```
@@ -65,8 +65,8 @@ powershell.exe -NoProfile -ExecutionPolicy Bypass -File "$Repo\run\run_direct_rt
```powershell
powershell.exe -NoProfile -ExecutionPolicy Bypass -File "$Repo\run\view_result.ps1" `
-Frames "D:\data\rtk_lidar_run\prepared_baseline_h19165\frames_all" `
-Pairs "D:\data\rtk_lidar_run\outputs_baseline_h19165\consensus\B_consensus.npz" `
-Extrinsic "D:\data\rtk_lidar_run\outputs_baseline_h19165\final_T_RTK_lidar.json" `
-Frames "D:\data\rtk_lidar_run\prepared_vehicle_h19165\frames_all" `
-Pairs "D:\data\rtk_lidar_run\outputs_vehicle_h19165\consensus\B_consensus.npz" `
-Extrinsic "D:\data\rtk_lidar_run\outputs_vehicle_h19165\final_T_RTK_lidar.json" `
-PairIndex 0
```