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Add LiDAR RTK hand-eye calibration workflow and results

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lichun.qu
2026-07-22 09:31:44 +08:00
commit 62c7ab2e98
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results/diagnostics/open3d_refined_pair0_left_rpy_scan.csv
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label,roll_correction_deg,pitch_correction_deg,yaw_correction_deg,selected_pair_translation_cm,selected_pair_rotation_deg,all_pair_translation_rms_m,all_pair_rotation_rms_deg,normalized_global_rms,normalized_global_rms_change,improved_pairs,worsened_pairs,global_consistency_signal,ground_normal_tilt_rms_deg,ground_height_rms_m
baseline,0.0,0.0,0.0,7.9716047501124,0.5471090190705759,0.10039155672864886,1.0152957563636194,2.855641391442648,0.0,0,0,False,1.6662748432297785,0.03471396517121729
pitch_+0.100,0.0,0.1,0.0,7.877722926634115,0.5242415332114175,0.10031155812336309,1.0345690614552345,2.8820645462820917,0.026423154839443797,27,39,False,1.661255702204205,0.03471396517121729
pitch_+0.200,0.0,0.2,0.0,7.783902534642328,0.5013877557627758,0.10034501725742666,1.0647782869175946,2.9262023505769332,0.07056095913428528,26,40,False,1.6622470214176333,0.03471396517121729
pitch_+0.300,0.0,0.3,0.0,7.69014529426882,0.4785497243321324,0.1004916878666913,1.1050268752403856,2.9872678674890754,0.1316264760464274,25,41,False,1.669238092496052,0.034713965171217276
pitch_+0.000_roll_-0.200,-0.2,0.0,0.0,7.822046878606513,0.5457706857344996,0.10257010426899679,1.0267538544989139,2.9026099336312234,0.04696854218857549,22,44,False,1.7107124278398285,0.034713965171217304
pitch_+0.000_roll_-0.100,-0.1,0.0,0.0,7.896797905766369,0.545955313109902,0.10143505999644054,1.0151691591975842,2.870174601960012,0.014533210517364115,25,41,False,1.685676496509504,0.034713965171217304
pitch_+0.000_roll_+0.100,0.1,0.0,0.0,8.046465471725153,0.5492256932471735,0.09944242267101946,1.0271293323765827,2.859282573021794,0.0036411815791459468,38,28,False,1.652705907802981,0.034713965171217304
pitch_+0.100_roll_-0.200,-0.2,0.1,0.0,7.728092854641688,0.5228446714705329,0.10256719458254226,1.0458160126880083,2.929664876976855,0.07402348553420701,24,42,False,1.7058242505297496,0.034713965171217304
pitch_+0.100_roll_-0.100,-0.1,0.1,0.0,7.802880223772661,0.5230373912267472,0.10139401948155134,1.0344448200154543,2.896999001946205,0.04135761050355713,31,35,False,1.6807154082401394,0.03471396517121729
pitch_+0.100_roll_+0.100,0.1,0.1,0.0,7.952619015892104,0.5264501536349752,0.09932272291285332,1.0461846579706375,2.885136161262053,0.029494769819405242,30,36,False,1.6476453039285432,0.0347139651712173
pitch_+0.200_roll_-0.200,-0.2,0.2,0.0,7.634199171873722,0.49992704876652105,0.10267526429269669,1.0757093910702569,2.9741363007059745,0.11849490926332651,27,39,False,1.7067898021773054,0.034713965171217304
pitch_+0.200_roll_-0.100,-0.1,0.2,0.0,7.709023440769963,0.5001285987059726,0.10146524807256484,1.0646575627535269,2.9414386837539155,0.08579729231126754,30,36,False,1.6816953294526065,0.03471396517121731
pitch_+0.200_roll_+0.100,0.1,0.2,0.0,7.8588344993060915,0.5036965847149959,0.09931755660454081,1.0760678191977628,2.928699135454269,0.07305774401162113,29,37,False,1.648644705864238,0.034713965171217304
pitch_+0.300_roll_-0.200,-0.2,0.3,0.0,7.540367539154748,0.47701910095086286,0.102893833307342,1.1155635852142416,3.035256961724302,0.17961557028165398,25,41,False,1.7135991876939975,0.03471396517121731
pitch_+0.300_roll_-0.100,-0.1,0.3,0.0,7.615229271779279,0.47723032409407057,0.10164837804314657,1.1049105360171487,3.0027098217989345,0.14706843035628658,25,41,False,1.6886059172123598,0.0347139651712173
pitch_+0.300_roll_+0.100,0.1,0.3,0.0,7.7651136462045685,0.48096817789925783,0.09942680753866891,1.1159092500059349,2.989195517179804,0.13355412573715597,28,38,False,1.6556931398905776,0.034713965171217304
yaw_-0.200_diagnostic,0.0,0.0,-0.2,7.9342751812671235,0.5471090190705757,0.10053142254152782,1.0152957563636194,2.8576089058597884,0.0019675144171404924,35,31,False,1.6662748432297787,0.0347139651712173
yaw_+0.200_diagnostic,0.0,0.0,0.2,8.012589151848083,0.547109019070576,0.10091495789660097,1.0152957563636194,2.8630112438600364,0.007369852417388412,18,48,False,1.6662748432297787,0.0347139651712173
1 label roll_correction_deg pitch_correction_deg yaw_correction_deg selected_pair_translation_cm selected_pair_rotation_deg all_pair_translation_rms_m all_pair_rotation_rms_deg normalized_global_rms normalized_global_rms_change improved_pairs worsened_pairs global_consistency_signal ground_normal_tilt_rms_deg ground_height_rms_m
2 baseline 0.0 0.0 0.0 7.9716047501124 0.5471090190705759 0.10039155672864886 1.0152957563636194 2.855641391442648 0.0 0 0 False 1.6662748432297785 0.03471396517121729
3 pitch_+0.100 0.0 0.1 0.0 7.877722926634115 0.5242415332114175 0.10031155812336309 1.0345690614552345 2.8820645462820917 0.026423154839443797 27 39 False 1.661255702204205 0.03471396517121729
4 pitch_+0.200 0.0 0.2 0.0 7.783902534642328 0.5013877557627758 0.10034501725742666 1.0647782869175946 2.9262023505769332 0.07056095913428528 26 40 False 1.6622470214176333 0.03471396517121729
5 pitch_+0.300 0.0 0.3 0.0 7.69014529426882 0.4785497243321324 0.1004916878666913 1.1050268752403856 2.9872678674890754 0.1316264760464274 25 41 False 1.669238092496052 0.034713965171217276
6 pitch_+0.000_roll_-0.200 -0.2 0.0 0.0 7.822046878606513 0.5457706857344996 0.10257010426899679 1.0267538544989139 2.9026099336312234 0.04696854218857549 22 44 False 1.7107124278398285 0.034713965171217304
7 pitch_+0.000_roll_-0.100 -0.1 0.0 0.0 7.896797905766369 0.545955313109902 0.10143505999644054 1.0151691591975842 2.870174601960012 0.014533210517364115 25 41 False 1.685676496509504 0.034713965171217304
8 pitch_+0.000_roll_+0.100 0.1 0.0 0.0 8.046465471725153 0.5492256932471735 0.09944242267101946 1.0271293323765827 2.859282573021794 0.0036411815791459468 38 28 False 1.652705907802981 0.034713965171217304
9 pitch_+0.100_roll_-0.200 -0.2 0.1 0.0 7.728092854641688 0.5228446714705329 0.10256719458254226 1.0458160126880083 2.929664876976855 0.07402348553420701 24 42 False 1.7058242505297496 0.034713965171217304
10 pitch_+0.100_roll_-0.100 -0.1 0.1 0.0 7.802880223772661 0.5230373912267472 0.10139401948155134 1.0344448200154543 2.896999001946205 0.04135761050355713 31 35 False 1.6807154082401394 0.03471396517121729
11 pitch_+0.100_roll_+0.100 0.1 0.1 0.0 7.952619015892104 0.5264501536349752 0.09932272291285332 1.0461846579706375 2.885136161262053 0.029494769819405242 30 36 False 1.6476453039285432 0.0347139651712173
12 pitch_+0.200_roll_-0.200 -0.2 0.2 0.0 7.634199171873722 0.49992704876652105 0.10267526429269669 1.0757093910702569 2.9741363007059745 0.11849490926332651 27 39 False 1.7067898021773054 0.034713965171217304
13 pitch_+0.200_roll_-0.100 -0.1 0.2 0.0 7.709023440769963 0.5001285987059726 0.10146524807256484 1.0646575627535269 2.9414386837539155 0.08579729231126754 30 36 False 1.6816953294526065 0.03471396517121731
14 pitch_+0.200_roll_+0.100 0.1 0.2 0.0 7.8588344993060915 0.5036965847149959 0.09931755660454081 1.0760678191977628 2.928699135454269 0.07305774401162113 29 37 False 1.648644705864238 0.034713965171217304
15 pitch_+0.300_roll_-0.200 -0.2 0.3 0.0 7.540367539154748 0.47701910095086286 0.102893833307342 1.1155635852142416 3.035256961724302 0.17961557028165398 25 41 False 1.7135991876939975 0.03471396517121731
16 pitch_+0.300_roll_-0.100 -0.1 0.3 0.0 7.615229271779279 0.47723032409407057 0.10164837804314657 1.1049105360171487 3.0027098217989345 0.14706843035628658 25 41 False 1.6886059172123598 0.0347139651712173
17 pitch_+0.300_roll_+0.100 0.1 0.3 0.0 7.7651136462045685 0.48096817789925783 0.09942680753866891 1.1159092500059349 2.989195517179804 0.13355412573715597 28 38 False 1.6556931398905776 0.034713965171217304
18 yaw_-0.200_diagnostic 0.0 0.0 -0.2 7.9342751812671235 0.5471090190705757 0.10053142254152782 1.0152957563636194 2.8576089058597884 0.0019675144171404924 35 31 False 1.6662748432297787 0.0347139651712173
19 yaw_+0.200_diagnostic 0.0 0.0 0.2 8.012589151848083 0.547109019070576 0.10091495789660097 1.0152957563636194 2.8630112438600364 0.007369852417388412 18 48 False 1.6662748432297787 0.0347139651712173