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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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run/run_consensus_finish.ps1
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$ErrorActionPreference = "Stop"
$Repo = Split-Path -Parent $PSScriptRoot
$Code = Join-Path $Repo "code\rigorous_calibration.py"
$Filter = Join-Path $Repo "code\cross_backend_filter.py"
$Finalize = Join-Path $Repo "code\finalize_consensus.py"
$R = Join-Path $Repo "results"
python $Filter --open3d-pairs "$R\open3d_gicp\B_batch2_refined.npz" --small-pairs "$R\small_gicp\B_batch2_refined.npz" --output "$R\consensus\B_batch2_consensus.npz"
python $Filter --open3d-pairs "$R\open3d_gicp\B_batch1_auxiliary_refined.npz" --small-pairs "$R\small_gicp\B_batch1_auxiliary_refined.npz" --output "$R\consensus\B_batch1_consensus.npz" --min-pairs 15
python $Code calibrate --pairs "$R\consensus\B_batch2_consensus.npz" --ground-planes "$R\common\ground_planes_batch2.csv" --output "$R\consensus\extrinsic_batch2_consensus.json"
python $Code validate --pairs "$R\consensus\B_batch1_consensus.npz" --extrinsic "$R\consensus\extrinsic_batch2_consensus.json" --output "$R\consensus\batch1_auxiliary_check.json"
python $Finalize --consensus-extrinsic "$R\consensus\extrinsic_batch2_consensus.json" --consensus-check "$R\consensus\batch1_auxiliary_check.json" --open3d-extrinsic "$R\open3d_gicp\extrinsic_batch2_refined.json" --small-extrinsic "$R\small_gicp\extrinsic_batch2_refined.json" --output "$R\final_extrinsic_recommended.json" --summary "$R\final_summary.json"