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调整雷达到RTK标定分支为独立根目录结构

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lichun.qu
2026-07-24 08:42:16 +08:00
parent d2aae6177e
commit 6d87b6ba9c
132 changed files with 214 additions and 197832 deletions
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results/reference_data4/common/ground_planes.csv
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time,nx,ny,nz,d,inliers,rms_m,frame_counter
1784783825.357129,-0.0071009788712051635,-0.01614775434066578,0.9998444009588814,0.9449714797885561,2216,0.01353681235386204,382
1784783905.353819,0.0037577953662433442,-0.00645689216229629,0.999972093369405,0.9404093678203617,1992,0.01182484680356077,1182
1784783971.0503054,-0.021571557237587136,-0.004187980739348835,0.9997585352152151,0.9464426916222599,1922,0.01241302113439391,1839
1784784059.7468228,-0.02328381206588687,0.004386003115594592,0.999719274132669,0.9506398743758987,1825,0.013207042662497559,2726
1784784149.2434597,-0.03034651356298797,8.407602826756324e-05,0.9995394349628197,0.9287260086761917,1631,0.012431422856007433,3621
1784784224.2408776,-0.02735108660242708,0.010336463557273514,0.9995724463903534,0.8697042041945898,1745,0.012010699567274814,4371
1784784301.6372502,-0.008085199791897242,-0.01261499998640764,0.9998877393586082,0.9555128377061561,2057,0.011385954851802133,5145
1784784387.733771,-0.007167201772462397,-0.008280272080485561,0.9999400323584541,0.9272403036781977,2190,0.012588169113362788,6006
1784784474.9314597,-0.015033673776128801,-0.05115510005163043,0.9985775605287256,0.9072885818985176,1852,0.011643717831315507,6878
1784784549.4274275,-0.03189811408163763,0.004490776571011993,0.999481036960594,0.9463330979345341,1638,0.013973864979699106,7623
1784784614.7244046,-0.027669126419476022,-0.013618714393779237,0.999524361914928,0.9348654978703125,1794,0.011102769699524444,8276
1784784682.921899,-0.022151829941254066,-0.026156017173182243,0.9994124069651578,0.9227652769218206,1638,0.01266204532799032,8958
1784784758.8187964,-0.022601789108727538,-0.030665670278286643,0.999274124450077,0.9305425654631599,1795,0.013340493954266352,9717
1784784836.0155501,-0.017598498968453644,-0.02647415434199472,0.999494578267403,0.961769336191532,2015,0.01382548272951725,10489
1784784921.1126208,-0.021874728045639568,-0.019005922983034846,0.9995800474021539,0.9186945373736978,1808,0.01319739563436461,11340
1784784992.709947,-0.019622211270580107,-0.02528822634559132,0.9994876059427386,0.9414876680920201,2158,0.013280256398986076,12056
1784785067.6067727,-0.031060743296391496,-0.010214597374617485,0.9994653031628212,0.9402571806911639,1758,0.013392641298608525,12805
1784785215.9006598,-0.023673459396853343,-0.027330465291762113,0.9993460926961797,0.9143984233881569,2134,0.012198902426752438,14288
1784785296.4990919,-0.013579953767407775,-0.025158411654770292,0.9995912360453568,0.929929365058787,2445,0.012790980094197171,15094
1784785363.1952267,-0.0316919344947604,-0.008177115456525313,0.9994642345130668,0.9579125765731408,1861,0.012743464679231025,15761
1784785434.592462,-0.022678088603046032,0.004435617789851151,0.9997329791459992,0.9537383917106543,1853,0.013464094518301148,16475
1784785506.389296,-0.0273694753756875,-0.01771941378886425,0.9994683257575693,0.9327361226688458,1749,0.011502338837958854,17193
1784785587.5863533,-0.034617559115875766,0.0015843237885758451,0.999399376885433,0.9191959537091571,1744,0.013401267879037225,18005
1784785681.9825997,-0.033298152875437845,-0.018946770164947627,0.9992658569747096,0.9446967789786688,2037,0.012804059875312601,18949
1784785815.4779446,-0.006681441650905292,-0.023720354219030532,0.9996963054514052,0.964084392350492,2080,0.013159652224503205,20284
1784785891.9768085,-0.026044255070688936,0.004021590005713901,0.9996527014876911,0.934003424141447,1610,0.012619787010493816,21049
1784785967.8726046,-0.026983516555153,-0.01791249491380091,0.9994753785663161,0.9339463871372334,1482,0.013831424226303278,21808
1784786031.5701303,-0.028810092762610772,-0.015551490666087386,0.9994639211562729,0.938325903591574,1592,0.013415706854842701,22445
1784786087.9670725,-0.026424364888569394,-0.014575043111831797,0.9995445568150146,0.9345909622822591,1466,0.013090809334738121,23009
1784786160.8647907,-0.032665212336793446,0.0597663130328534,0.9976777895340014,1.0611447790248285,1511,0.012251618222434443,23738
1784786252.6621523,-0.03732336904542465,-0.020702346452411244,0.9990887743211128,0.9478808317179221,1719,0.012520822005912273,24656
1784786319.6581354,-0.025461816426307887,-0.02602901616210242,0.9993368732424047,0.9466783627035876,1589,0.013468160971926036,25326
1784786396.7558627,-0.025295174442520576,-0.02343833470627969,0.9994052224278793,0.9710592140122102,1321,0.012895976784738191,26097
1784786557.4492514,-0.014426534652625146,-0.00926546906583815,0.9998530022862894,0.935013905231254,1251,0.012477706451163199,27704
1 time nx ny nz d inliers rms_m frame_counter
2 1784783825.357129 -0.0071009788712051635 -0.01614775434066578 0.9998444009588814 0.9449714797885561 2216 0.01353681235386204 382
3 1784783905.353819 0.0037577953662433442 -0.00645689216229629 0.999972093369405 0.9404093678203617 1992 0.01182484680356077 1182
4 1784783971.0503054 -0.021571557237587136 -0.004187980739348835 0.9997585352152151 0.9464426916222599 1922 0.01241302113439391 1839
5 1784784059.7468228 -0.02328381206588687 0.004386003115594592 0.999719274132669 0.9506398743758987 1825 0.013207042662497559 2726
6 1784784149.2434597 -0.03034651356298797 8.407602826756324e-05 0.9995394349628197 0.9287260086761917 1631 0.012431422856007433 3621
7 1784784224.2408776 -0.02735108660242708 0.010336463557273514 0.9995724463903534 0.8697042041945898 1745 0.012010699567274814 4371
8 1784784301.6372502 -0.008085199791897242 -0.01261499998640764 0.9998877393586082 0.9555128377061561 2057 0.011385954851802133 5145
9 1784784387.733771 -0.007167201772462397 -0.008280272080485561 0.9999400323584541 0.9272403036781977 2190 0.012588169113362788 6006
10 1784784474.9314597 -0.015033673776128801 -0.05115510005163043 0.9985775605287256 0.9072885818985176 1852 0.011643717831315507 6878
11 1784784549.4274275 -0.03189811408163763 0.004490776571011993 0.999481036960594 0.9463330979345341 1638 0.013973864979699106 7623
12 1784784614.7244046 -0.027669126419476022 -0.013618714393779237 0.999524361914928 0.9348654978703125 1794 0.011102769699524444 8276
13 1784784682.921899 -0.022151829941254066 -0.026156017173182243 0.9994124069651578 0.9227652769218206 1638 0.01266204532799032 8958
14 1784784758.8187964 -0.022601789108727538 -0.030665670278286643 0.999274124450077 0.9305425654631599 1795 0.013340493954266352 9717
15 1784784836.0155501 -0.017598498968453644 -0.02647415434199472 0.999494578267403 0.961769336191532 2015 0.01382548272951725 10489
16 1784784921.1126208 -0.021874728045639568 -0.019005922983034846 0.9995800474021539 0.9186945373736978 1808 0.01319739563436461 11340
17 1784784992.709947 -0.019622211270580107 -0.02528822634559132 0.9994876059427386 0.9414876680920201 2158 0.013280256398986076 12056
18 1784785067.6067727 -0.031060743296391496 -0.010214597374617485 0.9994653031628212 0.9402571806911639 1758 0.013392641298608525 12805
19 1784785215.9006598 -0.023673459396853343 -0.027330465291762113 0.9993460926961797 0.9143984233881569 2134 0.012198902426752438 14288
20 1784785296.4990919 -0.013579953767407775 -0.025158411654770292 0.9995912360453568 0.929929365058787 2445 0.012790980094197171 15094
21 1784785363.1952267 -0.0316919344947604 -0.008177115456525313 0.9994642345130668 0.9579125765731408 1861 0.012743464679231025 15761
22 1784785434.592462 -0.022678088603046032 0.004435617789851151 0.9997329791459992 0.9537383917106543 1853 0.013464094518301148 16475
23 1784785506.389296 -0.0273694753756875 -0.01771941378886425 0.9994683257575693 0.9327361226688458 1749 0.011502338837958854 17193
24 1784785587.5863533 -0.034617559115875766 0.0015843237885758451 0.999399376885433 0.9191959537091571 1744 0.013401267879037225 18005
25 1784785681.9825997 -0.033298152875437845 -0.018946770164947627 0.9992658569747096 0.9446967789786688 2037 0.012804059875312601 18949
26 1784785815.4779446 -0.006681441650905292 -0.023720354219030532 0.9996963054514052 0.964084392350492 2080 0.013159652224503205 20284
27 1784785891.9768085 -0.026044255070688936 0.004021590005713901 0.9996527014876911 0.934003424141447 1610 0.012619787010493816 21049
28 1784785967.8726046 -0.026983516555153 -0.01791249491380091 0.9994753785663161 0.9339463871372334 1482 0.013831424226303278 21808
29 1784786031.5701303 -0.028810092762610772 -0.015551490666087386 0.9994639211562729 0.938325903591574 1592 0.013415706854842701 22445
30 1784786087.9670725 -0.026424364888569394 -0.014575043111831797 0.9995445568150146 0.9345909622822591 1466 0.013090809334738121 23009
31 1784786160.8647907 -0.032665212336793446 0.0597663130328534 0.9976777895340014 1.0611447790248285 1511 0.012251618222434443 23738
32 1784786252.6621523 -0.03732336904542465 -0.020702346452411244 0.9990887743211128 0.9478808317179221 1719 0.012520822005912273 24656
33 1784786319.6581354 -0.025461816426307887 -0.02602901616210242 0.9993368732424047 0.9466783627035876 1589 0.013468160971926036 25326
34 1784786396.7558627 -0.025295174442520576 -0.02343833470627969 0.9994052224278793 0.9710592140122102 1321 0.012895976784738191 26097
35 1784786557.4492514 -0.014426534652625146 -0.00926546906583815 0.9998530022862894 0.935013905231254 1251 0.012477706451163199 27704