添加 LiDAR-IMU 外参标定流水线与说明文档

Co-authored-by: Cursor <cursoragent@cursor.com>
2026-08-01 12:02:37 +08:00
commit cf1fad7594
40 changed files with 5502 additions and 0 deletions
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+"""Command-line entry point for LiDAR–IMU calibration."""
+
+from __future__ import annotations
+
+import argparse
+from pathlib import Path
+
+from .contracts import CalibrationMode, CalibrationRequest, CalibrationStatus, SessionInput
+from .pipeline import describe_pipeline, run_calibration
+
+
+def build_parser() -> argparse.ArgumentParser:
+    parser = argparse.ArgumentParser(description="LiDAR–IMU extrinsic calibration (V1)")
+    subcommands = parser.add_subparsers(dest="command", required=True)
+
+    plan = subcommands.add_parser("plan", help="显示标定阶段，不读取数据")
+    plan.add_argument("--vehicle-config", help="车辆配置路径（仅展示，plan 不读取）")
+    plan.add_argument(
+        "--mode",
+        choices=[mode.value for mode in CalibrationMode],
+        default=CalibrationMode.ROTATION_ONLY.value,
+    )
+
+    run = subcommands.add_parser("run", help="执行 V1 标定流水线")
+    run.add_argument("--session-id", default="session0")
+    run.add_argument("--imu", required=True, help="IMU CSV/NPZ 路径")
+    run.add_argument("--lidar", required=True, help="LiDAR 会话目录（含 frames_index.csv）")
+    run.add_argument("--vehicle-config", required=True, help="车辆配置 YAML")
+    run.add_argument("--output", required=True, help="输出目录")
+    run.add_argument(
+        "--mode",
+        choices=[mode.value for mode in CalibrationMode],
+        default=CalibrationMode.ROTATION_ONLY.value,
+    )
+    run.add_argument("--max-iterations", type=int, default=2)
+    run.add_argument("--time-offset-search-s", type=float, default=1.0)
+    run.add_argument("--min-pair-rotation-deg", type=float, default=3.0)
+    run.add_argument("--min-pair-translation-m", type=float, default=0.3)
+    return parser
+
+
+def main(argv: list[str] | None = None) -> int:
+    parser = build_parser()
+    args = parser.parse_args(argv)
+
+    if args.command == "plan":
+        request = CalibrationRequest(
+            vehicle_config=Path(args.vehicle_config) if args.vehicle_config else None,
+            requested_mode=CalibrationMode(args.mode),
+        )
+        print("LiDAR–IMU calibration stages:")
+        print(f"requested mode: {request.requested_mode.value}")
+        for index, stage in enumerate(describe_pipeline(request), start=1):
+            print(f"{index}. {stage.name}: {stage.responsibility}")
+        return 0
+
+    if args.command == "run":
+        request = CalibrationRequest(
+            vehicle_config=Path(args.vehicle_config),
+            sessions=(
+                SessionInput(
+                    session_id=args.session_id,
+                    imu_source=Path(args.imu),
+                    lidar_source=Path(args.lidar),
+                ),
+            ),
+            requested_mode=CalibrationMode(args.mode),
+            output_directory=Path(args.output),
+            max_iterations=args.max_iterations,
+            min_pair_rotation_deg=args.min_pair_rotation_deg,
+            min_pair_translation_m=args.min_pair_translation_m,
+            time_offset_search_s=args.time_offset_search_s,
+        )
+        result = run_calibration(request)
+        print(f"status: {result.status.value}")
+        print(f"message: {result.message}")
+        if result.time_offset_s is not None:
+            print(f"time_offset_s (t_imu = t_lidar + dt): {result.time_offset_s:.6f}")
+        if result.T_IMU_lidar is not None:
+            print("T_IMU_lidar:")
+            print(result.T_IMU_lidar)
+        print(f"report directory: {args.output}")
+        return 0 if result.status != CalibrationStatus.BLOCKED else 2
+
+    parser.error(f"unknown command {args.command}")
+    return 2
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())