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
@@ -0,0 +1,109 @@
+"""One-click synthetic reproduce: generate → calibrate → report → pytest."""
+
+from __future__ import annotations
+
+import argparse
+import subprocess
+import sys
+from pathlib import Path
+
+
+def _repo_root() -> Path:
+    return Path(__file__).resolve().parents[1]
+
+
+def _run(cmd: list[str], cwd: Path) -> None:
+    print("+", " ".join(cmd), flush=True)
+    completed = subprocess.run(cmd, cwd=str(cwd), check=False)
+    if completed.returncode != 0:
+        raise SystemExit(completed.returncode)
+
+
+def main(argv: list[str] | None = None) -> int:
+    parser = argparse.ArgumentParser(
+        description="Generate synthetic LiDAR–IMU data, run calibration, show report, run tests."
+    )
+    parser.add_argument(
+        "--mode",
+        choices=["rotation_only", "full_se3"],
+        default="rotation_only",
+    )
+    parser.add_argument("--skip-pytest", action="store_true")
+    args = parser.parse_args(argv)
+
+    root = _repo_root()
+    session = root / "examples" / "synthetic_session"
+    imu = session / "imu.csv"
+    lidar = session / "lidar"
+    calib_out = session / "out"
+    config = root / "config" / "vehicle_installation.template.yaml"
+
+    print("=== 1/4 generate synthetic session ===", flush=True)
+    _run([sys.executable, str(root / "tools" / "generate_synthetic_session.py")], cwd=root)
+
+    print("=== 2/4 run calibration ===", flush=True)
+    _run(
+        [
+            sys.executable,
+            "-m",
+            "imu_lidar.cli",
+            "run",
+            "--vehicle-config",
+            str(config),
+            "--imu",
+            str(imu),
+            "--lidar",
+            str(lidar),
+            "--output",
+            str(calib_out),
+            "--mode",
+            args.mode,
+            "--time-offset-search-s",
+            "0.5",
+            "--min-pair-rotation-deg",
+            "2.0",
+            "--min-pair-translation-m",
+            "0.05",
+            "--max-iterations",
+            "1",
+        ],
+        cwd=root,
+    )
+
+    print("=== 3/4 show report ===", flush=True)
+    _run(
+        [
+            sys.executable,
+            str(root / "tools" / "show_calibration_report.py"),
+            "--summary",
+            str(calib_out / "summary.json"),
+            "--truth-meta",
+            str(session / "meta.json"),
+            "--plot",
+            str(calib_out / "report_preview.png"),
+        ],
+        cwd=root,
+    )
+
+    if args.skip_pytest:
+        print("=== 4/4 pytest skipped ===", flush=True)
+    else:
+        print("=== 4/4 pytest ===", flush=True)
+        _run([sys.executable, "-m", "pytest", "-q"], cwd=root)
+
+    print("\nDone.")
+    print("  INPUT")
+    print(f"    IMU CSV     : {imu}")
+    print(f"    LiDAR dir   : {lidar}")
+    print(f"    vehicle YAML: {config}")
+    print("  OUTPUT")
+    print(f"    directory   : {calib_out}")
+    print(f"    T           : {calib_out / 'T_IMU_lidar.json'}")
+    print(f"    δt          : {calib_out / 'time_offset.json'}")
+    print(f"    summary     : {calib_out / 'summary.json'}")
+    print(f"    preview PNG : {calib_out / 'report_preview.png'}")
+    return 0
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())