新增雷达到RTK直接手眼标定流程

2026-07-24 00:06:50 +08:00
parent f72fcb71cc
commit d2aae6177e
43 changed files with 9113 additions and 0 deletions
@@ -0,0 +1,36 @@
+param(
+    [Parameter(Mandatory = $true)][string]$CombinedRoot,
+    [string]$OutputRoot = "",
+    [string]$WorkRoot = "",
+    [double]$RtkReferenceHeightAboveGroundM = 0.8535,
+    [int]$ExpectedStations = 34,
+    [int]$MinPairs = 20,
+    [int]$Bootstrap = 200
+)
+
+$ErrorActionPreference = "Stop"
+$Repo = Split-Path -Parent $PSScriptRoot
+if ([string]::IsNullOrWhiteSpace($OutputRoot)) { $OutputRoot = Join-Path $Repo "outputs\rtk_lidar_calibration" }
+if ([string]::IsNullOrWhiteSpace($WorkRoot)) { $WorkRoot = Join-Path $Repo "work\prepared_rtk_direct" }
+$Prepared = $WorkRoot
+
+& (Join-Path $Repo "run\prepare_multisensor_dataset.ps1") `
+    -CombinedRoot $CombinedRoot -Output $Prepared -HeadingOffsetDeg 0 `
+    -AntennaLever @(0.0,0.0,0.0) -PoseName "rtk_gga_raw_heading" -MinStations 30 -ExpectedStations $ExpectedStations -Overwrite
+if ($LASTEXITCODE -ne 0) { throw "RTK-direct dataset preparation failed" }
+
+& (Join-Path $Repo "run\run_single_dataset.ps1") `
+    -Prepared $Prepared -OutputRoot $OutputRoot `
+    -ReferencePoseFile "reference_poses_rtk_gga_raw_heading.csv" `
+    -ReferenceHeight $RtkReferenceHeightAboveGroundM -MinPairs $MinPairs -Bootstrap $Bootstrap
+if ($LASTEXITCODE -ne 0) { throw "RTK-direct calibration failed" }
+
+$Finalize = @(
+    (Join-Path $Repo "code\finalize_direct_rtk_lidar.py"),
+    "--result-root", $OutputRoot,
+    "--reference-height", "$RtkReferenceHeightAboveGroundM"
+)
+& python @Finalize
+if ($LASTEXITCODE -ne 0) { throw "Final result packaging failed" }
+
+Write-Host "Final T_RTK_lidar: $(Join-Path $OutputRoot 'final_T_RTK_lidar.json')"