更新数据下载链接及部分截图示例（运行visualize_pair_3d.py 创建的Open3D可视化窗口，窗口可以用鼠标左键拖动切换视角，滚轮放大缩小，按P键会自动截图）。

2026-07-24 11:51:07 +08:00
parent 6d87b6ba9c
commit e847cd4590
5 changed files with 286 additions and 0 deletions
@@ -0,0 +1,45 @@
+{
+  "convention": "T_RTK_lidar maps raw LiDAR points into the RTK navigation frame: p_RTK = T_RTK_lidar * p_lidar",
+  "translation_m": [
+    1.6381793500373911,
+    -0.24084479868828831,
+    0.08448123595331278
+  ],
+  "rotation_rpy_deg_xyz": [
+    -0.8171674587248069,
+    1.323288118779805,
+    -22.104163317857477
+  ],
+  "quaternion_xyzw": [
+    -0.004784711987091957,
+    0.012700096588977744,
+    -0.19160273666049008,
+    0.9813787267829084
+  ],
+  "matrix_4x4": [
+    [
+      0.926254197701683,
+      0.37594816689521215,
+      0.026760737062740007,
+      1.6381793500373911
+    ],
+    [
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+      0.926530995670823,
+      0.004524482591229066,
+      -0.24084479868828831
+    ],
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+      -0.014257975640431828,
+      0.9996316281556624,
+      0.08448123595331278
+    ],
+    [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+    ]
+  ]
+}