完善 LiDAR–双天线 RTK 手眼标定仓库：补充旧式及多传感器数据导出、small_gicp/Open3D GICP 标定、结果复核与3D可视化流程，并整理三批数据和标定结果说明。

2026-07-23 18:55:50 +08:00
parent 6b7844a977
commit f72fcb71cc
91 changed files with 39561 additions and 503 deletions
@@ -0,0 +1,46 @@
+{
+    "convention":  "T_body_lidar maps raw LiDAR points into rear-axle body frame",
+    "translation_m":  [
+                          1.2977596922478565,
+                          -0.00006733076264476427,
+                          0.7204978345266887
+                      ],
+    "rotation_rpy_deg_xyz":  [
+                                 -0.7851511464150316,
+                                 1.2026608220810453,
+                                 -0.835510052785851
+                             ],
+    "quaternion_xyzw":  [
+                            -0.0067746045444860015,
+                            0.010544431385358818,
+                            -0.0072186568687935965,
+                            0.9998953998759249
+                        ],
+    "matrix_4x4":  [
+                       [
+                           0.9996734119195402,
+                           0.014292934887214408,
+                           0.021184463964312037,
+                           1.2977596922478565
+                       ],
+                       [
+                           -0.01457867229834346,
+                           0.9998039914525529,
+                           0.013395558575925315,
+                           -0.00006733076264476427
+                       ],
+                       [
+                           -0.020988849781798404,
+                           -0.013700025104115046,
+                           0.9996858394000506,
+                           0.7204978345266887
+                       ],
+                       [
+                           0.0,
+                           0.0,
+                           0.0,
+                           1.0
+                       ]
+                   ]
+}
+