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。
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lichun.qu
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i,j,rtk_translation_m,rtk_rotation_deg,heldout_inlier_ratio,heldout_inlier_rmse_m,hessian_rank,hessian_condition,reverse_translation_m,reverse_rotation_deg,multistart_success_rate,accepted,rejection_reasons
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0,1,1.8477087194158957,24.171297449440786,0.8061657032755298,0.10961296014103376,6,2.7038608113687213,0.004225163540003135,0.15304490677206398,1.0,True,
|
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0,2,2.633731568575307,80.09074797031298,0.7489394523717702,0.116305716193008,6,3.0720058333957385,0.02073003109723772,0.12418344306820694,1.0,True,
|
||||
0,3,6.923255970100826,79.91583883299243,0.6310283235519265,0.12470979645173065,6,5.235632990817995,0.02154775870989581,0.2539904497958252,1.0,True,
|
||||
1,2,1.7155362084417105,55.91945052087219,0.7867383512544803,0.11079021393934936,6,3.282529873989152,0.0076823267394430066,0.05080433004685343,1.0,True,
|
||||
1,3,5.885389341942907,55.74454138355163,0.6794562317367552,0.1190716913809658,6,4.183386002322129,0.024832426027852336,0.29364033194785566,1.0,True,
|
||||
1,4,2.3031736807956613,106.08652205569953,0.6786112833230006,0.11255015823152649,6,3.2941312581877575,0.007769137931169012,0.07270245476793177,1.0,True,
|
||||
2,3,4.339151683168145,0.17490913732054883,0.7586776859504132,0.11541610277862563,6,3.730803369806123,0.007879904085793275,0.11659483159946175,1.0,True,
|
||||
2,4,0.6150408096900305,50.167071534827386,0.7854572527608884,0.1098649389241601,6,2.641287751481569,0.017042953274278242,0.09383247792992147,1.0,True,
|
||||
2,5,5.894923525501676,8.735318060700383,0.7074574574574575,0.11912871456224478,6,3.8527093190832473,0.016641241123247028,0.24777402858141082,1.0,True,
|
||||
3,4,3.9735035126146885,50.34198067214791,0.6974624291697462,0.1172763088894914,6,3.5010457716923225,0.012148721219467648,0.2079308684382429,1.0,True,
|
||||
3,5,2.3619393178889707,8.910227198020932,0.7962985964476462,0.10646082199215777,6,3.0377458538379902,0.011008298723511818,0.08217077610411756,1.0,True,
|
||||
3,6,2.2300116834828536,47.63555775102664,0.8376509054325956,0.10956583416752592,6,3.1930663579156233,0.001222821038316072,0.09207521511761255,1.0,True,
|
||||
4,5,5.370771070097231,41.431753474126985,0.6652516676773802,0.12322094568314959,6,4.985227704290952,0.005399786589867114,0.1389350777589359,1.0,True,
|
||||
4,6,6.142548765456278,97.97753842317456,0.6529585072428186,0.11878586101480827,6,5.324803753668097,0.011377811219747914,0.20418431358287809,1.0,True,
|
||||
4,7,5.314106070657687,123.28910472998356,0.6964418087472202,0.11691192595448072,6,4.414726450762486,0.017641796253111963,0.10886712169052283,1.0,True,
|
||||
5,6,1.9357867378988893,56.54578494904757,0.7526921648718901,0.10924852668609378,6,3.289802074469556,0.012374747586501101,0.14461856068326442,1.0,True,
|
||||
5,7,0.19501559913675365,81.85735125585654,0.7833561729164071,0.11683079277948674,6,2.8807765869032655,0.0136898748124479,0.2000656277647698,1.0,True,
|
||||
5,8,1.8038807059856978,172.47951556359365,0.7410703250525275,0.11436945722491815,6,3.9768956884456648,0.020336999081352437,0.07548452187379719,1.0,True,
|
||||
6,7,2.130456053070114,25.311566306808988,0.8497729566094854,0.10415909908074772,6,3.375936129784756,0.008986805974948919,0.1309947950641294,1.0,True,
|
||||
6,8,0.24494500622098103,115.93373061454483,0.7678928928928929,0.11166725079781287,6,3.2609205733873607,0.010085391730565987,0.11752836996157842,1.0,True,
|
||||
6,9,8.025985916230132,103.90638727582186,0.6071384156199477,0.12594282886521954,6,6.882498483502561,0.01655440444551025,0.4345945520890901,1.0,True,
|
||||
7,8,1.9962664218365056,90.62216430773583,0.8299748110831234,0.10748525688830209,6,3.0071179226782414,0.007106461978852689,0.10698728473689886,1.0,True,
|
||||
7,9,7.8811064994361235,78.59482096901284,0.6188509200150206,0.1271320507839345,6,6.716979637303383,0.026230622734929154,0.28112746782878123,1.0,True,
|
||||
7,10,7.620696678413973,134.60031955305035,0.5757088027733069,0.1313446077529101,6,5.755535843660075,0.012710332356906473,0.2297418063823675,1.0,True,
|
||||
8,9,7.803713858547152,12.027343338722998,0.6326834719980131,0.12084265385763356,6,5.539689880493177,0.02518064403521875,0.3859647522318924,1.0,True,
|
||||
8,10,8.062504137991457,43.97815524531457,0.6163861933423412,0.12936028463965984,6,4.789005902863088,0.011327540721525892,0.17059480981566058,1.0,True,
|
||||
8,11,11.084531710563947,22.606708130954026,0.5371195721380364,0.13463285672049757,6,5.833003178860405,0.017887959781482814,0.14919899299178907,1.0,True,
|
||||
9,10,2.04815062353057,56.00549858403758,0.6543345543345543,0.10729272360686735,6,3.3788563349731584,0.008725655639009402,0.02870462611907292,1.0,True,
|
||||
9,11,4.738677237611319,34.634051469677026,0.5818780055682106,0.11717687815100752,6,3.555986532172074,0.009813025835682346,0.0603546019895227,1.0,True,
|
||||
9,12,7.170741483679294,16.35622721712263,0.5379123584441162,0.12645695585785732,6,4.882558096197038,0.008862930161052695,0.11566409877698863,1.0,True,
|
||||
10,11,3.2047552083250137,21.371447114360556,0.7118898623279099,0.1192865608074921,6,3.2202034715576238,0.0029529340190147615,0.0041769080934441144,1.0,True,
|
||||
10,12,6.291813977735496,39.64927136691496,0.6120311738918656,0.1252565212812615,6,4.691686416856199,0.005686910809265337,0.10204044727301474,1.0,True,
|
||||
10,13,10.199392557022867,72.41150002956134,0.516551290119572,0.1354903305714049,6,7.346543684414892,0.01356504272158301,0.3255230434099281,1.0,True,
|
||||
11,12,3.467398797536633,18.277824252554396,0.650555275113579,0.12104882943540958,6,4.612247786063486,0.003583199374499245,0.03300207707174736,1.0,True,
|
||||
11,13,7.516502113110916,51.04005291520078,0.5698054068172914,0.12858662743221627,6,7.539783468898054,0.016001435752891854,0.11059625579949509,1.0,True,
|
||||
11,14,3.767517331528496,20.548768889074672,0.6420881321982974,0.12414062948335584,6,4.9522650472668115,0.012369101516230236,0.018705060406060074,1.0,True,
|
||||
12,13,4.049286119591895,32.762228662646386,0.6972966112450819,0.11680896213116294,6,4.282247993741361,0.011410238767832601,0.04779713993430858,1.0,True,
|
||||
12,14,0.97948616772873,2.2709446365202806,0.8749086479902558,0.09521299965540617,6,3.309695139564419,0.006159472215773642,0.014929948455572307,1.0,True,
|
||||
12,15,4.286747470271891,25.863710300929224,0.7022030893897189,0.11797995277580095,6,4.2772327867721325,0.008495008365045943,0.102782991447036,1.0,True,
|
||||
13,14,4.006260191078547,30.491284026126113,0.6955810147299509,0.1145595612270532,6,3.350289886810732,0.010228664633443074,0.03515966054944097,1.0,True,
|
||||
13,15,0.9562774815922267,6.898518361717157,0.868300353819945,0.10454213568084784,6,3.243735713395398,0.0023750253827712867,0.010725047644197173,1.0,True,
|
||||
13,16,3.565173336606111,18.944899794614482,0.7265456392027422,0.10962529664062398,6,3.522751424445623,0.008958927594995584,0.0304143851242741,1.0,True,
|
||||
14,15,4.019575892829469,23.592765664408944,0.7120070334086913,0.11868441290330693,6,4.620592469502459,0.002571958018982041,0.05506919751152759,1.0,True,
|
||||
14,16,7.5676649485439835,49.43618382074059,0.5918615984405458,0.12229328437386527,6,7.149509813179243,0.014273957859022303,0.25325650727956367,1.0,True,
|
||||
14,17,5.910977627463022,0.8461207481731591,0.6694009445687298,0.12443900216431929,6,5.157741429696001,0.017895201000461415,0.10920228290609475,1.0,True,
|
||||
15,16,3.7301261399251735,25.84341815633164,0.702887537993921,0.11495230769293868,6,3.540289976352534,0.013545291843393993,0.033466251783377816,1.0,True,
|
||||
15,17,2.2049738368271745,24.438886412582093,0.7429531936901991,0.11679524427533879,6,3.526664394280145,0.00989411002791081,0.07786907370564648,1.0,True,
|
||||
15,18,4.7000039832559155,3.452521908779401,0.7209645010046886,0.11716134583909153,6,4.125231895423432,0.011654729311847106,0.13683586564190353,1.0,True,
|
||||
16,17,3.368526196086246,50.282304568913744,0.618922305764411,0.11254196340939995,6,4.068632188828396,0.03104786021350874,0.10375098145235381,1.0,True,
|
||||
16,18,3.5240348999326185,22.39089624755224,0.6890156918687589,0.11084024896736888,6,4.42116710884217,0.01556225520371614,0.02495881796886513,1.0,True,
|
||||
16,19,2.146829294717985,30.035090485266103,0.8685060899826,0.10135543575024519,6,2.92007223300188,0.002952251383831446,0.02753369989560042,1.0,True,
|
||||
17,18,2.640403049812329,27.891408321361506,0.7697708305735859,0.10648049893472207,6,3.7928223564531667,0.010582276181446382,0.039599051949106026,1.0,True,
|
||||
17,19,3.933985934417215,80.31739505417984,0.6293759512937596,0.1095449771750205,6,3.6483069293931876,0.012240937390583118,0.060306184678878015,1.0,True,
|
||||
17,20,4.2254212089887,152.98392843416656,0.6014520938674964,0.12300562605352797,6,4.719447385686107,1.3272837904090529,0.4474442011368189,1.0,False,forward_reverse_translation
|
||||
18,19,2.4460967931915643,52.425986732818345,0.6827314510833881,0.10834806615100012,6,3.5073857685652805,0.012418496053917759,0.11905018881098527,1.0,True,
|
||||
18,20,6.593931011285688,125.09252011280485,0.5756313809779688,0.1265759478434112,6,5.389095141151797,0.012917057356045326,0.24042373011343365,1.0,True,
|
||||
18,21,11.793089868757727,175.70238585456048,0.4044519656339495,0.14396876383759685,6,10.041635341774429,0.06610149517267662,0.6118050873537593,1.0,False,forward_reverse_rotation
|
||||
19,20,6.650720121741557,72.6665333799865,0.6234734541714874,0.12775305804057488,6,5.958603794025073,0.009237066767190358,0.22540488888099894,1.0,True,
|
||||
19,21,12.053580264031138,123.27639912174077,0.3788200074840963,0.14687803396129923,6,10.170069582593054,0.1645149893124099,1.1204113986936788,1.0,False,forward_reverse_translation;forward_reverse_rotation
|
||||
19,22,14.836246959975925,128.85294276465592,0.3215252152521525,0.1505833656059155,6,15.25410245430046,0.08605091089946505,0.48945936193054473,1.0,False,heldout_inlier_ratio;forward_reverse_translation
|
||||
20,21,5.40286046809103,50.60986574175429,0.6596992097884272,0.12147955429086157,6,4.0820327359553845,0.014725537493637062,0.1988422472286775,1.0,True,
|
||||
20,22,8.200956565000565,56.18640938466938,0.5739414499308958,0.13255415786946786,6,5.328486341352201,0.006040617548520927,0.19706632354687328,1.0,True,
|
||||
20,23,5.175118275082073,70.79178325235415,0.6456945156330087,0.12075756038041646,6,3.9642702950866386,0.022949011013485506,0.1911210947924365,1.0,True,
|
||||
21,22,2.8644847627909416,5.57654364291509,0.7716237647919971,0.11632271358541554,6,2.79620153032919,0.00996357879827298,0.15332892195322273,1.0,True,
|
||||
21,23,1.2936223973175418,20.18191751059984,0.8576224819696593,0.09865676260631216,6,3.0367950693845156,0.0039225733250952055,0.00898487649368532,1.0,True,
|
||||
21,24,2.3128500583741403,54.59467208208593,0.7715940569126165,0.1136150455355286,6,2.76815824933335,0.007475673605589086,0.042277690012993266,1.0,True,
|
||||
22,23,3.7194009250537223,14.605373867684753,0.7396689147762109,0.11702962848624102,6,3.4148047250889095,0.01814015943430581,0.11847321816106485,1.0,True,
|
||||
22,24,4.786117710081478,49.01812843917083,0.6983240223463687,0.11898873157361621,6,3.6334655936865663,0.013438931050857202,0.08244161259412694,1.0,True,
|
||||
22,25,2.3747421598149763,12.391903814042255,0.736861094407697,0.11586394710110075,6,2.383007054117407,0.018559552524775386,0.0645260279790244,1.0,True,
|
||||
23,24,1.0880644725336985,34.41275457148609,0.7853164556962026,0.1128725442321241,6,2.409921828847164,0.002195759849115173,0.032112959181416705,1.0,True,
|
||||
23,25,5.033935954106079,2.213470053642494,0.6881127450980392,0.12303206700403986,6,2.9363727218037994,0.004939188019100004,0.12964064637100806,1.0,True,
|
||||
23,26,5.765534437288107,40.730927532824346,0.6852618757612667,0.12040544972155913,6,3.0590065093977192,0.006032445250250899,0.14039335223024835,1.0,True,
|
||||
24,25,6.097212810998921,36.62622462512857,0.677667493796526,0.12346315805814134,6,3.6286524357748307,0.02347922689116974,0.16273859629352566,1.0,True,
|
||||
24,26,6.852918693116795,6.318172961338249,0.6530209617755857,0.12710147612984257,6,3.5331859775372005,0.013311199903818141,0.18193579850152686,1.0,True,
|
||||
24,27,7.47982907414204,31.60254826458195,0.6649014778325123,0.1248115961442785,6,4.10006355979974,0.017872821205486625,0.1680556511699705,1.0,True,
|
||||
25,26,1.2882746074869595,42.944397586466835,0.9127837514934289,0.0958142916589384,6,2.9017658682436953,0.003534148840172682,0.018440169300173608,1.0,True,
|
||||
25,27,1.7666235781584831,68.22877288971053,0.8510739856801909,0.10418150333394147,6,2.368253417089997,0.006103232696002816,0.13366555345652814,1.0,True,
|
||||
25,28,2.1807182972588706,88.09106909546726,0.8853518429870751,0.10761251229652005,6,2.6372860976794645,0.003483231665912094,0.0369774420199415,1.0,True,
|
||||
26,27,0.6269948654714946,25.284375303243706,0.9183867141162515,0.09074909570650921,6,2.8142315359282506,0.00040199505815422204,0.011554314408129918,1.0,True,
|
||||
26,28,0.9431372257108486,45.14667150900044,0.8853200095170116,0.10604184939655073,6,2.656402027789519,0.007320240476189879,0.12930335868605478,1.0,True,
|
||||
26,29,1.129925637779203,87.41573662125148,0.7880466815984911,0.10871274240898265,6,3.111957466886604,0.0063952430610542755,0.039517035902874385,1.0,True,
|
||||
27,28,0.44809323479571145,19.862296205756735,0.9289448669201521,0.0850509551532673,6,2.96325286846982,0.005157655135591474,0.022666807877311387,1.0,True,
|
||||
27,29,1.160064136065596,62.13136131800778,0.7872365477452019,0.10455513464835667,6,2.9621627623005296,0.011650639607012138,0.1624719134077532,1.0,True,
|
||||
27,30,4.25412615059095,152.09392556214777,0.04792444029850746,0.15706827084964883,6,3.4115087753552786,2.5641513880069633,2.874944882076104,0.0,False,heldout_inlier_ratio;forward_reverse_translation;forward_reverse_rotation;multistart_instability
|
||||
28,29,1.5995723610319212,42.26906511225104,0.8000944621560987,0.1086547547358129,6,3.1466224100058553,0.0011394164967304414,0.02119627748719656,1.0,True,
|
||||
28,30,4.295353381127667,132.23162935639104,0.042095416276894296,0.16025490727880456,6,4.631028587407634,2.5607552487652696,2.17230408479254,0.0,False,heldout_inlier_ratio;heldout_inlier_rmse;forward_reverse_translation;forward_reverse_rotation;multistart_instability
|
||||
28,31,5.754426930327516,158.8421298011293,0.7465330381074466,0.1066966653439246,6,2.402598366822474,0.00635764905956918,0.040016615214377715,1.0,True,
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||||
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File diff suppressed because it is too large
Load Diff
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File diff suppressed because it is too large
Load Diff
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
}
|
||||
Reference in New Issue
Block a user