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。
This commit is contained in:
lichun.qu
@@ -0,0 +1,7 @@
|
||||
# 跨批比较
|
||||
|
||||
- `extrinsic_difference.json`：data4 X 相对历史部署 X 的严格 SE(3) 差，约 `1.592 cm / 0.234°`。
|
||||
- `old_extrinsic_on_data4.json`：历史部署 X 在 data4 B 上的残差，约 `0.11953 m / 1.24836°`。
|
||||
- `data4_extrinsic_on_previous_batch2.json`：data4 X 在历史第二批 B 上的残差，约 `0.07931 m / 0.98926°`。
|
||||
|
||||
两套 X 的跨批表现接近，而 data4 自身估计残差更高；因此维持历史部署值，data4 只作为候选。
|
||||
@@ -0,0 +1,298 @@
|
||||
{
|
||||
"role": "auxiliary check only; first-batch RTK is sparse",
|
||||
"blind_with_respect_to_X": true,
|
||||
"note": "No AX residual was used to select these pairs",
|
||||
"stations": 38,
|
||||
"metrics": {
|
||||
"pairs": 39,
|
||||
"translation_m": {
|
||||
"rms": 0.07931219315845621,
|
||||
"median": 0.0521831021438143,
|
||||
"p90": 0.1205091988381832,
|
||||
"p95": 0.14405284012014574,
|
||||
"max": 0.23166749945892554
|
||||
},
|
||||
"rotation_deg": {
|
||||
"rms": 0.9892579681085032,
|
||||
"median": 0.8987168885592437,
|
||||
"p90": 1.5241504377222574,
|
||||
"p95": 1.5453098245907155,
|
||||
"max": 1.8288069823538258
|
||||
},
|
||||
"per_pair": [
|
||||
{
|
||||
"pair_index": 0,
|
||||
"translation_m": 0.13184857122951013,
|
||||
"rotation_deg": 0.4578882478759752,
|
||||
"i": 0,
|
||||
"j": 2
|
||||
},
|
||||
{
|
||||
"pair_index": 1,
|
||||
"translation_m": 0.11088249231082419,
|
||||
"rotation_deg": 0.49123829458862667,
|
||||
"i": 0,
|
||||
"j": 3
|
||||
},
|
||||
{
|
||||
"pair_index": 2,
|
||||
"translation_m": 0.06122066543511726,
|
||||
"rotation_deg": 0.46678985990983063,
|
||||
"i": 1,
|
||||
"j": 2
|
||||
},
|
||||
{
|
||||
"pair_index": 3,
|
||||
"translation_m": 0.05361370234686629,
|
||||
"rotation_deg": 0.6513155675962176,
|
||||
"i": 1,
|
||||
"j": 3
|
||||
},
|
||||
{
|
||||
"pair_index": 4,
|
||||
"translation_m": 0.023371189257265605,
|
||||
"rotation_deg": 0.3726639533978929,
|
||||
"i": 2,
|
||||
"j": 3
|
||||
},
|
||||
{
|
||||
"pair_index": 5,
|
||||
"translation_m": 0.07839704351948763,
|
||||
"rotation_deg": 0.9876540671880906,
|
||||
"i": 2,
|
||||
"j": 4
|
||||
},
|
||||
{
|
||||
"pair_index": 6,
|
||||
"translation_m": 0.06371505126502003,
|
||||
"rotation_deg": 0.8674541404693262,
|
||||
"i": 3,
|
||||
"j": 4
|
||||
},
|
||||
{
|
||||
"pair_index": 7,
|
||||
"translation_m": 0.09440077842634854,
|
||||
"rotation_deg": 1.176934949298133,
|
||||
"i": 3,
|
||||
"j": 5
|
||||
},
|
||||
{
|
||||
"pair_index": 8,
|
||||
"translation_m": 0.034738581722701674,
|
||||
"rotation_deg": 0.46221894567574257,
|
||||
"i": 4,
|
||||
"j": 5
|
||||
},
|
||||
{
|
||||
"pair_index": 9,
|
||||
"translation_m": 0.1368264467472551,
|
||||
"rotation_deg": 1.0614354353201445,
|
||||
"i": 6,
|
||||
"j": 7
|
||||
},
|
||||
{
|
||||
"pair_index": 10,
|
||||
"translation_m": 0.003100407410401193,
|
||||
"rotation_deg": 0.6140746474880827,
|
||||
"i": 7,
|
||||
"j": 9
|
||||
},
|
||||
{
|
||||
"pair_index": 11,
|
||||
"translation_m": 0.06611151014323934,
|
||||
"rotation_deg": 0.09617682103039936,
|
||||
"i": 8,
|
||||
"j": 9
|
||||
},
|
||||
{
|
||||
"pair_index": 12,
|
||||
"translation_m": 0.11767435574035143,
|
||||
"rotation_deg": 0.8987168885592437,
|
||||
"i": 8,
|
||||
"j": 10
|
||||
},
|
||||
{
|
||||
"pair_index": 13,
|
||||
"translation_m": 0.05534374617362978,
|
||||
"rotation_deg": 0.9177398533680782,
|
||||
"i": 9,
|
||||
"j": 10
|
||||
},
|
||||
{
|
||||
"pair_index": 14,
|
||||
"translation_m": 0.016375449524654653,
|
||||
"rotation_deg": 1.8288069823538258,
|
||||
"i": 12,
|
||||
"j": 14
|
||||
},
|
||||
{
|
||||
"pair_index": 15,
|
||||
"translation_m": 0.23166749945892554,
|
||||
"rotation_deg": 0.4806436956517463,
|
||||
"i": 13,
|
||||
"j": 15
|
||||
},
|
||||
{
|
||||
"pair_index": 16,
|
||||
"translation_m": 0.20909038047616038,
|
||||
"rotation_deg": 1.1888833539076575,
|
||||
"i": 14,
|
||||
"j": 16
|
||||
},
|
||||
{
|
||||
"pair_index": 17,
|
||||
"translation_m": 0.04954727606060992,
|
||||
"rotation_deg": 0.7479656125581431,
|
||||
"i": 17,
|
||||
"j": 18
|
||||
},
|
||||
{
|
||||
"pair_index": 18,
|
||||
"translation_m": 0.0401572454810912,
|
||||
"rotation_deg": 1.042619605722841,
|
||||
"i": 18,
|
||||
"j": 19
|
||||
},
|
||||
{
|
||||
"pair_index": 19,
|
||||
"translation_m": 0.0432861701880587,
|
||||
"rotation_deg": 0.6965786478374109,
|
||||
"i": 20,
|
||||
"j": 21
|
||||
},
|
||||
{
|
||||
"pair_index": 20,
|
||||
"translation_m": 0.010709015812516234,
|
||||
"rotation_deg": 1.6253345198252291,
|
||||
"i": 22,
|
||||
"j": 23
|
||||
},
|
||||
{
|
||||
"pair_index": 21,
|
||||
"translation_m": 0.058199199584633175,
|
||||
"rotation_deg": 0.36595813742919014,
|
||||
"i": 22,
|
||||
"j": 24
|
||||
},
|
||||
{
|
||||
"pair_index": 22,
|
||||
"translation_m": 0.030262860466569532,
|
||||
"rotation_deg": 1.1081362850905554,
|
||||
"i": 22,
|
||||
"j": 25
|
||||
},
|
||||
{
|
||||
"pair_index": 23,
|
||||
"translation_m": 0.04000865510964372,
|
||||
"rotation_deg": 1.189922759500818,
|
||||
"i": 23,
|
||||
"j": 24
|
||||
},
|
||||
{
|
||||
"pair_index": 24,
|
||||
"translation_m": 0.06464346915846221,
|
||||
"rotation_deg": 0.7699901460922239,
|
||||
"i": 24,
|
||||
"j": 25
|
||||
},
|
||||
{
|
||||
"pair_index": 25,
|
||||
"translation_m": 0.0521831021438143,
|
||||
"rotation_deg": 0.18489023256895315,
|
||||
"i": 25,
|
||||
"j": 26
|
||||
},
|
||||
{
|
||||
"pair_index": 26,
|
||||
"translation_m": 0.08267778191372169,
|
||||
"rotation_deg": 0.9059437837656906,
|
||||
"i": 25,
|
||||
"j": 27
|
||||
},
|
||||
{
|
||||
"pair_index": 27,
|
||||
"translation_m": 0.038589920757972004,
|
||||
"rotation_deg": 0.8404190717226915,
|
||||
"i": 26,
|
||||
"j": 27
|
||||
},
|
||||
{
|
||||
"pair_index": 28,
|
||||
"translation_m": 0.05488335734683258,
|
||||
"rotation_deg": 1.5217701038732556,
|
||||
"i": 26,
|
||||
"j": 28
|
||||
},
|
||||
{
|
||||
"pair_index": 29,
|
||||
"translation_m": 0.022562161090077113,
|
||||
"rotation_deg": 1.5336717731182645,
|
||||
"i": 26,
|
||||
"j": 29
|
||||
},
|
||||
{
|
||||
"pair_index": 30,
|
||||
"translation_m": 0.016794927865731942,
|
||||
"rotation_deg": 1.4945757001638067,
|
||||
"i": 27,
|
||||
"j": 30
|
||||
},
|
||||
{
|
||||
"pair_index": 31,
|
||||
"translation_m": 0.08618762377782405,
|
||||
"rotation_deg": 1.5364181917868804,
|
||||
"i": 30,
|
||||
"j": 31
|
||||
},
|
||||
{
|
||||
"pair_index": 32,
|
||||
"translation_m": 0.06980420384374487,
|
||||
"rotation_deg": 0.7086752430201493,
|
||||
"i": 30,
|
||||
"j": 32
|
||||
},
|
||||
{
|
||||
"pair_index": 33,
|
||||
"translation_m": 0.032647030192474995,
|
||||
"rotation_deg": 1.2921319816631744,
|
||||
"i": 32,
|
||||
"j": 33
|
||||
},
|
||||
{
|
||||
"pair_index": 34,
|
||||
"translation_m": 0.0345860258877476,
|
||||
"rotation_deg": 1.374123371412574,
|
||||
"i": 32,
|
||||
"j": 34
|
||||
},
|
||||
{
|
||||
"pair_index": 35,
|
||||
"translation_m": 0.05213790087077668,
|
||||
"rotation_deg": 0.46701073818826994,
|
||||
"i": 32,
|
||||
"j": 35
|
||||
},
|
||||
{
|
||||
"pair_index": 36,
|
||||
"translation_m": 0.023288081661695596,
|
||||
"rotation_deg": 0.15454273191995999,
|
||||
"i": 33,
|
||||
"j": 34
|
||||
},
|
||||
{
|
||||
"pair_index": 37,
|
||||
"translation_m": 0.035256268159629366,
|
||||
"rotation_deg": 0.9445397555422734,
|
||||
"i": 33,
|
||||
"j": 35
|
||||
},
|
||||
{
|
||||
"pair_index": 38,
|
||||
"translation_m": 0.020736197670988343,
|
||||
"rotation_deg": 1.137619185440334,
|
||||
"i": 35,
|
||||
"j": 36
|
||||
}
|
||||
]
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,43 @@
|
||||
{
|
||||
"convention": "delta = inverse(reference) @ candidate",
|
||||
"reference": "results\\01_previous_two_batches\\final_extrinsic_deployment.json",
|
||||
"candidate": "results\\02_data4_calibration\\consensus\\extrinsic.json",
|
||||
"candidate_minus_reference_translation_xyz_m": [
|
||||
0.002616328047628791,
|
||||
-0.0016393602019739468,
|
||||
-0.01562078923962118
|
||||
],
|
||||
"candidate_minus_reference_rpy_xyz_deg": [
|
||||
-0.006740470942029009,
|
||||
0.1911623881626312,
|
||||
-0.13523257777677677
|
||||
],
|
||||
"relative_translation_norm_m": 0.01592299377608647,
|
||||
"relative_rotation_deg": 0.23416878770707064,
|
||||
"relative_matrix_4x4": [
|
||||
[
|
||||
0.9999916502190469,
|
||||
0.0023133957658166954,
|
||||
0.003368633583168801,
|
||||
0.0029672356800607425
|
||||
],
|
||||
[
|
||||
-0.0023136119190219507,
|
||||
0.9999973217800623,
|
||||
6.027097638170339e-05,
|
||||
-0.0013876386622047616
|
||||
],
|
||||
[
|
||||
-0.0033684851306055737,
|
||||
-6.80641839411564e-05,
|
||||
0.999994324321489,
|
||||
-0.015582416441470737
|
||||
],
|
||||
[
|
||||
0.0,
|
||||
0.0,
|
||||
0.0,
|
||||
1.0
|
||||
]
|
||||
]
|
||||
}
|
||||
@@ -0,0 +1,207 @@
|
||||
{
|
||||
"role": "auxiliary check only; first-batch RTK is sparse",
|
||||
"blind_with_respect_to_X": true,
|
||||
"note": "No AX residual was used to select these pairs",
|
||||
"stations": 34,
|
||||
"metrics": {
|
||||
"pairs": 26,
|
||||
"translation_m": {
|
||||
"rms": 0.11953342461680516,
|
||||
"median": 0.059870553274397435,
|
||||
"p90": 0.11852081980116268,
|
||||
"p95": 0.27001896145006843,
|
||||
"max": 0.3924432090639719
|
||||
},
|
||||
"rotation_deg": {
|
||||
"rms": 1.248363434126574,
|
||||
"median": 0.7472573318442859,
|
||||
"p90": 1.7836452528035456,
|
||||
"p95": 2.0119235382379705,
|
||||
"max": 4.302962170390954
|
||||
},
|
||||
"per_pair": [
|
||||
{
|
||||
"pair_index": 0,
|
||||
"translation_m": 0.05017939301544147,
|
||||
"rotation_deg": 0.7621142667147064,
|
||||
"i": 0,
|
||||
"j": 2
|
||||
},
|
||||
{
|
||||
"pair_index": 1,
|
||||
"translation_m": 0.05476119605552225,
|
||||
"rotation_deg": 0.39488243852657817,
|
||||
"i": 2,
|
||||
"j": 3
|
||||
},
|
||||
{
|
||||
"pair_index": 2,
|
||||
"translation_m": 0.11117501211320562,
|
||||
"rotation_deg": 0.29330702638456563,
|
||||
"i": 2,
|
||||
"j": 5
|
||||
},
|
||||
{
|
||||
"pair_index": 3,
|
||||
"translation_m": 0.06643052326439366,
|
||||
"rotation_deg": 0.5530967273631149,
|
||||
"i": 3,
|
||||
"j": 5
|
||||
},
|
||||
{
|
||||
"pair_index": 4,
|
||||
"translation_m": 0.028182994383263396,
|
||||
"rotation_deg": 0.5499639343413396,
|
||||
"i": 5,
|
||||
"j": 8
|
||||
},
|
||||
{
|
||||
"pair_index": 5,
|
||||
"translation_m": 0.06086463130525318,
|
||||
"rotation_deg": 0.6985420749542534,
|
||||
"i": 6,
|
||||
"j": 7
|
||||
},
|
||||
{
|
||||
"pair_index": 6,
|
||||
"translation_m": 0.020630277131513722,
|
||||
"rotation_deg": 0.6820744752666614,
|
||||
"i": 6,
|
||||
"j": 8
|
||||
},
|
||||
{
|
||||
"pair_index": 7,
|
||||
"translation_m": 0.046848360772821,
|
||||
"rotation_deg": 0.8723393366986318,
|
||||
"i": 12,
|
||||
"j": 14
|
||||
},
|
||||
{
|
||||
"pair_index": 8,
|
||||
"translation_m": 0.05887647524354169,
|
||||
"rotation_deg": 1.9071782288631753,
|
||||
"i": 13,
|
||||
"j": 16
|
||||
},
|
||||
{
|
||||
"pair_index": 9,
|
||||
"translation_m": 0.11661768017132504,
|
||||
"rotation_deg": 2.046838641362902,
|
||||
"i": 15,
|
||||
"j": 16
|
||||
},
|
||||
{
|
||||
"pair_index": 10,
|
||||
"translation_m": 0.06473893802255462,
|
||||
"rotation_deg": 0.30644679433866145,
|
||||
"i": 15,
|
||||
"j": 17
|
||||
},
|
||||
{
|
||||
"pair_index": 11,
|
||||
"translation_m": 0.04963073408543951,
|
||||
"rotation_deg": 0.33998803648541337,
|
||||
"i": 15,
|
||||
"j": 18
|
||||
},
|
||||
{
|
||||
"pair_index": 12,
|
||||
"translation_m": 0.03313618555659487,
|
||||
"rotation_deg": 0.5283154781000993,
|
||||
"i": 16,
|
||||
"j": 19
|
||||
},
|
||||
{
|
||||
"pair_index": 13,
|
||||
"translation_m": 0.0691797699772094,
|
||||
"rotation_deg": 0.6320358674350408,
|
||||
"i": 21,
|
||||
"j": 22
|
||||
},
|
||||
{
|
||||
"pair_index": 14,
|
||||
"translation_m": 0.042364105706927925,
|
||||
"rotation_deg": 1.660112276743916,
|
||||
"i": 21,
|
||||
"j": 24
|
||||
},
|
||||
{
|
||||
"pair_index": 15,
|
||||
"translation_m": 0.07073443988383908,
|
||||
"rotation_deg": 0.8343384286314613,
|
||||
"i": 22,
|
||||
"j": 23
|
||||
},
|
||||
{
|
||||
"pair_index": 16,
|
||||
"translation_m": 0.12042395943100032,
|
||||
"rotation_deg": 4.302962170390954,
|
||||
"i": 22,
|
||||
"j": 25
|
||||
},
|
||||
{
|
||||
"pair_index": 17,
|
||||
"translation_m": 0.05181438442870987,
|
||||
"rotation_deg": 0.8455629957527,
|
||||
"i": 25,
|
||||
"j": 26
|
||||
},
|
||||
{
|
||||
"pair_index": 18,
|
||||
"translation_m": 0.032857670083788,
|
||||
"rotation_deg": 0.7324003969738653,
|
||||
"i": 25,
|
||||
"j": 28
|
||||
},
|
||||
{
|
||||
"pair_index": 19,
|
||||
"translation_m": 0.05285636518357229,
|
||||
"rotation_deg": 0.4369186254063126,
|
||||
"i": 26,
|
||||
"j": 27
|
||||
},
|
||||
{
|
||||
"pair_index": 20,
|
||||
"translation_m": 0.10251045240958172,
|
||||
"rotation_deg": 1.0529040723274141,
|
||||
"i": 26,
|
||||
"j": 29
|
||||
},
|
||||
{
|
||||
"pair_index": 21,
|
||||
"translation_m": 0.023054151271876995,
|
||||
"rotation_deg": 0.24976946582216739,
|
||||
"i": 27,
|
||||
"j": 28
|
||||
},
|
||||
{
|
||||
"pair_index": 22,
|
||||
"translation_m": 0.06593100197822659,
|
||||
"rotation_deg": 1.2515362824917693,
|
||||
"i": 27,
|
||||
"j": 29
|
||||
},
|
||||
{
|
||||
"pair_index": 23,
|
||||
"translation_m": 0.31988396212309117,
|
||||
"rotation_deg": 1.0256849788735003,
|
||||
"i": 29,
|
||||
"j": 30
|
||||
},
|
||||
{
|
||||
"pair_index": 24,
|
||||
"translation_m": 0.3924432090639719,
|
||||
"rotation_deg": 0.8042671494244682,
|
||||
"i": 29,
|
||||
"j": 31
|
||||
},
|
||||
{
|
||||
"pair_index": 25,
|
||||
"translation_m": 0.11357259403662164,
|
||||
"rotation_deg": 0.901297615800165,
|
||||
"i": 30,
|
||||
"j": 32
|
||||
}
|
||||
]
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user