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 +1,89 @@
+param(
+    [Parameter(Mandatory = $true)][string]$DataRoot,
+    [Parameter(Mandatory = $true)][string]$OutputRoot,
+    [Parameter(Mandatory = $true)][string]$RtkCapture,
+    [Parameter(Mandatory = $true)][string]$ImuCapture,
+    [string]$LidarObject = "frontlidar",
+    [string]$Timezone = "+08:00",
+    [string[]]$StationNames = @(),
+    [int]$Stride = 1,
+    [double]$RtkMaxDtMs = 150.0,
+    [double]$ImuBeforeMs = 100.0,
+    [double]$ImuAfterMs = 100.0,
+    [switch]$SkipLidarExport,
+    [switch]$SkipSerialParsing
+)
+
+$ErrorActionPreference = "Stop"
+$RepoRoot = Split-Path -Parent $PSScriptRoot
+$Exporter = Join-Path $RepoRoot "tools\frontlidar_dlog_export.py"
+$Builder = Join-Path $RepoRoot "tools\build_multisensor_npz.py"
+$Parser = Join-Path $RepoRoot "tools\rscap_v2\parse_rtk_imu_v2.py"
+$Auditor = Join-Path $RepoRoot "tools\rscap_v2\audit_capture_v2.py"
+$ExportRoot = Join-Path $OutputRoot "export"
+$ParsedRoot = Join-Path $OutputRoot "parsed"
+$CombinedRoot = Join-Path $OutputRoot "combined"
+
+function Run-Python {
+    param([string]$Stage, [string[]]$Arguments)
+    Write-Host "[$Stage]"
+    & python @Arguments
+    if ($LASTEXITCODE -ne 0) {
+        throw "$Stage failed with Python exit code $LASTEXITCODE"
+    }
+}
+
+foreach ($Path in @($DataRoot, $RtkCapture, $ImuCapture)) {
+    if (-not (Test-Path -LiteralPath $Path)) { throw "Input does not exist: $Path" }
+}
+if ($Stride -lt 1) { throw "Stride must be at least 1" }
+
+if ($StationNames.Count -gt 0) {
+    $Stations = @($StationNames | ForEach-Object { Get-Item -LiteralPath (Join-Path $DataRoot $_) })
+} else {
+    $Stations = @(Get-ChildItem -LiteralPath $DataRoot -Directory | Where-Object {
+        (Test-Path -LiteralPath (Join-Path $_.FullName "dobject")) -and
+        (Test-Path -LiteralPath (Join-Path $_.FullName "dobject_recording"))
+    } | Sort-Object Name)
+}
+if ($Stations.Count -eq 0) { throw "No station directory containing dobject and dobject_recording was found" }
+
+New-Item -ItemType Directory -Force -Path $OutputRoot | Out-Null
+if (-not $SkipSerialParsing) {
+    New-Item -ItemType Directory -Force -Path $ParsedRoot | Out-Null
+    Run-Python "capture audit" @($Auditor, $RtkCapture, $ImuCapture, "--out", (Join-Path $OutputRoot "capture_audit.json"))
+    Run-Python "RTK/IMU parse" @($Parser, "--rtk", $RtkCapture, "--imu", $ImuCapture, "--out", $ParsedRoot)
+}
+
+foreach ($Station in $Stations) {
+    $StationOut = Join-Path $ExportRoot $Station.Name
+    if (-not $SkipLidarExport) {
+        Run-Python "LiDAR station $($Station.Name)" @(
+            $Exporter, "--dlog", $Station.FullName, "--out", $StationOut,
+            "--object", $LidarObject, "--format", "npz", "--timezone", $Timezone,
+            "--stride", "$Stride", "--compress", "--skip-rtk", "--write-reports", "--resume"
+        )
+    }
+    if (-not (Test-Path -LiteralPath (Join-Path $StationOut "frames"))) {
+        throw "Exported frame directory is absent for station $($Station.Name): $StationOut"
+    }
+}
+
+$BuildArgs = @($Builder)
+foreach ($Station in $Stations) {
+    $Frames = Join-Path (Join-Path $ExportRoot $Station.Name) "frames"
+    $BuildArgs += @("--lidar", "$($Station.Name)=$Frames")
+}
+$BuildArgs += @(
+    "--rtk", (Join-Path $ParsedRoot "rtk.jsonl"),
+    "--imu", (Join-Path $ParsedRoot "imu.jsonl"),
+    "--out", $CombinedRoot,
+    "--rtk-max-dt-ms", "$RtkMaxDtMs",
+    "--imu-before-ms", "$ImuBeforeMs",
+    "--imu-after-ms", "$ImuAfterMs",
+    "--overwrite"
+)
+Run-Python "LiDAR/RTK/IMU association" $BuildArgs
+
+Write-Host "Completed stations: $($Stations.Count)"
+Write-Host "Combined NPZ: $CombinedRoot"