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。

run/prepare_legacy_dataset.ps1

@@ -0,0 +1,21 @@
+param(
+    [Parameter(Mandatory = $true)][string]$ExportRoot,
+    [Parameter(Mandatory = $true)][string]$Output,
+    [Parameter(Mandatory = $true)][double]$HeadingOffsetDeg,
+    [Parameter(Mandatory = $true)][double[]]$AntennaLever,
+    [int]$MinStations = 30,
+    [int]$ExpectedStations = 0,
+    [double]$HeadingStdLimitDeg = [double]::PositiveInfinity,
+    [switch]$Overwrite
+)
+
+$ErrorActionPreference = "Stop"
+if ($AntennaLever.Count -ne 3) { throw "AntennaLever must contain X,Y,Z in body coordinates" }
+$Repo = Split-Path -Parent $PSScriptRoot
+$Args = @((Join-Path $Repo "tools\prepare_station_dataset.py"), "--export-root", $ExportRoot,
+    "--output", $Output, "--heading-offset-deg", "$HeadingOffsetDeg", "--antenna-lever") +
+    @($AntennaLever | ForEach-Object { "$_" }) + @("--min-stations", "$MinStations",
+    "--expected-stations", "$ExpectedStations", "--heading-std-limit-deg", "$HeadingStdLimitDeg")
+if ($Overwrite) { $Args += "--overwrite" }
+& python @Args
+if ($LASTEXITCODE -ne 0) { throw "Legacy dataset preparation failed" }