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
+59
-17
@@ -1,32 +1,74 @@
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param(
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[string]$Batch1Prepared = "C:\Users\admin\Documents\Codex\2026-07-15\wo\outputs\calibration_20260717\prepared",
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[string]$Batch2Prepared = "C:\Users\admin\Documents\Codex\2026-07-15\wo\outputs\calibration_data1_20260720\prepared"
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[Parameter(Mandatory = $true)][string]$Batch1Prepared,
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[Parameter(Mandatory = $true)][string]$Batch2Prepared,
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[string]$OutputRoot = ""
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)
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$ErrorActionPreference = "Stop"
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$Repo = Split-Path -Parent $PSScriptRoot
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if ([string]::IsNullOrWhiteSpace($OutputRoot)) {
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$OutputRoot = Join-Path $Repo "results\01_previous_two_batches"
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}
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$Code = Join-Path $Repo "code\rigorous_calibration.py"
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$Refine = Join-Path $Repo "code\refine_pairs.py"
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$Summary = Join-Path $Repo "code\summarize_results.py"
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$R = Join-Path $Repo "results"
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$B1Frames = Join-Path $Batch1Prepared "frames_all"
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$B2Frames = Join-Path $Batch2Prepared "frames_all"
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$B1Body = Join-Path $Batch1Prepared "body_poses_rear_gga_raw_rear_to_front.csv"
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$B2Body = Join-Path $Batch2Prepared "body_poses_rear_gga_raw_rear_to_front.csv"
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python $Code ground --frames $B2Frames --output "$R\common\ground_planes_batch2.csv"
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function Run-Python {
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param([string]$Stage, [string[]]$Arguments)
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Write-Host "[$Stage]"
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& python @Arguments
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if ($LASTEXITCODE -ne 0) { throw "$Stage failed with Python exit code $LASTEXITCODE" }
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}
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python $Code pairs --backend small_gicp --frames $B2Frames --body $B2Body --output "$R\small_gicp\B_batch2_estimation.npz" --quality-json "$R\small_gicp\B_batch2_quality.json" --quality-csv "$R\small_gicp\B_batch2_quality.csv"
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python $Code pairs --backend open3d --frames $B2Frames --body $B2Body --output "$R\open3d_gicp\B_batch2_estimation.npz" --quality-json "$R\open3d_gicp\B_batch2_quality.json" --quality-csv "$R\open3d_gicp\B_batch2_quality.csv" --max-gap 3 --multistart 1 --iterations 40
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python $Refine --pairs "$R\small_gicp\B_batch2_estimation.npz" --quality-json "$R\small_gicp\B_batch2_quality.json" --output "$R\small_gicp\B_batch2_refined.npz"
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python $Refine --pairs "$R\open3d_gicp\B_batch2_estimation.npz" --quality-json "$R\open3d_gicp\B_batch2_quality.json" --output "$R\open3d_gicp\B_batch2_refined.npz"
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python $Code calibrate --pairs "$R\small_gicp\B_batch2_refined.npz" --ground-planes "$R\common\ground_planes_batch2.csv" --output "$R\small_gicp\extrinsic_batch2_refined.json"
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python $Code calibrate --pairs "$R\open3d_gicp\B_batch2_refined.npz" --ground-planes "$R\common\ground_planes_batch2.csv" --output "$R\open3d_gicp\extrinsic_batch2_refined.json"
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foreach ($Path in @($B1Frames, $B2Frames, $B1Body, $B2Body)) {
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if (-not (Test-Path -LiteralPath $Path)) { throw "Input does not exist: $Path" }
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}
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$Common = Join-Path $OutputRoot "common"
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$Small = Join-Path $OutputRoot "small_gicp"
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$Open = Join-Path $OutputRoot "open3d_gicp"
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New-Item -ItemType Directory -Force -Path $Common,$Small,$Open | Out-Null
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python $Code pairs --backend small_gicp --frames $B1Frames --body $B1Body --output "$R\small_gicp\B_batch1_auxiliary.npz" --quality-json "$R\small_gicp\B_batch1_quality.json" --quality-csv "$R\small_gicp\B_batch1_quality.csv" --max-gap 3 --multistart 1 --iterations 40
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python $Code pairs --backend open3d --frames $B1Frames --body $B1Body --output "$R\open3d_gicp\B_batch1_auxiliary.npz" --quality-json "$R\open3d_gicp\B_batch1_quality.json" --quality-csv "$R\open3d_gicp\B_batch1_quality.csv" --max-gap 3 --multistart 1 --iterations 40
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python $Refine --pairs "$R\small_gicp\B_batch1_auxiliary.npz" --quality-json "$R\small_gicp\B_batch1_quality.json" --output "$R\small_gicp\B_batch1_auxiliary_refined.npz"
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python $Refine --pairs "$R\open3d_gicp\B_batch1_auxiliary.npz" --quality-json "$R\open3d_gicp\B_batch1_quality.json" --output "$R\open3d_gicp\B_batch1_auxiliary_refined.npz"
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python $Code validate --pairs "$R\small_gicp\B_batch1_auxiliary_refined.npz" --extrinsic "$R\small_gicp\extrinsic_batch2_refined.json" --output "$R\small_gicp\batch1_auxiliary_check.json"
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python $Code validate --pairs "$R\open3d_gicp\B_batch1_auxiliary_refined.npz" --extrinsic "$R\open3d_gicp\extrinsic_batch2_refined.json" --output "$R\open3d_gicp\batch1_auxiliary_check.json"
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Run-Python "batch2 ground planes" @($Code, "ground", "--frames", $B2Frames, "--output", (Join-Path $Common "ground_planes_batch2.csv"))
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python $Summary --open3d "$R\open3d_gicp\extrinsic_batch2_refined.json" --small "$R\small_gicp\extrinsic_batch2_refined.json" --open3d-quality "$R\open3d_gicp\B_batch2_quality.json" --small-quality "$R\small_gicp\B_batch2_quality.json" --open3d-check "$R\open3d_gicp\batch1_auxiliary_check.json" --small-check "$R\small_gicp\batch1_auxiliary_check.json" --output "$R\comparison_summary.json" --recommended-output "$R\final_extrinsic_recommended.json"
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foreach ($Backend in @("small_gicp", "open3d")) {
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$Directory = if ($Backend -eq "small_gicp") { $Small } else { $Open }
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$Extra = @()
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if ($Backend -eq "open3d") { $Extra = @("--max-gap", "3", "--multistart", "1", "--iterations", "40") }
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$B2Raw = Join-Path $Directory "B_batch2_estimation.npz"
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$B2QualityJson = Join-Path $Directory "B_batch2_quality.json"
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$B2QualityCsv = Join-Path $Directory "B_batch2_quality.csv"
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Run-Python "$Backend batch2 pairs" (@($Code, "pairs", "--backend", $Backend, "--frames", $B2Frames, "--body", $B2Body,
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"--output", $B2Raw, "--quality-json", $B2QualityJson, "--quality-csv", $B2QualityCsv) + $Extra)
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$B2Refined = Join-Path $Directory "B_batch2_refined.npz"
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Run-Python "$Backend batch2 refinement" @($Refine, "--pairs", $B2Raw, "--quality-json", $B2QualityJson, "--output", $B2Refined)
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$Extrinsic = Join-Path $Directory "extrinsic_batch2_refined.json"
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Run-Python "$Backend batch2 calibration" @($Code, "calibrate", "--pairs", $B2Refined,
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"--ground-planes", (Join-Path $Common "ground_planes_batch2.csv"), "--output", $Extrinsic)
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$B1Raw = Join-Path $Directory "B_batch1_auxiliary.npz"
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$B1QualityJson = Join-Path $Directory "B_batch1_quality.json"
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$B1QualityCsv = Join-Path $Directory "B_batch1_quality.csv"
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Run-Python "$Backend batch1 auxiliary pairs" @($Code, "pairs", "--backend", $Backend, "--frames", $B1Frames, "--body", $B1Body,
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"--output", $B1Raw, "--quality-json", $B1QualityJson, "--quality-csv", $B1QualityCsv,
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"--max-gap", "3", "--multistart", "1", "--iterations", "40")
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$B1Refined = Join-Path $Directory "B_batch1_auxiliary_refined.npz"
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Run-Python "$Backend batch1 refinement" @($Refine, "--pairs", $B1Raw, "--quality-json", $B1QualityJson, "--output", $B1Refined)
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Run-Python "$Backend batch1 auxiliary check" @($Code, "validate", "--pairs", $B1Refined,
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"--extrinsic", $Extrinsic, "--output", (Join-Path $Directory "batch1_auxiliary_check.json"))
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}
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Run-Python "backend summary" @($Summary,
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"--open3d", (Join-Path $Open "extrinsic_batch2_refined.json"),
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"--small", (Join-Path $Small "extrinsic_batch2_refined.json"),
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"--open3d-quality", (Join-Path $Open "B_batch2_quality.json"),
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"--small-quality", (Join-Path $Small "B_batch2_quality.json"),
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"--open3d-check", (Join-Path $Open "batch1_auxiliary_check.json"),
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"--small-check", (Join-Path $Small "batch1_auxiliary_check.json"),
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"--output", (Join-Path $OutputRoot "comparison_summary.json"),
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"--recommended-output", (Join-Path $OutputRoot "final_extrinsic_recommended.json"))
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Write-Host "Two-batch results: $OutputRoot"
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