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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
2026-07-23 18:55:50 +08:00
parent 6b7844a977
commit f72fcb71cc
91 changed files with 39561 additions and 503 deletions
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run/run_consensus_finish.ps1
+28 -6
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@@ -1,12 +1,34 @@
param([string]$ResultRoot = "")
$ErrorActionPreference = "Stop"
$Repo = Split-Path -Parent $PSScriptRoot
if ([string]::IsNullOrWhiteSpace($ResultRoot)) { $ResultRoot = Join-Path $Repo "results\01_previous_two_batches" }
$Code = Join-Path $Repo "code\rigorous_calibration.py"
$Filter = Join-Path $Repo "code\cross_backend_filter.py"
$Finalize = Join-Path $Repo "code\finalize_consensus.py"
$R = Join-Path $Repo "results"
python $Filter --open3d-pairs "$R\open3d_gicp\B_batch2_refined.npz" --small-pairs "$R\small_gicp\B_batch2_refined.npz" --output "$R\consensus\B_batch2_consensus.npz"
python $Filter --open3d-pairs "$R\open3d_gicp\B_batch1_auxiliary_refined.npz" --small-pairs "$R\small_gicp\B_batch1_auxiliary_refined.npz" --output "$R\consensus\B_batch1_consensus.npz" --min-pairs 15
python $Code calibrate --pairs "$R\consensus\B_batch2_consensus.npz" --ground-planes "$R\common\ground_planes_batch2.csv" --output "$R\consensus\extrinsic_batch2_consensus.json"
python $Code validate --pairs "$R\consensus\B_batch1_consensus.npz" --extrinsic "$R\consensus\extrinsic_batch2_consensus.json" --output "$R\consensus\batch1_auxiliary_check.json"
python $Finalize --consensus-extrinsic "$R\consensus\extrinsic_batch2_consensus.json" --consensus-check "$R\consensus\batch1_auxiliary_check.json" --open3d-extrinsic "$R\open3d_gicp\extrinsic_batch2_refined.json" --small-extrinsic "$R\small_gicp\extrinsic_batch2_refined.json" --output "$R\final_extrinsic_recommended.json" --summary "$R\final_summary.json"
function Run-Python {
param([string[]]$Arguments)
& python @Arguments
if ($LASTEXITCODE -ne 0) { throw "Python failed with exit code $LASTEXITCODE" }
}
Run-Python @($Filter, "--open3d-pairs", (Join-Path $ResultRoot "open3d_gicp\B_batch2_refined.npz"),
"--small-pairs", (Join-Path $ResultRoot "small_gicp\B_batch2_refined.npz"),
"--output", (Join-Path $ResultRoot "consensus\B_batch2_consensus.npz"))
Run-Python @($Filter, "--open3d-pairs", (Join-Path $ResultRoot "open3d_gicp\B_batch1_auxiliary_refined.npz"),
"--small-pairs", (Join-Path $ResultRoot "small_gicp\B_batch1_auxiliary_refined.npz"),
"--output", (Join-Path $ResultRoot "consensus\B_batch1_consensus.npz"), "--min-pairs", "15")
Run-Python @($Code, "calibrate", "--pairs", (Join-Path $ResultRoot "consensus\B_batch2_consensus.npz"),
"--ground-planes", (Join-Path $ResultRoot "common\ground_planes_batch2.csv"),
"--output", (Join-Path $ResultRoot "consensus\extrinsic_batch2_consensus.json"))
Run-Python @($Code, "validate", "--pairs", (Join-Path $ResultRoot "consensus\B_batch1_consensus.npz"),
"--extrinsic", (Join-Path $ResultRoot "consensus\extrinsic_batch2_consensus.json"),
"--output", (Join-Path $ResultRoot "consensus\batch1_auxiliary_check.json"))
Run-Python @($Finalize,
"--consensus-extrinsic", (Join-Path $ResultRoot "consensus\extrinsic_batch2_consensus.json"),
"--consensus-check", (Join-Path $ResultRoot "consensus\batch1_auxiliary_check.json"),
"--open3d-extrinsic", (Join-Path $ResultRoot "open3d_gicp\extrinsic_batch2_refined.json"),
"--small-extrinsic", (Join-Path $ResultRoot "small_gicp\extrinsic_batch2_refined.json"),
"--output", (Join-Path $ResultRoot "final_extrinsic_recommended.json"),
"--summary", (Join-Path $ResultRoot "final_summary.json"))