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 +1,35 @@
+from __future__ import annotations
+
+import argparse
+from pathlib import Path
+
+from capture_format_v2 import file_summary, read_capture
+from pipeline_common_corrected import parse_imu_capture, parse_rtk_capture, write_json, write_jsonl
+
+
+def main() -> None:
+    parser = argparse.ArgumentParser()
+    parser.add_argument("--rtk", type=Path, required=True)
+    parser.add_argument("--imu", type=Path, required=True)
+    parser.add_argument("--out", type=Path, required=True)
+    args = parser.parse_args()
+    args.out.mkdir(parents=True, exist_ok=True)
+    rtk_capture = read_capture(args.rtk)
+    imu_capture = read_capture(args.imu)
+    rtk_rows = parse_rtk_capture(rtk_capture)
+    imu_rows = parse_imu_capture(imu_capture)
+    write_jsonl(args.out / "rtk.jsonl", rtk_rows)
+    write_jsonl(args.out / "imu.jsonl", imu_rows)
+    write_json(args.out / "parse_summary.json", {
+        "rtk_capture": file_summary(rtk_capture),
+        "imu_capture": file_summary(imu_capture),
+        "rtk_records": len(rtk_rows),
+        "rtk_checksum_valid": sum(bool(row.get("checksum_valid")) for row in rtk_rows),
+        "imu_frames": len(imu_rows),
+        "imu_crc_valid": sum(bool(row.get("crc_valid")) for row in imu_rows),
+    })
+    print(f"RTK records={len(rtk_rows)}, IMU frames={len(imu_rows)}")
+
+
+if __name__ == "__main__":
+    main()