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。

tools/rscap_v2/pipeline_common_corrected.py

@@ -0,0 +1,106 @@
+from __future__ import annotations
+
+import bisect
+
+from pipeline_common import *
+from capture_format_v2 import CaptureFile, RawChunk, iter_contiguous_segments
+
+
+_SPAN_CACHE: dict[int, tuple[list[RawChunk], list[int]]] = {}
+
+
+def _chunk_starts(chunks: list[RawChunk]) -> list[int]:
+    key = id(chunks)
+    cached = _SPAN_CACHE.get(key)
+    if cached is not None and cached[0] is chunks:
+        return cached[1]
+    starts = []
+    cursor = 0
+    for chunk in chunks:
+        starts.append(cursor)
+        cursor += len(chunk.raw)
+    _SPAN_CACHE[key] = (chunks, starts)
+    return starts
+
+
+def source_for_span(chunks: list[RawChunk], start: int, end: int, segment_id: int) -> dict:
+    starts = _chunk_starts(chunks)
+    start_index = max(0, min(len(chunks) - 1, bisect.bisect_right(starts, start) - 1))
+    end_index = max(start_index, min(len(chunks) - 1, bisect.bisect_left(starts, end) - 1))
+    start_chunk = chunks[start_index]
+    end_chunk = chunks[end_index]
+    return {
+        "source_segment_id": segment_id,
+        "source_chunk_sequence_first": start_chunk.sequence,
+        "source_chunk_sequence_last": end_chunk.sequence,
+        "source_raw_file_offset": start_chunk.raw_file_offset + (start - starts[start_index]),
+        "source_raw_byte_length": end - start,
+        "host_receive_utc_ns": ticks_to_unix_ns(end_chunk.receive_utc_ticks),
+        "host_receive_monotonic_ticks": end_chunk.receive_monotonic_ticks,
+    }
+
+def parse_rtk_capture(capture: CaptureFile) -> list[dict]:
+    rows = []
+    for segment_id, chunks in iter_contiguous_segments(capture.chunks):
+        stream = b"".join(chunk.raw for chunk in chunks)
+        cursor = 0
+        while cursor < len(stream):
+            newline = stream.find(b"\n", cursor)
+            if newline < 0:
+                break
+            end = newline + 1
+            raw_line = stream[cursor:end].rstrip(b"\r\n")
+            start = cursor
+            cursor = end
+            if not raw_line:
+                continue
+            line = raw_line.decode("ascii", "replace")
+            row = {"type": "UNKNOWN", "raw_line": line, "checksum_valid": parse_checksum(line)}
+            row.update(source_for_span(chunks, start, end, segment_id))
+            try:
+                if line.startswith("$GNGGA") or line.startswith("$GPGGA"):
+                    row.update(parse_gga(line))
+                elif line.startswith("#UNIHEADINGA"):
+                    row.update(parse_heading(line))
+            except ValueError as ex:
+                row["parse_error"] = str(ex)
+            rows.append(row)
+    return rows
+
+
+def parse_imu_capture(capture: CaptureFile) -> list[dict]:
+    rows = []
+    for segment_id, chunks in iter_contiguous_segments(capture.chunks):
+        stream = b"".join(chunk.raw for chunk in chunks)
+        cursor = 0
+        while True:
+            start = stream.find(b"\x5a\xa5", cursor)
+            if start < 0 or start + 6 > len(stream):
+                break
+            payload_length = int.from_bytes(stream[start + 2:start + 4], "little")
+            frame_length = 6 + payload_length
+            if payload_length <= 0 or payload_length > 512:
+                cursor = start + 1
+                continue
+            if start + frame_length > len(stream):
+                break
+            frame = stream[start:start + frame_length]
+            expected = int.from_bytes(frame[4:6], "little")
+            actual = crc16_hi13(frame[:4] + frame[6:])
+            end = start + frame_length
+            row = {
+                "type": "HI13",
+                "tag": frame[6],
+                "frame_length": frame_length,
+                "crc_valid": expected == actual,
+                "raw_frame_hex": frame.hex(),
+            }
+            row.update(source_for_span(chunks, start, end, segment_id))
+            if row["crc_valid"]:
+                try:
+                    row.update(decode_hi91(frame) if frame[6] == 0x91 else decode_hi92(frame) if frame[6] == 0x92 else {})
+                except (IndexError, struct.error, ValueError) as ex:
+                    row["parse_error"] = str(ex)
+            rows.append(row)
+            cursor = end
+    return rows