完善Phase-A会话级联合优化并修正雷达相位中心高度先验

imu_lidar/keyframes.py

@@ -21,6 +21,7 @@ def build_keyframes(
     *,
     min_translation_m: float = 0.3,
     min_rotation_deg: float = 3.0,
+    min_registration_fitness: float = 0.5,
     max_frame_gap: int = 8,
 ) -> KeyframeSet:
     """Select keyframes with enough relative motion for hand-eye pairs."""
@@ -36,7 +37,7 @@ def build_keyframes(
             last = index
             continue
         result = register_lidar_pair(frames[index].points_xyz, frames[last].points_xyz)
-        if not result.ok:
+        if not result.ok or result.fitness < min_registration_fitness:
             continue
         if result.translation_m >= min_translation_m or result.rotation_deg >= min_rotation_deg:
             selected.append(index)