新增原始数据一步导出到 combined：对齐 Lidar-IMU 导出入口，适配 H32/G90/N300
Co-authored-by: Cursor <cursoragent@cursor.com>
This commit is contained in:
lichun.qu
Cursor
+14
-2
@@ -4,12 +4,24 @@
|
||||
|
||||
| 脚本 | 用途 |
|
||||
|---|---|
|
||||
| `run_full_pipeline.ps1` | 从逐站LiDAR dlog、RTK rscap、IMU rscap一直运行到最终`T_RTK_lidar` |
|
||||
| `export_multisensor_stations.ps1` | 解析原始三传感器数据并按LiDAR帧生成combined NPZ |
|
||||
| `run_full_pipeline.ps1` | 调用一步导出得到 `combined/`，再跑到最终 `T_RTK_lidar` |
|
||||
| `export_multisensor_stations.ps1` | 薄封装：调用 `tools/export_raw_to_combined.py` |
|
||||
| `prepare_multisensor_dataset.ps1` | 每站选一帧，生成yaw-only RTK参考轨迹和`frames_all` |
|
||||
| `run_direct_rtk_lidar.ps1` | 从combined数据运行RTK直接标定和最终结果封装 |
|
||||
| `run_single_dataset.ps1` | 执行地面、两个GICP后端、精筛、共识和AX=XB求解 |
|
||||
| `run_joint_rtk_lidar.ps1` | 合并多个独立批次的批内共识运动对和地面平面，求解共享外参 |
|
||||
| `view_result.ps1` | 打开3D运动对对比并打印数值增量 |
|
||||
|
||||
原始→中间包请优先直接用 Python 一步导出（与 Lidar-IMU 用法对齐）：
|
||||
|
||||
```powershell
|
||||
python tools\export_raw_to_combined.py --stations-root ... --rtk-rscap ... --imu-rscap ... --out ... --overwrite
|
||||
```
|
||||
|
||||
常用参数：
|
||||
|
||||
- `-LidarCaptureName h32.rscap`：每站雷达文件名（也接受 `lidar.rscap`）
|
||||
- `-TimeBasis device_gnss`（默认）：雷达设备时 ↔ GNSS week/TOW
|
||||
- `-TimeBasis host`：旧 dlog + 主机接收时间关联
|
||||
|
||||
所有路径均为命令行参数。标定入口要求显式传入RTK/GGA参考点离地高度，避免静默使用与实车不符的默认值；默认生成目录`work/`和`outputs/`不会提交Git。
|
||||
|
||||
@@ -4,86 +4,55 @@ param(
|
||||
[Parameter(Mandatory = $true)][string]$RtkCapture,
|
||||
[Parameter(Mandatory = $true)][string]$ImuCapture,
|
||||
[string]$LidarObject = "frontlidar",
|
||||
[string]$LidarCaptureName = "h32.rscap",
|
||||
[string]$Timezone = "+08:00",
|
||||
[string[]]$StationNames = @(),
|
||||
[int]$Stride = 1,
|
||||
[double]$RtkMaxDtMs = 150.0,
|
||||
[double]$ImuBeforeMs = 100.0,
|
||||
[double]$ImuAfterMs = 100.0,
|
||||
[ValidateSet("device_gnss", "host")][string]$TimeBasis = "device_gnss",
|
||||
[switch]$SkipLidarExport,
|
||||
[switch]$SkipSerialParsing
|
||||
)
|
||||
|
||||
$ErrorActionPreference = "Stop"
|
||||
$RepoRoot = Split-Path -Parent $PSScriptRoot
|
||||
$Exporter = Join-Path $RepoRoot "tools\frontlidar_dlog_export.py"
|
||||
$Builder = Join-Path $RepoRoot "tools\build_multisensor_npz.py"
|
||||
$Parser = Join-Path $RepoRoot "tools\rscap_v2\parse_rtk_imu_v2.py"
|
||||
$Auditor = Join-Path $RepoRoot "tools\rscap_v2\audit_capture_v2.py"
|
||||
$ExportRoot = Join-Path $OutputRoot "export"
|
||||
$ParsedRoot = Join-Path $OutputRoot "parsed"
|
||||
$CombinedRoot = Join-Path $OutputRoot "combined"
|
||||
|
||||
function Run-Python {
|
||||
param([string]$Stage, [string[]]$Arguments)
|
||||
Write-Host "[$Stage]"
|
||||
& python @Arguments
|
||||
if ($LASTEXITCODE -ne 0) {
|
||||
throw "$Stage failed with Python exit code $LASTEXITCODE"
|
||||
}
|
||||
}
|
||||
$Exporter = Join-Path $RepoRoot "tools\export_raw_to_combined.py"
|
||||
|
||||
foreach ($Path in @($DataRoot, $RtkCapture, $ImuCapture)) {
|
||||
if (-not (Test-Path -LiteralPath $Path)) { throw "Input does not exist: $Path" }
|
||||
}
|
||||
if ($Stride -lt 1) { throw "Stride must be at least 1" }
|
||||
|
||||
if ($StationNames.Count -gt 0) {
|
||||
$Stations = @($StationNames | ForEach-Object { Get-Item -LiteralPath (Join-Path $DataRoot $_) })
|
||||
} else {
|
||||
$Stations = @(Get-ChildItem -LiteralPath $DataRoot -Directory | Where-Object {
|
||||
(Test-Path -LiteralPath (Join-Path $_.FullName "dobject")) -and
|
||||
(Test-Path -LiteralPath (Join-Path $_.FullName "dobject_recording"))
|
||||
} | Sort-Object Name)
|
||||
}
|
||||
if ($Stations.Count -eq 0) { throw "No station directory containing dobject and dobject_recording was found" }
|
||||
|
||||
New-Item -ItemType Directory -Force -Path $OutputRoot | Out-Null
|
||||
if (-not $SkipSerialParsing) {
|
||||
New-Item -ItemType Directory -Force -Path $ParsedRoot | Out-Null
|
||||
Run-Python "capture audit" @($Auditor, $RtkCapture, $ImuCapture, "--out", (Join-Path $OutputRoot "capture_audit.json"))
|
||||
Run-Python "RTK/IMU parse" @($Parser, "--rtk", $RtkCapture, "--imu", $ImuCapture, "--out", $ParsedRoot)
|
||||
if ($SkipLidarExport -or $SkipSerialParsing) {
|
||||
throw "Partial skip flags are no longer supported; use tools/export_raw_to_combined.py internals or run_direct_rtk_lidar.ps1 on an existing combined/"
|
||||
}
|
||||
|
||||
foreach ($Station in $Stations) {
|
||||
$StationOut = Join-Path $ExportRoot $Station.Name
|
||||
if (-not $SkipLidarExport) {
|
||||
Run-Python "LiDAR station $($Station.Name)" @(
|
||||
$Exporter, "--dlog", $Station.FullName, "--out", $StationOut,
|
||||
"--object", $LidarObject, "--format", "npz", "--timezone", $Timezone,
|
||||
"--stride", "$Stride", "--compress", "--skip-rtk", "--write-reports", "--resume"
|
||||
)
|
||||
}
|
||||
if (-not (Test-Path -LiteralPath (Join-Path $StationOut "frames"))) {
|
||||
throw "Exported frame directory is absent for station $($Station.Name): $StationOut"
|
||||
}
|
||||
}
|
||||
|
||||
$BuildArgs = @($Builder)
|
||||
foreach ($Station in $Stations) {
|
||||
$Frames = Join-Path (Join-Path $ExportRoot $Station.Name) "frames"
|
||||
$BuildArgs += @("--lidar", "$($Station.Name)=$Frames")
|
||||
}
|
||||
$BuildArgs += @(
|
||||
"--rtk", (Join-Path $ParsedRoot "rtk.jsonl"),
|
||||
"--imu", (Join-Path $ParsedRoot "imu.jsonl"),
|
||||
"--out", $CombinedRoot,
|
||||
$Args = @(
|
||||
$Exporter,
|
||||
"--stations-root", $DataRoot,
|
||||
"--rtk-rscap", $RtkCapture,
|
||||
"--imu-rscap", $ImuCapture,
|
||||
"--out", $OutputRoot,
|
||||
"--lidar-capture-name", $LidarCaptureName,
|
||||
"--lidar-object", $LidarObject,
|
||||
"--timezone", $Timezone,
|
||||
"--stride", "$Stride",
|
||||
"--rtk-max-dt-ms", "$RtkMaxDtMs",
|
||||
"--imu-before-ms", "$ImuBeforeMs",
|
||||
"--imu-after-ms", "$ImuAfterMs",
|
||||
"--time-basis", $TimeBasis,
|
||||
"--overwrite"
|
||||
)
|
||||
Run-Python "LiDAR/RTK/IMU association" $BuildArgs
|
||||
foreach ($Name in $StationNames) {
|
||||
$Args += @("--station", $Name)
|
||||
}
|
||||
|
||||
Write-Host "Completed stations: $($Stations.Count)"
|
||||
Write-Host "Combined NPZ: $CombinedRoot"
|
||||
Write-Host "[raw → combined one-shot export]"
|
||||
& python @Args
|
||||
if ($LASTEXITCODE -ne 0) {
|
||||
throw "export_raw_to_combined failed with Python exit code $LASTEXITCODE"
|
||||
}
|
||||
|
||||
Write-Host "Combined NPZ: $(Join-Path $OutputRoot 'combined')"
|
||||
Write-Host "Summary: $(Join-Path $OutputRoot 'export_summary.json')"
|
||||
|
||||
@@ -4,8 +4,10 @@
|
||||
[Parameter(Mandatory = $true)][string]$ImuCapture,
|
||||
[Parameter(Mandatory = $true)][string]$OutputRoot,
|
||||
[string]$LidarObject = "frontlidar",
|
||||
[string]$LidarCaptureName = "h32.rscap",
|
||||
[Parameter(Mandatory = $true)][double]$RtkReferenceHeightAboveGroundM,
|
||||
[string]$Timezone = "+08:00",
|
||||
[ValidateSet("device_gnss", "host")][string]$TimeBasis = "device_gnss",
|
||||
[int]$ExpectedStations = 34,
|
||||
[int]$MinPairs = 20,
|
||||
[int]$Bootstrap = 200
|
||||
@@ -18,7 +20,8 @@ $CalibrationRoot = Join-Path $OutputRoot "calibration"
|
||||
|
||||
& (Join-Path $PSScriptRoot "export_multisensor_stations.ps1") `
|
||||
-DataRoot $DataRoot -RtkCapture $RtkCapture -ImuCapture $ImuCapture `
|
||||
-OutputRoot $ExportRoot -LidarObject $LidarObject -Timezone $Timezone
|
||||
-OutputRoot $ExportRoot -LidarObject $LidarObject -LidarCaptureName $LidarCaptureName `
|
||||
-Timezone $Timezone -TimeBasis $TimeBasis
|
||||
if ($LASTEXITCODE -ne 0) { throw "Raw-data export failed" }
|
||||
|
||||
& (Join-Path $PSScriptRoot "run_direct_rtk_lidar.ps1") `
|
||||
|
||||
Reference in New Issue
Block a user