支持 HI13/H32 主机 UTC 桥接对齐、多会话联合标定与 CAD 平移先验。

Co-authored-by: Cursor <cursoragent@cursor.com>

tools/run_joint_three_windows_full_se3.py

@@ -0,0 +1,50 @@
+#!/usr/bin/env python3
+"""Joint full_se3 on the three host-aligned priority windows."""
+
+from __future__ import annotations
+
+import sys
+from pathlib import Path
+
+ROOT = Path(__file__).resolve().parents[1]
+if str(ROOT) not in sys.path:
+    sys.path.insert(0, str(ROOT))
+
+from imu_lidar.cli import main as cli_main
+
+ALIGNED = Path(r"D:\data\calibration_usable_20260808\sessions_v1_host_aligned")
+SESSIONS = [
+    "priority_174005_174515",
+    "priority_174905_175450",
+    "priority_175910_180530",
+]
+
+
+def main() -> int:
+    out = ALIGNED / "joint_full_se3"
+    argv = [
+        "run",
+        "--vehicle-config",
+        str(ROOT / "config" / "vehicle_hi13_h32_20260808.yaml"),
+        "--output",
+        str(out),
+        "--mode",
+        "full_se3",
+        "--time-offset-search-s",
+        "0.5",
+        "--min-pair-rotation-deg",
+        "2.0",
+    ]
+    for name in SESSIONS:
+        session = ALIGNED / name
+        if not (session / "imu.csv").is_file() or not (session / "lidar" / "frames_index.csv").is_file():
+            raise SystemExit(f"missing host-aligned session: {session}")
+        argv.extend(["--session-id", name])
+        argv.extend(["--imu", str(session / "imu.csv")])
+        argv.extend(["--lidar", str(session / "lidar")])
+    print("argv:", " ".join(argv), flush=True)
+    return cli_main(argv)
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())