补充data4与data5联合标定流程并显式配置RTK高度

2026-07-28 15:36:00 +08:00
parent e847cd4590
commit 24eaa8508e
9 changed files with 289 additions and 20 deletions
@@ -748,7 +748,11 @@ def build_parser():
    calibrate.add_argument("--rotation-sigma", type=float, default=0.5)
    calibrate.add_argument("--plane-normal-sigma", type=float, default=0.02)
    calibrate.add_argument("--plane-height-sigma", type=float, default=0.03)
-    calibrate.add_argument("--reference-height", "--body-height", dest="reference_height", type=float, default=0.8535)
+    calibrate.add_argument(
+        "--reference-height", "--body-height", dest="reference_height",
+        type=float, required=True,
+        help="measured RTK/GGA reference-origin height above the local ground in metres",
+    )
    calibrate.add_argument("--solver-multistart", type=int, default=12)
    calibrate.add_argument("--start-translation-sigma", type=float, default=1.0)
    calibrate.add_argument("--start-rotation-sigma", type=float, default=20.0)