diff --git a/README.md b/README.md index 456ded6..4411a9a 100644 --- a/README.md +++ b/README.md @@ -15,7 +15,7 @@ | 地面点 ROI | LiDAR 系 **`z ∈ [-2.5, -1.5]`**（约 2 m 车顶安装） | | pair 配准 | **禁止**使用外参 seed；B 与 X 独立 | -数据下载（历史 data4 等）：https://fs.fairylandtech.com:5001/FRLD/#file_id=963272954246902180 +数据下载：https://fs.fairylandtech.com:5001/FRLD/#file_id=966776353886090246 账号：lichun.qu@fairylandtech.com　密码：lichun.qu --- @@ -191,8 +191,8 @@ $Out/ ```powershell $Repo = "D:\First-dev-dept\calibration-rtk-run" -$Out = "D:\data\rtk_lidar_run\outputs_baseline_h19165" -$Work = "D:\data\rtk_lidar_run\prepared_baseline_h19165" +$Out = "D:\data\rtk_lidar_run\outputs_vehicle_h19165" +$Work = "D:\data\rtk_lidar_run\prepared_vehicle_h19165" powershell.exe -NoProfile -ExecutionPolicy Bypass -File "$Repo\run\view_result.ps1" ` -Frames "$Work\frames_all" ` @@ -229,10 +229,8 @@ powershell.exe -NoProfile -ExecutionPolicy Bypass -File "$Repo\run\view_result.p > **状态：可作车头系候选交付**（`recommended_for_deployment: true`）。 > 约定：`HeadingOffsetDeg=-90`，双天线 pitch/roll，机械初值 \(t=(+0.21086,-0.41418,+0.07850)\)，yaw=0。 -> 旧 `outputs_baseline_h19165` 仍不可用。 -结果目录：`D:\data\rtk_lidar_run\outputs_vehicle_h19165\` -文件：`final_T_RTK_lidar.json` / `summary.json` +仓库内结果：[`results/vehicle_20260808/`](results/vehicle_20260808/)（来自本机 `outputs_vehicle_h19165`）。 ```text translation_m = [0.217822250, -0.411347802, 0.106542337] @@ -272,27 +270,22 @@ T_RTK_lidar ≈ 平面阿克曼运动不能独立观测 z。z 由「LiDAR 地面平面 + 外供 RTK 参考点离地高」约束： - 本次：**1.9165 m**（相位中心离地）； -- 历史 data4/data5 文档中的 **0.758 m** 是**另一台车**的测量，不能用于本车。 +- 不得复用其他车辆或历史采集的天线离地高度。 更改高度后必须重新求解，禁止只改 JSON 里的 z。 GGA 对应哪根天线、`rawHeading` 方向须现场确认；搞反会导致 yaw 差约 180°。 --- -## 9. 历史 data4 / data4+data5（参考） -旧联合实验使用 ANT1 离地 `0.758 m`，外参量级与本车不同，**不要与第 7 节结果混比**。联合流程见 `run/run_joint_rtk_lidar.ps1`。 -`results/reference_data4/` 若存在，仅为历史精简产物，不作为当前交付外参。 - ---- - -## 10. 仓库目录 +## 9. 仓库目录 | 目录 | 职责 | |---|---| | [`code/`](code/) | GICP、运动对质量、AX=XB、结果封装、3D 可视化 | | [`tools/`](tools/) | dlog/rscap 解析、G90 窗导出、combined / prepared | | [`run/`](run/) | PowerShell 入口；路径与高度均由参数传入 | +| [`results/`](results/) | 当前车辆的最终外参与质量摘要；不含原始数据和中间点云 | | `tests/` | 坐标契约、G90 host 关联等回归 | | `work/`、`outputs/` | 本地生成物（`.gitignore`） | diff --git a/ScreenCamera_2026-07-24-09-32-29.json b/ScreenCamera_2026-07-24-09-32-29.json deleted file mode 100644 index 1f1b429..0000000 --- a/ScreenCamera_2026-07-24-09-32-29.json +++ /dev/null @@ -1,41 +0,0 @@ -{ - "class_name" : "PinholeCameraParameters", - "extrinsic" : - [ - 0.99504759165761958, - -0.069911734310665122, - 0.070658614068252801, - 0.0, - -0.09933361974813136, - -0.67348569005019454, - 0.73249563635925308, - 0.0, - -0.0036224748591220518, - -0.7358867947607759, - -0.67709489953226409, - 0.0, - 2.6365670299167046, - 1.9293765342813529, - 11.882725892422524, - 1.0 - ], - "intrinsic" : - { - "height" : 900, - "intrinsic_matrix" : - [ - 779.4228634059948, - 0.0, - 0.0, - 0.0, - 779.4228634059948, - 0.0, - 699.5, - 449.5, - 1.0 - ], - "width" : 1400 - }, - "version_major" : 1, - "version_minor" : 0 -} \ No newline at end of file diff --git a/ScreenCamera_2026-07-24-09-32-30.json b/ScreenCamera_2026-07-24-09-32-30.json deleted file mode 100644 index 1f1b429..0000000 --- a/ScreenCamera_2026-07-24-09-32-30.json +++ /dev/null @@ -1,41 +0,0 @@ -{ - "class_name" : "PinholeCameraParameters", - "extrinsic" : - [ - 0.99504759165761958, - -0.069911734310665122, - 0.070658614068252801, - 0.0, - -0.09933361974813136, - -0.67348569005019454, - 0.73249563635925308, - 0.0, - -0.0036224748591220518, - -0.7358867947607759, - -0.67709489953226409, - 0.0, - 2.6365670299167046, - 1.9293765342813529, - 11.882725892422524, - 1.0 - ], - "intrinsic" : - { - "height" : 900, - "intrinsic_matrix" : - [ - 779.4228634059948, - 0.0, - 0.0, - 0.0, - 779.4228634059948, - 0.0, - 699.5, - 449.5, - 1.0 - ], - "width" : 1400 - }, - "version_major" : 1, - "version_minor" : 0 -} \ No newline at end of file diff --git a/ScreenCapture_2026-07-24-09-32-29.png b/ScreenCapture_2026-07-24-09-32-29.png deleted file mode 100644 index 47e339f..0000000 Binary files a/ScreenCapture_2026-07-24-09-32-29.png and /dev/null differ diff --git a/ScreenCapture_2026-07-24-09-32-30.png b/ScreenCapture_2026-07-24-09-32-30.png deleted file mode 100644 index 47e339f..0000000 Binary files a/ScreenCapture_2026-07-24-09-32-30.png and /dev/null differ diff --git a/T_body_lidar标定数据说明.txt b/T_body_lidar标定数据说明.txt deleted file mode 100644 index 0a30dfd..0000000 --- a/T_body_lidar标定数据说明.txt +++ /dev/null @@ -1,240 +0,0 @@ -LiDAR、双天线 RTK、IMU 标定数据说明 -==================================== - -文档日期：2026-07-23 -配套代码仓库：calibration -标定目标：求解 3D LiDAR 到后轮轴中心车体系的外参 T_body_lidar。 - - -一、重要说明 ------------- - -1. 三批数据的记录格式和用途并不完全相同。export 是每站多帧的完整解码数据，prepared 是从中每站选一帧并配好 RTK 车体位姿后的标定输入。 -2. 第一批（data1）、第二批(data2)目前上传的是已经从原始 dlog 数据以及导出的 NPZ 数据。 -3. data4 保留了完整逐站 LiDAR dlog 和独立 RTK/IMU rscap，可以从原始记录开始复现。 -4. 每一个站点采集 LiDAR 点云时车辆均静止，因此当前 LiDAR-RTK 标定没有使用 IMU进行点云运动畸变校正。 -5. data4 中的 IMU 数据保持在 IMU 原始传感器坐标系；当前流程只解析、关联和保存 IMU，没有求解 IMU 外参。 -6. 不要修改站点目录名称、prepared 中 station_*.npz 的顺序或 manifest。B 文件中的运动对索引依赖这些顺序。 - - -二、目录结构 ----------------------- - -LiDAR_RTK_calibration_data/ - 数据说明.txt - data1/ - raw/ - export/ - prepared/ - data2/ - raw/ - export/ - prepared/ - data4/ - raw/ - RTKIMUraw/ - prepared/ - combined/(三传感器混合后的数据，data1、2没有IMU的数据。) -说明： - -- data1/export 和 data2/export 是从逐站 dlog 导出的数据。raw 是完整原始数据。 -- data1/prepared 和 data2/prepared 是每站选择一帧并重建 RTK 车体位姿后的标定输入。 -- data4/raw 是完整原始数据，能够重新生成 export、parsed、combined 和 prepared。 -它们可以由 raw 重新生成。 - - -三、第一批数据（data1） ------------------------ - -1. 数据范围 - -- 静止站点数量：38 站。 -- 站点编号：01～38。 -- 传感器：3D LiDAR + 双天线 RTK。 -- 不包含 IMU。 -- 记录格式：旧式逐站 dlog 中同时记录 LiDAR 和 GPS-POST-Z；当前云盘包从已导出的 NPZ 开始。 - -2. RTK 特点 - -- 实际 RTK 记录约 10 秒一条，并非预期的 10 Hz。 -- 每站有效 RTK 样本较少，部分站点约 1～11 个有效样本。 -- 因车辆在每站静止，仍可对站内 RTK 样本做均值并构造站点位姿；但时间同步精度和航向统计能力弱于第二批。 - -3. 当前用途 - -- 第一批只作为辅助复核数据。 -- 不作为当前部署外参的主要求解数据。 -- 不应把第一批写成严格独立的“验证集”，因为 RTK 过于稀疏，且它和第二批的场景、采集流程相近。 - -4. 上传内容 - -data1/export/ - -- 当前文件数约 803。 -- 当前大小约 0.088 GB（约 90 MB）。 -- 含逐站导出的 LiDAR NPZ、RTK sidecar、manifest 和质量报告。 - -data1/prepared/ - -- 当前文件数约 118。 -- 当前大小约 0.049 GB（约 50 MB）。 -- 核心内容包括： - frames_all/station_*.npz - body_poses_rear_gga_raw_rear_to_front.csv - station_summary.csv - manifest.json - - -四、第二批数据（data2） ------------------------ - -1. 数据范围 - -- 静止站点数量：38 站。 -- 原始站点编号：39～76。 -- prepared 中重新顺序编号为 station_01～station_38。 -- 传感器：3D LiDAR + 双天线 RTK。 -- 不包含 IMU。 -- 记录格式与第一批相同，但 RTK 采样正常且明显更密集。 - -2. RTK 特点 - -- 每站约有 125～412 个有效 RTK 样本。 -- 已使用 fix 4/fix 5 和有效 heading 进行筛选。 -- 站内 heading 圆标准差上限使用 0.5°，本批 38 站均通过。 - -3. 当前用途 - -- 第二批是当前部署外参的主要求解数据。 -- 使用 small_gicp 和 Open3D GICP 分别求 B，再做与 X 无关的质量筛选和跨后端一致性筛选。 -- 当前部署外参主要由第二批求得，第一批仅辅助复核。 - -4. 上传内容 -data2/export/ - -- 当前文件数约 759。 -- 当前大小约 0.127 GB（约 130 MB）。 -- 含逐站导出的 LiDAR NPZ、RTK 信息、manifest 和质量报告。 - -data2/prepared/ - -- 当前文件数约 82。 -- 当前大小约 0.033 GB（约 34 MB）。 -- 核心内容包括： - frames_all/station_*.npz - body_poses_rear_gga_raw_rear_to_front.csv - station_summary.csv - manifest.json - - -五、data4 数据 --------------- - -1. 数据范围 - -- 静止站点数量：34 站。 -- 站点编号：001～034。 -- 传感器：3D LiDAR + 双天线 RTK + IMU。 -- LiDAR 位于每个站点自己的原始 dlog 中。 -- RTK 和 IMU 位于独立 rscap 文件中，存放在 RTKIMUraw 目录。 -- 原始目录共约 152 个文件，大小约 12.488 GB。 - -2. RTK/IMU 原始记录 - -- RTKIMUraw 中当前包含 3 个 RTK rscap 和 3 个 IMU rscap。 -- 本次 34 站标定使用 20260723-051627 开始的长时间 RTK/IMU session。 -- 该 session 的 capture 审计结果： - RTK：54256 个记录块，missing_chunks=0，bad_record_crc=0，干净关闭，footer CRC 有效。 - IMU：26719 个记录块，missing_chunks=0，bad_record_crc=0，干净关闭，footer CRC 有效。 - -3. 时间关联与导出结果 - -处理顺序为： - -统一时间轴 - -> 分别解析 LiDAR、RTK、IMU - -> 按每个 LiDAR 帧关联最近有效 RTK - -> 保存 LiDAR 帧前后各 100 ms 的 IMU 窗口 - -> 导出 combined NPZ - -> 每站选择一个静止帧生成 prepared - -当前关联统计： - -- LiDAR 帧总数：11678。 -- 34 个站点全部有数据。 -- rtk_valid：11678。 -- heading_valid：11678。 -- fixed RTK：11678。 -- IMU 窗口非空：11678。 -- RTK 最大允许关联时间差：150 ms。 -- IMU 窗口：LiDAR 时刻前后各 100 ms。 - -时间基础：LiDAR 和串口 host UTC 用于当前关联；RTK GNSS 时间和 IMU 设备时间同时保留，供后续进一步建立精确时钟模型。 - -4. 当前用途 - -- data4 用于独立重新求解一套外参，并与历史第二批结果做跨批比较。 -- data4 中 IMU 没有参与当前 LiDAR-RTK 外参求解。 -- data4 结果与历史部署外参相差约 1.592 cm / 0.234°，但 data4 自身 AX 残差更高，因此当前仍保留历史第二批结果作为部署值。 - -如果已经上传 data4/raw，则 export、combined 和 parsed 均可以用代码重新生成。为了节省云盘空间，可只额外上传 prepared 和 calibration。 - - -六、三批数据差异汇总 --------------------- - -第一批： -- 38 站，旧式 LiDAR+RTK dlog，无 IMU。 -- RTK 极稀疏，约 10 秒一条。 -- 当前上传从 export 开始。 -- 只用于辅助复核。 - -第二批： -- 38 站，旧式 LiDAR+RTK dlog，无 IMU。 -- RTK 密集、航向稳定。 -- 当前上传从 export 开始。 -- 用于当前部署外参的主要求解。 - -data4： -- 34 站，逐站 LiDAR dlog + 独立 RTK/IMU rscap。 -- 保存完整原始数据，可从 raw 开始复现。 -- 用于独立重算和跨批比较。 -- IMU 只保存和关联，尚未完成 IMU 外参标定。 - - -七、标定坐标与主要参数 ----------------------- - -- 外参定义：T_body_lidar，将 LiDAR 原始点变换到后轮轴中心车体系。 -- 车体系：x 向前，y 向左，z 向上。 -- 手眼方程：A_ij X = X B_ij。 -- A_ij：由 RTK 后轮轴中心位置和双天线 heading 构造；当前为 yaw-only 姿态。 -- B_ij：由两个静止站点的原始 LiDAR 点云通过 GICP 求得。 -- heading_offset_deg：21.226°（本车安装参数，不是通用常数）。 -- 后天线在车体系杆臂：[ -0.320, -0.365, 0.620 ] m。（手量） -- 后轮轴中心离地高度：0.2335 m，用于地面约束；不是 LiDAR 离地高度。 - - -八、数据使用注意事项 --------------------- - -1. data1、2 的manifest 中可能仍保留旧脚本生成的 train/validation 字段。这些字段是历史元数据；当前严谨流程将第二批用于求解、第一批用于辅助复核，不把同一批内部的小样本划分描述为高可信度验证集。 -2. 不要使用已经变换到车体系的点云求 B，必须使用 NPZ 中的 points_raw。 -3. 可视化时，frames_all 必须与生成 B 文件时的站点数量和顺序完全一致。 -4. 模式 3（GICP B）本身已经错位时，应优先检查点云配准和场景退化；只有模式 3 正常而模式 4（X^-1 A X）系统性错位时，才优先检查 RTK A、坐标约定或外参 X。 -5. 当前结果是工程标定结果，不是由全站仪或高精度标靶认证的绝对真值。 - - -九、配套代码位置 ----------------- - -本机代码仓库： -calibration - -根 README.md 包含： -- 从原始数据/导出数据开始的完整复现流程； -- code、tools、run 中每个主要文件的职责； -- small_gicp、Open3D GICP、consensus B 的处理逻辑； -- AX=XB 与地面约束求 X 的方式； -- 残差、Hessian/条件数、bootstrap、跨批检查和 3D 可视化方法。 - diff --git a/data/README.md b/data/README.md deleted file mode 100644 index 5f4426e..0000000 --- a/data/README.md +++ /dev/null @@ -1,13 +0,0 @@ -# 数据说明 - -原始 H32 dlog / G90·N300 `.rscap`（以及旧版 LiDAR dlog / `h32.rscap`）、逐帧 NPZ 和 prepared 点云体积较大，不进入 Git。请从项目云盘取得数据，并按根 README 中的目录示例放置；实际路径通过命令参数传入。 - -推荐原始布局： - -```text -raw_dataset/ -├── stations/<站号>/ # dobject/ + dobject_recording/（MSOP+DIFOP） -└── captures/rtk.rscap, imu.rscap -``` - -公开数据包应同时提供：采集日期、车辆/传感器安装版本、站点数量、ANT1/ANT2 接线、rawHeading 方向、RTK 参考点离地高度及其测量方法。 diff --git a/data/data5/RTKIMUraw.rar b/data/data5/RTKIMUraw.rar deleted file mode 100644 index 501bbc8..0000000 Binary files a/data/data5/RTKIMUraw.rar and /dev/null differ diff --git a/data/motiondata/imurtk_raw.rar b/data/motiondata/imurtk_raw.rar deleted file mode 100644 index a1c7417..0000000 Binary files a/data/motiondata/imurtk_raw.rar and /dev/null differ diff --git a/results/README.md b/results/README.md index e43ace6..2b25d24 100644 --- a/results/README.md +++ b/results/README.md @@ -1,5 +1,15 @@ -# results目录 +# 当前车辆标定结果 -`reference_data4/`是本仓库附带的精简参考结果。新的运行结果应写到仓库外目录或`outputs/`，不要覆盖参考结果。 +本目录只保存当前车辆、当前传感器安装条件下的最终可交付结果；不保存历史车辆数据、原始采集包、点云帧或中间配准产物。 -参考结果保留最终矩阵、共识B、两后端精筛B、逐对CSV/筛选审计和地面平面；未保留原始点云、逐帧combined数据、冗长的初筛JSON和带本机绝对路径的过程文件。 +## 2026-08 车辆 / 27 个静止站点 + +目录 [`vehicle_20260808/`](vehicle_20260808/) 对应本机运行目录 `D:\data\rtk_lidar_run\outputs_vehicle_h19165`。 + +- 外参：`final_T_RTK_lidar.json` +- 质量摘要：`summary.json` +- 坐标约定：`p_RTK = T_RTK_lidar · p_lidar`，RTK 为车头向前坐标系（`HeadingOffsetDeg=-90`）。 +- RTK 参考点高度：1.9165 m（ANT1 相位中心）。 +- 质量：27 个站点、20 个共识运动对、平移 RMS 0.07116 m、旋转 RMS 0.98209°。 + +这些文件记录的是 host 时间关联版本的现有最终结果。后续采用 RTK 测量时间重新导出后，应写入新的结果目录，不能覆盖本目录。 diff --git a/results/final_T_RTK_lidar.json b/results/final_T_RTK_lidar.json deleted file mode 100644 index f81d27a..0000000 --- a/results/final_T_RTK_lidar.json +++ /dev/null @@ -1,45 +0,0 @@ -{ - "convention": "T_RTK_lidar maps raw LiDAR points into the RTK navigation frame: p_RTK = T_RTK_lidar * p_lidar", - "translation_m": [ - 1.6381793500373911, - -0.24084479868828831, - 0.08448123595331278 - ], - "rotation_rpy_deg_xyz": [ - -0.8171674587248069, - 1.323288118779805, - -22.104163317857477 - ], - "quaternion_xyzw": [ - -0.004784711987091957, - 0.012700096588977744, - -0.19160273666049008, - 0.9813787267829084 - ], - "matrix_4x4": [ - [ - 0.926254197701683, - 0.37594816689521215, - 0.026760737062740007, - 1.6381793500373911 - ], - [ - -0.3761912321127582, - 0.926530995670823, - 0.004524482591229066, - -0.24084479868828831 - ], - [ - -0.02309368141930373, - -0.014257975640431828, - 0.9996316281556624, - 0.08448123595331278 - ], - [ - 0.0, - 0.0, - 0.0, - 1.0 - ] - ] -} diff --git a/results/reference_data4/README.md b/results/reference_data4/README.md deleted file mode 100644 index 5a263f5..0000000 --- a/results/reference_data4/README.md +++ /dev/null @@ -1,23 +0,0 @@ -# data4参考结果 - -推荐下游只读取`final_T_RTK_lidar.json`，其方向为： - -```text -p_RTK = T_RTK_lidar · p_lidar -``` - -```text -translation_m = [1.638179350, -0.240844799, 0.084481236] -RPY_deg_xyz = [-0.817167459, 1.323288119, -22.104163318] -``` - -| 路径 | 内容 | -|---|---| -| `final_T_RTK_lidar.json` | 唯一推荐使用的最终外参 | -| `summary.json` | 最终残差、条件数和两后端差异摘要 | -| `common/ground_planes.csv` | 34站地面RANSAC平面 | -| `open3d_gicp/` | Open3D精筛B、精筛审计、逐对质量CSV和独立X | -| `small_gicp/` | small_gicp对应产物 | -| `consensus/` | 两后端共同认可的25对B、共识审计和最终X原始求解记录 | - -`z=0.084481 m`依赖RTK参考点离地`0.8535 m`，不是平面AX=XB独立观测值。当前AX RMS约`0.100207 m / 1.252794°`，结果适合算法联调和继续验证，不应据此单独宣称逐帧GT达到±3 cm。 diff --git a/results/reference_data4/common/ground_planes.csv b/results/reference_data4/common/ground_planes.csv deleted file mode 100644 index 9933132..0000000 --- a/results/reference_data4/common/ground_planes.csv +++ /dev/null @@ -1,35 +0,0 @@ -time,nx,ny,nz,d,inliers,rms_m,frame_counter -1784783825.357129,-0.0071009788712051635,-0.01614775434066578,0.9998444009588814,0.9449714797885561,2216,0.01353681235386204,382 -1784783905.353819,0.0037577953662433442,-0.00645689216229629,0.999972093369405,0.9404093678203617,1992,0.01182484680356077,1182 -1784783971.0503054,-0.021571557237587136,-0.004187980739348835,0.9997585352152151,0.9464426916222599,1922,0.01241302113439391,1839 -1784784059.7468228,-0.02328381206588687,0.004386003115594592,0.999719274132669,0.9506398743758987,1825,0.013207042662497559,2726 -1784784149.2434597,-0.03034651356298797,8.407602826756324e-05,0.9995394349628197,0.9287260086761917,1631,0.012431422856007433,3621 -1784784224.2408776,-0.02735108660242708,0.010336463557273514,0.9995724463903534,0.8697042041945898,1745,0.012010699567274814,4371 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a/results/reference_data4/consensus/B_consensus.consensus.json b/results/reference_data4/consensus/B_consensus.consensus.json deleted file mode 100644 index 2de830a..0000000 --- a/results/reference_data4/consensus/B_consensus.consensus.json +++ /dev/null @@ -1,332 +0,0 @@ -{ - "selection_is_X_independent": true, - "B_source": "Open3D; small_gicp is used only as an agreement gate", - "max_translation_m": 0.05, - "max_rotation_deg": 0.5, - "input_open3d_pairs": 41, - "accepted_pairs": 25, - "pairs": [ - { - "i": 0, - "j": 1, - "open3d_small_translation_m": 0.014276780914058016, - "open3d_small_rotation_deg": 0.6136066194510507, - "accepted": false, - "reason": "backend_disagreement" - }, - { - "i": 0, - "j": 2, - "open3d_small_translation_m": 0.019952450418738, - "open3d_small_rotation_deg": 0.14609270025586996, - "accepted": true, - "reason": "" - }, - { - "i": 1, - "j": 2, - "accepted": false, - "reason": "not_in_small_gicp_refined" - }, - { - "i": 2, - "j": 3, - 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"open3d_small_translation_m": 0.056474627862098614, - "open3d_small_rotation_deg": 0.6666837905088073, - "accepted": false, - "reason": "backend_disagreement" - }, - { - "i": 30, - "j": 32, - "open3d_small_translation_m": 0.0152913302124184, - "open3d_small_rotation_deg": 0.3092824993876474, - "accepted": true, - "reason": "" - }, - { - "i": 31, - "j": 32, - "accepted": false, - "reason": "not_in_small_gicp_refined" - }, - { - "i": 31, - "j": 33, - "open3d_small_translation_m": 0.013286737983556427, - "open3d_small_rotation_deg": 0.37286489690414826, - "accepted": true, - "reason": "" - } - ] -} \ No newline at end of file diff --git a/results/reference_data4/consensus/B_consensus.npz b/results/reference_data4/consensus/B_consensus.npz deleted file mode 100644 index d32b2fc..0000000 Binary files a/results/reference_data4/consensus/B_consensus.npz and /dev/null differ diff --git a/results/reference_data4/consensus/extrinsic_rtk_lidar.json b/results/reference_data4/consensus/extrinsic_rtk_lidar.json deleted file mode 100644 index 112b091..0000000 --- a/results/reference_data4/consensus/extrinsic_rtk_lidar.json +++ /dev/null @@ -1,266 +0,0 @@ -{ - "schema_version": 1, - "success": true, - "convention": "T_RTK_lidar maps raw LiDAR points into the RTK navigation frame", - "equation": "A_RTK_ij X = X B_LiDAR_ij", - "frames": { - "RTK": { - "origin": "GGA positioning reference point; confirm ANT1/reference antenna in receiver configuration", - "x_axis": "horizontal projection of the rawHeading baseline direction reported by the receiver", - "y_axis": "left", - "z_axis": "up", - "yaw_enu_deg": "90 - rawHeadingDeg" - }, - "LiDAR": "raw LiDAR sensor frame" - }, - "backend": "consensus", - "measured_lidar_extrinsic_used_as_initial": false, - "body_heading_offset_used": false, - "body_antenna_lever_xy_used": false, - "translation_m": [ - 1.6381793500373911, - -0.24084479868828831, - 0.08448123595331278 - ], - 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"rotation_deg": 1.219665033277036 - }, - { - "pair_index": 41, - "translation_m": 0.42067987248571403, - "rotation_deg": 1.1901837024442368 - }, - { - "pair_index": 42, - "translation_m": 0.5307044931342686, - "rotation_deg": 1.3118186035265211 - }, - { - "pair_index": 43, - "translation_m": 0.0278193588287066, - "rotation_deg": 0.5463366974423033 - }, - { - "pair_index": 44, - "translation_m": 0.08083543060888142, - "rotation_deg": 1.597876847929754 - }, - { - "pair_index": 45, - "translation_m": 0.3628770836511988, - "rotation_deg": 0.7452934588576191 - }, - { - "pair_index": 46, - "translation_m": 0.40429181316256, - "rotation_deg": 1.3531101551442906 - }, - { - "pair_index": 47, - "translation_m": 0.3857777439966788, - "rotation_deg": 0.596976162782461 - }, - { - "pair_index": 48, - "translation_m": 0.18867103421064077, - "rotation_deg": 0.5750764247339077 - }, - { - "pair_index": 49, - "translation_m": 0.3781049775701853, - "rotation_deg": 1.067294104551723 - }, - { - "pair_index": 50, - "translation_m": 0.33164608192922734, - "rotation_deg": 0.4502803262827393 - }, - { - "pair_index": 51, - "translation_m": 0.39693080668345215, - "rotation_deg": 0.7722797079864339 - }, - { - "pair_index": 52, - "translation_m": 0.05933929949217937, - "rotation_deg": 0.9106743636918464 - }, - { - "pair_index": 53, - "translation_m": 0.09592936224298491, - "rotation_deg": 0.8770147335571411 - }, - { - "pair_index": 54, - "translation_m": 0.10907903367697035, - "rotation_deg": 0.527094410495204 - } - ] - }, - "weighted_jacobian_condition_number": 5.739204995062189, - "linearized_one_sigma": { - "translation_m": [ - 0.006273860396200483, - 0.006271739194739563, - 0.005766938056265489 - ], - "rotation_deg": [ - 0.06648607826531162, - 0.07036185324485841, - 0.1461990497815168 - ], - "warning": "conditional local estimate; bootstrap is the primary stability check" - }, - "bootstrap": { - "runs": 100, - "order": [ - "x_m", - "y_m", - "z_m", - "roll_deg", - "pitch_deg", - "yaw_deg" - ], - "std": [ - 0.002418391924231912, - 0.0018782458573924745, - 0.0024162629680468473, - 0.09973116386354614, - 0.0717005619911583, - 0.09954619224880032 - ], - "p025": [ - 1.6323740665381714, - -0.24963297512571514, - 0.08157494287763181, - -0.9175278935375253, - 1.1732724086153574, - -22.44062221365902 - ], - "p975": [ - 1.6411098578257144, - -0.24215579438024784, - 0.09016027720271011, - -0.5264292351234366, - 1.4226725074325792, - -22.072092788653528 - ] - } - }, - "z_constraint": { - "observable_from_planar_AX_XB": false, - "method": "LiDAR ground planes plus externally supplied RTK reference-point height above ground", - "rtk_reference_height_above_ground_m": 0.8535, - "warning": "z is conditional on the supplied RTK antenna height; it is not independently identified by planar Ackermann motion" - }, - "important_limit": "AX residual and bootstrap quantify internal consistency, not independent centimetre-grade absolute certification" -} \ No newline at end of file diff --git a/results/reference_data4/summary.json b/results/reference_data4/summary.json deleted file mode 100644 index 43f583b..0000000 --- a/results/reference_data4/summary.json +++ /dev/null @@ -1,48 +0,0 @@ -{ - "final": { - "translation_m": [ - 1.6381793500373911, - -0.24084479868828831, - 0.08448123595331278 - ], - "rotation_rpy_deg_xyz": [ - -0.8171674587248069, - 1.323288118779805, - -22.104163317857477 - ], - "pairs": 25, - "translation_rms_m": 0.10020667268070801, - "rotation_rms_deg": 1.2527941187072538, - "condition_number": 7.739413195936781 - }, - "backend_difference": { - "translation_m": 0.003889255293759414, - "rotation_deg": 0.1884307130161592, - "delta_matrix_4x4": [ - [ - 0.9999968771376496, - 0.0024968749848742764, - -0.00010644368722136346, - 0.0008526003522697501 - ], - [ - -0.0024970968314049877, - 0.9999945974960792, - -0.0021376356258303525, - -0.003658904827736509 - ], - [ - 0.00010110570323801577, - 0.0021378947504826257, - 0.9999977095892133, - 0.0010058801324768218 - ], - [ - 0.0, - 0.0, - 0.0, - 1.0 - ] - ] - } -} \ No newline at end of file diff --git a/results/vehicle_20260808/final_T_RTK_lidar.json b/results/vehicle_20260808/final_T_RTK_lidar.json new file mode 100644 index 0000000..c0489e9 --- /dev/null +++ b/results/vehicle_20260808/final_T_RTK_lidar.json @@ -0,0 +1,337 @@ +{ + "schema_version": 1, + "success": true, + "convention": "T_RTK_lidar maps raw LiDAR points into the RTK navigation frame", + "equation": "A_RTK_ij X = X B_LiDAR_ij", + "frames": { + "RTK": { + "origin": "GGA positioning reference point; confirm ANT1/reference antenna in receiver configuration", + "x_axis": "vehicle forward after applying the configured G90 heading offset", + "y_axis": "left of the RTK X/baseline axis (not necessarily vehicle-left)", + "z_axis": "up", + "yaw_enu_deg": "90 - (rawHeadingDeg + -90)", + "frame_mode": "vehicle_forward_heading_offset" + }, + "LiDAR": { + "description": "raw Helios sensor frame from points_raw polar decode", + "x_axis": "+X at azimuth 0° (forward when aviation connector faces vehicle rear)", + "y_axis": "+Y at azimuth +90° (left when +X is vehicle-forward)", + "z_axis": "up", + "origin_note": "optical/center per Helios manual; mounting height includes 63.5 mm base offset when deriving mechanical ΔZ" + } + }, + "backend": "consensus", + "measured_lidar_extrinsic_used_as_initial": true, + "solver_initial_extrinsic": "D:\\First-dev-dept\\calibration-rtk-run\\run\\rtk_lidar_mechanical_initial.json", + "body_heading_offset_deg": -90.0, + "body_heading_offset_used": true, + "body_antenna_lever_xy_used": false, + "translation_m": [ + 0.21782224963960972, + -0.41134780227275347, + 0.1065423366878719 + ], + "rotation_rpy_deg_xyz": [ + 0.06623859235262805, + 0.8096624730962496, + -0.5513220563826681 + ], + "quaternion_xyzw": [ + 0.00061201333859398, + 0.007062715262034178, + -0.004815137247499642, + 0.9999632782988027 + ], + "coordinate_contract_audit": { + "status": "no_near_180_degree_axis_conflict", + "requires_physical_axis_confirmation": false, + "mechanical_initial_path": "D:\\First-dev-dept\\calibration-rtk-run\\run\\rtk_lidar_mechanical_initial.json", + "mechanical_self_consistency": { + "baseline_points": "vehicle_right", + "frame_mode": "vehicle_forward_heading_offset", + "heading_offset_deg": -90.0, + "consistent": true, + "issues": [] + }, + "solution_vs_declared_baseline_side": { + "baseline_points": "vehicle_right", + "solution_yaw_deg": -0.5513220563826681, + "expected_yaw_deg": 0.0, + "yaw_error_deg": 0.5513220563826735, + "xy_error_m": 0.007516661287052368, + "z_error_m": 0.0280423356878719, + "mixed_translation_rotation_inheritance": false, + "near_expected_pose": true + }, + "solution_relative_to_mechanical_initial": { + "translation_m": 0.029032271487700816, + "rotation_deg": 0.9820426535863694, + "delta_matrix_4x4": [ + [ + 0.9998538650128304, + 0.009638565806830942, + 0.014119017957784103, + 0.006962889639609726 + ], + [ + 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Confirm static GNHPR left/right vs vehicle heading and Helios +X vs vehicle forward before deployment." + }, + "matrix_4x4": [ + [ + 0.9998538650128304, + 0.009638565806830942, + 0.014119017957784103, + 0.21782224963960972 + ], + [ + -0.009621275903042714, + 0.9999528797859223, + -0.0012919976154994906, + -0.41134780227275347 + ], + [ + -0.014130805670674627, + 0.0011559658421926345, + 0.9998994869856016, + 0.1065423366878719 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "quality": { + "stations": 27, + "pairs": 20, + "residuals": { + "pairs": 20, + "translation_m": { + "rms": 0.07116027693011169, + "median": 0.048258124379040895, + "p90": 0.10707349630410129, + "p95": 0.12100345665884242, + "max": 0.1859157912711514 + }, + "rotation_deg": { + "rms": 0.9820870524210346, + "median": 0.6015253089423158, + "p90": 1.626986719630708, + "p95": 1.7485896823567941, + "max": 2.6898815510329674 + }, + "per_pair": [ + { + "pair_index": 0, + "translation_m": 0.10590532722733068, + "rotation_deg": 0.5565962122599133 + }, + { + "pair_index": 1, + "translation_m": 0.11758701799503664, + "rotation_deg": 0.36543717366192036 + }, + { + "pair_index": 2, + "translation_m": 0.07568813061789224, + "rotation_deg": 1.6990480050580474 + }, + { + "pair_index": 3, + "translation_m": 0.07918615709103373, + "rotation_deg": 0.33723851079591255 + }, + { + "pair_index": 4, + "translation_m": 0.04618587731787657, + "rotation_deg": 0.21044665580544528 + }, + { + "pair_index": 5, + "translation_m": 0.1859157912711514, + "rotation_deg": 2.6898815510329674 + }, + { + "pair_index": 6, + "translation_m": 0.015032558607699278, + "rotation_deg": 0.2283712127949818 + }, + { + "pair_index": 7, + "translation_m": 0.013237326674396453, + "rotation_deg": 1.6189799101387812 + }, + { + "pair_index": 8, + "translation_m": 0.07003654121179845, + "rotation_deg": 0.6464544056247182 + }, + { + "pair_index": 9, + "translation_m": 0.093450766078183, + "rotation_deg": 0.6476769159531274 + }, + { + "pair_index": 10, + "translation_m": 0.015054656507824072, + "rotation_deg": 1.041955302231996 + }, + { + "pair_index": 11, + "translation_m": 0.02338150242985638, + "rotation_deg": 0.9212619385214977 + }, + { + "pair_index": 12, + "translation_m": 0.01577916809950981, + "rotation_deg": 0.5021648028537498 + }, + { + "pair_index": 13, + "translation_m": 0.05033037144020521, + "rotation_deg": 0.31352985458971655 + }, + { + "pair_index": 14, + "translation_m": 0.059761151158357104, + "rotation_deg": 0.8078349560587313 + }, + { + "pair_index": 15, + "translation_m": 0.04160156756834453, + "rotation_deg": 0.32936437427192145 + }, + { + "pair_index": 16, + "translation_m": 0.02424387832291359, + "rotation_deg": 0.430799739443549 + }, + { + "pair_index": 17, + "translation_m": 0.05938006964566194, + "rotation_deg": 0.3855347569405268 + }, + { + "pair_index": 18, + "translation_m": 0.003922740066294881, + "rotation_deg": 0.8803664894801937 + }, + { + "pair_index": 19, + "translation_m": 0.02258390614293418, + "rotation_deg": 0.9489255319885953 + } + ] + }, + "weighted_jacobian_condition_number": 7.551077537197385, + "linearized_one_sigma": { + "translation_m": [ + 0.01109415838733884, + 0.011043247019191056, + 0.0049617743728656676 + ], + "rotation_deg": [ + 0.08809558088476348, + 0.08691570892756702, + 0.13552099560800782 + ], + "warning": "conditional local estimate; bootstrap is the primary stability check" + }, + "bootstrap": { + "runs": 200, + "order": [ + "x_m", + "y_m", + "z_m", + "roll_deg", + "pitch_deg", + "yaw_deg" + ], + "std": [ + 0.006235825930578342, + 0.004851737742140203, + 0.0004474159829207979, + 0.07186455153709871, + 0.11762318545143821, + 0.061763211598034336 + ], + "p025": [ + 0.20955504469154063, + -0.4174678620205485, + 0.10568919463688603, + -0.06202286115194262, + 0.5207464314096704, + -0.6639417037512721 + ], + "p975": [ + 0.23211472114546824, + -0.4001091835786546, + 0.1074353326322909, + 0.23746760471402314, + 1.0462704287205609, + -0.43455346485967655 + ] + } + }, + "z_constraint": { + "observable_from_planar_AX_XB": false, + "method": "LiDAR ground planes plus externally supplied RTK reference-point height above ground", + "rtk_reference_height_above_ground_m": 1.9165, + "warning": "z is conditional on the supplied RTK antenna height; it is not independently identified by planar Ackermann motion" + }, + "important_limit": "AX residual and bootstrap quantify internal consistency, not independent centimetre-grade absolute certification", + "selection": { + "recommended": true, + "reason": "Uses only motion pairs accepted independently by both Open3D GICP and small_gicp", + "open3d_vs_small_gicp": { + "translation_m": 0.00312519750472982, + "rotation_deg": 0.11907006217018351, + "delta_matrix_4x4": [ + [ + 0.9999996872332217, + -0.00030752729270551075, + -0.0007286703114418758, + 0.000533303946557151 + ], + [ + 0.00030892706731572284, + 0.9999981058814015, + 0.0019216653392719056, + -0.002909732881513971 + ], + [ + 0.0007280779667146176, + -0.0019218898442212235, + 0.9999978881187204, + 0.001007919095162138 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ] + } + } +} \ No newline at end of file diff --git a/results/vehicle_20260808/summary.json b/results/vehicle_20260808/summary.json new file mode 100644 index 0000000..d0881ee --- /dev/null +++ b/results/vehicle_20260808/summary.json @@ -0,0 +1,50 @@ +{ + "final": { + "translation_m": [ + 0.21782224963960972, + -0.41134780227275347, + 0.1065423366878719 + ], + "rotation_rpy_deg_xyz": [ + 0.06623859235262805, + 0.8096624730962496, + -0.5513220563826681 + ], + "pairs": 20, + "translation_rms_m": 0.07116027693011169, + "rotation_rms_deg": 0.9820870524210346, + "condition_number": 7.551077537197385, + "coordinate_contract_status": "no_near_180_degree_axis_conflict", + "recommended_for_deployment": true + }, + "backend_difference": { + "translation_m": 0.00312519750472982, + "rotation_deg": 0.11907006217018351, + "delta_matrix_4x4": [ + [ + 0.9999996872332217, + -0.00030752729270551075, + -0.0007286703114418758, + 0.000533303946557151 + ], + [ + 0.00030892706731572284, + 0.9999981058814015, + 0.0019216653392719056, + -0.002909732881513971 + ], + [ + 0.0007280779667146176, + -0.0019218898442212235, + 0.9999978881187204, + 0.001007919095162138 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ] + } +} \ No newline at end of file diff --git a/雷达与RTK标定说明书.md b/雷达与RTK标定说明书.md index 4f7e1e4..ad795ff 100644 --- a/雷达与RTK标定说明书.md +++ b/雷达与RTK标定说明书.md @@ -110,8 +110,8 @@ powershell.exe -NoProfile -ExecutionPolicy Bypass -File "$Repo\run\run_full_pipe ```powershell powershell.exe -NoProfile -ExecutionPolicy Bypass -File "$Repo\run\run_direct_rtk_lidar.ps1" ` -CombinedRoot "D:\data\rtk_lidar_run\combined" ` - -WorkRoot "D:\data\rtk_lidar_run\prepared_baseline_h19165" ` - -OutputRoot "D:\data\rtk_lidar_run\outputs_baseline_h19165" ` + -WorkRoot "D:\data\rtk_lidar_run\prepared_vehicle_h19165" ` + -OutputRoot "D:\data\rtk_lidar_run\outputs_vehicle_h19165" ` -RtkReferenceHeightAboveGroundM 1.9165 ` -HeadingOffsetDeg -90 ` -ExpectedStations 27 ` @@ -119,7 +119,7 @@ powershell.exe -NoProfile -ExecutionPolicy Bypass -File "$Repo\run\run_direct_rt -GroundZMax -1.5 ``` -> 历史文档中的 **0.758 m / 34 站** 属于另一台车（data4），不要用于本车。 +> 不得复用其他车辆或历史采集的天线离地高度、站点数量与外参结果。 --- @@ -141,8 +141,8 @@ $OutputRoot/ ```powershell $Repo = "D:\First-dev-dept\calibration-rtk-run" -$Out = "D:\data\rtk_lidar_run\outputs_baseline_h19165" -$Work = "D:\data\rtk_lidar_run\prepared_baseline_h19165" +$Out = "D:\data\rtk_lidar_run\outputs_vehicle_h19165" +$Work = "D:\data\rtk_lidar_run\prepared_vehicle_h19165" powershell.exe -NoProfile -ExecutionPolicy Bypass -File "$Repo\run\view_result.ps1" ` -Frames "$Work\frames_all" `