修正基线系标定默认：机械初值、地面ROI与航向偏移可配，并补充G90窗导出与契约测试

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

run/run_direct_rtk_lidar.ps1

@@ -3,32 +3,66 @@ param(
     [Parameter(Mandatory = $true)][double]$RtkReferenceHeightAboveGroundM,
     [string]$OutputRoot = "",
     [string]$WorkRoot = "",
-    [int]$ExpectedStations = 34,
+    [int]$ExpectedStations = 27,
+    [int]$MinStations = 20,
     [int]$MinPairs = 20,
-    [int]$Bootstrap = 200
+    [int]$Bootstrap = 200,
+    # Roof-mounted H32 (~2 m): ground points are near z≈-2 in the LiDAR frame (Z-up).
+    # The old [-1.4, -0.4] window fits walls on this vehicle and must not be reused.
+    [double]$GroundZMin = -2.5,
+    [double]$GroundZMax = -1.5,
+    [int]$SmallGicpMaxGap = 26,
+    [int]$Open3DMaxGap = 26,
+    [double]$MaxReferenceTranslationM = 8.0,
+    # Baseline frame: rawHeading as RTK X. Use 90 only when deliberately targeting vehicle-forward.
+    [double]$HeadingOffsetDeg = 0.0,
+    [string]$SolverInitialExtrinsic = "",
+    [double]$RefineMinInlierRatio = 0.63,
+    [double]$RefineMaxInlierRmseM = 0.14
 )
 
 $ErrorActionPreference = "Stop"
 $Repo = Split-Path -Parent $PSScriptRoot
 if ([string]::IsNullOrWhiteSpace($OutputRoot)) { $OutputRoot = Join-Path $Repo "outputs\rtk_lidar_calibration" }
 if ([string]::IsNullOrWhiteSpace($WorkRoot)) { $WorkRoot = Join-Path $Repo "work\prepared_rtk_direct" }
+if ([string]::IsNullOrWhiteSpace($SolverInitialExtrinsic)) {
+    $SolverInitialExtrinsic = Join-Path $PSScriptRoot "rtk_lidar_mechanical_initial.json"
+}
+
+$PoseName = if ([math]::Abs($HeadingOffsetDeg) -le 1e-12) {
+    "rtk_gga_raw_heading"
+} else {
+    "rtk_vehicle_heading"
+}
+$ReferencePoseFile = "reference_poses_${PoseName}.csv"
 $Prepared = $WorkRoot
 
 & (Join-Path $Repo "run\prepare_multisensor_dataset.ps1") `
-    -CombinedRoot $CombinedRoot -Output $Prepared -HeadingOffsetDeg 0 `
-    -AntennaLever @(0.0,0.0,0.0) -PoseName "rtk_gga_raw_heading" -MinStations 30 -ExpectedStations $ExpectedStations -Overwrite
+    -CombinedRoot $CombinedRoot -Output $Prepared -HeadingOffsetDeg $HeadingOffsetDeg `
+    -AntennaLever @(0.0,0.0,0.0) -PoseName $PoseName -MinStations $MinStations `
+    -ExpectedStations $ExpectedStations -Overwrite
 if ($LASTEXITCODE -ne 0) { throw "RTK-direct dataset preparation failed" }
 
+# Pair registration intentionally has no --initial-extrinsic (B must stay X-independent).
+# SolverInitialExtrinsic is applied only in the final AX=XB calibrate stage.
 & (Join-Path $Repo "run\run_single_dataset.ps1") `
     -Prepared $Prepared -OutputRoot $OutputRoot `
-    -ReferencePoseFile "reference_poses_rtk_gga_raw_heading.csv" `
-    -ReferenceHeight $RtkReferenceHeightAboveGroundM -MinPairs $MinPairs -Bootstrap $Bootstrap
+    -ReferencePoseFile $ReferencePoseFile `
+    -ReferenceHeight $RtkReferenceHeightAboveGroundM `
+    -MinStations $MinStations -MinPairs $MinPairs -Bootstrap $Bootstrap `
+    -GroundZMin $GroundZMin -GroundZMax $GroundZMax `
+    -SmallGicpMaxGap $SmallGicpMaxGap -Open3DMaxGap $Open3DMaxGap `
+    -MaxReferenceTranslationM $MaxReferenceTranslationM `
+    -SolverInitialExtrinsic $SolverInitialExtrinsic `
+    -RefineMinInlierRatio $RefineMinInlierRatio `
+    -RefineMaxInlierRmseM $RefineMaxInlierRmseM
 if ($LASTEXITCODE -ne 0) { throw "RTK-direct calibration failed" }
 
 $Finalize = @(
     (Join-Path $Repo "code\finalize_direct_rtk_lidar.py"),
     "--result-root", $OutputRoot,
-    "--reference-height", "$RtkReferenceHeightAboveGroundM"
+    "--reference-height", "$RtkReferenceHeightAboveGroundM",
+    "--heading-offset-deg", "$HeadingOffsetDeg"
 )
 & python @Finalize
 if ($LASTEXITCODE -ne 0) { throw "Final result packaging failed" }