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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

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Co-authored-by: Cursor <cursoragent@cursor.com>
This commit is contained in:
lichun.qu
2026-08-10 22:28:25 +08:00
co-authored by Cursor
parent 69bb44bccd
commit 46d2fa1d69
14 changed files with 932 additions and 38 deletions
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run/run_single_dataset.ps1
+32 -7
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@@ -3,8 +3,18 @@ param(
[Parameter(Mandatory = $true)][string]$OutputRoot,
[Parameter(Mandatory = $true)][double]$ReferenceHeight,
[string]$ReferencePoseFile = "reference_poses_rtk_gga_raw_heading.csv",
[int]$MinStations = 20,
[int]$MinPairs = 20,
[int]$Bootstrap = 100
[int]$Bootstrap = 100,
# Roof-mounted H32 (~2 m): ground near z≈-2. Old [-1.4,-0.4] fits walls on this vehicle.
[double]$GroundZMin = -2.5,
[double]$GroundZMax = -1.5,
[int]$SmallGicpMaxGap = 26,
[int]$Open3DMaxGap = 26,
[double]$MaxReferenceTranslationM = 8.0,
[string]$SolverInitialExtrinsic = "",
[double]$RefineMinInlierRatio = 0.63,
[double]$RefineMaxInlierRmseM = 0.14
)
$ErrorActionPreference = "Stop"
@@ -32,27 +42,38 @@ foreach ($Path in @($Frames, $ReferencePoses)) {
New-Item -ItemType Directory -Force -Path $Common,$Open,$Small,$ConsensusOut | Out-Null
$Ground = Join-Path $Common "ground_planes.csv"
Run-Python "ground planes" @($Code, "ground", "--frames", $Frames, "--output", $Ground)
Run-Python "ground planes" @($Code, "ground", "--frames", $Frames, "--output", $Ground,
"--z-min", "$GroundZMin", "--z-max", "$GroundZMax")
foreach ($Backend in @("small_gicp", "open3d")) {
$Directory = if ($Backend -eq "small_gicp") { $Small } else { $Open }
$Raw = Join-Path $Directory "B_estimation.npz"
$QualityJson = Join-Path $Directory "B_quality.json"
$QualityCsv = Join-Path $Directory "B_quality.csv"
$MaxGap = if ($Backend -eq "open3d") { $Open3DMaxGap } else { $SmallGicpMaxGap }
$PairArgs = @($Code, "pairs", "--backend", $Backend, "--frames", $Frames, "--reference-poses", $ReferencePoses,
"--output", $Raw, "--quality-json", $QualityJson, "--quality-csv", $QualityCsv,
"--min-pairs", "$MinPairs")
if ($Backend -eq "open3d") { $PairArgs += @("--max-gap", "3", "--multistart", "1", "--iterations", "40") }
"--min-stations", "$MinStations", "--min-pairs", "$MinPairs", "--max-gap", "$MaxGap")
if ($MaxReferenceTranslationM -gt 0) {
$PairArgs += @("--max-reference-translation", "$MaxReferenceTranslationM")
}
if ($Backend -eq "open3d") { $PairArgs += @("--multistart", "1", "--iterations", "40") }
Run-Python "$Backend pairs" $PairArgs
Run-Python "$Backend X-independent refinement" @(
$Refine, "--pairs", $Raw, "--quality-json", $QualityJson,
"--output", (Join-Path $Directory "B_refined.npz"), "--min-pairs", "$MinPairs"
"--output", (Join-Path $Directory "B_refined.npz"), "--min-pairs", "$MinPairs",
"--min-inlier-ratio", "$RefineMinInlierRatio",
"--max-inlier-rmse", "$RefineMaxInlierRmseM"
)
Run-Python "$Backend calibration" @(
$CalibrationArgs = @(
$Code, "calibrate", "--pairs", (Join-Path $Directory "B_refined.npz"),
"--ground-planes", $Ground, "--reference-height", "$ReferenceHeight",
"--bootstrap", "$Bootstrap", "--output", (Join-Path $Directory "extrinsic.json")
)
if (-not [string]::IsNullOrWhiteSpace($SolverInitialExtrinsic)) {
$CalibrationArgs += @("--initial-extrinsic", $SolverInitialExtrinsic)
}
Run-Python "$Backend calibration" $CalibrationArgs
}
$ConsensusPairs = Join-Path $ConsensusOut "B_consensus.npz"
@@ -61,10 +82,14 @@ Run-Python "cross-backend consensus" @(
"--small-pairs", (Join-Path $Small "B_refined.npz"),
"--output", $ConsensusPairs, "--min-pairs", "$MinPairs"
)
Run-Python "consensus calibration" @(
$ConsensusCalibrationArgs = @(
$Code, "calibrate", "--pairs", $ConsensusPairs, "--ground-planes", $Ground,
"--reference-height", "$ReferenceHeight", "--bootstrap", "$Bootstrap",
"--output", (Join-Path $ConsensusOut "extrinsic.json")
)
if (-not [string]::IsNullOrWhiteSpace($SolverInitialExtrinsic)) {
$ConsensusCalibrationArgs += @("--initial-extrinsic", $SolverInitialExtrinsic)
}
Run-Python "consensus calibration" $ConsensusCalibrationArgs
Write-Host "Calibration results: $OutputRoot"