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>

tests/test_g90_host_association.py

@@ -0,0 +1,116 @@
+"""Regression tests for G90 GNHPR parsing and host-time LiDAR association."""
+
+from __future__ import annotations
+
+import json
+import sys
+from pathlib import Path
+
+import numpy as np
+
+ROOT = Path(__file__).resolve().parents[1]
+TOOLS = ROOT / "tools"
+CODE = ROOT / "code"
+sys.path.insert(0, str(TOOLS))
+sys.path.insert(0, str(TOOLS / "rscap_v2"))
+sys.path.insert(0, str(CODE))
+
+from build_multisensor_npz import build_combined  # noqa: E402
+from pipeline_common import parse_gnhpr  # noqa: E402
+from rigorous_calibration import load_npz_xyz  # noqa: E402
+
+
+def test_parse_gnhpr_fixed_heading():
+    row = parse_gnhpr("$GNHPR,070411.40,354.7437,000.2518,000.0000,4,26,0.00,0999*58")
+    assert row["type"] == "GNHPR"
+    assert row["raw_heading_deg"] == 354.7437
+    assert row["pitch_deg"] == 0.2518
+    assert row["roll_deg"] == 0.0
+    assert row["heading_quality"] == 4
+    assert row["satellites"] == 26
+    assert row["heading_valid"] is True
+
+
+def test_host_time_uses_lidar_receive_time_and_preserves_device_time(tmp_path: Path):
+    host_ns = 1_786_240_000_000_000_000
+    device_ns = 1_500_000_000_000_000_000
+    frame_dir = tmp_path / "lidar"
+    frame_dir.mkdir()
+    np.savez_compressed(
+        frame_dir / "frame.npz",
+        points=np.zeros((4, 4), dtype=np.float32),
+        unix_time_ns=np.asarray([device_ns], dtype=np.int64),
+        host_receive_utc_ns=np.asarray([host_ns], dtype=np.int64),
+    )
+
+    rtk = tmp_path / "rtk.jsonl"
+    rows = [
+        {
+            "type": "GGA",
+            "checksum_valid": True,
+            "host_receive_utc_ns": host_ns + 20_000_000,
+            "lat_deg": 31.0,
+            "lon_deg": 121.0,
+            "altitude_m": 10.0,
+            "fix_quality": 4,
+            "satellites": 20,
+            "raw_line": "$GNGGA,...",
+        },
+        {
+            "type": "GNHPR",
+            "checksum_valid": True,
+            "host_receive_utc_ns": host_ns - 10_000_000,
+            "raw_heading_deg": 90.0,
+            "pitch_deg": 1.0,
+            "roll_deg": 0.0,
+            "heading_quality": 4,
+            "heading_solution": "GNHPR_QUALITY_4",
+            "heading_valid": True,
+            "satellites": 22,
+            "raw_line": "$GNHPR,...",
+        },
+    ]
+    rtk.write_text("".join(json.dumps(row) + "\n" for row in rows), encoding="utf-8")
+    imu = tmp_path / "imu.jsonl"
+    imu.write_text("", encoding="utf-8")
+
+    out = tmp_path / "combined"
+    summary = build_combined(
+        [("STATION-01", frame_dir)],
+        [rtk],
+        [imu],
+        out,
+        time_basis="host",
+        rtk_max_dt_ms=100.0,
+    )
+
+    assert summary["frames"] == 1
+    assert summary["rtk_valid"] == 1
+    assert summary["heading_valid"] == 1
+    assert summary["rtk_fixed"] == 1
+    with np.load(next((out / "frames").glob("*.npz")), allow_pickle=False) as frame:
+        assert int(frame["lidar_association_time_ns"][0]) == host_ns
+        assert int(frame["unix_time_ns"][0]) == device_ns
+        assert int(frame["rtk_gga_dt_ns"][0]) == 20_000_000
+        assert int(frame["rtk_heading_dt_ns"][0]) == -10_000_000
+
+
+def test_registration_prefers_lidar_association_time(tmp_path: Path):
+    host_ns = 1_786_240_000_000_000_000
+    device_ns = 1_500_000_000_000_000_000
+    source = tmp_path / "frame.npz"
+    np.savez_compressed(
+        source,
+        points_raw=np.asarray(
+            [[1000.0, 0.0, 0.0, 1.0], [2000.0, 90.0, 0.0, 1.0]],
+            dtype=np.float32,
+        ),
+        unix_time_ns=np.asarray([device_ns], dtype=np.int64),
+        lidar_association_time_ns=np.asarray([host_ns], dtype=np.int64),
+        frame_counter=np.asarray([7], dtype=np.int64),
+    )
+
+    timestamp, counter, xyz = load_npz_xyz(source)
+    assert timestamp == host_ns / 1e9
+    assert counter == 7
+    assert xyz.shape == (2, 3)