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_rtk_lidar_coordinate_contract.py

@@ -0,0 +1,68 @@
+"""Regression tests for the RTK–LiDAR coordinate and initialization contract."""
+
+from __future__ import annotations
+
+import math
+import sys
+from pathlib import Path
+
+import numpy as np
+
+ROOT = Path(__file__).resolve().parents[1]
+sys.path.insert(0, str(ROOT / "tools"))
+sys.path.insert(0, str(ROOT / "code"))
+
+from finalize_direct_rtk_lidar import coordinate_contract_audit  # noqa: E402
+from prepare_multisensor_station_dataset import heading_to_enu_yaw  # noqa: E402
+from rigorous_calibration import (  # noqa: E402
+    build_parser,
+    load_extrinsic_matrix,
+    params_transform,
+    transform_params,
+)
+
+
+def test_left_baseline_heading_plus_90_points_vehicle_forward() -> None:
+    corrected, yaw = heading_to_enu_yaw(270.0, 90.0)
+    assert corrected == 0.0
+    assert math.degrees(yaw) == 90.0
+
+
+def test_east_vehicle_heading_maps_to_zero_enu_yaw() -> None:
+    corrected, yaw = heading_to_enu_yaw(0.0, 90.0)
+    assert corrected == 90.0
+    assert math.degrees(yaw) == 0.0
+
+
+def test_pair_registration_has_no_extrinsic_argument() -> None:
+    parser = build_parser()
+    pair_options = {
+        option
+        for action in parser._subparsers._group_actions[0].choices["pairs"]._actions
+        for option in action.option_strings
+    }
+    assert "--initial-extrinsic" not in pair_options
+    assert "--global-voxel" in pair_options
+
+
+def test_mechanical_initial_round_trip() -> None:
+    path = ROOT / "run" / "rtk_lidar_mechanical_initial.json"
+    transform = load_extrinsic_matrix(path)
+    np.testing.assert_allclose(transform[:3, 3], [0.414179474, 0.210859360, 0.004000001])
+    np.testing.assert_allclose(transform[:3, :3], [[0.0, -1.0, 0.0], [1.0, 0.0, 0.0], [0.0, 0.0, 1.0]])
+    np.testing.assert_allclose(params_transform(transform_params(transform)), transform, atol=1e-12)
+
+
+def test_near_180_degree_solution_is_flagged_for_physical_axis_check() -> None:
+    initial_path = ROOT / "run" / "rtk_lidar_mechanical_initial.json"
+    initial = load_extrinsic_matrix(initial_path)
+    # Flip the declared mechanical forward axis by ~180 deg about Z.
+    solution = np.eye(4)
+    solution[:3, :3] = initial[:3, :3] @ np.diag([-1.0, -1.0, 1.0])
+    solution[:3, 3] = initial[:3, 3]
+    audit = coordinate_contract_audit({
+        "solver_initial_extrinsic": str(initial_path),
+        "matrix_4x4": solution.tolist(),
+    })
+    assert audit["status"] == "near_180_degree_axis_conflict"
+    assert audit["requires_physical_axis_confirmation"] is True