改为车头向前整链：主从装反机械初值、双天线 pitch/roll 姿态与默认 HeadingOffsetDeg=-90

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

run/README.md

@@ -6,18 +6,18 @@
 |---|---|
 | `run_full_pipeline.ps1` | 站目录导出 `combined/` 后跑到 `T_RTK_lidar` |
 | `export_multisensor_stations.ps1` | 薄封装：`tools/export_raw_to_combined.py` |
-| `prepare_multisensor_dataset.ps1` | 每站一帧 + yaw-only RTK 位姿 |
-| `run_direct_rtk_lidar.ps1` | 从 `combined/` 标定并封装最终结果（**默认基线系**） |
+| `prepare_multisensor_dataset.ps1` | 每站一帧 + RTK 位姿（默认含双天线 pitch/roll） |
+| `run_direct_rtk_lidar.ps1` | 从 `combined/` 标定并封装最终结果（**默认车头向前 -90**） |
 | `run_single_dataset.ps1` | 地面、双 GICP、精筛、共识、AX=XB |
 | `run_joint_rtk_lidar.ps1` | 多批共识对联合求解 |
 | `view_result.ps1` | 3D 运动对对比 |
 | `rtk_lidar_mechanical_initial.json` | 仅 AX=XB 初值；**禁止**用于 pair |
 
-## 默认参数（匹配当前约 2 m 车顶雷达 / 基线系）
+## 默认参数（匹配当前约 2 m 车顶雷达 / 车头向前）
 
 | 参数 | 默认 |
 |---|---|
-| `HeadingOffsetDeg` | `0`（基线系） |
+| `HeadingOffsetDeg` | `-90`（车头向前；主从装反、基线朝右） |
 | `GroundZMin/Max` | `-2.5` / `-1.5` |
 | `ExpectedStations` | `27` |
 | `MinStations` | `20` |
@@ -53,10 +53,10 @@ python tools\export_g90_h32_windows_to_combined.py `
 ```powershell
 powershell.exe -NoProfile -ExecutionPolicy Bypass -File "$Repo\run\run_direct_rtk_lidar.ps1" `
   -CombinedRoot "D:\data\rtk_lidar_run\combined" `
-  -WorkRoot "D:\data\rtk_lidar_run\prepared_baseline_h19165" `
-  -OutputRoot "D:\data\rtk_lidar_run\outputs_baseline_h19165" `
+  -WorkRoot "D:\data\rtk_lidar_run\prepared_vehicle_h19165" `
+  -OutputRoot "D:\data\rtk_lidar_run\outputs_vehicle_h19165" `
   -RtkReferenceHeightAboveGroundM 1.9165 `
-  -HeadingOffsetDeg 0 `
+  -HeadingOffsetDeg -90 `
   -ExpectedStations 27 `
   -GroundZMin -2.5 -GroundZMax -1.5
 ```
@@ -65,8 +65,8 @@ powershell.exe -NoProfile -ExecutionPolicy Bypass -File "$Repo\run\run_direct_rt
 
 ```powershell
 powershell.exe -NoProfile -ExecutionPolicy Bypass -File "$Repo\run\view_result.ps1" `
-  -Frames "D:\data\rtk_lidar_run\prepared_baseline_h19165\frames_all" `
-  -Pairs "D:\data\rtk_lidar_run\outputs_baseline_h19165\consensus\B_consensus.npz" `
-  -Extrinsic "D:\data\rtk_lidar_run\outputs_baseline_h19165\final_T_RTK_lidar.json" `
+  -Frames "D:\data\rtk_lidar_run\prepared_vehicle_h19165\frames_all" `
+  -Pairs "D:\data\rtk_lidar_run\outputs_vehicle_h19165\consensus\B_consensus.npz" `
+  -Extrinsic "D:\data\rtk_lidar_run\outputs_vehicle_h19165\final_T_RTK_lidar.json" `
   -PairIndex 0
 ```

run/rtk_lidar_mechanical_initial.json

@@ -1,23 +1,41 @@
 {
-  "schema_version": 1,
-  "convention": "T_RTK_lidar maps raw LiDAR points into the RTK baseline frame (X = rawHeading baseline, Y left, Z up; heading_offset_deg = 0)",
-  "translation_m": [
-    0.414179474,
+  "schema_version": 3,
+  "convention": "T_RTK_lidar maps raw LiDAR points into the vehicle-forward RTK body frame (X forward, Y left, Z up) after HeadingOffsetDeg=-90",
+  "frame_mode": "vehicle_forward_heading_offset",
+  "heading_offset_deg": -90.0,
+  "baseline_points": "vehicle_right",
+  "baseline_points_note": "Field-confirmed: master/slave assignment reversed vs G90 diagram, antennas left-right symmetric about rear-axle centerline. Master/GGA on vehicle left, slave on right; rawHeading points vehicle right.",
+  "vehicle_flu_lever_master_to_lidar_m": [
     0.210859360,
-    0.004000001
+    -0.414179474,
+    0.078500001
+  ],
+  "vehicle_flu_note": "Vehicle FLU: LiDAR origin relative to master/GGA = ahead, right, above. CAD drawing X was opposite vehicle-forward; longitudinal sign is +X in true FLU (solver also converges to +X).",
+  "antenna_symmetry_note": "Master/slave are mirrors about the rear-axle centerline; swap flips baseline 180° and the vehicle-Y sign of the master→LiDAR lever",
+  "translation_m": [
+    0.210859360,
+    -0.414179474,
+    0.078500001
   ],
   "rotation_rpy_deg_xyz": [
     0.0,
     0.0,
-    90.0
+    0.0
   ],
   "matrix_4x4": [
-    [0.0, -1.0, 0.0, 0.414179474],
     [1.0, 0.0, 0.0, 0.210859360],
-    [0.0, 0.0, 1.0, 0.004000001],
+    [0.0, 1.0, 0.0, -0.414179474],
+    [0.0, 0.0, 1.0, 0.078500001],
     [0.0, 0.0, 0.0, 1.0]
   ],
   "use": "Final AX=XB solver initialization only; never use for LiDAR pair registration",
-  "yaw_note": "≈90 deg yaw is expected when LiDAR X is vehicle-forward and the dual-antenna baseline is left-right",
-  "z_note": "CAD/mechanical z only; final z is constrained by measured GGA/ANT1 phase-center height above ground"
+  "yaw_note": "In vehicle-forward delivery, LiDAR +X ≈ vehicle forward ⇒ mechanical yaw ≈ 0",
+  "z_note": "78.500001 mm = H_L - H_R with H_L=1994.999879 mm, H_R=1916.499878 mm",
+  "attitude_composition": "R_W_body = Rz(yaw_raw) Ry(-pitch) Rx(roll) Rz(-heading_offset); pitch/roll stay in baseline frame",
+  "baseline_frame_equivalent": {
+    "heading_offset_deg": 0.0,
+    "translation_m": [0.414179474, 0.210859360, 0.078500001],
+    "rotation_rpy_deg_xyz": [0.0, 0.0, 90.0],
+    "note": "Same physical install expressed in rawHeading baseline frame"
+  }
 }

run/run_direct_rtk_lidar.ps1

@@ -14,8 +14,9 @@ param(
     [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,
+    # Baseline frame: rawHeading as RTK X. Default vehicle-forward for this car: -90
+    # (master/slave swapped, baseline points vehicle-right).
+    [double]$HeadingOffsetDeg = -90.0,
     [string]$SolverInitialExtrinsic = "",
     [double]$RefineMinInlierRatio = 0.63,
     [double]$RefineMaxInlierRmseM = 0.14

run/run_full_pipeline.ps1

@@ -15,7 +15,7 @@
     # Roof-mounted H32 (~2 m). Do not reuse [-1.4, -0.4] on this vehicle.
     [double]$GroundZMin = -2.5,
     [double]$GroundZMax = -1.5,
-    [double]$HeadingOffsetDeg = 0.0
+    [double]$HeadingOffsetDeg = -90.0
 )
 
 $ErrorActionPreference = "Stop"