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Add LiDAR RTK hand-eye calibration workflow and results

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lichun.qu
2026-07-22 09:31:44 +08:00
commit 62c7ab2e98
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results/common/ground_planes_batch2.csv
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time,nx,ny,nz,d,inliers,rms_m,frame_counter
1784279335.9505181,-0.05361540190749781,-0.028612066826359885,0.9981516609765378,0.9970438972044271,1413,0.014218123000381944,190
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1784279605.2394407,-0.01384716564355861,-0.022470612380854543,0.9996516031012351,0.9522772824995122,1451,0.012466425277627606,2883
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1784279817.2306573,-0.011087527873671243,-0.020924555502825015,0.9997195755323889,0.9578164603891901,1449,0.011989950419186364,5003
1784280797.6884267,-0.02596647147549029,-0.017803282998918958,0.999504269862602,0.9413409925183257,1070,0.01285544119037058,1175
1784280931.5831878,-0.015374876237213071,-0.006972433892068898,0.9998574890184657,0.9529924610673387,1231,0.012386720372038787,2514
1784281027.8795433,-0.018194511282557984,-0.007436316920549397,0.9998068118140855,0.9473391457135313,994,0.013690484345080097,3477
1784281119.375541,-0.031030924482729524,-0.005127874296086657,0.9995052709370525,0.9424388693848053,1050,0.012540091408749102,4392
1784281219.2718523,0.010887801537886658,0.029801594631508527,0.9994965336283518,1.0385701101629785,1314,0.012779819581803468,5391
1784281326.268232,-0.0096362623873578,0.012819044946118371,0.9998713989978268,0.9312224966475169,1290,0.014104946182144612,6461
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1784281474.3615055,-0.03105566487178763,0.07564589746567012,0.9966510140846617,1.0327196422481995,1815,0.011041719572931458,7942
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1 time nx ny nz d inliers rms_m frame_counter
2 1784279335.9505181 -0.05361540190749781 -0.028612066826359885 0.9981516609765378 0.9970438972044271 1413 0.014218123000381944 190
3 1784279429.4466305 -0.020242124527498212 -0.021859763099327908 0.999556105054566 0.9527601103226121 1403 0.012533257614588953 1125
4 1784279517.5427606 -0.025255763366701406 -0.019499239847777874 0.9994908334057517 0.9627800728846587 1377 0.013484126577744504 2006
5 1784279605.2394407 -0.01384716564355861 -0.022470612380854543 0.9996516031012351 0.9522772824995122 1451 0.012466425277627606 2883
6 1784279701.2360666 -0.01555857544224011 -0.0217686215576034 0.999641964828253 0.9563364194973247 1538 0.012300341594741273 3843
7 1784279817.2306573 -0.011087527873671243 -0.020924555502825015 0.9997195755323889 0.9578164603891901 1449 0.011989950419186364 5003
8 1784280797.6884267 -0.02596647147549029 -0.017803282998918958 0.999504269862602 0.9413409925183257 1070 0.01285544119037058 1175
9 1784280931.5831878 -0.015374876237213071 -0.006972433892068898 0.9998574890184657 0.9529924610673387 1231 0.012386720372038787 2514
10 1784281027.8795433 -0.018194511282557984 -0.007436316920549397 0.9998068118140855 0.9473391457135313 994 0.013690484345080097 3477
11 1784281119.375541 -0.031030924482729524 -0.005127874296086657 0.9995052709370525 0.9424388693848053 1050 0.012540091408749102 4392
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13 1784281326.268232 -0.0096362623873578 0.012819044946118371 0.9998713989978268 0.9312224966475169 1290 0.014104946182144612 6461
14 1784281406.9641902 0.0003902542885943621 0.08032748256370953 0.9967684501661191 1.1034060039993756 1292 0.010758148594815282 7268
15 1784281474.3615055 -0.03105566487178763 0.07564589746567012 0.9966510140846617 1.0327196422481995 1815 0.011041719572931458 7942
16 1784281630.3553114 -0.08580403119897857 -0.004531705446499283 0.9963017273274953 0.9450482405407393 2217 0.013149265194066527 9502
17 1784281794.7491786 -0.0338374639041254 -0.01961931634157733 0.9992347614363835 0.9452222296717823 1260 0.01201022023689137 11146
18 1784281908.3446162 -0.021893307599930106 -0.01424087221046337 0.9996588821398128 0.9576567371739861 1494 0.01236191966907317 12282
19 1784282032.5400162 -0.0158344231842381 -0.012467864421327742 0.9997968910729789 0.9463865980851461 1636 0.010787373185908479 13524
20 1784282152.7353525 -0.018682494816813326 -0.008766064442460298 0.9997870375743079 0.9483840866729998 2240 0.01283360827008306 14726
21 1784282248.831164 -0.023968085422919984 0.0010098337757014242 0.9997122141481043 0.9229733966918622 2063 0.01198166200322995 15687
22 1784282392.325837 -0.03491854849921791 -0.007495342405346995 0.999362053918866 0.9445161886424389 2063 0.012487104595673213 17122
23 1784282521.1221898 -0.033279977268402205 -0.021263918239006526 0.9992198401223525 0.9241543379566599 1765 0.012696796680589562 18410
24 1784282614.418045 -0.02206065096269162 -0.02672916533917316 0.9993992592549654 0.9465522302118663 1961 0.013512740981540523 19343
25 1784282682.8141525 -0.02081301783029168 -0.01579943764964285 0.9996585397318182 0.9449041973558906 1859 0.012396974052191898 20027
26 1784282765.6112185 -0.004508281075411156 -0.014008591413946636 0.9998917115209738 0.950099620414229 2036 0.011293042628447103 20855
27 1784282827.209564 -0.01736207184562764 -0.0031377437424165654 0.999844344398384 0.9426007877012084 1748 0.010719044572619517 21471
28 1784282910.2059953 -0.021125469928628078 -0.014448226693694841 0.9996724279811374 0.9542841605935083 2168 0.013339960186967582 22301
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30 1784283066.8004546 -0.025064234285691236 -0.029087411217067063 0.9992625814411152 0.9318734965466619 1864 0.012746549021992943 23867
31 1784283133.8969557 -0.016700078063969132 -0.04176715532503475 0.9989877937836437 0.9264060770827569 1908 0.01109353135053672 24538
32 1784283183.2952216 -0.01653688679373809 -0.017415882722786116 0.9997115676054555 0.9575547004867051 2007 0.012534093025107626 25032
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36 1784283421.0858324 -0.03317220277295649 -0.00229990918740887 0.9994470047886079 0.920634362486867 1708 0.012670933440544421 27410
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39 1784283636.4777331 -0.03570548009769577 -0.0034801149872434093 0.9993562965682804 0.9414430863966106 1632 0.012966623651022222 29564