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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/diagnostics/consensus_pair0_left_rpy_scan.csv
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label,roll_correction_deg,pitch_correction_deg,yaw_correction_deg,selected_pair_translation_cm,selected_pair_rotation_deg,all_pair_translation_rms_m,all_pair_rotation_rms_deg,normalized_global_rms,normalized_global_rms_change,improved_pairs,worsened_pairs,global_consistency_signal,ground_normal_tilt_rms_deg,ground_height_rms_m
baseline,0.0,0.0,0.0,13.53760421849012,0.5166365681634405,0.07984780651249465,0.961176171904301,2.4991413356769443,0.0,0,0,False,1.6662748432297785,0.03471396517121729
pitch_+0.100,0.0,0.1,0.0,13.322368374959654,0.4851311566747633,0.07937622701088871,0.9709178397492695,2.508178616440067,0.009037280763122713,17,22,False,1.661255702204205,0.03471396517121729
pitch_+0.200,0.0,0.2,0.0,13.107741962217032,0.45594025406310634,0.07905894857986535,0.991843015836615,2.536757223795175,0.03761588811823069,17,22,False,1.6622470214176333,0.03471396517121729
pitch_+0.300,0.0,0.3,0.0,12.89375489636804,0.4295360884271374,0.07889765995849754,1.0232658257505307,2.5842267894606974,0.0850854537837531,16,23,False,1.669238092496052,0.034713965171217276
pitch_+0.000_roll_-0.200,-0.2,0.0,0.0,13.395035432680281,0.501501180601739,0.08136434456273667,0.9671396098919116,2.5277457796497282,0.028604443972783944,12,27,False,1.7107124278398285,0.034713965171217304
pitch_+0.000_roll_-0.100,-0.1,0.0,0.0,13.466127879921094,0.5071126466746416,0.08054864611850543,0.958376027630505,2.503831503507573,0.004690167830628589,13,26,False,1.685676496509504,0.034713965171217304
pitch_+0.000_roll_+0.100,0.1,0.0,0.0,13.609457775458583,0.5298619890141043,0.07926481666577584,0.9754404878748625,2.5137822192795105,0.014640883602566213,23,16,False,1.652705907802981,0.034713965171217304
pitch_+0.100_roll_-0.200,-0.2,0.1,0.0,13.180263465884618,0.4689801268726104,0.08100204146829142,0.9768217811391146,2.5379628557651293,0.03882152008818496,14,25,False,1.7058242505297496,0.034713965171217304
pitch_+0.100_roll_-0.100,-0.1,0.1,0.0,13.251119920699841,0.47497594758710626,0.08013195956996022,0.9681458624297539,2.5134991588556583,0.014357823178714035,17,22,False,1.6807154082401394,0.03471396517121729
pitch_+0.100_roll_+0.100,0.1,0.1,0.0,13.394001942784334,0.4991919434350986,0.07873808044179886,0.9850410981186302,2.5221217227950565,0.022980387118112233,19,20,False,1.6476453039285432,0.0347139651712173
pitch_+0.200_roll_-0.200,-0.2,0.2,0.0,12.966120616418092,0.43871598020210434,0.08079188106279227,0.9976230703529106,2.567477045713792,0.0683357100368478,15,24,False,1.7067898021773054,0.034713965171217304
pitch_+0.200_roll_-0.100,-0.1,0.2,0.0,13.036731063691272,0.44511961856905025,0.07986863254178682,0.989129669887256,2.5426579402355864,0.04351660455864215,19,20,False,1.6816953294526065,0.03471396517121731
pitch_+0.200_roll_+0.100,0.1,0.2,0.0,13.179146202690733,0.4708734484159498,0.07836629319834118,1.0056724288764685,2.5499055866185576,0.0507642509416133,19,20,False,1.648644705864238,0.034713965171217304
pitch_+0.300_roll_-0.200,-0.2,0.3,0.0,12.752638042306833,0.4112074527490782,0.08073488194995813,1.0288692761236073,2.6156330810711834,0.11649174539423912,15,24,False,1.7135991876939975,0.03471396517121731
pitch_+0.300_roll_-0.100,-0.1,0.3,0.0,12.822991835578721,0.41803263983275235,0.07976001272785865,1.020636005744607,2.5906476559016074,0.0915063202246631,16,23,False,1.6886059172123598,0.0347139651712173
pitch_+0.300_roll_+0.100,0.1,0.3,0.0,12.964919880829425,0.44535539842024163,0.07815149226179761,1.036676092226784,2.596507573236926,0.09736623755998153,18,21,False,1.6556931398905776,0.034713965171217304
yaw_-0.200_diagnostic,0.0,0.0,-0.2,13.607478813867315,0.5166365681634414,0.08024771376258277,0.961176171904301,2.5042597228312786,0.005118387154334325,18,21,False,1.6662748432297787,0.0347139651712173
yaw_+0.200_diagnostic,0.0,0.0,0.2,13.479715314434312,0.5166365681634427,0.08028135387591602,0.961176171904301,2.5046909681249,0.005549632447955588,13,26,False,1.6662748432297787,0.0347139651712173
1 label roll_correction_deg pitch_correction_deg yaw_correction_deg selected_pair_translation_cm selected_pair_rotation_deg all_pair_translation_rms_m all_pair_rotation_rms_deg normalized_global_rms normalized_global_rms_change improved_pairs worsened_pairs global_consistency_signal ground_normal_tilt_rms_deg ground_height_rms_m
2 baseline 0.0 0.0 0.0 13.53760421849012 0.5166365681634405 0.07984780651249465 0.961176171904301 2.4991413356769443 0.0 0 0 False 1.6662748432297785 0.03471396517121729
3 pitch_+0.100 0.0 0.1 0.0 13.322368374959654 0.4851311566747633 0.07937622701088871 0.9709178397492695 2.508178616440067 0.009037280763122713 17 22 False 1.661255702204205 0.03471396517121729
4 pitch_+0.200 0.0 0.2 0.0 13.107741962217032 0.45594025406310634 0.07905894857986535 0.991843015836615 2.536757223795175 0.03761588811823069 17 22 False 1.6622470214176333 0.03471396517121729
5 pitch_+0.300 0.0 0.3 0.0 12.89375489636804 0.4295360884271374 0.07889765995849754 1.0232658257505307 2.5842267894606974 0.0850854537837531 16 23 False 1.669238092496052 0.034713965171217276
6 pitch_+0.000_roll_-0.200 -0.2 0.0 0.0 13.395035432680281 0.501501180601739 0.08136434456273667 0.9671396098919116 2.5277457796497282 0.028604443972783944 12 27 False 1.7107124278398285 0.034713965171217304
7 pitch_+0.000_roll_-0.100 -0.1 0.0 0.0 13.466127879921094 0.5071126466746416 0.08054864611850543 0.958376027630505 2.503831503507573 0.004690167830628589 13 26 False 1.685676496509504 0.034713965171217304
8 pitch_+0.000_roll_+0.100 0.1 0.0 0.0 13.609457775458583 0.5298619890141043 0.07926481666577584 0.9754404878748625 2.5137822192795105 0.014640883602566213 23 16 False 1.652705907802981 0.034713965171217304
9 pitch_+0.100_roll_-0.200 -0.2 0.1 0.0 13.180263465884618 0.4689801268726104 0.08100204146829142 0.9768217811391146 2.5379628557651293 0.03882152008818496 14 25 False 1.7058242505297496 0.034713965171217304
10 pitch_+0.100_roll_-0.100 -0.1 0.1 0.0 13.251119920699841 0.47497594758710626 0.08013195956996022 0.9681458624297539 2.5134991588556583 0.014357823178714035 17 22 False 1.6807154082401394 0.03471396517121729
11 pitch_+0.100_roll_+0.100 0.1 0.1 0.0 13.394001942784334 0.4991919434350986 0.07873808044179886 0.9850410981186302 2.5221217227950565 0.022980387118112233 19 20 False 1.6476453039285432 0.0347139651712173
12 pitch_+0.200_roll_-0.200 -0.2 0.2 0.0 12.966120616418092 0.43871598020210434 0.08079188106279227 0.9976230703529106 2.567477045713792 0.0683357100368478 15 24 False 1.7067898021773054 0.034713965171217304
13 pitch_+0.200_roll_-0.100 -0.1 0.2 0.0 13.036731063691272 0.44511961856905025 0.07986863254178682 0.989129669887256 2.5426579402355864 0.04351660455864215 19 20 False 1.6816953294526065 0.03471396517121731
14 pitch_+0.200_roll_+0.100 0.1 0.2 0.0 13.179146202690733 0.4708734484159498 0.07836629319834118 1.0056724288764685 2.5499055866185576 0.0507642509416133 19 20 False 1.648644705864238 0.034713965171217304
15 pitch_+0.300_roll_-0.200 -0.2 0.3 0.0 12.752638042306833 0.4112074527490782 0.08073488194995813 1.0288692761236073 2.6156330810711834 0.11649174539423912 15 24 False 1.7135991876939975 0.03471396517121731
16 pitch_+0.300_roll_-0.100 -0.1 0.3 0.0 12.822991835578721 0.41803263983275235 0.07976001272785865 1.020636005744607 2.5906476559016074 0.0915063202246631 16 23 False 1.6886059172123598 0.0347139651712173
17 pitch_+0.300_roll_+0.100 0.1 0.3 0.0 12.964919880829425 0.44535539842024163 0.07815149226179761 1.036676092226784 2.596507573236926 0.09736623755998153 18 21 False 1.6556931398905776 0.034713965171217304
18 yaw_-0.200_diagnostic 0.0 0.0 -0.2 13.607478813867315 0.5166365681634414 0.08024771376258277 0.961176171904301 2.5042597228312786 0.005118387154334325 18 21 False 1.6662748432297787 0.0347139651712173
19 yaw_+0.200_diagnostic 0.0 0.0 0.2 13.479715314434312 0.5166365681634427 0.08028135387591602 0.961176171904301 2.5046909681249 0.005549632447955588 13 26 False 1.6662748432297787 0.0347139651712173