调整雷达到RTK标定分支为独立根目录结构

run/run_full_pipeline.ps1

@@ -0,0 +1,32 @@
+param(
+    [Parameter(Mandatory = $true)][string]$DataRoot,
+    [Parameter(Mandatory = $true)][string]$RtkCapture,
+    [Parameter(Mandatory = $true)][string]$ImuCapture,
+    [Parameter(Mandatory = $true)][string]$OutputRoot,
+    [string]$LidarObject = "frontlidar",
+    [string]$Timezone = "+08:00",
+    [double]$RtkReferenceHeightAboveGroundM = 0.8535,
+    [int]$ExpectedStations = 34,
+    [int]$MinPairs = 20,
+    [int]$Bootstrap = 200
+)
+
+$ErrorActionPreference = "Stop"
+$ExportRoot = Join-Path $OutputRoot "exported"
+$PreparedRoot = Join-Path $OutputRoot "prepared_rtk_direct"
+$CalibrationRoot = Join-Path $OutputRoot "calibration"
+
+& (Join-Path $PSScriptRoot "export_multisensor_stations.ps1") `
+    -DataRoot $DataRoot -RtkCapture $RtkCapture -ImuCapture $ImuCapture `
+    -OutputRoot $ExportRoot -LidarObject $LidarObject -Timezone $Timezone
+if ($LASTEXITCODE -ne 0) { throw "Raw-data export failed" }
+
+& (Join-Path $PSScriptRoot "run_direct_rtk_lidar.ps1") `
+    -CombinedRoot (Join-Path $ExportRoot "combined") `
+    -WorkRoot $PreparedRoot -OutputRoot $CalibrationRoot `
+    -RtkReferenceHeightAboveGroundM $RtkReferenceHeightAboveGroundM `
+    -ExpectedStations $ExpectedStations -MinPairs $MinPairs -Bootstrap $Bootstrap
+if ($LASTEXITCODE -ne 0) { throw "RTK-LiDAR calibration failed" }
+
+Write-Host "Final result: $(Join-Path $CalibrationRoot 'final_T_RTK_lidar.json')"
+Write-Host "Prepared frames: $(Join-Path $PreparedRoot 'frames_all')"