lichun.qu/calibration
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

调整雷达到RTK标定分支为独立根目录结构

Browse Source
This commit is contained in:
lichun.qu
2026-07-24 08:42:16 +08:00
parent d2aae6177e
commit 6d87b6ba9c
132 changed files with 214 additions and 197832 deletions
Download Patch File Download Diff File Expand all files Collapse all files
run/run_single_dataset.ps1
+7 -7
View File
@@ -1,8 +1,8 @@
param(
[Parameter(Mandatory = $true)][string]$Prepared,
[Parameter(Mandatory = $true)][string]$OutputRoot,
[string]$PoseName = "rear_gga_raw_rear_to_front",
[double]$BodyHeight = 0.2335,
[string]$ReferencePoseFile = "reference_poses_rtk_gga_raw_heading.csv",
[double]$ReferenceHeight = 0.8535,
[int]$MinPairs = 20,
[int]$Bootstrap = 100
)
@@ -13,7 +13,7 @@ $Code = Join-Path $Repo "code\rigorous_calibration.py"
$Refine = Join-Path $Repo "code\refine_pairs.py"
$Consensus = Join-Path $Repo "code\cross_backend_filter.py"
$Frames = Join-Path $Prepared "frames_all"
$Body = Join-Path $Prepared "body_poses_$PoseName.csv"
$ReferencePoses = Join-Path $Prepared $ReferencePoseFile
$Common = Join-Path $OutputRoot "common"
$Open = Join-Path $OutputRoot "open3d_gicp"
$Small = Join-Path $OutputRoot "small_gicp"
@@ -26,7 +26,7 @@ function Run-Python {
if ($LASTEXITCODE -ne 0) { throw "$Stage failed with Python exit code $LASTEXITCODE" }
}
foreach ($Path in @($Frames, $Body)) {
foreach ($Path in @($Frames, $ReferencePoses)) {
if (-not (Test-Path -LiteralPath $Path)) { throw "Input does not exist: $Path" }
}
New-Item -ItemType Directory -Force -Path $Common,$Open,$Small,$ConsensusOut | Out-Null
@@ -39,7 +39,7 @@ foreach ($Backend in @("small_gicp", "open3d")) {
$Raw = Join-Path $Directory "B_estimation.npz"
$QualityJson = Join-Path $Directory "B_quality.json"
$QualityCsv = Join-Path $Directory "B_quality.csv"
$PairArgs = @($Code, "pairs", "--backend", $Backend, "--frames", $Frames, "--body", $Body,
$PairArgs = @($Code, "pairs", "--backend", $Backend, "--frames", $Frames, "--reference-poses", $ReferencePoses,
"--output", $Raw, "--quality-json", $QualityJson, "--quality-csv", $QualityCsv,
"--min-pairs", "$MinPairs")
if ($Backend -eq "open3d") { $PairArgs += @("--max-gap", "3", "--multistart", "1", "--iterations", "40") }
@@ -50,7 +50,7 @@ foreach ($Backend in @("small_gicp", "open3d")) {
)
Run-Python "$Backend calibration" @(
$Code, "calibrate", "--pairs", (Join-Path $Directory "B_refined.npz"),
"--ground-planes", $Ground, "--body-height", "$BodyHeight",
"--ground-planes", $Ground, "--reference-height", "$ReferenceHeight",
"--bootstrap", "$Bootstrap", "--output", (Join-Path $Directory "extrinsic.json")
)
}
@@ -63,7 +63,7 @@ Run-Python "cross-backend consensus" @(
)
Run-Python "consensus calibration" @(
$Code, "calibrate", "--pairs", $ConsensusPairs, "--ground-planes", $Ground,
"--body-height", "$BodyHeight", "--bootstrap", "$Bootstrap",
"--reference-height", "$ReferenceHeight", "--bootstrap", "$Bootstrap",
"--output", (Join-Path $ConsensusOut "extrinsic.json")
)