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调整雷达到RTK标定分支为独立根目录结构

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lichun.qu
2026-07-24 08:42:16 +08:00
parent d2aae6177e
commit 6d87b6ba9c
132 changed files with 214 additions and 197832 deletions
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tools/prepare_multisensor_station_dataset.py
+6 -6
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@@ -1,5 +1,5 @@
#!/usr/bin/env python3
"""Prepare one static LiDAR frame and one yaw-only RTK body pose per NPZ segment."""
"""Prepare one static LiDAR frame and one yaw-only RTK reference pose per NPZ segment."""
from __future__ import annotations
@@ -66,7 +66,7 @@ def parse_args() -> argparse.Namespace:
parser = argparse.ArgumentParser(description=__doc__)
parser.add_argument("--combined-root", type=Path, required=True)
parser.add_argument("--output", type=Path, required=True)
parser.add_argument("--pose-name", default="rear_gga_raw_rear_to_front")
parser.add_argument("--pose-name", default="rtk_gga_raw_heading")
parser.add_argument("--heading-offset-deg", type=float, required=True)
parser.add_argument("--antenna-lever", type=float, nargs=3, required=True, metavar=("X", "Y", "Z"))
parser.add_argument("--accepted-fixes", type=int, nargs="+", default=[4, 5])
@@ -140,12 +140,12 @@ def main() -> int:
origin["lat"], origin["lon"])
corrected_heading = (item["heading"] + args.heading_offset_deg) % 360.0
yaw = math.radians(90.0 - corrected_heading)
body = antenna - yaw_rotation(yaw) @ lever
pose_rows.append(dict(zip(POSE_FIELDS, [item["time"], *body, 0.0, 0.0,
reference_position = antenna - yaw_rotation(yaw) @ lever
pose_rows.append(dict(zip(POSE_FIELDS, [item["time"], *reference_position, 0.0, 0.0,
math.sin(yaw / 2.0), math.cos(yaw / 2.0)])))
summaries[index - 1].update({"sequence": index, "prepared_frame": destination.name,
"corrected_heading_deg": corrected_heading})
pose_path = args.output / f"body_poses_{args.pose_name}.csv"
pose_path = args.output / f"reference_poses_{args.pose_name}.csv"
with pose_path.open("w", encoding="utf-8", newline="") as stream:
writer = csv.DictWriter(stream, fieldnames=POSE_FIELDS); writer.writeheader(); writer.writerows(pose_rows)
with (args.output / "station_summary.csv").open("w", encoding="utf-8", newline="") as stream:
@@ -154,7 +154,7 @@ def main() -> int:
document = {"source_combined_root": str(args.combined_root.resolve()), "station_count": len(selected),
"rejected": rejected, "pose_csv": pose_path.name,
"selection_policy": "middle LiDAR frame among fixed-position and valid-heading associations",
"body_pose_configuration": {"raw_heading_offset_deg": args.heading_offset_deg,
"reference_pose_configuration": {"raw_heading_offset_deg": args.heading_offset_deg,
"antenna_lever_body_m": args.antenna_lever,
"orientation_model": "yaw-only, identical to the previous calibration workflow"},
"stations": [{"sequence": i + 1, "source_station": item["station"],