添加 LiDAR-IMU 外参标定流水线与说明文档

Co-authored-by: Cursor <cursoragent@cursor.com>

tools/view_pair.ps1

@@ -0,0 +1,27 @@
+param(
+    [Parameter(Mandatory = $true)][string]$Lidar,
+    [Parameter(Mandatory = $true)][string]$Imu,
+    [Parameter(Mandatory = $true)][string]$Summary,
+    [int]$PairIndex = 0,
+    [double]$Voxel = 0.12,
+    [string]$SavePng = ""
+)
+
+$ErrorActionPreference = "Stop"
+$Root = Split-Path -Parent $PSScriptRoot
+Set-Location $Root
+
+$args = @(
+    "tools\visualize_pair_3d.py",
+    "--lidar", $Lidar,
+    "--imu", $Imu,
+    "--summary", $Summary,
+    "--pair-index", "$PairIndex",
+    "--voxel", "$Voxel"
+)
+if ($SavePng -ne "") {
+    $args += @("--save-png", $SavePng)
+}
+
+python @args
+if ($LASTEXITCODE -ne 0) { throw "visualize_pair_3d failed: $LASTEXITCODE" }