新增雷达到RTK直接手眼标定流程

LiDAR_RTK_Direct_Calibration/run/prepare_multisensor_dataset.ps1

@@ -0,0 +1,22 @@
+param(
+    [Parameter(Mandatory = $true)][string]$CombinedRoot,
+    [Parameter(Mandatory = $true)][string]$Output,
+    [Parameter(Mandatory = $true)][double]$HeadingOffsetDeg,
+    [Parameter(Mandatory = $true)][double[]]$AntennaLever,
+    [string]$PoseName = "rtk_gga_raw_heading",
+    [int]$MinStations = 30,
+    [int]$ExpectedStations = 0,
+    [double]$HeadingStdLimitDeg = 0.5,
+    [switch]$Overwrite
+)
+
+$ErrorActionPreference = "Stop"
+if ($AntennaLever.Count -ne 3) { throw "AntennaLever must contain X,Y,Z in body coordinates" }
+$Repo = Split-Path -Parent $PSScriptRoot
+$Args = @((Join-Path $Repo "tools\prepare_multisensor_station_dataset.py"), "--combined-root", $CombinedRoot,
+    "--output", $Output, "--pose-name", $PoseName, "--heading-offset-deg", "$HeadingOffsetDeg", "--antenna-lever") +
+    @($AntennaLever | ForEach-Object { "$_" }) + @("--min-stations", "$MinStations",
+    "--expected-stations", "$ExpectedStations", "--heading-std-limit-deg", "$HeadingStdLimitDeg")
+if ($Overwrite) { $Args += "--overwrite" }
+& python @Args
+if ($LASTEXITCODE -ne 0) { throw "Multisensor dataset preparation failed" }