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Attach the statement to the appropriate annotated syntax at the +beginning of each source file. + +Copyright (c) [Year] [name of copyright holder] +[Software Name] is licensed under Mulan PSL v2. +You can use this software according to the terms and conditions of the Mulan +PSL v2. +You may obtain a copy of Mulan PSL v2 at: + http://license.coscl.org.cn/MulanPSL2 +THIS SOFTWARE IS PROVIDED ON AN "AS IS" BASIS, WITHOUT WARRANTIES OF ANY +KIND, EITHER EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO +NON-INFRINGEMENT, MERCHANTABILITY OR FIT FOR A PARTICULAR PURPOSE. +See the Mulan PSL v2 for more details. diff --git a/PAIR_DIAGNOSTICS.md b/PAIR_DIAGNOSTICS.md index 70e7928..72b96ae 100644 --- a/PAIR_DIAGNOSTICS.md +++ b/PAIR_DIAGNOSTICS.md @@ -33,7 +33,7 @@ norm = 7.9716 cm / 0.547109 deg 查看原结果： ```powershell -$Repo = "D:\Outdoor Ackerman Cart Sensor Adaptation\LiDAR_RTK_Calibration_Rigorous_20260721" +$Repo = "D:\你的代码目录\calibration" powershell.exe -NoProfile -ExecutionPolicy Bypass -File "$Repo\run\view_open3d_result.ps1" -PairIndex 0 ``` diff --git a/README.md b/README.md index 0e9fd24..d6b6d18 100644 --- a/README.md +++ b/README.md @@ -1,399 +1,226 @@ -# 双天线 RTK—3D 激光雷达严谨手眼标定 +# LiDAR–双天线 RTK 手眼标定 -本仓库是当前建议提交和继续维护的正式版本。第二批 38 站高频 RTK 用于主要求解；第一批 38 站稀疏 RTK 只作辅助复核。Open3D GICP 和 small_gicp 分别生成雷达运动 (B)，两套独立结果及跨后端共识结果均保留。 - -实际部署只读取 [`results/final_extrinsic_deployment.json`](results/final_extrinsic_deployment.json)。算法原始求解、残差、Bootstrap 和筛选记录保留在其他结果文件中，不应与部署文件混用。 - -## 标定总体流程 - -1. **准备静止站点数据**：每站车辆静止，保存一帧原始雷达点云和该站 RTK；程序只使用雷达传感器坐标系下的 `points_raw`。 -2. **由 RTK 生成车体运动 (A)**：将双天线 RTK 的位置、水平航向、杆臂和 heading offset 转为车体位姿 (T_{WB_i})，再计算 - - \[ - A_{ij}=T_{WB_i}^{-1}T_{WB_j}. - \] -3. **由点云配准生成雷达运动 (B)**：Open3D GICP 和 small_gicp 分别把第 j 站点云配准到第 i 站，得到 - - \[ - B_{ij}=T_{L_iL_j}. - \] -4. **先验证和筛选 B，再求 X**：使用对称留出点、重叠率、留出点 RMSE、海森矩阵、正反向一致性、多初值稳定性、旋转共轭不变量和闭环误差检查 B。这个阶段不读取待求外参 X，也不使用 AX 残差筛选 B。 -5. **建立跨后端共识 B**：只保留 Open3D 与 small_gicp 对同一运动对的 B 相差不超过 `0.05 m / 0.50°` 的边；最终使用 Open3D B，small_gicp 作为独立一致性门控。 -6. **求解手眼外参 X**：固定 A 和通过筛选的 B 后，求解 - - \[ - A_{ij}X=XB_{ij},\qquad X=T_{body\leftarrow lidar}. - \] - - 使用 Huber 鲁棒最小二乘、12 个初值、地面平面约束和 100 次 Bootstrap。 -7. **结果复核**：第二批共识对用于主要求解和整体残差统计；第一批重新独立生成 B，只作为稀疏 RTK 辅助复核；3D 可视化分别比较模式 3 的 GICP B 与模式 4 的 (X^{-1}AX)。 -8. **形成部署结果**：第二批跨后端共识结果给出完整的 `[x,y,z,roll,pitch,yaw]`；部署 JSON 直接采用该算法结果。。 - -### 验证逻辑 - -顺序固定为： +本仓库提供一套可从原始 Medulla 记录复现的静态站点标定流程，求解三维激光雷达到后轮轴中心车体系的外参 ```text -先生成 B - -> 用不依赖 X 的点云与几何指标筛 B - -> 用另一个 GICP 后端复核同一 B - -> 固定共识 B - -> 最后才求 X - -> AX 残差只用于结果评价，不反过来选择 B +X = T_body_lidar ``` -代码证据： - -- [`code/refine_pairs.py`](code/refine_pairs.py) 不读取外参文件，只使用留出点、正反向和旋转共轭不变量等指标； -- [`code/cross_backend_filter.py`](code/cross_backend_filter.py) 只比较两个后端的 B，不读取 X； -- [`code/rigorous_calibration.py`](code/rigorous_calibration.py) 在 B 集合固定后才执行 `calibrate` 求 X； -- 第一批辅助复核的 B 也重新独立生成，且不使用 AX 残差筛选。 - -但这些检查仍不能把 B 变成绝对真值：重复结构、动态物体或错误局部最优仍可能让两个后端同时出错，所以必须结合模式 3 点云质量、留出集指标和多运动对整体统计判断。 - -## 最终部署外参 - -坐标变换定义： - -\[ -X=T_{body\leftarrow lidar} -\] - -即将原始雷达点从雷达坐标系变换到以后轮轴中心为原点、X 前/Y 左/Z 上的车体坐标系。 - -部署值： - -- 平移 `[x,y,z] = [1.297760, -0.000067, 0.720498] m` -- RPY `[roll,pitch,yaw] = [-0.785151, 1.202661, -0.835510] deg` -- 唯一部署文件：[`results/final_extrinsic_deployment.json`](results/final_extrinsic_deployment.json) - -该值来自第二批 39 对跨后端共识、完整地面平面约束和 Bootstrap 稳定性检查。 - -算法在完整地面平面模型下的原始结果为： - -- 平移 `[1.297760, -0.000067, 0.720498] m` -- RPY `[-0.785151, 1.202661, -0.835510] deg` -- 文件：[`results/final_extrinsic_recommended.json`](results/final_extrinsic_recommended.json) - -`final_extrinsic_recommended.json` 保留完整求解、残差和 Bootstrap 记录，用于复现和审计；`final_extrinsic_deployment.json` 是唯一部署入口。 - -共识结果统计： - -- 第二批 39 对 AX RMS：`0.07985 m / 0.96118°` -- 第一批 22 对辅助复核：`0.06067 m / 1.00298°` -- 结果摘要：[`results/final_summary.json`](results/final_summary.json) - -两套后端分别求得： - -| 后端 | 平移 `[x,y,z]` m | RPY deg | 第二批 AX RMS | -|---|---|---|---| -| Open3D GICP | `[1.297883,-0.003100,0.721789]` | `[-0.757207,1.146042,-0.879781]` | `0.1002 m / 1.0115°` | -| small_gicp | `[1.299630,-0.003565,0.721886]` | `[-0.787156,1.141456,-0.935757]` | `0.1187 m / 1.1351°` | - -两后端单独求出的 X 相差 1.81 mm、0.063°。共识求解的 100 次 Bootstrap 标准差 `[x,y,z,roll,pitch,yaw]` 为： +约定 `T_A_B` 将 B 系坐标变换到 A 系。对任意站点 i、j： ```text -[0.00322 m, 0.00333 m, 0.00169 m, 0.0980°, 0.0746°, 0.1189°] +A_ij = T_W_Bi^-1 T_W_Bj # RTK 给出的车体相对运动 +B_ij = T_Li_Lj # GICP 给出的雷达相对运动 +A_ij X = X B_ij ``` -这里的 Z Bootstrap 只描述当前地面模型条件下的内部稳定性，不代表机械高度的绝对精度。 +当前部署建议仍采用 [results/01_previous_two_batches/final_extrinsic_deployment.json](results/01_previous_two_batches/final_extrinsic_deployment.json)。data4 是一次独立重算，结果与部署值相差约 `1.592 cm / 0.234°`，但自身 AX 残差更高，因此只作为候选和稳定性证据，不自动替换部署值。 -重要限制：旋转 RMS 仍约 1°，所以这不是厘米级绝对精度认证。远距离点云仍可能看到角度错层；Bootstrap 也不包含 RTK 参考点、航向偏置或杆臂定义错误等系统误差。 -### `code/` 文件职责 +## 标定总流程 -`code/` 中的 Python 脚本按“生成 B → 独立筛选 B → 求解 X → 汇总/诊断”的顺序组织。通常应通过 `run/` 下的 PowerShell 脚本调度，而不是手工跳过中间筛选步骤。 - -| 文件 | 职责 | 主要输入 → 主要输出 | -|---|---|---| -| [`rigorous_calibration.py`](code/rigorous_calibration.py) | **主求解器**，实现坐标变换、Open3D GICP/small_gicp 配准、质量计算和手眼优化。`ground` 从 `points_raw` 做 RANSAC 地面平面；`pairs` 将 RTK 车体轨迹构造成 A、将点云配准构造成 B，并输出海森矩阵、留出点、正反向和多初值质量报告；`calibrate` 用 Huber 鲁棒最小二乘、地面约束、多初值和 Bootstrap 求 `T_body_lidar`；`validate` 只计算给定 X 在独立 B 集上的 AX 残差。 | prepared 的 `frames_all`、车体位姿 CSV、B/地面文件 → `.npz` B 集、质量 JSON/CSV、外参 JSON、辅助复核 JSON。 | -| [`refine_pairs.py`](code/refine_pairs.py) | **第二级 B 精筛器**。按留出点重叠率/RMSE、旋转共轭不变量、正反向一致性剔除差的 B；不读取 X，也不用 AX 残差选 B。 | 初始 B `.npz` + 配准质量 JSON → `*_refined.npz` + `*.refinement.json` 审计记录。 | -| [`cross_backend_filter.py`](code/cross_backend_filter.py) | **跨后端一致性门控**。只保留 Open3D 与 small_gicp 对同一运动对的 B 差异不超过默认 `0.05 m / 0.50°` 的边；最终 B 本体采用 Open3D，small_gicp 仅作为独立门控。 | 两套 refined B `.npz` → `consensus/B_batch*_consensus.npz` + `*.consensus.json`。 | -| [`finalize_consensus.py`](code/finalize_consensus.py) | **发布共识解**。读取共识 B 求得的外参、第一批辅助复核和两单后端外参，写出带选择依据的 `final_extrinsic_recommended.json` 与 `final_summary.json`。 | 共识外参/复核 JSON、两后端外参 JSON → 推荐外参和最终摘要 JSON。 | -| [`summarize_results.py`](code/summarize_results.py) | **单后端阶段汇总器**。比较 Open3D 与 small_gicp 的外参差异、第二批拟合残差和第一批辅助复核，生成 `comparison_summary.json`；完整流程随后由 `finalize_consensus.py` 以共识解覆盖推荐结果。 | 两单后端外参、质量、辅助复核 JSON → 对比摘要 JSON 与阶段性推荐 JSON。 | -| [`scan_extrinsic_sensitivity.py`](code/scan_extrinsic_sensitivity.py) | **局部灵敏度诊断器**。对 X 在车体系左乘小的 roll/pitch/yaw 修正，比较某一对与全部 B 对的残差、改善/变差数量、地面指标和 Z 可观性。只生成扫描 JSON/CSV，**绝不改写 X**。 | B `.npz`、外参 JSON、可选地面 CSV → `diagnostics/*_scan.json/.csv`。 | -| [`visualize_pair_3d.py`](code/visualize_pair_3d.py) | **交互式 3D 点云核查器**。蓝色为目标站 i、橙色为源站 j；按键 1/2/3/4 分别查看原始、RTK 初值 A、GICP B、外参预测 `X^-1 A X`，并打印 `B^-1(X^-1AX)` 的 cm/deg 增量。可选按键 5 显示临时 RPY 修正，修正不写入文件。 | 站点点云、B `.npz`、外参 JSON → Open3D 交互窗口与终端增量。 | - -## 坐标与公式 - -\[ -A_{ij}=T_{WB_i}^{-1}T_{WB_j},\qquad -B_{ij}=T_{L_iL_j},\qquad -A_{ij}X=XB_{ij} -\] - -`B_ij` 把第 j 站雷达点变换到第 i 站雷达坐标系。程序只读取 `points_raw`，禁止使用已经变到车体坐标系的点。 - -RTK 轨迹使用 `body_poses_rear_gga_raw_rear_to_front.csv`，对应后天线 GGA 位置和双天线后到前方向。 - -地面约束采用完整平面变换： - -\[ -n_B=R_Xn_L,\qquad r_h=d_L-n_B^Tt_X-h_{body} -\] - -不再使用旧近似式 `d_L-(t_z+h_body)`。 - -## 详细求解流程 - -1. 第二批高频 RTK 生成 A；第一批稀疏 RTK 不参与主要求解。 -2. 不使用手量外参作初值：生成 B 时 (X_0=I)，所以 (B_0=A)；求 X 也从单位变换和随机初值开始。 -3. 两后端均采用三级粗到细：体素 0.30/0.15/0.08 m，对应距离 1.20/0.50/0.25 m。 -4. 逐对检查对称留出点、海森矩阵、正反向一致性、多初值稳定性和 B 三角闭环。 -5. 使用重叠率、留出点 RMSE 和旋转共轭不变量筛选 B；不使用 AX 残差筛选。 -6. 两后端分别求 X；随后使用跨后端 B 一致性得到最终 39 对共识集合。 -7. 使用 Huber 鲁棒最小二乘、12 个随机初值、完整地面约束和 100 次 Bootstrap 求算法 X。 -8. 第一批重新独立生成 B，仅作辅助复核，不参与第二批求解。 -9. 使用共识算法完整解形成精简部署 JSON，不覆盖算法原始结果。 - -## 目录 - -```text -code/ - rigorous_calibration.py - refine_pairs.py - cross_backend_filter.py - summarize_results.py - finalize_consensus.py - scan_extrinsic_sensitivity.py - visualize_pair_3d.py -run/ - run_all.ps1 - run_consensus_finish.ps1 - run_sensitivity_scan.ps1 - view_open3d_result.ps1 - view_small_gicp_result.ps1 -tools/ - frontlidar_dlog_export.py # 从单个原始 dlog 导出 LiDAR NPZ 与 RTK sidecar - prepare_station_dataset.py # 从逐站导出结果构建标定所需 prepared 数据集 -results/ - common/ - open3d_gicp/ - small_gicp/ - consensus/ - diagnostics/ - final_extrinsic_deployment.json # 实际部署只读取这个文件 - final_extrinsic_recommended.json # 算法原始结果及详细诊断 - final_summary.json +```mermaid +flowchart LR + raw["原始站点 dlog / RTK、IMU rscap"] --> export["分别解析并统一到时间轴"] + export --> assoc["按每个 LiDAR 帧关联 RTK/IMU，导出 NPZ"] + assoc --> prep["每站选一帧，构建 RTK 车体位姿 A"] + prep --> b1["small_gicp 求 B"] + prep --> b2["Open3D GICP 求 B"] + b1 --> gate["与 X 无关的质量筛选及双后端一致性"] + b2 --> gate + gate --> solve["AX=XB + 地面约束求 X"] + solve --> check["残差、bootstrap、条件数、跨批复核和 3D 可视化"] ``` -## 从原始数据到最终外参 +流程有两个原始数据入口： -下面是从云盘中的**原始 dlog**到最终 LiDAR—车体外参的完整流程。第 2、3 步由本仓库的 tools/ 脚本完成；第 4 步及之后由 run/ 调度。不要把云盘中的原始数据直接传给 run_all.ps1。 +- 旧式数据：LiDAR 和 `GPS-POST-Z` 位于每个站点 dlog 中，使用 `export_legacy_stations.ps1`。 +- 新式多传感器数据：LiDAR 位于逐站 dlog，RTK 与 IMU 是独立 `.rscap`，使用 `export_multisensor_stations.ps1`。处理顺序是统一时间轴、分别解析、按 LiDAR 帧关联、导出 NPZ。 -```text -原始静止站点 dlog（两批） - → 逐站导出 LiDAR 原始点云 + RTK 旁路表（NPZ） - → 逐站质量筛选、选取静止帧、重建 RTK 车体位姿（prepared） - → Open3D / small_gicp 分别求 B - → X 无关的 B 精筛与跨后端共识 - → AX=XB + 地面平面约束求 X - → 第一批辅助复核、3D 点云核查、确认部署 JSON -``` +IMU 会在新式数据中原样解析并随 LiDAR 帧关联保存，但当前 LiDAR–RTK 外参求解不使用 IMU，也不做运动畸变校正，因为每一站采集点云时车辆静止。IMU 外参应使用单独的激励数据和专用标定流程求解。 -### 1. 整理原始数据与标定元数据 +## 三批数据的角色 -每一个静止站点目录必须完整保留 LiDAR DObject 记录、对应 `.dorec` 文件和 RTK 日志。dlog 导出器要求站点目录至少具有： +| 数据 | 原始格式 | 站点 | RTK 情况 | 在本仓库中的角色 | +|---|---|---:|---|---| +| 第一批 | 逐站 dlog，内嵌 GPS-POST-Z | 38 | 约 10 秒一条，部分站仅 1–11 个有效样本 | 辅助复核，不承担主要求解 | +| 第二批 | 逐站 dlog，内嵌 GPS-POST-Z | 38 | 每站约 125–412 个有效样本，航向稳定 | 现部署外参的主要求解数据 | +| data4 | 逐站 LiDAR dlog + 独立 RTK/IMU rscap | 34 | 11,678 个 LiDAR 帧均成功关联 fixed RTK、heading 和 IMU | 独立重算与跨批比较 | -```text -/ - dobject/ # DObject 索引日志 - dobject_recording/ # 与索引对应的 .dorec 二进制记录 - GPS-POST-Z/ # RTK 文本记录；建议同时保留完整原始 N4 串口流 -``` +原始数据体积较大，不在 Git 仓库中。复现者应从云盘取得第一批、第二批或 data4 的原始目录，并在命令行传入路径。 -两批数据要分开存放：第二批高频 RTK 用于主要求解，第一批仅用于辅助复核。与数据一同归档的标定元数据必须包括：LiDAR DObject 名称、时区、RTK 天线参考点、双天线基线方向、heading offset、天线到后轮轴中心的杆臂、车体系定义，以及 LiDAR/RTK/IMU 的时间基准。 +## 环境 -对于后续新录数据，RTK 原始记录应保留 `gnss_week`、`gnss_tow_ms`、GGA UTC、`pitch_deg`、基线长度、解算状态/类型、标准差、HDOP 和完整原文。PC 接收时间只能作为延迟诊断，不能替代 GNSS 测量时间。 +- Windows PowerShell 5.1 或 PowerShell 7 +- Python 3.10+ +- `pip install -r requirements.txt` +- `small_gicp` 后端需要可导入 `small_gicp`；Open3D 后端需要 `open3d` -### 2. 将每个原始站点 dlog 导出为 NPZ +所有脚本从自身位置推导仓库根目录。数据和输出路径均由参数传入，不依赖开发者电脑上的固定路径。 -本仓库的 [tools/frontlidar_dlog_export.py](tools/frontlidar_dlog_export.py) 从每个静止站点的原始 dlog 导出 LiDAR 原始点云与 RTK sidecar。对每个站点分别执行；必须开启 RTK sidecar 与审计报告： +## 从原始数据开始复现 + +以下路径只表示格式，请替换为自己的目录。 + +### A. 第一批、第二批旧式 dlog ```powershell -$Repo = "D:\Outdoor Ackerman Cart Sensor Adaptation\LiDAR_RTK_Calibration_Rigorous_20260721" -$Exporter = "$Repo\tools\frontlidar_dlog_export.py" -$RawStation = "<某一个原始静止站点 dlog 目录>" -$StationOut = "<工作目录>\export\001" +$Repo = "D:\你的代码目录\calibration" -python $Exporter ` - --dlog "$RawStation" ` - --out "$StationOut" ` - --object frontlidar ` - --format npz ` - --timezone +08:00 ` - --rtk-sidecars ` - --write-reports +powershell.exe -NoProfile -ExecutionPolicy Bypass -File "$Repo\run\export_legacy_stations.ps1" ` + -DataRoot "D:\你的数据目录\batch2_raw" ` + -OutputRoot "D:\你的输出目录\batch2_export" + +powershell.exe -NoProfile -ExecutionPolicy Bypass -File "$Repo\run\prepare_legacy_dataset.ps1" ` + -ExportRoot "D:\你的输出目录\batch2_export" ` + -Output "D:\你的输出目录\batch2_prepared" ` + -HeadingOffsetDeg 21.226 ` + -AntennaLever -0.320,-0.365,0.620 ` + -ExpectedStations 38 ` + -HeadingStdLimitDeg 0.5 ``` -导出后的站点目录应包含： +第一批采用同一导出方式，但应在导出命令显式添加 `-RtkMaxDtMs 15000`；因其 RTK 稀疏，准备阶段也不建议沿用 `0.5°` 的严格站内航向离散度阈值。上述 `21.226°` 和杆臂 `[-0.320,-0.365,0.620] m` 是本项目已有两批数据采用的配置，不是通用常数；换车或改变天线安装后必须重新确认。 -```text -/ - frames/ # 多帧 LiDAR NPZ；每帧保留 points_raw - rtk/ # gps_post_z.csv/jsonl/npz 等 RTK 旁路表 - reports/manifest.csv # 每帧导出状态、时间及 RTK 匹配信息 - reports/validation_report.json - reports/metadata.json -``` - -先检查每个站点的 `validation_report.json`、`manifest.csv` 和 `rtk/gps_post_z.csv`：LiDAR payload 必须可读；候选帧必须存在；RTK 位置/航向有效；并记录 LiDAR—RTK 时间差。若新插件已开始输出 GNSS 周/周内时间与 pitch，导出器也必须同步扩展并写出这些字段；旧导出器只保留旧插件字段时，不能伪称已完成严格时间同步。 - -### 3. 从导出 NPZ 构建 prepared 静止站点数据 - -对每个批次，将所有站点导出目录汇总后执行以下预处理逻辑，生成供本仓库使用的 `prepared` 目录： - -1. 每个站点只选择一帧**车辆已静止**且 RTK 质量合格的 LiDAR 帧；通常取有效候选帧中的中间帧，避免启动/停车边缘。 -2. 仅保留 `position_valid=true`、`heading_valid=true`、Fix 为 4 或 5，且航向标准差满足项目门限的 RTK 样本；记录每站的样本数、时间跨度、航向圆标准差与被剔除原因。 -3. 使用 GNSS 测量时间把位置、heading 和 pitch 配成同一时刻；将经纬高转换到同一 ENU 世界系；根据天线杆臂和双天线方向求后轮轴中心车体位姿 `T_WB`。双天线可提供 heading/pitch，但不能提供 roll；roll 在后续 LiDAR—IMU 流程中由 IMU 补充。 -4. 将选出的 LiDAR 帧原样复制到 `frames_all/`。标定程序从每帧的 `points_raw` 转为 LiDAR 传感器系 XYZ，不得使用已经变换到车体系的点。 -5. 输出时间戳车体位姿 CSV。当前主求解器要求列为： - -```text -time,x,y,z,qx,qy,qz,qw -``` - -最终目录必须类似： - -```text -/ - frames_all/ - station_01.npz - station_02.npz - ... - body_poses_rear_gga_raw_rear_to_front.csv - station_summary.csv # 推荐保留：站点质量和选择原因 - manifest.json # 推荐保留：参考点、杆臂、heading/pitch 定义与筛选配置 -``` - -本仓库的 [tools/prepare_station_dataset.py](tools/prepare_station_dataset.py) 完成上述固定站点筛选、点云复制和车体位姿重建。它要求每个站点均已由上一步使用 --rtk-sidecars --write-reports 导出。下面的参数仅用于复现本仓库历史结果：lat/lon/h 被假定为后天线相位中心，raw_heading_deg 被假定为后天线指向前天线；车体系为后轮轴中心、X 前 Y 左 Z 上。 - -~~~powershell -$Repo = "D:\Outdoor Ackerman Cart Sensor Adaptation\LiDAR_RTK_Calibration_Rigorous_20260721" -$Prepare = "$Repo\tools\prepare_station_dataset.py" - -# 第二批：主要求解数据。ExportBatch2 下为 38 个逐站导出目录。 -python $Prepare --export-root "" --output "" --expected-stations 38 --heading-std-limit-deg 0.5 --heading-offset-deg 21.226 --antenna-lever -0.320 -0.365 0.620 --pose-name rear_gga_raw_rear_to_front - -# 第一批：辅助复核数据。若航向质量较低，不应设置过严的 heading 标准差阈值。 -python $Prepare --export-root "" --output "" --expected-stations 38 --heading-offset-deg 21.226 --antenna-lever -0.320 -0.365 0.620 --pose-name rear_gga_raw_rear_to_front -~~~ - -命令完成后检查 /station_summary.csv：每行均应有有效 RTK 样本，且没有超出设定的航向离散度。manifest.json 记录实际采用的杆臂、航向偏移、ENU 原点和输入站点；它应与原始数据一同归档。 - -不要把上述 21.226° 和 [-0.320,-0.365,0.620] m 当成通用常数：它们是本车、后天线、后天线到前天线航向定义、以及后轮轴中心车体原点的历史配置。换车、换参考天线、改变车体原点或改变 rawHeading 定义后，必须先复核并替换这些参数，再重建 A。 - -当前导出器可复现本仓库历史日志，但历史 RTK 插件只记录工控机接收时间，并未保存 GNSS 周/周内时间、双天线 pitch、质量标准差及完整原始串口流。因此它不能把旧数据宣称为严格 GNSS 时间同步。插件升级后，应先扩展导出器以保存新字段，再以 GNSS 测量时间重建位置/航向（及可用的 pitch）轨迹。 -### 4. 安装标定依赖并运行第一阶段 +### B. data4 式独立 RTK/IMU rscap ```powershell -$Repo = "D:\Outdoor Ackerman Cart Sensor Adaptation\LiDAR_RTK_Calibration_Rigorous_20260721" -python -m pip install -r "$Repo\requirements.txt" -python -c "import numpy, scipy, open3d, small_gicp; print('dependencies OK')" +powershell.exe -NoProfile -ExecutionPolicy Bypass -File "$Repo\run\export_multisensor_stations.ps1" ` + -DataRoot "D:\你的数据目录\data4_raw" ` + -RtkCapture "D:\你的数据目录\captures\rtk.rscap" ` + -ImuCapture "D:\你的数据目录\captures\imu.rscap" ` + -OutputRoot "D:\你的输出目录\data4_export" +powershell.exe -NoProfile -ExecutionPolicy Bypass -File "$Repo\run\prepare_multisensor_dataset.ps1" ` + -CombinedRoot "D:\你的输出目录\data4_export\combined" ` + -Output "D:\你的输出目录\data4_prepared" ` + -HeadingOffsetDeg 21.226 ` + -AntennaLever -0.320,-0.365,0.620 ` + -ExpectedStations 34 +``` + +### C. 运行标定 + +单批数据同时运行 small_gicp、Open3D GICP 和跨后端共识： + +```powershell +powershell.exe -NoProfile -ExecutionPolicy Bypass -File "$Repo\run\run_single_dataset.ps1" ` + -Prepared "D:\你的输出目录\data4_prepared" ` + -OutputRoot "D:\你的输出目录\data4_calibration" ` + -BodyHeight 0.2335 +``` + +复现本仓库“第二批求解、第一批辅助复核”的历史流程： + +```powershell powershell.exe -NoProfile -ExecutionPolicy Bypass -File "$Repo\run\run_all.ps1" ` - -Batch1Prepared "<第一批 prepared 目录>" ` - -Batch2Prepared "<第二批 prepared 目录>" + -Batch1Prepared "D:\你的输出目录\batch1_prepared" ` + -Batch2Prepared "D:\你的输出目录\batch2_prepared" ` + -OutputRoot "D:\你的输出目录\two_batch_calibration" ``` -`run_all.ps1` 完成：第二批地面拟合；Open3D 与 small_gicp 两套 B 生成和精筛；两套单后端 X 求解；第一批独立 B 与辅助复核；以及单后端对比摘要。第一阶段至少应生成： +`BodyHeight=0.2335 m` 是后轮轴中心离地高度，用于把雷达地面平面约束转换到车体原点；它不是雷达离地高度。换轮胎、胎压或车体载荷后应重新测量并评估不确定度。 + +## 如何判断结果 + +不能仅凭 `AX=XB` 残差或一张叠图宣称外参正确。至少同时检查： + +1. B 的配准质量：收敛、有效对应点数/比例、RMSE、Hessian 信息矩阵特征值与条件数、small_gicp 与 Open3D 的相对运动一致性。 +2. X 的可观性：加权雅可比条件数越接近 1 越均衡；极大值说明存在弱方向，但没有脱离尺度和数据分布的单一硬阈值。本次 data4 为 `7.44`，不是病态。 +3. AX 残差分布：看 RMS、median、P90/P95、max 和逐对异常，而不是只看均值。 +4. 重采样稳定性：bootstrap 的六自由度标准差及置信区间。 +5. 跨批检查：同一 X 在独立批次的残差，以及两批独立求出的 X 之 SE(3) 差。 +6. 3D 可视化：模式 3 的 B 与模式 4 的 `X^-1 A X` 是否都使相同墙面、杆件和地面重合。 + +当前没有把“增量小于某个值”当成绝对真值判据。工程筛查可先关注多数优质运动对是否约在厘米级到数厘米、亚度级；但阈值必须结合场景尺度、点云分辨率、RTK 质量和车辆运动幅度制定。模式 3 已错位时优先检查 B；模式 3 正常而模式 4 系统性错位时，再检查 A、坐标约定和 X。 + +## 结果摘要 + +| 结果 | 平移 xyz (m) | roll/pitch/yaw (deg) | AX 平移/旋转 RMS | 结论 | +|---|---|---|---|---| +| 部署值（第二批求解） | `[1.297760,-0.000067,0.720498]` | `[-0.785151,1.202661,-0.835510]` | `0.07985 m / 0.96118°`，39 对 | 当前建议部署 | +| data4 独立候选 | `[1.300376,-0.001707,0.704877]` | `[-0.791892,1.393823,-0.970743]` | `0.11762 m / 1.24257°`，26 对 | 独立候选，不替换部署值 | + +data4 候选相对部署值变化 `1.592 cm / 0.234°`，其中 z 低 `1.562 cm`。旧部署值作用于 data4 的残差约 `0.11953 m / 1.24836°`；data4 候选作用于历史第二批的残差约 `0.07931 m / 0.98926°`。两个 X 的跨批表现接近，当前数据不足以证明 data4 的较低 z 更接近真值。 + +## 仓库目录 ```text -results/common/ground_planes_batch2.csv -results/open3d_gicp/B_batch2_refined.npz -results/small_gicp/B_batch2_refined.npz -results/open3d_gicp/extrinsic_batch2_refined.json -results/small_gicp/extrinsic_batch2_refined.json -results/comparison_summary.json +code/ 标定、配准筛选、共识、比较和可视化核心程序 +tools/ 原始 dlog/rscap 解析、时间关联、NPZ 导出和数据准备 +run/ 不含本机固定路径的 PowerShell 入口 +results/ 历史两批、data4 与跨批比较三个结果目录 ``` -### 5. 构造跨后端共识并生成算法结果 +完整复现流程和所有主要文件职责均在本 README；`run/README.md`、`tools/README.md` 和 [results/README.md](results/README.md) 只是目录内快速索引。 -第一阶段成功后执行： +## 代码、工具和运行入口职责 -```powershell -powershell.exe -NoProfile -ExecutionPolicy Bypass -File "$Repo\run\run_consensus_finish.ps1" -``` +根 README 是本仓库唯一的完整复现说明。`run/README.md`、`tools/README.md` 和 `results/README.md` 只作为进入对应目录时的快速索引，不承载另一套流程。 -该步骤以 `0.05 m / 0.50°` 门限对同一运动对的 Open3D 与 small_gicp B 做一致性门控，用共识 B 重求第二批外参，并将第一批只用于辅助复核。主要输出为： +### code：标定核心 + +| 文件 | 职责 | +|---|---| +| `rigorous_calibration.py` | 核心 CLI。`ground` 拟合每站地面；`pairs` 用 small_gicp 或 Open3D GICP 求 B 和质量指标；`calibrate` 联合 AX=XB 与地面约束求 X；`validate` 计算指定 X 的逐对残差。 | +| `refine_pairs.py` | 根据收敛、RMSE、对应关系、Hessian/信息矩阵和运动覆盖筛选 B；不读取 X，避免循环挑选。 | +| `cross_backend_filter.py` | 对齐 Open3D 与 small_gicp 的同一站点对，只保留两个后端相互一致的 B。 | +| `finalize_consensus.py` | 汇总历史两批的 consensus B、外参和第一批辅助复核。 | +| `summarize_results.py` | 汇总两个后端的外参、B 质量和跨批检查，生成推荐结果。 | +| `compare_extrinsics.py` | 在 SE(3) 上计算两套外参的严格相对平移和旋转差。 | +| `visualize_pair_3d.py` | 交互显示原始点云、RTK A、GICP B、`X^-1AX`，并打印 `B^-1(X^-1AX)` 数值增量。 | +| `scan_extrinsic_sensitivity.py` | 对 X 左乘小角度 roll/pitch/yaw 扰动，检查指定运动对的局部敏感方向。 | + +### tools：原始数据到 prepared + +| 文件 | 职责 | +|---|---| +| `frontlidar_dlog_export.py` | 从 Medulla dlog 导出传感器坐标系 `points_raw`；旧格式可同时匹配站内 GPS-POST-Z。 | +| `prepare_station_dataset.py` | 从旧式逐站导出中每站选择一帧，计算 yaw-only RTK 后轮轴位姿并生成 prepared。 | +| `build_multisensor_npz.py` | 将独立 LiDAR、RTK、IMU 统一到 LiDAR 帧索引并生成 combined NPZ。 | +| `prepare_multisensor_station_dataset.py` | 从 combined NPZ 选择每站静止帧，生成与旧流程相同的 prepared 接口。 | +| `rscap_v2/capture_format_v2.py` | 读取 rscap v2 文件头、原始记录块和文件尾。 | +| `rscap_v2/audit_capture_v2.py` | 审计 capture 完整性、时间范围和记录统计。 | +| `rscap_v2/parse_rtk_imu_v2.py` | 分别解析 RTK 与 IMU capture，输出 JSONL。 | +| `rscap_v2/pipeline_common*.py` | rscap 解析、时间处理和采集格式兼容的共用逻辑。 | + +### run：推荐 PowerShell 入口 + +| 文件 | 职责 | +|---|---| +| `export_legacy_stations.ps1` | 批量导出 LiDAR 与 RTK 同在逐站 dlog 中的旧格式。 | +| `export_multisensor_stations.ps1` | 解析独立 RTK/IMU，导出逐站 LiDAR，并按 LiDAR 帧建立关联。 | +| `prepare_legacy_dataset.ps1` | 旧式导出结果转换为 prepared。 | +| `prepare_multisensor_dataset.ps1` | combined 多传感器结果转换为 prepared。 | +| `run_single_dataset.ps1` | 单批数据同时完成两个 GICP 后端、B 筛选、consensus 和 X 求解。 | +| `run_all.ps1` | 历史流程：第二批求解，第一批稀疏 RTK 数据作辅助复核。 | +| `run_consensus_finish.ps1` | 在已有两个后端 B 的基础上重新生成 consensus 和汇总结果。 | +| `run_sensitivity_scan.ps1` | 对历史运动对执行外参角度灵敏度扫描。 | +| `view_result.ps1` | 传入匹配的 frames、B 和 X，运行交互式 3D 可视化。 | + +### 标定核心文件的数据关系 ```text -results/consensus/B_batch2_consensus.npz -results/consensus/extrinsic_batch2_consensus.json -results/consensus/batch1_auxiliary_check.json -results/final_extrinsic_recommended.json -results/final_summary.json +原始 dlog/rscap + -> tools 导出和时间关联 + -> prepared/{frames_all, body_poses_*.csv} + -> rigorous_calibration.py pairs 生成 A、B + -> refine_pairs.py 做与 X 无关的 B 筛选 + -> cross_backend_filter.py 生成 consensus B + -> rigorous_calibration.py calibrate 联合 AX=XB 与地面约束求 X + -> validate / visualize_pair_3d.py 做数值和三维检查 ``` -### 6. 验证、可视化与部署确认 -先检查 `results/final_summary.json`：当前历史数据的参考值是第二批共识 39 对、AX RMS 约 `0.07985 m / 0.96118°`。若明显偏离，应从第 2、3 步检查站点选择、RTK 时间/参考点/杆臂/heading 定义，而不是直接手调 X。 +## 重要限制 -再使用 3D 可视化检查：模式 3 为点云配准 B，模式 4 为外参预测 `X^-1AX`；终端打印 `B^-1(X^-1AX)` 的平移与旋转增量。只有 B 质量、全体运动对统计、地面约束和可视化均合理时，才可确认外参。 +- RTK 车体姿态当前是双天线 heading 构造的 yaw-only 轨迹；没有用 RTK pitch/roll 构造 A。 +- 新式解析器保存 IMU 与 RTK pitch 等原始字段，但当前手眼方程未融合 IMU。 +- 静止站点法不估计 LiDAR–RTK 时间偏移；时间戳关联必须在导出阶段通过审计。 +- 地面约束负责 roll、pitch 和 z 的补充可观性，不会独立求出另一套六自由度外参。 +- 仓库归档的是结果和轻量 B 文件，不包含云盘中的原始点云数据。 -`final_extrinsic_recommended.json` 是完整算法审计结果。`run_consensus_finish.ps1` 不会自动覆盖 `results/final_extrinsic_deployment.json`；部署 JSON 必须在人工确认坐标定义和高度约束后明确写入。 -## prepared 阶段的快速重跑 +## 专题说明 -```powershell -$Repo = "D:\Outdoor Ackerman Cart Sensor Adaptation\LiDAR_RTK_Calibration_Rigorous_20260721" -python -m pip install -r "$Repo\requirements.txt" -powershell.exe -NoProfile -ExecutionPolicy Bypass -File "$Repo\run\run_all.ps1" -powershell.exe -NoProfile -ExecutionPolicy Bypass -File "$Repo\run\run_consensus_finish.ps1" -``` - -如果 prepared 数据移动了： - -```powershell -powershell.exe -NoProfile -ExecutionPolicy Bypass -File "$Repo\run\run_all.ps1" -Batch1Prepared "你的第一批prepared目录" -Batch2Prepared "你的第二批prepared目录" -powershell.exe -NoProfile -ExecutionPolicy Bypass -File "$Repo\run\run_consensus_finish.ps1" -``` - -重跑 `run_consensus_finish.ps1` 会重新生成算法原始结果，但不会自动生成或覆盖已经人工确认的 `final_extrinsic_deployment.json`。 - -## 3D 可视化 - -Open3D 单后端结果： - -```powershell -powershell.exe -NoProfile -ExecutionPolicy Bypass -File "$Repo\run\view_open3d_result.ps1" -PairIndex 0 -``` - -small_gicp 单后端结果： - -```powershell -powershell.exe -NoProfile -ExecutionPolicy Bypass -File "$Repo\run\view_small_gicp_result.ps1" -PairIndex 0 -``` - -蓝色是目标站 i，橙色是源站 j。按键：`1` 原始；`2` RTK 初始 A；`3` GICP B；`4` 外参预测的 (X^{-1}AX)；指定左乘 RPY 试验量后，`5` 为试验结果。 - -程序打印的差值为： - -\[ -B^{-1}(X^{-1}AX) -\] - -其 xyz/RPY 分量位于站点 j 的雷达局部坐标系，不是屏幕坐标。模式 3 好而模式 4 差，说明 A/X 一致性不足；模式 3 本身差，说明该 B 不能用于判断外参。 - -共识运动对可直接指定部署外参： - -```powershell -python "$Repo\code\visualize_pair_3d.py" --frames "C:\Users\admin\Documents\Codex\2026-07-15\wo\outputs\calibration_data1_20260720\prepared\frames_all" --pairs "$Repo\results\consensus\B_batch2_consensus.npz" --extrinsic "$Repo\results\final_extrinsic_deployment.json" --pair-index 0 -``` - -局部灵敏度扫描和判断规则见 [`PAIR_DIAGNOSTICS.md`](PAIR_DIAGNOSTICS.md)。 - -## 关键质量文件 - -- [`results/open3d_gicp/B_batch2_quality.json`](results/open3d_gicp/B_batch2_quality.json)：海森矩阵、留出点、正反向和多初值信息； -- [`results/open3d_gicp/B_batch2_refined.refinement.json`](results/open3d_gicp/B_batch2_refined.refinement.json)：二级筛选原因； -- [`results/consensus/B_batch2_consensus.consensus.json`](results/consensus/B_batch2_consensus.consensus.json)：跨后端一致性筛选； -- [`results/consensus/batch1_auxiliary_check.json`](results/consensus/batch1_auxiliary_check.json)：第一批辅助复核； -- [`results/final_summary.json`](results/final_summary.json)：算法结果摘要； -- [`results/diagnostics/`](results/diagnostics/)：局部修正对单对及全体运动对的影响。 - -## 必须外部确认的假设 - -- `lat/lon/h` 确为后天线相位中心； -- `rawHeading` 确为后天线指向前天线； -- heading offset 数值和正负号正确； - -任何一项变化，都必须更新相应约束；RTK 定义变化时需要重新生成 A 并重跑。 +- [运动对诊断](PAIR_DIAGNOSTICS.md) +- [双后端共识筛选](CONSENSUS_SELECTION.md) +- [结果文件索引](results/README.md) diff --git a/code/compare_extrinsics.py b/code/compare_extrinsics.py new file mode 100644 index 0000000..4e8ca80 --- /dev/null +++ b/code/compare_extrinsics.py @@ -0,0 +1,43 @@ +#!/usr/bin/env python3 +"""Compare two T_body_lidar JSON files in parameter space and on SE(3).""" + +import argparse +import json +from pathlib import Path + +import numpy as np +from scipy.spatial.transform import Rotation + + +def main() -> int: + parser = argparse.ArgumentParser(description=__doc__) + parser.add_argument("--reference", type=Path, required=True) + parser.add_argument("--candidate", type=Path, required=True) + parser.add_argument("--output", type=Path, required=True) + args = parser.parse_args() + reference = json.loads(args.reference.read_text(encoding="utf-8-sig")) + candidate = json.loads(args.candidate.read_text(encoding="utf-8-sig")) + a = np.asarray(reference["matrix_4x4"], dtype=float) + b = np.asarray(candidate["matrix_4x4"], dtype=float) + delta = np.linalg.inv(a) @ b + result = { + "convention": "delta = inverse(reference) @ candidate", + "reference": str(args.reference.resolve()), + "candidate": str(args.candidate.resolve()), + "candidate_minus_reference_translation_xyz_m": (b[:3, 3] - a[:3, 3]).tolist(), + "candidate_minus_reference_rpy_xyz_deg": ( + np.asarray(candidate["rotation_rpy_deg_xyz"], float) + - np.asarray(reference["rotation_rpy_deg_xyz"], float) + ).tolist(), + "relative_translation_norm_m": float(np.linalg.norm(delta[:3, 3])), + "relative_rotation_deg": float(np.degrees(Rotation.from_matrix(delta[:3, :3]).magnitude())), + "relative_matrix_4x4": delta.tolist(), + } + args.output.parent.mkdir(parents=True, exist_ok=True) + args.output.write_text(json.dumps(result, ensure_ascii=False, indent=2), encoding="utf-8") + print(json.dumps(result, ensure_ascii=False, indent=2)) + return 0 + + +if __name__ == "__main__": + raise SystemExit(main()) diff --git a/results/01_previous_two_batches/README.md b/results/01_previous_two_batches/README.md new file mode 100644 index 0000000..7983064 --- /dev/null +++ b/results/01_previous_two_batches/README.md @@ -0,0 +1,10 @@ +# 历史两批结果 + +第二批 38 站的密集 RTK 数据用于求解；第一批 38 站因 RTK 约 10 秒一条，仅作辅助检查。最终部署值： + +```text +translation_m = [1.297759692, -0.000067331, 0.720497835] +RPY_deg_xyz = [-0.785151146, 1.202660822, -0.835510053] +``` + +共识估计使用 39 个运动对，AX RMS 约 `0.07985 m / 0.96118°`。第一批辅助检查 22 对约 `0.06067 m / 1.00298°`。`final_extrinsic_deployment.json` 是唯一建议直接交给下游的部署 JSON；其余文件用于审计和复现。 diff --git a/results/common/ground_planes_batch2.csv b/results/01_previous_two_batches/common/ground_planes_batch2.csv similarity index 100% rename from results/common/ground_planes_batch2.csv rename to results/01_previous_two_batches/common/ground_planes_batch2.csv diff --git a/results/comparison_summary.json b/results/01_previous_two_batches/comparison_summary.json similarity index 99% rename from results/comparison_summary.json rename to results/01_previous_two_batches/comparison_summary.json index 4b59601..ffab318 100644 --- a/results/comparison_summary.json +++ b/results/01_previous_two_batches/comparison_summary.json @@ -76,4 +76,4 @@ "batch1_auxiliary_rotation_rms_deg": 1.1492603033421918 }, "important_limit": "Backend agreement is strong, but AX rotation RMS remains about one degree. This is not a centimetre-grade absolute certification." -} \ No newline at end of file +} diff --git a/results/consensus/B_batch1_consensus.consensus.json b/results/01_previous_two_batches/consensus/B_batch1_consensus.consensus.json similarity index 99% rename from results/consensus/B_batch1_consensus.consensus.json rename to results/01_previous_two_batches/consensus/B_batch1_consensus.consensus.json index 3967e3b..87d1d02 100644 --- a/results/consensus/B_batch1_consensus.consensus.json +++ b/results/01_previous_two_batches/consensus/B_batch1_consensus.consensus.json @@ -325,4 +325,4 @@ "reason": "" } ] -} \ No newline at end of file +} diff --git a/results/consensus/B_batch1_consensus.npz b/results/01_previous_two_batches/consensus/B_batch1_consensus.npz similarity index 100% rename from results/consensus/B_batch1_consensus.npz rename to results/01_previous_two_batches/consensus/B_batch1_consensus.npz diff --git a/results/consensus/B_batch2_consensus.consensus.json b/results/01_previous_two_batches/consensus/B_batch2_consensus.consensus.json similarity index 99% rename from results/consensus/B_batch2_consensus.consensus.json rename to results/01_previous_two_batches/consensus/B_batch2_consensus.consensus.json index 6f15bfe..d1c5393 100644 --- a/results/consensus/B_batch2_consensus.consensus.json +++ b/results/01_previous_two_batches/consensus/B_batch2_consensus.consensus.json @@ -527,4 +527,4 @@ "reason": "" } ] -} \ No newline at end of file +} diff --git a/results/consensus/B_batch2_consensus.npz b/results/01_previous_two_batches/consensus/B_batch2_consensus.npz similarity index 100% rename from results/consensus/B_batch2_consensus.npz rename to results/01_previous_two_batches/consensus/B_batch2_consensus.npz diff --git a/results/consensus/batch1_auxiliary_check.json b/results/01_previous_two_batches/consensus/batch1_auxiliary_check.json similarity index 99% rename from results/consensus/batch1_auxiliary_check.json rename to results/01_previous_two_batches/consensus/batch1_auxiliary_check.json index 49344ae..7e5874d 100644 --- a/results/consensus/batch1_auxiliary_check.json +++ b/results/01_previous_two_batches/consensus/batch1_auxiliary_check.json @@ -176,4 +176,4 @@ } ] } -} \ No newline at end of file +} diff --git a/results/consensus/extrinsic_batch2_consensus.json b/results/01_previous_two_batches/consensus/extrinsic_batch2_consensus.json similarity index 99% rename from results/consensus/extrinsic_batch2_consensus.json rename to results/01_previous_two_batches/consensus/extrinsic_batch2_consensus.json index c8c63e4..3279d38 100644 --- a/results/consensus/extrinsic_batch2_consensus.json +++ b/results/01_previous_two_batches/consensus/extrinsic_batch2_consensus.json @@ -396,4 +396,4 @@ -0.6468477685453492 ] } -} \ No newline at end of file +} diff --git a/results/diagnostics/consensus_pair0_left_rpy_scan.csv b/results/01_previous_two_batches/diagnostics/consensus_pair0_left_rpy_scan.csv similarity index 100% rename from results/diagnostics/consensus_pair0_left_rpy_scan.csv rename to results/01_previous_two_batches/diagnostics/consensus_pair0_left_rpy_scan.csv diff --git a/results/diagnostics/consensus_pair0_left_rpy_scan.json b/results/01_previous_two_batches/diagnostics/consensus_pair0_left_rpy_scan.json similarity index 99% rename from results/diagnostics/consensus_pair0_left_rpy_scan.json rename to results/01_previous_two_batches/diagnostics/consensus_pair0_left_rpy_scan.json index 91b2d0f..4da1000 100644 --- a/results/diagnostics/consensus_pair0_left_rpy_scan.json +++ b/results/01_previous_two_batches/diagnostics/consensus_pair0_left_rpy_scan.json @@ -6,8 +6,8 @@ "correction_convention": "X_test = DeltaR_body * X; DeltaR uses fixed body xyz RPY axes", "component_frame": "delta translation/RPY components are in station-j LiDAR coordinates, not screen axes", "selection_rule": "Never accept a correction from selected_pair alone. Require improvement over all refined pairs, directional consistency across pairs, acceptable ground constraints, and independent visual review. This script never overwrites X.", - "pairs_file": "D:\\Outdoor Ackerman Cart Sensor Adaptation\\LiDAR_RTK_Calibration_Rigorous_20260721\\results\\consensus\\B_batch2_consensus.npz", - "extrinsic_file": "D:\\Outdoor Ackerman Cart Sensor Adaptation\\LiDAR_RTK_Calibration_Rigorous_20260721\\results\\final_extrinsic_recommended.json", + "pairs_file": "results\\01_previous_two_batches\\consensus\\B_batch2_consensus.npz", + "extrinsic_file": "results\\01_previous_two_batches\\final_extrinsic_recommended.json", "stations": 38, "pairs": 39, "selected_pair_index": 0, @@ -17436,4 +17436,4 @@ } } ] -} \ No newline at end of file +} diff --git a/results/diagnostics/open3d_refined_pair0_left_rpy_scan.csv b/results/01_previous_two_batches/diagnostics/open3d_refined_pair0_left_rpy_scan.csv similarity index 100% rename from results/diagnostics/open3d_refined_pair0_left_rpy_scan.csv rename to results/01_previous_two_batches/diagnostics/open3d_refined_pair0_left_rpy_scan.csv diff --git a/results/diagnostics/open3d_refined_pair0_left_rpy_scan.json b/results/01_previous_two_batches/diagnostics/open3d_refined_pair0_left_rpy_scan.json similarity index 99% rename from results/diagnostics/open3d_refined_pair0_left_rpy_scan.json rename to results/01_previous_two_batches/diagnostics/open3d_refined_pair0_left_rpy_scan.json index 62df0d4..760e8d4 100644 --- a/results/diagnostics/open3d_refined_pair0_left_rpy_scan.json +++ b/results/01_previous_two_batches/diagnostics/open3d_refined_pair0_left_rpy_scan.json @@ -6,8 +6,8 @@ "correction_convention": "X_test = DeltaR_body * X; DeltaR uses fixed body xyz RPY axes", "component_frame": "delta translation/RPY components are in station-j LiDAR coordinates, not screen axes", "selection_rule": "Never accept a correction from selected_pair alone. Require improvement over all refined pairs, directional consistency across pairs, acceptable ground constraints, and independent visual review. This script never overwrites X.", - "pairs_file": "D:\\Outdoor Ackerman Cart Sensor Adaptation\\LiDAR_RTK_Calibration_Rigorous_20260721\\results\\open3d_gicp\\B_batch2_refined.npz", - "extrinsic_file": "D:\\Outdoor Ackerman Cart Sensor Adaptation\\LiDAR_RTK_Calibration_Rigorous_20260721\\results\\final_extrinsic_recommended.json", + "pairs_file": "results\\01_previous_two_batches\\open3d_gicp\\B_batch2_refined.npz", + "extrinsic_file": "results\\01_previous_two_batches\\final_extrinsic_recommended.json", "stations": 38, "pairs": 66, "selected_pair_index": 0, @@ -28128,4 +28128,4 @@ } } ] -} \ No newline at end of file +} diff --git a/results/diagnostics/small_gicp_refined_pair0_left_rpy_scan.csv b/results/01_previous_two_batches/diagnostics/small_gicp_refined_pair0_left_rpy_scan.csv similarity index 100% rename from results/diagnostics/small_gicp_refined_pair0_left_rpy_scan.csv rename to results/01_previous_two_batches/diagnostics/small_gicp_refined_pair0_left_rpy_scan.csv diff --git a/results/diagnostics/small_gicp_refined_pair0_left_rpy_scan.json b/results/01_previous_two_batches/diagnostics/small_gicp_refined_pair0_left_rpy_scan.json similarity index 99% rename from results/diagnostics/small_gicp_refined_pair0_left_rpy_scan.json rename to results/01_previous_two_batches/diagnostics/small_gicp_refined_pair0_left_rpy_scan.json index 459df5b..ad9225b 100644 --- a/results/diagnostics/small_gicp_refined_pair0_left_rpy_scan.json +++ b/results/01_previous_two_batches/diagnostics/small_gicp_refined_pair0_left_rpy_scan.json @@ -6,8 +6,8 @@ "correction_convention": "X_test = DeltaR_body * X; DeltaR uses fixed body xyz RPY axes", "component_frame": "delta translation/RPY components are in station-j LiDAR coordinates, not screen axes", "selection_rule": "Never accept a correction from selected_pair alone. Require improvement over all refined pairs, directional consistency across pairs, acceptable ground constraints, and independent visual review. This script never overwrites X.", - "pairs_file": "D:\\Outdoor Ackerman Cart Sensor Adaptation\\LiDAR_RTK_Calibration_Rigorous_20260721\\results\\small_gicp\\B_batch2_refined.npz", - "extrinsic_file": "D:\\Outdoor Ackerman Cart Sensor Adaptation\\LiDAR_RTK_Calibration_Rigorous_20260721\\results\\final_extrinsic_recommended.json", + "pairs_file": "results\\01_previous_two_batches\\small_gicp\\B_batch2_refined.npz", + "extrinsic_file": "results\\01_previous_two_batches\\final_extrinsic_recommended.json", "stations": 38, "pairs": 80, "selected_pair_index": 0, @@ -33672,4 +33672,4 @@ } } ] -} \ No newline at end of file +} diff --git a/results/final_extrinsic_deployment.json b/results/01_previous_two_batches/final_extrinsic_deployment.json similarity index 99% rename from results/final_extrinsic_deployment.json rename to results/01_previous_two_batches/final_extrinsic_deployment.json index 6135c96..43f7022 100644 --- a/results/final_extrinsic_deployment.json +++ b/results/01_previous_two_batches/final_extrinsic_deployment.json @@ -43,3 +43,4 @@ ] ] } + diff --git a/results/final_extrinsic_recommended.json b/results/01_previous_two_batches/final_extrinsic_recommended.json similarity index 99% rename from results/final_extrinsic_recommended.json rename to results/01_previous_two_batches/final_extrinsic_recommended.json index 1cfb084..bdfe44e 100644 --- a/results/final_extrinsic_recommended.json +++ b/results/01_previous_two_batches/final_extrinsic_recommended.json @@ -402,4 +402,4 @@ "consensus_pair_threshold": "Open3D-small_gicp B delta <= 0.05 m and <= 0.50 deg", "warning": "AX rotation RMS remains about one degree; this is not centimetre-grade absolute certification." } -} \ No newline at end of file +} diff --git a/results/final_summary.json b/results/01_previous_two_batches/final_summary.json similarity index 99% rename from results/final_summary.json rename to results/01_previous_two_batches/final_summary.json index 7e67af3..191ee6a 100644 --- a/results/final_summary.json +++ b/results/01_previous_two_batches/final_summary.json @@ -437,4 +437,4 @@ } }, "warning": "AX rotation RMS remains about one degree; this is not centimetre-grade absolute certification." -} \ No newline at end of file +} diff --git a/results/open3d_gicp/B_batch1_auxiliary.npz b/results/01_previous_two_batches/open3d_gicp/B_batch1_auxiliary.npz similarity index 100% rename from results/open3d_gicp/B_batch1_auxiliary.npz rename to results/01_previous_two_batches/open3d_gicp/B_batch1_auxiliary.npz diff --git a/results/open3d_gicp/B_batch1_auxiliary_refined.npz b/results/01_previous_two_batches/open3d_gicp/B_batch1_auxiliary_refined.npz similarity index 100% rename from results/open3d_gicp/B_batch1_auxiliary_refined.npz rename to results/01_previous_two_batches/open3d_gicp/B_batch1_auxiliary_refined.npz diff --git a/results/open3d_gicp/B_batch1_auxiliary_refined.refinement.json b/results/01_previous_two_batches/open3d_gicp/B_batch1_auxiliary_refined.refinement.json similarity index 99% rename from results/open3d_gicp/B_batch1_auxiliary_refined.refinement.json rename to results/01_previous_two_batches/open3d_gicp/B_batch1_auxiliary_refined.refinement.json index 033367e..e66c870 100644 --- a/results/open3d_gicp/B_batch1_auxiliary_refined.refinement.json +++ b/results/01_previous_two_batches/open3d_gicp/B_batch1_auxiliary_refined.refinement.json @@ -1264,4 +1264,4 @@ ] } ] -} \ No newline at end of file +} diff --git a/results/open3d_gicp/B_batch1_quality.csv b/results/01_previous_two_batches/open3d_gicp/B_batch1_quality.csv similarity index 100% rename from results/open3d_gicp/B_batch1_quality.csv rename to results/01_previous_two_batches/open3d_gicp/B_batch1_quality.csv diff --git a/results/open3d_gicp/B_batch1_quality.json b/results/01_previous_two_batches/open3d_gicp/B_batch1_quality.json similarity index 99% rename from results/open3d_gicp/B_batch1_quality.json rename to results/01_previous_two_batches/open3d_gicp/B_batch1_quality.json index 499fbcb..9658f02 100644 --- a/results/open3d_gicp/B_batch1_quality.json +++ b/results/01_previous_two_batches/open3d_gicp/B_batch1_quality.json @@ -13472,4 +13472,4 @@ "rejection_reasons": [] } ] -} \ No newline at end of file +} diff --git a/results/open3d_gicp/B_batch2_estimation.npz b/results/01_previous_two_batches/open3d_gicp/B_batch2_estimation.npz similarity index 100% rename from results/open3d_gicp/B_batch2_estimation.npz rename to results/01_previous_two_batches/open3d_gicp/B_batch2_estimation.npz diff --git a/results/open3d_gicp/B_batch2_quality.csv b/results/01_previous_two_batches/open3d_gicp/B_batch2_quality.csv similarity index 100% rename from results/open3d_gicp/B_batch2_quality.csv rename to results/01_previous_two_batches/open3d_gicp/B_batch2_quality.csv diff --git a/results/open3d_gicp/B_batch2_quality.json b/results/01_previous_two_batches/open3d_gicp/B_batch2_quality.json similarity index 99% rename from results/open3d_gicp/B_batch2_quality.json rename to results/01_previous_two_batches/open3d_gicp/B_batch2_quality.json index 8316e67..6737012 100644 --- a/results/open3d_gicp/B_batch2_quality.json +++ b/results/01_previous_two_batches/open3d_gicp/B_batch2_quality.json @@ -13455,4 +13455,4 @@ "rejection_reasons": [] } ] -} \ No newline at end of file +} diff --git a/results/open3d_gicp/B_batch2_refined.npz b/results/01_previous_two_batches/open3d_gicp/B_batch2_refined.npz similarity index 100% rename from results/open3d_gicp/B_batch2_refined.npz rename to results/01_previous_two_batches/open3d_gicp/B_batch2_refined.npz diff --git a/results/open3d_gicp/B_batch2_refined.refinement.json b/results/01_previous_two_batches/open3d_gicp/B_batch2_refined.refinement.json similarity index 99% rename from results/open3d_gicp/B_batch2_refined.refinement.json rename to results/01_previous_two_batches/open3d_gicp/B_batch2_refined.refinement.json index 13b807a..5fca1fc 100644 --- a/results/open3d_gicp/B_batch2_refined.refinement.json +++ b/results/01_previous_two_batches/open3d_gicp/B_batch2_refined.refinement.json @@ -1286,4 +1286,4 @@ ] } ] -} \ No newline at end of file +} diff --git a/results/open3d_gicp/batch1_auxiliary_check.json b/results/01_previous_two_batches/open3d_gicp/batch1_auxiliary_check.json similarity index 99% rename from results/open3d_gicp/batch1_auxiliary_check.json rename to results/01_previous_two_batches/open3d_gicp/batch1_auxiliary_check.json index 1d058d7..ca03da5 100644 --- a/results/open3d_gicp/batch1_auxiliary_check.json +++ b/results/01_previous_two_batches/open3d_gicp/batch1_auxiliary_check.json @@ -309,4 +309,4 @@ } ] } -} \ No newline at end of file +} diff --git a/results/open3d_gicp/extrinsic_batch2.json b/results/01_previous_two_batches/open3d_gicp/extrinsic_batch2.json similarity index 99% rename from results/open3d_gicp/extrinsic_batch2.json rename to results/01_previous_two_batches/open3d_gicp/extrinsic_batch2.json index b1d2428..1634334 100644 --- a/results/open3d_gicp/extrinsic_batch2.json +++ b/results/01_previous_two_batches/open3d_gicp/extrinsic_batch2.json @@ -741,4 +741,4 @@ -0.7099716198219946 ] } -} \ No newline at end of file +} diff --git a/results/open3d_gicp/extrinsic_batch2_refined.json b/results/01_previous_two_batches/open3d_gicp/extrinsic_batch2_refined.json similarity index 99% rename from results/open3d_gicp/extrinsic_batch2_refined.json rename to results/01_previous_two_batches/open3d_gicp/extrinsic_batch2_refined.json index a86dba5..cdc3672 100644 --- a/results/open3d_gicp/extrinsic_batch2_refined.json +++ b/results/01_previous_two_batches/open3d_gicp/extrinsic_batch2_refined.json @@ -531,4 +531,4 @@ -0.7328998428204786 ] } -} \ No newline at end of file +} diff --git a/results/small_gicp/B_batch1_auxiliary.npz b/results/01_previous_two_batches/small_gicp/B_batch1_auxiliary.npz similarity index 100% rename from results/small_gicp/B_batch1_auxiliary.npz rename to results/01_previous_two_batches/small_gicp/B_batch1_auxiliary.npz diff --git a/results/small_gicp/B_batch1_auxiliary_refined.npz b/results/01_previous_two_batches/small_gicp/B_batch1_auxiliary_refined.npz similarity index 100% rename from results/small_gicp/B_batch1_auxiliary_refined.npz rename to results/01_previous_two_batches/small_gicp/B_batch1_auxiliary_refined.npz diff --git a/results/small_gicp/B_batch1_auxiliary_refined.refinement.json b/results/01_previous_two_batches/small_gicp/B_batch1_auxiliary_refined.refinement.json similarity index 99% rename from results/small_gicp/B_batch1_auxiliary_refined.refinement.json rename to results/01_previous_two_batches/small_gicp/B_batch1_auxiliary_refined.refinement.json index 436b695..c617999 100644 --- a/results/small_gicp/B_batch1_auxiliary_refined.refinement.json +++ b/results/01_previous_two_batches/small_gicp/B_batch1_auxiliary_refined.refinement.json @@ -1104,4 +1104,4 @@ ] } ] -} \ No newline at end of file +} diff --git a/results/small_gicp/B_batch1_quality.csv b/results/01_previous_two_batches/small_gicp/B_batch1_quality.csv similarity index 100% rename from results/small_gicp/B_batch1_quality.csv rename to results/01_previous_two_batches/small_gicp/B_batch1_quality.csv diff --git a/results/small_gicp/B_batch1_quality.json b/results/01_previous_two_batches/small_gicp/B_batch1_quality.json similarity index 99% rename from results/small_gicp/B_batch1_quality.json rename to results/01_previous_two_batches/small_gicp/B_batch1_quality.json index 6dedad6..22efe53 100644 --- a/results/small_gicp/B_batch1_quality.json +++ b/results/01_previous_two_batches/small_gicp/B_batch1_quality.json @@ -13506,4 +13506,4 @@ "rejection_reasons": [] } ] -} \ No newline at end of file +} diff --git a/results/small_gicp/B_batch2_estimation.npz b/results/01_previous_two_batches/small_gicp/B_batch2_estimation.npz similarity index 100% rename from results/small_gicp/B_batch2_estimation.npz rename to results/01_previous_two_batches/small_gicp/B_batch2_estimation.npz diff --git a/results/small_gicp/B_batch2_quality.csv b/results/01_previous_two_batches/small_gicp/B_batch2_quality.csv similarity index 100% rename from results/small_gicp/B_batch2_quality.csv rename to results/01_previous_two_batches/small_gicp/B_batch2_quality.csv diff --git a/results/small_gicp/B_batch2_quality.json b/results/01_previous_two_batches/small_gicp/B_batch2_quality.json similarity index 99% rename from results/small_gicp/B_batch2_quality.json rename to results/01_previous_two_batches/small_gicp/B_batch2_quality.json index 58ce0e1..b112a9d 100644 --- a/results/small_gicp/B_batch2_quality.json +++ b/results/01_previous_two_batches/small_gicp/B_batch2_quality.json @@ -22520,4 +22520,4 @@ "rejection_reasons": [] } ] -} \ No newline at end of file +} diff --git a/results/small_gicp/B_batch2_refined.npz b/results/01_previous_two_batches/small_gicp/B_batch2_refined.npz similarity index 100% rename from results/small_gicp/B_batch2_refined.npz rename to results/01_previous_two_batches/small_gicp/B_batch2_refined.npz diff --git a/results/small_gicp/B_batch2_refined.refinement.json b/results/01_previous_two_batches/small_gicp/B_batch2_refined.refinement.json similarity index 99% rename from results/small_gicp/B_batch2_refined.refinement.json rename to results/01_previous_two_batches/small_gicp/B_batch2_refined.refinement.json index c07c275..d1121f5 100644 --- a/results/small_gicp/B_batch2_refined.refinement.json +++ b/results/01_previous_two_batches/small_gicp/B_batch2_refined.refinement.json @@ -1862,4 +1862,4 @@ ] } ] -} \ No newline at end of file +} diff --git a/results/small_gicp/batch1_auxiliary_check.json b/results/01_previous_two_batches/small_gicp/batch1_auxiliary_check.json similarity index 99% rename from results/small_gicp/batch1_auxiliary_check.json rename to results/01_previous_two_batches/small_gicp/batch1_auxiliary_check.json index 17a9345..12e6e4b 100644 --- a/results/small_gicp/batch1_auxiliary_check.json +++ b/results/01_previous_two_batches/small_gicp/batch1_auxiliary_check.json @@ -274,4 +274,4 @@ } ] } -} \ No newline at end of file +} diff --git a/results/small_gicp/extrinsic_batch2.json b/results/01_previous_two_batches/small_gicp/extrinsic_batch2.json similarity index 99% rename from results/small_gicp/extrinsic_batch2.json rename to results/01_previous_two_batches/small_gicp/extrinsic_batch2.json index 6bbb651..6688257 100644 --- a/results/small_gicp/extrinsic_batch2.json +++ b/results/01_previous_two_batches/small_gicp/extrinsic_batch2.json @@ -971,4 +971,4 @@ -0.7335620940370134 ] } -} \ No newline at end of file +} diff --git a/results/small_gicp/extrinsic_batch2_refined.json b/results/01_previous_two_batches/small_gicp/extrinsic_batch2_refined.json similarity index 99% rename from results/small_gicp/extrinsic_batch2_refined.json rename to results/01_previous_two_batches/small_gicp/extrinsic_batch2_refined.json index 7b2897a..fc6b6f7 100644 --- a/results/small_gicp/extrinsic_batch2_refined.json +++ b/results/01_previous_two_batches/small_gicp/extrinsic_batch2_refined.json @@ -601,4 +601,4 @@ -0.8275267997610058 ] } -} \ No newline at end of file +} diff --git a/results/02_data4_calibration/README.md b/results/02_data4_calibration/README.md new file mode 100644 index 0000000..d0fcfe6 --- /dev/null +++ b/results/02_data4_calibration/README.md @@ -0,0 +1,12 @@ +# data4 独立标定结果 + +data4 含 34 个静止站点，LiDAR 来自逐站 dlog，RTK/IMU 来自独立 rscap。求解不使用手量外参初始化。 + +```text +translation_m = [1.300376020, -0.001706691, 0.704877045] +RPY_deg_xyz = [-0.791891617, 1.393823210, -0.970742631] +AX RMS = 0.11762 m / 1.24257 deg (26 pairs) +condition = 7.44293 +``` + +该结果用于独立对照，不是当前部署值。`final_extrinsic_data4.json` 与 `consensus/extrinsic.json` 数值相同；前者是便于下游读取的顶层副本。 diff --git a/results/02_data4_calibration/common/ground_planes.csv b/results/02_data4_calibration/common/ground_planes.csv new file mode 100644 index 0000000..565940d --- /dev/null +++ b/results/02_data4_calibration/common/ground_planes.csv @@ -0,0 +1,35 @@ +time,nx,ny,nz,d,inliers,rms_m,frame_counter +1784783825.357129,-0.011572516208853837,-0.01546146293660183,0.9998134926237273,0.9428804652027359,2148,0.011933750988078078,382 +1784783905.353819,0.0037183584307534687,-0.006818427483323246,0.9999698409738341,0.9412842800288904,1992,0.011942807895967073,1182 +1784783971.0503054,-0.021709843154394736,-0.005232422217807239,0.999750621139065,0.9451429710867566,1863,0.012080615710528817,1839 +1784784059.7468228,-0.02414670904491499,-0.0009406084776101358,0.9997079832120939,0.9517260475425733,1921,0.013468410314875789,2726 +1784784149.2434597,-0.034005828386544125,0.003026503321489513,0.9994170520425345,0.9257219945735469,1673,0.012714432789206961,3621 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b/results/03_comparison/data4_extrinsic_on_previous_batch2.json @@ -0,0 +1,298 @@ +{ + "role": "auxiliary check only; first-batch RTK is sparse", + "blind_with_respect_to_X": true, + "note": "No AX residual was used to select these pairs", + "stations": 38, + "metrics": { + "pairs": 39, + "translation_m": { + "rms": 0.07931219315845621, + "median": 0.0521831021438143, + "p90": 0.1205091988381832, + "p95": 0.14405284012014574, + "max": 0.23166749945892554 + }, + "rotation_deg": { + "rms": 0.9892579681085032, + "median": 0.8987168885592437, + "p90": 1.5241504377222574, + "p95": 1.5453098245907155, + "max": 1.8288069823538258 + }, + "per_pair": [ + { + "pair_index": 0, + "translation_m": 0.13184857122951013, + "rotation_deg": 0.4578882478759752, + "i": 0, + "j": 2 + }, + { + "pair_index": 1, + "translation_m": 0.11088249231082419, + "rotation_deg": 0.49123829458862667, + "i": 0, + "j": 3 + }, + { + "pair_index": 2, + "translation_m": 0.06122066543511726, + "rotation_deg": 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"reference": "results\\01_previous_two_batches\\final_extrinsic_deployment.json", + "candidate": "results\\02_data4_calibration\\consensus\\extrinsic.json", + "candidate_minus_reference_translation_xyz_m": [ + 0.002616328047628791, + -0.0016393602019739468, + -0.01562078923962118 + ], + "candidate_minus_reference_rpy_xyz_deg": [ + -0.006740470942029009, + 0.1911623881626312, + -0.13523257777677677 + ], + "relative_translation_norm_m": 0.01592299377608647, + "relative_rotation_deg": 0.23416878770707064, + "relative_matrix_4x4": [ + [ + 0.9999916502190469, + 0.0023133957658166954, + 0.003368633583168801, + 0.0029672356800607425 + ], + [ + -0.0023136119190219507, + 0.9999973217800623, + 6.027097638170339e-05, + -0.0013876386622047616 + ], + [ + -0.0033684851306055737, + -6.80641839411564e-05, + 0.999994324321489, + -0.015582416441470737 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ] +} \ No newline at end of file diff --git a/results/03_comparison/old_extrinsic_on_data4.json b/results/03_comparison/old_extrinsic_on_data4.json new file mode 100644 index 0000000..bfe83ca --- /dev/null +++ b/results/03_comparison/old_extrinsic_on_data4.json @@ -0,0 +1,207 @@ +{ + "role": "auxiliary check only; first-batch RTK is sparse", + "blind_with_respect_to_X": true, + "note": "No AX residual was used to select these pairs", + "stations": 34, + "metrics": { + "pairs": 26, + "translation_m": { + "rms": 0.11953342461680516, + "median": 0.059870553274397435, + "p90": 0.11852081980116268, + "p95": 0.27001896145006843, + "max": 0.3924432090639719 + }, + "rotation_deg": { + "rms": 1.248363434126574, + "median": 0.7472573318442859, + "p90": 1.7836452528035456, + "p95": 2.0119235382379705, + "max": 4.302962170390954 + }, + "per_pair": [ + { + "pair_index": 0, + "translation_m": 0.05017939301544147, + "rotation_deg": 0.7621142667147064, + "i": 0, + "j": 2 + }, + { + "pair_index": 1, + "translation_m": 0.05476119605552225, + "rotation_deg": 0.39488243852657817, + "i": 2, + "j": 3 + }, + { + "pair_index": 2, + "translation_m": 0.11117501211320562, + "rotation_deg": 0.29330702638456563, + "i": 2, + "j": 5 + }, + { + "pair_index": 3, + "translation_m": 0.06643052326439366, + "rotation_deg": 0.5530967273631149, + "i": 3, + "j": 5 + }, + { + "pair_index": 4, + "translation_m": 0.028182994383263396, + "rotation_deg": 0.5499639343413396, + "i": 5, + "j": 8 + }, + { + "pair_index": 5, + "translation_m": 0.06086463130525318, + "rotation_deg": 0.6985420749542534, + "i": 6, + "j": 7 + }, + { + "pair_index": 6, + "translation_m": 0.020630277131513722, + "rotation_deg": 0.6820744752666614, + "i": 6, + "j": 8 + }, + { + "pair_index": 7, + "translation_m": 0.046848360772821, + "rotation_deg": 0.8723393366986318, + "i": 12, + "j": 14 + }, + { + "pair_index": 8, + "translation_m": 0.05887647524354169, + "rotation_deg": 1.9071782288631753, + "i": 13, + "j": 16 + }, + { + "pair_index": 9, + "translation_m": 0.11661768017132504, + "rotation_deg": 2.046838641362902, + "i": 15, + "j": 16 + }, + { + "pair_index": 10, + "translation_m": 0.06473893802255462, + "rotation_deg": 0.30644679433866145, + "i": 15, + "j": 17 + }, + { + "pair_index": 11, + "translation_m": 0.04963073408543951, + "rotation_deg": 0.33998803648541337, + "i": 15, + "j": 18 + }, + { + "pair_index": 12, + "translation_m": 0.03313618555659487, + "rotation_deg": 0.5283154781000993, + "i": 16, + "j": 19 + }, + { + "pair_index": 13, + "translation_m": 0.0691797699772094, + "rotation_deg": 0.6320358674350408, + "i": 21, + "j": 22 + }, + { + "pair_index": 14, + "translation_m": 0.042364105706927925, + "rotation_deg": 1.660112276743916, + "i": 21, + "j": 24 + }, + { + "pair_index": 15, + "translation_m": 0.07073443988383908, + "rotation_deg": 0.8343384286314613, + "i": 22, + "j": 23 + }, + { + "pair_index": 16, + "translation_m": 0.12042395943100032, + "rotation_deg": 4.302962170390954, + "i": 22, + "j": 25 + }, + { + "pair_index": 17, + "translation_m": 0.05181438442870987, + "rotation_deg": 0.8455629957527, + "i": 25, + "j": 26 + }, + { + "pair_index": 18, + "translation_m": 0.032857670083788, + "rotation_deg": 0.7324003969738653, + "i": 25, + "j": 28 + }, + { + "pair_index": 19, + "translation_m": 0.05285636518357229, + "rotation_deg": 0.4369186254063126, + "i": 26, + "j": 27 + }, + { + "pair_index": 20, + "translation_m": 0.10251045240958172, + "rotation_deg": 1.0529040723274141, + "i": 26, + "j": 29 + }, + { + "pair_index": 21, + "translation_m": 0.023054151271876995, + "rotation_deg": 0.24976946582216739, + "i": 27, + "j": 28 + }, + { + "pair_index": 22, + "translation_m": 0.06593100197822659, + "rotation_deg": 1.2515362824917693, + "i": 27, + "j": 29 + }, + { + "pair_index": 23, + "translation_m": 0.31988396212309117, + "rotation_deg": 1.0256849788735003, + "i": 29, + "j": 30 + }, + { + "pair_index": 24, + "translation_m": 0.3924432090639719, + "rotation_deg": 0.8042671494244682, + "i": 29, + "j": 31 + }, + { + "pair_index": 25, + "translation_m": 0.11357259403662164, + "rotation_deg": 0.901297615800165, + "i": 30, + "j": 32 + } + ] + } +} \ No newline at end of file diff --git a/results/README.md b/results/README.md index 2a2899e..5676a2e 100644 --- a/results/README.md +++ b/results/README.md @@ -1,60 +1,21 @@ -# 标定结果索引 +# 结果目录 -本目录保存本次双天线 RTK—3D LiDAR 手眼标定的可复现结果。坐标约定统一为： +本目录只归档轻量标定产物，不包含原始 dlog、rscap、逐帧 NPZ 或完整点云。 -```text -X = T_body_lidar -``` - -即外参将**原始 LiDAR 点**变换到以**后轮轴中心**为原点、X 前/Y 左/Z 上的车体系。 - -## 部署时只使用这一个文件 - -[`final_extrinsic_deployment.json`](final_extrinsic_deployment.json) 是唯一用于部署的外参文件： - -```text -translation [m] = [ 1.297759692, -0.000067331, 0.720497835 ] -RPY xyz [deg] = [ -0.785151146, 1.202660822, -0.835510053 ] -``` - -## 顶层汇总文件 - -| 文件 | 用途 | 是否用于部署 | +| 目录 | 内容 | 使用建议 | |---|---|---| -| [`final_extrinsic_deployment.json`](final_extrinsic_deployment.json) | 精简、固定的最终外参；含平移、RPY、四元数和 4×4 矩阵。 | **是，唯一入口** | -| [`final_extrinsic_recommended.json`](final_extrinsic_recommended.json) | 同一算法外参的完整求解记录、残差、地面约束、条件数和 Bootstrap。 | 否；用于审计/复现。 | -| [`final_summary.json`](final_summary.json) | 共识结果的摘要。 | 否；用于查看指标。 | -| [`comparison_summary.json`](comparison_summary.json) | Open3D GICP、small_gicp 与共识解的对比。 | 否；用于方法对比。 | +| `01_previous_two_batches/` | 第二批求解、第一批辅助复核的历史部署结果；含 Open3D、small_gicp、consensus B、质量和灵敏度文件 | 当前部署基线 | +| `02_data4_calibration/` | data4 的 Open3D、small_gicp、consensus B 和独立 X | 候选/稳定性证据 | +| `03_comparison/` | 两套 X 的 SE(3) 差以及互换批次后的 AX 残差 | 跨批判断依据 | -`final_extrinsic_deployment.json` 与 `final_extrinsic_recommended.json` 的外参数值相同；前者只是删除了求解过程字段，供上游程序稳定读取。 +最终部署文件是 `01_previous_two_batches/final_extrinsic_deployment.json`。`02_data4_calibration/final_extrinsic_data4.json` 不应在没有新增独立证据时覆盖它。 -## 子目录 +常见文件： -| 目录 | 内容 | 用途 | -|---|---|---| -| [`common/`](common/) | 第二批每个静止站点拟合得到的地面平面。 | 地面约束检查。 | -| [`open3d_gicp/`](open3d_gicp/) | Open3D GICP 生成的 LiDAR 相对运动 B、质量指标、精筛记录和对应外参。 | 后端一的独立结果。 | -| [`small_gicp/`](small_gicp/) | small_gicp 生成的 LiDAR 相对运动 B、质量指标、精筛记录和对应外参。 | 后端二的独立结果。 | -| [`consensus/`](consensus/) | 两后端一致性筛选后的共识 B，共识外参和第一批辅助复核。 | 主要求解依据。 | -| [`diagnostics/`](diagnostics/) | 单运动对 roll/pitch/yaw 局部灵敏度扫描。 | 仅诊断，不可直接当外参。 | - -## 如何识别 B 文件 - -每个 `.npz` 都是 LiDAR 相对运动集合 `B_ij = T_Li_Lj`，把第 j 个静止站点的点云变换到第 i 个站点 LiDAR 坐标系。它们不是车体—雷达外参，不能直接写入部署配置。 - -- `B_batch2_*`：第二批 38 站高频 RTK 数据，主要求解使用。 -- `B_batch1_*`：第一批 38 站稀疏 RTK 数据，仅作辅助复核。 -- `*_estimation.npz`：点云配准的初始候选集合。 -- `*_refined.npz`：经过点云质量门限后的集合。 -- `consensus/B_batch2_consensus.npz`：Open3D 与 small_gicp 对同一运动对的 B 差异不超过 `0.05 m / 0.50°` 后保留的 39 对；它是最终主求解输入。 - -同名的 `.quality.json/.csv` 记录配准质量，`.refinement.json` 记录精筛过程，`.consensus.json` 记录跨后端一致性筛选。它们都用于追溯，不用于部署。 - -## 结果使用边界 - -- 主结果由第二批数据求解；第一批只作为独立辅助检查，不参与主结果拟合。 -- B 的筛选先于 X 的求解，并且不读取待求外参 X，不用 AX 残差反过来选择 B。 -- 第二批共识集的 AX RMS 为 `0.07985 m / 0.96118°`；旋转残差约 1°，因此不是厘米级绝对精度认证。 -- 当前 RTK 轨迹只有位置和 yaw，没有 roll/pitch。AX 残差对 Z 不可观；Z 必须结合地面约束和独立机械量测确认。 - -更多流程、运行命令和可视化说明见仓库根目录的 [`README.md`](../README.md)。 \ No newline at end of file +- `B_*_estimation.npz`：后端原始运动对 B。 +- `B_*_quality.json/csv`：配准和 Hessian/信息矩阵质量。 +- `B_*_refined.npz`：X 无关筛选后的 B。 +- `B_*_consensus.npz` 或 `consensus/B_consensus.npz`：双后端认可的 B。 +- `extrinsic*.json`：由对应 B 和地面约束求出的 X。 +- `*_check.json`：把给定 X 应用于另一批 B 的残差，不是重新求 X。 +- `ground_planes*.csv`：每站地面平面参数。 diff --git a/run/README.md b/run/README.md new file mode 100644 index 0000000..4839b69 --- /dev/null +++ b/run/README.md @@ -0,0 +1,27 @@ +# run + +本目录是 PowerShell 运行入口；完整流程、参数解释、验收方法和代码职责统一见仓库根目录 `README.md`。 + +| 脚本 | 使用时机 | +|---|---| +| `export_legacy_stations.ps1` | 第一、第二批式逐站 dlog 导出。 | +| `export_multisensor_stations.ps1` | LiDAR dlog + 独立 RTK/IMU rscap 导出和时间关联。 | +| `prepare_legacy_dataset.ps1` | 旧式导出结果生成 prepared。 | +| `prepare_multisensor_dataset.ps1` | 多传感器 combined 结果生成 prepared。 | +| `run_single_dataset.ps1` | 单批数据运行 small_gicp、Open3D、consensus 和 X 求解。 | +| `run_all.ps1` | 第二批求解、第一批辅助复核的历史流程。 | +| `run_consensus_finish.ps1` | 从已有两个后端 B 重做 consensus。 | +| `run_sensitivity_scan.ps1` | 指定 Pair 的外参角度灵敏度扫描。 | +| `view_result.ps1` | 传入 frames、B、X 查看 3D 配准及增量。 | + +最常用的 3D 入口： + +```powershell +powershell.exe -NoProfile -ExecutionPolicy Bypass -File ".\run\view_result.ps1" ` + -Frames "D:\你的数据目录\prepared\frames_all" ` + -Pairs "D:\你的结果目录\B_consensus.npz" ` + -Extrinsic "D:\你的结果目录\extrinsic.json" ` + -PairIndex 0 +``` + +`frames_all` 必须与生成 B 时的站点顺序一致。 diff --git a/run/export_legacy_stations.ps1 b/run/export_legacy_stations.ps1 new file mode 100644 index 0000000..c577d7f --- /dev/null +++ b/run/export_legacy_stations.ps1 @@ -0,0 +1,34 @@ +param( + [Parameter(Mandatory = $true)][string]$DataRoot, + [Parameter(Mandatory = $true)][string]$OutputRoot, + [string]$LidarObject = "frontlidar", + [string]$Timezone = "+08:00", + [string[]]$StationNames = @(), + [int]$Stride = 1, + [double]$RtkMaxDtMs = 150.0 +) + +$ErrorActionPreference = "Stop" +$Repo = Split-Path -Parent $PSScriptRoot +$Exporter = Join-Path $Repo "tools\frontlidar_dlog_export.py" +if (-not (Test-Path -LiteralPath $DataRoot)) { throw "DataRoot does not exist: $DataRoot" } +if ($Stride -lt 1) { throw "Stride must be at least 1" } +if ($StationNames.Count -gt 0) { + $Stations = @($StationNames | ForEach-Object { Get-Item -LiteralPath (Join-Path $DataRoot $_) }) +} else { + $Stations = @(Get-ChildItem -LiteralPath $DataRoot -Directory | Where-Object { + (Test-Path -LiteralPath (Join-Path $_.FullName "dobject")) -and + (Test-Path -LiteralPath (Join-Path $_.FullName "dobject_recording")) + } | Sort-Object Name) +} +if ($Stations.Count -eq 0) { throw "No station directory containing dobject and dobject_recording was found" } +New-Item -ItemType Directory -Force -Path $OutputRoot | Out-Null +foreach ($Station in $Stations) { + $Out = Join-Path $OutputRoot $Station.Name + Write-Host "[legacy station $($Station.Name)]" + & python $Exporter --dlog $Station.FullName --out $Out --object $LidarObject --format npz ` + --timezone $Timezone --stride $Stride --compress --rtk-sidecars --write-reports --resume ` + --rtk-max-dt-ms $RtkMaxDtMs + if ($LASTEXITCODE -ne 0) { throw "Export failed for station $($Station.Name)" } +} +Write-Host "Exported stations: $($Stations.Count)" diff --git a/run/export_multisensor_stations.ps1 b/run/export_multisensor_stations.ps1 new file mode 100644 index 0000000..e96be10 --- /dev/null +++ b/run/export_multisensor_stations.ps1 @@ -0,0 +1,89 @@ +param( + [Parameter(Mandatory = $true)][string]$DataRoot, + [Parameter(Mandatory = $true)][string]$OutputRoot, + [Parameter(Mandatory = $true)][string]$RtkCapture, + [Parameter(Mandatory = $true)][string]$ImuCapture, + [string]$LidarObject = "frontlidar", + [string]$Timezone = "+08:00", + [string[]]$StationNames = @(), + [int]$Stride = 1, + [double]$RtkMaxDtMs = 150.0, + [double]$ImuBeforeMs = 100.0, + [double]$ImuAfterMs = 100.0, + [switch]$SkipLidarExport, + [switch]$SkipSerialParsing +) + +$ErrorActionPreference = "Stop" +$RepoRoot = Split-Path -Parent $PSScriptRoot +$Exporter = Join-Path $RepoRoot "tools\frontlidar_dlog_export.py" +$Builder = Join-Path $RepoRoot "tools\build_multisensor_npz.py" +$Parser = Join-Path $RepoRoot "tools\rscap_v2\parse_rtk_imu_v2.py" +$Auditor = Join-Path $RepoRoot "tools\rscap_v2\audit_capture_v2.py" +$ExportRoot = Join-Path $OutputRoot "export" +$ParsedRoot = Join-Path $OutputRoot "parsed" +$CombinedRoot = Join-Path $OutputRoot "combined" + +function Run-Python { + param([string]$Stage, [string[]]$Arguments) + Write-Host "[$Stage]" + & python @Arguments + if ($LASTEXITCODE -ne 0) { + throw "$Stage failed with Python exit code $LASTEXITCODE" + } +} + +foreach ($Path in @($DataRoot, $RtkCapture, $ImuCapture)) { + if (-not (Test-Path -LiteralPath $Path)) { throw "Input does not exist: $Path" } +} +if ($Stride -lt 1) { throw "Stride must be at least 1" } + +if ($StationNames.Count -gt 0) { + $Stations = @($StationNames | ForEach-Object { Get-Item -LiteralPath (Join-Path $DataRoot $_) }) +} else { + $Stations = @(Get-ChildItem -LiteralPath $DataRoot -Directory | Where-Object { + (Test-Path -LiteralPath (Join-Path $_.FullName "dobject")) -and + (Test-Path -LiteralPath (Join-Path $_.FullName "dobject_recording")) + } | Sort-Object Name) +} +if ($Stations.Count -eq 0) { throw "No station directory containing dobject and dobject_recording was found" } + +New-Item -ItemType Directory -Force -Path $OutputRoot | Out-Null +if (-not $SkipSerialParsing) { + New-Item -ItemType Directory -Force -Path $ParsedRoot | Out-Null + Run-Python "capture audit" @($Auditor, $RtkCapture, $ImuCapture, "--out", (Join-Path $OutputRoot "capture_audit.json")) + Run-Python "RTK/IMU parse" @($Parser, "--rtk", $RtkCapture, "--imu", $ImuCapture, "--out", $ParsedRoot) +} + +foreach ($Station in $Stations) { + $StationOut = Join-Path $ExportRoot $Station.Name + if (-not $SkipLidarExport) { + Run-Python "LiDAR station $($Station.Name)" @( + $Exporter, "--dlog", $Station.FullName, "--out", $StationOut, + "--object", $LidarObject, "--format", "npz", "--timezone", $Timezone, + "--stride", "$Stride", "--compress", "--skip-rtk", "--write-reports", "--resume" + ) + } + if (-not (Test-Path -LiteralPath (Join-Path $StationOut "frames"))) { + throw "Exported frame directory is absent for station $($Station.Name): $StationOut" + } +} + +$BuildArgs = @($Builder) +foreach ($Station in $Stations) { + $Frames = Join-Path (Join-Path $ExportRoot $Station.Name) "frames" + $BuildArgs += @("--lidar", "$($Station.Name)=$Frames") +} +$BuildArgs += @( + "--rtk", (Join-Path $ParsedRoot "rtk.jsonl"), + "--imu", (Join-Path $ParsedRoot "imu.jsonl"), + "--out", $CombinedRoot, + "--rtk-max-dt-ms", "$RtkMaxDtMs", + "--imu-before-ms", "$ImuBeforeMs", + "--imu-after-ms", "$ImuAfterMs", + "--overwrite" +) +Run-Python "LiDAR/RTK/IMU association" $BuildArgs + +Write-Host "Completed stations: $($Stations.Count)" +Write-Host "Combined NPZ: $CombinedRoot" diff --git a/run/prepare_legacy_dataset.ps1 b/run/prepare_legacy_dataset.ps1 new file mode 100644 index 0000000..934f8f5 --- /dev/null +++ b/run/prepare_legacy_dataset.ps1 @@ -0,0 +1,21 @@ +param( + [Parameter(Mandatory = $true)][string]$ExportRoot, + [Parameter(Mandatory = $true)][string]$Output, + [Parameter(Mandatory = $true)][double]$HeadingOffsetDeg, + [Parameter(Mandatory = $true)][double[]]$AntennaLever, + [int]$MinStations = 30, + [int]$ExpectedStations = 0, + [double]$HeadingStdLimitDeg = [double]::PositiveInfinity, + [switch]$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_station_dataset.py"), "--export-root", $ExportRoot, + "--output", $Output, "--heading-offset-deg", "$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 "Legacy dataset preparation failed" } diff --git a/run/prepare_multisensor_dataset.ps1 b/run/prepare_multisensor_dataset.ps1 new file mode 100644 index 0000000..28c57cf --- /dev/null +++ b/run/prepare_multisensor_dataset.ps1 @@ -0,0 +1,21 @@ +param( + [Parameter(Mandatory = $true)][string]$CombinedRoot, + [Parameter(Mandatory = $true)][string]$Output, + [Parameter(Mandatory = $true)][double]$HeadingOffsetDeg, + [Parameter(Mandatory = $true)][double[]]$AntennaLever, + [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", $Output, "--heading-offset-deg", "$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" } diff --git a/run/run_all.ps1 b/run/run_all.ps1 index 7196db1..18d7ed7 100644 --- a/run/run_all.ps1 +++ b/run/run_all.ps1 @@ -1,32 +1,74 @@ param( - [string]$Batch1Prepared = "C:\Users\admin\Documents\Codex\2026-07-15\wo\outputs\calibration_20260717\prepared", - [string]$Batch2Prepared = "C:\Users\admin\Documents\Codex\2026-07-15\wo\outputs\calibration_data1_20260720\prepared" + [Parameter(Mandatory = $true)][string]$Batch1Prepared, + [Parameter(Mandatory = $true)][string]$Batch2Prepared, + [string]$OutputRoot = "" ) + $ErrorActionPreference = "Stop" $Repo = Split-Path -Parent $PSScriptRoot +if ([string]::IsNullOrWhiteSpace($OutputRoot)) { + $OutputRoot = Join-Path $Repo "results\01_previous_two_batches" +} $Code = Join-Path $Repo "code\rigorous_calibration.py" $Refine = Join-Path $Repo "code\refine_pairs.py" $Summary = Join-Path $Repo "code\summarize_results.py" -$R = Join-Path $Repo "results" $B1Frames = Join-Path $Batch1Prepared "frames_all" $B2Frames = Join-Path $Batch2Prepared "frames_all" $B1Body = Join-Path $Batch1Prepared "body_poses_rear_gga_raw_rear_to_front.csv" $B2Body = Join-Path $Batch2Prepared "body_poses_rear_gga_raw_rear_to_front.csv" -python $Code ground --frames $B2Frames --output "$R\common\ground_planes_batch2.csv" +function Run-Python { + param([string]$Stage, [string[]]$Arguments) + Write-Host "[$Stage]" + & python @Arguments + if ($LASTEXITCODE -ne 0) { throw "$Stage failed with Python exit code $LASTEXITCODE" } +} -python $Code pairs --backend small_gicp --frames $B2Frames --body $B2Body --output "$R\small_gicp\B_batch2_estimation.npz" --quality-json "$R\small_gicp\B_batch2_quality.json" --quality-csv "$R\small_gicp\B_batch2_quality.csv" -python $Code pairs --backend open3d --frames $B2Frames --body $B2Body --output "$R\open3d_gicp\B_batch2_estimation.npz" --quality-json "$R\open3d_gicp\B_batch2_quality.json" --quality-csv "$R\open3d_gicp\B_batch2_quality.csv" --max-gap 3 --multistart 1 --iterations 40 -python $Refine --pairs "$R\small_gicp\B_batch2_estimation.npz" --quality-json "$R\small_gicp\B_batch2_quality.json" --output "$R\small_gicp\B_batch2_refined.npz" -python $Refine --pairs "$R\open3d_gicp\B_batch2_estimation.npz" --quality-json "$R\open3d_gicp\B_batch2_quality.json" --output "$R\open3d_gicp\B_batch2_refined.npz" -python $Code calibrate --pairs "$R\small_gicp\B_batch2_refined.npz" --ground-planes "$R\common\ground_planes_batch2.csv" --output "$R\small_gicp\extrinsic_batch2_refined.json" -python $Code calibrate --pairs "$R\open3d_gicp\B_batch2_refined.npz" --ground-planes "$R\common\ground_planes_batch2.csv" --output "$R\open3d_gicp\extrinsic_batch2_refined.json" +foreach ($Path in @($B1Frames, $B2Frames, $B1Body, $B2Body)) { + if (-not (Test-Path -LiteralPath $Path)) { throw "Input does not exist: $Path" } +} +$Common = Join-Path $OutputRoot "common" +$Small = Join-Path $OutputRoot "small_gicp" +$Open = Join-Path $OutputRoot "open3d_gicp" +New-Item -ItemType Directory -Force -Path $Common,$Small,$Open | Out-Null -python $Code pairs --backend small_gicp --frames $B1Frames --body $B1Body --output "$R\small_gicp\B_batch1_auxiliary.npz" --quality-json "$R\small_gicp\B_batch1_quality.json" --quality-csv "$R\small_gicp\B_batch1_quality.csv" --max-gap 3 --multistart 1 --iterations 40 -python $Code pairs --backend open3d --frames $B1Frames --body $B1Body --output "$R\open3d_gicp\B_batch1_auxiliary.npz" --quality-json "$R\open3d_gicp\B_batch1_quality.json" --quality-csv "$R\open3d_gicp\B_batch1_quality.csv" --max-gap 3 --multistart 1 --iterations 40 -python $Refine --pairs "$R\small_gicp\B_batch1_auxiliary.npz" --quality-json "$R\small_gicp\B_batch1_quality.json" --output "$R\small_gicp\B_batch1_auxiliary_refined.npz" -python $Refine --pairs "$R\open3d_gicp\B_batch1_auxiliary.npz" --quality-json "$R\open3d_gicp\B_batch1_quality.json" --output "$R\open3d_gicp\B_batch1_auxiliary_refined.npz" -python $Code validate --pairs "$R\small_gicp\B_batch1_auxiliary_refined.npz" --extrinsic "$R\small_gicp\extrinsic_batch2_refined.json" --output "$R\small_gicp\batch1_auxiliary_check.json" -python $Code validate --pairs "$R\open3d_gicp\B_batch1_auxiliary_refined.npz" --extrinsic "$R\open3d_gicp\extrinsic_batch2_refined.json" --output "$R\open3d_gicp\batch1_auxiliary_check.json" +Run-Python "batch2 ground planes" @($Code, "ground", "--frames", $B2Frames, "--output", (Join-Path $Common "ground_planes_batch2.csv")) -python $Summary --open3d "$R\open3d_gicp\extrinsic_batch2_refined.json" --small "$R\small_gicp\extrinsic_batch2_refined.json" --open3d-quality "$R\open3d_gicp\B_batch2_quality.json" --small-quality "$R\small_gicp\B_batch2_quality.json" --open3d-check "$R\open3d_gicp\batch1_auxiliary_check.json" --small-check "$R\small_gicp\batch1_auxiliary_check.json" --output "$R\comparison_summary.json" --recommended-output "$R\final_extrinsic_recommended.json" +foreach ($Backend in @("small_gicp", "open3d")) { + $Directory = if ($Backend -eq "small_gicp") { $Small } else { $Open } + $Extra = @() + if ($Backend -eq "open3d") { $Extra = @("--max-gap", "3", "--multistart", "1", "--iterations", "40") } + $B2Raw = Join-Path $Directory "B_batch2_estimation.npz" + $B2QualityJson = Join-Path $Directory "B_batch2_quality.json" + $B2QualityCsv = Join-Path $Directory "B_batch2_quality.csv" + Run-Python "$Backend batch2 pairs" (@($Code, "pairs", "--backend", $Backend, "--frames", $B2Frames, "--body", $B2Body, + "--output", $B2Raw, "--quality-json", $B2QualityJson, "--quality-csv", $B2QualityCsv) + $Extra) + $B2Refined = Join-Path $Directory "B_batch2_refined.npz" + Run-Python "$Backend batch2 refinement" @($Refine, "--pairs", $B2Raw, "--quality-json", $B2QualityJson, "--output", $B2Refined) + $Extrinsic = Join-Path $Directory "extrinsic_batch2_refined.json" + Run-Python "$Backend batch2 calibration" @($Code, "calibrate", "--pairs", $B2Refined, + "--ground-planes", (Join-Path $Common "ground_planes_batch2.csv"), "--output", $Extrinsic) + + $B1Raw = Join-Path $Directory "B_batch1_auxiliary.npz" + $B1QualityJson = Join-Path $Directory "B_batch1_quality.json" + $B1QualityCsv = Join-Path $Directory "B_batch1_quality.csv" + Run-Python "$Backend batch1 auxiliary pairs" @($Code, "pairs", "--backend", $Backend, "--frames", $B1Frames, "--body", $B1Body, + "--output", $B1Raw, "--quality-json", $B1QualityJson, "--quality-csv", $B1QualityCsv, + "--max-gap", "3", "--multistart", "1", "--iterations", "40") + $B1Refined = Join-Path $Directory "B_batch1_auxiliary_refined.npz" + Run-Python "$Backend batch1 refinement" @($Refine, "--pairs", $B1Raw, "--quality-json", $B1QualityJson, "--output", $B1Refined) + Run-Python "$Backend batch1 auxiliary check" @($Code, "validate", "--pairs", $B1Refined, + "--extrinsic", $Extrinsic, "--output", (Join-Path $Directory "batch1_auxiliary_check.json")) +} + +Run-Python "backend summary" @($Summary, + "--open3d", (Join-Path $Open "extrinsic_batch2_refined.json"), + "--small", (Join-Path $Small "extrinsic_batch2_refined.json"), + "--open3d-quality", (Join-Path $Open "B_batch2_quality.json"), + "--small-quality", (Join-Path $Small "B_batch2_quality.json"), + "--open3d-check", (Join-Path $Open "batch1_auxiliary_check.json"), + "--small-check", (Join-Path $Small "batch1_auxiliary_check.json"), + "--output", (Join-Path $OutputRoot "comparison_summary.json"), + "--recommended-output", (Join-Path $OutputRoot "final_extrinsic_recommended.json")) + +Write-Host "Two-batch results: $OutputRoot" diff --git a/run/run_consensus_finish.ps1 b/run/run_consensus_finish.ps1 index b94c368..f809b3d 100644 --- a/run/run_consensus_finish.ps1 +++ b/run/run_consensus_finish.ps1 @@ -1,12 +1,34 @@ +param([string]$ResultRoot = "") + $ErrorActionPreference = "Stop" $Repo = Split-Path -Parent $PSScriptRoot +if ([string]::IsNullOrWhiteSpace($ResultRoot)) { $ResultRoot = Join-Path $Repo "results\01_previous_two_batches" } $Code = Join-Path $Repo "code\rigorous_calibration.py" $Filter = Join-Path $Repo "code\cross_backend_filter.py" $Finalize = Join-Path $Repo "code\finalize_consensus.py" -$R = Join-Path $Repo "results" -python $Filter --open3d-pairs "$R\open3d_gicp\B_batch2_refined.npz" --small-pairs "$R\small_gicp\B_batch2_refined.npz" --output "$R\consensus\B_batch2_consensus.npz" -python $Filter --open3d-pairs "$R\open3d_gicp\B_batch1_auxiliary_refined.npz" --small-pairs "$R\small_gicp\B_batch1_auxiliary_refined.npz" --output "$R\consensus\B_batch1_consensus.npz" --min-pairs 15 -python $Code calibrate --pairs "$R\consensus\B_batch2_consensus.npz" --ground-planes "$R\common\ground_planes_batch2.csv" --output "$R\consensus\extrinsic_batch2_consensus.json" -python $Code validate --pairs "$R\consensus\B_batch1_consensus.npz" --extrinsic "$R\consensus\extrinsic_batch2_consensus.json" --output "$R\consensus\batch1_auxiliary_check.json" -python $Finalize --consensus-extrinsic "$R\consensus\extrinsic_batch2_consensus.json" --consensus-check "$R\consensus\batch1_auxiliary_check.json" --open3d-extrinsic "$R\open3d_gicp\extrinsic_batch2_refined.json" --small-extrinsic "$R\small_gicp\extrinsic_batch2_refined.json" --output "$R\final_extrinsic_recommended.json" --summary "$R\final_summary.json" +function Run-Python { + param([string[]]$Arguments) + & python @Arguments + if ($LASTEXITCODE -ne 0) { throw "Python failed with exit code $LASTEXITCODE" } +} + +Run-Python @($Filter, "--open3d-pairs", (Join-Path $ResultRoot "open3d_gicp\B_batch2_refined.npz"), + "--small-pairs", (Join-Path $ResultRoot "small_gicp\B_batch2_refined.npz"), + "--output", (Join-Path $ResultRoot "consensus\B_batch2_consensus.npz")) +Run-Python @($Filter, "--open3d-pairs", (Join-Path $ResultRoot "open3d_gicp\B_batch1_auxiliary_refined.npz"), + "--small-pairs", (Join-Path $ResultRoot "small_gicp\B_batch1_auxiliary_refined.npz"), + "--output", (Join-Path $ResultRoot "consensus\B_batch1_consensus.npz"), "--min-pairs", "15") +Run-Python @($Code, "calibrate", "--pairs", (Join-Path $ResultRoot "consensus\B_batch2_consensus.npz"), + "--ground-planes", (Join-Path $ResultRoot "common\ground_planes_batch2.csv"), + "--output", (Join-Path $ResultRoot "consensus\extrinsic_batch2_consensus.json")) +Run-Python @($Code, "validate", "--pairs", (Join-Path $ResultRoot "consensus\B_batch1_consensus.npz"), + "--extrinsic", (Join-Path $ResultRoot "consensus\extrinsic_batch2_consensus.json"), + "--output", (Join-Path $ResultRoot "consensus\batch1_auxiliary_check.json")) +Run-Python @($Finalize, + "--consensus-extrinsic", (Join-Path $ResultRoot "consensus\extrinsic_batch2_consensus.json"), + "--consensus-check", (Join-Path $ResultRoot "consensus\batch1_auxiliary_check.json"), + "--open3d-extrinsic", (Join-Path $ResultRoot "open3d_gicp\extrinsic_batch2_refined.json"), + "--small-extrinsic", (Join-Path $ResultRoot "small_gicp\extrinsic_batch2_refined.json"), + "--output", (Join-Path $ResultRoot "final_extrinsic_recommended.json"), + "--summary", (Join-Path $ResultRoot "final_summary.json")) diff --git a/run/run_sensitivity_scan.ps1 b/run/run_sensitivity_scan.ps1 index c8c09aa..8c66353 100644 --- a/run/run_sensitivity_scan.ps1 +++ b/run/run_sensitivity_scan.ps1 @@ -1,15 +1,22 @@ -param([int]$PairIndex = 0) +param( + [int]$PairIndex = 0, + [string]$ResultRoot = "" +) + +$ErrorActionPreference = "Stop" $Repo = Split-Path -Parent $PSScriptRoot -$Code = "$Repo\code\scan_extrinsic_sensitivity.py" -$X = "$Repo\results\final_extrinsic_recommended.json" -$Ground = "$Repo\results\common\ground_planes_batch2.csv" -$Out = "$Repo\results\diagnostics" +if ([string]::IsNullOrWhiteSpace($ResultRoot)) { $ResultRoot = Join-Path $Repo "results\01_previous_two_batches" } +$Code = Join-Path $Repo "code\scan_extrinsic_sensitivity.py" +$X = Join-Path $ResultRoot "final_extrinsic_recommended.json" +$Ground = Join-Path $ResultRoot "common\ground_planes_batch2.csv" +$Out = Join-Path $ResultRoot "diagnostics" -python $Code --pairs "$Repo\results\open3d_gicp\B_batch2_refined.npz" --extrinsic $X --ground-planes $Ground --pair-index $PairIndex --output "$Out\open3d_refined_pair${PairIndex}_left_rpy_scan.json" -if ($LASTEXITCODE -ne 0) { exit $LASTEXITCODE } - -python $Code --pairs "$Repo\results\small_gicp\B_batch2_refined.npz" --extrinsic $X --ground-planes $Ground --pair-index $PairIndex --output "$Out\small_gicp_refined_pair${PairIndex}_left_rpy_scan.json" -if ($LASTEXITCODE -ne 0) { exit $LASTEXITCODE } - -python $Code --pairs "$Repo\results\consensus\B_batch2_consensus.npz" --extrinsic $X --ground-planes $Ground --pair-index $PairIndex --output "$Out\consensus_pair${PairIndex}_left_rpy_scan.json" -exit $LASTEXITCODE +foreach ($Backend in @("open3d_gicp", "small_gicp")) { + $Label = if ($Backend -eq "open3d_gicp") { "open3d_refined" } else { "small_gicp_refined" } + & python $Code --pairs (Join-Path $ResultRoot "$Backend\B_batch2_refined.npz") --extrinsic $X ` + --ground-planes $Ground --pair-index $PairIndex --output (Join-Path $Out "${Label}_pair${PairIndex}_left_rpy_scan.json") + if ($LASTEXITCODE -ne 0) { throw "$Backend sensitivity scan failed" } +} +& python $Code --pairs (Join-Path $ResultRoot "consensus\B_batch2_consensus.npz") --extrinsic $X ` + --ground-planes $Ground --pair-index $PairIndex --output (Join-Path $Out "consensus_pair${PairIndex}_left_rpy_scan.json") +if ($LASTEXITCODE -ne 0) { throw "Consensus sensitivity scan failed" } diff --git a/run/run_single_dataset.ps1 b/run/run_single_dataset.ps1 new file mode 100644 index 0000000..13b8713 --- /dev/null +++ b/run/run_single_dataset.ps1 @@ -0,0 +1,70 @@ +param( + [Parameter(Mandatory = $true)][string]$Prepared, + [Parameter(Mandatory = $true)][string]$OutputRoot, + [string]$PoseName = "rear_gga_raw_rear_to_front", + [double]$BodyHeight = 0.2335, + [int]$MinPairs = 20, + [int]$Bootstrap = 100 +) + +$ErrorActionPreference = "Stop" +$Repo = Split-Path -Parent $PSScriptRoot +$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" +$Common = Join-Path $OutputRoot "common" +$Open = Join-Path $OutputRoot "open3d_gicp" +$Small = Join-Path $OutputRoot "small_gicp" +$ConsensusOut = Join-Path $OutputRoot "consensus" + +function Run-Python { + param([string]$Stage, [string[]]$Arguments) + Write-Host "[$Stage]" + & python @Arguments + if ($LASTEXITCODE -ne 0) { throw "$Stage failed with Python exit code $LASTEXITCODE" } +} + +foreach ($Path in @($Frames, $Body)) { + if (-not (Test-Path -LiteralPath $Path)) { throw "Input does not exist: $Path" } +} +New-Item -ItemType Directory -Force -Path $Common,$Open,$Small,$ConsensusOut | Out-Null + +$Ground = Join-Path $Common "ground_planes.csv" +Run-Python "ground planes" @($Code, "ground", "--frames", $Frames, "--output", $Ground) + +foreach ($Backend in @("small_gicp", "open3d")) { + $Directory = if ($Backend -eq "small_gicp") { $Small } else { $Open } + $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, + "--output", $Raw, "--quality-json", $QualityJson, "--quality-csv", $QualityCsv, + "--min-pairs", "$MinPairs") + if ($Backend -eq "open3d") { $PairArgs += @("--max-gap", "3", "--multistart", "1", "--iterations", "40") } + Run-Python "$Backend pairs" $PairArgs + Run-Python "$Backend X-independent refinement" @( + $Refine, "--pairs", $Raw, "--quality-json", $QualityJson, + "--output", (Join-Path $Directory "B_refined.npz"), "--min-pairs", "$MinPairs" + ) + Run-Python "$Backend calibration" @( + $Code, "calibrate", "--pairs", (Join-Path $Directory "B_refined.npz"), + "--ground-planes", $Ground, "--body-height", "$BodyHeight", + "--bootstrap", "$Bootstrap", "--output", (Join-Path $Directory "extrinsic.json") + ) +} + +$ConsensusPairs = Join-Path $ConsensusOut "B_consensus.npz" +Run-Python "cross-backend consensus" @( + $Consensus, "--open3d-pairs", (Join-Path $Open "B_refined.npz"), + "--small-pairs", (Join-Path $Small "B_refined.npz"), + "--output", $ConsensusPairs, "--min-pairs", "$MinPairs" +) +Run-Python "consensus calibration" @( + $Code, "calibrate", "--pairs", $ConsensusPairs, "--ground-planes", $Ground, + "--body-height", "$BodyHeight", "--bootstrap", "$Bootstrap", + "--output", (Join-Path $ConsensusOut "extrinsic.json") +) + +Write-Host "Calibration results: $OutputRoot" diff --git a/run/view_open3d_result.ps1 b/run/view_open3d_result.ps1 deleted file mode 100644 index 0ed3dff..0000000 --- a/run/view_open3d_result.ps1 +++ /dev/null @@ -1,14 +0,0 @@ -param( - [int]$PairIndex = 0, - [string]$Frames = "C:\Users\admin\Documents\Codex\2026-07-15\wo\outputs\calibration_data1_20260720\prepared\frames_all", - [double]$LeftRollDeg = 0.0, - [double]$LeftPitchDeg = 0.0, - [double]$LeftYawDeg = 0.0 -) -$Repo = Split-Path -Parent $PSScriptRoot -python "$Repo\code\visualize_pair_3d.py" ` - --frames $Frames ` - --pairs "$Repo\results\open3d_gicp\B_batch2_refined.npz" ` - --extrinsic "$Repo\results\final_extrinsic_recommended.json" ` - --pair-index $PairIndex ` - --left-rpy-deg $LeftRollDeg $LeftPitchDeg $LeftYawDeg diff --git a/run/view_result.ps1 b/run/view_result.ps1 new file mode 100644 index 0000000..e513e61 --- /dev/null +++ b/run/view_result.ps1 @@ -0,0 +1,19 @@ +param( + [Parameter(Mandatory = $true)][string]$Frames, + [Parameter(Mandatory = $true)][string]$Pairs, + [Parameter(Mandatory = $true)][string]$Extrinsic, + [int]$PairIndex = 0, + [double]$LeftRollDeg = 0.0, + [double]$LeftPitchDeg = 0.0, + [double]$LeftYawDeg = 0.0 +) + +$ErrorActionPreference = "Stop" +$Repo = Split-Path -Parent $PSScriptRoot +foreach ($Path in @($Frames, $Pairs, $Extrinsic)) { + if (-not (Test-Path -LiteralPath $Path)) { throw "Input does not exist: $Path" } +} +& python (Join-Path $Repo "code\visualize_pair_3d.py") ` + --frames $Frames --pairs $Pairs --extrinsic $Extrinsic --pair-index $PairIndex ` + --left-rpy-deg $LeftRollDeg $LeftPitchDeg $LeftYawDeg +if ($LASTEXITCODE -ne 0) { throw "Visualization failed with Python exit code $LASTEXITCODE" } diff --git a/run/view_small_gicp_result.ps1 b/run/view_small_gicp_result.ps1 deleted file mode 100644 index da49c02..0000000 --- a/run/view_small_gicp_result.ps1 +++ /dev/null @@ -1,18 +0,0 @@ -param( - [int]$PairIndex = 0, - [string]$Frames = "C:\Users\admin\Documents\Codex\2026-07-15\wo\outputs\calibration_data1_20260720\prepared\frames_all", - [string]$Extrinsic = "", - [double]$LeftRollDeg = 0.0, - [double]$LeftPitchDeg = 0.0, - [double]$LeftYawDeg = 0.0 -) -$Repo = Split-Path -Parent $PSScriptRoot -if ([string]::IsNullOrWhiteSpace($Extrinsic)) { - $Extrinsic = "$Repo\results\small_gicp\extrinsic_batch2_refined.json" -} -python "$Repo\code\visualize_pair_3d.py" ` - --frames $Frames ` - --pairs "$Repo\results\small_gicp\B_batch2_refined.npz" ` - --extrinsic $Extrinsic ` - --pair-index $PairIndex ` - --left-rpy-deg $LeftRollDeg $LeftPitchDeg $LeftYawDeg diff --git a/tools/README.md b/tools/README.md new file mode 100644 index 0000000..0c56399 --- /dev/null +++ b/tools/README.md @@ -0,0 +1,26 @@ +# tools + +本目录负责从原始 dlog/rscap 导出 NPZ、关联 RTK/IMU 并生成 prepared；完整流程和参数统一见仓库根目录 `README.md`。 + +| 文件 | 作用 | +|---|---| +| `frontlidar_dlog_export.py` | 从单个 Medulla dlog 导出原始 LiDAR NPZ，可匹配站内 RTK。 | +| `prepare_station_dataset.py` | 旧式逐站导出生成 prepared。 | +| `build_multisensor_npz.py` | 以 LiDAR 帧为索引关联独立 RTK/IMU。 | +| `prepare_multisensor_station_dataset.py` | combined NPZ 生成 prepared。 | +| `rscap_v2/capture_format_v2.py` | 读取 rscap v2。 | +| `rscap_v2/audit_capture_v2.py` | 审计 capture 完整性。 | +| `rscap_v2/parse_rtk_imu_v2.py` | 解析 RTK/IMU 为 JSONL。 | +| `rscap_v2/pipeline_common*.py` | 时间和协议解析共用逻辑。 | + +统一输出接口： + +```text +prepared/ + frames_all/station_*.npz + body_poses_rear_gga_raw_rear_to_front.csv + station_summary.csv + manifest.json +``` + +后续配准必须使用 `points_raw`，不能使用已经由某套外参变换后的点云。 diff --git a/tools/build_multisensor_npz.py b/tools/build_multisensor_npz.py new file mode 100644 index 0000000..2da2043 --- /dev/null +++ b/tools/build_multisensor_npz.py @@ -0,0 +1,312 @@ +#!/usr/bin/env python3 +"""Build one LiDAR-centric NPZ per frame with matched RTK and an IMU window. + +Inputs are LiDAR frame NPZ files from frontlidar_dlog_export.py and parsed +RTK/IMU JSONL files from parse_rtk_imu_v2.py. Raw .rscap files remain the +traceability source; this script never modifies them. +""" + +from __future__ import annotations + +import argparse +import csv +import json +from pathlib import Path +from typing import Any + +import numpy as np + + +GPS_EPOCH_UNIX_NS = 315964800 * 1_000_000_000 + + +def parse_named_path(text: str) -> tuple[str, Path]: + if "=" not in text: + raise argparse.ArgumentTypeError("expected NAME=PATH") + name, raw_path = text.split("=", 1) + if not name.strip(): + raise argparse.ArgumentTypeError("segment name is empty") + return name.strip(), Path(raw_path) + + +def parse_args() -> argparse.Namespace: + parser = argparse.ArgumentParser() + parser.add_argument( + "--lidar", + type=parse_named_path, + action="append", + required=True, + metavar="NAME=FRAMES_DIR", + help="Repeat for each LiDAR segment; directory contains exported *.npz frames.", + ) + parser.add_argument("--rtk", type=Path, action="append", required=True, help="Parsed rtk.jsonl; repeat per session.") + parser.add_argument("--imu", type=Path, action="append", required=True, help="Parsed imu.jsonl; repeat per session.") + parser.add_argument("--out", type=Path, required=True) + parser.add_argument("--rtk-max-dt-ms", type=float, default=150.0) + parser.add_argument("--imu-before-ms", type=float, default=100.0) + parser.add_argument("--imu-after-ms", type=float, default=100.0) + parser.add_argument("--gps-utc-leap-seconds", type=int, default=18) + parser.add_argument("--overwrite", action="store_true") + return parser.parse_args() + + +def load_jsonl(paths: list[Path]) -> list[dict[str, Any]]: + rows: list[dict[str, Any]] = [] + for source_index, path in enumerate(paths): + source_file = str(path.resolve()) + with path.open("r", encoding="utf-8") as stream: + for line_number, line in enumerate(stream, start=1): + if not line.strip(): + continue + row = json.loads(line) + row["_source_file"] = source_file + row["_source_index"] = source_index + row["_source_line"] = line_number + rows.append(row) + return rows + + +def utf8_array(value: Any) -> np.ndarray: + return np.frombuffer(str(value if value is not None else "").encode("utf-8"), dtype=np.uint8) + + +def scalar(array: np.ndarray) -> Any: + return array.reshape(-1)[0].item() + + +def nearest_index(times: np.ndarray, target: int) -> int: + if not len(times): + return -1 + right = int(np.searchsorted(times, target, side="left")) + candidates = [index for index in (right - 1, right) if 0 <= index < len(times)] + return min(candidates, key=lambda index: abs(int(times[index]) - target)) + + +def estimate_imu_times(rows: list[dict[str, Any]]) -> list[dict[str, Any]]: + """Recover 100 Hz timing inside each serial chunk from device timestamps. + + A capture chunk has one host receive timestamp but may contain several IMU + frames. The last frame is anchored to the chunk receive time and earlier + frames are moved backwards by their device timestamp difference. + """ + groups: dict[tuple[int, int], list[dict[str, Any]]] = {} + for row in rows: + if not row.get("crc_valid") or row.get("device_timestamp_ms") is None: + continue + key = (int(row["_source_index"]), int(row.get("source_chunk_sequence_last", -1))) + groups.setdefault(key, []).append(row) + result: list[dict[str, Any]] = [] + for group in groups.values(): + group.sort(key=lambda row: (int(row["device_timestamp_ms"]), int(row["_source_line"]))) + last_device = int(group[-1]["device_timestamp_ms"]) + host_ns = int(group[-1]["host_receive_utc_ns"]) + for row in group: + delta_ms = (last_device - int(row["device_timestamp_ms"])) & 0xFFFFFFFF + if delta_ms > 60_000: + delta_ms = 0 + copied = dict(row) + copied["estimated_time_ns"] = host_ns - delta_ms * 1_000_000 + result.append(copied) + result.sort(key=lambda row: int(row["estimated_time_ns"])) + return result + + +def gnss_utc_ns(row: dict[str, Any], leap_seconds: int) -> int | None: + week, tow_ms = row.get("gnss_week"), row.get("gnss_tow_ms") + if week is None or tow_ms is None: + return None + seconds = int(week) * 604800 + float(tow_ms) / 1000.0 - leap_seconds + return GPS_EPOCH_UNIX_NS + int(round(seconds * 1_000_000_000)) + + +def numeric_array(rows: list[dict[str, Any]], key: str, dtype: Any, default: Any) -> np.ndarray: + return np.asarray([row.get(key, default) if row.get(key) is not None else default for row in rows], dtype=dtype) + + +def raw_frame_matrix(rows: list[dict[str, Any]]) -> tuple[np.ndarray, np.ndarray]: + frames = [bytes.fromhex(str(row.get("raw_frame_hex", ""))) for row in rows] + lengths = np.asarray([len(frame) for frame in frames], dtype=np.int32) + width = max(lengths, default=0) + matrix = np.zeros((len(frames), width), dtype=np.uint8) + for index, frame in enumerate(frames): + matrix[index, : len(frame)] = np.frombuffer(frame, dtype=np.uint8) + return matrix, lengths + + +def add_rtk(values: dict[str, np.ndarray], prefix: str, row: dict[str, Any] | None, dt_ns: int | None) -> None: + values[f"{prefix}_valid"] = np.asarray([row is not None], dtype=np.uint8) + values[f"{prefix}_dt_ns"] = np.asarray([dt_ns or 0], dtype=np.int64) + values[f"{prefix}_host_receive_utc_ns"] = np.asarray([0], dtype=np.int64) + values[f"{prefix}_raw_utf8"] = utf8_array("") + values[f"{prefix}_source_file_utf8"] = utf8_array("") + values[f"{prefix}_source_raw_file_offset"] = np.asarray([-1], dtype=np.int64) + values[f"{prefix}_source_raw_byte_length"] = np.asarray([0], dtype=np.int32) + if row is None: + return + values[f"{prefix}_host_receive_utc_ns"] = np.asarray([row.get("host_receive_utc_ns", 0)], dtype=np.int64) + values[f"{prefix}_raw_utf8"] = utf8_array(row.get("raw_line", "")) + values[f"{prefix}_source_file_utf8"] = utf8_array(row.get("_source_file", "")) + values[f"{prefix}_source_raw_file_offset"] = np.asarray([row.get("source_raw_file_offset", -1)], dtype=np.int64) + values[f"{prefix}_source_raw_byte_length"] = np.asarray([row.get("source_raw_byte_length", 0)], dtype=np.int32) + + +def initialize_rtk_measurements(values: dict[str, np.ndarray]) -> None: + for key, dtype, default in ( + ("lat_deg", np.float64, np.nan), ("lon_deg", np.float64, np.nan), + ("altitude_m", np.float64, np.nan), ("hdop", np.float64, np.nan), + ("fix_quality", np.int32, -1), ("gga_satellites", np.int32, -1), + ("differential_age_s", np.float64, np.nan), + ("gnss_week", np.int32, -1), ("gnss_tow_ms", np.int64, -1), + ("baseline_length_m", np.float64, np.nan), ("raw_heading_deg", np.float64, np.nan), + ("pitch_deg", np.float64, np.nan), ("heading_stddev_deg", np.float64, np.nan), + ("pitch_stddev_deg", np.float64, np.nan), ("heading_satellites", np.int32, -1), + ("solution_satellites", np.int32, -1), + ): + values[f"rtk_{key}"] = np.asarray([default], dtype=dtype) + values["rtk_fixed"] = np.asarray([0], dtype=np.uint8) + values["rtk_heading_solution_utf8"] = utf8_array("") + values["rtk_heading_gnss_utc_ns"] = np.asarray([0], dtype=np.int64) + values["rtk_heading_host_minus_gnss_ns"] = np.asarray([0], dtype=np.int64) + +def main() -> int: + args = parse_args() + if args.out.exists() and any(args.out.iterdir()) and not args.overwrite: + raise FileExistsError(f"{args.out} is non-empty; pass --overwrite") + frames_out = args.out / "frames" + frames_out.mkdir(parents=True, exist_ok=True) + + rtk_rows = load_jsonl(args.rtk) + gga = sorted( + [row for row in rtk_rows if row.get("type") == "GGA" and row.get("checksum_valid") and row.get("lat_deg") is not None], + key=lambda row: int(row["host_receive_utc_ns"]), + ) + heading = sorted( + [row for row in rtk_rows if row.get("type") == "UNIHEADINGA" and row.get("checksum_valid") and row.get("heading_valid")], + key=lambda row: int(row["host_receive_utc_ns"]), + ) + imu = estimate_imu_times(load_jsonl(args.imu)) + gga_times = np.asarray([int(row["host_receive_utc_ns"]) for row in gga], dtype=np.int64) + heading_times = np.asarray([int(row["host_receive_utc_ns"]) for row in heading], dtype=np.int64) + imu_times = np.asarray([int(row["estimated_time_ns"]) for row in imu], dtype=np.int64) + + manifest: list[dict[str, Any]] = [] + global_index = 0 + max_rtk_ns = int(args.rtk_max_dt_ms * 1_000_000) + before_ns = int(args.imu_before_ms * 1_000_000) + after_ns = int(args.imu_after_ms * 1_000_000) + + for segment_name, frame_dir in args.lidar: + frame_paths = sorted(frame_dir.glob("*.npz")) + if not frame_paths: + raise FileNotFoundError(f"no NPZ frames under {frame_dir}") + for segment_index, source in enumerate(frame_paths): + with np.load(source, allow_pickle=False) as frame: + values = {key: np.asarray(frame[key]) for key in frame.files} + lidar_time_ns = int(scalar(values["unix_time_ns"])) + + gga_index = nearest_index(gga_times, lidar_time_ns) + heading_index = nearest_index(heading_times, lidar_time_ns) + gga_row = gga[gga_index] if gga_index >= 0 else None + heading_row = heading[heading_index] if heading_index >= 0 else None + gga_dt = int(gga_times[gga_index]) - lidar_time_ns if gga_index >= 0 else None + heading_dt = int(heading_times[heading_index]) - lidar_time_ns if heading_index >= 0 else None + gga_ok = gga_row is not None and abs(gga_dt or 0) <= max_rtk_ns + heading_ok = heading_row is not None and abs(heading_dt or 0) <= max_rtk_ns + add_rtk(values, "rtk_gga", gga_row if gga_ok else None, gga_dt) + add_rtk(values, "rtk_heading", heading_row if heading_ok else None, heading_dt) + initialize_rtk_measurements(values) + + if gga_ok and gga_row: + for key, dtype, default in ( + ("lat_deg", np.float64, np.nan), ("lon_deg", np.float64, np.nan), + ("altitude_m", np.float64, np.nan), ("hdop", np.float64, np.nan), + ("fix_quality", np.int32, -1), ("gga_satellites", np.int32, -1), + ("differential_age_s", np.float64, np.nan), + ): + values[f"rtk_{key}"] = np.asarray([gga_row.get(key, default)], dtype=dtype) + values["rtk_gga_satellites"] = np.asarray([gga_row.get("satellites", -1)], dtype=np.int32) + values["rtk_fixed"] = np.asarray([int(gga_row.get("fix_quality", -1)) in {4, 5}], dtype=np.uint8) + if heading_ok and heading_row: + for key, dtype, default in ( + ("gnss_week", np.int32, -1), ("gnss_tow_ms", np.int64, -1), + ("baseline_length_m", np.float64, np.nan), ("raw_heading_deg", np.float64, np.nan), + ("pitch_deg", np.float64, np.nan), ("heading_stddev_deg", np.float64, np.nan), + ("pitch_stddev_deg", np.float64, np.nan), + ("solution_satellites", np.int32, -1), + ): + values[f"rtk_{key}"] = np.asarray([heading_row.get(key, default)], dtype=dtype) + values["rtk_heading_satellites"] = np.asarray([heading_row.get("satellites", -1)], dtype=np.int32) + values["rtk_heading_solution_utf8"] = utf8_array(heading_row.get("heading_solution", "")) + device_ns = gnss_utc_ns(heading_row, args.gps_utc_leap_seconds) + values["rtk_heading_gnss_utc_ns"] = np.asarray([device_ns or 0], dtype=np.int64) + values["rtk_heading_host_minus_gnss_ns"] = np.asarray( + [int(heading_row["host_receive_utc_ns"]) - device_ns if device_ns is not None else 0], dtype=np.int64 + ) + + left = int(np.searchsorted(imu_times, lidar_time_ns - before_ns, side="left")) + right = int(np.searchsorted(imu_times, lidar_time_ns + after_ns, side="right")) + window = imu[left:right] + values["imu_window_count"] = np.asarray([len(window)], dtype=np.int32) + values["imu_valid"] = np.asarray([bool(window)], dtype=np.uint8) + values["imu_time_ns"] = numeric_array(window, "estimated_time_ns", np.int64, 0) + values["imu_host_receive_utc_ns"] = numeric_array(window, "host_receive_utc_ns", np.int64, 0) + for key in ("device_timestamp_ms", "pps_sync_stamp_ms", "tag"): + values[f"imu_{key}"] = numeric_array(window, key, np.int64, -1) + for key in ( + "temperature_c", "air_pressure_pa", "accel_x_mps2", "accel_y_mps2", "accel_z_mps2", + "gyro_x_radps", "gyro_y_radps", "gyro_z_radps", "mag_x_ut", "mag_y_ut", "mag_z_ut", + "roll_deg", "pitch_deg", "yaw_deg", "quaternion_w", "quaternion_x", "quaternion_y", "quaternion_z", + ): + values[f"imu_{key}"] = numeric_array(window, key, np.float64, np.nan) + values["imu_source_index"] = numeric_array(window, "_source_index", np.int32, -1) + values["imu_source_raw_file_offset"] = numeric_array(window, "source_raw_file_offset", np.int64, -1) + raw_matrix, raw_lengths = raw_frame_matrix(window) + values["imu_raw_frame_bytes"] = raw_matrix + values["imu_raw_frame_length"] = raw_lengths + values["imu_source_files_json_utf8"] = utf8_array(json.dumps([str(path.resolve()) for path in args.imu], ensure_ascii=False)) + values["source_lidar_file_utf8"] = utf8_array(source.resolve()) + values["segment_name_utf8"] = utf8_array(segment_name) + + output = frames_out / f"{segment_name}_{segment_index:06d}.npz" + np.savez_compressed(output, **values) + manifest.append({ + "global_index": global_index, + "segment": segment_name, + "segment_index": segment_index, + "output": str(output.relative_to(args.out)), + "source_lidar": str(source.resolve()), + "lidar_time_ns": lidar_time_ns, + "rtk_gga_dt_ns": gga_dt, + "rtk_heading_dt_ns": heading_dt, + "rtk_valid": gga_ok, + "heading_valid": heading_ok, + "rtk_fix_quality": gga_row.get("fix_quality") if gga_ok and gga_row else None, + "rtk_fixed": bool(gga_ok and gga_row and int(gga_row.get("fix_quality", -1)) in {4, 5}), + "imu_window_count": len(window), + }) + global_index += 1 + + fields = sorted({key for row in manifest for key in row}) + with (args.out / "manifest.csv").open("w", encoding="utf-8", newline="") as stream: + writer = csv.DictWriter(stream, fieldnames=fields) + writer.writeheader() + writer.writerows(manifest) + summary = { + "frames": len(manifest), + "segments": {name: sum(row["segment"] == name for row in manifest) for name, _ in args.lidar}, + "rtk_valid": sum(bool(row["rtk_valid"]) for row in manifest), + "heading_valid": sum(bool(row["heading_valid"]) for row in manifest), + "rtk_fixed": sum(bool(row["rtk_fixed"]) for row in manifest), + "imu_window_nonempty": sum(int(row["imu_window_count"]) > 0 for row in manifest), + "rtk_max_dt_ms": args.rtk_max_dt_ms, + "imu_window_ms": [-args.imu_before_ms, args.imu_after_ms], + "time_basis": "LiDAR and serial host UTC; RTK GNSS time and IMU device time are retained for clock-model refinement", + "imu_orientation_warning": "IMU values are in the raw IMU sensor frame; no LiDAR/body extrinsic is applied", + } + (args.out / "dataset_summary.json").write_text(json.dumps(summary, ensure_ascii=False, indent=2), encoding="utf-8") + print(json.dumps(summary, ensure_ascii=False, indent=2)) + return 0 + + +if __name__ == "__main__": + raise SystemExit(main()) diff --git a/tools/prepare_multisensor_station_dataset.py b/tools/prepare_multisensor_station_dataset.py new file mode 100644 index 0000000..0cc3ce1 --- /dev/null +++ b/tools/prepare_multisensor_station_dataset.py @@ -0,0 +1,170 @@ +#!/usr/bin/env python3 +"""Prepare one static LiDAR frame and one yaw-only RTK body pose per NPZ segment.""" + +from __future__ import annotations + +import argparse +import csv +import json +import math +import re +import shutil +from pathlib import Path +from typing import Any + +import numpy as np + +POSE_FIELDS = ["time", "x", "y", "z", "qx", "qy", "qz", "qw"] + + +def natural_key(value: str) -> list[Any]: + return [int(part) if part.isdigit() else part.lower() for part in re.split(r"(\d+)", value)] + + +def truth(value: Any) -> bool: + return str(value).strip().lower() in {"1", "true", "yes", "y"} + + +def circular_mean_deg(values: np.ndarray) -> float: + radians = np.deg2rad(values) + return float(np.rad2deg(math.atan2(np.mean(np.sin(radians)), np.mean(np.cos(radians)))) % 360.0) + + +def circular_std_deg(values: np.ndarray) -> float: + radians = np.deg2rad(values) + resultant = max(math.hypot(np.mean(np.cos(radians)), np.mean(np.sin(radians))), 1e-12) + return float(np.rad2deg(math.sqrt(-2.0 * math.log(resultant)))) + + +def geodetic_to_ecef(lat_deg: float, lon_deg: float, height_m: float) -> np.ndarray: + a, e2 = 6378137.0, 6.69437999014e-3 + lat, lon = math.radians(lat_deg), math.radians(lon_deg) + sin_lat, cos_lat, sin_lon, cos_lon = math.sin(lat), math.cos(lat), math.sin(lon), math.cos(lon) + n = a / math.sqrt(1.0 - e2 * sin_lat * sin_lat) + return np.array([(n + height_m) * cos_lat * cos_lon, (n + height_m) * cos_lat * sin_lon, + (n * (1.0 - e2) + height_m) * sin_lat], dtype=float) + + +def ecef_to_enu(ecef: np.ndarray, origin: np.ndarray, lat_deg: float, lon_deg: float) -> np.ndarray: + lat, lon = math.radians(lat_deg), math.radians(lon_deg) + slat, clat, slon, clon = math.sin(lat), math.cos(lat), math.sin(lon), math.cos(lon) + rotation = np.array([[-slon, clon, 0.0], [-slat * clon, -slat * slon, clat], + [clat * clon, clat * slon, slat]], dtype=float) + return rotation @ (ecef - origin) + + +def yaw_rotation(yaw: float) -> np.ndarray: + c, s = math.cos(yaw), math.sin(yaw) + return np.array([[c, -s, 0.0], [s, c, 0.0], [0.0, 0.0, 1.0]]) + + +def scalar(data: np.lib.npyio.NpzFile, name: str) -> float: + return float(np.asarray(data[name]).reshape(-1)[0]) + + +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("--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]) + parser.add_argument("--heading-std-limit-deg", type=float, default=0.5) + parser.add_argument("--min-stations", type=int, default=30) + parser.add_argument("--expected-stations", type=int, default=0) + parser.add_argument("--overwrite", action="store_true") + return parser.parse_args() + + +def main() -> int: + args = parse_args() + manifest_path = args.combined_root / "manifest.csv" + with manifest_path.open("r", encoding="utf-8-sig", newline="") as stream: + rows = list(csv.DictReader(stream)) + required = {"segment", "output", "lidar_time_ns", "rtk_valid", "heading_valid", "rtk_fix_quality"} + if not rows or not required.issubset(rows[0]): + raise ValueError(f"{manifest_path} is empty or lacks {sorted(required)}") + groups: dict[str, list[dict[str, str]]] = {} + for row in rows: + groups.setdefault(row["segment"], []).append(row) + + selected, summaries, rejected = [], [], [] + accepted_fixes = set(args.accepted_fixes) + for segment in sorted(groups, key=natural_key): + group = sorted(groups[segment], key=lambda row: int(row["lidar_time_ns"])) + good = [row for row in group if truth(row["rtk_valid"]) and truth(row["heading_valid"]) + and int(row["rtk_fix_quality"]) in accepted_fixes] + if not good: + rejected.append({"station": segment, "reason": "no associated fixed RTK position and valid heading"}) + continue + samples = [] + for row in good: + path = args.combined_root / Path(row["output"]) + with np.load(path, allow_pickle=False) as data: + samples.append((scalar(data, "rtk_lat_deg"), scalar(data, "rtk_lon_deg"), + scalar(data, "rtk_altitude_m"), scalar(data, "rtk_raw_heading_deg"), + scalar(data, "rtk_pitch_deg"), scalar(data, "rtk_heading_stddev_deg"))) + values = np.asarray(samples, dtype=float) + heading_std = circular_std_deg(values[:, 3]) + if heading_std > args.heading_std_limit_deg: + rejected.append({"station": segment, "reason": f"heading std {heading_std:.4f} deg exceeds limit"}) + continue + frame = good[len(good) // 2] + source = args.combined_root / Path(frame["output"]) + selected.append({"station": segment, "source": source, "time": int(frame["lidar_time_ns"]) / 1e9, + "lat": float(np.mean(values[:, 0])), "lon": float(np.mean(values[:, 1])), + "alt": float(np.mean(values[:, 2])), "heading": circular_mean_deg(values[:, 3])}) + summaries.append({"station": segment, "frames": len(group), "valid_fixed_frames": len(good), + "heading_mean_deg": circular_mean_deg(values[:, 3]), + "heading_circular_std_deg": heading_std, "rtk_pitch_mean_deg": float(np.mean(values[:, 4])), + "reported_heading_std_mean_deg": float(np.nanmean(values[:, 5])), + "altitude_std_m": float(np.std(values[:, 2])), "selected_source": str(source)}) + + if args.expected_stations and len(selected) != args.expected_stations: + raise RuntimeError(f"expected {args.expected_stations} usable stations, got {len(selected)}; rejected={rejected}") + if len(selected) < args.min_stations: + raise RuntimeError(f"need at least {args.min_stations} usable stations, got {len(selected)}; rejected={rejected}") + if args.output.exists() and any(args.output.iterdir()) and not args.overwrite: + raise FileExistsError(f"{args.output} is non-empty; pass --overwrite") + frames = args.output / "frames_all" + frames.mkdir(parents=True, exist_ok=True) + origin = selected[0] + origin_ecef = geodetic_to_ecef(origin["lat"], origin["lon"], origin["alt"]) + lever = np.asarray(args.antenna_lever, dtype=float) + pose_rows = [] + for index, item in enumerate(selected, 1): + destination = frames / f"station_{index:02d}.npz" + shutil.copy2(item["source"], destination) + antenna = ecef_to_enu(geodetic_to_ecef(item["lat"], item["lon"], item["alt"]), origin_ecef, + 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, + 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" + 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: + fields = sorted({key for row in summaries for key in row}) + writer = csv.DictWriter(stream, fieldnames=fields); writer.writeheader(); writer.writerows(summaries) + 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, + "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"], + "source_frame": str(item["source"]), "prepared_frame": f"station_{i + 1:02d}.npz"} + for i, item in enumerate(selected)]} + (args.output / "manifest.json").write_text(json.dumps(document, ensure_ascii=False, indent=2), encoding="utf-8") + print(json.dumps({"prepared": str(args.output.resolve()), "stations": len(selected), + "rejected": rejected, "pose_csv": pose_path.name}, ensure_ascii=False, indent=2)) + return 0 + + +if __name__ == "__main__": + raise SystemExit(main()) diff --git a/tools/rscap_v2/audit_capture_v2.py b/tools/rscap_v2/audit_capture_v2.py new file mode 100644 index 0000000..4d8bb77 --- /dev/null +++ b/tools/rscap_v2/audit_capture_v2.py @@ -0,0 +1,22 @@ +from __future__ import annotations + +import argparse +from pathlib import Path + +from capture_format_v2 import file_summary, read_capture +from pipeline_common import write_json + + +def main() -> None: + parser = argparse.ArgumentParser() + parser.add_argument("captures", nargs="+", type=Path) + parser.add_argument("--out", type=Path, required=True) + args = parser.parse_args() + summaries = [file_summary(read_capture(path)) for path in args.captures] + write_json(args.out, {"captures": summaries}) + for summary in summaries: + print(summary) + + +if __name__ == "__main__": + main() diff --git a/tools/rscap_v2/capture_format_v2.py b/tools/rscap_v2/capture_format_v2.py new file mode 100644 index 0000000..3812980 --- /dev/null +++ b/tools/rscap_v2/capture_format_v2.py @@ -0,0 +1,254 @@ +from __future__ import annotations + +import binascii +import io +import struct +from dataclasses import dataclass, asdict +from pathlib import Path +from typing import BinaryIO, Iterator + + +FILE_MAGIC = "RAW_SERIAL_CAPTURE_FILE_V2" +RECORD_MAGIC = "RAW_SERIAL_RECORD_V2" +FOOTER_MAGIC = "RAW_SERIAL_CAPTURE_FOOTER_V2" + + +def read_7bit_int(stream: BinaryIO) -> int: + value = 0 + shift = 0 + while True: + raw = stream.read(1) + if not raw: + raise EOFError("truncated .NET string length") + value |= (raw[0] & 0x7F) << shift + if not raw[0] & 0x80: + return value + shift += 7 + if shift > 35: + raise ValueError("invalid .NET string length") + + +def read_dotnet_string(stream: BinaryIO) -> str: + length = read_7bit_int(stream) + raw = stream.read(length) + if len(raw) != length: + raise EOFError("truncated .NET string") + return raw.decode("utf-8") + + +def read_i32(stream: BinaryIO) -> int: + raw = stream.read(4) + if len(raw) != 4: + raise EOFError("truncated int32") + return struct.unpack(" int: + raw = stream.read(8) + if len(raw) != 8: + raise EOFError("truncated int64") + return struct.unpack(" int: + raw = stream.read(4) + if len(raw) != 4: + raise EOFError("truncated uint32") + return struct.unpack(" CaptureHeader: + if read_dotnet_string(stream) != FILE_MAGIC: + raise ValueError("not a V2 raw capture file") + version = read_i32(stream) + if version != 2: + raise ValueError(f"unsupported capture version: {version}") + return CaptureHeader( + sensor_kind=read_dotnet_string(stream), + session_id=read_dotnet_string(stream), + session_start_utc_ticks=read_i64(stream), + session_start_monotonic_ticks=read_i64(stream), + monotonic_frequency=read_i64(stream), + port=read_dotnet_string(stream), + baud=read_i32(stream), + file_start_utc_ticks=read_i64(stream), + ) + + +def parse_record_body(body: bytes, record_file_offset: int, record_crc: int) -> RawChunk: + stream = io.BytesIO(body) + if read_dotnet_string(stream) != RECORD_MAGIC: + raise ValueError("invalid record magic") + sequence = read_i64(stream) + receive_utc_ticks = read_i64(stream) + receive_monotonic_ticks = read_i64(stream) + raw_length = read_i32(stream) + if raw_length < 0 or raw_length > 64 * 1024 * 1024: + raise ValueError(f"invalid raw length: {raw_length}") + raw_offset = record_file_offset + 4 + stream.tell() + raw = stream.read(raw_length) + if len(raw) != raw_length: + raise EOFError("truncated raw bytes") + crc_valid = (binascii.crc32(body) & 0xFFFFFFFF) == record_crc + return RawChunk( + sequence=sequence, + receive_utc_ticks=receive_utc_ticks, + receive_monotonic_ticks=receive_monotonic_ticks, + raw=raw, + record_file_offset=record_file_offset, + raw_file_offset=raw_offset, + record_crc32=record_crc, + crc_valid=crc_valid, + ) + + +def parse_footer(body: bytes, expected_crc: int) -> CaptureFooter: + stream = io.BytesIO(body) + if read_dotnet_string(stream) != FOOTER_MAGIC: + raise ValueError("invalid footer magic") + clean_close = stream.read(1) == b"\x01" + records = read_i64(stream) + raw_bytes = read_i64(stream) + first_sequence = read_i64(stream) + last_sequence = read_i64(stream) + dropped_chunks = read_i64(stream) + dropped_bytes = read_i64(stream) + return CaptureFooter( + clean_close=clean_close, + records=records, + bytes=raw_bytes, + first_sequence=first_sequence, + last_sequence=last_sequence, + dropped_chunks=dropped_chunks, + dropped_bytes=dropped_bytes, + crc_valid=(binascii.crc32(body) & 0xFFFFFFFF) == expected_crc, + ) + + +def read_capture(path: Path) -> CaptureFile: + chunks: list[RawChunk] = [] + footer = None + truncated = False + with path.open("rb") as stream: + header = read_header(stream) + while True: + record_offset = stream.tell() + length_raw = stream.read(4) + if not length_raw: + break + if len(length_raw) != 4: + truncated = True + break + length = struct.unpack(" 1024 * 1024: + raise ValueError("invalid footer length") + footer_body = stream.read(footer_length) + if len(footer_body) != footer_length: + raise EOFError("truncated footer") + footer = parse_footer(footer_body, read_u32(stream)) + break + if length <= 0 or length > 64 * 1024 * 1024: + raise ValueError("invalid record length") + body = stream.read(length) + if len(body) != length: + raise EOFError("truncated record body") + record_crc = read_u32(stream) + chunks.append(parse_record_body(body, record_offset, record_crc)) + except (EOFError, ValueError): + truncated = True + break + return CaptureFile(str(path), header, chunks, footer, truncated) + + +def sequence_gaps(chunks: list[RawChunk]) -> list[tuple[int, int, int]]: + result = [] + for previous, current in zip(chunks, chunks[1:]): + if current.sequence > previous.sequence + 1: + result.append((previous.sequence, current.sequence, current.sequence - previous.sequence - 1)) + return result + + +def file_summary(capture: CaptureFile) -> dict: + gaps = sequence_gaps(capture.chunks) + sequences = [chunk.sequence for chunk in capture.chunks] + return { + "path": capture.path, + "sensor": capture.header.sensor_kind, + "session_id": capture.header.session_id, + "port": capture.header.port, + "baud": capture.header.baud, + "chunks_read": len(capture.chunks), + "bytes_read": sum(len(chunk.raw) for chunk in capture.chunks), + "first_sequence": sequences[0] if sequences else None, + "last_sequence": sequences[-1] if sequences else None, + "missing_chunks": sum(gap[2] for gap in gaps), + "gap_count": len(gaps), + "bad_record_crc": sum(not chunk.crc_valid for chunk in capture.chunks), + "truncated_tail": capture.truncated_tail, + "footer": None if capture.footer is None else asdict(capture.footer), + "gaps": gaps[:100], + } + + +def iter_contiguous_segments(chunks: list[RawChunk]) -> Iterator[tuple[int, list[RawChunk]]]: + if not chunks: + return + segment_id = 0 + current = [chunks[0]] + for previous, chunk in zip(chunks, chunks[1:]): + if chunk.sequence != previous.sequence + 1: + yield segment_id, current + segment_id += 1 + current = [chunk] + else: + current.append(chunk) + yield segment_id, current + diff --git a/tools/rscap_v2/parse_rtk_imu_v2.py b/tools/rscap_v2/parse_rtk_imu_v2.py new file mode 100644 index 0000000..d30a115 --- /dev/null +++ b/tools/rscap_v2/parse_rtk_imu_v2.py @@ -0,0 +1,35 @@ +from __future__ import annotations + +import argparse +from pathlib import Path + +from capture_format_v2 import file_summary, read_capture +from pipeline_common_corrected import parse_imu_capture, parse_rtk_capture, write_json, write_jsonl + + +def main() -> None: + parser = argparse.ArgumentParser() + parser.add_argument("--rtk", type=Path, required=True) + parser.add_argument("--imu", type=Path, required=True) + parser.add_argument("--out", type=Path, required=True) + args = parser.parse_args() + args.out.mkdir(parents=True, exist_ok=True) + rtk_capture = read_capture(args.rtk) + imu_capture = read_capture(args.imu) + rtk_rows = parse_rtk_capture(rtk_capture) + imu_rows = parse_imu_capture(imu_capture) + write_jsonl(args.out / "rtk.jsonl", rtk_rows) + write_jsonl(args.out / "imu.jsonl", imu_rows) + write_json(args.out / "parse_summary.json", { + "rtk_capture": file_summary(rtk_capture), + "imu_capture": file_summary(imu_capture), + "rtk_records": len(rtk_rows), + "rtk_checksum_valid": sum(bool(row.get("checksum_valid")) for row in rtk_rows), + "imu_frames": len(imu_rows), + "imu_crc_valid": sum(bool(row.get("crc_valid")) for row in imu_rows), + }) + print(f"RTK records={len(rtk_rows)}, IMU frames={len(imu_rows)}") + + +if __name__ == "__main__": + main() diff --git a/tools/rscap_v2/pipeline_common.py b/tools/rscap_v2/pipeline_common.py new file mode 100644 index 0000000..3f733ce --- /dev/null +++ b/tools/rscap_v2/pipeline_common.py @@ -0,0 +1,300 @@ +from __future__ import annotations + +import binascii +import json +import math +import struct +from pathlib import Path +from typing import Iterable + +from capture_format_v2 import CaptureFile, RawChunk, iter_contiguous_segments, read_capture + + +DOTNET_UNIX_EPOCH_TICKS = 621355968000000000 + + +def ticks_to_unix_ns(ticks: int) -> int: + return (ticks - DOTNET_UNIX_EPOCH_TICKS) * 100 + + +def safe_float(value: str, default=None): + try: + return float(value) + except (TypeError, ValueError): + return default + + +def safe_int(value: str, default=None): + try: + return int(value) + except (TypeError, ValueError): + return default + + +def nmea_checksum_valid(line: str) -> bool: + star = line.rfind("*") + if star < 0: + return False + try: + expected = int(line[star + 1:star + 3], 16) + except ValueError: + return False + value = 0 + for char in line[1:star]: + value ^= ord(char) + return value == expected + + +def unicore_crc32(text: str) -> int: + crc = 0 + for value in text.encode("ascii", "replace"): + crc ^= value + for _ in range(8): + crc = (crc >> 1) ^ (0xEDB88320 if crc & 1 else 0) + return crc & 0xFFFFFFFF + + +def unicore_checksum_valid(line: str) -> bool: + star = line.rfind("*") + if star < 0 or len(line) < star + 9: + return False + try: + expected = int(line[star + 1:star + 9], 16) + except ValueError: + return False + return unicore_crc32(line[1:star]) == expected + + +def parse_checksum(line: str) -> bool: + if line.startswith("$"): + return nmea_checksum_valid(line) + if line.startswith("#"): + return unicore_checksum_valid(line) + return False + + +def parse_nmea_latlon(value: str, hemisphere: str): + raw = safe_float(value) + if raw is None: + return None + degrees = math.floor(raw / 100.0) + result = degrees + (raw - degrees * 100.0) / 60.0 + if hemisphere.upper() in ("S", "W"): + result = -result + return result + + +def parse_gga(line: str) -> dict: + fields = line[:line.rfind("*")].split(",") + if len(fields) < 10: + raise ValueError("GGA has too few fields") + return { + "type": "GGA", + "position_time_utc": fields[1], + "lat_deg": parse_nmea_latlon(fields[2], fields[3]), + "lon_deg": parse_nmea_latlon(fields[4], fields[5]), + "fix_quality": safe_int(fields[6], -1), + "satellites": safe_int(fields[7], -1), + "hdop": safe_float(fields[8]), + "altitude_m": safe_float(fields[9]), + "geoid_separation_m": safe_float(fields[11]) if len(fields) > 11 else None, + "differential_age_s": safe_float(fields[13]) if len(fields) > 13 else None, + "station_id": fields[14].strip('"') if len(fields) > 14 else "", + } + + +def parse_heading(line: str) -> dict: + before_crc = line[:line.rfind("*")] + header, payload = before_crc.split(";", 1) + header_fields = header.split(",") + fields = payload.split(",") + if len(fields) < 7: + raise ValueError("UNIHEADINGA has too few fields") + raw_heading = safe_float(fields[3]) + return { + "type": "UNIHEADINGA", + "gnss_week": safe_int(header_fields[4]) if len(header_fields) > 4 else None, + "gnss_tow_ms": safe_int(header_fields[5]) if len(header_fields) > 5 else None, + "heading_status": fields[0], + "heading_solution": fields[1], + "baseline_length_m": safe_float(fields[2]), + "raw_heading_deg": raw_heading, + "pitch_deg": safe_float(fields[4]), + "heading_stddev_deg": safe_float(fields[6]), + "pitch_stddev_deg": safe_float(fields[7]) if len(fields) > 7 else None, + "station_id": fields[8].strip('"') if len(fields) > 8 else "", + "satellites": safe_int(fields[9], -1) if len(fields) > 9 else -1, + "solution_satellites": safe_int(fields[10], -1) if len(fields) > 10 else -1, + "observations": safe_int(fields[11], -1) if len(fields) > 11 else -1, + "multi_count": safe_int(fields[12], -1) if len(fields) > 12 else -1, + "heading_valid": fields[0] == "SOL_COMPUTED" and fields[1] in {"NARROW_INT", "NARROW_FLOAT"}, + } + + +def chunk_source(chunks: list[RawChunk], offset: int, end: int) -> dict: + first = chunks[0] + last = chunks[-1] + cursor = 0 + start_chunk = first + end_chunk = last + for chunk in chunks: + chunk_start = cursor + chunk_end = cursor + len(chunk.raw) + if chunk_start <= offset < chunk_end: + start_chunk = chunk + if chunk_start < end <= chunk_end: + end_chunk = chunk + break + cursor = chunk_end + return { + "source_segment_id": None, + "source_chunk_sequence_first": start_chunk.sequence, + "source_chunk_sequence_last": end_chunk.sequence, + "source_raw_file_offset": start_chunk.raw_file_offset + max(0, offset - sum(len(c.raw) for c in chunks if c.sequence < start_chunk.sequence)), + "source_raw_byte_length": max(0, end - offset), + } + + +def parse_rtk_capture(capture: CaptureFile) -> list[dict]: + rows = [] + for segment_id, chunks in iter_contiguous_segments(capture.chunks): + stream = b"".join(chunk.raw for chunk in chunks) + cursor = 0 + while cursor < len(stream): + newline = stream.find(b"\n", cursor) + if newline < 0: + break + end = newline + 1 + raw_line = stream[cursor:end].rstrip(b"\r\n") + cursor = end + if not raw_line: + continue + line = raw_line.decode("ascii", "replace") + valid = parse_checksum(line) + row = { + "type": "UNKNOWN", + "raw_line": line, + "checksum_valid": valid, + "host_receive_utc_ns": ticks_to_unix_ns(chunks[-1].receive_utc_ticks), + "host_receive_monotonic_ticks": chunks[-1].receive_monotonic_ticks, + "source_segment_id": segment_id, + "source_byte_offset_in_segment": cursor - len(raw_line) - 1, + "source_byte_length": len(raw_line) + 1, + } + try: + if line.startswith("$GNGGA") or line.startswith("$GPGGA"): + row.update(parse_gga(line)) + elif line.startswith("#UNIHEADINGA"): + row.update(parse_heading(line)) + except ValueError as ex: + row["parse_error"] = str(ex) + rows.append(row) + return rows + + +def crc16_hi13(data: bytes) -> int: + crc = 0 + for value in data: + crc ^= value << 8 + for _ in range(8): + crc = ((crc << 1) ^ 0x1021) & 0xFFFF if crc & 0x8000 else (crc << 1) & 0xFFFF + return crc + + +def decode_hi91(frame: bytes) -> dict: + f32 = lambda i: struct.unpack_from(" dict: + i16 = lambda i: struct.unpack_from(" list[dict]: + rows = [] + for segment_id, chunks in iter_contiguous_segments(capture.chunks): + stream = b"".join(chunk.raw for chunk in chunks) + cursor = 0 + while True: + start = stream.find(b"\x5a\xa5", cursor) + if start < 0 or start + 6 > len(stream): + break + payload_length = int.from_bytes(stream[start + 2:start + 4], "little") + frame_length = 6 + payload_length + if payload_length <= 0 or payload_length > 512: + cursor = start + 1 + continue + if start + frame_length > len(stream): + break + frame = stream[start:start + frame_length] + expected = int.from_bytes(frame[4:6], "little") + actual = crc16_hi13(frame[:4] + frame[6:]) + end = start + frame_length + source = chunk_source(chunks, start, end) + source["source_segment_id"] = segment_id + row = { + "type": "HI13", + "tag": frame[6], + "frame_length": frame_length, + "crc_valid": expected == actual, + "host_receive_utc_ns": ticks_to_unix_ns(chunks[-1].receive_utc_ticks), + "host_receive_monotonic_ticks": chunks[-1].receive_monotonic_ticks, + "source_segment_id": segment_id, + "source_byte_offset_in_segment": start, + "source_byte_length": frame_length, + "raw_frame_hex": frame.hex(), + } + if expected == actual: + try: + row.update(decode_hi91(frame) if frame[6] == 0x91 else decode_hi92(frame) if frame[6] == 0x92 else {}) + except (IndexError, struct.error, ValueError) as ex: + row["parse_error"] = str(ex) + rows.append(row) + cursor = end + return rows + + +def write_jsonl(path: Path, rows: Iterable[dict]) -> None: + with path.open("w", encoding="utf-8", newline="\n") as stream: + for row in rows: + stream.write(json.dumps(row, ensure_ascii=False, separators=(",", ":")) + "\n") + + +def write_json(path: Path, value: dict) -> None: + path.write_text(json.dumps(value, ensure_ascii=False, indent=2), encoding="utf-8") + + +def load_jsonl(path: Path) -> list[dict]: + with path.open("r", encoding="utf-8") as stream: + return [json.loads(line) for line in stream if line.strip()] diff --git a/tools/rscap_v2/pipeline_common_corrected.py b/tools/rscap_v2/pipeline_common_corrected.py new file mode 100644 index 0000000..35b37ef --- /dev/null +++ b/tools/rscap_v2/pipeline_common_corrected.py @@ -0,0 +1,106 @@ +from __future__ import annotations + +import bisect + +from pipeline_common import * +from capture_format_v2 import CaptureFile, RawChunk, iter_contiguous_segments + + +_SPAN_CACHE: dict[int, tuple[list[RawChunk], list[int]]] = {} + + +def _chunk_starts(chunks: list[RawChunk]) -> list[int]: + key = id(chunks) + cached = _SPAN_CACHE.get(key) + if cached is not None and cached[0] is chunks: + return cached[1] + starts = [] + cursor = 0 + for chunk in chunks: + starts.append(cursor) + cursor += len(chunk.raw) + _SPAN_CACHE[key] = (chunks, starts) + return starts + + +def source_for_span(chunks: list[RawChunk], start: int, end: int, segment_id: int) -> dict: + starts = _chunk_starts(chunks) + start_index = max(0, min(len(chunks) - 1, bisect.bisect_right(starts, start) - 1)) + end_index = max(start_index, min(len(chunks) - 1, bisect.bisect_left(starts, end) - 1)) + start_chunk = chunks[start_index] + end_chunk = chunks[end_index] + return { + "source_segment_id": segment_id, + "source_chunk_sequence_first": start_chunk.sequence, + "source_chunk_sequence_last": end_chunk.sequence, + "source_raw_file_offset": start_chunk.raw_file_offset + (start - starts[start_index]), + "source_raw_byte_length": end - start, + "host_receive_utc_ns": ticks_to_unix_ns(end_chunk.receive_utc_ticks), + "host_receive_monotonic_ticks": end_chunk.receive_monotonic_ticks, + } + +def parse_rtk_capture(capture: CaptureFile) -> list[dict]: + rows = [] + for segment_id, chunks in iter_contiguous_segments(capture.chunks): + stream = b"".join(chunk.raw for chunk in chunks) + cursor = 0 + while cursor < len(stream): + newline = stream.find(b"\n", cursor) + if newline < 0: + break + end = newline + 1 + raw_line = stream[cursor:end].rstrip(b"\r\n") + start = cursor + cursor = end + if not raw_line: + continue + line = raw_line.decode("ascii", "replace") + row = {"type": "UNKNOWN", "raw_line": line, "checksum_valid": parse_checksum(line)} + row.update(source_for_span(chunks, start, end, segment_id)) + try: + if line.startswith("$GNGGA") or line.startswith("$GPGGA"): + row.update(parse_gga(line)) + elif line.startswith("#UNIHEADINGA"): + row.update(parse_heading(line)) + except ValueError as ex: + row["parse_error"] = str(ex) + rows.append(row) + return rows + + +def parse_imu_capture(capture: CaptureFile) -> list[dict]: + rows = [] + for segment_id, chunks in iter_contiguous_segments(capture.chunks): + stream = b"".join(chunk.raw for chunk in chunks) + cursor = 0 + while True: + start = stream.find(b"\x5a\xa5", cursor) + if start < 0 or start + 6 > len(stream): + break + payload_length = int.from_bytes(stream[start + 2:start + 4], "little") + frame_length = 6 + payload_length + if payload_length <= 0 or payload_length > 512: + cursor = start + 1 + continue + if start + frame_length > len(stream): + break + frame = stream[start:start + frame_length] + expected = int.from_bytes(frame[4:6], "little") + actual = crc16_hi13(frame[:4] + frame[6:]) + end = start + frame_length + row = { + "type": "HI13", + "tag": frame[6], + "frame_length": frame_length, + "crc_valid": expected == actual, + "raw_frame_hex": frame.hex(), + } + row.update(source_for_span(chunks, start, end, segment_id)) + if row["crc_valid"]: + try: + row.update(decode_hi91(frame) if frame[6] == 0x91 else decode_hi92(frame) if frame[6] == 0x92 else {}) + except (IndexError, struct.error, ValueError) as ex: + row["parse_error"] = str(ex) + rows.append(row) + cursor = end + return rows