完善 LiDAR–双天线 RTK 手眼标定仓库：补充旧式及多传感器数据导出、small_gicp/Open3D GICP 标定、结果复核与3D可视化流程，并整理三批数据和标定结果说明。

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。

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."
-}
+}

results/01_previous_two_batches/consensus/B_batch1_consensus.consensus.json

@@ -325,4 +325,4 @@
       "reason": ""
     }
   ]
-}
+}

results/01_previous_two_batches/consensus/B_batch2_consensus.consensus.json

@@ -527,4 +527,4 @@
       "reason": ""
     }
   ]
-}
+}

results/01_previous_two_batches/consensus/batch1_auxiliary_check.json

@@ -176,4 +176,4 @@
       }
     ]
   }
-}
+}

results/01_previous_two_batches/consensus/extrinsic_batch2_consensus.json

@@ -396,4 +396,4 @@
       -0.6468477685453492
     ]
   }
-}
+}

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 @@
       }
     }
   ]
-}
+}

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 @@
       }
     }
   ]
-}
+}

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 @@
       }
     }
   ]
-}
+}

results/01_previous_two_batches/final_extrinsic_deployment.json

@@ -43,3 +43,4 @@
                        ]
                    ]
 }
+

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."
   }
-}
+}

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."
-}
+}

results/01_previous_two_batches/open3d_gicp/B_batch1_auxiliary_refined.refinement.json

@@ -1264,4 +1264,4 @@
       ]
     }
   ]
-}
+}

results/01_previous_two_batches/open3d_gicp/B_batch1_quality.json

@@ -13472,4 +13472,4 @@
       "rejection_reasons": []
     }
   ]
-}
+}

results/01_previous_two_batches/open3d_gicp/B_batch2_quality.json

@@ -13455,4 +13455,4 @@
       "rejection_reasons": []
     }
   ]
-}
+}

results/01_previous_two_batches/open3d_gicp/B_batch2_refined.refinement.json

@@ -1286,4 +1286,4 @@
       ]
     }
   ]
-}
+}

results/01_previous_two_batches/open3d_gicp/batch1_auxiliary_check.json

@@ -309,4 +309,4 @@
       }
     ]
   }
-}
+}

results/01_previous_two_batches/open3d_gicp/extrinsic_batch2.json

@@ -741,4 +741,4 @@
       -0.7099716198219946
     ]
   }
-}
+}

results/01_previous_two_batches/open3d_gicp/extrinsic_batch2_refined.json

@@ -531,4 +531,4 @@
       -0.7328998428204786
     ]
   }
-}
+}

results/01_previous_two_batches/small_gicp/B_batch1_auxiliary_refined.refinement.json

@@ -1104,4 +1104,4 @@
       ]
     }
   ]
-}
+}

results/01_previous_two_batches/small_gicp/B_batch1_quality.json

@@ -13506,4 +13506,4 @@
       "rejection_reasons": []
     }
   ]
-}
+}

results/01_previous_two_batches/small_gicp/B_batch2_quality.json

@@ -22520,4 +22520,4 @@
       "rejection_reasons": []
     }
   ]
-}
+}

results/01_previous_two_batches/small_gicp/B_batch2_refined.refinement.json

@@ -1862,4 +1862,4 @@
       ]
     }
   ]
-}
+}

results/01_previous_two_batches/small_gicp/batch1_auxiliary_check.json

@@ -274,4 +274,4 @@
       }
     ]
   }
-}
+}

results/01_previous_two_batches/small_gicp/extrinsic_batch2.json

@@ -971,4 +971,4 @@
       -0.7335620940370134
     ]
   }
-}
+}

results/01_previous_two_batches/small_gicp/extrinsic_batch2_refined.json

@@ -601,4 +601,4 @@
       -0.8275267997610058
     ]
   }
-}
+}

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。

results/02_data4_calibration/common/ground_planes.csv

@@ -0,0 +1,35 @@
+time,nx,ny,nz,d,inliers,rms_m,frame_counter
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results/02_data4_calibration/consensus/B_consensus.consensus.json

@@ -0,0 +1,340 @@
+{
+  "selection_is_X_independent": true,
+  "B_source": "Open3D; small_gicp is used only as an agreement gate",
+  "max_translation_m": 0.05,
+  "max_rotation_deg": 0.5,
+  "input_open3d_pairs": 42,
+  "accepted_pairs": 26,
+  "pairs": [
+    {
+      "i": 0,
+      "j": 1,
+      "open3d_small_translation_m": 0.014276441704401843,
+      "open3d_small_rotation_deg": 0.61360593819684,
+      "accepted": false,
+      "reason": "backend_disagreement"
+    },
+    {
+      "i": 0,
+      "j": 2,
+      "open3d_small_translation_m": 0.019952450418350955,
+      "open3d_small_rotation_deg": 0.1460927002571647,
+      "accepted": true,
+      "reason": ""
+    },
+    {
+      "i": 1,
+      "j": 2,
+      "accepted": false,
+      "reason": "not_in_small_gicp_refined"
+    },
+    {
+      "i": 2,
+      "j": 3,
+      "open3d_small_translation_m": 0.02240729290024995,
+      "open3d_small_rotation_deg": 0.16748011698659707,
+      "accepted": true,
+      "reason": ""
+    },
+    {
+      "i": 2,
+      "j": 5,
+      "open3d_small_translation_m": 0.0061616498009369,
+      "open3d_small_rotation_deg": 0.13760629005733752,
+      "accepted": true,
+      "reason": ""
+    },
+    {
+      "i": 3,
+      "j": 5,
+      "open3d_small_translation_m": 0.03979893704050873,
+      "open3d_small_rotation_deg": 0.21317157512260582,
+      "accepted": true,
+      "reason": ""
+    },
+    {
+      "i": 3,
+      "j": 6,
+      "open3d_small_translation_m": 0.012411893826144786,
+      "open3d_small_rotation_deg": 0.6409039547122976,
+      "accepted": false,
+      "reason": "backend_disagreement"
+    },
+    {
+      "i": 5,
+      "j": 8,
+      "open3d_small_translation_m": 0.02304199707639382,
+      "open3d_small_rotation_deg": 0.37075901631515606,
+      "accepted": true,
+      "reason": ""
+    },
+    {
+      "i": 6,
+      "j": 7,
+      "open3d_small_translation_m": 0.008481323658868146,
+      "open3d_small_rotation_deg": 0.2110246381252998,
+      "accepted": true,
+      "reason": ""
+    },
+    {
+      "i": 6,
+      "j": 8,
+      "open3d_small_translation_m": 0.03928926702287607,
+      "open3d_small_rotation_deg": 0.3638880951335251,
+      "accepted": true,
+      "reason": ""
+    },
+    {
+      "i": 7,
+      "j": 8,
+      "open3d_small_translation_m": 0.008121615288998074,
+      "open3d_small_rotation_deg": 0.6269514061788241,
+      "accepted": false,
+      "reason": "backend_disagreement"
+    },
+    {
+      "i": 10,
+      "j": 11,
+      "open3d_small_translation_m": 0.021311366483594964,
+      "open3d_small_rotation_deg": 0.5895827931090624,
+      "accepted": false,
+      "reason": "backend_disagreement"
+    },
+    {
+      "i": 12,
+      "j": 14,
+      "open3d_small_translation_m": 0.021593615635265958,
+      "open3d_small_rotation_deg": 0.28280557179019644,
+      "accepted": true,
+      "reason": ""
+    },
+    {
+      "i": 12,
+      "j": 15,
+      "open3d_small_translation_m": 0.03680193420722766,
+      "open3d_small_rotation_deg": 0.560849139510841,
+      "accepted": false,
+      "reason": "backend_disagreement"
+    },
+    {
+      "i": 13,
+      "j": 15,
+      "open3d_small_translation_m": 0.02340982602704091,
+      "open3d_small_rotation_deg": 0.5560478634176494,
+      "accepted": false,
+      "reason": "backend_disagreement"
+    },
+    {
+      "i": 13,
+      "j": 16,
+      "open3d_small_translation_m": 0.027602744462628358,
+      "open3d_small_rotation_deg": 0.2529072067309942,
+      "accepted": true,
+      "reason": ""
+    },
+    {
+      "i": 15,
+      "j": 16,
+      "open3d_small_translation_m": 0.0209082447077901,
+      "open3d_small_rotation_deg": 0.03400462126505844,
+      "accepted": true,
+      "reason": ""
+    },
+    {
+      "i": 15,
+      "j": 17,
+      "open3d_small_translation_m": 0.04186146133502697,
+      "open3d_small_rotation_deg": 0.13358624916951176,
+      "accepted": true,
+      "reason": ""
+    },
+    {
+      "i": 15,
+      "j": 18,
+      "open3d_small_translation_m": 0.014610177110996908,
+      "open3d_small_rotation_deg": 0.25378510251316655,
+      "accepted": true,
+      "reason": ""
+    },
+    {
+      "i": 16,
+      "j": 19,
+      "open3d_small_translation_m": 0.012703728170382652,
+      "open3d_small_rotation_deg": 0.36607447371237334,
+      "accepted": true,
+      "reason": ""
+    },
+    {
+      "i": 17,
+      "j": 18,
+      "open3d_small_translation_m": 0.03054772105829047,
+      "open3d_small_rotation_deg": 0.6293060553954827,
+      "accepted": false,
+      "reason": "backend_disagreement"
+    },
+    {
+      "i": 21,
+      "j": 22,
+      "open3d_small_translation_m": 0.008438580476457845,
+      "open3d_small_rotation_deg": 0.15351253406054555,
+      "accepted": true,
+      "reason": ""
+    },
+    {
+      "i": 21,
+      "j": 23,
+      "open3d_small_translation_m": 0.018479690388276085,
+      "open3d_small_rotation_deg": 0.5781174905909121,
+      "accepted": false,
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results/02_data4_calibration/consensus/extrinsic.json

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results/02_data4_calibration/final_extrinsic_data4.json

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results/02_data4_calibration/open3d_gicp/B_quality.csv

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results/02_data4_calibration/small_gicp/B_quality.csv

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+        {
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+          "translation_m": 0.0952510183208545,
+          "rotation_deg": 0.8616718556937568
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+        {
+          "pair_index": 56,
+          "translation_m": 0.10976329201195999,
+          "rotation_deg": 0.5415573303416338
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+      ]
+    }
+  },
+  "ground": {
+    "planes": 34,
+    "body_origin_height_above_ground_m": 0.2335,
+    "formula": "d_lidar - (R_X n_lidar)^T t_X - body_height"
+  },
+  "linearized_one_sigma": {
+    "translation_m": [
+      0.006072210871275005,
+      0.0060852661675311025,
+      0.005465720025368553
+    ],
+    "rotation_deg": [
+      0.06255688904352227,
+      0.06213349734715941,
+      0.13055508827073753
+    ],
+    "warning": "conditional local estimate; bootstrap is the primary stability check"
+  },
+  "weighted_jacobian_condition_number": 6.040138286165465,
+  "solver_multistart": {
+    "runs": 12,
+    "candidates_relative_to_best": [
+      {
+        "cost": 324.2098227991519,
+        "success": true,
+        "translation_m": 5.570266299009551e-09,
+        "rotation_deg": 1.4455049406405054e-07
+      },
+      {
+        "cost": 324.20982279914983,
+        "success": true,
+        "translation_m": 0.0,
+        "rotation_deg": 0.0
+      },
+      {
+        "cost": 324.20982279915165,
+        "success": true,
+        "translation_m": 5.216823166795417e-09,
+        "rotation_deg": 1.973338877475283e-07
+      },
+      {
+        "cost": 324.20982279915034,
+        "success": true,
+        "translation_m": 1.3901066622882166e-09,
+        "rotation_deg": 6.335210062786435e-08
+      },
+      {
+        "cost": 324.20982279914995,
+        "success": true,
+        "translation_m": 3.578733410578741e-10,
+        "rotation_deg": 6.852733510041159e-09
+      },
+      {
+        "cost": 324.20982279914983,
+        "success": true,
+        "translation_m": 6.594966941115627e-10,
+        "rotation_deg": 2.2216701960527812e-08
+      },
+      {
+        "cost": 324.20982279914983,
+        "success": true,
+        "translation_m": 2.1650538139486925e-09,
+        "rotation_deg": 3.6255288379996055e-08
+      },
+      {
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+        "success": true,
+        "translation_m": 1.5027981325208515e-09,
+        "rotation_deg": 6.326578543393082e-08
+      },
+      {
+        "cost": 324.20982279914983,
+        "success": true,
+        "translation_m": 6.094320168262204e-10,
+        "rotation_deg": 1.025130160040861e-08
+      },
+      {
+        "cost": 324.2098227991552,
+        "success": true,
+        "translation_m": 1.057266183614633e-08,
+        "rotation_deg": 3.643863231629731e-07
+      },
+      {
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+        "success": true,
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+        "rotation_deg": 1.359274031832874e-07
+      },
+      {
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+        "success": true,
+        "translation_m": 6.276644321676319e-10,
+        "rotation_deg": 2.14493230752589e-08
+      }
+    ]
+  },
+  "bootstrap": {
+    "runs": 100,
+    "order": [
+      "x_m",
+      "y_m",
+      "z_m",
+      "roll_deg",
+      "pitch_deg",
+      "yaw_deg"
+    ],
+    "std": [
+      0.003048001100427371,
+      0.0025869752895426976,
+      0.0014870952541001317,
+      0.09174691854497609,
+      0.06502786700039134,
+      0.11777557058586356
+    ],
+    "p025": [
+      1.2892012505330883,
+      -0.0051467048024525786,
+      0.7035478241042927,
+      -0.8634755073850175,
+      1.2139289883714506,
+      -1.173046710195043
+    ],
+    "p975": [
+      1.2997598841406142,
+      0.005003259375615847,
+      0.7090711194920217,
+      -0.48035430043405547,
+      1.4534667429791082,
+      -0.7593758945747364
+    ]
+  }
+}

results/03_comparison/README.md

@@ -0,0 +1,7 @@
+# 跨批比较
+
+- `extrinsic_difference.json`：data4 X 相对历史部署 X 的严格 SE(3) 差，约 `1.592 cm / 0.234°`。
+- `old_extrinsic_on_data4.json`：历史部署 X 在 data4 B 上的残差，约 `0.11953 m / 1.24836°`。
+- `data4_extrinsic_on_previous_batch2.json`：data4 X 在历史第二批 B 上的残差，约 `0.07931 m / 0.98926°`。
+
+两套 X 的跨批表现接近，而 data4 自身估计残差更高；因此维持历史部署值，data4 只作为候选。

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",
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+  "metrics": {
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+      "p90": 0.1205091988381832,
+      "p95": 0.14405284012014574,
+      "max": 0.23166749945892554
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+    "rotation_deg": {
+      "rms": 0.9892579681085032,
+      "median": 0.8987168885592437,
+      "p90": 1.5241504377222574,
+      "p95": 1.5453098245907155,
+      "max": 1.8288069823538258
+    },
+    "per_pair": [
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+        "rotation_deg": 0.4578882478759752,
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+        "i": 35,
+        "j": 36
+      }
+    ]
+  }
+}

results/03_comparison/extrinsic_difference.json

@@ -0,0 +1,43 @@
+{
+  "convention": "delta = inverse(reference) @ candidate",
+  "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": [
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+    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
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+    [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+    ]
+  ]
+}

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",
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+  "metrics": {
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+        "pair_index": 25,
+        "translation_m": 0.11357259403662164,
+        "rotation_deg": 0.901297615800165,
+        "i": 30,
+        "j": 32
+      }
+    ]
+  }
+}

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)。
+- `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。