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。
This commit is contained in:
lichun.qu
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||||
]
|
||||
}
|
||||
},
|
||||
"ground": {
|
||||
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|
||||
"body_origin_height_above_ground_m": 0.2335,
|
||||
"formula": "d_lidar - (R_X n_lidar)^T t_X - body_height"
|
||||
},
|
||||
"linearized_one_sigma": {
|
||||
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||||
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||||
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||||
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|
||||
"warning": "conditional local estimate; bootstrap is the primary stability check"
|
||||
},
|
||||
"weighted_jacobian_condition_number": 9.240412309046407,
|
||||
"solver_multistart": {
|
||||
"runs": 12,
|
||||
"candidates_relative_to_best": [
|
||||
{
|
||||
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||||
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|
||||
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|
||||
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|
||||
},
|
||||
{
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
},
|
||||
{
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
},
|
||||
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|
||||
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|
||||
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|
||||
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||||
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||||
},
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
},
|
||||
{
|
||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
{
|
||||
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||||
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|
||||
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|
||||
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|
||||
},
|
||||
{
|
||||
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|
||||
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|
||||
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||||
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|
||||
},
|
||||
{
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
},
|
||||
{
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
},
|
||||
{
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
},
|
||||
{
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
}
|
||||
]
|
||||
},
|
||||
"bootstrap": {
|
||||
"runs": 100,
|
||||
"order": [
|
||||
"x_m",
|
||||
"y_m",
|
||||
"z_m",
|
||||
"roll_deg",
|
||||
"pitch_deg",
|
||||
"yaw_deg"
|
||||
],
|
||||
"std": [
|
||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
],
|
||||
"p025": [
|
||||
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|
||||
-0.00451064016109812,
|
||||
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|
||||
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|
||||
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|
||||
-0.9139767554692944
|
||||
],
|
||||
"p975": [
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
1.40343833941121,
|
||||
-0.7335620940370134
|
||||
]
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user