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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。

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lichun.qu
2026-07-23 18:55:50 +08:00
parent 6b7844a977
commit f72fcb71cc
91 changed files with 39561 additions and 503 deletions
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results/02_data4_calibration/common/ground_planes.csv
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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
1784784224.2408776,-0.02761369891036776,0.0016288328836576937,0.9996173420544108,0.9001377900125058,1799,0.012615520511386497,4371
1784784301.6372502,-0.0071762210837946405,-0.011511959356927467,0.9999079840878965,0.9580809447760092,2113,0.012007730376482893,5145
1784784387.733771,-0.010489658730106238,-0.009076163262051764,0.9999037905319524,0.9306898458653136,2187,0.01214615852280608,6006
1784784474.9314597,-0.016114135387570262,-0.0509432368134707,0.9985715403834008,0.9072229543504865,1894,0.012012086783846727,6878
1784784549.4274275,-0.025174259196536854,-0.013435577824823405,0.9995927880504234,0.9410339772836553,1603,0.01154746446935748,7623
1784784614.7244046,-0.03173300872144653,-0.01870285516152855,0.9993213794202,0.932566466561638,1970,0.01233410897082844,8276
1784784682.921899,-0.022665842512528424,-0.02998919824936144,0.9992932040054899,0.9145231002636922,1663,0.012948552270457988,8958
1784784758.8187964,-0.023688193326187944,-0.030852054660206355,0.9992432237549499,0.9349709939783197,1756,0.013443733500218538,9717
1784784836.0155501,-0.018461711654128285,-0.02498001140817507,0.9995174656967467,0.94720244509644,2057,0.013445893726732725,10489
1784784921.1126208,-0.01993595874096254,-0.02538449671402936,0.9994789566947642,0.9120981909462803,1822,0.012774262320504949,11340
1784784992.709947,-0.017778693539407146,-0.026803117327322167,0.9994826216386005,0.9369057170493221,2114,0.012253841210002203,12056
1784785067.6067727,-0.03766905893322114,-0.00624993226014667,0.9992707242513558,0.9491859078478477,1753,0.01368084681318558,12805
1784785215.9006598,-0.023255779098430147,-0.030526061005580876,0.9992633928739754,0.9173759052467025,2145,0.012710466955150847,14288
1784785296.4990919,-0.014034225033964978,-0.025014032112439084,0.9995885847313253,0.9275558675790446,2445,0.012495377814995792,15094
1784785363.1952267,-0.03352240146955635,-0.008711847039715113,0.9993999961581301,0.9543448006240765,1968,0.01391585588879859,15761
1784785434.592462,-0.016701702947054253,0.016663838961403298,0.9997216460544089,0.9289121671743757,1857,0.011181698281215124,16475
1784785506.389296,-0.03393096202185679,-0.007325597743377637,0.9993973311120926,0.9387396500642948,1844,0.01340053385502904,17193
1784785587.5863533,-0.03382019410288933,-0.0007820019558384217,0.9994276276668481,0.9255866795455666,1691,0.012723688174337812,18005
1784785681.9825997,-0.03422781555599595,-0.019255467037831406,0.999228544243718,0.9454924962027047,1959,0.01264678059788212,18949
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1784786396.7558627,-0.030769194030483185,-0.022645428394942407,0.9992699541522921,0.9756606317668476,1326,0.013202989492489907,26097
1784786557.4492514,-0.019983269314458783,-0.016965365794746882,0.9996563636124948,0.9409853928234136,1228,0.013269243263785414,27704
1 time nx ny nz d inliers rms_m frame_counter
2 1784783825.357129 -0.011572516208853837 -0.01546146293660183 0.9998134926237273 0.9428804652027359 2148 0.011933750988078078 382
3 1784783905.353819 0.0037183584307534687 -0.006818427483323246 0.9999698409738341 0.9412842800288904 1992 0.011942807895967073 1182
4 1784783971.0503054 -0.021709843154394736 -0.005232422217807239 0.999750621139065 0.9451429710867566 1863 0.012080615710528817 1839
5 1784784059.7468228 -0.02414670904491499 -0.0009406084776101358 0.9997079832120939 0.9517260475425733 1921 0.013468410314875789 2726
6 1784784149.2434597 -0.034005828386544125 0.003026503321489513 0.9994170520425345 0.9257219945735469 1673 0.012714432789206961 3621
7 1784784224.2408776 -0.02761369891036776 0.0016288328836576937 0.9996173420544108 0.9001377900125058 1799 0.012615520511386497 4371
8 1784784301.6372502 -0.0071762210837946405 -0.011511959356927467 0.9999079840878965 0.9580809447760092 2113 0.012007730376482893 5145
9 1784784387.733771 -0.010489658730106238 -0.009076163262051764 0.9999037905319524 0.9306898458653136 2187 0.01214615852280608 6006
10 1784784474.9314597 -0.016114135387570262 -0.0509432368134707 0.9985715403834008 0.9072229543504865 1894 0.012012086783846727 6878
11 1784784549.4274275 -0.025174259196536854 -0.013435577824823405 0.9995927880504234 0.9410339772836553 1603 0.01154746446935748 7623
12 1784784614.7244046 -0.03173300872144653 -0.01870285516152855 0.9993213794202 0.932566466561638 1970 0.01233410897082844 8276
13 1784784682.921899 -0.022665842512528424 -0.02998919824936144 0.9992932040054899 0.9145231002636922 1663 0.012948552270457988 8958
14 1784784758.8187964 -0.023688193326187944 -0.030852054660206355 0.9992432237549499 0.9349709939783197 1756 0.013443733500218538 9717
15 1784784836.0155501 -0.018461711654128285 -0.02498001140817507 0.9995174656967467 0.94720244509644 2057 0.013445893726732725 10489
16 1784784921.1126208 -0.01993595874096254 -0.02538449671402936 0.9994789566947642 0.9120981909462803 1822 0.012774262320504949 11340
17 1784784992.709947 -0.017778693539407146 -0.026803117327322167 0.9994826216386005 0.9369057170493221 2114 0.012253841210002203 12056
18 1784785067.6067727 -0.03766905893322114 -0.00624993226014667 0.9992707242513558 0.9491859078478477 1753 0.01368084681318558 12805
19 1784785215.9006598 -0.023255779098430147 -0.030526061005580876 0.9992633928739754 0.9173759052467025 2145 0.012710466955150847 14288
20 1784785296.4990919 -0.014034225033964978 -0.025014032112439084 0.9995885847313253 0.9275558675790446 2445 0.012495377814995792 15094
21 1784785363.1952267 -0.03352240146955635 -0.008711847039715113 0.9993999961581301 0.9543448006240765 1968 0.01391585588879859 15761
22 1784785434.592462 -0.016701702947054253 0.016663838961403298 0.9997216460544089 0.9289121671743757 1857 0.011181698281215124 16475
23 1784785506.389296 -0.03393096202185679 -0.007325597743377637 0.9993973311120926 0.9387396500642948 1844 0.01340053385502904 17193
24 1784785587.5863533 -0.03382019410288933 -0.0007820019558384217 0.9994276276668481 0.9255866795455666 1691 0.012723688174337812 18005
25 1784785681.9825997 -0.03422781555599595 -0.019255467037831406 0.999228544243718 0.9454924962027047 1959 0.01264678059788212 18949
26 1784785815.4779446 -0.0011902245774294716 -0.023262098479360813 0.9997286922659526 0.9523139768255908 2026 0.012446728838862407 20284
27 1784785891.9768085 -0.02758114176328463 0.0022252358991911286 0.9996170911625244 0.9417694614877323 1551 0.012616490996777729 21049
28 1784785967.8726046 -0.031038730802887403 -0.010699305087773895 0.9994609157244643 0.9511405539250901 1512 0.013166899954854165 21808
29 1784786031.5701303 -0.023257481598180085 -0.0214545061132305 0.9994992714940555 0.9380611442094842 1555 0.013339981386836522 22445
30 1784786087.9670725 -0.02720411594210121 -0.012536181034248165 0.9995512894498637 0.942804167293392 1531 0.013246549575843425 23009
31 1784786160.8647907 -0.030839502708575457 0.06473269778477829 0.9974259886879789 1.0783938869067702 1436 0.010501132985089602 23738
32 1784786252.6621523 -0.040972893104105006 -0.02082299858725662 0.9989432540242288 0.9524735117369321 1736 0.012945834939507173 24656
33 1784786319.6581354 -0.029761355495275914 -0.026565272466750618 0.9992039571668294 0.9594371422885729 1571 0.013108184070957877 25326
34 1784786396.7558627 -0.030769194030483185 -0.022645428394942407 0.9992699541522921 0.9756606317668476 1326 0.013202989492489907 26097
35 1784786557.4492514 -0.019983269314458783 -0.016965365794746882 0.9996563636124948 0.9409853928234136 1228 0.013269243263785414 27704