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。

2026-07-23 18:55:50 +08:00
parent 6b7844a977
commit f72fcb71cc
91 changed files with 39561 additions and 503 deletions
@@ -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": [
+    -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
+    ]
+  ]
+}