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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# run
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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`。
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| 脚本 | 使用时机 |
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|---|---|
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| `export_legacy_stations.ps1` | 第一、第二批式逐站 dlog 导出。 |
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| `export_multisensor_stations.ps1` | LiDAR dlog + 独立 RTK/IMU rscap 导出和时间关联。 |
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| `prepare_legacy_dataset.ps1` | 旧式导出结果生成 prepared。 |
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| `prepare_multisensor_dataset.ps1` | 多传感器 combined 结果生成 prepared。 |
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| `run_single_dataset.ps1` | 单批数据运行 small_gicp、Open3D、consensus 和 X 求解。 |
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| `run_all.ps1` | 第二批求解、第一批辅助复核的历史流程。 |
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| `run_consensus_finish.ps1` | 从已有两个后端 B 重做 consensus。 |
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| `run_sensitivity_scan.ps1` | 指定 Pair 的外参角度灵敏度扫描。 |
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| `view_result.ps1` | 传入 frames、B、X 查看 3D 配准及增量。 |
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最常用的 3D 入口：
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```powershell
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powershell.exe -NoProfile -ExecutionPolicy Bypass -File ".\run\view_result.ps1" `
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-Frames "D:\你的数据目录\prepared\frames_all" `
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-Pairs "D:\你的结果目录\B_consensus.npz" `
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-Extrinsic "D:\你的结果目录\extrinsic.json" `
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-PairIndex 0
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```
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`frames_all` 必须与生成 B 时的站点顺序一致。
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param(
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[Parameter(Mandatory = $true)][string]$DataRoot,
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[Parameter(Mandatory = $true)][string]$OutputRoot,
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[string]$LidarObject = "frontlidar",
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[string]$Timezone = "+08:00",
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[string[]]$StationNames = @(),
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[int]$Stride = 1,
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[double]$RtkMaxDtMs = 150.0
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)
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$ErrorActionPreference = "Stop"
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$Repo = Split-Path -Parent $PSScriptRoot
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$Exporter = Join-Path $Repo "tools\frontlidar_dlog_export.py"
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if (-not (Test-Path -LiteralPath $DataRoot)) { throw "DataRoot does not exist: $DataRoot" }
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if ($Stride -lt 1) { throw "Stride must be at least 1" }
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if ($StationNames.Count -gt 0) {
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$Stations = @($StationNames | ForEach-Object { Get-Item -LiteralPath (Join-Path $DataRoot $_) })
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} else {
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$Stations = @(Get-ChildItem -LiteralPath $DataRoot -Directory | Where-Object {
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(Test-Path -LiteralPath (Join-Path $_.FullName "dobject")) -and
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(Test-Path -LiteralPath (Join-Path $_.FullName "dobject_recording"))
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} | Sort-Object Name)
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}
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if ($Stations.Count -eq 0) { throw "No station directory containing dobject and dobject_recording was found" }
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New-Item -ItemType Directory -Force -Path $OutputRoot | Out-Null
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foreach ($Station in $Stations) {
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$Out = Join-Path $OutputRoot $Station.Name
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Write-Host "[legacy station $($Station.Name)]"
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& python $Exporter --dlog $Station.FullName --out $Out --object $LidarObject --format npz `
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--timezone $Timezone --stride $Stride --compress --rtk-sidecars --write-reports --resume `
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--rtk-max-dt-ms $RtkMaxDtMs
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if ($LASTEXITCODE -ne 0) { throw "Export failed for station $($Station.Name)" }
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}
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Write-Host "Exported stations: $($Stations.Count)"
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@@ -0,0 +1,89 @@
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param(
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[Parameter(Mandatory = $true)][string]$DataRoot,
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[Parameter(Mandatory = $true)][string]$OutputRoot,
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[Parameter(Mandatory = $true)][string]$RtkCapture,
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[Parameter(Mandatory = $true)][string]$ImuCapture,
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[string]$LidarObject = "frontlidar",
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[string]$Timezone = "+08:00",
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[string[]]$StationNames = @(),
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[int]$Stride = 1,
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[double]$RtkMaxDtMs = 150.0,
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[double]$ImuBeforeMs = 100.0,
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[double]$ImuAfterMs = 100.0,
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[switch]$SkipLidarExport,
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[switch]$SkipSerialParsing
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)
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$ErrorActionPreference = "Stop"
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$RepoRoot = Split-Path -Parent $PSScriptRoot
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$Exporter = Join-Path $RepoRoot "tools\frontlidar_dlog_export.py"
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$Builder = Join-Path $RepoRoot "tools\build_multisensor_npz.py"
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$Parser = Join-Path $RepoRoot "tools\rscap_v2\parse_rtk_imu_v2.py"
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$Auditor = Join-Path $RepoRoot "tools\rscap_v2\audit_capture_v2.py"
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$ExportRoot = Join-Path $OutputRoot "export"
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$ParsedRoot = Join-Path $OutputRoot "parsed"
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$CombinedRoot = Join-Path $OutputRoot "combined"
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function Run-Python {
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param([string]$Stage, [string[]]$Arguments)
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Write-Host "[$Stage]"
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& python @Arguments
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if ($LASTEXITCODE -ne 0) {
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throw "$Stage failed with Python exit code $LASTEXITCODE"
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}
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}
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foreach ($Path in @($DataRoot, $RtkCapture, $ImuCapture)) {
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if (-not (Test-Path -LiteralPath $Path)) { throw "Input does not exist: $Path" }
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}
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if ($Stride -lt 1) { throw "Stride must be at least 1" }
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if ($StationNames.Count -gt 0) {
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$Stations = @($StationNames | ForEach-Object { Get-Item -LiteralPath (Join-Path $DataRoot $_) })
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} else {
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$Stations = @(Get-ChildItem -LiteralPath $DataRoot -Directory | Where-Object {
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(Test-Path -LiteralPath (Join-Path $_.FullName "dobject")) -and
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(Test-Path -LiteralPath (Join-Path $_.FullName "dobject_recording"))
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} | Sort-Object Name)
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}
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if ($Stations.Count -eq 0) { throw "No station directory containing dobject and dobject_recording was found" }
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New-Item -ItemType Directory -Force -Path $OutputRoot | Out-Null
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if (-not $SkipSerialParsing) {
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New-Item -ItemType Directory -Force -Path $ParsedRoot | Out-Null
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Run-Python "capture audit" @($Auditor, $RtkCapture, $ImuCapture, "--out", (Join-Path $OutputRoot "capture_audit.json"))
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Run-Python "RTK/IMU parse" @($Parser, "--rtk", $RtkCapture, "--imu", $ImuCapture, "--out", $ParsedRoot)
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}
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foreach ($Station in $Stations) {
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$StationOut = Join-Path $ExportRoot $Station.Name
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if (-not $SkipLidarExport) {
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Run-Python "LiDAR station $($Station.Name)" @(
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$Exporter, "--dlog", $Station.FullName, "--out", $StationOut,
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"--object", $LidarObject, "--format", "npz", "--timezone", $Timezone,
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"--stride", "$Stride", "--compress", "--skip-rtk", "--write-reports", "--resume"
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)
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}
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if (-not (Test-Path -LiteralPath (Join-Path $StationOut "frames"))) {
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throw "Exported frame directory is absent for station $($Station.Name): $StationOut"
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}
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}
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$BuildArgs = @($Builder)
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foreach ($Station in $Stations) {
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$Frames = Join-Path (Join-Path $ExportRoot $Station.Name) "frames"
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$BuildArgs += @("--lidar", "$($Station.Name)=$Frames")
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}
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$BuildArgs += @(
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"--rtk", (Join-Path $ParsedRoot "rtk.jsonl"),
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"--imu", (Join-Path $ParsedRoot "imu.jsonl"),
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"--out", $CombinedRoot,
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"--rtk-max-dt-ms", "$RtkMaxDtMs",
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"--imu-before-ms", "$ImuBeforeMs",
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"--imu-after-ms", "$ImuAfterMs",
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"--overwrite"
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)
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Run-Python "LiDAR/RTK/IMU association" $BuildArgs
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Write-Host "Completed stations: $($Stations.Count)"
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Write-Host "Combined NPZ: $CombinedRoot"
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@@ -0,0 +1,21 @@
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param(
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[Parameter(Mandatory = $true)][string]$ExportRoot,
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[Parameter(Mandatory = $true)][string]$Output,
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[Parameter(Mandatory = $true)][double]$HeadingOffsetDeg,
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[Parameter(Mandatory = $true)][double[]]$AntennaLever,
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[int]$MinStations = 30,
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[int]$ExpectedStations = 0,
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[double]$HeadingStdLimitDeg = [double]::PositiveInfinity,
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[switch]$Overwrite
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)
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$ErrorActionPreference = "Stop"
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if ($AntennaLever.Count -ne 3) { throw "AntennaLever must contain X,Y,Z in body coordinates" }
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$Repo = Split-Path -Parent $PSScriptRoot
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$Args = @((Join-Path $Repo "tools\prepare_station_dataset.py"), "--export-root", $ExportRoot,
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"--output", $Output, "--heading-offset-deg", "$HeadingOffsetDeg", "--antenna-lever") +
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@($AntennaLever | ForEach-Object { "$_" }) + @("--min-stations", "$MinStations",
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"--expected-stations", "$ExpectedStations", "--heading-std-limit-deg", "$HeadingStdLimitDeg")
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if ($Overwrite) { $Args += "--overwrite" }
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& python @Args
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if ($LASTEXITCODE -ne 0) { throw "Legacy dataset preparation failed" }
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@@ -0,0 +1,21 @@
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param(
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[Parameter(Mandatory = $true)][string]$CombinedRoot,
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[Parameter(Mandatory = $true)][string]$Output,
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[Parameter(Mandatory = $true)][double]$HeadingOffsetDeg,
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[Parameter(Mandatory = $true)][double[]]$AntennaLever,
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[int]$MinStations = 30,
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[int]$ExpectedStations = 0,
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[double]$HeadingStdLimitDeg = 0.5,
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[switch]$Overwrite
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)
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$ErrorActionPreference = "Stop"
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if ($AntennaLever.Count -ne 3) { throw "AntennaLever must contain X,Y,Z in body coordinates" }
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$Repo = Split-Path -Parent $PSScriptRoot
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$Args = @((Join-Path $Repo "tools\prepare_multisensor_station_dataset.py"), "--combined-root", $CombinedRoot,
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"--output", $Output, "--heading-offset-deg", "$HeadingOffsetDeg", "--antenna-lever") +
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@($AntennaLever | ForEach-Object { "$_" }) + @("--min-stations", "$MinStations",
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"--expected-stations", "$ExpectedStations", "--heading-std-limit-deg", "$HeadingStdLimitDeg")
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if ($Overwrite) { $Args += "--overwrite" }
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& python @Args
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if ($LASTEXITCODE -ne 0) { throw "Multisensor dataset preparation failed" }
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+59
-17
@@ -1,32 +1,74 @@
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param(
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[string]$Batch1Prepared = "C:\Users\admin\Documents\Codex\2026-07-15\wo\outputs\calibration_20260717\prepared",
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[string]$Batch2Prepared = "C:\Users\admin\Documents\Codex\2026-07-15\wo\outputs\calibration_data1_20260720\prepared"
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[Parameter(Mandatory = $true)][string]$Batch1Prepared,
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[Parameter(Mandatory = $true)][string]$Batch2Prepared,
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[string]$OutputRoot = ""
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)
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$ErrorActionPreference = "Stop"
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$Repo = Split-Path -Parent $PSScriptRoot
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if ([string]::IsNullOrWhiteSpace($OutputRoot)) {
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$OutputRoot = Join-Path $Repo "results\01_previous_two_batches"
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}
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$Code = Join-Path $Repo "code\rigorous_calibration.py"
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$Refine = Join-Path $Repo "code\refine_pairs.py"
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$Summary = Join-Path $Repo "code\summarize_results.py"
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$R = Join-Path $Repo "results"
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$B1Frames = Join-Path $Batch1Prepared "frames_all"
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$B2Frames = Join-Path $Batch2Prepared "frames_all"
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$B1Body = Join-Path $Batch1Prepared "body_poses_rear_gga_raw_rear_to_front.csv"
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$B2Body = Join-Path $Batch2Prepared "body_poses_rear_gga_raw_rear_to_front.csv"
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python $Code ground --frames $B2Frames --output "$R\common\ground_planes_batch2.csv"
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function Run-Python {
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param([string]$Stage, [string[]]$Arguments)
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Write-Host "[$Stage]"
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& python @Arguments
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if ($LASTEXITCODE -ne 0) { throw "$Stage failed with Python exit code $LASTEXITCODE" }
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}
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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"
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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
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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"
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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"
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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"
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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"
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foreach ($Path in @($B1Frames, $B2Frames, $B1Body, $B2Body)) {
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if (-not (Test-Path -LiteralPath $Path)) { throw "Input does not exist: $Path" }
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}
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$Common = Join-Path $OutputRoot "common"
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$Small = Join-Path $OutputRoot "small_gicp"
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$Open = Join-Path $OutputRoot "open3d_gicp"
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New-Item -ItemType Directory -Force -Path $Common,$Small,$Open | Out-Null
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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
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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
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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"
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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"
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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"
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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"
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Run-Python "batch2 ground planes" @($Code, "ground", "--frames", $B2Frames, "--output", (Join-Path $Common "ground_planes_batch2.csv"))
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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 "$R\final_extrinsic_recommended.json"
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foreach ($Backend in @("small_gicp", "open3d")) {
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$Directory = if ($Backend -eq "small_gicp") { $Small } else { $Open }
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$Extra = @()
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if ($Backend -eq "open3d") { $Extra = @("--max-gap", "3", "--multistart", "1", "--iterations", "40") }
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$B2Raw = Join-Path $Directory "B_batch2_estimation.npz"
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$B2QualityJson = Join-Path $Directory "B_batch2_quality.json"
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$B2QualityCsv = Join-Path $Directory "B_batch2_quality.csv"
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Run-Python "$Backend batch2 pairs" (@($Code, "pairs", "--backend", $Backend, "--frames", $B2Frames, "--body", $B2Body,
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"--output", $B2Raw, "--quality-json", $B2QualityJson, "--quality-csv", $B2QualityCsv) + $Extra)
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$B2Refined = Join-Path $Directory "B_batch2_refined.npz"
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Run-Python "$Backend batch2 refinement" @($Refine, "--pairs", $B2Raw, "--quality-json", $B2QualityJson, "--output", $B2Refined)
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$Extrinsic = Join-Path $Directory "extrinsic_batch2_refined.json"
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Run-Python "$Backend batch2 calibration" @($Code, "calibrate", "--pairs", $B2Refined,
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"--ground-planes", (Join-Path $Common "ground_planes_batch2.csv"), "--output", $Extrinsic)
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$B1Raw = Join-Path $Directory "B_batch1_auxiliary.npz"
|
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$B1QualityJson = Join-Path $Directory "B_batch1_quality.json"
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$B1QualityCsv = Join-Path $Directory "B_batch1_quality.csv"
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Run-Python "$Backend batch1 auxiliary pairs" @($Code, "pairs", "--backend", $Backend, "--frames", $B1Frames, "--body", $B1Body,
|
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"--output", $B1Raw, "--quality-json", $B1QualityJson, "--quality-csv", $B1QualityCsv,
|
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"--max-gap", "3", "--multistart", "1", "--iterations", "40")
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$B1Refined = Join-Path $Directory "B_batch1_auxiliary_refined.npz"
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Run-Python "$Backend batch1 refinement" @($Refine, "--pairs", $B1Raw, "--quality-json", $B1QualityJson, "--output", $B1Refined)
|
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Run-Python "$Backend batch1 auxiliary check" @($Code, "validate", "--pairs", $B1Refined,
|
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"--extrinsic", $Extrinsic, "--output", (Join-Path $Directory "batch1_auxiliary_check.json"))
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}
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Run-Python "backend summary" @($Summary,
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"--open3d", (Join-Path $Open "extrinsic_batch2_refined.json"),
|
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"--small", (Join-Path $Small "extrinsic_batch2_refined.json"),
|
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"--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"))
|
||||
|
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Write-Host "Two-batch results: $OutputRoot"
|
||||
|
||||
@@ -1,12 +1,34 @@
|
||||
param([string]$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 $ResultRoot "final_summary.json"))
|
||||
|
||||
@@ -1,15 +1,22 @@
|
||||
param([int]$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" }
|
||||
|
||||
@@ -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: $OutputRoot"
|
||||
@@ -1,14 +0,0 @@
|
||||
param(
|
||||
[int]$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
|
||||
@@ -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 $LASTEXITCODE" }
|
||||
@@ -1,18 +0,0 @@
|
||||
param(
|
||||
[int]$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
|
||||
Reference in New Issue
Block a user