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。

run/export_legacy_stations.ps1

@@ -0,0 +1,34 @@
+param(
+    [Parameter(Mandatory = $true)][string]$DataRoot,
+    [Parameter(Mandatory = $true)][string]$OutputRoot,
+    [string]$LidarObject = "frontlidar",
+    [string]$Timezone = "+08:00",
+    [string[]]$StationNames = @(),
+    [int]$Stride = 1,
+    [double]$RtkMaxDtMs = 150.0
+)
+
+$ErrorActionPreference = "Stop"
+$Repo = Split-Path -Parent $PSScriptRoot
+$Exporter = Join-Path $Repo "tools\frontlidar_dlog_export.py"
+if (-not (Test-Path -LiteralPath $DataRoot)) { throw "DataRoot does not exist: $DataRoot" }
+if ($Stride -lt 1) { throw "Stride must be at least 1" }
+if ($StationNames.Count -gt 0) {
+    $Stations = @($StationNames | ForEach-Object { Get-Item -LiteralPath (Join-Path $DataRoot $_) })
+} else {
+    $Stations = @(Get-ChildItem -LiteralPath $DataRoot -Directory | Where-Object {
+        (Test-Path -LiteralPath (Join-Path $_.FullName "dobject")) -and
+        (Test-Path -LiteralPath (Join-Path $_.FullName "dobject_recording"))
+    } | Sort-Object Name)
+}
+if ($Stations.Count -eq 0) { throw "No station directory containing dobject and dobject_recording was found" }
+New-Item -ItemType Directory -Force -Path $OutputRoot | Out-Null
+foreach ($Station in $Stations) {
+    $Out = Join-Path $OutputRoot $Station.Name
+    Write-Host "[legacy station $($Station.Name)]"
+    & python $Exporter --dlog $Station.FullName --out $Out --object $LidarObject --format npz `
+        --timezone $Timezone --stride $Stride --compress --rtk-sidecars --write-reports --resume `
+        --rtk-max-dt-ms $RtkMaxDtMs
+    if ($LASTEXITCODE -ne 0) { throw "Export failed for station $($Station.Name)" }
+}
+Write-Host "Exported stations: $($Stations.Count)"