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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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run/run_sensitivity_scan.ps1
+20 -13
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@@ -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" }