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/view_result.ps1

@@ -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" }