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。

tools/rscap_v2/audit_capture_v2.py

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+from __future__ import annotations
+
+import argparse
+from pathlib import Path
+
+from capture_format_v2 import file_summary, read_capture
+from pipeline_common import write_json
+
+
+def main() -> None:
+    parser = argparse.ArgumentParser()
+    parser.add_argument("captures", nargs="+", type=Path)
+    parser.add_argument("--out", type=Path, required=True)
+    args = parser.parse_args()
+    summaries = [file_summary(read_capture(path)) for path in args.captures]
+    write_json(args.out, {"captures": summaries})
+    for summary in summaries:
+        print(summary)
+
+
+if __name__ == "__main__":
+    main()