134 lines
4.9 KiB
Python
134 lines
4.9 KiB
Python
"""Pretty-print calibration summary.json and optionally write a small preview figure."""
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from __future__ import annotations
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import argparse
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import json
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from pathlib import Path
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def _load(path: Path) -> dict:
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return json.loads(path.read_text(encoding="utf-8"))
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def _session0(summary: dict) -> dict:
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sessions = summary.get("details", {}).get("sessions", [])
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return sessions[0] if sessions else {}
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def print_report(summary: dict, truth: dict | None = None) -> None:
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print("---------- calibration report ----------")
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print(f"status : {summary.get('status')}")
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print(f"message: {summary.get('message')}")
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dt = summary.get("time_offset_s")
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if dt is not None:
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print(f"δt : {dt:.6f} s (t_imu = t_lidar + δt)")
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if truth and "delta_t_s" in truth:
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print(f" truth={truth['delta_t_s']:.6f} s err={dt - truth['delta_t_s']:+.6f} s")
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t_block = summary.get("T_IMU_lidar")
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if isinstance(t_block, dict):
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rpy = t_block.get("rpy_deg_xyz")
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trans = t_block.get("translation_m")
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if rpy is not None:
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print(f"RPY xyz: [{rpy[0]:.3f}, {rpy[1]:.3f}, {rpy[2]:.3f}] deg")
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if truth and "yaw_extrinsic_deg" in truth:
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print(f" yaw truth≈{truth['yaw_extrinsic_deg']:.3f} deg")
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if trans is not None:
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print(f"t : [{trans[0]:.4f}, {trans[1]:.4f}, {trans[2]:.4f}] m")
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session = _session0(summary)
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handeye = session.get("handeye") or {}
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joint = session.get("joint") or {}
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if handeye:
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print(
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"handeye: "
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f"pairs={handeye.get('pair_count')} "
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f"rms={handeye.get('residual_rms_deg')}° "
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f"median={handeye.get('residual_median_deg')}° "
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f"ok={handeye.get('ok')}"
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)
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if joint:
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obs = joint.get("observability") or {}
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print(
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"joint : "
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f"rot_rms={joint.get('residual_rms_rot_deg')}° "
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f"trans_rms={joint.get('residual_rms_trans_m')} m "
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f"trans_accepted={joint.get('translation_accepted')}"
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)
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print(
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"observ : "
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f"rotation={obs.get('rotation_observable')} "
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f"translation={obs.get('translation_observable')} "
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f"cond_R={obs.get('condition_rotation')}"
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)
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if joint.get("gravity_m_s2") is not None:
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print(f"gravity: {joint.get('gravity_m_s2')}")
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if joint.get("gyro_bias_rad_s") is not None:
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print(f"b_g : {joint.get('gyro_bias_rad_s')}")
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print("----------------------------------------")
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def maybe_plot(summary: dict, plot_path: Path, truth: dict | None = None) -> None:
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try:
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import matplotlib.pyplot as plt
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except ImportError:
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print("(matplotlib not installed; skip plot)")
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return
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session = _session0(summary)
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handeye = session.get("handeye") or {}
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joint = session.get("joint") or {}
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labels = []
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values = []
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if handeye.get("residual_rms_deg") is not None:
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labels.append("handeye\nRMS (°)")
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values.append(float(handeye["residual_rms_deg"]))
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if joint.get("residual_rms_rot_deg") is not None:
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labels.append("joint rot\nRMS (°)")
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values.append(float(joint["residual_rms_rot_deg"]))
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if joint.get("residual_rms_trans_m") is not None:
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labels.append("joint trans\nRMS (m)")
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values.append(float(joint["residual_rms_trans_m"]))
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dt = summary.get("time_offset_s")
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if dt is not None:
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labels.append("|δt| (s)")
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values.append(abs(float(dt)))
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if truth and "delta_t_s" in truth:
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labels.append("|δt err| (s)")
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values.append(abs(float(dt) - float(truth["delta_t_s"])))
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if not labels:
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print("(no numeric fields to plot)")
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return
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fig, ax = plt.subplots(figsize=(7.5, 3.8))
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ax.bar(labels, values, color="#3b6ea5")
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ax.set_title(f"Calibration preview — {summary.get('status')}")
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ax.set_ylabel("value")
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ax.grid(axis="y", alpha=0.3)
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fig.tight_layout()
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plot_path.parent.mkdir(parents=True, exist_ok=True)
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fig.savefig(plot_path, dpi=120)
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plt.close(fig)
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print(f"wrote plot: {plot_path}")
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def main(argv: list[str] | None = None) -> int:
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parser = argparse.ArgumentParser(description="Show LiDAR–IMU calibration summary")
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parser.add_argument("--summary", type=Path, required=True, help="Path to summary.json")
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parser.add_argument("--truth-meta", type=Path, default=None, help="Optional synthetic meta.json")
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parser.add_argument("--plot", type=Path, default=None, help="Optional PNG path for a bar chart")
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args = parser.parse_args(argv)
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summary = _load(args.summary)
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truth = _load(args.truth_meta) if args.truth_meta and args.truth_meta.exists() else None
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print_report(summary, truth)
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if args.plot is not None:
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maybe_plot(summary, args.plot, truth)
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return 0
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if __name__ == "__main__":
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raise SystemExit(main())
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