73 lines
2.6 KiB
Markdown
73 lines
2.6 KiB
Markdown
# run目录
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根 README 含完整复现与本次结果说明；这里只列入口职责。
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| 脚本 | 用途 |
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|---|---|
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| `run_full_pipeline.ps1` | 站目录导出 `combined/` 后跑到 `T_RTK_lidar` |
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| `export_multisensor_stations.ps1` | 薄封装：`tools/export_raw_to_combined.py` |
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| `prepare_multisensor_dataset.ps1` | 每站一帧 + RTK 位姿（默认含双天线 pitch/roll） |
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| `run_direct_rtk_lidar.ps1` | 从 `combined/` 标定并封装最终结果（**默认车头向前 -90**） |
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| `run_single_dataset.ps1` | 地面、双 GICP、精筛、共识、AX=XB |
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| `run_joint_rtk_lidar.ps1` | 多批共识对联合求解 |
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| `view_result.ps1` | 3D 运动对对比 |
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| `rtk_lidar_mechanical_initial.json` | 仅 AX=XB 初值；**禁止**用于 pair |
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## 默认参数（匹配当前约 2 m 车顶雷达 / 车头向前）
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| 参数 | 默认 |
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|---|---|
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| `HeadingOffsetDeg` | `-90`（车头向前；主从装反、基线朝右） |
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| `GroundZMin/Max` | `-2.5` / `-1.5` |
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| `ExpectedStations` | `27` |
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| `MinStations` | `20` |
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| `RtkReferenceHeightAboveGroundM` | **无默认，必填**（本车 1.9165） |
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pair 注册**不传** `--initial-extrinsic`。
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## 原始 → combined
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站目录：
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```powershell
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python tools\export_raw_to_combined.py --stations-root ... --rtk-rscap ... --imu-rscap ... --out ... --overwrite
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```
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- `-TimeBasis device_gnss`（默认）：设备时 ↔ GNSS
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- `-TimeBasis host`：主机接收时间
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G90 连续录制 + 站时间窗：
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```powershell
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python tools\export_g90_h32_windows_to_combined.py `
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--segments-csv <rtk_lidar_station_segments.csv> `
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--lidar-dlog <dump_1.zip> --lidar-dlog <dump_2.zip> `
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--rtk-rscap <g90_1.rscap> --rtk-rscap <g90_2.rscap> `
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--out <output_root> --expected-stations 27 --frame-stride 5
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```
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可加 `--reuse-export` 续跑。
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## 已有 combined 复现本次结果
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```powershell
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powershell.exe -NoProfile -ExecutionPolicy Bypass -File "$Repo\run\run_direct_rtk_lidar.ps1" `
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-CombinedRoot "D:\data\rtk_lidar_run\combined" `
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-WorkRoot "D:\data\rtk_lidar_run\prepared_vehicle_h19165" `
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-OutputRoot "D:\data\rtk_lidar_run\outputs_vehicle_h19165" `
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-RtkReferenceHeightAboveGroundM 1.9165 `
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-HeadingOffsetDeg -90 `
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-ExpectedStations 27 `
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-GroundZMin -2.5 -GroundZMax -1.5
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```
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## 可视化本次结果
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```powershell
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powershell.exe -NoProfile -ExecutionPolicy Bypass -File "$Repo\run\view_result.ps1" `
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-Frames "D:\data\rtk_lidar_run\prepared_vehicle_h19165\frames_all" `
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-Pairs "D:\data\rtk_lidar_run\outputs_vehicle_h19165\consensus\B_consensus.npz" `
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-Extrinsic "D:\data\rtk_lidar_run\outputs_vehicle_h19165\final_T_RTK_lidar.json" `
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-PairIndex 0
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```
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