37 lines
1.6 KiB
PowerShell
37 lines
1.6 KiB
PowerShell
param(
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[Parameter(Mandatory = $true)][string]$CombinedRoot,
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[Parameter(Mandatory = $true)][double]$RtkReferenceHeightAboveGroundM,
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[string]$OutputRoot = "",
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[string]$WorkRoot = "",
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[int]$ExpectedStations = 34,
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[int]$MinPairs = 20,
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[int]$Bootstrap = 200
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)
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$ErrorActionPreference = "Stop"
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$Repo = Split-Path -Parent $PSScriptRoot
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if ([string]::IsNullOrWhiteSpace($OutputRoot)) { $OutputRoot = Join-Path $Repo "outputs\rtk_lidar_calibration" }
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if ([string]::IsNullOrWhiteSpace($WorkRoot)) { $WorkRoot = Join-Path $Repo "work\prepared_rtk_direct" }
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$Prepared = $WorkRoot
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& (Join-Path $Repo "run\prepare_multisensor_dataset.ps1") `
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-CombinedRoot $CombinedRoot -Output $Prepared -HeadingOffsetDeg 0 `
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-AntennaLever @(0.0,0.0,0.0) -PoseName "rtk_gga_raw_heading" -MinStations 30 -ExpectedStations $ExpectedStations -Overwrite
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if ($LASTEXITCODE -ne 0) { throw "RTK-direct dataset preparation failed" }
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& (Join-Path $Repo "run\run_single_dataset.ps1") `
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-Prepared $Prepared -OutputRoot $OutputRoot `
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-ReferencePoseFile "reference_poses_rtk_gga_raw_heading.csv" `
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-ReferenceHeight $RtkReferenceHeightAboveGroundM -MinPairs $MinPairs -Bootstrap $Bootstrap
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if ($LASTEXITCODE -ne 0) { throw "RTK-direct calibration failed" }
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$Finalize = @(
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(Join-Path $Repo "code\finalize_direct_rtk_lidar.py"),
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"--result-root", $OutputRoot,
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"--reference-height", "$RtkReferenceHeightAboveGroundM"
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)
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& python @Finalize
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if ($LASTEXITCODE -ne 0) { throw "Final result packaging failed" }
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Write-Host "Final T_RTK_lidar: $(Join-Path $OutputRoot 'final_T_RTK_lidar.json')"
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