24 lines
782 B
JSON
24 lines
782 B
JSON
{
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"schema_version": 1,
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"convention": "T_RTK_lidar maps raw LiDAR points into the RTK baseline frame (X = rawHeading baseline, Y left, Z up; heading_offset_deg = 0)",
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"translation_m": [
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0.414179474,
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0.210859360,
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0.004000001
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],
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"rotation_rpy_deg_xyz": [
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0.0,
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0.0,
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90.0
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],
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"matrix_4x4": [
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[0.0, -1.0, 0.0, 0.414179474],
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[1.0, 0.0, 0.0, 0.210859360],
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[0.0, 0.0, 1.0, 0.004000001],
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[0.0, 0.0, 0.0, 1.0]
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],
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"use": "Final AX=XB solver initialization only; never use for LiDAR pair registration",
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"yaw_note": "≈90 deg yaw is expected when LiDAR X is vehicle-forward and the dual-antenna baseline is left-right",
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"z_note": "CAD/mechanical z only; final z is constrained by measured GGA/ANT1 phase-center height above ground"
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}
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