71 lines
3.1 KiB
PowerShell
71 lines
3.1 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]$ExpectedStations = 27,
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[int]$MinStations = 20,
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[int]$MinPairs = 20,
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[int]$Bootstrap = 200,
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# Roof-mounted H32 (~2 m): ground points are near z≈-2 in the LiDAR frame (Z-up).
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# The old [-1.4, -0.4] window fits walls on this vehicle and must not be reused.
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[double]$GroundZMin = -2.5,
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[double]$GroundZMax = -1.5,
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[int]$SmallGicpMaxGap = 26,
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[int]$Open3DMaxGap = 26,
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[double]$MaxReferenceTranslationM = 8.0,
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# Baseline frame: rawHeading as RTK X. Use 90 only when deliberately targeting vehicle-forward.
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[double]$HeadingOffsetDeg = 0.0,
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[string]$SolverInitialExtrinsic = "",
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[double]$RefineMinInlierRatio = 0.63,
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[double]$RefineMaxInlierRmseM = 0.14
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)
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$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 $Repo "work\prepared_rtk_direct" }
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if ([string]::IsNullOrWhiteSpace($SolverInitialExtrinsic)) {
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$SolverInitialExtrinsic = Join-Path $PSScriptRoot "rtk_lidar_mechanical_initial.json"
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}
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$PoseName = if ([math]::Abs($HeadingOffsetDeg) -le 1e-12) {
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"rtk_gga_raw_heading"
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} else {
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"rtk_vehicle_heading"
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}
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$ReferencePoseFile = "reference_poses_${PoseName}.csv"
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$Prepared = $WorkRoot
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& (Join-Path $Repo "run\prepare_multisensor_dataset.ps1") `
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-CombinedRoot $CombinedRoot -Output $Prepared -HeadingOffsetDeg $HeadingOffsetDeg `
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-AntennaLever @(0.0,0.0,0.0) -PoseName $PoseName -MinStations $MinStations `
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-ExpectedStations $ExpectedStations -Overwrite
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if ($LASTEXITCODE -ne 0) { throw "RTK-direct dataset preparation failed" }
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# Pair registration intentionally has no --initial-extrinsic (B must stay X-independent).
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# SolverInitialExtrinsic is applied only in the final AX=XB calibrate stage.
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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 $ReferencePoseFile `
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-ReferenceHeight $RtkReferenceHeightAboveGroundM `
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-MinStations $MinStations -MinPairs $MinPairs -Bootstrap $Bootstrap `
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-GroundZMin $GroundZMin -GroundZMax $GroundZMax `
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-SmallGicpMaxGap $SmallGicpMaxGap -Open3DMaxGap $Open3DMaxGap `
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-MaxReferenceTranslationM $MaxReferenceTranslationM `
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-SolverInitialExtrinsic $SolverInitialExtrinsic `
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-RefineMinInlierRatio $RefineMinInlierRatio `
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-RefineMaxInlierRmseM $RefineMaxInlierRmseM
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if ($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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"--heading-offset-deg", "$HeadingOffsetDeg"
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)
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& python @Finalize
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if ($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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