96 lines
4.3 KiB
PowerShell
96 lines
4.3 KiB
PowerShell
param(
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[Parameter(Mandatory = $true)][string]$Prepared,
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[Parameter(Mandatory = $true)][string]$OutputRoot,
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[Parameter(Mandatory = $true)][double]$ReferenceHeight,
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[string]$ReferencePoseFile = "reference_poses_rtk_gga_raw_heading.csv",
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[int]$MinStations = 20,
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[int]$MinPairs = 20,
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[int]$Bootstrap = 100,
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# Roof-mounted H32 (~2 m): ground near z≈-2. Old [-1.4,-0.4] fits walls on this vehicle.
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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]$MaxReferenceTranslationM = 8.0,
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[string]$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 $PSScriptRoot
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$Code = Join-Path $Repo "code\rigorous_calibration.py"
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$Refine = Join-Path $Repo "code\refine_pairs.py"
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$Consensus = Join-Path $Repo "code\cross_backend_filter.py"
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$Frames = Join-Path $Prepared "frames_all"
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$ReferencePoses = Join-Path $Prepared $ReferencePoseFile
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$Common = Join-Path $OutputRoot "common"
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$Open = Join-Path $OutputRoot "open3d_gicp"
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$Small = Join-Path $OutputRoot "small_gicp"
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$ConsensusOut = Join-Path $OutputRoot "consensus"
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function Run-Python {
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param([string]$Stage, [string[]]$Arguments)
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Write-Host "[$Stage]"
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& python @Arguments
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if ($LASTEXITCODE -ne 0) { throw "$Stage failed with Python exit code $LASTEXITCODE" }
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}
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foreach ($Path in @($Frames, $ReferencePoses)) {
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if (-not (Test-Path -LiteralPath $Path)) { throw "Input does not exist: $Path" }
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}
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New-Item -ItemType Directory -Force -Path $Common,$Open,$Small,$ConsensusOut | Out-Null
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$Ground = Join-Path $Common "ground_planes.csv"
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Run-Python "ground planes" @($Code, "ground", "--frames", $Frames, "--output", $Ground,
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"--z-min", "$GroundZMin", "--z-max", "$GroundZMax")
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foreach ($Backend in @("small_gicp", "open3d")) {
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$Directory = if ($Backend -eq "small_gicp") { $Small } else { $Open }
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$Raw = Join-Path $Directory "B_estimation.npz"
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$QualityJson = Join-Path $Directory "B_quality.json"
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$QualityCsv = Join-Path $Directory "B_quality.csv"
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$MaxGap = if ($Backend -eq "open3d") { $Open3DMaxGap } else { $SmallGicpMaxGap }
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$PairArgs = @($Code, "pairs", "--backend", $Backend, "--frames", $Frames, "--reference-poses", $ReferencePoses,
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"--output", $Raw, "--quality-json", $QualityJson, "--quality-csv", $QualityCsv,
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"--min-stations", "$MinStations", "--min-pairs", "$MinPairs", "--max-gap", "$MaxGap")
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if ($MaxReferenceTranslationM -gt 0) {
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$PairArgs += @("--max-reference-translation", "$MaxReferenceTranslationM")
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}
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if ($Backend -eq "open3d") { $PairArgs += @("--multistart", "1", "--iterations", "40") }
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Run-Python "$Backend pairs" $PairArgs
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Run-Python "$Backend X-independent refinement" @(
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$Refine, "--pairs", $Raw, "--quality-json", $QualityJson,
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"--output", (Join-Path $Directory "B_refined.npz"), "--min-pairs", "$MinPairs",
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"--min-inlier-ratio", "$RefineMinInlierRatio",
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"--max-inlier-rmse", "$RefineMaxInlierRmseM"
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)
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$CalibrationArgs = @(
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$Code, "calibrate", "--pairs", (Join-Path $Directory "B_refined.npz"),
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"--ground-planes", $Ground, "--reference-height", "$ReferenceHeight",
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"--bootstrap", "$Bootstrap", "--output", (Join-Path $Directory "extrinsic.json")
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)
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if (-not [string]::IsNullOrWhiteSpace($SolverInitialExtrinsic)) {
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$CalibrationArgs += @("--initial-extrinsic", $SolverInitialExtrinsic)
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}
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Run-Python "$Backend calibration" $CalibrationArgs
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}
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$ConsensusPairs = Join-Path $ConsensusOut "B_consensus.npz"
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Run-Python "cross-backend consensus" @(
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$Consensus, "--open3d-pairs", (Join-Path $Open "B_refined.npz"),
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"--small-pairs", (Join-Path $Small "B_refined.npz"),
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"--output", $ConsensusPairs, "--min-pairs", "$MinPairs"
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)
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$ConsensusCalibrationArgs = @(
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$Code, "calibrate", "--pairs", $ConsensusPairs, "--ground-planes", $Ground,
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"--reference-height", "$ReferenceHeight", "--bootstrap", "$Bootstrap",
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"--output", (Join-Path $ConsensusOut "extrinsic.json")
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)
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if (-not [string]::IsNullOrWhiteSpace($SolverInitialExtrinsic)) {
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$ConsensusCalibrationArgs += @("--initial-extrinsic", $SolverInitialExtrinsic)
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}
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Run-Python "consensus calibration" $ConsensusCalibrationArgs
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Write-Host "Calibration results: $OutputRoot"
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