44 lines
1.9 KiB
PowerShell
44 lines
1.9 KiB
PowerShell
param(
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[Parameter(Mandatory = $true)][string]$DataRoot,
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[Parameter(Mandatory = $true)][string]$RtkCapture,
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[Parameter(Mandatory = $true)][string]$ImuCapture,
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[Parameter(Mandatory = $true)][string]$OutputRoot,
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[string]$LidarObject = "frontlidar",
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[string]$LidarCaptureName = "h32.rscap",
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[Parameter(Mandatory = $true)][double]$RtkReferenceHeightAboveGroundM,
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[string]$Timezone = "+08:00",
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[ValidateSet("device_gnss", "host")][string]$TimeBasis = "device_gnss",
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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). Do not reuse [-1.4, -0.4] on this vehicle.
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[double]$GroundZMin = -2.5,
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[double]$GroundZMax = -1.5,
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[double]$HeadingOffsetDeg = -90.0
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)
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$ErrorActionPreference = "Stop"
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$ExportRoot = Join-Path $OutputRoot "exported"
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$PreparedRoot = Join-Path $OutputRoot "prepared_rtk_direct"
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$CalibrationRoot = Join-Path $OutputRoot "calibration"
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& (Join-Path $PSScriptRoot "export_multisensor_stations.ps1") `
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-DataRoot $DataRoot -RtkCapture $RtkCapture -ImuCapture $ImuCapture `
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-OutputRoot $ExportRoot -LidarObject $LidarObject -LidarCaptureName $LidarCaptureName `
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-Timezone $Timezone -TimeBasis $TimeBasis
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if ($LASTEXITCODE -ne 0) { throw "Raw-data export failed" }
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& (Join-Path $PSScriptRoot "run_direct_rtk_lidar.ps1") `
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-CombinedRoot (Join-Path $ExportRoot "combined") `
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-WorkRoot $PreparedRoot -OutputRoot $CalibrationRoot `
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-RtkReferenceHeightAboveGroundM $RtkReferenceHeightAboveGroundM `
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-HeadingOffsetDeg $HeadingOffsetDeg `
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-MinStations $MinStations `
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-ExpectedStations $ExpectedStations -MinPairs $MinPairs -Bootstrap $Bootstrap `
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-GroundZMin $GroundZMin -GroundZMax $GroundZMax
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if ($LASTEXITCODE -ne 0) { throw "RTK-LiDAR calibration failed" }
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Write-Host "Final result: $(Join-Path $CalibrationRoot 'final_T_RTK_lidar.json')"
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Write-Host "Prepared frames: $(Join-Path $PreparedRoot 'frames_all')"
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