42 lines
1.9 KiB
JSON
42 lines
1.9 KiB
JSON
{
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"schema_version": 3,
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"convention": "T_RTK_lidar maps raw LiDAR points into the vehicle-forward RTK body frame (X forward, Y left, Z up) after HeadingOffsetDeg=-90",
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"frame_mode": "vehicle_forward_heading_offset",
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"heading_offset_deg": -90.0,
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"baseline_points": "vehicle_right",
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"baseline_points_note": "Field-confirmed: master/slave assignment reversed vs G90 diagram, antennas left-right symmetric about rear-axle centerline. Master/GGA on vehicle left, slave on right; rawHeading points vehicle right.",
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"vehicle_flu_lever_master_to_lidar_m": [
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0.210859360,
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-0.414179474,
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0.078500001
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],
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"vehicle_flu_note": "Vehicle FLU: LiDAR origin relative to master/GGA = ahead, right, above. CAD drawing X was opposite vehicle-forward; longitudinal sign is +X in true FLU (solver also converges to +X).",
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"antenna_symmetry_note": "Master/slave are mirrors about the rear-axle centerline; swap flips baseline 180° and the vehicle-Y sign of the master→LiDAR lever",
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"translation_m": [
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0.210859360,
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-0.414179474,
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0.078500001
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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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0.0
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],
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"matrix_4x4": [
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[1.0, 0.0, 0.0, 0.210859360],
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[0.0, 1.0, 0.0, -0.414179474],
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[0.0, 0.0, 1.0, 0.078500001],
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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": "In vehicle-forward delivery, LiDAR +X ≈ vehicle forward ⇒ mechanical yaw ≈ 0",
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"z_note": "78.500001 mm = H_L - H_R with H_L=1994.999879 mm, H_R=1916.499878 mm",
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"attitude_composition": "R_W_body = Rz(yaw_raw) Ry(-pitch) Rx(roll) Rz(-heading_offset); pitch/roll stay in baseline frame",
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"baseline_frame_equivalent": {
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"heading_offset_deg": 0.0,
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"translation_m": [0.414179474, 0.210859360, 0.078500001],
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"rotation_rpy_deg_xyz": [0.0, 0.0, 90.0],
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"note": "Same physical install expressed in rawHeading baseline frame"
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}
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}
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