37 lines
1.5 KiB
PowerShell
37 lines
1.5 KiB
PowerShell
param(
|
|
[Parameter(Mandatory = $true)][string]$CombinedRoot,
|
|
[string]$OutputRoot = "",
|
|
[string]$WorkRoot = "",
|
|
[double]$RtkReferenceHeightAboveGroundM = 0.8535,
|
|
[int]$ExpectedStations = 34,
|
|
[int]$MinPairs = 20,
|
|
[int]$Bootstrap = 200
|
|
)
|
|
|
|
$ErrorActionPreference = "Stop"
|
|
$Repo = Split-Path -Parent $PSScriptRoot
|
|
if ([string]::IsNullOrWhiteSpace($OutputRoot)) { $OutputRoot = Join-Path $Repo "outputs\rtk_lidar_calibration" }
|
|
if ([string]::IsNullOrWhiteSpace($WorkRoot)) { $WorkRoot = Join-Path $Repo "work\prepared_rtk_direct" }
|
|
$Prepared = $WorkRoot
|
|
|
|
& (Join-Path $Repo "run\prepare_multisensor_dataset.ps1") `
|
|
-CombinedRoot $CombinedRoot -Output $Prepared -HeadingOffsetDeg 0 `
|
|
-AntennaLever @(0.0,0.0,0.0) -PoseName "rtk_gga_raw_heading" -MinStations 30 -ExpectedStations $ExpectedStations -Overwrite
|
|
if ($LASTEXITCODE -ne 0) { throw "RTK-direct dataset preparation failed" }
|
|
|
|
& (Join-Path $Repo "run\run_single_dataset.ps1") `
|
|
-Prepared $Prepared -OutputRoot $OutputRoot `
|
|
-ReferencePoseFile "reference_poses_rtk_gga_raw_heading.csv" `
|
|
-ReferenceHeight $RtkReferenceHeightAboveGroundM -MinPairs $MinPairs -Bootstrap $Bootstrap
|
|
if ($LASTEXITCODE -ne 0) { throw "RTK-direct calibration failed" }
|
|
|
|
$Finalize = @(
|
|
(Join-Path $Repo "code\finalize_direct_rtk_lidar.py"),
|
|
"--result-root", $OutputRoot,
|
|
"--reference-height", "$RtkReferenceHeightAboveGroundM"
|
|
)
|
|
& python @Finalize
|
|
if ($LASTEXITCODE -ne 0) { throw "Final result packaging failed" }
|
|
|
|
Write-Host "Final T_RTK_lidar: $(Join-Path $OutputRoot 'final_T_RTK_lidar.json')"
|