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迁移RTK-IMU标定到独立顶层包

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lichun.qu
2026-08-25 10:21:43 +08:00
parent d14ae74117
commit 32d8af8ed9
40 changed files with 100 additions and 88 deletions
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tests/test_rtk_imu_calibration.py
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@@ -7,9 +7,9 @@ import numpy as np
from imu_lidar.geodesy import geodetic_to_enu
from imu_lidar.geometry import so3_exp
from imu_lidar.imu_preintegration import preintegrate_gyro, preintegrate_imu
from imu_lidar.rtk_attitude import gnhpr_to_baseline_enu, gnhpr_to_rotation_enu_rtk
from imu_lidar.rtk_imu_translation import _preintegrate_translation_interval
from imu_lidar.rtk_io import load_rtk_csv
from rtk_imu.rtk_attitude import gnhpr_to_baseline_enu, gnhpr_to_rotation_enu_rtk
from rtk_imu.rtk_imu_translation import _preintegrate_translation_interval
from rtk_imu.rtk_io import load_rtk_csv
def test_geodetic_to_enu_has_expected_axis_and_scale() -> None: