迁移RTK-IMU标定到独立顶层包

tools/audit_rtk_imu_innovation_noise.py

@@ -9,11 +9,11 @@ ROOT = Path(__file__).resolve().parents[1]
 if str(ROOT) not in sys.path: sys.path.insert(0,str(ROOT))
 from imu_lidar.geometry import so3_log
 from imu_lidar.imu_preintegration import apply_bias_correction_imu,preintegrate_gyro
-from imu_lidar.rtk_imu_engineering import (
+from rtk_imu.rtk_imu_engineering import (
     G_ENU,HPR_DIRECT_ANGULAR_SIGMA_RAD,_all_hpr,_height_reference,
     _world_rtk)
-from imu_lidar.rtk_imu_multisource import load_unified_sessions
-from imu_lidar.rtk_imu_node_graph import build_problem
+from rtk_imu.rtk_imu_multisource import load_unified_sessions
+from rtk_imu.rtk_imu_node_graph import build_problem
 from tools.audit_rtk_imu_factor_consistency import MECHANICAL_L_I_M,_jsonable
 from tools.run_rtk_imu_node_graph_fixed_lever import _select_window