lichun.qu/calibration
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

迁移RTK-IMU标定到独立顶层包

Browse Source
This commit is contained in:
lichun.qu
2026-08-25 10:21:43 +08:00
parent d14ae74117
commit 32d8af8ed9
40 changed files with 100 additions and 88 deletions
Download Patch File Download Diff File Expand all files Collapse all files
tools/audit_rtk_imu_propagation_bias_root_cause.py
+3 -3
View File
@@ -7,9 +7,9 @@ import numpy as np
from scipy.spatial.transform import Rotation
ROOT=Path(__file__).resolve().parents[1]
if str(ROOT) not in sys.path: sys.path.insert(0,str(ROOT))
from imu_lidar.rtk_imu_engineering import G0,G_ENU,_height_reference,_nodes,_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_engineering import G0,G_ENU,_height_reference,_nodes,_world_rtk
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 _jsonable
from tools.audit_rtk_imu_heldout_innovation import _calibration_biases
from tools.audit_rtk_imu_innovation_noise import _factor_report,_interval_innovations