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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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tools/run_rtk_imu_node_graph_free_circle.py
+3 -3
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@@ -8,9 +8,9 @@ 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 _height_reference
from imu_lidar.rtk_imu_multisource import load_unified_sessions
from imu_lidar.rtk_imu_node_graph import build_problem,solve_free_lever
from rtk_imu.rtk_imu_engineering import _height_reference
from rtk_imu.rtk_imu_multisource import load_unified_sessions
from rtk_imu.rtk_imu_node_graph import build_problem,solve_free_lever
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