迁移RTK-IMU标定到独立顶层包

docs/rtk_imu_calibration.md

@@ -158,10 +158,10 @@ frozen / not run
 
 ## 代码入口
 
-- `imu_lidar/rtk_attitude.py`：GNHPR 基线语义及零 roll 数学补全。
-- `imu_lidar/rtk_io.py`：RTK CSV、Q4/Q5 和 checksum 质量门禁。
-- `imu_lidar/rtk_imu_rotation.py`：时间审计、连续段、基线审计、旧式诊断和重优化 LOO。
-- `imu_lidar/rtk_imu_replay.py`：坐标定义、参考点、平移冻结和 JSON 输出。
+- `rtk_imu/rtk_attitude.py`：GNHPR 基线语义及零 roll 数学补全。
+- `rtk_imu/rtk_io.py`：RTK CSV、Q4/Q5 和 checksum 质量门禁。
+- `rtk_imu/rtk_imu_rotation.py`：时间审计、连续段、基线审计、旧式诊断和重优化 LOO。
+- `rtk_imu/rtk_imu_replay.py`：坐标定义、参考点、平移冻结和 JSON 输出。
 - `tools/rscap_v2/g90_rtk.py`：原始 GNHPR 解析及质量字段。
 - `tools/export_g90_rtk_to_sessions.py`：GNHPR 质量字段导出。
 - `tools/run_rtk_imu_calibration.py`：端到端命令行入口。

docs/rtk_imu_multisource_v3.md

@@ -170,6 +170,6 @@ R2V 与 R2G 的 SO(3) 差异为 9.3119°。R3 最终：
 - tools/rscap_v2/g90_rtk.py：GGA/GNHPR/BESTNAVA/PVTSLNA 和双 checksum。
 - tools/rscap_v2/hi13_imu.py：HI91 system_time、惯性、姿态和四元数。
 - tools/export_rtk_imu_unified.py：55 组配对、原生异步导出和断点续导。
-- imu_lidar/rtk_imu_multisource.py：R1b/R2V/R2G/R3。
+- rtk_imu/rtk_imu_multisource.py：R1b/R2V/R2G/R3。
 - tools/run_rtk_imu_multisource.py：多源旋转命令行入口。
 - artifacts/rtk_imu_calibration_v3/multisource_result.json：首轮 R3 结果。

pyproject.toml

@@ -1,7 +1,7 @@
 [project]
 name = "lidar-imu-calibration"
 version = "0.3.0"
-description = "LiDAR–IMU extrinsic calibration from continuous-motion keyframes (imu_lidar)"
+description = "LiDAR-IMU and RTK-IMU extrinsic calibration algorithms"
 requires-python = ">=3.10"
 dependencies = [
   "numpy>=1.26",
@@ -21,7 +21,7 @@ requires = ["setuptools>=68", "wheel"]
 build-backend = "setuptools.build_meta"
 
 [tool.setuptools]
-packages = ["imu_lidar", "tools"]
+packages = ["imu_lidar", "rtk_imu", "tools"]
 
 [tool.pytest.ini_options]
 testpaths = ["tests"]

rtk_imu/README.md

@@ -0,0 +1,11 @@
+# RTK-IMU Calibration Package
+
+`rtk_imu/` contains the independent RTK-IMU calibration pipeline: G90 observation I/O, antenna-baseline rotation, V1 replay, V3 multisource stages, engineering 6DoF, and the node-state factor graph.
+
+## Boundary
+
+This package may import only shared `imu_lidar` utilities: `contracts`, `geometry`, `geodesy`, `imu_io`, `imu_preintegration`, and the generic `rotation_handeye` initializer.
+
+It must not import LiDAR-specific modules such as `lidar_io`, `lidar_deskew`, `registration`, `pipeline`, `phase_a`, or `joint_optimizer`. The LiDAR-IMU pipeline remains in `imu_lidar/`.
+
+## Entrypoints

rtk_imu/__init__.py

@@ -0,0 +1 @@
+"""RTK-IMU extrinsic calibration algorithms and data interfaces."""

rtk_imu/rtk_imu_engineering.py

@@ -14,8 +14,8 @@ import numpy as np
 from scipy.optimize import least_squares
 from scipy.spatial.transform import Rotation
 
-from .geometry import make_transform, so3_exp
-from .imu_preintegration import apply_bias_correction_imu, preintegrate_imu
+from imu_lidar.geometry import make_transform, so3_exp
+from imu_lidar.imu_preintegration import apply_bias_correction_imu, preintegrate_imu
 from .rtk_attitude import gnhpr_to_baseline_enu
 from .rtk_imu_multisource import UnifiedSession, _f, _nearest_index, _truth
 

rtk_imu/rtk_imu_multisource.py

@@ -11,9 +11,9 @@ import numpy as np
 from scipy.optimize import least_squares
 from scipy.spatial.transform import Rotation
 
-from .contracts import ImuSeries
-from .geometry import so3_exp, so3_log
-from .imu_preintegration import apply_bias_jacobian_correction, preintegrate_gyro
+from imu_lidar.contracts import ImuSeries
+from imu_lidar.geometry import so3_exp, so3_log
+from imu_lidar.imu_preintegration import apply_bias_jacobian_correction, preintegrate_gyro
 from .rtk_attitude import gnhpr_to_baseline_enu
 
 

rtk_imu/rtk_imu_node_graph.py

@@ -4,8 +4,8 @@ from dataclasses import dataclass
 import numpy as np
 from scipy.optimize import least_squares
 from scipy.sparse import lil_matrix
-from .geometry import so3_exp, so3_log
-from .imu_preintegration import apply_bias_correction_imu, residual_whiten_matrix
+from imu_lidar.geometry import so3_exp, so3_log
+from imu_lidar.imu_preintegration import apply_bias_correction_imu, residual_whiten_matrix
 from .rtk_imu_engineering import (
     G_ENU, HPR_DIRECT_ANGULAR_SIGMA_RAD, _Segment, _world_rtk)
 

rtk_imu/rtk_imu_replay.py

@@ -10,7 +10,7 @@ from typing import Any
 
 import numpy as np
 
-from .imu_io import load_imu_samples
+from imu_lidar.imu_io import load_imu_samples
 from .rtk_imu_rotation import RotationCalibrationResult, RotationSession, solve_rtk_imu_rotation
 from .rtk_imu_translation import TranslationCalibrationResult, solve_rtk_imu_translation
 from .rtk_io import load_rtk_csv

rtk_imu/rtk_imu_rotation.py

@@ -8,10 +8,10 @@ import numpy as np
 from scipy.optimize import least_squares
 from scipy.sparse import lil_matrix
 
-from .contracts import ImuSeries, MotionPair
-from .geometry import orthonormalize_rotation, rpy_deg_xyz, so3_exp, so3_log
-from .imu_preintegration import apply_bias_jacobian_correction, preintegrate_gyro
-from .rotation_handeye import estimate_rotation_handeye_initial
+from imu_lidar.contracts import ImuSeries, MotionPair
+from imu_lidar.geometry import orthonormalize_rotation, rpy_deg_xyz, so3_exp, so3_log
+from imu_lidar.imu_preintegration import apply_bias_jacobian_correction, preintegrate_gyro
+from imu_lidar.rotation_handeye import estimate_rotation_handeye_initial
 from .rtk_attitude import GNHPR_CANDIDATES, GnhprConvention, gnhpr_to_rotation_enu_rtk
 from .rtk_io import RtkSeries
 

rtk_imu/rtk_imu_translation.py

@@ -9,7 +9,7 @@ from scipy.sparse import coo_matrix, csr_matrix, eye
 from scipy.sparse.linalg import lsqr, splu
 from scipy.spatial.transform import Rotation, Slerp
 
-from .geometry import make_transform, orthonormalize_rotation, so3_exp
+from imu_lidar.geometry import make_transform, orthonormalize_rotation, so3_exp
 from .rtk_imu_rotation import RotationCalibrationResult, RotationSession, _attitude_rows
 
 

rtk_imu/rtk_io.py

@@ -7,7 +7,7 @@ from pathlib import Path
 
 import numpy as np
 
-from .geodesy import geodetic_to_enu
+from imu_lidar.geodesy import geodetic_to_enu
 
 
 @dataclass(frozen=True)

tests/test_rtk_imu_calibration.py

@@ -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:

tests/test_rtk_imu_engineering.py

@@ -7,7 +7,7 @@ import pytest
 from scipy.spatial.transform import Rotation
 
 from imu_lidar.contracts import ImuSeries
-from imu_lidar.rtk_imu_engineering import (
+from rtk_imu.rtk_imu_engineering import (
     G0,
     HPR_DIRECT_ANGULAR_SIGMA_RAD,
     ResidualAudit,
@@ -23,8 +23,8 @@ from imu_lidar.rtk_imu_engineering import (
     _segments,
     solve_engineering_6dof,
 )
-from imu_lidar.rtk_imu_multisource import UnifiedSession
-from imu_lidar.rtk_imu_node_graph import (
+from rtk_imu.rtk_imu_multisource import UnifiedSession
+from rtk_imu.rtk_imu_node_graph import (
     _additive_marginal_lever_information,
     _free_residual,
     _free_sparsity,

tests/test_rtk_imu_multisource.py

@@ -3,7 +3,7 @@ from __future__ import annotations
 import numpy as np
 
 from imu_lidar.contracts import ImuSeries
-from imu_lidar.rtk_imu_multisource import R1bResult, UnifiedSession, solve_r2g
+from rtk_imu.rtk_imu_multisource import R1bResult, UnifiedSession, solve_r2g
 
 
 def _level_session(session_id: str) -> UnifiedSession:

tools/audit_rtk_imu_factor_consistency.py

@@ -9,14 +9,14 @@ 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.imu_preintegration import preintegrate_imu
-from imu_lidar.rtk_imu_engineering import (
+from rtk_imu.rtk_imu_engineering import (
     G_ENU, MIN_SEGMENT_DURATION_S, MIN_SEGMENT_NODE_COUNT,
     NUISANCE_DOF_PER_SEGMENT, _Segment, _all_hpr, _audit,
     _dense_colored_jacobian, _enu, _height_reference,
     _hpr_factor_observation, _initial_parameters, _marginal_lever_information,
     _motion_flags, _nodes, _position_valid, _residual,
     _segment_residual_size, _world_rtk)
-from imu_lidar.rtk_imu_multisource import _f, _truth, load_unified_sessions
+from rtk_imu.rtk_imu_multisource import _f, _truth, load_unified_sessions
 MECHANICAL_L_I_M = np.array([-0.45072, -0.25682, 0.73208])
 
 def _jsonable(value):

tools/audit_rtk_imu_factor_yield.py

@@ -15,13 +15,13 @@ 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 (
+from rtk_imu.rtk_imu_engineering import (
     _all_hpr,
     _height_reference,
     _nodes,
     _position_valid,
 )
-from imu_lidar.rtk_imu_multisource import _f, _nearest_index, _truth, load_unified_sessions
+from rtk_imu.rtk_imu_multisource import _f, _nearest_index, _truth, load_unified_sessions
 
 
 def _finite_doppler(row: dict[str, str]) -> bool:

tools/audit_rtk_imu_heldout_innovation.py

@@ -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 _height_reference
-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 _height_reference
+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_innovation_noise import (
     _factor_report,_hpr_innovations,_interval_innovations)

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
 

tools/audit_rtk_imu_lever_excitation.py

@@ -17,8 +17,8 @@ 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 _fit_segments, _fit_summary, _segments
-from imu_lidar.rtk_imu_multisource import load_unified_sessions
+from rtk_imu.rtk_imu_engineering import _fit_segments, _fit_summary, _segments
+from rtk_imu.rtk_imu_multisource import load_unified_sessions
 
 
 def _jsonable(value):

tools/audit_rtk_imu_motion_excitation.py

@@ -23,7 +23,7 @@ if str(ROOT) not in sys.path:
     sys.path.insert(0, str(ROOT))
 
 from imu_lidar.imu_audit import audit_imu
-from imu_lidar.rtk_imu_engineering import (
+from rtk_imu.rtk_imu_engineering import (
     MIN_SEGMENT_DURATION_S,
     MIN_SEGMENT_NODE_COUNT,
     _all_hpr,
@@ -37,7 +37,7 @@ from imu_lidar.rtk_imu_engineering import (
     _segments,
     _source_nodes,
 )
-from imu_lidar.rtk_imu_multisource import _f, _truth, load_unified_sessions
+from rtk_imu.rtk_imu_multisource import _f, _truth, load_unified_sessions
 
 
 RAW_GAP_S = 1.5

tools/audit_rtk_imu_multihorizon.py

@@ -8,9 +8,9 @@ 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.imu_preintegration import preintegrate_imu
-from imu_lidar.rtk_imu_engineering import (
+from rtk_imu.rtk_imu_engineering import (
     G_ENU, _all_hpr, _height_reference, _hpr_factor_observation, _world_rtk)
-from imu_lidar.rtk_imu_multisource import load_unified_sessions
+from rtk_imu.rtk_imu_multisource import load_unified_sessions
 from tools.audit_rtk_imu_factor_consistency import (
     MECHANICAL_L_I_M, _best_arrays, _jsonable, _nearest_imu, _summary)
 

tools/audit_rtk_imu_propagation_bias_root_cause.py

@@ -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

tools/refine_rtk_imu_windows_by_actual_information.py

@@ -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 _height_reference
-from imu_lidar.rtk_imu_multisource import load_unified_sessions
-from imu_lidar.rtk_imu_node_graph import build_problem,linearized_lever_information
+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,linearized_lever_information
 from tools.audit_rtk_imu_factor_consistency import _jsonable
 from tools.run_rtk_imu_node_graph_free_selected import _restore_segments
 from tools.select_rtk_imu_windows_by_lever_information import (

tools/retry_rtk_imu_heldout_nonconverged.py

@@ -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 (
+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,fit_states_at_fixed_lever,summarize_fixed_state_values)
 from tools.audit_rtk_imu_factor_consistency import _jsonable
 from tools.run_rtk_imu_node_graph_free_selected import _restore_segments

tools/run_rtk_imu_calibration.py

@@ -12,7 +12,7 @@ ROOT = Path(__file__).resolve().parents[1]
 if str(ROOT) not in sys.path:
     sys.path.insert(0, str(ROOT))
 
-from imu_lidar.rtk_imu_replay import (
+from rtk_imu.rtk_imu_replay import (
     DEFAULT_RTK_FRAME_DEFINITION,
     DEFAULT_RTK_REFERENCE_POINT,
     load_inventory,

tools/run_rtk_imu_engineering_6dof.py

@@ -17,12 +17,12 @@ 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 (
+from rtk_imu.rtk_imu_engineering import (
     DEFAULT_MANUAL_L_I_M,
     DEFAULT_MANUAL_L_I_COVARIANCE_M2,
     solve_engineering_6dof,
 )
-from imu_lidar.rtk_imu_multisource import load_unified_sessions
+from rtk_imu.rtk_imu_multisource import load_unified_sessions
 
 
 def _jsonable(value):

tools/run_rtk_imu_engineering_free_base.py

@@ -20,7 +20,7 @@ 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 (
+from rtk_imu.rtk_imu_engineering import (
     MIN_SEGMENT_DURATION_S,
     MIN_SEGMENT_NODE_COUNT,
     NUISANCE_DOF_PER_SEGMENT,
@@ -36,7 +36,7 @@ from imu_lidar.rtk_imu_engineering import (
     _world_rtk,
 )
 from imu_lidar.imu_preintegration import preintegrate_imu
-from imu_lidar.rtk_imu_multisource import load_unified_sessions
+from rtk_imu.rtk_imu_multisource import load_unified_sessions
 
 MANUAL_REFERENCE_L_I_M = np.array([-0.45072, -0.25682, 0.73208], dtype=float)
 

tools/run_rtk_imu_mechanical_prior_branch.py

@@ -9,9 +9,9 @@ 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 (
+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 (
     NODE_DOF,build_problem,fit_states_at_fixed_lever,solve_free_lever_many,
     summarize_fixed_state_values)
 from tools.audit_rtk_imu_factor_consistency import MECHANICAL_L_I_M,_jsonable

tools/run_rtk_imu_mechanical_prior_heldout.py

@@ -9,9 +9,9 @@ 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.geometry import make_transform
-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,fit_states_at_fixed_lever,residual
+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,fit_states_at_fixed_lever,residual
 from tools.audit_rtk_imu_factor_consistency import _jsonable
 from tools.run_rtk_imu_node_graph_free_selected import _restore_segments
 

tools/run_rtk_imu_mechanical_prior_rotation_sensitivity.py

@@ -10,9 +10,9 @@ 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.geometry import make_transform
-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 (
+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_many,summarize_fixed_state_values)
 from tools.audit_rtk_imu_factor_consistency import _jsonable
 from tools.run_rtk_imu_node_graph_free_selected import _restore_segments

tools/run_rtk_imu_multisource.py

@@ -12,7 +12,7 @@ ROOT = Path(__file__).resolve().parents[1]
 if str(ROOT) not in sys.path:
     sys.path.insert(0, str(ROOT))
 
-from imu_lidar.rtk_imu_multisource import (
+from rtk_imu.rtk_imu_multisource import (
     load_unified_sessions,
     result_to_jsonable,
     solve_r3,

tools/run_rtk_imu_node_graph_fixed_lever.py

@@ -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_fixed_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_fixed_lever
 from tools.audit_rtk_imu_factor_consistency import (
     MECHANICAL_L_I_M, _build_segment, _jsonable, _qualified_runs)
 

tools/run_rtk_imu_node_graph_free_circle.py

@@ -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
 

tools/run_rtk_imu_node_graph_free_joint.py

@@ -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_many
+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_many
 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
 

tools/run_rtk_imu_node_graph_free_selected.py

@@ -9,9 +9,9 @@ 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 (
+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,fit_states_at_fixed_lever,solve_free_lever_many)
 from tools.audit_rtk_imu_factor_consistency import MECHANICAL_L_I_M,_build_segment,_jsonable,_qualified_runs
 

tools/run_rtk_imu_node_graph_p05.py

@@ -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 (
+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_fixed_lever,solve_fixed_lever_many)
 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

tools/select_rtk_imu_windows_by_lever_information.py

@@ -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 _all_hpr,_height_reference
-from imu_lidar.rtk_imu_multisource import load_unified_sessions
-from imu_lidar.rtk_imu_node_graph import build_problem,linearized_lever_information
+from rtk_imu.rtk_imu_engineering import _all_hpr,_height_reference
+from rtk_imu.rtk_imu_multisource import load_unified_sessions
+from rtk_imu.rtk_imu_node_graph import build_problem,linearized_lever_information
 from tools.audit_rtk_imu_factor_consistency import _build_segment,_jsonable,_qualified_runs
 from tools.run_rtk_imu_node_graph_fixed_lever import _select_window
 

tools/validate_rtk_hpr_dropout_bridge.py

@@ -21,8 +21,8 @@ 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 _all_hpr, _baseline_angle_deg, _interpolate_baseline, _world_rtk
-from imu_lidar.rtk_imu_multisource import load_unified_sessions
+from rtk_imu.rtk_imu_engineering import _all_hpr, _baseline_angle_deg, _interpolate_baseline, _world_rtk
+from rtk_imu.rtk_imu_multisource import load_unified_sessions
 
 GAPS_S = (0.2, 0.3, 0.4, 0.5, 0.6, 0.8)
 R2G_RPY_DEG = (0.4543066225, -0.0026392019, 0.0122384129)