添加 LiDAR-IMU 外参标定流水线与说明文档

Co-authored-by: Cursor <cursoragent@cursor.com>

config/s2_old_smoke.yaml

@@ -0,0 +1,51 @@
+schema_version: 1
+
+vehicle:
+  vehicle_id: "S2_old_validation"
+  body_frame:
+    name: "rear_axle_center"
+    axes: "X forward, Y left, Z up"
+    unit: m
+
+installation:
+  installation_id: "S2_old_smoke"
+  installed_at: "unknown"
+  notes: "Smoke-test on old S2 host-time data only. Not for delivery."
+
+sensors:
+  imu:
+    model: "HI13_old_S2"
+    raw_frame:
+      axes: "as exported HI91"
+      driver_axis_remapped: false
+    mount_in_body:
+      translation_m: null
+      rotation_quaternion_xyzw: null
+
+  lidar:
+    model: "frontlidar"
+    points_field: points
+    raw_frame:
+      axes: "Cartesian metres from points_raw spherical conversion"
+      driver_axis_remapped: false
+    mount_in_body:
+      translation_m: null
+      rotation_quaternion_xyzw: null
+
+  rtk:
+    frame_definition: ""
+    reference_point: ""
+    existing_T_RTK_LIDAR_file: ""
+
+time:
+  imu_timestamp_source: "host_utc_receive_of_serial_chunk"
+  lidar_timestamp_source: "unix_time_ns_from_dlog_export"
+  lidar_frame_time_definition: "frame midpoint approx from unix_time_ns"
+
+initialization:
+  translation_prior:
+    enabled: false
+    sigma_m: null
+  rotation_prior:
+    enabled: false
+    sigma_deg: null