添加 LiDAR-IMU 外参标定流水线与说明文档

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

pyproject.toml

@@ -0,0 +1,28 @@
+[project]
+name = "lidar-imu-calibration"
+version = "0.3.0"
+description = "LiDAR–IMU extrinsic calibration from continuous-motion keyframes (imu_lidar)"
+requires-python = ">=3.10"
+dependencies = [
+  "numpy>=1.26",
+  "scipy>=1.11",
+  "pyyaml>=6.0",
+]
+
+[project.optional-dependencies]
+open3d = ["open3d>=0.17"]
+dev = ["pytest>=7.4"]
+
+[project.scripts]
+lidar-imu-calibration = "imu_lidar.cli:main"
+
+[build-system]
+requires = ["setuptools>=68", "wheel"]
+build-backend = "setuptools.build_meta"
+
+[tool.setuptools]
+packages = ["imu_lidar", "tools"]
+
+[tool.pytest.ini_options]
+testpaths = ["tests"]
+pythonpath = ["."]