重构RTK-IMU标定链路并完成机械先验工程验证

tools/run_rtk_imu_multisource.py

@@ -0,0 +1,42 @@
+#!/usr/bin/env python3
+"""Run R1b/R2V/R2G/R3 on unified native-time G90/HI13 exports."""
+
+from __future__ import annotations
+
+import argparse
+import json
+import sys
+from pathlib import Path
+
+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 (
+    load_unified_sessions,
+    result_to_jsonable,
+    solve_r3,
+)
+
+
+def main(argv: list[str] | None = None) -> int:
+    parser = argparse.ArgumentParser(description=__doc__)
+    parser.add_argument("--manifest", type=Path, required=True)
+    parser.add_argument("--output", type=Path, required=True)
+    parser.add_argument("--session", action="append")
+    parser.add_argument("--level-static", action="append", required=True)
+    args = parser.parse_args(argv)
+    selected = None if not args.session else set(args.session) | set(args.level_static)
+    sessions = load_unified_sessions(args.manifest, selected_session_ids=selected)
+    result = solve_r3(sessions, level_static_session_ids=set(args.level_static))
+    payload = result_to_jsonable(result)
+    args.output.parent.mkdir(parents=True, exist_ok=True)
+    args.output.write_text(
+        json.dumps(payload, ensure_ascii=False, indent=2) + "\n", encoding="utf-8"
+    )
+    print(json.dumps(payload, ensure_ascii=False, indent=2))
+    return 0
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())