# 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
Use `tools/run_rtk_imu_*.py` and `tools/audit_rtk_imu_*.py`; these scripts import from `rtk_imu.*`.
For the engineering procedure, current result, acceptance boundary, and reproduction commands, see [`README_RTK_IMU.md`](../README_RTK_IMU.md).