calibration/rtk_imu/README.md

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