14 lines
867 B
Markdown
14 lines
867 B
Markdown
# RTK-IMU Calibration Package
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`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.
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## Boundary
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This package may import only shared `imu_lidar` utilities: `contracts`, `geometry`, `geodesy`, `imu_io`, `imu_preintegration`, and the generic `rotation_handeye` initializer.
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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/`.
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## Entrypoints
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Use `tools/run_rtk_imu_*.py` and `tools/audit_rtk_imu_*.py`; these scripts import from `rtk_imu.*`.
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For the engineering procedure, current result, acceptance boundary, and reproduction commands, see [`README_RTK_IMU.md`](../README_RTK_IMU.md).
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