迁移RTK-IMU标定到独立顶层包

tests/test_rtk_imu_calibration.py

@@ -7,9 +7,9 @@ import numpy as np
 from imu_lidar.geodesy import geodetic_to_enu
 from imu_lidar.geometry import so3_exp
 from imu_lidar.imu_preintegration import preintegrate_gyro, preintegrate_imu
-from imu_lidar.rtk_attitude import gnhpr_to_baseline_enu, gnhpr_to_rotation_enu_rtk
-from imu_lidar.rtk_imu_translation import _preintegrate_translation_interval
-from imu_lidar.rtk_io import load_rtk_csv
+from rtk_imu.rtk_attitude import gnhpr_to_baseline_enu, gnhpr_to_rotation_enu_rtk
+from rtk_imu.rtk_imu_translation import _preintegrate_translation_interval
+from rtk_imu.rtk_io import load_rtk_csv
 
 
 def test_geodetic_to_enu_has_expected_axis_and_scale() -> None:

tests/test_rtk_imu_engineering.py

@@ -7,7 +7,7 @@ import pytest
 from scipy.spatial.transform import Rotation
 
 from imu_lidar.contracts import ImuSeries
-from imu_lidar.rtk_imu_engineering import (
+from rtk_imu.rtk_imu_engineering import (
     G0,
     HPR_DIRECT_ANGULAR_SIGMA_RAD,
     ResidualAudit,
@@ -23,8 +23,8 @@ from imu_lidar.rtk_imu_engineering import (
     _segments,
     solve_engineering_6dof,
 )
-from imu_lidar.rtk_imu_multisource import UnifiedSession
-from imu_lidar.rtk_imu_node_graph import (
+from rtk_imu.rtk_imu_multisource import UnifiedSession
+from rtk_imu.rtk_imu_node_graph import (
     _additive_marginal_lever_information,
     _free_residual,
     _free_sparsity,

tests/test_rtk_imu_multisource.py

@@ -3,7 +3,7 @@ from __future__ import annotations
 import numpy as np
 
 from imu_lidar.contracts import ImuSeries
-from imu_lidar.rtk_imu_multisource import R1bResult, UnifiedSession, solve_r2g
+from rtk_imu.rtk_imu_multisource import R1bResult, UnifiedSession, solve_r2g
 
 
 def _level_session(session_id: str) -> UnifiedSession: