迁移RTK-IMU标定到独立顶层包

tools/audit_rtk_imu_factor_consistency.py

@@ -9,14 +9,14 @@ from scipy.spatial.transform import Rotation
 ROOT = Path(__file__).resolve().parents[1]
 if str(ROOT) not in sys.path: sys.path.insert(0, str(ROOT))
 from imu_lidar.imu_preintegration import preintegrate_imu
-from imu_lidar.rtk_imu_engineering import (
+from rtk_imu.rtk_imu_engineering import (
     G_ENU, MIN_SEGMENT_DURATION_S, MIN_SEGMENT_NODE_COUNT,
     NUISANCE_DOF_PER_SEGMENT, _Segment, _all_hpr, _audit,
     _dense_colored_jacobian, _enu, _height_reference,
     _hpr_factor_observation, _initial_parameters, _marginal_lever_information,
     _motion_flags, _nodes, _position_valid, _residual,
     _segment_residual_size, _world_rtk)
-from imu_lidar.rtk_imu_multisource import _f, _truth, load_unified_sessions
+from rtk_imu.rtk_imu_multisource import _f, _truth, load_unified_sessions
 MECHANICAL_L_I_M = np.array([-0.45072, -0.25682, 0.73208])
 
 def _jsonable(value):

tools/audit_rtk_imu_factor_yield.py

@@ -15,13 +15,13 @@ ROOT = Path(__file__).resolve().parents[1]
 if str(ROOT) not in sys.path:
     sys.path.insert(0, str(ROOT))
 
-from imu_lidar.rtk_imu_engineering import (
+from rtk_imu.rtk_imu_engineering import (
     _all_hpr,
     _height_reference,
     _nodes,
     _position_valid,
 )
-from imu_lidar.rtk_imu_multisource import _f, _nearest_index, _truth, load_unified_sessions
+from rtk_imu.rtk_imu_multisource import _f, _nearest_index, _truth, load_unified_sessions
 
 
 def _finite_doppler(row: dict[str, str]) -> bool:

tools/audit_rtk_imu_heldout_innovation.py

@@ -7,9 +7,9 @@ import numpy as np
 from scipy.spatial.transform import Rotation
 ROOT=Path(__file__).resolve().parents[1]
 if str(ROOT) not in sys.path: sys.path.insert(0,str(ROOT))
-from imu_lidar.rtk_imu_engineering import _height_reference
-from imu_lidar.rtk_imu_multisource import load_unified_sessions
-from imu_lidar.rtk_imu_node_graph import build_problem
+from rtk_imu.rtk_imu_engineering import _height_reference
+from rtk_imu.rtk_imu_multisource import load_unified_sessions
+from rtk_imu.rtk_imu_node_graph import build_problem
 from tools.audit_rtk_imu_factor_consistency import _jsonable
 from tools.audit_rtk_imu_innovation_noise import (
     _factor_report,_hpr_innovations,_interval_innovations)

tools/audit_rtk_imu_innovation_noise.py

@@ -9,11 +9,11 @@ ROOT = Path(__file__).resolve().parents[1]
 if str(ROOT) not in sys.path: sys.path.insert(0,str(ROOT))
 from imu_lidar.geometry import so3_log
 from imu_lidar.imu_preintegration import apply_bias_correction_imu,preintegrate_gyro
-from imu_lidar.rtk_imu_engineering import (
+from rtk_imu.rtk_imu_engineering import (
     G_ENU,HPR_DIRECT_ANGULAR_SIGMA_RAD,_all_hpr,_height_reference,
     _world_rtk)
-from imu_lidar.rtk_imu_multisource import load_unified_sessions
-from imu_lidar.rtk_imu_node_graph import build_problem
+from rtk_imu.rtk_imu_multisource import load_unified_sessions
+from rtk_imu.rtk_imu_node_graph import build_problem
 from tools.audit_rtk_imu_factor_consistency import MECHANICAL_L_I_M,_jsonable
 from tools.run_rtk_imu_node_graph_fixed_lever import _select_window
 

tools/audit_rtk_imu_lever_excitation.py

@@ -17,8 +17,8 @@ ROOT = Path(__file__).resolve().parents[1]
 if str(ROOT) not in sys.path:
     sys.path.insert(0, str(ROOT))
 
-from imu_lidar.rtk_imu_engineering import _fit_segments, _fit_summary, _segments
-from imu_lidar.rtk_imu_multisource import load_unified_sessions
+from rtk_imu.rtk_imu_engineering import _fit_segments, _fit_summary, _segments
+from rtk_imu.rtk_imu_multisource import load_unified_sessions
 
 
 def _jsonable(value):

tools/audit_rtk_imu_motion_excitation.py

@@ -23,7 +23,7 @@ if str(ROOT) not in sys.path:
     sys.path.insert(0, str(ROOT))
 
 from imu_lidar.imu_audit import audit_imu
-from imu_lidar.rtk_imu_engineering import (
+from rtk_imu.rtk_imu_engineering import (
     MIN_SEGMENT_DURATION_S,
     MIN_SEGMENT_NODE_COUNT,
     _all_hpr,
@@ -37,7 +37,7 @@ from imu_lidar.rtk_imu_engineering import (
     _segments,
     _source_nodes,
 )
-from imu_lidar.rtk_imu_multisource import _f, _truth, load_unified_sessions
+from rtk_imu.rtk_imu_multisource import _f, _truth, load_unified_sessions
 
 
 RAW_GAP_S = 1.5

tools/audit_rtk_imu_multihorizon.py

@@ -8,9 +8,9 @@ from scipy.spatial.transform import Rotation
 ROOT = Path(__file__).resolve().parents[1]
 if str(ROOT) not in sys.path: sys.path.insert(0,str(ROOT))
 from imu_lidar.imu_preintegration import preintegrate_imu
-from imu_lidar.rtk_imu_engineering import (
+from rtk_imu.rtk_imu_engineering import (
     G_ENU, _all_hpr, _height_reference, _hpr_factor_observation, _world_rtk)
-from imu_lidar.rtk_imu_multisource import load_unified_sessions
+from rtk_imu.rtk_imu_multisource import load_unified_sessions
 from tools.audit_rtk_imu_factor_consistency import (
     MECHANICAL_L_I_M, _best_arrays, _jsonable, _nearest_imu, _summary)
 

tools/audit_rtk_imu_propagation_bias_root_cause.py

@@ -7,9 +7,9 @@ import numpy as np
 from scipy.spatial.transform import Rotation
 ROOT=Path(__file__).resolve().parents[1]
 if str(ROOT) not in sys.path: sys.path.insert(0,str(ROOT))
-from imu_lidar.rtk_imu_engineering import G0,G_ENU,_height_reference,_nodes,_world_rtk
-from imu_lidar.rtk_imu_multisource import load_unified_sessions
-from imu_lidar.rtk_imu_node_graph import build_problem
+from rtk_imu.rtk_imu_engineering import G0,G_ENU,_height_reference,_nodes,_world_rtk
+from rtk_imu.rtk_imu_multisource import load_unified_sessions
+from rtk_imu.rtk_imu_node_graph import build_problem
 from tools.audit_rtk_imu_factor_consistency import _jsonable
 from tools.audit_rtk_imu_heldout_innovation import _calibration_biases
 from tools.audit_rtk_imu_innovation_noise import _factor_report,_interval_innovations

tools/refine_rtk_imu_windows_by_actual_information.py

@@ -7,9 +7,9 @@ import numpy as np
 from scipy.spatial.transform import Rotation
 ROOT=Path(__file__).resolve().parents[1]
 if str(ROOT) not in sys.path: sys.path.insert(0,str(ROOT))
-from imu_lidar.rtk_imu_engineering import _height_reference
-from imu_lidar.rtk_imu_multisource import load_unified_sessions
-from imu_lidar.rtk_imu_node_graph import build_problem,linearized_lever_information
+from rtk_imu.rtk_imu_engineering import _height_reference
+from rtk_imu.rtk_imu_multisource import load_unified_sessions
+from rtk_imu.rtk_imu_node_graph import build_problem,linearized_lever_information
 from tools.audit_rtk_imu_factor_consistency import _jsonable
 from tools.run_rtk_imu_node_graph_free_selected import _restore_segments
 from tools.select_rtk_imu_windows_by_lever_information import (

tools/retry_rtk_imu_heldout_nonconverged.py

@@ -8,9 +8,9 @@ import numpy as np
 from scipy.spatial.transform import Rotation
 ROOT=Path(__file__).resolve().parents[1]
 if str(ROOT) not in sys.path: sys.path.insert(0,str(ROOT))
-from imu_lidar.rtk_imu_engineering import _height_reference
-from imu_lidar.rtk_imu_multisource import load_unified_sessions
-from imu_lidar.rtk_imu_node_graph import (
+from rtk_imu.rtk_imu_engineering import _height_reference
+from rtk_imu.rtk_imu_multisource import load_unified_sessions
+from rtk_imu.rtk_imu_node_graph import (
     build_problem,fit_states_at_fixed_lever,summarize_fixed_state_values)
 from tools.audit_rtk_imu_factor_consistency import _jsonable
 from tools.run_rtk_imu_node_graph_free_selected import _restore_segments

tools/run_rtk_imu_calibration.py

@@ -12,7 +12,7 @@ ROOT = Path(__file__).resolve().parents[1]
 if str(ROOT) not in sys.path:
     sys.path.insert(0, str(ROOT))
 
-from imu_lidar.rtk_imu_replay import (
+from rtk_imu.rtk_imu_replay import (
     DEFAULT_RTK_FRAME_DEFINITION,
     DEFAULT_RTK_REFERENCE_POINT,
     load_inventory,

tools/run_rtk_imu_engineering_6dof.py

@@ -17,12 +17,12 @@ ROOT = Path(__file__).resolve().parents[1]
 if str(ROOT) not in sys.path:
     sys.path.insert(0, str(ROOT))
 
-from imu_lidar.rtk_imu_engineering import (
+from rtk_imu.rtk_imu_engineering import (
     DEFAULT_MANUAL_L_I_M,
     DEFAULT_MANUAL_L_I_COVARIANCE_M2,
     solve_engineering_6dof,
 )
-from imu_lidar.rtk_imu_multisource import load_unified_sessions
+from rtk_imu.rtk_imu_multisource import load_unified_sessions
 
 
 def _jsonable(value):

tools/run_rtk_imu_engineering_free_base.py

@@ -20,7 +20,7 @@ ROOT = Path(__file__).resolve().parents[1]
 if str(ROOT) not in sys.path:
     sys.path.insert(0, str(ROOT))
 
-from imu_lidar.rtk_imu_engineering import (
+from rtk_imu.rtk_imu_engineering import (
     MIN_SEGMENT_DURATION_S,
     MIN_SEGMENT_NODE_COUNT,
     NUISANCE_DOF_PER_SEGMENT,
@@ -36,7 +36,7 @@ from imu_lidar.rtk_imu_engineering import (
     _world_rtk,
 )
 from imu_lidar.imu_preintegration import preintegrate_imu
-from imu_lidar.rtk_imu_multisource import load_unified_sessions
+from rtk_imu.rtk_imu_multisource import load_unified_sessions
 
 MANUAL_REFERENCE_L_I_M = np.array([-0.45072, -0.25682, 0.73208], dtype=float)
 

tools/run_rtk_imu_mechanical_prior_branch.py

@@ -9,9 +9,9 @@ import numpy as np
 from scipy.spatial.transform import Rotation
 ROOT=Path(__file__).resolve().parents[1]
 if str(ROOT) not in sys.path: sys.path.insert(0,str(ROOT))
-from imu_lidar.rtk_imu_engineering import _height_reference
-from imu_lidar.rtk_imu_multisource import load_unified_sessions
-from imu_lidar.rtk_imu_node_graph import (
+from rtk_imu.rtk_imu_engineering import _height_reference
+from rtk_imu.rtk_imu_multisource import load_unified_sessions
+from rtk_imu.rtk_imu_node_graph import (
     NODE_DOF,build_problem,fit_states_at_fixed_lever,solve_free_lever_many,
     summarize_fixed_state_values)
 from tools.audit_rtk_imu_factor_consistency import MECHANICAL_L_I_M,_jsonable

tools/run_rtk_imu_mechanical_prior_heldout.py

@@ -9,9 +9,9 @@ from scipy.spatial.transform import Rotation
 ROOT=Path(__file__).resolve().parents[1]
 if str(ROOT) not in sys.path: sys.path.insert(0,str(ROOT))
 from imu_lidar.geometry import make_transform
-from imu_lidar.rtk_imu_engineering import _height_reference
-from imu_lidar.rtk_imu_multisource import load_unified_sessions
-from imu_lidar.rtk_imu_node_graph import build_problem,fit_states_at_fixed_lever,residual
+from rtk_imu.rtk_imu_engineering import _height_reference
+from rtk_imu.rtk_imu_multisource import load_unified_sessions
+from rtk_imu.rtk_imu_node_graph import build_problem,fit_states_at_fixed_lever,residual
 from tools.audit_rtk_imu_factor_consistency import _jsonable
 from tools.run_rtk_imu_node_graph_free_selected import _restore_segments
 

tools/run_rtk_imu_mechanical_prior_rotation_sensitivity.py

@@ -10,9 +10,9 @@ from scipy.spatial.transform import Rotation
 ROOT=Path(__file__).resolve().parents[1]
 if str(ROOT) not in sys.path: sys.path.insert(0,str(ROOT))
 from imu_lidar.geometry import make_transform
-from imu_lidar.rtk_imu_engineering import _height_reference
-from imu_lidar.rtk_imu_multisource import load_unified_sessions
-from imu_lidar.rtk_imu_node_graph import (
+from rtk_imu.rtk_imu_engineering import _height_reference
+from rtk_imu.rtk_imu_multisource import load_unified_sessions
+from rtk_imu.rtk_imu_node_graph import (
     build_problem,solve_free_lever_many,summarize_fixed_state_values)
 from tools.audit_rtk_imu_factor_consistency import _jsonable
 from tools.run_rtk_imu_node_graph_free_selected import _restore_segments

tools/run_rtk_imu_multisource.py

@@ -12,7 +12,7 @@ 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 (
+from rtk_imu.rtk_imu_multisource import (
     load_unified_sessions,
     result_to_jsonable,
     solve_r3,

tools/run_rtk_imu_node_graph_fixed_lever.py

@@ -8,9 +8,9 @@ import numpy as np
 from scipy.spatial.transform import Rotation
 ROOT = Path(__file__).resolve().parents[1]
 if str(ROOT) not in sys.path: sys.path.insert(0,str(ROOT))
-from imu_lidar.rtk_imu_engineering import _height_reference
-from imu_lidar.rtk_imu_multisource import load_unified_sessions
-from imu_lidar.rtk_imu_node_graph import build_problem, solve_fixed_lever
+from rtk_imu.rtk_imu_engineering import _height_reference
+from rtk_imu.rtk_imu_multisource import load_unified_sessions
+from rtk_imu.rtk_imu_node_graph import build_problem, solve_fixed_lever
 from tools.audit_rtk_imu_factor_consistency import (
     MECHANICAL_L_I_M, _build_segment, _jsonable, _qualified_runs)
 

tools/run_rtk_imu_node_graph_free_circle.py

@@ -8,9 +8,9 @@ import numpy as np
 from scipy.spatial.transform import Rotation
 ROOT=Path(__file__).resolve().parents[1]
 if str(ROOT) not in sys.path: sys.path.insert(0,str(ROOT))
-from imu_lidar.rtk_imu_engineering import _height_reference
-from imu_lidar.rtk_imu_multisource import load_unified_sessions
-from imu_lidar.rtk_imu_node_graph import build_problem,solve_free_lever
+from rtk_imu.rtk_imu_engineering import _height_reference
+from rtk_imu.rtk_imu_multisource import load_unified_sessions
+from rtk_imu.rtk_imu_node_graph import build_problem,solve_free_lever
 from tools.audit_rtk_imu_factor_consistency import MECHANICAL_L_I_M,_jsonable
 from tools.run_rtk_imu_node_graph_fixed_lever import _select_window
 

tools/run_rtk_imu_node_graph_free_joint.py

@@ -8,9 +8,9 @@ import numpy as np
 from scipy.spatial.transform import Rotation
 ROOT=Path(__file__).resolve().parents[1]
 if str(ROOT) not in sys.path: sys.path.insert(0,str(ROOT))
-from imu_lidar.rtk_imu_engineering import _height_reference
-from imu_lidar.rtk_imu_multisource import load_unified_sessions
-from imu_lidar.rtk_imu_node_graph import build_problem,solve_free_lever_many
+from rtk_imu.rtk_imu_engineering import _height_reference
+from rtk_imu.rtk_imu_multisource import load_unified_sessions
+from rtk_imu.rtk_imu_node_graph import build_problem,solve_free_lever_many
 from tools.audit_rtk_imu_factor_consistency import MECHANICAL_L_I_M,_jsonable
 from tools.run_rtk_imu_node_graph_fixed_lever import _select_window
 

tools/run_rtk_imu_node_graph_free_selected.py

@@ -9,9 +9,9 @@ import numpy as np
 from scipy.spatial.transform import Rotation
 ROOT=Path(__file__).resolve().parents[1]
 if str(ROOT) not in sys.path: sys.path.insert(0,str(ROOT))
-from imu_lidar.rtk_imu_engineering import _height_reference
-from imu_lidar.rtk_imu_multisource import load_unified_sessions
-from imu_lidar.rtk_imu_node_graph import (
+from rtk_imu.rtk_imu_engineering import _height_reference
+from rtk_imu.rtk_imu_multisource import load_unified_sessions
+from rtk_imu.rtk_imu_node_graph import (
     build_problem,fit_states_at_fixed_lever,solve_free_lever_many)
 from tools.audit_rtk_imu_factor_consistency import MECHANICAL_L_I_M,_build_segment,_jsonable,_qualified_runs
 

tools/run_rtk_imu_node_graph_p05.py

@@ -8,9 +8,9 @@ import numpy as np
 from scipy.spatial.transform import Rotation
 ROOT = Path(__file__).resolve().parents[1]
 if str(ROOT) not in sys.path: sys.path.insert(0,str(ROOT))
-from imu_lidar.rtk_imu_engineering import _height_reference
-from imu_lidar.rtk_imu_multisource import load_unified_sessions
-from imu_lidar.rtk_imu_node_graph import (
+from rtk_imu.rtk_imu_engineering import _height_reference
+from rtk_imu.rtk_imu_multisource import load_unified_sessions
+from rtk_imu.rtk_imu_node_graph import (
     build_problem,solve_fixed_lever,solve_fixed_lever_many)
 from tools.audit_rtk_imu_factor_consistency import MECHANICAL_L_I_M,_jsonable
 from tools.run_rtk_imu_node_graph_fixed_lever import _select_window

tools/select_rtk_imu_windows_by_lever_information.py

@@ -7,9 +7,9 @@ import numpy as np
 from scipy.spatial.transform import Rotation
 ROOT=Path(__file__).resolve().parents[1]
 if str(ROOT) not in sys.path: sys.path.insert(0,str(ROOT))
-from imu_lidar.rtk_imu_engineering import _all_hpr,_height_reference
-from imu_lidar.rtk_imu_multisource import load_unified_sessions
-from imu_lidar.rtk_imu_node_graph import build_problem,linearized_lever_information
+from rtk_imu.rtk_imu_engineering import _all_hpr,_height_reference
+from rtk_imu.rtk_imu_multisource import load_unified_sessions
+from rtk_imu.rtk_imu_node_graph import build_problem,linearized_lever_information
 from tools.audit_rtk_imu_factor_consistency import _build_segment,_jsonable,_qualified_runs
 from tools.run_rtk_imu_node_graph_fixed_lever import _select_window
 

tools/validate_rtk_hpr_dropout_bridge.py

@@ -21,8 +21,8 @@ ROOT = Path(__file__).resolve().parents[1]
 if str(ROOT) not in sys.path:
     sys.path.insert(0, str(ROOT))
 
-from imu_lidar.rtk_imu_engineering import _all_hpr, _baseline_angle_deg, _interpolate_baseline, _world_rtk
-from imu_lidar.rtk_imu_multisource import load_unified_sessions
+from rtk_imu.rtk_imu_engineering import _all_hpr, _baseline_angle_deg, _interpolate_baseline, _world_rtk
+from rtk_imu.rtk_imu_multisource import load_unified_sessions
 
 GAPS_S = (0.2, 0.3, 0.4, 0.5, 0.6, 0.8)
 R2G_RPY_DEG = (0.4543066225, -0.0026392019, 0.0122384129)