重构RTK-IMU标定链路并完成机械先验工程验证

tools/run_rtk_imu_calibration.py

@@ -12,7 +12,13 @@ ROOT = Path(__file__).resolve().parents[1]
 if str(ROOT) not in sys.path:
     sys.path.insert(0, str(ROOT))
 
-from imu_lidar.rtk_imu_replay import load_inventory, load_sessions, run_calibration
+from imu_lidar.rtk_imu_replay import (
+    DEFAULT_RTK_FRAME_DEFINITION,
+    DEFAULT_RTK_REFERENCE_POINT,
+    load_inventory,
+    load_sessions,
+    run_calibration,
+)
 
 
 def main(argv: list[str] | None = None) -> int:
@@ -33,8 +39,8 @@ def main(argv: list[str] | None = None) -> int:
     parser.add_argument("--no-loo", action="store_true")
     parser.add_argument("--knot-step-s", type=float, default=2.0)
     parser.add_argument("--per-batch", action="store_true")
-    parser.add_argument("--rtk-frame-definition", default='')
-    parser.add_argument("--rtk-reference-point", default='')
+    parser.add_argument("--rtk-frame-definition", default=DEFAULT_RTK_FRAME_DEFINITION)
+    parser.add_argument("--rtk-reference-point", default=DEFAULT_RTK_REFERENCE_POINT)
     args = parser.parse_args(argv)
 
     entries = load_inventory(args.inventory)