如何调整坐标系使lidar检测障碍物与点云匹配

Jacen0610 commented 3 weeks ago

We appreciate you go through Apollo documentations and search previous issues before creating an new one. If neither of the sources helped you with your issues, please report the issue using the following form. Please note missing info can delay the response time.

System information

OS Platform and Distribution (e.g., Linux Ubuntu 18.04):Linux Ubuntu 18.04
Apollo installed from (source or binary):source
Apollo version (3.5, 5.0, 5.5, 6.0):9.0

Steps to reproduce the issue:

Please use bullet points and include as much details as possible:
使用Perception模块的launch文件perception_lidar.launch后生成的obstacle障碍物位置与点云位置不符，请问我该怎么调整点云或是车辆的坐标系使得obstacle障碍物和点云与车辆对齐。我的点云与车辆也是坐标系混乱的，我使用的是lslidar16。我使用的gnss是华测的，是否以上问题跟定位有关？我的定位是能够让车辆成功寻迹的。

Supporting materials (screenshots, command lines, code/script snippets):

2024-06-07 13-46-08 的屏幕截图

2024-06-07 13-45-53 的屏幕截图

HandsomeAIccx commented 1 week ago

dreamview的点云是原始点云，没有经过tf，你可以自己写一个经过tf转换的点云，把它发出来，加载到dreamview中。

Jacen0610 commented 5 days ago

dreamview的点云是原始点云，没有经过tf，你可以自己写一个经过tf转换的点云，把它发出来，加载到dreamview中。

现在是我的聚类输出的障碍物在dreamview+显示有问题，点云显示是没问题的。聚类的障碍物和点云对应不上，差了90度

ApolloAuto / apollo