如何调整坐标系使lidar检测障碍物与点云匹配

Jacen0610 commented 5 months ago

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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 5 months 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 4 months 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

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