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PJLab-ADG / SensorsCalibration

OpenCalib: A Multi-sensor Calibration Toolbox for Autonomous Driving
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LiDAR2IMU Data Representation/数据表示 #127

Open Chiwingum11 opened 8 months ago

Chiwingum11 commented 8 months ago

2021-10-26-16-21-29-468 0.999999487 0.000000001 0.000000005 0.000000000 0.000000001 1.000000458 0.000000061 0.000000000 0.000000005 0.000000061 1.000000354 0.000000000 2021-10-26-16-21-29-568 0.999999487 -0.000016799 0.000011083 0.000086150 0.000016801 1.000000457 0.000002765 -0.000044056 -0.000011073 -0.000002643 1.000000354 -0.000057432 2021-10-26-16-21-29-668 0.999999486 -0.000030950 0.000017494 0.000149598 0.000030953 1.000000457 0.000001618 -0.000081122 -0.000017486 -0.000001495 1.000000353 -0.000108566 2021-10-26-16-21-29-768 0.999999487 -0.000026525 0.000013749 0.000168331 0.000026526 1.000000457 0.000020940 -0.000118806 -0.000013739 -0.000020816 1.000000353 -0.000121137 2021-10-26-16-21-29-868 0.999999486 -0.000027556 0.000027000 0.000221277 0.000027556 1.000000456 0.000025740 -0.000156440 -0.000026992 -0.000025616 1.000000353 -0.000150710 2021-10-26-16-21-29-969 0.999999487 -0.000036470 0.000023235 0.000234609 0.000036471 1.000000456 0.000028331 -0.000172442 -0.000023227 -0.000028207 1.000000353 -0.000132037 2021-10-26-16-21-30-069 0.999999485 0.000032281 0.000065063 0.000299835 -0.000032287 1.000000452 0.000103572 -0.000194594 -0.000065051 -0.000103451 1.000000347 -0.000212796 2021-10-26-16-21-30-169 0.999999485 0.000026849 0.000057538 0.000285176 -0.000026853 1.000000451 0.000105360 -0.000225432 -0.000057525 -0.000105238 1.000000347 -0.000268844 2021-10-26-16-21-30-269 0.999999484 0.000026782 0.000074307 0.000341075 -0.000026787 1.000000451 0.000105466 -0.000226351 -0.000074295 -0.000105345 1.000000345 -0.000327082 2021-10-26-16-21-30-369 0.999999485 0.000018866 0.000063211 0.000309279 -0.000018872 1.000000452 0.000107897 -0.000208814 -0.000063200 -0.000107775 1.000000346 -0.000348987

top_center_lidar_pose.txt

What does each data represent? and How are do one interchange between or collect data from 每个数据代表什么？如何在以下设备之间交换数据或从以下设备收集数据? NovAtel-pose-lidar-time.txt top_center_lidar-enu.txt top_center_lidar-pose.txt top_center_lidar-utm.txt

Why does manual_calib uses top_center_lidar-pose.txt but auto_calib uses NovAtel-pose-lidar-time.txt? @friskit-china @YueDayu @yikang-li @BOBrown

DeeKayG commented 3 months ago

can anyone tell what those 12 values represents and in which order? My IMU sensor topic echo is in this format: header: stamp: sec: 1710008269 nanosec: 882852351 frame_id: imu_link orientation: x: -0.006825877990883415 y: -0.002594882655552313 z: -0.7126842273063086 w: -0.7014469802647005 orientation_covariance:

program1w commented 3 months ago

can anyone tell what those 12 values represents and in which order? My IMU sensor topic echo is in this format: header: stamp: sec: 1710008269 nanosec: 882852351 frame_id: imu_link orientation: x: -0.006825877990883415 y: -0.002594882655552313 z: -0.7126842273063086 w: -0.7014469802647005 orientation_covariance:

  • 0.00042593543332150943
  • 0.0
  • 0.0
  • 0.0
  • 0.00038638801831553105
  • 0.0
  • 0.0
  • 0.0
  • 0.13248230474005496 angular_velocity: x: -0.004857184302894783 y: 0.008244611230212863 z: -0.0011483339340475234 angular_velocity_covariance:
  • 0.0
  • 0.0
  • 0.0
  • 0.0
  • 0.0
  • 0.0
  • 0.0
  • 0.0
  • 0.0 linear_acceleration: x: -0.03084136856920639 y: 0.03636305442003258 z: -0.04104681350873415 linear_acceleration_covariance:
  • 0.0
  • 0.0
  • 0.0
  • 0.0
  • 0.0
  • 0.0
  • 0.0
  • 0.0
  • 0.0

我和你的IMU数据一样，你的问题解决了吗，如果你能看到，请＋q 525614957 一起交流一下

DeeKayG commented 3 months ago

My IMU data is the same as yours. Has your problem been solved? If you can see it, please +q 525614957 to communicate with us.

I still didn't quite figure out what the heck are those values. I read somewhere in one of these issues where someone mentioned it's R1, R2, R3, T1, R4, R5, R6, T2, R7, R8, R9, T3. I wrote a script to prepare data https://buffalo.box.com/s/9dsmt6b0fp7m6g0qt9fckcc71r38zy97 in this format and still it doesn't work. In paper they say our method only takes 19 seconds to calibrate but preparing the data for this package itself takes forever. LOL! So I have changed the package and now I am using ROS1 based LiDAR2IMU Calibration package (DocKer) which works great!

Here's the proof >> https://buffalo.box.com/s/vmlo1m046tshr5v13jp2v6ibfa6moxfb I am still refining the parameters and it will get done. It takes 10-15 minutes (WARNING: CPU USAGE AT PEAK) to calibrate depending on how many 8 loops timestamps you are feeding into the algorithm.

The ROS1 bsed package & guide >> https://autowarefoundation.github.io/autoware-documentation/release-v1.0_beta/how-to-guides/integrating-autoware/creating-vehicle-and-sensor-model/calibrating-sensors/lidar-imu-calibration/

NOTE: While using this ROS1 based package (DocKer), forget about live visualizing calibration process errors. Let the package do it's job after you execute "roslaunch" command. In the end, you will get calibration results in txt, csv, and PCDs as well.

Good Luck :)