Closed boxuLibrary closed 4 years ago
@xubogithub Thanks for your issue.
(1) Regarding the yaw angle difference you need, you may want to find the heading angle of the vehicle via rostopic /novatel_data/inspvax
. The structure of the rostopic is as follows:
uint32 INS_STATUS_INACTIVE=0
uint32 INS_STATUS_ALIGNING=1
uint32 INS_STATUS_HIGH_VARIANCE=2
uint32 INS_STATUS_SOLUTION_GOOD=3
uint32 INS_STATUS_SOLUTION_FREE=6
uint32 INS_STATUS_ALIGNMENT_COMPLETE=7
uint32 INS_STATUS_DETERMINING_ORIENTATION=8
uint32 INS_STATUS_WAITING_INITIALPOS=9
uint32 POSITION_TYPE_NONE=0
uint32 POSITION_TYPE_SBAS=52
uint32 POSITION_TYPE_PSEUDORANGE_SINGLE_POINT=53
uint32 POSITION_TYPE_PSEUDORANGE_DIFFERENTIAL=54
uint32 POSITION_TYPE_RTK_FLOAT=55
uint32 POSITION_TYPE_RTK_FIXED=56
uint32 POSITION_TYPE_OMNISTAR=57
uint32 POSITION_TYPE_OMNISTAR_HP=58
uint32 POSITION_TYPE_OMNISTAR_XP=59
uint32 POSITION_TYPE_PPP_CONVERGING=73
uint32 POSITION_TYPE_PPP=74
uint32 EXTENDED_STATUS_POSITION_UPDATE_APPLIED=1
uint32 EXTENDED_STATUS_PHASE_UPDATE_APPLIED=2
uint32 EXTENDED_STATUS_ZUPT_APPLIED=4
uint32 EXTENDED_STATUS_WHEEL_SENSOR_APPLIED=8
uint32 EXTENDED_STATUS_HEADING_UPDATE_APPLIED=16
uint32 EXTENDED_STATUS_INS_SOLUTION_CONVERGED=64
novatel_msgs/CommonHeader header
uint32 RECEIVER_STATUS_ERROR=1
uint32 RECEIVER_STATUS_TEMPERATURE_WARNING=2
uint32 RECEIVER_STATUS_VOLTAGE_SUPPLY_WARNING=4
uint32 RECEIVER_STATUS_ANTENNA_UNPOWERED=8
uint32 RECEIVER_STATUS_LNA_FAILURE=16
uint32 RECEIVER_STATUS_ANTENNA_OPEN=32
uint32 RECEIVER_STATUS_ANTENNA_SHORTED=64
uint32 RECEIVER_STATUS_CPU_OVERLOADED=128
uint32 RECEIVER_STATUS_COM1_BUFFER_OVERRUN=256
uint32 RECEIVER_STATUS_COM2_BUFFER_OVERRUN=512
uint32 RECEIVER_STATUS_COM3_BUFFER_OVERRUN=1024
uint32 RECEIVER_STATUS_LINK_OVERLOAD=2048
uint32 RECEIVER_STATUS_AUX_TRANSMIT_OVERRUN=8192
uint32 RECEIVER_STATUS_AGC_OUT_OF_RANGE=16384
uint32 RECEIVER_STATUS_INS_RESET=65536
uint32 RECEIVER_STATUS_ALMANAC_INVALID=262144
uint32 RECEIVER_STATUS_POSITION_SOLUTION_INVALID=524288
uint32 RECEIVER_STATUS_POSITION_NOT_FIXED=1048576
uint32 RECEIVER_STATUS_CLOCK_STEERING_DISABLED=2097152
uint32 RECEIVER_STATUS_CLOCK_MODEL_INVALID=4194304
uint32 RECEIVER_STATUS_EXTERNAL_OSCILLATOR_LOCKED=8388608
uint32 RECEIVER_STATUS_SOFTWARE_RESOURCE_WARNING=16777216
uint32 RECEIVER_STATUS_AUXILIARY3_EVENT=536870912
uint32 RECEIVER_STATUS_AUXILIARY2_EVENT=1073741824
uint32 RECEIVER_STATUS_AUXILIARY1_EVENT=2147483648
uint16 id
uint8 msg_type
uint8 port_addr
uint16 length
uint16 sequence
uint8 idle_time
uint8 time_status
uint16 gps_week
uint32 gps_week_seconds
uint32 receiver_status
uint16 reserved
uint16 software_version
uint32 ins_status
uint32 position_type
float64 latitude
float64 longitude
float64 altitude
float32 undulation
float64 north_velocity
float64 east_velocity
float64 up_velocity
float64 roll
float64 pitch
float64 azimuth
float32 latitude_std
float32 longitude_std
float32 altitude_std
float32 north_velocity_std
float32 east_velocity_std
float32 up_velocity_std
float32 roll_std
float32 pitch_std
float32 azimuth_std
uint32 extended_status
uint16 seconds_since_update
The azimuth denotes the yaw angle with respect to the north.
(2) Regarding the extrinsic parameters, we update them accordingly. Please see the latest extrinsic parameters.
thank you for opening dataset,I have some issue of the dataset, I used the lantitude ,longitude and altitude in groundtruth to calculate xyz in ENU coordinate, and then I aligned the groundtruth and VIO trajectory, there is a yaw difference, I used gnss velocity to calculate yaw angle from VIO Coordinate frame to ENU coordinate frame ,however there is still alignment error, I want to know if there is a transformation between IMU coordinate frame and GNSS coordinate frame . Another question is I notice that in the extrinsic parameter file, the final col、 final row of the transformation matrix T is -0.28 and -0.36, in the standard transformation matrix, I think it is 1, so how should I understand the transformation matrix ,thank you very much.