自定義文件格式及坐標系-資料下載頁
2024-10-17 11:11本頁面
【導讀】北京大學智能車實驗平臺Poss?–從WGS84轉(zhuǎn)換到東京直角坐標系數(shù)據(jù)，輸出XYZ，–GPS時鐘有跳秒問題。–POS數(shù)據(jù)中的UTC為修正跳秒，GPS時為原始數(shù)據(jù)。
【正文】 on Parameters () For any laser points (x, y, 0) in UR laser CS, First rotate (R) then shift according to calibration parameters. The rotation parameter means that from the Vehicle body CS, first rotate Z by 90, then rotate Y by 90, finally rotate X by 0, to achieve UR laser CS. R = Rz(90)?Ry(90)?Rx(0) x y z Vehicle body CS FL Laser CS LD FL rot 45 0 0 shv 0 0 Calibration Parameters () For any laser points (x, y, 0) in UR laser CS, First rotate (R) then shift according to calibration parameters. The rotation parameter means that from the Vehicle body CS, first rotate Z by 0, then rotate Y by 0, finally rotate X by 45, to achieve UR laser CS. R = Rz(0)?Ry(0)?Rx(45) x y z 三維激光點陣數(shù)據(jù)生成 ? 通過車體的運動及垂直二維激光掃描合成為三維激光點陣數(shù)據(jù) – LMS+Calib+NAV》 3D Laser Points – Calib定義了激光掃描儀坐標系與車體坐標系（ NAV）的關(guān)系 – NAV數(shù)據(jù)有兩個：慣性導航， FM激光 SLAM 三維激光點陣數(shù)據(jù)生成 ? Lms2Ri – 將 LMS數(shù)據(jù)轉(zhuǎn)換為距離圖像 ? Lms2Ds – 修正 LMS時鐘參數(shù)（ ），將 LMS數(shù)據(jù)與 NAV數(shù)據(jù)合成，輸出 DS格式數(shù)據(jù) ? Ds2Pt – 根據(jù)激光掃描儀與車體的標定參數(shù)將 DS數(shù)據(jù)轉(zhuǎn)換成全局坐標系中的激光點陣，輸出 Pt格式數(shù)據(jù) ? Datviewer – 顯示三維激光點陣數(shù)據(jù)
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