{"action":"created","issue":{"url":"https://api.github.com/repos/ApolloAuto/apollo/issues/5046","repository_url":"https://api.github.com/repos/ApolloAuto/apollo","labels_url":"https://api.github.com/repos/ApolloAuto/apollo/issues/5046/labels{/name}","comments_url":"https://api.github.com/repos/ApolloAuto/apollo/issues/5046/comments","events_url":"https://api.github.com/repos/ApolloAuto/apollo/issues/5046/events","html_url":"https://github.com/ApolloAuto/apollo/issues/5046","id":342555940,"node_id":"MDU6SXNzdWUzNDI1NTU5NDA=","number":5046,"title":"关于组合惯导和velodyne16线激光外参的标定问题","user":{"login":"alorli","id":15199599,"node_id":"MDQ6VXNlcjE1MTk5NTk5","avatar_url":"https://avatars1.githubusercontent.com/u/15199599?v=4","gravatar_id":"","url":"https://api.github.com/users/alorli","html_url":"https://github.com/alorli","followers_url":"https://api.github.com/users/alorli/followers","following_url":"https://api.github.com/users/alorli/following{/other_user}","gists_url":"https://api.github.com/users/alorli/gists{/gist_id}","starred_url":"https://api.github.com/users/alorli/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/alorli/subscriptions","organizations_url":"https://api.github.com/users/alorli/orgs","repos_url":"https://api.github.com/users/alorli/repos","events_url":"https://api.github.com/users/alorli/events{/privacy}","received_events_url":"https://api.github.com/users/alorli/received_events","type":"User","site_admin":false},"labels":[{"id":866269074,"node_id":"MDU6TGFiZWw4NjYyNjkwNzQ=","url":"https://api.github.com/repos/ApolloAuto/apollo/labels/Module:%20Perception","name":"Module: 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组合惯导使用的是使用的apollo3.0：dev版本，惯导是诺瓦泰pp7-e1，激光使用的是velodyne16线激光，标定方法和标定工具参考的是apollo/docs/quickstart/multiple_lidar_gnss_calibration_guide_cn.md。由于没有64线激光，所以在配置文件中去掉了64线激光相应的部分。按照文档中的方法采集了bag数据，修改了yaml文件中的外参估计值，下面的图是标定过程中输出的点云拼接图，看图中显示的结果，标定结果十分不理想，请问可能是什么原因呢，标定过程需要注意什么问题呢\r\n![2018-07-19 10-25-12](https://user-images.githubusercontent.com/15199599/42917888-0b2de358-8b3e-11e8-9f4f-fe6a303f64e7.png)\r\n\r\n"},"comment":{"url":"https://api.github.com/repos/ApolloAuto/apollo/issues/comments/410457386","html_url":"https://github.com/ApolloAuto/apollo/issues/5046#issuecomment-410457386","issue_url":"https://api.github.com/repos/ApolloAuto/apollo/issues/5046","id":410457386,"node_id":"MDEyOklzc3VlQ29tbWVudDQxMDQ1NzM4Ng==","user":{"login":"homography","id":30664018,"node_id":"MDQ6VXNlcjMwNjY0MDE4","avatar_url":"https://avatars3.githubusercontent.com/u/30664018?v=4","gravatar_id":"","url":"https://api.github.com/users/homography","html_url":"https://github.com/homography","followers_url":"https://api.github.com/users/homography/followers","following_url":"https://api.github.com/users/homography/following{/other_user}","gists_url":"https://api.github.com/users/homography/gists{/gist_id}","starred_url":"https://api.github.com/users/homography/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/homography/subscriptions","organizations_url":"https://api.github.com/users/homography/orgs","repos_url":"https://api.github.com/users/homography/repos","events_url":"https://api.github.com/users/homography/events{/privacy}","received_events_url":"https://api.github.com/users/homography/received_events","type":"User","site_admin":false},"created_at":"2018-08-04T15:32:27Z","updated_at":"2018-08-04T15:32:27Z","author_association":"CONTRIBUTOR","body":"Hi, you could first check the localization status, whether the GNSS is in RTK_FIX status and the ins solution is good. If it's ok, make sure the initial guess of the extrinsics is correct. For the default configuration, IMU coordinate frame is supposed to be Right-Forward-Up w.r.t the vehicle. "}}
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