LiDAR2IMU Data Representation/数据表示

[Chiwingum11]

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]

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

[program1w]

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]

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 :)