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add imu vehicle calibration tool, also add ceres-solver to docker fil…
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…e. note that, the ceres solver version provided by apt is 1.8.
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homography authored and ycool committed Apr 18, 2018
1 parent 542db8e commit 8bfda0f
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1 change: 1 addition & 0 deletions docker/build/dev.x86_64.dockerfile
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Expand Up @@ -7,6 +7,7 @@ COPY installers /tmp/installers
RUN bash /tmp/installers/pre_install.sh
RUN bash /tmp/installers/install_bazel.sh
RUN bash /tmp/installers/install_bazel_packages.sh
RUN bash /tmp/installers/install_ceres_solver.sh
RUN bash /tmp/installers/install_gflags_glog.sh
RUN bash /tmp/installers/install_glew.sh
RUN bash /tmp/installers/install_glusterfs.sh
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22 changes: 22 additions & 0 deletions docker/build/installers/install_ceres_solver.sh
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#!/usr/bin/env bash

###############################################################################
# Copyright 2018 The Apollo Authors. All Rights Reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
###############################################################################

# Fail on first error.
set -e

apt-get install -y libceres-dev
39 changes: 39 additions & 0 deletions docs/quickstart/apollo_2_0_sensor_calibration_guide.md
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Expand Up @@ -5,6 +5,7 @@ This guide introduces the Apollo Sensor Calibration Service and describes the th
- Camera-to-Camera Calibration
- Camera-to-LiDAR Calibration
- Radar-to-Camera Calibration
- IMU-to-Vehicle Calibration

## About This Guide

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You need to run the `radar_lidar_visualizer` tool to generate the image.
See [Radar LiDAR Visualizer Projection Tool](####Radar LiDAR Visualizer Projection Tool) for more information.

## IMU-to-Vehicle Calibration
1. Download the [calibration tool](https://apollocache.blob.core.windows.net/apollo-cache/imu_car_calibrator.zip).
2. Start the vehicle to move before calibration. The vehicle should keep going straight at speed of 3m/s for 10s at least. There is no need to provide the intrinsic and initial extrinsic.
3. Required topic: INS /apollo/sensors/gnss/odemetry 100Hz

4. Run the IMU-to-Vehicle Calibration using these commands:

```bash
cd /apollo
bash scripts/sensor_calibration.sh imu_vehicle
```
4. The result is saved as vehicle_imu_extrinsics.yaml in current path. Here is an example:
```bash
header
seq: 0
stamp:
secs: 1522137131
nsecs: 319999933
frame_id: imu
transform:
translation:
x: 0.0
y: 0.0
z: 0.0
rotation:
x: -0.008324888458427
y: -0.000229845441991
z: 0.027597957866274
w: 0.999584411705604
child_frame_id: vehicle

#pitch install error: -0.954337
#roll install error: 0.000000
#yaw install error: 3.163004
```



### (Optional) Run All Calibration Tools

If necessary, users can run all calibration tools using these commands:
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