CN115015889A - Laser radar pose adjusting method, device and equipment and readable storage medium - Google Patents
Laser radar pose adjusting method, device and equipment and readable storage medium Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/497—Means for monitoring or calibrating
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
- G01M17/007—Wheeled or endless-tracked vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
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Abstract
The invention provides a laser radar pose adjusting method, a device and equipment and a readable storage medium, wherein the laser radar pose adjusting method comprises the following steps: acquiring point cloud data of a calibration object A acquired by an actual laser radar; acquiring point cloud data of a calibration object A' acquired by a virtual laser radar; judging whether the adjustment condition is met; if the adjusting condition is not met, acquiring the pose of the virtual laser radar as the adjusted pose of the virtual laser radar; and if the adjustment condition is met, calculating to obtain the pose adjustment amount of the virtual laser radar based on the point cloud data of the calibration object A and the point cloud data of the calibration object A ', adjusting the pose of the virtual laser radar, and returning to execute the step of acquiring the point cloud data of the calibration object A' acquired by the virtual laser radar. According to the invention, the installation pose of the virtual laser radar is continuously adjusted and corrected, and finally the accuracy of the installation pose of the virtual laser radar is in a set range.
Description
Technical Field
The invention relates to the field of intelligent driving tests, in particular to a laser radar pose adjusting method, a laser radar pose adjusting device, laser radar pose adjusting equipment and a readable storage medium.
Background
The vehicle-mounted laser radar is an important component of an intelligent automobile sensing layer, the function and the performance of the vehicle-mounted laser radar are simulated by using the vehicle-mounted laser radar simulation module, the vehicle-mounted laser radar simulation module is used for simulation test of an intelligent automobile, and before the vehicle-mounted laser radar simulation module is used, the simulation precision of the vehicle-mounted laser radar simulation module must be evaluated to evaluate the accuracy of an intelligent automobile simulation test system, so that the reliability of a simulation test result can be ensured. The existing method for determining the installation pose of the virtual laser radar measures and records the installation pose parameters of the actual laser radar on the real vehicle, and then configures the installation pose of the virtual laser radar in simulation software according to the parameters, so that the installation pose of the virtual laser radar in the simulation is greatly different from the installation pose of the actual laser radar in the real vehicle, and the precision and the effect of simulation test are influenced, and therefore, the precision adjustment of the installation pose of the virtual laser radar in the simulation environment is very necessary.
Disclosure of Invention
The invention mainly aims to provide a laser radar pose adjusting method, a laser radar pose adjusting device, laser radar pose adjusting equipment and a readable storage medium, and aims to solve the technical problem that the accuracy of the installation pose of a virtual laser radar is not high during simulation test.
In a first aspect, the present invention provides a laser radar pose adjusting method, including:
acquiring point cloud data of a calibration object A acquired by an actual laser radar;
acquiring point cloud data of a calibration object A' acquired by a virtual laser radar;
judging whether an adjustment condition is met according to the point cloud data of the calibration object A and the point cloud data of the calibration object A';
if the adjustment condition is not met, acquiring the pose of the virtual laser radar, and taking the pose as the adjusted pose of the virtual laser radar;
and if the adjustment condition is met, calculating to obtain a pose adjustment amount of the virtual laser radar based on the point cloud data of the calibration object A and the point cloud data of the calibration object A ', adjusting the pose of the virtual laser radar based on the pose adjustment amount, and returning to execute the step of acquiring the point cloud data of the calibration object A' acquired by the virtual laser radar.
Optionally, the determining whether the adjustment condition is satisfied according to the point cloud data of the calibration object a and the point cloud data of the calibration object a' includes:
whether preset conditions are met or not is detected, and the preset conditions comprise:
the absolute value of the difference value of the point cloud data of the calibration object A and the point cloud total number of the point cloud data of the calibration object A' is smaller than a first preset number difference value;
the absolute value of the difference value between the maximum X coordinate value of the point cloud data of the calibration object A and the maximum X coordinate value of the point cloud data of the calibration object A' is smaller than a first preset adjustment difference value;
the absolute value of the difference value between the minimum X coordinate value of the point cloud data of the calibration object A and the minimum X coordinate value of the point cloud data of the calibration object A' is smaller than a second preset adjustment difference value;
the absolute value of the difference value between the maximum Y coordinate value of the point cloud data of the calibration object A and the maximum Y coordinate value of the point cloud data of the calibration object A' is smaller than a third preset adjustment amount difference value;
the absolute value of the difference value between the minimum Y coordinate value of the point cloud data of the calibration object A and the minimum Y coordinate value of the point cloud data of the calibration object A' is smaller than a fourth preset adjustment difference value;
if the preset conditions are simultaneously met, judging that the adjusting conditions are not met, otherwise, judging that the adjusting conditions are met.
Optionally, the step of calculating the pose adjustment amount of the virtual lidar based on the point cloud data of the calibration object a and the point cloud data of the calibration object a' includes:
when the absolute value of the difference value of the point cloud total number of the point cloud data of the calibration object A and the point cloud total number of the point cloud data of the calibration object A' is larger than a second preset number difference value, calculating to obtain a pose adjustment amount of the virtual laser radar in the X coordinate direction based on a first formula, and calculating to obtain a pose adjustment amount of the virtual laser radar in the Y coordinate direction based on a second formula, wherein the second preset number difference value is larger than the first preset number difference value, and the first formula is as follows:
Adj X ＝(Xsmax+Xsmin-Xrmax-Xrmin)/4
wherein Adj X For the pose adjustment amount in the X coordinate direction, Xsmax is the maximum X coordinate value of the point cloud data of the calibration object A ', Xsmin is the minimum X coordinate value of the point cloud data of the calibration object A', Xrmax is the maximum X coordinate value of the point cloud data of the calibration object A, and Xrmin is the minimum X coordinate value of the point cloud data of the calibration object A;
the second formula is as follows:
Adj Y ＝(Ysmax+Ysmin-Yrmax-Yrmin)/4
wherein Adj Y The pose adjustment amount in the Y coordinate direction is Ysmax which is the maximum Y coordinate value of the point cloud data of the calibration object A ', Ysmin which is the minimum Y coordinate value of the point cloud data of the calibration object A', YRmax which is the maximum Y coordinate value of the point cloud data of the calibration object A and YRmin which is the minimum Y coordinate value of the point cloud data of the calibration object A.
Optionally, the step of calculating a pose adjustment amount of the virtual laser radar based on the point cloud data of the calibration object a and the point cloud data of the calibration object a' further includes:
when the absolute value of the difference value between the point cloud data of the calibration object A and the point cloud total number of the point cloud data of the calibration object A 'is smaller than a second preset number difference value and larger than a fourth preset number difference value, calculating to obtain the roll angle, the pitch angle and the yaw angle of the virtual laser radar by adopting a three-dimensional space rotation matrix method based on the point cloud data of the calibration object A and the point cloud data of the calibration object A', wherein the fourth preset number difference value is larger than the first preset number difference value;
and respectively multiplying the adjustment values of the roll angle, the pitch angle and the yaw angle by a first preset adjustment coefficient to obtain the pose adjustment values of the roll angle, the pitch angle and the yaw angle of the virtual laser radar.
Optionally, the step of calculating a pose adjustment amount of the virtual laser radar based on the point cloud data of the calibration object a and the point cloud data of the calibration object a' further includes:
when the absolute value of the difference between the point cloud data of the calibration object A and the point cloud total number of the point cloud data of the calibration object A ' is smaller than a third preset quantity difference and larger than a fourth preset quantity difference, the absolute value of the difference between the maximum X-coordinate value of the point cloud data of the calibration object A and the maximum X-coordinate value of the point cloud data of the calibration object A ' is smaller than a fifth preset adjustment quantity difference, the absolute value of the difference between the minimum X-coordinate value of the point cloud data of the calibration object A and the minimum X-coordinate value of the point cloud data of the calibration object A ' is smaller than a sixth preset adjustment quantity difference, the absolute value of the difference between the maximum Y-coordinate value of the point cloud data of the calibration object A and the maximum Y-coordinate value of the point cloud data of the calibration object A ' is smaller than a seventh preset adjustment quantity difference, and the absolute value of the difference between the minimum Y-coordinate value of the point cloud data of the calibration object A and the minimum Y-coordinate value of the point data of the calibration object A ' is smaller than an eighth preset adjustment quantity difference When the value is obtained, calculating based on a formula three to obtain the pose adjustment amount of the virtual laser radar in the X coordinate direction, calculating based on a formula four to obtain the pose adjustment amount of the virtual laser radar in the Y coordinate direction, wherein a fourth preset quantity difference value is greater than a first preset quantity difference value, a fifth preset adjustment amount difference value is greater than a first preset adjustment amount difference value, a sixth preset adjustment amount difference value is greater than a second preset adjustment amount difference value, a seventh preset adjustment amount difference value is greater than a third preset adjustment amount difference value, an eighth preset adjustment amount difference value is greater than a fourth preset adjustment amount difference value, and the formula three is as follows:
Adj X ＝(Xsmax+Xsmin-Xrmax-Xrmin)/4×K1
wherein Adj X Is the pose adjustment amount in the X coordinate direction, and Xsmax is the point cloud number of the calibration object AAccording to the maximum X coordinate value, Xsmin is the minimum X coordinate value of the point cloud data of the calibration object A', Xrmax is the maximum X coordinate value of the point cloud data of the calibration object A, Xrmin is the minimum X coordinate value of the point cloud data of the calibration object A, and K1 is an adjusting coefficient in the X coordinate direction;
the formula four is as follows:
Adj Y ＝(Ysmax+Ysmin-Yrmax-Yrmin)/4×K2
wherein Adj Y And determining a pose adjustment amount in a Y coordinate direction, wherein Ysmax is a maximum Y coordinate value of the point cloud data of the calibration object A ', Ysmin is a minimum Y coordinate value of the point cloud data of the calibration object A', YRmax is a maximum Y coordinate value of the point cloud data of the calibration object A, YRmin is a minimum Y coordinate value of the point cloud data of the calibration object A, and K2 is an adjustment coefficient in the Y coordinate direction.
Optionally, the step of calculating a pose adjustment amount of the virtual laser radar based on the point cloud data of the calibration object a and the point cloud data of the calibration object a' further includes:
when the absolute value of the difference value of the point cloud data of the calibration object A and the point cloud total number of the point cloud data of the calibration object A 'is smaller than a fourth preset number difference value, calculating to obtain the roll angle, the pitch angle and the yaw angle of the virtual laser radar by adopting a three-dimensional space rotation matrix method based on the point cloud data of the calibration object A and the point cloud data of the calibration object A';
and multiplying the adjustment values of the roll angle, the pitch angle and the yaw angle by second preset adjustment coefficients respectively to obtain the pose adjustment values of the roll angle, the pitch angle and the yaw angle of the virtual laser radar, wherein the second preset adjustment coefficients are smaller than the first preset adjustment coefficients.
In a second aspect, the present invention further provides a lidar pose adjustment apparatus, including:
the first acquisition module is used for acquiring point cloud data of a calibration object A acquired by an actual laser radar;
the second acquisition module is used for acquiring point cloud data of a calibration object A' acquired by the virtual laser radar;
the judging module is used for judging whether the adjustment condition is met according to the point cloud data of the calibration object A and the point cloud data of the calibration object A';
the determining module is used for acquiring the pose of the virtual laser radar if the adjusting condition is not met, and taking the pose as the adjusted pose of the virtual laser radar;
and the adjusting module is used for calculating a pose adjusting amount of the virtual laser radar based on the point cloud data of the calibration object A and the point cloud data of the calibration object A 'if an adjusting condition is met, adjusting the pose of the virtual laser radar based on the pose adjusting amount, and returning to execute the step of acquiring the point cloud data of the calibration object A' acquired by the virtual laser radar.
Optionally, the determining module is configured to:
whether preset conditions are met or not is detected, and the preset conditions comprise:
the absolute value of the difference value of the point cloud data of the calibration object A and the point cloud total number of the point cloud data of the calibration object A' is smaller than a first preset number difference value;
the absolute value of the difference value between the maximum X coordinate value of the point cloud data of the calibration object A and the maximum X coordinate value of the point cloud data of the calibration object A' is smaller than a first preset adjustment difference value;
the absolute value of the difference value between the minimum X coordinate value of the point cloud data of the calibration object A and the minimum X coordinate value of the point cloud data of the calibration object A' is smaller than a second preset adjustment difference value;
the absolute value of the difference value between the maximum Y coordinate value of the point cloud data of the calibration object A and the maximum Y coordinate value of the point cloud data of the calibration object A' is smaller than a third preset adjustment amount difference value;
the absolute value of the difference value between the minimum Y coordinate value of the point cloud data of the calibration object A and the minimum Y coordinate value of the point cloud data of the calibration object A' is smaller than a fourth preset adjustment difference value;
if the preset conditions are simultaneously met, judging that the adjusting conditions are not met, otherwise, judging that the adjusting conditions are met.
In a third aspect, the present invention further provides a lidar pose adjustment apparatus comprising a processor, a memory, and a lidar pose adjustment program stored on the memory and executable by the processor, wherein the lidar pose adjustment program, when executed by the processor, implements the steps of the lidar pose adjustment method as described above.
In a fourth aspect, the present invention further provides a readable storage medium, on which a lidar pose adjustment program is stored, wherein when the lidar pose adjustment program is executed by a processor, the steps of the lidar pose adjustment method are implemented as described above.
In the invention, point cloud data of a calibration object A acquired by an actual laser radar is acquired; acquiring point cloud data of a calibration object A' acquired by a virtual laser radar; judging whether an adjustment condition is met according to the point cloud data of the calibration object A and the point cloud data of the calibration object A'; if the adjustment condition is not met, acquiring the pose of the virtual laser radar, and taking the pose as the adjusted pose of the virtual laser radar; and if the adjustment condition is met, calculating to obtain a pose adjustment amount of the virtual laser radar based on the point cloud data of the calibration object A and the point cloud data of the calibration object A ', adjusting the pose of the virtual laser radar based on the pose adjustment amount, and returning to execute the step of acquiring the point cloud data of the calibration object A' acquired by the virtual laser radar. The invention firstly obtains the point cloud data of a calibration object A collected by an actual laser radar and the point cloud data of a calibration object A ' collected by a virtual laser radar, then judges whether the point cloud data of the calibration object A and the point cloud data of the calibration object A ' meet the adjusting condition or not according to the point cloud data of the actual laser radar and the point cloud data of the virtual laser radar, if the point cloud data of the calibration object A and the point cloud data of the calibration object A ' do not meet the adjusting condition, the position and orientation of the virtual laser radar are obtained and taken as the position and orientation of the adjusted virtual laser radar, if the point cloud data of the calibration object A and the point cloud data of the calibration object A ' meet the adjusting condition, the position and orientation adjustment quantity of the virtual laser radar is obtained by calculation, then the position and orientation of the virtual laser radar are adjusted according to the position and orientation adjustment quantity, and the point cloud data of the calibration object A ' collected by the virtual laser radar are returned after adjustment, through a cyclic step-by-step adjustment process, and continuously adjusting and correcting the installation pose of the virtual laser radar, and finally enabling the accuracy of the installation pose of the virtual laser radar to be within a set range.
Drawings
FIG. 1 is a schematic diagram of a hardware configuration of an embodiment of a laser radar pose adjustment apparatus according to the present invention;
FIG. 2 is a schematic flow chart of a laser radar pose adjusting method according to an embodiment of the present invention;
FIG. 3 is a detailed flowchart of step S50 in FIG. 2;
FIG. 4 is another detailed flowchart of step S50 in FIG. 2;
fig. 5 is a schematic functional module diagram of an embodiment of the laser radar pose adjusting apparatus of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In a first aspect, an embodiment of the invention provides a laser radar pose adjusting device.
Referring to fig. 1, fig. 1 is a schematic diagram of a hardware structure of an embodiment of a laser radar pose adjustment apparatus of the present invention. In this embodiment of the present invention, the XX device may include a processor 1001 (e.g., a Central Processing Unit, CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is used for realizing connection communication among the components; the user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard); the network interface 1004 may optionally include a standard wired interface, a WIreless interface (e.g., a WI-FI interface, WI-FI interface); the memory 1005 may be a Random Access Memory (RAM) or a non-volatile memory (non-volatile memory), such as a magnetic disk memory, and the memory 1005 may optionally be a storage device independent of the processor 1001. Those skilled in the art will appreciate that the hardware configuration depicted in FIG. 1 is not intended to be limiting of the present invention, and may include more or less components than those shown, or some components in combination, or a different arrangement of components.
With continued reference to fig. 1, a memory 1005, which is one type of computer storage medium in fig. 1, may include an operating system, a network communication module, a user interface module, and a lidar pose adjustment program. The processor 1001 may call a laser radar pose adjustment program stored in the memory 1005, and execute the laser radar pose adjustment method according to the embodiment of the present invention.
In a second aspect, an embodiment of the present invention provides a laser radar pose adjusting method.
In order to show the laser radar pose adjustment method provided by the embodiment of the present application more clearly, an application scenario of the laser radar pose adjustment method provided by the embodiment of the present application is introduced first.
When the laser radar pose adjusting method provided by the embodiment of the application is applied to simulation test of an intelligent automobile, before a vehicle-mounted laser radar simulation module is used, the simulation precision of the vehicle-mounted laser radar simulation module needs to be evaluated, so that the precision of the installation pose of a virtual laser radar needs to be adjusted.
In an embodiment, referring to fig. 2, fig. 2 is a schematic flowchart of a flow of an embodiment of a laser radar pose adjusting method according to the present invention, as shown in fig. 2, the laser radar pose adjusting method includes:
and step S10, acquiring the point cloud data of the calibration object A acquired by the actual laser radar.
In this embodiment, the actual lidar is a real lidar installed on a real vehicle for testing, the calibration object a may be a rectangular parallelepiped diffuse reflector or a high reflector with a reflectivity of more than 80%, so as to better obtain clear and complete point cloud data, the point cloud data is a set of vectors in a three-dimensional coordinate system, the laser radars and other scanning devices installed on vehicles and other devices scan related objects such as road environment, and the point cloud data is recorded in a point form, and each point may include other information such as color besides three-dimensional coordinate information.
And step S20, point cloud data of the calibration object A' collected by the virtual laser radar is obtained.
In this embodiment, the point cloud data of the calibration object a ' acquired by the virtual lidar is acquired through the simulation environment, where the calibration object a ' corresponds to the calibration object a, the installation pose of the virtual lidar in the simulation environment can be configured according to the installation pose of the actual lidar in the real environment, and the pose of the calibration object a ' in the simulation environment can be configured according to the pose of the calibration object a in the real environment.
And step S30, judging whether the adjustment condition is met according to the point cloud data of the calibration object A and the point cloud data of the calibration object A'.
In this embodiment, the point cloud data of the calibration object a and the point cloud data of the calibration object a' are compared to determine whether the adjustment condition is satisfied.
And step S40, if the adjustment condition is not met, acquiring the pose of the virtual laser radar, and taking the pose as the adjusted pose of the virtual laser radar.
In this embodiment, if the adjustment condition is not satisfied, it is indicated that the pose of the virtual lidar does not need to be adjusted, and the pose of the virtual lidar is within the required precision range, the pose of the virtual lidar is obtained and is used as the adjusted pose of the virtual lidar.
And step S50, if the adjustment condition is met, calculating to obtain a pose adjustment amount of the virtual laser radar based on the point cloud data of the calibration object A and the point cloud data of the calibration object A ', adjusting the pose of the virtual laser radar based on the pose adjustment amount, and returning to the step of acquiring the point cloud data of the calibration object A' acquired by the virtual laser radar.
In this embodiment, if the adjustment condition is satisfied, it is determined that the pose of the virtual laser radar does not satisfy the required precision range, the pose of the virtual laser radar needs to be adjusted, the pose adjustment amount of the virtual laser radar is calculated according to the point cloud data of the calibration object a and the point cloud data of the calibration object a', the pose of the virtual laser radar is adjusted, and then the process returns to step S20, so that a cyclic step-by-step adjustment process is formed.
In the embodiment, firstly, point cloud data of a calibration object A acquired by an actual laser radar and point cloud data of a calibration object A ' acquired by a virtual laser radar are respectively acquired, then whether an adjustment condition is met is judged according to the point cloud data of the calibration object A and the point cloud data of the calibration object A ', if the adjustment condition is not met, the pose of the virtual laser radar is acquired and used as the adjusted pose of the virtual laser radar, if the adjustment condition is met, the pose adjustment quantity of the virtual laser radar is calculated according to the point cloud data of the calibration object A and the point cloud data of the calibration object A ', the pose adjustment quantity of the virtual laser radar is adjusted according to the pose adjustment quantity, and the step S20 is returned after the adjustment, the installation pose of the virtual laser radar is continuously adjusted and corrected through the cyclic step-by-step adjustment process, and finally, the accuracy of the installation pose of the virtual laser radar is in a set range.
Further, in one embodiment, step S30 includes:
whether preset conditions are met or not is detected, and the preset conditions comprise:
the absolute value of the difference value of the point cloud data of the calibration object A and the point cloud total number of the point cloud data of the calibration object A' is smaller than a first preset number difference value;
the absolute value of the difference value between the maximum X coordinate value of the point cloud data of the calibration object A and the maximum X coordinate value of the point cloud data of the calibration object A' is smaller than a first preset adjustment difference value;
the absolute value of the difference value between the minimum X coordinate value of the point cloud data of the calibration object A and the minimum X coordinate value of the point cloud data of the calibration object A' is smaller than a second preset adjustment difference value;
the absolute value of the difference value between the maximum Y coordinate value of the point cloud data of the calibration object A and the maximum Y coordinate value of the point cloud data of the calibration object A' is smaller than a third preset adjustment amount difference value;
the absolute value of the difference value between the minimum Y coordinate value of the point cloud data of the calibration object A and the minimum Y coordinate value of the point cloud data of the calibration object A' is smaller than a fourth preset adjustment difference value;
if the preset conditions are simultaneously met, judging that the adjusting conditions are not met, otherwise, judging that the adjusting conditions are met.
In this embodiment, the first preset quantity difference, the first preset adjustment quantity difference, the second preset adjustment quantity difference, the third preset adjustment quantity difference, and the fourth preset adjustment quantity difference are set according to the precision requirement of the simulation test, if the preset conditions are met at the same time, it is indicated that the pose of the virtual laser radar meets the precision requirement, otherwise, the pose of the virtual laser radar does not meet the precision requirement, and the pose of the virtual laser radar needs to be adjusted.
Further, in an embodiment, step S50 includes:
when the absolute value of the difference value of the point cloud total number of the point cloud data of the calibration object A and the point cloud total number of the point cloud data of the calibration object A' is larger than a second preset number difference value, calculating to obtain a pose adjustment amount of the virtual laser radar in the X coordinate direction based on a first formula, and calculating to obtain a pose adjustment amount of the virtual laser radar in the Y coordinate direction based on a second formula, wherein the second preset number difference value is larger than the first preset number difference value, and the first formula is as follows:
Adj X ＝(Xsmax+Xsmin-Xrmax-Xrmin)/4
wherein Adj X Setting a pose adjustment amount in an X coordinate direction, wherein Xsmax is a maximum X coordinate value of point cloud data of the calibration object A ', Xsmin is a minimum X coordinate value of the point cloud data of the calibration object A', Xrmax is a maximum X coordinate value of the point cloud data of the calibration object A, and Xrmin is a minimum X coordinate value of the point cloud data of the calibration object A;
the second formula is as follows:
Adj Y ＝(Ysmax+Ysmin-Yrmax-Yrmin)/4
wherein Adj Y The pose adjustment amount in the Y coordinate direction is Ysmax which is the maximum Y coordinate value of the point cloud data of the calibration object A ', Ysmin which is the minimum Y coordinate value of the point cloud data of the calibration object A', and YRmax which is the minimum Y coordinate value of the point cloud data of the calibration object AAnd the maximum Y coordinate value of the point cloud data of the calibration object A and the YRmin is the minimum Y coordinate value of the point cloud data of the calibration object A.
In this embodiment, an absolute value of a difference between the point cloud data of the calibration object a and the point cloud total number of the point cloud data of the calibration object a' is greater than a second preset number difference, and the second preset number difference is greater than the first preset number difference, and at this time, a pose adjustment amount of the virtual laser radar is calculated according to a formula in an X coordinate direction and a Y coordinate direction of the virtual laser radar, respectively, where positive and negative of the pose adjustment amount represent a pose adjustment direction of the virtual laser radar, and the Z coordinate direction is a direction in which the calibration object corresponds to the laser radar.
Further, in an embodiment, referring to fig. 3, fig. 3 is a detailed flowchart of step S50 in fig. 2, and as shown in fig. 3, step S50 further includes:
step S501, when the absolute value of the difference value between the point cloud data of the calibration object A and the point cloud total number of the point cloud data of the calibration object A 'is smaller than a second preset number difference value and larger than a fourth preset number difference value, calculating to obtain the roll angle, the pitch angle and the yaw angle adjustment value of the virtual laser radar by adopting a three-dimensional space rotation matrix method based on the point cloud data of the calibration object A and the point cloud data of the calibration object A', wherein the fourth preset number difference value is larger than the first preset number difference value.
And step S502, multiplying the roll angle, the pitch angle and the yaw angle respectively by a first preset adjustment coefficient to obtain the position and pose adjustment quantities of the roll angle, the pitch angle and the yaw angle of the virtual laser radar.
In this embodiment, an absolute value of a difference between the point cloud data of the calibration object a and the point cloud total number of the point cloud data of the calibration object a' is smaller than a second preset number difference and larger than a fourth preset number difference, and the fourth preset number difference is larger than the first preset number difference, at this time, a three-dimensional space rotation matrix method is adopted to calculate adjustment values of a roll angle, a pitch angle, and a yaw angle of the virtual laser radar respectively, and then the adjustment values are multiplied by a first preset adjustment coefficient respectively to obtain pose adjustment values of the roll angle, the pitch angle, and the yaw angle of the virtual laser radar, where the three-dimensional space rotation matrix method is the prior art and is not described in detail herein.
Further, in an embodiment, the step S50 further includes:
when the absolute value of the difference between the point cloud data of the calibration object A and the point cloud total number of the point cloud data of the calibration object A ' is smaller than a third preset quantity difference and larger than a fourth preset quantity difference, the absolute value of the difference between the maximum X-coordinate value of the point cloud data of the calibration object A and the maximum X-coordinate value of the point cloud data of the calibration object A ' is smaller than a fifth preset adjustment quantity difference, the absolute value of the difference between the minimum X-coordinate value of the point cloud data of the calibration object A and the minimum X-coordinate value of the point cloud data of the calibration object A ' is smaller than a sixth preset adjustment quantity difference, the absolute value of the difference between the maximum Y-coordinate value of the point cloud data of the calibration object A and the maximum Y-coordinate value of the point cloud data of the calibration object A ' is smaller than a seventh preset adjustment quantity difference, and the absolute value of the difference between the minimum Y-coordinate value of the point cloud data of the calibration object A and the minimum Y-coordinate value of the point data of the calibration object A ' is smaller than an eighth preset adjustment quantity difference When the value is obtained, calculating based on a formula three to obtain the pose adjustment amount of the virtual laser radar in the X coordinate direction, calculating based on a formula four to obtain the pose adjustment amount of the virtual laser radar in the Y coordinate direction, wherein a fourth preset quantity difference value is greater than a first preset quantity difference value, a fifth preset adjustment amount difference value is greater than a first preset adjustment amount difference value, a sixth preset adjustment amount difference value is greater than a second preset adjustment amount difference value, a seventh preset adjustment amount difference value is greater than a third preset adjustment amount difference value, an eighth preset adjustment amount difference value is greater than a fourth preset adjustment amount difference value, and the formula three is as follows:
Adj X ＝(Xsmax+Xsmin-Xrmax-Xrmin)/4×K1
wherein Adj X The pose adjustment quantity in the X coordinate direction is Xsmax which is the maximum X coordinate value of the point cloud data of the calibration object A ', Xsmin which is the minimum X coordinate value of the point cloud data of the calibration object A',xrmax is the maximum X coordinate value of the point cloud data of the calibration object A, Xrmin is the minimum X coordinate value of the point cloud data of the calibration object A, and K1 is an adjustment coefficient in the X coordinate direction;
the formula four is as follows:
Adj Y ＝(Ysmax+Ysmin-Yrmax-Yrmin)/4×K2
wherein Adj Y The pose adjustment amount in the Y coordinate direction is Ysmax, Ysmin, YRmax, YRmin and K2, wherein Ysmax is the maximum Y coordinate value of the point cloud data of the calibration object A', Yrmax is the maximum Y coordinate value of the point cloud data of the calibration object A, YRmin is the minimum Y coordinate value of the point cloud data of the calibration object A, and K2 is the adjustment coefficient in the Y coordinate direction.
In this embodiment, the pose adjustment amounts in the X and Y directions are calculated for the pose of the virtual laser radar under the condition of relatively small error, and if the adjustment for the pose of the virtual laser radar is divided into "coarse adjustment" and "fine adjustment" according to the magnitude of the error, the calculation for the pose adjustment amounts in the X and Y directions is equivalent to "coarse adjustment" and is equivalent to "fine adjustment", and the corresponding adjustment coefficient K1 multiplied by the X coordinate direction and the adjustment coefficient K2 multiplied by the Y coordinate direction can be adjusted to reduce the adjustment range of "fine adjustment", so as to achieve the adjustment accuracy more quickly.
Further, in an embodiment, referring to fig. 4, fig. 4 is another detailed flowchart of step S50 in fig. 2, and as shown in fig. 4, step S50 further includes:
step S503, when the absolute value of the difference value of the point cloud data of the calibration object A and the point cloud total number of the point cloud data of the calibration object A 'is smaller than a fourth preset number difference value, calculating to obtain the roll angle, the pitch angle and the yaw angle adjustment value of the virtual laser radar by adopting a three-dimensional space rotation matrix method based on the point cloud data of the calibration object A and the point cloud data of the calibration object A'.
Step S504, the roll angle, the pitch angle and the yaw angle adjustment values are respectively multiplied by second preset adjustment coefficients to obtain the position and attitude adjustment quantities of the roll angle, the pitch angle and the yaw angle of the virtual laser radar, and the second preset adjustment coefficients are smaller than the first preset adjustment coefficients.
In this embodiment, the angle of the pose of the virtual lidar is adjusted under the condition that the error is relatively small, specifically including three angles, namely a roll angle, a pitch angle and a yaw angle, the angle adjustment is equivalent to "coarse adjustment", the angle adjustment is equivalent to "fine adjustment", and the corresponding multiplication by a small adjustment coefficient can reduce the adjustment range of the "fine adjustment", so as to facilitate the achievement of the adjustment accuracy more quickly.
In a third aspect, an embodiment of the present invention further provides a laser radar pose adjusting apparatus.
Referring to fig. 5, fig. 5 is a schematic functional module diagram of an embodiment of a laser radar pose adjusting apparatus of the present invention.
In this embodiment, the laser radar pose adjusting apparatus includes:
the first acquisition module 10 is used for acquiring point cloud data of a calibration object A acquired by an actual laser radar;
the second acquisition module 20 is configured to acquire point cloud data of the calibration object a' acquired by the virtual laser radar;
the judging module 30 is used for judging whether the adjustment condition is met according to the point cloud data of the calibration object A and the point cloud data of the calibration object A';
the determining module 40 is configured to, if the adjustment condition is not met, acquire a pose of the virtual lidar and use the pose as the adjusted pose of the virtual lidar;
and the adjusting module 50 is configured to calculate a pose adjustment amount of the virtual lidar based on the point cloud data of the calibration object a and the point cloud data of the calibration object a 'if an adjustment condition is met, adjust the pose of the virtual lidar based on the pose adjustment amount, and return to the step of acquiring the point cloud data of the calibration object a' acquired by the virtual lidar.
Further, in an embodiment, the determining module 30 is configured to:
whether preset conditions are met or not is detected, and the preset conditions comprise:
the absolute value of the difference value of the point cloud data of the calibration object A and the point cloud total number of the point cloud data of the calibration object A' is smaller than a first preset number difference value;
the absolute value of the difference value between the maximum X coordinate value of the point cloud data of the calibration object A and the maximum X coordinate value of the point cloud data of the calibration object A' is smaller than a first preset adjustment difference value;
the absolute value of the difference value between the minimum X coordinate value of the point cloud data of the calibration object A and the minimum X coordinate value of the point cloud data of the calibration object A' is smaller than a second preset adjustment difference value;
the absolute value of the difference value between the maximum Y coordinate value of the point cloud data of the calibration object A and the maximum Y coordinate value of the point cloud data of the calibration object A' is smaller than a third preset adjustment amount difference value;
the absolute value of the difference value between the minimum Y coordinate value of the point cloud data of the calibration object A and the minimum Y coordinate value of the point cloud data of the calibration object A' is smaller than a fourth preset adjustment difference value;
if the preset conditions are simultaneously met, judging that the adjusting conditions are not met, otherwise, judging that the adjusting conditions are met.
The function implementation of each module in the laser radar pose adjusting device corresponds to each step in the laser radar pose adjusting method embodiment, and the function and implementation process are not described in detail here.
In a fourth aspect, an embodiment of the present invention further provides a readable storage medium.
The readable storage medium of the present invention stores a laser radar pose adjusting program, wherein the laser radar pose adjusting program, when executed by a processor, implements the steps of the laser radar pose adjusting method as described above.
The method implemented when the laser radar pose adjustment program is executed may refer to each embodiment of the laser radar pose adjustment method of the present invention, and details are not described here.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) as described above and includes instructions for causing a terminal device to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A laser radar pose adjusting method is characterized by comprising the following steps:
acquiring point cloud data of a calibration object A acquired by an actual laser radar;
acquiring point cloud data of a calibration object A' acquired by a virtual laser radar;
judging whether an adjustment condition is met according to the point cloud data of the calibration object A and the point cloud data of the calibration object A';
if the adjustment condition is not met, acquiring the pose of the virtual laser radar, and taking the pose as the pose of the adjusted virtual laser radar;
and if the adjustment condition is met, calculating to obtain a pose adjustment amount of the virtual laser radar based on the point cloud data of the calibration object A and the point cloud data of the calibration object A ', adjusting the pose of the virtual laser radar based on the pose adjustment amount, and returning to execute the step of acquiring the point cloud data of the calibration object A' acquired by the virtual laser radar.
2. The laser radar pose adjustment method according to claim 1, wherein the determining whether the adjustment condition is satisfied according to the point cloud data of the calibration object a and the point cloud data of the calibration object a' includes:
whether preset conditions are met or not is detected, and the preset conditions comprise:
the absolute value of the difference value of the point cloud data of the calibration object A and the point cloud total number of the point cloud data of the calibration object A' is smaller than a first preset number difference value;
the absolute value of the difference value between the maximum X coordinate value of the point cloud data of the calibration object A and the maximum X coordinate value of the point cloud data of the calibration object A' is smaller than a first preset adjustment difference value;
the absolute value of the difference value between the minimum X coordinate value of the point cloud data of the calibration object A and the minimum X coordinate value of the point cloud data of the calibration object A' is smaller than a second preset adjustment difference value;
the absolute value of the difference value between the maximum Y coordinate value of the point cloud data of the calibration object A and the maximum Y coordinate value of the point cloud data of the calibration object A' is smaller than a third preset adjustment amount difference value;
the absolute value of the difference value between the minimum Y coordinate value of the point cloud data of the calibration object A and the minimum Y coordinate value of the point cloud data of the calibration object A' is smaller than a fourth preset adjustment difference value;
if the preset conditions are simultaneously met, judging that the adjusting conditions are not met, otherwise, judging that the adjusting conditions are met.
3. The lidar pose adjustment method according to claim 2, wherein the step of calculating the pose adjustment amount of the virtual lidar based on the point cloud data of the calibration object a and the point cloud data of the calibration object a' comprises:
when the absolute value of the difference value of the point cloud total number of the point cloud data of the calibration object A and the point cloud total number of the point cloud data of the calibration object A' is larger than a second preset number difference value, calculating to obtain a pose adjustment amount of the virtual laser radar in the X coordinate direction based on a first formula, and calculating to obtain a pose adjustment amount of the virtual laser radar in the Y coordinate direction based on a second formula, wherein the second preset number difference value is larger than the first preset number difference value, and the first formula is as follows:
Adj X ＝(Xsmax+Xsmin-Xrmax-Xrmin)/4
wherein Adj X Setting a pose adjustment amount in an X coordinate direction, wherein Xsmax is a maximum X coordinate value of point cloud data of the calibration object A ', Xsmin is a minimum X coordinate value of the point cloud data of the calibration object A', Xrmax is a maximum X coordinate value of the point cloud data of the calibration object A, and Xrmin is a minimum X coordinate value of the point cloud data of the calibration object A;
the second formula is as follows:
Adj Y ＝(Ysmax+Ysmin-Yrmax-Yrmin)/4
wherein Adj Y The pose adjustment amount in the Y coordinate direction is Ysmax which is the maximum Y coordinate value of the point cloud data of the calibration object A ', Ysmin which is the minimum Y coordinate value of the point cloud data of the calibration object A', YRmax which is the maximum Y coordinate value of the point cloud data of the calibration object A and YRmin which is the minimum Y coordinate value of the point cloud data of the calibration object A.
4. The lidar pose adjustment method according to claim 3, wherein the step of calculating a pose adjustment amount of the virtual lidar based on the point cloud data of the calibration object a and the point cloud data of the calibration object a' further comprises:
when the absolute value of the difference value between the point cloud data of the calibration object A and the point cloud total number of the point cloud data of the calibration object A 'is smaller than a second preset number difference value and larger than a fourth preset number difference value, calculating to obtain the roll angle, the pitch angle and the yaw angle of the virtual laser radar by adopting a three-dimensional space rotation matrix method based on the point cloud data of the calibration object A and the point cloud data of the calibration object A', wherein the fourth preset number difference value is larger than the first preset number difference value;
and respectively multiplying the adjustment values of the roll angle, the pitch angle and the yaw angle by a first preset adjustment coefficient to obtain the pose adjustment values of the roll angle, the pitch angle and the yaw angle of the virtual laser radar.
5. The lidar pose adjustment method according to claim 4, wherein the step of calculating a pose adjustment amount of the virtual lidar based on the point cloud data of the calibration object a and the point cloud data of the calibration object a' further comprises:
when the absolute value of the difference between the point cloud data of the calibration object A and the point cloud total number of the point cloud data of the calibration object A ' is smaller than a third preset quantity difference and larger than a fourth preset quantity difference, the absolute value of the difference between the maximum X-coordinate value of the point cloud data of the calibration object A and the maximum X-coordinate value of the point cloud data of the calibration object A ' is smaller than a fifth preset adjustment quantity difference, the absolute value of the difference between the minimum X-coordinate value of the point cloud data of the calibration object A and the minimum X-coordinate value of the point cloud data of the calibration object A ' is smaller than a sixth preset adjustment quantity difference, the absolute value of the difference between the maximum Y-coordinate value of the point cloud data of the calibration object A and the maximum Y-coordinate value of the point cloud data of the calibration object A ' is smaller than a seventh preset adjustment quantity difference, and the absolute value of the difference between the minimum Y-coordinate value of the point cloud data of the calibration object A and the minimum Y-coordinate value of the point data of the calibration object A ' is smaller than an eighth preset adjustment quantity difference When the value is obtained, calculating based on a formula three to obtain the pose adjustment amount of the virtual laser radar in the X coordinate direction, calculating based on a formula four to obtain the pose adjustment amount of the virtual laser radar in the Y coordinate direction, wherein a fourth preset quantity difference value is greater than a first preset quantity difference value, a fifth preset adjustment amount difference value is greater than a first preset adjustment amount difference value, a sixth preset adjustment amount difference value is greater than a second preset adjustment amount difference value, a seventh preset adjustment amount difference value is greater than a third preset adjustment amount difference value, an eighth preset adjustment amount difference value is greater than a fourth preset adjustment amount difference value, and the formula three is as follows:
Adj X ＝(Xsmax+Xsmin-Xrmax-Xrmin)/4×K1
wherein Adj X Setting a pose adjustment quantity in an X coordinate direction, wherein Xsmax is a maximum X coordinate value of point cloud data of the calibration object A ', Xsmin is a minimum X coordinate value of the point cloud data of the calibration object A', Xrmax is a maximum X coordinate value of the point cloud data of the calibration object A, Xrmin is a minimum X coordinate value of the point cloud data of the calibration object A, and K1 is an adjustment coefficient in the X coordinate direction;
the formula four is as follows:
Adj Y ＝(Ysmax+Ysmin-Yrmax-Yrmin)/4×K2
wherein Adj Y The pose adjustment amount in the Y coordinate direction is Ysmax, Ysmin, YRmax, YRmin and K2, wherein Ysmax is the maximum Y coordinate value of the point cloud data of the calibration object A', Yrmax is the maximum Y coordinate value of the point cloud data of the calibration object A, YRmin is the minimum Y coordinate value of the point cloud data of the calibration object A, and K2 is the adjustment coefficient in the Y coordinate direction.
6. The lidar pose adjustment method of claim 5, wherein the step of calculating the pose adjustment amount of the virtual lidar based on the point cloud data of the calibration object a and the point cloud data of the calibration object a' further comprises:
when the absolute value of the difference value of the point cloud data of the calibration object A and the point cloud total number of the point cloud data of the calibration object A 'is smaller than a fourth preset number difference value, calculating to obtain the roll angle, the pitch angle and the yaw angle of the virtual laser radar by adopting a three-dimensional space rotation matrix method based on the point cloud data of the calibration object A and the point cloud data of the calibration object A';
and multiplying the roll angle, the pitch angle and the yaw angle respectively by second preset adjustment coefficients to obtain the position and pose adjustment quantities of the roll angle, the pitch angle and the yaw angle of the virtual laser radar, wherein the second preset adjustment coefficients are smaller than the first preset adjustment coefficients.
7. A lidar position and orientation adjustment apparatus characterized by comprising:
the first acquisition module is used for acquiring point cloud data of a calibration object A acquired by an actual laser radar;
the second acquisition module is used for acquiring point cloud data of a calibration object A' acquired by the virtual laser radar;
the judging module is used for judging whether the adjustment condition is met according to the point cloud data of the calibration object A and the point cloud data of the calibration object A';
the determining module is used for acquiring the pose of the virtual laser radar if the adjusting condition is not met, and taking the pose as the adjusted pose of the virtual laser radar;
and the adjusting module is used for calculating a pose adjusting amount of the virtual laser radar based on the point cloud data of the calibration object A and the point cloud data of the calibration object A 'if an adjusting condition is met, adjusting the pose of the virtual laser radar based on the pose adjusting amount, and returning to execute the step of acquiring the point cloud data of the calibration object A' acquired by the virtual laser radar.
8. The lidar pose adjustment apparatus of claim 7, wherein the determining module is configured to:
whether preset conditions are met or not is detected, and the preset conditions comprise:
the absolute value of the difference value of the point cloud data of the calibration object A and the point cloud total number of the point cloud data of the calibration object A' is smaller than a first preset number difference value;
the absolute value of the difference value between the maximum X coordinate value of the point cloud data of the calibration object A and the maximum X coordinate value of the point cloud data of the calibration object A' is smaller than a first preset adjustment difference value;
the absolute value of the difference value between the minimum X coordinate value of the point cloud data of the calibration object A and the minimum X coordinate value of the point cloud data of the calibration object A' is smaller than a second preset adjustment difference value;
the absolute value of the difference value between the maximum Y coordinate value of the point cloud data of the calibration object A and the maximum Y coordinate value of the point cloud data of the calibration object A' is smaller than a third preset adjustment amount difference value;
the absolute value of the difference value between the minimum Y coordinate value of the point cloud data of the calibration object A and the minimum Y coordinate value of the point cloud data of the calibration object A' is smaller than a fourth preset adjustment difference value;
if the preset conditions are simultaneously met, judging that the adjusting conditions are not met, otherwise, judging that the adjusting conditions are met.
9. A lidar pose adjustment apparatus comprising a processor, a memory, and a lidar pose adjustment program stored on the memory and executable by the processor, wherein the lidar pose adjustment program when executed by the processor implements the steps of the lidar pose adjustment method of any of claims 1 to 6.
10. A readable storage medium, characterized in that the readable storage medium has a lidar pose adjustment program stored thereon, wherein the lidar pose adjustment program, when executed by a processor, implements the steps of the lidar pose adjustment method according to any one of claims 1 to 6.
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