自定义文件格式及坐标系

自定义文件格式及坐标系内容摘要：

4 pitch（ deg） 0 5 yaw（ deg） 0 6 X(m) 7 Y(m) 0 8 Z(m) 0 LD FL rot 45 0 0 shv 0 0 举 例 CameraLaser Calibration 10tRT(u,v) (x,y,z) World Coordinate System (3D) Camera Coordinate System (3D) Image Coordinate System (2D) Pinhole Model 010000000vfufvu KzyxvuTK1Totally 11 unknowns Extrinsic Parameters: 6 Intrinsic Parameters: 5 Tsai’s Method Laser scanner’s . Video camera’s . Global . 1. Transform from laser scanner . to vehicle’s body . Vehicle’s body . at time k l Laser point P measured at time k l P c Vehicle’s body . at time k c T lv T vw (k ) l T vc T wc (k ) c 2. Transform from vehicle’s body . at time k to global . l 3. Transform from global . to vehicle’s body . at time k c 4. Transform from vehicle’s body . to video camera . . : coordinate system Video Image captured at time k c 惯性导航数据格式及坐标系转换 • GPS84_To。