LiDAR->GNSS/IMU 标定& 结果Check [ADS]

https://github.com/ApolloAuto/apollo/blob/master/docs/quickstart/multiple_lidar_gnss_calibration_guide.md

目的 :

统一坐标系，（外参的获取过程，后面数据融合做准备）

比如HD map online 实时创建的时候，需要把多个Lidar 对应到统一的坐标系，然后建图。

 transfer the obstacle location detected by LiDAR to the IMU coordinate system, and then to the world coordinate system

All extrinsics are from LiDAR to GNSS, which means this transformation maps the coordinates of a point defined in the LiDAR coordinate system to the coordinates of this point defined in the GNSS coordinate system.

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准备：

确保IMU/GNSS 在准确的工作状态

位置误差<2cm

 atitude_std_dev, longitude_std_dev and height_std_dev. The smaller the deviation, the better the calibration quality. *** We strongly recommend calibrating the sensors when deviations are smaller than 0.02.***

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原理：

LIDAR 到惯导（IMU-GPS) 转换的 外参R|t （rotaion | translation）--旋转+平移

LIDAR 数据格式是 球面坐标系 Spherical coordinate system）