KITTI數據集GPS數據格式dataformat

//牛津單位的緯度（度） lat: latitude of the oxts-unit (deg) //牛津單位的經度（度） lon: longitude of the oxts-unit (deg) //牛津單位的高度（米） alt: altitude of the oxts-unit (m) //側傾角（rad） 0 =水平，正=左側朝上，范圍：-pi .. + pi roll: roll angle (rad), 0 = level, positive = left side up, range: -pi .. +pi //俯仰角（弧度） 0 =水平，正=正面朝下，范圍：-pi / 2 .. + pi / 2 pitch: pitch angle (rad), 0 = level, positive = front down, range: -pi/2 .. +pi/2 //航向角（弧度） 0 =東，正=逆時針，范圍：-pi .. + pi yaw: heading (rad), 0 = east, positive = counter clockwise, range: -pi .. +pi //北向速度（米/秒） vn: velocity towards north (m/s) //東向速度（米/秒） ve: velocity towards east (m/s) //前進速度，即平行于地面（m / s） vf: forward velocity, i.e. parallel to earth-surface (m/s) //向左速度，即平行于地面（m / s） vl: leftward velocity, i.e. parallel to earth-surface (m/s) //向上速度，即平行于地面（m / s） 前進速度^2+向左速度^2+向上速度^2= 北向速度^2+東向速度^2 vu: upward velocity, i.e. perpendicular to earth-surface (m/s) //x方向上的加速度，即在車輛前方向（m / s ^ 2） ax: acceleration in x, i.e. in direction of vehicle front (m/s^2) ay: acceleration in y, i.e. in direction of vehicle left (m/s^2) az: acceleration in z, i.e. in direction of vehicle top (m/s^2) af: forward acceleration (m/s^2) al: leftward acceleration (m/s^2) au: upward acceleration (m/s^2) wx: angular rate around x (rad/s) wy: angular rate around y (rad/s) wz: angular rate around z (rad/s) wf: angular rate around forward axis (rad/s) wl: angular rate around leftward axis (rad/s) wu: angular rate around upward axis (rad/s) pos_accuracy: velocity accuracy (north/east in m) vel_accuracy: velocity accuracy (north/east in m/s) navstat: navigation status (see navstat_to_string) numsats: number of satellites tracked by primary GPS receiver posmode: position mode of primary GPS receiver (see gps_mode_to_string) velmode: velocity mode of primary GPS receiver (see gps_mode_to_string) orimode: orientation mode of primary GPS receiver (see gps_mode_to_string)

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