| #-------------------------------------------------------------------------------------------- | |
| # Virtual BEV Camera Parameters. | |
| #-------------------------------------------------------------------------------------------- | |
| # BEV Camera intrinic parameters | |
| BevCam.fx: 95.0 # virtual BEV camera's fx (pxl) | |
| BevCam.fy: 95.0 # virtual BEV camera's fy (pxl) | |
| BevCam.cx: 676.5 # virtual BEV camera's cx (pxl) | |
| BevCam.cy: 815.5 # virtual BEV camera's cy (pxl) | |
| BevCam.ImgWidth: 1354 # virtual BEV camera's image width (pxl) | |
| BevCam.ImgHeight: 1632 # virtual BEV camera's image height (pxl) | |
| # BEV Camera height from ground (mm) | |
| BevCam.CamHeight: 1000 | |
| # BEV Camera frames per second (fps) | |
| BevCam.fps: 10.0 | |
| #-------------------------------------------------------------------------------------------- | |
| # Inertial measurement unit Parameters. | |
| #-------------------------------------------------------------------------------------------- | |
| Imu.cx: 630.0 # Imu center in the vehicle coordinate (mm) | |
| Imu.cy: 986.0 # Imu center in the vehicle coordinate (mm) | |
| Imu.cz: 850.0 # Imu center in the vehicle coordinate (mm) | |
| IMU.NoiseGyro: 0.001308 # rad/s | |
| IMU.NoiseAcc: 0.017325 # m/s^2 | |
| IMU.GyroWalk: 0.000052 # rad/s | |
| IMU.AccWalk: 0.000678 # m/s^2 | |
| IMU.Frequency: 50 # Hz | |
| #-------------------------------------------------------------------------------------------- | |
| # Vehicle Informations. | |
| #-------------------------------------------------------------------------------------------- | |
| CarInfo.Length: 4872 # The length of the vehicle (mm) | |
| CarInfo.Width: 1960 # The width of the vehicle (mm) | |
| CarInfo.Wheelbase: 2910 # The wheelbase of the vehicle (mm) | |
| CarInfo.FrontOverHang: 983 # The front overhang of the vehicle (mm) | |
| CarInfo.RearOverHang: 979 # The rear overhang of the vehicle (mm) | |