#--------------------------------------------------------------------------------------------
# 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)