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apollo_public_repos/apollo/modules/common_msgs
|
apollo_public_repos/apollo/modules/common_msgs/prediction_msgs/feature.proto
|
syntax = "proto2";
package apollo.prediction;
import "modules/common_msgs/basic_msgs/geometry.proto";
import "modules/common_msgs/basic_msgs/pnc_point.proto";
import "modules/common_msgs/map_msgs/map_lane.proto";
import "modules/common_msgs/perception_msgs/perception_obstacle.proto";
import "modules/common_msgs/prediction_msgs/lane_graph.proto";
import "modules/common_msgs/prediction_msgs/prediction_point.proto";
message Lane {
// Features of all possible current lanes.
repeated LaneFeature current_lane_feature = 1;
// Features of the most possible current lane.
optional LaneFeature lane_feature = 2;
// Features of all nearby lanes.
repeated LaneFeature nearby_lane_feature = 3;
// Lane graph
optional LaneGraph lane_graph = 4;
optional LaneGraph lane_graph_ordered = 5;
// For modeling
optional double label_update_time_delta = 26;
}
message LaneFeature {
optional string lane_id = 1;
optional uint32 lane_turn_type = 2;
optional double lane_s = 3;
optional double lane_l = 4;
optional double angle_diff = 5;
optional double dist_to_left_boundary = 6;
optional double dist_to_right_boundary = 7;
optional double lane_heading = 8;
optional apollo.hdmap.Lane.LaneType lane_type = 9;
}
message JunctionExit {
optional string exit_lane_id = 1;
optional apollo.common.Point3D exit_position = 2;
optional double exit_heading = 3;
optional double exit_width = 4;
}
message JunctionFeature {
optional string junction_id = 1;
optional double junction_range = 2;
optional LaneFeature enter_lane = 3;
repeated JunctionExit junction_exit = 4;
repeated double junction_mlp_feature = 5;
repeated int32 junction_mlp_label = 6; // dim is number of masks, i.e. 12
repeated double junction_mlp_probability = 7;
repeated string start_lane_id = 8;
}
message ObstaclePriority {
enum Priority {
CAUTION = 1;
NORMAL = 2;
IGNORE = 3;
}
optional Priority priority = 25 [default = NORMAL];
}
message ObstacleInteractiveTag {
enum InteractiveTag {
INTERACTION = 1;
NONINTERACTION = 2;
}
optional InteractiveTag interactive_tag = 37 [default = NONINTERACTION];
}
message Trajectory {
optional double probability = 1; // probability of this trajectory
repeated apollo.common.TrajectoryPoint trajectory_point = 2;
}
// next id = 40
message Feature {
// Obstacle ID
optional int32 id = 1;
// Obstacle features
repeated apollo.common.Point3D polygon_point = 30;
optional apollo.common.Point3D position = 2;
optional apollo.common.Point3D front_position = 27;
optional apollo.common.Point3D velocity = 3;
optional apollo.common.Point3D raw_velocity = 28; // from perception
optional apollo.common.Point3D acceleration = 4;
optional double velocity_heading = 5;
optional double speed = 6;
optional double acc = 7;
optional double theta = 8;
optional double length = 9;
optional double width = 10;
optional double height = 11;
optional double tracking_time = 12;
optional double timestamp = 13;
// Obstacle type-specific features
optional Lane lane = 14;
optional JunctionFeature junction_feature = 26;
// Obstacle tracked features
optional apollo.common.Point3D t_position = 16;
optional apollo.common.Point3D t_velocity = 17 [deprecated = true];
optional double t_velocity_heading = 18 [deprecated = true];
optional double t_speed = 19 [deprecated = true];
optional apollo.common.Point3D t_acceleration = 20 [deprecated = true];
optional double t_acc = 21 [deprecated = true];
optional bool is_still = 22 [default = false];
optional apollo.perception.PerceptionObstacle.Type type = 23;
optional double label_update_time_delta = 24;
optional ObstaclePriority priority = 25;
optional ObstacleInteractiveTag interactive_tag = 37;
optional bool is_near_junction = 29 [default = false];
// Obstacle ground-truth labels:
repeated PredictionTrajectoryPoint future_trajectory_points = 31;
// Obstacle short-term predicted trajectory points
repeated apollo.common.TrajectoryPoint
short_term_predicted_trajectory_points = 32;
// Obstacle predicted trajectories
repeated Trajectory predicted_trajectory = 33;
// ADC trajectory at the same frame, and ADC trajectory timestamp
repeated apollo.common.TrajectoryPoint adc_trajectory_point = 34;
optional double adc_timestamp = 38;
optional apollo.perception.PerceptionObstacle adc_localization = 39;
// Surrounding lanes
repeated string surrounding_lane_id = 35;
repeated string within_lane_id = 36;
}
message ObstacleHistory {
repeated Feature feature = 1;
optional bool is_trainable = 2 [default = false];
}
message FrameEnv {
optional double timestamp = 1;
optional ObstacleHistory ego_history = 2;
repeated ObstacleHistory obstacles_history = 3;
}
| 0
|
apollo_public_repos/apollo/modules/common_msgs
|
apollo_public_repos/apollo/modules/common_msgs/prediction_msgs/BUILD
|
## Auto generated by `proto_build_generator.py`
load("@rules_proto//proto:defs.bzl", "proto_library")
load("@rules_cc//cc:defs.bzl", "cc_proto_library")
load("//tools:python_rules.bzl", "py_proto_library")
package(default_visibility = ["//visibility:public"])
cc_proto_library(
name = "scenario_cc_proto",
deps = [
":scenario_proto",
],
)
proto_library(
name = "scenario_proto",
srcs = ["scenario.proto"],
)
py_proto_library(
name = "scenario_py_pb2",
deps = [
":scenario_proto",
],
)
cc_proto_library(
name = "prediction_point_cc_proto",
deps = [
":prediction_point_proto",
],
)
proto_library(
name = "prediction_point_proto",
srcs = ["prediction_point.proto"],
)
py_proto_library(
name = "prediction_point_py_pb2",
deps = [
":prediction_point_proto",
],
)
cc_proto_library(
name = "feature_cc_proto",
deps = [
":feature_proto",
],
)
proto_library(
name = "feature_proto",
srcs = ["feature.proto"],
deps = [
"//modules/common_msgs/basic_msgs:geometry_proto",
"//modules/common_msgs/basic_msgs:pnc_point_proto",
"//modules/common_msgs/map_msgs:map_lane_proto",
"//modules/common_msgs/perception_msgs:perception_obstacle_proto",
":lane_graph_proto",
":prediction_point_proto",
],
)
py_proto_library(
name = "feature_py_pb2",
deps = [
":feature_proto",
"//modules/common_msgs/basic_msgs:geometry_py_pb2",
"//modules/common_msgs/basic_msgs:pnc_point_py_pb2",
"//modules/common_msgs/map_msgs:map_lane_py_pb2",
"//modules/common_msgs/perception_msgs:perception_obstacle_py_pb2",
":lane_graph_py_pb2",
":prediction_point_py_pb2",
],
)
cc_proto_library(
name = "prediction_obstacle_cc_proto",
deps = [
":prediction_obstacle_proto",
],
)
proto_library(
name = "prediction_obstacle_proto",
srcs = ["prediction_obstacle.proto"],
deps = [
"//modules/common_msgs/basic_msgs:error_code_proto",
"//modules/common_msgs/basic_msgs:header_proto",
"//modules/common_msgs/perception_msgs:perception_obstacle_proto",
":scenario_proto",
":feature_proto",
],
)
py_proto_library(
name = "prediction_obstacle_py_pb2",
deps = [
":prediction_obstacle_proto",
"//modules/common_msgs/basic_msgs:error_code_py_pb2",
"//modules/common_msgs/basic_msgs:header_py_pb2",
"//modules/common_msgs/perception_msgs:perception_obstacle_py_pb2",
":scenario_py_pb2",
":feature_py_pb2",
],
)
cc_proto_library(
name = "lane_graph_cc_proto",
deps = [
":lane_graph_proto",
],
)
proto_library(
name = "lane_graph_proto",
srcs = ["lane_graph.proto"],
deps = [
"//modules/common_msgs/basic_msgs:geometry_proto",
"//modules/common_msgs/basic_msgs:pnc_point_proto",
"//modules/common_msgs/map_msgs:map_lane_proto",
],
)
py_proto_library(
name = "lane_graph_py_pb2",
deps = [
":lane_graph_proto",
"//modules/common_msgs/basic_msgs:geometry_py_pb2",
"//modules/common_msgs/basic_msgs:pnc_point_py_pb2",
"//modules/common_msgs/map_msgs:map_lane_py_pb2",
],
)
| 0
|
apollo_public_repos/apollo/modules/common_msgs
|
apollo_public_repos/apollo/modules/common_msgs/prediction_msgs/prediction_obstacle.proto
|
syntax = "proto2";
package apollo.prediction;
import "modules/common_msgs/basic_msgs/error_code.proto";
import "modules/common_msgs/basic_msgs/header.proto";
import "modules/common_msgs/perception_msgs/perception_obstacle.proto";
import "modules/common_msgs/prediction_msgs/scenario.proto";
import "modules/common_msgs/prediction_msgs/feature.proto";
// estimated obstacle intent
message ObstacleIntent {
enum Type {
UNKNOWN = 0;
STOP = 1;
STATIONARY = 2;
MOVING = 3;
CHANGE_LANE = 4;
LOW_ACCELERATION = 5;
HIGH_ACCELERATION = 6;
LOW_DECELERATION = 7;
HIGH_DECELERATION = 8;
}
optional Type type = 1 [default = UNKNOWN];
}
// self driving car intent
message Intent {
enum Type {
UNKNOWN = 0;
STOP = 1;
CRUISE = 2;
CHANGE_LANE = 3;
}
optional Type type = 1 [default = UNKNOWN];
}
message PredictionObstacle {
optional apollo.perception.PerceptionObstacle perception_obstacle = 1;
optional double timestamp = 2; // GPS time in seconds
// the length of the time for this prediction (e.g. 10s)
optional double predicted_period = 3;
// can have multiple trajectories per obstacle
repeated Trajectory trajectory = 4;
// estimated obstacle intent
optional ObstacleIntent intent = 5;
optional ObstaclePriority priority = 6;
optional ObstacleInteractiveTag interactive_tag = 9;
optional bool is_static = 7 [default = false];
// Feature history latest -> earliest sequence
repeated Feature feature = 8;
}
message PredictionObstacles {
// timestamp is included in header
optional apollo.common.Header header = 1;
// make prediction for multiple obstacles
repeated PredictionObstacle prediction_obstacle = 2;
// perception error code
optional apollo.common.ErrorCode perception_error_code = 3;
// start timestamp
optional double start_timestamp = 4;
// end timestamp
optional double end_timestamp = 5;
// self driving car intent
optional Intent intent = 6;
// Scenario
optional Scenario scenario = 7;
}
| 0
|
apollo_public_repos/apollo/modules/common_msgs
|
apollo_public_repos/apollo/modules/common_msgs/prediction_msgs/lane_graph.proto
|
syntax = "proto2";
package apollo.prediction;
import "modules/common_msgs/basic_msgs/geometry.proto";
import "modules/common_msgs/basic_msgs/pnc_point.proto";
import "modules/common_msgs/map_msgs/map_lane.proto";
message LanePoint {
optional apollo.common.Point3D position = 1;
optional double heading = 2 [default = 0.0];
optional double width = 3 [default = 0.0];
// relative s to focus obstacle
optional double relative_s = 4 [default = 0.0];
// relative l to focus obstacle
optional double relative_l = 5 [default = 0.0];
// lane point heading relative to focused obstacle heading
optional double angle_diff = 6 [default = 0.0];
optional double kappa = 7 [default = 0.0];
enum ScenarioType {
URBAN_ROAD = 0;
JUNCTION = 1;
HIGHWAY = 2;
}
optional ScenarioType scenario_type = 8;
optional double speed_limit = 9;
}
message LaneSegment {
optional string lane_id = 1;
// s offset of the first lane point
optional double start_s = 2 [default = 0.0];
// s offset of the last lane point
optional double end_s = 3 [default = 0.0];
optional uint32 lane_turn_type = 4 [default = 0];
repeated LanePoint lane_point = 5;
// If this lane-segment is the one that's closest to ADC,
// then adc_s gives the s of the ADC.
optional double adc_s = 7 [default = 0.0];
optional int32 adc_lane_point_idx = 8 [default = 0];
optional double total_length = 6 [default = 0.0];
}
message NearbyObstacle {
optional int32 id = 1;
optional double s = 2; // relative to focus obstacle
optional double l = 3; // relative to focus obstacle
}
message StopSign {
optional string stop_sign_id = 1;
optional string lane_id = 2;
optional double lane_s = 3; // the s value within the lane
optional double lane_sequence_s = 4; // the s value along lane sequence
}
// next id = 24
message LaneSequence {
optional int32 lane_sequence_id = 1;
repeated LaneSegment lane_segment = 2;
// The index of the lane-segment that is closest to ADC:
optional int32 adc_lane_segment_idx = 23 [default = 0];
repeated apollo.common.PathPoint path_point = 8;
optional apollo.hdmap.Lane.LaneType lane_type = 22;
optional double lane_s = 17;
optional double lane_l = 18;
optional bool vehicle_on_lane = 10;
// nearby obstacles on this lane sequence
repeated NearbyObstacle nearby_obstacle = 3;
optional StopSign stop_sign = 20;
optional int32 right_of_way = 21; // right_of_way score
message Features {
repeated double mlp_features = 1;
}
optional Features features = 4;
optional int32 label = 5 [default = 0];
optional double probability = 6 [default = 0.0];
optional double acceleration = 7 [default = 0.0];
optional double time_to_lane_center = 16;
optional double time_to_lane_edge = 19;
enum BehaviorType {
NOT_GOTO_LANE = 1;
CONSTANT_SPEED = 2;
SMALL_ACCELERATION = 3;
LARGE_ACCELERATION = 4;
SMALL_DECELERATION = 5;
LARGE_DECELERATION = 6;
}
optional BehaviorType behavior_type = 9;
// lane points on this lane sequence
repeated LanePoint curr_lane_point = 11;
// lane points on the left neighbor lane sequence
repeated LanePoint left_neighbor_point = 12;
// lane points on the right neighbor lane sequence
repeated LanePoint right_neighbor_point = 13;
// nearby obstacles on the left neighbor lane sequence
repeated NearbyObstacle left_nearby_obstacle = 14;
// nearby obstacles on the right neighbor lane sequence
repeated NearbyObstacle right_nearby_obstacle = 15;
}
message LaneGraph {
repeated LaneSequence lane_sequence = 1;
}
message LaneObstacle {
optional int32 obstacle_id = 1;
optional string lane_id = 2;
optional double lane_s = 3;
optional double lane_l = 4;
}
| 0
|
apollo_public_repos/apollo/modules/common_msgs
|
apollo_public_repos/apollo/modules/common_msgs/drivers_msgs/can_card_parameter.proto
|
syntax = "proto2";
package apollo.drivers.canbus;
message CANCardParameter {
enum CANCardBrand {
FAKE_CAN = 0;
ESD_CAN = 1;
SOCKET_CAN_RAW = 2;
HERMES_CAN = 3;
}
enum CANCardType {
PCI_CARD = 0;
USB_CARD = 1;
}
enum CANChannelId {
CHANNEL_ID_ZERO = 0;
CHANNEL_ID_ONE = 1;
CHANNEL_ID_TWO = 2;
CHANNEL_ID_THREE = 3;
CHANNEL_ID_FOUR = 4;
CHANNEL_ID_FIVE = 5;
CHANNEL_ID_SIX = 6;
CHANNEL_ID_SEVEN = 7;
}
enum CANInterface {
NATIVE = 0;
VIRTUAL = 1;
SLCAN = 2;
}
enum HERMES_BAUDRATE {
BCAN_BAUDRATE_1M = 0;
BCAN_BAUDRATE_500K = 1;
BCAN_BAUDRATE_250K = 2;
BCAN_BAUDRATE_150K = 3;
BCAN_BAUDRATE_NUM = 4;
}
optional CANCardBrand brand = 1;
optional CANCardType type = 2;
optional CANChannelId channel_id = 3;
optional CANInterface interface = 4;
optional uint32 num_ports = 5 [default = 4];
optional HERMES_BAUDRATE hermes_baudrate = 6 [default = BCAN_BAUDRATE_500K];
}
| 0
|
apollo_public_repos/apollo/modules/common_msgs
|
apollo_public_repos/apollo/modules/common_msgs/drivers_msgs/BUILD
|
## Auto generated by `proto_build_generator.py`
load("@rules_proto//proto:defs.bzl", "proto_library")
load("@rules_cc//cc:defs.bzl", "cc_proto_library")
load("//tools:python_rules.bzl", "py_proto_library")
package(default_visibility = ["//visibility:public"])
cc_proto_library(
name = "can_card_parameter_cc_proto",
deps = [
":can_card_parameter_proto",
],
)
proto_library(
name = "can_card_parameter_proto",
srcs = ["can_card_parameter.proto"],
)
py_proto_library(
name = "can_card_parameter_py_pb2",
deps = [
":can_card_parameter_proto",
],
)
| 0
|
apollo_public_repos/apollo/modules
|
apollo_public_repos/apollo/modules/calibration/cyberfile.xml
|
<package format="2">
<name>calibration</name>
<version>local</version>
<description>
Apollo calibration module.
</description>
<maintainer email="apollo-support@baidu.com">Apollo</maintainer>
<license>Apache License 2.0</license>
<url type="website">https://www.apollo.auto/</url>
<url type="repository">https://github.com/ApolloAuto/apollo</url>
<url type="bugtracker">https://github.com/ApolloAuto/apollo/issues</url>
<type>module</type>
<src_path url="https://github.com/ApolloAuto/apollo">//modules/calibration</src_path>
</package>
| 0
|
apollo_public_repos/apollo/modules
|
apollo_public_repos/apollo/modules/calibration/BUILD
|
load("//tools/install:install.bzl", "install", "install_files", "install_src_files")
package(default_visibility = ["//visibility:public"])
install(
name = "install",
data_dest = "calibration",
data = [
":calibrated_vehicles",
":cyberfile.xml",
":calibration.BUILD",
],
)
install_src_files(
name = "install_src",
deps = [
":install_calibration_src",
":install_calibration_hdrs"
],
)
install_src_files(
name = "install_calibration_src",
src_dir = ["."],
dest = "calibration/src",
filter = "*",
)
install_src_files(
name = "install_calibration_hdrs",
src_dir = ["."],
dest = "calibration/include",
filter = "*.h",
)
filegroup(
name = "calibrated_vehicles",
srcs = glob([
"data/**",
]),
)
| 0
|
apollo_public_repos/apollo/modules/calibration
|
apollo_public_repos/apollo/modules/calibration/data/README.md
|
# Vehicle Calibration Configs
HMI will list the subfolders as vehicles available to use.
For a well functioning vehicle, generally you need the following config files:
```text
<vehicle_dir>
- vehicle_param.pb.txt # Instance of apollo.common.VehicleParam
- calibration_table.pb.txt # Instance of apollo.control.ControlConf
- velodyne_params # Params for velodyne
- 64E_S3_calibration_example.yaml
- velodyne64_novatel_extrinsics_example.yaml
- start_velodyne.launch # Velodyne launch file for ROS.
- gnss_params # Params for GNSS
- gnss_conf.pb.txt # GNSS config file
```
Take mkz8 as an example, but don't forget to fill the rtk_from.ntrip in
gnss_params/gnss_conf.pb.txt.
| 0
|
apollo_public_repos/apollo/modules/calibration/data
|
apollo_public_repos/apollo/modules/calibration/data/Lincoln2017MKZ_LGSVL/vehicle_param.pb.txt
|
vehicle_param {
front_edge_to_center: 3.705
back_edge_to_center: 0.995
left_edge_to_center: 1.03
right_edge_to_center: 1.03
length: 4.70
width: 2.06
height: 2.05
min_turn_radius: 5.05386147161
max_acceleration: 2.0
max_deceleration: -6.0
max_steer_angle: 8.20304748437
max_steer_angle_rate: 6.98131700798
steer_ratio: 16
wheel_base: 2.837007
wheel_rolling_radius: 0.33
max_abs_speed_when_stopped: 0.2
brake_deadzone: 14.5
throttle_deadzone: 15.7
}
| 0
|
apollo_public_repos/apollo/modules/calibration/data
|
apollo_public_repos/apollo/modules/calibration/data/Lincoln2017MKZ_LGSVL/control_conf.pb.txt
|
control_test_duration: -1
enable_csv_debug: false
enable_speed_station_preview: false
is_control_test_mode: false
use_preview_speed_for_table: false
enable_input_timestamp_check: false
max_localization_miss_num : 20
max_planning_miss_num: 20
max_acceleration_when_stopped : 0.01
steer_angle_rate: 100
enable_gain_scheduler: true
set_steer_limit: true
enable_slope_offset: false
enable_persistent_estop: false
control_period: 0.01
trajectory_period: 0.1
chassis_period: 0.01
localization_period: 0.01
max_status_interval_sec: 0.1
max_planning_interval_sec: 0.2
max_planning_delay_threshold: 4.0
action: STOP
soft_estop_brake: 50.0
active_controllers: LAT_CONTROLLER
active_controllers: LON_CONTROLLER
max_steering_percentage_allowed: 100
minimum_speed_resolution: 0.2
query_relative_time: 0.8
minimum_speed_protection: 0.1
lat_controller_conf {
ts: 0.01
preview_window: 0
cf: 155494.663
cr: 155494.663
mass_fl: 530
mass_fr: 530
mass_rl: 530
mass_rr: 530
eps: 0.01
matrix_q: 0.05
matrix_q: 0.0
matrix_q: 1.0
matrix_q: 0.0
reverse_matrix_q: 0.5
reverse_matrix_q: 0.0
reverse_matrix_q: 0.4
reverse_matrix_q: 0.0
cutoff_freq: 10
mean_filter_window_size: 10
max_iteration: 150
max_lateral_acceleration: 5.0
enable_reverse_leadlag_compensation: false
lat_err_gain_scheduler {
scheduler {
speed: 4.0
ratio: 1.0
}
scheduler {
speed: 8.0
ratio: 0.6
}
scheduler {
speed: 12.0
ratio: 0.2
}
scheduler {
speed: 20.0
ratio: 0.1
}
scheduler {
speed: 25.0
ratio: 0.05
}
}
heading_err_gain_scheduler {
scheduler {
speed: 4.0
ratio: 1.0
}
scheduler {
speed: 8.0
ratio: 0.6
}
scheduler {
speed: 12.0
ratio: 0.4
}
scheduler {
speed: 20.0
ratio: 0.2
}
scheduler {
speed: 25.0
ratio: 0.1
}
}
reverse_leadlag_conf {
innerstate_saturation_level: 3000
alpha: 1.0
beta: 1.0
tau: 0.0
}
}
lon_controller_conf {
ts: 0.01
brake_minimum_action: 0.0
throttle_minimum_action: 0.0
speed_controller_input_limit: 2.0
station_error_limit: 2.0
preview_window: 20.0
standstill_acceleration: -3.0
enable_reverse_leadlag_compensation: false
station_pid_conf {
integrator_enable: false
integrator_saturation_level: 0.3
kp: 0.2
ki: 0.0
kd: 0.0
}
low_speed_pid_conf {
integrator_enable: true
integrator_saturation_level: 0.3
kp: 0.5
ki: 0.3
kd: 0.0
}
high_speed_pid_conf {
integrator_enable: true
integrator_saturation_level: 0.3
kp: 1.0
ki: 0.3
kd: 0.0
}
switch_speed: 2.0
reverse_station_pid_conf {
integrator_enable: false
integrator_saturation_level: 0.3
kp: 0.2
ki: 0.0
kd: 0.0
}
reverse_speed_pid_conf {
integrator_enable: true
integrator_saturation_level: 0.2
kp: 0.1
ki: 0.05
kd: 0.02
}
reverse_station_leadlag_conf {
innerstate_saturation_level: 1000
alpha: 1.0
beta: 1.0
tau: 0.0
}
reverse_speed_leadlag_conf {
innerstate_saturation_level: 1000
alpha: 1.0
beta: 1.0
tau: 0.0
}
pitch_angle_filter_conf {
cutoff_freq: 5
}
calibration_table {
calibration {
speed: 0.0
acceleration: -1.43
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calibration {
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calibration {
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speed: 9.2
acceleration: 5.3
command: 85.0
}
calibration {
speed: 9.2
acceleration: 5.49
command: 95.0
}
calibration {
speed: 9.4
acceleration: -8.93
command: -95.0
}
calibration {
speed: 9.4
acceleration: -8.72
command: -100.0
}
calibration {
speed: 9.4
acceleration: -8.44
command: -85.0
}
calibration {
speed: 9.4
acceleration: -8.39
command: -90.0
}
calibration {
speed: 9.4
acceleration: -8.08
command: -80.0
}
calibration {
speed: 9.4
acceleration: -7.66
command: -75.0
}
calibration {
speed: 9.4
acceleration: -7.17
command: -70.0
}
calibration {
speed: 9.4
acceleration: -6.55
command: -65.0
}
calibration {
speed: 9.4
acceleration: -5.93
command: -60.0
}
calibration {
speed: 9.4
acceleration: -5.35
command: -55.0
}
calibration {
speed: 9.4
acceleration: -4.62
command: -50.0
}
calibration {
speed: 9.4
acceleration: -3.86
command: -45.0
}
calibration {
speed: 9.4
acceleration: -3.3
command: -40.0
}
calibration {
speed: 9.4
acceleration: -2.65
command: -35.0
}
calibration {
speed: 9.4
acceleration: -0.62
command: -17.0
}
calibration {
speed: 9.4
acceleration: -0.45
command: -20.0
}
calibration {
speed: 9.4
acceleration: 0.02
command: -15.0
}
calibration {
speed: 9.4
acceleration: 0.23
command: 15.0
}
calibration {
speed: 9.4
acceleration: 0.29
command: -3.0
}
calibration {
speed: 9.4
acceleration: 0.46
command: -25.0
}
calibration {
speed: 9.4
acceleration: 0.54
command: 20.0
}
calibration {
speed: 9.4
acceleration: 0.9
command: 25.0
}
calibration {
speed: 9.4
acceleration: 1.03
command: 27.0
}
calibration {
speed: 9.4
acceleration: 1.31
command: 30.0
}
calibration {
speed: 9.4
acceleration: 1.59
command: -30.0
}
calibration {
speed: 9.4
acceleration: 1.74
command: 35.0
}
calibration {
speed: 9.4
acceleration: 2.21
command: 40.0
}
calibration {
speed: 9.4
acceleration: 2.69
command: 45.0
}
calibration {
speed: 9.4
acceleration: 2.78
command: 90.0
}
calibration {
speed: 9.4
acceleration: 2.86
command: 50.0
}
calibration {
speed: 9.4
acceleration: 3.31
command: -7.0
}
calibration {
speed: 9.4
acceleration: 3.52
command: 55.0
}
calibration {
speed: 9.4
acceleration: 3.78
command: 60.0
}
calibration {
speed: 9.4
acceleration: 4.05
command: 100.0
}
calibration {
speed: 9.4
acceleration: 4.14
command: 65.0
}
calibration {
speed: 9.4
acceleration: 4.64
command: 70.0
}
calibration {
speed: 9.4
acceleration: 4.85
command: 75.0
}
calibration {
speed: 9.4
acceleration: 5.07
command: 80.0
}
calibration {
speed: 9.4
acceleration: 5.3
command: 85.0
}
calibration {
speed: 9.4
acceleration: 5.49
command: 95.0
}
calibration {
speed: 9.6
acceleration: -8.93
command: -95.0
}
calibration {
speed: 9.6
acceleration: -8.72
command: -100.0
}
calibration {
speed: 9.6
acceleration: -8.44
command: -85.0
}
calibration {
speed: 9.6
acceleration: -8.39
command: -90.0
}
calibration {
speed: 9.6
acceleration: -8.09
command: -80.0
}
calibration {
speed: 9.6
acceleration: -7.67
command: -75.0
}
calibration {
speed: 9.6
acceleration: -7.18
command: -70.0
}
calibration {
speed: 9.6
acceleration: -6.55
command: -65.0
}
calibration {
speed: 9.6
acceleration: -5.93
command: -60.0
}
calibration {
speed: 9.6
acceleration: -5.35
command: -55.0
}
calibration {
speed: 9.6
acceleration: -4.62
command: -50.0
}
calibration {
speed: 9.6
acceleration: -3.86
command: -45.0
}
calibration {
speed: 9.6
acceleration: -3.3
command: -40.0
}
calibration {
speed: 9.6
acceleration: -2.65
command: -35.0
}
calibration {
speed: 9.6
acceleration: -0.61
command: -17.0
}
calibration {
speed: 9.6
acceleration: -0.44
command: -20.0
}
calibration {
speed: 9.6
acceleration: 0.22
command: 0.0
}
calibration {
speed: 9.6
acceleration: 0.33
command: -3.0
}
calibration {
speed: 9.6
acceleration: 0.5
command: -25.0
}
calibration {
speed: 9.6
acceleration: 0.55
command: 20.0
}
calibration {
speed: 9.6
acceleration: 0.89
command: 25.0
}
calibration {
speed: 9.6
acceleration: 1.03
command: 27.0
}
calibration {
speed: 9.6
acceleration: 1.26
command: 30.0
}
calibration {
speed: 9.6
acceleration: 1.59
command: -30.0
}
calibration {
speed: 9.6
acceleration: 1.74
command: 35.0
}
calibration {
speed: 9.6
acceleration: 2.22
command: 40.0
}
calibration {
speed: 9.6
acceleration: 2.69
command: 45.0
}
calibration {
speed: 9.6
acceleration: 2.85
command: 50.0
}
calibration {
speed: 9.6
acceleration: 2.91
command: 90.0
}
calibration {
speed: 9.6
acceleration: 3.31
command: -7.0
}
calibration {
speed: 9.6
acceleration: 3.61
command: 55.0
}
calibration {
speed: 9.6
acceleration: 3.81
command: 60.0
}
calibration {
speed: 9.6
acceleration: 4.05
command: 100.0
}
calibration {
speed: 9.6
acceleration: 4.14
command: 65.0
}
calibration {
speed: 9.6
acceleration: 4.64
command: 70.0
}
calibration {
speed: 9.6
acceleration: 4.85
command: 75.0
}
calibration {
speed: 9.6
acceleration: 5.08
command: 80.0
}
calibration {
speed: 9.6
acceleration: 5.3
command: 85.0
}
calibration {
speed: 9.6
acceleration: 5.49
command: 95.0
}
calibration {
speed: 9.8
acceleration: -8.93
command: -95.0
}
calibration {
speed: 9.8
acceleration: -8.71
command: -100.0
}
calibration {
speed: 9.8
acceleration: -8.46
command: -85.0
}
calibration {
speed: 9.8
acceleration: -8.39
command: -90.0
}
calibration {
speed: 9.8
acceleration: -8.1
command: -80.0
}
calibration {
speed: 9.8
acceleration: -7.67
command: -75.0
}
calibration {
speed: 9.8
acceleration: -7.2
command: -70.0
}
calibration {
speed: 9.8
acceleration: -6.56
command: -65.0
}
calibration {
speed: 9.8
acceleration: -5.93
command: -60.0
}
calibration {
speed: 9.8
acceleration: -5.35
command: -55.0
}
calibration {
speed: 9.8
acceleration: -4.62
command: -50.0
}
calibration {
speed: 9.8
acceleration: -3.86
command: -45.0
}
calibration {
speed: 9.8
acceleration: -3.3
command: -40.0
}
calibration {
speed: 9.8
acceleration: -2.65
command: -35.0
}
calibration {
speed: 9.8
acceleration: -0.44
command: -20.0
}
calibration {
speed: 9.8
acceleration: -0.07
command: -17.0
}
calibration {
speed: 9.8
acceleration: 0.06
command: 15.0
}
calibration {
speed: 9.8
acceleration: 0.23
command: -15.0
}
calibration {
speed: 9.8
acceleration: 0.42
command: 20.0
}
calibration {
speed: 9.8
acceleration: 0.45
command: -3.0
}
calibration {
speed: 9.8
acceleration: 0.55
command: -25.0
}
calibration {
speed: 9.8
acceleration: 0.6
command: 25.0
}
calibration {
speed: 9.8
acceleration: 1.03
command: 27.0
}
calibration {
speed: 9.8
acceleration: 1.26
command: 30.0
}
calibration {
speed: 9.8
acceleration: 1.59
command: -30.0
}
calibration {
speed: 9.8
acceleration: 1.74
command: 35.0
}
calibration {
speed: 9.8
acceleration: 2.22
command: 40.0
}
calibration {
speed: 9.8
acceleration: 2.71
command: 45.0
}
calibration {
speed: 9.8
acceleration: 2.84
command: 50.0
}
calibration {
speed: 9.8
acceleration: 3.08
command: 90.0
}
calibration {
speed: 9.8
acceleration: 3.31
command: -7.0
}
calibration {
speed: 9.8
acceleration: 3.62
command: 55.0
}
calibration {
speed: 9.8
acceleration: 3.82
command: 60.0
}
calibration {
speed: 9.8
acceleration: 4.05
command: 100.0
}
calibration {
speed: 9.8
acceleration: 4.15
command: 65.0
}
calibration {
speed: 9.8
acceleration: 4.65
command: 70.0
}
calibration {
speed: 9.8
acceleration: 4.85
command: 75.0
}
calibration {
speed: 9.8
acceleration: 5.09
command: 80.0
}
calibration {
speed: 9.8
acceleration: 5.3
command: 85.0
}
calibration {
speed: 9.8
acceleration: 5.49
command: 95.0
}
calibration {
speed: 10.0
acceleration: -8.93
command: -95.0
}
calibration {
speed: 10.0
acceleration: -8.71
command: -100.0
}
calibration {
speed: 10.0
acceleration: -8.46
command: -85.0
}
calibration {
speed: 10.0
acceleration: -8.39
command: -90.0
}
calibration {
speed: 10.0
acceleration: -8.12
command: -80.0
}
calibration {
speed: 10.0
acceleration: -7.67
command: -75.0
}
calibration {
speed: 10.0
acceleration: -7.22
command: -70.0
}
calibration {
speed: 10.0
acceleration: -6.61
command: -65.0
}
calibration {
speed: 10.0
acceleration: -5.93
command: -60.0
}
calibration {
speed: 10.0
acceleration: -5.35
command: -55.0
}
calibration {
speed: 10.0
acceleration: -4.62
command: -50.0
}
calibration {
speed: 10.0
acceleration: -3.85
command: -45.0
}
calibration {
speed: 10.0
acceleration: -3.3
command: -40.0
}
calibration {
speed: 10.0
acceleration: -2.65
command: -35.0
}
calibration {
speed: 10.0
acceleration: -0.14
command: -20.0
}
calibration {
speed: 10.0
acceleration: -0.06
command: -17.0
}
calibration {
speed: 10.0
acceleration: 0.05
command: 15.0
}
calibration {
speed: 10.0
acceleration: 0.21
command: -15.0
}
calibration {
speed: 10.0
acceleration: 0.39
command: 20.0
}
calibration {
speed: 10.0
acceleration: 0.42
command: 25.0
}
calibration {
speed: 10.0
acceleration: 0.44
command: -3.0
}
calibration {
speed: 10.0
acceleration: 0.55
command: -25.0
}
calibration {
speed: 10.0
acceleration: 1.03
command: 27.0
}
calibration {
speed: 10.0
acceleration: 1.26
command: 30.0
}
calibration {
speed: 10.0
acceleration: 1.74
command: 35.0
}
calibration {
speed: 10.0
acceleration: 1.8
command: -30.0
}
calibration {
speed: 10.0
acceleration: 2.22
command: 40.0
}
calibration {
speed: 10.0
acceleration: 2.73
command: 45.0
}
calibration {
speed: 10.0
acceleration: 2.79
command: 50.0
}
calibration {
speed: 10.0
acceleration: 3.26
command: 90.0
}
calibration {
speed: 10.0
acceleration: 3.31
command: -7.0
}
calibration {
speed: 10.0
acceleration: 3.65
command: 55.0
}
calibration {
speed: 10.0
acceleration: 3.83
command: 60.0
}
calibration {
speed: 10.0
acceleration: 4.06
command: 100.0
}
calibration {
speed: 10.0
acceleration: 4.15
command: 65.0
}
calibration {
speed: 10.0
acceleration: 4.66
command: 70.0
}
calibration {
speed: 10.0
acceleration: 4.85
command: 75.0
}
calibration {
speed: 10.0
acceleration: 5.11
command: 80.0
}
calibration {
speed: 10.0
acceleration: 5.3
command: 85.0
}
calibration {
speed: 10.0
acceleration: 5.5
command: 95.0
}
calibration {
speed: 240.0
acceleration: 0.2
command: 15.0
}
}
}
| 0
|
apollo_public_repos/apollo/modules/calibration/data
|
apollo_public_repos/apollo/modules/calibration/data/Lincoln2017MKZ_LGSVL/vehicle_info.pb.txt
|
name : "SVL"
brand : LG
model : SVL
license {
vin : "<VIN>"
}
| 0
|
apollo_public_repos/apollo/modules/calibration/data
|
apollo_public_repos/apollo/modules/calibration/data/Lincoln2017MKZ_LGSVL/start_velodyne.launch
|
<launch>
<arg name="velodyne64_calibration_online" default="true" />
<!--If 'velodyne64_calibration_online' is true, 'velodyne64_calibration_file' will not use -->
<arg name="velodyne64_calibration_file" default="$(find velodyne_pointcloud)/params/64E_S3_calibration_example.yaml"/>
<arg name="extrinsics_velodyne64" default="$(find velodyne_pointcloud)/params/velodyne64_novatel_extrinsics_example.yaml"/>
<arg name="velodyne64_frame_id" default="velodyne64"/>
<arg name="organized" default="false"/>
<arg name="min_range" default="0.9" />
<arg name="max_range_64" default="70.0" />
<arg name="rpm" default="600"/>
<!-- 64E_S3D_STRONGEST | 64E_S3D_LATEST | 64E_S3D_DUAL -->
<arg name="model" default="64E_S3D_STRONGEST" />
<!-- 100ms -->
<arg name="tf_query_timeout" default="0.1"/>
<arg name="nodelet_manager_name" value="velodyne_nodelet_manager"/>
<include file="$(find velodyne_pointcloud)/launch/nodelet_manager.launch">
<arg name="nodelet_manager_name" value="$(arg nodelet_manager_name)"/>
</include>
<!-- HDL64E -->
<!-- driver nodelets -->
<include file="$(find velodyne_driver)/launch/driver_nodelet.launch">
<arg name="node_name" value="sensor_velodyne64_driver"/>
<arg name="nodelet_manager_name" value="$(arg nodelet_manager_name)"/>
<arg name="model" value="$(arg model)"/>
<arg name="rpm" value="$(arg rpm)"/>
<arg name="frame_id" value="$(arg velodyne64_frame_id)"/>
<arg name="topic" value="/apollo/sensor/velodyne64/VelodyneScanUnified"/>
</include>
<!-- start cloud nodelet using test calibration file -->
<include file="$(find velodyne_pointcloud)/launch/convert_nodelet.launch">
<arg name="node_name" value="sensor_velodyne64_convert"/>
<arg name="nodelet_manager_name" value="$(arg nodelet_manager_name)"/>
<arg name="model" value="$(arg model)"/>
<arg name="calibration_online" value="$(arg velodyne64_calibration_online)" />
<arg name="calibration" default="$(arg velodyne64_calibration_file)" />
<arg name="organized" default="$(arg organized)"/>
<arg name="min_range" default="$(arg min_range)" />
<arg name="max_range" default="$(arg max_range_64)" />
<arg name="topic_pointcloud" default="/apollo/sensor/velodyne64/PointCloud2"/>
<arg name="topic_packets" default="/apollo/sensor/velodyne64/VelodyneScanUnified"/>
</include>
<!-- start 64 compensator nodelet -->
<include file="$(find velodyne_pointcloud)/launch/compensator_nodelet.launch">
<arg name="node_name" value="sensor_velodyne64_compensator"/>
<arg name="nodelet_manager_name" value="$(arg nodelet_manager_name)"/>
<arg name="child_frame_id" value="$(arg velodyne64_frame_id)"/>
<arg name="tf_query_timeout" value="$(arg tf_query_timeout)"/>
<arg name="topic_pointcloud" value="/apollo/sensor/velodyne64/PointCloud2"/>
<arg name="topic_compensated_pointcloud" value="/apollo/sensor/velodyne64/compensator/PointCloud2"/>
</include>
</launch>
| 0
|
apollo_public_repos/apollo/modules/calibration/data
|
apollo_public_repos/apollo/modules/calibration/data/Lincoln2017MKZ_LGSVL/navigation_lincoln.pb.txt
|
control_period: 0.01
trajectory_period: 0.1
chassis_period: 0.01
localization_period: 0.01
max_status_interval_sec: 0.1
max_planning_interval_sec: 0.2
max_planning_delay_threshold: 4.0
action: STOP
soft_estop_brake: 50.0
active_controllers: LAT_CONTROLLER
active_controllers: LON_CONTROLLER
max_steering_percentage_allowed: 100
minimum_speed_resolution: 0.05
query_relative_time: 0.2
minimum_speed_protection: 0.1
lat_controller_conf {
ts: 0.01
preview_window: 0
cf: 155494.663
cr: 155494.663
mass_fl: 530
mass_fr: 530
mass_rl: 530
mass_rr: 530
eps: 0.01
matrix_q: 0.005
matrix_q: 0.0
matrix_q: 0.25
matrix_q: 0.02
cutoff_freq: 10
mean_filter_window_size: 10
max_iteration: 150
max_lateral_acceleration: 5.0
lat_err_gain_scheduler {
scheduler {
speed: 4.0
ratio: 1.0
}
scheduler {
speed: 8.0
ratio: 0.66
}
scheduler {
speed: 12.0
ratio: 0.21
}
scheduler {
speed: 20.0
ratio: 0.05
}
scheduler {
speed: 22.0
ratio: 0.05
}
scheduler {
speed: 24.6
ratio: 0.049
}
scheduler {
speed: 30.0
ratio: 0.05
}
}
heading_err_gain_scheduler {
scheduler {
speed: 4.0
ratio: 1.0
}
scheduler {
speed: 8.0
ratio: 0.6
}
scheduler {
speed: 12.0
ratio: 0.4
}
scheduler {
speed: 20.0
ratio: 0.12
}
scheduler {
speed: 24.0
ratio: 0.06
}
scheduler {
speed: 24.6
ratio: 0.06
}
scheduler {
speed: 30.0
ratio: 0.05
}
}
}
lon_controller_conf {
ts: 0.01
brake_deadzone: 15.5
throttle_deadzone: 18.0
speed_controller_input_limit: 2.0
station_error_limit: 2.0
preview_window: 20.0
standstill_acceleration: -3.0
station_pid_conf {
integrator_enable: false
integrator_saturation_level: 0.3
kp: 0.2
ki: 0.0
kd: 0.0
}
low_speed_pid_conf {
integrator_enable: true
integrator_saturation_level: 0.3
kp: 0.5
ki: 0.3
kd: 0.0
}
high_speed_pid_conf {
integrator_enable: true
integrator_saturation_level: 0.3
kp: 1.0
ki: 0.3
kd: 0.0
}
switch_speed: 2.0
pitch_angle_filter_conf {
cutoff_freq: 5
}
calibration_table {
calibration {
speed: 0.0
acceleration: -1.43
command: -35.0
}
calibration {
speed: 0.0
acceleration: -1.28
command: -27.0
}
calibration {
speed: 0.0
acceleration: -1.17
command: -25.0
}
calibration {
speed: 0.0
acceleration: -1.02
command: -30.0
}
calibration {
speed: 0.0
acceleration: -0.48
command: -27.5
}
calibration {
speed: 0.0
acceleration: 0.09
command: -20.0
}
calibration {
speed: 0.0
acceleration: 0.32
command: -15.0
}
calibration {
speed: 0.0
acceleration: 0.35
command: -17.0
}
calibration {
speed: 0.0
acceleration: 0.37
command: 17.0
}
calibration {
speed: 0.0
acceleration: 0.39
command: 15.0
}
calibration {
speed: 0.0
acceleration: 0.41
command: -13.0
}
calibration {
speed: 0.0
acceleration: 0.72
command: 20.0
}
calibration {
speed: 0.0
acceleration: 0.97
command: 22.0
}
calibration {
speed: 0.0
acceleration: 1.4
command: 25.0
}
calibration {
speed: 0.0
acceleration: 1.43
command: 27.0
}
calibration {
speed: 0.0
acceleration: 1.53
command: 30.0
}
calibration {
speed: 0.0
acceleration: 1.65
command: 35.0
}
calibration {
speed: 0.0
acceleration: 1.79
command: 40.0
}
calibration {
speed: 0.0
acceleration: 1.89
command: 45.0
}
calibration {
speed: 0.0
acceleration: 1.94
command: 50.0
}
calibration {
speed: 0.0
acceleration: 2.03
command: 55.0
}
calibration {
speed: 0.0
acceleration: 2.08
command: 65.0
}
calibration {
speed: 0.0
acceleration: 2.11
command: 60.0
}
calibration {
speed: 0.0
acceleration: 2.3
command: 80.0
}
calibration {
speed: 0.0
acceleration: 2.33
command: 70.0
}
calibration {
speed: 0.0
acceleration: 2.34
command: 75.0
}
calibration {
speed: 0.2
acceleration: -1.87
command: -35.0
}
calibration {
speed: 0.2
acceleration: -1.41
command: -27.0
}
calibration {
speed: 0.2
acceleration: -1.25
command: -30.0
}
calibration {
speed: 0.2
acceleration: -1.22
command: -25.0
}
calibration {
speed: 0.2
acceleration: -0.87
command: -33.0
}
calibration {
speed: 0.2
acceleration: -0.48
command: -22.0
}
calibration {
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speed: 8.6
acceleration: -0.24
command: -17.0
}
calibration {
speed: 8.6
acceleration: -0.23
command: -15.0
}
calibration {
speed: 8.6
acceleration: -0.18
command: 17.0
}
calibration {
speed: 8.6
acceleration: -0.06
command: 20.0
}
calibration {
speed: 8.6
acceleration: 0.1
command: 22.0
}
calibration {
speed: 8.6
acceleration: 0.42
command: 25.0
}
calibration {
speed: 8.6
acceleration: 0.62
command: 27.0
}
calibration {
speed: 8.6
acceleration: 0.96
command: 30.0
}
calibration {
speed: 8.6
acceleration: 1.56
command: 35.0
}
calibration {
speed: 8.6
acceleration: 1.99
command: 40.0
}
calibration {
speed: 8.6
acceleration: 2.15
command: 45.0
}
calibration {
speed: 8.6
acceleration: 2.4
command: 50.0
}
calibration {
speed: 8.6
acceleration: 2.77
command: 55.0
}
calibration {
speed: 8.6
acceleration: 3.06
command: 60.0
}
calibration {
speed: 8.6
acceleration: 3.14
command: 70.0
}
calibration {
speed: 8.6
acceleration: 3.15
command: 80.0
}
calibration {
speed: 8.6
acceleration: 3.23
command: 65.0
}
calibration {
speed: 8.6
acceleration: 3.27
command: 75.0
}
calibration {
speed: 8.8
acceleration: -9.22
command: -35.0
}
calibration {
speed: 8.8
acceleration: -7.55
command: -33.0
}
calibration {
speed: 8.8
acceleration: -4.7
command: -30.0
}
calibration {
speed: 8.8
acceleration: -2.57
command: -27.0
}
calibration {
speed: 8.8
acceleration: -1.77
command: -25.0
}
calibration {
speed: 8.8
acceleration: -0.71
command: -22.0
}
calibration {
speed: 8.8
acceleration: -0.34
command: -20.0
}
calibration {
speed: 8.8
acceleration: -0.3
command: -13.0
}
calibration {
speed: 8.8
acceleration: -0.25
command: 15.0
}
calibration {
speed: 8.8
acceleration: -0.24
command: -17.0
}
calibration {
speed: 8.8
acceleration: -0.21
command: -15.0
}
calibration {
speed: 8.8
acceleration: -0.16
command: 17.0
}
calibration {
speed: 8.8
acceleration: -0.05
command: 20.0
}
calibration {
speed: 8.8
acceleration: 0.12
command: 22.0
}
calibration {
speed: 8.8
acceleration: 0.4
command: 25.0
}
calibration {
speed: 8.8
acceleration: 0.61
command: 27.0
}
calibration {
speed: 8.8
acceleration: 0.93
command: 30.0
}
calibration {
speed: 8.8
acceleration: 1.51
command: 35.0
}
calibration {
speed: 8.8
acceleration: 1.95
command: 40.0
}
calibration {
speed: 8.8
acceleration: 2.1
command: 45.0
}
calibration {
speed: 8.8
acceleration: 2.37
command: 50.0
}
calibration {
speed: 8.8
acceleration: 2.75
command: 55.0
}
calibration {
speed: 8.8
acceleration: 3.04
command: 60.0
}
calibration {
speed: 8.8
acceleration: 3.12
command: 80.0
}
calibration {
speed: 8.8
acceleration: 3.15
command: 70.0
}
calibration {
speed: 8.8
acceleration: 3.23
command: 65.0
}
calibration {
speed: 8.8
acceleration: 3.25
command: 75.0
}
calibration {
speed: 9.0
acceleration: -9.27
command: -35.0
}
calibration {
speed: 9.0
acceleration: -7.6
command: -33.0
}
calibration {
speed: 9.0
acceleration: -4.71
command: -30.0
}
calibration {
speed: 9.0
acceleration: -2.57
command: -27.0
}
calibration {
speed: 9.0
acceleration: -1.8
command: -25.0
}
calibration {
speed: 9.0
acceleration: -0.74
command: -22.0
}
calibration {
speed: 9.0
acceleration: -0.41
command: -20.0
}
calibration {
speed: 9.0
acceleration: -0.29
command: -15.0
}
calibration {
speed: 9.0
acceleration: -0.27
command: -13.0
}
calibration {
speed: 9.0
acceleration: -0.24
command: 15.0
}
calibration {
speed: 9.0
acceleration: -0.2
command: 17.0
}
calibration {
speed: 9.0
acceleration: -0.19
command: -17.0
}
calibration {
speed: 9.0
acceleration: -0.15
command: 20.0
}
calibration {
speed: 9.0
acceleration: 0.12
command: 22.0
}
calibration {
speed: 9.0
acceleration: 0.38
command: 25.0
}
calibration {
speed: 9.0
acceleration: 0.57
command: 27.0
}
calibration {
speed: 9.0
acceleration: 0.88
command: 30.0
}
calibration {
speed: 9.0
acceleration: 1.47
command: 35.0
}
calibration {
speed: 9.0
acceleration: 1.91
command: 40.0
}
calibration {
speed: 9.0
acceleration: 2.07
command: 45.0
}
calibration {
speed: 9.0
acceleration: 2.33
command: 50.0
}
calibration {
speed: 9.0
acceleration: 2.71
command: 55.0
}
calibration {
speed: 9.0
acceleration: 3.03
command: 60.0
}
calibration {
speed: 9.0
acceleration: 3.09
command: 80.0
}
calibration {
speed: 9.0
acceleration: 3.16
command: 70.0
}
calibration {
speed: 9.0
acceleration: 3.21
command: 70.0
}
calibration {
speed: 9.2
acceleration: -9.34
command: -35.0
}
calibration {
speed: 9.2
acceleration: -7.67
command: -33.0
}
calibration {
speed: 9.2
acceleration: -4.69
command: -30.0
}
calibration {
speed: 9.2
acceleration: -2.61
command: -27.0
}
calibration {
speed: 9.2
acceleration: -1.85
command: -25.0
}
calibration {
speed: 9.2
acceleration: -0.71
command: -22.0
}
calibration {
speed: 9.2
acceleration: -0.39
command: -20.0
}
calibration {
speed: 9.2
acceleration: -0.28
command: -15.0
}
calibration {
speed: 9.2
acceleration: -0.27
command: 15.0
}
calibration {
speed: 9.2
acceleration: -0.26
command: -17.0
}
calibration {
speed: 9.2
acceleration: -0.21
command: -13.0
}
calibration {
speed: 9.2
acceleration: -0.17
command: 17.0
}
calibration {
speed: 9.2
acceleration: -0.08
command: 20.0
}
calibration {
speed: 9.2
acceleration: 0.1
command: 22.0
}
calibration {
speed: 9.2
acceleration: 0.34
command: 25.0
}
calibration {
speed: 9.2
acceleration: 0.56
command: 27.0
}
calibration {
speed: 9.2
acceleration: 0.87
command: 30.0
}
calibration {
speed: 9.2
acceleration: 1.44
command: 35.0
}
calibration {
speed: 9.2
acceleration: 1.86
command: 40.0
}
calibration {
speed: 9.2
acceleration: 2.05
command: 45.0
}
calibration {
speed: 9.2
acceleration: 2.3
command: 50.0
}
calibration {
speed: 9.2
acceleration: 2.65
command: 55.0
}
calibration {
speed: 9.2
acceleration: 3.02
command: 60.0
}
calibration {
speed: 9.2
acceleration: 3.05
command: 80.0
}
calibration {
speed: 9.2
acceleration: 3.17
command: 75.0
}
calibration {
speed: 9.2
acceleration: 3.18
command: 70.0
}
calibration {
speed: 9.2
acceleration: 3.2
command: 65.0
}
calibration {
speed: 9.4
acceleration: -9.37
command: -35.0
}
calibration {
speed: 9.4
acceleration: -7.76
command: -33.0
}
calibration {
speed: 9.4
acceleration: -4.65
command: -30.0
}
calibration {
speed: 9.4
acceleration: -2.66
command: -27.0
}
calibration {
speed: 9.4
acceleration: -1.87
command: -25.0
}
calibration {
speed: 9.4
acceleration: -0.73
command: -22.0
}
calibration {
speed: 9.4
acceleration: -0.37
command: -20.0
}
calibration {
speed: 9.4
acceleration: -0.31
command: 15.0
}
calibration {
speed: 9.4
acceleration: -0.26
command: -15.0
}
calibration {
speed: 9.4
acceleration: -0.24
command: -15.0
}
calibration {
speed: 9.4
acceleration: -0.16
command: 17.0
}
calibration {
speed: 9.4
acceleration: -0.1
command: 20.0
}
calibration {
speed: 9.4
acceleration: 0.1
command: 22.0
}
calibration {
speed: 9.4
acceleration: 0.38
command: 25.0
}
calibration {
speed: 9.4
acceleration: 0.53
command: 27.0
}
calibration {
speed: 9.4
acceleration: 0.8
command: 30.0
}
calibration {
speed: 9.4
acceleration: 1.38
command: 35.0
}
calibration {
speed: 9.4
acceleration: 1.82
command: 40.0
}
calibration {
speed: 9.4
acceleration: 2.04
command: 45.0
}
calibration {
speed: 9.4
acceleration: 2.28
command: 50.0
}
calibration {
speed: 9.4
acceleration: 2.6
command: 55.0
}
calibration {
speed: 9.4
acceleration: 2.99
command: 60.0
}
calibration {
speed: 9.4
acceleration: 3.02
command: 80.0
}
calibration {
speed: 9.4
acceleration: 3.15
command: 75.0
}
calibration {
speed: 9.4
acceleration: 3.19
command: 70.0
}
calibration {
speed: 9.4
acceleration: 3.2
command: 65.0
}
calibration {
speed: 9.6
acceleration: -9.36
command: -35.0
}
calibration {
speed: 9.6
acceleration: -7.87
command: -33.0
}
calibration {
speed: 9.6
acceleration: -4.56
command: -30.0
}
calibration {
speed: 9.6
acceleration: -2.68
command: -27.0
}
calibration {
speed: 9.6
acceleration: -1.88
command: -25.0
}
calibration {
speed: 9.6
acceleration: -0.73
command: -22.0
}
calibration {
speed: 9.6
acceleration: -0.38
command: -20.0
}
calibration {
speed: 9.6
acceleration: -0.29
command: 15.0
}
calibration {
speed: 9.6
acceleration: -0.28
command: -15.0
}
calibration {
speed: 9.6
acceleration: -0.27
command: -13.0
}
calibration {
speed: 9.6
acceleration: -0.26
command: -17.0
}
calibration {
speed: 9.6
acceleration: -0.2
command: 17.0
}
calibration {
speed: 9.6
acceleration: -0.07
command: 20.0
}
calibration {
speed: 9.6
acceleration: 0.09
command: 22.0
}
calibration {
speed: 9.6
acceleration: 0.34
command: 25.0
}
calibration {
speed: 9.6
acceleration: 0.53
command: 27.0
}
calibration {
speed: 9.6
acceleration: 0.8
command: 30.0
}
calibration {
speed: 9.6
acceleration: 1.36
command: 35.0
}
calibration {
speed: 9.6
acceleration: 1.79
command: 40.0
}
calibration {
speed: 9.6
acceleration: 2.01
command: 45.0
}
calibration {
speed: 9.6
acceleration: 2.25
command: 50.0
}
calibration {
speed: 9.6
acceleration: 2.57
command: 55.0
}
calibration {
speed: 9.6
acceleration: 2.98
command: 60.0
}
calibration {
speed: 9.6
acceleration: 2.99
command: 80.0
}
calibration {
speed: 9.6
acceleration: 3.15
command: 75.0
}
calibration {
speed: 9.6
acceleration: 3.2
command: 70.0
}
calibration {
speed: 9.6
acceleration: 3.21
command: 65.0
}
calibration {
speed: 9.8
acceleration: -9.31
command: -35.0
}
calibration {
speed: 9.8
acceleration: -7.97
command: -33.0
}
calibration {
speed: 9.8
acceleration: -4.51
command: -30.0
}
calibration {
speed: 9.8
acceleration: -2.67
command: -27.0
}
calibration {
speed: 9.8
acceleration: -1.9
command: -25.0
}
calibration {
speed: 9.8
acceleration: -0.73
command: -22.0
}
calibration {
speed: 9.8
acceleration: -0.39
command: -20.0
}
calibration {
speed: 9.8
acceleration: -0.28
command: -14.0
}
calibration {
speed: 9.8
acceleration: -0.27
command: -17.0
}
calibration {
speed: 9.8
acceleration: -0.24
command: 15.0
}
calibration {
speed: 9.8
acceleration: -0.22
command: 17.0
}
calibration {
speed: 9.8
acceleration: -0.13
command: 20.0
}
calibration {
speed: 9.8
acceleration: 0.08
command: 22.0
}
calibration {
speed: 9.8
acceleration: 0.34
command: 25.0
}
calibration {
speed: 9.8
acceleration: 0.5
command: 27.0
}
calibration {
speed: 9.8
acceleration: 0.78
command: 30.0
}
calibration {
speed: 9.8
acceleration: 1.35
command: 35.0
}
calibration {
speed: 9.8
acceleration: 1.76
command: 40.0
}
calibration {
speed: 9.8
acceleration: 1.97
command: 45.0
}
calibration {
speed: 9.8
acceleration: 2.21
command: 50.0
}
calibration {
speed: 9.8
acceleration: 2.55
command: 55.0
}
calibration {
speed: 9.8
acceleration: 2.96
command: 60.0
}
calibration {
speed: 9.8
acceleration: 2.98
command: 80.0
}
calibration {
speed: 9.8
acceleration: 3.15
command: 75.0
}
calibration {
speed: 9.8
acceleration: 3.2
command: 70.0
}
calibration {
speed: 9.8
acceleration: 3.21
command: 65.0
}
calibration {
speed: 10.0
acceleration: -9.18
command: -35.0
}
calibration {
speed: 10.0
acceleration: -8.04
command: -33.0
}
calibration {
speed: 10.0
acceleration: -4.75
command: -30.0
}
calibration {
speed: 10.0
acceleration: -2.65
command: -27.0
}
calibration {
speed: 10.0
acceleration: -1.92
command: -25.0
}
calibration {
speed: 10.0
acceleration: -0.75
command: -22.0
}
calibration {
speed: 10.0
acceleration: -0.36
command: -20.0
}
calibration {
speed: 10.0
acceleration: -0.29
command: -13.0
}
calibration {
speed: 10.0
acceleration: -0.27
command: -15.0
}
calibration {
speed: 10.0
acceleration: -0.25
command: 15.0
}
calibration {
speed: 10.0
acceleration: -0.24
command: -17.0
}
calibration {
speed: 10.0
acceleration: -0.21
command: 17.0
}
calibration {
speed: 10.0
acceleration: -0.08
command: 20.0
}
calibration {
speed: 10.0
acceleration: 0.08
command: 22.0
}
calibration {
speed: 10.0
acceleration: 0.32
command: 25.0
}
calibration {
speed: 10.0
acceleration: 0.49
command: 27.0
}
calibration {
speed: 10.0
acceleration: 0.75
command: 30.0
}
calibration {
speed: 10.0
acceleration: 1.3
command: 35.0
}
calibration {
speed: 10.0
acceleration: 1.71
command: 40.0
}
calibration {
speed: 10.0
acceleration: 1.92
command: 45.0
}
calibration {
speed: 10.0
acceleration: 2.17
command: 50.0
}
calibration {
speed: 10.0
acceleration: 2.53
command: 55.0
}
calibration {
speed: 10.0
acceleration: 2.94
command: 60.0
}
calibration {
speed: 10.0
acceleration: 2.99
command: 80.0
}
calibration {
speed: 10.0
acceleration: 3.14
command: 75.0
}
calibration {
speed: 10.0
acceleration: 3.19
command: 70.0
}
calibration {
speed: 10.0
acceleration: 3.21
command: 65.0
}
}
}
| 0
|
apollo_public_repos/apollo/modules/calibration/data/Lincoln2017MKZ_LGSVL
|
apollo_public_repos/apollo/modules/calibration/data/Lincoln2017MKZ_LGSVL/gnss_params/ant_imu_leverarm.yaml
|
#carid:mkz058
#set primary if single-antenna;set both primary and secondary if dual-antenna.
leverarm:
primary:
offset:
x: 0.00
y: 1.10866
z: 1.14165
uncertainty:
x: 0.05
y: 0.05
z: 0.08
secondary:
offset:
x: 0.00
y: 1.10866
z: 1.14165
uncertainty:
x: 0.05
y: 0.05
z: 0.08
| 0
|
apollo_public_repos/apollo/modules/calibration/data/Lincoln2017MKZ_LGSVL
|
apollo_public_repos/apollo/modules/calibration/data/Lincoln2017MKZ_LGSVL/gnss_params/gnss_conf.pb.txt
|
data {
format: NOVATEL_BINARY
serial {
device: "/dev/novatel0"
baud_rate: 115200
}
}
rtk_from {
format: RTCM_V3
ntrip {
address: "<IP>"
port: <PORT>
mount_point: "<MOUNTPOINT>"
user: "<USER>"
password: "<PASSWORD>"
timeout_s: 5
}
push_location: true
}
rtk_to {
format: NOVATEL_BINARY
serial {
device: "/dev/novatel1"
baud_rate: 115200
}
}
command {
format: NOVATEL_BINARY
serial {
device: "/dev/novatel2"
baud_rate: 115200
}
}
rtk_solution_type: RTK_RECEIVER_SOLUTION
imu_type: ADIS16488
proj4_text: "+proj=utm +zone=10 +ellps=WGS84 +towgs84=0,0,0,0,0,0,0 +units=m +no_defs"
tf {
frame_id: "world"
child_frame_id: "novatel"
}
# If given, the driver will send velocity info into novatel one time per second
wheel_parameters: "SETWHEELPARAMETERS 100 1 1\r\n"
| 0
|
apollo_public_repos/apollo/modules/calibration/data/Lincoln2017MKZ_LGSVL
|
apollo_public_repos/apollo/modules/calibration/data/Lincoln2017MKZ_LGSVL/radar_params/radar_front_extrinsics.yaml
|
header:
seq: 0
stamp:
secs: 0
nsecs: 0
frame_id: velodyne128
child_frame_id: radar_front
transform:
translation:
x: 2.6399201750755337
y: 5.271220001122807e-16
z: -1.623000025749203
rotation:
x: 0.0
y: 0.0
z: 0.0
w: 1.0
| 0
|
apollo_public_repos/apollo/modules/calibration/data/Lincoln2017MKZ_LGSVL
|
apollo_public_repos/apollo/modules/calibration/data/Lincoln2017MKZ_LGSVL/radar_params/radar_extrinsics.yaml
|
header:
seq: 0
stamp:
secs: 0
nsecs: 0
frame_id: front_6mm
child_frame_id: radar
transform:
translation:
x: 0.0
y: 1.0110000371933034
z: 2.4720000773668316
rotation:
x: 0.5
y: -0.4999999999999999
z: 0.5
w: 0.5000000000000001
| 0
|
apollo_public_repos/apollo/modules/calibration/data/Lincoln2017MKZ_LGSVL
|
apollo_public_repos/apollo/modules/calibration/data/Lincoln2017MKZ_LGSVL/velodyne_params/velodyne64_height.yaml
|
vehicle:
parameters:
height: 1.91
height_var: 0.0047
| 0
|
apollo_public_repos/apollo/modules/calibration/data/Lincoln2017MKZ_LGSVL
|
apollo_public_repos/apollo/modules/calibration/data/Lincoln2017MKZ_LGSVL/velodyne_params/128E_S3_calibration.yaml
|
lasers:
- {dist_correction: 1.3280478, dist_correction_x: 1.3733278999999998, dist_correction_y: 1.3565268000000001,
focal_distance: 12.0, focal_slope: 0.75, horiz_offset_correction: 0.025999999, laser_id: 0,
min_intensity: 5, rot_correction: -0.08042396035379652, vert_correction: -0.12376696608832838,
vert_offset_correction: 0.21551828}
- {dist_correction: 1.4387065, dist_correction_x: 1.4772083, dist_correction_y: 1.4930743000000002,
focal_distance: 18.5, focal_slope: 1.1, horiz_offset_correction: -0.025999999, laser_id: 1,
min_intensity: 40, rot_correction: -0.043931143295210404, vert_correction: -0.11852979325378328,
vert_offset_correction: 0.21513613}
- {dist_correction: 1.4198532000000001, dist_correction_x: 1.4513388, dist_correction_y: 1.4459473,
focal_distance: 17.0, focal_slope: 1.25, horiz_offset_correction: 0.025999999, laser_id: 2,
min_intensity: 40, rot_correction: 0.05671893510512383, vert_correction: 0.006831742116548479,
vert_offset_correction: 0.20608189}
- {dist_correction: 1.432045, dist_correction_x: 1.4576363, dist_correction_y: 1.5053079,
focal_distance: 24.0, focal_slope: 0.94999999, horiz_offset_correction: -0.025999999,
laser_id: 3, min_intensity: 40, rot_correction: 0.09507418428186684, vert_correction: 0.011737269755557637,
vert_offset_correction: 0.2057291}
- {dist_correction: 1.3768561, dist_correction_x: 1.4095345000000001, dist_correction_y: 1.4140973,
focal_distance: 24.0, focal_slope: 0.60000002, horiz_offset_correction: 0.025999999,
laser_id: 4, min_intensity: 40, rot_correction: -0.0052020566354620415, vert_correction: -0.11207511538496126,
vert_offset_correction: 0.21466578}
- {dist_correction: 1.4579066, dist_correction_x: 1.5030013, dist_correction_y: 1.5402745,
focal_distance: 23.0, focal_slope: 0.80000001, horiz_offset_correction: -0.025999999,
laser_id: 5, min_intensity: 40, rot_correction: 0.034271327080062704, vert_correction: -0.10662164389621649,
vert_offset_correction: 0.21426891}
- {dist_correction: 1.4042904999999999, dist_correction_x: 1.4512584000000002, dist_correction_y: 1.4358795000000002,
focal_distance: 24.0, focal_slope: 0.80000001, horiz_offset_correction: 0.025999999,
laser_id: 6, min_intensity: 40, rot_correction: -0.019350118096339984, vert_correction: -0.14744596324186607,
vert_offset_correction: 0.21725271}
- {dist_correction: 1.4530759, dist_correction_x: 1.4934110999999999, dist_correction_y: 1.4934732,
focal_distance: 16.5, focal_slope: 0.80000001, horiz_offset_correction: -0.025999999,
laser_id: 7, min_intensity: 40, rot_correction: 0.019696635766030937, vert_correction: -0.1420415773930044,
vert_offset_correction: 0.21685585}
- {dist_correction: 1.3928452999999998, dist_correction_x: 1.4412779, dist_correction_y: 1.4351759000000002,
focal_distance: 24.0, focal_slope: 0.64999998, horiz_offset_correction: 0.025999999,
laser_id: 8, min_intensity: 10, rot_correction: 0.06977400140069993, vert_correction: -0.10055477120587059,
vert_offset_correction: 0.21382797}
- {dist_correction: 1.4649026, dist_correction_x: 1.4811482, dist_correction_y: 1.5390858,
focal_distance: 16.5, focal_slope: 1.2, horiz_offset_correction: -0.025999999, laser_id: 9,
min_intensity: 40, rot_correction: 0.10867481606700684, vert_correction: -0.09508820800240662,
vert_offset_correction: 0.21343111}
- {dist_correction: 1.3307669000000002, dist_correction_x: 1.3797191000000002, dist_correction_y: 1.3716772000000002,
focal_distance: 24.0, focal_slope: 0.85000002, horiz_offset_correction: 0.025999999,
laser_id: 10, min_intensity: 40, rot_correction: 0.05614793318704137, vert_correction: -0.13622757149534595,
vert_offset_correction: 0.2164296}
- {dist_correction: 1.3771700999999998, dist_correction_x: 1.4101131, dist_correction_y: 1.4538571,
focal_distance: 15.0, focal_slope: 1.35, horiz_offset_correction: -0.025999999,
laser_id: 11, min_intensity: 40, rot_correction: 0.09458836664858647, vert_correction: -0.13060523940147076,
vert_offset_correction: 0.21601805}
- {dist_correction: 1.3797005, dist_correction_x: 1.4142267000000002, dist_correction_y: 1.4085233,
focal_distance: 10.0, focal_slope: 1.2, horiz_offset_correction: 0.025999999, laser_id: 12,
min_intensity: 10, rot_correction: -0.08058553944528767, vert_correction: -0.05321597901122562,
vert_offset_correction: 0.21040320999999998}
- {dist_correction: 1.3646324, dist_correction_x: 1.3887102, dist_correction_y: 1.4070561000000001,
focal_distance: 24.0, focal_slope: 1.1, horiz_offset_correction: -0.025999999, laser_id: 13,
min_intensity: 40, rot_correction: -0.04053784798354424, vert_correction: -0.04669103069605979,
vert_offset_correction: 0.20993286000000003}
- {dist_correction: 1.3809781, dist_correction_x: 1.4282532000000001, dist_correction_y: 1.4207353,
focal_distance: 15.0, focal_slope: 1.3, horiz_offset_correction: 0.025999999, laser_id: 14,
min_intensity: 40, rot_correction: -0.09419900463641756, vert_correction: -0.08758781436692292,
vert_offset_correction: 0.21288727000000002}
- {dist_correction: 1.3950202999999999, dist_correction_x: 1.4285829, dist_correction_y: 1.4621552,
focal_distance: 24.0, focal_slope: 1.1, horiz_offset_correction: -0.025999999, laser_id: 15,
min_intensity: 40, rot_correction: -0.054354701628396805, vert_correction: -0.08292035016148458,
vert_offset_correction: 0.21254919000000003}
- {dist_correction: 1.2988774, dist_correction_x: 1.3749954, dist_correction_y: 1.3734656,
focal_distance: 24.0, focal_slope: 0.64999998, horiz_offset_correction: 0.025999999,
laser_id: 16, min_intensity: 40, rot_correction: -0.005133124856654525, vert_correction: -0.04077432787988471,
vert_offset_correction: 0.20950663}
- {dist_correction: 1.4723137, dist_correction_x: 1.5056056000000002, dist_correction_y: 1.5041873000000001,
focal_distance: 24.0, focal_slope: 1.0, horiz_offset_correction: -0.025999999, laser_id: 17,
min_intensity: 20, rot_correction: 0.033464606229193644, vert_correction: -0.03526310344619148,
vert_offset_correction: 0.20910976000000003}
- {dist_correction: 1.3093359000000002, dist_correction_x: 1.4065028000000002, dist_correction_y: 1.3988147000000002,
focal_distance: 24.0, focal_slope: 1.1, horiz_offset_correction: 0.025999999, laser_id: 18,
min_intensity: 20, rot_correction: -0.01912024950720607, vert_correction: -0.07662373803636939,
vert_offset_correction: 0.21209354000000002}
- {dist_correction: 1.4292241, dist_correction_x: 1.4580751, dist_correction_y: 1.4810971000000002,
focal_distance: 24.0, focal_slope: 1.2, horiz_offset_correction: -0.025999999, laser_id: 19,
min_intensity: 15, rot_correction: 0.0202102704569296, vert_correction: -0.07052442491121666,
vert_offset_correction: 0.21165258}
- {dist_correction: 1.3831145, dist_correction_x: 1.4038123999999998, dist_correction_y: 1.3966234,
focal_distance: 24.0, focal_slope: 1.1, horiz_offset_correction: 0.025999999, laser_id: 20,
min_intensity: 30, rot_correction: 0.06874179273711946, vert_correction: -0.029137015224983895,
vert_offset_correction: 0.2086688}
- {dist_correction: 1.402925, dist_correction_x: 1.4443744, dist_correction_y: 1.471532,
focal_distance: 17.0, focal_slope: 1.4, horiz_offset_correction: -0.025999999, laser_id: 21,
min_intensity: 5, rot_correction: 0.10747970535236223, vert_correction: -0.02341734437339572,
vert_offset_correction: 0.20825726}
- {dist_correction: 1.4234489, dist_correction_x: 1.4673076, dist_correction_y: 1.4543761000000002,
focal_distance: 24.0, focal_slope: 0.55000001, horiz_offset_correction: 0.025999999,
laser_id: 22, min_intensity: 5, rot_correction: 0.05514045060297391, vert_correction: -0.0642162831410628,
vert_offset_correction: 0.21119694}
- {dist_correction: 1.470387, dist_correction_x: 1.4879053, dist_correction_y: 1.5217740000000002,
focal_distance: 24.0, focal_slope: 1.3, horiz_offset_correction: -0.025999999, laser_id: 23,
min_intensity: 30, rot_correction: 0.09433926976708334, vert_correction: -0.05892161916095702,
vert_offset_correction: 0.21081478}
- {dist_correction: 1.3722501, dist_correction_x: 1.4119496, dist_correction_y: 1.4214716,
focal_distance: 24.0, focal_slope: 1.0, horiz_offset_correction: 0.025999999, laser_id: 24,
min_intensity: 20, rot_correction: -0.08011834622045531, vert_correction: 0.01868575851656834,
vert_offset_correction: 0.20522938000000002}
- {dist_correction: 1.4577922, dist_correction_x: 1.4821321, dist_correction_y: 1.4774638,
focal_distance: 20.0, focal_slope: 0.69999999, horiz_offset_correction: -0.025999999,
laser_id: 25, min_intensity: 10, rot_correction: -0.0415592740030059, vert_correction: 0.023180922072920565,
vert_offset_correction: 0.20490601000000003}
- {dist_correction: 1.4175369, dist_correction_x: 1.4441992, dist_correction_y: 1.4484555000000001,
focal_distance: 12.0, focal_slope: 1.5, horiz_offset_correction: 0.025999999, laser_id: 26,
min_intensity: 20, rot_correction: -0.09469728915654493, vert_correction: -0.01647002637924725,
vert_offset_correction: 0.20775749000000002}
- {dist_correction: 1.4383292, dist_correction_x: 1.4573476, dist_correction_y: 1.4790007,
focal_distance: 7.0, focal_slope: 1.3, horiz_offset_correction: -0.025999999, laser_id: 27,
min_intensity: 10, rot_correction: -0.055555304894197445, vert_correction: -0.011156249123969949,
vert_offset_correction: 0.20737534000000002}
- {dist_correction: 1.3976639, dist_correction_x: 1.434787, dist_correction_y: 1.4289362,
focal_distance: 24.0, focal_slope: 0.85000002, horiz_offset_correction: 0.025999999,
laser_id: 28, min_intensity: 40, rot_correction: -0.0056653665027087, vert_correction: 0.030126075858796564,
vert_offset_correction: 0.20440624}
- {dist_correction: 1.5147818000000002, dist_correction_x: 1.5457281, dist_correction_y: 1.5337862000000002,
focal_distance: 16.0, focal_slope: 1.4, horiz_offset_correction: -0.025999999, laser_id: 29,
min_intensity: 10, rot_correction: 0.032454556265796485, vert_correction: 0.03461850099355241,
vert_offset_correction: 0.20408289000000002}
- {dist_correction: 1.4410570999999999, dist_correction_x: 1.4812628, dist_correction_y: 1.4802063,
focal_distance: 24.0, focal_slope: 1.1, horiz_offset_correction: 0.025999999, laser_id: 30,
min_intensity: 20, rot_correction: -0.019155442326243284, vert_correction: -0.004819796717085346,
vert_offset_correction: 0.20691969000000002}
- {dist_correction: 1.5121419, dist_correction_x: 1.525024, dist_correction_y: 1.5161595,
focal_distance: 19.5, focal_slope: 1.15, horiz_offset_correction: -0.025999999,
laser_id: 31, rot_correction: 0.019031284839244163, vert_correction: 0.0006993883727657528,
vert_offset_correction: 0.20652283000000002}
- {dist_correction: 1.4162563000000001, dist_correction_x: 1.4498225, dist_correction_y: 1.4345399,
focal_distance: 8.5, focal_slope: 1.65, horiz_offset_correction: 0.025999999, laser_id: 32,
rot_correction: -0.1322630822793796, vert_correction: -0.39265743814277154, vert_offset_correction: 0.1598857}
- {dist_correction: 1.3670056, dist_correction_x: 1.3952693, dist_correction_y: 1.4121672,
focal_distance: 0.25, focal_slope: 1.05, horiz_offset_correction: -0.025999999,
laser_id: 33, rot_correction: -0.07110342218260252, vert_correction: -0.38671040324952605,
vert_offset_correction: 0.15945383}
- {dist_correction: 1.4511356000000002, dist_correction_x: 1.4689107000000001, dist_correction_y: 1.4972537,
focal_distance: 4.0, focal_slope: 0.64999998, horiz_offset_correction: 0.025999999,
laser_id: 34, rot_correction: 0.08401589158763215, vert_correction: -0.1973354249839361,
vert_offset_correction: 0.14657393000000002}
- {dist_correction: 1.3593520000000001, dist_correction_x: 1.3602931, dist_correction_y: 1.3982458,
focal_distance: 10.0, focal_slope: 1.75, horiz_offset_correction: -0.025999999,
laser_id: 35, rot_correction: 0.14363965670666648, vert_correction: -0.19024942312742418,
vert_offset_correction: 0.14611665000000001}
- {dist_correction: 1.4114377, dist_correction_x: 1.4772849, dist_correction_y: 1.4348904,
focal_distance: 17.0, focal_slope: 0.69999999, horiz_offset_correction: 0.025999999,
laser_id: 36, rot_correction: -0.011690171347560868, vert_correction: -0.376852242582194,
vert_offset_correction: 0.15874252}
- {dist_correction: 1.307847, dist_correction_x: 1.3645581000000002, dist_correction_y: 1.376617,
focal_distance: 6.0, focal_slope: 1.3, horiz_offset_correction: -0.025999999, laser_id: 37,
rot_correction: 0.049492148009829026, vert_correction: -0.3699409132772216, vert_offset_correction: 0.15824712999999999}
- {dist_correction: 1.4213585, dist_correction_x: 1.4421179000000002, dist_correction_y: 1.4552965,
focal_distance: 0.25, focal_slope: 0.94999999, horiz_offset_correction: 0.025999999,
laser_id: 38, rot_correction: -0.03418474478652977, vert_correction: -0.4311006362058518,
vert_offset_correction: 0.16273095999999998}
- {dist_correction: 1.3356409, dist_correction_x: 1.3397028, dist_correction_y: 1.3601659000000001,
focal_distance: 0.25, focal_slope: 1.05, horiz_offset_correction: -0.025999999,
laser_id: 39, rot_correction: 0.026626332916051272, vert_correction: -0.4231418824568801,
vert_offset_correction: 0.16213396}
- {dist_correction: 1.3662766, dist_correction_x: 1.4298528, dist_correction_y: 1.4232704,
focal_distance: 0.25, focal_slope: 0.85000002, horiz_offset_correction: 0.025999999,
laser_id: 40, rot_correction: 0.1092471200007113, vert_correction: -0.35798081768512774,
vert_offset_correction: 0.15739609}
- {dist_correction: 1.2853244000000001, dist_correction_x: 1.3026004, dist_correction_y: 1.3116373,
focal_distance: 8.0, focal_slope: 1.5, horiz_offset_correction: -0.025999999, laser_id: 41,
rot_correction: 0.16893982038921165, vert_correction: -0.3493458884773484, vert_offset_correction: 0.1567864}
- {dist_correction: 1.4113557, dist_correction_x: 1.4361624000000002, dist_correction_y: 1.4260374,
focal_distance: 0.25, focal_slope: 1.05, horiz_offset_correction: 0.025999999, laser_id: 42,
rot_correction: 0.08876389924739155, vert_correction: -0.41221208962882355, vert_offset_correction: 0.16132105}
- {dist_correction: 1.3126003, dist_correction_x: 1.3216837000000001, dist_correction_y: 1.3253735,
focal_distance: 0.25, focal_slope: 1.15, horiz_offset_correction: -0.025999999,
laser_id: 43, rot_correction: 0.15014050027953305, vert_correction: -0.40135006793562183,
vert_offset_correction: 0.1605208}
- {dist_correction: 1.4849261000000002, dist_correction_x: 1.5387573, dist_correction_y: 1.5140117000000002,
focal_distance: 8.0, focal_slope: 1.45, horiz_offset_correction: 0.025999999, laser_id: 44,
rot_correction: -0.1289198918798797, vert_correction: -0.285349621541792, vert_offset_correction: 0.15237877}
- {dist_correction: 1.3467159000000002, dist_correction_x: 1.385616, dist_correction_y: 1.398739,
focal_distance: 4.0, focal_slope: 0.75, horiz_offset_correction: -0.025999999, laser_id: 45,
rot_correction: -0.06875650237205527, vert_correction: -0.27837142867317577, vert_offset_correction: 0.1519088}
- {dist_correction: 1.4548677, dist_correction_x: 1.5237317, dist_correction_y: 1.4852321000000002,
focal_distance: 8.0, focal_slope: 1.55, horiz_offset_correction: 0.025999999, laser_id: 46,
rot_correction: -0.15456063213134205, vert_correction: -0.3373837683033222, vert_offset_correction: 0.15594806}
- {dist_correction: 1.2609565999999999, dist_correction_x: 1.3084103, dist_correction_y: 1.3194104,
focal_distance: 0.25, focal_slope: 0.85000002, horiz_offset_correction: -0.025999999,
laser_id: 47, rot_correction: -0.0921635423215472, vert_correction: -0.329718648747706,
vert_offset_correction: 0.15541457}
- {dist_correction: 1.2807050000000002, dist_correction_x: 1.3367023, dist_correction_y: 1.3303235000000002,
focal_distance: 24.0, focal_slope: 0.40000001, horiz_offset_correction: 0.025999999,
laser_id: 48, rot_correction: -0.01087391977724544, vert_correction: -0.2702265530127714,
vert_offset_correction: 0.15136261}
- {dist_correction: 1.3420832999999999, dist_correction_x: 1.3902283, dist_correction_y: 1.3959544,
focal_distance: 15.0, focal_slope: 0.69999999, horiz_offset_correction: -0.025999999,
laser_id: 49, rot_correction: 0.04819382026855073, vert_correction: -0.2603276912672828,
vert_offset_correction: 0.1507021}
- {dist_correction: 1.4451799, dist_correction_x: 1.5144832, dist_correction_y: 1.4737889000000002,
focal_distance: 20.0, focal_slope: 0.5, horiz_offset_correction: 0.025999999, laser_id: 50,
rot_correction: -0.033916384706072375, vert_correction: -0.3244024456593014, vert_offset_correction: 0.15504621000000002}
- {dist_correction: 1.2771001, dist_correction_x: 1.3374065, dist_correction_y: 1.339816,
focal_distance: 8.0, focal_slope: 1.3, horiz_offset_correction: -0.025999999, laser_id: 51,
rot_correction: 0.027376620290886354, vert_correction: -0.3166693629826125, vert_offset_correction: 0.15451272}
- {dist_correction: 1.3977615, dist_correction_x: 1.4442108, dist_correction_y: 1.4371663000000001,
focal_distance: 0.25, focal_slope: 0.44999999, horiz_offset_correction: 0.025999999,
laser_id: 52, rot_correction: 0.10492072454703917, vert_correction: -0.25133544080174264,
vert_offset_correction: 0.1501051}
- {dist_correction: 1.3425783999999998, dist_correction_x: 1.3483524, dist_correction_y: 1.3818097,
focal_distance: 11.0, focal_slope: 1.9, horiz_offset_correction: -0.025999999, laser_id: 53,
rot_correction: 0.16284451104936298, vert_correction: -0.23979553322706634, vert_offset_correction: 0.14934298000000001}
- {dist_correction: 1.4382911999999999, dist_correction_x: 1.4900905, dist_correction_y: 1.4804431,
focal_distance: 8.0, focal_slope: 0.40000001, horiz_offset_correction: 0.025999999,
laser_id: 54, rot_correction: 0.08525729890601516, vert_correction: -0.30499605989320633,
vert_offset_correction: 0.15371249}
- {dist_correction: 1.2974651, dist_correction_x: 1.3356235, dist_correction_y: 1.342494,
focal_distance: 11.0, focal_slope: 2.0, horiz_offset_correction: -0.025999999, laser_id: 55,
rot_correction: 0.14474094026605314, vert_correction: -0.29379823685192097, vert_offset_correction: 0.15295037}
- {dist_correction: 1.500197, dist_correction_x: 1.5058761999999999, dist_correction_y: 1.5183740000000001,
focal_distance: 6.0, focal_slope: 1.4, horiz_offset_correction: 0.025999999, laser_id: 56,
rot_correction: -0.1271355405564693, vert_correction: -0.1783966652843279, vert_offset_correction: 0.14535453}
- {dist_correction: 1.3739523, dist_correction_x: 1.3909152, dist_correction_y: 1.4026927,
focal_distance: 0.25, focal_slope: 0.94999999, horiz_offset_correction: -0.025999999,
laser_id: 57, rot_correction: -0.06914267741301003, vert_correction: -0.17006926832673774,
vert_offset_correction: 0.14482104}
- {dist_correction: 1.5294423000000001, dist_correction_x: 1.5526985, dist_correction_y: 1.5286189,
focal_distance: 10.0, focal_slope: 1.6, horiz_offset_correction: 0.025999999, laser_id: 58,
rot_correction: -0.14952992127533238, vert_correction: -0.23167847811493877, vert_offset_correction: 0.14880949}
- {dist_correction: 1.356432, dist_correction_x: 1.3750079, dist_correction_y: 1.3956981,
focal_distance: 0.25, focal_slope: 0.5, horiz_offset_correction: -0.025999999, laser_id: 59,
rot_correction: -0.08941942047983109, vert_correction: -0.22430756871133128, vert_offset_correction: 0.14832681}
- {dist_correction: 1.4812624, dist_correction_x: 1.5439316, dist_correction_y: 1.5051659000000002,
focal_distance: 0.25, focal_slope: 0.69999999, horiz_offset_correction: 0.025999999,
laser_id: 60, rot_correction: -0.012020974421732715, vert_correction: -0.16291245497181386,
vert_offset_correction: 0.14436376}
- {dist_correction: 1.3555016, dist_correction_x: 1.3739404, dist_correction_y: 1.3961284,
focal_distance: 0.25, focal_slope: 1.1, horiz_offset_correction: -0.025999999, laser_id: 61,
rot_correction: 0.045806682836049765, vert_correction: -0.154741111393303, vert_offset_correction: 0.14384298}
- {dist_correction: 1.5067404, dist_correction_x: 1.5184990999999999, dist_correction_y: 1.5367628,
focal_distance: 5.0, focal_slope: 0.40000001, horiz_offset_correction: 0.025999999,
laser_id: 62, rot_correction: -0.03255746436915258, vert_correction: -0.21418087168528735,
vert_offset_correction: 0.1476663}
- {dist_correction: 1.3463322, dist_correction_x: 1.356904, dist_correction_y: 1.3849588,
focal_distance: 8.0, focal_slope: 0.40000001, horiz_offset_correction: -0.025999999,
laser_id: 63, rot_correction: 0.02613443455565695, vert_correction: -0.2063605225459988,
vert_offset_correction: 0.14715822}
num_lasers: 64
| 0
|
apollo_public_repos/apollo/modules/calibration/data/Lincoln2017MKZ_LGSVL
|
apollo_public_repos/apollo/modules/calibration/data/Lincoln2017MKZ_LGSVL/velodyne_params/velodyne16_novatel_extrinsics.yaml
|
header:
seq: 0
stamp:
secs: 0
nsecs: 0
frame_id: novatel
child_frame_id: velodyne16_front_center
transform:
translation:
x: 0.2579201
y: 0.980728924274446
z: 2.31200003623962
rotation:
x: 0.0
y: 0.0
z: 0.7071067811865475
w: 0.7071067811865476
| 0
|
apollo_public_repos/apollo/modules/calibration/data/Lincoln2017MKZ_LGSVL
|
apollo_public_repos/apollo/modules/calibration/data/Lincoln2017MKZ_LGSVL/velodyne_params/velodyne128_height.yaml
|
vehicle:
parameters:
height: 1.91
height_var: 0.0047
| 0
|
apollo_public_repos/apollo/modules/calibration/data/Lincoln2017MKZ_LGSVL
|
apollo_public_repos/apollo/modules/calibration/data/Lincoln2017MKZ_LGSVL/velodyne_params/64E_S3_calibration_example.yaml
|
lasers:
- {dist_correction: 1.3280478, dist_correction_x: 1.3733278999999998, dist_correction_y: 1.3565268000000001,
focal_distance: 12.0, focal_slope: 0.75, horiz_offset_correction: 0.025999999, laser_id: 0,
min_intensity: 5, rot_correction: -0.08042396035379652, vert_correction: -0.12376696608832838,
vert_offset_correction: 0.21551828}
- {dist_correction: 1.4387065, dist_correction_x: 1.4772083, dist_correction_y: 1.4930743000000002,
focal_distance: 18.5, focal_slope: 1.1, horiz_offset_correction: -0.025999999, laser_id: 1,
min_intensity: 40, rot_correction: -0.043931143295210404, vert_correction: -0.11852979325378328,
vert_offset_correction: 0.21513613}
- {dist_correction: 1.4198532000000001, dist_correction_x: 1.4513388, dist_correction_y: 1.4459473,
focal_distance: 17.0, focal_slope: 1.25, horiz_offset_correction: 0.025999999, laser_id: 2,
min_intensity: 40, rot_correction: 0.05671893510512383, vert_correction: 0.006831742116548479,
vert_offset_correction: 0.20608189}
- {dist_correction: 1.432045, dist_correction_x: 1.4576363, dist_correction_y: 1.5053079,
focal_distance: 24.0, focal_slope: 0.94999999, horiz_offset_correction: -0.025999999,
laser_id: 3, min_intensity: 40, rot_correction: 0.09507418428186684, vert_correction: 0.011737269755557637,
vert_offset_correction: 0.2057291}
- {dist_correction: 1.3768561, dist_correction_x: 1.4095345000000001, dist_correction_y: 1.4140973,
focal_distance: 24.0, focal_slope: 0.60000002, horiz_offset_correction: 0.025999999,
laser_id: 4, min_intensity: 40, rot_correction: -0.0052020566354620415, vert_correction: -0.11207511538496126,
vert_offset_correction: 0.21466578}
- {dist_correction: 1.4579066, dist_correction_x: 1.5030013, dist_correction_y: 1.5402745,
focal_distance: 23.0, focal_slope: 0.80000001, horiz_offset_correction: -0.025999999,
laser_id: 5, min_intensity: 40, rot_correction: 0.034271327080062704, vert_correction: -0.10662164389621649,
vert_offset_correction: 0.21426891}
- {dist_correction: 1.4042904999999999, dist_correction_x: 1.4512584000000002, dist_correction_y: 1.4358795000000002,
focal_distance: 24.0, focal_slope: 0.80000001, horiz_offset_correction: 0.025999999,
laser_id: 6, min_intensity: 40, rot_correction: -0.019350118096339984, vert_correction: -0.14744596324186607,
vert_offset_correction: 0.21725271}
- {dist_correction: 1.4530759, dist_correction_x: 1.4934110999999999, dist_correction_y: 1.4934732,
focal_distance: 16.5, focal_slope: 0.80000001, horiz_offset_correction: -0.025999999,
laser_id: 7, min_intensity: 40, rot_correction: 0.019696635766030937, vert_correction: -0.1420415773930044,
vert_offset_correction: 0.21685585}
- {dist_correction: 1.3928452999999998, dist_correction_x: 1.4412779, dist_correction_y: 1.4351759000000002,
focal_distance: 24.0, focal_slope: 0.64999998, horiz_offset_correction: 0.025999999,
laser_id: 8, min_intensity: 10, rot_correction: 0.06977400140069993, vert_correction: -0.10055477120587059,
vert_offset_correction: 0.21382797}
- {dist_correction: 1.4649026, dist_correction_x: 1.4811482, dist_correction_y: 1.5390858,
focal_distance: 16.5, focal_slope: 1.2, horiz_offset_correction: -0.025999999, laser_id: 9,
min_intensity: 40, rot_correction: 0.10867481606700684, vert_correction: -0.09508820800240662,
vert_offset_correction: 0.21343111}
- {dist_correction: 1.3307669000000002, dist_correction_x: 1.3797191000000002, dist_correction_y: 1.3716772000000002,
focal_distance: 24.0, focal_slope: 0.85000002, horiz_offset_correction: 0.025999999,
laser_id: 10, min_intensity: 40, rot_correction: 0.05614793318704137, vert_correction: -0.13622757149534595,
vert_offset_correction: 0.2164296}
- {dist_correction: 1.3771700999999998, dist_correction_x: 1.4101131, dist_correction_y: 1.4538571,
focal_distance: 15.0, focal_slope: 1.35, horiz_offset_correction: -0.025999999,
laser_id: 11, min_intensity: 40, rot_correction: 0.09458836664858647, vert_correction: -0.13060523940147076,
vert_offset_correction: 0.21601805}
- {dist_correction: 1.3797005, dist_correction_x: 1.4142267000000002, dist_correction_y: 1.4085233,
focal_distance: 10.0, focal_slope: 1.2, horiz_offset_correction: 0.025999999, laser_id: 12,
min_intensity: 10, rot_correction: -0.08058553944528767, vert_correction: -0.05321597901122562,
vert_offset_correction: 0.21040320999999998}
- {dist_correction: 1.3646324, dist_correction_x: 1.3887102, dist_correction_y: 1.4070561000000001,
focal_distance: 24.0, focal_slope: 1.1, horiz_offset_correction: -0.025999999, laser_id: 13,
min_intensity: 40, rot_correction: -0.04053784798354424, vert_correction: -0.04669103069605979,
vert_offset_correction: 0.20993286000000003}
- {dist_correction: 1.3809781, dist_correction_x: 1.4282532000000001, dist_correction_y: 1.4207353,
focal_distance: 15.0, focal_slope: 1.3, horiz_offset_correction: 0.025999999, laser_id: 14,
min_intensity: 40, rot_correction: -0.09419900463641756, vert_correction: -0.08758781436692292,
vert_offset_correction: 0.21288727000000002}
- {dist_correction: 1.3950202999999999, dist_correction_x: 1.4285829, dist_correction_y: 1.4621552,
focal_distance: 24.0, focal_slope: 1.1, horiz_offset_correction: -0.025999999, laser_id: 15,
min_intensity: 40, rot_correction: -0.054354701628396805, vert_correction: -0.08292035016148458,
vert_offset_correction: 0.21254919000000003}
- {dist_correction: 1.2988774, dist_correction_x: 1.3749954, dist_correction_y: 1.3734656,
focal_distance: 24.0, focal_slope: 0.64999998, horiz_offset_correction: 0.025999999,
laser_id: 16, min_intensity: 40, rot_correction: -0.005133124856654525, vert_correction: -0.04077432787988471,
vert_offset_correction: 0.20950663}
- {dist_correction: 1.4723137, dist_correction_x: 1.5056056000000002, dist_correction_y: 1.5041873000000001,
focal_distance: 24.0, focal_slope: 1.0, horiz_offset_correction: -0.025999999, laser_id: 17,
min_intensity: 20, rot_correction: 0.033464606229193644, vert_correction: -0.03526310344619148,
vert_offset_correction: 0.20910976000000003}
- {dist_correction: 1.3093359000000002, dist_correction_x: 1.4065028000000002, dist_correction_y: 1.3988147000000002,
focal_distance: 24.0, focal_slope: 1.1, horiz_offset_correction: 0.025999999, laser_id: 18,
min_intensity: 20, rot_correction: -0.01912024950720607, vert_correction: -0.07662373803636939,
vert_offset_correction: 0.21209354000000002}
- {dist_correction: 1.4292241, dist_correction_x: 1.4580751, dist_correction_y: 1.4810971000000002,
focal_distance: 24.0, focal_slope: 1.2, horiz_offset_correction: -0.025999999, laser_id: 19,
min_intensity: 15, rot_correction: 0.0202102704569296, vert_correction: -0.07052442491121666,
vert_offset_correction: 0.21165258}
- {dist_correction: 1.3831145, dist_correction_x: 1.4038123999999998, dist_correction_y: 1.3966234,
focal_distance: 24.0, focal_slope: 1.1, horiz_offset_correction: 0.025999999, laser_id: 20,
min_intensity: 30, rot_correction: 0.06874179273711946, vert_correction: -0.029137015224983895,
vert_offset_correction: 0.2086688}
- {dist_correction: 1.402925, dist_correction_x: 1.4443744, dist_correction_y: 1.471532,
focal_distance: 17.0, focal_slope: 1.4, horiz_offset_correction: -0.025999999, laser_id: 21,
min_intensity: 5, rot_correction: 0.10747970535236223, vert_correction: -0.02341734437339572,
vert_offset_correction: 0.20825726}
- {dist_correction: 1.4234489, dist_correction_x: 1.4673076, dist_correction_y: 1.4543761000000002,
focal_distance: 24.0, focal_slope: 0.55000001, horiz_offset_correction: 0.025999999,
laser_id: 22, min_intensity: 5, rot_correction: 0.05514045060297391, vert_correction: -0.0642162831410628,
vert_offset_correction: 0.21119694}
- {dist_correction: 1.470387, dist_correction_x: 1.4879053, dist_correction_y: 1.5217740000000002,
focal_distance: 24.0, focal_slope: 1.3, horiz_offset_correction: -0.025999999, laser_id: 23,
min_intensity: 30, rot_correction: 0.09433926976708334, vert_correction: -0.05892161916095702,
vert_offset_correction: 0.21081478}
- {dist_correction: 1.3722501, dist_correction_x: 1.4119496, dist_correction_y: 1.4214716,
focal_distance: 24.0, focal_slope: 1.0, horiz_offset_correction: 0.025999999, laser_id: 24,
min_intensity: 20, rot_correction: -0.08011834622045531, vert_correction: 0.01868575851656834,
vert_offset_correction: 0.20522938000000002}
- {dist_correction: 1.4577922, dist_correction_x: 1.4821321, dist_correction_y: 1.4774638,
focal_distance: 20.0, focal_slope: 0.69999999, horiz_offset_correction: -0.025999999,
laser_id: 25, min_intensity: 10, rot_correction: -0.0415592740030059, vert_correction: 0.023180922072920565,
vert_offset_correction: 0.20490601000000003}
- {dist_correction: 1.4175369, dist_correction_x: 1.4441992, dist_correction_y: 1.4484555000000001,
focal_distance: 12.0, focal_slope: 1.5, horiz_offset_correction: 0.025999999, laser_id: 26,
min_intensity: 20, rot_correction: -0.09469728915654493, vert_correction: -0.01647002637924725,
vert_offset_correction: 0.20775749000000002}
- {dist_correction: 1.4383292, dist_correction_x: 1.4573476, dist_correction_y: 1.4790007,
focal_distance: 7.0, focal_slope: 1.3, horiz_offset_correction: -0.025999999, laser_id: 27,
min_intensity: 10, rot_correction: -0.055555304894197445, vert_correction: -0.011156249123969949,
vert_offset_correction: 0.20737534000000002}
- {dist_correction: 1.3976639, dist_correction_x: 1.434787, dist_correction_y: 1.4289362,
focal_distance: 24.0, focal_slope: 0.85000002, horiz_offset_correction: 0.025999999,
laser_id: 28, min_intensity: 40, rot_correction: -0.0056653665027087, vert_correction: 0.030126075858796564,
vert_offset_correction: 0.20440624}
- {dist_correction: 1.5147818000000002, dist_correction_x: 1.5457281, dist_correction_y: 1.5337862000000002,
focal_distance: 16.0, focal_slope: 1.4, horiz_offset_correction: -0.025999999, laser_id: 29,
min_intensity: 10, rot_correction: 0.032454556265796485, vert_correction: 0.03461850099355241,
vert_offset_correction: 0.20408289000000002}
- {dist_correction: 1.4410570999999999, dist_correction_x: 1.4812628, dist_correction_y: 1.4802063,
focal_distance: 24.0, focal_slope: 1.1, horiz_offset_correction: 0.025999999, laser_id: 30,
min_intensity: 20, rot_correction: -0.019155442326243284, vert_correction: -0.004819796717085346,
vert_offset_correction: 0.20691969000000002}
- {dist_correction: 1.5121419, dist_correction_x: 1.525024, dist_correction_y: 1.5161595,
focal_distance: 19.5, focal_slope: 1.15, horiz_offset_correction: -0.025999999,
laser_id: 31, rot_correction: 0.019031284839244163, vert_correction: 0.0006993883727657528,
vert_offset_correction: 0.20652283000000002}
- {dist_correction: 1.4162563000000001, dist_correction_x: 1.4498225, dist_correction_y: 1.4345399,
focal_distance: 8.5, focal_slope: 1.65, horiz_offset_correction: 0.025999999, laser_id: 32,
rot_correction: -0.1322630822793796, vert_correction: -0.39265743814277154, vert_offset_correction: 0.1598857}
- {dist_correction: 1.3670056, dist_correction_x: 1.3952693, dist_correction_y: 1.4121672,
focal_distance: 0.25, focal_slope: 1.05, horiz_offset_correction: -0.025999999,
laser_id: 33, rot_correction: -0.07110342218260252, vert_correction: -0.38671040324952605,
vert_offset_correction: 0.15945383}
- {dist_correction: 1.4511356000000002, dist_correction_x: 1.4689107000000001, dist_correction_y: 1.4972537,
focal_distance: 4.0, focal_slope: 0.64999998, horiz_offset_correction: 0.025999999,
laser_id: 34, rot_correction: 0.08401589158763215, vert_correction: -0.1973354249839361,
vert_offset_correction: 0.14657393000000002}
- {dist_correction: 1.3593520000000001, dist_correction_x: 1.3602931, dist_correction_y: 1.3982458,
focal_distance: 10.0, focal_slope: 1.75, horiz_offset_correction: -0.025999999,
laser_id: 35, rot_correction: 0.14363965670666648, vert_correction: -0.19024942312742418,
vert_offset_correction: 0.14611665000000001}
- {dist_correction: 1.4114377, dist_correction_x: 1.4772849, dist_correction_y: 1.4348904,
focal_distance: 17.0, focal_slope: 0.69999999, horiz_offset_correction: 0.025999999,
laser_id: 36, rot_correction: -0.011690171347560868, vert_correction: -0.376852242582194,
vert_offset_correction: 0.15874252}
- {dist_correction: 1.307847, dist_correction_x: 1.3645581000000002, dist_correction_y: 1.376617,
focal_distance: 6.0, focal_slope: 1.3, horiz_offset_correction: -0.025999999, laser_id: 37,
rot_correction: 0.049492148009829026, vert_correction: -0.3699409132772216, vert_offset_correction: 0.15824712999999999}
- {dist_correction: 1.4213585, dist_correction_x: 1.4421179000000002, dist_correction_y: 1.4552965,
focal_distance: 0.25, focal_slope: 0.94999999, horiz_offset_correction: 0.025999999,
laser_id: 38, rot_correction: -0.03418474478652977, vert_correction: -0.4311006362058518,
vert_offset_correction: 0.16273095999999998}
- {dist_correction: 1.3356409, dist_correction_x: 1.3397028, dist_correction_y: 1.3601659000000001,
focal_distance: 0.25, focal_slope: 1.05, horiz_offset_correction: -0.025999999,
laser_id: 39, rot_correction: 0.026626332916051272, vert_correction: -0.4231418824568801,
vert_offset_correction: 0.16213396}
- {dist_correction: 1.3662766, dist_correction_x: 1.4298528, dist_correction_y: 1.4232704,
focal_distance: 0.25, focal_slope: 0.85000002, horiz_offset_correction: 0.025999999,
laser_id: 40, rot_correction: 0.1092471200007113, vert_correction: -0.35798081768512774,
vert_offset_correction: 0.15739609}
- {dist_correction: 1.2853244000000001, dist_correction_x: 1.3026004, dist_correction_y: 1.3116373,
focal_distance: 8.0, focal_slope: 1.5, horiz_offset_correction: -0.025999999, laser_id: 41,
rot_correction: 0.16893982038921165, vert_correction: -0.3493458884773484, vert_offset_correction: 0.1567864}
- {dist_correction: 1.4113557, dist_correction_x: 1.4361624000000002, dist_correction_y: 1.4260374,
focal_distance: 0.25, focal_slope: 1.05, horiz_offset_correction: 0.025999999, laser_id: 42,
rot_correction: 0.08876389924739155, vert_correction: -0.41221208962882355, vert_offset_correction: 0.16132105}
- {dist_correction: 1.3126003, dist_correction_x: 1.3216837000000001, dist_correction_y: 1.3253735,
focal_distance: 0.25, focal_slope: 1.15, horiz_offset_correction: -0.025999999,
laser_id: 43, rot_correction: 0.15014050027953305, vert_correction: -0.40135006793562183,
vert_offset_correction: 0.1605208}
- {dist_correction: 1.4849261000000002, dist_correction_x: 1.5387573, dist_correction_y: 1.5140117000000002,
focal_distance: 8.0, focal_slope: 1.45, horiz_offset_correction: 0.025999999, laser_id: 44,
rot_correction: -0.1289198918798797, vert_correction: -0.285349621541792, vert_offset_correction: 0.15237877}
- {dist_correction: 1.3467159000000002, dist_correction_x: 1.385616, dist_correction_y: 1.398739,
focal_distance: 4.0, focal_slope: 0.75, horiz_offset_correction: -0.025999999, laser_id: 45,
rot_correction: -0.06875650237205527, vert_correction: -0.27837142867317577, vert_offset_correction: 0.1519088}
- {dist_correction: 1.4548677, dist_correction_x: 1.5237317, dist_correction_y: 1.4852321000000002,
focal_distance: 8.0, focal_slope: 1.55, horiz_offset_correction: 0.025999999, laser_id: 46,
rot_correction: -0.15456063213134205, vert_correction: -0.3373837683033222, vert_offset_correction: 0.15594806}
- {dist_correction: 1.2609565999999999, dist_correction_x: 1.3084103, dist_correction_y: 1.3194104,
focal_distance: 0.25, focal_slope: 0.85000002, horiz_offset_correction: -0.025999999,
laser_id: 47, rot_correction: -0.0921635423215472, vert_correction: -0.329718648747706,
vert_offset_correction: 0.15541457}
- {dist_correction: 1.2807050000000002, dist_correction_x: 1.3367023, dist_correction_y: 1.3303235000000002,
focal_distance: 24.0, focal_slope: 0.40000001, horiz_offset_correction: 0.025999999,
laser_id: 48, rot_correction: -0.01087391977724544, vert_correction: -0.2702265530127714,
vert_offset_correction: 0.15136261}
- {dist_correction: 1.3420832999999999, dist_correction_x: 1.3902283, dist_correction_y: 1.3959544,
focal_distance: 15.0, focal_slope: 0.69999999, horiz_offset_correction: -0.025999999,
laser_id: 49, rot_correction: 0.04819382026855073, vert_correction: -0.2603276912672828,
vert_offset_correction: 0.1507021}
- {dist_correction: 1.4451799, dist_correction_x: 1.5144832, dist_correction_y: 1.4737889000000002,
focal_distance: 20.0, focal_slope: 0.5, horiz_offset_correction: 0.025999999, laser_id: 50,
rot_correction: -0.033916384706072375, vert_correction: -0.3244024456593014, vert_offset_correction: 0.15504621000000002}
- {dist_correction: 1.2771001, dist_correction_x: 1.3374065, dist_correction_y: 1.339816,
focal_distance: 8.0, focal_slope: 1.3, horiz_offset_correction: -0.025999999, laser_id: 51,
rot_correction: 0.027376620290886354, vert_correction: -0.3166693629826125, vert_offset_correction: 0.15451272}
- {dist_correction: 1.3977615, dist_correction_x: 1.4442108, dist_correction_y: 1.4371663000000001,
focal_distance: 0.25, focal_slope: 0.44999999, horiz_offset_correction: 0.025999999,
laser_id: 52, rot_correction: 0.10492072454703917, vert_correction: -0.25133544080174264,
vert_offset_correction: 0.1501051}
- {dist_correction: 1.3425783999999998, dist_correction_x: 1.3483524, dist_correction_y: 1.3818097,
focal_distance: 11.0, focal_slope: 1.9, horiz_offset_correction: -0.025999999, laser_id: 53,
rot_correction: 0.16284451104936298, vert_correction: -0.23979553322706634, vert_offset_correction: 0.14934298000000001}
- {dist_correction: 1.4382911999999999, dist_correction_x: 1.4900905, dist_correction_y: 1.4804431,
focal_distance: 8.0, focal_slope: 0.40000001, horiz_offset_correction: 0.025999999,
laser_id: 54, rot_correction: 0.08525729890601516, vert_correction: -0.30499605989320633,
vert_offset_correction: 0.15371249}
- {dist_correction: 1.2974651, dist_correction_x: 1.3356235, dist_correction_y: 1.342494,
focal_distance: 11.0, focal_slope: 2.0, horiz_offset_correction: -0.025999999, laser_id: 55,
rot_correction: 0.14474094026605314, vert_correction: -0.29379823685192097, vert_offset_correction: 0.15295037}
- {dist_correction: 1.500197, dist_correction_x: 1.5058761999999999, dist_correction_y: 1.5183740000000001,
focal_distance: 6.0, focal_slope: 1.4, horiz_offset_correction: 0.025999999, laser_id: 56,
rot_correction: -0.1271355405564693, vert_correction: -0.1783966652843279, vert_offset_correction: 0.14535453}
- {dist_correction: 1.3739523, dist_correction_x: 1.3909152, dist_correction_y: 1.4026927,
focal_distance: 0.25, focal_slope: 0.94999999, horiz_offset_correction: -0.025999999,
laser_id: 57, rot_correction: -0.06914267741301003, vert_correction: -0.17006926832673774,
vert_offset_correction: 0.14482104}
- {dist_correction: 1.5294423000000001, dist_correction_x: 1.5526985, dist_correction_y: 1.5286189,
focal_distance: 10.0, focal_slope: 1.6, horiz_offset_correction: 0.025999999, laser_id: 58,
rot_correction: -0.14952992127533238, vert_correction: -0.23167847811493877, vert_offset_correction: 0.14880949}
- {dist_correction: 1.356432, dist_correction_x: 1.3750079, dist_correction_y: 1.3956981,
focal_distance: 0.25, focal_slope: 0.5, horiz_offset_correction: -0.025999999, laser_id: 59,
rot_correction: -0.08941942047983109, vert_correction: -0.22430756871133128, vert_offset_correction: 0.14832681}
- {dist_correction: 1.4812624, dist_correction_x: 1.5439316, dist_correction_y: 1.5051659000000002,
focal_distance: 0.25, focal_slope: 0.69999999, horiz_offset_correction: 0.025999999,
laser_id: 60, rot_correction: -0.012020974421732715, vert_correction: -0.16291245497181386,
vert_offset_correction: 0.14436376}
- {dist_correction: 1.3555016, dist_correction_x: 1.3739404, dist_correction_y: 1.3961284,
focal_distance: 0.25, focal_slope: 1.1, horiz_offset_correction: -0.025999999, laser_id: 61,
rot_correction: 0.045806682836049765, vert_correction: -0.154741111393303, vert_offset_correction: 0.14384298}
- {dist_correction: 1.5067404, dist_correction_x: 1.5184990999999999, dist_correction_y: 1.5367628,
focal_distance: 5.0, focal_slope: 0.40000001, horiz_offset_correction: 0.025999999,
laser_id: 62, rot_correction: -0.03255746436915258, vert_correction: -0.21418087168528735,
vert_offset_correction: 0.1476663}
- {dist_correction: 1.3463322, dist_correction_x: 1.356904, dist_correction_y: 1.3849588,
focal_distance: 8.0, focal_slope: 0.40000001, horiz_offset_correction: -0.025999999,
laser_id: 63, rot_correction: 0.02613443455565695, vert_correction: -0.2063605225459988,
vert_offset_correction: 0.14715822}
num_lasers: 64
| 0
|
apollo_public_repos/apollo/modules/calibration/data/Lincoln2017MKZ_LGSVL
|
apollo_public_repos/apollo/modules/calibration/data/Lincoln2017MKZ_LGSVL/velodyne_params/velodyne64_novatel_extrinsics_example.yaml
|
header:
seq: 0
stamp:
secs: 0
nsecs: 0
frame_id: novatel
child_frame_id: velodyne64
transform:
translation:
x: 0
y: 0.9807289
z: 2.312
rotation:
x: 0
y: 0
z: 0.7071068
w: 0.7071068
| 0
|
apollo_public_repos/apollo/modules/calibration/data/Lincoln2017MKZ_LGSVL
|
apollo_public_repos/apollo/modules/calibration/data/Lincoln2017MKZ_LGSVL/velodyne_params/velodyne128_novatel_extrinsics.yaml
|
header:
seq: 0
stamp:
secs: 0
nsecs: 0
frame_id: novatel
child_frame_id: velodyne128
transform:
translation:
x: 0.2579201
y: 0.980728924274446
z: 2.31200003623962
rotation:
x: 0.0
y: 0.0
z: 0.7071067811865475
w: 0.7071067811865476
| 0
|
apollo_public_repos/apollo/modules/calibration/data/Lincoln2017MKZ_LGSVL
|
apollo_public_repos/apollo/modules/calibration/data/Lincoln2017MKZ_LGSVL/velodyne_params/velodyne16_height.yaml
|
vehicle:
parameters:
height: 1.91
height_var: 0.0047
| 0
|
apollo_public_repos/apollo/modules/calibration/data/Lincoln2017MKZ_LGSVL
|
apollo_public_repos/apollo/modules/calibration/data/Lincoln2017MKZ_LGSVL/vehicle_params/vehicle_imu_extrinsics.yaml
|
transform:
translation:
x: 0.0
y: 0.0
z: 0.0
rotation:
x: 0.0
y: 0.0
z: 0.0
w: 1.0
| 0
|
apollo_public_repos/apollo/modules/calibration/data/Lincoln2017MKZ_LGSVL
|
apollo_public_repos/apollo/modules/calibration/data/Lincoln2017MKZ_LGSVL/init_params/radar_extrinsics.yaml_init
|
header:
seq: 0
stamp:
secs: 0
nsecs: 0
frame_id: front_6mm
child_frame_id: radar
transform:
translation:
x: 0
y: 1.011
z: 2.472
rotation:
x: 0.5
y: -0.5
z: 0.5
w: 0.5
| 0
|
apollo_public_repos/apollo/modules/calibration/data/Lincoln2017MKZ_LGSVL
|
apollo_public_repos/apollo/modules/calibration/data/Lincoln2017MKZ_LGSVL/camera_params/start_leopard.launch
|
<launch>
<arg name="traffic_short_topic_name" default="/apollo/sensor/camera/traffic/image_short" />
<arg name="traffic_long_topic_name" default="/apollo/sensor/camera/traffic/image_long" />
<arg name="front_obstacle_6mm_topic_name" default="/apollo/sensor/camera/obstacle/front_6mm" />
<arg name="frame_rate" default="30"/>
<group ns="camera_long">
<node pkg="nodelet" type="nodelet" name="camera_nodelet_manager" args="manager" respawn="true" />
<node pkg="nodelet" type="nodelet" name="sensor_camera_traffic_long" output="screen"
args="load usb_cam/UsbCamNodelet camera_nodelet_manager" respawn="true" >
<param name="video_device" value="/dev/camera/trafficlights" />
<param name="image_width" value="1920" />
<param name="image_height" value="1080" />
<param name="pixel_format" value="rgb24" />
<param name="frame_rate" value="$(arg frame_rate)" />
<param name="camera_frame_id" value="usb_cam" />
<param name="io_method" value="mmap"/>
<param name="camera_timeout" value="2000" />
<param name="error_code" value="11" />
<param name="camera_info_url" type="string" value="long_camera_intrinsics.yaml" />
<remap from="/camera_long/image_raw0" to="$(arg traffic_long_topic_name)" />
<remap from="/apollo/sensor/camera/traffic/camera_info" to="$(arg traffic_long_topic_name)/camera_info" />
</node>
</group>
<group ns="camera_short">
<node pkg="nodelet" type="nodelet" name="camera_nodelet_manager" args="manager" respawn="true" />
<node pkg="nodelet" type="nodelet" name="sensor_camera_traffic_short" output="screen"
args="load usb_cam/UsbCamNodelet camera_nodelet_manager" respawn="true" >
<param name="video_device" value="/dev/camera/obstacle" />
<param name="image_width" value="1920" />
<param name="image_height" value="1080" />
<param name="pixel_format" value="rgb24" />
<param name="frame_rate" value="$(arg frame_rate)" />
<param name="camera_frame_id" value="usb_cam" />
<param name="io_method" value="mmap"/>
<param name="camera_timeout" value="2000" />
<param name="error_code" value="14" />
<param name="camera_info_url" type="string" value="short_camera_intrinsics.yaml" />
<remap from="/camera_short/image_raw0" to="$(arg traffic_short_topic_name)" />
<remap from="/apollo/sensor/camera/traffic/camera_info" to="$(arg traffic_short_topic_name)/camera_info" />
</node>
</group>
<group ns="camera_obstacle">
<node pkg="nodelet" type="nodelet" name="camera_nodelet_manager" args="manager" respawn="true" />
<node pkg="nodelet" type="nodelet" name="sensor_camera_obstacle" output="screen"
args="load usb_cam/UsbCamNodelet camera_nodelet_manager" respawn="true" >
<param name="video_device" value="/dev/camera/lanemark" />
<param name="image_width" value="1920" />
<param name="image_height" value="1080" />
<param name="pixel_format" value="rgb24" />
<param name="frame_rate" value="$(arg frame_rate)" />
<param name="camera_frame_id" value="usb_cam" />
<param name="io_method" value="mmap"/>
<param name="camera_timeout" value="2000" />
<param name="error_code" value="14" />
<param name="camera_info_url" type="string" value="front_camera_intrinsics.yaml" />
<remap from="/camera_obstacle/image_raw0" to="$(arg front_obstacle_6mm_topic_name)" />
<remap from="/apollo/sensor/camera/traffic/camera_info" to="$(arg front_obstacle_6mm_topic_name)/camera_info" />
</node>
</group>
</launch>
| 0
|
apollo_public_repos/apollo/modules/calibration/data/Lincoln2017MKZ_LGSVL
|
apollo_public_repos/apollo/modules/calibration/data/Lincoln2017MKZ_LGSVL/camera_params/front_12mm_extrinsics.yaml
|
header:
seq: 0
stamp:
secs: 0
nsecs: 0
frame_id: front_6mm
child_frame_id: front_12mm
transform:
translation:
x: 0.0
y: 0.0
z: 0.0
rotation:
x: 0.0348994967025007
y: 0.0
z: 0.0
w: 0.9993908270190957
| 0
|
apollo_public_repos/apollo/modules/calibration/data/Lincoln2017MKZ_LGSVL
|
apollo_public_repos/apollo/modules/calibration/data/Lincoln2017MKZ_LGSVL/camera_params/front_12mm_intrinsics.yaml
|
header:
seq: 0
stamp:
secs: 0
nsecs: 0
frame_id: ''
height: 1080
width: 1920
distortion_model: plumb_bob
D: [0.000000000000e+00, 0.000000000000e+00, 0.000000000000e+00, 0.000000000000e+00, 0.000000000000e+00]
K: [6.172228243491e+03, 0.000000000000e+00, 9.600000000000e+02, 0.000000000000e+00, 6.172228243491e+03, 5.400000000000e+02, 0.000000000000e+00, 0.000000000000e+00, 1.000000000000e+00]
R: [1.000000000000e+00, 0.000000000000e+00, 0.000000000000e+00, 0.000000000000e+00, 1.000000000000e+00, 0.000000000000e+00, 0.000000000000e+00, 0.000000000000e+00, 1.000000000000e+00]
P: [6.172228243491e+03, 0.000000000000e+00, 9.600000000000e+02, 0.000000000000e+00, 0.000000000000e+00, 6.172228243491e+03, 5.400000000000e+02, 0.000000000000e+00, 0.000000000000e+00, 0.000000000000e+00, 1.000000000000e+00, 0.000000000000e+00]
binning_x: 0
binning_y: 0
roi:
x_offset: 0
y_offset: 0
height: 0
width: 0
do_rectify: False
| 0
|
apollo_public_repos/apollo/modules/calibration/data/Lincoln2017MKZ_LGSVL
|
apollo_public_repos/apollo/modules/calibration/data/Lincoln2017MKZ_LGSVL/camera_params/front_6mm_intrinsics.yaml
|
header:
seq: 0
stamp:
secs: 0
nsecs: 0
frame_id: ''
height: 1080
width: 1920
distortion_model: plumb_bob
D: [0.000000000000e+00, 0.000000000000e+00, 0.000000000000e+00, 0.000000000000e+00, 0.000000000000e+00]
K: [1.158033737075e+03, 0.000000000000e+00, 9.600000000000e+02, 0.000000000000e+00, 1.158033737075e+03, 5.400000000000e+02, 0.000000000000e+00, 0.000000000000e+00, 1.000000000000e+00]
R: [1.000000000000e+00, 0.000000000000e+00, 0.000000000000e+00, 0.000000000000e+00, 1.000000000000e+00, 0.000000000000e+00, 0.000000000000e+00, 0.000000000000e+00, 1.000000000000e+00]
P: [1.158033737075e+03, 0.000000000000e+00, 9.600000000000e+02, 0.000000000000e+00, 0.000000000000e+00, 1.158033737075e+03, 5.400000000000e+02, 0.000000000000e+00, 0.000000000000e+00, 0.000000000000e+00, 1.000000000000e+00, 0.000000000000e+00]
binning_x: 0
binning_y: 0
roi:
x_offset: 0
y_offset: 0
height: 0
width: 0
do_rectify: False
| 0
|
apollo_public_repos/apollo/modules/calibration/data/Lincoln2017MKZ_LGSVL
|
apollo_public_repos/apollo/modules/calibration/data/Lincoln2017MKZ_LGSVL/camera_params/front_6mm_extrinsics.yaml
|
header:
seq: 0
stamp:
secs: 0
nsecs: 0
frame_id: velodyne128
child_frame_id: front_6mm
transform:
translation:
x: -0.09
y: 0
z: -0.612
rotation:
x: -0.5
y: 0.5
z: -0.5
w: 0.5
| 0
|
apollo_public_repos/apollo/modules/calibration/data/Lincoln2017MKZ_LGSVL
|
apollo_public_repos/apollo/modules/calibration/data/Lincoln2017MKZ_LGSVL/camera_params/start_obstacle_camera.launch
|
<launch>
<arg name="front_obstacle_6mm_topic_name" default="/apollo/sensor/camera/obstacle/front_6mm" />
<arg name="frame_rate" default="30"/>
<group ns="camera_obstacle">
<node pkg="nodelet" type="nodelet" name="camera_nodelet_manager" args="manager" respawn="true" />
<node pkg="nodelet" type="nodelet" name="sensor_camera_obstacle" output="screen"
args="load usb_cam/UsbCamNodelet camera_nodelet_manager" respawn="true" >
<param name="video_device" value="/dev/camera/lanemark" />
<param name="image_width" value="1920" />
<param name="image_height" value="1080" />
<param name="pixel_format" value="rgb24" />
<param name="frame_rate" value="$(arg frame_rate)" />
<param name="camera_frame_id" value="usb_cam" />
<param name="io_method" value="mmap"/>
<param name="camera_timeout" value="2000" />
<param name="error_code" value="14" />
<param name="camera_info_url" type="string" value="front_camera_intrinsics.yaml" />
<remap from="/camera_obstacle/image_raw0" to="$(arg front_obstacle_6mm_topic_name)" />
<remap from="/apollo/sensor/camera/traffic/camera_info" to="$(arg front_obstacle_6mm_topic_name)/camera_info" />
</node>
</group>
</launch>
| 0
|
apollo_public_repos/apollo/modules/calibration/data
|
apollo_public_repos/apollo/modules/calibration/data/perception_test_v1/novatel_localization_extrinsics.yaml
|
child_frame_id: novatel
transform:
translation:
x: 0.0
y: 0.0
z: 0.0
rotation:
x: 0.0
y: 0.0
z: 0.0
w: 1.0
header:
seq: 0
stamp:
secs: 1512689414
nsecs: 0
frame_id: localization
| 0
|
apollo_public_repos/apollo/modules/calibration/data/perception_test_v1
|
apollo_public_repos/apollo/modules/calibration/data/perception_test_v1/gnss_params/ant_imu_leverarm.yaml
|
#carid:mkz058
#set primary if single-antenna;set both primary and secondary if dual-antenna.
leverarm:
primary:
offset:
x: 0.0
y: -0.1
z: 0.60
uncertainty:
x: 0.05
y: 0.05
z: 0.08
secondary:
offset:
x: 0.0
y: 0.98
z: 0.600
uncertainty:
x: 0.05
y: 0.05
z: 0.08
| 0
|
apollo_public_repos/apollo/modules/calibration/data/perception_test_v1
|
apollo_public_repos/apollo/modules/calibration/data/perception_test_v1/perception_dag/dag_streaming_perception_camera.dag
|
module_config {
module_library : "/apollo/bazel-bin/modules/perception/onboard/component/libperception_component_camera.so"
components {
class_name : "CameraObstacleDetectionComponent"
config {
name: "CameraObstacleDetectionComponent"
config_file_path: "/apollo/modules/perception/production/conf/perception/camera/fusion_camera_detection_component.pb.txt"
flag_file_path: "/apollo/modules/perception/production/conf/perception/perception_common.flag"
}
}
}
| 0
|
apollo_public_repos/apollo/modules/calibration/data/perception_test_v1
|
apollo_public_repos/apollo/modules/calibration/data/perception_test_v1/perception_dag/dag_streaming_perception_lidar.dag
|
module_config {
module_library : "/apollo/bazel-bin/modules/perception/onboard/component/libperception_component_lidar.so"
components {
class_name : "LidarDetectionComponent"
config {
name: "Velodyne128Detection"
config_file_path: "/apollo/modules/perception/production/conf/perception/lidar/velodyne128_detection_conf.pb.txt"
flag_file_path: "/apollo/modules/perception/production/conf/perception/perception_common.flag"
readers {
channel: "/apollo/sensor/velodyne64/compensator/PointCloud2"
}
}
}
components {
class_name : "LidarTrackingComponent"
config {
name: "LidarTrackingComponent"
config_file_path: "/apollo/modules/perception/production/conf/perception/lidar/recognition_conf.pb.txt"
readers {
channel: "/perception/inner/DetectionObjects"
}
}
}
components {
class_name: "MultiSensorFusionComponent"
config {
name: "SensorFusion"
config_file_path: "/apollo/modules/perception/production/conf/perception/fusion/fusion_component_conf.pb.txt"
readers {
channel: "/perception/inner/PrefusedObjects"
}
}
}
}
module_config {
module_library : "/apollo/bazel-bin/modules/v2x/fusion/apps/libv2x_fusion_component.so"
components {
class_name : "V2XFusionComponent"
config {
name : "v2x_fusion"
flag_file_path : "/apollo/modules/v2x/conf/v2x_fusion_tracker.conf"
readers: [
{
channel: "/perception/vehicle/obstacles"
}
]
}
}
}
| 0
|
apollo_public_repos/apollo/modules/calibration/data/perception_test_v1
|
apollo_public_repos/apollo/modules/calibration/data/perception_test_v1/radar_params/radar_front_extrinsics.yaml
|
header:
seq: 0
stamp:
secs: 0
nsecs: 0
frame_id: velodyne64
transform:
rotation:
x: 0.0
y: 0.0
z: 0.0
w: 1.0
translation:
x: 0.77
y: 0.0
z: -0.76
child_frame_id: radar_front
| 0
|
apollo_public_repos/apollo/modules/calibration/data/perception_test_v1
|
apollo_public_repos/apollo/modules/calibration/data/perception_test_v1/vehicle_params/vehicle_imu_extrinsics.yaml
|
transform:
translation:
x: 0.0
y: 0.0
z: 0.0
rotation:
x: 0.0
y: 0.0
z: 0.0
w: 1.0
| 0
|
apollo_public_repos/apollo/modules/calibration/data/perception_test_v1
|
apollo_public_repos/apollo/modules/calibration/data/perception_test_v1/lidar_params/VLP16_calibration.yaml
|
lasers:
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 0, rot_correction: 0.0,
vert_correction: -0.2617993877991494, vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 1, rot_correction: 0.0,
vert_correction: 0.017453292519943295, vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 2, rot_correction: 0.0,
vert_correction: -0.22689280275926285, vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 3, rot_correction: 0.0,
vert_correction: 0.05235987755982989, vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 4, rot_correction: 0.0,
vert_correction: -0.19198621771937624, vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 5, rot_correction: 0.0,
vert_correction: 0.08726646259971647, vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 6, rot_correction: 0.0,
vert_correction: -0.15707963267948966, vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 7, rot_correction: 0.0,
vert_correction: 0.12217304763960307, vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 8, rot_correction: 0.0,
vert_correction: -0.12217304763960307, vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 9, rot_correction: 0.0,
vert_correction: 0.15707963267948966, vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 10, rot_correction: 0.0,
vert_correction: -0.08726646259971647, vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 11, rot_correction: 0.0,
vert_correction: 0.19198621771937624, vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 12, rot_correction: 0.0,
vert_correction: -0.05235987755982989, vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 13, rot_correction: 0.0,
vert_correction: 0.22689280275926285, vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 14, rot_correction: 0.0,
vert_correction: -0.017453292519943295, vert_offset_correction: 0.0}
- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 15, rot_correction: 0.0,
vert_correction: 0.2617993877991494, vert_offset_correction: 0.0}
num_lasers: 16
| 0
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apollo_public_repos/apollo/modules/calibration/data/perception_test_v1
|
apollo_public_repos/apollo/modules/calibration/data/perception_test_v1/lidar_params/velodyne128_height.yaml
|
vehicle:
parameters:
height: 1.48
height_var: 0.0047
| 0
|
apollo_public_repos/apollo/modules/calibration/data/perception_test_v1
|
apollo_public_repos/apollo/modules/calibration/data/perception_test_v1/lidar_params/lidar16_height.yaml
|
vehicle:
parameters:
height: 1.48
height_var: 0.0047
| 0
|
apollo_public_repos/apollo/modules/calibration/data/perception_test_v1
|
apollo_public_repos/apollo/modules/calibration/data/perception_test_v1/lidar_params/velodyne128_novatel_extrinsics.yaml
|
header:
stamp:
secs: 1570694831
nsecs: 0
seq: 0
frame_id: novatel
child_frame_id: velodyne64
transform:
rotation:
x: 0.0
y: 0.0
z: 0.7071
w: 0.7071
translation:
x: 0.0
y: 0.414
z: 0.897
| 0
|
apollo_public_repos/apollo/modules/calibration/data/perception_test_v1
|
apollo_public_repos/apollo/modules/calibration/data/perception_test_v1/perception_conf/velodyne128_detection_conf.pb.txt
|
sensor_name: "velodyne128"
detector_name: "LidarObstacleDetection"
enable_hdmap: true
lidar_query_tf_offset: 0
lidar2novatel_tf2_child_frame_id: "velodyne64"
output_channel_name: "/perception/inner/DetectionObjects"
lidar_detection_conf_dir : "/apollo/modules/perception/pipeline/config"
lidar_detection_conf_file : "lidar_detection_pipeline.pb.txt"
| 0
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apollo_public_repos/apollo/modules/calibration/data/perception_test_v1
|
apollo_public_repos/apollo/modules/calibration/data/perception_test_v1/perception_conf/velodyne128_segmentation_conf.pb.txt
|
sensor_name: "velodyne64"
enable_hdmap: true
lidar_query_tf_offset: 0
lidar2novatel_tf2_child_frame_id: "velodyne64"
output_channel_name: "/perception/inner/SegmentationObjects"
| 0
|
apollo_public_repos/apollo/modules/calibration/data/perception_test_v1
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apollo_public_repos/apollo/modules/calibration/data/perception_test_v1/perception_conf/fusion_component_conf.pb.txt
|
fusion_name: "ObstacleMultiSensorFusion"
fusion_method: "ProbabilisticFusion"
fusion_main_sensor: "velodyne128"
object_in_roi_check: true
radius_for_roi_object_check: 120
output_obstacles_channel_name: "/apollo/perception/obstacles"
output_viz_fused_content_channel_name: "/perception/inner/visualization/FusedObjects"
sensor_fusion_conf_dir: "/apollo/modules/perception/pipeline/config"
sensor_fusion_conf_file: "multi_sensor_fusion_pipeline.txt"
| 0
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apollo_public_repos/apollo/modules/calibration/data/perception_test_v1
|
apollo_public_repos/apollo/modules/calibration/data/perception_test_v1/perception_conf/perception_common.flag
|
###########################################################################
# Flags from sensor_manager
--flagfile=/apollo/modules/common/data/global_flagfile.txt
# config file work root
# type: string
# default:
--work_root=/apollo/modules/perception/production
# SensorManager config file
# type: string
# default:
--obs_sensor_meta_path=/apollo/modules/perception/production/data/perception/common/sensor_meta.pt
# The intrinsics/extrinsics dir
# type: string
# default:
--obs_sensor_intrinsic_path=/apollo/modules/perception/data/params
###########################################################################
# Flags from common_flags
# enable hdmap input for roi filter.
# type: bool
# default: true
--obs_enable_hdmap_input=true
# whether to send message for visualization.
# type: bool
# default: false
--obs_enable_visualization=false
# where to save screenshots of visualization
# type: string
# default: ./
--obs_screen_output_dir=./
# whether switch to benchmark output mode
# type: bool
# default: false
--obs_benchmark_mode=false
# whether save fusion supplement data
# type: bool
# default: false
--obs_save_fusion_supplement=true
###########################################################################
# Flags from transform_wrapper
# sensor to novatel frame id.
# type: string
# default:
--obs_sensor2novatel_tf2_frame_id=novatel
# novatel to world frame id.
# type: string
# default:
--obs_novatel2world_tf2_frame_id=world
# novatel to world child frame id.
# type: string
# default:
--obs_novatel2world_tf2_child_frame_id=novatel
# query Cyber TF buffer size in second.
# type: double
# default: 0.01
--obs_tf2_buff_size=0.01
# enabled state of local pose extrapolation when failed to query pose
# type: bool
# default: false
--obs_enable_local_pose_extrapolation=true
# local pose cache size
# type: double
# default: 1.0
--obs_transform_cache_size=1.0
# max local pose extrapolation latency
# type: double
# default: 0.15
--obs_max_local_pose_extrapolation_latency=0.15
--config_manager_path=./
--start_visualizer=false
--lidar_model_version=velodyne128
--lidar_sensor_name=lidar16
| 0
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apollo_public_repos/apollo/modules/calibration/data/perception_test_v1
|
apollo_public_repos/apollo/modules/calibration/data/perception_test_v1/perception_conf/recognition_conf.pb.txt
|
main_sensor_name: "velodyne64"
output_channel_name: "/perception/inner/PrefusedObjects"
lidar_tracking_conf_dir: "/apollo/modules/perception/pipeline/config"
lidar_tracking_conf_file: "lidar_tracking_pipeline.pb.txt"
| 0
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apollo_public_repos/apollo/modules/calibration/data/perception_test_v1
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apollo_public_repos/apollo/modules/calibration/data/perception_test_v1/perception_conf/mlf_engine.conf
|
main_sensor: "velodyne64"
use_histogram_for_match: true
histogram_bin_size: 10
output_predict_objects: false
reserved_invisible_time: 0.3
use_frame_timestamp: true
| 0
|
apollo_public_repos/apollo/modules/calibration/data/perception_test_v1
|
apollo_public_repos/apollo/modules/calibration/data/perception_test_v1/perception_conf/lidar_obstacle_detection.conf
|
preprocessor: "PointCloudPreprocessor"
detector: "PointPillarsDetection"
use_map_manager: true
use_object_filter_bank: true
| 0
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apollo_public_repos/apollo/modules/calibration/data/perception_test_v1
|
apollo_public_repos/apollo/modules/calibration/data/perception_test_v1/perception_conf/pointcloud_preprocessor.conf
|
filter_naninf_points: true
filter_nearby_box_points: true
box_forward_x: 0.55
box_backward_x: -0.55
box_forward_y: 1.5
box_backward_y: -0.45
filter_high_z_points: true
z_threshold: 2.0
| 0
|
apollo_public_repos/apollo/modules/calibration/data/perception_test_v1/perception_conf
|
apollo_public_repos/apollo/modules/calibration/data/perception_test_v1/perception_conf/camera/fusion_camera_detection_component.pb.txt
|
camera_names: "front_6mm,front_12mm"
input_camera_channel_names : "/apollo/sensor/camera/front_6mm/image,/apollo/sensor/camera/front_12mm/image"
timestamp_offset : 0.0
camera_obstacle_perception_conf_dir : "/apollo/modules/perception/pipeline/config"
camera_obstacle_perception_conf_file : "camera_detection_pipeline.pb.txt"
frame_capacity : 15
image_channel_num : 3
enable_undistortion : false
enable_visualization : true
output_final_obstacles : true
output_obstacles_channel_name : "/apollo/perception/obstacles"
camera_perception_viz_message_channel_name : "/perception/inner/camera_viz_msg"
prefused_channel_name : "/perception/inner/PrefusedObjects"
default_camera_pitch : 0.0
default_camera_height : 1.5
lane_calibration_working_sensor_name : "front_6mm"
calibrator_method : "LaneLineCalibrator"
calib_service_name : "OnlineCalibrationService"
run_calib_service : false
output_camera_debug_msg : false
camera_debug_channel_name : "/perception/camera_debug"
ts_diff : 0.1
visual_debug_folder : "/apollo/debug_output"
visual_camera : "front_6mm"
write_visual_img : true
enable_cipv : false
debug_level : 0
| 0
|
apollo_public_repos/apollo/modules/calibration/data/perception_test_v1
|
apollo_public_repos/apollo/modules/calibration/data/perception_test_v1/transform_conf/static_transform_conf.pb.txt
|
extrinsic_file {
frame_id: "novatel"
child_frame_id: "velodyne64"
file_path: "/apollo/modules/drivers/lidar/velodyne/params/velodyne128_novatel_extrinsics.yaml"
enable: true
}
extrinsic_file {
frame_id: "localization"
child_frame_id: "novatel"
file_path: "/apollo/modules/localization/msf/params/novatel_localization_extrinsics.yaml"
enable: true
}
extrinsic_file {
frame_id: "velodyne64"
child_frame_id: "front_6mm"
file_path: "/apollo/modules/perception/data/params/front_6mm_extrinsics.yaml"
enable: true
}
extrinsic_file {
frame_id: "velodyne64"
child_frame_id: "front_12mm"
file_path: "/apollo/modules/perception/data/params/front_12mm_extrinsics.yaml"
enable: true
}
extrinsic_file {
frame_id: "velodyne64"
child_frame_id: "radar_front"
file_path: "/apollo/modules/perception/data/params/radar_front_extrinsics.yaml"
enable: true
}
| 0
|
apollo_public_repos/apollo/modules/calibration/data/perception_test_v1
|
apollo_public_repos/apollo/modules/calibration/data/perception_test_v1/camera_params/front_12mm_extrinsics.yaml
|
header:
frame_id: velodyne64
stamp:
secs: 0
nsecs: 0
seq: 0
child_frame_id: front_12mm
transform:
rotation:
w: 0.5
x: -0.5
y: 0.5
z: -0.5
translation:
x: 0.67
y: 0
z: -0.52
| 0
|
apollo_public_repos/apollo/modules/calibration/data/perception_test_v1
|
apollo_public_repos/apollo/modules/calibration/data/perception_test_v1/camera_params/front_12mm_intrinsics.yaml
|
header:
seq: 0
stamp:
secs: 0
nsecs: 0
frame_id: front_12mm
height: 1080
width: 1920
distortion_model: plumb_bob
D: [0.157589, 1.165965, 0.015345, 0.000624, 0.000000]
K: [7083.018280, 0.000000, 886.935585, 0.000000, 7087.231264, 458.925606, 0.000000, 0.000000, 1.000000]
R: [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
P: [7132.898438, 0.000000, 887.299225, 0.000000, 0.000000, 7127.450684, 462.592921, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000]
binning_x: 0
binning_y: 0
roi:
x_offset: 0
y_offset: 0
height: 0
width: 0
do_rectify: False
| 0
|
apollo_public_repos/apollo/modules/calibration/data/perception_test_v1
|
apollo_public_repos/apollo/modules/calibration/data/perception_test_v1/camera_params/front_6mm_intrinsics.yaml
|
header:
seq: 0
stamp:
secs: 0
nsecs: 0
frame_id: front_6mm
height: 1080
width: 1920
distortion_model: plumb_bob
D: [-0.544499, 0.276915, -0.001540, 0.005511, 0.000000]
K: [1992.669891, 0.000000, 937.768962, 0.000000, 1990.404142, 453.083499, 0.000000, 0.000000, 1.000000]
R: [1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000]
P: [1703.447510, 0.000000, 943.254273, 0.000000, 0.000000, 1896.693115, 444.134985, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000]
binning_x: 0
binning_y: 0
roi:
x_offset: 0
y_offset: 0
height: 0
width: 0
do_rectify: False
| 0
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apollo_public_repos/apollo/modules/calibration/data/perception_test_v1
|
apollo_public_repos/apollo/modules/calibration/data/perception_test_v1/camera_params/front_6mm_extrinsics.yaml
|
header:
seq: 0
frame_id: velodyne64
stamp:
nsecs: 0
secs: 0
child_frame_id: front_6mm
transform:
rotation:
w: 0.5
x: -0.5
y: 0.5
z: -0.5
translation:
x: 0.67
y: -0.1
z: -0.52
| 0
|
apollo_public_repos/apollo/modules/calibration/data
|
apollo_public_repos/apollo/modules/calibration/data/apollo_perception_test_bev/novatel_localization_extrinsics.yaml
|
child_frame_id: novatel
transform:
translation:
x: 0.0
y: 0.0
z: 0.0
rotation:
x: 0.0
y: 0.0
z: 0.0
w: 1.0
header:
seq: 0
stamp:
secs: 1512689414
nsecs: 0
frame_id: localization
| 0
|
apollo_public_repos/apollo/modules/calibration/data
|
apollo_public_repos/apollo/modules/calibration/data/apollo_perception_test_bev/vehicle_param.pb.txt
|
vehicle_param {
brand: CH
vehicle_id {
other_unique_id: "ch"
}
front_edge_to_center: 1.385
back_edge_to_center: 0.405
left_edge_to_center: 0.430
right_edge_to_center: 0.430
length: 1.780
width: 0.860
height: 0.480
min_turn_radius: 2.50
max_acceleration: 4.0
max_deceleration: -6.0
max_steer_angle: 0.384
max_steer_angle_rate: 0.523
min_steer_angle_rate:0
steer_ratio: 1
wheel_base: 0.960
wheel_rolling_radius: 0.202
max_abs_speed_when_stopped: 0.015
brake_deadzone: 3.0
throttle_deadzone: 5.0
steering_latency_param
{
dead_time: 0.0
rise_time: 0.0
peak_time: 0.0
settling_time: 0.0
}
throttle_latency_param
{
dead_time: 0.0
rise_time: 0.0
peak_time: 0.0
settling_time: 0.0
}
brake_latency_param
{
dead_time: 0.0
rise_time: 0.0
peak_time: 0.0
settling_time: 0.0
}
}
| 0
|
apollo_public_repos/apollo/modules/calibration/data
|
apollo_public_repos/apollo/modules/calibration/data/apollo_perception_test_bev/vehicle_info.pb.txt
|
name : "CH"
brand : CH
model : CH
license {
vin : "ch05"
}
| 0
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apollo_public_repos/apollo/modules/calibration/data/apollo_perception_test_bev
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apollo_public_repos/apollo/modules/calibration/data/apollo_perception_test_bev/gnss_params/ant_imu_leverarm.yaml
|
#carid:mkz058
#set primary if single-antenna;set both primary and secondary if dual-antenna.
leverarm:
primary:
offset:
x: 0.0
y: -0.1
z: 0.60
uncertainty:
x: 0.05
y: 0.05
z: 0.08
secondary:
offset:
x: 0.0
y: 0.98
z: 0.600
uncertainty:
x: 0.05
y: 0.05
z: 0.08
| 0
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apollo_public_repos/apollo/modules/calibration/data/apollo_perception_test_bev
|
apollo_public_repos/apollo/modules/calibration/data/apollo_perception_test_bev/vehicle_params/vehicle_imu_extrinsics.yaml
|
transform:
translation:
x: 0.0
y: 0.0
z: 0.0
rotation:
x: 0.0
y: 0.0
z: 0.0
w: 1.0
| 0
|
apollo_public_repos/apollo/modules/calibration/data/apollo_perception_test_bev
|
apollo_public_repos/apollo/modules/calibration/data/apollo_perception_test_bev/lidar_params/velodyne128_height.yaml
|
vehicle:
parameters:
height: 1.48
height_var: 0.0047
| 0
|
apollo_public_repos/apollo/modules/calibration/data/apollo_perception_test_bev
|
apollo_public_repos/apollo/modules/calibration/data/apollo_perception_test_bev/lidar_params/lidar16_height.yaml
|
vehicle:
parameters:
height: 1.48
height_var: 0.0047
| 0
|
apollo_public_repos/apollo/modules/calibration/data/apollo_perception_test_bev
|
apollo_public_repos/apollo/modules/calibration/data/apollo_perception_test_bev/lidar_params/velodyne128_novatel_extrinsics.yaml
|
header:
stamp:
secs: 1570694831
nsecs: 0
seq: 0
frame_id: novatel
child_frame_id: velodyne
transform:
translation:
x: 0.943713
y: 0.0
z: 1.84023
rotation:
x: -0.006492242056004365
y: 0.010646214713995808
z: -0.7063073142877817
w: 0.7077955119163518
| 0
|
apollo_public_repos/apollo/modules/calibration/data/apollo_perception_test_bev
|
apollo_public_repos/apollo/modules/calibration/data/apollo_perception_test_bev/perception_conf/velodyne128_detection_conf.pb.txt
|
sensor_name: "velodyne128"
detector_name: "LidarObstacleDetection"
enable_hdmap: true
lidar_query_tf_offset: 0
lidar2novatel_tf2_child_frame_id: "velodyne64"
output_channel_name: "/perception/inner/DetectionObjects"
lidar_detection_conf_dir : "/apollo/modules/perception/pipeline/config"
lidar_detection_conf_file : "lidar_detection_pipeline.pb.txt"
| 0
|
apollo_public_repos/apollo/modules/calibration/data/apollo_perception_test_bev
|
apollo_public_repos/apollo/modules/calibration/data/apollo_perception_test_bev/perception_conf/velodyne128_segmentation_conf.pb.txt
|
sensor_name: "velodyne64"
enable_hdmap: true
lidar_query_tf_offset: 0
lidar2novatel_tf2_child_frame_id: "velodyne64"
output_channel_name: "/perception/inner/SegmentationObjects"
| 0
|
apollo_public_repos/apollo/modules/calibration/data/apollo_perception_test_bev
|
apollo_public_repos/apollo/modules/calibration/data/apollo_perception_test_bev/perception_conf/fusion_component_conf.pb.txt
|
fusion_name: "ObstacleMultiSensorFusion"
fusion_method: "ProbabilisticFusion"
fusion_main_sensor: "velodyne128"
object_in_roi_check: true
radius_for_roi_object_check: 120
output_obstacles_channel_name: "/apollo/perception/obstacles"
output_viz_fused_content_channel_name: "/perception/inner/visualization/FusedObjects"
sensor_fusion_conf_dir: "/apollo/modules/perception/pipeline/config"
sensor_fusion_conf_file: "multi_sensor_fusion_pipeline.txt"
| 0
|
apollo_public_repos/apollo/modules/calibration/data/apollo_perception_test_bev
|
apollo_public_repos/apollo/modules/calibration/data/apollo_perception_test_bev/perception_conf/perception_common.flag
|
###########################################################################
# Flags from sensor_manager
--flagfile=/apollo/modules/common/data/global_flagfile.txt
# config file work root
# type: string
# default:
--work_root=/apollo/modules/perception/production
# SensorManager config file
# type: string
# default:
--obs_sensor_meta_path=/apollo/modules/perception/production/data/perception/common/sensor_meta.pt
# The intrinsics/extrinsics dir
# type: string
# default:
--obs_sensor_intrinsic_path=/apollo/modules/perception/data/params
###########################################################################
# Flags from common_flags
# enable hdmap input for roi filter.
# type: bool
# default: true
--obs_enable_hdmap_input=true
# whether to send message for visualization.
# type: bool
# default: false
--obs_enable_visualization=false
# where to save screenshots of visualization
# type: string
# default: ./
--obs_screen_output_dir=./
# whether switch to benchmark output mode
# type: bool
# default: false
--obs_benchmark_mode=false
# whether save fusion supplement data
# type: bool
# default: false
--obs_save_fusion_supplement=true
###########################################################################
# Flags from transform_wrapper
# sensor to novatel frame id.
# type: string
# default:
--obs_sensor2novatel_tf2_frame_id=novatel
# novatel to world frame id.
# type: string
# default:
--obs_novatel2world_tf2_frame_id=world
# novatel to world child frame id.
# type: string
# default:
--obs_novatel2world_tf2_child_frame_id=novatel
# query Cyber TF buffer size in second.
# type: double
# default: 0.01
--obs_tf2_buff_size=0.01
# enabled state of local pose extrapolation when failed to query pose
# type: bool
# default: false
--obs_enable_local_pose_extrapolation=true
# local pose cache size
# type: double
# default: 1.0
--obs_transform_cache_size=1.0
# max local pose extrapolation latency
# type: double
# default: 0.15
--obs_max_local_pose_extrapolation_latency=0.15
--config_manager_path=./
--start_visualizer=false
--lidar_model_version=velodyne128
--lidar_sensor_name=lidar16
| 0
|
apollo_public_repos/apollo/modules/calibration/data/apollo_perception_test_bev
|
apollo_public_repos/apollo/modules/calibration/data/apollo_perception_test_bev/perception_conf/recognition_conf.pb.txt
|
main_sensor_name: "velodyne64"
output_channel_name: "/perception/inner/PrefusedObjects"
lidar_tracking_conf_dir: "/apollo/modules/perception/pipeline/config"
lidar_tracking_conf_file: "lidar_tracking_pipeline.pb.txt"
| 0
|
apollo_public_repos/apollo/modules/calibration/data/apollo_perception_test_bev
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apollo_public_repos/apollo/modules/calibration/data/apollo_perception_test_bev/perception_conf/mlf_engine.conf
|
main_sensor: "velodyne64"
use_histogram_for_match: true
histogram_bin_size: 10
output_predict_objects: false
reserved_invisible_time: 0.3
use_frame_timestamp: true
| 0
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apollo_public_repos/apollo/modules/calibration/data/apollo_perception_test_bev
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apollo_public_repos/apollo/modules/calibration/data/apollo_perception_test_bev/perception_conf/lidar_obstacle_detection.conf
|
preprocessor: "PointCloudPreprocessor"
detector: "PointPillarsDetection"
use_map_manager: true
use_object_filter_bank: true
| 0
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apollo_public_repos/apollo/modules/calibration/data/apollo_perception_test_bev
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apollo_public_repos/apollo/modules/calibration/data/apollo_perception_test_bev/perception_conf/pointcloud_preprocessor.conf
|
filter_naninf_points: true
filter_nearby_box_points: true
box_forward_x: 0.55
box_backward_x: -0.55
box_forward_y: 1.5
box_backward_y: -0.45
filter_high_z_points: true
z_threshold: 2.0
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apollo_public_repos/apollo/modules/calibration/data/apollo_perception_test_bev/perception_conf
|
apollo_public_repos/apollo/modules/calibration/data/apollo_perception_test_bev/perception_conf/camera/fusion_camera_detection_component.pb.txt
|
camera_names: "front_6mm,front_12mm"
input_camera_channel_names : "/apollo/sensor/camera/front_6mm/image,/apollo/sensor/camera/front_12mm/image"
timestamp_offset : 0.0
camera_obstacle_perception_conf_dir : "/apollo/modules/perception/pipeline/config"
camera_obstacle_perception_conf_file : "camera_detection_pipeline_bev.pb.txt"
frame_capacity : 15
image_channel_num : 3
enable_undistortion : false
enable_visualization : true
output_final_obstacles : true
output_obstacles_channel_name : "/apollo/perception/obstacles"
camera_perception_viz_message_channel_name : "/perception/inner/camera_viz_msg"
prefused_channel_name : "/perception/inner/PrefusedObjects"
default_camera_pitch : 0.0
default_camera_height : 1.5
lane_calibration_working_sensor_name : "front_6mm"
calibrator_method : "LaneLineCalibrator"
calib_service_name : "OnlineCalibrationService"
run_calib_service : false
output_camera_debug_msg : false
camera_debug_channel_name : "/perception/camera_debug"
ts_diff : 0.1
visual_debug_folder : "/apollo/debug_output"
visual_camera : "front_6mm"
write_visual_img : true
enable_cipv : false
debug_level : 0
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apollo_public_repos/apollo/modules/calibration/data/apollo_perception_test_bev/transform_conf/static_transform_conf.pb.txt
|
extrinsic_file {
frame_id: "novatel"
child_frame_id: "velodyne"
file_path: "/apollo/modules/drivers/lidar/velodyne/params/velodyne128_novatel_extrinsics.yaml"
enable: true
}
extrinsic_file {
frame_id: "localization"
child_frame_id: "novatel"
file_path: "/apollo/modules/localization/msf/params/novatel_localization_extrinsics.yaml"
enable: true
}
extrinsic_file {
frame_id: "novatel"
child_frame_id: "CAM_FRONT"
file_path: "/apollo/modules/perception/data/params/CAM_FRONT_extrinsics.yaml"
enable: true
}
extrinsic_file {
frame_id: "novatel"
child_frame_id: "CAM_FRONT_RIGHT"
file_path: "/apollo/modules/perception/data/params/CAM_FRONT_RIGHT_extrinsics.yaml"
enable: true
}
extrinsic_file {
frame_id: "novatel"
child_frame_id: "CAM_FRONT_LEFT"
file_path: "/apollo/modules/perception/data/params/CAM_FRONT_LEFT_extrinsics.yaml"
enable: true
}
extrinsic_file {
frame_id: "novatel"
child_frame_id: "CAM_BACK"
file_path: "/apollo/modules/perception/data/params/CAM_BACK_extrinsics.yaml"
enable: true
}
extrinsic_file {
frame_id: "novatel"
child_frame_id: "CAM_BACK_LEFT"
file_path: "/apollo/modules/perception/data/params/CAM_BACK_LEFT_extrinsics.yaml"
enable: true
}
extrinsic_file {
frame_id: "novatel"
child_frame_id: "CAM_BACK_RIGHT"
file_path: "/apollo/modules/perception/data/params/CAM_BACK_RIGHT_extrinsics.yaml"
enable: true
}
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|
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|
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|
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|
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|
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|
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apollo_public_repos/apollo/modules/calibration/data
|
apollo_public_repos/apollo/modules/calibration/data/mkz_example/vehicle_param.pb.txt
|
vehicle_param {
brand: LINCOLN_MKZ
vehicle_id {
other_unique_id: "mkz"
}
front_edge_to_center: 3.89
back_edge_to_center: 1.043
left_edge_to_center: 1.055
right_edge_to_center: 1.055
length: 4.933
width: 2.11
height: 1.48
min_turn_radius: 5.05386147161
max_acceleration: 2.0
max_deceleration: -6.0
max_steer_angle: 8.20304748437
max_steer_angle_rate: 6.98131700798
steer_ratio: 16
wheel_base: 2.8448
wheel_rolling_radius: 0.335
max_abs_speed_when_stopped: 0.2
brake_deadzone: 14.5
throttle_deadzone: 15.7
}
| 0
|
apollo_public_repos/apollo/modules/calibration/data
|
apollo_public_repos/apollo/modules/calibration/data/mkz_example/vehicle_info.pb.txt
|
name : "MKZ"
brand : LINCOLN
model : MKZ
vehicle_id {
vin : "<VIN>"
}
| 0
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apollo_public_repos/apollo/modules/calibration/data
|
apollo_public_repos/apollo/modules/calibration/data/mkz_example/navigation_lincoln.pb.txt
|
control_period: 0.01
trajectory_period: 0.1
chassis_period: 0.01
localization_period: 0.01
max_status_interval_sec: 0.1
max_planning_interval_sec: 0.2
max_planning_delay_threshold: 4.0
action: STOP
soft_estop_brake: 50.0
active_controllers: LAT_CONTROLLER
active_controllers: LON_CONTROLLER
max_steering_percentage_allowed: 100
minimum_speed_resolution: 0.05
query_relative_time: 0.2
minimum_speed_protection: 0.1
lat_controller_conf {
ts: 0.01
preview_window: 0
cf: 155494.663
cr: 155494.663
mass_fl: 520
mass_fr: 520
mass_rl: 520
mass_rr: 520
eps: 0.01
matrix_q: 0.005
matrix_q: 0.0
matrix_q: 0.25
matrix_q: 0.02
reverse_matrix_q: 0.5
reverse_matrix_q: 0.0
reverse_matrix_q: 0.4
reverse_matrix_q: 0.0
cutoff_freq: 10
mean_filter_window_size: 10
max_iteration: 150
max_lateral_acceleration: 5.0
lat_err_gain_scheduler {
scheduler {
speed: 4.0
ratio: 1.0
}
scheduler {
speed: 8.0
ratio: 0.66
}
scheduler {
speed: 12.0
ratio: 0.21
}
scheduler {
speed: 20.0
ratio: 0.05
}
scheduler {
speed: 22.0
ratio: 0.05
}
scheduler {
speed: 24.6
ratio: 0.049
}
}
heading_err_gain_scheduler {
scheduler {
speed: 4.0
ratio: 1.0
}
scheduler {
speed: 8.0
ratio: 0.6
}
scheduler {
speed: 12.0
ratio: 0.4
}
scheduler {
speed: 20.0
ratio: 0.12
}
scheduler {
speed: 24.0
ratio: 0.06
}
scheduler {
speed: 24.6
ratio: 0.06
}
}
}
lon_controller_conf {
ts: 0.01
brake_minimum_action: 0.0
throttle_minimum_action: 0.0
speed_controller_input_limit: 2.0
station_error_limit: 2.0
preview_window: 20.0
standstill_acceleration: -3.0
station_pid_conf {
integrator_enable: false
integrator_saturation_level: 0.3
kp: 0.2
ki: 0.0
kd: 0.0
}
low_speed_pid_conf {
integrator_enable: true
integrator_saturation_level: 0.3
kp: 0.5
ki: 0.3
kd: 0.0
}
high_speed_pid_conf {
integrator_enable: true
integrator_saturation_level: 0.3
kp: 1.0
ki: 0.3
kd: 0.0
}
switch_speed: 2.0
reverse_station_pid_conf {
integrator_enable: false
integrator_saturation_level: 0.5
kp: 0.4
ki: 0.2
kd: 0.0
}
reverse_speed_pid_conf {
integrator_enable: true
integrator_saturation_level: 0.1
kp: 0.05
ki: 0.0
kd: 0.0
}
pitch_angle_filter_conf {
cutoff_freq: 5
}
calibration_table {
calibration {
speed: 0.0
acceleration: -1.43
command: -35.0
}
calibration {
speed: 0.0
acceleration: -1.28
command: -27.0
}
calibration {
speed: 0.0
acceleration: -1.17
command: -25.0
}
calibration {
speed: 0.0
acceleration: -1.02
command: -30.0
}
calibration {
speed: 0.0
acceleration: -0.48
command: -27.5
}
calibration {
speed: 0.0
acceleration: 0.09
command: -20.0
}
calibration {
speed: 0.0
acceleration: 0.32
command: -15.0
}
calibration {
speed: 0.0
acceleration: 0.35
command: -17.0
}
calibration {
speed: 0.0
acceleration: 0.37
command: 17.0
}
calibration {
speed: 0.0
acceleration: 0.39
command: 15.0
}
calibration {
speed: 0.0
acceleration: 0.41
command: -13.0
}
calibration {
speed: 0.0
acceleration: 0.72
command: 20.0
}
calibration {
speed: 0.0
acceleration: 0.97
command: 22.0
}
calibration {
speed: 0.0
acceleration: 1.4
command: 25.0
}
calibration {
speed: 0.0
acceleration: 1.43
command: 27.0
}
calibration {
speed: 0.0
acceleration: 1.53
command: 30.0
}
calibration {
speed: 0.0
acceleration: 1.65
command: 35.0
}
calibration {
speed: 0.0
acceleration: 1.79
command: 40.0
}
calibration {
speed: 0.0
acceleration: 1.89
command: 45.0
}
calibration {
speed: 0.0
acceleration: 1.94
command: 50.0
}
calibration {
speed: 0.0
acceleration: 2.03
command: 55.0
}
calibration {
speed: 0.0
acceleration: 2.08
command: 65.0
}
calibration {
speed: 0.0
acceleration: 2.11
command: 60.0
}
calibration {
speed: 0.0
acceleration: 2.3
command: 80.0
}
calibration {
speed: 0.0
acceleration: 2.33
command: 70.0
}
calibration {
speed: 0.0
acceleration: 2.34
command: 75.0
}
calibration {
speed: 0.2
acceleration: -1.87
command: -35.0
}
calibration {
speed: 0.2
acceleration: -1.41
command: -27.0
}
calibration {
speed: 0.2
acceleration: -1.25
command: -30.0
}
calibration {
speed: 0.2
acceleration: -1.22
command: -25.0
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command: 15.0
}
calibration {
speed: 8.6
acceleration: -0.27
command: -13.0
}
calibration {
speed: 8.6
acceleration: -0.24
command: -17.0
}
calibration {
speed: 8.6
acceleration: -0.23
command: -15.0
}
calibration {
speed: 8.6
acceleration: -0.18
command: 17.0
}
calibration {
speed: 8.6
acceleration: -0.06
command: 20.0
}
calibration {
speed: 8.6
acceleration: 0.1
command: 22.0
}
calibration {
speed: 8.6
acceleration: 0.42
command: 25.0
}
calibration {
speed: 8.6
acceleration: 0.62
command: 27.0
}
calibration {
speed: 8.6
acceleration: 0.96
command: 30.0
}
calibration {
speed: 8.6
acceleration: 1.56
command: 35.0
}
calibration {
speed: 8.6
acceleration: 1.99
command: 40.0
}
calibration {
speed: 8.6
acceleration: 2.15
command: 45.0
}
calibration {
speed: 8.6
acceleration: 2.4
command: 50.0
}
calibration {
speed: 8.6
acceleration: 2.77
command: 55.0
}
calibration {
speed: 8.6
acceleration: 3.06
command: 60.0
}
calibration {
speed: 8.6
acceleration: 3.14
command: 70.0
}
calibration {
speed: 8.6
acceleration: 3.15
command: 80.0
}
calibration {
speed: 8.6
acceleration: 3.23
command: 65.0
}
calibration {
speed: 8.6
acceleration: 3.27
command: 75.0
}
calibration {
speed: 8.8
acceleration: -9.22
command: -35.0
}
calibration {
speed: 8.8
acceleration: -7.55
command: -33.0
}
calibration {
speed: 8.8
acceleration: -4.7
command: -30.0
}
calibration {
speed: 8.8
acceleration: -2.57
command: -27.0
}
calibration {
speed: 8.8
acceleration: -1.77
command: -25.0
}
calibration {
speed: 8.8
acceleration: -0.71
command: -22.0
}
calibration {
speed: 8.8
acceleration: -0.34
command: -20.0
}
calibration {
speed: 8.8
acceleration: -0.3
command: -13.0
}
calibration {
speed: 8.8
acceleration: -0.25
command: 15.0
}
calibration {
speed: 8.8
acceleration: -0.24
command: -17.0
}
calibration {
speed: 8.8
acceleration: -0.21
command: -15.0
}
calibration {
speed: 8.8
acceleration: -0.16
command: 17.0
}
calibration {
speed: 8.8
acceleration: -0.05
command: 20.0
}
calibration {
speed: 8.8
acceleration: 0.12
command: 22.0
}
calibration {
speed: 8.8
acceleration: 0.4
command: 25.0
}
calibration {
speed: 8.8
acceleration: 0.61
command: 27.0
}
calibration {
speed: 8.8
acceleration: 0.93
command: 30.0
}
calibration {
speed: 8.8
acceleration: 1.51
command: 35.0
}
calibration {
speed: 8.8
acceleration: 1.95
command: 40.0
}
calibration {
speed: 8.8
acceleration: 2.1
command: 45.0
}
calibration {
speed: 8.8
acceleration: 2.37
command: 50.0
}
calibration {
speed: 8.8
acceleration: 2.75
command: 55.0
}
calibration {
speed: 8.8
acceleration: 3.04
command: 60.0
}
calibration {
speed: 8.8
acceleration: 3.12
command: 80.0
}
calibration {
speed: 8.8
acceleration: 3.15
command: 70.0
}
calibration {
speed: 8.8
acceleration: 3.23
command: 65.0
}
calibration {
speed: 8.8
acceleration: 3.25
command: 75.0
}
calibration {
speed: 9.0
acceleration: -9.27
command: -35.0
}
calibration {
speed: 9.0
acceleration: -7.6
command: -33.0
}
calibration {
speed: 9.0
acceleration: -4.71
command: -30.0
}
calibration {
speed: 9.0
acceleration: -2.57
command: -27.0
}
calibration {
speed: 9.0
acceleration: -1.8
command: -25.0
}
calibration {
speed: 9.0
acceleration: -0.74
command: -22.0
}
calibration {
speed: 9.0
acceleration: -0.41
command: -20.0
}
calibration {
speed: 9.0
acceleration: -0.29
command: -15.0
}
calibration {
speed: 9.0
acceleration: -0.27
command: -13.0
}
calibration {
speed: 9.0
acceleration: -0.24
command: 15.0
}
calibration {
speed: 9.0
acceleration: -0.2
command: 17.0
}
calibration {
speed: 9.0
acceleration: -0.19
command: -17.0
}
calibration {
speed: 9.0
acceleration: -0.15
command: 20.0
}
calibration {
speed: 9.0
acceleration: 0.12
command: 22.0
}
calibration {
speed: 9.0
acceleration: 0.38
command: 25.0
}
calibration {
speed: 9.0
acceleration: 0.57
command: 27.0
}
calibration {
speed: 9.0
acceleration: 0.88
command: 30.0
}
calibration {
speed: 9.0
acceleration: 1.47
command: 35.0
}
calibration {
speed: 9.0
acceleration: 1.91
command: 40.0
}
calibration {
speed: 9.0
acceleration: 2.07
command: 45.0
}
calibration {
speed: 9.0
acceleration: 2.33
command: 50.0
}
calibration {
speed: 9.0
acceleration: 2.71
command: 55.0
}
calibration {
speed: 9.0
acceleration: 3.03
command: 60.0
}
calibration {
speed: 9.0
acceleration: 3.09
command: 80.0
}
calibration {
speed: 9.0
acceleration: 3.16
command: 70.0
}
calibration {
speed: 9.0
acceleration: 3.21
command: 70.0
}
calibration {
speed: 9.2
acceleration: -9.34
command: -35.0
}
calibration {
speed: 9.2
acceleration: -7.67
command: -33.0
}
calibration {
speed: 9.2
acceleration: -4.69
command: -30.0
}
calibration {
speed: 9.2
acceleration: -2.61
command: -27.0
}
calibration {
speed: 9.2
acceleration: -1.85
command: -25.0
}
calibration {
speed: 9.2
acceleration: -0.71
command: -22.0
}
calibration {
speed: 9.2
acceleration: -0.39
command: -20.0
}
calibration {
speed: 9.2
acceleration: -0.28
command: -15.0
}
calibration {
speed: 9.2
acceleration: -0.27
command: 15.0
}
calibration {
speed: 9.2
acceleration: -0.26
command: -17.0
}
calibration {
speed: 9.2
acceleration: -0.21
command: -13.0
}
calibration {
speed: 9.2
acceleration: -0.17
command: 17.0
}
calibration {
speed: 9.2
acceleration: -0.08
command: 20.0
}
calibration {
speed: 9.2
acceleration: 0.1
command: 22.0
}
calibration {
speed: 9.2
acceleration: 0.34
command: 25.0
}
calibration {
speed: 9.2
acceleration: 0.56
command: 27.0
}
calibration {
speed: 9.2
acceleration: 0.87
command: 30.0
}
calibration {
speed: 9.2
acceleration: 1.44
command: 35.0
}
calibration {
speed: 9.2
acceleration: 1.86
command: 40.0
}
calibration {
speed: 9.2
acceleration: 2.05
command: 45.0
}
calibration {
speed: 9.2
acceleration: 2.3
command: 50.0
}
calibration {
speed: 9.2
acceleration: 2.65
command: 55.0
}
calibration {
speed: 9.2
acceleration: 3.02
command: 60.0
}
calibration {
speed: 9.2
acceleration: 3.05
command: 80.0
}
calibration {
speed: 9.2
acceleration: 3.17
command: 75.0
}
calibration {
speed: 9.2
acceleration: 3.18
command: 70.0
}
calibration {
speed: 9.2
acceleration: 3.2
command: 65.0
}
calibration {
speed: 9.4
acceleration: -9.37
command: -35.0
}
calibration {
speed: 9.4
acceleration: -7.76
command: -33.0
}
calibration {
speed: 9.4
acceleration: -4.65
command: -30.0
}
calibration {
speed: 9.4
acceleration: -2.66
command: -27.0
}
calibration {
speed: 9.4
acceleration: -1.87
command: -25.0
}
calibration {
speed: 9.4
acceleration: -0.73
command: -22.0
}
calibration {
speed: 9.4
acceleration: -0.37
command: -20.0
}
calibration {
speed: 9.4
acceleration: -0.31
command: 15.0
}
calibration {
speed: 9.4
acceleration: -0.26
command: -15.0
}
calibration {
speed: 9.4
acceleration: -0.24
command: -15.0
}
calibration {
speed: 9.4
acceleration: -0.16
command: 17.0
}
calibration {
speed: 9.4
acceleration: -0.1
command: 20.0
}
calibration {
speed: 9.4
acceleration: 0.1
command: 22.0
}
calibration {
speed: 9.4
acceleration: 0.38
command: 25.0
}
calibration {
speed: 9.4
acceleration: 0.53
command: 27.0
}
calibration {
speed: 9.4
acceleration: 0.8
command: 30.0
}
calibration {
speed: 9.4
acceleration: 1.38
command: 35.0
}
calibration {
speed: 9.4
acceleration: 1.82
command: 40.0
}
calibration {
speed: 9.4
acceleration: 2.04
command: 45.0
}
calibration {
speed: 9.4
acceleration: 2.28
command: 50.0
}
calibration {
speed: 9.4
acceleration: 2.6
command: 55.0
}
calibration {
speed: 9.4
acceleration: 2.99
command: 60.0
}
calibration {
speed: 9.4
acceleration: 3.02
command: 80.0
}
calibration {
speed: 9.4
acceleration: 3.15
command: 75.0
}
calibration {
speed: 9.4
acceleration: 3.19
command: 70.0
}
calibration {
speed: 9.4
acceleration: 3.2
command: 65.0
}
calibration {
speed: 9.6
acceleration: -9.36
command: -35.0
}
calibration {
speed: 9.6
acceleration: -7.87
command: -33.0
}
calibration {
speed: 9.6
acceleration: -4.56
command: -30.0
}
calibration {
speed: 9.6
acceleration: -2.68
command: -27.0
}
calibration {
speed: 9.6
acceleration: -1.88
command: -25.0
}
calibration {
speed: 9.6
acceleration: -0.73
command: -22.0
}
calibration {
speed: 9.6
acceleration: -0.38
command: -20.0
}
calibration {
speed: 9.6
acceleration: -0.29
command: 15.0
}
calibration {
speed: 9.6
acceleration: -0.28
command: -15.0
}
calibration {
speed: 9.6
acceleration: -0.27
command: -13.0
}
calibration {
speed: 9.6
acceleration: -0.26
command: -17.0
}
calibration {
speed: 9.6
acceleration: -0.2
command: 17.0
}
calibration {
speed: 9.6
acceleration: -0.07
command: 20.0
}
calibration {
speed: 9.6
acceleration: 0.09
command: 22.0
}
calibration {
speed: 9.6
acceleration: 0.34
command: 25.0
}
calibration {
speed: 9.6
acceleration: 0.53
command: 27.0
}
calibration {
speed: 9.6
acceleration: 0.8
command: 30.0
}
calibration {
speed: 9.6
acceleration: 1.36
command: 35.0
}
calibration {
speed: 9.6
acceleration: 1.79
command: 40.0
}
calibration {
speed: 9.6
acceleration: 2.01
command: 45.0
}
calibration {
speed: 9.6
acceleration: 2.25
command: 50.0
}
calibration {
speed: 9.6
acceleration: 2.57
command: 55.0
}
calibration {
speed: 9.6
acceleration: 2.98
command: 60.0
}
calibration {
speed: 9.6
acceleration: 2.99
command: 80.0
}
calibration {
speed: 9.6
acceleration: 3.15
command: 75.0
}
calibration {
speed: 9.6
acceleration: 3.2
command: 70.0
}
calibration {
speed: 9.6
acceleration: 3.21
command: 65.0
}
calibration {
speed: 9.8
acceleration: -9.31
command: -35.0
}
calibration {
speed: 9.8
acceleration: -7.97
command: -33.0
}
calibration {
speed: 9.8
acceleration: -4.51
command: -30.0
}
calibration {
speed: 9.8
acceleration: -2.67
command: -27.0
}
calibration {
speed: 9.8
acceleration: -1.9
command: -25.0
}
calibration {
speed: 9.8
acceleration: -0.73
command: -22.0
}
calibration {
speed: 9.8
acceleration: -0.39
command: -20.0
}
calibration {
speed: 9.8
acceleration: -0.28
command: -14.0
}
calibration {
speed: 9.8
acceleration: -0.27
command: -17.0
}
calibration {
speed: 9.8
acceleration: -0.24
command: 15.0
}
calibration {
speed: 9.8
acceleration: -0.22
command: 17.0
}
calibration {
speed: 9.8
acceleration: -0.13
command: 20.0
}
calibration {
speed: 9.8
acceleration: 0.08
command: 22.0
}
calibration {
speed: 9.8
acceleration: 0.34
command: 25.0
}
calibration {
speed: 9.8
acceleration: 0.5
command: 27.0
}
calibration {
speed: 9.8
acceleration: 0.78
command: 30.0
}
calibration {
speed: 9.8
acceleration: 1.35
command: 35.0
}
calibration {
speed: 9.8
acceleration: 1.76
command: 40.0
}
calibration {
speed: 9.8
acceleration: 1.97
command: 45.0
}
calibration {
speed: 9.8
acceleration: 2.21
command: 50.0
}
calibration {
speed: 9.8
acceleration: 2.55
command: 55.0
}
calibration {
speed: 9.8
acceleration: 2.96
command: 60.0
}
calibration {
speed: 9.8
acceleration: 2.98
command: 80.0
}
calibration {
speed: 9.8
acceleration: 3.15
command: 75.0
}
calibration {
speed: 9.8
acceleration: 3.2
command: 70.0
}
calibration {
speed: 9.8
acceleration: 3.21
command: 65.0
}
calibration {
speed: 10.0
acceleration: -9.18
command: -35.0
}
calibration {
speed: 10.0
acceleration: -8.04
command: -33.0
}
calibration {
speed: 10.0
acceleration: -4.75
command: -30.0
}
calibration {
speed: 10.0
acceleration: -2.65
command: -27.0
}
calibration {
speed: 10.0
acceleration: -1.92
command: -25.0
}
calibration {
speed: 10.0
acceleration: -0.75
command: -22.0
}
calibration {
speed: 10.0
acceleration: -0.36
command: -20.0
}
calibration {
speed: 10.0
acceleration: -0.29
command: -13.0
}
calibration {
speed: 10.0
acceleration: -0.27
command: -15.0
}
calibration {
speed: 10.0
acceleration: -0.25
command: 15.0
}
calibration {
speed: 10.0
acceleration: -0.24
command: -17.0
}
calibration {
speed: 10.0
acceleration: -0.21
command: 17.0
}
calibration {
speed: 10.0
acceleration: -0.08
command: 20.0
}
calibration {
speed: 10.0
acceleration: 0.08
command: 22.0
}
calibration {
speed: 10.0
acceleration: 0.32
command: 25.0
}
calibration {
speed: 10.0
acceleration: 0.49
command: 27.0
}
calibration {
speed: 10.0
acceleration: 0.75
command: 30.0
}
calibration {
speed: 10.0
acceleration: 1.3
command: 35.0
}
calibration {
speed: 10.0
acceleration: 1.71
command: 40.0
}
calibration {
speed: 10.0
acceleration: 1.92
command: 45.0
}
calibration {
speed: 10.0
acceleration: 2.17
command: 50.0
}
calibration {
speed: 10.0
acceleration: 2.53
command: 55.0
}
calibration {
speed: 10.0
acceleration: 2.94
command: 60.0
}
calibration {
speed: 10.0
acceleration: 2.99
command: 80.0
}
calibration {
speed: 10.0
acceleration: 3.14
command: 75.0
}
calibration {
speed: 10.0
acceleration: 3.19
command: 70.0
}
calibration {
speed: 10.0
acceleration: 3.21
command: 65.0
}
}
}
| 0
|
apollo_public_repos/apollo/modules/calibration/data/mkz_example
|
apollo_public_repos/apollo/modules/calibration/data/mkz_example/gnss_params/ant_imu_leverarm.yaml
|
#carid:mkz058
#set primary if single-antenna;set both primary and secondary if dual-antenna.
leverarm:
primary:
offset:
x: -0.5016
y: 0.5334
z: 0.8763
uncertainty:
x: 0.05
y: 0.05
z: 0.05
secondary:
offset:
x: 0.5461
y: 0.5334
z: 0.8763
uncertainty:
x: 0.05
y: 0.05
z: 0.05
| 0
|
apollo_public_repos/apollo/modules/calibration/data/mkz_example
|
apollo_public_repos/apollo/modules/calibration/data/mkz_example/gnss_params/gnss_conf.pb.txt
|
data {
format: NOVATEL_BINARY
serial {
device: "/dev/novatel0"
baud_rate: 115200
}
}
rtk_from {
format: RTCM_V3
ntrip {
address: "<IP>"
port: <PORT>
mount_point: "<MOUNTPOINT>"
user: "<USER>"
password: "<PASSWORD>"
timeout_s: 5
}
push_location: true
}
rtk_to {
format: NOVATEL_BINARY
serial {
device: "/dev/novatel1"
baud_rate: 115200
}
}
command {
format: NOVATEL_BINARY
serial {
device: "/dev/novatel2"
baud_rate: 115200
}
}
rtk_solution_type: RTK_RECEIVER_SOLUTION
imu_type: ADIS16488
proj4_text: "+proj=utm +zone=10 +ellps=WGS84 +towgs84=0,0,0,0,0,0,0 +units=m +no_defs"
tf {
frame_id: "world"
child_frame_id: "novatel"
}
# If given, the driver will send velocity info into novatel one time per second
wheel_parameters: "SETWHEELPARAMETERS 100 1 1\r\n"
gpsbin_folder: "/apollo/data/gpsbin"
# login_commands: "UNLOGALL THISPORT\r\n"
# login_commands: "SETIMUTOANTOFFSET 0 0.71 1.080 0.05 0.05 0.08\r\n"
# login_commands: "SETINSOFFSET 0 0 0\r\n"
# login_commands: "LOG COM2 GPRMC ONTIME 1.0 0.25\r\n"
# login_commands: "EVENTOUTCONTROL MARK2 ENABLE POSITIVE 999999990 10\r\n"
# login_commands: "EVENTOUTCONTROL MARK1 ENABLE POSITIVE 500000000 500000000\r\n"
# login_commands: "LOG GPGGA ONTIME 1.0\r\n"
# login_commands: "log bestgnssposb ontime 1\r\n"
# login_commands: "log bestgnssvelb ontime 1\r\n"
# login_commands: "log bestposb ontime 1\r\n"
# login_commands: "log INSPVAXB ontime 1\r\n"
# login_commands: "log INSPVASB ontime 0.01\r\n"
# login_commands: "log CORRIMUDATASB ontime 0.01\r\n"
# login_commands: "log RAWIMUSXB ontime 0.01\r\n"
# login_commands: "log mark1pvab onnew\r\n"
# login_commands: "log rangeb ontime 1\r\n"
# login_commands: "log bdsephemerisb\r\n"
# login_commands: "log gpsephemb\r\n"
# login_commands: "log gloephemerisb\r\n"
# login_commands: "log bdsephemerisb ontime 15\r\n"
# login_commands: "log gpsephemb ontime 15\r\n"
# login_commands: "log gloephemerisb ontime 15\r\n"
# login_commands: "log imutoantoffsetsb once\r\n"
# login_commands: "log vehiclebodyrotationb onchanged\r\n"
# logout_commands: "EVENTOUTCONTROL MARK2 DISABLE\r\n"
# logout_commands: "EVENTOUTCONTROL MARK1 DISABLE\r\n"
| 0
|
apollo_public_repos/apollo/modules/calibration/data/mkz_example
|
apollo_public_repos/apollo/modules/calibration/data/mkz_example/camera_conf/camera_short_conf.pb.txt
|
camera_dev: "/dev/camera/obstacle"
frame_id: "camera_short"
pixel_format: "yuyv"
io_method: IO_METHOD_MMAP
width: 1920
height: 1080
frame_rate: 20
monochrome: false
brightness: -1
contrast: -1
saturation: -1
sharpness: -1
gain: -1
auto_focus: false
focus: -1
auto_exposure: true
exposure: 100
auto_white_balance: true
white_balance: 4000
bytes_per_pixel: 2
trigger_internal: 0
trigger_fps: 20
channel_name: "/apollo/sensor/camera/traffic/image_short"
device_wait_ms: 2000
spin_rate: 200
output_type: RGB
compress_conf {
output_channel: "/apollo/sensor/camera/traffic/image_short/compressed"
image_pool_size: 100
}
| 0
|
apollo_public_repos/apollo/modules/calibration/data/mkz_example
|
apollo_public_repos/apollo/modules/calibration/data/mkz_example/camera_conf/camera_front_conf.pb.txt
|
camera_dev: "/dev/camera/lanemark"
frame_id: "camera_lanemark"
pixel_format: "yuyv"
io_method: IO_METHOD_MMAP
width: 1920
height: 1080
frame_rate: 20
monochrome: false
brightness: -1
contrast: -1
saturation: -1
sharpness: -1
gain: -1
auto_focus: false
focus: -1
auto_exposure: true
exposure: 100
auto_white_balance: true
white_balance: 4000
bytes_per_pixel: 2
trigger_internal: 0
trigger_fps: 20
channel_name: "/apollo/sensor/camera/obstacle/front_6mm"
device_wait_ms: 2000
spin_rate: 200
output_type: RGB
compress_conf {
output_channel: "/apollo/sensor/camera/obstacle/front_6mm/compressed"
image_pool_size: 100
}
| 0
|
apollo_public_repos/apollo/modules/calibration/data/mkz_example
|
apollo_public_repos/apollo/modules/calibration/data/mkz_example/camera_conf/camera_right_rear.pb.txt
|
camera_dev: "/dev/camera/right_rear"
frame_id: "camera_right_rear"
pixel_format: "yuyv"
io_method: IO_METHOD_MMAP
width: 1920
height: 1080
frame_rate: 20
monochrome: false
brightness: -1
contrast: -1
saturation: -1
sharpness: -1
gain: -1
auto_focus: false
focus: -1
auto_exposure: true
exposure: 100
auto_white_balance: true
white_balance: 4000
bytes_per_pixel: 2
trigger_internal: 0
trigger_fps: 20
channel_name: "/apollo/sensor/camera/right_rear/image"
device_wait_ms: 2000
spin_rate: 200
output_type: RGB
compress_conf {
output_channel: "/apollo/sensor/camera/right_rear/image/compressed"
image_pool_size: 100
}
| 0
|
apollo_public_repos/apollo/modules/calibration/data/mkz_example
|
apollo_public_repos/apollo/modules/calibration/data/mkz_example/camera_conf/camera_long_conf.pb.txt
|
camera_dev: "/dev/camera/trafficlights"
frame_id: "camera_long"
pixel_format: "yuyv"
io_method: IO_METHOD_MMAP
width: 1920
height: 1080
frame_rate: 20
monochrome: false
brightness: -1
contrast: -1
saturation: -1
sharpness: -1
gain: -1
auto_focus: false
focus: -1
auto_exposure: true
exposure: 100
auto_white_balance: true
white_balance: 4000
bytes_per_pixel: 2
trigger_internal: 0
trigger_fps: 20
channel_name: "/apollo/sensor/camera/traffic/image_long"
device_wait_ms: 2000
spin_rate: 200
output_type: RGB
compress_conf {
output_channel: "/apollo/sensor/camera/traffic/image_long/compressed"
image_pool_size: 100
}
| 0
|
apollo_public_repos/apollo/modules/calibration/data/mkz_example
|
apollo_public_repos/apollo/modules/calibration/data/mkz_example/camera_conf/camera_right_fisheye.pb.txt
|
camera_dev: "/dev/camera/right_fisheye"
frame_id: "camera_right_fisheye"
pixel_format: "yuyv"
io_method: IO_METHOD_MMAP
width: 1920
height: 1080
frame_rate: 20
monochrome: false
brightness: -1
contrast: -1
saturation: -1
sharpness: -1
gain: -1
auto_focus: false
focus: -1
auto_exposure: true
exposure: 100
auto_white_balance: true
white_balance: 4000
bytes_per_pixel: 2
trigger_internal: 0
trigger_fps: 20
channel_name: "/apollo/sensor/camera/right_fisheye/image"
device_wait_ms: 2000
spin_rate: 200
output_type: RGB
compress_conf {
output_channel: "/apollo/sensor/camera/right_fisheye/image/compressed"
image_pool_size: 100
}
| 0
|
apollo_public_repos/apollo/modules/calibration/data/mkz_example
|
apollo_public_repos/apollo/modules/calibration/data/mkz_example/camera_conf/camera_rear_6mm.pb.txt
|
camera_dev: "/dev/camera/rear_6mm"
frame_id: "camera_rear_6mm"
pixel_format: "yuyv"
io_method: IO_METHOD_MMAP
width: 1920
height: 1080
frame_rate: 20
monochrome: false
brightness: -1
contrast: -1
saturation: -1
sharpness: -1
gain: -1
auto_focus: false
focus: -1
auto_exposure: true
exposure: 100
auto_white_balance: true
white_balance: 4000
bytes_per_pixel: 2
trigger_internal: 0
trigger_fps: 20
channel_name: "/apollo/sensor/camera/rear_6mm/image"
device_wait_ms: 2000
spin_rate: 200
output_type: RGB
compress_conf {
output_channel: "/apollo/sensor/camera/rear_6mm/image/compressed"
image_pool_size: 100
}
| 0
|
apollo_public_repos/apollo/modules/calibration/data/mkz_example
|
apollo_public_repos/apollo/modules/calibration/data/mkz_example/camera_conf/camera_left_front.pb.txt
|
camera_dev: "/dev/camera/left_front"
frame_id: "camera_left_front"
pixel_format: "yuyv"
io_method: IO_METHOD_MMAP
width: 1920
height: 1080
frame_rate: 20
monochrome: false
brightness: -1
contrast: -1
saturation: -1
sharpness: -1
gain: -1
auto_focus: false
focus: -1
auto_exposure: true
exposure: 100
auto_white_balance: true
white_balance: 4000
bytes_per_pixel: 2
trigger_internal: 0
trigger_fps: 20
channel_name: "/apollo/sensor/camera/left_front/image"
device_wait_ms: 2000
spin_rate: 200
output_type: RGB
compress_conf {
output_channel: "/apollo/sensor/camera/left_front/image/compressed"
image_pool_size: 100
}
| 0
|
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