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add camear and lidar config files for dev_kit
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32 changes: 32 additions & 0 deletions
32
modules/calibration/data/dev_kit/camera_conf/camera_front_12mm.pb.txt
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camera_dev: "/dev/camera/front_12mm" | ||
frame_id: "camera_front_12mm" | ||
pixel_format: "yuyv" | ||
io_method: IO_METHOD_MMAP | ||
width: 1920 | ||
height: 1080 | ||
frame_rate: 15 | ||
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: 15 | ||
channel_name: "/apollo/sensor/camera/front_12mm/image" | ||
device_wait_ms: 2000 | ||
spin_rate: 200 | ||
output_type: RGB | ||
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compress_conf { | ||
output_channel: "/apollo/sensor/camera/front_12mm/image/compressed" | ||
image_pool_size: 100 | ||
} |
32 changes: 32 additions & 0 deletions
32
modules/calibration/data/dev_kit/camera_conf/camera_front_6mm.pb.txt
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camera_dev: "/dev/camera/front_6mm" | ||
frame_id: "camera_front_6mm" | ||
pixel_format: "yuyv" | ||
io_method: IO_METHOD_MMAP | ||
width: 1920 | ||
height: 1080 | ||
frame_rate: 15 | ||
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: 15 | ||
channel_name: "/apollo/sensor/camera/front_6mm/image" | ||
device_wait_ms: 2000 | ||
spin_rate: 200 | ||
output_type: RGB | ||
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compress_conf { | ||
output_channel: "/apollo/sensor/camera/front_6mm/image/compressed" | ||
image_pool_size: 100 | ||
} |
17 changes: 17 additions & 0 deletions
17
modules/calibration/data/dev_kit/camera_params/front_12mm_extrinsics.yaml
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header: | ||
frame_id: velodyne128 | ||
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: -0.64 |
21 changes: 21 additions & 0 deletions
21
modules/calibration/data/dev_kit/camera_params/front_12mm_intrinsics.yaml
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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 |
17 changes: 17 additions & 0 deletions
17
modules/calibration/data/dev_kit/camera_params/front_6mm_extrinsics.yaml
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header: | ||
seq: 0 | ||
frame_id: velodyne128 | ||
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: -0.64 |
21 changes: 21 additions & 0 deletions
21
modules/calibration/data/dev_kit/camera_params/front_6mm_intrinsics.yaml
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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 |
4 changes: 2 additions & 2 deletions
4
modules/calibration/data/dev_kit/cancard_params/conti_radar_conf.pb.txt
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3 changes: 3 additions & 0 deletions
3
modules/calibration/data/dev_kit/velodyne_conf/velodyne16_compensator.pb.txt
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world_frame_id: "world" | ||
transform_query_timeout: 0.02 | ||
output_channel: "/apollo/sensor/lidar16/compensator/PointCloud2" |
18 changes: 18 additions & 0 deletions
18
modules/calibration/data/dev_kit/velodyne_conf/velodyne16_conf.pb.txt
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frame_id: "velodyne128" | ||
scan_channel: "/apollo/sensor/lidar16/Scan" | ||
rpm: 600.0 | ||
model: VLP16 | ||
mode: STRONGEST | ||
prefix_angle: 18000 | ||
firing_data_port: 2369 | ||
positioning_data_port: 8309 | ||
use_sensor_sync: false | ||
max_range: 100.0 | ||
min_range: 0.9 | ||
use_gps_time: true | ||
calibration_online: false | ||
calibration_file: "/apollo/modules/drivers/velodyne/params/VLP16_calibration.yaml" | ||
organized: false | ||
convert_channel_name: "/apollo/sensor/lidar16/PointCloud2" | ||
use_poll_sync: true | ||
is_main_frame: true |
2 changes: 1 addition & 1 deletion
2
modules/calibration/data/dev_kit/velodyne_conf/velodyne16_fusion_compensator.pb.txt
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@@ -1,3 +1,3 @@ | ||
world_frame_id: "world" | ||
transform_query_timeout: 0.02 | ||
output_channel: "/apollo/sensor/lidar16/fusion/compensator/PointCloud2" | ||
output_channel: "/apollo/sensor/lidar16/compensator/PointCloud2" |
51 changes: 51 additions & 0 deletions
51
modules/calibration/data/dev_kit/velodyne_params/VLP16_calibration.yaml
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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 | ||
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