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add camear and lidar config files for dev_kit
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SeasoulChris authored and xiaoxq committed Jan 3, 2020
1 parent bf37ee5 commit 66fb868
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Showing 12 changed files with 216 additions and 4 deletions.
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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

compress_conf {
output_channel: "/apollo/sensor/camera/front_12mm/image/compressed"
image_pool_size: 100
}
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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

compress_conf {
output_channel: "/apollo/sensor/camera/front_6mm/image/compressed"
image_pool_size: 100
}
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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
Original file line number Diff line number Diff line change
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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
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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
Original file line number Diff line number Diff line change
@@ -0,0 +1,21 @@
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
Original file line number Diff line number Diff line change
@@ -1,9 +1,9 @@
can_conf {

can_card_parameter {
brand:HERMES_CAN
brand: SOCKET_CAN_RAW
type: PCI_CARD
channel_id: CHANNEL_ID_TWO
channel_id: CHANNEL_ID_ONE
}

enable_debug_mode: false
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world_frame_id: "world"
transform_query_timeout: 0.02
output_channel: "/apollo/sensor/lidar16/compensator/PointCloud2"
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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
Original file line number Diff line number Diff line change
@@ -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"
Original file line number Diff line number Diff line change
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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

Original file line number Diff line number Diff line change
Expand Up @@ -4,7 +4,7 @@ header:
nsecs: 0
seq: 0
frame_id: novatel
child_frame_id: velodyne16
child_frame_id: velodyne128
transform:
rotation:
x: 0.01338618416274146
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