云服务器内容精选

  • Camera相机标定文件模板 标定文件名:“roof_cam_999.yaml” 文件内容示例: Roof_Cam_9: camera_model: pinhole intrinsics: rows: 1 cols: 4 data: - 957.3874 - 960.8491 - 957.7912 - 565.3051 resolution: width: 1020 height: 1920 distortion_model: radtan distortion_coeffs: rows: 1 cols: 5 data: - -0.3152 - 0.1068 - 1.0109e-05 - 0.00014344 - -0.0174 rotation_veh2cam_matrix: rows: 3 cols: 3 data: - -0.9998299042764152 - 0.017818974176046335 - 0.004792519744625967 - -0.0052751312364799794 - -0.027136554579648777 - -0.999617350015897 - -0.01768206109206492 - -0.9994728825361424 - 0.027225960978949772 tanslation_veh2cam_matrix: rows: 3 cols: 1 data: - -0.03155699382111174 - 1.1564462683421137 - 0.5492014802301336 rotation_veh_cam_euler: yaw: 178.97898507859358 pitch: -0.27459237862937325 roll: -88.43985827166519 translation_veh_cam: x: -0.015740166503007778 y: 0.580856341427072 z: 1.1412035414910402 transform_image2veh_matrix: rows: 3 cols: 3 data: [] transform_veh2image_matrix: rows: 3 cols: 4 data: - -973.6528713841998 - -939.7369315451515 - 30.649111295873002 - 495.5498232950973 - -15.049594426539091 - -590.5017166128401 - -944.1638507975063 - 1420.2429138739958 - -0.01768206109206492 - -0.9994728825361424 - 0.027225960978949772 - 0.5492014802301336 timeshift_cam_veh: 0.0
  • Lidar激光雷达标定文件模板 标定文件名:“lidar_right_999.yaml” 文件内容示例: Pandar40: rotation_vel2veh_matrix: rows: 3 cols: 3 data: [0.999365,0.0349167,0.00707821,-0.034795,0.999256,-0.0166374,-0.00765387,0.0163806,0.999837] tanslation_vel2veh_vector: rows: 3 cols: 1 data: [0.00915069,1.34196,1.38] rotation_veh_vel_euler: yaw: -1.9940678960476272 pitch: 0.43853880056948835 roll: 0.9386082809708912 translation_veh_vel: x: 0.00915069 y: 1.34196 z: 1.38 timeshift_vel_veh: 0.000000000
  • Vehicle车辆标定文件模板 标定文件名:“车辆自身参数.yaml” 文件内容示例: # The vehicle config vehicle: # basic mass: #质量 # Body front_track: #m前轮距 rear_track: #m后轮距 wheelbase: #m轴距 height: #m高度 width: #m宽度 length: #m长度 rear_distance: #m后轴到车尾距离 front_distance: #m后轴到车头距离 x_CoG: #m前轴到重心距离,x方向 y_CoG: #m中心到重心距离,y方向 z_CoG: #m地面到重心距离,z方向 # Wheel and brake wheel_radius: #m车轮半径 # Steering min_steering_angle: #rad车轮最小转向角度,弧度 max_steering_angle: #rad车轮最大转向角度,弧度 min_steering_wheel_angle: #rad方向盘最小转向角度,弧度 max_steering_wheel_angle: #rad方向盘最大转向角度,弧度 max_steering_wheel_speed: #rad/s方向盘最大转速 steering_zero_bias: #rad初始位置偏移量 # Powertrain max_speed: #m/s最大速度 max_reversing_speed: #m/s最大倒车速度 max_deceleration: #最大减速度 max_acceleration: #最大加速度 rpm_idle: #r/min引擎空闲状态转速 rpm_change: #r/min换挡时引擎转速 rpm_max: # r/min引擎最大转速 engine_power_max: #watt引擎最大功率 # Transmission main_ratio: #主减速器比率 gear_ratio_drive: #驾驶模式传动比率 gear_ratio_reverse: #倒车模式传动比率 # Coefficient lambda: #等效质量乘数,需大于1 Cd: #空气阻力系数 # default lane params lane_width_default: #车道宽度 lane_width_margin: #车道边线宽度 safe_avoid_distance: #m安全边线距离 #localizaition loc: yaw_offset: