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sensors.json
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{
"objects":
[
{
"type": "sensor.pseudo.objects",
"id": "objects"
},
{
"type": "sensor.pseudo.actor_list",
"id": "actor_list"
},
{
"type": "sensor.pseudo.markers",
"id": "markers"
},
{
"type": "sensor.pseudo.opendrive_map",
"id": "carla_map"
},
{
"type": "sensor.pseudo.traffic_lights",
"id": "traffic_lights"
},
{
"type": "vehicle.mercedes.coupe",
"id": "ego_vehicle",
"spawn_point": {"x": 106.5, "y": 5.0, "z": 1.0, "roll": 0.0, "pitch": 0.0, "yaw": 90.0},
"sensors":
[
{
"type": "sensor.camera.rgb",
"id": "rgb_view",
"spawn_point": {"x": -8.0, "y": 0.0, "z": 4.0, "roll": 0.0, "pitch": 20.0, "yaw": 0.0},
"image_size_x": 800,
"image_size_y": 600
},
{
"type": "sensor.camera.rgb",
"id": "rgb_front",
"spawn_point": {"x": 2.0, "y": 0.0, "z": 2.0, "roll": 0.0, "pitch": 0.0, "yaw": 0.0},
"image_size_x": 1024,
"image_size_y": 512
},
{
"type": "sensor.camera.semantic_segmentation",
"id": "semantic_front",
"spawn_point": {"x": 2.0, "y": 0.0, "z": 2.0, "roll": 0.0, "pitch": 0.0, "yaw": 0.0},
"image_size_x": 800,
"image_size_y": 600,
"fov": 90.0
},
{
"type": "sensor.camera.depth",
"id": "depth_front",
"spawn_point": {"x": 2.0, "y": 0.0, "z": 2.0, "roll": 0.0, "pitch": 0.0, "yaw": 0.0},
"image_size_x": 800,
"image_size_y": 600,
"fov": 90.0
},
{
"type": "sensor.lidar.ray_cast",
"id": "lidar",
"spawn_point": {"x": 0.0, "y": 0.0, "z": 2.0, "roll": 0.0, "pitch": 0.0, "yaw": 0.0},
"range": 50,
"channels": 64,
"points_per_second": 640000,
"upper_fov": 2.0,
"lower_fov": -26.8,
"rotation_frequency": 20,
"noise_stddev": 0.0
},
{
"type": "sensor.pseudo.tf",
"id": "tf"
},
{
"type": "sensor.pseudo.objects",
"id": "objects"
},
{
"type": "sensor.pseudo.odom",
"id": "odometry"
},
{
"type": "sensor.pseudo.speedometer",
"id": "speedometer"
},
{
"type": "actor.pseudo.control",
"id": "control"
}
]
},
{
"type": "vehicle.tesla.model3",
"id": "challenger_vehicle",
"spawn_point": {"x": 99.5, "y": 25.0, "z": 1.0, "roll": 0.0, "pitch": 0.0, "yaw": -90.0},
"sensors":
[
{
"type": "sensor.camera.rgb",
"id": "rgb_view",
"spawn_point": {"x": -8.0, "y": 0.0, "z": 4.0, "roll": 0.0, "pitch": 20.0, "yaw": 0.0},
"image_size_x": 800,
"image_size_y": 600
},
{
"type": "sensor.pseudo.tf",
"id": "tf"
},
{
"type": "sensor.pseudo.objects",
"id": "objects"
},
{
"type": "sensor.pseudo.odom",
"id": "odometry"
},
{
"type": "sensor.pseudo.speedometer",
"id": "speedometer"
},
{
"type": "actor.pseudo.control",
"id": "control"
}
]
}
]
}