Apollo 10.0
自动驾驶开放平台
HDL32E_calibration_example.yaml
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1lasers:
2- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
3 focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 0, max_intensity: 255,
4 min_intensity: 0, rot_correction: -0.024434609527920613, vert_correction: -0.4363323129985824,
5 vert_offset_correction: 0.0}
6- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
7 focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 1, max_intensity: 255,
8 min_intensity: 0, rot_correction: 0.07330382858376185, vert_correction: -0.017453292519943295,
9 vert_offset_correction: 0.0}
10- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
11 focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 2, max_intensity: 255,
12 min_intensity: 0, rot_correction: -0.024434609527920613, vert_correction: -0.029094638630745476,
13 vert_offset_correction: 0.0}
14- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
15 focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 3, max_intensity: 255,
16 min_intensity: 0, rot_correction: 0.024434609527920613, vert_correction: -0.2729520417193932,
17 vert_offset_correction: 0.0}
18- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
19 focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 4, max_intensity: 255,
20 min_intensity: 0, rot_correction: -0.024434609527920613, vert_correction: -0.19739673840055869,
21 vert_offset_correction: 0.0}
22- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
23 focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 5, max_intensity: 255,
24 min_intensity: 0, rot_correction: 0.024434609527920613, vert_correction: 0.0, vert_offset_correction: 0.0}
25- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
26 focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 6, max_intensity: 255,
27 min_intensity: 0, rot_correction: -0.07330382858376185, vert_correction: -0.011641346110802179,
28 vert_offset_correction: 0.0}
29- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
30 focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 7, max_intensity: 255,
31 min_intensity: 0, rot_correction: 0.024434609527920613, vert_correction: -0.15433946575385857,
32 vert_offset_correction: 0.0}
33- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
34 focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 8, max_intensity: 255,
35 min_intensity: 0, rot_correction: -0.024434609527920613, vert_correction: -0.12660618393966866,
36 vert_offset_correction: 0.0}
37- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
38 focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 9, max_intensity: 255,
39 min_intensity: 0, rot_correction: 0.07330382858376185, vert_correction: 0.005811946409141118,
40 vert_offset_correction: 0.0}
41- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
42 focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 10, max_intensity: 255,
43 min_intensity: 0, rot_correction: -0.024434609527920613, vert_correction: -0.005811946409141118,
44 vert_offset_correction: 0.0}
45- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
46 focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 11, max_intensity: 255,
47 min_intensity: 0, rot_correction: 0.024434609527920613, vert_correction: -0.10730284241261137,
48 vert_offset_correction: 0.0}
49- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
50 focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 12, max_intensity: 255,
51 min_intensity: 0, rot_correction: -0.07330382858376185, vert_correction: -0.0930784090088576,
52 vert_offset_correction: 0.0}
53- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
54 focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 13, max_intensity: 255,
55 min_intensity: 0, rot_correction: 0.024434609527920613, vert_correction: 0.02326523892908441,
56 vert_offset_correction: 0.0}
57- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
58 focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 14, max_intensity: 255,
59 min_intensity: 0, rot_correction: -0.07330382858376185, vert_correction: 0.011641346110802179,
60 vert_offset_correction: 0.0}
61- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
62 focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 15, max_intensity: 255,
63 min_intensity: 0, rot_correction: 0.024434609527920613, vert_correction: -0.06981317007977318,
64 vert_offset_correction: 0.0}
65- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
66 focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 16, max_intensity: 255,
67 min_intensity: 0, rot_correction: -0.024434609527920613, vert_correction: -0.08145451619057535,
68 vert_offset_correction: 0.0}
69- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
70 focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 17, max_intensity: 255,
71 min_intensity: 0, rot_correction: 0.07330382858376185, vert_correction: 0.029094638630745476,
72 vert_offset_correction: 0.0}
73- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
74 focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 18, max_intensity: 255,
75 min_intensity: 0, rot_correction: -0.024434609527920613, vert_correction: 0.017453292519943295,
76 vert_offset_correction: 0.0}
77- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
78 focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 19, max_intensity: 255,
79 min_intensity: 0, rot_correction: 0.07330382858376185, vert_correction: -0.06400122367063206,
80 vert_offset_correction: 0.0}
81- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
82 focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 20, max_intensity: 255,
83 min_intensity: 0, rot_correction: -0.07330382858376185, vert_correction: -0.058171823968971005,
84 vert_offset_correction: 0.0}
85- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
86 focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 21, max_intensity: 255,
87 min_intensity: 0, rot_correction: 0.024434609527920613, vert_correction: 0.058171823968971005,
88 vert_offset_correction: 0.0}
89- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
90 focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 22, max_intensity: 255,
91 min_intensity: 0, rot_correction: -0.024434609527920613, vert_correction: 0.04071853144902771,
92 vert_offset_correction: 0.0}
93- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
94 focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 23, max_intensity: 255,
95 min_intensity: 0, rot_correction: 0.024434609527920613, vert_correction: -0.04654793115068877,
96 vert_offset_correction: 0.0}
97- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
98 focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 24, max_intensity: 255,
99 min_intensity: 0, rot_correction: -0.024434609527920613, vert_correction: -0.05235987755982989,
100 vert_offset_correction: 0.0}
101- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
102 focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 25, max_intensity: 255,
103 min_intensity: 0, rot_correction: 0.024434609527920613, vert_correction: 0.12217304763960307,
104 vert_offset_correction: 0.0}
105- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
106 focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 26, max_intensity: 255,
107 min_intensity: 0, rot_correction: -0.024434609527920613, vert_correction: 0.08145451619057535,
108 vert_offset_correction: 0.0}
109- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
110 focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 27, max_intensity: 255,
111 min_intensity: 0, rot_correction: 0.07330382858376185, vert_correction: -0.04071853144902771,
112 vert_offset_correction: 0.0}
113- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
114 focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 28, max_intensity: 255,
115 min_intensity: 0, rot_correction: -0.07330382858376185, vert_correction: -0.03490658503988659,
116 vert_offset_correction: 0.0}
117- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
118 focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 29, max_intensity: 255,
119 min_intensity: 0, rot_correction: 0.024434609527920613, vert_correction: 0.2617993877991494,
120 vert_offset_correction: 0.0}
121- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
122 focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 30, max_intensity: 255,
123 min_intensity: 0, rot_correction: -0.024434609527920613, vert_correction: 0.18034487160857407,
124 vert_offset_correction: 0.0}
125- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
126 focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 31, max_intensity: 255,
127 min_intensity: 0, rot_correction: 0.024434609527920613, vert_correction: -0.02326523892908441,
128 vert_offset_correction: 0.0}
129num_lasers: 32