Apollo 10.0
自动驾驶开放平台
static_transform_conf.pb.txt
浏览该文件的文档.
1extrinsic_file {
2 frame_id: "novatel"
3 child_frame_id: "velodyne64"
4 file_path: "modules/drivers/lidar/velodyne/params/velodyne64_novatel_extrinsics.yaml"
5 enable: true
6}
7
8extrinsic_file {
9 frame_id: "localization"
10 child_frame_id: "novatel"
11 file_path: "modules/localization/msf/params/novatel_localization_extrinsics.yaml"
12 enable: true
13}
14
15extrinsic_file {
16 frame_id: "velodyne64"
17 child_frame_id: "front_6mm"
18 file_path: "modules/perception/data/params/front_6mm_extrinsics.yaml"
19 enable: true
20}
21extrinsic_file {
22 frame_id: "velodyne64"
23 child_frame_id: "front_12mm"
24 file_path: "modules/perception/data/params/front_12mm_extrinsics.yaml"
25 enable: true
26}
27
28extrinsic_file {
29 frame_id: "velodyne64"
30 child_frame_id: "radar_front"
31 file_path: "modules/perception/data/params/radar_front_extrinsics.yaml"
32 enable: true
33}
std::string frame_id
Point cloud frame id