Apollo 10.0
自动驾驶开放平台
hslidar.pb.txt
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2 scan_channel: "/apollo/sensor/hesaiAT128/Scan"
3 point_cloud_channel: "/apollo/sensor/hesaiAT128/PointCloud2"
4 frame_id: "hesai_AT128"
5
6 # sample ONLINE_LIDAR, RAW_PACKET
7 source_type: ONLINE_LIDAR
8}
9
10udp_port: 2368
11ptc_port: 9347
12device_ip: "192.168.1.12"
13host_ip: "0.0.0.0"
14correction_file_path: "modules/drivers/lidar/hslidar/correction/angle_correction/AT128_test_angle_correction.dat"
15firetimes_path: "modules/drivers/lidar/hslidar/correction/firetime_correction/AT128_test_firetime_correction.dat"
16source_type: 1 # The type of data source, 1: real-time lidar connection, 2: pcap, 3: from apollo record
17pcap_path: "/media/apollo_record/at128/0205.pcap"
18frame_start_azimuth: -1
19convert_thread_nums: 2
20
21# AT128 AT128E2X AT128E3X Pandar128E3X Pandar128 Pandar40S Pandar40E3X
22# Pandar60S Pandar64E3X Pandar90 Pandar90E3X PandarXT
23# PandarXT16 PandarXT-16
24# PandarXT32 PandarXT-32
25# PandarXTM XT32M2X
26# PandarQT
27# PandarQT128 QT128C2X
28# Pandar64
29# Pandar40 Pandar40P
30# PandarFT120 FT120C1X
31# ET25-E1X
32# ET25-E2X ET25 ET
33lidar_type: "AT128"
config_base
Definition hslidar.pb.txt:2
class register implement
Definition arena_queue.h:37