README

目录

• calibration
  • Introduction
  • Directory Structure
  • Naming rules
  • Configuration
  • 文档意见反馈

calibration

Introduction

Apollo currently supports the following vehicle models by default. You can select different vehicle models in HMI mode and run the Apollo autonomous driving module by playing records.

• kitti_140 - KITTI dataset collection vehicle
• mkz_121 - vehicle for test
• mkz_example - vehicle for simulation
• mkz_lgsvl_321 - vehicle for lgsvl simulation
• nuscenes_165 - nuScenes dataset collection vehicle

Directory Structure

modules/calibration/
├── BUILD
├── cyberfile.xml
├── data
│   ├── kitti_140
│   ├── mkz_121
│   ├── mkz_example
│   ├── mkz_lgsvl_321
│   └── nuscenes_165
└── README.md

Naming rules

vehicle model = vehicle name + _ + lidar_num + camera_num + radar_num. For example

kitti_140
 
kitti // vehicle name
1     // 1 lidar
4     // 4 camera
0     // 0 radar

Configuration

Different autonomous vehicles have different sensor types, numbers, and installation locations, also have different dynamic parameters.

For a well functioning vehicle, generally you need the following configs.

mkz_121
├── camera_params
├── gnss_params           # Params for GNSS
├── lidar_params          # Params for lidar
├── novatel_localization_extrinsics.yaml
├── perception_conf
├── perception_dag
├── radar_params
├── transform_conf
├── vehicle_param.pb.txt   # Instance of apollo.common.VehicleParam
└── vehicle_params

‍Need add control params like "calibration_table.pb.txt"

文档意见反馈

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