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behavior_metrics/configs/CARLA_launch_files/CARLA_object_files/main_car_custom_camera.json
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|---|---|---|
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| { | ||
| "objects": | ||
| [ | ||
| { | ||
| "type": "sensor.pseudo.traffic_lights", | ||
| "id": "traffic_lights" | ||
| }, | ||
| { | ||
| "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": "map" | ||
| }, | ||
| { | ||
| "type": "vehicle.tesla.model3", | ||
| "id": "ego_vehicle", | ||
| "sensors": | ||
| [ | ||
| { | ||
| "type": "sensor.camera.rgb", | ||
| "id": "rgb_front", | ||
| "spawn_point": {"x": 1.5, "y": 0.0, "z": 2.4, "roll": 0.0, "pitch": 0.0, "yaw": 0.0}, | ||
| "image_size_x": 288, | ||
| "image_size_y": 200, | ||
| "fov": 90.0 | ||
| }, | ||
| { | ||
| "type": "sensor.camera.rgb", | ||
| "id": "rgb_view", | ||
| "spawn_point": {"x": -4.5, "y": 0.0, "z": 2.8, "roll": 0.0, "pitch": 20.0, "yaw": 0.0}, | ||
| "image_size_x": 800, | ||
| "image_size_y": 600, | ||
| "fov": 90.0, | ||
| "attached_objects": | ||
| [ | ||
| { | ||
| "type": "actor.pseudo.control", | ||
| "id": "control" | ||
| } | ||
| ] | ||
| }, | ||
| { | ||
| "type": "sensor.lidar.ray_cast", | ||
| "id": "lidar", | ||
| "spawn_point": {"x": 0.0, "y": 0.0, "z": 2.4, "roll": 0.0, "pitch": 0.0, "yaw": 0.0}, | ||
| "range": 50, | ||
| "channels": 32, | ||
| "points_per_second": 320000, | ||
| "upper_fov": 2.0, | ||
| "lower_fov": -26.8, | ||
| "rotation_frequency": 20, | ||
| "noise_stddev": 0.0 | ||
| }, | ||
| { | ||
| "type": "sensor.lidar.ray_cast_semantic", | ||
| "id": "semantic_lidar", | ||
| "spawn_point": {"x": 0.0, "y": 0.0, "z": 2.4, "roll": 0.0, "pitch": 0.0, "yaw": 0.0}, | ||
| "range": 50, | ||
| "channels": 32, | ||
| "points_per_second": 320000, | ||
| "upper_fov": 2.0, | ||
| "lower_fov": -26.8, | ||
| "rotation_frequency": 20 | ||
| }, | ||
| { | ||
| "type": "sensor.other.radar", | ||
| "id": "radar_front", | ||
| "spawn_point": {"x": 2.0, "y": 0.0, "z": 2.0, "roll": 0.0, "pitch": 0.0, "yaw": 0.0}, | ||
| "horizontal_fov": 30.0, | ||
| "vertical_fov": 10.0, | ||
| "points_per_second": 1500, | ||
| "range": 100.0 | ||
| }, | ||
| { | ||
| "type": "sensor.camera.semantic_segmentation", | ||
| "id": "semantic_segmentation_front", | ||
| "spawn_point": {"x": 1.5, "y": 0.0, "z": 2.4, "roll": 0.0, "pitch": 0.0, "yaw": 0.0}, | ||
| "fov": 90.0, | ||
| "image_size_x": 288, | ||
| "image_size_y": 200 | ||
| }, | ||
| { | ||
| "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}, | ||
| "fov": 90.0, | ||
| "image_size_x": 400, | ||
| "image_size_y": 70 | ||
| }, | ||
| { | ||
| "type": "sensor.camera.dvs", | ||
| "id": "dvs_front", | ||
| "spawn_point": {"x": 2.0, "y": 0.0, "z": 2.0, "roll": 0.0, "pitch": 0.0, "yaw": 0.0}, | ||
| "fov": 90.0, | ||
| "image_size_x": 400, | ||
| "image_size_y": 70, | ||
| "positive_threshold": 0.3, | ||
| "negative_threshold": 0.3, | ||
| "sigma_positive_threshold": 0.0, | ||
| "sigma_negative_threshold": 0.0, | ||
| "use_log": true, | ||
| "log_eps": 0.001 | ||
| }, | ||
| { | ||
| "type": "sensor.other.gnss", | ||
| "id": "gnss", | ||
| "spawn_point": {"x": 1.0, "y": 0.0, "z": 2.0}, | ||
| "noise_alt_stddev": 0.0, "noise_lat_stddev": 0.0, "noise_lon_stddev": 0.0, | ||
| "noise_alt_bias": 0.0, "noise_lat_bias": 0.0, "noise_lon_bias": 0.0 | ||
| }, | ||
| { | ||
| "type": "sensor.other.imu", | ||
| "id": "imu", | ||
| "spawn_point": {"x": 2.0, "y": 0.0, "z": 2.0, "roll": 0.0, "pitch": 0.0, "yaw": 0.0}, | ||
| "noise_accel_stddev_x": 0.0, "noise_accel_stddev_y": 0.0, "noise_accel_stddev_z": 0.0, | ||
| "noise_gyro_stddev_x": 0.0, "noise_gyro_stddev_y": 0.0, "noise_gyro_stddev_z": 0.0, | ||
| "noise_gyro_bias_x": 0.0, "noise_gyro_bias_y": 0.0, "noise_gyro_bias_z": 0.0 | ||
| }, | ||
| { | ||
| "type": "sensor.other.collision", | ||
| "id": "collision", | ||
| "spawn_point": {"x": 0.0, "y": 0.0, "z": 0.0} | ||
| }, | ||
| { | ||
| "type": "sensor.other.lane_invasion", | ||
| "id": "lane_invasion", | ||
| "spawn_point": {"x": 0.0, "y": 0.0, "z": 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" | ||
| } | ||
| ] | ||
| } | ||
| ] | ||
| } | ||
|
|