pacsim/config/perception.yaml at 8e7b7a40083a0bfb41299b21c7678327c50a6939 · PacSim/pacsim · GitHub

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perception_sensors:
  - sensor:
    name: "livox_front"
    enabled: true
    rate: 10
    delay:
      mean: 0.2
    pose:
      position: [0.0,0.0,0.0]
      orientation: [0.0,0.0,0.0]
    observation:
      min_range: 1
      max_range: 20
      min_angle_horizontal: -1.0472
      max_angle_horizontal: 1.0472
      min_angle_vertical: -0.2181662
      max_angle_vertical: 0.2181662

    detection:
      prob_min_dist: 0.99
      prob_decrease_dist_linear: 0.001
      prob_decrease_dist_quadratic: 0.000012
      min_prob: 0.1

    classification:
      max_dist: 15
      prob_min_dist: 0.99
      prob_decrease_dist_linear: 0.01
      prob_decrease_dist_quadratic: 0.000125
      min_prob: 0.2 # 0.2 is equivalent to random guessing (5 classes)

    noise:
      cartesian: #x, y, z
        mean: [0.0, 0.0, 0.0]
        sigma: [0.01, 0.01, 0.01]
      angle: # horizontal, vertical
        mean: [0.0, 0.0]
        sigma: [0.001, 0.001]
      range:
        mean: 0.0
        sigma: 0.02
      range_relative:
        mean: 0.0
        sigma: 0.0001
  - sensor:
    name: "livox_left2"
    enabled: true
    rate: 10
    delay:
      mean: 0.1
    pose:
      position: [-1.7533289, 0.59746433, 0.07546455]
      orientation: [0.12472367, -0.00889492, 1.21845561]
    observation:
      min_range: 1
      max_range: 45
      min_angle_horizontal: -1.0472
      max_angle_horizontal: 1.0472
      min_angle_vertical: -0.2181662
      max_angle_vertical: 0.2181662

    detection:
      prob_min_dist: 0.99
      prob_decrease_dist_linear: 0.01
      prob_decrease_dist_quadratic: 0.00012
      min_prob: 0.1

    classification:
      max_dist: 15
      prob_min_dist: 0.99
      prob_decrease_dist_linear: 0.01
      prob_decrease_dist_quadratic: 0.000125
      min_prob: 0.2 # 0.2 is equivalent to random guessing (5 classes)

    noise:
      cartesian: #x, y, z
        mean: [0.0, 0.0, 0.0]
        sigma: [0.01, 0.01, 0.01]
      angle: # horizontal, vertical
        mean: [0.0, 0.0]
        sigma: [0.001, 0.001]
      range:
        mean: 0.0
        sigma: 0.02
      range_relative:
        mean: 0.0
        sigma: 0.0001
  - sensor:
    name: "livox_right2"
    enabled: true
    rate: 10
    delay:
      mean: 0.1
    pose:
      position: [-1.73520207, -0.61862863, 0.04065186]
      orientation: [-0.08730302, 0.06381912, -1.23762976]
    observation:
      min_range: 1
      max_range: 45
      min_angle_horizontal: -1.0472
      max_angle_horizontal: 1.0472
      min_angle_vertical: -0.2181662
      max_angle_vertical: 0.2181662

    detection:
      prob_min_dist: 0.99
      prob_decrease_dist_linear: 0.01
      prob_decrease_dist_quadratic: 0.00012
      min_prob: 0.1

    classification:
      max_dist: 15
      prob_min_dist: 0.99
      prob_decrease_dist_linear: 0.01
      prob_decrease_dist_quadratic: 0.000125
      min_prob: 0.2 # 0.2 is equivalent to random guessing (5 classes)

    noise:
      cartesian: #x, y, z
        mean: [0.0, 0.0, 0.0]
        sigma: [0.01, 0.01, 0.01]
      angle: # horizontal, vertical
        mean: [0.0, 0.0]
        sigma: [0.001, 0.001]
      range:
        mean: 0.0
        sigma: 0.02
      range_relative:
        mean: 0.0
        sigma: 0.0001