52 lines
1.2 KiB
YAML
52 lines
1.2 KiB
YAML
schema_version: 1
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vehicle:
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vehicle_id: "example_vehicle"
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body_frame:
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name: "base_link"
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axes: "X forward, Y left, Z up"
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unit: m
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installation:
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installation_id: "example_install"
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installed_at: "unknown"
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notes: "V1 example config. Mount translations may stay null."
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sensors:
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imu:
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model: "unknown_imu"
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raw_frame:
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axes: "declare after black-box tests: e.g. out_x=forward, out_y=left, out_z=up"
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driver_axis_remapped: false
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mount_in_body:
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translation_m: null
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rotation_quaternion_xyzw: null
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lidar:
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model: "unknown_lidar"
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points_field: points
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raw_frame:
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axes: "X forward, Y left, Z up (Cartesian metres in NPZ points)"
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driver_axis_remapped: false
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mount_in_body:
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translation_m: null
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rotation_quaternion_xyzw: null
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rtk:
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frame_definition: ""
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reference_point: ""
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existing_T_RTK_LIDAR_file: ""
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time:
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imu_timestamp_source: "device_or_file_clock_seconds"
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lidar_timestamp_source: "frame_midpoint_seconds"
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lidar_frame_time_definition: "t_start/t_end in frames_index.csv; pipeline uses midpoint"
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initialization:
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translation_prior:
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enabled: false
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sigma_m: null
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rotation_prior:
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enabled: false
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sigma_deg: null
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