lidar_calib { # lidar标定配置
    collect_strategy { # 标定数据采集策略
        angle: 0.2 # 定位信息和前一帧角度差超过这个阈值作为一个有效帧记录，取值：度数/180°*π
        distance: 2.0 # 定位信息和前一帧距离差超过这个阈值作为一个有效帧记录， angle和distance是或的关系，满足一个就记录
        total: 200 # 采集的帧数
    }
    use_odometry: false # pose信息源，true（默认）：/apollo/sensor/gnss/odometry，false：/apollo/localization/pose
    calibration_data_path: "/apollo/data/calibration/lidar_calibration"  # 每次标定创建{calibration_data_path}/{task_id}目录，里面包括采集数据(collection_data)和标定结果(result)目录
    imu_frame_id: "imu"
    lidar_list [ # lidar列表
        { 
            name: "lidar16_back" # lidar名字，前端展示用
            lidar_frame_id: "lidar16_back"
            lidar_channel: "/apollo/sensor/hesai40/PointCloud2" # lidar驱动输出的channel名字
            extrinsics { # 初始外参的旋转矩阵和平移矩阵
                qw: 0.7
                qx: 0.0
                qy: 0.0
                qz: 0.7
                tx: 0.0
                ty: 0.38
                tz: 1.33
            }
            output_filename: "/apollo/modules/perception/data/params/lidar16_back_extrinsics.yaml" # 标定结果文件路径(文件要存在)
        }
    ]
    calib_height: false # 是否标高度，true是，false否
}

camera_calib { # camera标定配置
    calibration_data_path: "/apollo/data/calibration/camera_calibration"  ## 每次标定创建{calibration_data_path}/{task_id}目录，里面包括采集数据(collection_data)和标定结果(result)目录
    camera_list [ # camera列表
        {
            name: "camera_onsemi_obstacle" # camera名字，前端展示用
            camera_channel: "/apollo/sensor/camera/onsemi_obstacle/image" # camera动输出的channel名字
            camera_frame_id: "camera_onsemi_obstacle"
            lidar_channel: "/apollo/sensor/hesai40/PointCloud2" # lidar驱动输出的channel名字
            lidar_frame_id: "lidar16_back"
            lidar_rotation: 0 # lidar点云旋转角度，默认是0度，逆时针为正
            intrinsics_filename: "/apollo/modules/perception/data/params/onsemi_obstacle_intrinsics.yaml" # 内参文件路径
            output_filename: "/apollo/modules/perception/data/params/onsemi_obstacle_extrinsics.yaml" # 标定结果文件路径(文件要存在)
            lidar_to_imu_extrinsic_file_path: "/apollo/modules/perception/data/params/lidar16_back_extrinsics.yaml" #lidar-imu外参路径
        },
        {
            name: "camera_onsemi_narrow" # camera名字，前端展示用
            camera_channel: "/apollo/sensor/camera/onsemi_narrow/image" # camera动输出的channel名字
            camera_frame_id: "camera_onsemi_narrow"
            lidar_channel: "/apollo/sensor/hesai40/PointCloud2" # lidar驱动输出的channel名字
            lidar_frame_id: "lidar16_back"
            lidar_rotation: 0 # lidar点云旋转角度，默认是0度，逆时针为正
            intrinsics_filename: "/apollo/modules/perception/data/params/onsemi_narrow_intrinsics.yaml" # 内参文件路径
            output_filename: "/apollo/modules/perception/data/params/onsemi_narrow_extrinsics.yaml" # 标定结果文件路径(文件要存在)
            lidar_to_imu_extrinsic_file_path: "/apollo/modules/perception/data/params/lidar16_back_extrinsics.yaml" #lidar-imu外参路径
        }       
    ]
}
