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

shell

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.

text

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"