board_cfg_all.yaml

board:
    inference_engine:
        detection_capability:
            object: true
            trafficlight: true
        detection_config:
            object: sensor_inference/cfgs/detection_object.yaml
            trafficlight: sensor_inference/cfgs/detection_trafficlight.yaml

pipeline: [['Source', 'SLAM', 'Sink']]

detection:
    sensor_input: ["0-Ouster-OS1", "1-Ouster-OS1", "2-Ouster-OS1", "0"]

slam:
    mode: 'mapping'
    method: 'FastLIO' # FLOAM, GICPM, FastLIO
    origin: {
        use: true,
        latitude: 0.0,
        longitude: 0.0,
        altitude: 0.0,
    }

    mapping:
        sensor_input: ["1-Ouster-OS1", "IMU"]
        ground_constraint: true
        loop_closure: true
        key_frames_interval: [4.0, 20.0]  # distance and degree threshold
        key_frames_range: 1000
        map_resolution: 0.2

    localization:
        sensor_input: []
        colouration: false
        key_frames_interval: [4.0, 20.0] # distance and degree threshold
        map_resolution: 0.2
        map_path: lp_log/map

lidar:
    - {
          name: "Custom",
          port: 2688,
          extrinsic_parameters: [0, 0, 0, 0, 0, 0],
          range: [-72.0, -72.0, -2, 72.0, 72.0, 4],
          exclude: [-0.5, -0.5, 0, 0.5, 0.5, 0],
      }

camera:
    - {
          name: "http://127.0.0.1:/imageflir0",  # "http://$IP:$topic", "rtsp://$URI"
          intrinsic_parameters: [600, 600, 240, 320, 0, 0, 0, 0], # fx, fy, cx, cy, k1, k2, p1, p2
          extrinsic_parameters: [0, 0, 0, -90, 0, 90],
          undistortion: false,
          flip_method: 0,
          fisheye: false,
          stream: {
            sink: "none",        # [none, udp, rtsp]
            host: 192.168.1.101,
            port: 8554,
            bitrate: 1000000,    # 1Mbps
            enable_audio: false,
            audio_name: "Y02",
          },
        #   crop: [0, 0, 0, 0],     # top, bottom, left, right
        #   input_width: 1920,   #optional
        #   input_height: 1080,  #optional
        #   format: "UYVY",      #optional
        #   output_width: 640,   #optional, default is 640
        #   output_height: 480,  #optional, default is 480
        #   custom_cap: '',      #optional, gstreamer pipeline
      }

radar: []

ins:
    port: 9888
    device: "/dev/ttyUSB0"
    relay: {
        use: false,
        destination: 192.168.1.101,
    }
    ins_type: "6D" # 2D (lat, lon), 3D +(alt), 6D +(yaw, pitch, roll)
    extrinsic_parameters: [0, 0, 0, 0, 0, 0]
    imu_extrinsic_parameters: [0, 0, 0, 0, 0, 0]
    ins_fix: {
        use: true,
        status: -1,
        stable_time: 10.0,
        precision: 20.0,
    }
    ins_float: {
        use: true,
        status: -1,
        stable_time: 10.0,
        precision: 50.0,
    }
    ins_normal: {
        use: true,
        status: -1,
        stable_time: 0.0,
        precision: 200.0,
    }

lidar_all:
    - {
          name: "Ouster-OS1",
          port: 7502,
          extrinsic_parameters: [0, 0, 0, 0, 0, 0],
          range: [-72.0, -72.0, -2, 72.0, 72.0, 4],
          exclude: [-0.5, -0.5, 0, 0.5, 0.5, 0],
      }

    - {
          name: "Ouster-OS2",
          port: 7502,
          extrinsic_parameters: [0, 0, 0, 0, 0, 0],
          range: [-72.0, -72.0, -2, 72.0, 72.0, 4],
          exclude: [-0.5, -0.5, 0, 0.5, 0.5, 0],
      }

    - {
          name: "VLP-16",
          port: 2370,
          extrinsic_parameters: [0, 0, 0, 0, 0, 0],
          range: [-72.0, -72.0, -2, 72.0, 72.0, 4],
          exclude: [-0.5, -0.5, 0, 0.5, 0.5, 0],
      }

    - {
          name: "LS-C-16",
          port: 2368,
          extrinsic_parameters: [0, 0, 0, 0, 0, 0],
          range: [-72.0, -72.0, -2, 72.0, 72.0, 4],
          exclude: [-0.5, -0.5, 0, 0.5, 0.5, 0],
      }

    - {
          name: "RS-LiDAR-16",
          port: 6699,
          extrinsic_parameters: [0, 0, 0, 0, 0, 0],
          range: [-72.0, -72.0, -2, 72.0, 72.0, 4],
          exclude: [-0.5, -0.5, 0, 0.5, 0.5, 0],
      }

    - {
          name: "RS-LiDAR-32",
          port: 6699,
          extrinsic_parameters: [0, 0, 0, 0, 0, 0],
          range: [-72.0, -72.0, -2, 72.0, 72.0, 4],
          exclude: [-0.5, -0.5, 0, 0.5, 0.5, 0],
      }

    - {
          name: "RS-Ruby-Lite",
          port: 6699,
          extrinsic_parameters: [0, 0, 0, 0, 0, 0],
          range: [-72.0, -72.0, -2, 72.0, 72.0, 4],
          exclude: [-0.5, -0.5, 0, 0.5, 0.5, 0],
      }

    - {
          name: "RS-Helios-16P",
          port: 6699,
          extrinsic_parameters: [0, 0, 0, 0, 0, 0],
          range: [-72.0, -72.0, -2, 72.0, 72.0, 4],
          exclude: [-0.5, -0.5, 0, 0.5, 0.5, 0],
      }

    - {
          name: "RS-Helios",
          port: 6699,
          extrinsic_parameters: [0, 0, 0, 0, 0, 0],
          range: [-72.0, -72.0, -2, 72.0, 72.0, 4],
          exclude: [-0.5, -0.5, 0, 0.5, 0.5, 0],
      }

    - {
          name: "Custom",
          port: 2688,
          extrinsic_parameters: [0, 0, 0, 0, 0, 0],
          range: [-72.0, -72.0, -2, 72.0, 72.0, 4],
          exclude: [-0.5, -0.5, 0, 0.5, 0.5, 0],
      }

radar_all:
    - {
          name: "ARS408",
          device: "can0",
          baud: 500000,
          extrinsic_parameters: [0, 0, 0, 0, 0, 0],
      }

input:
    mode: online # [online, offline]
    data_path: /home/znqc/work/demo_data

output:
    point_cloud:
        use: false
        destination: 192.168.1.101

    object:
        use: true
        vehicle: true
        pedestrian: true
        cyclist: true
        traffic_cone: true

    freespace:
        use: true
        resolution: 0.25
        min_height: 0.2
        max_height: 2.5
        range: [-20, 20, -6, 6]

    protocol:
        UDP:
            use: true
            destination: 192.168.1.101
            port: 9000
        CAN:
            use: false
            device: "can0"
            baud: 500000

    localization:
        UDP:
            use: false
            destination: 192.168.1.101
            port: 9001

roi:
    - { contour: [], is_included: true }

system:
    log_level: INFO
    record:
        mode: "normal" # loop
        loop_duration: 600
        exclude_keys: ["freespace"]
        journal: true
        auto_start: false