2024-10-20 17:01:07 +08:00
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main_loop_freq: 30
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unity_render: yes
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2024-12-23 11:05:45 +08:00
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scene_id: 4 # 0 wasteland, 1 japanese street, 4 empty forest in standalone (SR)
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odom_topic: /juliett/ground_truth/odom # Topic of UAV odometry for render
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2024-10-20 17:01:07 +08:00
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quad_size: 0.1
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2024-12-23 11:05:45 +08:00
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ply_path: "/flightrender/RPG_Flightmare/pointcloud_data/" # temporary path of saving point could (for visualization)
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2024-10-20 17:01:07 +08:00
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rgb_camera_left:
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on: yes
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2024-12-23 11:05:45 +08:00
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t_BC: [0.0, 0.0, 0.1] # translational vector of the camera with respect to the body frame
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r_BC: [0.0, -5.0, -90] # rotational angle (roll, pitch, yaw) of the camera in degree
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2024-10-20 17:01:07 +08:00
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width: 160
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height: 90
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fov: 90.0 # Horizontal FOV
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enable_depth: yes
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enable_segmentation: no
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enable_opticalflow: no
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2024-12-23 11:05:45 +08:00
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# enable stereo depth when rgb_camera_right on (If used, please use larger resolution (e.g., 640x360))
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2024-10-20 17:01:07 +08:00
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rgb_camera_right:
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on: no
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t_BC: [0.0, -0.2, 0.1] # translational vector of the camera with repect to the body frame
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r_BC: [0.0, -5.0, -90] # rotational angle (roll, pitch, yaw) of the camera in degree.
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unity:
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spawn_trees: true
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2024-10-22 17:56:24 +08:00
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save_pointcloud: true # set to 'false' to save startup time, if visualization is not needed.
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2024-12-23 11:05:45 +08:00
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avg_tree_spacing: 4.0 # average spacing between trees
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2024-10-20 17:01:07 +08:00
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bounding_box: [80.0, 80.0, 11.0] # spawn objects within this bounding box
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bounding_box_origin: [-10, 20, 2.5]
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pointcloud_resolution: 0.2
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