31 lines
1.2 KiB
YAML
31 lines
1.2 KiB
YAML
main_loop_freq: 30
|
|
unity_render: yes
|
|
scene_id: 4 # 0 wasteland, 1 japanese street, 4 emptyforest in standalone (SR)
|
|
odom_topic: /juliett/ground_truth/odom
|
|
quad_size: 0.1
|
|
ply_path: "/flightrender/RPG_Flightmare/pointcloud_data/"
|
|
|
|
rgb_camera_left:
|
|
on: yes
|
|
t_BC: [0.0, 0.0, 0.1] # translational vector of the camera with repect to the body frame
|
|
r_BC: [0.0, -5.0, -90] # rotational angle (roll, pitch, yaw) of the camera in degree.
|
|
width: 160
|
|
height: 90
|
|
fov: 90.0 # Horizontal FOV
|
|
enable_depth: yes
|
|
enable_segmentation: no
|
|
enable_opticalflow: no
|
|
|
|
# enable stereo depth when rgb_camera_right on (If use, please use larger resolution (e.g., 640x360)).
|
|
rgb_camera_right:
|
|
on: no
|
|
t_BC: [0.0, -0.2, 0.1] # translational vector of the camera with repect to the body frame
|
|
r_BC: [0.0, -5.0, -90] # rotational angle (roll, pitch, yaw) of the camera in degree.
|
|
|
|
unity:
|
|
spawn_trees: true
|
|
save_pointcloud: true # set to 'false' to save startup time, if visualization is not needed.
|
|
avg_tree_spacing: 4.0
|
|
bounding_box: [80.0, 80.0, 11.0] # spawn objects within this bounding box
|
|
bounding_box_origin: [-10, 20, 2.5]
|
|
pointcloud_resolution: 0.2 |