附录五 USS超声波传感器标定文件模板

标定文件名：“uss_999.yaml”

说明： 超声波传感器支持将不同uss节点配置信息写在同一个.yaml文件中，故文件名无需和uss节点名一致。

文件内容示例：

#可以在一个文件内编写多个uss标定数据
uss_0:
    rotation_uss2veh_matrix:
        rows:  
        cols:  
        data:  []
    translation_uss2veh_matrix:
        rows:  
        cols:  
        data:  []
    rotation_veh_uss_euler:
        yaw:  
        pitch:
        roll: 
    translation_veh_uss:
        x:  
        y:  
        z:  
    timeshift_uss_veh:  
uss_1:
    rotation_uss2veh_matrix:
        rows:  
        cols:  
        data:  []
    translation_uss2veh_matrix:
        rows:  
        cols:  
        data:  []
    rotation_veh_uss_euler:
        yaw:  
        pitch:
        roll: 
    translation_veh_uss:
        x:  
        y:  
        z:  
    timeshift_uss_veh: 


#  sensor  model  #
##  fov  model  ##
###  upa(short  distance)  horizontal  fov  model  ###
upa_hfov:
    distance:  [] #  measure  distance
    fov:  []      #  fov  with  each  distance
    default:      #  fov  with  1m.  valid  when  distance  and  fov  are  empty
###  apa(long  distance)  horizontal  fov  model  ###
apa_hfov:
    distance:    
    fov: 
    default:  #  fov  with  2m.  valid  when  distance  and  fov  are  empty
##  error  model  ##
###  upa(short  distance)  standard  deviation  model  ###
upa_sd:
    distance:  []    #  measure  distance
    sd:  []   #  standard  deviation  with  each  distance
    default:     #  average  deviation  in  1m.  valid  when  distance  and  sd  are  empty
###  apa(long  distance)  standard  deviation  model  ###
apa_sd:
    distance:  []
    sd:  []
    default:   #  average  deviation  in  2m.  valid  when  distance  and  sd  are  empty