Revert "Calibration: add calibration data for dev kit advanced from neolix (#12413)"

This reverts commit 12f6162a.

modules/calibration/data/dev_kit_advanced_ne-b/README.md → modules/calibration/data/dev_kit_advanced_3lidar/README.md

@@ -2,4 +2,4 @@
 
 This version of config files is applied upon Apollo D-KIT based on Apollo master.
 
-Fit on dev_kit_advanced with surestar lidar
\ No newline at end of file
+Suitable for version of dev-kit advanced 3-lidar

modules/calibration/data/dev_kit_advanced_sne-r/lidar_dag/lidar.dag → modules/calibration/data/dev_kit_advanced_3lidar/lidar_dag/lidar.dag

@@ -34,7 +34,7 @@ module_config {
     components {
       class_name : "PriSecFusionComponent"
       config {
-        name : "RS16_fusion"
+        name : "velodyne_fusion"
         config_file_path : "/apollo/modules/drivers/lidar/conf/robo_fusion_conf.pb.txt"
         readers {channel: "/apollo/sensor/lidar16/back/PointCloud2"}
     }

modules/calibration/data/dev_kit_advanced_sne-r/localization_conf/localization.conf → modules/calibration/data/dev_kit_advanced_3lidar/localization_conf/localization.conf

@@ -132,7 +132,7 @@
 # The lidar extrinsics file
 # type: string
 # default: /apollo/modules/localization/msf/params/velodyne_params/velodyne128_novatel_extrinsics.yaml
---lidar_extrinsics_file=/apollo/modules/localization/msf/params/velodyne_params/velodyne16_novatel_extrinsics.yaml
+--lidar_extrinsics_file=/apollo/modules/localization/msf/params/velodyne_params/velodyne128_novatel_extrinsics.yaml
 
 # imu coordinate, true->flu, false->rfu
 # type: bool

modules/calibration/data/dev_kit_advanced_ne-b/cancard_params/canbus.conf

---flagfile=/apollo/modules/common/data/global_flagfile.txt
---canbus_conf_file=/apollo/modules/canbus/conf/canbus_conf.pb.txt
---enable_chassis_detail_pub
---noreceive_guardian

modules/calibration/data/dev_kit_advanced_ne-b/gnss_conf/gnss_conf.pb.txt

-data {
-    format: NOVATEL_BINARY
-    serial {
-        device: "/dev/ttyACM0"
-        baud_rate: 115200
-    }
-}
-
-#rtk_from {
-#    format: RTCM_V3
-#    ntrip {
-#        address: "<IP>"
-#        port: <PORT>
-#        mount_point: "<MOUNTPOINT>"
-#        user: "<USER>"
-#        password: "<PASSWORD>"
-#        timeout_s: 5
-#    }
-#    push_location: true
-#}
-#
-#rtk_to {
-#    format: NOVATEL_BINARY
-#    serial {
-#        device: "/dev/ttyACM0"
-#        baud_rate: 115200
-#    }
-#}
-#
-#command {
-#    format: NOVATEL_BINARY
-#    serial {
-#        device: "/dev/ttyACM0"
-#        baud_rate: 115200
-#    }
-#}
-
-rtk_solution_type: RTK_RECEIVER_SOLUTION
-imu_type: CPT_XW5651
-proj4_text: "+proj=utm +zone=50 +ellps=WGS84 +towgs84=0,0,0,0,0,0,0 +units=m +no_defs"
-
-tf {
-    frame_id: "world"
-    child_frame_id: "novatel"
-}
-
-
-# If given, the driver will send velocity info into novatel one time per second
-#wheel_parameters: "SETWHEELPARAMETERS 100 1 1\r\n"
-
-gpsbin_folder: "/apollo/data/gpsbin"
-
-#login_commands: "UNLOGALL THISPORT\r\n"
-#login_commands: "LOG COM2 GPRMC ONTIME 1.0 0.25\r\n"
-#login_commands: "EVENTOUTCONTROL MARK2 ENABLE POSITIVE 999999990 10\r\n"
-#login_commands: "EVENTOUTCONTROL MARK1 ENABLE POSITIVE 50000000 50000000\r\n"
-#login_commands: "LOG NCOM1 GPGGA ONTIME 1.0\r\n"
-#login_commands: "log bestgnssposb ontime 0.5\r\n"
-#login_commands: "log bestposb ontime 1.0 0.2\r\n"
-#login_commands: "log inspvaxb ontime 1 0.7\r\n"
-#login_commands: "log inspvab ontime 0.01 0\r\n"
-#login_commands: "log corrimudatab ontime 0.01 0\r\n"
-#login_commands: "log RAWIMUB onnew 0 0\r\n"
-#login_commands: "log mark1pvab onnew 0 0\r\n"
-#login_commands: "log rangecmpb ontime 1.0\r\n"
-#login_commands: "log rawephemb onchanged\r\n"
-#login_commands: "log gloephemerisb onchanged\r\n"
-#login_commands: "log bdsephemerisb onchanged\r\n"
-#login_commands: "log imutoantoffsetsb once\r\n"
-#login_commands: "log vehiclebodyrotationb onchanged\r\n"
-#login_commands: "log headingb onchanged\r\n"
-#
-#login_commands: "log rangeb ontime 0.2\r\n"
-#login_commands: "log bdsephemerisb\r\n"
-#login_commands: "log gpsephemb\r\n"
-#login_commands: "log gloephemerisb\r\n"
-#login_commands: "log bdsephemerisb ontime 15\r\n"
-#login_commands: "log gpsephemb ontime 15\r\n"
-#login_commands: "log gloephemerisb ontime 15\r\n"
-#
-#logout_commands: "EVENTOUTCONTROL MARK2 DISABLE\r\n"
-#logout_commands: "EVENTOUTCONTROL MARK1 DISABLE\r\n"
-#

modules/calibration/data/dev_kit_advanced_ne-b/lidar_conf/surestar.conf

-frame_id: "velodyne128"
-scan_channel:"/apollo/sensor/lidar16/Scan"
-rpm: 600.0
-model: VLP16
-mode: STRONGEST
-firing_data_port: 2371
-positioning_data_port: 2030
-organized: true
-max_range: 70.0
-min_range: 0.9
-use_gps_time: false
-time_zone: 8
-calibration_file: "/apollo/modules/drivers/velodyne/params/VLP16_calibration.yaml"
-pc_channel:"/apollo/sensor/lidar16/PointCloud2"

modules/calibration/data/dev_kit_advanced_ne-b/lidar_dag/lidar.dag

-# Define all coms in DAG streaming.
-module_config {
-    module_library : "/apollo/bazel-bin/modules/drivers/lidar_surestar/libsurestar_driver_component.so"
-
-    components {
-      class_name : "CompSureStarDriver"
-      config {
-        name : "surestar_driver"
-        config_file_path : "/apollo/modules/drivers/lidar/conf/surestar.conf"
-      }
-    }
-}
-
-module_config {
-    module_library : "/apollo/bazel-bin/modules/drivers/lidar_surestar/libsurestar_driver_component.so"
-
-    components {
-      class_name : "CompSurestarConvert"
-      config {
-        name : "surestar_convert"
-       
-        config_file_path : "/apollo/modules/drivers/lidar/conf/surestar.conf"
-        readers {channel: "/apollo/sensor/lidar16/Scan"}
-      }
-    }
-}
-
-module_config {
-    module_library : "/apollo/bazel-bin/modules/drivers/velodyne/compensator/libvelodyne_compensator_component.so"
-
-    components {
-      class_name : "CompensatorComponent"
-      config {
-        name : "lidar_compensator"
-        config_file_path : "/apollo/modules/drivers/lidar/conf/lidar16_fusion_compensator.pb.pb.txt"
-        readers {channel: "/apollo/sensor/lidar16/PointCloud2"}
-      }
-    }
-}
-
-

modules/calibration/data/dev_kit_advanced_ne-b/lidar_params/velodyne16_novatel_extrinsics.yaml

-header:
-  stamp:
-    secs: 1570694831
-    nsecs: 0
-  seq: 0
-  frame_id: novatel
-child_frame_id: velodyne128
-transform:
-  rotation:
-    x: 0.00738980895243999
-    y: -0.005921328693296334
-    z: 0.7088003345551007
-    w: 0.7053455992098693
-  translation:
-    x: -0.007173090922710456
-    y: 0.09529751566678815
-    z: 1.36

modules/calibration/data/dev_kit_advanced_ne-b/localization_conf/localization.conf

---flagfile=/apollo/modules/common/data/global_flagfile.txt
---noenable_gps_imu_interprolate
-
-# Redefine the map_dir of global_flagfile.txt
-#--map_dir=/apollo/modules/localization/testdata
-
-# The directory name of localization map.
-# type: string
-# default: local_map
---local_map_name=local_map
-
-# Enable lidar-based localization.
-# type: bool
-# defalult: true
---enable_lidar_localization=false
-
-# Localization mode, 0 for intensity, 1 for altitude, 2 for fusion.
-# type: int
-# default: 2
---lidar_localization_mode=2
-
-# image yaw align mode, 0 for align off, 1 for fusion, 2 for fusion with multithread.
-# type: int
-# default: 2
---lidar_yaw_align_mode=2
-
-# Lidar filter size
-# type: int
-# default: 11
---lidar_filter_size=17
-
-# point cloud step
-# type: int
-# default: 2
---point_cloud_step=2
-
-# The height from the center of lidar to ground plane
-# type: double
-# default: 1.80
---lidar_height_default=1.80
-
-# idar msg and imu msg max delay time.
-# type: double
-# default: 0.4
---lidar_imu_lidar_max_delay_time=0.4
-
-# The valid coverage of pointcloud and map.
-# type: double
-# default: 0.8
---lidar_map_coverage_theshold=0.8
-
-# Lidar debug switch.
-# type: bool
-# default: false
---lidar_debug_log_flag=false
-
-# integ_ins_can_self_align.
-# type: bool
-# default: false
---integ_ins_can_self_align=false
-
-# integ_sins_align_with_vel.
-# type: bool
-# default: true
---integ_sins_align_with_vel=true
-
-# Whether check state of sins. If true, sins will restart in bad state.
-# type: bool
-# default: true
---integ_sins_state_check=true
-
-# The param of sins state check.
-# type: double
-# default: 30.0
---integ_sins_state_span_time=30.0
-
-# The param of sins state check.
-# type: double
-# default: 1.0
---integ_sins_state_pos_std=1.0
-
-# vel_threshold_get_yaw.
-# type: double
-# default: 5.0
---vel_threshold_get_yaw=5.0
-
-# enable flag ins_aid_rtk.
-# type: bool
-# default: false
---enable_ins_aid_rtk=false
-
-# eph_buffer_path.
-# type: string
-# default: ""
---eph_buffer_path=""
-
-# gnss_debug_log_flag.
-# type: bool
-# default: false
---gnss_debug_log_flag=false
-
-# imu_rate.
-# type: double
-# default: 1.0
---imu_rate=1.0
-
-# Whether load utm zone id from local map folder
-# type: bool
-# default: true
---if_utm_zone_id_from_folder=true
-
-# local_utm_zone_id.
-# type: int
-# default: int
---local_utm_zone_id=50
-
-# trans_gpstime_to_utctime.
-# type: bool
-# default: true
---trans_gpstime_to_utctime=true
-
-# GNSS Mode, 0 for bestgnss pose, 1 for self gnss.
-# type: string
-# default: 0
---gnss_mode=0
-
-# The pointcloud topic name.
-# type: string
-# default: /apollo/sensor/velodyne64/compensator/PointCloud2
---lidar_topic=/apollo/sensor/lidar16/compensator/PointCloud2
-
-# The lidar extrinsics file
-# type: string
-# default: /apollo/modules/localization/msf/params/velodyne_params/velodyne128_novatel_extrinsics.yaml
---lidar_extrinsics_file=/apollo/modules/localization/msf/params/velodyne_params/velodyne16_novatel_extrinsics.yaml
-
-# imu coordinate, true->flu, false->rfu
-# type: bool
-# default: true
---imu_coord_rfu=true
-
-# Whether use bestgnsspose as measure after initializaiton.
-# type: bool
-# default: false
---gnss_only_init=false
-
-# Whether use imu ant leverarm from ant imu yaml file
-# type: bool
-# default: true
---if_imuant_from_file=true
-
-# Imu ant offset x
-# type: double
-# default: 0.0
---imu_to_ant_offset_x=0.0143
-
-# Imu ant offset y
-# type: double
-# default: 0.0
---imu_to_ant_offset_y=-0.6452
-
-# Imu ant offset z
-# type: double
-# default: 0.0
---imu_to_ant_offset_z=1.1802
-
-# Imu ant offset x uncertainty
-# type: double
-# default: 0.0
---imu_to_ant_offset_ux=0.03
-
-# Imu ant offset y uncertainty
-# type: double
-# default: 0.0
---imu_to_ant_offset_uy=0.03
-
-# Imu ant offset z uncertainty
-# type: double
-# default: 0.0
---imu_to_ant_offset_uz=0.03
-
-# Whether load vehicle coord to imu coord quaternion from yaml file
-# type: bool
-# default: true
---if_vehicle_imu_from_file=true
-
-# vehicle coord to imu coord quaternion qx
-# type: double
-# default: 0.0
---imu_vehicle_qx=0.0
-
-# vehicle coord to imu coord quaternion qy
-# type: double
-# default: 0.0
---imu_vehicle_qy=0.0
-
-# vehicle coord to imu coord quaternion qz
-# type: double
-# default: 0.0
---imu_vehicle_qz=0.0
-
-# vehicle coord to imu coord quaternion qw
-# type: double
-# default: 1.0
---imu_vehicle_qw=1.0
-
-# The tem folder for localziation visualziation
---map_visual_dir=data/map_visual
-
-# if use avx to accelerate lidar localization
-# need cpu to support avx intel intrinsics
-# default: false
---if_use_avx=true

modules/calibration/data/dev_kit_advanced_ne-b/transform_conf/static_transform_conf.pb.txt

-extrinsic_file {
-    frame_id: "novatel"
-    child_frame_id: "velodyne128"
-    file_path: "/apollo/modules/drivers/velodyne/params/velodyne16_novatel_extrinsics.yaml"
-    enable: true
-}
-
-extrinsic_file {
-    frame_id: "localization"
-    child_frame_id: "novatel"
-    file_path: "/apollo/modules/localization/msf/params/novatel_localization_extrinsics.yaml"
-    enable: true
-}
-
-extrinsic_file {
-    frame_id: "velodyne128"
-    child_frame_id: "front_6mm"
-    file_path: "/apollo/modules/perception/data/params/front_6mm_extrinsics.yaml"
-    enable: true
-}
-
-extrinsic_file {
-    frame_id: "velodyne128"
-    child_frame_id: "front_12mm"
-    file_path: "/apollo/modules/perception/data/params/front_12mm_extrinsics.yaml"
-    enable: true
-}
-
-extrinsic_file {
-    frame_id: "velodyne128"
-    child_frame_id: "radar_front"
-    file_path: "/apollo/modules/perception/data/params/radar_front_extrinsics.yaml"
-    enable: true
-}

modules/calibration/data/dev_kit_advanced_sne-r/README.md

-# Apollo D-KIT Configs
-
-This version of config files is applied upon Apollo D-KIT based on Apollo master.
-
-Suitable for version of dev-kit advanced 3-lidar with robosense lidar

modules/calibration/data/dev_kit_advanced_sne-r/camera_conf/camera_front_12mm.pb.txt

-
-camera_dev: "/dev/camera/front_12mm"
-frame_id: "camera_front_12mm"
-pixel_format: "yuyv"
-io_method: IO_METHOD_MMAP
-width: 1920
-height: 1080
-frame_rate: 15
-monochrome: false
-brightness: -1
-contrast: -1
-saturation: -1
-sharpness: -1
-gain: -1
-auto_focus: false
-focus: -1
-auto_exposure: true
-exposure: 100
-auto_white_balance: true
-white_balance: 4000
-bytes_per_pixel: 2
-trigger_internal: 0
-trigger_fps: 15
-channel_name: "/apollo/sensor/camera/front_12mm/image"
-device_wait_ms: 2000
-spin_rate: 200
-output_type: RGB
-
-compress_conf {
-    output_channel: "/apollo/sensor/camera/front_12mm/image/compressed"
-    image_pool_size: 100
-}

modules/calibration/data/dev_kit_advanced_sne-r/camera_conf/camera_front_6mm.pb.txt

-
-camera_dev: "/dev/camera/front_6mm"
-frame_id: "camera_front_6mm"
-pixel_format: "yuyv"
-io_method: IO_METHOD_MMAP
-width: 1920
-height: 1080
-frame_rate: 15
-monochrome: false
-brightness: -1
-contrast: -1
-saturation: -1
-sharpness: -1
-gain: -1
-auto_focus: false
-focus: -1
-auto_exposure: true
-exposure: 100
-auto_white_balance: true
-white_balance: 4000
-bytes_per_pixel: 2
-trigger_internal: 0
-trigger_fps: 15
-channel_name: "/apollo/sensor/camera/front_6mm/image"
-device_wait_ms: 2000
-spin_rate: 200
-output_type: RGB
-
-compress_conf {
-    output_channel: "/apollo/sensor/camera/front_6mm/image/compressed"
-    image_pool_size: 100
-}

modules/calibration/data/dev_kit_advanced_sne-r/camera_dag/dev_kit_camera.dag

-# Define all coms in DAG streaming.
-module_config {
-    module_library : "/apollo/bazel-bin/modules/drivers/camera/libcamera_component.so"
-
-    components {
-      class_name : "CameraComponent"
-      config {
-        name : "camera_front_6mm"
-        config_file_path : "/apollo/modules/drivers/camera/conf/camera_front_6mm.pb.txt"
-      }
-    }
-    components {
-      class_name : "CompressComponent"
-      config {
-        name : "camera_front_6mm_compress"
-        config_file_path : "/apollo/modules/drivers/camera/conf/camera_front_6mm.pb.txt"
-        readers {
-          channel: "/apollo/sensor/camera/front_6mm/image"
-          pending_queue_size: 10
-        }
-      }
-    }
-
-    components {
-      class_name : "CameraComponent"
-      config {
-        name : "camera_front_12mm"
-        config_file_path : "/apollo/modules/drivers/camera/conf/camera_front_12mm.pb.txt"
-      }
-    }
-    components {
-      class_name : "CompressComponent"
-      config {
-        name : "camera_front_12mm_compress"
-        config_file_path : "/apollo/modules/drivers/camera/conf/camera_front_12mm.pb.txt"
-        readers {
-          channel: "/apollo/sensor/camera/front_12mm/image"
-          pending_queue_size: 10
-        }
-      }
-    }
-}
-

modules/calibration/data/dev_kit_advanced_sne-r/camera_params/front_12mm_extrinsics.yaml

-header:
-  frame_id: velodyne128
-  stamp:
-    secs: 0
-    nsecs: 0
-  seq: 0
-child_frame_id: front_12mm
-transform:
-  rotation:
-    x: 0.5212821541601115
-    y: -0.4976130856154793
-    z: 0.4828947187308973
-    w: -0.4974523327920407
-  translation:
-    x: -0.1183783411979675
-    y: -0.2615255117416382
-    z: -0.8780751824378967

modules/calibration/data/dev_kit_advanced_sne-r/camera_params/front_12mm_intrinsics.yaml

-header: 
-  seq: 0
-  stamp: 
-    secs: 0
-    nsecs: 0
-  frame_id: front_12mm
-height: 1080
-width: 1920
-distortion_model: plumb_bob
-D: [-0.6518, 1.6382, 0.0167, -0.0078, -13.5175]
-K: [3766.3, 0.0, 1046.8, 0.0, 3765.9, 348.8692, 0.0, 0.0, 1.0]
-R: [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
-P:  [7132.898438, 0.000000, 887.299225, 0.000000, 0.000000, 7127.450684, 462.592921, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000]
-binning_x: 0
-binning_y: 0
-roi: 
-  x_offset: 0
-  y_offset: 0
-  height: 0
-  width: 0
-  do_rectify: False

modules/calibration/data/dev_kit_advanced_sne-r/camera_params/front_6mm_extrinsics.yaml

-header:
-  seq: 0
-  frame_id: velodyne128
-  stamp:
-    nsecs: 0
-    secs: 0
-child_frame_id: front_6mm
-transform:
-  rotation:
-    x: 0.5200436445723271
-    y: -0.4837705166175753
-    z: 0.5006092411999629
-    w: -0.4948849185585403
-  translation:
-    x: 0.1565715670585632
-    y: -0.1987829506397247
-    z: -1.005044937133789

modules/calibration/data/dev_kit_advanced_sne-r/camera_params/front_6mm_intrinsics.yaml

-header: 
-  seq: 0
-  stamp: 
-    secs: 0
-    nsecs: 0
-  frame_id: front_6mm
-height: 1080
-width: 1920
-distortion_model: plumb_bob
-D: [-0.5500, 0.3052, -0.0053, -0.00078227, -0.1154]
-K: [1951.7, 0.0, 936.236, 0.0, 1949.4, 531.9557, 0.0, 0.0, 1.0]
-R: [1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000]
-P: [1703.447510, 0.000000, 943.254273, 0.000000, 0.000000, 1896.693115, 444.134985, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000]
-binning_x: 0
-binning_y: 0
-roi: 
-  x_offset: 0
-  y_offset: 0
-  height: 0
-  width: 0
-  do_rectify: False

modules/calibration/data/dev_kit_advanced_sne-r/cancard_params/canbus_conf.pb.txt

-vehicle_parameter {
-  brand: NEOLIX
-  max_enable_fail_attempt: 5
-  driving_mode: COMPLETE_AUTO_DRIVE
-}
-
-can_card_parameter {
-  brand: SOCKET_CAN_RAW
-  type: PCI_CARD
-  channel_id: CHANNEL_ID_ZERO
-  interface: NATIVE
-}
-
-enable_debug_mode: true
-enable_receiver_log: true
-enable_sender_log: true

modules/calibration/data/dev_kit_advanced_sne-r/dreamview_conf/data_collection_table.pb.txt

-frame_threshold: 20
-total_frames: 4000
-scenario {
-  key: "Go Straight"
-  value {
-    feature {
-      name: "Forward"
-      range {
-        criterion {
-          field: "gear_location"
-          comparison_operator: EQUAL
-          value: 1
-        }
-      }
-    }
-    feature {
-      name: "Steering Angle"
-      range {
-        name: "Straight"
-        criterion {
-          field: "steering_percentage"
-          comparison_operator: GREATER_THAN_OR_EQUAL
-          value: -1
-        }
-        criterion {
-          field: "steering_percentage"
-          comparison_operator: LESS_THAN
-          value: 1
-        }
-      }
-    }
-    feature {
-      name: "Speed"
-      range {
-        name: "Speed 0 ~ 2.5mps"
-        criterion {
-          field: "speed_mps"
-          comparison_operator: GREATER_THAN_OR_EQUAL
-          value: 0.2
-        }
-        criterion {
-          field: "speed_mps"
-          comparison_operator: LESS_THAN
-          value: 2.5
-        }
-      }
-      range {
-        name: "Speed >= 2.5mps"
-        criterion {
-          field: "speed_mps"
-          comparison_operator: GREATER_THAN_OR_EQUAL
-          value: 2.5
-        }
-      }
-    }
-    feature {
-      name: "Accelerator (Decelerator)"
-      range {
-        name: "Throttle deadzone ~ 24%"
-        criterion {
-          field: "throttle_percentage"
-          comparison_operator: GREATER_THAN_OR_EQUAL
-          vehicle_config: "throttle_deadzone"
-        }
-        criterion {
-          field: "throttle_percentage"
-          comparison_operator: LESS_THAN
-          value: 24
-        }
-      }
-      range {
-        name: "Throttle >= 24%"
-        criterion {
-          field: "throttle_percentage"
-          comparison_operator: GREATER_THAN_OR_EQUAL
-          value: 24
-        }
-      }
-      range {
-        name: "Brake deadzone ~ 28%"
-        criterion {
-          field: "brake_percentage"
-          comparison_operator: GREATER_THAN_OR_EQUAL
-          vehicle_config: "brake_deadzone"
-        }
-        criterion {
-          field: "brake_percentage"
-          comparison_operator: LESS_THAN
-          value: 28
-        }
-      }
-      range {
-        name: "Brake >= 28%"
-        criterion {
-          field: "brake_percentage"
-          comparison_operator: GREATER_THAN_OR_EQUAL
-          value: 28
-        }
-      }
-    }
-  }
-}
-scenario {
-  key: "Branch Left/Right"
-  value {
-    feature {
-      name: "Forward"
-      range {
-        criterion {
-          field: "gear_location"
-          comparison_operator: EQUAL
-          value: 1
-        }
-      }
-    }
-    feature {
-      name: "Steering Angle"
-      range {
-        name: "Branch Left"
-        criterion {
-          field: "steering_percentage"
-          comparison_operator: GREATER_THAN_OR_EQUAL
-          value: 1
-        }
-        criterion {
-          field: "steering_percentage"
-          comparison_operator: LESS_THAN
-          value: 30
-        }
-      }
-      range {
-        name: "Branch Right"
-        criterion {
-          field: "steering_percentage"
-          comparison_operator: GREATER_THAN_OR_EQUAL
-          value: -30
-        }
-        criterion {
-          field: "steering_percentage"
-          comparison_operator: LESS_THAN
-          value: -1
-        }
-      }
-    }
-    feature {
-      name: "Speed"
-      range {
-        name: "Speed 0 ~ 10mps"
-        criterion {
-          field: "speed_mps"
-          comparison_operator: GREATER_THAN_OR_EQUAL
-          value: 0.2
-        }
-        criterion {
-          field: "speed_mps"
-          comparison_operator: LESS_THAN
-          value: 10
-        }
-      }
-      range {
-        name: "Speed 10 ~ 20mps"
-        criterion {
-          field: "speed_mps"
-          comparison_operator: GREATER_THAN_OR_EQUAL
-          value: 10
-        }
-        criterion {
-          field: "speed_mps"
-          comparison_operator: LESS_THAN
-          value: 20
-        }
-      }
-      range {
-        name: "Speed >= 20mps"
-        criterion {
-          field: "speed_mps"
-          comparison_operator: GREATER_THAN_OR_EQUAL
-          value: 20
-        }
-      }
-    }
-    feature {
-      name: "Accelerator (Decelerator)"
-      range {
-        name: "Throttle deadzone ~ 25%"
-        criterion {
-          field: "throttle_percentage"
-          comparison_operator: GREATER_THAN_OR_EQUAL
-          vehicle_config: "throttle_deadzone"
-        }
-        criterion {
-          field: "throttle_percentage"
-          comparison_operator: LESS_THAN
-          value: 25
-        }
-      }
-      range {
-        name: "Throttle 25% ~ 30%"
-        criterion {
-          field: "throttle_percentage"
-          comparison_operator: GREATER_THAN_OR_EQUAL
-          value: 25
-        }
-        criterion {
-          field: "throttle_percentage"
-          comparison_operator: LESS_THAN
-          value: 30
-        }
-      }
-      range {
-        name: "Throttle >= 30%"
-        criterion {
-          field: "throttle_percentage"
-          comparison_operator: GREATER_THAN_OR_EQUAL
-          value: 30
-        }
-      }
-      range {
-        name: "Brake deadzone ~ 20%"
-        criterion {
-          field: "brake_percentage"
-          comparison_operator: GREATER_THAN_OR_EQUAL
-          vehicle_config: "brake_deadzone"
-        }
-        criterion {
-          field: "brake_percentage"
-          comparison_operator: LESS_THAN
-          value: 20
-        }
-      }
-      range {
-        name: "Brake 20% ~ 25%"
-        criterion {
-          field: "brake_percentage"
-          comparison_operator: GREATER_THAN_OR_EQUAL
-          value: 20
-        }
-        criterion {
-          field: "brake_percentage"
-          comparison_operator: LESS_THAN
-          value: 25
-        }
-      }
-      range {
-        name: "Brake >= 25%"
-        criterion {
-          field: "brake_percentage"
-          comparison_operator: GREATER_THAN_OR_EQUAL
-          value: 25
-        }
-      }
-    }
-  }
-}
-scenario {
-  key: "Turn Left/Right"
-  value {
-    feature {
-      name: "Forward"
-      range {
-        criterion {
-          field: "gear_location"
-          comparison_operator: EQUAL
-          value: 1
-        }
-      }
-    }
-    feature {
-      name: "Steering Angle"
-      range {
-        name: "Turn Left"
-        criterion {
-          field: "steering_percentage"
-          comparison_operator: GREATER_THAN_OR_EQUAL
-          value: 30
-        }
-        criterion {
-          field: "steering_percentage"
-          comparison_operator: LESS_THAN
-          value: 60
-        }
-      }
-      range {
-        name: "Turn Right"
-        criterion {
-          field: "steering_percentage"
-          comparison_operator: GREATER_THAN_OR_EQUAL
-          value: -60
-        }
-        criterion {
-          field: "steering_percentage"
-          comparison_operator: LESS_THAN
-          value: -30
-        }
-      }
-    }
-    feature {
-      name: "Speed"
-      range {
-        name: "Speed 0 ~ 10mps"
-        criterion {
-          field: "speed_mps"
-          comparison_operator: GREATER_THAN_OR_EQUAL
-          value: 0.2
-        }
-        criterion {
-          field: "speed_mps"
-          comparison_operator: LESS_THAN
-          value: 10
-        }
-      }
-      range {
-        name: "Speed 10 ~ 20mps"
-        criterion {
-          field: "speed_mps"
-          comparison_operator: GREATER_THAN_OR_EQUAL
-          value: 10
-        }
-        criterion {
-          field: "speed_mps"
-          comparison_operator: LESS_THAN
-          value: 20
-        }
-      }
-    }
-    feature {
-      name: "Accelerator (Decelerator)"
-      range {
-        name: "Throttle deadzone ~ 25%"
-        criterion {
-          field: "throttle_percentage"
-          comparison_operator: GREATER_THAN_OR_EQUAL
-          vehicle_config: "throttle_deadzone"
-        }
-        criterion {
-          field: "throttle_percentage"
-          comparison_operator: LESS_THAN
-          value: 25
-        }
-      }
-      range {
-        name: "Throttle 25% ~ 30%"
-        criterion {
-          field: "throttle_percentage"
-          comparison_operator: GREATER_THAN_OR_EQUAL
-          value: 25
-        }
-        criterion {
-          field: "throttle_percentage"
-          comparison_operator: LESS_THAN
-          value: 30
-        }
-      }
-      range {
-        name: "Throttle >= 30%"
-        criterion {
-          field: "throttle_percentage"
-          comparison_operator: GREATER_THAN_OR_EQUAL
-          value: 30
-        }
-      }
-      range {
-        name: "Brake deadzone ~ 20%"
-        criterion {
-          field: "brake_percentage"
-          comparison_operator: GREATER_THAN_OR_EQUAL
-          vehicle_config: "brake_deadzone"
-        }
-        criterion {
-          field: "brake_percentage"
-          comparison_operator: LESS_THAN
-          value: 20
-        }
-      }
-      range {
-        name: "Brake 20% ~ 25%"
-        criterion {
-          field: "brake_percentage"
-          comparison_operator: GREATER_THAN_OR_EQUAL
-          value: 20
-        }
-        criterion {
-          field: "brake_percentage"
-          comparison_operator: LESS_THAN
-          value: 25
-        }
-      }
-      range {
-        name: "Brake >= 25%"
-        criterion {
-          field: "brake_percentage"
-          comparison_operator: GREATER_THAN_OR_EQUAL
-          value: 25
-        }
-      }
-    }
-  }
-}
-scenario {
-  key: "Sharp Left/Right"
-  value {
-    feature {
-      name: "Forward"
-      range {
-        criterion {
-          field: "gear_location"
-          comparison_operator: EQUAL
-          value: 1
-        }
-      }
-    }
-    feature {
-      name: "Steering Angle"
-      range {
-        name: "Sharp Left"
-        criterion {
-          field: "steering_percentage"
-          comparison_operator: GREATER_THAN_OR_EQUAL
-          value: 60
-        }
-      }
-      range {
-        name: "Sharp Right"
-        criterion {
-          field: "steering_percentage"
-          comparison_operator: LESS_THAN
-          value: -60
-        }
-      }
-    }
-    feature {
-      name: "Speed"
-      range {
-        name: "Speed 0 ~ 10mps"
-        criterion {
-          field: "speed_mps"
-          comparison_operator: GREATER_THAN_OR_EQUAL
-          value: 0.2
-        }
-        criterion {
-          field: "speed_mps"
-          comparison_operator: LESS_THAN
-          value: 10
-        }
-      }
-      range {
-        name: "Speed 10 ~ 20mps"
-        criterion {
-          field: "speed_mps"
-          comparison_operator: GREATER_THAN_OR_EQUAL
-          value: 10
-        }
-        criterion {
-          field: "speed_mps"
-          comparison_operator: LESS_THAN
-          value: 20
-        }
-      }
-    }
-    feature {
-      name: "Accelerator (Decelerator)"
-      range {
-        name: "Throttle deadzone ~ 25%"
-        criterion {
-          field: "throttle_percentage"
-          comparison_operator: GREATER_THAN_OR_EQUAL
-          vehicle_config: "throttle_deadzone"
-        }
-        criterion {
-          field: "throttle_percentage"
-          comparison_operator: LESS_THAN
-          value: 25
-        }
-      }
-      range {
-        name: "Throttle 25% ~ 30%"
-        criterion {
-          field: "throttle_percentage"
-          comparison_operator: GREATER_THAN_OR_EQUAL
-          value: 25
-        }
-        criterion {
-          field: "throttle_percentage"
-          comparison_operator: LESS_THAN
-          value: 30
-        }
-      }
-      range {
-        name: "Throttle >= 30%"
-        criterion {
-          field: "throttle_percentage"
-          comparison_operator: GREATER_THAN_OR_EQUAL
-          value: 30
-        }
-      }
-      range {
-        name: "Brake deadzone ~ 20%"
-        criterion {
-          field: "brake_percentage"
-          comparison_operator: GREATER_THAN_OR_EQUAL
-          vehicle_config: "brake_deadzone"
-        }
-        criterion {
-          field: "brake_percentage"
-          comparison_operator: LESS_THAN
-          value: 20
-        }
-      }
-      range {
-        name: "Brake 20% ~ 25%"
-        criterion {
-          field: "brake_percentage"
-          comparison_operator: GREATER_THAN_OR_EQUAL
-          value: 20
-        }
-        criterion {
-          field: "brake_percentage"
-          comparison_operator: LESS_THAN
-          value: 25
-        }
-      }
-      range {
-        name: "Brake >= 25%"
-        criterion {
-          field: "brake_percentage"
-          comparison_operator: GREATER_THAN_OR_EQUAL
-          value: 25
-        }
-      }
-    }
-  }
-}
-scenario {
-  key: "Reverse: Go Straight or Branch Left/Right"
-  value {
-    feature {
-      name: "Reverse"
-      range {
-        criterion {
-          field: "gear_location"
-          comparison_operator: EQUAL
-          value: 2
-        }
-      }
-    }
-    feature {
-      name: "Steering Angle"
-      range {
-        name: "Go Straight"
-        criterion {
-          field: "steering_percentage"
-          comparison_operator: GREATER_THAN_OR_EQUAL
-          value: -1
-        }
-        criterion {
-          field: "steering_percentage"
-          comparison_operator: LESS_THAN
-          value: 1
-        }
-      }
-      range {
-        name: "Branch Left"
-        criterion {
-          field: "steering_percentage"
-          comparison_operator: GREATER_THAN_OR_EQUAL
-          value: 1
-        }
-        criterion {
-          field: "steering_percentage"
-          comparison_operator: LESS_THAN
-          value: 30
-        }
-      }
-      range {
-        name: "Branch Right"
-        criterion {
-          field: "steering_percentage"
-          comparison_operator: GREATER_THAN_OR_EQUAL
-          value: -30
-        }
-        criterion {
-          field: "steering_percentage"
-          comparison_operator: LESS_THAN
-          value: -1
-        }
-      }
-    }
-    feature {
-      name: "Speed"
-      range {
-        name: "Speed 0 ~ 2mps"
-        criterion {
-          field: "speed_mps"
-          comparison_operator: GREATER_THAN_OR_EQUAL
-          value: 0.2
-        }
-        criterion {
-          field: "speed_mps"
-          comparison_operator: LESS_THAN
-          value: 2
-        }
-      }
-    }
-    feature {
-      name: "Accelerator (Decelerator)"
-      range {
-        name: "Throttle < deadzone, Brake < deadzone"
-        criterion {
-          field: "throttle_percentage"
-          comparison_operator: LESS_THAN
-          vehicle_config: "throttle_deadzone"
-        }
-        criterion {
-          field: "brake_percentage"
-          comparison_operator: LESS_THAN
-          vehicle_config: "brake_deadzone"
-        }
-      }
-      range {
-        name: "Throttle deadzone ~ 20%"
-        criterion {
-          field: "throttle_percentage"
-          comparison_operator: GREATER_THAN_OR_EQUAL
-          vehicle_config: "throttle_deadzone"
-        }
-        criterion {
-          field: "throttle_percentage"
-          comparison_operator: LESS_THAN
-          value: 20
-        }
-      }
-      range {
-        name: "Throttle >= 20%"
-        criterion {
-          field: "throttle_percentage"
-          comparison_operator: GREATER_THAN_OR_EQUAL
-          value: 20
-        }
-      }
-      range {
-        name: "Brake deadzone ~ 20%"
-        criterion {
-          field: "brake_percentage"
-          comparison_operator: GREATER_THAN_OR_EQUAL
-          vehicle_config: "brake_deadzone"
-        }
-        criterion {
-          field: "brake_percentage"
-          comparison_operator: LESS_THAN
-          value: 20
-        }
-      }
-      range {
-        name: "Brake 20% ~ 25%"
-        criterion {
-          field: "brake_percentage"
-          comparison_operator: GREATER_THAN_OR_EQUAL
-          value: 20
-        }
-        criterion {
-          field: "brake_percentage"
-          comparison_operator: LESS_THAN
-          value: 25
-        }
-      }
-      range {
-        name: "Brake >= 25%"
-        criterion {
-          field: "brake_percentage"
-          comparison_operator: GREATER_THAN_OR_EQUAL
-          value: 25
-        }
-      }
-    }
-  }
-}
-scenario {
-  key: "Reverse: Turn Left/Right"
-  value {
-    feature {
-      name: "Reverse"
-      range {
-        criterion {
-          field: "gear_location"
-          comparison_operator: EQUAL
-          value: 2
-        }
-      }
-    }
-    feature {
-      name: "Steering Angle"
-      range {
-        name: "Turn Left"
-        criterion {
-          field: "steering_percentage"
-          comparison_operator: GREATER_THAN_OR_EQUAL
-          value: 30
-        }
-        criterion {
-          field: "steering_percentage"
-          comparison_operator: LESS_THAN
-          value: 60
-        }
-      }
-      range {
-        name: "Turn Right"
-        criterion {
-          field: "steering_percentage"
-          comparison_operator: GREATER_THAN_OR_EQUAL
-          value: -60
-        }
-        criterion {
-          field: "steering_percentage"
-          comparison_operator: LESS_THAN
-          value: -30
-        }
-      }
-      range {
-        name: "Sharp Left"
-        criterion {
-          field: "steering_percentage"
-          comparison_operator: GREATER_THAN_OR_EQUAL
-          value: 60
-        }
-      }
-      range {
-        name: "Sharp Right"
-        criterion {
-          field: "steering_percentage"
-          comparison_operator: LESS_THAN
-          value: -60
-        }
-      }
-    }
-    feature {
-      name: "Speed"
-      range {
-        name: "Speed 0 ~ 2mps"
-        criterion {
-          field: "speed_mps"
-          comparison_operator: GREATER_THAN_OR_EQUAL
-          value: 0.2
-        }
-        criterion {
-          field: "speed_mps"
-          comparison_operator: LESS_THAN
-          value: 2
-        }
-      }
-    }
-    feature {
-      name: "Accelerator (Decelerator)"
-      range {
-        name: "Throttle < deadzone, Brake < deadzone"
-        criterion {
-          field: "throttle_percentage"
-          comparison_operator: LESS_THAN
-          vehicle_config: "throttle_deadzone"
-        }
-        criterion {
-          field: "brake_percentage"
-          comparison_operator: LESS_THAN
-          vehicle_config: "brake_deadzone"
-        }
-      }
-      range {
-        name: "Throttle deadzone ~ 20%"
-        criterion {
-          field: "throttle_percentage"
-          comparison_operator: GREATER_THAN_OR_EQUAL
-          vehicle_config: "throttle_deadzone"
-        }
-        criterion {
-          field: "throttle_percentage"
-          comparison_operator: LESS_THAN
-          value: 20
-        }
-      }
-      range {
-        name: "Throttle >= 20%"
-        criterion {
-          field: "throttle_percentage"
-          comparison_operator: GREATER_THAN_OR_EQUAL
-          value: 20
-        }
-      }
-      range {
-        name: "Brake deadzone ~ 20%"
-        criterion {
-          field: "brake_percentage"
-          comparison_operator: GREATER_THAN_OR_EQUAL
-          vehicle_config: "brake_deadzone"
-        }
-        criterion {
-          field: "brake_percentage"
-          comparison_operator: LESS_THAN
-          value: 20
-        }
-      }
-      range {
-        name: "Brake 20% ~ 25%"
-        criterion {
-          field: "brake_percentage"
-          comparison_operator: GREATER_THAN_OR_EQUAL
-          value: 20
-        }
-        criterion {
-          field: "brake_percentage"
-          comparison_operator: LESS_THAN
-          value: 25
-        }
-      }
-      range {
-        name: "Brake >= 25%"
-        criterion {
-          field: "brake_percentage"
-          comparison_operator: GREATER_THAN_OR_EQUAL
-          value: 25
-        }
-      }
-    }
-  }
-}

modules/calibration/data/dev_kit_advanced_sne-r/gnss_params/ant_imu_leverarm.yaml

-#set primary if single-antenna;set both primary and secondary if dual-antenna.
-leverarm:
-  primary:
-    offset:
-      x: 0.0143
-      y: -0.6452
-      z: 1.1802
-    uncertainty:
-      x: 0.030
-      y: 0.030
-      z: 0.030
-  secondary:
-    offset:
-      x: 0.0143
-      y: 0.8128
-      z: 1.1802
-    uncertainty:
-      x: 0.030
-      y: 0.030
-      z: 0.030

modules/calibration/data/dev_kit_advanced_sne-r/lidar_conf/lidar16_fusion_compensator.pb.txt

-world_frame_id: "world"
-transform_query_timeout: 0.02
-output_channel: "/apollo/sensor/lidar16/compensator/PointCloud2"

modules/calibration/data/dev_kit_advanced_sne-r/lidar_params/VLP16_calibration.yaml

-lasers:
-- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
-  focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 0, rot_correction: 0.0,
-  vert_correction: -0.2617993877991494, vert_offset_correction: 0.0}
-- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
-  focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 1, rot_correction: 0.0,
-  vert_correction: 0.017453292519943295, vert_offset_correction: 0.0}
-- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
-  focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 2, rot_correction: 0.0,
-  vert_correction: -0.22689280275926285, vert_offset_correction: 0.0}
-- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
-  focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 3, rot_correction: 0.0,
-  vert_correction: 0.05235987755982989, vert_offset_correction: 0.0}
-- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
-  focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 4, rot_correction: 0.0,
-  vert_correction: -0.19198621771937624, vert_offset_correction: 0.0}
-- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
-  focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 5, rot_correction: 0.0,
-  vert_correction: 0.08726646259971647, vert_offset_correction: 0.0}
-- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
-  focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 6, rot_correction: 0.0,
-  vert_correction: -0.15707963267948966, vert_offset_correction: 0.0}
-- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
-  focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 7, rot_correction: 0.0,
-  vert_correction: 0.12217304763960307, vert_offset_correction: 0.0}
-- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
-  focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 8, rot_correction: 0.0,
-  vert_correction: -0.12217304763960307, vert_offset_correction: 0.0}
-- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
-  focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 9, rot_correction: 0.0,
-  vert_correction: 0.15707963267948966, vert_offset_correction: 0.0}
-- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
-  focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 10, rot_correction: 0.0,
-  vert_correction: -0.08726646259971647, vert_offset_correction: 0.0}
-- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
-  focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 11, rot_correction: 0.0,
-  vert_correction: 0.19198621771937624, vert_offset_correction: 0.0}
-- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
-  focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 12, rot_correction: 0.0,
-  vert_correction: -0.05235987755982989, vert_offset_correction: 0.0}
-- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
-  focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 13, rot_correction: 0.0,
-  vert_correction: 0.22689280275926285, vert_offset_correction: 0.0}
-- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
-  focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 14, rot_correction: 0.0,
-  vert_correction: -0.017453292519943295, vert_offset_correction: 0.0}
-- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,
-  focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 15, rot_correction: 0.0,
-  vert_correction: 0.2617993877991494, vert_offset_correction: 0.0}
-num_lasers: 16
-

modules/calibration/data/dev_kit_advanced_sne-r/lidar_params/velodyne16_height.yaml

-vehicle:
-  parameters:
-    height: 1.64
-    height_var: 0.0047

modules/calibration/data/dev_kit_advanced_sne-r/localization_dag/dag_streaming_rtk_localization.dag

-# Define all coms in DAG streaming.
-# In D-KIT, we only support MSF localization, we use this configuration to overwrite the original RTK configuration.
-
-module_config {
-    module_library : "/apollo/bazel-bin/modules/localization/msf/libmsf_localization_component.so"
-
-    components {
-      class_name : "MSFLocalizationComponent"
-      config {
-        name : "msf_localization"
-        flag_file_path : "/apollo/modules/localization/conf/localization.conf"
-        readers: [
-          {
-            channel: "/apollo/sensor/gnss/imu"
-            qos_profile: {
-              depth : 10
-            }
-            pending_queue_size: 50
-          }
-        ]
-      }
-    }
-}
\ No newline at end of file

modules/calibration/data/dev_kit_advanced_sne-r/novatel_localization_extrinsics.yaml

-child_frame_id: novatel
-transform:
-  translation:
-    x: 0.0
-    y: 0.0
-    z: 0.0
-  rotation:
-    x: 0.0
-    y: 0.0
-    z: 0.0
-    w: 1.0
-header:
-  seq: 0
-  stamp:
-    secs: 1512689414
-    nsecs: 0
-  frame_id: localization

modules/calibration/data/dev_kit_advanced_sne-r/perception_conf/camera/fusion_camera_detection_component.pb.txt

-camera_names: "front_6mm,front_12mm"
-input_camera_channel_names : "/apollo/sensor/camera/front_6mm/image,/apollo/sensor/camera/front_12mm/image"
-timestamp_offset : 0.0
-camera_obstacle_perception_conf_dir : "/apollo/modules/perception/production/conf/perception/camera"
-camera_obstacle_perception_conf_file : "obstacle.pt"
-frame_capacity : 20
-image_channel_num : 3
-enable_undistortion : false
-enable_visualization : false
-output_final_obstacles : true
-output_obstacles_channel_name : "/apollo/perception/obstacles"
-camera_perception_viz_message_channel_name : "/perception/inner/camera_viz_msg"
-prefused_channel_name : "/perception/inner/PrefusedObjects"
-default_camera_pitch : 0.0
-default_camera_height : 1.5
-lane_calibration_working_sensor_name : "front_6mm"
-calibrator_method : "LaneLineCalibrator"
-calib_service_name : "OnlineCalibrationService"
-run_calib_service : true
-output_camera_debug_msg : false
-camera_debug_channel_name : "/perception/camera_debug"
-ts_diff : 0.1
-visual_debug_folder : "/apollo/debug_output"
-visual_camera : "front_6mm"
-write_visual_img : false
-enable_cipv : false
-debug_level : 0

modules/calibration/data/dev_kit_advanced_sne-r/perception_dag/dag_streaming_perception_dev_kit_camera.dag

-module_config {
-  module_library : "/apollo/bazel-bin/modules/perception/onboard/component/libperception_component_camera.so"
-  components {
-    class_name : "FusionCameraDetectionComponent"
-    config {
-      name: "FusionCameraComponent"
-      config_file_path: "/apollo/modules/perception/production/conf/perception/camera/fusion_camera_detection_component.pb.txt"
-      flag_file_path: "/apollo/modules/perception/production/conf/perception/perception_common.flag"
-    }
-  }
-}

modules/calibration/data/dev_kit_advanced_sne-r/perception_dag/dag_streaming_perception_dev_kit_lidar.dag

-module_config {
-  module_library : "/apollo/bazel-bin/modules/perception/onboard/component/libperception_component_lidar.so"
-
- components {
-    class_name : "SegmentationComponent"
-    config {
-      name: "Velodyne128Segmentation"
-      config_file_path: "/apollo/modules/perception/production/conf/perception/lidar/velodyne128_segmentation_conf.pb.txt"
-      flag_file_path: "/apollo/modules/perception/production/conf/perception/perception_common.flag"
-      readers {
-          channel: "/apollo/sensor/lidar16/compensator/PointCloud2"
-        }
-    }
-  }
-
-  components {
-    class_name : "RecognitionComponent"
-    config {
-      name: "RecognitionComponent"
-      config_file_path: "/apollo/modules/perception/production/conf/perception/lidar/recognition_conf.pb.txt"
-      readers {
-          channel: "/perception/inner/SegmentationObjects"
-        }
-    }
-  }
-
-
-  components {
-    class_name: "FusionComponent"
-    config {
-      name: "SensorFusion"
-      config_file_path: "/apollo/modules/perception/production/conf/perception/fusion/fusion_component_conf.pb.txt"
-      readers {
-          channel: "/perception/inner/PrefusedObjects"
-        }
-    }
-  }
-
-}

modules/calibration/data/dev_kit_advanced_sne-r/perception_launch/dev_kit_perception_camera.launch

-<!--this file list the modules which will be loaded dynamicly and
-    their process name to be running in -->
-
-<cyber>
-    <desc>cyber modules list config</desc>
-    <version>1.0.0</version>
-
-    <!-- sample module config, and the files should have relative path like
-         ./bin/cyber_launch
-         ./bin/mainboard
-         ./conf/dag_streaming_0.conf -->
-
-    <module>
-        <name>perception_camera</name>
-        <dag_conf>/apollo/modules/perception/production/dag/dag_streaming_perception_dev_kit_camera.dag</dag_conf>
-        <!-- if not set, use default process -->
-        <process_name></process_name>
-        <version>1.0.0</version>
-    </module>
-</cyber>

modules/calibration/data/dev_kit_advanced_sne-r/perception_launch/dev_kit_perception_lidar.launch

-<!--this file list the modules which will be loaded dynamicly and
-    their process name to be running in -->
-<cyber>
-    <desc>cyber modules list config</desc>
-    <version>1.0.0</version>
-    <!-- sample module config, and the files should have relative path like
-         ./bin/cyber_launch
-         ./bin/mainboard
-         ./conf/dag_streaming_0.conf -->
-
-    <module>
-        <name>perception</name>
-        <dag_conf>/apollo/modules/perception/production/dag/dag_streaming_perception_dev_kit_lidar.dag</dag_conf>
-        <!-- if not set, use default process -->
-        <process_name>lidar_perception</process_name>
-        <version>1.0.0</version>
-    </module> 
-</cyber>

modules/calibration/data/dev_kit_advanced_sne-r/planning_conf/planning.conf

---flagfile=/apollo/modules/common/data/global_flagfile.txt
---traffic_rule_config_filename=/apollo/modules/planning/conf/traffic_rule_config.pb.txt
---planning_upper_speed_limit=1.5
---planning_lower_speed_limit=0.1
---speed_upper_bound=1.5
---default_cruise_speed=1.0
---max_stop_distance_obstacle=10.0
---min_stop_distance_obstacle=4.0
---destination_check_distance=1.0
---lon_collision_buffer=0.3
---enable_scenario_park_and_go=false
---ignore_overlapped_obstacle=true
---prioritize_change_lane
---min_length_for_lane_change=5.0
---nouse_multi_thread_to_add_obstacles
---enable_multi_thread_in_dp_st_graph
---use_osqp_optimizer_for_reference_line
-
-# 0-no learning; 1-offline(read records and dump learning data); 2-online(e2e); 3-online(hybrid)
---planning_learning_mode=0
-
-# --smoother_config_filename=/apollo/modules/planning/conf/spiral_smoother_config.pb.txt
-# --smoother_config_filename=/apollo/modules/planning/conf/qp_spline_smoother_config.pb.txt
---smoother_config_filename=/apollo/modules/planning/conf/discrete_points_smoother_config.pb.txt
---enable_reference_line_stitching=false
-
-# --enable_perception_obstacles=false
-# --parking_inwards=false
-# --use_dual_variable_warm_start=true
-# --enable_open_space_planner_thread=true
-# --enable_record_debug=true
-# --use_gear_shift_trajectory=true
-# --enable_parallel_hybrid_a=true
---export_chart=true
-
-# --use_front_axe_center_in_path_planning=true
-# --obstacle_lon_start_buffer=0.4
-# --obstacle_lon_end_buffer=0.4
-
---noenable_smoother_failsafe
---enable_parallel_trajectory_smoothing
---nouse_s_curve_speed_smooth
---use_iterative_anchoring_smoother
-
---open_space_planning_period=1000.0
---open_space_standstill_acceleration=0.3
-
---lane_change_prepare_length=60.0
---enable_smarter_lane_change=true
---nonstatic_obstacle_nudge_l_buffer=0.4
---lane_change_obstacle_nudge_l_buffer=0.3
-
---use_st_drivable_boundary=true
-
-#--enable_skip_path_tasks=true
-#--enable_reuse_path_in_lane_follow=true
-
---use_smoothed_dp_guide_line=true
---use_soft_bound_in_nonlinear_speed_opt=false
-
-# --use_road_boundary_from_map=true

modules/calibration/data/dev_kit_advanced_sne-r/planning_conf/planning_config.pb.txt

-topic_config {
-  chassis_topic: "/apollo/canbus/chassis"
-  hmi_status_topic: "/apollo/hmi/status"
-  localization_topic: "/apollo/localization/pose"
-  planning_pad_topic: "/apollo/planning/pad"
-  planning_trajectory_topic: "/apollo/planning"
-  prediction_topic: "/apollo/prediction"
-  relative_map_topic: "/apollo/relative_map"
-  routing_request_topic: "/apollo/routing_request"
-  routing_response_topic: "/apollo/routing_response"
-  story_telling_topic: "/apollo/storytelling"
-  traffic_light_detection_topic: "/apollo/perception/traffic_light"
-}
-standard_planning_config {
-  planner_type: PUBLIC_ROAD
-  planner_public_road_config {
-  }
-}
-default_task_config: {
-  task_type: PIECEWISE_JERK_PATH_OPTIMIZER
-  piecewise_jerk_path_optimizer_config {
-    default_path_config {
-      l_weight: 1.0
-      dl_weight: 20.0
-      ddl_weight: 1000.0
-      dddl_weight: 50000.0
-    }
-    lane_change_path_config {
-      l_weight: 1.0
-      dl_weight: 5.0
-      ddl_weight: 800.0
-      dddl_weight: 30000.0
-    }
-  }
-}
-default_task_config: {
-  task_type: PIECEWISE_JERK_SPEED_OPTIMIZER
-  piecewise_jerk_speed_optimizer_config {
-    acc_weight: 1.0
-    jerk_weight: 3.0
-    kappa_penalty_weight: 2000.0
-    ref_s_weight: 10.0
-    ref_v_weight: 10.0
-  }
-}
-default_task_config: {
-  task_type: PIECEWISE_JERK_NONLINEAR_SPEED_OPTIMIZER
-  piecewise_jerk_nonlinear_speed_optimizer_config {
-    acc_weight: 2.0
-    jerk_weight: 3.0
-    lat_acc_weight: 1000.0
-    s_potential_weight: 0.05
-    ref_v_weight: 5.0
-    ref_s_weight: 100.0
-    soft_s_bound_weight: 1e6
-    use_warm_start: true
-  }
-}
-default_task_config: {
-  task_type: SPEED_HEURISTIC_OPTIMIZER
-  speed_heuristic_optimizer_config {
-    default_speed_config {
-      unit_t: 1.0
-      dense_dimension_s: 101
-      dense_unit_s: 0.1
-      sparse_unit_s: 1.0
-      speed_weight: 0.0
-      accel_weight: 10.0
-      jerk_weight: 10.0
-      obstacle_weight: 1.0
-      reference_weight: 0.0
-      go_down_buffer: 5.0
-      go_up_buffer: 5.0
-
-      default_obstacle_cost: 1e4
-
-      default_speed_cost: 1.0e3
-      exceed_speed_penalty: 1.0e3
-      low_speed_penalty: 10.0
-      reference_speed_penalty: 10.0
-      keep_clear_low_speed_penalty: 10.0
-      accel_penalty: 1.0
-      decel_penalty: 1.0
-
-      positive_jerk_coeff: 1.0
-      negative_jerk_coeff: 1.0
-
-      max_acceleration: 1.0
-      max_deceleration: -4.0
-      spatial_potential_penalty: 1.0e2
-    }
-    lane_change_speed_config {
-      unit_t: 1.0
-      dense_dimension_s: 21
-      dense_unit_s: 0.25
-      sparse_unit_s: 1.0
-      speed_weight: 0.0
-      accel_weight: 10.0
-      jerk_weight: 10.0
-      obstacle_weight: 1.0
-      reference_weight: 0.0
-      go_down_buffer: 5.0
-      go_up_buffer: 5.0
-
-      default_obstacle_cost: 1e4
-
-      default_speed_cost: 1.0e3
-      exceed_speed_penalty: 1.0e3
-      low_speed_penalty: 10.0
-      reference_speed_penalty: 10.0
-      keep_clear_low_speed_penalty: 10.0
-      accel_penalty: 1.0
-      decel_penalty: 1.0
-
-      positive_jerk_coeff: 1.0
-      negative_jerk_coeff: 1.0
-
-      max_acceleration: 1.0
-      max_deceleration: -2.5
-      spatial_potential_penalty: 1.0e5
-      is_lane_changing: true
-    }
-  }
-}
-default_task_config: {
-  task_type: SPEED_DECIDER
-}
-default_task_config: {
-  task_type: RULE_BASED_STOP_DECIDER
-  rule_based_stop_decider_config {
-    max_adc_stop_speed: 0.5
-    max_valid_stop_distance: 1.0
-    search_beam_length: 20.0
-    search_beam_radius_intensity: 0.08
-    search_range: 3.14
-    is_block_angle_threshold: 0.5
-  }
-}
-default_task_config: {
-  task_type: ST_BOUNDS_DECIDER
-  st_bounds_decider_config {
-    total_time: 15.0
-  }
-}
-default_task_config: {
-  task_type: SPEED_BOUNDS_PRIORI_DECIDER
-  speed_bounds_decider_config {
-    total_time: 15.0
-    boundary_buffer: 0.25
-    max_centric_acceleration_limit: 2.0
-    point_extension: 0.0
-    lowest_speed: 0.1
-    static_obs_nudge_speed_ratio: 0.6
-    dynamic_obs_nudge_speed_ratio: 0.8
-  }
-}
-default_task_config: {
-  task_type: SPEED_BOUNDS_FINAL_DECIDER
-  speed_bounds_decider_config {
-    total_time: 15.0
-    boundary_buffer: 0.1
-    max_centric_acceleration_limit: 2.0
-    point_extension: 0.0
-    lowest_speed: 0.1
-    static_obs_nudge_speed_ratio: 0.6
-    dynamic_obs_nudge_speed_ratio: 0.8
-  }
-}
-default_task_config: {
-  task_type: OPEN_SPACE_PRE_STOP_DECIDER
-  open_space_pre_stop_decider_config: {
-  }
-}
-default_task_config: {
-  task_type: OPEN_SPACE_TRAJECTORY_PROVIDER
-  open_space_trajectory_provider_config {
-    open_space_trajectory_optimizer_config {
-      planner_open_space_config {
-        warm_start_config {
-          xy_grid_resolution: 0.3
-          phi_grid_resolution: 0.1
-          next_node_num: 10
-          step_size: 0.25
-          traj_forward_penalty: 1.0
-          traj_back_penalty: 1.0
-          traj_gear_switch_penalty: 10.0
-          traj_steer_penalty: 0.0
-          traj_steer_change_penalty: 0.0
-          grid_a_star_xy_resolution: 0.25
-          node_radius: 0.5
-        }
-        dual_variable_warm_start_config {
-          weight_d: 1.0
-          ipopt_config {
-            ipopt_print_level: 0
-            mumps_mem_percent: 6000
-            mumps_pivtol: 1e-06
-            ipopt_max_iter: 100
-            ipopt_tol: 1e-05
-            ipopt_acceptable_constr_viol_tol: 0.1
-            ipopt_min_hessian_perturbation: 1e-12
-            ipopt_jacobian_regularization_value: 1e-07
-            ipopt_print_timing_statistics: "yes"
-            ipopt_alpha_for_y: "min"
-            ipopt_recalc_y: "yes"
-          }
-          qp_format: OSQP
-          min_safety_distance: 0.01
-          osqp_config {
-            alpha: 1.0
-            eps_abs: 1.0e-3
-            eps_rel: 1.0e-3
-            max_iter: 10000
-            polish: true
-            osqp_debug_log: false
-          }
-        }
-        distance_approach_config {
-          weight_steer: 0.3
-          weight_a: 1.1
-          weight_steer_rate: 3.0
-          weight_a_rate: 2.5
-          weight_x: 2.3
-          weight_y: 0.7
-          weight_phi: 1.5
-          weight_v: 0.0
-          weight_steer_stitching: 1.75
-          weight_a_stitching: 3.25
-          weight_first_order_time: 4.25
-          weight_second_order_time: 13.5
-          weight_end_state: 1.0
-          weight_slack: 1.0
-          min_safety_distance: 0.01
-          max_speed_forward: 1.5
-          max_speed_reverse: 1.0
-          max_acceleration_forward: 1.0
-          max_acceleration_reverse: 1.0
-          min_time_sample_scaling: 0.8
-          max_time_sample_scaling: 1.2
-          use_fix_time: false
-          ipopt_config {
-            ipopt_print_level: 0
-            mumps_mem_percent: 6000
-            mumps_pivtol: 1e-06
-            ipopt_max_iter: 1000
-            ipopt_tol: 0.0001
-            ipopt_acceptable_constr_viol_tol: 0.1
-            ipopt_min_hessian_perturbation: 1e-12
-            ipopt_jacobian_regularization_value: 1e-07
-            ipopt_print_timing_statistics: "yes"
-            ipopt_alpha_for_y: "min"
-            ipopt_recalc_y: "yes"
-            ipopt_mu_init: 0.1
-          }
-          enable_constraint_check: false
-          enable_initial_final_check: false
-          enable_jacobian_ad: false
-          enable_hand_derivative: false
-          enable_derivative_check: false
-          distance_approach_mode: DISTANCE_APPROACH_IPOPT_RELAX_END_SLACK
-          enable_check_initial_state: false
-        }
-        iterative_anchoring_smoother_config {
-          interpolated_delta_s: 0.1
-          reanchoring_trails_num: 50
-          reanchoring_pos_stddev: 0.25
-          reanchoring_length_stddev: 1.0
-          estimate_bound: false
-          default_bound: 2.0
-          vehicle_shortest_dimension: 1.04
-          fem_pos_deviation_smoother_config {
-            weight_fem_pos_deviation: 1e7
-            weight_path_length: 0.0
-            weight_ref_deviation: 1e3
-            apply_curvature_constraint: true
-            weight_curvature_constraint_slack_var: 1e8
-            curvature_constraint: 0.18
-            max_iter: 500
-            time_limit: 0.0
-            verbose: false
-            scaled_termination: true
-            warm_start: true
-          }
-          s_curve_config {
-            acc_weight: 1.0
-            jerk_weight: 1.0
-            kappa_penalty_weight: 100.0
-            ref_s_weight: 10.0
-            ref_v_weight: 0.0
-          }
-          collision_decrease_ratio: 0.0
-          max_forward_v: 1.0
-          max_reverse_v: 1.0
-          max_forward_acc: 0.5
-          max_reverse_acc: 1.0
-          max_acc_jerk: 0.5
-          delta_t: 0.2
-        }
-        delta_t: 0.5
-        is_near_destination_threshold: 0.1
-        enable_check_parallel_trajectory: false
-        enable_linear_interpolation: false
-        is_near_destination_theta_threshold: 0.05
-      }
-    }
-  }
-}
-default_task_config: {
-  task_type: OPEN_SPACE_TRAJECTORY_PARTITION
-  open_space_trajectory_partition_config {
-    gear_shift_max_t: 3.0
-    gear_shift_unit_t: 0.02
-    gear_shift_period_duration: 2.0
-    interpolated_pieces_num: 10
-    initial_gear_check_horizon: 15
-    heading_search_range: 0.79
-    heading_track_range: 1.57
-    distance_search_range: 2.0
-    heading_offset_to_midpoint: 0.79
-    lateral_offset_to_midpoint: 0.5
-    longitudinal_offset_to_midpoint: 0.2
-    vehicle_box_iou_threshold_to_midpoint: 0.75
-    linear_velocity_threshold_on_ego: 0.2
-  }
-}
-default_task_config: {
-  task_type: OPEN_SPACE_ROI_DECIDER
-  open_space_roi_decider_config {
-    roi_longitudinal_range_start: 15
-    roi_longitudinal_range_end: 15
-    parking_start_range: 20.0
-    parking_inwards: false
-    enable_perception_obstacles: true
-    parking_depth_buffer: 0.2
-    roi_line_segment_min_angle: 0.15
-    roi_line_segment_length: 1.0
-    perception_obstacle_filtering_distance: 1000.0
-    perception_obstacle_buffer: 0.0
-    curb_heading_tangent_change_upper_limit: 0.4
-  }
-}
-default_task_config: {
-  task_type: OPEN_SPACE_FALLBACK_DECIDER
-  open_space_fallback_decider_config {
-    open_space_prediction_time_period: 5.0
-    open_space_fallback_collision_distance: 5.0
-    open_space_fallback_stop_distance: 2.0
-    open_space_fallback_collision_time_buffer: 5.0
-  }
-}
-default_task_config: {
-  task_type: PATH_BOUNDS_DECIDER
-  path_bounds_decider_config {
-    is_lane_borrowing: false
-    is_pull_over: false
-    pull_over_destination_to_adc_buffer: 25.0
-    pull_over_destination_to_pathend_buffer: 4.0
-    pull_over_road_edge_buffer: 0.15
-    pull_over_approach_lon_distance_adjust_factor: 1.5
-  }
-}
-default_task_config: {
-  task_type: PATH_LANE_BORROW_DECIDER
-  path_lane_borrow_decider_config {
-    allow_lane_borrowing: false
-  }
-}
-default_task_config: {
-  task_type: LANE_CHANGE_DECIDER
-  lane_change_decider_config {
-    enable_lane_change_urgency_check: false
-    enable_prioritize_change_lane: false
-    enable_remove_change_lane: false
-    reckless_change_lane: false
-    change_lane_success_freeze_time: 1.5
-    change_lane_fail_freeze_time: 1.0
-  }
-}
-default_task_config: {
-  task_type: PATH_REUSE_DECIDER
-  path_reuse_decider_config {
-    reuse_path: false
-  }
-}
-default_task_config: {
-  task_type: PATH_DECIDER
-  path_decider_config{
-    static_obstacle_buffer: 0.3
-  }
-}
-default_task_config {
-  task_type: PATH_REFERENCE_DECIDER
-  path_reference_decider_config {
-    min_path_reference_length: 20
-  }
-}

modules/calibration/data/dev_kit_advanced_sne-r/radar_conf/radar_front_conf.pb.txt

-can_conf {
-
-  can_card_parameter {
-    brand:SOCKET_CAN_RAW
-    type: PCI_CARD
-    channel_id: CHANNEL_ID_ONE
-  }
-
-  enable_debug_mode: false
-  enable_receiver_log: false
-}
-
-radar_conf {
-  max_distance_valid: true
-  sensor_id_valid: false
-  radar_power_valid: false
-  output_type_valid: true
-  send_quality_valid: true
-  send_ext_info_valid: true
-  sort_index_valid: false
-  store_in_nvm_valid: true
-  ctrl_relay_valid: false
-  rcs_threshold_valid: true
-
-  max_distance: 250
-  sensor_id: 0
-  output_type: OUTPUT_TYPE_OBJECTS
-  radar_power: 0
-  ctrl_relay: 0
-  send_ext_info: true
-  send_quality: true
-  sort_index: 0
-  store_in_nvm: 1
-  rcs_threshold: RCS_THRESHOLD_STANDARD
-
-  # unit: nanoseconds, 20ms for 50Hz
-  input_send_interval: 20000000
-}
-
-radar_channel: "/apollo/sensor/radar/front"

modules/calibration/data/dev_kit_advanced_sne-r/radar_params/radar_front_extrinsics.yaml

-header:
-  seq: 0
-  stamp:
-    secs: 0
-    nsecs: 0
-  frame_id: velodyne128
-transform:
-  rotation:
-    x: 0.0
-    y: 0.0
-    z: 0.0
-    w: 1.0
-  translation:
-    x: 0.77
-    y: 0.0
-    z: -0.76
-child_frame_id: radar_front

modules/calibration/data/dev_kit_advanced_sne-r/vehicle_info.pb.txt

-name : "NEOLIX_EDU"
-brand : NEOLIX
-model : NEOLIX_EDU
-license {
-    vin : "neolix213"
-}

modules/calibration/data/dev_kit_advanced_sne-r/vehicle_param.pb.txt

-vehicle_param {
-  brand: NEOLIX
-  vehicle_id {
-      other_unique_id: "NEOLIX_EDU"
-  }
-  front_edge_to_center: 1.373
-  back_edge_to_center: 1.402
-  left_edge_to_center: 0.505
-  right_edge_to_center: 0.505
-
-  length: 2.775
-  width: 1.01
-  height: 1.672
-  min_turn_radius: 3.75
-  max_acceleration: 2.5
-  max_deceleration: -7.0
-  max_steer_angle: 6.6323
-  max_steer_angle_rate: 6.98131700798
-  min_steer_angle_rate:0
-  steer_ratio: 10.85
-  wheel_base: 1.73
-  wheel_rolling_radius: 0.286
-  max_abs_speed_when_stopped: 0.2
-  brake_deadzone: 0
-  throttle_deadzone: 0
-
-  steering_latency_param
-  {
-      dead_time: 0.0
-      rise_time: 0.0
-      peak_time: 0.0
-      settling_time: 0.0
-  }
-
-  throttle_latency_param
-  {
-      dead_time: 0.0
-      rise_time: 0.0
-      peak_time: 0.0
-      settling_time: 0.0
-  }
-
-  brake_latency_param
-  {
-      dead_time: 0.0
-      rise_time: 0.0
-      peak_time: 0.0
-      settling_time: 0.0
-  }
-}

modules/calibration/data/dev_kit_advanced_sne-r/vehicle_params/vehicle_imu_extrinsics.yaml

-transform:
-  translation:
-    x: 0.0
-    y: -0.778
-    z: 0.0
-  rotation:
-    x: 0.0
-    y: 0.0
-    z: 0.0
-    w: 1.0

modules/dreamview/conf/vehicle_data.pb.txt

@@ -139,16 +139,6 @@ data_files {
   dest_path: "/apollo/modules/perception/production/launch"
 }
 data_files {
-  source_path: "perception_conf"
-  dest_path: "/apollo/modules/perception/production/conf/perception"
-}
-data_files {
-  source_path: "velodyne_dag"
-  dest_path: "/apollo/modules/drivers/velodyne/dag"
-}
-data_files {
-  source_path: "control_conf"
-  dest_path: "/apollo/modules/control/conf/"
   source_path: "lidar_dag"
   dest_path: "/apollo/modules/drivers/lidar/dag"
 }