perception: add sample camera extrinsics and intrinsics params and output...

perception: add sample camera extrinsics and intrinsics params and output sensor config file name in case of missing.

modules/perception/common/sensor_manager/sensor_manager.cc

@@ -72,9 +72,10 @@ bool SensorManager::Init() {
     if (this->IsCamera(sensor_info.type)) {
       std::shared_ptr<BrownCameraDistortionModel> distort_model(
           new BrownCameraDistortionModel());
-      if (!LoadBrownCameraIntrinsic(IntrinsicPath(sensor_info.frame_id),
+      auto intrinsic_file = IntrinsicPath(sensor_info.frame_id);
+      if (!LoadBrownCameraIntrinsic(intrinsic_file,
                                     distort_model.get())) {
-        AERROR << "Failed to load camera intrinsic.";
+        AERROR << "Failed to load camera intrinsic:" << intrinsic_file;
         return false;
       }
       distort_model_map_.insert(make_pair(

modules/perception/data/params/front_12mm_extrinsics.yaml

+child_frame_id: front_12mm
+transform:
+  rotation:
+    x: 0.5226541343917466
+    w: -0.4942493154955589
+    z: 0.4911976532212443
+    y: -0.4911976541121995
+  translation:
+    x: 0.3092803359031677
+    y: 0.383603036403656
+    z: -0.2799424231052399
+header:
+  frame_id: velodyne128
+  stamp:
+    secs: 0
+    nsecs: 0
+  seq: 0

modules/perception/data/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: [-4.06827274e-01, -2.99993921e-01, -3.01970278e-03, 1.60945977e-03, 9.55303346e+00]
+K: [3.92828004e+03, 0.00000000e+00, 9.27354242e+02, 0.00000000e+00, 3.91564341e+03, 6.63029847e+02, 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: [3.92828004e+03, 0.00000000e+00, 9.27354242e+02, 0, 0.00000000e+00, 3.91564341e+03, 6.63029847e+02, 0, 0.0, 0.0, 1.0, 0]
+binning_x: 0
+binning_y: 0
+roi: 
+  x_offset: 0
+  y_offset: 0
+  height: 0
+  width: 0
+  do_rectify: False

modules/perception/data/params/front_6mm_extrinsics.yaml

+header:
+  seq: 0
+  stamp:
+    secs: 0
+    nsecs: 0
+  frame_id: velodyne128
+child_frame_id: front_6mm
+transform:
+  translation:
+    x: 0.580392599105835
+    y: 0.07275720685720444
+    z: -0.2118609845638275
+  rotation:
+    y: 0.4963144102912194
+    z: -0.4860269853538173
+    w: 0.5068714323734801
+    x: -0.5104224982196768

modules/perception/data/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: [-0.404512764, 0.287894705, -1.92487504e-03, 2.69998475e-04, -3.25939801e-01]
+K: [1983.97376, 0.0, 998.341216, 0.0, 1981.62916, 621.618227, 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: [1983.97376, 0.0, 998.341216, 0.0, 0.0, 1981.62916, 621.618227, 0.0, 0.0, 0.0, 1.0, 0.0]
+binning_x: 0
+binning_y: 0
+roi: 
+  x_offset: 0
+  y_offset: 0
+  height: 0
+  width: 0
+  do_rectify: False