Example JSON Configuration For Data Collection

Bridge Type top#

CyberRT

Published Topics top#

Topic	Sensor Name
/apollo/sensor/camera/front_6mm/image/compressed	Main Camera
/simulator/ground_truth/3d_detections	3D Ground Truth
/simulator/ground_truth/2d_detections	2D Ground Truth
/simulator/depth_camera	Depth Camera
/simulator/semantic_camera	Semantic Camera

Subscribed Topics top#

Topic	Sensor Name
/simulator/ground_truth/3d_visualize	3D Ground Truth Visualizer
/simulator/ground_truth/2d_visualize	2D Ground Truth Visualizer

JSON Configuration top#

[
  {
    "type": "Color Camera",
    "name": "Main Camera",
    "params": {
      "Width": 1920,
      "Height": 1080,
      "Frequency": 15,
      "JpegQuality": 75,
      "FieldOfView": 50,
      "MinDistance": 0.1,
      "MaxDistance": 1000,
      "Topic": "/apollo/sensor/camera/front_6mm/image/compressed"
    },
    "transform": {
      "x": 0,
      "y": 1.7,
      "z": -0.2,
      "pitch": 0,
      "yaw": 0,
      "roll": 0
    }
  },
  {
    "type": "3D Ground Truth",
    "name": "3D Ground Truth",
    "params": {
      "Frequency": 10,
      "Topic": "/simulator/ground_truth/3d_detections"
    },
    "transform": {
      "x": 0,
      "y": 1.975314,
      "z": -0.3679201,
      "pitch": 0,
      "yaw": 0,
      "roll": 0
    }
  },
  {
    "type": "3D Ground Truth Visualizer",
    "name": "3D Ground Truth Visualizer",
    "params": {
      "Topic": "/simulator/ground_truth/3d_visualize"
    },
    "transform": {
      "x": 0,
      "y": 1.975314,
      "z": -0.3679201,
      "pitch": 0,
      "yaw": 0,
      "roll": 0
    }
  },
  {
    "type": "2D Ground Truth",
    "name": "2D Ground Truth",
    "params": {
      "Frequency": 10,
      "DetectionRange": 100,
      "Topic": "/simulator/ground_truth/2d_detections"
    },
    "transform": {
      "x": 0,
      "y": 1.7,
      "z": -0.2,
      "pitch": 0,
      "yaw": 0,
      "roll": 0
    }
  },
  {
    "type": "2D Ground Truth Visualizer",
    "name": "2D Ground Truth Visualizer",
    "params": {
      "Width": 1920,
      "Height": 1080,
      "FieldOfView": 50,
      "MinDistance": 0.1,
      "MaxDistance": 1000,
      "Topic": "/simulator/ground_truth/2d_visualize"
    },
    "transform": {
      "x": 0,
      "y": 1.7,
      "z": -0.2,
      "pitch": 0,
      "yaw": 0,
      "roll": 0
    }
  },
  {
    "type": "Depth Camera",
    "name": "Depth Camera",
    "params": {
      "Width": 1920,
      "Height": 1080,
      "Frequency": 15,
      "JpegQuality": 75,
      "FieldOfView": 50,
      "MinDistance": 0.1,
      "MaxDistance": 1000,
      "Topic": "/simulator/depth_camera"
    },
    "transform": {
      "x": 0,
      "y": 1.7,
      "z": -0.2,
      "pitch": 0,
      "yaw": 0,
      "roll": 0
    }
  },
  {
    "type": "Semantic Camera",
    "name": "Semantic Camera",
    "params": {
      "Width": 1920,
      "Height": 1080,
      "Frequency": 15,
      "FieldOfView": 50,
      "MinDistance": 0.1,
      "MaxDistance": 1000,
      "Topic": "/simulator/semantic_camera"
    },
    "transform": {
      "x": 0,
      "y": 1.7,
      "z": -0.2,
      "pitch": 0,
      "yaw": 0,
      "roll": 0
    }
  },
  {
    "type": "Manual Control",
    "name": "Manual Car Control"
  }
]