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Adding a RIG file for VISTA simulator from VISTA-6S191 #5

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Adding a RIG file for VISTA simulator from VISTA-6S191 #5

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ac58072
RIG.xml added under ~/example/resources
MarkCodering Jun 18, 2022
a129146
RIG file fixed with typo
MarkCodering Jun 18, 2022
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91 changes: 91 additions & 0 deletions examples/resources/RIG.xml
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Original file line number Diff line number Diff line change
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<?xml version="1.0" encoding="UTF-8" standalone="no"?>
<DRIVEWORKS ver="1.0">
<VEHICLE> <!-- Not used -->
<PROPERTY Name="Height" Value="1.455"/>
<PROPERTY Name="Length" Value="4.915"/>
<PROPERTY Name="Width" Value="1.874"/>
<PROPERTY Name="Wheelbase" Value="2.912"/>
<PROPERTY Name="Front axlebase" Value="1.627"/>
<PROPERTY Name="Rear axlebase" Value="1.618"/>
<PROPERTY Name="Wheel diameter" Value="0.68"/>
<PROPERTY Name="Distance axle to rear bumper" Value="1.1091"/>
<PROPERTY Name="Distance axle to front bumper" Value="0.912"/>
<PROPERTY Name="Steering coefficient" Value="14.8"/>
</VEHICLE>

<SENSORS>
<CAMERA Name="camera_front" Type="gmsl">
<PROPERTY Name="Model" Value="pinhole"/>
<PROPERTY Name="Quaternion" Value="0.0 0.0 -0.0436194 0.9990482"/>
<PROPERTY Name="Position" Value="0 1.7653 0"/>
<PROPERTY Name="Yaw" Value="0.04"/>
<PROPERTY Name="params" Value=""/>
<PROPERTY Name="width" Hint="intrinsic" Value="960"/>
<PROPERTY Name="height" Hint="intrinsic" Value="600"/>
<PROPERTY Name="distortion" Hint="intrinsic" Value="0.005718 -0.001268 -0.000740 -0.001460 0.000000"/>
<PROPERTY Name="cx" Hint="intrinsic" Value="498.437823"/>
<PROPERTY Name="cy" Hint="intrinsic" Value="285.741420"/>
<PROPERTY Name="fx" Hint="intrinsic" Value="262.242074"/>
<PROPERTY Name="fy" Hint="intrinsic" Value="261.700119"/>
<PROPERTY Name="roi" Hint="region_of_interest" Value="270 264 405 729"/>
<PROPERTY Name="roi_angle" Hint="angle of ROI" Value="0"/>
</CAMERA>

<CAMERA Name="event_camera_front" Type="gmsl">
<PROPERTY Name="Model" Value="pinhole"/>
<PROPERTY Name="Quaternion" Value="0 0 -0.035265025029250387 0.9996807883070832"/> <!-- Inaccurate -->
<PROPERTY Name="Position" Value="0 1.65 0"/> <!-- Inaccurate -->
<PROPERTY Name="Yaw" Value="0.04"/> <!-- Inaccurate -->
<PROPERTY Name="params" Value=""/>
<PROPERTY Name="width" Hint="intrinsic" Value="640"/>
<PROPERTY Name="height" Hint="intrinsic" Value="480"/>
<PROPERTY Name="distortion" Hint="intrinsic" Value="-0.049791099994929616 -0.26611070539342135 -0.0010742618721939665 -0.00084781898284127242 0.90995535712595266"/>
<PROPERTY Name="cx" Hint="intrinsic" Value="327.77416522493661"/>
<PROPERTY Name="cy" Hint="intrinsic" Value="224.97549602762447"/>
<PROPERTY Name="fx" Hint="intrinsic" Value="551.89434037318449"/>
<PROPERTY Name="fy" Hint="intrinsic" Value="551.93346045671683"/>
<PROPERTY Name="roi" Hint="region_of_interest" Value="216 0 480 640"/>
<PROPERTY Name="roi_angle" Hint="angle of ROI" Value="0"/>
</CAMERA>
</SENSORS>

<SYNTHESIS>
<CAMERA Name="camera_front" Type="gmsl">
<PROPERTY Name="Model" Value="pinhole"/>
<PROPERTY Name="Quaternion" Value="0.0 0.0 -0.0436194 0.9990482"/>
<PROPERTY Name="Position" Value="0 1.7653 0"/>
<PROPERTY Name="Yaw" Value="0.04"/>
<PROPERTY Name="params" Value=""/>
<PROPERTY Name="width" Hint="intrinsic" Value="960"/>
<PROPERTY Name="height" Hint="intrinsic" Value="600"/>
<PROPERTY Name="distortion" Hint="intrinsic" Value="0.005718 -0.001268 -0.000740 -0.001460 0.000000"/>
<PROPERTY Name="cx" Hint="intrinsic" Value="498.437823"/>
<PROPERTY Name="cy" Hint="intrinsic" Value="285.741420"/>
<PROPERTY Name="fx" Hint="intrinsic" Value="262.242074"/>
<PROPERTY Name="fy" Hint="intrinsic" Value="261.700119"/>
<PROPERTY Name="roi" Hint="region_of_interest" Value="270 264 405 729"/>
<PROPERTY Name="roi_angle" Hint="angle of ROI" Value="0"/>
</CAMERA>

<CAMERA Name="event_camera_front" Type="gmsl">
<PROPERTY Name="Model" Value="pinhole"/>
<PROPERTY Name="Quaternion" Value="0 0 -0.035265025029250387 0.9996807883070832"/> <!-- Inaccurate -->
<PROPERTY Name="Position" Value="0 1.65 0"/> <!-- Inaccurate -->
<PROPERTY Name="Yaw" Value="0.04"/> <!-- Inaccurate -->
<PROPERTY Name="params" Value=""/>
<PROPERTY Name="width" Hint="intrinsic" Value="640"/>
<PROPERTY Name="height" Hint="intrinsic" Value="480"/>
<PROPERTY Name="distortion" Hint="intrinsic" Value="-0.049791099994929616 -0.26611070539342135 -0.0010742618721939665 -0.00084781898284127242 0.90995535712595266"/>
<PROPERTY Name="cx" Hint="intrinsic" Value="327.77416522493661"/>
<PROPERTY Name="cy" Hint="intrinsic" Value="224.97549602762447"/>
<PROPERTY Name="fx" Hint="intrinsic" Value="551.89434037318449"/>
<PROPERTY Name="fy" Hint="intrinsic" Value="551.93346045671683"/>
<PROPERTY Name="roi" Hint="region_of_interest" Value="216 0 480 640"/>
<PROPERTY Name="roi_angle" Hint="angle of ROI" Value="0"/>
</CAMERA>
</SYNTHESIS>

<CALIBRATION>
<EXTRINSIC_CAMERA/>
</CALIBRATION>
</DRIVEWORKS>