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sensors.json
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{
"sensors": [
{
"type": "sensor.camera.rgb",
"id": "front",
"x": 2.0, "y": 0.0, "z": 2.0, "roll": 0.0, "pitch": 0.0, "yaw": 0.0,
"width": 800,
"height": 600,
"fov": 100,
"sensor_tick": 0.05,
"gamma": 2.2,
"shutter_speed": 60.0,
"iso": 1200.0,
"fstop": 1.4,
"min_fstop": 1.2,
"blade_count": 5,
"exposure_mode": "manual",
"exposure_compensation": 3.0,
"exposure_min_bright": 0.1,
"exposure_max_bright": 2.0,
"exposure_speed_up": 3.0,
"exposure_speed_down": 1.0,
"calibration_constant": 16.0,
"focal_distance": 1000.0,
"blur_amount": 1.0,
"blur_radius": 0.0,
"motion_blur_intensity": 0.45,
"motion_blur_max_distortion": 0.35,
"motion_blur_min_object_screen_size": 0.1,
"slope": 0.88,
"toe": 0.55,
"shoulder": 0.26,
"black_clip": 0.0,
"white_clip": 0.04,
"temp": 6500.0,
"tint": 0.0,
"chromatic_aberration_intensity": 0.0,
"chromatic_aberration_offset": 0.0,
"enable_postprocess_effects": "True",
"lens_circle_falloff": 5.0,
"lens_circle_multiplier": 0.0,
"lens_k": -1.0,
"lens_kcube": 0.0,
"lens_x_size": 0.08,
"lens_y_size": 0.08
},
{
"type": "sensor.camera.rgb",
"id": "view",
"x": -4.5, "y": 0.0, "z": 2.8, "roll": 0.0, "pitch": -20.0, "yaw": 0.0,
"width": 800,
"height": 600,
"fov": 100,
"sensor_tick": 0.05,
"gamma": 2.2,
"shutter_speed": 60.0,
"iso": 1200.0,
"fstop": 1.4,
"min_fstop": 1.2,
"blade_count": 5,
"exposure_mode": "manual",
"exposure_compensation": 3.0,
"exposure_min_bright": 0.1,
"exposure_max_bright": 2.0,
"exposure_speed_up": 3.0,
"exposure_speed_down": 1.0,
"calibration_constant": 16.0,
"focal_distance": 1000.0,
"blur_amount": 1.0,
"blur_radius": 0.0,
"motion_blur_intensity": 0.45,
"motion_blur_max_distortion": 0.35,
"motion_blur_min_object_screen_size": 0.1,
"slope": 0.88,
"toe": 0.55,
"shoulder": 0.26,
"black_clip": 0.0,
"white_clip": 0.04,
"temp": 6500.0,
"tint": 0.0,
"chromatic_aberration_intensity": 0.0,
"chromatic_aberration_offset": 0.0,
"enable_postprocess_effects": "True",
"lens_circle_falloff": 5.0,
"lens_circle_multiplier": 0.0,
"lens_k": -1.0,
"lens_kcube": 0.0,
"lens_x_size": 0.08,
"lens_y_size": 0.08
},
{
"type": "sensor.lidar.ray_cast",
"id": "lidar1",
"x": 0.0, "y": 0.0, "z": 2.4, "roll": 0.0, "pitch": 0.0, "yaw": 0.0,
"range": 50,
"channels": 32,
"points_per_second": 320000,
"upper_fov": 2.0,
"lower_fov": -26.8,
"rotation_frequency": 20,
"sensor_tick": 0.05
},
{
"type": "sensor.other.radar",
"id": "front",
"x": 2.0, "y": 0.0, "z": 1.5, "roll": 0.0, "pitch": 0.0, "yaw": 0.0,
"horizontal_fov": 30.0,
"vertical_fov": 10.0,
"points_per_second": 1500,
"range": 100.0
},
{
"type": "sensor.other.gnss",
"id": "gnss1",
"x": 1.0, "y": 0.0, "z": 2.0,
"noise_alt_stddev": 0.0, "noise_lat_stddev": 0.0, "noise_lon_stddev": 0.0,
"noise_alt_bias": 0.0, "noise_lat_bias": 0.0, "noise_lon_bias": 0.0
},
{
"type": "sensor.other.imu",
"id": "imu1",
"x": 2.0, "y": 0.0, "z": 2.0, "roll": 0.0, "pitch": 0.0, "yaw": 0.0,
"noise_accel_stddev_x": 0.0, "noise_accel_stddev_y": 0.0, "noise_accel_stddev_z": 0.0,
"noise_gyro_stddev_x": 0.0, "noise_gyro_stddev_y": 0.0, "noise_gyro_stddev_z": 0.0,
"noise_gyro_bias_x": 0.0, "noise_gyro_bias_y": 0.0, "noise_gyro_bias_z": 0.0
},
{
"type": "sensor.other.collision",
"id": "collision1",
"x": 0.0, "y": 0.0, "z": 0.0
},
{
"type": "sensor.other.lane_invasion",
"id": "laneinvasion1",
"x": 0.0, "y": 0.0, "z": 0.0
}
]
}