Perception FAQs

How many typer of sensors calibrations are present?

There are 5 types of calibration:

• Camera - Camera
• Camera - LiDAR
• Radar - Camera
• LiDAR - GNSS
• IMU - Vehicle

For additional information on Sensor Calibration, please refer to our calibration guide

For additional information on LiDAR - GNSS calibration please refer to our LiDAR - GNSS calibration guide

Is the order of sensor calibration important at all ? Can I do IMU - vehicle before Radar - Camera ?

Yes it is important, but you could calibrate the IMU - Vehicle before Radar - Camera

Are you going to release the source code for the calibration tools ?

No, we currently have not released the source code for our calibration tools.

How do you ensure that the right calibration files are loaded for the perception module ?

In each car, specific Camera parameters should be saved and the default parameters will be replaced by the saved parameters when you install the release version. When user select a vehicle, we'll copy files from calibration/data/[vehicle]/[src_data] to target places. The code is at Link. This action is totally configurable, see the example here

I am trying to run the extrinsic sensor calibration tools and they seem to complain about the INS_STAT not being 56. But when I echo the /apollo/sensor/gnss/ins_stat topic I can see that the position type is 56. What could be the problem?

The error log occurs (stat=-1) whenever the tool has not received any GNSS message or the image stamp is not correct. Please check the topic of GNSS message or image stamp.

More Perception FAQs to follow