Initial Commit (tested training, testing, and TRT conversion)

flightlib/configs/quadrotor_ros.yaml

@@ -0,0 +1,30 @@
+main_loop_freq: 30
+unity_render: yes
+scene_id: 4               # 0 wasteland, 1 japanese street, 4 emptyforest in standalone (SR)
+odom_topic: /juliett/ground_truth/odom
+quad_size: 0.1
+ply_path: "/flightrender/RPG_Flightmare/pointcloud_data/"
+
+rgb_camera_left:
+  on: yes 
+  t_BC: [0.0, 0.0, 0.1]   # translational vector of the camera with repect to the body frame
+  r_BC: [0.0, -5.0, -90]  # rotational angle (roll, pitch, yaw) of the camera in degree.
+  width: 160
+  height: 90
+  fov: 90.0               # Horizontal FOV
+  enable_depth: yes
+  enable_segmentation: no
+  enable_opticalflow: no
+
+# enable stereo depth when rgb_camera_right on (If use, please use larger resolution (e.g., 640x360)).
+rgb_camera_right:
+  on: no
+  t_BC: [0.0, -0.2, 0.1]  # translational vector of the camera with repect to the body frame
+  r_BC: [0.0, -5.0, -90]  # rotational angle (roll, pitch, yaw) of the camera in degree.
+
+unity:
+  spawn_trees: true
+  avg_tree_spacing: 4.0
+  bounding_box: [80.0, 80.0, 11.0]    # spawn objects within this bounding box
+  bounding_box_origin: [-10, 20, 2.5]
+  pointcloud_resolution: 0.2