Inputs

...
    "input": [
        {
            "source": "sensor",            
            "instance": "SENSOR_UNIT_1",
            "id": "forward_camera",
            "record": {
                "format": "MP4",
            },
        },
        {
            "source": "sensor",            
            "name": "vlp-16",
            "id": "front_lidar",
            "record": {
                "format": "MP4",
            },
        },
        ...
     ]
...

Attributes:

There are properties that you can use to configure an input:

id

(Required) An identifier that can be used to distinguish this input in the context of this ADAS library configuration file. The string must be unique within the input array.

instance

(Optional) The instance of an input. This should correspond to the sensor unit described in the sensor or data configuration file (e.g., SENSOR_UNIT_1). For examples of valid entries in this other file, see “Interim data configuration file” in the System Services Guide.

If the instance is not specified, the ADAS library ignores the sensor unit associated with the input.

name

(Optional) The string from the sensor or data configuration file that's associated with this input. The name must be identical to that specified in the name parameter of the corresponding sensor described in the sensor or data configuration file.

orientation

(Optional) The orientation of the sensor as specified by the direction parameter of the corresponding sensor in the sensor or data configuration file. Valid values are:

• back
• front
• left
• right

If this is not specified, the ADAS library ignores the orientation of the sensor.

record

(Optional) The configuration used for recordings. The record object is defined by the following properties:

• format

  The format in which you want to record data from this sensor. Valid entries are:

  • UCV (default for cameras): a proprietary uncompressed video file format (valid for all formats of cameras)
  • MP4: an H.264 video that's recorded in an MP4 file format
  • MOV: an uncompressed video in a QuickTime MOV file format (valid for only spcific formats of cameras)
  • RAW: a proprietary uncompressed recording of sensor data
  • GZIP: a GZIP-compressed file containing sensor data
  • LZ4 (default for sensors): an LZ4-compressed file containing sensor data
• directory

  The path to a directory for your recording. Specify roll (the default if you don't specify directory) to use the roll directory that's specified at the start of the Sensor service.

• filename

  The filename for your recording. Specify roll (the default if you don't specify filename) to use a unique filename from the roll directory that's specified at the start of the Sensor service.

For example:

...
            "record": {
                "format": "MP4",
                "directory": "roll",
                "filename": "roll"
            },
...

source

(Required) An identifier that indicates whether this input is a sensor or interim data. Valid values are:

• sensor — a physical sensor that's described in the sensor configuration file
• interim_data — a sensor unit that corresponds to interim data that's described in the data configuration file

type

(Optional) The type of sensor. Valid values are:

• camera
• gps
• imu
• lidar3D (e.g., a Velodyne lidar that generates a point cloud)
• lidar2D (e.g., a Leddartech lidar that generates only a few points)
• radar

If this is not specified, the ADAS library ignores the sensor type.