Steering Calibration Sample

Table of Contents

• Description
• Running the Sample
• Output
• Additional information

Description

The Steering Calibration sample demonstrates estimating vehicle steering offset parameter with the NVIDIA^® DriveWorks Calibration Engine.

Running the Sample

The Steering Calibration sample, sample_calibration_steering, accepts the following optional parameters. If none are specified, the vehicle parameter are estimated on a default dataset.

./sample_calibration_steering --rig=[path/to/rig/configuration/file]
                              --cameraIndex=[integer]
                              --canIndex=[integer]
                              --imuIndex=[integer]

where

--rig=[path/to/rig/configuration/file]
    Path to the rig configuration file.
    Default value: path/to/data/samples/recordings/highway0/rig.json

--cameraIndex=[integer]
    The index of the camera in the rig configuration file
    Default value: 0

--canIndex=[integer]
    The index of the vehicle CAN in the rig configuration file
    Default value: 0

--imuIndex=[integer]
    The index of the IMU in the rig configuration file
    Default value: 0

Output

The sample does the following:

• Creates a window.
• Displays a video. The calibration state and final calibration result are shown in the bottom left corner.
  The speed at which the video is displayed differs, depending on convergence.
  After convergence, the sample slows the video playback to the usual 30-frames per second.

After convergence, the sample runs the sample data in a loop, during which the calibration is further refined.

Vehicle Steering Calibration

Additional information

For more information on vehicle calibration, see Vehicle Self-Calibration .