# 传感器标定现场任务配置模板。
# 本文件固定真实标定车间中默认要跑的传感器内参、外参和手眼任务。
# 现场落地时应把 sensor_id、标定板 ID、base frame 和采样数量替换为真实配置。

schema_version: 1
profile_name: workshop_sensor_calibration_profile

data_capture:
  required_data_inputs:
    - image_sample_files
    - imu_sample_files
    - pointcloud_sample_files
    - laser_scan_sample_files
    - target_detection_files
    - robot_pose_sample_files
    - synchronized_dataset_files
  min_camera_frame_count: 20
  min_imu_static_segment_count: 3
  min_imu_motion_segment_count: 3
  min_lidar_sample_count: 10
  min_hand_eye_pose_count: 10

tasks:
  - task_code: sensor.front_camera.intrinsic
    display_name: 前视相机内参
    enabled: true
    selected_task: camera_intrinsic
    sensor_id: demo_front_camera
    task_subtype: front_camera_intrinsic
    camera_intrinsic:
      required_image_count: 20
      target_board_id: front_camera_checkerboard
      timeout_sec: 90.0

  - task_code: sensor.downward_camera.intrinsic
    display_name: 下视相机内参
    enabled: true
    selected_task: camera_intrinsic
    sensor_id: demo_down_camera
    task_subtype: downward_camera_intrinsic
    camera_intrinsic:
      required_image_count: 20
      target_board_id: down_camera_charuco
      timeout_sec: 90.0

  - task_code: sensor.imu.intrinsic
    display_name: IMU 内参
    enabled: true
    selected_task: imu_intrinsic
    sensor_id: demo_imu
    task_subtype: imu_intrinsic
    imu_intrinsic:
      required_static_segment_count: 3
      required_motion_segment_count: 3
      timeout_sec: 120.0

  - task_code: sensor.front_camera.extrinsic
    display_name: 前视相机到 base_link 外参
    enabled: true
    selected_task: sensor_extrinsic
    sensor_id: demo_front_camera
    task_subtype: front_camera_extrinsic
    sensor_extrinsic:
      base_frame_id: base_link
      required_sample_count: 10
      timeout_sec: 90.0

  - task_code: sensor.downward_camera.extrinsic
    display_name: 下视相机到 base_link 外参
    enabled: true
    selected_task: sensor_extrinsic
    sensor_id: demo_down_camera
    task_subtype: downward_camera_extrinsic
    sensor_extrinsic:
      base_frame_id: base_link
      required_sample_count: 10
      timeout_sec: 90.0

  - task_code: sensor.lidar_2d.extrinsic
    display_name: 2D LiDAR 到 base_link 外参
    enabled: true
    selected_task: sensor_extrinsic
    sensor_id: demo_lidar_2d
    task_subtype: lidar_2d_extrinsic
    sensor_extrinsic:
      base_frame_id: base_link
      required_sample_count: 10
      timeout_sec: 90.0

  - task_code: sensor.lidar_3d.extrinsic
    display_name: 3D LiDAR 到 base_link 外参
    enabled: true
    selected_task: sensor_extrinsic
    sensor_id: demo_lidar_3d
    task_subtype: lidar_3d_extrinsic
    sensor_extrinsic:
      base_frame_id: base_link
      required_sample_count: 10
      timeout_sec: 90.0

  - task_code: sensor.imu.extrinsic
    display_name: IMU 到 base_link 外参
    enabled: true
    selected_task: sensor_extrinsic
    sensor_id: demo_imu
    task_subtype: imu_extrinsic
    sensor_extrinsic:
      base_frame_id: base_link
      required_sample_count: 10
      timeout_sec: 120.0

  - task_code: sensor.front_camera.hand_eye
    display_name: 前视相机眼在手内
    enabled: true
    selected_task: hand_eye
    sensor_id: demo_front_camera
    task_subtype: eye_in_hand
    hand_eye:
      arm_id: demo_arm
      required_pose_count: 10
      timeout_sec: 120.0
