Map Layers

The Duckiematrix uses the map format v2 as representation for the world. This format breaks the map into a set of YAML files called layers, each one adding a bit of information about the world.

For example, a vehicle in the scene has:

• its position and orientation described in the frames.yaml layer;

• its model and color described in the vehicles.yaml layer;

• its camera’s intrinsics parameters described in the camera.yaml layer;

• etc…