osi3::LidarSensorViewConfiguration Struct Reference

The ID of the sensor at host vehicle's mounting_position.

This is the ID of the physical sensor, to be used in its detected features output; it is distinct from the ID of its virtual sensor.

The ID is to be provided by the environment simulation, the sensor model is not in a position to provide a useful default value.

The physical mounting position of the sensor (origin and orientation of the sensor coordinate system) given in vehicle coordinates [1].

The physical position pertains to this detector individually, and governs the sensor-relative coordinates in features detected by this detector.

• x-direction of sensor coordinate system: sensor viewing direction
• z-direction of sensor coordinate system: sensor (up)
• y-direction of sensor coordinate system: perpendicular to x and z right hand system

Reference:

[1] DIN Deutsches Institut fuer Normung e. V. (2013). DIN ISO 8855 Strassenfahrzeuge - Fahrzeugdynamik und Fahrverhalten - Begriffe. (DIN ISO 8855:2013-11). Berlin, Germany.

Note

The origin of vehicle's coordinate system in world frame is ( MovingObject::base . BaseMoving::position + Inverse_Rotation_yaw_pitch_roll( MovingObject::base . BaseMoving::orientation) * MovingObject::VehicleAttributes::bbcenter_to_rear) . The orientation of the vehicle's coordinate system is equal to the orientation of the vehicle's bounding box MovingObject::base . BaseMoving::orientation.

A default position can be provided by the sensor model (e.g. to indicate the position the model was validated for), but this is optional; the environment simulation must provide a valid mounting position (based on the vehicle configuration) when setting the view configuration.

The root mean squared error of the mounting position.

Field of View in horizontal orientation of the physical sensor.

Viewing range: [- field_of_view_horizontal/2, field_of_view_horizontal/2] azimuth in the sensor frame as defined in Spherical3d.

Unit: rad

Field of View in vertical orientation of the physical sensor.

Viewing range: [- field_of_view_vertical/2, field_of_view_vertical/2] elevation in the sensor frame at zero azimuth as defined in Spherical3d.

Unit: rad

Number of rays to cast across horizontal field of view.

Note

This is a characteristic of the ray tracing engine of the environment simulation, not a direct characteristic of the sensor.

Rules

is_greater_than_or_equal_to: 1

Number of rays to cast across vertical field of view.

Note

This is a characteristic of the ray tracing engine of the environment simulation, not a direct characteristic of the sensor.

Rules

is_greater_than_or_equal_to: 1

Maximum number of interactions to take into account.

Note

This is a characteristic of the ray tracing engine of the environment simulation, not a direct characteristic of the sensor.

Rules

is_greater_than_or_equal_to: 1

Emitter Frequency.

This information can be used by a ray tracing engine to calculate doppler shift information and take into account differences in refraction and reflection. For doppler shift calculations the sensor model can of course always provide a nominal frequency and adjust the resulting doppler shift information to actual frequency through frequency adjustments. For material and geometry interaction purposes the frequency is also relevant.

Unit: Hz

Rules

is_greater_than_or_equal_to: 0

Number of pixels in frame.

This field includes the number of pixels in each frame

Rules

is_greater_than_or_equal_to: 1

Ray tracing data.

The directions unit vectors describing the Lidar's raster transmission directions. Length is num_of_pixels

Note

data is in Lidar's coordinate system

Ray tracing data.

The time offset in microseconds of every measurement from each frame timestamp. Length is num_of_pixels