osi3::LidarSensorViewConfiguration Struct Reference
Public Attributes
optional Identifier | sensor_id = 1 |
The ID of the sensor at host vehicle's mounting_position. More... | |
optional MountingPosition | mounting_position = 2 |
The physical mounting position of the sensor (origin and orientation of the sensor coordinate system) given in vehicle coordinates [1]. More... | |
optional MountingPosition | mounting_position_rmse = 3 |
The root mean squared error of the mounting position. More... | |
optional double | field_of_view_horizontal = 4 |
Field of View in horizontal orientation of the physical sensor. More... | |
optional double | field_of_view_vertical = 5 |
Field of View in vertical orientation of the physical sensor. More... | |
optional uint32 | number_of_rays_horizontal = 6 |
Number of rays to cast across horizontal field of view. More... | |
optional uint32 | number_of_rays_vertical = 7 |
Number of rays to cast across vertical field of view. More... | |
optional uint32 | max_number_of_interactions = 8 |
Maximum number of interactions to take into account. More... | |
optional double | emitter_frequency = 9 |
Emitter Frequency. More... | |
optional uint32 | num_of_pixels = 10 |
Number of pixels in frame. More... | |
repeated Vector3d | directions = 11 |
Ray tracing data. More... | |
repeated uint32 | timings = 12 |
Ray tracing data. More... | |
Detailed Description
The configuration settings for the Lidar Sensor View to be provided by the environment simulation.
Member Data Documentation
◆ sensor_id
optional Identifier osi3::LidarSensorViewConfiguration::sensor_id = 1 |
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.
◆ mounting_position
optional MountingPosition osi3::LidarSensorViewConfiguration::mounting_position = 2 |
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 boxMovingObject::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.
◆ mounting_position_rmse
optional MountingPosition osi3::LidarSensorViewConfiguration::mounting_position_rmse = 3 |
The root mean squared error of the mounting position.
◆ field_of_view_horizontal
optional double osi3::LidarSensorViewConfiguration::field_of_view_horizontal = 4 |
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_vertical
optional double osi3::LidarSensorViewConfiguration::field_of_view_vertical = 5 |
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_horizontal
optional uint32 osi3::LidarSensorViewConfiguration::number_of_rays_horizontal = 6 |
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_vertical
optional uint32 osi3::LidarSensorViewConfiguration::number_of_rays_vertical = 7 |
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
◆ max_number_of_interactions
optional uint32 osi3::LidarSensorViewConfiguration::max_number_of_interactions = 8 |
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
optional double osi3::LidarSensorViewConfiguration::emitter_frequency = 9 |
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
◆ num_of_pixels
optional uint32 osi3::LidarSensorViewConfiguration::num_of_pixels = 10 |
Number of pixels in frame.
This field includes the number of pixels in each frame
- Rules
- is_greater_than_or_equal_to: 1
◆ directions
repeated Vector3d osi3::LidarSensorViewConfiguration::directions = 11 |
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
◆ timings
repeated uint32 osi3::LidarSensorViewConfiguration::timings = 12 |
Ray tracing data.
The time offset in microseconds of every measurement from each frame timestamp. Length is num_of_pixels
- osi_sensorviewconfiguration.proto