2.2.2.3 Sensor view

The sensor view provides the input to OSI sensor models. SensorView messages are derived from GroundTruth messages. All information regarding the environment is given with respect to the virtual sensor coordinate system, with two exceptions:

  • Physical technology-specific data, given with respect to the physical sensor coordinate system specified in the corresponding physical sensor’s mounting position. One example of technology-specific data is: image_data of osi3::CameraSensorView

  • Ground truth given in the global coordinate system.