osi3::CameraSensorViewConfiguration Struct Reference

Pixel layout.

Pixel layout documents the order of pixels in the image_data in CameraSensorView.

Note

this enum does not contain an entry to do mirroring upside down and left-to-right at the same time, because this is equivalent to a 180-degree rotation, which should be indicated in the sensor coordinate system.

Channel format.

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 pixels to produce across horizontal field of view.

Note

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

Rules

is_greater_than_or_equal_to: 1

Number of pixels to produce across horizontal field of view.

Note

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

Rules

is_greater_than_or_equal_to: 1

Format for image data (includes number, kind and format of channels).

In the message provided by the sensor model, this field can be repeated and all values are acceptable to the model, with the most acceptable value being listed first, and the remaining values indicating alternatives in descending order of preference.

In the message provided to the sensor model, this field must contain exactly one value, indicating the format of the image data being provided by the simulation environment - which must be one of the values the sensor model requested - or there must be no value, indicating that the simulation environment cannot provide image data in one of the requested formats.

Rules

is_greater_than_or_equal_to: 1

Number of samples per pixel.

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

In use-cases where a spectral ray-tracer is used, this message determines the range of the wavelength and its desired number of samples.

Indicates if and how the the pixel data is ordered.

The default value (PIXEL_ORDER_DEFAULT) indicates standard image pixel order (left-to-right, top-to-bottom). The other values can be used to indicate/request mirroring (right to left or bottom to top).

Note

For rotations of the pixel data, use the camera coordinate system.