The configuration settings for the Generic Sensor View to be provided by the environment simulation. More...

Detailed Description

The configuration settings for the Generic Sensor View to be provided by the environment simulation.

Requirements

Field	Type	Unit	Repeated	Requirements
sensor_id	`Identifier`		No	Must correspond to the id of a physical sensor
mounting_position	`MountingPosition`		No	Must be set and valid
mounting_position_rmse	`MountingPosition`		No	Must be set and valid
field_of_view_horizontal	`double`	[rad]	No	Must be set, positive
field_of_view_vertical	`double`	[rad]	No	Must be set, positive

Details on mounting_position

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

References:

[1] DIN ISO 8855:2013-11

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.