Struct CameraSensorViewConfiguration

Struct Documentation

struct CameraSensorViewConfiguration

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

Public Types

enum ChannelFormat

Channel format.

Values:

CHANNEL_FORMAT_UNKNOWN = 0

Type of channel format is unknown (must not be used).

CHANNEL_FORMAT_OTHER = 1

Unspecified but known channel format. Consider proposing an additional format if using CHANNEL_FORMAT_OTHER.

CHANNEL_FORMAT_MONO_U8_LIN = 2

Single Luminance Channel UINT8 Linear.

CHANNEL_FORMAT_MONO_U16_LIN = 3

Single Luminance Channel UINT16 Linear.

CHANNEL_FORMAT_MONO_U32_LIN = 4

Single Luminance Channel UINT32 Linear.

CHANNEL_FORMAT_MONO_F32_LIN = 5

Single Luminance Channel Single Precision FP Linear.

CHANNEL_FORMAT_RGB_U8_LIN = 6

Packed RGB Channels (no padding) UINT8 Linear.

CHANNEL_FORMAT_RGB_U16_LIN = 7

Packed RGB Channels (no padding) UINT16 Linear.

CHANNEL_FORMAT_RGB_U32_LIN = 8

Packed RGB Channels (no padding) UINT32 Linear.

CHANNEL_FORMAT_RGB_F32_LIN = 9

Packed RGB Channels (no padding) Single Precision FP Linear.

CHANNEL_FORMAT_BAYER_BGGR_U8_LIN = 10

Bayer RGGB Channels UINT8 FP Linear.

CHANNEL_FORMAT_BAYER_BGGR_U16_LIN = 11

Bayer RGGB Channels UINT16 FP Linear.

CHANNEL_FORMAT_BAYER_BGGR_U32_LIN = 12

Bayer RGGB Channels UINT32 FP Linear.

CHANNEL_FORMAT_BAYER_BGGR_F32_LIN = 13

Bayer RGGB Channels Single Precision FP Linear.

Public Members

optional Identifier osi3::CameraSensorViewConfiguration::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.

optional MountingPosition osi3::CameraSensorViewConfiguration::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

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.

Note

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.

optional MountingPosition osi3::CameraSensorViewConfiguration::mounting_position_rmse = 3

The root mean squared error of the mounting position.

optional double osi3::CameraSensorViewConfiguration::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]

optional double osi3::CameraSensorViewConfiguration::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]

optional uint32 osi3::CameraSensorViewConfiguration::number_of_pixels_horizontal = 6

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.

optional uint32 osi3::CameraSensorViewConfiguration::number_of_pixels_vertical = 7

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.

repeated ChannelFormat osi3::CameraSensorViewConfiguration::channel_format = 8

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.