Struct LidarSensorViewConfiguration

Struct Documentation

struct LidarSensorViewConfiguration

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

Public Members

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.

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

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::LidarSensorViewConfiguration::mounting_position_rmse = 3

The root mean squared error of the mounting position.

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]

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]

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.

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.

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.

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]

optional uint32 osi3::LidarSensorViewConfiguration::num_of_pixels = 10

Number of pixels in frame.

This field includes the number of pixels in each frame

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

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