osi3::CameraSensorViewConfiguration Struct Reference

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

Collaboration diagram for osi3::CameraSensorViewConfiguration:

Public Types
enum	ChannelFormat {   CHANNEL_FORMAT_UNKNOWN = 0 , CHANNEL_FORMAT_OTHER = 1 , CHANNEL_FORMAT_MONO_U8_LIN = 2 , CHANNEL_FORMAT_MONO_U16_LIN = 3 ,   CHANNEL_FORMAT_MONO_U32_LIN = 4 , CHANNEL_FORMAT_MONO_F32_LIN = 5 , CHANNEL_FORMAT_RGB_U8_LIN = 6 , CHANNEL_FORMAT_RGB_U16_LIN = 7 ,   CHANNEL_FORMAT_RGB_U32_LIN = 8 , CHANNEL_FORMAT_RGB_F32_LIN = 9 , CHANNEL_FORMAT_BAYER_BGGR_U8_LIN = 10 , CHANNEL_FORMAT_BAYER_BGGR_U16_LIN = 11 ,   CHANNEL_FORMAT_BAYER_BGGR_U32_LIN = 12 , CHANNEL_FORMAT_BAYER_BGGR_F32_LIN = 13 , CHANNEL_FORMAT_BAYER_RGGB_U8_LIN = 14 , CHANNEL_FORMAT_BAYER_RGGB_U16_LIN = 15 ,   CHANNEL_FORMAT_BAYER_RGGB_U32_LIN = 16 , CHANNEL_FORMAT_BAYER_RGGB_F32_LIN = 17 , CHANNEL_FORMAT_RCCC_U8_LIN = 18 , CHANNEL_FORMAT_RCCC_U16_LIN = 19 ,   CHANNEL_FORMAT_RCCC_U32_LIN = 20 , CHANNEL_FORMAT_RCCC_F32_LIN = 21 , CHANNEL_FORMAT_RCCB_U8_LIN = 22 , CHANNEL_FORMAT_RCCB_U16_LIN = 23 ,   CHANNEL_FORMAT_RCCB_U32_LIN = 24 , CHANNEL_FORMAT_RCCB_F32_LIN = 25 }

Public Attributes
optional Identifier	sensor_id = 1
optional MountingPosition	mounting_position = 2
optional MountingPosition	mounting_position_rmse = 3
optional double	field_of_view_horizontal = 4
optional double	field_of_view_vertical = 5
optional uint32	number_of_pixels_horizontal = 6
optional uint32	number_of_pixels_vertical = 7
repeated ChannelFormat	channel_format = 8
optional uint32	samples_per_pixel = 9
optional uint32	max_number_of_interactions = 10
repeated WavelengthData	wavelength_data = 11

Detailed Description

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

Member Enumeration Documentation

ChannelFormat

enum osi3::CameraSensorViewConfiguration::ChannelFormat

Channel format.

Enumerator
CHANNEL_FORMAT_UNKNOWN	Type of channel format is unknown (must not be used).
CHANNEL_FORMAT_OTHER	Unspecified but known channel format. Consider proposing an additional format if using CHANNEL_FORMAT_OTHER.
CHANNEL_FORMAT_MONO_U8_LIN	Single Luminance Channel UINT8 Linear.
CHANNEL_FORMAT_MONO_U16_LIN	Single Luminance Channel UINT16 Linear.
CHANNEL_FORMAT_MONO_U32_LIN	Single Luminance Channel UINT32 Linear.
CHANNEL_FORMAT_MONO_F32_LIN	Single Luminance Channel Single Precision FP Linear.
CHANNEL_FORMAT_RGB_U8_LIN	Packed RGB Channels (no padding) UINT8 Linear.
CHANNEL_FORMAT_RGB_U16_LIN	Packed RGB Channels (no padding) UINT16 Linear.
CHANNEL_FORMAT_RGB_U32_LIN	Packed RGB Channels (no padding) UINT32 Linear.
CHANNEL_FORMAT_RGB_F32_LIN	Packed RGB Channels (no padding) Single Precision FP Linear.
CHANNEL_FORMAT_BAYER_BGGR_U8_LIN	Bayer BGGR Channels UINT8 FP Linear.
CHANNEL_FORMAT_BAYER_BGGR_U16_LIN	Bayer BGGR Channels UINT16 FP Linear.
CHANNEL_FORMAT_BAYER_BGGR_U32_LIN	Bayer BGGR Channels UINT32 FP Linear.
CHANNEL_FORMAT_BAYER_BGGR_F32_LIN	Bayer BGGR Channels Single Precision FP Linear.
CHANNEL_FORMAT_BAYER_RGGB_U8_LIN	Bayer RGGB Channels UINT8 FP Linear.
CHANNEL_FORMAT_BAYER_RGGB_U16_LIN	Bayer RGGB Channels UINT16 FP Linear.
CHANNEL_FORMAT_BAYER_RGGB_U32_LIN	Bayer RGGB Channels UINT32 FP Linear.
CHANNEL_FORMAT_BAYER_RGGB_F32_LIN	Bayer RGGB Channels Single Precision FP Linear.
CHANNEL_FORMAT_RCCC_U8_LIN	Red Clear Clear Clear Channels UINT8 FP Linear.
CHANNEL_FORMAT_RCCC_U16_LIN	Red Clear Clear Clear Channels UINT16 FP Linear.
CHANNEL_FORMAT_RCCC_U32_LIN	Red Clear Clear Clear Channels UINT32 FP Linear.
CHANNEL_FORMAT_RCCC_F32_LIN	Red Clear Clear Clear Channels Single Precision FP Linear.
CHANNEL_FORMAT_RCCB_U8_LIN	Red Clear Clear Blue Channels UINT8 FP Linear.
CHANNEL_FORMAT_RCCB_U16_LIN	Red Clear Clear Blue Channels UINT16 FP Linear.
CHANNEL_FORMAT_RCCB_U32_LIN	Red Clear Clear Blue Channels UINT32 FP Linear.
CHANNEL_FORMAT_RCCB_F32_LIN	Red Clear Clear Blue Channels Single Precision FP Linear.

Member Data Documentation

channel_format

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.

\rules is_greater_than_or_equal_to: 1 \endrules

field_of_view_horizontal

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

field_of_view_vertical

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

max_number_of_interactions

optional uint32 osi3::CameraSensorViewConfiguration::max_number_of_interactions = 10

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 \endrules

mounting_position

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

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.

mounting_position_rmse

optional MountingPosition osi3::CameraSensorViewConfiguration::mounting_position_rmse = 3

The root mean squared error of the mounting position.

number_of_pixels_horizontal

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.

\rules is_greater_than_or_equal_to: 1 \endrules

number_of_pixels_vertical

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.

\rules is_greater_than_or_equal_to: 1 \endrules

samples_per_pixel

optional uint32 osi3::CameraSensorViewConfiguration::samples_per_pixel = 9

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 \endrules

sensor_id

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.

wavelength_data

repeated WavelengthData osi3::CameraSensorViewConfiguration::wavelength_data = 11

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

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The documentation for this struct was generated from the following file:

• osi_sensorviewconfiguration.proto