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

Collaboration diagram for osi3::LidarSensorViewConfiguration:

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Public Attributes
optional Identifier	sensor_id = 1
	The ID of the sensor at host vehicle's mounting_position. More...

optional MountingPosition	mounting_position = 2
	The physical mounting position of the sensor (origin and orientation of the sensor coordinate system) given in vehicle coordinates [1]. More...

optional MountingPosition	mounting_position_rmse = 3
	The root mean squared error of the mounting position. More...

optional double	field_of_view_horizontal = 4
	Field of View in horizontal orientation of the physical sensor. More...

optional double	field_of_view_vertical = 5
	Field of View in vertical orientation of the physical sensor. More...

optional uint32	number_of_rays_horizontal = 6
	Number of rays to cast across horizontal field of view. More...

optional uint32	number_of_rays_vertical = 7
	Number of rays to cast across vertical field of view. More...

optional uint32	max_number_of_interactions = 8
	Maximum number of interactions to take into account. More...

optional double	emitter_frequency = 9
	Emitter Frequency. More...

optional uint32	num_of_pixels = 10
	Number of pixels in frame. More...

repeated Vector3d	directions = 11
	Ray tracing data. More...

repeated uint32	timings = 12
	Ray tracing data. More...

Detailed Description

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

Member Data Documentation

◆ sensor_id

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.

◆ mounting_position

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

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::LidarSensorViewConfiguration::mounting_position_rmse = 3

The root mean squared error of the mounting position.

◆ field_of_view_horizontal

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

◆ field_of_view_vertical

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

◆ number_of_rays_horizontal

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.

Rules: is_greater_than_or_equal_to: 1

◆ number_of_rays_vertical

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.

Rules: is_greater_than_or_equal_to: 1

◆ max_number_of_interactions

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.

Rules: is_greater_than_or_equal_to: 1

◆ emitter_frequency

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

Rules: is_greater_than_or_equal_to: 0

◆ num_of_pixels

optional uint32 osi3::LidarSensorViewConfiguration::num_of_pixels = 10

Number of pixels in frame.

This field includes the number of pixels in each frame

Rules: is_greater_than_or_equal_to: 1

◆ directions

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

◆ timings

repeated uint32 osi3::LidarSensorViewConfiguration::timings = 12