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max-rosin merged 7 commits into from
Jul 7, 2021
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feat(docs): Describe coordinate systems and reference points (#510) #516

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feat(docs): Describe coordinate systems and reference points (#510)
max-rosin Apr 20, 2021
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feat(docs): Implement review suggestions (#510)
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feat(docs): Implement review suggestions (#510)
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11 changes: 0 additions & 11 deletions doc/architecture/coordinate_systems.adoc
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10 changes: 0 additions & 10 deletions doc/architecture/reference_points.adoc
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16 changes: 16 additions & 0 deletions doc/architecture/reference_points_coordinate_systems.adoc
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= Reference points and coordinate systems

With Open Simulation Interface, an object's position coordinates refer to the center of the object's bounding box, independent of the coordinate system. This reference point is not identical to the origin of any coordinate systems.

OSI uses three coordinate systems:

World coordinates::
Coordinate system for all quantities which are part of ground truth.

Sensor coordinates::
Coordinate system for all quantities which are part of sensor data.

Object coordinates::
Coordinate system for local object coordinates, for example, vehicle coordinates.

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@clemenshabedank clemenshabedank May 18, 2021 •
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For all coordinate systems: Would it make sense to say something about the origin? e.g.

  • World coordinates: inertial x/y/z positions

  • Sensor coordinates: mounting position of the physical sensor OR virtual mounting position. I think here it should be differentiated which one is used in (at least) technology specific sensor views, sensor data, feature data, logical detection data

  • Object coordinates: For vehicles it is currently middle rare axle, but there were discussions about maybe changing it to middle bounding box. And of course there would be all the other object coordinate systems...

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@kmeids kmeids Jun 9, 2021

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Output CCB 09.06.2021:

  1. Describe OSI's Coordinate systems in a generic manner.
  2. Describe how to define the position of the coordinate systems in OSI (for example wrt reference points, which may be the center of the bounding box).
  3. Example picture to illustrate the above mentioned points (a picture is already available needs to be updated).

OSI uses DIN ISO 8855:2013-11 for coordinate systems and transformations between coordinate systems.
8 changes: 4 additions & 4 deletions doc/open-simulation-interface_user_guide.adoc
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Expand Up @@ -52,11 +52,9 @@ include::./architecture/traffic_participant.adoc[leveloffset=+3]

include::./architecture/vehicle_dynamics.adoc[leveloffset=+3]

=== Coordinate systems and reference points
// Coordinate systems and reference points (level 3)

include::./architecture/coordinate_systems.adoc[leveloffset=+3]

include::./architecture/reference_points.adoc[leveloffset=+3]
include::./architecture/reference_points_coordinate_systems.adoc[leveloffset=+2]

=== Layering

Expand Down Expand Up @@ -106,6 +104,8 @@ include::./usecases/benchmark_integration_gpu_radar.adoc[leveloffset=+2]

include::./usecases/generating_osi_traces.adoc[leveloffset=+2]

include::./usecases/transforming_coordinate_systems.adoc[leveloffset=+2]

== Improving performance

TODO: Define topics and issues regarding performance.
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22 changes: 22 additions & 0 deletions doc/usecases/transforming_coordinate_systems.adoc
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= Transforming coordinate systems

Transforming coordinates for a specific vehicle or sensor is a common task when running simulations.
OSI uses DIN ISO 8855:2013-11 for coordinate systems and transformations between coordinate systems.

//TODO: Should we add one or more sentences about the mathematical operations involved?

**Corresponding messages**

``GroundTruth::moving_object::base::position``::
Defines the position of the vehicle’s reference point.

``GroundTruth::moving_object::base::orientation``::
Defines the orientation of the vehicle’s reference point.

``GroundTruth::moving_object::vehicle_attributes::bbcenter_to_rear``::
The vector pointing from the vehicle’s reference point to the middle of the rear axle under neutral load conditions in vehicle coordinates.
The middle of the rear axle is

``SensorData::mounting_position``::
Defines the sensor’s position and orientation and thereby the origin of the sensor coordinate system.
The mounting position is defined in sensor coordinates and relative to the origin of the vehicle coordinate system.