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OpenSimulationInterface / open-simulation-interface

A generic interface for the environmental perception of automated driving functions in virtual scenarios.
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Wrong vector used in picture in MovingObject #447

Closed HendrikAmelunxen closed 2 years ago

HendrikAmelunxen commented 3 years ago

Describe the bug

The picture with the physical mounting position of the sensor, shows a relative vector from the boundingbox center to the sensor mount, whereas it is stated in the documentation, that the mounting position of a sensor refers to the vehicle frame’s origin, i.e. rear axis center. Therefore the vector pointing from the boundingbox center to the sensor mount should be replaced by a vector pointing from the middle of the rear axle to the sensor mount.

Describe how to reproduce the bug

Compare first picture in https://opensimulationinterface.github.io/open-simulation-interface/structosi3_1_1MovingObject.html with the description in https://opensimulationinterface.github.io/osi-documentation/open-simulation-interface/doc/coordinatesystem.html#coordinate-systems

Describe the expected behavior

See bug description

Show some screenshots

image

image

AndrePinnel commented 3 years ago

When you have a closer look at the picture you'll find that there actually are two vectors, one from Virtual mounting position to Bounding box center, and one from Bounding box center to Physical mounting position. Maybe it would be more straightforward to show the direct definition vector, but in my view the current picture is not completely wrong.

HendrikAmelunxen commented 3 years ago

Maybe it is not completely wrong, but definitely misleading, since the mounting positions do not refer to the bounding box center (as depicted) but to the vehicle frame's origin, which is the rear axis center. So, the vectors to define the mounting positions drawn in the picture do not exist, do they?