Documentation bugs: Sensor data reference coordinate system definition

[thomassedlmayer]

We found that the OSI documentation has some contradictions when stating the reference coordinate system for objects contained in sensor data (e.g. detected moving objects, detected stationary objects, detected traffic lights).

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Official documentation (https://opensimulationinterface.github.io/osi-documentation/#_sensor_data):

2.2.2.5. Sensor data [...] With the exception of feature data, all information regarding the environment is given with respect to the virtual sensor coordinate system. [...]

DetectedMovingObject (base) (https://opensimulationinterface.github.io/open-simulation-interface/structosi3_1_1DetectedMovingObject.html#ad8a69c2327a7da76dba2d66dbcca54b6): The parent frame of base is the sensor's vehicle frame.

This definition of the parent frame of DetectedMovingObject::base in the OSI reference documentation is probably wrong, I guess?

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DetectedTrafficLight: example picture showing center rear axle as reference point (https://opensimulationinterface.github.io/open-simulation-interface/structosi3_1_1DetectedTrafficLight.html)

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DetectedStationaryObject: example picture showing center rear axle as reference point (https://opensimulationinterface.github.io/open-simulation-interface/structosi3_1_1DetectedStationaryObject.html):

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I guess, the official documentation is correct? We should probably fix the definition to match each other. We could keep the images but should state that the reference point is the virtual mounting position and not the actual center of the rear axle (even if it could be set as virtual mounting position) to avoid any confusion.

[jdsika]

The images are correct imo for the default case of having the virtual mounting position at (0,0,0) of the parent frame which is the vehicle rear-axis-system