feat(docs): Describe coordinate systems and reference points (#510) #516
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Signed-off-by: Maximilian Rosin <maximilian.rosin@parson-europe.com>
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Output CCB 12.05.2021:
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| Object coordinates:: | ||
| Coordinate system for local object coordinates, for example, vehicle coordinates. | ||
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For all coordinate systems: Would it make sense to say something about the origin? e.g.
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World coordinates: inertial x/y/z positions
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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
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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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Output CCB 09.06.2021:
- Describe OSI's Coordinate systems in a generic manner.
- 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).
- Example picture to illustrate the above mentioned points (a picture is already available needs to be updated).
Signed-off-by: Maximilian Rosin <maximilian.rosin@parson-europe.com>
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| It also shows that the reference point of the vehicle is located in the center of its bounding box whereas the origin of the vehicle coordinate system is the middle of rear axle projected onto the ground. | ||
| In this example, the virtual mounting position coincides with the origin of the vehicle coordinate system. | ||
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| image::{imagedir}/osi_coordinate_systems.png[] No newline at end of file |
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We should use a better image for this, one that does not cover the "Z" on the virtual coordinate system and that also shows the virtual coordinate system in a different location from the rear axle to evade confusion with the DIN ISO.
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Simplified the image and moved the example to the topic describing the transformations between coordinate systems. Seemed to me to be the more appropriate place.
I don't really understand why I should remove the z-axis on the virtual coordinate system.
@kmeids : Please check out the modified image and topics.
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Signed-off-by: Maximilian Rosin <maximilian.rosin@parson-europe.com>
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Signed-off-by: Maximilian Rosin <maximilian.rosin@parson-europe.com>
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This PR resolves #510.
Added a conceptual topic about coordinate systems and reference points.
Added a use case topic about transforming messages.
My suggestion follows the style and contributors guidelines.
I have taken care about the documentation.
I have done the DCO signoff.
My changes generate no errors when passing CI tests.
I have successfully implemented and tested my fix/feature locally.
Appropriate reviewer(s) are assigned.