Properties associated with a given sensor
Synopsis:
#include <adas/adas_sensor_defs.h>
typedef struct {
uint32_t id;
uint32_t instance;
adas_sensor_source_t source;
adas_sensor_type_t type;
bool apply_transforms;
adas_sensor_orientation_t orientation;
adas_position_3d_t position;
adas_chained_rotations_3d_t direction;
adas_space_t space_type;
adas_coordinates_range_t space_range;
adas_focal_properties_t focal;
adas_fov_properties_t primary_fov;
adas_fov_properties_t secondary_fov;
sensor_format_t format;
uint64_t buffer_size;
char name[SENSOR_NAME_LEN];
} adas_sensor_properties_t;
Data:
- uint32_t id
- Identifier associated with the sensor; this is typically the camera or sensor unit.
- uint32_t instance
- Unique instance associated with the sensor.
- adas_sensor_source_t source
- Source of the sensor in terms of library (see adas_sensor_source_t).
- adas_sensor_type_t type
- Type of sensor (see adas_sensor_type_t).
- bool apply_transforms
- Set to true if the library needs to transform coordinates received from this sensor to the vehicle coordinate system, false otherwise.
- adas_sensor_orientation_t orientation
- Orientation of the sensor (see adas_sensor_orientation_t).
- adas_position_3d_t position
- Cartesian position associated with the sensor relative to the car coordinate system, in millimeters (see adas_position_3d_t).
- adas_chained_rotations_3d_t direction
- Intrinsic chained rotations about the axis of the sensor (see adas_chained_rotations_3d_t).
- adas_space_t space_type
- Coordinate space type (i.e., 1D, 2D, 3D; see adas_space_t).
- adas_coordinates_range_t space_range
- Maximum value for all coordinate axes; which ones have valid values depends on space_type above.
For 1D, only x is valid. For 2D, only x and y are valid. For 3D, x, y, and z are valid. For more details, see adas_coordinates_range_t.
- adas_focal_properties_t focal
- Focal properties; applies to sensors of type ADAS_SENSOR_TYPE_CAMERA and ADAS_SENSOR_TYPE_IR.
For more details, see adas_focal_properties_t.
- adas_fov_properties_t primary_fov
- Field of view and range properties; applies to sensors of type ADAS_SENSOR_TYPE_LIDAR_2D, ADAS_SENSOR_TYPE_LIDAR_3D, and ADAS_SENSOR_TYPE_RADAR.
For more details, see adas_fov_properties_t.
- adas_fov_properties_t secondary_fov
- Secondary field of view and range properties; applies to sensors of type ADAS_SENSOR_TYPE_LIDAR_2D, ADAS_SENSOR_TYPE_LIDAR_3D, and ADAS_SENSOR_TYPE_RADAR.
For more details, see adas_fov_properties_t.
- sensor_format_t format
- Format of the sensor buffer (see sensor_format_t in the Sensor library documentation).
- uint64_t buffer_size
- Size of the data payload portion of the sensor buffer, in bytes.
- char name[SENSOR_NAME_LEN]
- Name associated with this sensor in the ADAS configuration file.
Library:
libadas