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Merged
pmai merged 5 commits into from
Mar 25, 2024
Merged

Feature/proj offset #794

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e9cb772
Add proj frame offset to groundtruth
thomassedlmayer Mar 22, 2024
4930e3b
Add spelling exceptions
thomassedlmayer Mar 22, 2024
a604f5a
Add empty lines for better formatting in doxygen
thomassedlmayer Mar 22, 2024
66218d7
Add proj frame offset explanations to documentation
thomassedlmayer Mar 22, 2024
274859c
Formatting fix
pmai Mar 22, 2024
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Formatting fix 
Signed-off-by: Pierre R. Mai <[email protected]>
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@pmai
pmai committed Mar 25, 2024
commit 274859c9f6c62a7665907987567945806d8136f3
3 changes: 2 additions & 1 deletion doc/architecture/reference_points_coordinate_systems.adoc
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Expand Up @@ -12,7 +12,8 @@ Coordinate system for all entities that are part of ground truth.
The global coordinate system is an inertial x/y/z-coordinate system.
The origin is the global reference point that is determined by the environment simulation.
This reference point may be derived from map data or other considerations.
Global coordinates can be mapped to a geographic coordinate system via `osi3::GroundTruth::proj_string`. Note that before applying any PROJ transformations to global coordinates, the `osi3::GroundTruth::proj_frame_offset` must be applied.
Global coordinates can be mapped to a geographic coordinate system via `osi3::GroundTruth::proj_string`.
Note that before applying any PROJ transformations to global coordinates, the `osi3::GroundTruth::proj_frame_offset` must be applied.

Host vehicle coordinate system::
The host vehicle coordinate system's origin is defined to be at the center of the rear axle of the host vehicle.
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