vss::simulation::SensorParameters Struct Reference
Last update: 14.01.2025Contains the simulation parameters for a given sensor id. More...
Public Attributes | |
| string | identifier = 1 |
| RecordingFormat | recording_format = 2 [deprecated = true] |
| DisplayInformation | display = 3 |
| RadarSimulation | radar_simulation = 4 |
| LidarSimulation | lidar_simulation = 5 |
| PbCameraSimulation | pb_cam_simulation = 6 |
| ThermalCameraSimulation | thermal_cam_simulation = 7 |
| OutputSplitting | output_splitting = 8 |
| google::protobuf::BoolValue | serialize_data = 9 |
| string | deploy_node_id = 10 |
| DataAccessSettings | data_access_settings = 11 |
| double | start_offset = 12 |
Detailed Description
Contains the simulation parameters for a given sensor id.
- Note
- If the type of sensor is not consistent with the sensor configuration, it will cause an error.
Member Data Documentation
◆ identifier
| string vss::simulation::SensorParameters::identifier = 1 |
The unique identifier of the sensor as defined in the sensor configuration.
◆ recording_format
| RecordingFormat vss::simulation::SensorParameters::recording_format = 2 [deprecated = true] |
Indicates if the sensor must dump its outputs to disk.
- Note
- Optional field. If not set, no sensor data will be dumped to disk.
- Warning
- This field is marked as deprecated and might be removed in later versions. Consider using DataAccess instead.
◆ display
| DisplayInformation vss::simulation::SensorParameters::display = 3 |
Indicates if the camera output must be displayed on the screen in a dedicated rendering window.
The resolution of the rendering window is the one defined in the sensor configuration.
- Note
- Optional field. If not set, the camera outputs will not be displayed on the screen.
- Only applicable to camera sensors. Ignored for other sensors.
- If the output format is not supported for display, the rendering window will still appear, but will remain black. A warning message is written to the logs. The unsupported formats are Lens output without custom post-processing, or any output with custom post-processing that doesn't produce a Gray8 or RGB24 image.
- If there are multiple outputs created by the custom post-processing, only the first output will be considered.
◆ radar_simulation
| RadarSimulation vss::simulation::SensorParameters::radar_simulation = 4 |
ONEOF(sensor_parameter) Specific parameters for a radar.
◆ lidar_simulation
| LidarSimulation vss::simulation::SensorParameters::lidar_simulation = 5 |
ONEOF(sensor_parameter) Specific parameters for a lidar.
◆ pb_cam_simulation
| PbCameraSimulation vss::simulation::SensorParameters::pb_cam_simulation = 6 |
ONEOF(sensor_parameter) Specific parameters for a physics-based camera.
◆ thermal_cam_simulation
| ThermalCameraSimulation vss::simulation::SensorParameters::thermal_cam_simulation = 7 |
ONEOF(sensor_parameter) Specific parameters for a thermal camera.
◆ output_splitting
| OutputSplitting vss::simulation::SensorParameters::output_splitting = 8 |
Defines how the sensor output must be split.
- Note
- Optional field. If not set, the output data is not split.
◆ serialize_data
| google::protobuf::BoolValue vss::simulation::SensorParameters::serialize_data = 9 |
Indicates whether or not the data must be serialized during the simulation.
When this parameter is set to true (which is the default value), the data is serialized.
When this parameter is set to false, the data is unserialized.
Default value: true
- Note
- Only Camera Output (Image) and Imager Output (Injection) data of physics-based camera sensors can be unserialized. Camera Lens Output (Light), thermal camera, lidar and radar output data are always serialized.
◆ deploy_node_id
| string vss::simulation::SensorParameters::deploy_node_id = 10 |
The identifier of the deploy node on which the sensor will be spawned, as defined in the deploy configuration.
- Note
- Optional field. If not set, the sensor process is executed on the local host.
◆ data_access_settings
| DataAccessSettings vss::simulation::SensorParameters::data_access_settings = 11 |
Specifies the configuration for accessing and handling sensor data.
◆ start_offset
| double vss::simulation::SensorParameters::start_offset = 12 |
Specifies a delay between the start of the simulation and the sensor's frame cycle.
Unit: millisecond (ms)
Range: Positive
The documentation for this struct was generated from the following file:
- simulation_parameters.proto
