OSI uses DIN ISO 8855:2013-11 for coordinate systems and transformations between coordinate systems. OSI uses three coordinate systems:
- World coordinate system
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Coordinate system for all entities that are part of ground truth. The world 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. World coordinates can be mapped to a geographic coordinate system via
osi3::GroundTruth::proj_string. - Sensor coordinate system
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Coordinate system for all entities that are part of sensor data. The origin is the mounting position of the physical sensor or a virtual mounting position, depending on the OSI message.
- Object coordinate system
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Local object coordinate system. The origin of the corresponding coordinate systems is not necessarily identical to the center of the object’s bounding box.