The second editor (a separate tool from the ADAS Sensor Configuration Editor) relates to the placing of sensor configuration directly on the map. These positions are fixed and in the world space frame of reference, whereas vehicle sensors are placed in ‘vehicle space’ which is relative to the vehicle.
The two editors have much in common, but also some major differences. Although most of this documentation applies, the differences are noted on this page.
Main Tool Window:
The Main Tool Window of the Map Sensor Configuration Editor is a cut-down version of the Attached Sensors Window of the ADAS Sensor Configuration Editor (for vehicles). However, it allows only a subset of sensors to be placed. These are the Camera, LiDAR, Ultrasonic, and RADAR sensors. Other sensors such as the IMU sensor do not make any sense when not associated to a vehicle, and as such do not appear here. The Main Tool Window otherwise behaves in the same way.
Note that there is no vehicle selection list or any equivalent of the Main Tool Window of the ADAS Sensor Configuration Editor (for vehicles), since this is not required.
When selecting sensors to be placed, the placement sphere will appear and the sensor can be placed on the map at any location.
Saving and loading configurations also work in the same way. However, the user should be careful to keep configurations created with one editor separate from configurations created with the other - they will not be compatible.
Sensor Edit Window:
The Sensor Edit Window(s) behave in much the same way as they do with the ADAS Sensor Configuration Editor (for vehicles). Note, however, that the positions are in world-space coordinates (rather than relative to any vehicle). The positions and directions etc can be moved using the window input boxes or the gimbals. For more information about this, please refer to the corresponding section for the ADAS Sensor Configuration Editor (for vehicles) - it behaves very similarly.
The sensor parameters are exactly the same across both editors, however there are no preset positions which can be chosen on the map.
