Coordinate System: sensors.yaml

[adi018]

Hello Team,

Thank you for the nice work on the generation of diversified synthetic data and the related paper!

I have been closely going through this repository for some time now. Today, I came across some conflict with the Vehicle Coordinate System (defined in the Coordiante Systems) and sensor configuration defined in ./shift-dev/config/sensors.yaml.

Current Issue Faced: I would assume that the z-coordinate of all sensors i.e. cameras, lidar and imu to align with the origin of Vehicle Coordinate System and hence, to be equal to 0.0. But in the ./shift-dev/config/sensors.yaml it has a value of 1.6 m in the z coordinate. Am I wrong somewhere? Does the origin of the Vehicle Coordinate System not coincide with the center of the installed sensor box mounting position?

It would be great if you could clarify this for me.

Thanks, Aditya