osi3::BoundingBox Struct Reference
Public Types
enum | Type { TYPE_UNKNOWN = 0, TYPE_OTHER = 1, TYPE_BASE_STRUCTURE = 2, TYPE_PROTRUDING_STRUCTURE = 3, TYPE_CARGO = 4, TYPE_DOOR = 5, TYPE_SIDE_MIRROR = 6 } |
Definition of different types of object contained within the bounding box. More... | |
Public Attributes
optional Dimension3d | dimension = 1 |
The 3D dimensions of the bounding box. More... | |
optional Vector3d | position = 2 |
The 3D position of the bounding box. More... | |
optional Orientation3d | orientation = 3 |
The 3D orientation of the bounding box. More... | |
optional Type | contained_object_type = 4 |
The type of object contained in the bounding box. More... | |
optional string | model_reference = 5 |
Opaque reference of an associated 3D model of the bounding box. More... | |
Detailed Description
A bounding box description.
A bounding box representing a sub-section of its parent's overall dimension, either that of a BaseMoving
or BaseStationary
.
The parent frame of the BoundingBox
is identical to the parent frame of the MovingObject
or StationaryObject
it is associated to. For example, if the parent object coordinates are given relative to the global coordinate system, then the BoundingBox
coordinates are also given relative to the global coordinate system.
- Note
- The overall bounding box of the object is still defined using the dimension, position and orientation of the
BaseMoving
orBaseStationary
.
Member Enumeration Documentation
◆ Type
Definition of different types of object contained within the bounding box.
Member Data Documentation
◆ dimension
optional Dimension3d osi3::BoundingBox::dimension = 1 |
The 3D dimensions of the bounding box.
◆ position
optional Vector3d osi3::BoundingBox::position = 2 |
The 3D position of the bounding box.
The position is the center of the bounding box and the pivot for the dimension
and orientation
.
- Note
- The position should be within the same coordinate frame as its parent, not relative to coordinate frame of the parent object. The position becomes global/absolute if the parent frame is inertial (all parent frames up to ground truth).
◆ orientation
optional Orientation3d osi3::BoundingBox::orientation = 3 |
The 3D orientation of the bounding box.
- Note
- The orientation should be within the same coordinate frame as its parent, not relative to the coordinate frame of the parent object. The orientation becomes global/absolute if the parent frame is inertial (all parent frames up to ground truth).
◆ contained_object_type
optional Type osi3::BoundingBox::contained_object_type = 4 |
The type of object contained in the bounding box.
◆ model_reference
optional string osi3::BoundingBox::model_reference = 5 |
Opaque reference of an associated 3D model of the bounding box.
- Note
- It is implementation-specific how model_references are resolved to 3d models. This means the coordinate system, model origin, and model orientation are also implementation-specific.
- osi_common.proto