osi3::BoundingBox Struct Reference

A bounding box description. More...

Collaboration diagram for osi3::BoundingBox:

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 or BaseStationary .

Member Enumeration Documentation

◆ Type

enum osi3::BoundingBox::Type

Definition of different types of object contained within the bounding box.

Enumerator
TYPE_UNKNOWN	Object of unknown type (must not be used in ground truth).
TYPE_OTHER	Any other type of object.
TYPE_BASE_STRUCTURE	The main structure of an object, e.g. a chassis of a vehicle, or the central structure of a building, a tree trunk, etc.
TYPE_PROTRUDING_STRUCTURE	A protruding, integral part of an object, which is not temporarily attached, e.g. a tree crown, a light pole arm, or a parking house gate. The protruding structure is meant to be an additional part to a base structure.
TYPE_CARGO	Additional, temporarily attached cargo to an object.
TYPE_DOOR	The door of an object. For vehicles, this includes driver and passenger doors, trunk and front hoods, and fuel or charging port covers.
TYPE_SIDE_MIRROR	The side mirror of a vehicle. Note The side mirror is not included in the overall bounding box of the parent object.

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