Class Object

Class Documentation

class Object

Data holder class for perception annotations.

Public Functions

Object() = default
bool operator==(const Object &other) const

Equality for Objects.

Parameters:

other[in] another object to compare to.

Returns:

true if equal

Public Members

uint32_t id   = {}

Object ID.

If tracked, objects maintain their IDs between frames.

uint64_t creation_ts = {}

Timestamp of the first detection, in nanoseconds.

Lidar time.

uint64_t timestamp = {}

Timestamp of the current detection, in nanoseconds.

Lidar time.

uint32_t class_id = {}

Object classification.

DetectionEngine implementations determine the meaning behind class_id numbers, please refer to ouster::sdk::core::ClassMap to get corresponding class name strings.

float class_confidence = {0.0f}

Classification confidence.

Value between 0 and 1, where 1 is absolute confidence.

Pose object_to_body = {}

Transform from the object frame to the body frame.

Pose body_to_world = {}

Transform from the body frame to the world frame.

UnalignedVector3f velocity = {UnalignedVector3f::Zero()}

Velocity vector (inside worldframe).

UnalignedVector3f dimensions = {UnalignedVector3f::Zero()}

Full extents of the object’s bounding box.

std::unordered_map<std::string, std::string> properties

Properties dictionary.

Allows to extend object information with arbitrary data.