Template Function ouster::sdk::core::restore_instance_ids

Function Documentation

template<typename T>
void ouster::sdk::core::restore_instance_ids(const Object &object, const PointCloudXYZ<T> &points, Eigen::Ref<img_t<uint32_t>> instance_ids)

This function restores instance id array based on object’s bounding box.

Parameters:

  • object[in] An object, such as produced by detection engine

  • points[in] A Eigen matrix of shape (N, 3) representing the 3D points. Each row corresponds to a point in 3D space.

  • instance_ids[out] An Eigen matrix of shape (H, W) representing instance id pixel field