Shape

A shape that represents a geometrical figure.

Table 1. Available fields in blickfeld.base.geometry.Shape
Field	Type	Default	Unit
pose	Pose	-	-
pose	Position and orientation of the center of the bounding box enclosing the shape.
box	Box	-	-
box	Box shape
cone	Cone	-	-
cone	Cone shape
cylinder_cone	CylinderCone	-	-
cylinder_cone	Cylinder Cone shape
polygon	Polygon	-	-
polygon	Polygon shape

Box

A 3 dimensional box.

Table 2. Available fields in blickfeld.base.geometry.Shape.Box
Field	Type	Default	Unit
dimensions	Vector3	-	-
dimensions	The X, Y and Z dimension.

Cone

A 3 dimensional cone.

Table 3. Available fields in blickfeld.base.geometry.Shape.Cone
Field	Type	Default	Unit
dimensions	Vector3	-	-
dimensions	The X, Y and Z dimension of the cone. X and Y dimensions of the cone define the ellipsoid at the bottom of the cone. The cone is narrowing along the z direction.

Cylinder Cone

A 3 dimensional cylinder base and a cone top.

Table 4. Available fields in blickfeld.base.geometry.Shape.CylinderCone
Field	Type	Default	Unit
dimensions	Vector3	-	-
dimensions	The X, Y and Z dimension of the cone. X and Y dimensions of the cone define the ellipsoid at the bottom of the cone. The cone is narrowing along the z direction.
cylinder_height	float	-	-
cylinder_height	The cylinder height in meters.

Polygon

A 3 dimensional polygon.

Table 5. Available fields in blickfeld.base.geometry.Shape.Polygon
Field	Type	Default	Unit
points	repeated Vector2	-	-
points	The points defining the polygon ground area. The points can be set in a clockwise or counter-clockwise order.
height	float	-	-
height	The height of the polygon.