Detected Object

A message representing exactly one object that is detected in the scene.

Table 1. Available fields in blickfeld.percept_processing.data.DetectedObject
Field	Type	Default	Unit
pose	base.geometry.Pose	-	-
pose	The position and orientation of the object.
shape	base.geometry.Shape	-	-
shape	The shape representing the object (bounding box).
properties	Properties	-	-
properties	Properties of the object.
point_cloud	core_processing.data.Frame	-	-
point_cloud	The point cloud of the object.
timestamp	uint64	-	ns
timestamp	The timestamps when the object is detected for the first time
lifetime	uint64	-	ns
lifetime	Lifetime of the object
path	repeated base.geometry.Pose	-	-
path	The tracked path of the object.
visible_to_sensors	repeated string	-	-
visible_to_sensors	List of sensors which currently detect the object
intruding	Flag	-	-
intruding	Active when object is currently detected as intruder in a security zone
intruder	Flag	-	-
intruder	Set when object intruded once in a security zone
velocity	base.geometry.Vector3	-	-
velocity	Track object velocity
geolocation	optional base.config.Geolocation	-	-
geolocation	The geolocation of the object based on the map and the object position. Only set when the geolocation is configured in the data source.

Properties

Properties of an object.

Table 2. Available fields in blickfeld.percept_processing.data.DetectedObject.Properties
Field	Type	Default	Unit
size	percept_pipeline.config.ObjectSize	-	-
size	The size of an object.
num_points	uint32	-	-
num_points	/ Number of measurements that belong to the object point cloud.
average_intensity	uint32	-	-
average_intensity	/ Average intensity of the measurements from the object point cloud.
bounding_box_2d_surface	float	-	-
bounding_box_2d_surface	Surface area of the largest xz / yz bounding box plane. This is used for the simple object size classifaction.
confidence	optional float	-	-
confidence	Confidence value Value in the range of [0, 1] which indicates how confident the tracking algorithm is about the detected object. NOTE: This is preliminary implementation and might change its behaviour significantly in upcoming releases.
in_background	bool	-	-
in_background	Set when bounding box of object is mostly located within the background / reference frame. This is usually an indication for ground or vegetation detections.
track_length	float	-	m
track_length	The estimated track length of an object.