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	optional 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

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.

Flag which contains state combined with a change detection

Table 3. Available fields in blickfeld.percept_processing.data.DetectedObject.Flag
Field	Type	Default	Unit
state	bool	-	-
state	Current state
since_timestamp	uint64	-	ns
since_timestamp	Timestamp since when the state did not change
since_duration	uint64	-	ns
since_duration	Duration of current state