paralleldomain.model.geometry.bounding_box_3d¶

class BoundingBox3DBaseGeometry(pose, width, height, length)¶

Represents a 3D Bounding Box geometry with a generic coordinate precision of either int or float.

Parameters:

pose (Transformation) – pose
length (TypeVar(T, int, float)) – length
width (TypeVar(T, int, float)) – width
height (TypeVar(T, int, float)) – height
class_id – class_id
instance_id – instance_id
num_points – num_points
attributes – attributes

pose¶: 6D Pose for box in 3D sensor space.

length¶: Length of box in meter along x-axis.

width¶: Width of box in meter along y-axis.

height¶: Height of box in meter along z-axis.

class_id¶: Class ID of annotated object. Can be used to lookup more details in ClassMap.

instance_id¶: Instance ID of annotated object. Can be used to cross-reference with other instance annotation types, e.g., InstanceSegmentation2D or InstanceSegmentation3D.

num_points¶: Number of LiDAR points of related Sensor.

attributes¶: Dictionary of arbitrary object attributes.

classmethod merge_boxes(target_box, source_box)¶

Takes two 3D box geometries as input and merges both into a new box geometry. The resulting box geometry has dimensions from target_box and source_box merged into it.

Return type:

BoundingBox3DBaseGeometry[TypeVar(T, int, float)]

Parameters:

target_box (BoundingBox3DBaseGeometry) –
source_box (BoundingBox3DBaseGeometry) –

property edges: ndarray¶

Returns the 3D edges of a bounding box.

Edges are returned in order of connecting the vertices in the following order:

[0, 1]
[1, 2]
[2, 3]
[3, 0]
[4, 5]
[5, 6]
[6, 7]
[7, 4]
[2, 6]
[7, 3]
[1, 5]
[4, 0]

   5--------6
  /|   top /|
 / |      / |
1--------2  |
|  4-----|--7
| /      | /
|/       |/ left
0--------3
  front

property faces: ndarray¶

Returns the 3D faces of a bounding box.

Faces are returned in order of connecting the vertices in the following order:

[0, 1, 2, 3] (front)
[4, 5, 6, 7] (back)
[3, 2, 6, 7] (left)
[0, 1, 5, 4] (right)
[6, 2, 1, 5] (top)
[7, 3, 0, 4] (bottom)

   5--------6
  /|   top /|
 / |      / |
1--------2  |
|  4-----|--7
| /      | /
|/       |/ left
0--------3
  front

property vertices: ndarray¶

Returns the 3D vertices of a bounding box.

Vertices are returned in the following order:

   5--------6
  /|   top /|
 / |      / |
1--------2  |
|  4-----|--7
| /      | /
|/       |/ left
0--------3
  front

property volume: T¶: Returns volume of 3D Bounding Box in cubic meter.

class BoundingBox3DGeometry(pose, width, height, length)¶

Parameters:

pose (Transformation) –
width (T) –
height (T) –
length (T) –

classmethod merge_boxes(target_box, source_box)¶

Takes two 3D box geometries as input and merges both into a new box geometry. The resulting box geometry has dimensions from target_box and source_box merged into it.

Return type:

BoundingBox3DBaseGeometry[TypeVar(T, int, float)]

Parameters:

target_box (BoundingBox3DBaseGeometry) –
source_box (BoundingBox3DBaseGeometry) –

property edges: ndarray¶

Returns the 3D edges of a bounding box.

Edges are returned in order of connecting the vertices in the following order:

[0, 1]
[1, 2]
[2, 3]
[3, 0]
[4, 5]
[5, 6]
[6, 7]
[7, 4]
[2, 6]
[7, 3]
[1, 5]
[4, 0]

   5--------6
  /|   top /|
 / |      / |
1--------2  |
|  4-----|--7
| /      | /
|/       |/ left
0--------3
  front

property faces: ndarray¶

Returns the 3D faces of a bounding box.

Faces are returned in order of connecting the vertices in the following order:

[0, 1, 2, 3] (front)
[4, 5, 6, 7] (back)
[3, 2, 6, 7] (left)
[0, 1, 5, 4] (right)
[6, 2, 1, 5] (top)
[7, 3, 0, 4] (bottom)

   5--------6
  /|   top /|
 / |      / |
1--------2  |
|  4-----|--7
| /      | /
|/       |/ left
0--------3
  front

property vertices: ndarray¶

Returns the 3D vertices of a bounding box.

Vertices are returned in the following order:

   5--------6
  /|   top /|
 / |      / |
1--------2  |
|  4-----|--7
| /      | /
|/       |/ left
0--------3
  front

property volume: T¶: Returns volume of 3D Bounding Box in cubic meter.