Box Detections

class py123d.datatypes.detections.BoxDetectionWrapper

The BoxDetectionWrapper is a container for multiple box detections. It provides methods to access individual detections as well as to retrieve a detection by track token. The wrapper is used to read and write box detections from/to logs.

Public Data Attributes:

box_detections

List of individual BoxDetectionSE2 or BoxDetectionSE3.

Public Methods:

get_detection_by_track_token(track_token)	Retrieve a box detection by its track token.
occupancy_map_2d	The OccupancyMap2D representing the 2D occupancy of all box detections.

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property box_detections: List[BoxDetectionSE2 | BoxDetectionSE3]

List of individual BoxDetectionSE2 or BoxDetectionSE3.

get_detection_by_track_token(track_token)

Retrieve a box detection by its track token.

Parameters:

track_token (str) – The track token of the box detection.

Return type:

Union[BoxDetectionSE2, BoxDetectionSE3, None]

Returns:

The box detection with the given track token, or None if not found.

property occupancy_map_2d: OccupancyMap2D

The OccupancyMap2D representing the 2D occupancy of all box detections.

class py123d.datatypes.detections.BoxDetectionMetadata

Stores data about the box detection, including its label, track token, number of LiDAR points, and timepoint.

Public Data Attributes:

label	The BoxDetectionLabel, from the original dataset's label set.
track_token	The unique track token of the detection, consistent across frames.
num_lidar_points	Optionally, the number of LiDAR points associated with the detection.
timepoint	Optionally, the TimePoint of the detection.
default_label	The unified DefaultBoxDetectionLabel corresponding to the detection's label.

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property label: BoxDetectionLabel

The BoxDetectionLabel, from the original dataset’s label set.

property track_token: str

The unique track token of the detection, consistent across frames.

property num_lidar_points: int | None

Optionally, the number of LiDAR points associated with the detection.

property timepoint: TimePoint | None

Optionally, the TimePoint of the detection.

property default_label: DefaultBoxDetectionLabel

The unified DefaultBoxDetectionLabel corresponding to the detection’s label.

class py123d.datatypes.detections.BoxDetectionSE2

Detected, tracked, and oriented bounding box 2D space.

Public Data Attributes:

metadata	The BoxDetectionMetadata of the detection.
bounding_box_se2	The BoundingBoxSE2 of the detection.
velocity_2d	The Vector2D representing the velocity.
center_se2	The PoseSE2 representing the center of the bounding box.
shapely_polygon	The shapely polygon of the bounding box in 2D space.
box_detection_se2	Returns self to maintain interface consistency.

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property metadata: BoxDetectionMetadata

The BoxDetectionMetadata of the detection.

property bounding_box_se2: BoundingBoxSE2

The BoundingBoxSE2 of the detection.

property velocity_2d: Vector2D | None

The Vector2D representing the velocity.

property center_se2: PoseSE2

The PoseSE2 representing the center of the bounding box.

property shapely_polygon: Polygon

The shapely polygon of the bounding box in 2D space.

property box_detection_se2: BoxDetectionSE2

Returns self to maintain interface consistency.

class py123d.datatypes.detections.BoxDetectionSE3

Detected, tracked, and oriented bounding box 3D space.

Public Data Attributes:

metadata	The BoxDetectionMetadata of the detection.
bounding_box_se3	The BoundingBoxSE3 of the detection.
bounding_box_se2	The SE2 projection BoundingBoxSE2 of the SE3 bounding box.
velocity_3d	The Vector3D representing the velocity.
velocity_2d	The 2D projection Vector2D of the 3D velocity.
center_se3	The PoseSE3 representing the center of the bounding box.
center_se2	The PoseSE2 representing the center of the SE2 bounding box.
box_detection_se2	The BoxDetectionSE2 projection of this SE3 box detection.
shapely_polygon	The shapely polygon of the bounding box in 2D space.

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property metadata: BoxDetectionMetadata

The BoxDetectionMetadata of the detection.

property bounding_box_se3: BoundingBoxSE3

The BoundingBoxSE3 of the detection.

property bounding_box_se2: BoundingBoxSE2

The SE2 projection BoundingBoxSE2 of the SE3 bounding box.

property velocity_3d: Vector3D | None

The Vector3D representing the velocity.

property velocity_2d: Vector2D | None

The 2D projection Vector2D of the 3D velocity.

property center_se3: PoseSE3

The PoseSE3 representing the center of the bounding box.

property center_se2: PoseSE2

The PoseSE2 representing the center of the SE2 bounding box.

property box_detection_se2: BoxDetectionSE2

The BoxDetectionSE2 projection of this SE3 box detection.

property shapely_polygon: Polygon

The shapely polygon of the bounding box in 2D space.