# This represents an estimated object with reference coordinate frame and timestamp. Header header
# The id of the object (presumably from the detecting sensor). uint32 id
# A Detected object is one which has been seen in at least one scan/frame of a sensor. # A Tracked object is one which has been correlated over multiple scans/frames of a sensor. # An object which is detected can only be assumed to have valid pose and shape properties. # An object which is tracked should also be assumed to have valid twist and accel properties. # The validity of the individual components of each object property are defined by the property's covariance matrix. uint8 detection_level
uint8 OBJECT_DETECTED=0 uint8 OBJECT_TRACKED=1
# A Classified object is one which has been identified as a certain object type. # Classified objects should have valid classification, classification_certainty, and classification_age properties. bool object_classified
# The detected position and orientation of the object. geometry_msgs/PoseWithCovariance pose
# The detected linear and angular velocities of the object. geometry_msgs/TwistWithCovariance twist
# The detected linear and angular accelerations of the object. geometry_msgs/AccelWithCovariance accel
# (OPTIONAL) The polygon defining the detection points at the outer edges of the object. geometry_msgs/Polygon polygon
# A shape conforming to the outer bounding edges of the object. derived_object_msgs/SolidPrimitiveWithCovariance shape
# The type of classification given to this object. uint8 classification
# The certainty of the classification from the originating sensor. # Higher value indicates greater certainty (MAX=255). # It is recommended that a native sensor value be scaled to 0-255 for interoperability. uint8 classification_certainty
# The number of scans/frames from the sensor that this object has been classified as the current classification. uint32 classification_age