Struct SensorSpatialData

Container holding the poses of the ego and sensor. Also optionally contains the ego velocity and acceleration.

Inherited Members

ValueType.Equals(Object)

ValueType.GetHashCode()

ValueType.ToString()

Object.Equals(Object, Object)

Object.ReferenceEquals(Object, Object)

Object.GetType()

Namespace: UnityEngine.Perception.GroundTruth

Syntax

public struct SensorSpatialData

Constructors

SensorSpatialData(Pose, Pose, Nullable<Vector3>, Nullable<Vector3>)

Create a new SensorSpatialData with the given values.

Declaration

public SensorSpatialData(Pose egoPose, Pose sensorPose, Vector3? egoVelocity, Vector3? egoAcceleration)

Parameters

Type	Name	Description
Pose	egoPose	The pose of the ego.
Pose	sensorPose	The pose of the sensor relative to the ego.
Nullable<Vector3>	egoVelocity	The velocity of the ego.
Nullable<Vector3>	egoAcceleration	The acceleration of the ego.

Fields

EgoAcceleration

The acceleration of the ego (optional).

Declaration

public Vector3? EgoAcceleration

Field Value

Type	Description
Nullable<Vector3>

EgoPose

The pose of the ego.

Declaration

public Pose EgoPose

Field Value

Type	Description
Pose

EgoVelocity

The velocity of the ego (optional).

Declaration

public Vector3? EgoVelocity

Field Value

Type	Description
Nullable<Vector3>

SensorPose

The pose of the sensor relative to the ego.

Declaration

public Pose SensorPose

Field Value

Type	Description
Pose

Methods

FromGameObjects(GameObject, GameObject)

Create a SensorSpatialData from two GameObjects, one representing the ego and the other representing the sensor.

Declaration

public static SensorSpatialData FromGameObjects(GameObject ego, GameObject sensor)

Parameters

Type	Name	Description
GameObject	ego	The ego GameObject.
GameObject	sensor	The sensor GameObject.

Returns

Type	Description
SensorSpatialData	Returns a SensorSpatialData filled out with EgoPose and SensorPose based on the given objects.