tele op objects

Description

This object is an abstraction of vehicle lidars (ousters and velodyne) data

tele_op_object_t

Field	datatype	Description
utime	string	Local machine time when this list was generated
id	int32	The ID of the object. -1 == EGO agent, else real object
vel	[double]	An estimated velocity vector for the object in global frame [m/s]
pose	[double]	position (x,y,z) in meters in global frame
quat	[double]	quaternion which rotates a vector from body to global frame
poly	polygon_t	A bounding polygon for the object in global frame
classLabel	string	The maximum probability class of this object as a human readable string

The possible values for ClassLabel are: 'Car', 'Pedestrian', 'Truck', 'Bus', 'Motorcycle', 'Cyclist', 'Background', 'Golf Cart'

tele_op_object_list_t

Field	datatype	Description
utime	string	Local machine time when this list was generated
ego	tele_op_object_t	The most recent ego agent state
objects	[tele_op_object_t]	Objects in the scene
vehicle	unique vehicle name the data is associated to.
pose	[double]	position (x,y,z) in meters
quat	[double]	quaternion which rotates a vector from body to global frame
topic	string	type of telemetry data

Topic/channel string

For Realtime API

Pass the comma seperated topic name as a query param

/.vehicle.{vehiclename}.TELE_OP_OBJECTS

For Batch API - TBD

To access the Batch API, you need to include the vehicle name and topic name as path parameters in the URL.

/vehicles/{vehiclename}/topics/TELE_OP_OBJECTS

JSON Output

Order of fields might differ

{
    "ego": {
        "classLabel": "EgoVehicle",
        "id": -1,
        "pos": [
            0.0,
            0.0,
            0.0
        ],
        "quat": [
            0.9999991366755996,
            0.0,
            0.0,
            -0.001314019807826951
        ],
        "poly": {
            "pts": [
                {
                    "points": [
                        -31.125104904174805,
                        392.40032958984375
                    ]
                },
                {
                    "points": [
                        -33.445152282714844,
                        392.3050842285156
                    ]
                },
                {
                    "points": [
                        -33.22917175292969,
                        387.0432739257813
                    ]
                },
                {
                    "points": [
                        -30.90912437438965,
                        387.1385192871094
                    ]
                }
            ]
        },
        "utime": "1655907033000030",
        "vel": [
            0.1683705896139145,
            -4.101912498474121,
            0.012289498932659626
        ]
    },
    "objects": [
        {
            "classLabel": "Car",
            "id": 2153875,
            "poly": {
                "pts": [
                    {
                        "points": [
                            -42.16193389892578,
                            412.7369689941406
                        ]
                    },
                    {
                        "points": [
                            -41.92573547363281,
                            412.8145446777344
                        ]
                    },
                    {
                        "points": [
                            -41.73579788208008,
                            412.9786376953125
                        ]
                    },
                    {
                        "points": [
                            -41.646671295166016,
                            413.139892578125
                        ]
                    },
                    {
                        "points": [
                            -41.66535949707031,
                            413.209228515625
                        ]
                    },
                    {
                        "points": [
                            -42.28279876708984,
                            412.89007568359375
                        ]
                    },
                    {
                        "points": [
                            -42.2740478515625,
                            412.8773498535156
                        ]
                    }
                ]
            },
            "utime": "1655907032828518",
            "vel": [
                0.0,
                0.0,
                0.0
            ],
            "pos": [
                -1.4322959859130944,
                -7.4794782807867,
                0.0
            ],
            "quat": [
                0.2495087330676844,
                0.0,
                0.0,
                -0.9683725482080536
            ]
        }
    ],
    "topic": "TELE_OP_OBJECTS",
    "utime": "1683823811885982",
    "vehicle": "vehiclename"
}