Structure that store externally detected objects. More...

Data Fields
char	unique_object_id [37]
	Unique id to help identify and track AI detections. More...

struct SL_Vector2	bounding_box_2d [4]
	2D bounding box of the object represented as four 2D points starting at the top left corner and rotation clockwise. More...

int	label
	Object label. More...

float	probability
	Detection confidence value of the object. More...

bool	is_grounded
	Provide hypothesis about the object movements (degrees of freedom or DoF) to improve the object tracking. More...

bool	is_static
	Provide hypothesis about the object staticity to improve the object tracking. More...

float	tracking_timeout
	Maximum tracking time threshold (in seconds) before dropping the tracked object when unseen for this amount of time. By default, let the tracker decide internally based on the internal sub class of the tracked object.

float	tracking_max_dist
	Maximum tracking distance threshold (in meters) before dropping the tracked object when unseen for this amount of meters. By default, do not discard tracked object based on distance. Only valid for static object.

float	max_box_width_meters
	Maximum allowed 3D width. More...

float	min_box_width_meters
	Minimum allowed 3D width. More...

float	max_box_height_meters
	Maximum allowed 3D height. More...

float	min_box_height_meters
	Minimum allowed 3D height. More...

float	max_allowed_acceleration
	Manually override the acceleration preset. If set, this value takes precedence over the selected preset, allowing for a custom maximum acceleration. Takes precedence over the runtime parameter, if also set. Unit is m/s^2. Defaults: NaN.

Detailed Description

Structure that store externally detected objects.

The objects can be ingested with sl_ingest_custom_box_objects() to extract 3D and tracking information over time.

Field Documentation

◆ unique_object_id

char SL_CustomBoxObjectData::unique_object_id[37]

Unique id to help identify and track AI detections.

It can be either generated externally, or by using sl_generate_unique_id() or left empty.

◆ bounding_box_2d

struct SL_Vector2 SL_CustomBoxObjectData::bounding_box_2d[4]

2D bounding box of the object represented as four 2D points starting at the top left corner and rotation clockwise.

Note: Expressed in pixels on the original image resolution, [0, 0] is the top left corner.
A ------ B

| Object |

D ------ C

◆ label

int SL_CustomBoxObjectData::label

Object label.

This information is passed-through and can be used to improve object tracking.

Note: It should define an object class. This means that any similar object (in classification) should share the same label number.

◆ probability

float SL_CustomBoxObjectData::probability

Detection confidence value of the object.

Note: The value should be in [0-1].; It can be used to improve the object tracking.

◆ is_grounded

bool SL_CustomBoxObjectData::is_grounded

Provide hypothesis about the object movements (degrees of freedom or DoF) to improve the object tracking.

true: 2 DoF projected alongside the floor plane. Case for object standing on the ground such as person, vehicle, etc.
The projection implies that the objects cannot be superposed on multiple horizontal levels.
false: 6 DoF (full 3D movements are allowed).

Note: This parameter cannot be changed for a given object tracking id.; It is advised to set it by labels to avoid issues.

◆ is_static

bool SL_CustomBoxObjectData::is_static

Provide hypothesis about the object staticity to improve the object tracking.

true: the object will be assumed to never move nor being moved.
false: the object will be assumed to be able to move or being moved.

◆ max_box_width_meters

float SL_CustomBoxObjectData::max_box_width_meters

Maximum allowed 3D width.

Any prediction bigger than that will be either discarded (if object is tracked and in SEARCHING state) or clamped. Default: -1 (no filtering)

◆ min_box_width_meters

float SL_CustomBoxObjectData::min_box_width_meters

Minimum allowed 3D width.

Any prediction smaller than that will be either discarded (if object is tracked and in SEARCHING state) or clamped. Default: -1 (no filtering)

◆ max_box_height_meters

float SL_CustomBoxObjectData::max_box_height_meters

Maximum allowed 3D height.