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.

unsigned char *	box_mask
	2D mask of the object inside its bounding box.

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. Default: NaN.

float	velocity_smoothing_factor
	Control the smoothing of the velocity estimation. Values between 0.0 and 1.0. More...

float	min_velocity_threshold
	Threshold to force an object's velocity to zero. If the calculated speed (m/s) is below this threshold, the object is considered static. This helps eliminate drift on stationary objects. A negative value (e.g. -1) lets the ZED SDK interpret the min_velocity_threshold. Default: -1.

float	prediction_timeout_s
	Duration to keep predicting a track's position after occlusion. When an object is no longer visible (occluded or out of frame), the tracker will predict its position for this duration before deleting the track. More...

float	min_confirmation_time_s
	Minimum confirmation time required to validate a track. The minimum duration (in seconds) an object must be continuously detected before it is reported as a valid track. Helps filter out spurious false positives that appear only briefly. A negative value (e.g. -1) lets the ZED SDK interpret the min_confirmation_time_s. Default: -1.

Field Documentation

◆ unique_object_id

char SL_CustomMaskObjectData::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_CustomMaskObjectData::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_CustomMaskObjectData::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_CustomMaskObjectData::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_CustomMaskObjectData::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_CustomMaskObjectData::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_CustomMaskObjectData::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_CustomMaskObjectData::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_CustomMaskObjectData::max_box_height_meters

Maximum allowed 3D height.

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_height_meters

float SL_CustomMaskObjectData::min_box_height_meters

Minimum allowed 3D height.

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

◆ velocity_smoothing_factor

float SL_CustomMaskObjectData::velocity_smoothing_factor

Control the smoothing of the velocity estimation. Values between 0.0 and 1.0.

High value (closer to 1.0): Very smooth, but may lag behind rapid changes.
Low value (closer to 0.0): Very responsive to velocity changes, but may be jittery.
0.5: ZED SDK base tuning. Balanced smoothing and responsiveness. A negative value (e.g. -1) lets the ZED SDK interpret the velocity_smoothing_factor. Default: -1

◆ prediction_timeout_s

float SL_CustomMaskObjectData::prediction_timeout_s

Duration to keep predicting a track's position after occlusion. When an object is no longer visible (occluded or out of frame), the tracker will predict its position for this duration before deleting the track.

Short (e.g., 0.2s): Prevents "ghost" objects but may break tracks during short occlusions.
Long (e.g., 2.0s): Maintains ID during long occlusions but may report objects that are gone. A negative value (e.g. -1) lets the ZED SDK interpret the prediction_timeout_s. Default: -1

Data Fields