Structure containing a set of runtime properties of a certain class ID for the object detection module using a custom model. More...

Data Fields
int	class_id
	Index of the class represented by this set of properties.

bool	enabled
	Whether the object object is kept or not.

float	detection_confidence_threshold
	Confidence threshold. 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. More...

float	tracking_max_dist
	Maximum tracking distance threshold (in meters) before dropping the tracked object when unseen for this amount of meters. More...

float	max_box_width_normalized
	Maximum allowed width normalized to the image size. More...

float	min_box_width_normalized
	Minimum allowed width normalized to the image size. More...

float	max_box_height_normalized
	Maximum allowed height normalized to the image size. More...

float	min_box_height_normalized
	Minimum allowed height normalized to the image size. More...

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...

enum SL_OBJECT_SUBCLASS	native_mapped_class
	For increased accuracy, the native sl::OBJECT_SUBCLASS mapping, if any. More...

enum SL_OBJECT_ACCELERATION_PRESET	object_acceleration_preset
	Preset defining the expected maximum acceleration of the tracked object. More...

float	max_allowed_acceleration
	Manually override the acceleration preset. More...

Detailed Description

Structure containing a set of runtime properties of a certain class ID for the object detection module using a custom model.

The default constructor sets all parameters to their default settings.

Note: Parameters can be adjusted by the user.

Field Documentation

◆ detection_confidence_threshold

float SL_CustomObjectDetectionProperties::detection_confidence_threshold

Confidence threshold.

From 1 to 100, with 1 meaning a low threshold, more uncertain objects and 99 very few but very precise objects.
Default: 20.f

Note: If the scene contains a lot of objects, increasing the confidence can slightly speed up the process, since every object instance is tracked.

◆ is_grounded

bool SL_CustomObjectDetectionProperties::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_CustomObjectDetectionProperties::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.

◆ tracking_timeout

float SL_CustomObjectDetectionProperties::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.

◆ tracking_max_dist

float SL_CustomObjectDetectionProperties::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.

◆ max_box_width_normalized

float SL_CustomObjectDetectionProperties::max_box_width_normalized

Maximum allowed width normalized to the image size.

Any prediction bigger than that will be filtered out. Default: -1 (no filtering)

◆ min_box_width_normalized

float SL_CustomObjectDetectionProperties::min_box_width_normalized

Minimum allowed width normalized to the image size.

Any prediction smaller than that will be filtered out. Default: -1 (no filtering)

◆ max_box_height_normalized

float SL_CustomObjectDetectionProperties::max_box_height_normalized

Maximum allowed height normalized to the image size.

Any prediction bigger than that will be filtered out. Default: -1 (no filtering)

◆ min_box_height_normalized

float SL_CustomObjectDetectionProperties::min_box_height_normalized

Minimum allowed height normalized to the image size.

Any prediction smaller than that will be filtered out. Default: -1 (no filtering)

◆ max_box_width_meters

float SL_CustomObjectDetectionProperties::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_CustomObjectDetectionProperties::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_CustomObjectDetectionProperties::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_CustomObjectDetectionProperties::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)

◆ native_mapped_class

enum SL_OBJECT_SUBCLASS SL_CustomObjectDetectionProperties::native_mapped_class

For increased accuracy, the native sl::OBJECT_SUBCLASS mapping, if any.

Native objects have refined internal parameters for better 3D projection and tracking accuracy. If one of the custom objects can be mapped to one the native sl::OBJECT_SUBCLASS, this can help to boost the tracking accuracy.

Default: no mapping

◆ object_acceleration_preset

enum SL_OBJECT_ACCELERATION_PRESET SL_CustomObjectDetectionProperties::object_acceleration_preset

Preset defining the expected maximum acceleration of the tracked object.

Determines how the ZED SDK interprets object acceleration, affecting tracking behavior and predictions.

◆ max_allowed_acceleration

float SL_CustomObjectDetectionProperties::max_allowed_acceleration

Manually override the acceleration preset.

If set, this value takes precedence over the selected preset, allowing for a custom maximum acceleration. Unit is m/s^2. Defaults: NaN

Data Fields