SL_ObjectTrackingParameters Struct Reference

Structure containing a set of parameters for the object tracking module. More...

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

Detailed Description

Structure containing a set of parameters for the object tracking module.

The default constructor sets all parameters to their default settings.

Note

Parameters can be adjusted by the user.

Field Documentation

object_acceleration_preset

enum SL_OBJECT_ACCELERATION_PRESET SL_ObjectTrackingParameters::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.

velocity_smoothing_factor

float SL_ObjectTrackingParameters::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_ObjectTrackingParameters::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