Class that store externally detected objects. More...
Functions | |
| CustomBoxObjectData () | |
| Default constructor. More... | |
Attributes | |
| String | unique_object_id |
| Unique id to help identify and track AI detections. More... | |
| std::vector< sl::uint2 > | bounding_box_2d |
| 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 = true |
| Provide hypothesis about the object movements (degrees of freedom or DoF) to improve the object tracking. More... | |
| bool | is_static = false |
| Provide hypothesis about the object staticity to improve the object tracking. More... | |
| float | tracking_timeout = -1.F |
| 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. More... | |
| float | tracking_max_dist = -1.F |
| 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. More... | |
| float | max_box_width_meters = -1.F |
| Maximum allowed 3D width. More... | |
| float | min_box_width_meters = -1.F |
| Minimum allowed 3D width. More... | |
| float | max_box_height_meters = -1.F |
| Maximum allowed 3D height. More... | |
| float | min_box_height_meters = -1.F |
| Minimum allowed 3D height. More... | |
| float | max_allowed_acceleration = std::numeric_limits<float>::quiet_NaN() |
| Expected maximum acceleration of the tracked object. Determines how the ZED SDK interprets object acceleration, affecting tracking behavior and predictions. Takes precedence over the runtime parameter, if also set. By default, let the ZED SDK interpret the object acceleration. Unit is m/s^2. More... | |
| float | velocity_smoothing_factor = -1.F |
| Control the smoothing of the velocity estimation. Values between 0.0 and 1.0. More... | |
| float | min_velocity_threshold = -1.F |
| 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 minimum velocity threshold. More... | |
| float | prediction_timeout_s = -1.F |
| 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 = -1.F |
| 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 minimum confirmation time. Default: -1. More... | |
Class that store externally detected objects.
The objects can be ingested with sl::Camera.ingestCustomBoxObjects() to extract 3D and tracking information over time.
Default constructor.
| String unique_object_id |
Unique id to help identify and track AI detections.
It can be either generated externally, or by using generate_unique_id() or left empty.
| std::vector<sl::uint2> bounding_box_2d |
2D bounding box of the object represented as four 2D points starting at the top left corner and rotation clockwise.
[0, 0] is the top left corner. | int label |
Object label.
This information is passed-through and can be used to improve object tracking.
| float probability |
Detection confidence value of the object.
[0-1]. | bool is_grounded = true |
Provide hypothesis about the object movements (degrees of freedom or DoF) to improve the object tracking.
| bool is_static = false |
Provide hypothesis about the object staticity to improve the object tracking.
| float tracking_timeout = -1.F |
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 = -1.F |
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 = -1.F |
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)
| float min_box_width_meters = -1.F |
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)
| float max_box_height_meters = -1.F |
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)
| float min_box_height_meters = -1.F |
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)
| float max_allowed_acceleration = std::numeric_limits<float>::quiet_NaN() |
Expected maximum acceleration of the tracked object. Determines how the ZED SDK interprets object acceleration, affecting tracking behavior and predictions. Takes precedence over the runtime parameter, if also set. By default, let the ZED SDK interpret the object acceleration. Unit is m/s^2.
| float velocity_smoothing_factor = -1.F |
Control the smoothing of the velocity estimation. Values between 0.0 and 1.0.
| float min_velocity_threshold = -1.F |
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 minimum velocity threshold.
| float prediction_timeout_s = -1.F |
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.
| float min_confirmation_time_s = -1.F |
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 minimum confirmation time. Default: -1.