Class that store externally detected objects with mask. More...

Functions
	CustomMaskObjectData ()
	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...

sl::Mat	box_mask
	2D mask of the object inside its bounding box. More...

Detailed Description

Class that store externally detected objects with mask.

The objects can be ingested with sl::Camera.ingestCustomMaskObjects() to extract 3D and tracking information over time.

Constructor and Destructor

◆ CustomMaskObjectData()

CustomMaskObjectData ( )

Default constructor.

Variables

◆ unique_object_id

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.

◆ bounding_box_2d

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.

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

| Object |

D ------ C

◆ label

int 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 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 is_grounded = true

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 is_static = false

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 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.

◆ tracking_max_dist

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.

◆ max_box_width_meters

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)

◆ min_box_width_meters

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)

◆ max_box_height_meters

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)

◆ min_box_height_meters

float min_box_height_meters = -1.F

Minimum allowed 3D height.