Body Tracking Module

Classes
struct	BodyTrackingParameters
	Structure containing a set of parameters for the body tracking module. More...
struct	BodyTrackingRuntimeParameters
	Structure containing a set of runtime parameters for the body tracking module. More...
struct	BodyData
	Structure containing data of a detected body/person such as its headBoundingBox, id and its 3D position. More...
struct	Bodies
	Structure containing the results of the body tracking module. More...

Enumerations
enum class	BODY_FORMAT
	Lists supported skeleton body models. More...
enum class	BODY_KEYPOINTS_SELECTION
	Lists supported models for skeleton keypoints selection. More...
enum class	BODY_TRACKING_MODEL
	Lists available models for the body tracking module. More...
enum class	BODY_TRACKING_MODEL_GEN
	Lists the generations of neural network available for the body tracking module. More...
enum class	BODY_18_PARTS
	Semantic of human body parts and order of sl.BodyData.keypoints for sl.BODY_FORMAT.BODY_18. More...
enum class	BODY_34_PARTS
	Semantic of human body parts and order of sl.BodyData.keypoints for sl.BODY_FORMAT.BODY_34. More...
enum class	BODY_38_PARTS
	Semantic of human body parts and order of sl.BodyData.keypoints for sl.BODY_FORMAT.BODY_38. More...

Enumeration Type Documentation

BODY_FORMAT

enum BODY_FORMAT

strong

Lists supported skeleton body models.

Enumerator
BODY_18	18-keypoint model Basic body model
BODY_34	34-keypoint model Note Requires body fitting enabled.
BODY_38	38-keypoint model Including simplified face, hands and feet.

BODY_KEYPOINTS_SELECTION

enum BODY_KEYPOINTS_SELECTION

strong

Lists supported models for skeleton keypoints selection.

Enumerator
FULL	Full keypoint model
UPPER_BODY	Upper body keypoint model Will output only upper body (from hip).

BODY_TRACKING_MODEL

enum BODY_TRACKING_MODEL

strong

Lists available models for the body tracking module.

Enumerator
HUMAN_BODY_FAST	Keypoints based, specific to human skeleton, real time performance even on Jetson or low end GPU cards.
HUMAN_BODY_MEDIUM	Keypoints based, specific to human skeleton, compromise between accuracy and speed.
HUMAN_BODY_ACCURATE	Keypoints based, specific to human skeleton, state of the art accuracy, requires powerful GPU.

BODY_TRACKING_MODEL_GEN

enum BODY_TRACKING_MODEL_GEN

strong

Lists the generations of neural network available for the body tracking module.

A generation is only available for some combinations of sl.BODY_TRACKING_MODEL and sl.BODY_FORMAT: when the requested one has no network for it, the ZED SDK falls back to the most recent generation it does have.

Enumerator
DEFAULT	Use the generation the ZED SDK defaults to. Value of a zero-initialized structure, so leaving sl.BodyTrackingParameters.modelGen untouched keeps following the SDK default.
GEN_1	Network used up to ZED SDK 5.4. Only generation available for sl.BODY_FORMAT.BODY_38.
GEN_2	Bottom-up network introduced in ZED SDK 5.5, more robust in crowded scenes and to unusual poses. Available for sl.BODY_TRACKING_MODEL.HUMAN_BODY_MEDIUM and sl.BODY_TRACKING_MODEL.HUMAN_BODY_ACCURATE with sl.BODY_FORMAT.BODY_18 or sl.BODY_FORMAT.BODY_34. sl.BODY_TRACKING_MODEL.HUMAN_BODY_FAST and sl.BODY_FORMAT.BODY_38 have GEN_1 only, and fall back to it. Current sl.BODY_TRACKING_MODEL_GEN.DEFAULT.

BODY_18_PARTS

enum BODY_18_PARTS

strong

Semantic of human body parts and order of sl.BodyData.keypoints for sl.BODY_FORMAT.BODY_18.

Enumerator
NOSE
NECK
RIGHT_SHOULDER
RIGHT_ELBOW
RIGHT_WRIST
LEFT_SHOULDER
LEFT_ELBOW
LEFT_WRIST
RIGHT_HIP
RIGHT_KNEE
RIGHT_ANKLE
LEFT_HIP
LEFT_KNEE
LEFT_ANKLE
RIGHT_EYE
LEFT_EYE
RIGHT_EAR
LEFT_EAR

BODY_34_PARTS

enum BODY_34_PARTS

strong

Semantic of human body parts and order of sl.BodyData.keypoints for sl.BODY_FORMAT.BODY_34.

Enumerator
PELVIS
NAVAL_SPINE
CHEST_SPINE
NECK
LEFT_CLAVICLE
LEFT_SHOULDER
LEFT_ELBOW
LEFT_WRIST
LEFT_HAND
LEFT_HANDTIP
LEFT_THUMB
RIGHT_CLAVICLE
RIGHT_SHOULDER
RIGHT_ELBOW
RIGHT_WRIST
RIGHT_HAND
RIGHT_HANDTIP
RIGHT_THUMB
LEFT_HIP
LEFT_KNEE
LEFT_ANKLE
LEFT_FOOT
RIGHT_HIP
RIGHT_KNEE
RIGHT_ANKLE
RIGHT_FOOT
HEAD
NOSE
LEFT_EYE
LEFT_EAR
RIGHT_EYE
RIGHT_EAR
LEFT_HEEL
RIGHT_HEEL

BODY_38_PARTS

enum BODY_38_PARTS

strong

Semantic of human body parts and order of sl.BodyData.keypoints for sl.BODY_FORMAT.BODY_38.

Enumerator
PELVIS
SPINE_1
SPINE_2
SPINE_3
NECK
NOSE
LEFT_EYE
RIGHT_EYE
LEFT_EAR
RIGHT_EAR
LEFT_CLAVICLE
RIGHT_CLAVICLE
LEFT_SHOULDER
RIGHT_SHOULDER
LEFT_ELBOW
RIGHT_ELBOW
LEFT_WRIST
RIGHT_WRIST
LEFT_HIP
RIGHT_HIP
LEFT_KNEE
RIGHT_KNEE
LEFT_ANKLE
RIGHT_ANKLE
LEFT_BIG_TOE
RIGHT_BIG_TOE
LEFT_SMALL_TOE
RIGHT_SMALL_TOE
LEFT_HEEL
RIGHT_HEEL
LEFT_HAND_THUMB_4
RIGHT_HAND_THUMB_4
LEFT_HAND_INDEX_1
RIGHT_HAND_INDEX_1
LEFT_HAND_MIDDLE_4
RIGHT_HAND_MIDDLE_4
LEFT_HAND_PINKY_1
RIGHT_HAND_PINKY_1