Structure that store externally detected objects. More...

Attributes
string	uniqueObjectID
	Unique id to help identify and track AI detections. More...

Vector2[]	boundingBox2D
	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	isGrounded
	Provide hypothesis about the object movements (degrees of freedom or DoF) to improve the object tracking. More...

bool	isStatic
	Provide hypothesis about the object staticity to improve the object tracking. More...

float	trackingTimeout
	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	trackingMaxDist
	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	maxBoxWidthMeters
	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) More...

float	minBoxWidthMeters
	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) More...

float	maxBoxHeightMeters
	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) More...

float	minBoxHeightMeters
	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) More...

float	maxAllowedAcceleration
	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. More...

Detailed Description

Structure that store externally detected objects.

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

Variables

◆ uniqueObjectID

string uniqueObjectID

Unique id to help identify and track AI detections.

It can be either generated externally, or by using sl.Camera.GenerateUniqueID() or left empty.

◆ boundingBox2D

Vector2 [] boundingBox2D

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.

◆ isGrounded

bool isGrounded

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.

◆ isStatic

bool isStatic

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.

◆ trackingTimeout

float trackingTimeout

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.

◆ trackingMaxDist

float trackingMaxDist

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.

◆ maxBoxWidthMeters

float maxBoxWidthMeters

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)

◆ minBoxWidthMeters

float minBoxWidthMeters

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)

◆ maxBoxHeightMeters

float maxBoxHeightMeters

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)

◆ minBoxHeightMeters

float minBoxHeightMeters

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)

◆ maxAllowedAcceleration

float maxAllowedAcceleration

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.

Attributes