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

Attributes
OBJECT_ACCELERATION_PRESET	objectAccelerationPreset
	Preset defining the expected maximum acceleration of the tracked object. More...

float	velocitySmoothingFactor
	Control the smoothing of the velocity estimation. Manually override the acceleration preset. More...

float	minVelocityThreshold
	Threshold to force an object's velocity to zero. More...

float	predictionTimeoutS
	Duration to keep predicting a track's position after occlusion. More...

float	minConfirmationTimeS
	Minimum confirmation time required to validate a track. More...

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.

Variables

◆ objectAccelerationPreset

OBJECT_ACCELERATION_PRESET objectAccelerationPreset

Preset defining the expected maximum acceleration of the tracked object.

Determines how the ZED SDK interprets object acceleration, affecting tracking behavior and predictions.

◆ velocitySmoothingFactor

float velocitySmoothingFactor

Control the smoothing of the velocity estimation. Manually override the acceleration preset.

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 velocitySmoothingFactor. Default: -1

◆ minVelocityThreshold

float minVelocityThreshold

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 minVelocityThreshold. Default: -1

◆ predictionTimeoutS

float predictionTimeoutS

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 predictionTimeoutS. Default: -1

◆ minConfirmationTimeS

float minConfirmationTimeS

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 minConfirmationTimeS. Default: -1