BodyTrackingParameters Struct Reference

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

Functions
	BodyTrackingParameters (bool enable_tracking_=true, bool enable_segmentation_=false, BODY_TRACKING_MODEL detection_model=BODY_TRACKING_MODEL::HUMAN_BODY_ACCURATE, bool enable_body_fitting_=false, float max_range_=-1.f, BODY_FORMAT body_format_=BODY_FORMAT::BODY_18, BODY_KEYPOINTS_SELECTION body_selection=BODY_KEYPOINTS_SELECTION::FULL, float prediction_timeout_s=0.2f, bool allow_reduced_precision_inference=false, unsigned int instance_id=0)
	Default constructor. More...
bool	operator== (const BodyTrackingParameters &param1) const
bool	operator!= (const BodyTrackingParameters &param1) const

Attributes
unsigned int	instance_module_id = 0
	Id of the module instance. More...
bool	enable_tracking = true
	Whether the body tracking system includes body/person tracking capabilities across a sequence of images. More...
bool	enable_segmentation = false
	Whether the body/person masks will be computed. More...
BODY_TRACKING_MODEL	detection_model = BODY_TRACKING_MODEL::HUMAN_BODY_ACCURATE
	sl::BODY_TRACKING_MODEL to use. More...
bool	enable_body_fitting = false
	Whether to apply the body fitting. More...
BODY_FORMAT	body_format = BODY_FORMAT::BODY_18
	Body format to be outputted by the ZED SDK with sl::Camera.retrieveBodies(). More...
BODY_KEYPOINTS_SELECTION	body_selection = BODY_KEYPOINTS_SELECTION::FULL
	Selection of keypoints to outputted by the ZED SDK with sl::Camera.retrieveBodies(). More...
float	max_range = -1.f
	Upper depth range for detections. More...
float	prediction_timeout_s
	Prediction duration of the ZED SDK when an object is not detected anymore before switching its state to sl::OBJECT_TRACKING_STATE::SEARCHING. More...
bool	allow_reduced_precision_inference
	Whether to allow inference to run at a lower precision to improve runtime and memory usage. More...

Detailed Description

Structure containing a set of parameters for the body tracking module.

The default constructor sets all parameters to their default settings.

Note

Parameters can be adjusted by the user.

Constructor and Destructor

BodyTrackingParameters()

BodyTrackingParameters	(	bool	enable_tracking_ = true,
		bool	enable_segmentation_ = false,
		BODY_TRACKING_MODEL	detection_model = BODY_TRACKING_MODEL::HUMAN_BODY_ACCURATE,
		bool	enable_body_fitting_ = false,
		float	max_range_ = -1.f,
		BODY_FORMAT	body_format_ = BODY_FORMAT::BODY_18,
		BODY_KEYPOINTS_SELECTION	body_selection = BODY_KEYPOINTS_SELECTION::FULL,
		float	prediction_timeout_s = 0.2f,
		bool	allow_reduced_precision_inference = false,
		unsigned int	instance_id = 0
	)

Default constructor.

All the parameters are set to their default values.

Functions

operator==()

bool operator==

(

const BodyTrackingParameters &

param1

)

const

Comparison operator ==

Parameters

BodyTrackingParameters

to compare

Returns

true if the two struct are identical

operator!=()

bool operator!=

(

const BodyTrackingParameters &

param1

)

const

Comparison operator !=

Parameters

BodyTrackingParameters

to compare

Returns

true if the two struct are different

Variables

instance_module_id

unsigned int instance_module_id = 0

Id of the module instance.

This is used to identify which body tracking module instance is used.

enable_tracking

bool enable_tracking = true

Whether the body tracking system includes body/person tracking capabilities across a sequence of images.

enable_segmentation

bool enable_segmentation = false

Whether the body/person masks will be computed.

detection_model

BODY_TRACKING_MODEL detection_model = BODY_TRACKING_MODEL::HUMAN_BODY_ACCURATE

sl::BODY_TRACKING_MODEL to use.

enable_body_fitting

bool enable_body_fitting = false

Whether to apply the body fitting.

body_format

BODY_FORMAT body_format = BODY_FORMAT::BODY_18

Body format to be outputted by the ZED SDK with sl::Camera.retrieveBodies().

body_selection

BODY_KEYPOINTS_SELECTION body_selection = BODY_KEYPOINTS_SELECTION::FULL

Selection of keypoints to outputted by the ZED SDK with sl::Camera.retrieveBodies().

max_range

float max_range = -1.f

Upper depth range for detections.

Default: -1.f (value set in sl::InitParameters.depth_maximum_distance)

Note

The value cannot be greater than sl::InitParameters.depth_maximum_distance and its unit is defined in sl::InitParameters.coordinate_units.

prediction_timeout_s

float prediction_timeout_s

Prediction duration of the ZED SDK when an object is not detected anymore before switching its state to sl::OBJECT_TRACKING_STATE::SEARCHING.

It prevents the jittering of the object state when there is a short misdetection.
The user can define their own prediction time duration.

Note

During this time, the object will have sl::OBJECT_TRACKING_STATE::OK state even if it is not detected.

The duration is expressed in seconds.

Warning

prediction_timeout_s will be clamped to 1 second as the prediction is getting worse with time.

Setting this parameter to 0 disables the ZED SDK predictions.

allow_reduced_precision_inference

bool allow_reduced_precision_inference

Whether to allow inference to run at a lower precision to improve runtime and memory usage.

It might increase the initial optimization time and could include downloading calibration data or calibration cache and slightly reduce the accuracy.

Note

The fp16 is automatically enabled if the GPU is compatible and provides a speed up of almost x2 and reduce memory usage by almost half, no precision loss.

This setting allow int8 precision which can speed up by another x2 factor (compared to fp16, or x4 compared to fp32) and half the fp16 memory usage, however some accuracy could be lost.

The accuracy loss should not exceed 1-2% on the compatible models.

The current compatible models are all sl::AI_MODELS::HUMAN_BODY_XXXX.