Structure containing a set of runtime properties of a certain class ID for the object detection module using a custom model. More...

Functions
	CustomObjectDetectionProperties (const bool enabled=true, const float detection_confidence_threshold=20.f, const bool is_grounded=true, const bool is_static=false, const float tracking_timeout=-1.f, const float tracking_max_dist=-1.f, const float max_box_width_normalized=-1.f, const float min_box_width_normalized=-1.f, const float max_box_height_normalized=-1.f, const float min_box_height_normalized=-1.f, const float max_box_width_meters=-1.f, const float min_box_width_meters=-1.f, const float max_box_height_meters=-1.f, const float min_box_height_meters=-1.f, const sl::OBJECT_SUBCLASS native_mapped_class=sl::OBJECT_SUBCLASS::LAST, const sl::OBJECT_ACCELERATION_PRESET object_acceleration_preset=sl::OBJECT_ACCELERATION_PRESET::DEFAULT, const float max_allowed_acceleration=std::numeric_limits< float >::quiet_NaN())

bool	save (const String &filename) const
	Saves the current set of parameters into a file to be reloaded with the load() method. More...

bool	load (const String &filename)
	Loads a set of parameters from the values contained in a previously saved file. More...

bool	encode (String &serialized_content) const
	Generate a JSON Object (with the struct type as a key) containing the serialized struct, converted into a string. More...

bool	decode (const String &serialized_content)
	Fill the structure from the serialized json object contained in the input string. More...

bool	operator== (const CustomObjectDetectionProperties &props) const

bool	operator!= (const CustomObjectDetectionProperties &props) const

Attributes
bool	enabled
	Whether the object object is kept or not. More...

float	detection_confidence_threshold
	Confidence threshold. More...

bool	is_grounded
	Provide hypothesis about the object movements (degrees of freedom or DoF) to improve the object tracking. More...

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

float	tracking_timeout
	Maximum tracking time threshold (in seconds) before dropping the tracked object when unseen for this amount of time. More...

float	tracking_max_dist
	Maximum tracking distance threshold (in meters) before dropping the tracked object when unseen for this amount of meters. More...

float	max_box_width_normalized
	Maximum allowed width normalized to the image size. More...

float	min_box_width_normalized
	Minimum allowed width normalized to the image size. More...

float	max_box_height_normalized
	Maximum allowed height normalized to the image size. More...

float	min_box_height_normalized
	Minimum allowed height normalized to the image size. More...

float	max_box_width_meters
	Maximum allowed 3D width. More...

float	min_box_width_meters
	Minimum allowed 3D width. More...

float	max_box_height_meters
	Maximum allowed 3D height. More...

float	min_box_height_meters
	Minimum allowed 3D height. More...

sl::OBJECT_SUBCLASS	native_mapped_class
	For increased accuracy, the native sl::OBJECT_SUBCLASS mapping, if any. More...

sl::OBJECT_ACCELERATION_PRESET	object_acceleration_preset
	Preset defining the expected maximum acceleration of the tracked object. More...

float	max_allowed_acceleration
	Manually override the acceleration preset. More...

Detailed Description

Structure containing a set of runtime properties of a certain class ID for the object detection module using a custom model.

The default constructor sets all parameters to their default settings.

Note: Parameters can be adjusted by the user.

Constructor and Destructor

◆ CustomObjectDetectionProperties()

CustomObjectDetectionProperties	(	const bool	enabled = `true`,
		const float	detection_confidence_threshold = `20.f`,
		const bool	is_grounded = `true`,
		const bool	is_static = `false`,
		const float	tracking_timeout = `-1.f`,
		const float	tracking_max_dist = `-1.f`,
		const float	max_box_width_normalized = `-1.f`,
		const float	min_box_width_normalized = `-1.f`,
		const float	max_box_height_normalized = `-1.f`,
		const float	min_box_height_normalized = `-1.f`,
		const float	max_box_width_meters = `-1.f`,
		const float	min_box_width_meters = `-1.f`,
		const float	max_box_height_meters = `-1.f`,
		const float	min_box_height_meters = `-1.f`,
		const sl::OBJECT_SUBCLASS	native_mapped_class = `sl::OBJECT_SUBCLASS::LAST`,
		const sl::OBJECT_ACCELERATION_PRESET	object_acceleration_preset = `sl::OBJECT_ACCELERATION_PRESET::DEFAULT`,
		const float	max_allowed_acceleration = `std::numeric_limits< float >::quiet_NaN()`
	)

Functions

◆ save()

bool save ( const String & filename ) const

Saves the current set of parameters into a file to be reloaded with the load() method.

Parameters

filename : Name of the file which will be created to store the parameters (extension '.json' will be added if not set).

Returns: True if the file was successfully saved, otherwise false.

Warning: For security reasons, the file must not already exist.; In case a file already exists, the method will return false and existing file will not be updated.

◆ load()

bool load ( const String & filename )

Loads a set of parameters from the values contained in a previously saved file.

Parameters

filename : Path to the file from which the parameters will be loaded (extension '.json' will be added at the end of the filename if not detected).

Returns: True if the file was successfully loaded, otherwise false.

◆ encode()

bool encode ( String & serialized_content ) const

Generate a JSON Object (with the struct type as a key) containing the serialized struct, converted into a string.

Parameters

serialized_content output string containing the JSON Object

Returns: True if file was successfully saved, otherwise false.

◆ decode()

bool decode ( const String & serialized_content )

Fill the structure from the serialized json object contained in the input string.

Parameters

serialized_content input string containing the JSON Object

Returns: True if the decoding was successful, otherwise false.

◆ operator==()

bool operator== ( const CustomObjectDetectionProperties & props ) const

Comparison operator ==

Parameters

props CustomObjectDetectionProperties to compare

Returns: true if the two struct are identical

◆ operator!=()

bool operator!= ( const CustomObjectDetectionProperties & props ) const

Comparison operator !=

Parameters

props CustomObjectDetectionProperties to compare

Returns: true if the two struct are different

Variables

◆ enabled

bool enabled

Whether the object object is kept or not.

◆ detection_confidence_threshold

float detection_confidence_threshold

Confidence threshold.

From 1 to 100, with 1 meaning a low threshold, more uncertain objects and 99 very few but very precise objects.
Default: 20.f

Note: If the scene contains a lot of objects, increasing the confidence can slightly speed up the process, since every object instance is tracked.

◆ is_grounded

bool is_grounded

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

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

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

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_normalized

float max_box_width_normalized

Maximum allowed width normalized to the image size.

Any prediction bigger than that will be filtered out. Default: -1 (no filtering)

◆ min_box_width_normalized

float min_box_width_normalized

Minimum allowed width normalized to the image size.

Any prediction smaller than that will be filtered out. Default: -1 (no filtering)

◆ max_box_height_normalized

float max_box_height_normalized

Maximum allowed height normalized to the image size.

Any prediction bigger than that will be filtered out. Default: -1 (no filtering)

◆ min_box_height_normalized

float min_box_height_normalized

Minimum allowed height normalized to the image size.

Any prediction smaller than that will be filtered out. Default: -1 (no filtering)

◆ max_box_width_meters

float max_box_width_meters

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

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

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

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)

◆ native_mapped_class

sl::OBJECT_SUBCLASS native_mapped_class

For increased accuracy, the native sl::OBJECT_SUBCLASS mapping, if any.

Native objects have refined internal parameters for better 3D projection and tracking accuracy. If one of the custom objects can be mapped to one the native sl::OBJECT_SUBCLASS, this can help to boost the tracking accuracy.

Default: no mapping

◆ object_acceleration_preset

sl::OBJECT_ACCELERATION_PRESET object_acceleration_preset

Preset defining the expected maximum acceleration of the tracked object.

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

◆ max_allowed_acceleration

float max_allowed_acceleration

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.

Functions

Attributes

Detailed Description

Constructor and Destructor

◆ CustomObjectDetectionProperties()

Functions

◆ save()

◆ load()

◆ encode()

◆ decode()

◆ operator==()

◆ operator!=()

Variables

◆ enabled

◆ detection_confidence_threshold

◆ is_grounded

◆ is_static

◆ tracking_timeout

◆ tracking_max_dist

◆ max_box_width_normalized

◆ min_box_width_normalized

◆ max_box_height_normalized

◆ min_box_height_normalized

◆ max_box_width_meters

◆ min_box_width_meters

◆ max_box_height_meters

◆ min_box_height_meters

◆ native_mapped_class

◆ object_acceleration_preset

◆ max_allowed_acceleration