ObjectDetectionParameters Class Reference

Sets the object detection parameters. More...

Functions

 ObjectDetectionParameters (bool image_sync_=true, bool enable_tracking_=true, bool enable_mask_output_=false, DETECTION_MODEL detection_model=DETECTION_MODEL::MULTI_CLASS_BOX, bool enable_body_fitting_=false, float max_range_=-1.f, BatchParameters batch_trajectories_parameters=BatchParameters(), BODY_FORMAT body_format_=BODY_FORMAT::POSE_18, OBJECT_FILTERING_MODE filtering_mode_=OBJECT_FILTERING_MODE::NMS3D)
 Default constructor. Set all parameters to their default values. More...
 

Attributes

bool image_sync = true
 Defines if the object detection is synchronized to the image or runs in a separate thread. If set to true, the detection is run for every grab, otherwise, the thread runs at its own speed, which can lead to new detection once in a while. More...
 
bool enable_tracking = true
 Defines if the object detection will track objects across images flow. More...
 
bool enable_mask_output = false
 Defines if the mask object will be computed. More...
 
DETECTION_MODEL detection_model = DETECTION_MODEL::MULTI_CLASS_BOX
 Enable human pose estimation with skeleton keypoints output. More...
 
bool enable_body_fitting = false
 Defines if the body fitting will be applied. More...
 
BODY_FORMAT body_format = BODY_FORMAT::POSE_18
 Defines the body format outputed by the sdk when retrieveObjects is called. More...
 
float max_range = -1.f
 Defines a upper depth range for detections.
Defined in UNIT set at sl::Camera::open.
Default value is set to sl::Initparameters::depth_maximum_distance (can not be higher). More...
 
BatchParameters batch_parameters
 Batching system parameters. Batching system (introduced in 3.5) performs short-term re-identification with deep learning and trajectories filtering.
BatchParameters::enable need to be true to use this feature (by default disabled) More...
 
OBJECT_FILTERING_MODE filtering_mode
 Defines the filtering mode that should be applied to raw detections.
Default value is set to OBJECT_FILTERING_MODE::NMS_3D to keep the same behavior as previous SDK version. More...
 

Detailed Description

Sets the object detection parameters.

The default constructor sets all parameters to their default settings.

Note
Parameters can be user adjusted.

Constructor and Destructor

◆ ObjectDetectionParameters()

ObjectDetectionParameters ( bool  image_sync_ = true,
bool  enable_tracking_ = true,
bool  enable_mask_output_ = false,
DETECTION_MODEL  detection_model = DETECTION_MODEL::MULTI_CLASS_BOX,
bool  enable_body_fitting_ = false,
float  max_range_ = -1.f,
BatchParameters  batch_trajectories_parameters = BatchParameters(),
BODY_FORMAT  body_format_ = BODY_FORMAT::POSE_18,
OBJECT_FILTERING_MODE  filtering_mode_ = OBJECT_FILTERING_MODE::NMS3D 
)

Default constructor. Set all parameters to their default values.

Variables

◆ image_sync

bool image_sync = true

Defines if the object detection is synchronized to the image or runs in a separate thread. If set to true, the detection is run for every grab, otherwise, the thread runs at its own speed, which can lead to new detection once in a while.

◆ enable_tracking

bool enable_tracking = true

Defines if the object detection will track objects across images flow.

◆ enable_mask_output

bool enable_mask_output = false

Defines if the mask object will be computed.

◆ detection_model

Enable human pose estimation with skeleton keypoints output.

◆ enable_body_fitting

bool enable_body_fitting = false

Defines if the body fitting will be applied.

◆ body_format

Defines the body format outputed by the sdk when retrieveObjects is called.

Warning
if BODY_FORMAT::POSE_34, the ZED SDK will automatically enable the fitting enable_body_fitting

◆ max_range

float max_range = -1.f

Defines a upper depth range for detections.
Defined in UNIT set at sl::Camera::open.
Default value is set to sl::Initparameters::depth_maximum_distance (can not be higher).

◆ batch_parameters

BatchParameters batch_parameters

Batching system parameters. Batching system (introduced in 3.5) performs short-term re-identification with deep learning and trajectories filtering.
BatchParameters::enable need to be true to use this feature (by default disabled)

◆ filtering_mode

OBJECT_FILTERING_MODE filtering_mode

Defines the filtering mode that should be applied to raw detections.
Default value is set to OBJECT_FILTERING_MODE::NMS_3D to keep the same behavior as previous SDK version.

Note
: This parameter is only used in Detection Model MULTI_CLASS_BOX_XXXX and CUSTOM_BOX_OBJECTS
: For Custom Object mode, it is recommended to use OBJECT_FILTERING_MODE::NMS_3D_PER_CLASS or OBJECT_FILTERING_MODE::NONE. In this case, you might need to add your own NMS filter before ingesting the boxes into the object detection module.