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

DETECTION_MODEL detection_model = DETECTION_MODEL::MULTI_CLASS_BOX

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

BODY_FORMAT body_format = BODY_FORMAT::POSE_18

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.

Functions

Attributes