ObjectTrackingParameters Class Reference

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

Functions
	ObjectTrackingParameters (sl::OBJECT_ACCELERATION_PRESET object_acceleration_preset=sl::OBJECT_ACCELERATION_PRESET::DEFAULT, float velocity_smoothing_factor=-1.f, float min_velocity_threshold=-1.f, float prediction_timeout_s=-1.f, float min_confirmation_time_s=-1.f)
	Default constructor. More...
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 ObjectTrackingParameters &param1) const
bool	operator!= (const ObjectTrackingParameters &param1) const

Attributes
sl::OBJECT_ACCELERATION_PRESET	object_acceleration_preset
	Preset defining the expected maximum acceleration of the tracked object. More...
float	velocity_smoothing_factor
	Control the smoothing of the velocity estimation. Manually override the acceleration preset. Values between 0.0 and 1.0. More...
float	min_velocity_threshold
	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 the minimum velocity threshold. Default: -1. More...
float	prediction_timeout_s
	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. More...
float	min_confirmation_time_s
	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 the minimum confirmation time. Default: -1. 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.

Constructor and Destructor

ObjectTrackingParameters()

ObjectTrackingParameters	(	sl::OBJECT_ACCELERATION_PRESET	object_acceleration_preset = sl::OBJECT_ACCELERATION_PRESET::DEFAULT,
		float	velocity_smoothing_factor = -1.f,
		float	min_velocity_threshold = -1.f,
		float	prediction_timeout_s = -1.f,
		float	min_confirmation_time_s = -1.f
	)

Default constructor.

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 ObjectTrackingParameters &

param1

)

const

Comparison operator ==

Parameters

param1

to compare

Returns

true if the two struct are identical

operator!=()

bool operator!=

(

const ObjectTrackingParameters &

param1

)

const

Comparison operator !=

Parameters

param1

to compare

Returns

true if the two struct are different

Variables

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.

velocity_smoothing_factor

float velocity_smoothing_factor

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 the velocity smoothing factor. Default: -1

min_velocity_threshold

float min_velocity_threshold

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 the minimum velocity threshold. Default: -1.

prediction_timeout_s

float prediction_timeout_s

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 the prediction timeout. Default: -1

min_confirmation_time_s

float min_confirmation_time_s

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 the minimum confirmation time. Default: -1.