GStreamer - ZED Metadata

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struct _GstZedSrcMeta {
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    GstMeta meta;
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    ZedInfo info;
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    ZedPose pose;
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    ZedSensors sens;
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    gboolean od_enabled;
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    guint8 obj_count;
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    guint64 frame_id;
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    ZedObjectData objects[256];
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};

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struct _ZedInfo {
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    gint cam_model;
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    gint stream_type;
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    guint grab_single_frame_width;
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    guint grab_single_frame_height;
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};

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struct _ZedPose {
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    gboolean pose_avail;
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    gint pos_tracking_state;
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    gfloat pos[3];
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    gfloat orient[3];
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};

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struct _ZedSensors {
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    gboolean sens_avail;
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    ZedImu imu;
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    ZedMag mag;
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    ZedEnv env;
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    ZedCamTemp temp;
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};

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struct _ZedImu {
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    gboolean imu_avail;
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    gfloat acc[3];
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    gfloat gyro[3];
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    gfloat temp;
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};

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struct _ZedMag {
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    gboolean mag_avail;
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    gfloat mag[3];
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};

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struct _ZedEnv {
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    gboolean env_avail;
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    gfloat press;
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    gfloat temp;
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};

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struct _ZedCamTemp {
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    gboolean temp_avail;
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    gfloat temp_cam_left;
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    gfloat temp_cam_right;
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};

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struct _ZedObjectData {
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    gint id;
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    OBJECT_CLASS label;
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    OBJECT_SUBCLASS sublabel;
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    OBJECT_TRACKING_STATE tracking_state;
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    OBJECT_ACTION_STATE action_state;
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    gfloat confidence;
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    gfloat position[3];
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    gfloat position_covariance[6];
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    gfloat velocity[3];
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    unsigned int bounding_box_2d[4][2];
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    /* 3D bounding box of the person represented as eight 3D points
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          1 ------ 2
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         /        /|
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        0 ------ 3 |
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        | Object | 6
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        |        |/
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        4 ------ 7
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    */
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    gfloat bounding_box_3d[8][3];
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    gfloat dimensions[3]; // 3D object dimensions: width, height, length
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    gboolean skeletons_avail;
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    gfloat keypoint_2d[18][2]; // Negative coordinates -> point not valid
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    gfloat keypoint_3d[18][3]; // Nan coordinates -> point not valid
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    gfloat head_bounding_box_2d[4][2];
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    gfloat head_bounding_box_3d[8][3];
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    gfloat head_position[3];
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};
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```bash
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* `id`: univoque identifier of the tracked object.
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* `label`: class of the identified object.
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* `sublabel`: subclass of the identified object [only for MULTICLASS models]
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* `tracking_state`: tracking status of the object.
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* `confidence`: confidence level of the detection [0, 100].
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* `position`: 3D position of the center of the object.
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* `position_covariance`: covariance matrix of the position.
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* `velocity`: velocity of the object
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* `bounding_box_2d`: 2D image coordinates of the four corners of the bounding box
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* `bounding_box_3d`: 3D world coordinates of the eight corners of the bounding box
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* `dimensions`: 3D dimensions of the 3D bounding box
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* `skeletons_avail`: indicates if a skeleton tracking detection was enabled and if skeleton data are available
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* `keypoint_2d`: 2D image coordinates of the eighteen skeleton joints
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* `keypoint_3d`: 3D world coordinates of the eighteen skeleton joints
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* `head_bounding_box_2d`: 2D image coordinates of the four corners of the bounding box of the head
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* `head_bounding_box_3d`: 3D world coordinates of the eight corners of the bounding box of the head
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* `head_position`: 3D world coordinates of the position of the center of the head
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```cpp C++
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enum class OBJECT_CLASS {
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    PERSON = 0,
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    VEHICLE = 1,
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    BAG = 2,
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    ANIMAL = 3,
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    ELECTRONICS = 4,
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    FRUIT_VEGETABLE = 5,
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    LAST
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};
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enum class OBJECT_SUBCLASS {
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    PERSON = 0, /**< PERSON */
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    BICYCLE = 1, /**< VEHICLE */
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    CAR = 2, /**< VEHICLE */
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    MOTORBIKE = 3, /**< VEHICLE */
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    BUS = 4, /**< VEHICLE */
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    TRUCK = 5, /**< VEHICLE */
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    BOAT = 6, /**< VEHICLE */
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    BACKPACK = 7, /**< BAG */
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    HANDBAG = 8, /**< BAG */
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    SUITCASE = 9, /**< BAG */
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    BIRD = 10, /**< ANIMAL */
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    CAT = 11, /**< ANIMAL */
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    DOG = 12, /**< ANIMAL */
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    HORSE = 13, /**< ANIMAL */
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    SHEEP = 14, /**< ANIMAL */
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    COW = 15, /**< ANIMAL */
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    CELLPHONE = 16, /**< ELECTRONIC */
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    LAPTOP = 17, /**< ELECTRONIC */
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    BANANA = 18, /**< FRUIT/VEGETABLE */
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    APPLE = 19, /**< FRUIT/VEGETABLE */
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    ORANGE = 20, /**< FRUIT/VEGETABLE */
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    CARROT = 21, /**< FRUIT/VEGETABLE */
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    LAST = 22
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};
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enum class OBJECT_TRACKING_STATE {
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    OFF, /**< The tracking is not yet initialized, the object ID is not usable */
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    OK, /**< The object is tracked */
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    SEARCHING, /**< The object couldn't be detected in the image and is potentially occluded, the trajectory is estimated */
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    TERMINATE, /**< This is the last searching state of the track, the track will be deleted in the next retreiveObject */
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    LAST
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};
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enum class OBJECT_ACTION_STATE {
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    IDLE = 0, /**< The object is staying static. */
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    MOVING = 1, /**< The object is moving. */
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    LAST
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};

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namespace skeleton {
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enum class BODY_PARTS {
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    NOSE = 0,
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    NECK = 1,
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    RIGHT_SHOULDER = 2,
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    RIGHT_ELBOW= 3,
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    RIGHT_WRIST = 4,
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    LEFT_SHOULDER = 5,
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    LEFT_ELBOW = 6,
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    LEFT_WRIST = 7,
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    RIGHT_HIP = 8,
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    RIGHT_KNEE = 9,
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    RIGHT_ANKLE = 10,
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    LEFT_HIP = 11,
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    LEFT_KNEE = 12,
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    LEFT_ANKLE = 13,
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    RIGHT_EYE = 14,
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    LEFT_EYE = 15,
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    RIGHT_EAR = 16,
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    LEFT_EAR = 17,
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    LAST = 18
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};
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inline int getIdx(BODY_PARTS part) {
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    return static_cast<int>(part);
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}
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static const std::vector<std::pair< BODY_PARTS, BODY_PARTS>> BODY_BONES{
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    {BODY_PARTS::NOSE, BODY_PARTS::NECK},
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    {BODY_PARTS::NECK, BODY_PARTS::RIGHT_SHOULDER},
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    {BODY_PARTS::RIGHT_SHOULDER, BODY_PARTS::RIGHT_ELBOW},
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    {BODY_PARTS::RIGHT_ELBOW, BODY_PARTS::RIGHT_WRIST},
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    {BODY_PARTS::NECK, BODY_PARTS::LEFT_SHOULDER},
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    {BODY_PARTS::LEFT_SHOULDER, BODY_PARTS::LEFT_ELBOW},
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    {BODY_PARTS::LEFT_ELBOW, BODY_PARTS::LEFT_WRIST},
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    {BODY_PARTS::RIGHT_SHOULDER, BODY_PARTS::RIGHT_HIP},
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    {BODY_PARTS::RIGHT_HIP, BODY_PARTS::RIGHT_KNEE},
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    {BODY_PARTS::RIGHT_KNEE, BODY_PARTS::RIGHT_ANKLE},
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    {BODY_PARTS::LEFT_SHOULDER, BODY_PARTS::LEFT_HIP},
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    {BODY_PARTS::LEFT_HIP, BODY_PARTS::LEFT_KNEE},
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    {BODY_PARTS::LEFT_KNEE, BODY_PARTS::LEFT_ANKLE},
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    {BODY_PARTS::RIGHT_SHOULDER, BODY_PARTS::LEFT_SHOULDER},
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    {BODY_PARTS::RIGHT_HIP, BODY_PARTS::LEFT_HIP},
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    {BODY_PARTS::NOSE, BODY_PARTS::RIGHT_EYE},
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    {BODY_PARTS::RIGHT_EYE, BODY_PARTS::RIGHT_EAR},
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    {BODY_PARTS::NOSE, BODY_PARTS::LEFT_EYE},
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    {BODY_PARTS::LEFT_EYE, BODY_PARTS::LEFT_EAR}
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};
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}