Structure containing data of a detected object such as its bounding_box, label, id and its 3D position. More...

Data Fields
int	id
	Object identification number. More...

unsigned char	unique_object_id [37]
	Unique id to help identify and track AI detections. More...

int	raw_label
	Object raw label. More...

enum SL_OBJECT_CLASS	label
	Object class/category to identify the object type.

enum SL_OBJECT_SUBCLASS	sublabel
	Object sub-class/sub-category to identify the object type.

enum SL_OBJECT_TRACKING_STATE	tracking_state
	Object tracking state.

enum SL_OBJECT_ACTION_STATE	action_state
	Object action state.

struct SL_Vector3	position
	Object 3D centroid. More...

float	confidence
	Detection confidence value of the object. More...

int *	mask
	Mask defining which pixels which belong to the object (in bounding_box_2d and set to 255) and those of the background (set to 0). More...

struct SL_Vector2	bounding_box_2d [4]
	2D bounding box of the object represented as four 2D points starting at the top left corner and rotation clockwise. More...

struct SL_Vector3	head_position
	3D centroid of the head of the object (a person). More...

struct SL_Vector3	velocity
	Defines the object 3D velocity. More...

struct SL_Vector3	dimensions
	3D object dimensions: width, height, length. More...

struct SL_Vector3	bounding_box [8]
	3D bounding box of the object represented as eight 3D points. More...

struct SL_Vector3	head_bounding_box [8]
	3D bounding box of the head of the object (a person) represented as eight 3D points. More...

struct SL_Vector2	head_bounding_box_2d [4]
	2D bounding box of the head of the object (a person) represented as four 2D points starting at the top left corner and rotation clockwise. More...

float	position_covariance [6]
	Covariance matrix of the 3D position. More...

Detailed Description

Structure containing data of a detected object such as its bounding_box, label, id and its 3D position.

Field Documentation

◆ id

int SL_ObjectData::id

Object identification number.

It is used as a reference when tracking the object through the frames.

Note: Only available if SL_ObjectDetectionParameters.enable_tracking is activated.; Otherwise, it will be set to -1.

◆ unique_object_id

unsigned char SL_ObjectData::unique_object_id[37]

Unique id to help identify and track AI detections.

It can be either generated externally, or by using sl_generate_unique_id() or left empty.

◆ raw_label

int SL_ObjectData::raw_label

Object raw label.

It is forwarded from SL_CustomBoxObjectData when using SL_OBJECT_DETECTION_MODEL_CUSTOM_BOX_OBJECTS.

◆ position

struct SL_Vector3 SL_ObjectData::position

Object 3D centroid.

Note: It is defined in SL_InitParameters.coordinate_unit and expressed in SL_RuntimeParameters.reference_frame.

◆ confidence

float SL_ObjectData::confidence

Detection confidence value of the object.

From 0 to 100, a low value means the object might not be localized perfectly or the label (SL_OBJECT_CLASS) is uncertain.

◆ mask

int* SL_ObjectData::mask

Mask defining which pixels which belong to the object (in bounding_box_2d and set to 255) and those of the background (set to 0).

Warning: The mask information is only available for tracked objects (SL_OBJECT_TRACKING_STATE_OK) that have a valid depth.; Otherwise, the mask will not be initialized.

◆ bounding_box_2d

struct SL_Vector2 SL_ObjectData::bounding_box_2d[4]

2D bounding box of the object represented as four 2D points starting at the top left corner and rotation clockwise.

Note: Expressed in pixels on the original image resolution, [0, 0] is the top left corner.
A ------ B

| Object |

D ------ C

◆ head_position

struct SL_Vector3 SL_ObjectData::head_position

3D centroid of the head of the object (a person).

Note: It is defined in SL_InitParameters.coordinate_unit and expressed in SL_RuntimeParameters.reference_frame.

Warning: Not available with SL_OBJECT_DETECTION_MODEL_MULTI_CLASS_BOX_XXX.

◆ velocity

struct SL_Vector3 SL_ObjectData::velocity

Defines the object 3D velocity.

Note: It is defined in SL_InitParameters.coordinate_unit / s and expressed in SL_RuntimeParameters.reference_frame.

◆ dimensions

struct SL_Vector3 SL_ObjectData::dimensions

3D object dimensions: width, height, length.

Note: It is defined in SL_InitParameters.coordinate_unit and expressed in SL_RuntimeParameters.reference_frame.

◆ bounding_box

struct SL_Vector3 SL_ObjectData::bounding_box[8]

3D bounding box of the object represented as eight 3D points.

Note: It is defined in SL_InitParameters.coordinate_unit and expressed in SL_RuntimeParameters.reference_frame.
1 ------ 2

/ /|

0 ------ 3 |

| Object | 6

| |/

4 ------ 7

◆ head_bounding_box

struct SL_Vector3 SL_ObjectData::head_bounding_box[8]

3D bounding box of the head of the object (a person) represented as eight 3D points.

Note: It is defined in SL_InitParameters.coordinate_unit and expressed in SL_RuntimeParameters.reference_frame.

Warning: Not available with SL_OBJECT_DETECTION_MODEL_MULTI_CLASS_BOX_XXX.

◆ head_bounding_box_2d

struct SL_Vector2 SL_ObjectData::head_bounding_box_2d[4]

2D bounding box of the head of the object (a person) represented as four 2D points starting at the top left corner and rotation clockwise.

Note: Expressed in pixels on the original image resolution, [0, 0] is the top left corner.

Warning: Not available with SL_OBJECT_DETECTION_MODEL_MULTI_CLASS_BOX_XXX.

◆ position_covariance

float SL_ObjectData::position_covariance[6]

Covariance matrix of the 3D position.

Note: It is represented by its upper triangular matrix value
= [p0, p1, p2]

[p1, p3, p4]

[p2, p4, p5]

where pi is position_covariance[i]

Data Fields