SL_ObjectsBatch Struct Reference

Structure containing batched data of a detected objects from the object detection module. More...

Data Fields
int	nb_data
	Number of objects in the SL_ObjectsBatch. More...
int	id
	Id of the batch.
enum SL_OBJECT_CLASS	label
	Objects class/category to identify the object type.
enum SL_OBJECT_SUBCLASS	sublabel
	Objects sub-class/sub-category to identify the object type.
enum SL_OBJECT_TRACKING_STATE	tracking_state
	Objects tracking state.
struct SL_Vector3	positions [MAX_TRAJECTORY_SIZE]
	Array of positions for each object.
float	position_covariances [MAX_TRAJECTORY_SIZE][6]
	Array of positions' covariances for each object.
struct SL_Vector3	velocities [MAX_TRAJECTORY_SIZE]
	Array of 3D velocities for each object.
uint64_t	timestamps [MAX_TRAJECTORY_SIZE]
	Array of timestamps for each object.
struct SL_Vector2	bounding_boxes_2d [MAX_TRAJECTORY_SIZE][4]
	Array of 2D bounding boxes for each object. More...
struct SL_Vector3	bounding_boxes [MAX_TRAJECTORY_SIZE][8]
	Array of 3D bounding boxes for each object. More...
float	confidences [MAX_TRAJECTORY_SIZE]
	Array of confidences for each object.
enum SL_OBJECT_ACTION_STATE	action_states [MAX_TRAJECTORY_SIZE]
	Array of action states for each object.
struct SL_Vector2	head_bounding_boxes_2d [MAX_TRAJECTORY_SIZE][4]
	Array of 2D bounding box of the head for each object (person). More...
struct SL_Vector3	head_bounding_boxes [MAX_TRAJECTORY_SIZE][8]
	Array of 3D bounding box of the head for each object (person). More...
struct SL_Vector3	head_positions [MAX_TRAJECTORY_SIZE]
	Array of 3D centroid of the head for each object (person). More...

Detailed Description

Structure containing batched data of a detected objects from the object detection module.

This structure can be used to store trajectories.

Field Documentation

nb_data

int SL_ObjectsBatch::nb_data

Number of objects in the SL_ObjectsBatch.

Use this to iterate through the top of positions / velocities / bounding_boxes / etc.

Note

Objects with greater indexes are empty.

bounding_boxes_2d

struct SL_Vector2 SL_ObjectsBatch::bounding_boxes_2d[MAX_TRAJECTORY_SIZE][4]

Array of 2D bounding boxes for each object.

Note

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

A ------ B
| Object |
D ------ C

bounding_boxes

struct SL_Vector3 SL_ObjectsBatch::bounding_boxes[MAX_TRAJECTORY_SIZE][8]

Array of 3D bounding boxes for each object.

Note

They are defined in SL_InitParameters.coordinate_unit and expressed in SL_RuntimeParameters.reference_frame.

  1 ------ 2
 /        /|
0 ------ 3 |
| Object | 6
|        |/
4 ------ 7

head_bounding_boxes_2d

struct SL_Vector2 SL_ObjectsBatch::head_bounding_boxes_2d[MAX_TRAJECTORY_SIZE][4]

Array of 2D bounding box of the head for each object (person).

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.

head_bounding_boxes

struct SL_Vector3 SL_ObjectsBatch::head_bounding_boxes[MAX_TRAJECTORY_SIZE][8]

Array of 3D bounding box of the head for each object (person).

Note

They are 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_positions

struct SL_Vector3 SL_ObjectsBatch::head_positions[MAX_TRAJECTORY_SIZE]

Array of 3D centroid of the head for each object (person).

Note

They are 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.