Class containing batched data of a detected bodies/persons from the body tracking module. More...

Attributes
int	id
	Id of the batch. More...

OBJECT_TRACKING_STATE	tracking_state
	Bodies/persons tracking state. More...

std::vector< sl::float3 >	positions
	Vector of positions for each body/person. More...

std::vector< std::array< float, 6 > >	position_covariances
	Vector of positions' covariances for each body/person. More...

std::vector< sl::float3 >	velocities
	Vector of 3D velocities for each body/person. More...

std::vector< sl::Timestamp >	timestamps
	Vector of timestamps for each body/person. More...

std::vector< std::vector< sl::float3 > >	bounding_boxes
	Vector of 3D bounding boxes for each body/person. More...

std::vector< std::vector< sl::uint2 > >	bounding_boxes_2d
	Vector of 2D bounding boxes for each body/person. More...

std::vector< float >	confidences
	Vector of confidences for each body/person. More...

std::vector< OBJECT_ACTION_STATE >	action_states
	Vector of action states for each body/person. More...

std::vector< std::vector< sl::float2 > >	keypoints_2d
	Vector of 2D keypoints for each body/person. More...

std::vector< std::vector< sl::float3 > >	keypoints
	Vector of 3D keypoints for each body/person. More...

std::vector< std::vector< sl::uint2 > >	head_bounding_boxes_2d
	Vector of 2D bounding box of the head for each body/person. More...

std::vector< std::vector< sl::float3 > >	head_bounding_boxes
	Vector of 3D bounding box of the head for each body/person. More...

std::vector< sl::float3 >	head_positions
	Vector of 3D centroid of the head for each body/person. More...

std::vector< std::vector< float > >	keypoint_confidences
	Vector of detection confidences vector for each keypoint for each body/person. More...

Detailed Description

Class containing batched data of a detected bodies/persons from the body tracking module.

Variables

◆ id

int id

Id of the batch.

◆ tracking_state

OBJECT_TRACKING_STATE tracking_state

Bodies/persons tracking state.

◆ positions

std::vector<sl::float3> positions

Vector of positions for each body/person.

◆ position_covariances

std::vector<std::array<float, 6> > position_covariances

Vector of positions' covariances for each body/person.

◆ velocities

std::vector<sl::float3> velocities

Vector of 3D velocities for each body/person.

◆ timestamps

std::vector<sl::Timestamp> timestamps

Vector of timestamps for each body/person.

◆ bounding_boxes

std::vector<std::vector<sl::float3> > bounding_boxes

Vector of 3D bounding boxes for each body/person.

Note: They are defined in sl::InitParameters.coordinate_units and expressed in sl::RuntimeParameters.measure3D_reference_frame.
1 ------ 2

/ /|

0 ------ 3 |

| Object | 6

| |/

4 ------ 7

◆ bounding_boxes_2d

std::vector<std::vector<sl::uint2> > bounding_boxes_2d

Vector of 2D bounding boxes for each body/person.

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

| Object |

D ------ C

◆ confidences

std::vector<float> confidences

Vector of confidences for each body/person.

◆ action_states

std::vector<OBJECT_ACTION_STATE> action_states

Vector of action states for each body/person.

◆ keypoints_2d

std::vector<std::vector<sl::float2> > keypoints_2d

Vector of 2D keypoints for each body/person.

Warning: In some cases, eg. body partially out of the image or missing depth data, some keypoints can not be detected. They will have non finite values.

◆ keypoints

std::vector<std::vector<sl::float3> > keypoints

Vector of 3D keypoints for each body/person.

Warning: In some cases, eg. body partially out of the image or missing depth data, some keypoints can not be detected. They will have non finite values.

◆ head_bounding_boxes_2d

std::vector<std::vector<sl::uint2> > head_bounding_boxes_2d

Vector of 2D bounding box of the head for each body/person.

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

◆ head_bounding_boxes

std::vector<std::vector<sl::float3> > head_bounding_boxes

Vector of 3D bounding box of the head for each body/person.

Note: They are defined in sl::InitParameters.coordinate_units and expressed in sl::RuntimeParameters.measure3D_reference_frame.

◆ head_positions

std::vector<sl::float3> head_positions

Vector of 3D centroid of the head for each body/person.

Note: They are defined in sl::InitParameters.coordinate_units and expressed in sl::RuntimeParameters.measure3D_reference_frame.

◆ keypoint_confidences

std::vector<std::vector<float> > keypoint_confidences

Vector of detection confidences vector for each keypoint for each body/person.

Note: They can not be lower than the sl::BodyTrackingRuntimeParameters.detection_confidence_threshold.

Warning: In some cases, eg. body partially out of the image or missing depth data, some keypoints can not be detected. They will have non finite values.

Attributes