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

Functions
	ObjectData ()
	Default constructor. More...

	~ObjectData ()
	Default destructor. More...

Attributes
int	id
	Object identification number. More...

String	unique_object_id
	Unique id to help identify and track AI detections. More...

int	raw_label = 0
	Object raw label. More...

OBJECT_CLASS	label
	Object class/category to identify the object type. More...

OBJECT_SUBCLASS	sublabel
	Object sub-class/sub-category to identify the object type. More...

OBJECT_TRACKING_STATE	tracking_state
	Object tracking state. More...

OBJECT_ACTION_STATE	action_state
	Object action state. More...

sl::float3	position
	Object 3D centroid. More...

sl::float3	velocity
	Object 3D velocity. More...

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

std::vector< sl::uint2 >	bounding_box_2d
	2D bounding box of the object represented as four 2D points starting at the top left corner and rotation clockwise. More...

sl::Mat	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...

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

std::vector< sl::float3 >	bounding_box
	3D bounding box of the object represented as eight 3D points. More...

sl::float3	dimensions
	3D object dimensions: width, height, length. More...

std::vector< sl::uint2 >	head_bounding_box_2d
	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...

std::vector< sl::float3 >	head_bounding_box
	3D bounding box of the head of the object (a person) represented as eight 3D points. More...

sl::float3	head_position
	3D centroid of the head of the object (a person). More...

Detailed Description

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

Constructor and Destructor

◆ ObjectData()

ObjectData ( )

Default constructor.

◆ ~ObjectData()

~ObjectData ( )

Default destructor.

Variables

◆ id

int 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

String unique_object_id

Unique id to help identify and track AI detections.

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

◆ raw_label

int raw_label = 0

Object raw label.

It is forwarded from sl::CustomBoxObjectData when using sl::OBJECT_DETECTION_MODEL::CUSTOM_BOX_OBJECTS.

◆ label

OBJECT_CLASS label

Object class/category to identify the object type.

◆ sublabel

OBJECT_SUBCLASS sublabel

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

◆ tracking_state

OBJECT_TRACKING_STATE tracking_state

Object tracking state.

◆ action_state

OBJECT_ACTION_STATE action_state

Object action state.

◆ position

sl::float3 position

Object 3D centroid.

Note: It is defined in sl::InitParameters.coordinate_units and expressed in sl::RuntimeParameters.measure3D_reference_frame.

◆ velocity

sl::float3 velocity

Object 3D velocity.

Note: It is defined in sl::InitParameters.coordinate_units / s and expressed in sl::RuntimeParameters.measure3D_reference_frame.

◆ position_covariance

float 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]

◆ bounding_box_2d

std::vector<sl::uint2> bounding_box_2d

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

◆ mask

sl::Mat 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 (mask.isInit() == false).

◆ confidence

float 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.

◆ bounding_box

std::vector<sl::float3> bounding_box

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

Note: It is defined in sl::InitParameters.coordinate_units and expressed in sl::RuntimeParameters.measure3D_reference_frame.
1 ------ 2

/ /|

0 ------ 3 |

| Object | 6

| |/

4 ------ 7

◆ dimensions

sl::float3 dimensions

3D object dimensions: width, height, length.

Note: It is defined in sl::InitParameters.coordinate_units and expressed in sl::RuntimeParameters.measure3D_reference_frame.

◆ head_bounding_box_2d

std::vector<sl::uint2> head_bounding_box_2d

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.

◆ head_bounding_box

std::vector<sl::float3> head_bounding_box

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

Note: It is defined in sl::InitParameters.coordinate_units and expressed in sl::RuntimeParameters.measure3D_reference_frame.

Warning: Not available with sl::OBJECT_DETECTION_MODEL::MULTI_CLASS_BOX_XXX.

◆ head_position

sl::float3 head_position

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

Note: It is defined in sl::InitParameters.coordinate_units and expressed in sl::RuntimeParameters.measure3D_reference_frame.

Warning: Not available with sl::OBJECT_DETECTION_MODEL::MULTI_CLASS_BOX_XXX.

Functions

Attributes