Structure containing data of a detected body/person such as its headBoundingBox, id and its 3D position. More...

Attributes
int	id
	Body/person identification number. More...

string	uniqueObjectId
	Unique id to help identify and track AI detections. More...

sl.OBJECT_TRACKING_STATE	trackingState
	Body/person tracking state. More...

sl.OBJECT_ACTION_STATE	actionState
	Body/person action state. More...

Vector3	position
	Body/person 3D centroid. More...

Vector3	velocity
	Body/person 3D velocity. More...

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

float	confidence
	Detection confidence value of the body/person. More...

System.IntPtr	mask
	Mask defining which pixels which belong to the body/person (in boundingBox and set to 255) and those of the background (set to 0). More...

Vector2[]	boundingBox2D
	2D bounding box of the body/person represented as four 2D points starting at the top left corner and rotation clockwise. More...

Vector3	headPosition
	3D centroid of the head of the body/person. More...

Vector3	dimensions
	3D body/person dimensions: width, height, length. More...

Vector3[]	boundingBox
	3D bounding box of the body/person represented as eight 3D points. More...

Vector3[]	headBoundingBox
	3D bounding box of the head of the body/person represented as eight 3D points. More...

Vector2[]	headBoundingBox2D
	2D bounding box of the head of the body/person represented as four 2D points starting at the top left corner and rotation clockwise. More...

Vector2[]	keypoints2D
	Set of useful points representing the human body in 2D. More...

Vector3[]	keypoints
	Set of useful points representing the human body in 3D. More...

float[]	keypointConfidence
	Array of detection confidences for each keypoint. More...

CovarMatrix[]	keypointCovariances
	Array of detection covariance for each keypoint. More...

Vector3[]	localPositionPerJoint
	Array of local position (position of the child keypoint with respect to its parent expressed in its parent coordinate frame) for each keypoint. More...

Quaternion[]	localOrientationPerJoint
	Array of local orientation for each keypoint. More...

Quaternion	globalRootOrientation
	Global root orientation of the skeleton. More...

Detailed Description

Structure containing data of a detected body/person such as its headBoundingBox, id and its 3D position.

Variables

◆ id

int id

Body/person identification number.

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

Note: Only available if sl.BodyTrackingParameters.enableTracking is activated.; Otherwise, it will be set to -1.

◆ uniqueObjectId

string uniqueObjectId

Unique id to help identify and track AI detections.

It can be either generated externally, or by using sl.Camera.GenerateUniqueID() or left empty.

◆ trackingState

sl.OBJECT_TRACKING_STATE trackingState

Body/person tracking state.

◆ actionState

sl.OBJECT_ACTION_STATE actionState

Body/person action state.

◆ position

Vector3 position

Body/person 3D centroid.

Note: It is defined in sl.InitParameters.coordinateUnits and expressed in sl.RuntimeParameters.measure3DReferenceFrame.

◆ velocity

Vector3 velocity

Body/person 3D velocity.

Note: It is defined in sl.InitParameters.coordinateUnits / s and expressed in sl.RuntimeParameters.measure3DReferenceFrame.

◆ positionCovariance

float [] positionCovariance

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 positionCovariance[i]

◆ confidence

float confidence

Detection confidence value of the body/person.

From 0 to 100, a low value means the body might not be localized perfectly.

◆ mask

System.IntPtr mask

Mask defining which pixels which belong to the body/person (in boundingBox and set to 255) and those of the background (set to 0).

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

◆ boundingBox2D

Vector2 [] boundingBox2D

2D bounding box of the body/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.
A ------ B

| Object |

D ------ C

◆ headPosition

Vector3 headPosition

3D centroid of the head of the body/person.

Note: It is defined in sl.InitParameters.coordinateUnits and expressed in sl.RuntimeParameters.measure3DReferenceFrame.

◆ dimensions

Vector3 dimensions

3D body/person dimensions: width, height, length.

Note: It is defined in sl.InitParameters.coordinateUnits and expressed in sl.RuntimeParameters.measure3DReferenceFrame.

◆ boundingBox

Vector3 [] boundingBox

3D bounding box of the body/person represented as eight 3D points.

Note: It is defined in sl.InitParameters.coordinateUnits and expressed in sl.RuntimeParameters.measure3DReferenceFrame.
1 ------ 2

/ /|

0 ------ 3 |

| Object | 6

| |/

4 ------ 7

◆ headBoundingBox

Vector3 [] headBoundingBox

3D bounding box of the head of the body/person represented as eight 3D points.

Note: It is defined in sl.InitParameters.coordinateUnits and expressed in sl.RuntimeParameters.measure3DReferenceFrame.

◆ headBoundingBox2D

Vector2 [] headBoundingBox2D

2D bounding box of the head of the body/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.

◆ keypoints2D

Vector2 [] keypoints2D

Set of useful points representing the human body in 2D.

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

Warning: In some cases, eg. body partially out of the image, some keypoints can not be detected. They will have negatives coordinates.

◆ keypoints

Vector3 [] keypoints

Set of useful points representing the human body in 3D.

Note: They are defined in sl.InitParameters.coordinateUnits and expressed in sl.RuntimeParameters.measure3DReferenceFrame.

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.

◆ keypointConfidence

float [] keypointConfidence

Array of detection confidences for each keypoint.

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

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.

◆ keypointCovariances

CovarMatrix [] keypointCovariances

Array of detection covariance for each keypoint.

Warning: In some cases, eg. body partially out of the image or missing depth data, some keypoints can not be detected. Their covariances will be 0.

◆ localPositionPerJoint

Vector3 [] localPositionPerJoint

Array of local position (position of the child keypoint with respect to its parent expressed in its parent coordinate frame) for each keypoint.

Note: They are expressed in sl.REFERENCE_FRAME.CAMERA or sl.REFERENCE_FRAME.WORLD.

Warning: Not available with sl.BODY_FORMAT.BODY_18.

◆ localOrientationPerJoint

Quaternion [] localOrientationPerJoint

Array of local orientation for each keypoint.

Note: The orientation is represented by a quaternion.

Warning: Not available with sl.BODY_FORMAT.BODY_18.

◆ globalRootOrientation

Quaternion globalRootOrientation

Global root orientation of the skeleton.

The orientation is also represented by a quaternion.

Note: The global root position is already accessible in keypoint attribute by using the root index of a given sl.BODY_FORMAT.

Warning: Not available with sl.BODY_FORMAT.BODY_18.

Attributes