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

Attributes
int	id
	Object identification number. More...

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

int	rawLabel
	Object raw label. More...

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

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

sl.OBJECT_TRACKING_STATE	objectTrackingState
	Object tracking state. More...

sl.OBJECT_ACTION_STATE	actionState
	Object action state. More...

Vector3	position
	Object 3D centroid. More...

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

System.IntPtr	mask
	Pointer of the sl.Mat representing the mask defining which pixels which belong to the object (in boundingBox and set to 255) and those of the background (set to 0). To access the pixels values, create a new sl.Mat from that IntPtr. Ex: sl.Mat mat = new sl.Mat(mask); More...

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

Vector3	headPosition
	3D centroid of the head of the object (a person). More...

Vector3	velocity
	Object 3D velocity. More...

Vector3	dimensions
	3D object dimensions: width, height, length. More...

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

Vector3[]	headBoundingBox
	3D bounding box of the head of the object (a person) represented as eight 3D points. More...

Vector2[]	headBoundingBox2D
	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[]	positionCovariance
	Covariance matrix of the 3D position. More...

Detailed Description

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

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.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.

◆ rawLabel

int rawLabel

Object raw label.

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

◆ label

sl.OBJECT_CLASS label

Object class/category to identify the object type.

◆ sublabel

sl.OBJECT_SUBCLASS sublabel

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

◆ objectTrackingState

sl.OBJECT_TRACKING_STATE objectTrackingState

Object tracking state.

◆ actionState

sl.OBJECT_ACTION_STATE actionState

Object action state.

◆ position

Vector3 position

Object 3D centroid.

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

◆ 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.

◆ mask

System.IntPtr mask

Pointer of the sl.Mat representing the mask defining which pixels which belong to the object (in boundingBox and set to 255) and those of the background (set to 0). To access the pixels values, create a new sl.Mat from that IntPtr. Ex: sl.Mat mat = new sl.Mat(mask);

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.

◆ boundingBox2D

Vector2 [] boundingBox2D

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

◆ headPosition

Vector3 headPosition

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

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

Warning: Not available with sl.OBJECT_DETECTION_MODEL.MULTI_CLASS_BOX_XXX.

◆ velocity

Vector3 velocity

Object 3D velocity.

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

◆ dimensions

Vector3 dimensions

3D object 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 object 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 object (a person) represented as eight 3D points.

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

Warning: Not available with sl.OBJECT_DETECTION_MODEL.MULTI_CLASS_BOX_XXX.

◆ headBoundingBox2D

Vector2 [] headBoundingBox2D

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.

◆ 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]

Attributes