Classes
struct	BodyTrackingSensorsRuntimeParameters
	Structure containing a set of runtime parameters for the body tracking module. More...

class	BodyData
	Class containing data of a detected body/person such as its bounding_box, id and its 3D position. More...

class	Bodies
	Class containing the results of the body tracking module. More...

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

struct	BodyTrackingParameters
	Structure containing a set of parameters for the body tracking module. More...

struct	BodyTrackingRuntimeParameters
	Structure containing a set of runtime parameters for the body tracking module. More...

Enumerations
enum class	INFERENCE_PRECISION
	Report the actual inference precision used. More...

enum class	BODY_18_PARTS
	Semantic of human body parts and order of sl::BodyData::keypoint for sl::BODY_FORMAT::BODY_18. More...

enum class	BODY_34_PARTS
	Semantic of human body parts and order of sl::BodyData::keypoint for sl::BODY_FORMAT::BODY_34. More...

enum class	BODY_38_PARTS
	Semantic of human body parts and order of sl::BodyData::keypoint for sl::BODY_FORMAT::BODY_38. More...

enum class	BODY_TRACKING_MODEL
	Lists available models for the body tracking module. More...

enum class	BODY_TRACKING_MODEL_GEN
	Lists the generations of neural network available for the body tracking module. More...

enum class	BODY_FORMAT
	Lists supported skeleton body models. More...

enum class	BODY_KEYPOINTS_SELECTION
	Lists supported models for skeleton keypoints selection. More...

Functions
int	getIdx (BODY_18_PARTS part)
	Return associated index of each sl::BODY_18_PARTS. More...

int	getIdx (BODY_34_PARTS part)
	Return associated index of each sl::BODY_34_PARTS. More...

int	getIdx (BODY_38_PARTS part)
	Return associated index of each sl::BODY_38_PARTS. More...

Variables
const std::vector< std::pair< BODY_18_PARTS, BODY_18_PARTS > >	BODY_18_BONES
	Lists links of human body keypoints for sl::BODY_FORMAT::BODY_18. Useful for display. More...

const std::vector< std::pair< BODY_34_PARTS, BODY_34_PARTS > >	BODY_34_BONES
	Lists links of human body keypoints for sl::BODY_FORMAT::BODY_34. Useful for display. More...

const std::vector< std::pair< BODY_38_PARTS, BODY_38_PARTS > >	BODY_38_BONES
	Lists links of human body keypoints for sl::BODY_FORMAT::BODY_38. Useful for display. More...

Enumeration Type Documentation

◆ INFERENCE_PRECISION

enum INFERENCE_PRECISION

strong

Report the actual inference precision used.

Enumerator
FP32
FP16
INT8

◆ BODY_18_PARTS

enum BODY_18_PARTS

strong

Semantic of human body parts and order of sl::BodyData::keypoint for sl::BODY_FORMAT::BODY_18.

Enumerator
NOSE	0
NECK	1
RIGHT_SHOULDER	2
RIGHT_ELBOW	3
RIGHT_WRIST	4
LEFT_SHOULDER	5
LEFT_ELBOW	6
LEFT_WRIST	7
RIGHT_HIP	8
RIGHT_KNEE	9
RIGHT_ANKLE	10
LEFT_HIP	11
LEFT_KNEE	12
LEFT_ANKLE	13
RIGHT_EYE	14
LEFT_EYE	15
RIGHT_EAR	16
LEFT_EAR	17

◆ BODY_34_PARTS

enum BODY_34_PARTS

strong

Semantic of human body parts and order of sl::BodyData::keypoint for sl::BODY_FORMAT::BODY_34.

Enumerator
PELVIS	0
NAVAL_SPINE	1
CHEST_SPINE	2
NECK	3
LEFT_CLAVICLE	4
LEFT_SHOULDER	5
LEFT_ELBOW	6
LEFT_WRIST	7
LEFT_HAND	8
LEFT_HANDTIP	9
LEFT_THUMB	10
RIGHT_CLAVICLE	11
RIGHT_SHOULDER	12
RIGHT_ELBOW	13
RIGHT_WRIST	14
RIGHT_HAND	15
RIGHT_HANDTIP	16
RIGHT_THUMB	17
LEFT_HIP	18
LEFT_KNEE	19
LEFT_ANKLE	20
LEFT_FOOT	21
RIGHT_HIP	22
RIGHT_KNEE	23
RIGHT_ANKLE	24
RIGHT_FOOT	25
HEAD	26
NOSE	27
LEFT_EYE	28
LEFT_EAR	29
RIGHT_EYE	30
RIGHT_EAR	31
LEFT_HEEL	32
RIGHT_HEEL	33

◆ BODY_38_PARTS

enum BODY_38_PARTS

strong

Semantic of human body parts and order of sl::BodyData::keypoint for sl::BODY_FORMAT::BODY_38.

Enumerator
PELVIS	0
SPINE_1	1
SPINE_2	2
SPINE_3	3
NECK	4
NOSE	5
LEFT_EYE	6
RIGHT_EYE	7
LEFT_EAR	8
RIGHT_EAR	9
LEFT_CLAVICLE	10
RIGHT_CLAVICLE	11
LEFT_SHOULDER	12
RIGHT_SHOULDER	13
LEFT_ELBOW	14
RIGHT_ELBOW	15
LEFT_WRIST	16
RIGHT_WRIST	17
LEFT_HIP	18
RIGHT_HIP	19
LEFT_KNEE	20
RIGHT_KNEE	21
LEFT_ANKLE	22
RIGHT_ANKLE	23
LEFT_BIG_TOE	24
RIGHT_BIG_TOE	25
LEFT_SMALL_TOE	26
RIGHT_SMALL_TOE	27
LEFT_HEEL	28
RIGHT_HEEL	29
LEFT_HAND_THUMB_4	30
RIGHT_HAND_THUMB_4	31
LEFT_HAND_INDEX_1	32
RIGHT_HAND_INDEX_1	33
LEFT_HAND_MIDDLE_4	34
RIGHT_HAND_MIDDLE_4	35
LEFT_HAND_PINKY_1	36
RIGHT_HAND_PINKY_1	37

◆ BODY_TRACKING_MODEL

enum BODY_TRACKING_MODEL

strong

Lists available models for the body tracking module.

Enumerator
HUMAN_BODY_FAST	Keypoints based, specific to human skeleton, real time performance even on Jetson or low end GPU cards.
HUMAN_BODY_MEDIUM	Keypoints based, specific to human skeleton, compromise between accuracy and speed.
HUMAN_BODY_ACCURATE	Keypoints based, specific to human skeleton, state of the art accuracy, requires powerful GPU.

◆ BODY_TRACKING_MODEL_GEN

enum BODY_TRACKING_MODEL_GEN

strong

Lists the generations of neural network available for the body tracking module.

A generation is only available for some combinations of sl::BODY_TRACKING_MODEL and sl::BODY_FORMAT: when the requested one has no network for it, the ZED SDK falls back to the most recent generation it does have.

Enumerator
GEN_1	Network used up to ZED SDK 5.4. Only generation available for sl::BODY_FORMAT::BODY_38.
GEN_2	Default. Bottom-up network introduced in ZED SDK 5.5, more robust in crowded scenes and to unusual poses. Available for sl::BODY_TRACKING_MODEL::HUMAN_BODY_MEDIUM and sl::BODY_TRACKING_MODEL::HUMAN_BODY_ACCURATE with sl::BODY_FORMAT::BODY_18 or sl::BODY_FORMAT::BODY_34. sl::BODY_TRACKING_MODEL::HUMAN_BODY_FAST and sl::BODY_FORMAT::BODY_38 have GEN_1 only, and fall back to it.

◆ BODY_FORMAT

enum BODY_FORMAT

strong

Lists supported skeleton body models.

Enumerator

BODY_18

18-keypoint model
Basic body model

BODY_34

34-keypoint model

Note: Requires body fitting enabled.

BODY_38

38-keypoint model
Including simplified face, hands and feet.

Note: Early Access

◆ BODY_KEYPOINTS_SELECTION

enum BODY_KEYPOINTS_SELECTION

strong

Lists supported models for skeleton keypoints selection.

Enumerator
FULL	Full keypoint model.
UPPER_BODY	Upper body keypoint model Will output only upper body (from hip).

Function Documentation

◆ getIdx() [1/3]

int sl::getIdx ( BODY_18_PARTS part )

inline

Return associated index of each sl::BODY_18_PARTS.

◆ getIdx() [2/3]

int sl::getIdx ( BODY_34_PARTS part )

inline

Return associated index of each sl::BODY_34_PARTS.

◆ getIdx() [3/3]

int sl::getIdx ( BODY_38_PARTS part )

inline

Return associated index of each sl::BODY_38_PARTS.

Variable Documentation

◆ BODY_18_BONES

const std::vector<std::pair<BODY_18_PARTS, BODY_18_PARTS> > BODY_18_BONES

Initial value:

{
        {BODY_18_PARTS::NOSE,           BODY_18_PARTS::NECK          },
        {BODY_18_PARTS::NECK,           BODY_18_PARTS::RIGHT_SHOULDER},
        {BODY_18_PARTS::RIGHT_SHOULDER, BODY_18_PARTS::RIGHT_ELBOW   },
        {BODY_18_PARTS::RIGHT_ELBOW,    BODY_18_PARTS::RIGHT_WRIST   },
        {BODY_18_PARTS::NECK,           BODY_18_PARTS::LEFT_SHOULDER },
        {BODY_18_PARTS::LEFT_SHOULDER,  BODY_18_PARTS::LEFT_ELBOW    },
        {BODY_18_PARTS::LEFT_ELBOW,     BODY_18_PARTS::LEFT_WRIST    },
        {BODY_18_PARTS::RIGHT_SHOULDER, BODY_18_PARTS::RIGHT_HIP     },
        {BODY_18_PARTS::RIGHT_HIP,      BODY_18_PARTS::RIGHT_KNEE    },
        {BODY_18_PARTS::RIGHT_KNEE,     BODY_18_PARTS::RIGHT_ANKLE   },
        {BODY_18_PARTS::LEFT_SHOULDER,  BODY_18_PARTS::LEFT_HIP      },
        {BODY_18_PARTS::LEFT_HIP,       BODY_18_PARTS::LEFT_KNEE     },
        {BODY_18_PARTS::LEFT_KNEE,      BODY_18_PARTS::LEFT_ANKLE    },
        {BODY_18_PARTS::RIGHT_SHOULDER, BODY_18_PARTS::LEFT_SHOULDER },
        {BODY_18_PARTS::RIGHT_HIP,      BODY_18_PARTS::LEFT_HIP      },
        {BODY_18_PARTS::NOSE,           BODY_18_PARTS::RIGHT_EYE     },
        {BODY_18_PARTS::RIGHT_EYE,      BODY_18_PARTS::RIGHT_EAR     },
        {BODY_18_PARTS::NOSE,           BODY_18_PARTS::LEFT_EYE      },
        {BODY_18_PARTS::LEFT_EYE,       BODY_18_PARTS::LEFT_EAR      }
    }

Lists links of human body keypoints for sl::BODY_FORMAT::BODY_18.
Useful for display.

◆ BODY_34_BONES

const std::vector<std::pair<BODY_34_PARTS, BODY_34_PARTS> > BODY_34_BONES

Lists links of human body keypoints for sl::BODY_FORMAT::BODY_34.
Useful for display.

◆ BODY_38_BONES

const std::vector<std::pair<BODY_38_PARTS, BODY_38_PARTS> > BODY_38_BONES

Lists links of human body keypoints for sl::BODY_FORMAT::BODY_38.
Useful for display.

Classes

Enumerations

Functions

Variables

Enumeration Type Documentation

◆ INFERENCE_PRECISION

◆ BODY_18_PARTS

◆ BODY_34_PARTS

◆ BODY_38_PARTS

◆ BODY_TRACKING_MODEL

◆ BODY_TRACKING_MODEL_GEN

◆ BODY_FORMAT

◆ BODY_KEYPOINTS_SELECTION

Function Documentation

◆ getIdx() [1/3]

◆ getIdx() [2/3]

◆ getIdx() [3/3]

Variable Documentation

◆ BODY_18_BONES

◆ BODY_34_BONES

◆ BODY_38_BONES