sl::BODY_FORMAT ObjectDetectionParameters::body_format has been added to Object Detection init parameters to set the output skeleton format. The old format is always available with sl::BODY_FORMAT::POSE_18 and behaves exactly the same as previous ZED SDK version. The new format enable local keypoint orientation and position extracting when body fitting is enabled.It may be beneficial for application in crowded scene where persons in background are merely detected by the general purpose person detection model.Īdded new skeleton format sl::BODY_FORMAT::POSE_34.Samples using custom model with TensorRT or OpenCV DNN inference are now available.Īdded a new detection mode sl::DETECTION_MODEL::PERSON_HEAD_BOX for person head detection and tracking.Added CustomBoxObjectData structure to ingest the external bounding box detections.Added function sl::Camera::ingestCustomBoxObjects to extract 3D data and perform tracking of custom 3D bounding boxes.
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