TrackedBody

Inherits from: MonoBehaviour

Serialized Fields

Field	Type	Default	Description
bodyId	string		Unique identifier for this tracked object
meshFilters	List<MeshFilter>	new List()	MeshFilters containing the 3D model(s) to track. Multiple meshes will be combined using their local transforms.
trackedMotion	TrackedMotion	TrackedMotion.None	Which degrees of freedom can be optimized when attached to parent. None = rigid attachment.
initialPoseSource	InitialPoseSource	InitialPoseSource.ScenePosition	How to determine the initial pose for detection
initialViewpoint	Transform		Viewpoint transform to calculate initial pose from. The object's pose will be computed relative to this viewpoint.
isStationary	bool		Object is fixed in the world. Enables AR pose fusion to maintain position when tracking quality drops.
smoothTime	float	DEFAULT_SMOOTH_TIME	Time in seconds to smooth pose corrections. 0 = instant.
rotationStability	float	5000	Rotation stability (Tikhonov regularization). Higher = smoother rotation, slower response to rotation changes.
positionStability	float	30000	Position stability (Tikhonov regularization). Higher = smoother position, slower response to position changes.
silhouetteTracking	SilhouetteTrackingSettings	(default)	Silhouette tracking parameters.
multiScale	MultiScaleSettings	(default)	Multi-scale pyramid settings. Adjust for thin objects at distance or when object appears small in image.
depthTracking	DepthTrackingSettings	(default)	Advanced depth tracking tuning. Adjust when using RealSense depth camera.
useCustomStartThreshold	bool		Use custom quality threshold to start tracking. Default: 0.5
customQualityToStart	float	0.5	Custom quality threshold (0-1) required to start tracking. Default is 0.5.
useCustomStopThreshold	bool		Use custom quality threshold to stop tracking.
customQualityToStop	float	0.3	Custom quality threshold (0-1) below which tracking is lost. Default depends on modality.
assemblyMode	bool		Enable for parts that will be physically installed during operation. The child won't affect parent pose until quality confirms the part is present.
assemblyQualityToConfirm	float	0.4	Quality threshold (0-1) required to confirm the part is installed and start affecting parent pose.
enableSilhouetteValidation	bool		Validate tracking points against silhouette boundaries. Uses shared silhouette renderer - significant GPU overhead on mobile.

Properties

Property	Type	Access	Description
SilhouetteTracking	SilhouetteTrackingSettings	get	Advanced edge tracking tuning settings. Adjust for difficult objects like thin tubes. Changes can be applied at runtime via UpdateEdgeTrackingParameters().
MultiScale	MultiScaleSettings	get	Multi-scale pyramid settings. Adjust for thin objects at distance or when object appears small in image. Must be set before registration - runtime changes not currently supported.
DepthTracking	DepthTrackingSettings	get	Advanced depth tracking tuning settings. Adjust when using RealSense depth camera. Must be set before registration - runtime changes not currently supported.
OcclusionSettings	OcclusionSettings	get	Occlusion detection parameters for this body. Adjust threshold for tight assemblies where parts are close together.
EnableSilhouetteTracking	bool	get	Whether silhouette tracking is active (derived from TrackingMethod).
EnableEdgeTracking	bool	get	Whether edge tracking is active (derived from TrackingMethod).
EdgeTracking	EdgeTrackingSettings	get	Edge tracking settings for tuning crease angle, search length, etc.
IsRegistered	bool	get
ParentBody	TrackedBody	get	Parent body this object is attached to (null if independent).
HasParent	bool	get	Whether this body has a parent assigned (for inspector visibility).
IsActiveMode	bool	get	Whether this body has active tracking (at least one DOF enabled or no parent). True if no parent (always active) or if any TrackedMotion flags are set.
OnStartTracking	UnityEvent	get	Event fired when tracking starts.
OnStopTracking	UnityEvent	get	Event fired when tracking stops.
IsTracking	bool	get	Whether this body is currently in the tracking state. All modes use quality-based state management with frame hysteresis.
ProjectionErrorAverage	float	get	Averaged projection error over 30 frames (degrees).
EdgeCoverageAverage	float	get	Averaged edge site coverage (valid/total) over 30 frames [0,1]. Ratio of valid edge points to total keyframe sites.
Visibility	float	get	Visibility ratio (0-1). Ratio of visible silhouette lines.
DepthVisibility	float	get	Depth visibility ratio (0-1). Ratio of valid depth points.
LastStatus	FTBodyStatus	get	Raw status from native tracker.
IsSilhouetteValidationEnabled	bool	get	Whether silhouette validation is currently enabled.
IsTextureTrackingEnabled	bool	get	Whether texture tracking (feature-based tracking) is currently enabled.
IsOcclusionEnabled	bool	get	Whether occlusion handling is currently enabled.
IsDepthTrackingEnabled	bool	get	Whether depth tracking is currently enabled.
QualityToStartTracking	float	get
QualityToStopTracking	float	get
TrackingStatus	TrackingStatus	get
ContributesToOptimization	bool	get	Whether this body currently contributes to optimization. When false, the body still tracks and computes quality metrics, but its observations don't affect the parent body's pose optimization.

Methods

Method	Returns	Description
FindParentInHierarchy()	TrackedBody	Find the nearest TrackedBody ancestor in Unity hierarchy (excluding self). Used internally and by editor for display.
ResetTracking()	void
ExecuteDetection()	void
ForceStartTracking()	void	Force-start tracking, bypassing quality-based auto-start. Useful for testing modalities that can't self-assess object presence (e.g. edge-only).
UpdateStabilityParameters()	void	Update stability (Tikhonov regularization) parameters at runtime. Call this after changing RotationStability or PositionStability while playing.
UpdateEdgeTrackingParameters()	void	Update edge tracking tuning parameters at runtime. Call this after changing EdgeTracking settings while playing.
UpdateOcclusionParameters()	void	Update occlusion detection parameters at runtime. Call this after changing OcclusionSettings while playing.
SetInitialPose(Transform viewpoint)	void	Set the initial pose from a viewpoint transform. The object's current world position is computed relative to the viewpoint. viewpoint: The viewpoint transform (e.g., camera position). If null, uses main camera.
SetInitialPose(Vector3 position, Quaternion rotation)	void	Set the initial pose from raw position and rotation values (camera-relative). position: Position relative to camera rotation: Rotation relative to camera
SetAttachmentPose(Vector3 childWorldPosition, Quaternion childWorldRotation)	bool	Set custom attachment pose using world-space position and rotation. Internally computes the relative pose to parent. If already attached, updates the pose immediately on native side. If not attached yet, the pose will be used when registering/attaching. childWorldPosition: Child's world-space position childWorldRotation: Child's world-space rotation Returns: True if successful (or stored for later use)
ClearCustomAttachmentPose()	void	Clear custom attachment pose override. If already attached, recomputes pose from current Unity hierarchy. If not attached yet, pose will be computed from hierarchy at registration time.
UpdateGeometry(IList<MeshFilter> newMeshFilters, TrackingModelAsset newTrackingModel = null)	bool	Update body geometry (mesh and silhouette model) at runtime while preserving tracking state. Use this to swap the visual representation without losing the current pose estimate. newMeshFilters: New mesh filters defining the geometry newTrackingModel: Pre-baked tracking model asset (silhouette + optional depth). Null for edge-only mode. Returns: True if geometry was successfully updated
SetTrackedMotion(TrackedMotion trackedMotion)	bool	Updates which degrees of freedom are tracked for this attached body. trackedMotion: New motion configuration (None = rigid) Returns: True if successfully updated
AddOccluder(TrackedBody occluder)	bool	Add another body as an occluder for this body. This body's tracking will ignore regions occluded by the occluder. Requires occlusion to be enabled on this body. occluder: The body that occludes this one Returns: True if successfully added
RemoveOccluder(TrackedBody occluder)	bool	Remove an occluder relationship. occluder: The body to remove as occluder Returns: True if successfully removed
EnableMutualOcclusion(TrackedBody other)	bool	Enable mutual occlusion between this body and another. Both bodies will occlude each other. other: The other body Returns: True if successfully enabled
DisableMutualOcclusion(TrackedBody other)	bool	Disable mutual occlusion between this body and another. other: The other body Returns: True if successfully disabled
SetContributesToOptimization(bool contributes)	bool	Set whether this body contributes to the optimization solution. When disabled, the body still gets its pose updated (follows parent if attached), but its gradient/hessian don't influence the parent's tracking. Use this for child bodies with low tracking quality. Only sends to native when state actually changes (efficient for per-frame calls). contributes: True to contribute, false to exclude from optimization Returns: True if successfully set
ComputeLocalBounds()	Bounds	Computes the combined local-space bounds of all mesh filters. Bounds are relative to this TrackedBody's transform.
GetEffectiveSphereRadius()	float	Gets the effective sphere radius for silhouette model generation. Returns the configured value if positive, otherwise computes auto value (0.8 x diameter).
GetViewpointCount()	int	Gets the number of viewpoints based on nDivides setting. Geodesic sphere vertex count: 10 * 4^n + 2
GetPointsPerView()	int	Gets the effective points per view.

Events

Event	Type	Description
OnPoseUpdated	Action<Vector3, Quaternion>	Event fired when pose is updated. Subscribe to receive pose updates without modifying TrackedBody.