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The 3D range image and intensity image are used by the background model primitive to filter the incoming data to keep only pixels that are dynamic, that is, that do not match well to the typical background data. The remaining data, expressed as a binary foreground mask, is processed by the Projection Space visual primitive. In this step, the orientation and position of the camera, computed during registration, are used to transform each 3D foreground pixel into a coordinate system aligned with the floor. The data is then projected into quantized cells on the floor plane.
TYZX PersonTrack has a C++ API that provides the user access to real-time updates of all people's locations in the facility, person counts for the full facility or selected sub-regions, as well as alerts and counts for people present in specified restricted areas.