1. A method for encoding a video including a plurality of objects, comprising: determining, for each candidate object, a quantizer parameter and a skip parameter that jointly minimizes an average total distortion in the video while satisfying predetermined constraints, the average total distortion including spatial distortion of coded objects and spatial and temporal distortion of uncoded objects; and encoding the candidate objects as the coded objects with the quantizer parameter and the skip parameter, and skipping the candidate objects as the uncoded objects with the skip parameter.