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  • SpatialLocationCalculator
  • How to place it
  • Inputs and Outputs
  • Usage
  • Examples of functionality
  • Spatial coordinate system
  • Reference

SpatialLocationCalculator

Supported on:RVC2RVC4
SpatialLocationCalculator node calculates the spatial coordinates of the ROI (region-of-interest) based on the depth map from the inputDepth. It will average the depth values in the ROI and remove the ones out of range.You can also calculate spatial coordinates on host side, demo here. The demo also has the same logic that's performed on the device (calc.py file).

How to place it

Python
C++

Python

Python
1pipeline = dai.Pipeline()
2spatialCalc = pipeline.create(dai.node.SpatialLocationCalculator)

Inputs and Outputs

React Flow

Usage

Python
C++

Python

Python
1pipeline = dai.Pipeline()
2spatialCalc = pipeline.create(dai.node.SpatialLocationCalculator)
3spatialCalc.setWaitForConfigInput(False)
4
5# Set initial config
6config = dai.SpatialLocationCalculatorConfigData()
7config.depthThresholds.lowerThreshold = 100
8config.depthThresholds.upperThreshold = 10000
9
10topLeft = dai.Point2f(0.4, 0.4)
11bottomRight = dai.Point2f(0.6, 0.6)
12config.roi = dai.Rect(topLeft, bottomRight)
13
14spatial_calc.initialConfig.addROI(config)
15
16# You can later send configs from the host (XLinkIn) / Script node to the InputConfig

Examples of functionality

Spatial coordinate system

OAK camera uses the RDF (Right-Down-Forward) coordinate system for all spatial coordinates.Middle of the frame is 0,0 in terms of X,Y coordinates. If you go down, Y will increase, and if you go right, X will increase.

Reference

class

dai::node::SpatialLocationCalculator

#include SpatialLocationCalculator.hpp
variable
std::shared_ptr< SpatialLocationCalculatorConfig > initialConfig
Initial config to use when calculating spatial location data.
variable
Input inputConfig
Input SpatialLocationCalculatorConfig message with ability to modify parameters in runtime. Default queue is non-blocking with size 4.
variable
Input inputDetections
Input messages on which spatial location will be calculated. Possible datatypes are ImgDetections or Keypoints.
variable
Input inputDepth
Input message with depth data used to retrieve spatial information about detected object. Default queue is non-blocking with size 4.
variable
Output out
Outputs SpatialLocationCalculatorData message that carries spatial locations for each additional ROI that is specified in the config.
variable
Output outputDetections
Outputs SpatialImgDetections message that carries spatial locations along with original input data.
variable
Output passthroughDepth
Passthrough message on which the calculation was performed. Suitable for when input queue is set to non-blocking behavior.
function
SpatialLocationCalculator()
inline function
SpatialLocationCalculator(std::unique_ptr< Properties > props)
function
void setRunOnHost(bool runOnHost)
Specify whether to run on host or device By default, the node will run on device.
function
bool runOnHost()
Check if the node is set to run on host
function
void run()
inline function
DeviceNodeCRTP()
inline function
DeviceNodeCRTP(const std::shared_ptr< Device > & device)
inline function
DeviceNodeCRTP(std::unique_ptr< Properties > props)
inline function
DeviceNodeCRTP(std::unique_ptr< Properties > props, bool confMode)
inline function
DeviceNodeCRTP(const std::shared_ptr< Device > & device, std::unique_ptr< Properties > props, bool confMode)

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