# Spatial Location Calculator This example shows how to retrieve spatial location data (X,Y,Z) on a runtime configurable ROI. You can move the ROI using WASD keys. X,Y,Z coordinates are relative to the center of depth map. This example requires the DepthAI v3 API, see [installation instructions](https://docs.luxonis.com/software-v3/depthai.md). ## Pipeline ### examples/spatial_location_calculator.pipeline.json ```json { "pipeline": { "connections": [ { "node1Id": 0, "node1Output": "out", "node1OutputGroup": "", "node2Id": 2, "node2Input": "left", "node2InputGroup": "" }, { "node1Id": 1, "node1Output": "out", "node1OutputGroup": "", "node2Id": 2, "node2Input": "right", "node2InputGroup": "" }, { "node1Id": 3, "node1Output": "passthroughDepth", "node1OutputGroup": "", "node2Id": 4, "node2Input": "in", "node2InputGroup": "" }, { "node1Id": 6, "node1Output": "out", "node1OutputGroup": "", "node2Id": 3, "node2Input": "inputConfig", "node2InputGroup": "" }, { "node1Id": 2, "node1Output": "depth", "node1OutputGroup": "", "node2Id": 3, "node2Input": "inputDepth", "node2InputGroup": "" }, { "node1Id": 3, "node1Output": "out", "node1OutputGroup": "", "node2Id": 5, "node2Input": "in", "node2InputGroup": "" } ], "globalProperties": { "calibData": null, "cameraTuningBlobSize": null, "cameraTuningBlobUri": "", "leonCssFrequencyHz": 700000000.0, "leonMssFrequencyHz": 700000000.0, "pipelineName": null, "pipelineVersion": null, "sippBufferSize": 18432, "sippDmaBufferSize": 16384, "xlinkChunkSize": -1 }, "nodes": [ [ 0, { "id": 0, "ioInfo": [ [ [ "", "inputControl" ], { "blocking": true, "group": "", "id": 1, "name": "inputControl", "queueSize": 8, "type": 3, "waitForMessage": false } ], [ [ "", "out" ], { "blocking": false, "group": "", "id": 2, "name": "out", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "", "raw" ], { "blocking": false, "group": "", "id": 3, "name": "raw", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "", "frameEvent" ], { "blocking": false, "group": "", "id": 4, "name": "frameEvent", "queueSize": 8, "type": 0, "waitForMessage": false } ] ], "name": "MonoCamera", "properties": { "boardSocket": -1, "cameraName": "left", "fps": 30.0, "imageOrientation": -1, "initialControl": { "aeLockMode": false, "aeMaxExposureTimeUs": 0, "aeRegion": { "height": 0, "priority": 0, "width": 0, "x": 0, "y": 0 }, "afRegion": { "height": 0, "priority": 0, "width": 0, "x": 0, "y": 0 }, "antiBandingMode": 0, "autoFocusMode": 3, "awbLockMode": false, "awbMode": 0, "brightness": 0, "captureIntent": 0, "chromaDenoise": 0, "cmdMask": 0, "contrast": 0, "controlMode": 0, "effectMode": 0, "expCompensation": 0, "expManual": { "exposureTimeUs": 0, "frameDurationUs": 0, "sensitivityIso": 0 }, "frameSyncMode": 0, "lensPosAutoInfinity": 0, "lensPosAutoMacro": 0, "lensPosition": 0, "lensPositionRaw": 0.0, "lowPowerNumFramesBurst": 0, "lowPowerNumFramesDiscard": 0, "lumaDenoise": 0, "saturation": 0, "sceneMode": 0, "sharpness": 0, "strobeConfig": { "activeLevel": 0, "enable": 0, "gpioNumber": 0 }, "strobeTimings": { "durationUs": 0, "exposureBeginOffsetUs": 0, "exposureEndOffsetUs": 0 }, "wbColorTemp": 0 }, "isp3aFps": 0, "numFramesPool": 3, "numFramesPoolRaw": 3, "rawPacked": null, "resolution": 2 } } ], [ 1, { "id": 1, "ioInfo": [ [ [ "", "inputControl" ], { "blocking": true, "group": "", "id": 5, "name": "inputControl", "queueSize": 8, "type": 3, "waitForMessage": false } ], [ [ "", "out" ], { "blocking": false, "group": "", "id": 6, "name": "out", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "", "raw" ], { "blocking": false, "group": "", "id": 7, "name": "raw", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "", "frameEvent" ], { "blocking": false, "group": "", "id": 8, "name": "frameEvent", "queueSize": 8, "type": 0, "waitForMessage": false } ] ], "name": "MonoCamera", "properties": { "boardSocket": -1, "cameraName": "right", "fps": 30.0, "imageOrientation": -1, "initialControl": { "aeLockMode": false, "aeMaxExposureTimeUs": 0, "aeRegion": { "height": 0, "priority": 0, "width": 0, "x": 0, "y": 0 }, "afRegion": { "height": 0, "priority": 0, "width": 0, "x": 0, "y": 0 }, "antiBandingMode": 0, "autoFocusMode": 3, "awbLockMode": false, "awbMode": 0, "brightness": 0, "captureIntent": 0, "chromaDenoise": 0, "cmdMask": 0, "contrast": 0, "controlMode": 0, "effectMode": 0, "expCompensation": 0, "expManual": { "exposureTimeUs": 0, "frameDurationUs": 0, "sensitivityIso": 0 }, "frameSyncMode": 0, "lensPosAutoInfinity": 0, "lensPosAutoMacro": 0, "lensPosition": 0, "lensPositionRaw": 0.0, "lowPowerNumFramesBurst": 0, "lowPowerNumFramesDiscard": 0, "lumaDenoise": 0, "saturation": 0, "sceneMode": 0, "sharpness": 0, "strobeConfig": { "activeLevel": 0, "enable": 0, "gpioNumber": 0 }, "strobeTimings": { "durationUs": 0, "exposureBeginOffsetUs": 0, "exposureEndOffsetUs": 0 }, "wbColorTemp": 0 }, "isp3aFps": 0, "numFramesPool": 3, "numFramesPoolRaw": 3, "rawPacked": null, "resolution": 2 } } ], [ 2, { "id": 2, "ioInfo": [ [ [ "", "inputConfig" ], { "blocking": false, "group": "", "id": 9, "name": "inputConfig", "queueSize": 4, "type": 3, "waitForMessage": false } ], [ [ "", "left" ], { "blocking": false, "group": "", "id": 10, "name": "left", "queueSize": 8, "type": 3, "waitForMessage": true } ], [ [ "", "debugExtDispLrCheckIt1" ], { "blocking": false, "group": "", "id": 22, "name": "debugExtDispLrCheckIt1", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "", "right" ], { "blocking": false, "group": "", "id": 11, "name": "right", "queueSize": 8, "type": 3, "waitForMessage": true } ], [ [ "", "syncedLeft" ], { "blocking": false, "group": "", "id": 12, "name": "syncedLeft", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "", "depth" ], { "blocking": false, "group": "", "id": 13, "name": "depth", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "", "disparity" ], { "blocking": false, "group": "", "id": 14, "name": "disparity", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "", "syncedRight" ], { "blocking": false, "group": "", "id": 15, "name": "syncedRight", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "", "debugDispCostDump" ], { "blocking": false, "group": "", "id": 20, "name": "debugDispCostDump", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "", "debugDispLrCheckIt2" ], { "blocking": false, "group": "", "id": 21, "name": "debugDispLrCheckIt2", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "", "rectifiedLeft" ], { "blocking": false, "group": "", "id": 16, "name": "rectifiedLeft", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "", "debugExtDispLrCheckIt2" ], { "blocking": false, "group": "", "id": 23, "name": "debugExtDispLrCheckIt2", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "", "rectifiedRight" ], { "blocking": false, "group": "", "id": 17, "name": "rectifiedRight", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "", "confidenceMap" ], { "blocking": false, "group": "", "id": 24, "name": "confidenceMap", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "", "outConfig" ], { "blocking": false, "group": "", "id": 18, "name": "outConfig", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "", "debugDispLrCheckIt1" ], { "blocking": false, "group": "", "id": 19, "name": "debugDispLrCheckIt1", "queueSize": 8, "type": 0, "waitForMessage": false } ] ], "name": "StereoDepth", "properties": { "alphaScaling": null, "baseline": null, "depthAlignCamera": -1, "depthAlignmentUseSpecTranslation": null, "disparityToDepthUseSpecTranslation": null, "enableRectification": true, "enableRuntimeStereoModeSwitch": false, "focalLength": null, "focalLengthFromCalibration": true, "height": null, "initialConfig": { "algorithmControl": { "centerAlignmentShiftFactor": null, "customDepthUnitMultiplier": 1000.0, "depthAlign": 0, "depthUnit": 2, "disparityShift": 0, "enableExtended": false, "enableLeftRightCheck": true, "enableSubpixel": true, "leftRightCheckThreshold": 10, "numInvalidateEdgePixels": 0, "subpixelFractionalBits": 3 }, "censusTransform": { "enableMeanMode": true, "kernelMask": 0, "kernelSize": -1, "threshold": 0 }, "costAggregation": { "divisionFactor": 1, "horizontalPenaltyCostP1": 250, "horizontalPenaltyCostP2": 500, "verticalPenaltyCostP1": 250, "verticalPenaltyCostP2": 500 }, "costMatching": { "confidenceThreshold": 245, "disparityWidth": 1, "enableCompanding": false, "invalidDisparityValue": 0, "linearEquationParameters": { "alpha": 0, "beta": 2, "threshold": 127 } }, "postProcessing": { "bilateralSigmaValue": 0, "brightnessFilter": { "maxBrightness": 256, "minBrightness": 0 }, "decimationFilter": { "decimationFactor": 1, "decimationMode": 0 }, "median": 5, "spatialFilter": { "alpha": 0.5, "delta": 0, "enable": false, "holeFillingRadius": 2, "numIterations": 1 }, "speckleFilter": { "enable": false, "speckleRange": 50 }, "temporalFilter": { "alpha": 0.4000000059604645, "delta": 0, "enable": false, "persistencyMode": 3 }, "thresholdFilter": { "maxRange": 65535, "minRange": 0 } } }, "mesh": { "meshLeftUri": "", "meshRightUri": "", "meshSize": null, "stepHeight": 16, "stepWidth": 16 }, "numFramesPool": 3, "numPostProcessingMemorySlices": -1, "numPostProcessingShaves": -1, "outHeight": null, "outKeepAspectRatio": true, "outWidth": null, "rectificationUseSpecTranslation": null, "rectifyEdgeFillColor": 0, "useHomographyRectification": null, "width": null } } ], [ 3, { "id": 3, "ioInfo": [ [ [ "", "inputConfig" ], { "blocking": false, "group": "", "id": 25, "name": "inputConfig", "queueSize": 4, "type": 3, "waitForMessage": false } ], [ [ "", "inputDepth" ], { "blocking": false, "group": "", "id": 26, "name": "inputDepth", "queueSize": 4, "type": 3, "waitForMessage": true } ], [ [ "", "out" ], { "blocking": false, "group": "", "id": 27, "name": "out", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "", "passthroughDepth" ], { "blocking": false, "group": "", "id": 28, "name": "passthroughDepth", "queueSize": 8, "type": 0, "waitForMessage": false } ] ], "name": "SpatialLocationCalculator", "properties": { "roiConfig": { "config": [ { "calculationAlgorithm": 4, "depthThresholds": { "lowerThreshold": 100, "upperThreshold": 10000 }, "roi": { "height": 0.20000001788139343, "width": 0.20000001788139343, "x": 0.4000000059604645, "y": 0.4000000059604645 }, "stepSize": -1 } ] } } } ], [ 4, { "id": 4, "ioInfo": [ [ [ "", "in" ], { "blocking": true, "group": "", "id": 29, "name": "in", "queueSize": 8, "type": 3, "waitForMessage": true } ] ], "name": "XLinkOut", "properties": { "maxFpsLimit": -1.0, "metadataOnly": false, "streamName": "depth" } } ], [ 5, { "id": 5, "ioInfo": [ [ [ "", "in" ], { "blocking": true, "group": "", "id": 30, "name": "in", "queueSize": 8, "type": 3, "waitForMessage": true } ] ], "name": "XLinkOut", "properties": { "maxFpsLimit": -1.0, "metadataOnly": false, "streamName": "spatialData" } } ], [ 6, { "id": 6, "ioInfo": [ [ [ "", "out" ], { "blocking": false, "group": "", "id": 31, "name": "out", "queueSize": 8, "type": 0, "waitForMessage": false } ] ], "name": "XLinkIn", "properties": { "maxDataSize": 5242880, "numFrames": 8, "streamName": "spatialCalcConfig" } } ] ] } } ``` ## Source code #### Python ```python #!/usr/bin/env python3 import cv2 import depthai as dai import numpy as np from pathlib import Path color = (255, 255, 255) # Create pipeline pipeline = dai.Pipeline() # Config topLeft = dai.Point2f(0.4, 0.4) bottomRight = dai.Point2f(0.6, 0.6) # Define sources and outputs monoLeft = pipeline.create(dai.node.Camera).build(dai.CameraBoardSocket.CAM_B) monoRight = pipeline.create(dai.node.Camera).build(dai.CameraBoardSocket.CAM_C) stereo = pipeline.create(dai.node.StereoDepth) spatialLocationCalculator = pipeline.create(dai.node.SpatialLocationCalculator) # Linking monoLeftOut = monoLeft.requestOutput((640, 400)) monoRightOut = monoRight.requestOutput((640, 400)) monoLeftOut.link(stereo.left) monoRightOut.link(stereo.right) stereo.setRectification(True) stereo.setExtendedDisparity(True) stepSize = 0.05 config = dai.SpatialLocationCalculatorConfigData() config.depthThresholds.lowerThreshold = 10 config.depthThresholds.upperThreshold = 10000 calculationAlgorithm = dai.SpatialLocationCalculatorAlgorithm.MEDIAN config.roi = dai.Rect(topLeft, bottomRight) spatialLocationCalculator.inputConfig.setWaitForMessage(False) spatialLocationCalculator.initialConfig.addROI(config) xoutSpatialQueue = spatialLocationCalculator.out.createOutputQueue() outputDepthQueue = spatialLocationCalculator.passthroughDepth.createOutputQueue() stereo.depth.link(spatialLocationCalculator.inputDepth) inputConfigQueue = spatialLocationCalculator.inputConfig.createInputQueue() with pipeline: pipeline.start() while pipeline.isRunning(): spatialData = xoutSpatialQueue.get().getSpatialLocations() print("Use WASD keys to move ROI!") outputDepthIMage : dai.ImgFrame = outputDepthQueue.get() frameDepth = outputDepthIMage.getCvFrame() frameDepth = outputDepthIMage.getFrame() print("Median depth value: ", np.median(frameDepth)) depthFrameColor = cv2.normalize(frameDepth, None, 255, 0, cv2.NORM_INF, cv2.CV_8UC1) depthFrameColor = cv2.equalizeHist(depthFrameColor) depthFrameColor = cv2.applyColorMap(depthFrameColor, cv2.COLORMAP_HOT) for depthData in spatialData: roi = depthData.config.roi roi = roi.denormalize(width=depthFrameColor.shape[1], height=depthFrameColor.shape[0]) xmin = int(roi.topLeft().x) ymin = int(roi.topLeft().y) xmax = int(roi.bottomRight().x) ymax = int(roi.bottomRight().y) depthMin = depthData.depthMin depthMax = depthData.depthMax fontType = cv2.FONT_HERSHEY_TRIPLEX cv2.rectangle(depthFrameColor, (xmin, ymin), (xmax, ymax), color, cv2.FONT_HERSHEY_SCRIPT_SIMPLEX) cv2.putText(depthFrameColor, f"X: {int(depthData.spatialCoordinates.x)} mm", (xmin + 10, ymin + 20), fontType, 0.5, color) cv2.putText(depthFrameColor, f"Y: {int(depthData.spatialCoordinates.y)} mm", (xmin + 10, ymin + 35), fontType, 0.5, color) cv2.putText(depthFrameColor, f"Z: {int(depthData.spatialCoordinates.z)} mm", (xmin + 10, ymin + 50), fontType, 0.5, color) # Show the frame cv2.imshow("depth", depthFrameColor) key = cv2.waitKey(1) if key == ord('q'): pipeline.stop() break stepSize = 0.05 newConfig = False if key == ord('q'): break elif key == ord('w'): if topLeft.y - stepSize >= 0: topLeft.y -= stepSize bottomRight.y -= stepSize newConfig = True elif key == ord('a'): if topLeft.x - stepSize >= 0: topLeft.x -= stepSize bottomRight.x -= stepSize newConfig = True elif key == ord('s'): if bottomRight.y + stepSize <= 1: topLeft.y += stepSize bottomRight.y += stepSize newConfig = True elif key == ord('d'): if bottomRight.x + stepSize <= 1: topLeft.x += stepSize bottomRight.x += stepSize newConfig = True elif key == ord('1'): calculationAlgorithm = dai.SpatialLocationCalculatorAlgorithm.MEAN print('Switching calculation algorithm to MEAN!') newConfig = True elif key == ord('2'): calculationAlgorithm = dai.SpatialLocationCalculatorAlgorithm.MIN print('Switching calculation algorithm to MIN!') newConfig = True elif key == ord('3'): calculationAlgorithm = dai.SpatialLocationCalculatorAlgorithm.MAX print('Switching calculation algorithm to MAX!') newConfig = True elif key == ord('4'): calculationAlgorithm = dai.SpatialLocationCalculatorAlgorithm.MODE print('Switching calculation algorithm to MODE!') newConfig = True elif key == ord('5'): calculationAlgorithm = dai.SpatialLocationCalculatorAlgorithm.MEDIAN print('Switching calculation algorithm to MEDIAN!') newConfig = True if newConfig: config.roi = dai.Rect(topLeft, bottomRight) config.calculationAlgorithm = calculationAlgorithm cfg = dai.SpatialLocationCalculatorConfig() cfg.addROI(config) inputConfigQueue.send(cfg) newConfig = False ``` #### C++ ```cpp #include #include #include #include #include #include "depthai/depthai.hpp" std::atomic quitEvent(false); void signalHandler(int) { quitEvent = true; } int main() { signal(SIGTERM, signalHandler); signal(SIGINT, signalHandler); try { // Create pipeline dai::Pipeline pipeline; // Define sources and outputs auto monoLeft = pipeline.create(); monoLeft->build(dai::CameraBoardSocket::CAM_B); auto monoRight = pipeline.create(); monoRight->build(dai::CameraBoardSocket::CAM_C); auto stereo = pipeline.create(); auto spatialLocationCalculator = pipeline.create(); // Configure stereo stereo->setRectification(true); stereo->setExtendedDisparity(true); // Initial ROI configuration dai::Point2f topLeft(0.4f, 0.4f); dai::Point2f bottomRight(0.6f, 0.6f); float stepSize = 0.05f; // Configure spatial location calculator dai::SpatialLocationCalculatorConfigData config; config.depthThresholds.lowerThreshold = 10; config.depthThresholds.upperThreshold = 10000; auto calculationAlgorithm = dai::SpatialLocationCalculatorAlgorithm::MEDIAN; config.roi = dai::Rect(topLeft, bottomRight); spatialLocationCalculator->inputConfig.setWaitForMessage(false); spatialLocationCalculator->initialConfig->addROI(config); // Create output queues auto xoutSpatialQueue = spatialLocationCalculator->out.createOutputQueue(); auto outputDepthQueue = spatialLocationCalculator->passthroughDepth.createOutputQueue(); auto inputConfigQueue = spatialLocationCalculator->inputConfig.createInputQueue(); // Linking monoLeft->requestOutput(std::make_pair(640, 400))->link(stereo->left); monoRight->requestOutput(std::make_pair(640, 400))->link(stereo->right); stereo->depth.link(spatialLocationCalculator->inputDepth); // Start pipeline pipeline.start(); cv::Scalar color(255, 255, 255); while(pipeline.isRunning() && !quitEvent) { auto spatialData = xoutSpatialQueue->get(); std::cout << "Use WASD keys to move ROI!" << std::endl; auto outputDepthImage = outputDepthQueue->get(); cv::Mat frameDepth = outputDepthImage->getCvFrame(); // Calculate median depth std::vector depthValues; for(int i = 0; i < frameDepth.rows; i++) { for(int j = 0; j < frameDepth.cols; j++) { uint16_t val = frameDepth.at(i, j); if(val > 0) depthValues.push_back(val); } } if(depthValues.empty()) { std::cout << "Median depth value: N/A (no valid depth pixels)" << std::endl; } else { std::sort(depthValues.begin(), depthValues.end()); float medianDepth = depthValues[depthValues.size() / 2]; std::cout << "Median depth value: " << medianDepth << std::endl; } // Process depth frame for visualization cv::Mat depthFrameColor; cv::normalize(frameDepth, depthFrameColor, 255, 0, cv::NORM_INF, CV_8UC1); cv::equalizeHist(depthFrameColor, depthFrameColor); cv::applyColorMap(depthFrameColor, depthFrameColor, cv::COLORMAP_HOT); // Draw spatial data for(const auto& depthData : spatialData->spatialLocations) { auto roi = depthData.config.roi; roi = roi.denormalize(depthFrameColor.cols, depthFrameColor.rows); int xmin = static_cast(roi.topLeft().x); int ymin = static_cast(roi.topLeft().y); int xmax = static_cast(roi.bottomRight().x); int ymax = static_cast(roi.bottomRight().y); float depthMin = depthData.depthMin; float depthMax = depthData.depthMax; cv::rectangle(depthFrameColor, cv::Point(xmin, ymin), cv::Point(xmax, ymax), color, 1); cv::putText(depthFrameColor, "X: " + std::to_string(static_cast(depthData.spatialCoordinates.x)) + " mm", cv::Point(xmin + 10, ymin + 20), cv::FONT_HERSHEY_TRIPLEX, 0.5, color); cv::putText(depthFrameColor, "Y: " + std::to_string(static_cast(depthData.spatialCoordinates.y)) + " mm", cv::Point(xmin + 10, ymin + 35), cv::FONT_HERSHEY_TRIPLEX, 0.5, color); cv::putText(depthFrameColor, "Z: " + std::to_string(static_cast(depthData.spatialCoordinates.z)) + " mm", cv::Point(xmin + 10, ymin + 50), cv::FONT_HERSHEY_TRIPLEX, 0.5, color); } cv::imshow("depth", depthFrameColor); int key = cv::waitKey(1); bool newConfig = false; if(key == 'q') { break; } else if(key == 'w') { if(topLeft.y - stepSize >= 0) { topLeft.y -= stepSize; bottomRight.y -= stepSize; newConfig = true; } } else if(key == 'a') { if(topLeft.x - stepSize >= 0) { topLeft.x -= stepSize; bottomRight.x -= stepSize; newConfig = true; } } else if(key == 's') { if(bottomRight.y + stepSize <= 1) { topLeft.y += stepSize; bottomRight.y += stepSize; newConfig = true; } } else if(key == 'd') { if(bottomRight.x + stepSize <= 1) { topLeft.x += stepSize; bottomRight.x += stepSize; newConfig = true; } } else if(key == '1') { calculationAlgorithm = dai::SpatialLocationCalculatorAlgorithm::MEAN; std::cout << "Switching calculation algorithm to MEAN!" << std::endl; newConfig = true; } else if(key == '2') { calculationAlgorithm = dai::SpatialLocationCalculatorAlgorithm::MIN; std::cout << "Switching calculation algorithm to MIN!" << std::endl; newConfig = true; } else if(key == '3') { calculationAlgorithm = dai::SpatialLocationCalculatorAlgorithm::MAX; std::cout << "Switching calculation algorithm to MAX!" << std::endl; newConfig = true; } else if(key == '4') { calculationAlgorithm = dai::SpatialLocationCalculatorAlgorithm::MODE; std::cout << "Switching calculation algorithm to MODE!" << std::endl; newConfig = true; } else if(key == '5') { calculationAlgorithm = dai::SpatialLocationCalculatorAlgorithm::MEDIAN; std::cout << "Switching calculation algorithm to MEDIAN!" << std::endl; newConfig = true; } if(newConfig) { config.roi = dai::Rect(topLeft, bottomRight); config.calculationAlgorithm = calculationAlgorithm; std::shared_ptr cfg = std::make_shared(); cfg->addROI(config); inputConfigQueue->send(cfg); } } // Cleanup pipeline.stop(); pipeline.wait(); } catch(const std::exception& e) { std::cerr << "Error: " << e.what() << std::endl; return 1; } return 0; } ``` ### Need assistance? 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