# MobileNetSpatialDetectionNetwork

Spatial detection for the MobileNet NN. It is similar to a combination of the
[MobileNetDetectionNetwork](https://docs.luxonis.com/software/depthai-components/nodes/mobilenet_detection_network.md) and
[SpatialLocationCalculator](https://docs.luxonis.com/software/depthai/examples/spatial_location_calculator.md).

## How to place it

#### Python

```python
pipeline = dai.Pipeline()
mobilenetSpatial = pipeline.create(dai.node.MobileNetSpatialDetectionNetwork)
```

#### C++

```cpp
dai::Pipeline pipeline;
auto mobilenetSpatial = pipeline.create<dai::node::MobileNetSpatialDetectionNetwork>();
```

## Inputs and Outputs

## Usage

#### Python

```python
pipeline = dai.Pipeline()
mobilenetSpatial = pipeline.create(dai.node.MobileNetSpatialDetectionNetwork)

mobilenetSpatial.setBlobPath(nnBlobPath)
# Will ingore all detections whose confidence is below 50%
mobilenetSpatial.setConfidenceThreshold(0.5)
mobilenetSpatial.input.setBlocking(False)
# How big the ROI will be (smaller value can provide a more stable reading)
mobilenetSpatial.setBoundingBoxScaleFactor(0.5)
# Min/Max threshold. Values out of range will be set to 0 (invalid)
mobilenetSpatial.setDepthLowerThreshold(100)
mobilenetSpatial.setDepthUpperThreshold(5000)

# Link depth from the StereoDepth node
stereo.depth.link(mobilenetSpatial.inputDepth)
```

#### C++

```cpp
dai::Pipeline pipeline;
auto mobilenetSpatial = pipeline.create<dai::node::MobileNetSpatialDetectionNetwork>();

mobilenetSpatial->setBlobPath(nnBlobPath);
// Will ingore all detections whose confidence is below 50%
mobilenetSpatial->setConfidenceThreshold(0.5f);
mobilenetSpatial->input.setBlocking(false);
// How big the ROI will be (smaller value can provide a more stable reading)
mobilenetSpatial->setBoundingBoxScaleFactor(0.5f);
// Min/Max threshold. Values out of range will be set to 0 (invalid)
mobilenetSpatial->setDepthLowerThreshold(100);
mobilenetSpatial->setDepthUpperThreshold(5000);

// Link depth from the StereoDepth node
stereo->depth.link(mobilenetSpatial->inputDepth);
```

## Examples of functionality

 * [RGB & MobilenetSSD with spatial data](https://docs.luxonis.com/software/depthai/examples/spatial_mobilenet.md)
 * [Mono & MobilenetSSD with spatial data](https://docs.luxonis.com/software/depthai/examples/mono_depth_mobilenetssd.md)

## Spatial coordinate system

OAK camera uses left-handed (Cartesian) coordinate system for all spatial coordinates.

Middle of the frame is 0,0 in terms of X,Y coordinates. If you go up, Y will increase, and if you go right, X will increase.

## Reference

### depthai.node.MobileNetSpatialDetectionNetwork(depthai.node.SpatialDetectionNetwork)

Kind: Class

MobileNetSpatialDetectionNetwork node. Mobilenet-SSD based network with spatial
location data.

### Need assistance?

Head over to [Discussion Forum](https://discuss.luxonis.com/) for technical support or any other questions you might have.