# SpatialLocationCalculator

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](https://github.com/luxonis/oak-examples/tree/master/gen2-calc-spatials-on-host). The demo also has the same logic that's
performed on the device (`calc.py` file).

## How to place it

#### Python

```python

pipeline = dai.Pipeline()
spatialCalc = pipeline.create(dai.node.SpatialLocationCalculator)
```

#### C++

```cpp

dai::Pipeline pipeline;
auto spatialCalc = pipeline.create<dai::node::SpatialLocationCalculator>();
```

## Inputs and Outputs

## Usage

#### Python

```python

pipeline = dai.Pipeline()
spatialCalc = pipeline.create(dai.node.SpatialLocationCalculator)
spatialCalc.setWaitForConfigInput(False)

# Set initial config
config = dai.SpatialLocationCalculatorConfigData()
config.depthThresholds.lowerThreshold = 100
config.depthThresholds.upperThreshold = 10000

topLeft = dai.Point2f(0.4, 0.4)
bottomRight = dai.Point2f(0.6, 0.6)
config.roi = dai.Rect(topLeft, bottomRight)

spatial_calc.initialConfig.addROI(config)

# You can later send configs from the host (XLinkIn) / Script node to the InputConfig
```

#### C++

```cpp

dai::Pipeline pipeline;
auto spatialCalc = pipeline.create<dai::node::SpatialLocationCalculator>();
spatialCalc->setWaitForConfigInput(false);

// Set initial config
dai::SpatialLocationCalculatorConfigData config;
config.depthThresholds.lowerThreshold = 100;
config.depthThresholds.upperThreshold = 10000;

dai::Point2f topLeft(0.4f, 0.4f);
dai::Point2f bottomRight(0.6f, 0.6f);
config.roi = dai::Rect(topLeft, bottomRight);

spatialCalc->initialConfig.addROI(config);

// You can later send configs from the host (XLinkIn) / scripting node to the InputConfig
```

## Examples of functionality

 * [Spatial location calculator](https://docs.luxonis.com/software/depthai/examples/spatial_location_calculator.md)

## Spatial coordinate system

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

## Reference

### depthai.node.SpatialLocationCalculator(depthai.Node)

Kind: Class

SpatialLocationCalculator node. Calculates spatial location data on a set of
ROIs on depth map.

#### getWaitForConfigInput(self) -> bool: bool

Kind: Method

See also:
    setWaitForConfigInput

Returns:
    True if wait for inputConfig message, false otherwise

#### setWaitForConfigInput(self, wait: bool)

Kind: Method

Specify whether or not wait until configuration message arrives to inputConfig
Input.

Parameter ``wait``:
    True to wait for configuration message, false otherwise.

#### initialConfig

Kind: Property

Initial config to use when calculating spatial location data.

#### inputConfig

Kind: Property

Input SpatialLocationCalculatorConfig message with ability to modify parameters
in runtime. Default queue is non-blocking with size 4.

#### inputDepth

Kind: Property

Input message with depth data used to retrieve spatial information about
detected object. Default queue is non-blocking with size 4.

#### out

Kind: Property

Outputs SpatialLocationCalculatorData message that carries spatial location
results.

#### passthroughDepth

Kind: Property

Passthrough message on which the calculation was performed. Suitable for when
input queue is set to non-blocking behavior.

### Need assistance?

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