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ON THIS PAGE

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

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

Inputs and Outputs

Command Line
1/
2                 ┌───────────────────┐
3                 │                   │
4  inputConfig    │                   │       out
5  ──────────────►│     Spatial       ├───────────►
6                 │     location      │
7                 │     calculator    │
8  inputDepth     │                   │passthroughDepth
9  ──────────────►│-------------------├───────────►
10                 └───────────────────┘
Message types

Usage

Python
C++
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 left-handed (Cartesian) coordinate system for all spatial coordiantes.

Reference

class

depthai.node.SpatialLocationCalculator(depthai.Node)

method
getWaitForConfigInput(self) -> bool: bool
See also:
    setWaitForConfigInput

Returns:
    True if wait for inputConfig message, false otherwise
method
setWaitForConfigInput(self, wait: bool)
Specify whether or not wait until configuration message arrives to inputConfig
Input.

Parameter ``wait``:
    True to wait for configuration message, false otherwise.
property
initialConfig
Initial config to use when calculating spatial location data.
property
inputConfig
Input SpatialLocationCalculatorConfig message with ability to modify parameters in runtime. Default queue is non-blocking with size 4.
property
inputDepth
Input message with depth data used to retrieve spatial information about detected object. Default queue is non-blocking with size 4.
property
out
Outputs SpatialLocationCalculatorData message that carries spatial location results.
property
passthroughDepth
Passthrough message on which the calculation was performed. Suitable for when input queue is set to non-blocking behavior.

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