# Spatial Calculator Multi-ROI This example shows how one can use multiple ROIs with a single [SpatialLocationCalculator](https://docs.luxonis.com/software/depthai/examples/spatial_location_calculator.md) node. A similar logic could be used as a simple depth line scanning camera for mobile robots. ### Similar samples: * [Spatial location calculator](https://docs.luxonis.com/software/depthai/examples/spatial_location_calculator.md) ## Demo ## Setup Please run the [install script](https://github.com/luxonis/depthai-python/blob/main/examples/install_requirements.py) to download all required dependencies. Please note that this script must be ran from git context, so you have to download the [depthai-python](https://github.com/luxonis/depthai-python) repository first and then run the script ```bash git clone https://github.com/luxonis/depthai-python.git cd depthai-python/examples python3 install_requirements.py ``` For additional information, please follow the [installation guide](https://docs.luxonis.com/software/depthai/manual-install.md). ## Source code #### Python ```python #!/usr/bin/env python3 import cv2 import depthai as dai import math import numpy as np # Create pipeline pipeline = dai.Pipeline() # Define sources and outputs monoLeft = pipeline.create(dai.node.MonoCamera) monoRight = pipeline.create(dai.node.MonoCamera) stereo = pipeline.create(dai.node.StereoDepth) spatialLocationCalculator = pipeline.create(dai.node.SpatialLocationCalculator) xoutDepth = pipeline.create(dai.node.XLinkOut) xoutSpatialData = pipeline.create(dai.node.XLinkOut) xinSpatialCalcConfig = pipeline.create(dai.node.XLinkIn) xoutDepth.setStreamName("depth") xoutSpatialData.setStreamName("spatialData") xinSpatialCalcConfig.setStreamName("spatialCalcConfig") # Properties monoLeft.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P) monoLeft.setCamera("left") monoRight.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P) monoRight.setCamera("right") stereo.setDefaultProfilePreset(dai.node.StereoDepth.PresetMode.HIGH_DENSITY) stereo.setLeftRightCheck(True) stereo.setSubpixel(True) spatialLocationCalculator.inputConfig.setWaitForMessage(False) # Create 10 ROIs for i in range(10): config = dai.SpatialLocationCalculatorConfigData() config.depthThresholds.lowerThreshold = 200 config.depthThresholds.upperThreshold = 10000 config.roi = dai.Rect(dai.Point2f(i*0.1, 0.45), dai.Point2f((i+1)*0.1, 0.55)) spatialLocationCalculator.initialConfig.addROI(config) # Linking monoLeft.out.link(stereo.left) monoRight.out.link(stereo.right) spatialLocationCalculator.passthroughDepth.link(xoutDepth.input) stereo.depth.link(spatialLocationCalculator.inputDepth) spatialLocationCalculator.out.link(xoutSpatialData.input) xinSpatialCalcConfig.out.link(spatialLocationCalculator.inputConfig) # Connect to device and start pipeline with dai.Device(pipeline) as device: device.setIrLaserDotProjectorBrightness(1000) # Output queue will be used to get the depth frames from the outputs defined above depthQueue = device.getOutputQueue(name="depth", maxSize=4, blocking=False) spatialCalcQueue = device.getOutputQueue(name="spatialData", maxSize=4, blocking=False) color = (0,200,40) fontType = cv2.FONT_HERSHEY_TRIPLEX while True: inDepth = depthQueue.get() # Blocking call, will wait until a new data has arrived depthFrame = inDepth.getFrame() # depthFrame values are in millimeters depth_downscaled = depthFrame[::4] if np.all(depth_downscaled == 0): min_depth = 0 # Set a default minimum depth value when all elements are zero else: min_depth = np.percentile(depth_downscaled[depth_downscaled != 0], 1) max_depth = np.percentile(depth_downscaled, 99) depthFrameColor = np.interp(depthFrame, (min_depth, max_depth), (0, 255)).astype(np.uint8) depthFrameColor = cv2.applyColorMap(depthFrameColor, cv2.COLORMAP_HOT) spatialData = spatialCalcQueue.get().getSpatialLocations() 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) coords = depthData.spatialCoordinates distance = math.sqrt(coords.x ** 2 + coords.y ** 2 + coords.z ** 2) cv2.rectangle(depthFrameColor, (xmin, ymin), (xmax, ymax), color, thickness=2) cv2.putText(depthFrameColor, "{:.1f}m".format(distance/1000), (xmin + 10, ymin + 20), fontType, 0.6, color) # Show the frame cv2.imshow("depth", depthFrameColor) if cv2.waitKey(1) == ord('q'): break ``` #### C++ ```cpp #include #include "utility.hpp" // Includes common necessary includes for development using depthai library #include "depthai/depthai.hpp" static constexpr float stepSize = 0.05f; static std::atomic newConfig{false}; int main() { using namespace std; // Create pipeline dai::Pipeline pipeline; // Define sources and outputs auto monoLeft = pipeline.create(); auto monoRight = pipeline.create(); auto stereo = pipeline.create(); auto spatialLocationCalculator = pipeline.create(); auto xoutDepth = pipeline.create(); auto xoutSpatialData = pipeline.create(); auto xinSpatialCalcConfig = pipeline.create(); xoutDepth->setStreamName("depth"); xoutSpatialData->setStreamName("spatialData"); xinSpatialCalcConfig->setStreamName("spatialCalcConfig"); // Properties monoLeft->setResolution(dai::MonoCameraProperties::SensorResolution::THE_400_P); monoLeft->setCamera("left"); monoRight->setResolution(dai::MonoCameraProperties::SensorResolution::THE_400_P); monoRight->setCamera("right"); stereo->setDefaultProfilePreset(dai::node::StereoDepth::PresetMode::HIGH_DENSITY); stereo->setLeftRightCheck(true); stereo->setExtendedDisparity(true); spatialLocationCalculator->inputConfig.setWaitForMessage(false); // Create 10 ROIs for(int i = 0; i < 10; i++) { dai::SpatialLocationCalculatorConfigData config; config.depthThresholds.lowerThreshold = 200; config.depthThresholds.upperThreshold = 10000; config.roi = dai::Rect(dai::Point2f(i * 0.1, 0.45), dai::Point2f((i + 1) * 0.1, 0.55)); spatialLocationCalculator->initialConfig.addROI(config); } // Linking monoLeft->out.link(stereo->left); monoRight->out.link(stereo->right); spatialLocationCalculator->passthroughDepth.link(xoutDepth->input); stereo->depth.link(spatialLocationCalculator->inputDepth); spatialLocationCalculator->out.link(xoutSpatialData->input); xinSpatialCalcConfig->out.link(spatialLocationCalculator->inputConfig); // Connect to device and start pipeline dai::Device device(pipeline); device.setIrLaserDotProjectorIntensity(0.7f); // Output queue will be used to get the depth frames from the outputs defined above auto depthQueue = device.getOutputQueue("depth", 4, false); auto spatialCalcQueue = device.getOutputQueue("spatialData", 4, false); auto color = cv::Scalar(0, 200, 40); auto fontType = cv::FONT_HERSHEY_TRIPLEX; while(true) { auto inDepth = depthQueue->get(); cv::Mat depthFrame = inDepth->getFrame(); // depthFrame values are in millimeters cv::Mat depthFrameColor; cv::normalize(depthFrame, depthFrameColor, 255, 0, cv::NORM_INF, CV_8UC1); cv::equalizeHist(depthFrameColor, depthFrameColor); cv::applyColorMap(depthFrameColor, depthFrameColor, cv::COLORMAP_HOT); auto spatialData = spatialCalcQueue->get()->getSpatialLocations(); for(auto depthData : spatialData) { auto roi = depthData.config.roi; roi = roi.denormalize(depthFrameColor.cols, depthFrameColor.rows); auto xmin = static_cast(roi.topLeft().x); auto ymin = static_cast(roi.topLeft().y); auto xmax = static_cast(roi.bottomRight().x); auto ymax = static_cast(roi.bottomRight().y); auto coords = depthData.spatialCoordinates; auto distance = std::sqrt(coords.x * coords.x + coords.y * coords.y + coords.z * coords.z); cv::rectangle(depthFrameColor, cv::Rect(cv::Point(xmin, ymin), cv::Point(xmax, ymax)), color); std::stringstream depthDistance; depthDistance.precision(2); depthDistance << fixed << static_cast(distance / 1000.0f) << "m"; cv::putText(depthFrameColor, depthDistance.str(), cv::Point(xmin + 10, ymin + 20), fontType, 0.5, color); } // Show the frame cv::imshow("depth", depthFrameColor); if(cv::waitKey(1) == 'q') { break; } } return 0; } ``` ## Pipeline ### examples/spatial_calculator_multi_roi.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": 200, "upperThreshold": 10000 }, "roi": { "height": 0.10000002384185791, "width": 0.10000000149011612, "x": 0.0, "y": 0.44999998807907104 }, "stepSize": -1 }, { "calculationAlgorithm": 4, "depthThresholds": { "lowerThreshold": 200, "upperThreshold": 10000 }, "roi": { "height": 0.10000002384185791, "width": 0.10000000149011612, "x": 0.10000000149011612, "y": 0.44999998807907104 }, "stepSize": -1 }, { "calculationAlgorithm": 4, "depthThresholds": { "lowerThreshold": 200, "upperThreshold": 10000 }, "roi": { "height": 0.10000002384185791, "width": 0.10000000894069672, "x": 0.20000000298023224, "y": 0.44999998807907104 }, "stepSize": -1 }, { "calculationAlgorithm": 4, "depthThresholds": { "lowerThreshold": 200, "upperThreshold": 10000 }, "roi": { "height": 0.10000002384185791, "width": 0.09999999403953552, "x": 0.30000001192092896, "y": 0.44999998807907104 }, "stepSize": -1 }, { "calculationAlgorithm": 4, "depthThresholds": { "lowerThreshold": 200, "upperThreshold": 10000 }, "roi": { "height": 0.10000002384185791, "width": 0.09999999403953552, "x": 0.4000000059604645, "y": 0.44999998807907104 }, "stepSize": -1 }, { "calculationAlgorithm": 4, "depthThresholds": { "lowerThreshold": 200, "upperThreshold": 10000 }, "roi": { "height": 0.10000002384185791, "width": 0.10000002384185791, "x": 0.5, "y": 0.44999998807907104 }, "stepSize": -1 }, { "calculationAlgorithm": 4, "depthThresholds": { "lowerThreshold": 200, "upperThreshold": 10000 }, "roi": { "height": 0.10000002384185791, "width": 0.09999996423721313, "x": 0.6000000238418579, "y": 0.44999998807907104 }, "stepSize": -1 }, { "calculationAlgorithm": 4, "depthThresholds": { "lowerThreshold": 200, "upperThreshold": 10000 }, "roi": { "height": 0.10000002384185791, "width": 0.10000002384185791, "x": 0.699999988079071, "y": 0.44999998807907104 }, "stepSize": -1 }, { "calculationAlgorithm": 4, "depthThresholds": { "lowerThreshold": 200, "upperThreshold": 10000 }, "roi": { "height": 0.10000002384185791, "width": 0.09999996423721313, "x": 0.800000011920929, "y": 0.44999998807907104 }, "stepSize": -1 }, { "calculationAlgorithm": 4, "depthThresholds": { "lowerThreshold": 200, "upperThreshold": 10000 }, "roi": { "height": 0.10000002384185791, "width": 0.10000002384185791, "x": 0.8999999761581421, "y": 0.44999998807907104 }, "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" } } ] ] } } ``` ### Need assistance? Head over to [Discussion Forum](https://discuss.luxonis.com/) for technical support or any other questions you might have.