dai::node::SpatialDetectionNetwork Class Reference

SpatialDetectionNetwork node. Runs a neural inference on input image and calculates spatial location data. More...

#include <SpatialDetectionNetwork.hpp>

Inheritance diagram for dai::node::SpatialDetectionNetwork:

Public Member Functions
void	setBoundingBoxScaleFactor (float scaleFactor)
void	setDepthLowerThreshold (uint32_t lowerThreshold)
void	setDepthUpperThreshold (uint32_t upperThreshold)
void	setSpatialCalculationAlgorithm (dai::SpatialLocationCalculatorAlgorithm calculationAlgorithm)
void	setSpatialCalculationStepSize (int stepSize)
Public Member Functions inherited from dai::NodeCRTP< DetectionNetwork, SpatialDetectionNetwork, SpatialDetectionNetworkProperties >
std::unique_ptr< Node >	clone () const override
const char *	getName () const override

Public Attributes
Output	boundingBoxMapping {*this, "boundingBoxMapping", Output::Type::MSender, {{DatatypeEnum::SpatialLocationCalculatorConfig, false}}}
Input	input {*this, "in", Input::Type::SReceiver, true, 5, true, {{DatatypeEnum::ImgFrame, false}}}
Input	inputDepth {*this, "inputDepth", Input::Type::SReceiver, false, 4, true, {{DatatypeEnum::ImgFrame, false}}}
Output	out {*this, "out", Output::Type::MSender, {{DatatypeEnum::SpatialImgDetections, false}}}
Output	passthrough {*this, "passthrough", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}}
Output	passthroughDepth {*this, "passthroughDepth", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}}
Output	spatialLocationCalculatorOutput
Public Attributes inherited from dai::NodeCRTP< DetectionNetwork, SpatialDetectionNetwork, SpatialDetectionNetworkProperties >
Properties &	properties
	Underlying properties. More...

Static Public Attributes
constexpr static const char *	NAME = "SpatialDetectionNetwork"

Protected Member Functions
	SpatialDetectionNetwork (const std::shared_ptr< PipelineImpl > &par, int64_t nodeId)
	SpatialDetectionNetwork (const std::shared_ptr< PipelineImpl > &par, int64_t nodeId, std::unique_ptr< Properties > props)

Additional Inherited Members
Public Types inherited from dai::NodeCRTP< DetectionNetwork, SpatialDetectionNetwork, SpatialDetectionNetworkProperties >
using	Properties = SpatialDetectionNetworkProperties

Detailed Description

SpatialDetectionNetwork node. Runs a neural inference on input image and calculates spatial location data.

Definition at line 20 of file SpatialDetectionNetwork.hpp.

Constructor & Destructor Documentation

SpatialDetectionNetwork() [1/2]

SpatialDetectionNetwork::SpatialDetectionNetwork ( const std::shared_ptr< PipelineImpl > &  par, int64_t  nodeId  )

protected

Definition at line 14 of file SpatialDetectionNetwork.cpp.

SpatialDetectionNetwork() [2/2]

SpatialDetectionNetwork::SpatialDetectionNetwork ( const std::shared_ptr< PipelineImpl > &  par, int64_t  nodeId, std::unique_ptr< Properties >  props  )

protected

Definition at line 16 of file SpatialDetectionNetwork.cpp.

Member Function Documentation

setBoundingBoxScaleFactor()

void SpatialDetectionNetwork::setBoundingBoxScaleFactor

(

float

scaleFactor

)

Specifies scale factor for detected bounding boxes.

Parameters

scaleFactor

Scale factor must be in the interval (0,1].

Definition at line 22 of file SpatialDetectionNetwork.cpp.

setDepthLowerThreshold()

void SpatialDetectionNetwork::setDepthLowerThreshold

(

uint32_t

lowerThreshold

)

Specifies lower threshold in depth units (millimeter by default) for depth values which will used to calculate spatial data

Parameters

lowerThreshold

LowerThreshold must be in the interval [0,upperThreshold] and less than upperThreshold.

Definition at line 26 of file SpatialDetectionNetwork.cpp.

setDepthUpperThreshold()

void SpatialDetectionNetwork::setDepthUpperThreshold

(

uint32_t

upperThreshold

)

Specifies upper threshold in depth units (millimeter by default) for depth values which will used to calculate spatial data

Parameters

upperThreshold

UpperThreshold must be in the interval (lowerThreshold,65535].

Definition at line 30 of file SpatialDetectionNetwork.cpp.

setSpatialCalculationAlgorithm()

void SpatialDetectionNetwork::setSpatialCalculationAlgorithm

(

dai::SpatialLocationCalculatorAlgorithm

calculationAlgorithm

)

Specifies spatial location calculator algorithm: Average/Min/Max

Parameters

calculationAlgorithm

Calculation algorithm.

Definition at line 34 of file SpatialDetectionNetwork.cpp.

setSpatialCalculationStepSize()

void SpatialDetectionNetwork::setSpatialCalculationStepSize

(

int

stepSize

)

Specifies spatial location calculator step size for depth calculation. Step size 1 means that every pixel is taken into calculation, size 2 means every second etc.

Parameters

stepSize

Step size.

Definition at line 38 of file SpatialDetectionNetwork.cpp.

Member Data Documentation

boundingBoxMapping

Output dai::node::SpatialDetectionNetwork::boundingBoxMapping {*this, "boundingBoxMapping", Output::Type::MSender, {{DatatypeEnum::SpatialLocationCalculatorConfig, false}}}

Outputs mapping of detected bounding boxes relative to depth map

Suitable for when displaying remapped bounding boxes on depth frame

Definition at line 51 of file SpatialDetectionNetwork.hpp.

input

Input dai::node::SpatialDetectionNetwork::input {*this, "in", Input::Type::SReceiver, true, 5, true, {{DatatypeEnum::ImgFrame, false}}}

Input message with data to be inferred upon Default queue is blocking with size 5

Definition at line 33 of file SpatialDetectionNetwork.hpp.

inputDepth

Input dai::node::SpatialDetectionNetwork::inputDepth {*this, "inputDepth", Input::Type::SReceiver, false, 4, true, {{DatatypeEnum::ImgFrame, false}}}

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

Definition at line 39 of file SpatialDetectionNetwork.hpp.

NAME

constexpr static const char* dai::node::SpatialDetectionNetwork::NAME = "SpatialDetectionNetwork"

staticconstexpr

Definition at line 22 of file SpatialDetectionNetwork.hpp.

out

Output dai::node::SpatialDetectionNetwork::out {*this, "out", Output::Type::MSender, {{DatatypeEnum::SpatialImgDetections, false}}}

Outputs ImgDetections message that carries parsed detection results.

Definition at line 44 of file SpatialDetectionNetwork.hpp.

passthrough

Output dai::node::SpatialDetectionNetwork::passthrough {*this, "passthrough", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}}

Passthrough message on which the inference was performed.

Suitable for when input queue is set to non-blocking behavior.

Definition at line 58 of file SpatialDetectionNetwork.hpp.

passthroughDepth

Output dai::node::SpatialDetectionNetwork::passthroughDepth {*this, "passthroughDepth", Output::Type::MSender, {{DatatypeEnum::ImgFrame, false}}}

Passthrough message for depth frame on which the spatial location calculation was performed.

Suitable for when input queue is set to non-blocking behavior.

Definition at line 65 of file SpatialDetectionNetwork.hpp.

spatialLocationCalculatorOutput

Output dai::node::SpatialDetectionNetwork::spatialLocationCalculatorOutput

Initial value:

{
        *this, "spatialLocationCalculatorOutput", Output::Type::MSender, {{DatatypeEnum::SpatialLocationCalculatorData, false}}}

Output of SpatialLocationCalculator node, which is used internally by SpatialDetectionNetwork. Suitable when extra information is required from SpatialLocationCalculator node, e.g. minimum, maximum distance.

Definition at line 71 of file SpatialDetectionNetwork.hpp.

---

The documentation for this class was generated from the following files:

• SpatialDetectionNetwork.hpp
• SpatialDetectionNetwork.cpp