Gen2 空间位置计算器
=======================

本示例说明如何在运行时可配置的ROI上检索空间位置数据（X，Y，Z）。您可以使用WASD键移动ROI。X，Y，Z坐标相对于深度图的中心。

setConfidenceThreshold-置信度阈值，高于该阈值将检测到对象。

演示
**********************

设置
********************

请运行以下命令来安装所需的依赖项

.. warning::
    说明：此处安装的是第二代depthai库

.. code-block:: bash

    python3 -m pip install -U pip
    python3 -m pip install opencv-python
    python3 -m pip install -U --force-reinstall depthai

有关更多信息，请参阅 :ref:`Python API 安装指南 <Python API安装详解>`

源代码
*********************

可以在 `GitHub <https://github.com/luxonis/depthai-python/blob/main/examples/SpatialDetection/spatial_location_calculator.py>`_ 上找到。国内用户也可以在 `gitee <https://gitee.com/oakchina/depthai-python/blob/main/examples/SpatialDetection/spatial_location_calculator.py>`_ 上找到。

.. code-block:: python

    #!/usr/bin/env python3

    import cv2
    import depthai as dai

    stepSize = 0.05

    # 开始定义管道
    pipeline = dai.Pipeline()

    # 定义双目相机
    monoLeft = pipeline.createMonoCamera()
    monoRight = pipeline.createMonoCamera()
    stereo = pipeline.createStereoDepth()
    spatialLocationCalculator = pipeline.createSpatialLocationCalculator()

    xoutDepth = pipeline.createXLinkOut()
    xoutSpatialData = pipeline.createXLinkOut()
    xinSpatialCalcConfig = pipeline.createXLinkIn()

    xoutDepth.setStreamName("depth")
    xoutSpatialData.setStreamName("spatialData")
    xinSpatialCalcConfig.setStreamName("spatialCalcConfig")

    # 双目相机
    monoLeft.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P)
    monoLeft.setBoardSocket(dai.CameraBoardSocket.LEFT)
    monoRight.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P)
    monoRight.setBoardSocket(dai.CameraBoardSocket.RIGHT)

    lrcheck = False
    subpixel = False

    # 双目深度
    stereo.setConfidenceThreshold(255)

    stereo.setLeftRightCheck(lrcheck)
    stereo.setSubpixel(subpixel)

    monoLeft.out.link(stereo.left)
    monoRight.out.link(stereo.right)

    spatialLocationCalculator.passthroughDepth.link(xoutDepth.input)
    stereo.depth.link(spatialLocationCalculator.inputDepth)

    topLeft = dai.Point2f(0.4, 0.4)
    bottomRight = dai.Point2f(0.6, 0.6)

    spatialLocationCalculator.setWaitForConfigInput(False)
    config = dai.SpatialLocationCalculatorConfigData()
    config.depthThresholds.lowerThreshold = 100
    config.depthThresholds.upperThreshold = 10000
    config.roi = dai.Rect(topLeft, bottomRight)
    spatialLocationCalculator.initialConfig.addROI(config)
    spatialLocationCalculator.out.link(xoutSpatialData.input)
    xinSpatialCalcConfig.out.link(spatialLocationCalculator.inputConfig)


    # 连接并开启管道
    with dai.Device(pipeline) as device:

        # 输出队列将用于从上面定义的输出中获取深度帧
        depthQueue = device.getOutputQueue(name="depth", maxSize=4, blocking=False)
        spatialCalcQueue = device.getOutputQueue(name="spatialData", maxSize=4, blocking=False)
        spatialCalcConfigInQueue = device.getInputQueue("spatialCalcConfig")

        color = (255, 255, 255)

        print("Use WASD keys to move ROI!")

        while True:
            inDepth = depthQueue.get() # 阻止通话，将等待直到新数据到达
            inDepthAvg = spatialCalcQueue.get() # 阻止通话，将等待直到新数据到达

            depthFrame = inDepth.getFrame()
            depthFrameColor = cv2.normalize(depthFrame, None, 255, 0, cv2.NORM_INF, cv2.CV_8UC1)
            depthFrameColor = cv2.equalizeHist(depthFrameColor)
            depthFrameColor = cv2.applyColorMap(depthFrameColor, cv2.COLORMAP_HOT)

            spatialData = inDepthAvg.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)

                fontType = cv2.FONT_HERSHEY_TRIPLEX
                cv2.rectangle(depthFrameColor, (xmin, ymin), (xmax, ymax), color, cv2.FONT_HERSHEY_SCRIPT_SIMPLEX)
                cv2.putText(depthFrameColor, f"X: {int(depthData.spatialCoordinates.x)} mm", (xmin + 10, ymin + 20), fontType, 0.5, color)
                cv2.putText(depthFrameColor, f"Y: {int(depthData.spatialCoordinates.y)} mm", (xmin + 10, ymin + 35), fontType, 0.5, color)
                cv2.putText(depthFrameColor, f"Z: {int(depthData.spatialCoordinates.z)} mm", (xmin + 10, ymin + 50), fontType, 0.5, color)


            cv2.imshow("depth", depthFrameColor)

            newConfig = False
            key = cv2.waitKey(1)
            if key == ord('q'):
                break
            elif key == ord('w'):
                if topLeft.y - stepSize >= 0:
                    topLeft.y -= stepSize
                    bottomRight.y -= stepSize
                    newConfig = True
            elif key == ord('a'):
                if topLeft.x - stepSize >= 0:
                    topLeft.x -= stepSize
                    bottomRight.x -= stepSize
                    newConfig = True
            elif key == ord('s'):
                if bottomRight.y + stepSize <= 1:
                    topLeft.y += stepSize
                    bottomRight.y += stepSize
                    newConfig = True
            elif key == ord('d'):
                if bottomRight.x + stepSize <= 1:
                    topLeft.x += stepSize
                    bottomRight.x += stepSize
                    newConfig = True

            if newConfig:
                config.roi = dai.Rect(topLeft, bottomRight)
                cfg = dai.SpatialLocationCalculatorConfig()
                cfg.addROI(config)
                spatialCalcConfigInQueue.send(cfg)

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