MobileNetSpatialDetectionNetwork ================================ Spatial detection for the MobileNet NN. It is similar to a combination of the :ref:`MobileNetDetectionNetwork` and :ref:`SpatialLocationCalculator`. How to place it ############### .. tabs:: .. code-tab:: py pipeline = dai.Pipeline() mobilenetSpatial = pipeline.create(dai.node.MobileNetSpatialDetectionNetwork) .. code-tab:: c++ dai::Pipeline pipeline; auto mobilenetSpatial = pipeline.create(); Inputs and Outputs ################## .. code-block:: ┌───────────────────┐ input │ │ passthrough ──────────────►│-------------------├─────────────────► │ MobileNet │ out │ Spatial ├─────────────────► │ Detection │boundingBoxMapping │ Network ├─────────────────► inputDepth │ │ passthroughDepth ──────────────►│-------------------├─────────────────► └───────────────────┘ **Message types** - :code:`input` - :ref:`ImgFrame` - :code:`inputDepth` - :ref:`ImgFrame` - :code:`passthrough` - :ref:`ImgFrame` - :code:`out` - :ref:`SpatialImgDetections` - :code:`boundingBoxMapping` - :ref:`SpatialLocationCalculatorConfig` - :code:`passthroughDepth` - :ref:`ImgFrame` Usage ##### .. tabs:: .. code-tab:: py pipeline = dai.Pipeline() mobilenetSpatial = pipeline.create(dai.node.MobileNetSpatialDetectionNetwork) mobilenetSpatial.setBlobPath(nnBlobPath) # Will ingore all detections whose confidence is below 50% mobilenetSpatial.setConfidenceThreshold(0.5) mobilenetSpatial.input.setBlocking(False) # How big the ROI will be (smaller value can provide a more stable reading) mobilenetSpatial.setBoundingBoxScaleFactor(0.5) # Min/Max threshold. Values out of range will be set to 0 (invalid) mobilenetSpatial.setDepthLowerThreshold(100) mobilenetSpatial.setDepthUpperThreshold(5000) # Link depth from the StereoDepth node stereo.depth.link(mobilenetSpatial.inputDepth) .. code-tab:: c++ dai::Pipeline pipeline; auto mobilenetSpatial = pipeline.create(); mobilenetSpatial->setBlobPath(nnBlobPath); // Will ingore all detections whose confidence is below 50% mobilenetSpatial->setConfidenceThreshold(0.5f); mobilenetSpatial->input.setBlocking(false); // How big the ROI will be (smaller value can provide a more stable reading) mobilenetSpatial->setBoundingBoxScaleFactor(0.5f); // Min/Max threshold. Values out of range will be set to 0 (invalid) mobilenetSpatial->setDepthLowerThreshold(100); mobilenetSpatial->setDepthUpperThreshold(5000); // Link depth from the StereoDepth node stereo->depth.link(mobilenetSpatial->inputDepth); Examples of functionality ######################### - :ref:`RGB & MobilenetSSD with spatial data` - :ref:`Mono & MobilenetSSD with spatial data` .. include:: /includes/spatial-coords.rst Reference ######### .. tabs:: .. tab:: Python .. autoclass:: depthai.node.MobileNetSpatialDetectionNetwork :members: :inherited-members: :noindex: .. tab:: C++ .. doxygenclass:: dai::node::MobileNetSpatialDetectionNetwork :project: depthai-core :members: :private-members: :undoc-members: .. include:: ../../includes/footer-short.rst