SpatialImgDetections

Similar to ImgDetections, but this message includes XYZ coordinates of the detected objects as well.

Both YoloSpatialDetectionNetwork and MobileNetSpatialDetectionNetwork output this message.

Examples of functionality

• RGB & MobilenetSSD with spatial data

• Mono & MobilenetSSD with spatial data

• RGB & TinyYolo with spatial data

Reference

Python

C++

class depthai.SpatialImgDetections

SpatialImgDetections message. Carries detection results together with spatial location data

getData(self: object) → numpy.ndarray[numpy.uint8]

Get non-owning reference to internal buffer

Returns

Reference to internal buffer

getRaw(self: depthai.ADatatype) → depthai.RawBuffer

getSequenceNum(self: depthai.SpatialImgDetections) → int

Retrieves image sequence number

getTimestamp(self: depthai.SpatialImgDetections) → datetime.timedelta

Retrieves image timestamp related to dai::Clock::now()

getTimestampDevice(self: depthai.SpatialImgDetections) → datetime.timedelta

Retrieves image timestamp directly captured from device’s monotonic clock, not synchronized to host time. Used mostly for debugging

setData(*args, **kwargs)

Overloaded function.

1. setData(self: depthai.Buffer, arg0: List[int]) -> None

Parameter data:

Copies data to internal buffer

2. setData(self: depthai.Buffer, arg0: numpy.ndarray[numpy.uint8]) -> None

Parameter data:

Copies data to internal buffer

setSequenceNum(self: depthai.SpatialImgDetections, arg0: int) → depthai.SpatialImgDetections

Retrieves image sequence number

setTimestamp(self: depthai.SpatialImgDetections, arg0: datetime.timedelta) → depthai.SpatialImgDetections

Sets image timestamp related to dai::Clock::now()

setTimestampDevice(self: depthai.SpatialImgDetections, arg0: datetime.timedelta) → depthai.SpatialImgDetections

Sets image timestamp related to dai::Clock::now()

class dai::SpatialImgDetections : public dai::Buffer

SpatialImgDetections message. Carries detection results together with spatial location data

Public Functions

SpatialImgDetections()

Construct SpatialImgDetections message.

SpatialImgDetections(std::shared_ptr<RawSpatialImgDetections> ptr)

~SpatialImgDetections() = default

SpatialImgDetections &setTimestamp(std::chrono::time_point<std::chrono::steady_clock, std::chrono::steady_clock::duration> timestamp)

Sets image timestamp related to dai::Clock::now()

SpatialImgDetections &setTimestampDevice(std::chrono::time_point<std::chrono::steady_clock, std::chrono::steady_clock::duration> timestamp)

Sets image timestamp related to dai::Clock::now()

SpatialImgDetections &setSequenceNum(int64_t sequenceNum)

Retrieves image sequence number

std::chrono::time_point<std::chrono::steady_clock, std::chrono::steady_clock::duration> getTimestamp() const

Retrieves image timestamp related to dai::Clock::now()

std::chrono::time_point<std::chrono::steady_clock, std::chrono::steady_clock::duration> getTimestampDevice() const

Retrieves image timestamp directly captured from device’s monotonic clock, not synchronized to host time. Used mostly for debugging

int64_t getSequenceNum() const

Retrieves image sequence number

Public Members

std::vector<SpatialImgDetection> &detections

Detection results.

Private Functions

std::shared_ptr<RawBuffer> serialize() const override

Private Members

RawSpatialImgDetections &dets

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