MobileNetSpatialDetectionNetwork¶
Spatial detection for the MobileNet NN. It is similar to a combination of the MobileNetDetectionNetwork and SpatialLocationCalculator.
How to place it¶
pipeline = dai.Pipeline()
mobilenetSpatial = pipeline.create(dai.node.MobileNetSpatialDetectionNetwork)
dai::Pipeline pipeline;
auto mobilenetSpatial = pipeline.create<dai::node::MobileNetSpatialDetectionNetwork>();
Inputs and Outputs¶
┌───────────────────┐
input │ │ passthrough
──────────────►│-------------------├─────────────────►
│ MobileNet │ out
│ Spatial ├─────────────────►
│ Detection │boundingBoxMapping
│ Network ├─────────────────►
inputDepth │ │ passthroughDepth
──────────────►│-------------------├─────────────────►
└───────────────────┘
Message types
input
- ImgFrameinputDepth
- ImgFramepassthrough
- ImgFrameout
- SpatialImgDetectionsboundingBoxMapping
- SpatialLocationCalculatorConfigpassthroughDepth
- ImgFrame
Usage¶
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)
dai::Pipeline pipeline;
auto mobilenetSpatial = pipeline.create<dai::node::MobileNetSpatialDetectionNetwork>();
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¶
Reference¶
-
class
depthai.node.
MobileNetSpatialDetectionNetwork
MobileNetSpatialDetectionNetwork node. Mobilenet-SSD based network with spatial location data.
-
class
Connection
Connection between an Input and Output
-
class
Id
Node identificator. Unique for every node on a single Pipeline
-
Properties
-
property
boundingBoxMapping
Outputs mapping of detected bounding boxes relative to depth map
Suitable for when displaying remapped bounding boxes on depth frame
-
getAssetManager
(*args, **kwargs) Overloaded function.
getAssetManager(self: depthai.Node) -> depthai.AssetManager
Get node AssetManager as a const reference
getAssetManager(self: depthai.Node) -> depthai.AssetManager
Get node AssetManager as a const reference
-
getConfidenceThreshold
(self: depthai.node.DetectionNetwork) → float Retrieves threshold at which to filter the rest of the detections.
- Returns
Detection confidence
-
getInputRefs
(*args, **kwargs) Overloaded function.
getInputRefs(self: depthai.Node) -> List[depthai.Node.Input]
Retrieves reference to node inputs
getInputRefs(self: depthai.Node) -> List[depthai.Node.Input]
Retrieves reference to node inputs
-
getInputs
(self: depthai.Node) → List[depthai.Node.Input] Retrieves all nodes inputs
-
getName
(self: depthai.Node) → str Retrieves nodes name
-
getNumInferenceThreads
(self: depthai.node.NeuralNetwork) → int How many inference threads will be used to run the network
- Returns
Number of threads, 0, 1 or 2. Zero means AUTO
-
getOutputRefs
(*args, **kwargs) Overloaded function.
getOutputRefs(self: depthai.Node) -> List[depthai.Node.Output]
Retrieves reference to node outputs
getOutputRefs(self: depthai.Node) -> List[depthai.Node.Output]
Retrieves reference to node outputs
-
getOutputs
(self: depthai.Node) → List[depthai.Node.Output] Retrieves all nodes outputs
-
getParentPipeline
(*args, **kwargs) Overloaded function.
getParentPipeline(self: depthai.Node) -> depthai.Pipeline
getParentPipeline(self: depthai.Node) -> depthai.Pipeline
-
property
id
Id of node
-
property
input
Input message with data to be inferred upon Default queue is blocking with size 5
-
property
inputDepth
Input message with depth data used to retrieve spatial information about detected object Default queue is non-blocking with size 4
-
property
inputs
Inputs mapped to network inputs. Useful for inferring from separate data sources Default input is non-blocking with queue size 1 and waits for messages
-
property
out
Outputs ImgDetections message that carries parsed detection results.
-
property
outNetwork
Outputs unparsed inference results.
-
property
passthrough
Passthrough message on which the inference was performed.
Suitable for when input queue is set to non-blocking behavior.
-
property
passthroughDepth
Passthrough message for depth frame on which the spatial location calculation was performed.
Suitable for when input queue is set to non-blocking behavior.
-
property
passthroughs
Passthroughs which correspond to specified input
-
setBlob
(*args, **kwargs) Overloaded function.
setBlob(self: depthai.node.NeuralNetwork, blob: depthai.OpenVINO.Blob) -> None
Load network blob into assets and use once pipeline is started.
- Parameter
blob
: Network blob
setBlob(self: depthai.node.NeuralNetwork, path: Path) -> None
Same functionality as the setBlobPath(). Load network blob into assets and use once pipeline is started.
- Throws:
Error if file doesn’t exist or isn’t a valid network blob.
- Parameter
path
: Path to network blob
-
setBlobPath
(self: depthai.node.NeuralNetwork, path: Path) → None Load network blob into assets and use once pipeline is started.
- Throws:
Error if file doesn’t exist or isn’t a valid network blob.
- Parameter
path
: Path to network blob
-
setBoundingBoxScaleFactor
(self: depthai.node.SpatialDetectionNetwork, scaleFactor: float) → None Specifies scale factor for detected bounding boxes.
- Parameter
scaleFactor
: Scale factor must be in the interval (0,1].
- Parameter
-
setConfidenceThreshold
(self: depthai.node.DetectionNetwork, thresh: float) → None Specifies confidence threshold at which to filter the rest of the detections.
- Parameter
thresh
: Detection confidence must be greater than specified threshold to be added to the list
- Parameter
-
setDepthLowerThreshold
(self: depthai.node.SpatialDetectionNetwork, lowerThreshold: int) → None Specifies lower threshold in depth units (millimeter by default) for depth values which will used to calculate spatial data
- Parameter
lowerThreshold
: LowerThreshold must be in the interval [0,upperThreshold] and less than upperThreshold.
- Parameter
-
setDepthUpperThreshold
(self: depthai.node.SpatialDetectionNetwork, upperThreshold: int) → None Specifies upper threshold in depth units (millimeter by default) for depth values which will used to calculate spatial data
- Parameter
upperThreshold
: UpperThreshold must be in the interval (lowerThreshold,65535].
- Parameter
-
setNumInferenceThreads
(self: depthai.node.NeuralNetwork, numThreads: int) → None How many threads should the node use to run the network.
- Parameter
numThreads
: Number of threads to dedicate to this node
- Parameter
-
setNumNCEPerInferenceThread
(self: depthai.node.NeuralNetwork, numNCEPerThread: int) → None How many Neural Compute Engines should a single thread use for inference
- Parameter
numNCEPerThread
: Number of NCE per thread
- Parameter
-
setNumPoolFrames
(self: depthai.node.NeuralNetwork, numFrames: int) → None Specifies how many frames will be available in the pool
- Parameter
numFrames
: How many frames will pool have
- Parameter
-
setSpatialCalculationAlgorithm
(self: depthai.node.SpatialDetectionNetwork, calculationAlgorithm: depthai.SpatialLocationCalculatorAlgorithm) → None Specifies spatial location calculator algorithm: Average/Min/Max
- Parameter
calculationAlgorithm
: Calculation algorithm.
- Parameter
-
property
spatialLocationCalculatorOutput
Output of SpatialLocationCalculator node, which is used internally by SpatialDetectionNetwork. Suitable when extra information is required from SpatialLocationCalculator node, e.g. minimum, maximum distance.
-
class
-
class
dai::node
::
MobileNetSpatialDetectionNetwork
: public dai::NodeCRTP<SpatialDetectionNetwork, MobileNetSpatialDetectionNetwork, SpatialDetectionNetworkProperties>¶ MobileNetSpatialDetectionNetwork node. Mobilenet-SSD based network with spatial location data.
Public Functions
Got questions?
We’re always happy to help with code or other questions you might have.