Spatial location calculator¶

This example shows how to retrieve spatial location data (X,Y,Z) on a runtime configurable ROI. You can move the ROI using WASD keys. X,Y,Z coordinates are relative to the center of depth map.

You can also calculate spatial coordiantes on host side, demo here.

Similar samples:

Demo¶

https://user-images.githubusercontent.com/18037362/146296930-9e7071f5-33b9-45f9-af21-cace7ffffc0f.gif

Setup¶

Please run the install script to download all required dependencies. Please note that this script must be ran from git context, so you have to download the depthai-python repository first and then run the script

git clone https://github.com/luxonis/depthai-python.git
cd depthai-python/examples
python3 install_requirements.py

For additional information, please follow installation guide

Source code¶

Python

C++

Also available on GitHub

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#!/usr/bin/env python3

import cv2
import depthai as dai
import numpy as np
stepSize = 0.05

newConfig = False

# Create pipeline
pipeline = dai.Pipeline()

# Define sources and outputs
monoLeft = pipeline.create(dai.node.MonoCamera)
monoRight = pipeline.create(dai.node.MonoCamera)
stereo = pipeline.create(dai.node.StereoDepth)
spatialLocationCalculator = pipeline.create(dai.node.SpatialLocationCalculator)

xoutDepth = pipeline.create(dai.node.XLinkOut)
xoutSpatialData = pipeline.create(dai.node.XLinkOut)
xinSpatialCalcConfig = pipeline.create(dai.node.XLinkIn)

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

# Properties
monoLeft.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P)
monoLeft.setCamera("left")
monoRight.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P)
monoRight.setCamera("right")

stereo.setDefaultProfilePreset(dai.node.StereoDepth.PresetMode.HIGH_DENSITY)
stereo.setLeftRightCheck(True)
stereo.setSubpixel(True)

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

config = dai.SpatialLocationCalculatorConfigData()
config.depthThresholds.lowerThreshold = 100
config.depthThresholds.upperThreshold = 10000
calculationAlgorithm = dai.SpatialLocationCalculatorAlgorithm.MEDIAN
config.roi = dai.Rect(topLeft, bottomRight)

spatialLocationCalculator.inputConfig.setWaitForMessage(False)
spatialLocationCalculator.initialConfig.addROI(config)

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

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

spatialLocationCalculator.out.link(xoutSpatialData.input)
xinSpatialCalcConfig.out.link(spatialLocationCalculator.inputConfig)

# Connect to device and start pipeline
with dai.Device(pipeline) as device:

    # Output queue will be used to get the depth frames from the outputs defined above
    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() # Blocking call, will wait until a new data has arrived

        depthFrame = inDepth.getFrame() # depthFrame values are in millimeters

        depth_downscaled = depthFrame[::4]
        if np.all(depth_downscaled == 0):
            min_depth = 0  # Set a default minimum depth value when all elements are zero
        else:
            min_depth = np.percentile(depth_downscaled[depth_downscaled != 0], 1)
        max_depth = np.percentile(depth_downscaled, 99)
        depthFrameColor = np.interp(depthFrame, (min_depth, max_depth), (0, 255)).astype(np.uint8)
        depthFrameColor = cv2.applyColorMap(depthFrameColor, cv2.COLORMAP_HOT)

        spatialData = spatialCalcQueue.get().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)

            depthMin = depthData.depthMin
            depthMax = depthData.depthMax

            fontType = cv2.FONT_HERSHEY_TRIPLEX
            cv2.rectangle(depthFrameColor, (xmin, ymin), (xmax, ymax), color, 1)
            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)
        # Show the frame
        cv2.imshow("depth", depthFrameColor)

        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
        elif key == ord('1'):
            calculationAlgorithm = dai.SpatialLocationCalculatorAlgorithm.MEAN
            print('Switching calculation algorithm to MEAN!')
            newConfig = True
        elif key == ord('2'):
            calculationAlgorithm = dai.SpatialLocationCalculatorAlgorithm.MIN
            print('Switching calculation algorithm to MIN!')
            newConfig = True
        elif key == ord('3'):
            calculationAlgorithm = dai.SpatialLocationCalculatorAlgorithm.MAX
            print('Switching calculation algorithm to MAX!')
            newConfig = True
        elif key == ord('4'):
            calculationAlgorithm = dai.SpatialLocationCalculatorAlgorithm.MODE
            print('Switching calculation algorithm to MODE!')
            newConfig = True
        elif key == ord('5'):
            calculationAlgorithm = dai.SpatialLocationCalculatorAlgorithm.MEDIAN
            print('Switching calculation algorithm to MEDIAN!')
            newConfig = True

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

Also available on GitHub

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#include <iostream>

#include "utility.hpp"

// Includes common necessary includes for development using depthai library
#include "depthai/depthai.hpp"

static constexpr float stepSize = 0.05f;

static std::atomic<bool> newConfig{false};

int main() {
    using namespace std;

    // Create pipeline
    dai::Pipeline pipeline;

    // Define sources and outputs
    auto monoLeft = pipeline.create<dai::node::MonoCamera>();
    auto monoRight = pipeline.create<dai::node::MonoCamera>();
    auto stereo = pipeline.create<dai::node::StereoDepth>();
    auto spatialDataCalculator = pipeline.create<dai::node::SpatialLocationCalculator>();

    auto xoutDepth = pipeline.create<dai::node::XLinkOut>();
    auto xoutSpatialData = pipeline.create<dai::node::XLinkOut>();
    auto xinSpatialCalcConfig = pipeline.create<dai::node::XLinkIn>();

    xoutDepth->setStreamName("depth");
    xoutSpatialData->setStreamName("spatialData");
    xinSpatialCalcConfig->setStreamName("spatialCalcConfig");

    // Properties
    monoLeft->setResolution(dai::MonoCameraProperties::SensorResolution::THE_400_P);
    monoLeft->setCamera("left");
    monoRight->setResolution(dai::MonoCameraProperties::SensorResolution::THE_400_P);
    monoRight->setCamera("right");

    bool lrcheck = false;
    bool subpixel = false;

    stereo->setDefaultProfilePreset(dai::node::StereoDepth::PresetMode::HIGH_DENSITY);
    stereo->setLeftRightCheck(lrcheck);
    stereo->setSubpixel(subpixel);

    // Config
    dai::Point2f topLeft(0.4f, 0.4f);
    dai::Point2f bottomRight(0.6f, 0.6f);

    dai::SpatialLocationCalculatorConfigData config;
    config.depthThresholds.lowerThreshold = 100;
    config.depthThresholds.upperThreshold = 10000;
    auto calculationAlgorithm = dai::SpatialLocationCalculatorAlgorithm::MEDIAN;
    config.calculationAlgorithm = calculationAlgorithm;
    config.roi = dai::Rect(topLeft, bottomRight);

    spatialDataCalculator->inputConfig.setWaitForMessage(false);
    spatialDataCalculator->initialConfig.addROI(config);

    // Linking
    monoLeft->out.link(stereo->left);
    monoRight->out.link(stereo->right);

    spatialDataCalculator->passthroughDepth.link(xoutDepth->input);
    stereo->depth.link(spatialDataCalculator->inputDepth);

    spatialDataCalculator->out.link(xoutSpatialData->input);
    xinSpatialCalcConfig->out.link(spatialDataCalculator->inputConfig);

    // Connect to device and start pipeline
    dai::Device device(pipeline);

    // Output queue will be used to get the depth frames from the outputs defined above
    auto depthQueue = device.getOutputQueue("depth", 8, false);
    auto spatialCalcQueue = device.getOutputQueue("spatialData", 8, false);
    auto spatialCalcConfigInQueue = device.getInputQueue("spatialCalcConfig");

    auto color = cv::Scalar(255, 255, 255);

    std::cout << "Use WASD keys to move ROI!" << std::endl;

    while(true) {
        auto inDepth = depthQueue->get<dai::ImgFrame>();

        cv::Mat depthFrame = inDepth->getFrame();  // depthFrame values are in millimeters
        cv::Mat depthFrameColor;

        cv::normalize(depthFrame, depthFrameColor, 255, 0, cv::NORM_INF, CV_8UC1);
        cv::equalizeHist(depthFrameColor, depthFrameColor);
        cv::applyColorMap(depthFrameColor, depthFrameColor, cv::COLORMAP_HOT);

        auto spatialData = spatialCalcQueue->get<dai::SpatialLocationCalculatorData>()->getSpatialLocations();
        for(auto depthData : spatialData) {
            auto roi = depthData.config.roi;
            roi = roi.denormalize(depthFrameColor.cols, depthFrameColor.rows);
            auto xmin = (int)roi.topLeft().x;
            auto ymin = (int)roi.topLeft().y;
            auto xmax = (int)roi.bottomRight().x;
            auto ymax = (int)roi.bottomRight().y;

            auto depthMin = depthData.depthMin;
            auto depthMax = depthData.depthMax;

            cv::rectangle(depthFrameColor, cv::Rect(cv::Point(xmin, ymin), cv::Point(xmax, ymax)), color, cv::FONT_HERSHEY_SIMPLEX);
            std::stringstream depthX;
            depthX << "X: " << (int)depthData.spatialCoordinates.x << " mm";
            cv::putText(depthFrameColor, depthX.str(), cv::Point(xmin + 10, ymin + 20), cv::FONT_HERSHEY_TRIPLEX, 0.5, color);
            std::stringstream depthY;
            depthY << "Y: " << (int)depthData.spatialCoordinates.y << " mm";
            cv::putText(depthFrameColor, depthY.str(), cv::Point(xmin + 10, ymin + 35), cv::FONT_HERSHEY_TRIPLEX, 0.5, color);
            std::stringstream depthZ;
            depthZ << "Z: " << (int)depthData.spatialCoordinates.z << " mm";
            cv::putText(depthFrameColor, depthZ.str(), cv::Point(xmin + 10, ymin + 50), cv::FONT_HERSHEY_TRIPLEX, 0.5, color);
        }
        // Show the frame
        cv::imshow("depth", depthFrameColor);

        int key = cv::waitKey(1);
        switch(key) {
            case 'q':
                return 0;
            case 'w':
                if(topLeft.y - stepSize >= 0) {
                    topLeft.y -= stepSize;
                    bottomRight.y -= stepSize;
                    newConfig = true;
                }
                break;
            case 'a':
                if(topLeft.x - stepSize >= 0) {
                    topLeft.x -= stepSize;
                    bottomRight.x -= stepSize;
                    newConfig = true;
                }
                break;
            case 's':
                if(bottomRight.y + stepSize <= 1) {
                    topLeft.y += stepSize;
                    bottomRight.y += stepSize;
                    newConfig = true;
                }
                break;
            case 'd':
                if(bottomRight.x + stepSize <= 1) {
                    topLeft.x += stepSize;
                    bottomRight.x += stepSize;
                    newConfig = true;
                }
                break;
            case '1':
                calculationAlgorithm = dai::SpatialLocationCalculatorAlgorithm::MEAN;
                newConfig = true;
                std::cout << "Switching calculation algorithm to MEAN!" << std::endl;
                break;
            case '2':
                calculationAlgorithm = dai::SpatialLocationCalculatorAlgorithm::MIN;
                newConfig = true;
                std::cout << "Switching calculation algorithm to MIN!" << std::endl;
                break;
            case '3':
                calculationAlgorithm = dai::SpatialLocationCalculatorAlgorithm::MAX;
                newConfig = true;
                std::cout << "Switching calculation algorithm to MAX!" << std::endl;
                break;
            case '4':
                calculationAlgorithm = dai::SpatialLocationCalculatorAlgorithm::MODE;
                newConfig = true;
                std::cout << "Switching calculation algorithm to MODE!" << std::endl;
                break;
            case '5':
                calculationAlgorithm = dai::SpatialLocationCalculatorAlgorithm::MEDIAN;
                newConfig = true;
                std::cout << "Switching calculation algorithm to MEDIAN!" << std::endl;
                break;
            default:
                break;
        }

        if(newConfig) {
            config.roi = dai::Rect(topLeft, bottomRight);
            config.calculationAlgorithm = calculationAlgorithm;
            dai::SpatialLocationCalculatorConfig cfg;
            cfg.addROI(config);
            spatialCalcConfigInQueue->send(cfg);
            newConfig = false;
        }
    }
    return 0;
}

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