Hello, I have aligned the depth with RGB as in yout python example rgb_depth_aligned.py, and I wish to obtain the depth of certain ROIs using the spatialLocationCalculator. However, when I have set it up and I try to extract the data from the spatialLocationCalculator queue it freezes.
Do you have alternatives to obtaining the x,y,z data from ROIs?

My setup is:

Create pipeline

stepSize = 0.05

newConfig = False

pipeline = dai.Pipeline()

# Define sources and outputs
monoLeft = pipeline.createMonoCamera()
monoRight = pipeline.createMonoCamera()
stereo = pipeline.createStereoDepth()
spatialLocationCalculator = pipeline.createSpatialLocationCalculator()
cam_rgb = pipeline.createColorCamera()
cam_rgb.setPreviewSize(300, 300)
cam_rgb.setInterleaved(False)


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

xoutDepth.setStreamName("depth")
xoutSpatialData.setStreamName("spatialData")
xinSpatialCalcConfig.setStreamName("spatialCalcConfig")
xout_rgb.setStreamName("rgb")
queueNames = []

queueNames.append("depth")
queueNames.append("rgb")
# Properties
monoLeft.setResolution(dai.MonoCameraProperties.SensorResolution.THE_720_P)
monoLeft.setBoardSocket(dai.CameraBoardSocket.LEFT)
monoRight.setResolution(dai.MonoCameraProperties.SensorResolution.THE_720_P)
monoRight.setBoardSocket(dai.CameraBoardSocket.RIGHT)
cam_rgb.setBoardSocket(dai.CameraBoardSocket.RGB)
cam_rgb.setResolution(dai.ColorCameraProperties.SensorResolution.THE_1080_P)
cam_rgb.initialControl.setManualFocus(130)
lrcheck = True
subpixel = False

stereo.setConfidenceThreshold(255)
stereo.setLeftRightCheck(lrcheck)
stereo.setSubpixel(subpixel)

# Config
topLeft = dai.Point2f(0.0, 0.0)
bottomRight = dai.Point2f(0.1, 0.1)

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

spatialLocationCalculator.setWaitForConfigInput(False)
spatialLocationCalculator.initialConfig.addROI(config)
stereo.setDepthAlign(dai.CameraBoardSocket.RGB)

# Linking
cam_rgb.isp.link(xout_rgb.input)
monoLeft.out.link(stereo.left)
monoRight.out.link(stereo.right)

spatialLocationCalculator.passthroughDepth.link(xoutDepth.input)
#stereo.depth.link(spatialLocationCalculator.inputDepth) ### FAILS WHEN THIS IS NOT COMMENTED
stereo.disparity.link(xoutDepth.input)

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

device_cam = dai.Device(pipeline)