I am updating an old project and I wanted to find the spatial x,y,z coordinates of an object on host using detections and a sent depth map.
I currently have it as:
deviceCalib = std::make_shared
[dai::CalibrationHandler
](dai::CalibrationHandler)(device->readCalibration());
cameraIntrinsics = deviceCalib->getCameraIntrinsics(dai::CameraBoardSocket::RGB, 1280, 720);
auto lensPos = deviceCalib->getLensPosition(dai::CameraBoardSocket::RGB);
cameraHFOVInRadians = ((deviceCalib->getFov(dai::CameraBoardSocket::RGB) * pi) / 180.0) * (3840.0/4056.0); // Must scale for cropping: https://discordapp.com/channels/790680891252932659/924798503270625290/936746213691228260
Is this still the right process?