Can someone tell me the correct:
???.setDepthAlign(???)
to align to the RGB camera and get rid of this warning:
[SpatialDetectionNetwork(1)] [warning] Neural network inference was performed on socket 'RGB', depth frame is aligned to socket 'RIGHT'. Bounding box mapping will not be correct, and will lead to erroneus spatial values. Align depth map to socket 'RGB' using 'setDepthAlign'.
My Setup:
# Create pipeline
pipeline = dai.Pipeline()
# Define sources and outputs
camRgb = pipeline.create(dai.node.ColorCamera)
spatialDetectionNetwork = pipeline.create(dai.node.YoloSpatialDetectionNetwork)
monoLeft = pipeline.create(dai.node.MonoCamera)
monoRight = pipeline.create(dai.node.MonoCamera)
stereo = pipeline.create(dai.node.StereoDepth)
xoutNN = pipeline.create(dai.node.XLinkOut)
xoutNN.setStreamName("detections")
# Properties
camRgb.setPreviewSize(416, 416)
camRgb.setResolution(dai.ColorCameraProperties.SensorResolution.THE_1080_P)
camRgb.setInterleaved(False)
camRgb.setColorOrder(dai.ColorCameraProperties.ColorOrder.BGR)
monoLeft.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P)
monoLeft.setBoardSocket(dai.CameraBoardSocket.LEFT)
monoRight.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P)
monoRight.setBoardSocket(dai.CameraBoardSocket.RIGHT)
# setting node configs
# to eliminate error msg 2024-01-17 alan
"""
[184430101175A41200] [3.1] [147.531] [SpatialDetectionNetwork(1)] [warning] Neural network inference was performed on socket 'RGB', depth frame is aligned to socket 'RIGHT'. Bounding box mapping will not be correct, and will lead to erroneus spatial values. Align depth map to socket 'RGB' using 'setDepthAlign'.
"""
# ???.setDepthAlign(???)
spatialDetectionNetwork.setBlobPath(nnBlobPath)
spatialDetectionNetwork.setConfidenceThreshold(0.5)
spatialDetectionNetwork.input.setBlocking(False)
spatialDetectionNetwork.setBoundingBoxScaleFactor(0.5)
spatialDetectionNetwork.setDepthLowerThreshold(100)
spatialDetectionNetwork.setDepthUpperThreshold(5000)
# Yolo specific parameters
spatialDetectionNetwork.setNumClasses(80)
spatialDetectionNetwork.setCoordinateSize(4)
spatialDetectionNetwork.setAnchors(np.array([10,14, 23,27, 37,58, 81,82, 135,169, 344,319]))
spatialDetectionNetwork.setAnchorMasks({ "side26": np.array([1,2,3]), "side13": np.array([3,4,5]) })
spatialDetectionNetwork.setIouThreshold(0.5)
# Linking
monoLeft.out.link(stereo.left)
monoRight.out.link(stereo.right)
camRgb.preview.link(spatialDetectionNetwork.input)
spatialDetectionNetwork.out.link(xoutNN.input)
stereo.depth.link(spatialDetectionNetwork.inputDepth)
