Hi mzbt
Afaik when bounding box is inferred by the detection part of the node, some smaller portion of that bbox rectangle (defined by setBoundingBoxScaleFactor()
) will be fed into the spatial part (essentially a spatial calculator node). This smaller region of the RGB image (aligned with depth map), can be taken to acquire the average Z value of the object. At the same time X and Y are computed from Z and FOV.
Thanks,
Jaka