Depth-value in SpatialDetectionNetwork?

mzbt

Hallo,
I don't understand how depth-value is computed by using 2D Bounding Box detections. I understand one may have to choose a reference point or region from each 2D Bounding Box and get the corresponding depth-value from the Depth map. But how this reference point or region is chosen? I cannot find any descriptions…

jakaskerl

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