When I try to use the oak4-d device, I run the examples/python/SpatialLocationCalculator/spatial_location_calculator.py script, but it seems not to have a timestamp in `SpatialLocationCalculatorData`. Is this intentional, or is there a specific reason why the timestamp is missing?
Platform：
- Ubuntu: 22.04
- python: 3.10
- depthai: 3.0.0b1.dev0+5922d267482e64f1e222ca8908906205d81cb93f
Code:
#!/usr/bin/env python3
import cv2
import depthai as dai
import numpy as np
color = (255, 255, 255)
# Create pipeline
pipeline = dai.Pipeline()
# Config
topLeft = dai.Point2f(0.4, 0.4)
bottomRight = dai.Point2f(0.6, 0.6)
# Define sources and outputs
monoLeft = pipeline.create(dai.node.Camera).build(dai.CameraBoardSocket.CAM_B)
monoRight = pipeline.create(dai.node.Camera).build(dai.CameraBoardSocket.CAM_C)
stereo = pipeline.create(dai.node.StereoDepth)
spatialLocationCalculator = pipeline.create(dai.node.SpatialLocationCalculator)
# Linking
monoLeftOut = monoLeft.requestOutput((640, 400))
monoRightOut = monoRight.requestOutput((640, 400))
monoLeftOut.link(stereo.left)
monoRightOut.link(stereo.right)
stereo.setRectification(True)
stereo.setExtendedDisparity(True)
stepSize = 0.05
config = dai.SpatialLocationCalculatorConfigData()
config.depthThresholds.lowerThreshold = 10
config.depthThresholds.upperThreshold = 10000
calculationAlgorithm = dai.SpatialLocationCalculatorAlgorithm.MEDIAN
config.roi = dai.Rect(topLeft, bottomRight)
spatialLocationCalculator.inputConfig.setWaitForMessage(False)
spatialLocationCalculator.initialConfig.addROI(config)
xoutSpatialQueue = spatialLocationCalculator.out.createOutputQueue()
outputDepthQueue = spatialLocationCalculator.passthroughDepth.createOutputQueue()
stereo.depth.link(spatialLocationCalculator.inputDepth)
inputConfigQueue = spatialLocationCalculator.inputConfig.createInputQueue()
with pipeline:
pipeline.start()
while pipeline.isRunning():
spatialDataPacket: dai.SpatialLocationCalculatorData = xoutSpatialQueue.get()
print("Spatial calculation data at ", spatialDataPacket.getTimestamp())
spatialData = spatialDataPacket.getSpatialLocations()
print("Use WASD keys to move ROI!")
outputDepthIMage: dai.ImgFrame = outputDepthQueue.get()
frameDepth = outputDepthIMage.getCvFrame()
frameDepth = outputDepthIMage.getFrame()
print("Median depth value: ", np.median(frameDepth))
depthFrameColor = cv2.normalize(
frameDepth, None, 255, 0, cv2.NORM_INF, cv2.CV_8UC1
)
depthFrameColor = cv2.equalizeHist(depthFrameColor)
depthFrameColor = cv2.applyColorMap(depthFrameColor, cv2.COLORMAP_HOT)
for depthData in spatialData:
roi = depthData.config.roi
roi = roi.denormalize(
width=depthFrameColor.shape[1], height=depthFrameColor.shape[0]
)
xmin = int(roi.topLeft().x)
ymin = int(roi.topLeft().y)
xmax = int(roi.bottomRight().x)
ymax = int(roi.bottomRight().y)
depthMin = depthData.depthMin
depthMax = depthData.depthMax
fontType = cv2.FONT_HERSHEY_TRIPLEX
cv2.rectangle(
depthFrameColor,
(xmin, ymin),
(xmax, ymax),
color,
cv2.FONT_HERSHEY_SCRIPT_SIMPLEX,
)
cv2.putText(
depthFrameColor,
f"X: {int(depthData.spatialCoordinates.x)} mm",
(xmin + 10, ymin + 20),
fontType,
0.5,
color,
)
cv2.putText(
depthFrameColor,
f"Y: {int(depthData.spatialCoordinates.y)} mm",
(xmin + 10, ymin + 35),
fontType,
0.5,
color,
)
cv2.putText(
depthFrameColor,
f"Z: {int(depthData.spatialCoordinates.z)} mm",
(xmin + 10, ymin + 50),
fontType,
0.5,
color,
)
# Show the frame
cv2.imshow("depth", depthFrameColor)
key = cv2.waitKey(1)
if key == ord("q"):
pipeline.stop()
break
stepSize = 0.05
newConfig = False
if key == ord("q"):
break
elif key == ord("w"):
if topLeft.y - stepSize >= 0:
topLeft.y -= stepSize
bottomRight.y -= stepSize
newConfig = True
elif key == ord("a"):
if topLeft.x - stepSize >= 0:
topLeft.x -= stepSize
bottomRight.x -= stepSize
newConfig = True
elif key == ord("s"):
if bottomRight.y + stepSize <= 1:
topLeft.y += stepSize
bottomRight.y += stepSize
newConfig = True
elif key == ord("d"):
if bottomRight.x + stepSize <= 1:
topLeft.x += stepSize
bottomRight.x += stepSize
newConfig = True
elif key == ord("1"):
calculationAlgorithm = dai.SpatialLocationCalculatorAlgorithm.MEAN
print("Switching calculation algorithm to MEAN!")
newConfig = True
elif key == ord("2"):
calculationAlgorithm = dai.SpatialLocationCalculatorAlgorithm.MIN
print("Switching calculation algorithm to MIN!")
newConfig = True
elif key == ord("3"):
calculationAlgorithm = dai.SpatialLocationCalculatorAlgorithm.MAX
print("Switching calculation algorithm to MAX!")
newConfig = True
elif key == ord("4"):
calculationAlgorithm = dai.SpatialLocationCalculatorAlgorithm.MODE
print("Switching calculation algorithm to MODE!")
newConfig = True
elif key == ord("5"):
calculationAlgorithm = dai.SpatialLocationCalculatorAlgorithm.MEDIAN
print("Switching calculation algorithm to MEDIAN!")
newConfig = True
if newConfig:
config.roi = dai.Rect(topLeft, bottomRight)
config.calculationAlgorithm = calculationAlgorithm
cfg = dai.SpatialLocationCalculatorConfig()
cfg.addROI(config)
inputConfigQueue.send(cfg)
newConfig = False
screenshot:
