I’m trying to locate the implementation of the X, Y, Z coordinate calculations ($Z=f⋅bd Z = \frac{f \cdot b}{d}$ Z=df⋅b, $X=Z⋅(u−cx)fx X = Z \cdot \frac{(u - c_x)}{f_x}$ X=Z⋅fx(u−cx), $Y=Z⋅(v−cy)fy Y = Z \cdot \frac{(v - c_y)}{f_y}$ Y=Z⋅fy(v−cy)) for YoloSpatialDetectionNetwork . Are these formulas implemented in the Myriad X VPU firmware, or is there a C++ implementation in depthai-core? If in firmware, is there a way to access or understand the implementation?
