From b8dc6306861720acb7a444bfa8fb3d0b0db875de Mon Sep 17 00:00:00 2001
From: SzabolcsGergely <szabi@luxonis.com>
Date: Sat, 18 Sep 2021 02:06:01 +0300
Subject: [PATCH] Add option to pick spatial calc algorithm

---
 .../RawSpatialLocationCalculatorConfig.hpp     | 18 +++++++++++++++++-
 .../SpatialDetectionNetworkProperties.hpp      |  4 +++-
 2 files changed, 20 insertions(+), 2 deletions(-)

diff --git a/include/depthai-shared/datatype/RawSpatialLocationCalculatorConfig.hpp b/include/depthai-shared/datatype/RawSpatialLocationCalculatorConfig.hpp
index e1ac404a..06924ea0 100644
--- a/include/depthai-shared/datatype/RawSpatialLocationCalculatorConfig.hpp
+++ b/include/depthai-shared/datatype/RawSpatialLocationCalculatorConfig.hpp
@@ -22,12 +22,28 @@ struct SpatialLocationCalculatorConfigThresholds {
 };
 NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE(SpatialLocationCalculatorConfigThresholds, lowerThreshold, upperThreshold);
 
+enum class SpatialLocationCalculatorAlgorithm : uint32_t { AVERAGE = 0, MIN, MAX };
+
 /// SpatialLocation configuration data structure
 struct SpatialLocationCalculatorConfigData {
+    /**
+     * Region of interest for spatial location calculation.
+     */
     Rect roi;
+    /**
+     * Upper and lower thresholds for depth values to take into consideration.
+     */
     SpatialLocationCalculatorConfigThresholds depthThresholds;
+    /**
+     * Calculation method used to obtain spatial locations.
+     * Average: the average of ROI is used for calculation.
+     * Min: the minimum value inside ROI is used for calculation.
+     * Max: the maximum value inside ROI is used for calculation.
+     * Default: average.
+     */
+    SpatialLocationCalculatorAlgorithm calculationAlgorithm = SpatialLocationCalculatorAlgorithm::AVERAGE;
 };
-NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE(SpatialLocationCalculatorConfigData, roi, depthThresholds);
+NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE(SpatialLocationCalculatorConfigData, roi, depthThresholds, calculationAlgorithm);
 
 /// RawSpatialLocation configuration structure
 struct RawSpatialLocationCalculatorConfig : public RawBuffer {
diff --git a/include/depthai-shared/properties/SpatialDetectionNetworkProperties.hpp b/include/depthai-shared/properties/SpatialDetectionNetworkProperties.hpp
index 399bf8fe..6e87768a 100644
--- a/include/depthai-shared/properties/SpatialDetectionNetworkProperties.hpp
+++ b/include/depthai-shared/properties/SpatialDetectionNetworkProperties.hpp
@@ -20,6 +20,7 @@ namespace dai {
 struct SpatialDetectionNetworkProperties : DetectionNetworkProperties {
     float detectedBBScaleFactor = 1.0;
     SpatialLocationCalculatorConfigThresholds depthThresholds;
+    SpatialLocationCalculatorAlgorithm calculationAlgorithm = SpatialLocationCalculatorAlgorithm::AVERAGE;
 };
 
 NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE(SpatialDetectionNetworkProperties,
@@ -36,6 +37,7 @@ NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE(SpatialDetectionNetworkProperties,
                                    anchorMasks,
                                    iouThreshold,
                                    detectedBBScaleFactor,
-                                   depthThresholds)
+                                   depthThresholds,
+                                   calculationAlgorithm)
 
 }  // namespace dai