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Add option to pick spatial calculation algorithm : average,min,max of… #56

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Sep 18, 2021
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Add option to pick spatial calculation algorithm : average,min,max of… #56

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18 changes: 17 additions & 1 deletion include/depthai-shared/datatype/RawSpatialLocationCalculatorConfig.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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 {
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4 changes: 3 additions & 1 deletion include/depthai-shared/properties/SpatialDetectionNetworkProperties.hpp
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Expand Up @@ -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,
Expand All @@ -36,6 +37,7 @@ NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE(SpatialDetectionNetworkProperties,
anchorMasks,
iouThreshold,
detectedBBScaleFactor,
depthThresholds)
depthThresholds,
calculationAlgorithm)

} // namespace dai