org.bytedeco.depthai

Class SpatialDetectionNetwork

java.lang.Object

org.bytedeco.javacpp.Pointer

org.bytedeco.depthai.Node

org.bytedeco.depthai.NeuralNetworkPropertiesNode

org.bytedeco.depthai.NeuralNetwork

org.bytedeco.depthai.DetectionNetworkPropertiesNode

org.bytedeco.depthai.DetectionNetwork

org.bytedeco.depthai.SpatialDetectionNetworkPropertiesNode

org.bytedeco.depthai.SpatialDetectionNetwork

All Implemented Interfaces:

AutoCloseable

Direct Known Subclasses:

MobileNetSpatialDetectionNetworkPropertiesNode, YoloSpatialDetectionNetworkPropertiesNode

@Namespace(value="dai::node")
 @NoOffset
 @Properties(inherit=depthai.class)
public class SpatialDetectionNetwork
extends SpatialDetectionNetworkPropertiesNode

\brief SpatialDetectionNetwork node. Runs a neural inference on input image and calculates spatial location data.

Nested Class Summary

Nested classes/interfaces inherited from class org.bytedeco.depthai.Node

Node.Connection, Node.DatatypeHierarchy, Node.Input, Node.InputMap, Node.Output, Node.OutputMap

Nested classes/interfaces inherited from class org.bytedeco.javacpp.Pointer

Pointer.CustomDeallocator, Pointer.Deallocator, Pointer.NativeDeallocator, Pointer.ReferenceCounter

Field Summary

Fields inherited from class org.bytedeco.javacpp.Pointer

address, capacity, limit, position

Constructor Summary

Constructors

Constructor and Description
SpatialDetectionNetwork(Pointer p) Pointer cast constructor.

Method Summary

Modifier and Type	Method and Description
Node.Output	boundingBoxMapping() Outputs mapping of detected bounding boxes relative to depth map Suitable for when displaying remapped bounding boxes on depth frame
Node.Input	input() Input message with data to be inferred upon Default queue is blocking with size 5
Node.Input	inputDepth() Input message with depth data used to retrieve spatial information about detected object Default queue is non-blocking with size 4
static BytePointer	NAME()
Node.Output	out() Outputs ImgDetections message that carries parsed detection results.
Node.Output	passthrough() Passthrough message on which the inference was performed.
Node.Output	passthroughDepth() Passthrough message for depth frame on which the spatial location calculation was performed.
void	setBoundingBoxScaleFactor(float scaleFactor) Specifies scale factor for detected bounding boxes.
void	setDepthLowerThreshold(int lowerThreshold) Specifies lower threshold in depth units (millimeter by default) for depth values which will used to calculate spatial data
void	setDepthUpperThreshold(int upperThreshold) Specifies upper threshold in depth units (millimeter by default) for depth values which will used to calculate spatial data
void	setSpatialCalculationAlgorithm(depthai.SpatialLocationCalculatorAlgorithm calculationAlgorithm) Specifies spatial location calculator algorithm: Average/Min/Max
void	setSpatialCalculationAlgorithm(int calculationAlgorithm)
void	setSpatialCalculationStepSize(int stepSize) Specifies spatial location calculator step size for depth calculation.
Node.Output	spatialLocationCalculatorOutput() Output of SpatialLocationCalculator node, which is used internally by SpatialDetectionNetwork.

Methods inherited from class org.bytedeco.depthai.SpatialDetectionNetworkPropertiesNode

clone, getName, properties, properties

Methods inherited from class org.bytedeco.depthai.DetectionNetwork

getConfidenceThreshold, outNetwork, setConfidenceThreshold

Methods inherited from class org.bytedeco.depthai.DetectionNetworkPropertiesNode

properties

Methods inherited from class org.bytedeco.depthai.NeuralNetwork

getNumInferenceThreads, inputs, passthroughs, setBlob, setBlob, setBlobPath, setNumInferenceThreads, setNumNCEPerInferenceThread, setNumPoolFrames

Methods inherited from class org.bytedeco.depthai.NeuralNetworkPropertiesNode

properties

Methods inherited from class org.bytedeco.depthai.Node

assetManager, getAssetManager, getInputRefs, getInputs, getOutputRefs, getOutputs, getParentPipeline, getProperties, getRequiredOpenVINOVersion, id, inputMapRefs, inputRefs, outputMapRefs, outputRefs, propertiesHolder, setInputMapRefs, setInputRefs, setOutputMapRefs, setOutputRefs

Methods inherited from class org.bytedeco.javacpp.Pointer

address, asBuffer, asByteBuffer, availablePhysicalBytes, calloc, capacity, capacity, close, deallocate, deallocate, deallocateReferences, deallocator, deallocator, equals, fill, formatBytes, free, getDirectBufferAddress, getPointer, getPointer, getPointer, getPointer, hashCode, interruptDeallocatorThread, isNull, isNull, limit, limit, malloc, maxBytes, maxPhysicalBytes, memchr, memcmp, memcpy, memmove, memset, offsetAddress, offsetof, offsetof, parseBytes, physicalBytes, physicalBytesInaccurate, position, position, put, realloc, referenceCount, releaseReference, retainReference, setNull, sizeof, sizeof, toString, totalBytes, totalCount, totalPhysicalBytes, withDeallocator, zero

Methods inherited from class java.lang.Object

finalize, getClass, notify, notifyAll, wait, wait, wait

Constructor Detail

SpatialDetectionNetwork

public SpatialDetectionNetwork(Pointer p)

Pointer cast constructor. Invokes Pointer(Pointer).

Method Detail

NAME

@MemberGetter
 @Cast(value="const char*")
public static BytePointer NAME()

input

@MemberGetter
 @ByRef
public Node.Input input()

Input message with data to be inferred upon Default queue is blocking with size 5

Overrides:

input in class NeuralNetwork

inputDepth

@MemberGetter
 @ByRef
public Node.Input inputDepth()

Input message with depth data used to retrieve spatial information about detected object Default queue is non-blocking with size 4

out

@MemberGetter
 @ByRef
public Node.Output out()

Outputs ImgDetections message that carries parsed detection results.

Overrides:

out in class DetectionNetwork

boundingBoxMapping

@MemberGetter
 @ByRef
public Node.Output boundingBoxMapping()

Outputs mapping of detected bounding boxes relative to depth map Suitable for when displaying remapped bounding boxes on depth frame

passthrough

@MemberGetter
 @ByRef
public Node.Output passthrough()

Passthrough message on which the inference was performed. Suitable for when input queue is set to non-blocking behavior.

Overrides:

passthrough in class NeuralNetwork

passthroughDepth

@MemberGetter
 @ByRef
public Node.Output passthroughDepth()

Passthrough message for depth frame on which the spatial location calculation was performed. Suitable for when input queue is set to non-blocking behavior.

spatialLocationCalculatorOutput

@MemberGetter
 @ByRef
public Node.Output spatialLocationCalculatorOutput()

Output of SpatialLocationCalculator node, which is used internally by SpatialDetectionNetwork. Suitable when extra information is required from SpatialLocationCalculator node, e.g. minimum, maximum distance.

setBoundingBoxScaleFactor

public void setBoundingBoxScaleFactor(float scaleFactor)

Specifies scale factor for detected bounding boxes.

Parameters:

scaleFactor - Scale factor must be in the interval (0,1].

setDepthLowerThreshold

public void setDepthLowerThreshold(@Cast(value="uint32_t")
                                   int lowerThreshold)

Specifies lower threshold in depth units (millimeter by default) for depth values which will used to calculate spatial data

Parameters:

lowerThreshold - LowerThreshold must be in the interval [0,upperThreshold] and less than upperThreshold.

setDepthUpperThreshold

public void setDepthUpperThreshold(@Cast(value="uint32_t")
                                   int upperThreshold)

Specifies upper threshold in depth units (millimeter by default) for depth values which will used to calculate spatial data

Parameters:

upperThreshold - UpperThreshold must be in the interval (lowerThreshold,65535].

setSpatialCalculationAlgorithm

public void setSpatialCalculationAlgorithm(depthai.SpatialLocationCalculatorAlgorithm calculationAlgorithm)

Specifies spatial location calculator algorithm: Average/Min/Max

Parameters:

calculationAlgorithm - Calculation algorithm.

setSpatialCalculationAlgorithm

public void setSpatialCalculationAlgorithm(@Cast(value="dai::SpatialLocationCalculatorAlgorithm")
                                           int calculationAlgorithm)

setSpatialCalculationStepSize

public void setSpatialCalculationStepSize(int stepSize)

Specifies spatial location calculator step size for depth calculation. Step size 1 means that every pixel is taken into calculation, size 2 means every second etc.

Parameters:

stepSize - Step size.