Is there the way to calculate distance/position to/of an object instead of pixel?

[levmarki]

Preliminary Checks

• [X] This issue is not a duplicate. Before opening a new issue, please search existing issues.
• [X] This issue is not a question, bug report, or anything other than a feature request directly related to this project.

Proposal

The "common" way to detect the distance to small objects is to run the object detection on RGB, apply the detection to the depth and then filter it in some way (averaging/median/whatever). Is there the way to calculate distance to the middle/top/bottom of the object only? Without using the Depth Map?

Use-Case

First of all, it will give us better results on small objects, it's much simpler to find registration between two objects (the same object from different cameras) instead of pixel calculation. In addition, maybe it can be more calculage-efficient to calculate the distances to the objects of interest instead of whole frame?

Anything else?

No response