# create depthai pipeline
def createPipeline():
    print('Creating Pipeline')

    # Start defining a pipeline
    pipeline = dai.Pipeline()

    # Define color camera
    camRgb = pipeline.createColorCamera()
    camRgb.setPreviewSize(640, 480)
    camRgb.setBoardSocket(dai.CameraBoardSocket.RGB)
    camRgb.setColorOrder(dai.ColorCameraProperties.ColorOrder.BGR)

    # Define a source - two mono (grayscale) cameras
    monoLeft = pipeline.createMonoCamera()
    monoRight = pipeline.createMonoCamera()
    stereo = pipeline.createStereoDepth()
    spatialLocationCalculator = pipeline.createSpatialLocationCalculator()

    # MonoCamera
    monoLeft.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P)
    monoLeft.setBoardSocket(dai.CameraBoardSocket.LEFT)
    monoRight.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P)
    monoRight.setBoardSocket(dai.CameraBoardSocket.RIGHT)

    outputDepth = True
    outputRectified = False
    lrcheck = False
    subpixel = False

    # Create outputs
    xoutPreview = pipeline.createXLinkOut()
    xoutDepth = pipeline.createXLinkOut()
    xoutSpatialData = pipeline.createXLinkOut()
    xinSpatialCalcConfig = pipeline.createXLinkIn()

    xoutPreview.setStreamName("preview")
    xoutDepth.setStreamName("depth")
    xoutSpatialData.setStreamName("spatialData")
    xinSpatialCalcConfig.setStreamName("spatialCalcConfig")

    # StereoDepth
    stereo.setOutputDepth(outputDepth)
    stereo.setOutputRectified(outputRectified)
    stereo.setConfidenceThreshold(255)

    stereo.setLeftRightCheck(lrcheck)
    stereo.setSubpixel(subpixel)

    monoLeft.out.link(stereo.left)
    monoRight.out.link(stereo.right)

    spatialLocationCalculator.passthroughDepth.link(xoutDepth.input)
    stereo.depth.link(spatialLocationCalculator.inputDepth)

    topLeft = dai.Point2f(0.4, 0.4)
    bottomRight = dai.Point2f(0.8, 0.8)

    spatialLocationCalculator.setWaitForConfigInput(False)
    config = dai.SpatialLocationCalculatorConfigData()
    config.depthThresholds.lowerThreshold = 100
    config.depthThresholds.upperThreshold = 10000
    config.roi = dai.Rect(topLeft, bottomRight)
    spatialLocationCalculator.initialConfig.addROI(config)
    spatialLocationCalculator.out.link(xoutSpatialData.input)
    xinSpatialCalcConfig.out.link(spatialLocationCalculator.inputConfig)
    camRgb.preview.link(xoutPreview.input)

    return pipeline, topLeft, bottomRight, config