Added some clarifications to depth docs

examples/SpatialDetection/spatial_location_calculator.cpp

@@ -79,8 +79,9 @@ int main() {
     while(true) {
         auto inDepth = depthQueue->get<dai::ImgFrame>();
 
-        cv::Mat depthFrame = inDepth->getFrame();
+        cv::Mat depthFrame = inDepth->getFrame(); // depthFrame values are in millimeters
         cv::Mat depthFrameColor;
+
         cv::normalize(depthFrame, depthFrameColor, 255, 0, cv::NORM_INF, CV_8UC1);
         cv::equalizeHist(depthFrameColor, depthFrameColor);
         cv::applyColorMap(depthFrameColor, depthFrameColor, cv::COLORMAP_HOT);

examples/SpatialDetection/spatial_mobilenet.cpp

@@ -109,7 +109,7 @@ int main(int argc, char** argv) {
         }
 
         cv::Mat frame = inPreview->getCvFrame();
-        cv::Mat depthFrame = depth->getFrame();
+        cv::Mat depthFrame = depth->getFrame(); // depthFrame values are in millimeters
 
         cv::Mat depthFrameColor;
         cv::normalize(depthFrame, depthFrameColor, 255, 0, cv::NORM_INF, CV_8UC1);

examples/SpatialDetection/spatial_mobilenet_mono.cpp

@@ -112,8 +112,9 @@ int main(int argc, char** argv) {
 
         cv::Mat rectifiedRight = inRectified->getCvFrame();
 
-        cv::Mat depthFrame = inDepth->getFrame();
+        cv::Mat depthFrame = inDepth->getFrame(); // depthFrame values are in millimeters
         cv::Mat depthFrameColor;
+
         cv::normalize(depthFrame, depthFrameColor, 255, 0, cv::NORM_INF, CV_8UC1);
         cv::equalizeHist(depthFrameColor, depthFrameColor);
         cv::applyColorMap(depthFrameColor, depthFrameColor, cv::COLORMAP_HOT);

examples/SpatialDetection/spatial_tiny_yolo.cpp

@@ -116,7 +116,8 @@ int main(int argc, char** argv) {
         auto depth = depthQueue->get<dai::ImgFrame>();
 
         cv::Mat frame = imgFrame->getCvFrame();
-        cv::Mat depthFrame = depth->getFrame();
+        cv::Mat depthFrame = depth->getFrame(); // depthFrame values are in millimeters
+
         cv::Mat depthFrameColor;
         cv::normalize(depthFrame, depthFrameColor, 255, 0, cv::NORM_INF, CV_8UC1);
         cv::equalizeHist(depthFrameColor, depthFrameColor);

examples/StereoDepth/depth_crop_control.cpp

@@ -58,7 +58,8 @@ int main() {
 
     while(true) {
         auto inDepth = q->get<dai::ImgFrame>();
-        cv::Mat depthFrame = inDepth->getFrame();
+        cv::Mat depthFrame = inDepth->getFrame(); // depthFrame values are in millimeters
+
         // Frame is transformed, the color map will be applied to highlight the depth info
         cv::Mat depthFrameColor;
         cv::normalize(depthFrame, depthFrameColor, 255, 0, cv::NORM_INF, CV_8UC1);

examples/StereoDepth/rgb_depth_aligned.cpp

@@ -13,8 +13,8 @@ static constexpr int fps = 30;
 // The disparity is computed at this resolution, then upscaled to RGB resolution
 static constexpr auto monoRes = dai::MonoCameraProperties::SensorResolution::THE_400_P;
 
-static float rgbWeight = 0.6f;
-static float depthWeight = 0.4f;
+static float rgbWeight = 0.4f;
+static float depthWeight = 0.6f;
 
 static void updateBlendWeights(int percentRgb, void* ctx) {
     rgbWeight = float(percentRgb) / 100.f;