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Depth Preview

This example shows how to set the SGBM (semi-global-matching) disparity-depth node, connects over XLink to transfer the results to the host real-time, and displays the depth map in OpenCV. Note that disparity is used in this case, as it colorizes in a more intuitive way. Below is also a preview of using different median filters side-by-side on a depth image. There are 3 depth modes which you can select inside the code:

  1. `lr_check`: used for better occlusion handling. For more information click here
  2. `extended_disparity`: suitable for short range objects. For more information click here
  3. `subpixel`: suitable for long range. For more information click here

Similar samples:

  • RGB Preview
  • Mono Preview
  • Stereo Depth Video

Demo

Filtering depth using median filter

Setup

Source code

Python

Also available on GitHub

../../../../examples/StereoDepth/depth_preview.py

C++

Also available on GitHub

../../../../depthai-core/examples/StereoDepth/depth_preview.cpp