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Updated stereo depth node docs #645

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merged 3 commits into from
Aug 6, 2022
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Updated stereo depth node docs #645

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Updated stereo depth node docs
Erol444 Jul 29, 2022
7744162
Fixes based on PR review
Erol444 Aug 6, 2022
3f8b75f
Merge branch 'main' into updated_stereo_docs
Erol444 Aug 6, 2022
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17 changes: 14 additions & 3 deletions docs/source/components/nodes/stereo_depth.rst
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Expand Up @@ -122,7 +122,6 @@ Currently configurable blocks
then software interpolation is done on Shave, resulting a final disparity with 3 fractional bits, resulting in significantly more granular depth
steps (8 additional steps between the integer-pixel depth steps), and also theoretically, longer-distance depth viewing - as the maximum depth
is no longer limited by a feature being a full integer pixel-step apart, but rather 1/8 of a pixel. In this mode, stereo cameras perform: :code:`94 depth steps * 8 subpixel depth steps + 2 (min/max values) = 754 depth steps`
Note that Subpixel and Extended Disparity are not yet supported simultaneously.

For comparison of normal disparity vs. subpixel disparity images, click `here <https://github.com/luxonis/depthai/issues/184>`__.

Expand Down Expand Up @@ -301,9 +300,21 @@ By considering this fact, depth can be calculated using this formula:

depth = focal_length_in_pixels * baseline / disparity_in_pixels

where baseline is the distance between two mono cameras. Note the unit used for baseline and depth is the same.
Where baseline is the distance between two mono cameras. Note the unit used for baseline and depth is the same.

To get focal length in pixels, use this formula:
To get focal length in pixels, you can :ref:`read camera calibration <Calibration Reader>`, as focal length in pixels is
written in camera intrinsics (``intrinsics[0][0]``):

.. code-block:: python

import depthai as dai

with dai.Device() as device:
calibData = device.readCalibration()
intrinsics = calibData.getCameraIntrinsics(dai.CameraBoardSocket.RIGHT)
print('Right mono camera focal length in pixels:', intrinsics[0][0])

Here's theoretical calculation of the focal length in pixels:

.. code-block:: python

Expand Down