From 2e3e8a3d6503fec62913fbed6a1b98ef064f707c Mon Sep 17 00:00:00 2001
From: jakaskerl <jaka.skerl@gmail.com>
Date: Mon, 15 Jan 2024 15:37:01 +0100
Subject: [PATCH 1/2] Added depth preview example for OAK-SR

---
 examples/StereoDepth/depth_preview_sr.py | 72 ++++++++++++++++++++++++
 1 file changed, 72 insertions(+)
 create mode 100755 examples/StereoDepth/depth_preview_sr.py

diff --git a/examples/StereoDepth/depth_preview_sr.py b/examples/StereoDepth/depth_preview_sr.py
new file mode 100755
index 000000000..3f5cdb30d
--- /dev/null
+++ b/examples/StereoDepth/depth_preview_sr.py
@@ -0,0 +1,72 @@
+#!/usr/bin/env python3
+
+import cv2
+import depthai as dai
+import numpy as np
+
+# Closer-in minimum depth, disparity range is doubled (from 95 to 190):
+extended_disparity = False
+# Better accuracy for longer distance, fractional disparity 32-levels:
+subpixel = True
+# Better handling for occlusions:
+lr_check = True
+
+enableRectified = True
+
+# Create pipeline
+pipeline = dai.Pipeline()
+
+# Define sources and outputs
+left = pipeline.create(dai.node.ColorCamera)
+right = pipeline.create(dai.node.ColorCamera)
+
+# Create stereo
+stereo = pipeline.create(dai.node.StereoDepth)
+xout_depth = pipeline.create(dai.node.XLinkOut)
+xout_depth.setStreamName("disparity")
+
+# Properties
+left.setResolution(dai.ColorCameraProperties.SensorResolution.THE_800_P)
+left.setCamera("left")
+
+right.setResolution(dai.ColorCameraProperties.SensorResolution.THE_800_P)
+right.setCamera("right")
+
+stereo.setDefaultProfilePreset(dai.node.StereoDepth.PresetMode.HIGH_DENSITY)
+stereo.initialConfig.setMedianFilter(dai.MedianFilter.KERNEL_7x7)
+stereo.setLeftRightCheck(lr_check)
+stereo.setExtendedDisparity(extended_disparity)
+stereo.setSubpixel(subpixel)
+
+
+# Linking
+left.isp.link(stereo.left)
+right.isp.link(stereo.right)
+if enableRectified:
+    xout_rect_l = pipeline.create(dai.node.XLinkOut)
+    xout_rect_r = pipeline.create(dai.node.XLinkOut)
+    xout_rect_l.setStreamName("rectifiedLeft")
+    xout_rect_r.setStreamName("rectifiedRight")
+    stereo.rectifiedLeft.link(xout_rect_l.input)
+    stereo.rectifiedRight.link(xout_rect_r.input)
+stereo.disparity.link(xout_depth.input)
+
+maxDisp = stereo.initialConfig.getMaxDisparity()
+
+# Connect to device and start pipeline
+with dai.Device(pipeline) as device:
+    while not device.isClosed():
+        queueNames = device.getQueueEvents()
+        for q in queueNames:
+            message = device.getOutputQueue(q).get()
+            # Display arrived frames
+            if type(message) == dai.ImgFrame:
+                frame = message.getCvFrame()
+                if 'disparity' in q:
+                    disp = (frame * (255.0 / maxDisp)).astype(np.uint8)
+                    disp = cv2.applyColorMap(disp, cv2.COLORMAP_JET)
+                    cv2.imshow(q, disp)
+                else:
+                    cv2.imshow(q, frame)
+        if cv2.waitKey(1) == ord('q'):
+            break
\ No newline at end of file

From 3a322800352d22fabbbbce0dc0d66a312a13e56a Mon Sep 17 00:00:00 2001
From: jakaskerl <53253318+jakaskerl@users.noreply.github.com>
Date: Mon, 15 Jan 2024 20:06:03 +0100
Subject: [PATCH 2/2] Update depth_preview_sr.py

---
 examples/StereoDepth/depth_preview_sr.py | 29 ++++++++++++------------
 1 file changed, 15 insertions(+), 14 deletions(-)

diff --git a/examples/StereoDepth/depth_preview_sr.py b/examples/StereoDepth/depth_preview_sr.py
index 3f5cdb30d..6d82d6317 100755
--- a/examples/StereoDepth/depth_preview_sr.py
+++ b/examples/StereoDepth/depth_preview_sr.py
@@ -5,11 +5,11 @@
 import numpy as np
 
 # Closer-in minimum depth, disparity range is doubled (from 95 to 190):
-extended_disparity = False
+extendedDisparity = False
 # Better accuracy for longer distance, fractional disparity 32-levels:
 subpixel = True
 # Better handling for occlusions:
-lr_check = True
+lrCheck = True
 
 enableRectified = True
 
@@ -22,8 +22,8 @@
 
 # Create stereo
 stereo = pipeline.create(dai.node.StereoDepth)
-xout_depth = pipeline.create(dai.node.XLinkOut)
-xout_depth.setStreamName("disparity")
+xoutDepth = pipeline.create(dai.node.XLinkOut)
+xoutDepth.setStreamName("disparity")
 
 # Properties
 left.setResolution(dai.ColorCameraProperties.SensorResolution.THE_800_P)
@@ -34,8 +34,8 @@
 
 stereo.setDefaultProfilePreset(dai.node.StereoDepth.PresetMode.HIGH_DENSITY)
 stereo.initialConfig.setMedianFilter(dai.MedianFilter.KERNEL_7x7)
-stereo.setLeftRightCheck(lr_check)
-stereo.setExtendedDisparity(extended_disparity)
+stereo.setLeftRightCheck(lrCheck)
+stereo.setExtendedDisparity(extendedDisparity)
 stereo.setSubpixel(subpixel)
 
 
@@ -43,13 +43,13 @@
 left.isp.link(stereo.left)
 right.isp.link(stereo.right)
 if enableRectified:
-    xout_rect_l = pipeline.create(dai.node.XLinkOut)
-    xout_rect_r = pipeline.create(dai.node.XLinkOut)
-    xout_rect_l.setStreamName("rectifiedLeft")
-    xout_rect_r.setStreamName("rectifiedRight")
-    stereo.rectifiedLeft.link(xout_rect_l.input)
-    stereo.rectifiedRight.link(xout_rect_r.input)
-stereo.disparity.link(xout_depth.input)
+    xoutRectR = pipeline.create(dai.node.XLinkOut)
+    xoutRectL= pipeline.create(dai.node.XLinkOut)
+    xoutRectR.setStreamName("rectifiedRight")
+    xoutRectL.setStreamName("rectifiedLeft")
+    stereo.rectifiedLeft.link(xoutRectL.input)
+    stereo.rectifiedRight.link(xoutRectR.input)
+stereo.disparity.link(xoutDepth.input)
 
 maxDisp = stereo.initialConfig.getMaxDisparity()
 
@@ -69,4 +69,5 @@
                 else:
                     cv2.imshow(q, frame)
         if cv2.waitKey(1) == ord('q'):
-            break
\ No newline at end of file
+            break
+