Added depth preview example for OAK-SR

examples/StereoDepth/depth_preview_sr.py

@@ -0,0 +1,73 @@
+#!/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):
+extendedDisparity = False
+# Better accuracy for longer distance, fractional disparity 32-levels:
+subpixel = True
+# Better handling for occlusions:
+lrCheck = 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)
+xoutDepth = pipeline.create(dai.node.XLinkOut)
+xoutDepth.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(lrCheck)
+stereo.setExtendedDisparity(extendedDisparity)
+stereo.setSubpixel(subpixel)
+
+
+# Linking
+left.isp.link(stereo.left)
+right.isp.link(stereo.right)
+if enableRectified:
+    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()
+
+# 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
+