This is my current CAM setup for oak-d lite
pipeline = dai.Pipeline()
# Define source and output
camRgb = pipeline.create(dai.node.ColorCamera)
xoutVideo = pipeline.create(dai.node.XLinkOut)
xoutVideo.setStreamName("video")
# Properties
#Preview settings
camRgb.setPreviewSize(640, 480)
camRgb.setInterleaved(False)
camRgb.setColorOrder(dai.ColorCameraProperties.ColorOrder.RGB)
#camRgb.initialControl.setManualFocus(180) # 0..255
camRgb.initialControl.setManualFocus(24)
controlIn = pipeline.create(dai.node.XLinkIn)
controlIn.setStreamName('control')
# camRgb.preview.link(xoutVideo.input)
#Preview settings
# camRgb.setBoardSocket(dai.CameraBoardSocket.CAM_A)
camRgb.setResolution(dai.ColorCameraProperties.SensorResolution.THE_1080_P)
# camRgb.setVideoSize(1920, 1080)
xoutVideo.input.setBlocking(False)
xoutVideo.input.setQueueSize(1)
# Linking
camRgb.video.link(xoutVideo.input)
# Stereo depth setup
monoLeft = pipeline.create(dai.node.MonoCamera)
monoRight = pipeline.create(dai.node.MonoCamera)
stereo = pipeline.create(dai.node.StereoDepth)
# Properties
monoLeft.setResolution(dai.MonoCameraProperties.SensorResolution.THE_480_P)
monoLeft.setBoardSocket(dai.CameraBoardSocket.LEFT)
monoRight.setResolution(dai.MonoCameraProperties.SensorResolution.THE_480_P)
monoRight.setBoardSocket(dai.CameraBoardSocket.RIGHT)
stereo.initialConfig.setConfidenceThreshold(55)
stereo.setLeftRightCheck(True)
stereo.setSubpixel(False)
#Stereospatial new additions
stereo.setDefaultProfilePreset(dai.node.StereoDepth.PresetMode.HIGH_DENSITY)
stereo.setDepthAlign(dai.CameraBoardSocket.CAM_A)
stereo.setOutputSize(monoLeft.getResolutionWidth(), monoLeft.getResolutionHeight())
# stereo.setDisparityShift(10)
# dai.stereoDepthConfig.setDisparityShift(20)
#Stereospatial new additions
# Linking
monoLeft.out.link(stereo.left)
monoRight.out.link(stereo.right)
xoutDepth = pipeline.create(dai.node.XLinkOut)
xoutDepth.setStreamName("depth")
stereo.depth.link(xoutDepth.input)
xoutDepth = pipeline.create(dai.node.XLinkOut)
xoutDepth.setStreamName("disp")
stereo.disparity.link(xoutDepth.input)
xoutDepth.input.setBlocking(False)
xoutDepth.input.setQueueSize(1)
# Stereo depth setup
# Depth Exposure and ISO Sensitivity control
ctrl = dai.CameraControl()
expTime = 18500
sensIso = 600
Currently the accuracy of depth is truly random, its giving me 950mm for object placed right in front of the camera. around 100 mm to 400 mm
How do I set disparity shift in this setup?