Certainly, I need to extract the depth information and the rectified left and right images.
The code is exactly as at https://docs.luxonis.com/projects/api/en/latest/samples/mixed/multiple_devices/ with one line added
auto stereo = pipeline->create<dai::node::StereoDepth>();
as per below. That one line breaks the Debug or Release versions that operate perfectly without that line.
Code as per the web site and exactly as implemented.
std::shared_ptr<dai:😛ipeline> createPipeline() {
// Start defining a pipeline
auto pipeline = std::make_shared<dai::Pipeline>();
// Define a source - color camera
auto camRgb = pipeline->create<dai::node::ColorCamera>();
// RGB characteristics
camRgb->setPreviewSize(500, 500);
camRgb->setBoardSocket(dai::CameraBoardSocket::CAM_A);
camRgb->setResolution(dai::ColorCameraProperties::SensorResolution::THE_1080_P);
camRgb->setInterleaved(false);
// Create outputs
auto xoutRgb = pipeline->create<dai::node::XLinkOut>();
// Set the stream names
xoutRgb->setStreamName("rgb");
camRgb->preview.link(xoutRgb->input);
// StereoDepth is necessary for rectified images
//auto stereo = pipeline->create<dai::node::StereoDepth>();
return pipeline;
}