Disparity alignment to both left and right cameras

Jorge

I am running Yolov5 on both left and right mono cameras. When I drew the bounding boxes on the disparity map, I noticed that the boxes from the left camera were slightly off. I believe that the disparity map aligns with the right camera by default.

How can I have alignments for both the left and right cameras at the same time? Is it possible to have two disparity maps? One aligned to the right and the other to the left camera. Is there a better approach?

Thanks!

erik

Hi Jorge ,
You are right, disparity is aligned with rectified right, which is usually "a bit shifted right frame". You can get that stream from stereoDepth.rectifiedRight , docs here: https://docs.luxonis.com/projects/api/en/latest/components/nodes/stereo_depth/#inputs-and-outputs
So I'd suggest running the model on rectified stream(s). Thoughts?

Jorge

erik I ended up running the detections on the rectified frames and having two different disparity maps, each aligned to a different camera. Thanks!