@palmerini
The depth values can be obtained from depth
stream of the StereoDepth node. With it, you receive an array with each point distance in mm.
The example I've shared uses disparity
output, as it's better for visualizations
stereo.disparity.link(depthOut.input)
But you can add a depth
stream there too to obtain raw depth info.
The example erik shared uses depth
stream by default, so no change there is needed
stereo.depth.link(sdn.inputDepth)
So to get the Z coordinate of an X/Y point, you need to take the depth frame (self.depth
inside calc_spatials
) and check what the depth value at X/Y index