jakaskerl
Here is my code, and I haven't noticed any differences.
Could you please review it?
Thank you
Python
monoLeft = pipeline.create(dai.node.MonoCamera)
monoLeft.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P)
monoLeft.setCamera("left")
monoLeft.setFps(60)
monoRight = pipeline.create(dai.node.MonoCamera)
monoRight.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P)
monoRight.setCamera("right")
monoRight.setFps(60)
stereoDepth = pipeline.create(dai.node.StereoDepth)
stereoDepth.setDefaultProfilePreset(dai.node.StereoDepth.PresetMode.HIGH_DENSITY)
stereoDepth.initialConfig.setMedianFilter(dai.MedianFilter.KERNEL_7x7)
stereoDepth.setLeftRightCheck(True)
stereoDepth.setExtendedDisparity(False)
stereoDepth.setSubpixel(False)
monoLeft.out.link(stereoDepth.left)
monoRight.out.link(stereoDepth.right)
manip = pipeline.create(dai.node.ImageManip)
manip.initialConfig.setResize(320, 240)
manip.initialConfig.setFrameType(dai.ImgFrame.Type.BGR888p)
monoRight.out.link(manip.inputImage)
nn = pipeline.create(dai.node.NeuralNetwork)
nn.setBlobPath(".blob")
nn.input.setQueueSize(1)
nn.input.setBlocking(False)
manip.out.link(nn.input)
post = pipeline.create(dai.node.NeuralNetwork)
post.setBlobPath(".blob")
post.input.setQueueSize(1)
post.input.setBlocking(False)
nn.out.link(post.input)
xoutDisparityData = pipeline.create(dai.node.XLinkOut)
xoutDisparityData .setStreamName("DisparityData")
xoutDetsData = pipeline.create(dai.node.XLinkOut)
xoutDetsData .setStreamName('DetsData')
xoutRightData = pipeline.create(dai.node.XLinkOut)
xoutRightData .setStreamName("RightData")
post.out.link(xoutDetsData .input)
monoRight.out.link(xoutRightData .input)
stereoDepth.disparity.link(xoutDisparityData .input)
C++
auto monoLeft = pipeline.create<dai::node::MonoCamera>();
monoLeft->setResolution(dai::MonoCameraProperties::SensorResolution::THE_400_P);
monoLeft->setFps(60);
auto monoRight = pipeline.create<dai::node::MonoCamera>();
monoRight->setResolution(dai::MonoCameraProperties::SensorResolution::THE_400_P);
monoRight->setFps(60);
auto stereoDepth = pipeline.create<dai::node::StereoDepth>();
stereoDepth->setDefaultProfilePreset(dai::node::StereoDepth::PresetMode::HIGH_DENSITY);
stereoDepth->initialConfig.setMedianFilter(dai::MedianFilter::KERNEL_7x7);
stereoDepth->setLeftRightCheck(true);
stereoDepth->setExtendedDisparity(false);
stereoDepth->setSubpixel(false);
monoLeft->out.link(stereoDepth->left);
monoRight->out.link(stereoDepth->right);
auto manip = pipeline.create<dai::node::ImageManip>();
manip->initialConfig.setResize(320, 240);
manip->initialConfig.setFrameType(dai::ImgFrame::Type::BGR888p);
monoRight->out.link(manip->inputImage);
auto nn = pipeline.create<dai::node::NeuralNetwork>();
nn ->setBlobPath(".blob");
nn ->input.setQueueSize(1);
nn ->input.setBlocking(false);
manip->out.link(nn ->input);
auto post = pipeline.create<dai::node::NeuralNetwork>();
post ->setBlobPath(".blob");
post ->input.setQueueSize(1);
post ->input.setBlocking(false);
nn->out.link(post ->input);
auto xoutDisparityData = pipeline.create<dai::node::XLinkOut>();
xoutDisparityData->setStreamName("DisparityData");
auto xoutDetsData = pipeline.create<dai::node::XLinkOut>();
xoutDetsData->setStreamName("DetsData");
auto xoutRightData = pipeline.create<dai::node::XLinkOut>();
xoutRightData->setStreamName("RightData");
post ->out.link(xoutDetsData ->input);
monoRight->out.link(xoutRightData->input);
stereoDepth ->disparity.link(xoutDisparityData->input);