• DepthAI

  • Decimated disparity map won't align to color image

Hi,

After upgrading from DepthAI 2.24.0.0 to 2.30.0.0, this code

import cv2
import depthai as dai

pipeline = dai.Pipeline()

# rgb

xout2 = pipeline.create(dai.node.XLinkOut)
xout2.setStreamName("color")

camRgb = pipeline.create(dai.node.ColorCamera)
camRgb.setResolution(dai.ColorCameraProperties.SensorResolution.THE_1080_P) 
camRgb.setCamera("color")
camRgb.video.link(xout2.input)

# disparity

xout = pipeline.create(dai.node.XLinkOut)
xout.setStreamName("disparity")

depth = pipeline.create(dai.node.StereoDepth)
depth.setDepthAlign(dai.CameraBoardSocket.CAM_A)
config = depth.initialConfig.get()
config.postProcessing.decimationFilter.decimationFactor = 2
depth.initialConfig.set(config)
depth.disparity.link(xout.input)

monoLeft = pipeline.create(dai.node.MonoCamera)
monoLeft.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P)
monoLeft.setCamera("left")
monoLeft.out.link(depth.left)

monoRight = pipeline.create(dai.node.MonoCamera)
monoRight.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P)
monoRight.setCamera("right")
monoRight.out.link(depth.right)

# run pipeline

with dai.Device(pipeline) as device:	
    color_queue = device.getOutputQueue(name="color", maxSize=4, blocking=False)
    disparity_queue = device.getOutputQueue(name="disparity", maxSize=4, blocking=False)
    while True:		
        cv2.imshow("color", color_queue.get().getCvFrame())
        cv2.imshow("disparity", disparity_queue.get().getFrame())
        if cv2.waitKey(1) == ord('q'):
            break

will throw this error

Traceback (most recent call last):
  File "Test.py", line 47, in <module>
    cv2.imshow("disparity", disparity_queue.get().getFrame())
                            ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
RuntimeError: ImgFrame doesn't have enough data to encode specified frame, required 4147200, actual 2073600. Maybe metadataOnly transfer was made?

It seems getFrame() expects twice the amount of data it needs for a full frame.

Before the upgrade, the code ran fine. Not aligning the depth map to the color image or disabling the decimation filter will "resolve" the error, but I need to do both. How can I achieve that?

Thank you in advance for any help!

Cheers,
Tim