Hey Erik,
I'm looking for the same type of example, but that would allow me to cycle through the parameters for depth calculation instead of RGB settings.
The reason is this: certain repetitive patterns cause the stereo depth calculation to fail in some places where I need to use it. I'm testing the whole API to figure out how to mitigate this but it's proving to be very time-consuming to dig through all the documentation and try to figure out what each tertiary parameter in the disparity calculation actually does in a real-world setting.
Here is an example: 
You see in the configuration I am using with the CM4 camera I can get pretty reliable depth up to about 25m. In this example that large area in the middle that is blue is returning no usable depth at all, despite being only about 9m from the camera. I'm pretty sure that this is to do with the pattern of the cobblestones, and I'm trying to figure out a combination of stereo parameters that allows me to get rid of this problem 🙂
