Gen2 StereoDepth example - absolute depth output

gen2_depth.py

#!/usr/bin/env python3

import cv2
import depthai as dai
import numpy as np

pipeline = dai.Pipeline()

left = pipeline.createMonoCamera()
left.setBoardSocket(dai.CameraBoardSocket.LEFT)

right = pipeline.createMonoCamera()
right.setBoardSocket(dai.CameraBoardSocket.RIGHT)

for cam in [left, right]:
    #cam.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P)
    cam.setResolution(dai.MonoCameraProperties.SensorResolution.THE_720_P)

stereo = pipeline.createStereoDepth()
stereo.setConfidenceThreshold(200)
stereo.setLeftRightCheck(0)
stereo.setExtendedDisparity(0)
stereo.setSubpixel(0)

left.out.link(stereo.left)
right.out.link(stereo.right)

xout = pipeline.createXLinkOut()
xout.setStreamName("depth")
stereo.depth.link(xout.input)

with dai.Device(pipeline) as device:
    device.startPipeline()
    q = device.getOutputQueue(name="depth", maxSize=4, blocking=False)
    while True:
        pkt = q.get()
        frame = pkt.getFrame()

        # At this point `frame` contains u16 depth data in millimeters.
        # Invalid values are set to 0
        cv2.imshow("depth_u16_mm", frame)

        # To easily view the depth pixels values within the OpenCV imshow view,
        # divide by 10 and cap to 255, effectively converting to centimeters,
        # with a limit of 2.55 meters.
        frame_cm = (frame // 10).clip(0, 255).astype(np.uint8)
        cv2.imshow("depth_cm_up_to_2.55m", frame_cm)

        if cv2.waitKey(1) == ord('q'):
            break