oak-d-lite-rgb-d-sync

--- C:\Users\george.profenza\Downloads\gp\depthai-experiments\gen2-syncing\host-multiple-OAK-sync.py
+++ C:\Users\george.profenza\Downloads\gp\OpenCVSpatialAI\dai\sync-depth.py
@@ -18,13 +18,8 @@
     'left' : dai.CameraBoardSocket.LEFT,
     'right': dai.CameraBoardSocket.RIGHT,
 }
-cam_instance = {
-    'rgb'  : 0,
-    'left' : 1,
-    'right': 2,
-}

-def create_pipeline(cam_list):
+def create_pipeline(cam_list, id):
     # Start defining a pipeline
     pipeline = dai.Pipeline()
     cam = {}
@@ -37,12 +32,43 @@
             cam[c].setResolution(dai.ColorCameraProperties.SensorResolution.THE_1080_P)
             cam[c].setIspScale(1, 3)  # 1920x1080 -> 1280x720
             cam[c].isp.link(xout[c].input)
-        else:
+        elif c == 'left' or c == 'right':
             cam[c] = pipeline.create(dai.node.MonoCamera)
             cam[c].setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P)
             cam[c].out.link(xout[c].input)
+        else:
+            print('disparity has no hardware links to setup')
+            continue
         cam[c].setBoardSocket(cam_socket_opts[c])
         cam[c].setFps(args.fps)
+    # depth setup
+    print('setting up depth for id', id)
+    # Configure stereo pair for depth estimation
+    stereo = pipeline.createStereoDepth()
+    # Checks occluded pixels and marks them as invalid
+    stereo.setLeftRightCheck(True)
+
+    # Configure left and right cameras to work as a stereo pair
+    cam['left'].out.link(stereo.left)
+    cam['right'].out.link(stereo.right)
+
+    # Set XlinkOut for disparity, rectifiedLeft, and rectifiedRight
+    xoutDisp = pipeline.createXLinkOut()
+    xoutDisp.setStreamName("disparity")
+
+    xoutRectifiedLeft = pipeline.createXLinkOut()
+    xoutRectifiedLeft.setStreamName("rectifiedLeft")
+
+    xoutRectifiedRight = pipeline.createXLinkOut()
+    xoutRectifiedRight.setStreamName("rectifiedRight")
+
+    stereo.disparity.link(xoutDisp.input)
+
+    stereo.rectifiedLeft.link(xoutRectifiedLeft.input)
+    stereo.rectifiedRight.link(xoutRectifiedRight.input)
+
+    print('depth for id', id, 'ready')
+
     return pipeline


@@ -62,10 +88,11 @@
         device = stack.enter_context(dai.Device(openvino_version, device_info, usb2_mode))

         stereo = 1 < len(device.getConnectedCameras())
-        cam_list = {'rgb', 'left', 'right'} if stereo else {'rgb'}
+        cam_list = {'rgb', 'left', 'right', 'disparity'} if stereo else {'rgb'}

         # Get a customized pipeline based on identified device type
-        device.startPipeline(create_pipeline(cam_list))
+        device.startPipeline(create_pipeline(cam_list, device.getMxId()))
+        # device.startPipeline(getDepthPipeline())

         # Output queue will be used to get the rgb frames from the output defined above
         for cam in cam_list: