# Stereo Depth Video This example is an upgraded [Depth Preview](https://docs.luxonis.com/software/depthai/examples/depth_preview.md). It has higher resolution (720p), each frame can be shown (mono left-right, rectified left-right, disparity and depth). There are 6 modes which you can select inside the code: * withDepth: if you turn it off it will became [Mono Preview](https://docs.luxonis.com/software/depthai/examples/mono_preview.md), so it will show only the 2 mono cameras * outputDepth: if you turn it on it will show the depth * lrcheck: used for better occlusion handling. For more information [click here](https://docs.luxonis.com/software/depthai-components/nodes/stereo_depth.md) * extended: suitable for short range objects. For more information [click here](https://docs.luxonis.com/software/depthai-components/nodes/stereo_depth.md) * subpixel: suitable for long range. For more information [click here](https://docs.luxonis.com/software/depthai-components/nodes/stereo_depth.md) ## Stereo Alpha Param With --alpha you can select scaling during the rectification. Values between 0 and 1: * 0.0 (default value) means that the rectified images are zoomed and shifted so that only valid pixels are visible (no black areas after rectification) * 1.0 means that the rectified image is decimated and shifted so that all the pixels from the original images from the cameras are retained in the rectified images (no source image pixels are lost). ### Similar samples: * [Depth Preview](https://docs.luxonis.com/software/depthai/examples/depth_preview.md) * [Stereo Depth from host](https://docs.luxonis.com/software/depthai/examples/stereo_depth_from_host.md) ## Setup Please run the [install script](https://github.com/luxonis/depthai-python/blob/main/examples/install_requirements.py) to download all required dependencies. Please note that this script must be ran from git context, so you have to download the [depthai-python](https://github.com/luxonis/depthai-python) repository first and then run the script ```bash git clone https://github.com/luxonis/depthai-python.git cd depthai-python/examples python3 install_requirements.py ``` For additional information, please follow the [installation guide](https://docs.luxonis.com/software/depthai/manual-install.md). ## Source code #### Python ```python #!/usr/bin/env python3 import cv2 import numpy as np import depthai as dai import argparse parser = argparse.ArgumentParser() parser.add_argument( "-res", "--resolution", type=str, default="720", help="Sets the resolution on mono cameras. Options: 800 | 720 | 400", ) parser.add_argument( "-md", "--mesh_dir", type=str, default=None, help="Output directory for mesh files. If not specified mesh files won't be saved", ) parser.add_argument( "-lm", "--load_mesh", default=False, action="store_true", help="Read camera intrinsics, generate mesh files and load them into the stereo node.", ) parser.add_argument( "-rect", "--out_rectified", default=False, action="store_true", help="Generate and display rectified streams", ) parser.add_argument( "-lr", "--lrcheck", default=False, action="store_true", help="Better handling for occlusions", ) parser.add_argument( "-e", "--extended", default=False, action="store_true", help="Closer-in minimum depth, disparity range is doubled", ) parser.add_argument( "-s", "--subpixel", default=False, action="store_true", help="Better accuracy for longer distance, fractional disparity 32-levels", ) parser.add_argument( "-m", "--median", type=str, default="7x7", help="Choose the size of median filtering. Options: OFF | 3x3 | 5x5 | 7x7 (default)", ) parser.add_argument( "-d", "--depth", default=False, action="store_true", help="Display depth frames", ) parser.add_argument( "-swlr", "--swap_left_right", default=False, action="store_true", help="Swap left right frames", ) parser.add_argument( "-a", "--alpha", type=float, default=None, help="Alpha scaling parameter to increase FOV", ) args = parser.parse_args() RES_MAP = { '800': {'w': 1280, 'h': 800, 'res': dai.MonoCameraProperties.SensorResolution.THE_800_P }, '720': {'w': 1280, 'h': 720, 'res': dai.MonoCameraProperties.SensorResolution.THE_720_P }, '400': {'w': 640, 'h': 400, 'res': dai.MonoCameraProperties.SensorResolution.THE_400_P } } if args.resolution not in RES_MAP: exit("Unsupported resolution!") resolution = RES_MAP[args.resolution] meshDirectory = args.mesh_dir # Output dir for mesh files generateMesh = args.load_mesh # Load mesh files outRectified = args.out_rectified # Output and display rectified streams lrcheck = args.lrcheck # Better handling for occlusions extended = args.extended # Closer-in minimum depth, disparity range is doubled subpixel = args.subpixel # Better accuracy for longer distance, fractional disparity 32-levels depth = args.depth # Display depth frames medianMap = { "OFF": dai.StereoDepthProperties.MedianFilter.MEDIAN_OFF, "3x3": dai.StereoDepthProperties.MedianFilter.KERNEL_3x3, "5x5": dai.StereoDepthProperties.MedianFilter.KERNEL_5x5, "7x7": dai.StereoDepthProperties.MedianFilter.KERNEL_7x7, } if args.median not in medianMap: exit("Unsupported median size!") median = medianMap[args.median] print("StereoDepth config options:") print(f" Resolution: {resolution['w']}x{resolution['h']}") print(" Left-Right check: ", lrcheck) print(" Extended disparity:", extended) print(" Subpixel: ", subpixel) print(" Median filtering: ", median) print(" Generating mesh files: ", generateMesh) print(" Outputting mesh files to: ", meshDirectory) def getMesh(calibData): M1 = np.array(calibData.getCameraIntrinsics(dai.CameraBoardSocket.CAM_B, resolution[0], resolution[1])) d1 = np.array(calibData.getDistortionCoefficients(dai.CameraBoardSocket.CAM_B)) R1 = np.array(calibData.getStereoLeftRectificationRotation()) M2 = np.array(calibData.getCameraIntrinsics(dai.CameraBoardSocket.CAM_C, resolution[0], resolution[1])) d2 = np.array(calibData.getDistortionCoefficients(dai.CameraBoardSocket.CAM_C)) R2 = np.array(calibData.getStereoRightRectificationRotation()) mapXL, mapYL = cv2.initUndistortRectifyMap(M1, d1, R1, M2, resolution, cv2.CV_32FC1) mapXR, mapYR = cv2.initUndistortRectifyMap(M2, d2, R2, M2, resolution, cv2.CV_32FC1) meshCellSize = 16 meshLeft = [] meshRight = [] for y in range(mapXL.shape[0] + 1): if y % meshCellSize == 0: rowLeft = [] rowRight = [] for x in range(mapXL.shape[1] + 1): if x % meshCellSize == 0: if y == mapXL.shape[0] and x == mapXL.shape[1]: rowLeft.append(mapYL[y - 1, x - 1]) rowLeft.append(mapXL[y - 1, x - 1]) rowRight.append(mapYR[y - 1, x - 1]) rowRight.append(mapXR[y - 1, x - 1]) elif y == mapXL.shape[0]: rowLeft.append(mapYL[y - 1, x]) rowLeft.append(mapXL[y - 1, x]) rowRight.append(mapYR[y - 1, x]) rowRight.append(mapXR[y - 1, x]) elif x == mapXL.shape[1]: rowLeft.append(mapYL[y, x - 1]) rowLeft.append(mapXL[y, x - 1]) rowRight.append(mapYR[y, x - 1]) rowRight.append(mapXR[y, x - 1]) else: rowLeft.append(mapYL[y, x]) rowLeft.append(mapXL[y, x]) rowRight.append(mapYR[y, x]) rowRight.append(mapXR[y, x]) if (mapXL.shape[1] % meshCellSize) % 2 != 0: rowLeft.append(0) rowLeft.append(0) rowRight.append(0) rowRight.append(0) meshLeft.append(rowLeft) meshRight.append(rowRight) meshLeft = np.array(meshLeft) meshRight = np.array(meshRight) return meshLeft, meshRight def saveMeshFiles(meshLeft, meshRight, outputPath): print("Saving mesh to:", outputPath) meshLeft.tofile(outputPath + "/left_mesh.calib") meshRight.tofile(outputPath + "/right_mesh.calib") def getDisparityFrame(frame, cvColorMap): maxDisp = stereo.initialConfig.getMaxDisparity() disp = (frame * (255.0 / maxDisp)).astype(np.uint8) disp = cv2.applyColorMap(disp, cvColorMap) return disp device = dai.Device() calibData = device.readCalibration() print("Creating Stereo Depth pipeline") pipeline = dai.Pipeline() camLeft = pipeline.create(dai.node.MonoCamera) camRight = pipeline.create(dai.node.MonoCamera) stereo = pipeline.create(dai.node.StereoDepth) xoutLeft = pipeline.create(dai.node.XLinkOut) xoutRight = pipeline.create(dai.node.XLinkOut) xoutDisparity = pipeline.create(dai.node.XLinkOut) xoutDepth = pipeline.create(dai.node.XLinkOut) xoutRectifLeft = pipeline.create(dai.node.XLinkOut) xoutRectifRight = pipeline.create(dai.node.XLinkOut) if args.swap_left_right: camLeft.setCamera("right") camRight.setCamera("left") else: camLeft.setCamera("left") camRight.setCamera("right") for monoCam in (camLeft, camRight): # Common config monoCam.setResolution(resolution['res']) # monoCam.setFps(20.0) stereo.setDefaultProfilePreset(dai.node.StereoDepth.PresetMode.HIGH_DENSITY) stereo.initialConfig.setMedianFilter(median) # KERNEL_7x7 default stereo.setRectifyEdgeFillColor(0) # Black, to better see the cutout stereo.setLeftRightCheck(lrcheck) stereo.setExtendedDisparity(extended) stereo.setSubpixel(subpixel) if args.alpha is not None: stereo.setAlphaScaling(args.alpha) config = stereo.initialConfig.get() config.postProcessing.brightnessFilter.minBrightness = 0 stereo.initialConfig.set(config) xoutLeft.setStreamName("left") xoutRight.setStreamName("right") xoutDisparity.setStreamName("disparity") xoutDepth.setStreamName("depth") xoutRectifLeft.setStreamName("rectifiedLeft") xoutRectifRight.setStreamName("rectifiedRight") camLeft.out.link(stereo.left) camRight.out.link(stereo.right) stereo.syncedLeft.link(xoutLeft.input) stereo.syncedRight.link(xoutRight.input) stereo.disparity.link(xoutDisparity.input) if depth: stereo.depth.link(xoutDepth.input) if outRectified: stereo.rectifiedLeft.link(xoutRectifLeft.input) stereo.rectifiedRight.link(xoutRectifRight.input) streams = ["left", "right"] if outRectified: streams.extend(["rectifiedLeft", "rectifiedRight"]) streams.append("disparity") if depth: streams.append("depth") cvColorMap = cv2.applyColorMap(np.arange(256, dtype=np.uint8), cv2.COLORMAP_JET) cvColorMap[0] = [0, 0, 0] print("Creating DepthAI device") with device: device.startPipeline(pipeline) # Create a receive queue for each stream qList = [device.getOutputQueue(stream, 8, blocking=False) for stream in streams] while True: for q in qList: name = q.getName() frame = q.get().getCvFrame() if name == "depth": frame = frame.astype(np.uint16) elif name == "disparity": frame = getDisparityFrame(frame, cvColorMap) cv2.imshow(name, frame) if cv2.waitKey(1) == ord("q"): break ``` #### C++ ```cpp #include // Includes common necessary includes for development using depthai library #include "depthai/depthai.hpp" static std::atomic withDepth{true}; static std::atomic outputDepth{false}; static std::atomic outputRectified{true}; static std::atomic lrcheck{true}; static std::atomic extended{false}; static std::atomic subpixel{false}; int main() { using namespace std; // Create pipeline dai::Pipeline pipeline; // Define sources and outputs auto monoLeft = pipeline.create(); auto monoRight = pipeline.create(); auto stereo = withDepth ? pipeline.create() : nullptr; auto xoutLeft = pipeline.create(); auto xoutRight = pipeline.create(); auto xoutDisp = pipeline.create(); auto xoutDepth = pipeline.create(); auto xoutRectifL = pipeline.create(); auto xoutRectifR = pipeline.create(); // XLinkOut xoutLeft->setStreamName("left"); xoutRight->setStreamName("right"); if(withDepth) { xoutDisp->setStreamName("disparity"); xoutDepth->setStreamName("depth"); xoutRectifL->setStreamName("rectified_left"); xoutRectifR->setStreamName("rectified_right"); } // Properties monoLeft->setResolution(dai::MonoCameraProperties::SensorResolution::THE_720_P); monoLeft->setCamera("left"); monoRight->setResolution(dai::MonoCameraProperties::SensorResolution::THE_720_P); monoRight->setCamera("right"); if(withDepth) { // StereoDepth stereo->setDefaultProfilePreset(dai::node::StereoDepth::PresetMode::HIGH_DENSITY); stereo->setRectifyEdgeFillColor(0); // black, to better see the cutout // stereo->setInputResolution(1280, 720); stereo->initialConfig.setMedianFilter(dai::MedianFilter::KERNEL_5x5); stereo->setLeftRightCheck(lrcheck); stereo->setExtendedDisparity(extended); stereo->setSubpixel(subpixel); // Linking monoLeft->out.link(stereo->left); monoRight->out.link(stereo->right); stereo->syncedLeft.link(xoutLeft->input); stereo->syncedRight.link(xoutRight->input); stereo->disparity.link(xoutDisp->input); if(outputRectified) { stereo->rectifiedLeft.link(xoutRectifL->input); stereo->rectifiedRight.link(xoutRectifR->input); } if(outputDepth) { stereo->depth.link(xoutDepth->input); } } else { // Link plugins CAM -> XLINK monoLeft->out.link(xoutLeft->input); monoRight->out.link(xoutRight->input); } // Connect to device and start pipeline dai::Device device(pipeline); auto leftQueue = device.getOutputQueue("left", 8, false); auto rightQueue = device.getOutputQueue("right", 8, false); auto dispQueue = withDepth ? device.getOutputQueue("disparity", 8, false) : nullptr; auto depthQueue = withDepth ? device.getOutputQueue("depth", 8, false) : nullptr; auto rectifLeftQueue = withDepth ? device.getOutputQueue("rectified_left", 8, false) : nullptr; auto rectifRightQueue = withDepth ? device.getOutputQueue("rectified_right", 8, false) : nullptr; // Disparity range is used for normalization float disparityMultiplier = withDepth ? 255 / stereo->initialConfig.getMaxDisparity() : 0; while(true) { auto left = leftQueue->get(); cv::imshow("left", left->getFrame()); auto right = rightQueue->get(); cv::imshow("right", right->getFrame()); if(withDepth) { auto disparity = dispQueue->get(); cv::Mat disp(disparity->getCvFrame()); disp.convertTo(disp, CV_8UC1, disparityMultiplier); // Extend disparity range cv::imshow("disparity", disp); cv::Mat disp_color; cv::applyColorMap(disp, disp_color, cv::COLORMAP_JET); cv::imshow("disparity_color", disp_color); if(outputDepth) { auto depth = depthQueue->get(); cv::imshow("depth", depth->getCvFrame()); } if(outputRectified) { auto rectifL = rectifLeftQueue->get(); cv::imshow("rectified_left", rectifL->getFrame()); auto rectifR = rectifRightQueue->get(); cv::imshow("rectified_right", rectifR->getFrame()); } } int key = cv::waitKey(1); if(key == 'q' || key == 'Q') { return 0; } } return 0; } ``` ## Pipeline ### examples/stereo_depth_video.pipeline.json ```json { "pipeline": { "connections": [ { "node1Id": 0, "node1Output": "out", "node1OutputGroup": "", "node2Id": 2, "node2Input": "left", "node2InputGroup": "" }, { "node1Id": 1, "node1Output": "out", "node1OutputGroup": "", "node2Id": 2, "node2Input": "right", "node2InputGroup": "" }, { "node1Id": 2, "node1Output": "syncedLeft", "node1OutputGroup": "", "node2Id": 3, "node2Input": "in", "node2InputGroup": "" }, { "node1Id": 2, "node1Output": "syncedRight", "node1OutputGroup": "", "node2Id": 4, "node2Input": "in", "node2InputGroup": "" }, { "node1Id": 2, "node1Output": "disparity", "node1OutputGroup": "", "node2Id": 5, "node2Input": "in", "node2InputGroup": "" } ], "globalProperties": { "calibData": null, "cameraTuningBlobSize": null, "cameraTuningBlobUri": "", "leonCssFrequencyHz": 700000000.0, "leonMssFrequencyHz": 700000000.0, "pipelineName": null, "pipelineVersion": null, "sippBufferSize": 18432, "sippDmaBufferSize": 16384, "xlinkChunkSize": -1 }, "nodes": [ [ 0, { "id": 0, "ioInfo": [ [ [ "", "inputControl" ], { "blocking": true, "group": "", "id": 1, "name": "inputControl", "queueSize": 8, "type": 3, "waitForMessage": false } ], [ [ "", "out" ], { "blocking": false, "group": "", "id": 2, "name": "out", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "", "raw" ], { "blocking": false, "group": "", "id": 3, "name": "raw", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "", "frameEvent" ], { "blocking": false, "group": "", "id": 4, "name": "frameEvent", "queueSize": 8, "type": 0, "waitForMessage": false } ] ], "name": "MonoCamera", "properties": { "boardSocket": -1, "cameraName": "left", "fps": 30.0, "imageOrientation": -1, "initialControl": { "aeLockMode": false, "aeMaxExposureTimeUs": 0, "aeRegion": { "height": 0, "priority": 0, "width": 0, "x": 0, "y": 0 }, "afRegion": { "height": 0, "priority": 0, "width": 0, "x": 0, "y": 0 }, "antiBandingMode": 0, "autoFocusMode": 3, "awbLockMode": false, "awbMode": 0, "brightness": 0, "captureIntent": 0, "chromaDenoise": 0, "cmdMask": 0, "contrast": 0, "controlMode": 0, "effectMode": 0, "expCompensation": 0, "expManual": { "exposureTimeUs": 0, "frameDurationUs": 0, "sensitivityIso": 0 }, "frameSyncMode": 0, "lensPosAutoInfinity": 0, "lensPosAutoMacro": 0, "lensPosition": 0, "lensPositionRaw": 0.0, "lowPowerNumFramesBurst": 0, "lowPowerNumFramesDiscard": 0, "lumaDenoise": 0, "saturation": 0, "sceneMode": 0, "sharpness": 0, "strobeConfig": { "activeLevel": 0, "enable": 0, "gpioNumber": 0 }, "strobeTimings": { "durationUs": 0, "exposureBeginOffsetUs": 0, "exposureEndOffsetUs": 0 }, "wbColorTemp": 0 }, "isp3aFps": 0, "numFramesPool": 3, "numFramesPoolRaw": 3, "rawPacked": null, "resolution": 0 } } ], [ 1, { "id": 1, "ioInfo": [ [ [ "", "inputControl" ], { "blocking": true, "group": "", "id": 5, "name": "inputControl", "queueSize": 8, "type": 3, "waitForMessage": false } ], [ [ "", "out" ], { "blocking": false, "group": "", "id": 6, "name": "out", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "", "raw" ], { "blocking": false, "group": "", "id": 7, "name": "raw", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "", "frameEvent" ], { "blocking": false, "group": "", "id": 8, "name": "frameEvent", "queueSize": 8, "type": 0, "waitForMessage": false } ] ], "name": "MonoCamera", "properties": { "boardSocket": -1, "cameraName": "right", "fps": 30.0, "imageOrientation": -1, "initialControl": { "aeLockMode": false, "aeMaxExposureTimeUs": 0, "aeRegion": { "height": 0, "priority": 0, "width": 0, "x": 0, "y": 0 }, "afRegion": { "height": 0, "priority": 0, "width": 0, "x": 0, "y": 0 }, "antiBandingMode": 0, "autoFocusMode": 3, "awbLockMode": false, "awbMode": 0, "brightness": 0, "captureIntent": 0, "chromaDenoise": 0, "cmdMask": 0, "contrast": 0, "controlMode": 0, "effectMode": 0, "expCompensation": 0, "expManual": { "exposureTimeUs": 0, "frameDurationUs": 0, "sensitivityIso": 0 }, "frameSyncMode": 0, "lensPosAutoInfinity": 0, "lensPosAutoMacro": 0, "lensPosition": 0, "lensPositionRaw": 0.0, "lowPowerNumFramesBurst": 0, "lowPowerNumFramesDiscard": 0, "lumaDenoise": 0, "saturation": 0, "sceneMode": 0, "sharpness": 0, "strobeConfig": { "activeLevel": 0, "enable": 0, "gpioNumber": 0 }, "strobeTimings": { "durationUs": 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false } ], [ [ "", "rectifiedRight" ], { "blocking": false, "group": "", "id": 17, "name": "rectifiedRight", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "", "confidenceMap" ], { "blocking": false, "group": "", "id": 24, "name": "confidenceMap", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "", "outConfig" ], { "blocking": false, "group": "", "id": 18, "name": "outConfig", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "", "debugDispLrCheckIt1" ], { "blocking": false, "group": "", "id": 19, "name": "debugDispLrCheckIt1", "queueSize": 8, "type": 0, "waitForMessage": false } ] ], "name": "StereoDepth", "properties": { "alphaScaling": null, "baseline": null, "depthAlignCamera": -1, "depthAlignmentUseSpecTranslation": null, "disparityToDepthUseSpecTranslation": null, "enableRectification": true, "enableRuntimeStereoModeSwitch": false, "focalLength": null, "focalLengthFromCalibration": true, "height": null, "initialConfig": { "algorithmControl": { "centerAlignmentShiftFactor": null, "customDepthUnitMultiplier": 1000.0, "depthAlign": 0, "depthUnit": 2, "disparityShift": 0, "enableExtended": false, "enableLeftRightCheck": false, "enableSubpixel": false, "leftRightCheckThreshold": 10, "numInvalidateEdgePixels": 0, "subpixelFractionalBits": 3 }, "censusTransform": { "enableMeanMode": true, "kernelMask": 0, "kernelSize": -1, "threshold": 0 }, "costAggregation": { "divisionFactor": 1, "horizontalPenaltyCostP1": 250, "horizontalPenaltyCostP2": 500, "verticalPenaltyCostP1": 250, "verticalPenaltyCostP2": 500 }, "costMatching": { "confidenceThreshold": 245, "disparityWidth": 1, "enableCompanding": false, "invalidDisparityValue": 0, "linearEquationParameters": { "alpha": 0, "beta": 2, "threshold": 127 } }, "postProcessing": { "bilateralSigmaValue": 0, "brightnessFilter": { "maxBrightness": 256, "minBrightness": 0 }, "decimationFilter": { "decimationFactor": 1, "decimationMode": 0 }, "median": 7, "spatialFilter": { "alpha": 0.5, "delta": 0, "enable": false, "holeFillingRadius": 2, "numIterations": 1 }, "speckleFilter": { "enable": false, "speckleRange": 50 }, "temporalFilter": { "alpha": 0.4000000059604645, "delta": 0, "enable": false, "persistencyMode": 3 }, "thresholdFilter": { "maxRange": 65535, "minRange": 0 } } }, "mesh": { "meshLeftUri": "", "meshRightUri": "", "meshSize": null, "stepHeight": 16, "stepWidth": 16 }, "numFramesPool": 3, "numPostProcessingMemorySlices": -1, "numPostProcessingShaves": -1, "outHeight": null, "outKeepAspectRatio": true, "outWidth": null, "rectificationUseSpecTranslation": null, "rectifyEdgeFillColor": 0, "useHomographyRectification": null, "width": null } } ], [ 3, { "id": 3, "ioInfo": [ [ [ "", "in" ], { "blocking": true, "group": "", "id": 25, "name": "in", "queueSize": 8, "type": 3, "waitForMessage": true } ] ], "name": "XLinkOut", "properties": { "maxFpsLimit": -1.0, "metadataOnly": false, "streamName": "left" } } ], [ 4, { "id": 4, "ioInfo": [ [ [ "", "in" ], { "blocking": true, "group": "", "id": 26, "name": "in", "queueSize": 8, "type": 3, "waitForMessage": true } ] ], "name": "XLinkOut", "properties": { "maxFpsLimit": -1.0, "metadataOnly": false, "streamName": "right" } } ], [ 5, { "id": 5, "ioInfo": [ [ [ "", "in" ], { "blocking": true, "group": "", "id": 27, "name": "in", "queueSize": 8, "type": 3, "waitForMessage": true } ] ], "name": "XLinkOut", "properties": { "maxFpsLimit": -1.0, "metadataOnly": false, "streamName": "disparity" } } ] ] } } ``` ### Need assistance? 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