# 立体深度视频 此示例是[深度预览](https://docs.luxonis.com/software/depthai/examples/depth_preview.md)的升级版。它拥有更高的分辨率（720p），可以显示每一帧（左-右单目、校正后的左-右、视差和深度）。代码内部提供了6种模式供选择： * withDepth：如果关闭，将变为[单目预览](https://docs.luxonis.com/software/depthai/examples/mono_preview.md)，仅显示两个单目摄像头 * outputDepth：如果开启，将显示深度 * lrcheck：用于更好的遮挡处理。更多信息请[点击这里](https://docs.luxonis.com/software/depthai-components/nodes/stereo_depth.md) * extended：适用于短距离物体。更多信息请[点击这里](https://docs.luxonis.com/software/depthai-components/nodes/stereo_depth.md) * subpixel：适用于远距离。更多信息请[点击这里](https://docs.luxonis.com/software/depthai-components/nodes/stereo_depth.md) ## 立体Alpha参数 使用 --alpha 可以选择校正过程中的缩放比例。取值范围为0到1： * 0.0（默认值）表示校正后的图像会缩放并移动，以便仅显示有效像素（校正后无黑色区域） * 1.0 表示校正后的图像会抽稀并移动，以便保留来自摄像头原始图像的所有像素（不丢失任何源图像像素）。 ### 类似示例： * [深度预览](https://docs.luxonis.com/software/depthai/examples/depth_preview.md) * [来自主机的立体深度](https://docs.luxonis.com/software/depthai/examples/stereo_depth_from_host.md) ## 设置 请运行[安装脚本](https://github.com/luxonis/depthai-python/blob/main/examples/install_requirements.py)以下载所有必需的依赖项。请注意，此脚本必须在 git 上下文中运行，因此您需要先下载 [depthai-python](https://github.com/luxonis/depthai-python) 仓库，然后运行该脚本。 ```bash git clone https://github.com/luxonis/depthai-python.git cd depthai-python/examples python3 install_requirements.py ``` 更多信息，请参考[安装指南](https://docs.luxonis.com/software/depthai/manual-install.md)。 ## 源代码 #### 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; } ``` ## 管道 ### 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": 0, "exposureBeginOffsetUs": 0, "exposureEndOffsetUs": 0 }, "wbColorTemp": 0 }, "isp3aFps": 0, "numFramesPool": 3, "numFramesPoolRaw": 3, "rawPacked": null, "resolution": 0 } } ], [ 2, { "id": 2, "ioInfo": [ [ [ "", "inputConfig" ], { "blocking": false, "group": "", "id": 9, "name": "inputConfig", "queueSize": 4, "type": 3, "waitForMessage": false } ], [ [ "", "left" ], { "blocking": false, "group": "", "id": 10, "name": "left", "queueSize": 8, "type": 3, "waitForMessage": true } ], [ [ "", "debugExtDispLrCheckIt1" ], { "blocking": false, "group": "", "id": 22, "name": "debugExtDispLrCheckIt1", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "", "right" ], { "blocking": false, "group": "", "id": 11, "name": "right", "queueSize": 8, "type": 3, "waitForMessage": true } ], [ [ "", "syncedLeft" ], { "blocking": false, "group": "", "id": 12, "name": "syncedLeft", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "", "depth" ], { "blocking": false, "group": "", "id": 13, "name": "depth", "queueSize": 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"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" } } ] ] } } ``` ### 需要帮助？ 请前往 [OAKChina 官网](https://www.oakchina.cn/) 获取技术支持或解答您的任何疑问。