From 53fa9cfa3b03e5040db31f262c8994771a59f11f Mon Sep 17 00:00:00 2001
From: Erol444 <erol123444@gmail.com>
Date: Fri, 5 May 2023 16:21:37 +0200
Subject: [PATCH] Fixed depth->disparity conversion for visualization

---
 depthai_sdk/src/depthai_sdk/components/stereo_component.py | 7 +++++--
 depthai_sdk/src/depthai_sdk/oak_outputs/xout/xout_depth.py | 3 +--
 .../src/depthai_sdk/oak_outputs/xout/xout_disparity.py     | 4 ++--
 3 files changed, 8 insertions(+), 6 deletions(-)

diff --git a/depthai_sdk/src/depthai_sdk/components/stereo_component.py b/depthai_sdk/src/depthai_sdk/components/stereo_component.py
index 3f8d3cbc7..697f26daa 100644
--- a/depthai_sdk/src/depthai_sdk/components/stereo_component.py
+++ b/depthai_sdk/src/depthai_sdk/components/stereo_component.py
@@ -369,8 +369,11 @@ def __init__(self, stereo_component: 'StereoComponent'):
             self._comp = stereo_component
 
         def _mono_frames(self):
+            """
+            Create mono frames output if WLS filter is enabled or colorize is set to RGBD
+            """
             mono_frames = None
-            if self._comp.wls_enabled:
+            if self._comp.wls_enabled or self._comp._colorize == StereoColor.RGBD:
                 mono_frames = StreamXout(self._comp.node.id, self._comp._right_stream, name=self._comp.name)
             return mono_frames
 
@@ -383,7 +386,7 @@ def disparity(self, pipeline: dai.Pipeline, device: dai.Device) -> XoutBase:
 
             out = XoutDisparity(
                 frames=StreamXout(self._comp.node.id, self._comp.disparity, name=self._comp.name),
-                max_disp=self._comp.node.getMaxDisparity(),
+                max_disp=self._comp.node,
                 fps=fps,
                 mono_frames=self._mono_frames(),
                 colorize=self._comp._colorize,
diff --git a/depthai_sdk/src/depthai_sdk/oak_outputs/xout/xout_depth.py b/depthai_sdk/src/depthai_sdk/oak_outputs/xout/xout_depth.py
index 0693f2be9..1d4b36c58 100644
--- a/depthai_sdk/src/depthai_sdk/oak_outputs/xout/xout_depth.py
+++ b/depthai_sdk/src/depthai_sdk/oak_outputs/xout/xout_depth.py
@@ -36,7 +36,7 @@ def __init__(self,
         self.name = 'Depth'
         super().__init__(
                         frames=frames,
-                        max_disp=95,
+                        stereo=stereo,
                         fps=fps,
                         mono_frames=mono_frames,
                         colorize=colorize,
@@ -66,4 +66,3 @@ def visualize(self, packet: DepthPacket):
         disp[disp==np.inf] = 0
         packet.frame = np.round(disp).astype(np.uint8)
         super().visualize(packet)
-
diff --git a/depthai_sdk/src/depthai_sdk/oak_outputs/xout/xout_disparity.py b/depthai_sdk/src/depthai_sdk/oak_outputs/xout/xout_disparity.py
index 4aba4523d..781733a42 100644
--- a/depthai_sdk/src/depthai_sdk/oak_outputs/xout/xout_disparity.py
+++ b/depthai_sdk/src/depthai_sdk/oak_outputs/xout/xout_disparity.py
@@ -20,7 +20,7 @@
 class XoutDisparity(XoutFrames, Clickable):
     def __init__(self,
                  frames: StreamXout,
-                 max_disp: float,
+                 stereo: dai.node.StereoDepth,
                  fps: float,
                  mono_frames: Optional[StreamXout],
                  colorize: StereoColor = None,
@@ -30,7 +30,7 @@ def __init__(self,
                  wls_lambda: float = None,
                  wls_sigma: float = None):
         self.mono_frames = mono_frames
-        self.multiplier = 255.0 / max_disp
+        self.multiplier = 255.0 / stereo.getMaxDisparity()
         self.fps = fps
         self.name = 'Disparity'