Remove left&right from stereo examples for better latency

Author: Matevz Morato

examples/cpp/StereoDepth/stereo.cpp

@@ -20,20 +20,12 @@ int main() {
     stereo->setExtendedDisparity(true);
     stereo->setLeftRightCheck(true);
 
-    auto syncedLeftQueue = stereo->syncedLeft.createOutputQueue();
-    auto syncedRightQueue = stereo->syncedRight.createOutputQueue();
     auto disparityQueue = stereo->disparity.createOutputQueue();
 
     double maxDisparity = 1.0;
     pipeline.start();
     while(true) {
-        auto leftSynced = syncedLeftQueue->get<dai::ImgFrame>();
-        auto rightSynced = syncedRightQueue->get<dai::ImgFrame>();
         auto disparity = disparityQueue->get<dai::ImgFrame>();
-
-        cv::imshow("left", leftSynced->getCvFrame());
-        cv::imshow("right", rightSynced->getCvFrame());
-
         cv::Mat npDisparity = disparity->getFrame();
 
         double minVal, curMax;

examples/python/StereoDepth/stereo.py

@@ -19,8 +19,6 @@
 stereo.setExtendedDisparity(True)
 stereo.setLeftRightCheck(True)
 
-syncedLeftQueue = stereo.syncedLeft.createOutputQueue()
-syncedRightQueue = stereo.syncedRight.createOutputQueue()
 disparityQueue = stereo.disparity.createOutputQueue()
 
 colorMap = cv2.applyColorMap(np.arange(256, dtype=np.uint8), cv2.COLORMAP_JET)
@@ -30,14 +28,8 @@
     pipeline.start()
     maxDisparity = 1
     while pipeline.isRunning():
-        leftSynced = syncedLeftQueue.get()
-        rightSynced = syncedRightQueue.get()
         disparity = disparityQueue.get()
-        assert isinstance(leftSynced, dai.ImgFrame)
-        assert isinstance(rightSynced, dai.ImgFrame)
         assert isinstance(disparity, dai.ImgFrame)
-        cv2.imshow("left", leftSynced.getCvFrame())
-        cv2.imshow("right", rightSynced.getCvFrame())
         npDisparity = disparity.getFrame()
         maxDisparity = max(maxDisparity, np.max(npDisparity))
         colorizedDisparity = cv2.applyColorMap(((npDisparity / maxDisparity) * 255).astype(np.uint8), colorMap)