Merge branch 'main' into uart_example_script

Author: Erol444

docs/source/_static/images/components/layered-pointcloud.png

@@ -1,7 +1,8 @@
 StereoDepth
 ###########
 
-StereoDepth node calculates the disparity/depth from the stereo camera pair (2x :ref:`MonoCamera <MonoCamera>`/:ref:`ColorCamera`).
+StereoDepth node calculates the disparity and/or depth from the stereo camera pair (2x :ref:`MonoCamera <MonoCamera>`/:ref:`ColorCamera`).
+We suggest following :ref:`Configuring Stereo Depth` tutorial to achieve the best depth results.
 
 How to place it
 ===============

docs/source/_static/images/components/pointcloud_layering.jpg

@@ -1,28 +1,5 @@
 .. raw:: html
 
-    <h2>Got questions?</h2>
+   <h2>Got questions?</h2>
 
-We're always happy to help with code or other questions you might have.
-
-.. raw:: html
-
-     <div class="cta-row cta-row-short">
-         <div class="cta-box">
-            <a href="https://discord.gg/luxonis">
-               <img src="https://docs.luxonis.com/en/latest/_images/discord.png" alt="Discord"/>
-               <h5 class="cta-title">Community Discord</h5>
-            </a>
-         </div>
-         <div class="cta-box">
-            <a href="https://discuss.luxonis.com/">
-               <img src="https://docs.luxonis.com/en/latest/_images/forum.png" alt="forum"/>
-               <h5 class="cta-title">Discussion Forum</h5>
-            </a>
-         </div>
-         <div class="cta-box">
-            <a href="mailto:[email protected]">
-               <img src="https://docs.luxonis.com/en/latest/_images/email.png" alt="forum"/>
-               <h5 class="cta-title">Email Support</h5>
-            </a>
-         </div>
-      </div>
+   Head over to <a href="https://discuss.luxonis.com/"><strong>Discussion Forum</strong></a> for technical support or any other questions you might have.

docs/source/components/nodes/stereo_depth.rst

@@ -277,7 +277,7 @@ just note it's a very large output (eg. 1280*800*96 => 98MB for each frame).
 
 Stereo Subpixel mode will calculate subpixel disparity by looking at the confidence values of the 2 neighboring disparity pixels in each direction.
 In the above example graph, in normal mode, StereoDepth would just get the max disparity = 34 pixels, but in Subpixel
-mode, it will return a bit more, eg. 37.375 pixels, as confidences for pixels 35 and 36 are quite high as well.
+mode, it will return a bit more, eg. 34.375 pixels, as confidences for pixels 35 and 36 are quite high as well.
 
 **TL;DR:** Stereo Subpixel mode should always provide more accurate depth, but will consume additional HW resources (see :ref:`Stereo depth FPS` for impact).
 
@@ -287,7 +287,7 @@ Stereo subpixel effect on layering
 Default stereo depth output has 0..95 disparity pixels, which would produce 96 unique depth values. This can especially be seen when using pointcloud representation
 and seeing how there are discrete "layers" of points, instead of a smooth transition:
 
-.. image:: /_static/images/components/layered-pointcloud.png
+.. image:: /_static/images/components/pointcloud_layering.jpg
 
 This layering can especially be seen at longer distances, where these layers are exponentially further apart.
 

docs/source/includes/footer-short.rst

@@ -133,7 +133,7 @@ Bandwidth
 
 With large, unencoded frames, one can quickly saturate the bandwidth even at 30FPS, especially on PoE devices (1gbps link):
 
-.. code-block::bash
+.. code-block::
 
   4K NV12/YUV420 frames: 3840 * 2160 * 1.5 * 30fps * 8bits = 3 gbps
   1080P NV12/YUV420 frames: 1920 * 1080 * 1.5 * 30fps * 8bits = 747 mbps