Merge pull request #804 from luxonis/update_pcl_layering_docs

Updated docs on pointcloud layering

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

@@ -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/components/nodes/stereo_depth.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