The new SPE for the Stereolabs ZED depth camera is now working nicely, as is the new support for depth data in the CYOLO SPE. The extra depth information can be seen in the metadata display on the right of the screen capture – the annotation on the image itself is still the standard code but, since that is just for testing, it is ok.
This is the design used for testing. The ZED camera SPE has two outputs: one looks like a standard camera output while the other has both left and right images and the depth image. The CYOLO SPE can now accept either standard video messages or depth video messages using the appropriate input pin. The depth image adds about 3.7MB to each message so it isn’t a trivial overhead but the CYOLO module only ever outputs a standard video frame so the large payload is contained in the single link in this design. Even running everything on a busy machine with 1280 x 720 frames, the whole design still runs at around 15fps which is not too bad.