Implemented stereo depth node with RGB cam alignment

main_2025.py

@@ -1,8 +1,8 @@
 """
 for target tracking
 """
-import pathlib
 
+import pathlib
 
 
 CONFIG_FILE_PATH = pathlib.Path("config.yaml")

modules/target_tracking/stereo_node.py

@@ -0,0 +1,49 @@
+"""
+Module for initializing and configuring the StereoDepth node.
+This setup aligns the depth map to the RGB camera for spatial logic.
+"""
+
+import depthai as dai
+
+
+def create_stereo_depth(pipeline: dai.Pipeline) -> dai.node.StereoDepth:
+    """
+    Creates the StereoDepth node and links it to the Mono cameras.
+
+    Args:
+        pipeline (dai.Pipeline): The DepthAI pipeline object.
+
+    Returns:
+        dai.node.StereoDepth: The configured stereo node.
+    """
+    # --- 1. Define Sources  ---
+    mono_left = pipeline.create(dai.node.MonoCamera)
+    mono_right = pipeline.create(dai.node.MonoCamera)
+
+    # Configure the hardware sockets (Left vs Right)
+    mono_left.setBoardSocket(dai.CameraBoardSocket.LEFT)
+    mono_right.setBoardSocket(dai.CameraBoardSocket.RIGHT)
+
+    # Set Resolution (400p is standard)
+    # Breaking line to satisfy flake8 line length limit
+    mono_left.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P)
+    mono_right.setResolution(dai.MonoCameraProperties.SensorResolution.THE_400_P)
+
+    # --- 2. Define the Processor  ---
+    stereo = pipeline.create(dai.node.StereoDepth)
+
+    # --- 3. Configuration ---
+    # CRITICAL: Align depth to RGB (bc mono cams are 20 pixels off)
+    stereo.setDepthAlign(dai.CameraBoardSocket.RGB)
+
+    # Improve quality
+    stereo.setSubpixel(True)
+    stereo.setLeftRightCheck(True)  # Removes ghost pixels at edges
+    # Change to True if <50cm need tracking needed
+    stereo.setExtendedDisparity(False)
+
+    # --- 4. Linking ---
+    mono_left.out.link(stereo.left)
+    mono_right.out.link(stereo.right)
+
+    return stereo

requirements-pytorch.txt

@@ -0,0 +1,4 @@
+# Runtime dependencies for target tracking pipeline
+
+depthai>=2.24.0
+pymavlink>=2.4.40