How to change Disparity Shift in Python

[Litvak1]

Required Info
Camera Model	D415
Firmware Version	05.08.15.00
Operating System & Version	Linux (Ubuntu 16.04)
Kernel Version (Linux Only)	4.13.0-45-generic
Platform	PC
SDK Version	?
Language	Python

I want to take images of a table with objects, from different heights. As I have seen in realsense-viewer, if I change the value of Disparity Shift from 0 to 128, I can get images from half the MinZ range.

I need to change the Disparity Shift value during a script in python. How can I do that?

I found pyrealsense2.STDepthTableControl.disparityShift but didn't understand how to use it.

Thanks

[dorodnic]

Hi @Litvak1
Please see python-rs400-advanced-mode-example.py

[Litvak1]

Hi @dorodnic ,

I actually looked at the example you've mentioned before and didn't understand it. Trying again I realized what I had to do:

device = rs.context().query_devices()[0]
advnc_mode = rs.rs400_advanced_mode(device)
depth_table_control_group = advnc_mode.get_depth_table()
depth_table_control_group.disparityShift = 128
advnc_mode.set_depth_table(depth_table_control_group)

Thanks!

[dorodnic]

Hi @Litvak1
Sorry, we certainly can add more comments to make it easier to understand.
Glad you figured it out, always feel free open more issues if you encounter any problems!