.. _monocularstreamdepthestimation: Monocular Stream Depth Estimation ================================= Estimates a relative depth map from each frame of a live monocular camera stream and emits a synchronized depth output stream for live inspection. Input ----- One image stream with a :ref:`camera calibration data component`. Output ------ A child depth stream on the input camera stream. Each processed frame produces a depth map paired with the original color image so the display can show a live point-cloud preview. Description ----------- This algorithm applies the same monocular depth backend as :ref:`Monocular Depth Estimation`, frame-by-frame on a live feed. Use that algorithm for offline image sets; use this one when the camera is streaming and you need continuous depth aligned with the color frames. Press **Compute** to attach the output stream. Stream playback and focus controls follow the usual stream workflow. Depth backend ------------- By default each frame is processed with :ref:`Monocular Depth Estimation`. Its properties (including **Depth estimator name** and **Export point clouds**) apply per frame. Depth remains **relative** (non-metric); calibration enables correct pinhole unprojection for preview only. Processing ---------- Reconstruction may lag behind the camera frame rate: **Queue size** — number of frames buffered while waiting for depth estimation. When the queue is full, new frames are dropped. **Force blocking** — when enabled, each frame is processed on the input thread instead of a background queue (higher latency, simpler timing). **Process on GPU** — when enabled, incoming images are uploaded to the GPU before processing (required for some GPU-backed depth backends).