Try to run both Depth and RGB on OAK-D(Gen2) at the same time.

test.py

#!/usr/bin/env python3

import cv2
import depthai as dai
import numpy as np

# Start defining a pipeline
pipeline = dai.Pipeline()

# Define a source
cam_rgb = pipeline.createColorCamera()
cam_rgb.setPreviewSize(300, 300)
cam_rgb.setCamId(0)
cam_rgb.setResolution(dai.ColorCameraProperties.SensorResolution.THE_1080_P)
cam_rgb.setInterleaved(False)

cam_left = pipeline.createMonoCamera()
cam_left.setResolution(dai.MonoCameraProperties.SensorResolution.THE_720_P)
cam_left.setCamId(1)
cam_right = pipeline.createMonoCamera()
cam_right.setResolution(dai.MonoCameraProperties.SensorResolution.THE_720_P)
cam_right.setCamId(2)

# Create a node that will produce the depth map
depth = pipeline.createStereoDepth()
depth.setConfidenceThreshold(200)
cam_left.out.link(depth.left)
cam_right.out.link(depth.right)

# Create output
depthout = pipeline.createXLinkOut()
depthout.setStreamName("disparity")
depth.disparity.link(depthout.input)

rgbout = pipeline.createXLinkOut()
rgbout.setStreamName('rgb')
cam_rgb.preview.link(rgbout.input)

# Pipeline defined, now the device is assigned and pipeline is started
device = dai.Device(pipeline)
device.startPipeline()

# Output queue will be used to get the disparity frames and rgb frames from the outputs defined above
q_depth = device.getOutputQueue(name="disparity", maxSize=4, overwrite=True)
q_rgb = device.getOutputQueue(name="rgb", maxSize=4, overwrite=True)

f_color = None
f_depth = None
while True:

    in_depth = q_depth.tryGet()
    in_rgb = q_rgb.tryGet()

    if in_rgb is not None:
        shape = (3, in_rgb.getHeight(), in_rgb.getWidth())
        f_color = in_rgb.getData().reshape(shape).transpose(1, 2, 0).astype(np.uint8)
        f_color = np.ascontiguousarray(f_color)

    if f_color is not None:
        cv2.imshow("color", f_color)

    if in_depth is not None:
        f_depth = in_depth.getData().reshape((in_depth.getHeight(), in_depth.getWidth())).astype(np.uint8)
        f_depth = np.ascontiguousarray(f_depth)
        f_depth = cv2.applyColorMap(f_depth, cv2.COLORMAP_JET)

    if f_depth is not None:
        cv2.imshow("disparity", f_depth)

    if cv2.waitKey(1) == ord('q'):
        break

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