# Neural Assisted Stereo

This example demonstrates the
[NeuralAssistedStereo](https://docs.luxonis.com/software-v3/depthai/depthai-components/nodes/neural_assisted_stereo.md) node,
which fuses [NeuralDepth](https://docs.luxonis.com/software-v3/depthai/depthai-components/nodes/neural_depth.md) with classical
[StereoDepth](https://docs.luxonis.com/software-v3/depthai/depthai-components/nodes/stereo_depth.md).

This example requires the DepthAI v3 API, see [installation instructions](https://docs.luxonis.com/software-v3/depthai.md).

## Source code

#### Python

```python
import cv2 as cv
import depthai as dai

FPS = 20

if __name__ == "__main__":
    device = dai.Device()
    pipeline = dai.Pipeline(device)
    if not device.isNeuralDepthSupported():
        print("Exiting NeuralAssistedStereo example: device doesn't support NeuralDepth.")
        exit()

    monoLeft = pipeline.create(dai.node.Camera).build(dai.CameraBoardSocket.CAM_B, sensorFps=FPS)
    monoRight = pipeline.create(dai.node.Camera).build(dai.CameraBoardSocket.CAM_C, sensorFps=FPS)

    monoLeftOut = monoLeft.requestFullResolutionOutput()
    monoRightOut = monoRight.requestFullResolutionOutput()

    neuralAssistedStereo = pipeline.create(dai.node.NeuralAssistedStereo).build(monoLeftOut, monoRightOut, neuralModel=dai.DeviceModelZoo.NEURAL_DEPTH_NANO)

    depthQueue = neuralAssistedStereo.depth.createOutputQueue()

    with pipeline:
        pipeline.start()
        while pipeline.isRunning():
            depth = depthQueue.get()
            cv.imshow("Depth", dai.utility.colorizeDepthFrame(depth, 500, 12000, cv.COLORMAP_TURBO, useLog=True).getCvFrame())

            key = cv.waitKey(1)
            if key == ord('q'):
                quit()
```

#### C++

```cpp
#include <depthai/depthai.hpp>
#include <depthai/device/Device.hpp>
#include <depthai/pipeline/node/Camera.hpp>
#include <depthai/pipeline/node/NeuralAssistedStereo.hpp>
#include <iostream>
#include <opencv2/opencv.hpp>

constexpr float FPS = 20.0f;
int main() {
    // 1. Create device and pipeline
    auto device = std::make_shared<dai::Device>();
    dai::Pipeline pipeline(device);
    if(!device->isNeuralDepthSupported()) {
        std::cout << "Exiting NeuralAssistedStereo example: device doesn't support NeuralDepth.\n";
        return 0;
    }

    // 2. Define nodes
    auto monoLeft = pipeline.create<dai::node::Camera>()->build(dai::CameraBoardSocket::CAM_B, std::nullopt, FPS);
    auto monoRight = pipeline.create<dai::node::Camera>()->build(dai::CameraBoardSocket::CAM_C, std::nullopt, FPS);
    auto monoRightOut = monoRight->requestFullResolutionOutput();
    auto monoLeftOut = monoLeft->requestFullResolutionOutput();

    auto neuralAssistedStereo = pipeline.create<dai::node::NeuralAssistedStereo>()->build(*monoLeftOut, *monoRightOut, dai::DeviceModelZoo::NEURAL_DEPTH_NANO);

    // 6. Get output queue
    auto depthQueue = neuralAssistedStereo->depth.createOutputQueue();

    pipeline.start();
    while(pipeline.isRunning()) {
        auto depthPacket = depthQueue->get<dai::ImgFrame>();
        cv::imshow("Depth", dai::utility::colorizeDepthFrame(*depthPacket, 500.0f, 12000.0f, cv::COLORMAP_TURBO, true).getCvFrame());
        int key = cv::waitKey(1);
        if(key == 'q') {
            break;
        }
    }
    return 0;
}
```

### Need assistance?

Head over to [Discussion Forum](https://discuss.luxonis.com/) for technical support or any other questions you might have.