Class NeuralAssistedStereo

• Defined in File NeuralAssistedStereo.hpp

Inheritance Relationships

Base Type

• public dai::DeviceNodeGroup (Class DeviceNodeGroup)

Class Documentation

class NeuralAssistedStereo : public dai::DeviceNodeGroup

NeuralAssistedStereo node. Combines Neural Depth with VPP and traditional Stereo Depth.

This composite node internally creates and connects:

• Rectification node (full resolution)

• NeuralDepth node (low resolution depth estimation)

• VPP node (applies virtual projection pattern)

• StereoDepth node (final depth computation on VPP-enhanced images)

Pipeline structure: Left/Right Cameras → Rectification → [Full res to VPP] ↓ NeuralDepth (low res) → [disparity + confidence to VPP] ↓ VPP (combines neural depth with full res images) ↓ StereoDepth → Final Depth Output

Public Types

using Input = Node::Input

using Output = Node::Output

Public Functions

virtual ~NeuralAssistedStereo()

NeuralAssistedStereo(const std::shared_ptr<Device> &device)

std::shared_ptr<NeuralAssistedStereo> build(Output &leftInput, Output &rightInput, DeviceModelZoo neuralModel = DeviceModelZoo::NEURAL_DEPTH_384X240, bool rectifyImages = true)

Public Members

Subnode<node::Rectification> rectification = {*this, "rectification"}

Subnode<node::NeuralDepth> neuralDepth = {*this, "neuralDepth"}

Subnode<node::Vpp> vpp = {*this, "vpp"}

Subnode<node::StereoDepth> stereoDepth = {*this, "stereoDepth"}

Input &left = {rectification->input1}

Input &right = {rectification->input2}

Output &rectifiedLeft = {rectification->output1}

Output &rectifiedRight = {rectification->output2}

Output &vppLeft = {vpp->leftOut}

Output &vppRight = {vpp->rightOut}

Output &neuralDisparity = {neuralDepth->disparity}

Output &neuralConfidence = {neuralDepth->confidence}

Input &inputVppConfig = {vpp->inputConfig}

Input &inputStereoConfig = {stereoDepth->inputConfig}

Input &inputNeuralConfig = {neuralDepth->inputConfig}

Output &depth = {stereoDepth->depth}

Output &disparity = {stereoDepth->disparity}

Public Static Functions

static inline std::shared_ptr<NeuralAssistedStereo> create(const std::shared_ptr<Device> &device)

Build the composite node by connecting left and right camera outputs

Parameters:

• left – Left camera output

• right – Right camera output

• neuralModel – Neural depth model to use

Returns:

Shared pointer to this node

Public Static Attributes

static constexpr const char *NAME = "NeuralAssistedStereo"