def getStereoPair(pipeline, monoLeft, monoRight):
  """
  Generates a stereo node. Takes left and right camera streams as inputs and generates outputs
  """
  stereo = pipeline.createStereoDepth()
  stereo.setLeftRightCheck(True)
  monoLeft.out.link(stereo.left)
  monoRight.out.link(stereo.right)
  return stereo