Struct CostMatching::LinearEquationParameters

Nested Relationships

This struct is a nested type of Struct StereoDepthConfig::CostMatching.

Struct Documentation

struct LinearEquationParameters

The linear equation applied for computing the cost is: COMB_COST = α*AD + β*(CTC<<3). CLAMP(COMB_COST >> 5, threshold). Where AD is the Absolute Difference between 2 pixels values. CTC is the Census Transform Cost between 2 pixels, based on Hamming distance (xor). The α and β parameters are subject to fine tuning by the user.

Public Functions

DEPTHAI_SERIALIZE(LinearEquationParameters, alpha, beta, threshold)

Public Members

uint8_t alpha = 0
uint8_t beta = 2
uint8_t threshold = 127