Merge Depth Maps

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Function

This Step merges two camera depth maps into one.

Usage Scenario

This Step is for developers and is used to debug in the passive stereo camera mode. Regular users do not need to use this Step in general application scenarios.

Input and Output

  • Input:

    1. First depth map from camera for merging

    2. Second depth map from camera for merging

    3. ROI mask list for the left view

    4. ROI mask list for the right view

    5. Mapping matrix from camera disparity values to depth values (should be a 4 × 4 matrix)

  • Output:

    1. Depth map generated from merging

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