Runs semi-global block matching over a rectified grayscale stereo pair and returns per-pixel disparity together with the count of pixels that could actually be matched. Pixels with no reliable match stay unmatched rather than being interpolated, so occlusions and textureless regions are visible in the output instead of hidden by plausible-looking values. Disparities are positive and bounded at 16 pixels, which suits small-baseline rigs and close range.

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