Stereo cameras work by matching features between the left and right cameras. The maximum number of disparities refers to the number of pixels the camera will search across when trying to find matches. Objects closer to the camera will have a larger disparity value between the left and right images. This means the minimum range of the camera is closer with higher disparity values. Limiting the maximum disparities has the advantage of increasing the frame rate because it reduces the search space. The MultiSense has the option to use 64, 128, or 256 as the maximum disparity count. Besides max disparity setting, the actual minimum resolution will depend on the resolution setting, camera baseline, and lens focal length.
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