This allows to scale the matching cost function by a power of 2.

Usually you will not need to scale the cost function, unless stereo pairs look very dissimilar, even in correctly associated areas. Then the clipping of large cost values might affect the matching result and downscaling the cost values might help to recover more complete depth information from the stereo pairs.

Format

Example

Setting CostScale to -2 will discard the lower two bits of the pixel association cost.

Default

-3