{
  "input": {
    "left": {
      "img": "./left.png",
      "disp": [-60, 0]
    },
    "right": {
      "img": "./right.png"
    }
  },
  "pipeline":
  {
    "matching_cost" : {
      "matching_cost_method": "census",
      "window_size": 5,
      "subpix": 1
    },
    "optimization" : {
      "optimization_method": "sgm",
      "overcounting": false,
      "penalty" : {
        "penalty_method": "sgm_penalty",
        "P1": 8,
        "P2": 32,
        "p2_method": "constant"
      }
    },
    "disparity": {
      "disparity_method": "wta",
      "invalid_disparity": "NaN"
    },
    "refinement": {
      "refinement_method": "vfit"
    },
    "filter" : {
      "filter_method": "median",
      "filter_size": 3
    },
    "validation" : {
      "validation_method": "cross_checking_accurate",
      "cross_checking_threshold": 1
    },
    "filter.this_time_after_validation" : {
      "filter_method": "median",
      "filter_size": 3
    }
  }
}