.. _grid_generation_app:

Grid Generation
===============

**Name**: "grid_generation"

**Description**

From sensors image, compute the stereo-rectification grids

**Configuration**

+-------------------------+-----------------------------------------------------------------------------------------------------------------+---------+-----------------------------------+---------------+----------+
| Name                    | Description                                                                                                     | Type    |     Available values              | Default value | Required |
+=========================+=================================================================================================================+=========+===================================+===============+==========+
| method                  | Method for grid generation                                                                                      | string  | "epipolar"                        | epipolar      | No       |
+-------------------------+-----------------------------------------------------------------------------------------------------------------+---------+-----------------------------------+---------------+----------+
| epi_step                | Step of the deformation grid in nb. of pixels                                                                   | int     | should be > 0                     | 30            | No       |
+-------------------------+-----------------------------------------------------------------------------------------------------------------+---------+-----------------------------------+---------------+----------+
| find_optimal_altitude   | Compute the altitude to perform first grid generation with optimal image covering. If false, altitude 0 is used | boolean |                                   | true          | No       |
+-------------------------+-----------------------------------------------------------------------------------------------------------------+---------+-----------------------------------+---------------+----------+
| save_intermediate_data  | Save the generated grids                                                                                        | boolean |                                   | false         | No       |
+-------------------------+-----------------------------------------------------------------------------------------------------------------+---------+-----------------------------------+---------------+----------+

**Example**

.. include-cars-config:: ../../example_configs/configuration/applications_grid_generation