Stixel World

stx = DP2STX(dp) builds stixel representation stx from disparity map dp following Badino et. al's paper "The Stixel World" published in 2009. The built stx is stored an array of structure that comes with feilds x, y, width, height, and d (disparity of stixel). When the disparity-depth ratio is known, use stx = DP2STX(dp,bf) to get more accurate results where bf is the product of the length of stereo baseline and focal length of the rectified left virtual camera.