Overlay takes .bitstream .tcl and .hwh files generated by vivado project for writing the design to FPGA and accessing the IPs.

MGM_Overlay -> Computes the disparity in hardware with 5 sections bitstream and displays it on cv image (Zedcamera) MGM_Overlay_Octomap -> Computes disparity for 1 frame calls octomap API for point cloud generation writing to .bt file (Zedcamera) MGM_Overlay2 -> Computes the disparity in hardware with 9 sections bitstream and displays it on cv image (Zedcamera) MGM_Overlay3 -> Computes disparity for 1 frame calls octomap API for point cloud generation writing to .bt file (Elpcamera)