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Mechanisms
The desired dimensions for rectangular models of the stitches (stixels) can be computed as e.g. r_wp = r * h_wp / 10cm st_wp = st * w_wp / 10cm where r_wp is the number of rows the workpiece will have (and similar for st_wp).
From that concludes h_sx = h_out / r_wp and similar for w_sx, where h_out is the height of the desired output image in pixels.
In order to work on a minimal amount of data, the image size is determined by the least common multiple between r and st, lcm. This leads to h_sx = lcm / r and w_sx = lcm / st.
The stixel color is computed by weighted distances of color components in the HSV color space. The most important value is brightness (Value), then contrast (Saturation), and only then the actual hue of the color. This may be subject to change if it should show room for improvement when used for distinction.