1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
|
/********************************
Author: Sravanthi Kota Venkata
********************************/
#include <stdio.h>
#include <stdlib.h>
#include "disparity.h"
I2D* getDisparity(I2D* Ileft, I2D* Iright, int win_sz, int max_shift,
I2D* minSAD, I2D* retDisp, I2D* halfWin,
I2D* IrightPadded, I2D* IleftPadded, I2D* Iright_moved,
F2D* retSAD, F2D* SAD, F2D* integralImg,
I2D* range)
{
int nr, nc, k;
int half_win_sz, rows, cols;
nr = Ileft->height;
nc = Ileft->width;
half_win_sz=win_sz/2;
fResetArray(minSAD, nr, nc, 255.0*255.0);
iResetArray(retDisp, nr, nc,max_shift);
iResetArray(halfWin, 1,2,half_win_sz);
rows = IleftPadded->height;
cols = IleftPadded->width;
fResetArray(SAD, rows, cols,255);
fResetArray(integralImg, rows, cols,0);
//fResetArray(retSAD,rows-win_sz, cols-win_sz, 0);
iResetArray(Iright_moved, rows, cols, 0);
for( k=0; k<max_shift; k++)
{
correlateSAD_2D(IleftPadded, IrightPadded, Iright_moved, win_sz, k, SAD, integralImg, retSAD, range);
findDisparity(retSAD, minSAD, retDisp, k, nr, nc);
}
return retDisp;
}
|
