| 15 | PP::~PP(void) {} |
| 16 | |
| 17 | void lrCheck(Mat& lDis, Mat& rDis, Mat& lValid, Mat& rValid) |
| 18 | { |
| 19 | int hei = lDis.rows; |
| 20 | int wid = lDis.cols; |
| 21 | lValid = Scalar(0); //memset( lValid, 0, imgSize * sizeof( int ) ); |
| 22 | rValid = Scalar(0); //memset( rValid, 0, imgSize * sizeof( int ) ); |
| 23 | for( int y = 0; y < hei; y ++ ) { |
| 24 | uchar* lDisData = ( uchar* ) lDis.ptr<uchar>( y ); |
| 25 | uchar* rDisData = ( uchar* ) rDis.ptr<uchar>( y ); |
| 26 | uchar* lValidData = ( uchar* ) lValid.ptr<uchar>( y ); |
| 27 | uchar* rValidData = ( uchar* ) rValid.ptr<uchar>( y ); |
| 28 | for( int x = 0; x < wid; x ++ ) { |
| 29 | // check left image |
| 30 | int lDep = lDisData[ x ]; |
| 31 | // assert( ( x - lDep ) >= 0 && ( x - lDep ) < wid ); |
| 32 | int rLoc = ( x - lDep + wid ) % wid; |
| 33 | int rDep = rDisData[ rLoc ]; |
| 34 | // disparity should not be zero |
| 35 | if( lDep == rDep && lDep >= 2 ) { |
| 36 | lValidData[x] = 1; |
| 37 | } |
| 38 | // check right image |
| 39 | rDep = rDisData[ x ]; |
| 40 | // assert( ( x + rDep ) >= 0 && ( x + rDep ) < wid ); |
| 41 | int lLoc = ( x + rDep + wid ) % wid; |
| 42 | lDep = lDisData[ lLoc ]; |
| 43 | // disparity should not be zero |
| 44 | if( rDep == lDep && rDep >= 2 ) { |
| 45 | rValidData[x] = 1; |
| 46 | } |
| 47 | } |
| 48 | } |
| 49 | return; |
| 50 | } |
| 51 | |
| 52 | void fillInv(Mat& lDis, Mat& rDis, Mat& lValid, Mat& rValid) |
| 53 | { |