Method buildCV_right_thread

DE_APP/src/CVC.cpp:295–362

}

void *CVC::buildCV_right_thread(void *thread_arg)
{
    struct buildCV_TD *t_data;
    t_data = (struct buildCV_TD *) thread_arg;
    const Mat lImg = *t_data->lImg;
    const Mat rImg = *t_data->rImg;
    const Mat lGrdX = *t_data->lGrdX;
    const Mat rGrdX = *t_data->rGrdX;
    const int d = t_data->d;
    Mat* costVol = t_data->costVol;

	int hei = lImg.rows;
	int wid = lImg.cols;

    //32 bit float data
	if(lImg.type() == CV_32FC3 && rImg.type() == CV_32FC3)
	{
		for( int y = 0; y < hei; y ++ ) {
			float* lData = ( float* ) lImg.ptr<float>( y );
			float* rData = ( float* ) rImg.ptr<float>( y );
			float* lGData = ( float* ) lGrdX.ptr<float>( y );
			float* rGData = ( float* ) rGrdX.ptr<float>( y );
			float* cost   = ( float* ) costVol->ptr<float>( y );
			for( int x = 0; x < wid - d; x ++ ) {
				float* lC = lData + 3 * x;
				float* rC = rData + 3 * ( x + d );
				float* lG = lGData + x;
				float* rG = rGData + x + d;
				cost[x] = myCostGrd( lC, rC, lG, rG );
			}
			for( int x = wid - d; x < wid; x ++ ) {
				float* lC = lData + 3 * x;
				float* lG = lGData + x;
				cost[x] = myCostGrd( lC, lG );
			}
		}
    }
    //8 bit unsigned char data
    else if(lImg.type() == CV_8UC3 && rImg.type() == CV_8UC3)
    {
		for( int y = 0; y < hei; y ++ ) {
			uchar* lData = ( uchar* ) lImg.ptr<uchar>( y );
			uchar* rData = ( uchar* ) rImg.ptr<uchar>( y );
			uchar* lGData = ( uchar* ) lGrdX.ptr<uchar>( y );
			uchar* rGData = ( uchar* ) rGrdX.ptr<uchar>( y );
			uchar* cost   = ( uchar* ) costVol->ptr<uchar>( y );
			for( int x = 0; x < wid; x ++ ) {
				if( x + d < wid ) {
					uchar* lC = lData + 3 * x;
					uchar* rC = rData + 3 * ( x + d );
					uchar* lG = lGData + x;
					uchar* rG = rGData + x + d;
					cost[x] = myCostGrd( lC, rC, lG, rG );
				} else {
					uchar* lC = lData + 3 * x;
					uchar* lG = lGData + x;
					cost[x] = myCostGrd( lC, lG );
				}