/**
* Using previously computed results it efficiently finds the disparity in the remaining rows.
* When a new block is processes the last row/column is subtracted and the new row/column is
* added.
*/
private void computeRemainingRows(ImageUInt8 left, ImageUInt8 right) {
for (int row = regionHeight; row < left.height; row++, activeVerticalScore++) {
int oldRow = row % regionHeight;
int previous[] = verticalScore[(activeVerticalScore - 1) % regionHeight];
int active[] = verticalScore[activeVerticalScore % regionHeight];
// subtract first row from vertical score
int scores[] = horizontalScore[oldRow];
for (int i = 0; i < lengthHorizontal; i++) {
active[i] = previous[i] - scores[i];
}
UtilDisparityScore.computeScoreRow(
left, right, row, scores, minDisparity, maxDisparity, regionWidth, elementScore);
// add the new score
for (int i = 0; i < lengthHorizontal; i++) {
active[i] += scores[i];
}
if (activeVerticalScore >= regionHeight - 1) {
int top[] = verticalScore[(activeVerticalScore - 2 * radiusY) % regionHeight];
int middle[] = verticalScore[(activeVerticalScore - radiusY) % regionHeight];
int bottom[] = verticalScore[activeVerticalScore % regionHeight];
computeScoreFive(top, middle, bottom, fiveScore, left.width);
computeDisparity.process(row - (1 + 4 * radiusY) + 2 * radiusY + 1, fiveScore);
}
}
}
/**
* Initializes disparity calculation by finding the scores for the initial block of horizontal
* rows.
*/
private void computeFirstRow(ImageUInt8 left, ImageUInt8 right) {
int firstRow[] = verticalScore[0];
activeVerticalScore = 1;
// compute horizontal scores for first row block
for (int row = 0; row < regionHeight; row++) {
int scores[] = horizontalScore[row];
UtilDisparityScore.computeScoreRow(
left, right, row, scores, minDisparity, maxDisparity, regionWidth, elementScore);
}
// compute score for the top possible row
for (int i = 0; i < lengthHorizontal; i++) {
int sum = 0;
for (int row = 0; row < regionHeight; row++) {
sum += horizontalScore[row][i];
}
firstRow[i] = sum;
}
}