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Description
VLIB_disparity_SAD8 calculates the disparity at each position in a row of an 8-bit stereo image pair. This function is optimized reusing the previous calculations. For the first row, calculations cannot be reused; thus, VLIB_disparity_SAD_firstRow8 should be used to calculate the disparities in the first row.
int32_t VLIB_disparity_SAD8(const uint8_t *restrict pLeft,
const uint8_t *restrict pRight,
uint16_t *restrict pCost,
uint16_t *restrict pMinCost,
int8_t *restrict pDisparity,
int32_t displacement,
uint32_t width,
int32_t pitch,
int32_t windowSize);
Parameters
@param [in] *pLeft Pointer to left image (UQ8.0)
@param [in] *pRight Pointer to right image (UQ8.0)
@param [in,out] *pCost Cost corresponding to current displacement (UQ16.0)
@param [in,out] *pMinCost Minimum cost across all displacements (UQ16.0)
@param [in,out] *pDisparity Displacement having the minimum cost (SQ8.0)
@param [in] displacement Current displacement (in pixels)
@param [in] width Width of the input images (in pixels)
@param [in] pitch Pitch of the input images (in pixels)
@param [in] windowSize Size of the block used for computing SAD (in pixels)
Assumptions
- This function should not be called on the first row of an image. Instead, VLIB_disparity_SAD_firstRow8 should be called on the first row, and this function should be called on subsequent rows in order from top to bottom.
- This function is called multiple times for each row of the image. Each time, the displacement variable should be changed to search for disparities at each displacement required.
- Before calling this function the first time for each row, the following buffers should be set accordingly:
- pMinCost should be filled with 0xFFFF's.
- pDisparity should be filled with 0's.
- The pCost buffer should never be altered in between subsequent calls to this function throughout the entire frame. It is used to store inter-row state information.
- The image width needs to be a multiple of 8.
- The following buffers should all be allocated at least 'width' elements: pCost & pMinCost.
Thank you.
Sincerely,
Sudhakar Ayyasamy