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detect_occlusion.c
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detect_occlusion.c
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#include "header.h"
#include "proto.h"
void detect_occlusion(
int width,
int height,
int *disp1_arr,
int *disp2_arr,
int min_d,
int max_d,
int disp_tol,
int *occ1_arr
)
{
int i;
int j;
int ind;
int ind2;
int d;
int j2;
int d2;
int diff;
for ( i= 0 ; i< height ; i++ ) {
for ( j= 0 ; j< width ; j++ ) {
ind= i*width+j;
/*
Get the disparity
*/
d= disp1_arr[ind];
if ( d < min_d )
dmag5_error_handler("detect_occlusion");
if ( d > max_d )
dmag5_error_handler("detect_occlusion");
/*
Get pixel in image 2
*/
j2= j-d;
ind2= i*width+j2;
/*
Initialize to occluded (black pixel in occlusion map)
*/
occ1_arr[ind]= 0;
if ( j2 < 0 )
continue;
if ( j2 > (width-1) )
continue;
/*
Get the disparity
*/
d2= disp2_arr[ind2];
if ( d2 < (-max_d) )
dmag5_error_handler("detect_occlusion");
if ( d2 > (-min_d) )
dmag5_error_handler("detect_occlusion");
/*
Check if the disparities agree
*/
diff= abs(d+d2);
if ( diff > disp_tol )
continue;
/*
If still here, not occluded (white pixel in occlusion map)
*/
occ1_arr[ind]= 255;
}
}
}