96     int     imgW = size.width;  in icvFindStereoCorrespondenceByBirchfieldDP()  local
109     uchar*              dsi = (uchar*)cvAlloc(sizeof(uchar)*imgW*dispH);  in icvFindStereoCorrespondenceByBirchfieldDP()
110     uchar*              edges = (uchar*)cvAlloc(sizeof(uchar)*imgW*imgH);  in icvFindStereoCorrespondenceByBirchfieldDP()
111     _CvDPCell*          cells = (_CvDPCell*)cvAlloc(sizeof(_CvDPCell)*imgW*MAX(dispH,(imgH+1)/2));  in icvFindStereoCorrespondenceByBirchfieldDP()
112     _CvRightImData*     rData = (_CvRightImData*)cvAlloc(sizeof(_CvRightImData)*imgW);  in icvFindStereoCorrespondenceByBirchfieldDP()
122         for( j = 1; j < imgW; j++ )  in icvFindStereoCorrespondenceByBirchfieldDP()
136             dsi += imgW;  in icvFindStereoCorrespondenceByBirchfieldDP()
138             for( j = i - 1; j < imgW - 1; j++ )  in icvFindStereoCorrespondenceByBirchfieldDP()
155         dsi -= (maxDisparity+1)*imgW;  in icvFindStereoCorrespondenceByBirchfieldDP()
160         edges[y*imgW] = edges[y*imgW+1] = edges[y*imgW+2] = 2;  in icvFindStereoCorrespondenceByBirchfieldDP()
161         edges[y*imgW+imgW-1] = edges[y*imgW+imgW-2] = edges[y*imgW+imgW-3] = 1;  in icvFindStereoCorrespondenceByBirchfieldDP()
162         for( j = 3; j < imgW-4; j++ )  in icvFindStereoCorrespondenceByBirchfieldDP()
164             edges[y*imgW+j] = 0;  in icvFindStereoCorrespondenceByBirchfieldDP()
169                 edges[y*imgW+j] |= 1;  in icvFindStereoCorrespondenceByBirchfieldDP()
174                 edges[y*imgW+j] |= 2;  in icvFindStereoCorrespondenceByBirchfieldDP()
180         for( x = 0; x < imgW; x++ )   in icvFindStereoCorrespondenceByBirchfieldDP()
193         for( x = 1; x < imgW; x++ )  in icvFindStereoCorrespondenceByBirchfieldDP()
196             uchar* _edges = edges + y*imgW + x;  in icvFindStereoCorrespondenceByBirchfieldDP()
202                 int s = dsi[d*imgW+x];  in icvFindStereoCorrespondenceByBirchfieldDP()
277             if( min_val > CELL(i,imgW-1).sum )  in icvFindStereoCorrespondenceByBirchfieldDP()
280                 min_val = CELL(i,imgW-1).sum;  in icvFindStereoCorrespondenceByBirchfieldDP()
285         for( x = imgW - 1; x > 0; x-- )  in icvFindStereoCorrespondenceByBirchfieldDP()
308     for( x = 0; x < imgW; x++ )  in icvFindStereoCorrespondenceByBirchfieldDP()
320     for( x = 0; x < imgW; x++ )  in icvFindStereoCorrespondenceByBirchfieldDP()
329                 edges[y*imgW+x] |= 4;  in icvFindStereoCorrespondenceByBirchfieldDP()
330                 edges[(y+1)*imgW+x] |= 4;  in icvFindStereoCorrespondenceByBirchfieldDP()
331                 edges[(y-1)*imgW+x] |= 4;  in icvFindStereoCorrespondenceByBirchfieldDP()
341         prev = edges[y*imgW];  in icvFindStereoCorrespondenceByBirchfieldDP()
342         for( x = 1; x < imgW - 1; x++ )  in icvFindStereoCorrespondenceByBirchfieldDP()
344             curr = edges[y*imgW+x];              in icvFindStereoCorrespondenceByBirchfieldDP()
347                   !( edges[y*imgW+x+1] & 4 ) ) )  in icvFindStereoCorrespondenceByBirchfieldDP()
349                 edges[y*imgW+x] -= 4;  in icvFindStereoCorrespondenceByBirchfieldDP()
356     for( x = 0; x < imgW; x++ )  in icvFindStereoCorrespondenceByBirchfieldDP()
366                 reliabilities[i*imgW+x] = s;  in icvFindStereoCorrespondenceByBirchfieldDP()
372     for( x = 0; x < imgW; x++ )  in icvFindStereoCorrespondenceByBirchfieldDP()
377             if( reliabilities[y*imgW+x] >= param4 && !(edges[y*imgW+x] & 4) &&  in icvFindStereoCorrespondenceByBirchfieldDP()
384                     if(  ( edges[i*imgW+x] & 4 ) ||  in icvFindStereoCorrespondenceByBirchfieldDP()
386                            reliabilities[i*imgW+x] >= param3 ) ||  in icvFindStereoCorrespondenceByBirchfieldDP()
387                          ( reliabilities[y*imgW+x] < param5 &&   in icvFindStereoCorrespondenceByBirchfieldDP()
396                     if(  ( edges[i*imgW+x] & 4 ) ||  in icvFindStereoCorrespondenceByBirchfieldDP()
398                            reliabilities[i*imgW+x] >= param3 ) ||  in icvFindStereoCorrespondenceByBirchfieldDP()
399                          ( reliabilities[y*imgW+x] < param5 &&   in icvFindStereoCorrespondenceByBirchfieldDP()
416         for( x = 1; x < imgW; x++ )  in icvFindStereoCorrespondenceByBirchfieldDP()
419             for( ; x < imgW && dest[y*widthStep+x] == dest[y*widthStep+x-1]; x++ );  in icvFindStereoCorrespondenceByBirchfieldDP()
423                 reliabilities[y*imgW+i] = s;  in icvFindStereoCorrespondenceByBirchfieldDP()
431         for( x = 0; x < imgW; x++ )  in icvFindStereoCorrespondenceByBirchfieldDP()
434             if( reliabilities[y*imgW+x] >= param4 && !(edges[y*imgW+x] & 1) &&  in icvFindStereoCorrespondenceByBirchfieldDP()
441                     if(  (edges[y*imgW+i] & 1) ||  in icvFindStereoCorrespondenceByBirchfieldDP()
443                            reliabilities[y*imgW+i] >= param3 ) ||  in icvFindStereoCorrespondenceByBirchfieldDP()
444                          ( reliabilities[y*imgW+x] < param5 &&   in icvFindStereoCorrespondenceByBirchfieldDP()
451                 for( i = x + 1; i < imgW; i++ )  in icvFindStereoCorrespondenceByBirchfieldDP()
453                     if(  (edges[y*imgW+i] & 1) ||  in icvFindStereoCorrespondenceByBirchfieldDP()
455                            reliabilities[y*imgW+i] >= param3 ) ||  in icvFindStereoCorrespondenceByBirchfieldDP()
456                          ( reliabilities[y*imgW+x] < param5 &&   in icvFindStereoCorrespondenceByBirchfieldDP()