VLIB_disparity_SAD8 left-> right right->left

Dear expert,

I am working on stereovision system.

I test the function : VLIB_disparity_SAD8

This fonction give the results of disparity from left to right image, isn't it?

How can I have the disparity from right to left?

I would like after to make a Left right Check to remove some false detection

Thanks a lot for your replies

Jerome

    //FIRST ROW DISPARITY
    i=0;
    memset(pCost, 0, sizeof(pCost) );
    memset(minCost, 0x7f, sizeof(minCost));
    
    for(d = DMIN; d <= DMAX; d++)
    {
        VLIB_disparity_SAD_firstRow8
        (
                left+WINDOW_SIZE*W+DMAX+WS_BY_2,
                rght+WINDOW_SIZE*W+DMAX+WS_BY_2-d,
                pCost + (d - DMIN)*(W+ARRAY_PAD - DMAX - WS_BY_2),
                minCost,
                versum,
                disparity+ (DMAX+WS_BY_2),
                d, (W - DMAX - WS_BY_2), W, WINDOW_SIZE
        );
    }

    rndx += 1;

    for (i = 1; i < H; ++i)
    {
        memset(minCost, 0x7f, sizeof(minCost));
        
        for(d = DMIN; d <= DMAX; d++)
        {
            VLIB_disparity_SAD8
            (
                left+rndx*W+(DMAX+WS_BY_2),
                rght+rndx*W+(DMAX+WS_BY_2) -d,
                pCost + (d - DMIN)*(W+ARRAY_PAD - DMAX - WS_BY_2),
                minCost,
                disparity+i*W + (DMAX+WS_BY_2),
                d, (W- DMAX - WS_BY_2), W, WINDOW_SIZE
            );
        }

        rndx += 1;

        if (rndx + WS_BY_2 >= RBLINES)
        {
        readimage_rows8(left, leftIm8 , &rl,W, W,H, BLOCK_SIZE, WINDOW_SIZE);
        readimage_rows8(rght, rghtIm8 , &rr,W, W,H, BLOCK_SIZE, WINDOW_SIZE);
        rndx = WS_BY_2 + 1;
        }

I