if equal to opencv-sgbm Dynamic Programming of cost aggregation ?

[PrinceDouble]

hi, the cuda kenel of cost aggregation is pretty hard understand for me, i am writting the cuda version of opencv sgbm, i find your project so well! i am trying to confirm if the cost aggregation of libsgm is equal implement opencv-sgbm, the latter's cost aggregation is Dynamic Programming，i found the test instance of libsgm cost aggregation is not, the minLp is Minimum along disp dim ！https://github.com/fixstars/libSGM/blob/master/test/cost_aggregation_test.cpp line 94

can you give some advice to implement the cost aggregation of opencv-sgbm, the paper is the same with libsgm in term of cost aggregation? Thx

Embedded_ real-time stereo estimation via Semi-Global Matching on the GPU D. Hernandez-Juarez, A. Chacón, A. Espinosa, D. Vázquez, J. C. Moure, and A. M. López ICCS2016 – International Conference on Computational Science 2016**

for (int vc = v0; vc != v1; vc += dv) {

	const CENSUS_TYPE* censusL = srcL.ptr<CENSUS_TYPE>(vc);
	const CENSUS_TYPE* censusR = srcR.ptr<CENSUS_TYPE>(vc);
	for (int uc = u0; uc != u1; uc += du) {

		const int vp = vc - rv;
		const int up = uc - ru;
		const bool inside = vp >= 0 && vp < h&& up >= 0 && up < w;

		const CENSUS_TYPE cL = censusL[uc];
		COST_TYPE* Lc = dst.ptr<COST_TYPE>(vc * w + uc);
		COST_TYPE* Lp = inside ? dst.ptr<COST_TYPE>(vp * w + up) : zero.data();

		COST_TYPE minLp = std::numeric_limits<COST_TYPE>::max();
		for (int d = 0; d < n; d++)
			minLp = std::min(minLp, Lp[d]);

		const COST_TYPE _P1 = P1 - minLp;
		for (int d = 0; d < n; d++) {
			const int uR = uc - d - min_disp;
			const CENSUS_TYPE cR = uR >= 0 && uR < w ? censusR[uR] : 0;
			const COST_TYPE MC = HammingDistance(cL, cR);
			const COST_TYPE Lp0 = Lp[d] - minLp;
			const COST_TYPE Lp1 = d > 0 ?     Lp[d - 1] + _P1 : 0xFF;
			const COST_TYPE Lp2 = d < n - 1 ? Lp[d + 1] + _P1 : 0xFF;
			const COST_TYPE Lp3 = P2;
			Lc[d] = static_cast<COST_TYPE>(MC + min4(Lp0, Lp1, Lp2, Lp3));
		}
	}
}

}