立体匹配中的remap前后的像素对应关系

Question

opencv 双目匹配中的remap前后的像素对应关系如何求出？

rectifiedL = cv2.remap(imgreL, left_map_x, left_map_y, cv2.INTER_LINEAR, borderValue=cv2.BORDER_REPLICATE)
rectifiedR = cv2.remap(imgreR, right_map_x, right_map_y, cv2.INTER_LINEAR, borderValue=cv2.BORDER_REPLICATE)

void Imgremap(Mat srcImg, Mat &dstImg, float *mapx, float *mapy)
{
    int x, y;
    float u, v;

    /* 纯浮点运算，执行映射+插值过程 */
    for (int i = 0; i < srcImg.rows; i++)
    {
        for (int j = 0; j < srcImg.cols; j++)
        {
            x = (int)mapx[i*srcImg.cols + j];
            y = (int)mapy[i*srcImg.cols + j];

            if (x > 1 && x < (srcImg.cols - 1) && y > 1 && y < (srcImg.rows - 1))
            {
                u = mapx[i*srcImg.cols + j] - x;
                v = mapy[i*srcImg.cols + j] - y;
                dstImg.ptr<uchar>(i)[j] = (uchar)((1 - u)*(1 - v)*srcImg.ptr<uchar>(int(y))[int(x)] + (1 - u)*v*srcImg.ptr<uchar>(int(y + 1))[int(x)]
                    + u * (1 - v)*srcImg.ptr<uchar>(int(y))[int(x + 1)] + u * v*srcImg.ptr<uchar>(int(y + 1))[int(x + 1)]);
                //cout << (int)(dstImg.ptr<uchar>(i)[j]) << endl;
            }
            else
            {
                dstImg.ptr<uchar>(i)[j] = 0;
            }
        }
    }
}

参考链接 https://cloud.tencent.com/developer/ask/sof/1141000/answer/1592870