Tesi Robotica Un co-processore per Stereo-Matching: Architettura | Page 84

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“LP_Tesi” — 2011/9/9 — 21:20 — page 84 — #84

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4.5. MODULO SCORING

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Algoritmo 4.24 Scoring: rule backTrack
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rule backTrack (step==3);
Channel dir = RED; BitF check = addr;
DirAddr dirAddr = DirAddr{dir:RED,addr:0};

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if(gapNorth.a.read()==1 && preDir==BLUE) begin
dir=BLUE; check=addr-size;
end
else if(diag.a.read()==1 && preDir==GREEN) begin
dir=GREEN; check=addr-size-1;
end
else if(gapWest.a.read()==1 && preDir==RED) begin
dir=RED; check=addr-1;
end else begin
if(gapNorth.a.read()==1) begin
dir=BLUE;