opencv cuda sgm算法理解

[purple_duckweed]

https://github.com/opencv/opencv_contrib/blob/4.x/modules/cudastereo/src/cuda/stereosgm.cu

const int x = static_cast<int>(right_x0 + PATHS_PER_BLOCK - 1 - i - min_disp);
                int32_t right_value = 0;
                if (0 <= x && x < static_cast<int>(width))
                {
                    right_value = right(y, x);
                }
                const unsigned int lo = i % DP_BLOCK_SIZE;
                const unsigned int hi = i / DP_BLOCK_SIZE;
                right_buffer[lo][hi] = right_value;
                if (hi > 0)
                {
                    right_buffer[lo + DP_BLOCK_SIZE][hi - 1] = right_value;

不明白right_buffer的含义，以及right_x0 + PATHS_PER_BLOCK - 1 - i - min_disp的意思，求各位大神解答！