the means of right_buffer in stereosgm.cu

[PrinceDouble]

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

const int x = static_cast(right_x0 + PATHS_PER_BLOCK - 1 - i - min_disp);
int32_t right_value = 0;
if (0 <= x && x < static_cast(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;

i dont know the means of right_buffer, and why the The corresponding right pixel index（with disparity） is x = static_cast(right_x0 + PATHS_PER_BLOCK - 1 - i - min_disp)？can anybody help me , thx!