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Commit 1f6cf50b authored by Alexander Alekhin's avatar Alexander Alekhin
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Merge pull request #7286 from alalek:fix_android_clang

parents 2f01930e c68b9328
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Showing with 71 additions and 73 deletions
modules/ocl/src/stereo_csbp.cpp
View file @ 1f6cf50b
......@@ -76,11 +76,11 @@ namespace cv
/////////////////////////////////init_data_cost//////////////////////////////////
//////////////////////////////////////////////////////////////////////////////////
static void init_data_cost_caller(const oclMat &left, const oclMat &right, oclMat &temp,
StereoConstantSpaceBP &rthis,
StereoConstantSpaceBP *pThis,
int msg_step, int h, int w, int level)
{
Context *clCxt = left.clCxt;
int data_type = rthis.msg_type;
int data_type = pThis->msg_type;
int channels = left.oclchannels();
string kernelName = get_kernel_name("init_data_cost_", data_type);
......@@ -104,12 +104,12 @@ namespace cv
openCLSafeCall(clSetKernelArg(kernel, 5, sizeof(cl_int), (void *)&level));
openCLSafeCall(clSetKernelArg(kernel, 6, sizeof(cl_int), (void *)&channels));
openCLSafeCall(clSetKernelArg(kernel, 7, sizeof(cl_int), (void *)&msg_step));
openCLSafeCall(clSetKernelArg(kernel, 8, sizeof(cl_float), (void *)&rthis.data_weight));
openCLSafeCall(clSetKernelArg(kernel, 9, sizeof(cl_float), (void *)&rthis.max_data_term));
openCLSafeCall(clSetKernelArg(kernel, 8, sizeof(cl_float), (void *)&pThis->data_weight));
openCLSafeCall(clSetKernelArg(kernel, 9, sizeof(cl_float), (void *)&pThis->max_data_term));
openCLSafeCall(clSetKernelArg(kernel, 10, sizeof(cl_int), (void *)&cdisp_step1));
openCLSafeCall(clSetKernelArg(kernel, 11, sizeof(cl_int), (void *)&rthis.min_disp_th));
openCLSafeCall(clSetKernelArg(kernel, 11, sizeof(cl_int), (void *)&pThis->min_disp_th));
openCLSafeCall(clSetKernelArg(kernel, 12, sizeof(cl_int), (void *)&left.step));
openCLSafeCall(clSetKernelArg(kernel, 13, sizeof(cl_int), (void *)&rthis.ndisp));
openCLSafeCall(clSetKernelArg(kernel, 13, sizeof(cl_int), (void *)&pThis->ndisp));
openCLSafeCall(clEnqueueNDRangeKernel(*(cl_command_queue*)getClCommandQueuePtr(), kernel, 2, NULL,
globalThreads, localThreads, 0, NULL, NULL));
......@@ -118,12 +118,12 @@ namespace cv
}
static void init_data_cost_reduce_caller(const oclMat &left, const oclMat &right, oclMat &temp,
StereoConstantSpaceBP &rthis,
StereoConstantSpaceBP *pThis,
int msg_step, int h, int w, int level)
{
Context *clCxt = left.clCxt;
int data_type = rthis.msg_type;
int data_type = pThis->msg_type;
int channels = left.oclchannels();
int win_size = (int)std::pow(2.f, level);
......@@ -135,7 +135,7 @@ namespace cv
//size_t blockSize = threadsNum;
size_t localThreads[3] = {(size_t)win_size, 1, (size_t)threadsNum / win_size};
size_t globalThreads[3] = { w *localThreads[0],
h * divUp(rthis.ndisp, localThreads[2]) *localThreads[1], 1 * localThreads[2]
h * divUp(pThis->ndisp, localThreads[2]) *localThreads[1], 1 * localThreads[2]
};
int local_mem_size = threadsNum * sizeof(float);
......@@ -153,11 +153,11 @@ namespace cv
openCLSafeCall(clSetKernelArg(kernel, 7, sizeof(cl_int), (void *)&h));
openCLSafeCall(clSetKernelArg(kernel, 8, sizeof(cl_int), (void *)&win_size));
openCLSafeCall(clSetKernelArg(kernel, 9, sizeof(cl_int), (void *)&channels));
openCLSafeCall(clSetKernelArg(kernel, 10, sizeof(cl_int), (void *)&rthis.ndisp));
openCLSafeCall(clSetKernelArg(kernel, 10, sizeof(cl_int), (void *)&pThis->ndisp));
openCLSafeCall(clSetKernelArg(kernel, 11, sizeof(cl_int), (void *)&left.step));
openCLSafeCall(clSetKernelArg(kernel, 12, sizeof(cl_float), (void *)&rthis.data_weight));
openCLSafeCall(clSetKernelArg(kernel, 13, sizeof(cl_float), (void *)&rthis.max_data_term));
openCLSafeCall(clSetKernelArg(kernel, 14, sizeof(cl_int), (void *)&rthis.min_disp_th));
openCLSafeCall(clSetKernelArg(kernel, 12, sizeof(cl_float), (void *)&pThis->data_weight));
openCLSafeCall(clSetKernelArg(kernel, 13, sizeof(cl_float), (void *)&pThis->max_data_term));
openCLSafeCall(clSetKernelArg(kernel, 14, sizeof(cl_int), (void *)&pThis->min_disp_th));
openCLSafeCall(clSetKernelArg(kernel, 15, sizeof(cl_int), (void *)&cdisp_step1));
openCLSafeCall(clSetKernelArg(kernel, 16, sizeof(cl_int), (void *)&msg_step));
openCLSafeCall(clEnqueueNDRangeKernel(*(cl_command_queue*)getClCommandQueuePtr(), kernel, 3, NULL,
......@@ -167,11 +167,11 @@ namespace cv
}
static void get_first_initial_local_caller(uchar *data_cost_selected, uchar *disp_selected_pyr,
oclMat &temp, StereoConstantSpaceBP &rthis,
oclMat &temp, StereoConstantSpaceBP *pThis,
int h, int w, int nr_plane, int msg_step)
{
Context *clCxt = temp.clCxt;
int data_type = rthis.msg_type;
int data_type = pThis->msg_type;
string kernelName = get_kernel_name("get_first_k_initial_local_", data_type);
......@@ -191,7 +191,7 @@ namespace cv
openCLSafeCall(clSetKernelArg(kernel, 5, sizeof(cl_int), (void *)&nr_plane));
openCLSafeCall(clSetKernelArg(kernel, 6, sizeof(cl_int), (void *)&msg_step));
openCLSafeCall(clSetKernelArg(kernel, 7, sizeof(cl_int), (void *)&disp_step));
openCLSafeCall(clSetKernelArg(kernel, 8, sizeof(cl_int), (void *)&rthis.ndisp));
openCLSafeCall(clSetKernelArg(kernel, 8, sizeof(cl_int), (void *)&pThis->ndisp));
openCLSafeCall(clEnqueueNDRangeKernel(*(cl_command_queue*)getClCommandQueuePtr(), kernel, 2, NULL,
globalThreads, localThreads, 0, NULL, NULL));
......@@ -199,11 +199,11 @@ namespace cv
openCLSafeCall(clReleaseKernel(kernel));
}
static void get_first_initial_global_caller(uchar *data_cost_selected, uchar *disp_selected_pyr,
oclMat &temp, StereoConstantSpaceBP &rthis,
oclMat &temp, StereoConstantSpaceBP *pThis,
int h, int w, int nr_plane, int msg_step)
{
Context *clCxt = temp.clCxt;
int data_type = rthis.msg_type;
int data_type = pThis->msg_type;
string kernelName = get_kernel_name("get_first_k_initial_global_", data_type);
......@@ -226,7 +226,7 @@ namespace cv
openCLSafeCall(clSetKernelArg(kernel, 5, sizeof(cl_int), (void *)&nr_plane));
openCLSafeCall(clSetKernelArg(kernel, 6, sizeof(cl_int), (void *)&msg_step));
openCLSafeCall(clSetKernelArg(kernel, 7, sizeof(cl_int), (void *)&disp_step));
openCLSafeCall(clSetKernelArg(kernel, 8, sizeof(cl_int), (void *)&rthis.ndisp));
openCLSafeCall(clSetKernelArg(kernel, 8, sizeof(cl_int), (void *)&pThis->ndisp));
openCLSafeCall(clEnqueueNDRangeKernel(*(cl_command_queue*)getClCommandQueuePtr(), kernel, 2, NULL,
globalThreads, localThreads, 0, NULL, NULL));
......@@ -234,23 +234,23 @@ namespace cv
openCLSafeCall(clReleaseKernel(kernel));
}
static void init_data_cost(const oclMat &left, const oclMat &right, oclMat &temp, StereoConstantSpaceBP &rthis,
static void init_data_cost(const oclMat &left, const oclMat &right, oclMat &temp, StereoConstantSpaceBP *pThis,
uchar *disp_selected_pyr, uchar *data_cost_selected,
size_t msg_step, int h, int w, int level, int nr_plane)
{
if(level <= 1)
init_data_cost_caller(left, right, temp, rthis, msg_step, h, w, level);
init_data_cost_caller(left, right, temp, pThis, msg_step, h, w, level);
else
init_data_cost_reduce_caller(left, right, temp, rthis, msg_step, h, w, level);
init_data_cost_reduce_caller(left, right, temp, pThis, msg_step, h, w, level);
if(rthis.use_local_init_data_cost == true)
if(pThis->use_local_init_data_cost == true)
{
get_first_initial_local_caller(data_cost_selected, disp_selected_pyr, temp, rthis, h, w, nr_plane, msg_step);
get_first_initial_local_caller(data_cost_selected, disp_selected_pyr, temp, pThis, h, w, nr_plane, msg_step);
}
else
{
get_first_initial_global_caller(data_cost_selected, disp_selected_pyr, temp, rthis, h, w,
get_first_initial_global_caller(data_cost_selected, disp_selected_pyr, temp, pThis, h, w,
nr_plane, msg_step);
}
}
......@@ -259,13 +259,13 @@ namespace cv
///////////////////////////////////compute_data_cost//////////////////////////////////////////////
////////////////////////////////////////////////////////////////////////////////////////////////
static void compute_data_cost_caller(uchar *disp_selected_pyr, uchar *data_cost,
StereoConstantSpaceBP &rthis, int msg_step1,
StereoConstantSpaceBP *pThis, int msg_step1,
int msg_step2, const oclMat &left, const oclMat &right, int h,
int w, int h2, int level, int nr_plane)
{
Context *clCxt = left.clCxt;
int channels = left.oclchannels();
int data_type = rthis.msg_type;
int data_type = pThis->msg_type;
string kernelName = get_kernel_name("compute_data_cost_", data_type);
......@@ -290,10 +290,10 @@ namespace cv
openCLSafeCall(clSetKernelArg(kernel, 10, sizeof(cl_int), (void *)&msg_step2));
openCLSafeCall(clSetKernelArg(kernel, 11, sizeof(cl_int), (void *)&disp_step1));
openCLSafeCall(clSetKernelArg(kernel, 12, sizeof(cl_int), (void *)&disp_step2));
openCLSafeCall(clSetKernelArg(kernel, 13, sizeof(cl_float), (void *)&rthis.data_weight));
openCLSafeCall(clSetKernelArg(kernel, 14, sizeof(cl_float), (void *)&rthis.max_data_term));
openCLSafeCall(clSetKernelArg(kernel, 13, sizeof(cl_float), (void *)&pThis->data_weight));
openCLSafeCall(clSetKernelArg(kernel, 14, sizeof(cl_float), (void *)&pThis->max_data_term));
openCLSafeCall(clSetKernelArg(kernel, 15, sizeof(cl_int), (void *)&left.step));
openCLSafeCall(clSetKernelArg(kernel, 16, sizeof(cl_int), (void *)&rthis.min_disp_th));
openCLSafeCall(clSetKernelArg(kernel, 16, sizeof(cl_int), (void *)&pThis->min_disp_th));
openCLSafeCall(clEnqueueNDRangeKernel(*(cl_command_queue*)getClCommandQueuePtr(), kernel, 2, NULL,
globalThreads, localThreads, 0, NULL, NULL));
......@@ -301,12 +301,12 @@ namespace cv
openCLSafeCall(clReleaseKernel(kernel));
}
static void compute_data_cost_reduce_caller(uchar *disp_selected_pyr, uchar *data_cost,
StereoConstantSpaceBP &rthis, int msg_step1,
StereoConstantSpaceBP *pThis, int msg_step1,
int msg_step2, const oclMat &left, const oclMat &right, int h,
int w, int h2, int level, int nr_plane)
{
Context *clCxt = left.clCxt;
int data_type = rthis.msg_type;
int data_type = pThis->msg_type;
int channels = left.oclchannels();
int win_size = (int)std::pow(2.f, level);
......@@ -341,25 +341,25 @@ namespace cv
openCLSafeCall(clSetKernelArg(kernel, 13, sizeof(cl_int), (void *)&msg_step2));
openCLSafeCall(clSetKernelArg(kernel, 14, sizeof(cl_int), (void *)&disp_step1));
openCLSafeCall(clSetKernelArg(kernel, 15, sizeof(cl_int), (void *)&disp_step2));
openCLSafeCall(clSetKernelArg(kernel, 16, sizeof(cl_float), (void *)&rthis.data_weight));
openCLSafeCall(clSetKernelArg(kernel, 17, sizeof(cl_float), (void *)&rthis.max_data_term));
openCLSafeCall(clSetKernelArg(kernel, 16, sizeof(cl_float), (void *)&pThis->data_weight));
openCLSafeCall(clSetKernelArg(kernel, 17, sizeof(cl_float), (void *)&pThis->max_data_term));
openCLSafeCall(clSetKernelArg(kernel, 18, sizeof(cl_int), (void *)&left.step));
openCLSafeCall(clSetKernelArg(kernel, 19, sizeof(cl_int), (void *)&rthis.min_disp_th));
openCLSafeCall(clSetKernelArg(kernel, 19, sizeof(cl_int), (void *)&pThis->min_disp_th));
openCLSafeCall(clEnqueueNDRangeKernel(*(cl_command_queue*)getClCommandQueuePtr(), kernel, 3, NULL,
globalThreads, localThreads, 0, NULL, NULL));
clFinish(*(cl_command_queue*)getClCommandQueuePtr());
openCLSafeCall(clReleaseKernel(kernel));
}
static void compute_data_cost(uchar *disp_selected_pyr, uchar *data_cost, StereoConstantSpaceBP &rthis,
static void compute_data_cost(uchar *disp_selected_pyr, uchar *data_cost, StereoConstantSpaceBP *pThis,
int msg_step1, int msg_step2, const oclMat &left, const oclMat &right, int h, int w,
int h2, int level, int nr_plane)
{
if(level <= 1)
compute_data_cost_caller(disp_selected_pyr, data_cost, rthis, msg_step1, msg_step2,
compute_data_cost_caller(disp_selected_pyr, data_cost, pThis, msg_step1, msg_step2,
left, right, h, w, h2, level, nr_plane);
else
compute_data_cost_reduce_caller(disp_selected_pyr, data_cost, rthis, msg_step1, msg_step2,
compute_data_cost_reduce_caller(disp_selected_pyr, data_cost, pThis, msg_step1, msg_step2,
left, right, h, w, h2, level, nr_plane);
}
////////////////////////////////////////////////////////////////////////////////////////////////
......@@ -368,12 +368,12 @@ namespace cv
static void init_message(uchar *u_new, uchar *d_new, uchar *l_new, uchar *r_new,
uchar *u_cur, uchar *d_cur, uchar *l_cur, uchar *r_cur,
uchar *disp_selected_pyr_new, uchar *disp_selected_pyr_cur,
uchar *data_cost_selected, uchar *data_cost, oclMat &temp, StereoConstantSpaceBP rthis,
uchar *data_cost_selected, uchar *data_cost, oclMat &temp, StereoConstantSpaceBP *pThis,
size_t msg_step1, size_t msg_step2, int h, int w, int nr_plane,
int h2, int w2, int nr_plane2)
{
Context *clCxt = temp.clCxt;
int data_type = rthis.msg_type;
int data_type = pThis->msg_type;
string kernelName = get_kernel_name("init_message_", data_type);
......@@ -419,11 +419,11 @@ namespace cv
///////////////////////////calc_all_iterations////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////////////////////
static void calc_all_iterations_caller(uchar *u, uchar *d, uchar *l, uchar *r, uchar *data_cost_selected,
uchar *disp_selected_pyr, oclMat &temp, StereoConstantSpaceBP rthis,
uchar *disp_selected_pyr, oclMat &temp, StereoConstantSpaceBP *pThis,
int msg_step, int h, int w, int nr_plane, int i)
{
Context *clCxt = temp.clCxt;
int data_type = rthis.msg_type;
int data_type = pThis->msg_type;
string kernelName = get_kernel_name("compute_message_", data_type);
......@@ -447,10 +447,10 @@ namespace cv
openCLSafeCall(clSetKernelArg(kernel, 8, sizeof(cl_int), (void *)&w));
openCLSafeCall(clSetKernelArg(kernel, 9, sizeof(cl_int), (void *)&nr_plane));
openCLSafeCall(clSetKernelArg(kernel, 10, sizeof(cl_int), (void *)&i));
openCLSafeCall(clSetKernelArg(kernel, 11, sizeof(cl_float), (void *)&rthis.max_disc_term));
openCLSafeCall(clSetKernelArg(kernel, 11, sizeof(cl_float), (void *)&pThis->max_disc_term));
openCLSafeCall(clSetKernelArg(kernel, 12, sizeof(cl_int), (void *)&disp_step));
openCLSafeCall(clSetKernelArg(kernel, 13, sizeof(cl_int), (void *)&msg_step));
openCLSafeCall(clSetKernelArg(kernel, 14, sizeof(cl_float), (void *)&rthis.disc_single_jump));
openCLSafeCall(clSetKernelArg(kernel, 14, sizeof(cl_float), (void *)&pThis->disc_single_jump));
openCLSafeCall(clEnqueueNDRangeKernel(*(cl_command_queue*)getClCommandQueuePtr(), kernel, 2, NULL,
globalThreads, localThreads, 0, NULL, NULL));
......@@ -458,11 +458,11 @@ namespace cv
openCLSafeCall(clReleaseKernel(kernel));
}
static void calc_all_iterations(uchar *u, uchar *d, uchar *l, uchar *r, uchar *data_cost_selected,
uchar *disp_selected_pyr, oclMat &temp, StereoConstantSpaceBP rthis,
uchar *disp_selected_pyr, oclMat &temp, StereoConstantSpaceBP *pThis,
int msg_step, int h, int w, int nr_plane)
{
for(int t = 0; t < rthis.iters; t++)
calc_all_iterations_caller(u, d, l, r, data_cost_selected, disp_selected_pyr, temp, rthis,
for(int t = 0; t < pThis->iters; t++)
calc_all_iterations_caller(u, d, l, r, data_cost_selected, disp_selected_pyr, temp, pThis,
msg_step, h, w, nr_plane, t & 1);
}
......@@ -470,11 +470,11 @@ namespace cv
//////////////////////////compute_disp////////////////////////////////////////////////////////
/////////////////////////////////////////////////////////////////////////////////////////////
static void compute_disp(uchar *u, uchar *d, uchar *l, uchar *r, uchar *data_cost_selected,
uchar *disp_selected_pyr, StereoConstantSpaceBP &rthis, size_t msg_step,
uchar *disp_selected_pyr, StereoConstantSpaceBP *pThis, size_t msg_step,
oclMat &disp, int nr_plane)
{
Context *clCxt = disp.clCxt;
int data_type = rthis.msg_type;
int data_type = pThis->msg_type;
string kernelName = get_kernel_name("compute_disp_", data_type);
......@@ -550,20 +550,20 @@ cv::ocl::StereoConstantSpaceBP::StereoConstantSpaceBP(int ndisp_, int iters_, in
: ndisp(ndisp_), iters(iters_), levels(levels_), nr_plane(nr_plane_),
max_data_term(max_data_term_), data_weight(data_weight_),
max_disc_term(max_disc_term_), disc_single_jump(disc_single_jump_), min_disp_th(min_disp_th_),
msg_type(msg_type_), use_local_init_data_cost(true)
msg_type(msg_type_), use_local_init_data_cost(TRUE)
{
CV_Assert(msg_type_ == CV_32F || msg_type_ == CV_16S);
}
template<class T>
static void csbp_operator(StereoConstantSpaceBP &rthis, oclMat u[2], oclMat d[2], oclMat l[2], oclMat r[2],
static void csbp_operator(StereoConstantSpaceBP *pThis, oclMat u[2], oclMat d[2], oclMat l[2], oclMat r[2],
oclMat disp_selected_pyr[2], oclMat &data_cost, oclMat &data_cost_selected,
oclMat &temp, oclMat &out, const oclMat &left, const oclMat &right, oclMat &disp)
{
CV_DbgAssert(0 < rthis.ndisp && 0 < rthis.iters && 0 < rthis.levels && 0 < rthis.nr_plane
CV_DbgAssert(0 < pThis->ndisp && 0 < pThis->iters && 0 < pThis->levels && 0 < pThis->nr_plane
&& left.rows == right.rows && left.cols == right.cols && left.type() == right.type());
CV_Assert(rthis.levels <= 8 && (left.type() == CV_8UC1 || left.type() == CV_8UC3));
CV_Assert(pThis->levels <= 8 && (left.type() == CV_8UC1 || left.type() == CV_8UC3));
const Scalar zero = Scalar::all(0);
......@@ -571,8 +571,8 @@ static void csbp_operator(StereoConstantSpaceBP &rthis, oclMat u[2], oclMat d[2]
int rows = left.rows;
int cols = left.cols;
rthis.levels = min(rthis.levels, int(log((double)rthis.ndisp) / log(2.0)));
int levels = rthis.levels;
pThis->levels = min(pThis->levels, int(log((double)pThis->ndisp) / log(2.0)));
int levels = pThis->levels;
AutoBuffer<int> buf(levels * 4);
......@@ -583,7 +583,7 @@ static void csbp_operator(StereoConstantSpaceBP &rthis, oclMat u[2], oclMat d[2]
cols_pyr[0] = cols;
rows_pyr[0] = rows;
nr_plane_pyr[0] = rthis.nr_plane;
nr_plane_pyr[0] = pThis->nr_plane;
const int n = 64;
step_pyr[0] = alignSize(cols * sizeof(T), n) / sizeof(T);
......@@ -617,16 +617,16 @@ static void csbp_operator(StereoConstantSpaceBP &rthis, oclMat u[2], oclMat d[2]
data_cost_selected.create(msg_size, DataType<T>::type);
Size temp_size = data_cost_size;
if (data_cost_size.width * data_cost_size.height < step_pyr[0] * rows_pyr[levels - 1] * rthis.ndisp)
temp_size = Size(step_pyr[0], rows_pyr[levels - 1] * rthis.ndisp);
if (data_cost_size.width * data_cost_size.height < step_pyr[0] * rows_pyr[levels - 1] * pThis->ndisp)
temp_size = Size(step_pyr[0], rows_pyr[levels - 1] * pThis->ndisp);
temp.create(temp_size, DataType<T>::type);
temp = zero;
///////////////////////////////// Compute////////////////////////////////////////////////
//csbp::load_constants(rthis.ndisp, rthis.max_data_term, rthis.data_weight,
// rthis.max_disc_term, rthis.disc_single_jump, rthis.min_disp_th, left, right, temp);
//csbp::load_constants(pThis->ndisp, pThis->max_data_term, pThis->data_weight,
// pThis->max_disc_term, pThis->disc_single_jump, pThis->min_disp_th, left, right, temp);
l[0] = zero;
d[0] = zero;
......@@ -650,14 +650,14 @@ static void csbp_operator(StereoConstantSpaceBP &rthis, oclMat u[2], oclMat d[2]
{
if (i == levels - 1)
{
cv::ocl::stereoCSBP::init_data_cost(left, right, temp, rthis, disp_selected_pyr[cur_idx].data,
cv::ocl::stereoCSBP::init_data_cost(left, right, temp, pThis, disp_selected_pyr[cur_idx].data,
data_cost_selected.data, step_pyr[0], rows_pyr[i], cols_pyr[i],
i, nr_plane_pyr[i]);
}
else
{
cv::ocl::stereoCSBP::compute_data_cost(
disp_selected_pyr[cur_idx].data, data_cost.data, rthis, step_pyr[0],
disp_selected_pyr[cur_idx].data, data_cost.data, pThis, step_pyr[0],
step_pyr[0], left, right, rows_pyr[i], cols_pyr[i], rows_pyr[i + 1], i,
nr_plane_pyr[i + 1]);
......@@ -666,14 +666,14 @@ static void csbp_operator(StereoConstantSpaceBP &rthis, oclMat u[2], oclMat d[2]
cv::ocl::stereoCSBP::init_message(u[new_idx].data, d[new_idx].data, l[new_idx].data, r[new_idx].data,
u[cur_idx].data, d[cur_idx].data, l[cur_idx].data, r[cur_idx].data,
disp_selected_pyr[new_idx].data, disp_selected_pyr[cur_idx].data,
data_cost_selected.data, data_cost.data, temp, rthis, step_pyr[0],
data_cost_selected.data, data_cost.data, temp, pThis, step_pyr[0],
step_pyr[0], rows_pyr[i], cols_pyr[i], nr_plane_pyr[i], rows_pyr[i + 1],
cols_pyr[i + 1], nr_plane_pyr[i + 1]);
cur_idx = new_idx;
}
cv::ocl::stereoCSBP::calc_all_iterations(u[cur_idx].data, d[cur_idx].data, l[cur_idx].data, r[cur_idx].data,
data_cost_selected.data, disp_selected_pyr[cur_idx].data, temp,
rthis, step_pyr[0], rows_pyr[i], cols_pyr[i], nr_plane_pyr[i]);
pThis, step_pyr[0], rows_pyr[i], cols_pyr[i], nr_plane_pyr[i]);
}
if (disp.empty())
......@@ -683,23 +683,21 @@ static void csbp_operator(StereoConstantSpaceBP &rthis, oclMat u[2], oclMat d[2]
out = zero;
stereoCSBP::compute_disp(u[cur_idx].data, d[cur_idx].data, l[cur_idx].data, r[cur_idx].data,
data_cost_selected.data, disp_selected_pyr[cur_idx].data, rthis, step_pyr[0],
data_cost_selected.data, disp_selected_pyr[cur_idx].data, pThis, step_pyr[0],
out, nr_plane_pyr[0]);
if (disp.type() != CV_16S)
out.convertTo(disp, disp.type());
}
typedef void (*csbp_operator_t)(StereoConstantSpaceBP &rthis, oclMat u[2], oclMat d[2], oclMat l[2], oclMat r[2],
oclMat disp_selected_pyr[2], oclMat &data_cost, oclMat &data_cost_selected,
oclMat &temp, oclMat &out, const oclMat &left, const oclMat &right, oclMat &disp);
const static csbp_operator_t operators[] = {0, 0, 0, csbp_operator<short>, 0, csbp_operator<float>, 0, 0};
void cv::ocl::StereoConstantSpaceBP::operator()(const oclMat &left, const oclMat &right, oclMat &disp)
{
CV_Assert(msg_type == CV_32F || msg_type == CV_16S);
operators[msg_type](*this, u, d, l, r, disp_selected_pyr, data_cost, data_cost_selected, temp, out,
left, right, disp);
if (msg_type == CV_16S)
csbp_operator<short>(this, u, d, l, r, disp_selected_pyr, data_cost, data_cost_selected, temp, out,
left, right, disp);
else
csbp_operator<float>(this, u, d, l, r, disp_selected_pyr, data_cost, data_cost_selected, temp, out,
left, right, disp);
}
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