No longer use constant memory for image step.

modules/cudastereo/src/cuda/stereocsbp.hpp

@@ -2,15 +2,14 @@ namespace cv { namespace cuda { namespace device
 {
     namespace stereocsbp
     {
-        void load_constants(int ndisp, float max_data_term, float data_weight, float max_disc_term, float disc_single_jump, int min_disp_th,
-            size_t leftstep);
+        void load_constants(int ndisp, float max_data_term, float data_weight, float max_disc_term, float disc_single_jump, int min_disp_th);
 
         template<class T>
-        void init_data_cost(const uchar *left, const uchar *right, uchar *ctemp, int rows, int cols, T* disp_selected_pyr, T* data_cost_selected, size_t msg_step,
+        void init_data_cost(const uchar *left, const uchar *right, uchar *ctemp, size_t cimg_step, int rows, int cols, T* disp_selected_pyr, T* data_cost_selected, size_t msg_step,
                     int h, int w, int level, int nr_plane, int ndisp, int channels, bool use_local_init_data_cost, cudaStream_t stream);
 
         template<class T>
-        void compute_data_cost(const uchar *left, const uchar *right, const T* disp_selected_pyr, T* data_cost, size_t msg_step,
+        void compute_data_cost(const uchar *left, const uchar *right, size_t cimg_step, const T* disp_selected_pyr, T* data_cost, size_t msg_step,
                                int rows, int cols, int h, int w, int h2, int level, int nr_plane, int channels, cudaStream_t stream);
 
         template<class T>

modules/cudastereo/src/stereocsbp.cpp

@@ -222,7 +222,7 @@ namespace
         ////////////////////////////////////////////////////////////////////////////
         // Compute
 
-        load_constants(ndisp_, max_data_term_, data_weight_, max_disc_term_, disc_single_jump_, min_disp_th_, left.step);
+        load_constants(ndisp_, max_data_term_, data_weight_, max_disc_term_, disc_single_jump_, min_disp_th_);
 
         l[0].setTo(0, _stream);
         d[0].setTo(0, _stream);
@@ -245,12 +245,12 @@ namespace
             {
                 if (i == levels_ - 1)
                 {
-                    init_data_cost(left.ptr<uchar>(), right.ptr<uchar>(), temp_.ptr<uchar>(), left.rows, left.cols, disp_selected_pyr[cur_idx].ptr<float>(), data_cost_selected.ptr<float>(),
+                    init_data_cost(left.ptr<uchar>(), right.ptr<uchar>(), temp_.ptr<uchar>(), left.step, left.rows, left.cols, disp_selected_pyr[cur_idx].ptr<float>(), data_cost_selected.ptr<float>(),
                         elem_step, rows_pyr[i], cols_pyr[i], i, nr_plane_pyr[i], ndisp_, left.channels(), use_local_init_data_cost_, stream);
                 }
                 else
                 {
-                    compute_data_cost(left.ptr<uchar>(), right.ptr<uchar>(), disp_selected_pyr[cur_idx].ptr<float>(), data_cost.ptr<float>(), elem_step,
+                    compute_data_cost(left.ptr<uchar>(), right.ptr<uchar>(), left.step, disp_selected_pyr[cur_idx].ptr<float>(), data_cost.ptr<float>(), elem_step,
                         left.rows, left.cols, rows_pyr[i], cols_pyr[i], rows_pyr[i+1], i, nr_plane_pyr[i+1], left.channels(), stream);
 
                     int new_idx = (cur_idx + 1) & 1;
@@ -276,12 +276,12 @@ namespace
             {
                 if (i == levels_ - 1)
                 {
-                    init_data_cost(left.ptr<uchar>(), right.ptr<uchar>(), temp_.ptr<uchar>(), left.rows, left.cols, disp_selected_pyr[cur_idx].ptr<short>(), data_cost_selected.ptr<short>(),
+                    init_data_cost(left.ptr<uchar>(), right.ptr<uchar>(), temp_.ptr<uchar>(), left.step, left.rows, left.cols, disp_selected_pyr[cur_idx].ptr<short>(), data_cost_selected.ptr<short>(),
                         elem_step, rows_pyr[i], cols_pyr[i], i, nr_plane_pyr[i], ndisp_, left.channels(), use_local_init_data_cost_, stream);
                 }
                 else
                 {
-                    compute_data_cost(left.ptr<uchar>(), right.ptr<uchar>(), disp_selected_pyr[cur_idx].ptr<short>(), data_cost.ptr<short>(), elem_step,
+                    compute_data_cost(left.ptr<uchar>(), right.ptr<uchar>(), left.step, disp_selected_pyr[cur_idx].ptr<short>(), data_cost.ptr<short>(), elem_step,
                         left.rows, left.cols, rows_pyr[i], cols_pyr[i], rows_pyr[i+1], i, nr_plane_pyr[i+1], left.channels(), stream);
 
                     int new_idx = (cur_idx + 1) & 1;