Pass in images and scratch space so that multiple copies can run concurrently.

modules/cudastereo/src/cuda/stereocsbp.hpp

@@ -3,25 +3,25 @@ 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,
-            const PtrStepSzb& left, const PtrStepSzb& right, const PtrStepSzb& temp);
+            size_t leftstep);
 
         template<class T>
-        void init_data_cost(int rows, int cols, T* disp_selected_pyr, T* data_cost_selected, size_t msg_step,
+        void init_data_cost(uchar *left, uchar *right, uchar *ctemp, 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 T* disp_selected_pyr, T* data_cost, size_t msg_step,
+        void compute_data_cost(uchar *left, uchar *right, 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>
-        void init_message(T* u_new, T* d_new, T* l_new, T* r_new,
+        void init_message(uchar *ctemp, T* u_new, T* d_new, T* l_new, T* r_new,
                           const T* u_cur, const T* d_cur, const T* l_cur, const T* r_cur,
                           T* selected_disp_pyr_new, const T* selected_disp_pyr_cur,
                           T* data_cost_selected, const T* data_cost, size_t msg_step,
                           int h, int w, int nr_plane, int h2, int w2, int nr_plane2, cudaStream_t stream);
 
         template<class T>
-        void calc_all_iterations(T* u, T* d, T* l, T* r, const T* data_cost_selected,
+        void calc_all_iterations(uchar *ctemp, T* u, T* d, T* l, T* r, const T* data_cost_selected,
             const T* selected_disp_pyr_cur, size_t msg_step, int h, int w, int nr_plane, int iters, 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, right, temp_);
+        load_constants(ndisp_, max_data_term_, data_weight_, max_disc_term_, disc_single_jump_, min_disp_th_, left.step);
 
         l[0].setTo(0, _stream);
         d[0].setTo(0, _stream);
@@ -245,17 +245,18 @@ namespace
             {
                 if (i == levels_ - 1)
                 {
-                    init_data_cost(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.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(disp_selected_pyr[cur_idx].ptr<float>(), data_cost.ptr<float>(), elem_step,
+                    compute_data_cost(left.ptr<uchar>(), right.ptr<uchar>(), 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;
 
-                    init_message(u[new_idx].ptr<float>(), d[new_idx].ptr<float>(), l[new_idx].ptr<float>(), r[new_idx].ptr<float>(),
+                    init_message(temp_.ptr<uchar>(),
+                                 u[new_idx].ptr<float>(), d[new_idx].ptr<float>(), l[new_idx].ptr<float>(), r[new_idx].ptr<float>(),
                                  u[cur_idx].ptr<float>(), d[cur_idx].ptr<float>(), l[cur_idx].ptr<float>(), r[cur_idx].ptr<float>(),
                                  disp_selected_pyr[new_idx].ptr<float>(), disp_selected_pyr[cur_idx].ptr<float>(),
                                  data_cost_selected.ptr<float>(), data_cost.ptr<float>(), elem_step, rows_pyr[i],
@@ -264,7 +265,7 @@ namespace
                     cur_idx = new_idx;
                 }
 
-                calc_all_iterations(u[cur_idx].ptr<float>(), d[cur_idx].ptr<float>(), l[cur_idx].ptr<float>(), r[cur_idx].ptr<float>(),
+                calc_all_iterations(temp_.ptr<uchar>(), u[cur_idx].ptr<float>(), d[cur_idx].ptr<float>(), l[cur_idx].ptr<float>(), r[cur_idx].ptr<float>(),
                                     data_cost_selected.ptr<float>(), disp_selected_pyr[cur_idx].ptr<float>(), elem_step,
                                     rows_pyr[i], cols_pyr[i], nr_plane_pyr[i], iters_, stream);
             }
@@ -275,17 +276,18 @@ namespace
             {
                 if (i == levels_ - 1)
                 {
-                    init_data_cost(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.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(disp_selected_pyr[cur_idx].ptr<short>(), data_cost.ptr<short>(), elem_step,
+                    compute_data_cost(left.ptr<uchar>(), right.ptr<uchar>(), 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;
 
-                    init_message(u[new_idx].ptr<short>(), d[new_idx].ptr<short>(), l[new_idx].ptr<short>(), r[new_idx].ptr<short>(),
+                    init_message(temp_.ptr<uchar>(),
+                                 u[new_idx].ptr<short>(), d[new_idx].ptr<short>(), l[new_idx].ptr<short>(), r[new_idx].ptr<short>(),
                                  u[cur_idx].ptr<short>(), d[cur_idx].ptr<short>(), l[cur_idx].ptr<short>(), r[cur_idx].ptr<short>(),
                                  disp_selected_pyr[new_idx].ptr<short>(), disp_selected_pyr[cur_idx].ptr<short>(),
                                  data_cost_selected.ptr<short>(), data_cost.ptr<short>(), elem_step, rows_pyr[i],
@@ -294,7 +296,7 @@ namespace
                     cur_idx = new_idx;
                 }
 
-                calc_all_iterations(u[cur_idx].ptr<short>(), d[cur_idx].ptr<short>(), l[cur_idx].ptr<short>(), r[cur_idx].ptr<short>(),
+                calc_all_iterations(temp_.ptr<uchar>(), u[cur_idx].ptr<short>(), d[cur_idx].ptr<short>(), l[cur_idx].ptr<short>(), r[cur_idx].ptr<short>(),
                                     data_cost_selected.ptr<short>(), disp_selected_pyr[cur_idx].ptr<short>(), elem_step,
                                     rows_pyr[i], cols_pyr[i], nr_plane_pyr[i], iters_, stream);
             }