Deconstify minimum disparity.

modules/cudastereo/src/cuda/stereocsbp.hpp

@@ -2,15 +2,16 @@ namespace cv { namespace cuda { namespace device
 {
     namespace stereocsbp
     {
-        void load_constants(float disc_single_jump, int min_disp_th);
+        void load_constants(float disc_single_jump);
 
         template<class T>
         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, float data_weight, float max_data_term, bool use_local_init_data_cost, cudaStream_t stream);
+                    int h, int w, int level, int nr_plane, int ndisp, int channels, float data_weight, float max_data_term, int min_disp, bool use_local_init_data_cost, cudaStream_t stream);
 
         template<class T>
         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, float data_weight, float max_data_term, cudaStream_t stream);
+                               int rows, int cols, int h, int w, int h2, int level, int nr_plane, int channels, float data_weight, float max_data_term,
+                               int min_disp, cudaStream_t stream);
 
         template<class T>
         void init_message(uchar *ctemp, T* u_new, T* d_new, T* l_new, T* r_new,

modules/cudastereo/src/stereocsbp.cpp

@@ -222,7 +222,7 @@ namespace
         ////////////////////////////////////////////////////////////////////////////
         // Compute
 
-        load_constants(disc_single_jump_, min_disp_th_);
+        load_constants(disc_single_jump_);
 
         l[0].setTo(0, _stream);
         d[0].setTo(0, _stream);
@@ -246,12 +246,12 @@ namespace
                 if (i == levels_ - 1)
                 {
                     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(), data_weight_, max_data_term_, use_local_init_data_cost_, stream);
+                        elem_step, rows_pyr[i], cols_pyr[i], i, nr_plane_pyr[i], ndisp_, left.channels(), data_weight_, max_data_term_, min_disp_th_, use_local_init_data_cost_, stream);
                 }
                 else
                 {
                     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(), data_weight_, max_data_term_, stream);
+                        left.rows, left.cols, rows_pyr[i], cols_pyr[i], rows_pyr[i+1], i, nr_plane_pyr[i+1], left.channels(), data_weight_, max_data_term_, min_disp_th_, stream);
 
                     int new_idx = (cur_idx + 1) & 1;
 
@@ -277,12 +277,12 @@ namespace
                 if (i == levels_ - 1)
                 {
                     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(), data_weight_, max_data_term_, use_local_init_data_cost_, stream);
+                        elem_step, rows_pyr[i], cols_pyr[i], i, nr_plane_pyr[i], ndisp_, left.channels(), data_weight_, max_data_term_, min_disp_th_, use_local_init_data_cost_, stream);
                 }
                 else
                 {
                     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(), data_weight_, max_data_term_, stream);
+                        left.rows, left.cols, rows_pyr[i], cols_pyr[i], rows_pyr[i+1], i, nr_plane_pyr[i+1], left.channels(), data_weight_, max_data_term_, min_disp_th_, stream);
 
                     int new_idx = (cur_idx + 1) & 1;