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Merge pull request #6863 from SorcererX:patch-1

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This commit is contained in:
Maksim Shabunin 2016-07-14 09:34:12 +00:00
commit 07b18b0e8a
1 changed files with 43 additions and 7 deletions
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50
modules/calib3d/src/stereosgbm.cpp
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@ -759,14 +759,50 @@ static void computeDisparitySGBM( const Mat& img1, const Mat& img2,
} }
else else
{ {
for( d = 0; d < D; d++ ) #if CV_SSE2
if( useSIMD )
{ {
int Sval = Sp[d]; __m128i _minS = _mm_set1_epi16(MAX_COST), _bestDisp = _mm_set1_epi16(-1);
if( Sval < minS ) __m128i _d8 = _mm_setr_epi16(0, 1, 2, 3, 4, 5, 6, 7), _8 = _mm_set1_epi16(8);
{
minS = Sval; for( d = 0; d < D; d+= 8 )
bestDisp = d; {
} __m128i L0 = _mm_load_si128((const __m128i*)( Sp + d ));
__m128i mask = _mm_cmplt_epi16( L0, _minS );
_minS = _mm_min_epi16( L0, _minS );
_bestDisp = _mm_xor_si128(_bestDisp, _mm_and_si128(_mm_xor_si128( _bestDisp, _d8), mask));
_d8 = _mm_adds_epi16(_d8, _8 );
}
short CV_DECL_ALIGNED(16) bestDispBuf[8];
_mm_store_si128((__m128i*)bestDispBuf, _bestDisp);
short CV_DECL_ALIGNED(16) minSBuf[8];
_mm_store_si128((__m128i*)minSBuf, _minS );
for( int i = 0; i < 8; i++ )
{
int Sval = minSBuf[ i ];
if( Sval <= minS )
{
if( ( Sval < minS ) || ( bestDispBuf[i] < bestDisp ) )
{
bestDisp = bestDispBuf[i];
}
minS = Sval;
}
}
}
else
#endif
{
for( d = 0; d < D; d++ )
{
int Sval = Sp[d];
if( Sval < minS )
{
minS = Sval;
bestDisp = d;
}
}
} }
} }