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Merged the trunk r8589:8653 - all changes related to build warnings

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This commit is contained in:
Andrey Kamaev
2012-06-15 13:04:17 +00:00
parent 73c152abc4
commit bd0e0b5800
438 changed files with 20374 additions and 19674 deletions
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141
modules/calib3d/src/stereobm.cpp
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@@ -155,7 +155,7 @@ static void prefilterNorm( const Mat& src, Mat& dst, int winsize, int ftzero, uc
val = ((curr[x]*4 + curr[x-1] + curr[x+1] + prev[x] + next[x])*scale_g - sum*scale_s) >> 10;
dptr[x] = tab[val + OFS];
}
sum += vsum[x+wsz2] - vsum[x-wsz2-1];
val = ((curr[x]*5 + curr[x-1] + prev[x] + next[x])*scale_g - sum*scale_s) >> 10;
dptr[x] = tab[val + OFS];
@@ -170,15 +170,15 @@ prefilterXSobel( const Mat& src, Mat& dst, int ftzero )
const int OFS = 256*4, TABSZ = OFS*2 + 256;
uchar tab[TABSZ];
Size size = src.size();
for( x = 0; x < TABSZ; x++ )
tab[x] = (uchar)(x - OFS < -ftzero ? 0 : x - OFS > ftzero ? ftzero*2 : x - OFS + ftzero);
uchar val0 = tab[0 + OFS];
#if CV_SSE2
volatile bool useSIMD = checkHardwareSupport(CV_CPU_SSE2);
#endif
for( y = 0; y < size.height-1; y += 2 )
{
const uchar* srow1 = src.ptr<uchar>(y);
@@ -187,10 +187,10 @@ prefilterXSobel( const Mat& src, Mat& dst, int ftzero )
const uchar* srow3 = y < size.height-2 ? srow1 + src.step*2 : srow1;
uchar* dptr0 = dst.ptr<uchar>(y);
uchar* dptr1 = dptr0 + dst.step;
dptr0[0] = dptr0[size.width-1] = dptr1[0] = dptr1[size.width-1] = val0;
x = 1;
#if CV_SSE2
if( useSIMD )
{
@@ -205,26 +205,26 @@ prefilterXSobel( const Mat& src, Mat& dst, int ftzero )
d0 = _mm_sub_epi16(d0, c0);
d1 = _mm_sub_epi16(d1, c1);
__m128i c2 = _mm_unpacklo_epi8(_mm_loadl_epi64((__m128i*)(srow2 + x - 1)), z);
__m128i c3 = _mm_unpacklo_epi8(_mm_loadl_epi64((__m128i*)(srow2 + x - 1)), z);
__m128i d2 = _mm_unpacklo_epi8(_mm_loadl_epi64((__m128i*)(srow2 + x + 1)), z);
__m128i d3 = _mm_unpacklo_epi8(_mm_loadl_epi64((__m128i*)(srow2 + x + 1)), z);
d2 = _mm_sub_epi16(d2, c2);
d3 = _mm_sub_epi16(d3, c3);
__m128i v0 = _mm_add_epi16(d0, _mm_add_epi16(d2, _mm_add_epi16(d1, d1)));
__m128i v1 = _mm_add_epi16(d1, _mm_add_epi16(d3, _mm_add_epi16(d2, d2)));
v0 = _mm_packus_epi16(_mm_add_epi16(v0, ftz), _mm_add_epi16(v1, ftz));
v0 = _mm_min_epu8(v0, ftz2);
_mm_storel_epi64((__m128i*)(dptr0 + x), v0);
_mm_storel_epi64((__m128i*)(dptr1 + x), _mm_unpackhi_epi64(v0, v0));
}
}
#endif
for( ; x < size.width-1; x++ )
{
int d0 = srow0[x+1] - srow0[x-1], d1 = srow1[x+1] - srow1[x-1],
@@ -235,7 +235,7 @@ prefilterXSobel( const Mat& src, Mat& dst, int ftzero )
dptr1[x] = (uchar)v1;
}
}
for( ; y < size.height; y++ )
{
uchar* dptr = dst.ptr<uchar>(y);
@@ -336,7 +336,7 @@ static void findStereoCorrespondenceBM_SSE2( const Mat& left, const Mat& right,
short* costptr = cost.data ? (short*)cost.data + lofs + x : &costbuf;
int x0 = x - wsz2 - 1, x1 = x + wsz2;
const uchar* cbuf_sub = cbuf0 + ((x0 + wsz2 + 1) % (wsz + 1))*cstep - dy0*ndisp;
uchar* cbuf = cbuf0 + ((x1 + wsz2 + 1) % (wsz + 1))*cstep - dy0*ndisp;
cbuf = cbuf0 + ((x1 + wsz2 + 1) % (wsz + 1))*cstep - dy0*ndisp;
hsad = hsad0 - dy0*ndisp;
lptr_sub = lptr0 + MIN(MAX(x0, -lofs), width-1-lofs) - dy0*sstep;
lptr = lptr0 + MIN(MAX(x1, -lofs), width-1-lofs) - dy0*sstep;
@@ -374,7 +374,7 @@ static void findStereoCorrespondenceBM_SSE2( const Mat& left, const Mat& right,
// initialize sums
for( d = 0; d < ndisp; d++ )
sad[d] = (ushort)(hsad0[d-ndisp*dy0]*(wsz2 + 2 - dy0));
hsad = hsad0 + (1 - dy0)*ndisp;
for( y = 1 - dy0; y < wsz2; y++, hsad += ndisp )
for( d = 0; d < ndisp; d += 16 )
@@ -405,28 +405,28 @@ static void findStereoCorrespondenceBM_SSE2( const Mat& left, const Mat& right,
{
__m128i u0 = _mm_load_si128((__m128i*)(hsad_sub + d));
__m128i u1 = _mm_load_si128((__m128i*)(hsad + d));
__m128i v0 = _mm_load_si128((__m128i*)(hsad_sub + d + 8));
__m128i v1 = _mm_load_si128((__m128i*)(hsad + d + 8));
__m128i usad8 = _mm_load_si128((__m128i*)(sad + d));
__m128i vsad8 = _mm_load_si128((__m128i*)(sad + d + 8));
u1 = _mm_sub_epi16(u1, u0);
v1 = _mm_sub_epi16(v1, v0);
usad8 = _mm_add_epi16(usad8, u1);
vsad8 = _mm_add_epi16(vsad8, v1);
mask = _mm_cmpgt_epi16(minsad8, usad8);
minsad8 = _mm_min_epi16(minsad8, usad8);
mind8 = _mm_max_epi16(mind8, _mm_and_si128(mask, d8));
_mm_store_si128((__m128i*)(sad + d), usad8);
_mm_store_si128((__m128i*)(sad + d + 8), vsad8);
mask = _mm_cmpgt_epi16(minsad8, vsad8);
minsad8 = _mm_min_epi16(minsad8, vsad8);
d8 = _mm_add_epi16(d8, dd_8);
mind8 = _mm_max_epi16(mind8, _mm_and_si128(mask, d8));
d8 = _mm_add_epi16(d8, dd_8);
@@ -438,32 +438,33 @@ static void findStereoCorrespondenceBM_SSE2( const Mat& left, const Mat& right,
dptr[y*dstep] = FILTERED;
continue;
}
__m128i minsad82 = _mm_unpackhi_epi64(minsad8, minsad8);
__m128i mind82 = _mm_unpackhi_epi64(mind8, mind8);
mask = _mm_cmpgt_epi16(minsad8, minsad82);
mind8 = _mm_xor_si128(mind8,_mm_and_si128(_mm_xor_si128(mind82,mind8),mask));
minsad8 = _mm_min_epi16(minsad8, minsad82);
minsad82 = _mm_shufflelo_epi16(minsad8, _MM_SHUFFLE(3,2,3,2));
mind82 = _mm_shufflelo_epi16(mind8, _MM_SHUFFLE(3,2,3,2));
mask = _mm_cmpgt_epi16(minsad8, minsad82);
mind8 = _mm_xor_si128(mind8,_mm_and_si128(_mm_xor_si128(mind82,mind8),mask));
minsad8 = _mm_min_epi16(minsad8, minsad82);
minsad82 = _mm_shufflelo_epi16(minsad8, 1);
mind82 = _mm_shufflelo_epi16(mind8, 1);
mask = _mm_cmpgt_epi16(minsad8, minsad82);
mind8 = _mm_xor_si128(mind8,_mm_and_si128(_mm_xor_si128(mind82,mind8),mask));
mind = (short)_mm_cvtsi128_si32(mind8);
minsad = sad[mind];
if( uniquenessRatio > 0 )
{
int thresh = minsad + ((minsad * uniquenessRatio) >> 8);
__m128i thresh8 = _mm_set1_epi16((short)(thresh + 1));
__m128i d1 = _mm_set1_epi16((short)(mind-1)), d2 = _mm_set1_epi16((short)(mind+1));
__m128i dd_16 = _mm_add_epi16(dd_8, dd_8), d8 = _mm_sub_epi16(d0_8, dd_16);
__m128i dd_16 = _mm_add_epi16(dd_8, dd_8);
d8 = _mm_sub_epi16(d0_8, dd_16);
for( d = 0; d < ndisp; d += 16 )
{
@@ -492,7 +493,8 @@ static void findStereoCorrespondenceBM_SSE2( const Mat& left, const Mat& right,
if( 0 < mind && mind < ndisp - 1 )
{
int p = sad[mind+1], n = sad[mind-1], d = p + n - 2*sad[mind] + std::abs(p - n);
int p = sad[mind+1], n = sad[mind-1];
d = p + n - 2*sad[mind] + std::abs(p - n);
dptr[y*dstep] = (short)(((ndisp - mind - 1 + mindisp)*256 + (d != 0 ? (p-n)*256/d : 0) + 15) >> 4);
}
else
@@ -567,7 +569,7 @@ findStereoCorrespondenceBM( const Mat& left, const Mat& right,
htext[y] += tab[lval];
}
}
// initialize the left and right borders of the disparity map
for( y = 0; y < height; y++ )
{
@@ -583,7 +585,7 @@ findStereoCorrespondenceBM( const Mat& left, const Mat& right,
int* costptr = cost.data ? (int*)cost.data + lofs + x : &costbuf;
int x0 = x - wsz2 - 1, x1 = x + wsz2;
const uchar* cbuf_sub = cbuf0 + ((x0 + wsz2 + 1) % (wsz + 1))*cstep - dy0*ndisp;
uchar* cbuf = cbuf0 + ((x1 + wsz2 + 1) % (wsz + 1))*cstep - dy0*ndisp;
cbuf = cbuf0 + ((x1 + wsz2 + 1) % (wsz + 1))*cstep - dy0*ndisp;
hsad = hsad0 - dy0*ndisp;
lptr_sub = lptr0 + MIN(MAX(x0, -lofs), width-1-lofs) - dy0*sstep;
lptr = lptr0 + MIN(MAX(x1, -lofs), width-1-lofs) - dy0*sstep;
@@ -611,7 +613,7 @@ findStereoCorrespondenceBM( const Mat& left, const Mat& right,
// initialize sums
for( d = 0; d < ndisp; d++ )
sad[d] = (int)(hsad0[d-ndisp*dy0]*(wsz2 + 2 - dy0));
hsad = hsad0 + (1 - dy0)*ndisp;
for( y = 1 - dy0; y < wsz2; y++, hsad += ndisp )
for( d = 0; d < ndisp; d++ )
@@ -662,7 +664,8 @@ findStereoCorrespondenceBM( const Mat& left, const Mat& right,
{
sad[-1] = sad[1];
sad[ndisp] = sad[ndisp-2];
int p = sad[mind+1], n = sad[mind-1], d = p + n - 2*sad[mind] + std::abs(p - n);
int p = sad[mind+1], n = sad[mind-1];
d = p + n - 2*sad[mind] + std::abs(p - n);
dptr[y*dstep] = (short)(((ndisp - mind - 1 + mindisp)*256 + (d != 0 ? (p-n)*256/d : 0) + 15) >> 4);
costptr[y*coststep] = sad[mind];
}
@@ -681,16 +684,16 @@ struct PrefilterInvoker
state = _state;
}
void operator()( int ind ) const
void operator()( int ind ) const
{
if( state->preFilterType == CV_STEREO_BM_NORMALIZED_RESPONSE )
prefilterNorm( *imgs0[ind], *imgs[ind], state->preFilterSize, state->preFilterCap, buf[ind] );
else
prefilterXSobel( *imgs0[ind], *imgs[ind], state->preFilterCap );
prefilterXSobel( *imgs0[ind], *imgs[ind], state->preFilterCap );
}
const Mat* imgs0[2];
Mat* imgs[2];
Mat* imgs[2];
uchar* buf[2];
CvStereoBMState *state;
};
@@ -709,21 +712,21 @@ struct FindStereoCorrespInvoker
useShorts = _useShorts;
validDisparityRect = _validDisparityRect;
}
void operator()( const BlockedRange& range ) const
void operator()( const BlockedRange& range ) const
{
int cols = left->cols, rows = left->rows;
int _row0 = min(cvRound(range.begin() * rows / nstripes), rows);
int _row1 = min(cvRound(range.end() * rows / nstripes), rows);
uchar *ptr = state->slidingSumBuf->data.ptr + range.begin() * stripeBufSize;
int FILTERED = (state->minDisparity - 1)*16;
Rect roi = validDisparityRect & Rect(0, _row0, cols, _row1 - _row0);
if( roi.height == 0 )
return;
int row0 = roi.y;
int row1 = roi.y + roi.height;
Mat part;
if( row0 > _row0 )
{
@@ -735,22 +738,22 @@ struct FindStereoCorrespInvoker
part = disp->rowRange(row1, _row1);
part = Scalar::all(FILTERED);
}
Mat left_i = left->rowRange(row0, row1);
Mat right_i = right->rowRange(row0, row1);
Mat disp_i = disp->rowRange(row0, row1);
Mat cost_i = state->disp12MaxDiff >= 0 ? Mat(state->cost).rowRange(row0, row1) : Mat();
#if CV_SSE2
#if CV_SSE2
if( useShorts )
findStereoCorrespondenceBM_SSE2( left_i, right_i, disp_i, cost_i, *state, ptr, row0, rows - row1 );
else
#endif
#endif
findStereoCorrespondenceBM( left_i, right_i, disp_i, cost_i, *state, ptr, row0, rows - row1 );
if( state->disp12MaxDiff >= 0 )
validateDisparity( disp_i, cost_i, state->minDisparity, state->numberOfDisparities, state->disp12MaxDiff );
if( roi.x > 0 )
{
part = disp_i.colRange(0, roi.x);
@@ -767,7 +770,7 @@ protected:
const Mat *left, *right;
Mat* disp;
CvStereoBMState *state;
int nstripes;
int stripeBufSize;
bool useShorts;
@@ -775,7 +778,7 @@ protected:
};
static void findStereoCorrespondenceBM( const Mat& left0, const Mat& right0, Mat& disp0, CvStereoBMState* state)
{
{
if (left0.size() != right0.size() || disp0.size() != left0.size())
CV_Error( CV_StsUnmatchedSizes, "All the images must have the same size" );
@@ -783,7 +786,7 @@ static void findStereoCorrespondenceBM( const Mat& left0, const Mat& right0, Mat
CV_Error( CV_StsUnsupportedFormat, "Both input images must have CV_8UC1" );
if (disp0.type() != CV_16SC1 && disp0.type() != CV_32FC1)
CV_Error( CV_StsUnsupportedFormat, "Disparity image must have CV_16SC1 or CV_32FC1 format" );
CV_Error( CV_StsUnsupportedFormat, "Disparity image must have CV_16SC1 or CV_32FC1 format" );
if( !state )
CV_Error( CV_StsNullPtr, "Stereo BM state is NULL." );
@@ -809,7 +812,7 @@ static void findStereoCorrespondenceBM( const Mat& left0, const Mat& right0, Mat
if( state->uniquenessRatio < 0 )
CV_Error( CV_StsOutOfRange, "uniqueness ratio must be non-negative" );
if( !state->preFilteredImg0 || state->preFilteredImg0->cols * state->preFilteredImg0->rows < left0.cols * left0.rows )
{
cvReleaseMat( &state->preFilteredImg0 );
@@ -822,7 +825,7 @@ static void findStereoCorrespondenceBM( const Mat& left0, const Mat& right0, Mat
}
Mat left(left0.size(), CV_8U, state->preFilteredImg0->data.ptr);
Mat right(right0.size(), CV_8U, state->preFilteredImg1->data.ptr);
int mindisp = state->minDisparity;
int ndisp = state->numberOfDisparities;
@@ -832,15 +835,15 @@ static void findStereoCorrespondenceBM( const Mat& left0, const Mat& right0, Mat
int rofs = -min(ndisp - 1 + mindisp, 0);
int width1 = width - rofs - ndisp + 1;
int FILTERED = (state->minDisparity - 1) << DISPARITY_SHIFT;
if( lofs >= width || rofs >= width || width1 < 1 )
{
disp0 = Scalar::all( FILTERED * ( disp0.type() < CV_32F ? 1 : 1./(1 << DISPARITY_SHIFT) ) );
disp0 = Scalar::all( FILTERED * ( disp0.type() < CV_32F ? 1 : 1./(1 << DISPARITY_SHIFT) ) );
return;
}
Mat disp = disp0;
if( disp0.type() == CV_32F)
{
if( !state->disp || state->disp->rows != disp0.rows || state->disp->cols != disp0.cols )
@@ -850,8 +853,8 @@ static void findStereoCorrespondenceBM( const Mat& left0, const Mat& right0, Mat
}
disp = cv::cvarrToMat(state->disp);
}
int wsz = state->SADWindowSize;
int wsz = state->SADWindowSize;
int bufSize0 = (int)((ndisp + 2)*sizeof(int));
bufSize0 += (int)((height+wsz+2)*ndisp*sizeof(int));
bufSize0 += (int)((height + wsz + 2)*sizeof(int));
@@ -861,16 +864,16 @@ static void findStereoCorrespondenceBM( const Mat& left0, const Mat& right0, Mat
int bufSize2 = 0;
if( state->speckleRange >= 0 && state->speckleWindowSize > 0 )
bufSize2 = width*height*(sizeof(cv::Point_<short>) + sizeof(int) + sizeof(uchar));
#if CV_SSE2
bool useShorts = state->preFilterCap <= 31 && state->SADWindowSize <= 21 && checkHardwareSupport(CV_CPU_SSE2);
#else
const bool useShorts = false;
#endif
#ifdef HAVE_TBB
#ifdef HAVE_TBB
const double SAD_overhead_coeff = 10.0;
double N0 = 8000000 / (useShorts ? 1 : 4); // approx tbb's min number instructions reasonable for one thread
double N0 = 8000000 / (useShorts ? 1 : 4); // approx tbb's min number instructions reasonable for one thread
double maxStripeSize = min(max(N0 / (width * ndisp), (wsz-1) * SAD_overhead_coeff), (double)height);
int nstripes = cvCeil(height / maxStripeSize);
#else
@@ -878,27 +881,27 @@ static void findStereoCorrespondenceBM( const Mat& left0, const Mat& right0, Mat
#endif
int bufSize = max(bufSize0 * nstripes, max(bufSize1 * 2, bufSize2));
if( !state->slidingSumBuf || state->slidingSumBuf->cols < bufSize )
{
cvReleaseMat( &state->slidingSumBuf );
state->slidingSumBuf = cvCreateMat( 1, bufSize, CV_8U );
}
uchar *_buf = state->slidingSumBuf->data.ptr;
int idx[] = {0,1};
parallel_do(idx, idx+2, PrefilterInvoker(left0, right0, left, right, _buf, _buf + bufSize1, state));
Rect validDisparityRect(0, 0, width, height), R1 = state->roi1, R2 = state->roi2;
validDisparityRect = getValidDisparityROI(R1.area() > 0 ? Rect(0, 0, width, height) : validDisparityRect,
R2.area() > 0 ? Rect(0, 0, width, height) : validDisparityRect,
state->minDisparity, state->numberOfDisparities,
state->SADWindowSize);
state->SADWindowSize);
parallel_for(BlockedRange(0, nstripes),
FindStereoCorrespInvoker(left, right, disp, state, nstripes,
bufSize0, useShorts, validDisparityRect));
if( state->speckleRange >= 0 && state->speckleWindowSize > 0 )
{
Mat buf(state->slidingSumBuf);
@@ -906,7 +909,7 @@ static void findStereoCorrespondenceBM( const Mat& left0, const Mat& right0, Mat
}
if (disp0.data != disp.data)
disp.convertTo(disp0, disp0.type(), 1./(1 << DISPARITY_SHIFT), 0);
disp.convertTo(disp0, disp0.type(), 1./(1 << DISPARITY_SHIFT), 0);
}
StereoBM::StereoBM()
@@ -928,13 +931,13 @@ void StereoBM::operator()( InputArray _left, InputArray _right,
CV_Assert( disptype == CV_16S || disptype == CV_32F );
_disparity.create(left.size(), disptype);
Mat disparity = _disparity.getMat();
findStereoCorrespondenceBM(left, right, disparity, state);
}
template<> void Ptr<CvStereoBMState>::delete_obj()
{ cvReleaseStereoBMState(&obj); }
}
CV_IMPL void cvFindStereoCorrespondenceBM( const CvArr* leftarr, const CvArr* rightarr,
@@ -942,7 +945,7 @@ CV_IMPL void cvFindStereoCorrespondenceBM( const CvArr* leftarr, const CvArr* ri
{
cv::Mat left = cv::cvarrToMat(leftarr),
right = cv::cvarrToMat(rightarr),
disp = cv::cvarrToMat(disparr);
disp = cv::cvarrToMat(disparr);
cv::findStereoCorrespondenceBM(left, right, disp, state);
}