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Merge pull request #2535 from akarsakov:stereobm_fix

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Andrey Pavlenko 2014-03-27 15:22:45 +04:00 committed by OpenCV Buildbot
commit e34a7caabc
1 changed files with 6 additions and 4 deletions
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10
modules/calib3d/src/opencl/stereobm.cl
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@ -147,6 +147,8 @@ __kernel void stereoBM(__global const uchar * leftptr, __global const uchar * ri
__local int best_disp[2]; __local int best_disp[2];
__local int best_cost[2]; __local int best_cost[2];
best_cost[nthread] = MAX_VAL; best_cost[nthread] = MAX_VAL;
best_disp[nthread] = MAX_VAL;
barrier(CLK_LOCAL_MEM_FENCE);
short costbuf[wsz]; short costbuf[wsz];
int head = 0; int head = 0;
@ -159,7 +161,7 @@ __kernel void stereoBM(__global const uchar * leftptr, __global const uchar * ri
int costIdx = calcLocalIdx(lx, ly, d, sizeY); int costIdx = calcLocalIdx(lx, ly, d, sizeY);
cost = costFunc + costIdx; cost = costFunc + costIdx;
short tempcost = 0; int tempcost = 0;
if(x < cols-wsz2-mindisp && y < rows-wsz2) if(x < cols-wsz2-mindisp && y < rows-wsz2)
{ {
int shift = 1*nthread + cols*(1-nthread); int shift = 1*nthread + cols*(1-nthread);
@ -191,7 +193,7 @@ __kernel void stereoBM(__global const uchar * leftptr, __global const uchar * ri
barrier(CLK_LOCAL_MEM_FENCE); barrier(CLK_LOCAL_MEM_FENCE);
if(best_cost[1] == tempcost) if(best_cost[1] == tempcost)
best_disp[1] = ndisp - d - 1; atomic_min(best_disp + 1, ndisp - d - 1);
barrier(CLK_LOCAL_MEM_FENCE); barrier(CLK_LOCAL_MEM_FENCE);
int dispIdx = mad24(gy, disp_step, disp_offset + gx*(int)sizeof(short)); int dispIdx = mad24(gy, disp_step, disp_offset + gx*(int)sizeof(short));
@ -209,6 +211,7 @@ __kernel void stereoBM(__global const uchar * leftptr, __global const uchar * ri
y = (ly < sizeY) ? gy + shiftY + ly : rows; y = (ly < sizeY) ? gy + shiftY + ly : rows;
best_cost[nthread] = MAX_VAL; best_cost[nthread] = MAX_VAL;
best_disp[nthread] = MAX_VAL;
barrier(CLK_LOCAL_MEM_FENCE); barrier(CLK_LOCAL_MEM_FENCE);
costIdx = calcLocalIdx(lx, ly, d, sizeY); costIdx = calcLocalIdx(lx, ly, d, sizeY);
@ -227,12 +230,11 @@ __kernel void stereoBM(__global const uchar * leftptr, __global const uchar * ri
barrier(CLK_LOCAL_MEM_FENCE); barrier(CLK_LOCAL_MEM_FENCE);
if(best_cost[nthread] == tempcost) if(best_cost[nthread] == tempcost)
best_disp[nthread] = ndisp - d - 1; atomic_min(best_disp + nthread, ndisp - d - 1);
barrier(CLK_LOCAL_MEM_FENCE); barrier(CLK_LOCAL_MEM_FENCE);
int dispIdx = mad24(gy+ly, disp_step, disp_offset + (gx+lx)*(int)sizeof(short)); int dispIdx = mad24(gy+ly, disp_step, disp_offset + (gx+lx)*(int)sizeof(short));
disp = (__global short *)(dispptr + dispIdx); disp = (__global short *)(dispptr + dispIdx);
calcDisp(cost, disp, uniquenessRatio, mindisp, ndisp, 2*sizeY, calcDisp(cost, disp, uniquenessRatio, mindisp, ndisp, 2*sizeY,
best_disp + nthread, best_cost + nthread, d, x, y, cols, rows, wsz2); best_disp + nthread, best_cost + nthread, d, x, y, cols, rows, wsz2);
barrier(CLK_LOCAL_MEM_FENCE); barrier(CLK_LOCAL_MEM_FENCE);