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fixed the difference of the calculation result for findStereoCorrespondenceBM_SSE2() and findStereoCorrespondenceBM_().

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pull/7336/head
k-shinotsuka 8 years ago
parent 7f14a278a7
commit 1a51a96de2
1 changed files with 15 additions and 16 deletions
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  1. 31
      modules/calib3d/src/stereobm.cpp

31
modules/calib3d/src/stereobm.cpp
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@ -525,28 +525,27 @@ static void findStereoCorrespondenceBM_SSE2( const Mat& left, const Mat& right,
if( uniquenessRatio > 0 )
{
int thresh = minsad + (minsad * uniquenessRatio/100);
__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 thresh4 = _mm_set1_epi32(thresh + 1);
__m128i d1 = _mm_set1_epi32(mind-1), d2 = _mm_set1_epi32(mind+1);
__m128i dd_4 = _mm_set1_epi32(4);
__m128i d4 = _mm_set_epi32(3,2,1,0);
__m128i z = _mm_setzero_si128();
for( d = 0; d < ndisp; d += 16 )
for( d = 0; d < ndisp; d += 8 )
{
__m128i usad8 = _mm_load_si128((__m128i*)(sad + d));
__m128i vsad8 = _mm_load_si128((__m128i*)(sad + d + 8));
mask = _mm_cmpgt_epi16( thresh8, _mm_min_epi16(usad8,vsad8));
d8 = _mm_add_epi16(d8, dd_16);
if( !_mm_movemask_epi8(mask) )
continue;
mask = _mm_cmpgt_epi16( thresh8, usad8);
mask = _mm_and_si128(mask, _mm_or_si128(_mm_cmpgt_epi16(d1,d8), _mm_cmpgt_epi16(d8,d2)));
__m128i usad4 = _mm_loadu_si128((__m128i*)(sad + d));
__m128i vsad4 = _mm_unpackhi_epi16(usad4, z);
usad4 = _mm_unpacklo_epi16(usad4, z);
mask = _mm_cmpgt_epi32( thresh4, usad4);
mask = _mm_and_si128(mask, _mm_or_si128(_mm_cmpgt_epi32(d1,d4), _mm_cmpgt_epi32(d4,d2)));
if( _mm_movemask_epi8(mask) )
break;
__m128i t8 = _mm_add_epi16(d8, dd_8);
mask = _mm_cmpgt_epi16( thresh8, vsad8);
mask = _mm_and_si128(mask, _mm_or_si128(_mm_cmpgt_epi16(d1,t8), _mm_cmpgt_epi16(t8,d2)));
d4 = _mm_add_epi16(d4, dd_4);
mask = _mm_cmpgt_epi32( thresh4, vsad4);
mask = _mm_and_si128(mask, _mm_or_si128(_mm_cmpgt_epi32(d1,d4), _mm_cmpgt_epi32(d4,d2)));
if( _mm_movemask_epi8(mask) )
break;
d4 = _mm_add_epi16(d4, dd_4);
}
if( d < ndisp )
{

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