From c68b9328ca85ad0be1fb756b6db4551e2ed74aae Mon Sep 17 00:00:00 2001 From: Alexander Alekhin Date: Wed, 14 Sep 2016 20:00:28 +0300 Subject: [PATCH] android: workaround for Android NDK-8e clang ICE --- modules/ocl/src/stereo_csbp.cpp | 144 ++++++++++++++++---------------- 1 file changed, 71 insertions(+), 73 deletions(-) diff --git a/modules/ocl/src/stereo_csbp.cpp b/modules/ocl/src/stereo_csbp.cpp index 409d6f21c2..ff78a19c3b 100644 --- a/modules/ocl/src/stereo_csbp.cpp +++ b/modules/ocl/src/stereo_csbp.cpp @@ -76,11 +76,11 @@ namespace cv /////////////////////////////////init_data_cost////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////// static void init_data_cost_caller(const oclMat &left, const oclMat &right, oclMat &temp, - StereoConstantSpaceBP &rthis, + StereoConstantSpaceBP *pThis, int msg_step, int h, int w, int level) { Context *clCxt = left.clCxt; - int data_type = rthis.msg_type; + int data_type = pThis->msg_type; int channels = left.oclchannels(); string kernelName = get_kernel_name("init_data_cost_", data_type); @@ -104,12 +104,12 @@ namespace cv openCLSafeCall(clSetKernelArg(kernel, 5, sizeof(cl_int), (void *)&level)); openCLSafeCall(clSetKernelArg(kernel, 6, sizeof(cl_int), (void *)&channels)); openCLSafeCall(clSetKernelArg(kernel, 7, sizeof(cl_int), (void *)&msg_step)); - openCLSafeCall(clSetKernelArg(kernel, 8, sizeof(cl_float), (void *)&rthis.data_weight)); - openCLSafeCall(clSetKernelArg(kernel, 9, sizeof(cl_float), (void *)&rthis.max_data_term)); + openCLSafeCall(clSetKernelArg(kernel, 8, sizeof(cl_float), (void *)&pThis->data_weight)); + openCLSafeCall(clSetKernelArg(kernel, 9, sizeof(cl_float), (void *)&pThis->max_data_term)); openCLSafeCall(clSetKernelArg(kernel, 10, sizeof(cl_int), (void *)&cdisp_step1)); - openCLSafeCall(clSetKernelArg(kernel, 11, sizeof(cl_int), (void *)&rthis.min_disp_th)); + openCLSafeCall(clSetKernelArg(kernel, 11, sizeof(cl_int), (void *)&pThis->min_disp_th)); openCLSafeCall(clSetKernelArg(kernel, 12, sizeof(cl_int), (void *)&left.step)); - openCLSafeCall(clSetKernelArg(kernel, 13, sizeof(cl_int), (void *)&rthis.ndisp)); + openCLSafeCall(clSetKernelArg(kernel, 13, sizeof(cl_int), (void *)&pThis->ndisp)); openCLSafeCall(clEnqueueNDRangeKernel(*(cl_command_queue*)getClCommandQueuePtr(), kernel, 2, NULL, globalThreads, localThreads, 0, NULL, NULL)); @@ -118,12 +118,12 @@ namespace cv } static void init_data_cost_reduce_caller(const oclMat &left, const oclMat &right, oclMat &temp, - StereoConstantSpaceBP &rthis, + StereoConstantSpaceBP *pThis, int msg_step, int h, int w, int level) { Context *clCxt = left.clCxt; - int data_type = rthis.msg_type; + int data_type = pThis->msg_type; int channels = left.oclchannels(); int win_size = (int)std::pow(2.f, level); @@ -135,7 +135,7 @@ namespace cv //size_t blockSize = threadsNum; size_t localThreads[3] = {(size_t)win_size, 1, (size_t)threadsNum / win_size}; size_t globalThreads[3] = { w *localThreads[0], - h * divUp(rthis.ndisp, localThreads[2]) *localThreads[1], 1 * localThreads[2] + h * divUp(pThis->ndisp, localThreads[2]) *localThreads[1], 1 * localThreads[2] }; int local_mem_size = threadsNum * sizeof(float); @@ -153,11 +153,11 @@ namespace cv openCLSafeCall(clSetKernelArg(kernel, 7, sizeof(cl_int), (void *)&h)); openCLSafeCall(clSetKernelArg(kernel, 8, sizeof(cl_int), (void *)&win_size)); openCLSafeCall(clSetKernelArg(kernel, 9, sizeof(cl_int), (void *)&channels)); - openCLSafeCall(clSetKernelArg(kernel, 10, sizeof(cl_int), (void *)&rthis.ndisp)); + openCLSafeCall(clSetKernelArg(kernel, 10, sizeof(cl_int), (void *)&pThis->ndisp)); openCLSafeCall(clSetKernelArg(kernel, 11, sizeof(cl_int), (void *)&left.step)); - openCLSafeCall(clSetKernelArg(kernel, 12, sizeof(cl_float), (void *)&rthis.data_weight)); - openCLSafeCall(clSetKernelArg(kernel, 13, sizeof(cl_float), (void *)&rthis.max_data_term)); - openCLSafeCall(clSetKernelArg(kernel, 14, sizeof(cl_int), (void *)&rthis.min_disp_th)); + openCLSafeCall(clSetKernelArg(kernel, 12, sizeof(cl_float), (void *)&pThis->data_weight)); + openCLSafeCall(clSetKernelArg(kernel, 13, sizeof(cl_float), (void *)&pThis->max_data_term)); + openCLSafeCall(clSetKernelArg(kernel, 14, sizeof(cl_int), (void *)&pThis->min_disp_th)); openCLSafeCall(clSetKernelArg(kernel, 15, sizeof(cl_int), (void *)&cdisp_step1)); openCLSafeCall(clSetKernelArg(kernel, 16, sizeof(cl_int), (void *)&msg_step)); openCLSafeCall(clEnqueueNDRangeKernel(*(cl_command_queue*)getClCommandQueuePtr(), kernel, 3, NULL, @@ -167,11 +167,11 @@ namespace cv } static void get_first_initial_local_caller(uchar *data_cost_selected, uchar *disp_selected_pyr, - oclMat &temp, StereoConstantSpaceBP &rthis, + oclMat &temp, StereoConstantSpaceBP *pThis, int h, int w, int nr_plane, int msg_step) { Context *clCxt = temp.clCxt; - int data_type = rthis.msg_type; + int data_type = pThis->msg_type; string kernelName = get_kernel_name("get_first_k_initial_local_", data_type); @@ -191,7 +191,7 @@ namespace cv openCLSafeCall(clSetKernelArg(kernel, 5, sizeof(cl_int), (void *)&nr_plane)); openCLSafeCall(clSetKernelArg(kernel, 6, sizeof(cl_int), (void *)&msg_step)); openCLSafeCall(clSetKernelArg(kernel, 7, sizeof(cl_int), (void *)&disp_step)); - openCLSafeCall(clSetKernelArg(kernel, 8, sizeof(cl_int), (void *)&rthis.ndisp)); + openCLSafeCall(clSetKernelArg(kernel, 8, sizeof(cl_int), (void *)&pThis->ndisp)); openCLSafeCall(clEnqueueNDRangeKernel(*(cl_command_queue*)getClCommandQueuePtr(), kernel, 2, NULL, globalThreads, localThreads, 0, NULL, NULL)); @@ -199,11 +199,11 @@ namespace cv openCLSafeCall(clReleaseKernel(kernel)); } static void get_first_initial_global_caller(uchar *data_cost_selected, uchar *disp_selected_pyr, - oclMat &temp, StereoConstantSpaceBP &rthis, + oclMat &temp, StereoConstantSpaceBP *pThis, int h, int w, int nr_plane, int msg_step) { Context *clCxt = temp.clCxt; - int data_type = rthis.msg_type; + int data_type = pThis->msg_type; string kernelName = get_kernel_name("get_first_k_initial_global_", data_type); @@ -226,7 +226,7 @@ namespace cv openCLSafeCall(clSetKernelArg(kernel, 5, sizeof(cl_int), (void *)&nr_plane)); openCLSafeCall(clSetKernelArg(kernel, 6, sizeof(cl_int), (void *)&msg_step)); openCLSafeCall(clSetKernelArg(kernel, 7, sizeof(cl_int), (void *)&disp_step)); - openCLSafeCall(clSetKernelArg(kernel, 8, sizeof(cl_int), (void *)&rthis.ndisp)); + openCLSafeCall(clSetKernelArg(kernel, 8, sizeof(cl_int), (void *)&pThis->ndisp)); openCLSafeCall(clEnqueueNDRangeKernel(*(cl_command_queue*)getClCommandQueuePtr(), kernel, 2, NULL, globalThreads, localThreads, 0, NULL, NULL)); @@ -234,23 +234,23 @@ namespace cv openCLSafeCall(clReleaseKernel(kernel)); } - static void init_data_cost(const oclMat &left, const oclMat &right, oclMat &temp, StereoConstantSpaceBP &rthis, + static void init_data_cost(const oclMat &left, const oclMat &right, oclMat &temp, StereoConstantSpaceBP *pThis, uchar *disp_selected_pyr, uchar *data_cost_selected, size_t msg_step, int h, int w, int level, int nr_plane) { if(level <= 1) - init_data_cost_caller(left, right, temp, rthis, msg_step, h, w, level); + init_data_cost_caller(left, right, temp, pThis, msg_step, h, w, level); else - init_data_cost_reduce_caller(left, right, temp, rthis, msg_step, h, w, level); + init_data_cost_reduce_caller(left, right, temp, pThis, msg_step, h, w, level); - if(rthis.use_local_init_data_cost == true) + if(pThis->use_local_init_data_cost == true) { - get_first_initial_local_caller(data_cost_selected, disp_selected_pyr, temp, rthis, h, w, nr_plane, msg_step); + get_first_initial_local_caller(data_cost_selected, disp_selected_pyr, temp, pThis, h, w, nr_plane, msg_step); } else { - get_first_initial_global_caller(data_cost_selected, disp_selected_pyr, temp, rthis, h, w, + get_first_initial_global_caller(data_cost_selected, disp_selected_pyr, temp, pThis, h, w, nr_plane, msg_step); } } @@ -259,13 +259,13 @@ namespace cv ///////////////////////////////////compute_data_cost////////////////////////////////////////////// //////////////////////////////////////////////////////////////////////////////////////////////// static void compute_data_cost_caller(uchar *disp_selected_pyr, uchar *data_cost, - StereoConstantSpaceBP &rthis, int msg_step1, + StereoConstantSpaceBP *pThis, int msg_step1, int msg_step2, const oclMat &left, const oclMat &right, int h, int w, int h2, int level, int nr_plane) { Context *clCxt = left.clCxt; int channels = left.oclchannels(); - int data_type = rthis.msg_type; + int data_type = pThis->msg_type; string kernelName = get_kernel_name("compute_data_cost_", data_type); @@ -290,10 +290,10 @@ namespace cv openCLSafeCall(clSetKernelArg(kernel, 10, sizeof(cl_int), (void *)&msg_step2)); openCLSafeCall(clSetKernelArg(kernel, 11, sizeof(cl_int), (void *)&disp_step1)); openCLSafeCall(clSetKernelArg(kernel, 12, sizeof(cl_int), (void *)&disp_step2)); - openCLSafeCall(clSetKernelArg(kernel, 13, sizeof(cl_float), (void *)&rthis.data_weight)); - openCLSafeCall(clSetKernelArg(kernel, 14, sizeof(cl_float), (void *)&rthis.max_data_term)); + openCLSafeCall(clSetKernelArg(kernel, 13, sizeof(cl_float), (void *)&pThis->data_weight)); + openCLSafeCall(clSetKernelArg(kernel, 14, sizeof(cl_float), (void *)&pThis->max_data_term)); openCLSafeCall(clSetKernelArg(kernel, 15, sizeof(cl_int), (void *)&left.step)); - openCLSafeCall(clSetKernelArg(kernel, 16, sizeof(cl_int), (void *)&rthis.min_disp_th)); + openCLSafeCall(clSetKernelArg(kernel, 16, sizeof(cl_int), (void *)&pThis->min_disp_th)); openCLSafeCall(clEnqueueNDRangeKernel(*(cl_command_queue*)getClCommandQueuePtr(), kernel, 2, NULL, globalThreads, localThreads, 0, NULL, NULL)); @@ -301,12 +301,12 @@ namespace cv openCLSafeCall(clReleaseKernel(kernel)); } static void compute_data_cost_reduce_caller(uchar *disp_selected_pyr, uchar *data_cost, - StereoConstantSpaceBP &rthis, int msg_step1, + StereoConstantSpaceBP *pThis, int msg_step1, int msg_step2, const oclMat &left, const oclMat &right, int h, int w, int h2, int level, int nr_plane) { Context *clCxt = left.clCxt; - int data_type = rthis.msg_type; + int data_type = pThis->msg_type; int channels = left.oclchannels(); int win_size = (int)std::pow(2.f, level); @@ -341,25 +341,25 @@ namespace cv openCLSafeCall(clSetKernelArg(kernel, 13, sizeof(cl_int), (void *)&msg_step2)); openCLSafeCall(clSetKernelArg(kernel, 14, sizeof(cl_int), (void *)&disp_step1)); openCLSafeCall(clSetKernelArg(kernel, 15, sizeof(cl_int), (void *)&disp_step2)); - openCLSafeCall(clSetKernelArg(kernel, 16, sizeof(cl_float), (void *)&rthis.data_weight)); - openCLSafeCall(clSetKernelArg(kernel, 17, sizeof(cl_float), (void *)&rthis.max_data_term)); + openCLSafeCall(clSetKernelArg(kernel, 16, sizeof(cl_float), (void *)&pThis->data_weight)); + openCLSafeCall(clSetKernelArg(kernel, 17, sizeof(cl_float), (void *)&pThis->max_data_term)); openCLSafeCall(clSetKernelArg(kernel, 18, sizeof(cl_int), (void *)&left.step)); - openCLSafeCall(clSetKernelArg(kernel, 19, sizeof(cl_int), (void *)&rthis.min_disp_th)); + openCLSafeCall(clSetKernelArg(kernel, 19, sizeof(cl_int), (void *)&pThis->min_disp_th)); openCLSafeCall(clEnqueueNDRangeKernel(*(cl_command_queue*)getClCommandQueuePtr(), kernel, 3, NULL, globalThreads, localThreads, 0, NULL, NULL)); clFinish(*(cl_command_queue*)getClCommandQueuePtr()); openCLSafeCall(clReleaseKernel(kernel)); } - static void compute_data_cost(uchar *disp_selected_pyr, uchar *data_cost, StereoConstantSpaceBP &rthis, + static void compute_data_cost(uchar *disp_selected_pyr, uchar *data_cost, StereoConstantSpaceBP *pThis, int msg_step1, int msg_step2, const oclMat &left, const oclMat &right, int h, int w, int h2, int level, int nr_plane) { if(level <= 1) - compute_data_cost_caller(disp_selected_pyr, data_cost, rthis, msg_step1, msg_step2, + compute_data_cost_caller(disp_selected_pyr, data_cost, pThis, msg_step1, msg_step2, left, right, h, w, h2, level, nr_plane); else - compute_data_cost_reduce_caller(disp_selected_pyr, data_cost, rthis, msg_step1, msg_step2, + compute_data_cost_reduce_caller(disp_selected_pyr, data_cost, pThis, msg_step1, msg_step2, left, right, h, w, h2, level, nr_plane); } //////////////////////////////////////////////////////////////////////////////////////////////// @@ -368,12 +368,12 @@ namespace cv static void init_message(uchar *u_new, uchar *d_new, uchar *l_new, uchar *r_new, uchar *u_cur, uchar *d_cur, uchar *l_cur, uchar *r_cur, uchar *disp_selected_pyr_new, uchar *disp_selected_pyr_cur, - uchar *data_cost_selected, uchar *data_cost, oclMat &temp, StereoConstantSpaceBP rthis, + uchar *data_cost_selected, uchar *data_cost, oclMat &temp, StereoConstantSpaceBP *pThis, size_t msg_step1, size_t msg_step2, int h, int w, int nr_plane, int h2, int w2, int nr_plane2) { Context *clCxt = temp.clCxt; - int data_type = rthis.msg_type; + int data_type = pThis->msg_type; string kernelName = get_kernel_name("init_message_", data_type); @@ -419,11 +419,11 @@ namespace cv ///////////////////////////calc_all_iterations//////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////////////////// static void calc_all_iterations_caller(uchar *u, uchar *d, uchar *l, uchar *r, uchar *data_cost_selected, - uchar *disp_selected_pyr, oclMat &temp, StereoConstantSpaceBP rthis, + uchar *disp_selected_pyr, oclMat &temp, StereoConstantSpaceBP *pThis, int msg_step, int h, int w, int nr_plane, int i) { Context *clCxt = temp.clCxt; - int data_type = rthis.msg_type; + int data_type = pThis->msg_type; string kernelName = get_kernel_name("compute_message_", data_type); @@ -447,10 +447,10 @@ namespace cv openCLSafeCall(clSetKernelArg(kernel, 8, sizeof(cl_int), (void *)&w)); openCLSafeCall(clSetKernelArg(kernel, 9, sizeof(cl_int), (void *)&nr_plane)); openCLSafeCall(clSetKernelArg(kernel, 10, sizeof(cl_int), (void *)&i)); - openCLSafeCall(clSetKernelArg(kernel, 11, sizeof(cl_float), (void *)&rthis.max_disc_term)); + openCLSafeCall(clSetKernelArg(kernel, 11, sizeof(cl_float), (void *)&pThis->max_disc_term)); openCLSafeCall(clSetKernelArg(kernel, 12, sizeof(cl_int), (void *)&disp_step)); openCLSafeCall(clSetKernelArg(kernel, 13, sizeof(cl_int), (void *)&msg_step)); - openCLSafeCall(clSetKernelArg(kernel, 14, sizeof(cl_float), (void *)&rthis.disc_single_jump)); + openCLSafeCall(clSetKernelArg(kernel, 14, sizeof(cl_float), (void *)&pThis->disc_single_jump)); openCLSafeCall(clEnqueueNDRangeKernel(*(cl_command_queue*)getClCommandQueuePtr(), kernel, 2, NULL, globalThreads, localThreads, 0, NULL, NULL)); @@ -458,11 +458,11 @@ namespace cv openCLSafeCall(clReleaseKernel(kernel)); } static void calc_all_iterations(uchar *u, uchar *d, uchar *l, uchar *r, uchar *data_cost_selected, - uchar *disp_selected_pyr, oclMat &temp, StereoConstantSpaceBP rthis, + uchar *disp_selected_pyr, oclMat &temp, StereoConstantSpaceBP *pThis, int msg_step, int h, int w, int nr_plane) { - for(int t = 0; t < rthis.iters; t++) - calc_all_iterations_caller(u, d, l, r, data_cost_selected, disp_selected_pyr, temp, rthis, + for(int t = 0; t < pThis->iters; t++) + calc_all_iterations_caller(u, d, l, r, data_cost_selected, disp_selected_pyr, temp, pThis, msg_step, h, w, nr_plane, t & 1); } @@ -470,11 +470,11 @@ namespace cv //////////////////////////compute_disp//////////////////////////////////////////////////////// ///////////////////////////////////////////////////////////////////////////////////////////// static void compute_disp(uchar *u, uchar *d, uchar *l, uchar *r, uchar *data_cost_selected, - uchar *disp_selected_pyr, StereoConstantSpaceBP &rthis, size_t msg_step, + uchar *disp_selected_pyr, StereoConstantSpaceBP *pThis, size_t msg_step, oclMat &disp, int nr_plane) { Context *clCxt = disp.clCxt; - int data_type = rthis.msg_type; + int data_type = pThis->msg_type; string kernelName = get_kernel_name("compute_disp_", data_type); @@ -550,20 +550,20 @@ cv::ocl::StereoConstantSpaceBP::StereoConstantSpaceBP(int ndisp_, int iters_, in : ndisp(ndisp_), iters(iters_), levels(levels_), nr_plane(nr_plane_), max_data_term(max_data_term_), data_weight(data_weight_), max_disc_term(max_disc_term_), disc_single_jump(disc_single_jump_), min_disp_th(min_disp_th_), - msg_type(msg_type_), use_local_init_data_cost(true) + msg_type(msg_type_), use_local_init_data_cost(TRUE) { CV_Assert(msg_type_ == CV_32F || msg_type_ == CV_16S); } template -static void csbp_operator(StereoConstantSpaceBP &rthis, oclMat u[2], oclMat d[2], oclMat l[2], oclMat r[2], +static void csbp_operator(StereoConstantSpaceBP *pThis, oclMat u[2], oclMat d[2], oclMat l[2], oclMat r[2], oclMat disp_selected_pyr[2], oclMat &data_cost, oclMat &data_cost_selected, oclMat &temp, oclMat &out, const oclMat &left, const oclMat &right, oclMat &disp) { - CV_DbgAssert(0 < rthis.ndisp && 0 < rthis.iters && 0 < rthis.levels && 0 < rthis.nr_plane + CV_DbgAssert(0 < pThis->ndisp && 0 < pThis->iters && 0 < pThis->levels && 0 < pThis->nr_plane && left.rows == right.rows && left.cols == right.cols && left.type() == right.type()); - CV_Assert(rthis.levels <= 8 && (left.type() == CV_8UC1 || left.type() == CV_8UC3)); + CV_Assert(pThis->levels <= 8 && (left.type() == CV_8UC1 || left.type() == CV_8UC3)); const Scalar zero = Scalar::all(0); @@ -571,8 +571,8 @@ static void csbp_operator(StereoConstantSpaceBP &rthis, oclMat u[2], oclMat d[2] int rows = left.rows; int cols = left.cols; - rthis.levels = min(rthis.levels, int(log((double)rthis.ndisp) / log(2.0))); - int levels = rthis.levels; + pThis->levels = min(pThis->levels, int(log((double)pThis->ndisp) / log(2.0))); + int levels = pThis->levels; AutoBuffer buf(levels * 4); @@ -583,7 +583,7 @@ static void csbp_operator(StereoConstantSpaceBP &rthis, oclMat u[2], oclMat d[2] cols_pyr[0] = cols; rows_pyr[0] = rows; - nr_plane_pyr[0] = rthis.nr_plane; + nr_plane_pyr[0] = pThis->nr_plane; const int n = 64; step_pyr[0] = alignSize(cols * sizeof(T), n) / sizeof(T); @@ -617,16 +617,16 @@ static void csbp_operator(StereoConstantSpaceBP &rthis, oclMat u[2], oclMat d[2] data_cost_selected.create(msg_size, DataType::type); Size temp_size = data_cost_size; - if (data_cost_size.width * data_cost_size.height < step_pyr[0] * rows_pyr[levels - 1] * rthis.ndisp) - temp_size = Size(step_pyr[0], rows_pyr[levels - 1] * rthis.ndisp); + if (data_cost_size.width * data_cost_size.height < step_pyr[0] * rows_pyr[levels - 1] * pThis->ndisp) + temp_size = Size(step_pyr[0], rows_pyr[levels - 1] * pThis->ndisp); temp.create(temp_size, DataType::type); temp = zero; ///////////////////////////////// Compute//////////////////////////////////////////////// - //csbp::load_constants(rthis.ndisp, rthis.max_data_term, rthis.data_weight, - // rthis.max_disc_term, rthis.disc_single_jump, rthis.min_disp_th, left, right, temp); + //csbp::load_constants(pThis->ndisp, pThis->max_data_term, pThis->data_weight, + // pThis->max_disc_term, pThis->disc_single_jump, pThis->min_disp_th, left, right, temp); l[0] = zero; d[0] = zero; @@ -650,14 +650,14 @@ static void csbp_operator(StereoConstantSpaceBP &rthis, oclMat u[2], oclMat d[2] { if (i == levels - 1) { - cv::ocl::stereoCSBP::init_data_cost(left, right, temp, rthis, disp_selected_pyr[cur_idx].data, + cv::ocl::stereoCSBP::init_data_cost(left, right, temp, pThis, disp_selected_pyr[cur_idx].data, data_cost_selected.data, step_pyr[0], rows_pyr[i], cols_pyr[i], i, nr_plane_pyr[i]); } else { cv::ocl::stereoCSBP::compute_data_cost( - disp_selected_pyr[cur_idx].data, data_cost.data, rthis, step_pyr[0], + disp_selected_pyr[cur_idx].data, data_cost.data, pThis, step_pyr[0], step_pyr[0], left, right, rows_pyr[i], cols_pyr[i], rows_pyr[i + 1], i, nr_plane_pyr[i + 1]); @@ -666,14 +666,14 @@ static void csbp_operator(StereoConstantSpaceBP &rthis, oclMat u[2], oclMat d[2] cv::ocl::stereoCSBP::init_message(u[new_idx].data, d[new_idx].data, l[new_idx].data, r[new_idx].data, u[cur_idx].data, d[cur_idx].data, l[cur_idx].data, r[cur_idx].data, disp_selected_pyr[new_idx].data, disp_selected_pyr[cur_idx].data, - data_cost_selected.data, data_cost.data, temp, rthis, step_pyr[0], + data_cost_selected.data, data_cost.data, temp, pThis, step_pyr[0], step_pyr[0], rows_pyr[i], cols_pyr[i], nr_plane_pyr[i], rows_pyr[i + 1], cols_pyr[i + 1], nr_plane_pyr[i + 1]); cur_idx = new_idx; } cv::ocl::stereoCSBP::calc_all_iterations(u[cur_idx].data, d[cur_idx].data, l[cur_idx].data, r[cur_idx].data, data_cost_selected.data, disp_selected_pyr[cur_idx].data, temp, - rthis, step_pyr[0], rows_pyr[i], cols_pyr[i], nr_plane_pyr[i]); + pThis, step_pyr[0], rows_pyr[i], cols_pyr[i], nr_plane_pyr[i]); } if (disp.empty()) @@ -683,23 +683,21 @@ static void csbp_operator(StereoConstantSpaceBP &rthis, oclMat u[2], oclMat d[2] out = zero; stereoCSBP::compute_disp(u[cur_idx].data, d[cur_idx].data, l[cur_idx].data, r[cur_idx].data, - data_cost_selected.data, disp_selected_pyr[cur_idx].data, rthis, step_pyr[0], + data_cost_selected.data, disp_selected_pyr[cur_idx].data, pThis, step_pyr[0], out, nr_plane_pyr[0]); if (disp.type() != CV_16S) out.convertTo(disp, disp.type()); } -typedef void (*csbp_operator_t)(StereoConstantSpaceBP &rthis, oclMat u[2], oclMat d[2], oclMat l[2], oclMat r[2], - oclMat disp_selected_pyr[2], oclMat &data_cost, oclMat &data_cost_selected, - oclMat &temp, oclMat &out, const oclMat &left, const oclMat &right, oclMat &disp); - -const static csbp_operator_t operators[] = {0, 0, 0, csbp_operator, 0, csbp_operator, 0, 0}; - void cv::ocl::StereoConstantSpaceBP::operator()(const oclMat &left, const oclMat &right, oclMat &disp) { CV_Assert(msg_type == CV_32F || msg_type == CV_16S); - operators[msg_type](*this, u, d, l, r, disp_selected_pyr, data_cost, data_cost_selected, temp, out, - left, right, disp); + if (msg_type == CV_16S) + csbp_operator(this, u, d, l, r, disp_selected_pyr, data_cost, data_cost_selected, temp, out, + left, right, disp); + else + csbp_operator(this, u, d, l, r, disp_selected_pyr, data_cost, data_cost_selected, temp, out, + left, right, disp); }