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Merge branch 4.x

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This commit is contained in:
Alexander Alekhin
2022-08-21 14:55:48 +00:00
parent 99d216c8d4 925ff6241f
commit c25f776151
538 changed files with 84703 additions and 5374 deletions
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modules/stereo/src/stereosgbm.cpp
+10 -11
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@@ -176,7 +176,7 @@ static void calcPixelCostBT( const Mat& img1, const Mat& img2, int y,
{
int x, c, width = img1.cols, cn = img1.channels();
int minX1 = std::max(maxD, 0), maxX1 = width + std::min(minD, 0);
int D = (int)alignSize(maxD - minD, v_int16::nlanes), width1 = maxX1 - minX1;
int D = (int)alignSize(maxD - minD, VTraits<v_int16>::vlanes()), width1 = maxX1 - minX1;
//This minX1 & maxX2 correction is defining which part of calculatable line must be calculated
//That is needs of parallel algorithm
xrange_min = (xrange_min < 0) ? 0: xrange_min;
@@ -501,8 +501,8 @@ static void computeDisparitySGBM( const Mat& img1, const Mat& img2,
int minX1 = std::max(maxD, 0), maxX1 = width + std::min(minD, 0);
const int D = params.numDisparities;
int width1 = maxX1 - minX1;
int Da = (int)alignSize(D, v_int16::nlanes);
int Dlra = Da + v_int16::nlanes;//Additional memory is necessary to store disparity values(MAX_COST) for d=-1 and d=D
int Da = (int)alignSize(D,VTraits<v_int16>::vlanes());
int Dlra = Da + VTraits<v_int16>::vlanes();//Additional memory is necessary to store disparity values(MAX_COST) for d=-1 and d=D
int INVALID_DISP = minD - 1, INVALID_DISP_SCALED = INVALID_DISP*DISP_SCALE;
int SW2 = params.calcSADWindowSize().width/2, SH2 = params.calcSADWindowSize().height/2;
int npasses = params.isFullDP() ? 2 : 1;
@@ -976,11 +976,10 @@ struct CalcVerticalSums: public ParallelLoopBody
width = img1.cols;
int minX1 = std::max(maxD, 0), maxX1 = width + std::min(minD, 0);
D = maxD - minD;
Da = (int)alignSize(D, v_int16::nlanes);
Dlra = Da + v_int16::nlanes;//Additional memory is necessary to store disparity values(MAX_COST) for d=-1 and d=D
Da = (int)alignSize(D, VTraits<v_int16>::vlanes());
Dlra = Da + VTraits<v_int16>::vlanes();//Additional memory is necessary to store disparity values(MAX_COST) for d=-1 and d=D
width1 = maxX1 - minX1;
D = params.numDisparities;
Da = (int)alignSize(D, v_int16::nlanes);
}
void operator()(const Range& range) const CV_OVERRIDE
@@ -1234,8 +1233,8 @@ struct CalcHorizontalSums: public ParallelLoopBody
INVALID_DISP = minD - 1;
INVALID_DISP_SCALED = INVALID_DISP*DISP_SCALE;
D = maxD - minD;
Da = (int)alignSize(D, v_int16::nlanes);
Dlra = Da + v_int16::nlanes;//Additional memory is necessary to store disparity values(MAX_COST) for d=-1 and d=D
Da = (int)alignSize(D, VTraits<v_int16>::vlanes());
Dlra = Da + VTraits<v_int16>::vlanes();//Additional memory is necessary to store disparity values(MAX_COST) for d=-1 and d=D
width1 = maxX1 - minX1;
}
@@ -1483,8 +1482,8 @@ static void computeDisparitySGBM_HH4( const Mat& img1, const Mat& img2,
int width = disp1.cols, height = disp1.rows;
int minX1 = std::max(maxD, 0), maxX1 = width + std::min(minD, 0);
int width1 = maxX1 - minX1;
int Da = (int)alignSize(params.numDisparities, v_int16::nlanes);
int Dlra = Da + v_int16::nlanes;//Additional memory is necessary to store disparity values(MAX_COST) for d=-1 and d=D
int Da = (int)alignSize(params.numDisparities, VTraits<v_int16>::vlanes());
int Dlra = Da + VTraits<v_int16>::vlanes();//Additional memory is necessary to store disparity values(MAX_COST) for d=-1 and d=D
int INVALID_DISP = minD - 1;
int INVALID_DISP_SCALED = INVALID_DISP*DISP_SCALE;
@@ -1629,7 +1628,7 @@ SGBM3WayMainLoop::SGBM3WayMainLoop(const Mat& _img1,
width = img1->cols; height = img1->rows;
minD = params.minDisparity; maxD = minD + params.numDisparities; D = maxD - minD;
minX1 = std::max(maxD, 0); maxX1 = width + std::min(minD, 0); width1 = maxX1 - minX1;
Da = (int)alignSize(D, v_int16::nlanes);
Da = (int)alignSize(D, VTraits<v_int16>::vlanes());
SW2 = SH2 = params.SADWindowSize > 0 ? params.SADWindowSize/2 : 1;