int width1 = width - rofs - ndisp + 1;
int ftzero = state.preFilterCap;
int textureThreshold = state.textureThreshold;
- int uniquenessRatio = state.uniquenessRatio*256/100;
+ int uniquenessRatio = state.uniquenessRatio;
short FILTERED = (short)((mindisp - 1) << DISPARITY_SHIFT);
ushort *sad, *hsad0, *hsad, *hsad_sub;
sad = (ushort*)alignPtr(buf + sizeof(sad[0]), ALIGN);
hsad0 = (ushort*)alignPtr(sad + ndisp + 1 + dy0*ndisp, ALIGN);
htext = (int*)alignPtr((int*)(hsad0 + (height+dy1)*ndisp) + wsz2 + 2, ALIGN);
- cbuf0 = (uchar*)alignPtr(htext + height + wsz2 + 2 + dy0*ndisp, ALIGN);
+ cbuf0 = (uchar*)alignPtr((uchar*)(htext + height + wsz2 + 2) + dy0*ndisp, ALIGN);
for( x = 0; x < TABSZ; x++ )
tab[x] = (uchar)std::abs(x - ftzero);
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];
+ ushort CV_DECL_ALIGNED(16) minsad_buf[8], mind_buf[8];
+ _mm_store_si128((__m128i*)minsad_buf, minsad8);
+ _mm_store_si128((__m128i*)mind_buf, mind8);
+ for( d = 0; d < 8; d++ )
+ if(minsad > (int)minsad_buf[d] || (minsad == (int)minsad_buf[d] && mind > mind_buf[d]))
+ {
+ minsad = minsad_buf[d];
+ mind = mind_buf[d];
+ }
if( uniquenessRatio > 0 )
{
- int thresh = minsad + ((minsad * uniquenessRatio) >> 8);
+ 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);