{\r
const T* u_cur = u_cur_ + ::min(h2-1, y/2 + 1) * cmsg_step2 + x/2;\r
const T* d_cur = d_cur_ + ::max(0, y/2 - 1) * cmsg_step2 + x/2;\r
- const T* l_cur = l_cur_ + y/2 * cmsg_step2 + ::min(w2-1, x/2 + 1);\r
- const T* r_cur = r_cur_ + y/2 * cmsg_step2 + ::max(0, x/2 - 1);\r
+ const T* l_cur = l_cur_ + (y/2) * cmsg_step2 + ::min(w2-1, x/2 + 1);\r
+ const T* r_cur = r_cur_ + (y/2) * cmsg_step2 + ::max(0, x/2 - 1);\r
\r
T* data_cost_new = (T*)ctemp + y * cmsg_step1 + x;\r
\r
\r
template <typename T>\r
__device__ void message_per_pixel(const T* data, T* msg_dst, const T* msg1, const T* msg2, const T* msg3,\r
- const T* dst_disp, const T* src_disp, int nr_plane, T* temp)\r
+ const T* dst_disp, const T* src_disp, int nr_plane, volatile T* temp)\r
{\r
T minimum = numeric_limits<T>::max();\r
\r
for(int t = 0; t < iters; ++t)\r
{\r
compute_message<<<grid, threads, 0, stream>>>(u, d, l, r, data_cost_selected, selected_disp_pyr_cur, h, w, nr_plane, t & 1);\r
- cudaSafeCall( cudaGetLastError() );\r
-\r
- if (stream == 0)\r
- cudaSafeCall( cudaDeviceSynchronize() );\r
+ cudaSafeCall( cudaGetLastError() ); \r
}\r
+ if (stream == 0)\r
+ cudaSafeCall( cudaDeviceSynchronize() );\r
};\r
\r
template void calc_all_iterations(short* u, short* d, short* l, short* r, const short* data_cost_selected, const short* selected_disp_pyr_cur, size_t msg_step,\r
template <typename T>\r
__global__ void compute_disp(const T* u_, const T* d_, const T* l_, const T* r_,\r
const T* data_cost_selected, const T* disp_selected_pyr,\r
- short* disp, size_t res_step, int cols, int rows, int nr_plane)\r
+ PtrStepSz<short> disp, int nr_plane)\r
{\r
int x = blockIdx.x * blockDim.x + threadIdx.x;\r
int y = blockIdx.y * blockDim.y + threadIdx.y;\r
\r
- if (y > 0 && y < rows - 1 && x > 0 && x < cols - 1)\r
+ if (y > 0 && y < disp.rows - 1 && x > 0 && x < disp.cols - 1)\r
{\r
const T* data = data_cost_selected + y * cmsg_step1 + x;\r
const T* disp_selected = disp_selected_pyr + y * cmsg_step1 + x;\r
best = saturate_cast<short>(disp_selected[idx]);\r
}\r
}\r
- disp[res_step * y + x] = best;\r
+ disp(y, x) = best;\r
}\r
}\r
\r
grid.x = divUp(disp.cols, threads.x);\r
grid.y = divUp(disp.rows, threads.y);\r
\r
- compute_disp<<<grid, threads, 0, stream>>>(u, d, l, r, data_cost_selected, disp_selected,\r
- disp.data, disp.step / disp.elemSize(), disp.cols, disp.rows, nr_plane);\r
+ compute_disp<<<grid, threads, 0, stream>>>(u, d, l, r, data_cost_selected, disp_selected, disp, nr_plane);\r
cudaSafeCall( cudaGetLastError() );\r
\r
if (stream == 0)\r