More constant removal.

diff --git a/modules/cudastereo/src/cuda/stereocsbp.cu b/modules/cudastereo/src/cuda/stereocsbp.cu
index 3ef665b..792df0c 100644 (file)
--- a/modules/cudastereo/src/cuda/stereocsbp.cu
+++ b/modules/cudastereo/src/cuda/stereocsbp.cu
@@ -58,8 +58,6 @@ namespace cv { namespace cuda { namespace device
         /////////////////////// load constants ////////////////////////
         ///////////////////////////////////////////////////////////////
 
-        __constant__ float cmax_data_term;
-        __constant__ float cdata_weight;
         __constant__ float cdisc_single_jump;
 
         __constant__ int cth;
@@ -69,10 +67,8 @@ namespace cv { namespace cuda { namespace device
         __constant__ size_t cdisp_step2;
 
 
-        void load_constants(float max_data_term, float data_weight, float disc_single_jump, int min_disp_th)
+        void load_constants(float disc_single_jump, int min_disp_th)
         {
-            cudaSafeCall( cudaMemcpyToSymbol(cmax_data_term,    &max_data_term,    sizeof(float)) );
-            cudaSafeCall( cudaMemcpyToSymbol(cdata_weight,      &data_weight,      sizeof(float)) );
             cudaSafeCall( cudaMemcpyToSymbol(cdisc_single_jump, &disc_single_jump, sizeof(float)) );
 
             cudaSafeCall( cudaMemcpyToSymbol(cth, &min_disp_th, sizeof(int)) );
@@ -82,20 +78,20 @@ namespace cv { namespace cuda { namespace device
         /////////////////////// init data cost ////////////////////////
         ///////////////////////////////////////////////////////////////
 
-        template <int channels> float __device__ pixeldiff(const uchar* left, const uchar* right);
-        template<> float __device__ __forceinline__ pixeldiff<1>(const uchar* left, const uchar* right)
+        template <int channels> static float __device__ pixeldiff(const uchar* left, const uchar* right, float max_data_term);
+        template<> __device__ __forceinline__ static float pixeldiff<1>(const uchar* left, const uchar* right, float max_data_term)
         {
-            return cdata_weight * fmin( ::abs((int)*left - *right), cmax_data_term);
+            return fmin( ::abs((int)*left - *right), max_data_term);
         }
-        template <> float __device__ __forceinline__ pixeldiff<3>(const uchar* left, const uchar* right)
+        template<> __device__ __forceinline__ static float pixeldiff<3>(const uchar* left, const uchar* right, float max_data_term)
         {
             float tb = 0.114f * ::abs((int)left[0] - right[0]);
             float tg = 0.587f * ::abs((int)left[1] - right[1]);
             float tr = 0.299f * ::abs((int)left[2] - right[2]);
 
-            return cdata_weight * fmin(tr + tg + tb, cmax_data_term);
+            return fmin(tr + tg + tb, max_data_term);
         }
-        template <> float __device__ __forceinline__ pixeldiff<4>(const uchar* left, const uchar* right)
+        template<> __device__ __forceinline__ static float pixeldiff<4>(const uchar* left, const uchar* right, float max_data_term)
         {
             uchar4 l = *((const uchar4*)left);
             uchar4 r = *((const uchar4*)right);
@@ -104,7 +100,7 @@ namespace cv { namespace cuda { namespace device
             float tg = 0.587f * ::abs((int)l.y - r.y);
             float tr = 0.299f * ::abs((int)l.z - r.z);
 
-            return cdata_weight * fmin(tr + tg + tb, cmax_data_term);
+            return fmin(tr + tg + tb, max_data_term);
         }
 
         template <typename T>
@@ -198,7 +194,7 @@ namespace cv { namespace cuda { namespace device
         }
 
         template <typename T, int channels>
-        __global__ void init_data_cost(const uchar *cleft, const uchar *cright, uchar *ctemp, size_t cimg_step, int h, int w, int level, int ndisp)
+        __global__ void init_data_cost(const uchar *cleft, const uchar *cright, uchar *ctemp, size_t cimg_step, int h, int w, int level, int ndisp, float data_weight, float max_data_term)
         {
             int x = blockIdx.x * blockDim.x + threadIdx.x;
             int y = blockIdx.y * blockDim.y + threadIdx.y;
@@ -222,13 +218,13 @@ namespace cv { namespace cuda { namespace device
                         {
                             int xr = xi - d;
                             if(d < cth || xr < 0)
-                                val += cdata_weight * cmax_data_term;
+                                val += data_weight * max_data_term;
                             else
                             {
                                 const uchar* lle = cleft + yi * cimg_step + xi * channels;
                                 const uchar* lri = cright + yi * cimg_step + xr * channels;
 
-                                val += pixeldiff<channels>(lle, lri);
+                                val += data_weight * pixeldiff<channels>(lle, lri, max_data_term);
                             }
                         }
                     }
@@ -238,7 +234,7 @@ namespace cv { namespace cuda { namespace device
         }
 
         template <typename T, int winsz, int channels>
-        __global__ void init_data_cost_reduce(const uchar *cleft, const uchar *cright, uchar *ctemp, size_t cimg_step, int level, int rows, int cols, int h, int ndisp)
+        __global__ void init_data_cost_reduce(const uchar *cleft, const uchar *cright, uchar *ctemp, size_t cimg_step, int level, int rows, int cols, int h, int ndisp, float data_weight, float max_data_term)
         {
             int x_out = blockIdx.x;
             int y_out = blockIdx.y % h;
@@ -257,7 +253,7 @@ namespace cv { namespace cuda { namespace device
                 if (x0 + tid < cols)
                 {
                     if (x0 + tid - d < 0 || d < cth)
-                        val = cdata_weight * cmax_data_term * len;
+                        val = data_weight * max_data_term * len;
                     else
                     {
                         const uchar* lle =  cleft + y0 * cimg_step + channels * (x0 + tid    );
@@ -265,7 +261,7 @@ namespace cv { namespace cuda { namespace device
 
                         for(int y = 0; y < len; ++y)
                         {
-                            val += pixeldiff<channels>(lle, lri);
+                            val += data_weight * pixeldiff<channels>(lle, lri, max_data_term);
 
                             lle += cimg_step;
                             lri += cimg_step;
@@ -286,7 +282,7 @@ namespace cv { namespace cuda { namespace device
 
 
         template <typename T>
-        void init_data_cost_caller_(const uchar *cleft, const uchar *cright, uchar *ctemp, size_t cimg_step, int /*rows*/, int /*cols*/, int h, int w, int level, int ndisp, int channels, cudaStream_t stream)
+        void init_data_cost_caller_(const uchar *cleft, const uchar *cright, uchar *ctemp, size_t cimg_step, int /*rows*/, int /*cols*/, int h, int w, int level, int ndisp, int channels, float data_weight, float max_data_term, cudaStream_t stream)
         {
             dim3 threads(32, 8, 1);
             dim3 grid(1, 1, 1);
@@ -296,15 +292,15 @@ namespace cv { namespace cuda { namespace device
 
             switch (channels)
             {
-            case 1: init_data_cost<T, 1><<<grid, threads, 0, stream>>>(cleft, cright, ctemp, cimg_step, h, w, level, ndisp); break;
-            case 3: init_data_cost<T, 3><<<grid, threads, 0, stream>>>(cleft, cright, ctemp, cimg_step, h, w, level, ndisp); break;
-            case 4: init_data_cost<T, 4><<<grid, threads, 0, stream>>>(cleft, cright, ctemp, cimg_step, h, w, level, ndisp); break;
+            case 1: init_data_cost<T, 1><<<grid, threads, 0, stream>>>(cleft, cright, ctemp, cimg_step, h, w, level, ndisp, data_weight, max_data_term); break;
+            case 3: init_data_cost<T, 3><<<grid, threads, 0, stream>>>(cleft, cright, ctemp, cimg_step, h, w, level, ndisp, data_weight, max_data_term); break;
+            case 4: init_data_cost<T, 4><<<grid, threads, 0, stream>>>(cleft, cright, ctemp, cimg_step, h, w, level, ndisp, data_weight, max_data_term); break;
             default: CV_Error(cv::Error::BadNumChannels, "Unsupported channels count");
             }
         }
 
         template <typename T, int winsz>
-        void init_data_cost_reduce_caller_(const uchar *cleft, const uchar *cright, uchar *ctemp, size_t cimg_step, int rows, int cols, int h, int w, int level, int ndisp, int channels, cudaStream_t stream)
+        void init_data_cost_reduce_caller_(const uchar *cleft, const uchar *cright, uchar *ctemp, size_t cimg_step, int rows, int cols, int h, int w, int level, int ndisp, int channels, float data_weight, float max_data_term, cudaStream_t stream)
         {
             const int threadsNum = 256;
             const size_t smem_size = threadsNum * sizeof(float);
@@ -315,19 +311,19 @@ namespace cv { namespace cuda { namespace device
 
             switch (channels)
             {
-            case 1: init_data_cost_reduce<T, winsz, 1><<<grid, threads, smem_size, stream>>>(cleft, cright, ctemp, cimg_step, level, rows, cols, h, ndisp); break;
-            case 3: init_data_cost_reduce<T, winsz, 3><<<grid, threads, smem_size, stream>>>(cleft, cright, ctemp, cimg_step, level, rows, cols, h, ndisp); break;
-            case 4: init_data_cost_reduce<T, winsz, 4><<<grid, threads, smem_size, stream>>>(cleft, cright, ctemp, cimg_step, level, rows, cols, h, ndisp); break;
+            case 1: init_data_cost_reduce<T, winsz, 1><<<grid, threads, smem_size, stream>>>(cleft, cright, ctemp, cimg_step, level, rows, cols, h, ndisp, data_weight, max_data_term); break;
+            case 3: init_data_cost_reduce<T, winsz, 3><<<grid, threads, smem_size, stream>>>(cleft, cright, ctemp, cimg_step, level, rows, cols, h, ndisp, data_weight, max_data_term); break;
+            case 4: init_data_cost_reduce<T, winsz, 4><<<grid, threads, smem_size, stream>>>(cleft, cright, ctemp, cimg_step, level, rows, cols, h, ndisp, data_weight, max_data_term); break;
             default: CV_Error(cv::Error::BadNumChannels, "Unsupported channels count");
             }
         }
 
         template<class T>
         void init_data_cost(const uchar *cleft, const uchar *cright, uchar *ctemp, size_t cimg_step, int rows, int cols, T* disp_selected_pyr, T* data_cost_selected, size_t msg_step,
-                    int h, int w, int level, int nr_plane, int ndisp, int channels, bool use_local_init_data_cost, cudaStream_t stream)
+                    int h, int w, int level, int nr_plane, int ndisp, int channels, float data_weight, float max_data_term, bool use_local_init_data_cost, cudaStream_t stream)
         {
 
-            typedef void (*InitDataCostCaller)(const uchar *cleft, const uchar *cright, uchar *ctemp, size_t cimg_step, int cols, int rows, int w, int h, int level, int ndisp, int channels, cudaStream_t stream);
+            typedef void (*InitDataCostCaller)(const uchar *cleft, const uchar *cright, uchar *ctemp, size_t cimg_step, int cols, int rows, int w, int h, int level, int ndisp, int channels, float data_weight, float max_data_term, cudaStream_t stream);
 
             static const InitDataCostCaller init_data_cost_callers[] =
             {
@@ -340,7 +336,7 @@ namespace cv { namespace cuda { namespace device
             cudaSafeCall( cudaMemcpyToSymbol(cdisp_step1, &disp_step, sizeof(size_t)) );
             cudaSafeCall( cudaMemcpyToSymbol(cmsg_step,  &msg_step,  sizeof(size_t)) );
 
-            init_data_cost_callers[level](cleft, cright, ctemp, cimg_step, rows, cols, h, w, level, ndisp, channels, stream);
+            init_data_cost_callers[level](cleft, cright, ctemp, cimg_step, rows, cols, h, w, level, ndisp, channels, data_weight, max_data_term, stream);
             cudaSafeCall( cudaGetLastError() );
 
             if (stream == 0)
@@ -364,17 +360,17 @@ namespace cv { namespace cuda { namespace device
         }
 
         template void init_data_cost(const uchar *cleft, const uchar *cright, uchar *ctemp, size_t cimg_step, int rows, int cols, short* disp_selected_pyr, short* data_cost_selected, size_t msg_step,
-                    int h, int w, int level, int nr_plane, int ndisp, int channels, bool use_local_init_data_cost, cudaStream_t stream);
+                    int h, int w, int level, int nr_plane, int ndisp, int channels, float data_weight, float max_data_term, bool use_local_init_data_cost, cudaStream_t stream);
 
         template void init_data_cost(const uchar *cleft, const uchar *cright, uchar *ctemp, size_t cimg_step, int rows, int cols, float* disp_selected_pyr, float* data_cost_selected, size_t msg_step,
-                    int h, int w, int level, int nr_plane, int ndisp, int channels, bool use_local_init_data_cost, cudaStream_t stream);
+                    int h, int w, int level, int nr_plane, int ndisp, int channels, float data_weight, float max_data_term, bool use_local_init_data_cost, cudaStream_t stream);
 
         ///////////////////////////////////////////////////////////////
         ////////////////////// compute data cost //////////////////////
         ///////////////////////////////////////////////////////////////
 
         template <typename T, int channels>
-        __global__ void compute_data_cost(const uchar *cleft, const uchar *cright, size_t cimg_step, const T* selected_disp_pyr, T* data_cost_, int h, int w, int level, int nr_plane)
+        __global__ void compute_data_cost(const uchar *cleft, const uchar *cright, size_t cimg_step, const T* selected_disp_pyr, T* data_cost_, int h, int w, int level, int nr_plane, float data_weight, float max_data_term)
         {
             int x = blockIdx.x * blockDim.x + threadIdx.x;
             int y = blockIdx.y * blockDim.y + threadIdx.y;
@@ -401,13 +397,13 @@ namespace cv { namespace cuda { namespace device
                             int xr = xi - sel_disp;
 
                             if (xr < 0 || sel_disp < cth)
-                                val += cdata_weight * cmax_data_term;
+                                val += data_weight * max_data_term;
                             else
                             {
                                 const uchar* left_x = cleft + yi * cimg_step + xi * channels;
                                 const uchar* right_x = cright + yi * cimg_step + xr * channels;
 
-                                val += pixeldiff<channels>(left_x, right_x);
+                                val += data_weight * pixeldiff<channels>(left_x, right_x, max_data_term);
                             }
                         }
                     }
@@ -417,7 +413,7 @@ namespace cv { namespace cuda { namespace device
         }
 
         template <typename T, int winsz, int channels>
-        __global__ void compute_data_cost_reduce(const uchar *cleft, const uchar *cright, size_t cimg_step, const T* selected_disp_pyr, T* data_cost_, int level, int rows, int cols, int h, int nr_plane)
+        __global__ void compute_data_cost_reduce(const uchar *cleft, const uchar *cright, size_t cimg_step, const T* selected_disp_pyr, T* data_cost_, int level, int rows, int cols, int h, int nr_plane, float data_weight, float max_data_term)
         {
             int x_out = blockIdx.x;
             int y_out = blockIdx.y % h;
@@ -441,7 +437,7 @@ namespace cv { namespace cuda { namespace device
                 if (x0 + tid < cols)
                 {
                     if (x0 + tid - sel_disp < 0 || sel_disp < cth)
-                        val = cdata_weight * cmax_data_term * len;
+                        val = data_weight * max_data_term * len;
                     else
                     {
                         const uchar* lle =  cleft + y0 * cimg_step + channels * (x0 + tid    );
@@ -449,7 +445,7 @@ namespace cv { namespace cuda { namespace device
 
                         for(int y = 0; y < len; ++y)
                         {
-                            val += pixeldiff<channels>(lle, lri);
+                            val += data_weight * pixeldiff<channels>(lle, lri, max_data_term);
 
                             lle += cimg_step;
                             lri += cimg_step;
@@ -468,7 +464,7 @@ namespace cv { namespace cuda { namespace device
 
         template <typename T>
         void compute_data_cost_caller_(const uchar *cleft, const uchar *cright, size_t cimg_step, const T* disp_selected_pyr, T* data_cost, int /*rows*/, int /*cols*/,
-                                      int h, int w, int level, int nr_plane, int channels, cudaStream_t stream)
+                                      int h, int w, int level, int nr_plane, int channels, float data_weight, float max_data_term, cudaStream_t stream)
         {
             dim3 threads(32, 8, 1);
             dim3 grid(1, 1, 1);
@@ -478,16 +474,16 @@ namespace cv { namespace cuda { namespace device
 
             switch(channels)
             {
-            case 1: compute_data_cost<T, 1><<<grid, threads, 0, stream>>>(cleft, cright, cimg_step, disp_selected_pyr, data_cost, h, w, level, nr_plane); break;
-            case 3: compute_data_cost<T, 3><<<grid, threads, 0, stream>>>(cleft, cright, cimg_step, disp_selected_pyr, data_cost, h, w, level, nr_plane); break;
-            case 4: compute_data_cost<T, 4><<<grid, threads, 0, stream>>>(cleft, cright, cimg_step, disp_selected_pyr, data_cost, h, w, level, nr_plane); break;
+            case 1: compute_data_cost<T, 1><<<grid, threads, 0, stream>>>(cleft, cright, cimg_step, disp_selected_pyr, data_cost, h, w, level, nr_plane, data_weight, max_data_term); break;
+            case 3: compute_data_cost<T, 3><<<grid, threads, 0, stream>>>(cleft, cright, cimg_step, disp_selected_pyr, data_cost, h, w, level, nr_plane, data_weight, max_data_term); break;
+            case 4: compute_data_cost<T, 4><<<grid, threads, 0, stream>>>(cleft, cright, cimg_step, disp_selected_pyr, data_cost, h, w, level, nr_plane, data_weight, max_data_term); break;
             default: CV_Error(cv::Error::BadNumChannels, "Unsupported channels count");
             }
         }
 
         template <typename T, int winsz>
         void compute_data_cost_reduce_caller_(const uchar *cleft, const uchar *cright, size_t cimg_step, const T* disp_selected_pyr, T* data_cost, int rows, int cols,
-                                      int h, int w, int level, int nr_plane, int channels, cudaStream_t stream)
+                                      int h, int w, int level, int nr_plane, int channels, float data_weight, float max_data_term, cudaStream_t stream)
         {
             const int threadsNum = 256;
             const size_t smem_size = threadsNum * sizeof(float);
@@ -498,19 +494,19 @@ namespace cv { namespace cuda { namespace device
 
             switch (channels)
             {
-            case 1: compute_data_cost_reduce<T, winsz, 1><<<grid, threads, smem_size, stream>>>(cleft, cright, cimg_step, disp_selected_pyr, data_cost, level, rows, cols, h, nr_plane); break;
-            case 3: compute_data_cost_reduce<T, winsz, 3><<<grid, threads, smem_size, stream>>>(cleft, cright, cimg_step, disp_selected_pyr, data_cost, level, rows, cols, h, nr_plane); break;
-            case 4: compute_data_cost_reduce<T, winsz, 4><<<grid, threads, smem_size, stream>>>(cleft, cright, cimg_step, disp_selected_pyr, data_cost, level, rows, cols, h, nr_plane); break;
+            case 1: compute_data_cost_reduce<T, winsz, 1><<<grid, threads, smem_size, stream>>>(cleft, cright, cimg_step, disp_selected_pyr, data_cost, level, rows, cols, h, nr_plane, data_weight, max_data_term); break;
+            case 3: compute_data_cost_reduce<T, winsz, 3><<<grid, threads, smem_size, stream>>>(cleft, cright, cimg_step, disp_selected_pyr, data_cost, level, rows, cols, h, nr_plane, data_weight, max_data_term); break;
+            case 4: compute_data_cost_reduce<T, winsz, 4><<<grid, threads, smem_size, stream>>>(cleft, cright, cimg_step, disp_selected_pyr, data_cost, level, rows, cols, h, nr_plane, data_weight, max_data_term); break;
             default: CV_Error(cv::Error::BadNumChannels, "Unsupported channels count");
             }
         }
 
         template<class T>
         void compute_data_cost(const uchar *cleft, const uchar *cright, size_t cimg_step, const T* disp_selected_pyr, T* data_cost, size_t msg_step,
-                               int rows, int cols, int h, int w, int h2, int level, int nr_plane, int channels, cudaStream_t stream)
+                               int rows, int cols, int h, int w, int h2, int level, int nr_plane, int channels, float data_weight, float max_data_term, cudaStream_t stream)
         {
             typedef void (*ComputeDataCostCaller)(const uchar *cleft, const uchar *cright, size_t cimg_step, const T* disp_selected_pyr, T* data_cost, int rows, int cols,
-                int h, int w, int level, int nr_plane, int channels, cudaStream_t stream);
+                int h, int w, int level, int nr_plane, int channels, float data_weight, float max_data_term, cudaStream_t stream);
 
             static const ComputeDataCostCaller callers[] =
             {
@@ -525,7 +521,7 @@ namespace cv { namespace cuda { namespace device
             cudaSafeCall( cudaMemcpyToSymbol(cdisp_step2, &disp_step2, sizeof(size_t)) );
             cudaSafeCall( cudaMemcpyToSymbol(cmsg_step,  &msg_step,  sizeof(size_t)) );
 
-            callers[level](cleft, cright, cimg_step, disp_selected_pyr, data_cost, rows, cols, h, w, level, nr_plane, channels, stream);
+            callers[level](cleft, cright, cimg_step, disp_selected_pyr, data_cost, rows, cols, h, w, level, nr_plane, channels, data_weight, max_data_term, stream);
             cudaSafeCall( cudaGetLastError() );
 
             if (stream == 0)
@@ -533,10 +529,10 @@ namespace cv { namespace cuda { namespace device
         }
 
         template void compute_data_cost(const uchar *cleft, const uchar *cright, size_t cimg_step, const short* disp_selected_pyr, short* data_cost, size_t msg_step,
-                               int rows, int cols, int h, int w, int h2, int level, int nr_plane, int channels, cudaStream_t stream);
+                               int rows, int cols, int h, int w, int h2, int level, int nr_plane, int channels, float data_weight, float max_data_term, cudaStream_t stream);
 
         template void compute_data_cost(const uchar *cleft, const uchar *cright, size_t cimg_step, const float* disp_selected_pyr, float* data_cost, size_t msg_step,
-                               int rows, int cols, int h, int w, int h2, int level, int nr_plane, int channels, cudaStream_t stream);
+                               int rows, int cols, int h, int w, int h2, int level, int nr_plane, int channels, float data_weight, float max_data_term, cudaStream_t stream);
 
 
         ///////////////////////////////////////////////////////////////

diff --git a/modules/cudastereo/src/cuda/stereocsbp.hpp b/modules/cudastereo/src/cuda/stereocsbp.hpp
index 8022475..04337bb 100644 (file)
--- a/modules/cudastereo/src/cuda/stereocsbp.hpp
+++ b/modules/cudastereo/src/cuda/stereocsbp.hpp
@@ -2,15 +2,15 @@ namespace cv { namespace cuda { namespace device
 {
     namespace stereocsbp
     {
-        void load_constants(float max_data_term, float data_weight, float disc_single_jump, int min_disp_th);
+        void load_constants(float disc_single_jump, int min_disp_th);
 
         template<class T>
         void init_data_cost(const uchar *left, const uchar *right, uchar *ctemp, size_t cimg_step, int rows, int cols, T* disp_selected_pyr, T* data_cost_selected, size_t msg_step,
-                    int h, int w, int level, int nr_plane, int ndisp, int channels, bool use_local_init_data_cost, cudaStream_t stream);
+                    int h, int w, int level, int nr_plane, int ndisp, int channels, float data_weight, float max_data_term, bool use_local_init_data_cost, cudaStream_t stream);
 
         template<class T>
         void compute_data_cost(const uchar *left, const uchar *right, size_t cimg_step, const T* disp_selected_pyr, T* data_cost, size_t msg_step,
-                               int rows, int cols, int h, int w, int h2, int level, int nr_plane, int channels, cudaStream_t stream);
+                               int rows, int cols, int h, int w, int h2, int level, int nr_plane, int channels, float data_weight, float max_data_term, cudaStream_t stream);
 
         template<class T>
         void init_message(uchar *ctemp, T* u_new, T* d_new, T* l_new, T* r_new,

diff --git a/modules/cudastereo/src/stereocsbp.cpp b/modules/cudastereo/src/stereocsbp.cpp
index 12d6731..14d6d25 100644 (file)
--- a/modules/cudastereo/src/stereocsbp.cpp
+++ b/modules/cudastereo/src/stereocsbp.cpp
@@ -222,7 +222,7 @@ namespace
         ////////////////////////////////////////////////////////////////////////////
         // Compute
 
-        load_constants(max_data_term_, data_weight_, disc_single_jump_, min_disp_th_);
+        load_constants(disc_single_jump_, min_disp_th_);
 
         l[0].setTo(0, _stream);
         d[0].setTo(0, _stream);
@@ -246,12 +246,12 @@ namespace
                 if (i == levels_ - 1)
                 {
                     init_data_cost(left.ptr<uchar>(), right.ptr<uchar>(), temp_.ptr<uchar>(), left.step, left.rows, left.cols, disp_selected_pyr[cur_idx].ptr<float>(), data_cost_selected.ptr<float>(),
-                        elem_step, rows_pyr[i], cols_pyr[i], i, nr_plane_pyr[i], ndisp_, left.channels(), use_local_init_data_cost_, stream);
+                        elem_step, rows_pyr[i], cols_pyr[i], i, nr_plane_pyr[i], ndisp_, left.channels(), data_weight_, max_data_term_, use_local_init_data_cost_, stream);
                 }
                 else
                 {
                     compute_data_cost(left.ptr<uchar>(), right.ptr<uchar>(), left.step, disp_selected_pyr[cur_idx].ptr<float>(), data_cost.ptr<float>(), elem_step,
-                        left.rows, left.cols, rows_pyr[i], cols_pyr[i], rows_pyr[i+1], i, nr_plane_pyr[i+1], left.channels(), stream);
+                        left.rows, left.cols, rows_pyr[i], cols_pyr[i], rows_pyr[i+1], i, nr_plane_pyr[i+1], left.channels(), data_weight_, max_data_term_, stream);
 
                     int new_idx = (cur_idx + 1) & 1;
 
@@ -277,12 +277,12 @@ namespace
                 if (i == levels_ - 1)
                 {
                     init_data_cost(left.ptr<uchar>(), right.ptr<uchar>(), temp_.ptr<uchar>(), left.step, left.rows, left.cols, disp_selected_pyr[cur_idx].ptr<short>(), data_cost_selected.ptr<short>(),
-                        elem_step, rows_pyr[i], cols_pyr[i], i, nr_plane_pyr[i], ndisp_, left.channels(), use_local_init_data_cost_, stream);
+                        elem_step, rows_pyr[i], cols_pyr[i], i, nr_plane_pyr[i], ndisp_, left.channels(), data_weight_, max_data_term_, use_local_init_data_cost_, stream);
                 }
                 else
                 {
                     compute_data_cost(left.ptr<uchar>(), right.ptr<uchar>(), left.step, disp_selected_pyr[cur_idx].ptr<short>(), data_cost.ptr<short>(), elem_step,
-                        left.rows, left.cols, rows_pyr[i], cols_pyr[i], rows_pyr[i+1], i, nr_plane_pyr[i+1], left.channels(), stream);
+                        left.rows, left.cols, rows_pyr[i], cols_pyr[i], rows_pyr[i+1], i, nr_plane_pyr[i+1], left.channels(), data_weight_, max_data_term_, stream);
 
                     int new_idx = (cur_idx + 1) & 1;