added gpu test ConstantSpaceBP

tests/gpu/src/csstereo_bp.cpp

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+
+#include "gputest.hpp"
+#include <iostream>
+#include <string>
+
+#include <opencv2/opencv.hpp>
+#include <opencv2/gpu/gpu.hpp>
+
+class CV_GpuCSStereoBP : public CvTest
+{
+    public:
+        CV_GpuCSStereoBP();
+    protected:
+        void run(int);
+};
+
+CV_GpuCSStereoBP::CV_GpuCSStereoBP(): CvTest( "GPU-CSStereoBP", "ConstantSpaceStereoBP" ){}
+
+void CV_GpuCSStereoBP::run(int )
+{
+        cv::Mat img_l = cv::imread(std::string(ts->get_data_path()) + "csstereobp/aloe-L.png");
+        cv::Mat img_r = cv::imread(std::string(ts->get_data_path()) + "csstereobp/aloe-R.png");
+        cv::Mat img_template = cv::imread(std::string(ts->get_data_path()) + "csstereobp/aloe-disp.png", 0);
+
+        cv::gpu::GpuMat disp;
+        cv::gpu::StereoConstantSpaceBP bpm(128, 16, 4, 4);
+
+        bpm(cv::gpu::GpuMat(img_l), cv::gpu::GpuMat(img_r), disp);
+
+        //cv::imwrite(std::string(ts->get_data_path()) + "csstereobp/aloe-disp.png", disp);
+
+        disp.convertTo(disp, img_template.type());
+
+        double norm = cv::norm(disp, img_template, cv::NORM_INF);
+        ts->set_failed_test_info((norm < 0.5) ? CvTS::OK : CvTS::FAIL_GENERIC);
+}
+
+
+CV_GpuCSStereoBP CV_GpuCSStereoBP_test;