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#include "gputest.hpp"
#include <iostream>
#include <string>

struct CV_GpuStereoCSBPTest : public CvTest
{
    CV_GpuStereoCSBPTest() : CvTest( "GPU-StereoCSBP", "ConstantSpaceStereoBP" ){}
    ~CV_GpuStereoCSBPTest() {}

    void 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);

        if (img_l.empty() || img_r.empty() || img_template.empty())
        {
            ts->set_failed_test_info(CvTS::FAIL_MISSING_TEST_DATA);
            return;
        }

        try
        {
            {cv::Mat temp; cv::cvtColor(img_l, temp, CV_BGR2BGRA); cv::swap(temp, img_l);}
            {cv::Mat temp; cv::cvtColor(img_r, temp, CV_BGR2BGRA); cv::swap(temp, img_r);}

            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);
            if (norm >= 0.5) 
            {
                ts->printf(CvTS::LOG, "\nConstantSpaceStereoBP norm = %f\n", norm);
                ts->set_failed_test_info(CvTS::FAIL_GENERIC);
                return;
            }
        }
        catch(const cv::Exception& e)
        {
            if (!check_and_treat_gpu_exception(e, ts))
                throw;
            return;
        }

        ts->set_failed_test_info(CvTS::OK);
    }
};

/////////////////////////////////////////////////////////////////////////////
/////////////////// tests registration  /////////////////////////////////////
/////////////////////////////////////////////////////////////////////////////

CV_GpuStereoCSBPTest CV_GpuCSStereoBP_test;