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

struct CV_GpuStereoBPTest : public CvTest
{
    CV_GpuStereoBPTest() : CvTest( "GPU-StereoBP", "StereoBP" ){}
    ~CV_GpuStereoBPTest() {}
  
    void run(int )
    {
        cv::Mat img_l = cv::imread(std::string(ts->get_data_path()) + "stereobp/aloe-L.png");
        cv::Mat img_r = cv::imread(std::string(ts->get_data_path()) + "stereobp/aloe-R.png");
        cv::Mat img_template = cv::imread(std::string(ts->get_data_path()) + "stereobp/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::gpu::GpuMat disp;
            cv::gpu::StereoBeliefPropagation bpm(64, 8, 2, 25, 0.1f, 15, 1, CV_16S);

            bpm(cv::gpu::GpuMat(img_l), cv::gpu::GpuMat(img_r), disp);

            //cv::imwrite(std::string(ts->get_data_path()) + "stereobp/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, "\nStereoBP 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_GpuStereoBPTest CV_GpuStereoBP_test;