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#include "precomp.hpp"

using namespace cv;
using namespace cv::gpu;
   
StereoBM_GPU::StereoBM_GPU() : preset(BASIC_PRESET), ndisp(64)  {}
StereoBM_GPU::StereoBM_GPU(int preset_, int ndisparities_) : preset(preset_), ndisp(ndisparities_) 
{
    const int max_supported_ndisp = 1 << (sizeof(unsigned char) * 8);
    CV_Assert(ndisp <= max_supported_ndisp);
}
  
void StereoBM_GPU::operator() ( const GpuMat& left, const GpuMat& right, GpuMat& disparity) const
{
    CV_DbgAssert(left.rows == right.rows && left.cols == right.cols);
    CV_DbgAssert(left.type() == CV_8UC1);
    CV_DbgAssert(right.type() == CV_8UC1);

    disparity.create(left.size(), CV_8U);
    minSSD.create(left.size(), CV_32S);

    if (preset == PREFILTER_XSOBEL)
    {
         CV_Assert(!"Not implemented");
    }   

    DevMem2D disp = disparity;
    DevMem2D_<uint> mssd = minSSD;    
    cudaCallerSafeCall( impl::stereoBM_GPU(left, right, disp, ndisp, mssd) );     
}