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#include "test_precomp.hpp"

struct CV_GpuStereoCSBPTest : public cvtest::BaseTest
{
    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(cvtest::TS::FAIL_MISSING_TEST_DATA);
            return;
        }

        {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((cv::Mat)disp, img_template, cv::NORM_INF);
        if (norm >= 0.5)
        {
            ts->printf(cvtest::TS::LOG, "\nConstantSpaceStereoBP norm = %f\n", norm);
            ts->set_failed_test_info(cvtest::TS::FAIL_GENERIC);
            return;
        }

        ts->set_failed_test_info(cvtest::TS::OK);
    }
};

TEST(StereoConstantSpaceBP, regression) { CV_GpuStereoCSBPTest test; test.safe_run(); }