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// @Authors
//     Peng Xiao, pengxiao@outlook.com
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#include "test_precomp.hpp"
#include <iomanip>

using namespace cv;

#ifdef HAVE_OPENCL

PARAM_TEST_CASE(StereoMatchBM, int, int)
{
    int n_disp;
    int winSize;

    virtual void SetUp()
    {
        n_disp  = GET_PARAM(0);
        winSize = GET_PARAM(1);
    }
};

OCL_TEST_P(StereoMatchBM, Regression)
{

    Mat left_image  = readImage("gpu/stereobm/aloe-L.png", IMREAD_GRAYSCALE);
    Mat right_image = readImage("gpu/stereobm/aloe-R.png", IMREAD_GRAYSCALE);
    Mat disp_gold   = readImage("gpu/stereobm/aloe-disp.png", IMREAD_GRAYSCALE);
    ocl::oclMat d_left, d_right;
    ocl::oclMat d_disp(left_image.size(), CV_8U);
    Mat  disp;

    ASSERT_FALSE(left_image.empty());
    ASSERT_FALSE(right_image.empty());
    ASSERT_FALSE(disp_gold.empty());
    d_left.upload(left_image);
    d_right.upload(right_image);

    ocl::StereoBM_OCL bm(0, n_disp, winSize);


    bm(d_left, d_right, d_disp);
    d_disp.download(disp);

    EXPECT_MAT_SIMILAR(disp_gold, disp, 1e-3);
}

INSTANTIATE_TEST_CASE_P(OCL_Calib3D, StereoMatchBM, testing::Combine(testing::Values(128),
                                       testing::Values(19)));

PARAM_TEST_CASE(StereoMatchBP, int, int, int, float, float, float, float)
{
    int ndisp_;
    int iters_;
    int levels_;
    float max_data_term_;
    float data_weight_;
    float max_disc_term_;
    float disc_single_jump_;
    virtual void SetUp()
    {
        ndisp_          = GET_PARAM(0);
        iters_          = GET_PARAM(1);
        levels_         = GET_PARAM(2);
        max_data_term_  = GET_PARAM(3);
        data_weight_    = GET_PARAM(4);
        max_disc_term_     = GET_PARAM(5);
        disc_single_jump_  = GET_PARAM(6);
    }
};
OCL_TEST_P(StereoMatchBP, Regression)
{
    Mat left_image  = readImage("gpu/stereobp/aloe-L.png");
    Mat right_image = readImage("gpu/stereobp/aloe-R.png");
    Mat disp_gold   = readImage("gpu/stereobp/aloe-disp.png", IMREAD_GRAYSCALE);
    ocl::oclMat d_left, d_right;
    ocl::oclMat d_disp;
    Mat  disp;
    ASSERT_FALSE(left_image.empty());
    ASSERT_FALSE(right_image.empty());
    ASSERT_FALSE(disp_gold.empty());
    d_left.upload(left_image);
    d_right.upload(right_image);
    ocl::StereoBeliefPropagation bp(ndisp_, iters_, levels_, max_data_term_, data_weight_,
        max_disc_term_, disc_single_jump_, CV_16S);
    bp(d_left, d_right, d_disp);
    d_disp.download(disp);
    disp.convertTo(disp, disp_gold.depth());
    EXPECT_MAT_NEAR(disp_gold, disp, 0.0);
}
INSTANTIATE_TEST_CASE_P(OCL_Calib3D, StereoMatchBP, testing::Combine(testing::Values(64),
    testing::Values(8),testing::Values(2),testing::Values(25.0f),
    testing::Values(0.1f),testing::Values(15.0f),testing::Values(1.0f)));

//////////////////////////////////////////////////////////////////////////
//  ConstSpaceBeliefPropagation
PARAM_TEST_CASE(StereoMatchConstSpaceBP, int, int, int, int, float, float, float, float, int, int)
{
    int ndisp_;
    int iters_;
    int levels_;
    int nr_plane_;
    float max_data_term_;
    float data_weight_;
    float max_disc_term_;
    float disc_single_jump_;
    int min_disp_th_;
    int msg_type_;

    virtual void SetUp()
    {
        ndisp_          = GET_PARAM(0);
        iters_          = GET_PARAM(1);
        levels_         = GET_PARAM(2);
        nr_plane_ = GET_PARAM(3);
        max_data_term_  = GET_PARAM(4);
        data_weight_    = GET_PARAM(5);
        max_disc_term_     = GET_PARAM(6);
        disc_single_jump_  = GET_PARAM(7);
        min_disp_th_ = GET_PARAM(8);
        msg_type_  = GET_PARAM(9);
    }
};
OCL_TEST_P(StereoMatchConstSpaceBP, Regression)
{
    Mat left_image  = readImage("gpu/csstereobp/aloe-L.png");
    Mat right_image = readImage("gpu/csstereobp/aloe-R.png");
    Mat disp_gold   = readImage("gpu/csstereobp/aloe-disp.png", IMREAD_GRAYSCALE);

    ocl::oclMat d_left, d_right;
    ocl::oclMat d_disp;

    Mat  disp;
    ASSERT_FALSE(left_image.empty());
    ASSERT_FALSE(right_image.empty());
    ASSERT_FALSE(disp_gold.empty());

    d_left.upload(left_image);
    d_right.upload(right_image);

    ocl::StereoConstantSpaceBP bp(ndisp_, iters_, levels_, nr_plane_, max_data_term_, data_weight_,
        max_disc_term_, disc_single_jump_, 0, CV_32F);
    bp(d_left, d_right, d_disp);
    d_disp.download(disp);
    disp.convertTo(disp, disp_gold.depth());

    EXPECT_MAT_SIMILAR(disp_gold, disp, 1e-4);
    //EXPECT_MAT_NEAR(disp_gold, disp, 1.0, "");
}
INSTANTIATE_TEST_CASE_P(OCL_Calib3D, StereoMatchConstSpaceBP, testing::Combine(testing::Values(128),
    testing::Values(16),testing::Values(4), testing::Values(4), testing::Values(30.0f),
    testing::Values(1.0f),testing::Values(160.0f),
    testing::Values(10.0f), testing::Values(0), testing::Values(CV_32F)));
#endif // HAVE_OPENCL