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#include "perf_precomp.hpp"

using namespace std;
using namespace cv;
using namespace cv::stereo;
using namespace perf;

typedef std::tr1::tuple<Size, MatType, MatDepth> s_bm_test_t;
typedef perf::TestBaseWithParam<s_bm_test_t> s_bm;

PERF_TEST_P( s_bm, sgm_perf,
            testing::Combine(
            testing::Values( cv::Size(512, 283),  cv::Size(320, 240)),
            testing::Values( CV_8UC1,CV_8U ),
            testing::Values( CV_8UC1,CV_8U,CV_16S )
            )
            )
{
    Size sz = std::tr1::get<0>(GetParam());
    int matType = std::tr1::get<1>(GetParam());
    int sdepth = std::tr1::get<2>(GetParam());

    Mat left(sz, matType);
    Mat right(sz, matType);
    Mat out1(sz, sdepth);
    Ptr<StereoBinarySGBM> sgbm = StereoBinarySGBM::create(0, 16, 5);
    sgbm->setBinaryKernelType(CV_DENSE_CENSUS);
    declare.in(left, WARMUP_RNG)
        .out(out1)
        .time(0.1)
        .iterations(20);
    TEST_CYCLE()
    {
        sgbm->compute(left, right, out1);
    }
    SANITY_CHECK(out1);
}
PERF_TEST_P( s_bm, bm_perf,
            testing::Combine(
            testing::Values( cv::Size(512, 383),  cv::Size(320, 240) ),
            testing::Values( CV_8UC1,CV_8U ),
            testing::Values( CV_8UC1,CV_8U )
            )
            )
{
    Size sz = std::tr1::get<0>(GetParam());
    int matType = std::tr1::get<1>(GetParam());
    int sdepth = std::tr1::get<2>(GetParam());

    Mat left(sz, matType);
    Mat right(sz, matType);
    Mat out1(sz, sdepth);
    Ptr<StereoBinaryBM> sbm = StereoBinaryBM::create(16, 9);
    // we set the corresponding parameters
    sbm->setPreFilterCap(31);
    sbm->setMinDisparity(0);
    sbm->setTextureThreshold(10);
    sbm->setUniquenessRatio(0);
    sbm->setSpeckleWindowSize(400);
    sbm->setDisp12MaxDiff(0);
    sbm->setAgregationWindowSize(11);
    // the user can choose between the average speckle removal algorithm or
    // the classical version that was implemented in OpenCV
    sbm->setSpekleRemovalTechnique(CV_SPECKLE_REMOVAL_AVG_ALGORITHM);
    sbm->setUsePrefilter(false);

    declare.in(left, WARMUP_RNG)
        .out(out1)
        .time(0.1)
        .iterations(20);
    TEST_CYCLE()
    {
        sbm->compute(left, right, out1);
    }
    SANITY_CHECK(out1);
}
