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#ifndef __OPENCV_GPUSTEREO_HPP__
#define __OPENCV_GPUSTEREO_HPP__

#ifndef __cplusplus
#  error gpustereo.hpp header must be compiled as C++
#endif

#include "opencv2/core/gpu.hpp"
#include "opencv2/calib3d.hpp"

namespace cv { namespace gpu {

/////////////////////////////////////////
// StereoBM

class CV_EXPORTS StereoBM : public cv::StereoBM
{
public:
    using cv::StereoBM::compute;

    virtual void compute(InputArray left, InputArray right, OutputArray disparity, Stream& stream) = 0;
};

CV_EXPORTS Ptr<gpu::StereoBM> createStereoBM(int numDisparities = 64, int blockSize = 19);

/////////////////////////////////////////
// StereoBeliefPropagation

//! "Efficient Belief Propagation for Early Vision" P.Felzenszwalb
class CV_EXPORTS StereoBeliefPropagation : public cv::StereoMatcher
{
public:
    using cv::StereoMatcher::compute;

    virtual void compute(InputArray left, InputArray right, OutputArray disparity, Stream& stream) = 0;

    //! version for user specified data term
    virtual void compute(InputArray data, OutputArray disparity, Stream& stream = Stream::Null()) = 0;

    //! number of BP iterations on each level
    virtual int getNumIters() const = 0;
    virtual void setNumIters(int iters) = 0;

    //! number of levels
    virtual int getNumLevels() const = 0;
    virtual void setNumLevels(int levels) = 0;

    //! truncation of data cost
    virtual double getMaxDataTerm() const = 0;
    virtual void setMaxDataTerm(double max_data_term) = 0;

    //! data weight
    virtual double getDataWeight() const = 0;
    virtual void setDataWeight(double data_weight) = 0;

    //! truncation of discontinuity cost
    virtual double getMaxDiscTerm() const = 0;
    virtual void setMaxDiscTerm(double max_disc_term) = 0;

    //! discontinuity single jump
    virtual double getDiscSingleJump() const = 0;
    virtual void setDiscSingleJump(double disc_single_jump) = 0;

    virtual int getMsgType() const = 0;
    virtual void setMsgType(int msg_type) = 0;

    static void estimateRecommendedParams(int width, int height, int& ndisp, int& iters, int& levels);
};

CV_EXPORTS Ptr<gpu::StereoBeliefPropagation>
    createStereoBeliefPropagation(int ndisp = 64, int iters = 5, int levels = 5, int msg_type = CV_32F);

/////////////////////////////////////////
// StereoConstantSpaceBP

//! "A Constant-Space Belief Propagation Algorithm for Stereo Matching"
//! Qingxiong Yang, Liang Wang, Narendra Ahuja
//! http://vision.ai.uiuc.edu/~qyang6/
class CV_EXPORTS StereoConstantSpaceBP : public gpu::StereoBeliefPropagation
{
public:
    //! number of active disparity on the first level
    virtual int getNrPlane() const = 0;
    virtual void setNrPlane(int nr_plane) = 0;

    virtual bool getUseLocalInitDataCost() const = 0;
    virtual void setUseLocalInitDataCost(bool use_local_init_data_cost) = 0;

    static void estimateRecommendedParams(int width, int height, int& ndisp, int& iters, int& levels, int& nr_plane);
};

CV_EXPORTS Ptr<gpu::StereoConstantSpaceBP>
    createStereoConstantSpaceBP(int ndisp = 128, int iters = 8, int levels = 4, int nr_plane = 4, int msg_type = CV_32F);




// Disparity map refinement using joint bilateral filtering given a single color image.
// Qingxiong Yang, Liang Wang, Narendra Ahuja
// http://vision.ai.uiuc.edu/~qyang6/
class CV_EXPORTS DisparityBilateralFilter
{
public:
    enum { DEFAULT_NDISP  = 64 };
    enum { DEFAULT_RADIUS = 3 };
    enum { DEFAULT_ITERS  = 1 };

    //! the default constructor
    explicit DisparityBilateralFilter(int ndisp = DEFAULT_NDISP, int radius = DEFAULT_RADIUS, int iters = DEFAULT_ITERS);

    //! the full constructor taking the number of disparities, filter radius,
    //! number of iterations, truncation of data continuity, truncation of disparity continuity
    //! and filter range sigma
    DisparityBilateralFilter(int ndisp, int radius, int iters, float edge_threshold, float max_disc_threshold, float sigma_range);

    //! the disparity map refinement operator. Refine disparity map using joint bilateral filtering given a single color image.
    //! disparity must have CV_8U or CV_16S type, image must have CV_8UC1 or CV_8UC3 type.
    void operator()(const GpuMat& disparity, const GpuMat& image, GpuMat& dst, Stream& stream = Stream::Null());

private:
    int ndisp;
    int radius;
    int iters;

    float edge_threshold;
    float max_disc_threshold;
    float sigma_range;

    GpuMat table_color;
    GpuMat table_space;
};

//! Reprojects disparity image to 3D space.
//! Supports CV_8U and CV_16S types of input disparity.
//! The output is a 3- or 4-channel floating-point matrix.
//! Each element of this matrix will contain the 3D coordinates of the point (x,y,z,1), computed from the disparity map.
//! Q is the 4x4 perspective transformation matrix that can be obtained with cvStereoRectify.
CV_EXPORTS void reprojectImageTo3D(const GpuMat& disp, GpuMat& xyzw, const Mat& Q, int dst_cn = 4, Stream& stream = Stream::Null());

//! Does coloring of disparity image: [0..ndisp) -> [0..240, 1, 1] in HSV.
//! Supported types of input disparity: CV_8U, CV_16S.
//! Output disparity has CV_8UC4 type in BGRA format (alpha = 255).
CV_EXPORTS void drawColorDisp(const GpuMat& src_disp, GpuMat& dst_disp, int ndisp, Stream& stream = Stream::Null());

}} // namespace cv { namespace gpu {

#endif /* __OPENCV_GPUSTEREO_HPP__ */