//

#include <cv.h>
#include <cxcore.h>
#include <string>
#include <highgui.h>
#include "QuasiDenseStereo.h"

using namespace std;

char* FindFileName(char* filename)
{
  char* result = strrchr(filename, '\\');
  return result ? result + 1 : filename;
}

void main(int argc, char** argv)
{
	assert(argc > 2);
	char *img1name, *img2name;
	img1name = argv[1];
	img2name = argv[2];
	char filename[70];
	strcpy(filename, FindFileName(img1name));
	char winname[70];
	
	IplImage *img1, *img2, *disp;

	img1 = cvLoadImage(img1name, CV_LOAD_IMAGE_GRAYSCALE);
	img2 = cvLoadImage(img2name, CV_LOAD_IMAGE_GRAYSCALE);
	//cvNamedWindow("0", CV_WINDOW_AUTOSIZE );
	//cvShowImage("0", img1);

	QuasiDenseStereo qds;

	qds.initialise(cvGetSize(img1));

	qds.Param.BorderX = atoi(argv[3]);				// borders around the image
	qds.Param.BorderY = atoi(argv[3]);
	qds.Param.N = atoi(argv[4]);						// neighbours
	qds.Param.Ct = atof(argv[5]);					// corre threshold for seeds
	qds.Param.Dg = atof(argv[6]);					// disparity gradient
	qds.Param.WinSizeX = atoi(argv[7]);				// corr window size
	qds.Param.WinSizeY = atoi(argv[7]);
	qds.Param.Tt = atoi(argv[8]);				// propagation disparity
	int displvl = atoi(argv[9]);				// disparity level
	sprintf(winname, "%s N=%i Ct=%g Dg=%i Wxy=%i Tt=%g Dlvl=%i",
		filename, qds.Param.N, qds.Param.Ct, qds.Param.Dg, qds.Param.WinSizeX,
		qds.Param.Tt, displvl);

	cout << "init ok" << endl;
	qds.process(img1,img2);
	
	cout << "process ok" << endl;

	disp = cvCreateImage(cvSize(qds.costWidth, qds.costHeight),IPL_DEPTH_8U,3);
	qds.getDisparityImage(disp, displvl);
	cvNamedWindow(winname, CV_WINDOW_AUTOSIZE );
	cvShowImage(winname, disp);
	cvWaitKey(0);

}