#include <opencv2/opencv.hpp>

#include <opencv2/gpu/gpu.hpp>

#include <opencv2/highgui/highgui.hpp>

int main(int argc, char *argv[])

{

        using namespace cv;

        using namespace cv::gpu;

        resetDevice();

        Mat img_l_host = imread(argv[1], IMREAD_GRAYSCALE);

        Mat img_r_host = imread(argv[2], IMREAD_GRAYSCALE);

        GpuMat img_l(img_l_host);

        GpuMat img_r(img_r_host);

        GpuMat dst;

        StereoConstantSpaceBP csbp(128);

        csbp(img_l, img_r, dst);

        Mat dst_host(dst);

        imwrite("output_csbp_only.png", dst_host);

}