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#include "gputest.hpp"

using namespace cv;
using namespace std;

struct CV_AsyncStereoBMTest : public CvTest
{
    public:
        CV_AsyncStereoBMTest() : CvTest( "GPU-AsyncStereoBM", "asyncStereoBM" ) {}
        ~CV_AsyncStereoBMTest() {}

    void run( int /* start_from */)
    {
	    cv::Mat img_l = cv::imread(std::string(ts->get_data_path()) + "stereobm/aloe-L.png", 0);
	    cv::Mat img_r = cv::imread(std::string(ts->get_data_path()) + "stereobm/aloe-R.png", 0);
	    cv::Mat img_reference = cv::imread(std::string(ts->get_data_path()) + "stereobm/aloe-disp.png", 0);

        if (img_l.empty() || img_r.empty() || img_reference.empty())
        {
            ts->set_failed_test_info(CvTS::FAIL_MISSING_TEST_DATA);
            return;
        }

        try
        {
	        cv::gpu::GpuMat disp;
	        cv::gpu::StereoBM_GPU bm(0, 128, 19);

	        cv::gpu::Stream stream;

	        for (size_t i = 0; i < 50; i++)
	        {
		        bm(cv::gpu::GpuMat(img_l), cv::gpu::GpuMat(img_r), disp, stream);
	        }

	        stream.waitForCompletion();
	        disp.convertTo(disp, img_reference.type());
	        double norm = cv::norm(disp, img_reference, cv::NORM_INF);

	        if (norm >= 100) 
            {
                ts->printf(CvTS::LOG, "\nStereoBM norm = %f\n", norm);
	            ts->set_failed_test_info(CvTS::FAIL_GENERIC);
                return;
            }
        }
        catch(const cv::Exception& e)
        {
            if (!check_and_treat_gpu_exception(e, ts))
                throw;
            return;
        }

        ts->set_failed_test_info(CvTS::OK);
    }
};

/////////////////////////////////////////////////////////////////////////////
/////////////////// tests registration  /////////////////////////////////////
/////////////////////////////////////////////////////////////////////////////

CV_AsyncStereoBMTest CV_AsyncStereoBMTest_test;
