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// Copyright (C) 2010-2012, Multicoreware, Inc., all rights reserved.
// Copyright (C) 2010-2012, Advanced Micro Devices, Inc., all rights reserved.
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// @Authors
//    Fangfang Bai, fangfang@multicorewareinc.com
//    Jin Ma,       jin@multicorewareinc.com
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#include "precomp.hpp"
///////////// StereoMatchBM ////////////////////////
PERFTEST(StereoMatchBM)
{
	Mat left_image = imread(abspath("aloeL.jpg"), cv::IMREAD_GRAYSCALE);
	Mat right_image = imread(abspath("aloeR.jpg"), cv::IMREAD_GRAYSCALE);
	Mat disp,dst;
	ocl::oclMat d_left, d_right,d_disp;
	int n_disp= 128;
	int winSize =19;

	SUBTEST << left_image.cols << 'x' << left_image.rows << "; aloeL.jpg ;"<< right_image.cols << 'x' << right_image.rows << "; aloeR.jpg ";

	Ptr<StereoBM> bm = createStereoBM(n_disp, winSize);
	bm->compute(left_image, right_image, dst);

	CPU_ON;
	bm->compute(left_image, right_image, dst);
	CPU_OFF;

	d_left.upload(left_image);
	d_right.upload(right_image);

	ocl::StereoBM_OCL d_bm(0, n_disp, winSize);

	WARMUP_ON;
	d_bm(d_left, d_right, d_disp);
	WARMUP_OFF;

    cv::Mat ocl_mat;
    d_disp.download(ocl_mat);
    ocl_mat.convertTo(ocl_mat, dst.type());

	GPU_ON;
	d_bm(d_left, d_right, d_disp);
	GPU_OFF;

	GPU_FULL_ON;
	d_left.upload(left_image);
	d_right.upload(right_image);
	d_bm(d_left, d_right, d_disp);
	d_disp.download(disp);
	GPU_FULL_OFF;
    
    TestSystem::instance().setAccurate(-1, 0.);
}